133 lines
2.7 KiB
Go
133 lines
2.7 KiB
Go
package brake
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import (
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"github.com/cyrilix/robocar-throttle/pkg/types"
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"reflect"
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"testing"
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)
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func TestNewConfigFromJson(t *testing.T) {
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type args struct {
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fileName string
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}
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tests := []struct {
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name string
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args args
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want *Config
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wantErr bool
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}{
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{
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name: "default config",
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args: args{
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fileName: "test_data/config.json",
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},
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want: &defaultBrakeConfig,
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},
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}
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for _, tt := range tests {
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t.Run(tt.name, func(t *testing.T) {
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got, err := NewConfigFromJson(tt.args.fileName)
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if (err != nil) != tt.wantErr {
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t.Errorf("NewConfigFromJson() error = %v, wantErr %v", err, tt.wantErr)
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return
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}
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if !reflect.DeepEqual(*got, *tt.want) {
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t.Errorf("NewConfigFromJson() got = %v, want %v", got, tt.want)
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}
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if !reflect.DeepEqual(got.DeltaSteps, tt.want.DeltaSteps) {
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t.Errorf("NewConfigFromJson(), bad DeltaSteps: got = %v, want %v", got.DeltaSteps, tt.want.DeltaSteps)
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}
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})
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}
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}
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func TestConfig_ValueOf(t *testing.T) {
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type fields struct {
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DeltaSteps []float32
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MinValue int
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Data []types.Throttle
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}
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type args struct {
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currentThrottle, targetThrottle types.Throttle
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}
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tests := []struct {
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name string
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fields fields
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args args
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want types.Throttle
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}{
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{
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name: "delta > 0",
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fields: fields{
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DeltaSteps: defaultBrakeConfig.DeltaSteps,
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Data: defaultBrakeConfig.Data,
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},
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args: args{
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currentThrottle: 0.5,
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targetThrottle: 0.8,
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},
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want: 0.8,
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},
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{
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name: "no delta",
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fields: fields{
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DeltaSteps: defaultBrakeConfig.DeltaSteps,
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Data: defaultBrakeConfig.Data,
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},
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args: args{
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currentThrottle: 0.5,
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targetThrottle: 0.5,
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},
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want: 0.5,
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},
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{
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name: "delta very low (< 1st step)",
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fields: fields{
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DeltaSteps: defaultBrakeConfig.DeltaSteps,
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Data: defaultBrakeConfig.Data,
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},
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args: args{
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currentThrottle: 0.5,
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targetThrottle: 0.495,
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},
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want: 0.495,
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},
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{
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name: "low delta ( 1st step < delta < 2nd step )",
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fields: fields{
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DeltaSteps: defaultBrakeConfig.DeltaSteps,
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Data: defaultBrakeConfig.Data,
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},
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args: args{
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currentThrottle: 0.5,
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targetThrottle: 0.38,
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},
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want: -0.1,
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},
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{
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name: "high delta",
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fields: fields{
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DeltaSteps: defaultBrakeConfig.DeltaSteps,
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Data: defaultBrakeConfig.Data,
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},
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args: args{
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currentThrottle: 0.8,
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targetThrottle: 0.3,
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},
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want: -1.,
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},
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}
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for _, tt := range tests {
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t.Run(tt.name, func(t *testing.T) {
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f := &Config{
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DeltaSteps: tt.fields.DeltaSteps,
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Data: tt.fields.Data,
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}
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got := f.ValueOf(tt.args.currentThrottle, tt.args.targetThrottle)
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if !reflect.DeepEqual(got, tt.want) {
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t.Errorf("ValueOf() = %v, want %v", got, tt.want)
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}
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})
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}
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}
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