85 lines
3.0 KiB
Go
85 lines
3.0 KiB
Go
package part
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import (
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"github.com/cyrilix/robocar-base/testtools"
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"github.com/cyrilix/robocar-protobuf/go/events"
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mqtt "github.com/eclipse/paho.mqtt.golang"
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"github.com/golang/protobuf/proto"
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"sync"
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"testing"
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"time"
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)
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func TestDefaultThrottle(t *testing.T) {
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oldRegister := registerCallbacks
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oldPublish := publish
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defer func() {
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registerCallbacks = oldRegister
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publish = oldPublish
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}()
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registerCallbacks = func(p *ThrottlePart) error {
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return nil
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}
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var muEventsPublished sync.Mutex
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eventsPublished := make(map[string][]byte)
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publish = func(client mqtt.Client, topic string, payload *[]byte) {
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muEventsPublished.Lock()
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defer muEventsPublished.Unlock()
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eventsPublished[topic] = *payload
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}
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throttleTopic := "topic/throttle"
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driveModeTopic := "topic/driveMode"
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rcThrottleTopic := "topic/rcThrottle"
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minValue := float32(0.56)
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p := NewPart(nil, throttleTopic, driveModeTopic, rcThrottleTopic, minValue, 1., 200)
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cases := []struct {
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driveMode events.DriveModeMessage
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rcThrottle events.ThrottleMessage
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expectedThrottle events.ThrottleMessage
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}{
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{events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0}},
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{events.DriveModeMessage{DriveMode: events.DriveMode_PILOT}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}, events.ThrottleMessage{Throttle: minValue, Confidence: 1.0}},
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{events.DriveModeMessage{DriveMode: events.DriveMode_PILOT}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}, events.ThrottleMessage{Throttle: minValue, Confidence: 1.0}},
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{events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}},
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{events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}},
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{events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.6, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.6, Confidence: 1.0}},
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}
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go p.Start()
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defer func() { close(p.cancel) }()
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for _, c := range cases {
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p.onDriveMode(nil, testtools.NewFakeMessageFromProtobuf(driveModeTopic, &c.driveMode))
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p.onRCThrottle(nil, testtools.NewFakeMessageFromProtobuf(rcThrottleTopic, &c.rcThrottle))
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time.Sleep(10 * time.Millisecond)
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for i := 3; i >= 0; i-- {
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var msg events.ThrottleMessage
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muEventsPublished.Lock()
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err := proto.Unmarshal(eventsPublished[throttleTopic], &msg)
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if err != nil {
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t.Errorf("unable to unmarshall response: %v", err)
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t.Fail()
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}
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muEventsPublished.Unlock()
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if msg.GetThrottle() != c.expectedThrottle.GetThrottle() {
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t.Errorf("bad msg value for mode %v: %v, wants %v", c.driveMode, msg.GetThrottle(), c.expectedThrottle.GetThrottle())
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}
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if msg.GetConfidence() != 1. {
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t.Errorf("bad throtlle confidence: %v, wants %v", msg.GetConfidence(), 1.)
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}
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time.Sleep(1 * time.Millisecond)
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}
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}
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}
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