415 lines
10 KiB
Go
415 lines
10 KiB
Go
package throttle
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import (
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"github.com/cyrilix/robocar-protobuf/go/events"
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"github.com/cyrilix/robocar-throttle/pkg/types"
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"os"
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"path"
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"reflect"
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"testing"
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)
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func TestSteeringProcessor_Process(t *testing.T) {
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type fields struct {
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minThrottle types.Throttle
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maxThrottle types.Throttle
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}
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type args struct {
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steering types.Steering
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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: "steering straight",
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fields: fields{
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minThrottle: 0.2,
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maxThrottle: 0.5,
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},
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args: args{
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steering: 0.,
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},
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want: 0.5,
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},
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{
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name: "steering full left should return min throttle",
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fields: fields{
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minThrottle: 0.2,
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maxThrottle: 0.5,
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},
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args: args{
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steering: -1.,
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},
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want: 0.2,
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},
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{
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name: "steering full right should return min throttle",
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fields: fields{
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minThrottle: 0.2,
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maxThrottle: 0.5,
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},
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args: args{
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steering: 1.,
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},
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want: 0.2,
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},
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{
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name: "steering mid-left should return intermediate throttle",
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fields: fields{
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minThrottle: 0.3,
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maxThrottle: 0.5,
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},
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args: args{
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steering: -0.5,
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},
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want: 0.4,
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},
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{
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name: "steering mid-right should return intermediate throttle",
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fields: fields{
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minThrottle: 0.3,
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maxThrottle: 0.5,
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},
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args: args{
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steering: 0.5,
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},
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want: 0.4,
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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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sp := &SteeringProcessor{
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minThrottle: tt.fields.minThrottle,
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maxThrottle: tt.fields.maxThrottle,
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}
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if got := sp.Process(tt.args.steering); got != tt.want {
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t.Errorf("Process() = %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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func TestSpeedZoneProcessor_Process(t *testing.T) {
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type fields struct {
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slowThrottle types.Throttle
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normalThrottle types.Throttle
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fastThrottle types.Throttle
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speedZone events.SpeedZone
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}
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type args struct {
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steering types.Steering
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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: "steering straight, undefined zone",
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fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_SLOW},
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args: args{steering: 0.},
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want: 0.2,
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},
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{
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name: "steering straight, slow zone",
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fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_SLOW},
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args: args{steering: 0.},
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want: 0.2,
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},
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{
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name: "moderate left, slow speed",
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fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_SLOW},
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args: args{steering: -0.5},
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want: 0.2,
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},
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{
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name: "moderate right, slow speed",
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fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_SLOW},
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args: args{steering: 0.5},
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want: 0.2,
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},
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{
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name: "full left, slow speed",
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fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_SLOW},
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args: args{steering: -0.95},
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want: 0.2,
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},
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{
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name: "full right, slow speed",
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fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_SLOW},
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args: args{steering: 0.95},
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want: 0.2,
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},
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{
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name: "steering straight, normal zone",
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fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_NORMAL},
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args: args{steering: 0.},
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want: 0.5,
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},
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{
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name: "moderate left, normal speed",
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fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_NORMAL},
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args: args{steering: -0.5},
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want: 0.5,
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},
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{
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name: "moderate right, normal speed",
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fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_NORMAL},
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args: args{steering: 0.5},
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want: 0.5,
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},
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{
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name: "full left, normal speed",
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fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_NORMAL},
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args: args{steering: -0.95},
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want: 0.2,
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},
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{
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name: "full right, normal speed",
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fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_NORMAL},
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args: args{steering: 0.95},
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want: 0.2,
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},
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{
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name: "steering straight, fast zone",
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fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_FAST},
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args: args{steering: 0.},
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want: 0.8,
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},
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{
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name: "moderate left, fast speed",
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fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_FAST},
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args: args{steering: -0.5},
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want: 0.5,
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},
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{
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name: "moderate right, fast speed",
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fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_FAST},
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args: args{steering: 0.5},
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want: 0.5,
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},
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{
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name: "full left, fast speed",
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fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_FAST},
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args: args{steering: -0.95},
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want: 0.2,
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},
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{
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name: "full right, fast speed",
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fields: fields{slowThrottle: 0.2, normalThrottle: 0.5, fastThrottle: 0.8, speedZone: events.SpeedZone_FAST},
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args: args{steering: 0.95},
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want: 0.2,
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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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sp := &SpeedZoneProcessor{
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slowThrottle: tt.fields.slowThrottle,
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normalThrottle: tt.fields.normalThrottle,
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fastThrottle: tt.fields.fastThrottle,
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moderateSteering: 0.4,
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fullSteering: 0.8,
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}
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sp.SetSpeedZone(tt.fields.speedZone)
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if got := sp.Process(tt.args.steering); got != tt.want {
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t.Errorf("Process() = %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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func TestConfig_ValueOf(t *testing.T) {
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type fields struct {
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SteeringValue []types.Steering
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Data []types.Throttle
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}
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type args struct {
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s types.Steering
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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: "Nil steering",
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fields: fields{[]types.Steering{0.0, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.1}},
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args: args{0.0},
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want: 0.9,
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},
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{
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name: "Nil steering < min config",
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fields: fields{[]types.Steering{0.2, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.3}},
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args: args{0.1},
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want: 0.9,
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},
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{
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name: "No nil steering",
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fields: fields{[]types.Steering{0.0, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.1}},
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args: args{0.2},
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want: 0.9,
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},
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{
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name: "Intermediate steering",
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fields: fields{[]types.Steering{0.0, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.1}},
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args: args{0.5},
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want: 0.6,
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},
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{
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name: "Max steering",
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fields: fields{[]types.Steering{0.0, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.1}},
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args: args{1.0},
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want: 0.1,
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},
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{
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name: "Over steering",
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fields: fields{[]types.Steering{0.0, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.1}},
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args: args{1.1},
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want: 0.1,
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},
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{
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name: "Negative steering < min config",
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fields: fields{[]types.Steering{0.2, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.3}},
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args: args{-0.1},
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want: 0.9,
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},
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{
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name: "Negative steering",
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fields: fields{[]types.Steering{0.0, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.1}},
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args: args{-0.2},
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want: 0.9,
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},
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{
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name: "Negative Intermediate steering",
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fields: fields{[]types.Steering{0.0, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.1}},
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args: args{-0.5},
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want: 0.6,
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},
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{
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name: "Minimum steering",
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fields: fields{[]types.Steering{0.0, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.1}},
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args: args{-1.0},
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want: 0.1,
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},
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{
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name: "Negative Over steering",
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fields: fields{[]types.Steering{0.0, 0.5, 1.0}, []types.Throttle{0.9, 0.6, 0.1}},
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args: args{-1.1},
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want: 0.1,
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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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tc := &Config{
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SteeringValues: tt.fields.SteeringValue,
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ThrottleSteps: tt.fields.Data,
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}
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if got := tc.ValueOf(tt.args.s); 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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func TestNewConfigFromJson(t *testing.T) {
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type args struct {
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configContent 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",
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args: args{
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configContent: `{
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"steering_values": [0.0, 0.5, 1.0],
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"throttle_steps": [0.9, 0.6, 0.1]
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}
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`,
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},
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want: &Config{
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SteeringValues: []types.Steering{0., 0.5, 1.},
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ThrottleSteps: []types.Throttle{0.9, 0.6, 0.1},
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},
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},
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{
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name: "invalid config",
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args: args{
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configContent: `{ "steering_values" }`,
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},
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want: &emptyConfig,
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wantErr: true,
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},
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{
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name: "empty config",
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args: args{
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configContent: `{
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"steering_values": [],
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"throttle_steps": []
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}`,
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},
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want: &emptyConfig,
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wantErr: true,
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},
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{
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name: "incoherent config",
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args: args{
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configContent: `{
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"steering_values": [0.0, 0.5, 1.0],
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"throttle_steps": [0.9, 0.1]
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}`,
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},
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want: &emptyConfig,
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wantErr: true,
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},
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{
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name: "steering in bad order",
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args: args{
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configContent: `{
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"steering_values": [0.0, 0.6, 0.5],
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"throttle_steps": [0.9, 0.5, 0.1]
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}`,
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},
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want: &emptyConfig,
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wantErr: true,
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},
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{
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name: "throttle in bad order",
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args: args{
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configContent: `{
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"steering_values": [0.0, 0.5, 0.9],
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"throttle_steps": [0.4, 0.5, 0.1]
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}`,
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},
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want: &emptyConfig,
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wantErr: true,
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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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configName := path.Join(t.TempDir(), "config.json")
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err := os.WriteFile(configName, []byte(tt.args.configContent), 0644)
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if err != nil {
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t.Errorf("unable to create test config: %v", err)
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}
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got, err := NewConfigFromJson(configName)
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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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})
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}
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}
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