74 lines
2.4 KiB
Go
74 lines
2.4 KiB
Go
package part
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import (
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"encoding/json"
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"github.com/cyrilix/robocar-base/mqttdevice"
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"github.com/cyrilix/robocar-base/testtools"
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"github.com/cyrilix/robocar-base/types"
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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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defer func(){
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registerCallbacks = oldRegister
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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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throttleTopic := "topic/throttle"
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driveModeTopic := "topic/driveMode"
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rcThrottleTopic := "topic/rcThrottle"
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minValue := 0.56
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pub := testtools.NewFakePublisher()
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p := NewPart(nil, pub, throttleTopic, driveModeTopic, rcThrottleTopic, minValue, 1., 200)
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cases := []struct {
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driveMode string
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rcThrottle types.Throttle
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expectedThrottle types.Throttle
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}{
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{types.ToString(types.DriveModeUser), types.Throttle{Value: 0.3, Confidence: 1.0},types.Throttle{Value: 0.3, Confidence: 1.0}},
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{types.ToString(types.DriveModePilot), types.Throttle{Value: 0.5, Confidence: 1.0}, types.Throttle{Value: minValue, Confidence: 1.0}},
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{types.ToString(types.DriveModePilot), types.Throttle{Value: 0.4, Confidence: 1.0}, types.Throttle{Value: minValue, Confidence: 1.0}},
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{types.ToString(types.DriveModeUser), types.Throttle{Value: 0.5, Confidence: 1.0}, types.Throttle{Value: 0.5, Confidence: 1.0}},
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{types.ToString(types.DriveModeUser), types.Throttle{Value: 0.4, Confidence: 1.0}, types.Throttle{Value: 0.4, Confidence: 1.0}},
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{types.ToString(types.DriveModeUser), types.Throttle{Value: 0.6, Confidence: 1.0}, types.Throttle{Value: 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.NewFakeMessage(driveModeTopic, mqttdevice.NewMqttValue(c.driveMode)))
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p.onRCThrottle(nil, testtools.NewFakeMessage(rcThrottleTopic, mqttdevice.NewMqttValue(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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mqttValue := pub.PublishedEvent(throttleTopic)
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var throttle types.Throttle
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err := json.Unmarshal(mqttValue, &throttle)
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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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if throttle != c.expectedThrottle {
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t.Errorf("bad throttle value for mode %v: %v, wants %v", c.driveMode, throttle.Value, c.expectedThrottle)
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}
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if throttle.Confidence != 1. {
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t.Errorf("bad throtlle confidence: %v, wants %v", throttle.Confidence, 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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