93 lines
2.0 KiB
Go
93 lines
2.0 KiB
Go
package brake
|
|
|
|
import (
|
|
"github.com/cyrilix/robocar-throttle/pkg/types"
|
|
"testing"
|
|
)
|
|
|
|
func TestController_AdjustThrottle(t *testing.T) {
|
|
type fields struct {
|
|
realThrottle types.Throttle
|
|
}
|
|
type args struct {
|
|
targetThrottle types.Throttle
|
|
}
|
|
tests := []struct {
|
|
name string
|
|
fields fields
|
|
args args
|
|
want types.Throttle
|
|
}{
|
|
{
|
|
name: "target same as current throttle",
|
|
fields: fields{realThrottle: 0.2},
|
|
args: args{targetThrottle: 0.2},
|
|
want: 0.2,
|
|
},
|
|
{
|
|
name: "target > as current throttle",
|
|
fields: fields{realThrottle: 0.2},
|
|
args: args{targetThrottle: 0.3},
|
|
want: 0.3,
|
|
},
|
|
{
|
|
name: "target >> as current throttle",
|
|
fields: fields{realThrottle: 0.2},
|
|
args: args{targetThrottle: 0.5},
|
|
want: 0.5,
|
|
},
|
|
{
|
|
name: "target < as current throttle",
|
|
fields: fields{realThrottle: 0.8},
|
|
args: args{targetThrottle: 0.7},
|
|
want: -0.1,
|
|
},
|
|
{
|
|
name: "target << as current throttle",
|
|
fields: fields{realThrottle: 0.8},
|
|
args: args{targetThrottle: 0.5},
|
|
want: -0.5,
|
|
},
|
|
{
|
|
name: "target <<< as current throttle",
|
|
fields: fields{realThrottle: 0.8},
|
|
args: args{targetThrottle: 0.2},
|
|
want: -1.,
|
|
},
|
|
}
|
|
for _, tt := range tests {
|
|
t.Run(tt.name, func(t *testing.T) {
|
|
b := &CustomController{cfg: NewConfig()}
|
|
b.SetRealThrottle(tt.fields.realThrottle)
|
|
if got := b.AdjustThrottle(tt.args.targetThrottle); got != tt.want {
|
|
t.Errorf("AdjustThrottle() = %v, want %v", got, tt.want)
|
|
}
|
|
})
|
|
}
|
|
}
|
|
|
|
func TestDisabledController_AdjustThrottle(t *testing.T) {
|
|
type args struct {
|
|
targetThrottle types.Throttle
|
|
}
|
|
tests := []struct {
|
|
name string
|
|
args args
|
|
want types.Throttle
|
|
}{
|
|
{
|
|
name: "doesn't modify value",
|
|
args: args{targetThrottle: 0.5},
|
|
want: 0.5,
|
|
},
|
|
}
|
|
for _, tt := range tests {
|
|
t.Run(tt.name, func(t *testing.T) {
|
|
d := &DisabledController{}
|
|
if got := d.AdjustThrottle(tt.args.targetThrottle); got != tt.want {
|
|
t.Errorf("AdjustThrottle() = %v, want %v", got, tt.want)
|
|
}
|
|
})
|
|
}
|
|
}
|