303 lines
12 KiB
Go
303 lines
12 KiB
Go
package throttle
|
|
|
|
import (
|
|
"github.com/cyrilix/robocar-base/testtools"
|
|
"github.com/cyrilix/robocar-protobuf/go/events"
|
|
"github.com/cyrilix/robocar-throttle/pkg/brake"
|
|
"github.com/cyrilix/robocar-throttle/pkg/types"
|
|
mqtt "github.com/eclipse/paho.mqtt.golang"
|
|
"google.golang.org/protobuf/proto"
|
|
"sync"
|
|
"testing"
|
|
"time"
|
|
)
|
|
|
|
func TestDefaultThrottle(t *testing.T) {
|
|
oldRegister := registerCallbacks
|
|
oldPublish := publish
|
|
defer func() {
|
|
registerCallbacks = oldRegister
|
|
publish = oldPublish
|
|
}()
|
|
registerCallbacks = func(p *Controller) error {
|
|
return nil
|
|
}
|
|
|
|
var muEventsPublished sync.Mutex
|
|
eventsPublished := make(map[string][]byte)
|
|
publish = func(client mqtt.Client, topic string, payload []byte) {
|
|
muEventsPublished.Lock()
|
|
defer muEventsPublished.Unlock()
|
|
eventsPublished[topic] = payload
|
|
}
|
|
|
|
throttleTopic := "topic/throttle"
|
|
driveModeTopic := "topic/driveMode"
|
|
rcThrottleTopic := "topic/rcThrottle"
|
|
steeringTopic := "topic/rcThrottle"
|
|
throttleFeedbackTopic := "topic/feedback/throttle"
|
|
speedZoneTopic := "topic/speedZone"
|
|
|
|
p := New(nil, throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic, speedZoneTopic, 1., 200)
|
|
|
|
cases := []*struct {
|
|
name string
|
|
maxThrottle types.Throttle
|
|
driveMode events.DriveModeMessage
|
|
rcThrottle events.ThrottleMessage
|
|
expectedThrottle events.ThrottleMessage
|
|
}{
|
|
{"test1", 1., events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0}},
|
|
{"test2", 1., events.DriveModeMessage{DriveMode: events.DriveMode_PILOT}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}, events.ThrottleMessage{Throttle: 1.0, Confidence: 1.0}},
|
|
{"test3", 1., events.DriveModeMessage{DriveMode: events.DriveMode_PILOT}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}, events.ThrottleMessage{Throttle: 1.0, Confidence: 1.0}},
|
|
{"test4", 1., events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0}},
|
|
{"test5", 1., events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}},
|
|
{"test6", 1., events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.6, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.6, Confidence: 1.0}},
|
|
{"limit max throttle on user mode", 0.4, events.DriveModeMessage{DriveMode: events.DriveMode_USER}, events.ThrottleMessage{Throttle: 0.6, Confidence: 1.0}, events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0}},
|
|
}
|
|
|
|
go p.Start()
|
|
defer func() { close(p.cancel) }()
|
|
|
|
for _, c := range cases {
|
|
t.Run(c.name, func(t *testing.T) {
|
|
p.maxThrottle = c.maxThrottle
|
|
p.onDriveMode(nil, testtools.NewFakeMessageFromProtobuf(driveModeTopic, &c.driveMode))
|
|
p.onRCThrottle(nil, testtools.NewFakeMessageFromProtobuf(rcThrottleTopic, &c.rcThrottle))
|
|
|
|
time.Sleep(10 * time.Millisecond)
|
|
|
|
for i := 3; i >= 0; i-- {
|
|
|
|
var msg events.ThrottleMessage
|
|
muEventsPublished.Lock()
|
|
err := proto.Unmarshal(eventsPublished[throttleTopic], &msg)
|
|
if err != nil {
|
|
t.Errorf("unable to unmarshall response: %v", err)
|
|
t.Fail()
|
|
}
|
|
muEventsPublished.Unlock()
|
|
|
|
if msg.GetThrottle() != c.expectedThrottle.GetThrottle() {
|
|
t.Errorf("bad msg value for mode %v: %v, wants %v", c.driveMode.String(), msg.GetThrottle(), c.expectedThrottle.GetThrottle())
|
|
}
|
|
if msg.GetConfidence() != 1. {
|
|
t.Errorf("bad throtlle confidence: %v, wants %v", msg.GetConfidence(), 1.)
|
|
}
|
|
|
|
time.Sleep(1 * time.Millisecond)
|
|
}
|
|
})
|
|
}
|
|
}
|
|
func TestController_Start(t *testing.T) {
|
|
oldRegister := registerCallbacks
|
|
oldPublish := publish
|
|
defer func() {
|
|
registerCallbacks = oldRegister
|
|
publish = oldPublish
|
|
}()
|
|
registerCallbacks = func(p *Controller) error {
|
|
return nil
|
|
}
|
|
publishPilotFrequency := 10
|
|
waitPublish := sync.WaitGroup{}
|
|
var muEventsPublished sync.Mutex
|
|
eventsPublished := make(map[string][]byte)
|
|
publish = func(client mqtt.Client, topic string, payload []byte) {
|
|
muEventsPublished.Lock()
|
|
defer muEventsPublished.Unlock()
|
|
eventsPublished[topic] = payload
|
|
waitPublish.Done()
|
|
}
|
|
|
|
throttleTopic := "topic/throttle"
|
|
steeringTopic := "topic/steering"
|
|
driveModeTopic := "topic/driveMode"
|
|
rcThrottleTopic := "topic/rcThrottle"
|
|
throttleFeedbackTopic := "topic/feedback/throttle"
|
|
speedZoneTopic := "topic/speedZone"
|
|
|
|
type fields struct {
|
|
driveMode events.DriveMode
|
|
min, max types.Throttle
|
|
publishPilotFrequency int
|
|
brakeCtl brake.Controller
|
|
}
|
|
type msgEvents struct {
|
|
driveMode *events.DriveModeMessage
|
|
steering *events.SteeringMessage
|
|
rcThrottle *events.ThrottleMessage
|
|
throttleFeedback *events.ThrottleMessage
|
|
}
|
|
|
|
tests := []struct {
|
|
name string
|
|
fields fields
|
|
msgEvents msgEvents
|
|
want *events.ThrottleMessage
|
|
wantErr bool
|
|
}{
|
|
{
|
|
name: "On user drive mode, throttle from rc",
|
|
fields: fields{
|
|
driveMode: events.DriveMode_USER,
|
|
max: 0.8,
|
|
min: 0.3,
|
|
publishPilotFrequency: publishPilotFrequency,
|
|
brakeCtl: &brake.DisabledController{},
|
|
},
|
|
msgEvents: msgEvents{
|
|
driveMode: &events.DriveModeMessage{DriveMode: events.DriveMode_USER},
|
|
steering: &events.SteeringMessage{Steering: 0.0, Confidence: 1.0},
|
|
rcThrottle: &events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0},
|
|
throttleFeedback: &events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0},
|
|
},
|
|
want: &events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0},
|
|
},
|
|
{
|
|
name: "On user drive mode, limit throttle to max allowed value",
|
|
fields: fields{
|
|
driveMode: events.DriveMode_USER,
|
|
max: 0.8,
|
|
min: 0.3,
|
|
publishPilotFrequency: publishPilotFrequency,
|
|
brakeCtl: &brake.DisabledController{},
|
|
},
|
|
msgEvents: msgEvents{
|
|
driveMode: &events.DriveModeMessage{DriveMode: events.DriveMode_USER},
|
|
steering: &events.SteeringMessage{Steering: 0.0, Confidence: 1.0},
|
|
rcThrottle: &events.ThrottleMessage{Throttle: 0.9, Confidence: 1.0},
|
|
throttleFeedback: &events.ThrottleMessage{Throttle: 0.8, Confidence: 1.0},
|
|
},
|
|
want: &events.ThrottleMessage{Throttle: 0.8, Confidence: 1.0},
|
|
},
|
|
{
|
|
name: "On user drive mode, throttle can be < to min allowed value",
|
|
fields: fields{
|
|
driveMode: events.DriveMode_USER,
|
|
max: 0.8,
|
|
min: 0.3,
|
|
publishPilotFrequency: publishPilotFrequency,
|
|
brakeCtl: &brake.DisabledController{},
|
|
},
|
|
msgEvents: msgEvents{
|
|
driveMode: &events.DriveModeMessage{DriveMode: events.DriveMode_USER},
|
|
steering: &events.SteeringMessage{Steering: 0.0, Confidence: 1.0},
|
|
rcThrottle: &events.ThrottleMessage{Throttle: 0.1, Confidence: 1.0},
|
|
throttleFeedback: &events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0},
|
|
},
|
|
want: &events.ThrottleMessage{Throttle: 0.1, Confidence: 1.0},
|
|
},
|
|
{
|
|
name: "On pilot drive mode and straight steering, use max throttle allowed",
|
|
fields: fields{
|
|
driveMode: events.DriveMode_PILOT,
|
|
max: 0.8,
|
|
min: 0.3,
|
|
publishPilotFrequency: publishPilotFrequency,
|
|
brakeCtl: &brake.DisabledController{},
|
|
},
|
|
msgEvents: msgEvents{
|
|
driveMode: &events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
|
|
steering: &events.SteeringMessage{Steering: 0.0, Confidence: 1.0},
|
|
rcThrottle: &events.ThrottleMessage{Throttle: 0.5, Confidence: 1.0},
|
|
throttleFeedback: &events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0},
|
|
},
|
|
want: &events.ThrottleMessage{Throttle: 0.8, Confidence: 1.0},
|
|
},
|
|
{
|
|
name: "On pilot drive mode and on left steering, use min throttle allowed",
|
|
fields: fields{
|
|
driveMode: events.DriveMode_PILOT,
|
|
max: 0.8,
|
|
min: 0.3,
|
|
publishPilotFrequency: publishPilotFrequency,
|
|
brakeCtl: &brake.DisabledController{},
|
|
},
|
|
msgEvents: msgEvents{
|
|
driveMode: &events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
|
|
steering: &events.SteeringMessage{Steering: -1.0, Confidence: 1.0},
|
|
rcThrottle: &events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0},
|
|
throttleFeedback: &events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0},
|
|
},
|
|
want: &events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0},
|
|
},
|
|
{
|
|
name: "On pilot drive mode and on right steering, use min throttle allowed",
|
|
fields: fields{
|
|
driveMode: events.DriveMode_PILOT,
|
|
max: 0.8,
|
|
min: 0.3,
|
|
publishPilotFrequency: publishPilotFrequency,
|
|
brakeCtl: &brake.DisabledController{},
|
|
},
|
|
msgEvents: msgEvents{
|
|
driveMode: &events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
|
|
steering: &events.SteeringMessage{Steering: 1.0, Confidence: 1.0},
|
|
rcThrottle: &events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0},
|
|
throttleFeedback: &events.ThrottleMessage{Throttle: 0.4, Confidence: 1.0},
|
|
},
|
|
want: &events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0},
|
|
},
|
|
{
|
|
name: "On pilot drive mode, should brake on brutal change",
|
|
fields: fields{
|
|
driveMode: events.DriveMode_PILOT,
|
|
max: 1.0,
|
|
min: 0.3,
|
|
publishPilotFrequency: publishPilotFrequency,
|
|
brakeCtl: brake.NewCustomController(),
|
|
},
|
|
msgEvents: msgEvents{
|
|
driveMode: &events.DriveModeMessage{DriveMode: events.DriveMode_PILOT},
|
|
steering: &events.SteeringMessage{Steering: -1.0, Confidence: 1.0},
|
|
rcThrottle: &events.ThrottleMessage{Throttle: 0.3, Confidence: 1.0},
|
|
throttleFeedback: &events.ThrottleMessage{Throttle: 1.0, Confidence: 1.0},
|
|
},
|
|
want: &events.ThrottleMessage{Throttle: -1.0, Confidence: 1.0},
|
|
},
|
|
}
|
|
|
|
for _, tt := range tests {
|
|
t.Run(tt.name, func(t *testing.T) {
|
|
c := New(nil,
|
|
throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic,
|
|
speedZoneTopic, tt.fields.max,
|
|
tt.fields.publishPilotFrequency,
|
|
WithThrottleProcessor(&SteeringProcessor{
|
|
minThrottle: tt.fields.min,
|
|
maxThrottle: tt.fields.max,
|
|
}),
|
|
WithBrakeController(tt.fields.brakeCtl),
|
|
)
|
|
|
|
go c.Start()
|
|
defer func() { close(c.cancel) }()
|
|
time.Sleep(1 * time.Millisecond)
|
|
|
|
// Publish events and wait generation of new steering message
|
|
waitPublish.Add(1)
|
|
c.onDriveMode(nil, testtools.NewFakeMessageFromProtobuf(driveModeTopic, tt.msgEvents.driveMode))
|
|
c.onRCThrottle(nil, testtools.NewFakeMessageFromProtobuf(rcThrottleTopic, tt.msgEvents.rcThrottle))
|
|
c.onSteering(nil, testtools.NewFakeMessageFromProtobuf(steeringTopic, tt.msgEvents.steering))
|
|
c.onThrottleFeedback(nil, testtools.NewFakeMessageFromProtobuf(throttleFeedbackTopic, tt.msgEvents.throttleFeedback))
|
|
waitPublish.Wait()
|
|
|
|
var msg events.ThrottleMessage
|
|
muEventsPublished.Lock()
|
|
err := proto.Unmarshal(eventsPublished[throttleTopic], &msg)
|
|
if err != nil {
|
|
t.Errorf("unable to unmarshall response: %v", err)
|
|
t.Fail()
|
|
}
|
|
muEventsPublished.Unlock()
|
|
|
|
if msg.GetThrottle() != tt.want.GetThrottle() {
|
|
t.Errorf("bad msg value for mode %v: %v, wants %v", c.driveMode.String(), msg.GetThrottle(), tt.want.GetThrottle())
|
|
}
|
|
|
|
})
|
|
}
|
|
}
|