Refactor kafka to pure Go (franz-go), fix DBC stubs, update Dockerfile
This commit is contained in:
Chris Rai
306
pkg/can-go/internal/generate/compile_test.go
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306
pkg/can-go/internal/generate/compile_test.go
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@@ -0,0 +1,306 @@
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package generate
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import (
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"io/ioutil"
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"testing"
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"time"
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"github.com/fiskerinc/cloud-services/pkg/can-go/pkg/descriptor"
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examplecan "github.com/fiskerinc/cloud-services/pkg/can-go/testdata/gen/go/example"
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"gotest.tools/v3/assert"
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)
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func TestCompile_ExampleDBC(t *testing.T) {
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finish := runTestInDir(t, "../..")
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defer finish()
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const exampleDBCFile = "testdata/dbc/example/example.dbc"
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exampleDatabase := &descriptor.Database{
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SourceFile: exampleDBCFile,
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Version: "",
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Nodes: []*descriptor.Node{
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{
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Name: "DBG",
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},
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{
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Name: "DRIVER",
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Description: "The driver controller driving the car",
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},
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{
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Name: "IO",
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},
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{
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Name: "MOTOR",
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Description: "The motor controller of the car",
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},
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{
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Name: "SENSOR",
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Description: "The sensor controller of the car",
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},
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},
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}
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exampleDatabase.Messages[1] = &descriptor.Message{
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ID: 1,
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Name: "EmptyMessage",
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SenderNode: "DBG",
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}
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exampleDatabase.Messages[100] = &descriptor.Message{
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ID: 100,
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Name: "DriverHeartbeat",
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Length: 1,
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SenderNode: "DRIVER",
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Description: "Sync message used to synchronize the controllers",
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SendType: descriptor.SendTypeCyclic,
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CycleTime: time.Second,
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Signals: []*descriptor.Signal{
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{
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Name: "Command",
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Start: 0,
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Length: 8,
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Scale: 1,
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ReceiverNodes: []string{"SENSOR", "MOTOR"},
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ValueDescriptions: []*descriptor.ValueDescription{
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{Value: 0, Description: "None"},
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{Value: 1, Description: "Sync"},
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{Value: 2, Description: "Reboot"},
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},
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},
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},
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}
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exampleDatabase.Messages[101] = &descriptor.Message{
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ID: 101,
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Name: "MotorCommand",
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Length: 1,
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SenderNode: "DRIVER",
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SendType: descriptor.SendTypeCyclic,
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CycleTime: 100 * time.Millisecond,
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Signals: []*descriptor.Signal{
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{
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Name: "Steer",
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Start: 0,
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Length: 4,
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IsSigned: true,
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Scale: 1,
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Offset: -5,
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Min: -5,
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Max: 5,
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ReceiverNodes: []string{"MOTOR"},
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},
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{
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Name: "Drive",
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Start: 4,
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Length: 4,
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Scale: 1,
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Max: 9,
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ReceiverNodes: []string{"MOTOR"},
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},
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},
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}
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exampleDatabase.Messages[200] = &descriptor.Message{
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ID: 200,
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Name: "SensorSonars",
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Length: 8,
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SenderNode: "SENSOR",
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SendType: descriptor.SendTypeCyclic,
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CycleTime: 100 * time.Millisecond,
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Signals: []*descriptor.Signal{
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{
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Name: "Mux",
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IsMultiplexer: true,
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Start: 0,
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Length: 4,
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Scale: 1,
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ReceiverNodes: []string{"DRIVER", "IO"},
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},
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{
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Name: "ErrCount",
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Start: 4,
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Length: 12,
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Scale: 1,
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ReceiverNodes: []string{"DRIVER", "IO"},
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},
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{
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Name: "Left",
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IsMultiplexed: true,
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MultiplexerValue: 0,
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Start: 16,
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Length: 12,
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Scale: 0.1,
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ReceiverNodes: []string{"DRIVER", "IO"},
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},
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{
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Name: "NoFiltLeft",
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IsMultiplexed: true,
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MultiplexerValue: 1,
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Start: 16,
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Length: 12,
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Scale: 0.1,
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ReceiverNodes: []string{"DBG"},
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},
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{
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Name: "Middle",
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IsMultiplexed: true,
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MultiplexerValue: 0,
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Start: 28,
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Length: 12,
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Scale: 0.1,
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ReceiverNodes: []string{"DRIVER", "IO"},
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},
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{
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Name: "NoFiltMiddle",
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IsMultiplexed: true,
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MultiplexerValue: 1,
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Start: 28,
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Length: 12,
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Scale: 0.1,
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ReceiverNodes: []string{"DBG"},
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},
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{
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Name: "Right",
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IsMultiplexed: true,
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MultiplexerValue: 0,
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Start: 40,
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Length: 12,
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Scale: 0.1,
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ReceiverNodes: []string{"DRIVER", "IO"},
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},
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{
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Name: "NoFiltRight",
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IsMultiplexed: true,
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MultiplexerValue: 1,
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Start: 40,
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Length: 12,
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Scale: 0.1,
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ReceiverNodes: []string{"DBG"},
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},
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{
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Name: "Rear",
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IsMultiplexed: true,
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MultiplexerValue: 0,
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Start: 52,
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Length: 12,
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Scale: 0.1,
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ReceiverNodes: []string{"DRIVER", "IO"},
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},
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{
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Name: "NoFiltRear",
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IsMultiplexed: true,
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MultiplexerValue: 1,
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Start: 52,
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Length: 12,
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Scale: 0.1,
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ReceiverNodes: []string{"DBG"},
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},
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},
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}
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exampleDatabase.Messages[400] = &descriptor.Message{
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ID: 400,
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Name: "MotorStatus",
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Length: 3,
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SenderNode: "MOTOR",
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SendType: descriptor.SendTypeCyclic,
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CycleTime: 100 * time.Millisecond,
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Signals: []*descriptor.Signal{
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{
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Name: "WheelError",
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Start: 0,
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Length: 1,
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Scale: 1,
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ReceiverNodes: []string{"DRIVER", "IO"},
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},
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{
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Name: "SpeedKph",
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Start: 8,
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Length: 16,
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Scale: 0.001,
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Unit: "km/h",
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ReceiverNodes: []string{"DRIVER", "IO"},
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},
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},
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}
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exampleDatabase.Messages[500] = &descriptor.Message{
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ID: 500,
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Name: "IODebug",
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Length: 6,
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SenderNode: "IO",
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SendType: descriptor.SendTypeEvent,
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Signals: []*descriptor.Signal{
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{
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Name: "TestUnsigned",
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Start: 0,
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Length: 8,
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Scale: 1,
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ReceiverNodes: []string{"DBG"},
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},
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{
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Name: "TestEnum",
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Start: 8,
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Length: 6,
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Scale: 1,
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ReceiverNodes: []string{"DBG"},
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DefaultValue: int(examplecan.IODebug_TestEnum_Two),
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ValueDescriptions: []*descriptor.ValueDescription{
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{Value: 1, Description: "One"},
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{Value: 2, Description: "Two"},
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},
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},
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{
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Name: "TestSigned",
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Start: 16,
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Length: 8,
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IsSigned: true,
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Scale: 1,
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ReceiverNodes: []string{"DBG"},
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},
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{
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Name: "TestFloat",
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Start: 24,
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Length: 8,
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Scale: 0.5,
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ReceiverNodes: []string{"DBG"},
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},
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{
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Name: "TestBoolEnum",
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Start: 32,
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Length: 1,
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Scale: 1,
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ReceiverNodes: []string{"DBG"},
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ValueDescriptions: []*descriptor.ValueDescription{
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{Value: 0, Description: "Zero"},
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{Value: 1, Description: "One"},
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},
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},
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{
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Name: "TestScaledEnum",
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Start: 40,
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Length: 2,
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Scale: 2,
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Min: 0,
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Max: 6,
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ReceiverNodes: []string{"DBG"},
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ValueDescriptions: []*descriptor.ValueDescription{
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{Value: 0, Description: "Zero"},
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{Value: 1, Description: "Two"},
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{Value: 2, Description: "Four"},
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{Value: 3, Description: "Six"},
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},
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},
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},
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}
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input, err := ioutil.ReadFile(exampleDBCFile)
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assert.NilError(t, err)
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result, err := Compile(exampleDBCFile, input)
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if err != nil {
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t.Fatal(err)
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}
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if len(result.Warnings) > 0 {
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t.Fatal(result.Warnings)
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}
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assert.DeepEqual(t, exampleDatabase, result.Database)
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}
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