Refactor kafka to pure Go (franz-go), fix DBC stubs, update Dockerfile
This commit is contained in:
Chris Rai
415
pkg/can-go/tests/decode_test.go
Normal file
415
pkg/can-go/tests/decode_test.go
Normal file
@@ -0,0 +1,415 @@
|
||||
package decode_test
|
||||
|
||||
import (
|
||||
"fmt"
|
||||
"testing"
|
||||
|
||||
can "github.com/fiskerinc/cloud-services/pkg/can-go"
|
||||
"github.com/fiskerinc/cloud-services/pkg/can-go/internal/generate"
|
||||
"github.com/fiskerinc/cloud-services/pkg/can-go/pkg/descriptor"
|
||||
)
|
||||
|
||||
type signal struct {
|
||||
name string
|
||||
value float64
|
||||
description string
|
||||
unit string
|
||||
}
|
||||
|
||||
func getTestDatabase() descriptor.Database {
|
||||
dbc := []byte(`
|
||||
VERSION ""
|
||||
NS_ :
|
||||
BS_:
|
||||
BU_: DBG DRIVER IO MOTOR SENSOR
|
||||
|
||||
BO_ 1 EmptyMessage: 0 DBG
|
||||
BO_ 100 DriverHeartbeat: 1 DRIVER
|
||||
SG_ Command : 0|8@1+ (1,0) [0|0] "" SENSOR,MOTOR
|
||||
BO_ 101 MotorCommand: 1 DRIVER
|
||||
SG_ Steer : 0|4@1- (1,-5) [-5|5] "" MOTOR
|
||||
SG_ Drive : 4|4@1+ (1,0) [0|9] "" MOTOR
|
||||
BO_ 400 MotorStatus: 3 MOTOR
|
||||
SG_ WheelError : 0|1@1+ (1,0) [0|0] "" DRIVER,IO
|
||||
SG_ SpeedKph : 8|16@1+ (0.001,0) [0|0] "km/h" DRIVER,IO
|
||||
|
||||
BO_ 200 SensorSonars: 8 SENSOR
|
||||
SG_ Mux M : 0|4@1+ (1,0) [0|0] "" DRIVER,IO
|
||||
SG_ ErrCount : 4|12@1+ (1,0) [0|0] "" DRIVER,IO
|
||||
SG_ Left m0 : 16|12@1+ (0.1,0) [0|0] "" DRIVER,IO
|
||||
SG_ Middle m0 : 28|12@1+ (0.1,0) [0|0] "" DRIVER,IO
|
||||
SG_ Right m0 : 40|12@1+ (0.1,0) [0|0] "" DRIVER,IO
|
||||
SG_ Rear m0 : 52|12@1+ (0.1,0) [0|0] "" DRIVER,IO
|
||||
SG_ NoFiltLeft m1 : 16|12@1+ (0.1,0) [0|0] "" DBG
|
||||
SG_ NoFiltMiddle m1 : 28|12@1+ (0.1,0) [0|0] "" DBG
|
||||
SG_ NoFiltRight m1 : 40|12@1+ (0.1,0) [0|0] "" DBG
|
||||
SG_ NoFiltRear m1 : 52|12@1+ (0.1,0) [0|0] "" DBG
|
||||
|
||||
BO_ 500 IODebug: 6 IO
|
||||
SG_ TestUnsigned : 0|8@1+ (1,0) [0|0] "" DBG
|
||||
SG_ TestEnum : 8|6@1+ (1,0) [0|0] "" DBG
|
||||
SG_ TestSigned : 16|8@1- (1,0) [0|0] "" DBG
|
||||
SG_ TestFloat : 24|8@1+ (0.5,0) [0|0] "" DBG
|
||||
SG_ TestBoolEnum : 32|1@1+ (1,0) [0|0] "" DBG
|
||||
SG_ TestScaledEnum : 40|2@1+ (2,0) [0|6] "" DBG
|
||||
|
||||
BO_ 1530 DisconnectState: 14 MOTOR
|
||||
SG_ LockCountRearRight : 91|20@0+ (1,0) [0|1048575] "" IO
|
||||
SG_ DisconnectStateRearRight : 95|4@0+ (1,0) [0|5] "" IO
|
||||
SG_ CurrentRearRight : 79|16@0+ (1,0) [0|65535] "" IO
|
||||
SG_ DisconnectStateRearRightTarget : 64|1@0+ (1,0) [0|1] "" IO
|
||||
SG_ TargetSpeedRearRight : 63|15@0+ (0.125,-2048) [-2048|2047.875] "rad/s" IO
|
||||
SG_ LockCountRearLeft : 35|20@0+ (1,0) [0|1048575] "" IO
|
||||
SG_ DisconnectStateRearLeft : 39|4@0+ (1,0) [0|5] "" IO
|
||||
SG_ CurrentRearLeft : 23|16@0+ (1,0) [0|65535] "" IO
|
||||
SG_ DisconnectStateRearLeftTarget : 8|1@0+ (1,0) [0|1] "" IO
|
||||
SG_ TargetSpeedRearLeft : 7|15@0+ (0.125,-2048) [-2048|2047.875] "rad/s" IO
|
||||
|
||||
BO_ 1927 EvaporatorVariables: 14 SENSOR
|
||||
SG_ EvaporatorAirTempIn : 96|8@0+ (0.4,-20) [-19.6|82.4] "degC" IO
|
||||
SG_ CompressorSpeedActual : 80|16@0+ (1,-1) [0|8600] "RPM" IO
|
||||
SG_ FBTargetCompressorSpeed : 64|16@0+ (1,-8600) [-8599|8600] "RPM" IO
|
||||
SG_ FFTargetCompressorSpeed : 48|16@0+ (1,-1) [0|8600] "RPM" IO
|
||||
SG_ FBTargetSuctionPressure : 32|16@0+ (0.05,0) [0.05|3276.8] "kPa" IO
|
||||
SG_ FFTargetSuctionPressure : 16|16@0+ (0.05,0) [0.05|3276.8] "kPa" IO
|
||||
SG_ ChillerCoolantOutTempTarget : 8|8@0+ (0.4,-20) [-19.6|82.4] "degC" IO
|
||||
SG_ EvaporatorAirOutTempTarget : 0|8@0+ (0.4,-20) [-19.6|82.4] "degC" IO
|
||||
|
||||
EV_ BrakeEngaged: 0 [0|1] "" 0 10 DUMMY_NODE_VECTOR0 Vector__XXX;
|
||||
EV_ Torque: 1 [0|30000] "mNm" 500 16 DUMMY_NODE_VECTOR0 Vector__XXX;
|
||||
CM_ EV_ BrakeEngaged "Brake fully engaged";
|
||||
CM_ BU_ DRIVER "The driver controller driving the car";
|
||||
CM_ BU_ MOTOR "The motor controller of the car";
|
||||
CM_ BU_ SENSOR "The sensor controller of the car";
|
||||
CM_ BO_ 100 "Sync message used to synchronize the controllers";
|
||||
|
||||
BA_DEF_ "BusType" STRING ;
|
||||
BA_DEF_ BO_ "GenMsgSendType" ENUM "None","Cyclic","OnEvent";
|
||||
BA_DEF_ BO_ "GenMsgCycleTime" INT 0 0;
|
||||
BA_DEF_ SG_ "FieldType" STRING ;
|
||||
BA_DEF_ SG_ "GenSigStartValue" INT 0 10000;
|
||||
BA_DEF_DEF_ "BusType" "CAN";
|
||||
BA_DEF_DEF_ "FieldType" "";
|
||||
BA_DEF_DEF_ "GenMsgCycleTime" 0;
|
||||
BA_DEF_DEF_ "GenSigStartValue" 0;
|
||||
|
||||
BA_ "GenMsgSendType" BO_ 1 0;
|
||||
BA_ "GenMsgSendType" BO_ 100 1;
|
||||
BA_ "GenMsgCycleTime" BO_ 100 1000;
|
||||
BA_ "GenMsgSendType" BO_ 101 1;
|
||||
BA_ "GenMsgCycleTime" BO_ 101 100;
|
||||
BA_ "GenMsgSendType" BO_ 200 1;
|
||||
BA_ "GenMsgCycleTime" BO_ 200 100;
|
||||
BA_ "GenMsgSendType" BO_ 400 1;
|
||||
BA_ "GenMsgCycleTime" BO_ 400 100;
|
||||
BA_ "GenMsgSendType" BO_ 500 2;
|
||||
BA_ "FieldType" SG_ 100 Command "Command";
|
||||
BA_ "FieldType" SG_ 500 TestEnum "TestEnum";
|
||||
BA_ "GenSigStartValue" SG_ 500 TestEnum 2;
|
||||
|
||||
VAL_ 100 Command 2 "Reboot" 1 "Sync" 0 "None" ;
|
||||
VAL_ 500 TestEnum 2 "Two" 1 "One" ;
|
||||
VAL_ 500 TestScaledEnum 3 "Six" 2 "Four" 1 "Two" 0 "Zero" ;
|
||||
VAL_ 500 TestBoolEnum 1 "One" 0 "Zero" ;
|
||||
VAL_ 1530 DisconnectStateRearRight 0 "Undefined" 1 "Locked" 2 "Unlocked" 3 "Locking" 4 "Unlocking" 5 "Faulted" ;
|
||||
VAL_ 1530 DisconnectStateRearLeft 0 "Undefined" 1 "Locked" 2 "Unlocked" 3 "Locking" 4 "Unlocking" 5 "Faulted" ;
|
||||
|
||||
`)
|
||||
c, _ := generate.Compile("test.dbc", dbc)
|
||||
db := *c.Database
|
||||
return db
|
||||
}
|
||||
|
||||
func TestDecodeEvaporatorVariables(t *testing.T) {
|
||||
db := getTestDatabase()
|
||||
message, _ := db.Message(uint32(1927))
|
||||
|
||||
canDataHexString := "008232204e027600ca4b0007d296"
|
||||
|
||||
payload, err := can.PayloadFromHex(canDataHexString)
|
||||
if err != nil {
|
||||
t.Errorf("err = %v; want nil", err)
|
||||
}
|
||||
|
||||
expected := []signal{
|
||||
{
|
||||
name: "EvaporatorAirOutTempTarget",
|
||||
value: 6.0,
|
||||
description: "",
|
||||
unit: "degC",
|
||||
},
|
||||
{
|
||||
name: "ChillerCoolantOutTempTarget",
|
||||
value: -10.0,
|
||||
description: "",
|
||||
unit: "degC",
|
||||
},
|
||||
{
|
||||
name: "FFTargetSuctionPressure",
|
||||
value: 206.75,
|
||||
description: "",
|
||||
unit: "kPa",
|
||||
},
|
||||
{
|
||||
name: "FBTargetSuctionPressure",
|
||||
value: 15.75,
|
||||
description: "",
|
||||
unit: "kPa",
|
||||
},
|
||||
{
|
||||
name: "FFTargetCompressorSpeed",
|
||||
value: 100,
|
||||
description: "",
|
||||
unit: "RPM",
|
||||
},
|
||||
{
|
||||
name: "FBTargetCompressorSpeed",
|
||||
value: 1000,
|
||||
description: "",
|
||||
unit: "RPM",
|
||||
},
|
||||
{
|
||||
name: "CompressorSpeedActual",
|
||||
value: 1000,
|
||||
description: "",
|
||||
unit: "RPM",
|
||||
},
|
||||
{
|
||||
name: "EvaporatorAirTempIn",
|
||||
value: 10.0,
|
||||
description: "",
|
||||
unit: "degC",
|
||||
},
|
||||
}
|
||||
|
||||
expectedMap := make(map[string]signal)
|
||||
for _, s := range expected {
|
||||
expectedMap[s.name] = s
|
||||
}
|
||||
|
||||
for _, signal := range message.Signals {
|
||||
value := signal.UnmarshalPhysicalPayload(&payload)
|
||||
valueDesc, _ := signal.UnmarshalValueDescriptionPayload(&payload)
|
||||
unit := signal.Unit
|
||||
name := signal.Name
|
||||
|
||||
if value != expectedMap[name].value {
|
||||
t.Errorf("signal[%s] value = %f ; expected: %f", name, value, expectedMap[name].value)
|
||||
}
|
||||
|
||||
if valueDesc != expectedMap[name].description {
|
||||
t.Errorf("signal[%s] value = %s ; expected: %s", name, valueDesc, expectedMap[name].description)
|
||||
}
|
||||
|
||||
if unit != expectedMap[name].unit {
|
||||
t.Errorf("signal[%s] value = %s ; expected: %s", name, unit, expectedMap[name].unit)
|
||||
}
|
||||
}
|
||||
|
||||
for _, signal := range message.Decode(&payload) {
|
||||
value := signal.Value
|
||||
valueDesc := signal.Description
|
||||
name := signal.Signal.Name
|
||||
|
||||
if value != expectedMap[name].value {
|
||||
t.Errorf("signal[%s] value = %f ; expected: %f", name, value, expectedMap[name].value)
|
||||
}
|
||||
|
||||
if valueDesc != expectedMap[name].description {
|
||||
t.Errorf("signal[%s] value = %s ; expected: %s", name, valueDesc, expectedMap[name].description)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
func TestDecodeDisconnectState(t *testing.T) {
|
||||
byteStringHex := "8000000420061880000005200600"
|
||||
|
||||
p, err := can.PayloadFromHex(byteStringHex)
|
||||
if err != nil {
|
||||
fmt.Println(err)
|
||||
}
|
||||
|
||||
expected := []signal{
|
||||
{
|
||||
|
||||
name: "TargetSpeedRearLeft",
|
||||
value: 0.0,
|
||||
description: "",
|
||||
unit: "rad/s",
|
||||
},
|
||||
{
|
||||
|
||||
name: "DisconnectStateRearLeftTarget",
|
||||
value: 0,
|
||||
description: "",
|
||||
unit: "",
|
||||
},
|
||||
{
|
||||
|
||||
name: "CurrentRearLeft",
|
||||
value: 4,
|
||||
description: "",
|
||||
unit: "",
|
||||
},
|
||||
{
|
||||
|
||||
name: "DisconnectStateRearLeft",
|
||||
value: 2,
|
||||
description: "Unlocked",
|
||||
unit: "",
|
||||
},
|
||||
{
|
||||
|
||||
name: "LockCountRearLeft",
|
||||
value: 1560,
|
||||
description: "",
|
||||
unit: "",
|
||||
},
|
||||
{
|
||||
|
||||
name: "TargetSpeedRearRight",
|
||||
value: 0,
|
||||
description: "",
|
||||
unit: "rad/s",
|
||||
},
|
||||
{
|
||||
|
||||
name: "DisconnectStateRearRightTarget",
|
||||
value: 0,
|
||||
description: "",
|
||||
unit: "",
|
||||
},
|
||||
{
|
||||
|
||||
name: "CurrentRearRight",
|
||||
value: 5,
|
||||
description: "",
|
||||
unit: "",
|
||||
},
|
||||
{
|
||||
|
||||
name: "DisconnectStateRearRight",
|
||||
value: 2,
|
||||
description: "Unlocked",
|
||||
unit: "",
|
||||
},
|
||||
{
|
||||
|
||||
name: "LockCountRearRight",
|
||||
value: 1536,
|
||||
description: "",
|
||||
unit: "",
|
||||
},
|
||||
}
|
||||
|
||||
expectedMap := make(map[string]signal)
|
||||
for _, s := range expected {
|
||||
expectedMap[s.name] = s
|
||||
}
|
||||
|
||||
db := getTestDatabase()
|
||||
message, _ := db.Message(uint32(1530))
|
||||
for _, signal := range message.Signals {
|
||||
value := signal.UnmarshalPhysicalPayload(&p)
|
||||
valueDesc, _ := signal.UnmarshalValueDescriptionPayload(&p)
|
||||
unit := signal.Unit
|
||||
name := signal.Name
|
||||
|
||||
if value != expectedMap[name].value {
|
||||
t.Errorf("signal[%s] value = %f ; expected: %f", name, value, expectedMap[name].value)
|
||||
}
|
||||
|
||||
if valueDesc != expectedMap[name].description {
|
||||
t.Errorf("signal[%s] value = %s ; expected: %s", name, valueDesc, expectedMap[name].description)
|
||||
}
|
||||
|
||||
if unit != expectedMap[name].unit {
|
||||
t.Errorf("signal[%s] value = %s ; expected: %s", name, unit, expectedMap[name].unit)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
func TestDecodeSensorSonarsData(t *testing.T) {
|
||||
data := can.Data{0x01, 0x01, 0x01, 0x02, 0x01, 0x00}
|
||||
payload := can.Payload{Data: data[:]}
|
||||
|
||||
db := getTestDatabase()
|
||||
message, _ := db.Message(uint32(500))
|
||||
fmt.Println(message.Length)
|
||||
|
||||
for _, signal := range message.Signals {
|
||||
value := signal.UnmarshalPhysicalPayload(&payload)
|
||||
valueDesc, _ := signal.UnmarshalValueDescriptionPayload(&payload)
|
||||
|
||||
valueFromData := signal.UnmarshalPhysical(data)
|
||||
descFromData, _ := signal.UnmarshalValueDescription(data)
|
||||
name := signal.Name
|
||||
|
||||
if value != valueFromData {
|
||||
t.Errorf("signal[%s] value = %f ; expected: %f", name, value, valueFromData)
|
||||
}
|
||||
|
||||
if valueDesc != descFromData {
|
||||
t.Errorf("signal[%s] value = %s ; expected: %s", name, valueDesc, descFromData)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
func TestMessageDecodeSensorSonarsData(t *testing.T) {
|
||||
data := can.Data{0x01, 0x01, 0x01, 0x02, 0x01, 0x00}
|
||||
payload := can.Payload{Data: data[:]}
|
||||
|
||||
db := getTestDatabase()
|
||||
message, _ := db.Message(uint32(500))
|
||||
fmt.Println(message.Length)
|
||||
|
||||
decodedSignals := message.Decode(&payload)
|
||||
for _, signal := range decodedSignals {
|
||||
value := signal.Value
|
||||
valueDesc := signal.Description
|
||||
name := signal.Signal.Name
|
||||
|
||||
valueFromData := signal.Signal.UnmarshalPhysical(data)
|
||||
descFromData, _ := signal.Signal.UnmarshalValueDescription(data)
|
||||
|
||||
if value != valueFromData {
|
||||
t.Errorf("signal[%s] value = %f ; expected: %f", name, value, valueFromData)
|
||||
}
|
||||
|
||||
if valueDesc != descFromData {
|
||||
t.Errorf("signal[%s] value = %s ; expected: %s", name, valueDesc, descFromData)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
func BenchmarkDecodeData(b *testing.B) {
|
||||
db := getTestDatabase()
|
||||
message, _ := db.Message(uint32(500))
|
||||
decodeSignal := func() {
|
||||
data := can.Data{0x01, 0x01, 0x01, 0x02, 0x01, 0x00}
|
||||
for _, signal := range message.Signals {
|
||||
_ = signal.UnmarshalPhysical(data)
|
||||
_, _ = signal.UnmarshalValueDescription(data)
|
||||
}
|
||||
}
|
||||
for i := 0; i < b.N; i++ {
|
||||
decodeSignal()
|
||||
}
|
||||
}
|
||||
|
||||
func BenchmarkDecodePayload(b *testing.B) {
|
||||
// {0x01, 0x01, 0x01, 0x02, 0x01, 0x00}
|
||||
|
||||
db := getTestDatabase()
|
||||
message, _ := db.Message(uint32(500))
|
||||
decodeSignal := func() {
|
||||
data := can.Payload{Data: []byte{0x01, 0x01, 0x01, 0x02, 0x01, 0x00}}
|
||||
for _, signal := range message.Signals {
|
||||
_ = signal.UnmarshalPhysicalPayload(&data)
|
||||
_, _ = signal.UnmarshalValueDescriptionPayload(&data)
|
||||
}
|
||||
}
|
||||
for i := 0; i < b.N; i++ {
|
||||
decodeSignal()
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user