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limo_base_test.go
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limo_base_test.go
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package main
import (
"context"
"testing"
"github.com/edaniels/golog"
"go.viam.com/test"
"go.viam.com/rdk/resource"
)
func TestLimoBaseConstructor(t *testing.T) {
ctx := context.Background()
logger := golog.NewTestLogger(t)
deps := resource.Dependencies{}
expectedWidth := float64(defaultBaseTreadMm) * 0.001
expectedTurningRadius := minTurningRadiusM // only for ackerman
c := make(chan []uint8, 100)
_, err := createLimoBase(ctx, deps, resource.Config{ConvertedAttributes: &Config{}}, logger)
test.That(t, err, test.ShouldNotBeNil)
test.That(t, err.Error(), test.ShouldStartWith, "drive mode must be defined")
cfg := &Config{
DriveMode: "ackermann",
TestChan: c,
}
lb, err := createLimoBase(ctx, deps, resource.Config{ConvertedAttributes: cfg}, logger)
test.That(t, err, test.ShouldBeNil)
props, err := lb.Properties(ctx, nil)
test.That(t, err, test.ShouldBeNil)
test.That(t, props.WidthMeters, test.ShouldEqual, expectedWidth)
test.That(t, props.TurningRadiusMeters, test.ShouldEqual, expectedTurningRadius)
lb.Close(ctx)
cfg = &Config{
DriveMode: "differential",
TestChan: c,
}
lb, err = createLimoBase(context.Background(), deps, resource.Config{ConvertedAttributes: cfg}, logger)
test.That(t, err, test.ShouldBeNil)
props, err = lb.Properties(ctx, nil)
test.That(t, err, test.ShouldBeNil)
test.That(t, props.WidthMeters, test.ShouldEqual, expectedWidth)
test.That(t, props.TurningRadiusMeters, test.ShouldEqual, 0) // not ackerman, so zero
lb.Close(ctx)
cfg = &Config{
DriveMode: "omni",
TestChan: c,
}
lb, err = createLimoBase(context.Background(), deps, resource.Config{ConvertedAttributes: cfg}, logger)
test.That(t, err, test.ShouldBeNil)
props, err = lb.Properties(ctx, nil)
test.That(t, err, test.ShouldBeNil)
test.That(t, props.WidthMeters, test.ShouldEqual, expectedWidth)
test.That(t, props.TurningRadiusMeters, test.ShouldEqual, 0) // not ackerman, so zero
lb.Close(ctx)
}