add go tests

cartofacade/capi_test.go

@@ -147,6 +147,21 @@ func TestCGoAPI(t *testing.T) {
 		err = vc.start()
 		test.That(t, err, test.ShouldBeNil)
 
+		// test getPointCloudMap before sensor data is added
+		pcd, err := vc.getPointCloudMap()
+		test.That(t, pcd, test.ShouldBeNil)
+		test.That(t, err, test.ShouldBeError)
+		test.That(t, err, test.ShouldResemble, errors.New("VIAM_CARTO_POINTCLOUD_MAP_EMPTY"))
+
+		lastInternalStateSize := 0
+
+		// test getInternalState before sensor data is added
+		internalState, err := vc.getInternalState()
+		test.That(t, err, test.ShouldBeNil)
+		test.That(t, internalState, test.ShouldNotBeNil)
+		test.That(t, len(internalState), test.ShouldBeGreaterThan, lastInternalStateSize)
+		lastInternalStateSize = len(internalState)
+
 		// test invalid addSensorReading: not in sensor list
 		timestamp := time.Date(2021, 8, 15, 14, 30, 45, 100, time.UTC)
 		err = vc.addSensorReading("not my sensor", []byte("he0llo"), timestamp)
@@ -188,11 +203,17 @@ func TestCGoAPI(t *testing.T) {
 		positionIsZero(t, position)
 
 		// test getPointCloudMap returns error if not enough sensor data has been provided
-		pcd, err := vc.getPointCloudMap()
+		pcd, err = vc.getPointCloudMap()
 		test.That(t, pcd, test.ShouldBeNil)
 		test.That(t, err, test.ShouldBeError)
 		test.That(t, err, test.ShouldResemble, errors.New("VIAM_CARTO_POINTCLOUD_MAP_EMPTY"))
 
+		internalState, err = vc.getInternalState()
+		test.That(t, err, test.ShouldBeNil)
+		test.That(t, internalState, test.ShouldNotBeNil)
+		// Special case
+		test.That(t, len(internalState), test.ShouldEqual, lastInternalStateSize)
+
 		// 2. test valid addSensorReading: valid reading binary
 		t.Log("sensor reading 2")
 		timestamp = timestamp.Add(time.Second * 2)
@@ -212,6 +233,12 @@ func TestCGoAPI(t *testing.T) {
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, pc.Size(), test.ShouldNotEqual, 0)
 
+		internalState, err = vc.getInternalState()
+		test.That(t, err, test.ShouldBeNil)
+		test.That(t, internalState, test.ShouldNotBeNil)
+		test.That(t, len(internalState), test.ShouldBeGreaterThan, lastInternalStateSize)
+		lastInternalStateSize = len(internalState)
+
 		// third sensor reading populates the pointcloud map and the position
 		t.Log("sensor reading 3")
 		timestamp = timestamp.Add(time.Second * 2)
@@ -229,9 +256,10 @@ func TestCGoAPI(t *testing.T) {
 		test.That(t, position.Kmag, test.ShouldNotEqual, 0)
 		test.That(t, position.Real, test.ShouldNotEqual, 0)
 
-		// test getInternalState
-		_, err = vc.getInternalState()
-		test.That(t, err, test.ShouldResemble, errors.New("nil internal state"))
+		internalState, err = vc.getInternalState()
+		test.That(t, err, test.ShouldBeNil)
+		test.That(t, internalState, test.ShouldNotBeNil)
+		test.That(t, len(internalState), test.ShouldBeGreaterThan, lastInternalStateSize)
 
 		// test stop
 		err = vc.stop()