RSDK-3545 - add sensor process

cartofacade/carto_facade.go

@@ -178,12 +178,63 @@ type CartoFacade struct {
 	requestChan     chan Request
 }
 
-// RequestInterface defines the functionality of a WorkItem.
+// RequestInterface defines the functionality of a Request.
 // It should not be used outside of this package but needs to be public for testing purposes.
 type RequestInterface interface {
 	doWork(q *CartoFacade) (interface{}, error)
 }
 
+// Interface defines the functionality of a CartoFacade instance.
+// It should not be used outside of this package but needs to be public for testing purposes.
+type Interface interface {
+	request(
+		ctxParent context.Context,
+		requestType RequestType,
+		inputs map[RequestParamType]interface{}, timeout time.Duration,
+	) (interface{}, error)
+	start(
+		ctx context.Context,
+		activeBackgroundWorkers *sync.WaitGroup,
+	)
+
+	Initialize(
+		ctx context.Context,
+		timeout time.Duration,
+		activeBackgroundWorkers *sync.WaitGroup,
+	) error
+	Start(
+		ctx context.Context,
+		timeout time.Duration,
+	) error
+	Stop(
+		ctx context.Context,
+		timeout time.Duration,
+	) error
+	Terminate(
+		ctx context.Context,
+		timeout time.Duration,
+	) error
+	AddSensorReading(
+		ctx context.Context,
+		timeout time.Duration,
+		sensorName string,
+		currentReading []byte,
+		readingTimestamp time.Time,
+	) error
+	GetPosition(
+		ctx context.Context,
+		timeout time.Duration,
+	) (GetPosition, error)
+	GetInternalState(
+		ctx context.Context,
+		timeout time.Duration,
+	) ([]byte, error)
+	GetPointCloudMap(
+		ctx context.Context,
+		timeout time.Duration,
+	) ([]byte, error)
+}
+
 // Request defines all of the necessary pieces to call into the CGo API.
 type Request struct {
 	responseChan  chan Response

cartofacade/carto_facade_mock.go

@@ -1,7 +1,13 @@
 // Package cartofacade is used to mock a cartofacade.
 package cartofacade
 
-// RequestMock represents a fake instance of cartofacade.
+import (
+	"context"
+	"sync"
+	"time"
+)
+
+// RequestMock represents a fake instance of a request.
 type RequestMock struct {
 	Request
 	doWorkFunc func(cf *CartoFacade) (interface{}, error)
@@ -14,3 +20,170 @@ func (r *RequestMock) doWork(cf *CartoFacade) (interface{}, error) {
 	}
 	return r.doWorkFunc(cf)
 }
+
+// Mock represents a fake instance of cartofacade.
+type Mock struct {
+	CartoFacade
+	requestFunc func(
+		ctxParent context.Context,
+		requestType RequestType,
+		inputs map[RequestParamType]interface{},
+		timeout time.Duration,
+	) (interface{}, error)
+	startFunc func(
+		ctx context.Context,
+		activeBackgroundWorkers *sync.WaitGroup,
+	)
+
+	InitializeFunc func(
+		ctx context.Context,
+		timeout time.Duration, activeBackgroundWorkers *sync.WaitGroup,
+	) error
+	StartFunc func(
+		ctx context.Context,
+		timeout time.Duration,
+	) error
+	StopFunc func(
+		ctx context.Context,
+		timeout time.Duration,
+	) error
+	TerminateFunc func(
+		ctx context.Context,
+		timeout time.Duration,
+	) error
+	AddSensorReadingFunc func(
+		ctx context.Context,
+		timeout time.Duration,
+		sensorName string,
+		currentReading []byte,
+		readingTimestamp time.Time,
+	) error
+	GetPositionFunc func(
+		ctx context.Context,
+		timeout time.Duration,
+	) (GetPosition, error)
+	GetInternalStateFunc func(
+		ctx context.Context,
+		timeout time.Duration,
+	) ([]byte, error)
+	GetPointCloudMapFunc func(
+		ctx context.Context,
+		timeout time.Duration,
+	) ([]byte, error)
+}
+
+// request calls the injected requestFunc or the real version.
+func (cf *Mock) request(
+	ctxParent context.Context,
+	requestType RequestType,
+	inputs map[RequestParamType]interface{},
+	timeout time.Duration,
+) (interface{}, error) {
+	if cf.requestFunc == nil {
+		return cf.CartoFacade.request(ctxParent, requestType, inputs, timeout)
+	}
+	return cf.requestFunc(ctxParent, requestType, inputs, timeout)
+}
+
+// start calls the injected startFunc or the real version.
+func (cf *Mock) start(
+	ctx context.Context,
+	activeBackgroundWorkers *sync.WaitGroup,
+) {
+	if cf.startFunc == nil {
+		cf.CartoFacade.start(ctx, activeBackgroundWorkers)
+	}
+	cf.startFunc(ctx, activeBackgroundWorkers)
+}
+
+// Initialize calls the injected InitializeFunc or the real version.
+func (cf *Mock) Initialize(
+	ctx context.Context,
+	timeout time.Duration,
+	activeBackgroundWorkers *sync.WaitGroup,
+) error {
+	if cf.InitializeFunc == nil {
+		return cf.CartoFacade.Initialize(ctx, timeout, activeBackgroundWorkers)
+	}
+	return cf.InitializeFunc(ctx, timeout, activeBackgroundWorkers)
+}
+
+// Start calls the injected StartFunc or the real version.
+func (cf *Mock) Start(
+	ctx context.Context,
+	timeout time.Duration,
+) error {
+	if cf.StartFunc == nil {
+		return cf.CartoFacade.Start(ctx, timeout)
+	}
+	return cf.StartFunc(ctx, timeout)
+}
+
+// Stop calls the Stop StopFunc or the real version.
+func (cf *Mock) Stop(
+	ctx context.Context,
+	timeout time.Duration,
+) error {
+	if cf.StopFunc == nil {
+		return cf.CartoFacade.Stop(ctx, timeout)
+	}
+	return cf.StopFunc(ctx, timeout)
+}
+
+// Terminate calls the injected TerminateFunc or the real version.
+func (cf *Mock) Terminate(
+	ctx context.Context,
+	timeout time.Duration,
+) error {
+	if cf.TerminateFunc == nil {
+		return cf.CartoFacade.Terminate(ctx, timeout)
+	}
+	return cf.TerminateFunc(ctx, timeout)
+}
+
+// AddSensorReading calls the injected AddSensorReadingFunc or the real version.
+func (cf *Mock) AddSensorReading(
+	ctx context.Context,
+	timeout time.Duration,
+	sensorName string,
+	currentReading []byte,
+	readingTimestamp time.Time,
+) error {
+	if cf.AddSensorReadingFunc == nil {
+		return cf.CartoFacade.AddSensorReading(ctx, timeout, sensorName, currentReading, readingTimestamp)
+	}
+	return cf.AddSensorReadingFunc(ctx, timeout, sensorName, currentReading, readingTimestamp)
+}
+
+// GetPosition calls the injected GetPositionFunc or the real version.
+func (cf *Mock) GetPosition(
+	ctx context.Context,
+	timeout time.Duration,
+) (GetPosition, error) {
+	if cf.GetPositionFunc == nil {
+		return cf.CartoFacade.GetPosition(ctx, timeout)
+	}
+	return cf.GetPositionFunc(ctx, timeout)
+}
+
+// GetInternalState calls the injected GetInternalStateFunc or the real version.
+func (cf *Mock) GetInternalState(
+	ctx context.Context,
+	timeout time.Duration,
+) ([]byte, error) {
+	if cf.GetInternalStateFunc == nil {
+		return cf.CartoFacade.GetInternalState(ctx, timeout)
+	}
+	return cf.GetInternalStateFunc(ctx, timeout)
+}
+
+// GetPointCloudMap calls the injected GetPointCloudMapFunc or the real version.
+func (cf *Mock) GetPointCloudMap(
+	ctx context.Context,
+	timeout time.Duration,
+) ([]byte, error) {
+	if cf.GetPointCloudMapFunc == nil {
+		return cf.CartoFacade.GetPointCloudMap(ctx, timeout)
+	}
+	return cf.GetPointCloudMapFunc(ctx, timeout)
+}

internal/testhelper/testhelper.go

@@ -45,6 +45,8 @@ const (
 	testDialMaxTimeoutSec              = 1
 	// TestTime can be used to test specific timestamps provided by a replay sensor.
 	TestTime = "2006-01-02T15:04:05.9999Z"
+	// BadTime can be used to represent something that should cause an error while parsing it as a time.
+	BadTime = "NOT A TIME"
 )
 
 // IntegrationLidarReleasePointCloudChan is the lidar pointcloud release
@@ -72,7 +74,9 @@ func SetupDeps(sensors []string) resource.Dependencies {
 		case "good_lidar":
 			deps[camera.Named(sensor)] = getGoodLidar()
 		case "replay_sensor":
-			deps[camera.Named(sensor)] = getReplaySensor()
+			deps[camera.Named(sensor)] = getReplaySensor(TestTime)
+		case "invalid_replay_sensor":
+			deps[camera.Named(sensor)] = getReplaySensor(BadTime)
 		case "invalid_sensor":
 			deps[camera.Named(sensor)] = getInvalidSensor()
 		case "gibberish":
@@ -103,12 +107,12 @@ func getGoodLidar() *inject.Camera {
 	return cam
 }
 
-func getReplaySensor() *inject.Camera {
+func getReplaySensor(testTime string) *inject.Camera {
 	cam := &inject.Camera{}
 	cam.NextPointCloudFunc = func(ctx context.Context) (pointcloud.PointCloud, error) {
 		md := ctx.Value(contextutils.MetadataContextKey)
 		if mdMap, ok := md.(map[string][]string); ok {
-			mdMap[contextutils.TimeRequestedMetadataKey] = []string{TestTime}
+			mdMap[contextutils.TimeRequestedMetadataKey] = []string{testTime}
 		}
 		return pointcloud.New(), nil
 	}