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Merged
ikalnytskyi merged 1 commit into from
Oct 22, 2025
Merged

Add Decoder tests #7

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2 changes: 1 addition & 1 deletion src/decoder.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ pub struct Decoder<const BUFLEN: usize = 512> {
rpos: usize,
}

impl<const BUFLEN: usize> Default for Decoder<BUFLEN> {
impl Default for Decoder<512> {
fn default() -> Self {
Self::new()
}
Expand Down
347 changes: 347 additions & 0 deletions tests/decoder.rs
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Original file line number Diff line number Diff line change
@@ -0,0 +1,347 @@
use googletest::prelude::*;
use vesc::{CommandReply, Decoder, Values};

#[test]
fn decoder_decodes_single_packet() {
let input = [
2, 23, 50, 0, 2, 161, 138, 0, 0, 0, 0, 0, 4, 0, 0, 3, 221, 1, 119, 255, 255, 170, 43, 0,
20, 45, 58, 3,
];

let mut decoder = Decoder::default();
decoder.feed(&input).unwrap();

let expected = pat!(CommandReply::GetValuesSelective(pat!(Values {
avg_current_input: approx_eq(0.04),
rpm: approx_eq(989.0),
voltage_in: approx_eq(37.5),
tachometer: eq(-21973),
fault_code: eq(0),
controller_id: eq(20),
..
})));
assert_that!(decoder.next(), some(expected));
}

#[test]
fn decoder_decodes_packet_fed_in_chunks() {
let input = [
2, 74, 4, 1, 20, 0, 0, 0, 0, 0, 37, 0, 0, 0, 3, 0, 0, 0, 0, 0, 0, 0, 32, 0, 110, 0, 0, 3,
251, 1, 125, 0, 0, 0, 17, 0, 0, 0, 0, 0, 0, 2, 137, 0, 0, 0, 0, 255, 255, 111, 75, 0, 2,
159, 199, 0, 4, 106, 124, 40, 1, 1, 21, 252, 76, 252, 13, 0, 0, 0, 229, 0, 0, 8, 214, 0,
58, 151, 3,
];
let mut decoder = Decoder::default();

for chunk in input.chunks(5) {
decoder.feed(&chunk).unwrap();
}

let expected = pat!(CommandReply::GetValues(pat!(Values {
temp_mosfet: approx_eq(27.6),
temp_motor: approx_eq(0.0),
avg_current_motor: approx_eq(0.37),
avg_current_input: approx_eq(0.03),
avg_current_d: approx_eq(0.0),
avg_current_q: approx_eq(0.32),
duty_cycle: approx_eq(0.11),
rpm: approx_eq(1019.0),
voltage_in: approx_eq(38.1),
amp_hours: approx_eq(0.0017),
amp_hours_charged: approx_eq(0.0),
watt_hours: approx_eq(0.0649),
watt_hours_charged: approx_eq(0.0),
tachometer: eq(-37045),
tachometer_abs: eq(171975),
fault_code: eq(0),
pid_pos: approx_eq(74.08746),
controller_id: eq(1),
temp_mosfet1: approx_eq(27.7),
temp_mosfet2: approx_eq(-94.8),
temp_mosfet3: approx_eq(-101.1),
avg_voltage_d: approx_eq(0.229),
avg_voltage_q: approx_eq(2.262),
status: eq(0),
})));
assert_that!(decoder.next(), some(expected));
}

#[test]
fn decoder_returns_none_until_packet_is_complete() {
let input = [
2, 74, 4, 1, 20, 0, 0, 0, 0, 0, 37, 0, 0, 0, 3, 0, 0, 0, 0, 0, 0, 0, 32, 0, 110, 0, 0, 3,
251, 1, 125, 0, 0, 0, 17, 0, 0, 0, 0, 0, 0, 2, 137, 0, 0, 0, 0, 255, 255, 111, 75, 0, 2,
159, 199, 0, 4, 106, 124, 40, 1, 1, 21, 252, 76, 252, 13, 0, 0, 0, 229, 0, 0, 8, 214, 0,
58, 151, 3,
];
let mut decoder = Decoder::default();

for (i, chunk) in input.chunks(input.len() / 5).enumerate() {
decoder.feed(&chunk).unwrap();
if i < 5 {
assert_that!(decoder.next(), none());
}
}

let expected = pat!(CommandReply::GetValues(pat!(Values {
temp_mosfet: approx_eq(27.6),
temp_motor: approx_eq(0.0),
avg_current_motor: approx_eq(0.37),
avg_current_input: approx_eq(0.03),
avg_current_d: approx_eq(0.0),
avg_current_q: approx_eq(0.32),
duty_cycle: approx_eq(0.11),
rpm: approx_eq(1019.0),
voltage_in: approx_eq(38.1),
amp_hours: approx_eq(0.0017),
amp_hours_charged: approx_eq(0.0),
watt_hours: approx_eq(0.0649),
watt_hours_charged: approx_eq(0.0),
tachometer: eq(-37045),
tachometer_abs: eq(171975),
fault_code: eq(0),
pid_pos: approx_eq(74.08746),
controller_id: eq(1),
temp_mosfet1: approx_eq(27.7),
temp_mosfet2: approx_eq(-94.8),
temp_mosfet3: approx_eq(-101.1),
avg_voltage_d: approx_eq(0.229),
avg_voltage_q: approx_eq(2.262),
status: eq(0),
})));
assert_that!(decoder.next(), some(expected));
}

#[test]
fn decoder_decodes_two_packets_from_single_feed() {
let input = [
2, 23, 50, 0, 2, 161, 138, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 128, 255, 255, 158, 70, 0, 1,
63, 148, 3, 2, 23, 50, 0, 2, 161, 138, 0, 0, 0, 0, 0, 4, 0, 0, 3, 221, 1, 119, 255, 255,
170, 43, 0, 20, 45, 58, 3,
];
let mut decoder = Decoder::default();
decoder.feed(&input).unwrap();

let expected = pat!(CommandReply::GetValuesSelective(pat!(Values {
avg_current_input: approx_eq(0.0),
rpm: approx_eq(0.0),
voltage_in: approx_eq(38.4),
tachometer: eq(-25018),
fault_code: eq(0),
controller_id: eq(1),
..
})));
assert_that!(decoder.next(), some(expected));

let expected = pat!(CommandReply::GetValuesSelective(pat!(Values {
avg_current_input: approx_eq(0.04),
rpm: approx_eq(989.0),
voltage_in: approx_eq(37.5),
tachometer: eq(-21973),
fault_code: eq(0),
controller_id: eq(20),
..
})));
assert_that!(decoder.next(), some(expected));
}

#[test]
fn decoder_decodes_two_packets_from_separate_feeds() {
let input_one = [
2, 23, 50, 0, 2, 161, 138, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 128, 255, 255, 158, 70, 0, 1,
63, 148, 3,
];
let input_two = [
2, 23, 50, 0, 2, 161, 138, 0, 0, 0, 0, 0, 4, 0, 0, 3, 221, 1, 119, 255, 255, 170, 43, 0,
20, 45, 58, 3,
];

let mut decoder = Decoder::default();
decoder.feed(&input_one).unwrap();
decoder.feed(&input_two).unwrap();

let expected = pat!(CommandReply::GetValuesSelective(pat!(Values {
avg_current_input: approx_eq(0.0),
rpm: approx_eq(0.0),
voltage_in: approx_eq(38.4),
tachometer: eq(-25018),
fault_code: eq(0),
controller_id: eq(1),
..
})));
assert_that!(decoder.next(), some(expected));

let expected = pat!(CommandReply::GetValuesSelective(pat!(Values {
avg_current_input: approx_eq(0.04),
rpm: approx_eq(989.0),
voltage_in: approx_eq(37.5),
tachometer: eq(-21973),
fault_code: eq(0),
controller_id: eq(20),
..
})));
assert_that!(decoder.next(), some(expected));
}

#[test]
fn decoder_ignores_incomplete_packet() {
let input = [
2, 23, 50, 0, 2, 161, 138, 0, 0, 0, 0, 0, 4, 0, 0, 3, 221, 1, 119, 255, 255, 170, 43, 0,
20, 45, 58,
];

let mut decoder = Decoder::default();
decoder.feed(&input).unwrap();
assert_that!(decoder.next(), none());
}

#[test]
fn decoder_ignores_packet_with_bad_checksum() {
let input = [
2, 23, 50, 0, 2, 161, 138, 0, 0, 0, 0, 0, 10, 255, 255, 246, 213, 1, 118, 255, 255, 181,
218, 0, 21, 94, 130, 3,
];

let mut decoder = Decoder::default();
decoder.feed(&input).unwrap();
assert_that!(decoder.next(), none());
}

#[test]
fn decoder_ignores_unknown_packet_id() {
let input = [2, 3, 222, 4, 0, 178, 81, 3];

let mut decoder = Decoder::default();
decoder.feed(&input).unwrap();
assert_that!(decoder.next(), none());
}

#[test]
fn decoder_skips_junk_bytes_between_packets() {
let input = [
10, 34, 12, 2, 23, 50, 0, 2, 161, 138, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 128, 255, 255, 158,
70, 0, 1, 63, 148, 3, 4, 178, 255, 2, 23, 50, 0, 2, 161, 138, 0, 0, 0, 0, 0, 4, 0, 0, 3,
221, 1, 119, 255, 255, 170, 43, 0, 20, 45, 58, 3,
];
let mut decoder = Decoder::default();
decoder.feed(&input).unwrap();

let expected = pat!(CommandReply::GetValuesSelective(pat!(Values {
avg_current_input: approx_eq(0.0),
rpm: approx_eq(0.0),
voltage_in: approx_eq(38.4),
tachometer: eq(-25018),
fault_code: eq(0),
controller_id: eq(1),
..
})));
assert_that!(decoder.next(), some(expected));

let expected = pat!(CommandReply::GetValuesSelective(pat!(Values {
avg_current_input: approx_eq(0.04),
rpm: approx_eq(989.0),
voltage_in: approx_eq(37.5),
tachometer: eq(-21973),
fault_code: eq(0),
controller_id: eq(20),
..
})));
assert_that!(decoder.next(), some(expected));
}

#[test]
fn decoder_recovers_from_false_start_byte() {
let input = [
2, 5, 50, 0, 0, 0, 1, 2, 23, 50, 0, 2, 161, 138, 0, 0, 0, 0, 0, 4, 0, 0, 3, 221, 1, 119,
255, 255, 170, 43, 0, 20, 45, 58, 3,
];

let mut decoder = Decoder::default();
decoder.feed(&input).unwrap();

let expected = pat!(CommandReply::GetValuesSelective(pat!(Values {
avg_current_input: approx_eq(0.04),
rpm: approx_eq(989.0),
voltage_in: approx_eq(37.5),
tachometer: eq(-21973),
fault_code: eq(0),
controller_id: eq(20),
..
})));
assert_that!(decoder.next(), some(expected));
}

#[test]
fn decoder_iterator_collects_all_valid_packets() {
let mut input = vec![];

// Junk
input.extend_from_slice(&[2, 45, 4]);

// GetValues
input.extend_from_slice(&[
2, 74, 4, 1, 20, 0, 0, 0, 0, 0, 37, 0, 0, 0, 3, 0, 0, 0, 0, 0, 0, 0, 32, 0, 110, 0, 0, 3,
251, 1, 125, 0, 0, 0, 17, 0, 0, 0, 0, 0, 0, 2, 137, 0, 0, 0, 0, 255, 255, 111, 75, 0, 2,
159, 199, 0, 4, 106, 124, 40, 1, 1, 21, 252, 76, 252, 13, 0, 0, 0, 229, 0, 0, 8, 214, 0,
58, 151, 3,
]);

// GetValuesSelective (bad checksum)
input.extend_from_slice(&[
2, 23, 50, 0, 2, 161, 138, 0, 0, 0, 0, 0, 10, 255, 255, 246, 213, 1, 118, 255, 255, 181,
218, 0, 21, 94, 130, 3,
]);

// GetValuesSelective
input.extend_from_slice(&[
2, 23, 50, 0, 2, 161, 138, 0, 0, 0, 0, 0, 10, 255, 255, 246, 213, 1, 118, 255, 255, 181,
218, 0, 20, 94, 130, 3,
]);

// GetValuesSelective (unknown packet)
input.extend_from_slice(&[2, 3, 222, 4, 0, 178, 81, 3]);

let mut decoder = Decoder::default();
decoder.feed(&input).unwrap();

let expected = elements_are![
pat!(&CommandReply::GetValues(pat!(Values {
temp_mosfet: approx_eq(27.6),
temp_motor: approx_eq(0.0),
avg_current_motor: approx_eq(0.37),
avg_current_input: approx_eq(0.03),
avg_current_d: approx_eq(0.0),
avg_current_q: approx_eq(0.32),
duty_cycle: approx_eq(0.11),
rpm: approx_eq(1019.0),
voltage_in: approx_eq(38.1),
amp_hours: approx_eq(0.0017),
amp_hours_charged: approx_eq(0.0),
watt_hours: approx_eq(0.0649),
watt_hours_charged: approx_eq(0.0),
tachometer: eq(-37045),
tachometer_abs: eq(171975),
fault_code: eq(0),
pid_pos: approx_eq(74.08746),
controller_id: eq(1),
temp_mosfet1: approx_eq(27.7),
temp_mosfet2: approx_eq(-94.8),
temp_mosfet3: approx_eq(-101.1),
avg_voltage_d: approx_eq(0.229),
avg_voltage_q: approx_eq(2.262),
status: eq(0),
}))),
pat!(&CommandReply::GetValuesSelective(pat!(Values {
avg_current_input: approx_eq(0.1),
rpm: approx_eq(-2347.0),
voltage_in: approx_eq(37.4),
tachometer: eq(-18982),
fault_code: eq(0),
controller_id: eq(20),
..
}))),
];

let replies = decoder.by_ref().collect::<Vec<_>>();
assert_that!(replies, expected);
}