arci/clients/
dummy_move_base.rs

1use std::sync::Mutex;
2
3use crate::{
4    error::Error,
5    traits::{BaseVelocity, MoveBase},
6};
7
8/// Dummy MoveBase for debug or tests.
9#[derive(Debug, Default)]
10pub struct DummyMoveBase {
11    pub current_velocity: Mutex<BaseVelocity>,
12}
13
14impl DummyMoveBase {
15    /// Creates a new `DummyMoveBase`.
16    pub fn new() -> Self {
17        Self {
18            current_velocity: Mutex::new(BaseVelocity::default()),
19        }
20    }
21}
22
23impl MoveBase for DummyMoveBase {
24    fn send_velocity(&self, velocity: &BaseVelocity) -> Result<(), Error> {
25        *self.current_velocity.lock().unwrap() = *velocity;
26        Ok(())
27    }
28
29    fn current_velocity(&self) -> Result<BaseVelocity, Error> {
30        Ok(self.current_velocity.lock().unwrap().to_owned())
31    }
32}
33
34#[cfg(test)]
35mod tests {
36    use assert_approx_eq::assert_approx_eq;
37
38    use super::*;
39    #[test]
40    fn test_set_get() {
41        let base = DummyMoveBase::new();
42        let vel = base.current_velocity().unwrap();
43        assert_approx_eq!(vel.x, 0.0);
44        assert_approx_eq!(vel.y, 0.0);
45        assert_approx_eq!(vel.theta, 0.0);
46        base.send_velocity(&BaseVelocity::new(0.1, 0.2, -3.0))
47            .unwrap();
48        let vel2 = base.current_velocity().unwrap();
49        assert_approx_eq!(vel2.x, 0.1);
50        assert_approx_eq!(vel2.y, 0.2);
51        assert_approx_eq!(vel2.theta, -3.0);
52    }
53}
arci/clients/dummy_move_base.rs

arci/clients/
dummy_move_base.rs
