mirror of
https://github.com/Team254/cheesy-arena-lite.git
synced 2026-03-09 21:56:50 -04:00
240 lines
7.4 KiB
Go
240 lines
7.4 KiB
Go
// Copyright 2014 Team 254. All Rights Reserved.
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// Author: pat@patfairbank.com (Patrick Fairbank)
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package main
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import (
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"github.com/stretchr/testify/assert"
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"net"
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"testing"
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"time"
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)
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func TestEncodeControlPacket(t *testing.T) {
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clearDb()
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defer clearDb()
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var err error
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db, err = OpenDatabase(testDbPath)
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assert.Nil(t, err)
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defer db.Close()
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eventSettings, _ = db.GetEventSettings()
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mainArena.Setup()
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tcpConn := setupFakeTcpConnection(t)
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defer tcpConn.Close()
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dsConn, err := NewDriverStationConnection(254, "R1", tcpConn)
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assert.Nil(t, err)
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defer dsConn.Close()
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data := dsConn.encodeControlPacket()
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assert.Equal(t, byte(0), data[5])
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assert.Equal(t, byte(0), data[6])
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assert.Equal(t, byte(0), data[20])
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assert.Equal(t, byte(150), data[21])
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// Check the different alliance station values.
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dsConn.AllianceStation = "R2"
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(1), data[5])
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dsConn.AllianceStation = "R3"
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(2), data[5])
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dsConn.AllianceStation = "B1"
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(3), data[5])
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dsConn.AllianceStation = "B2"
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(4), data[5])
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dsConn.AllianceStation = "B3"
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(5), data[5])
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// Check packet count rollover.
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dsConn.packetCount = 255
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(0), data[0])
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assert.Equal(t, byte(255), data[1])
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(1), data[0])
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assert.Equal(t, byte(0), data[1])
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(1), data[0])
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assert.Equal(t, byte(1), data[1])
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dsConn.packetCount = 65535
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(255), data[0])
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assert.Equal(t, byte(255), data[1])
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(0), data[0])
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assert.Equal(t, byte(0), data[1])
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// Check different robot statuses.
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dsConn.Auto = true
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(2), data[3])
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dsConn.Enabled = true
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(6), data[3])
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dsConn.Auto = false
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(4), data[3])
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dsConn.EmergencyStop = true
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(132), data[3])
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// Check different match types.
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mainArena.currentMatch.Type = "practice"
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(1), data[6])
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mainArena.currentMatch.Type = "qualification"
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(2), data[6])
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mainArena.currentMatch.Type = "elimination"
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(3), data[6])
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// Check the countdown at different points during the match.
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mainArena.MatchState = AUTO_PERIOD
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mainArena.matchStartTime = time.Now().Add(-time.Duration(4 * time.Second))
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(146), data[21])
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mainArena.MatchState = PAUSE_PERIOD
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mainArena.matchStartTime = time.Now().Add(-time.Duration(16 * time.Second))
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(135), data[21])
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mainArena.MatchState = TELEOP_PERIOD
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mainArena.matchStartTime = time.Now().Add(-time.Duration(33 * time.Second))
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(119), data[21])
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mainArena.MatchState = ENDGAME_PERIOD
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mainArena.matchStartTime = time.Now().Add(-time.Duration(150 * time.Second))
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(2), data[21])
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mainArena.MatchState = POST_MATCH
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mainArena.matchStartTime = time.Now().Add(-time.Duration(180 * time.Second))
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data = dsConn.encodeControlPacket()
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assert.Equal(t, byte(0), data[21])
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}
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func TestSendControlPacket(t *testing.T) {
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tcpConn := setupFakeTcpConnection(t)
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defer tcpConn.Close()
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dsConn, err := NewDriverStationConnection(254, "R1", tcpConn)
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assert.Nil(t, err)
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defer dsConn.Close()
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// No real way of checking this since the destination IP is remote, so settle for there being no errors.
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err = dsConn.sendControlPacket()
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assert.Nil(t, err)
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}
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func TestDecodeStatusPacket(t *testing.T) {
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tcpConn := setupFakeTcpConnection(t)
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defer tcpConn.Close()
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dsConn, err := NewDriverStationConnection(254, "R1", tcpConn)
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assert.Nil(t, err)
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defer dsConn.Close()
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// Check with no linked robot.
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data := [36]byte{22, 28, 103, 19, 192, 0, 247, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 0}
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dsConn.decodeStatusPacket(data)
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assert.Equal(t, false, dsConn.RobotLinked)
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assert.Equal(t, 0.0, dsConn.BatteryVoltage)
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assert.Equal(t, 0, dsConn.MissedPacketCount)
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assert.Equal(t, 0, dsConn.DsRobotTripTimeMs)
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// Check with linked robot.
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data = [36]byte{22, 28, 103, 19, 192, 0, 246, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 0}
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dsConn.decodeStatusPacket(data)
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assert.Equal(t, true, dsConn.RobotLinked)
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assert.Equal(t, 19.75, dsConn.BatteryVoltage)
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assert.Equal(t, 103, dsConn.MissedPacketCount)
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assert.Equal(t, 14, dsConn.DsRobotTripTimeMs)
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}
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func TestListenForDriverStations(t *testing.T) {
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clearDb()
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defer clearDb()
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var err error
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db, err = OpenDatabase(testDbPath)
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assert.Nil(t, err)
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defer db.Close()
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eventSettings, _ = db.GetEventSettings()
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driverStationTcpListenAddress = "127.0.0.1"
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go ListenForDriverStations()
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mainArena.Setup()
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time.Sleep(time.Millisecond * 10)
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// Connect with an invalid initial packet.
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tcpConn, err := net.Dial("tcp", "127.0.0.1:1750")
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if assert.Nil(t, err) {
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dataSend := [5]byte{0, 3, 29, 0, 0}
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tcpConn.Write(dataSend[:])
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var dataReceived [100]byte
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_, err = tcpConn.Read(dataReceived[:])
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assert.NotNil(t, err)
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tcpConn.Close()
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}
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// Connect as a team not in the current match.
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tcpConn, err = net.Dial("tcp", "127.0.0.1:1750")
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if assert.Nil(t, err) {
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dataSend := [5]byte{0, 3, 24, 5, 223}
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tcpConn.Write(dataSend[:])
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var dataReceived [5]byte
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_, err = tcpConn.Read(dataReceived[:])
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assert.Nil(t, err)
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assert.Equal(t, [5]byte{0, 3, 25, 0, 2}, dataReceived)
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tcpConn.Close()
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}
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// Connect as a team in the current match.
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mainArena.AssignTeam(1503, "B2")
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tcpConn, err = net.Dial("tcp", "127.0.0.1:1750")
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if assert.Nil(t, err) {
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defer tcpConn.Close()
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dataSend := [5]byte{0, 3, 24, 5, 223}
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tcpConn.Write(dataSend[:])
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var dataReceived [5]byte
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_, err = tcpConn.Read(dataReceived[:])
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assert.Nil(t, err)
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assert.Equal(t, [5]byte{0, 3, 25, 4, 0}, dataReceived)
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time.Sleep(time.Millisecond * 10)
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dsConn := mainArena.AllianceStations["B2"].DsConn
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if assert.NotNil(t, dsConn) {
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assert.Equal(t, 1503, dsConn.TeamId)
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assert.Equal(t, "B2", dsConn.AllianceStation)
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// Check that an unknown packet type gets ignored and a status packet gets decoded.
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dataSend = [5]byte{0, 3, 37, 0, 0}
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tcpConn.Write(dataSend[:])
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time.Sleep(time.Millisecond * 10)
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dataSend2 := [38]byte{0, 36, 22, 28, 103, 19, 192, 0, 246, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
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tcpConn.Write(dataSend2[:])
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time.Sleep(time.Millisecond * 10)
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assert.Equal(t, true, dsConn.RobotLinked)
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assert.Equal(t, 19.75, dsConn.BatteryVoltage)
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assert.Equal(t, 103, dsConn.MissedPacketCount)
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assert.Equal(t, 14, dsConn.DsRobotTripTimeMs)
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}
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}
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}
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func setupFakeTcpConnection(t *testing.T) net.Conn {
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// Set up a fake TCP endpoint and connection to it.
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l, err := net.Listen("tcp", ":9999")
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assert.Nil(t, err)
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defer l.Close()
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tcpConn, err := net.Dial("tcp", "127.0.0.1:9999")
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assert.Nil(t, err)
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return tcpConn
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}
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