public void Test_Collision_Info_Rear()
{
Report.TestCaseDescription("Check propagation of detected objects from LIDAR_Rear endpoint to Dashboard endpoint");
Object_Recognition.SelectProvider(LIDAR_Rear.Instance);
// Iterate classification enum values
foreach (Object_Classification_Enum classification in Enum.GetValues(typeof(Object_Classification_Enum)))
{
foreach (uint distance in object_distance_test_values)
{
Execution.Wait(200);
Report.TestStep("Propagate detected object", "Object: " + classification.ToString() + ", Distance: " + distance.ToString());
Object_Recognition.Object.Classification.SymbValue = classification;
Object_Recognition.Object.Distance = distance;
// Wait for setter call from Drive_Master to Dashboard
var wait_result = Passenger_Information.Collision_Info_Rear.Set.WaitForNextCall(100);
// Check for expected value (further checks omitted in this example)
if (wait_result.Call.newValue.Distance.ImplValue != Object_Recognition.Object.Distance)
{
Report.TestStepFail("Check distance", "Unexpected value received: " + wait_result.Call.newValue.Distance.ImplValue.ToString());
}
else
{
Report.TestStepPass("Check distance", "Expected value received: " + wait_result.Call.newValue.Distance.ImplValue.ToString());
}
}
}
Object_Recognition.Object.Classification.SymbValue = Object_Classification_Enum.NO_OBJECT;
}
public override void Main()
{
Passenger_Information.SelectSide(ServiceSide.Provider);
Object_Recognition.SelectSide(ServiceSide.Provider);
Navigation.SelectSide(ServiceSide.Provider);
//Test cases to be performed
Test_Collision_Info_Front();
Test_Collision_Info_Rear();
Test_Navigation_Data();
}
public void OnObjectRear()
{
Object_Recognition.SelectProvider(LIDAR_Rear.Instance);
Collision_Info collision_info = new Collision_Info();
if (Object_Recognition.Object.Classification.SymbValue == Object_Classification_Enum.VEHICLE)
{
collision_info.Message = "Vehicle: " + Object_Recognition.Object.Distance.ToString() + "m";
collision_info.Lamp.ImplValue = 1;
}
else if (Object_Recognition.Object.Classification.SymbValue == Object_Classification_Enum.OBSTACLE)
{
collision_info.Message = "Obstacle: " + Object_Recognition.Object.Distance.ToString() + "m";
collision_info.Lamp.ImplValue = 1;
}
else if (Object_Recognition.Object.Classification.SymbValue == Object_Classification_Enum.PEDESTRIAN)
{
collision_info.Message = "Pedestrian: " + Object_Recognition.Object.Distance.ToString() + "m";
collision_info.Lamp.ImplValue = 1;
}
collision_info.Warn_Level.ImplValue = 64 - (uint)(Object_Recognition.Object.Distance * 64.0 / 100);
collision_info.Distance.ImplValue = Object_Recognition.Object.Distance;
Passenger_Information.Collision_Info_Rear.Set.CallAsync(collision_info);
}
