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fix allocation bug and add test for json file to sim config

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This commit is contained in:
Alex Selimov 2026-08-31 22:34:38 -04:00
parent 085deafc74
commit 46067abda5
1 changed files with 53 additions and 33 deletions
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86
src/io.zig
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@ -20,18 +20,19 @@ const JsonSim = struct {
}; };
pub fn jsonFileToSimConfig( pub fn jsonFileToSimConfig(
file_path: []u8, file_path: []const u8,
allocator: std.mem.Allocator, allocator: std.mem.Allocator,
io: std.Io, io: std.Io,
) !drone.QuadCopterSim { ) !drone.QuadCopterSim {
const cwd = std.Io.Dir.cwd(); const cwd = std.Io.Dir.cwd();
const file = try cwd.openFile(io, file_path, .{ .mode = .read }); const file = try cwd.openFile(io, file_path, .{ .mode = .read_only });
defer file.close(io); defer file.close(io);
var file_reader = file.reader(io, &.{}); var file_reader = file.reader(io, &.{});
const json = try file_reader.interface.allocRemaining(allocator, .unlimited); const json = try file_reader.interface.allocRemaining(allocator, .unlimited);
defer allocator.free(json);
return jsonStringToSimConfig(json, allocator, io); return jsonStringToSimConfig(json, allocator);
} }
pub fn jsonStringToSimConfig( pub fn jsonStringToSimConfig(
@ -110,40 +111,59 @@ test "Verify parse from Json String works" {
\\} \\}
; ;
const gpa = std.testing.allocator; const gpa = std.testing.allocator;
const sim_config = try jsonStringToSimConfig(TEST_JSON_STRING, gpa); const string_sim_config = try jsonStringToSimConfig(TEST_JSON_STRING, gpa);
try std.testing.expectApproxEqAbs(0.5, sim_config.drone.mass_kg, 1e-12); const validate_sim_config = struct {
try std.testing.expectApproxEqAbs(0.25, sim_config.drone.drag_coeff, 1e-12); pub fn validate(sim_config: drone.QuadCopterSim) !void {
try std.testing.expect(vec3.mat3ApproxEq(sim_config.drone.moment_of_inertia, vec3.Mat3F64.identity(), 1e-12)); try std.testing.expectApproxEqAbs(0.5, sim_config.drone.mass_kg, 1e-12);
try std.testing.expectApproxEqAbs(0.25, sim_config.drone.drag_coeff, 1e-12);
try std.testing.expect(vec3.mat3ApproxEq(sim_config.drone.moment_of_inertia, vec3.Mat3F64.identity(), 1e-12));
const expected_x: [4]vec3.Vec3F64 = .{ const expected_x: [4]vec3.Vec3F64 = .{
.init(1, 0, 0), .init(1, 0, 0),
.init(-1, 0, 0), .init(-1, 0, 0),
.init(0, 1, 0), .init(0, 1, 0),
.init(0, -1, 0), .init(0, -1, 0),
};
const expected_thrust: [4]f64 = .{ 1, 2, 1, 2 };
const expected_moment: [4]f64 = .{ 2, 1, 2, 1 };
const expected_direction: [4]constants.PropSpinDirection = .{ .cw, .ccw, .cw, .ccw };
var i: u8 = 0;
while (i < 4) : (i += 1) {
try std.testing.expectApproxEqAbs(
expected_thrust[i],
sim_config.propellers[i].thrust_coefficient,
1e-12,
);
try std.testing.expectApproxEqAbs(
expected_moment[i],
sim_config.propellers[i].moment_coefficient,
1e-12,
);
try std.testing.expect(
vec3.vec3ApproxEq(sim_config.propellers[i].x_cg, expected_x[i], 1e-12),
);
try std.testing.expect(sim_config.propellers[i].direction == expected_direction[i]);
}
}
}; };
const expected_thrust: [4]f64 = .{ 1, 2, 1, 2 }; try validate_sim_config.validate(string_sim_config);
const expected_moment: [4]f64 = .{ 2, 1, 2, 1 };
const expected_direction: [4]constants.PropSpinDirection = .{ .cw, .ccw, .cw, .ccw };
var i: u8 = 0; {
while (i < 4) : (i += 1) { const cwd = std.Io.Dir.cwd();
try std.testing.expectApproxEqAbs( const file = try cwd.createFile(std.testing.io, "/tmp/zig_json_config_test.json", .{});
expected_thrust[i], // Don't forget to close the file at the end.
sim_config.propellers[i].thrust_coefficient, defer file.close(std.testing.io);
1e-12, // Do things with the file ...
); _ = try file.writePositionalAll(std.testing.io, TEST_JSON_STRING, 0);
try std.testing.expectApproxEqAbs(
expected_moment[i],
sim_config.propellers[i].moment_coefficient,
1e-12,
);
try std.testing.expect(
vec3.vec3ApproxEq(sim_config.propellers[i].x_cg, expected_x[i], 1e-12),
);
try std.testing.expect(sim_config.propellers[i].direction == expected_direction[i]);
} }
const file_sim_config = try jsonFileToSimConfig("/tmp/zig_json_config_test.json", gpa, std.testing.io);
try validate_sim_config.validate(file_sim_config);
} }