Small changes.

brunoga · May 30, 2024 · 17e00b4 · 17e00b4
1 parent 6490da7
commit 17e00b4
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Showing 5 changed files with 9 additions and 19 deletions.
diff --git a/module/robot/robot.go b/module/robot/robot.go
@@ -47,7 +47,7 @@ func New(ub unitybridge.UnityBridge, l *logger.Logger,
 
 	rb.BaseModule = internal.NewBaseModule(ub, l, "Robot",
 		key.KeyRobomasterSystemConnection, func(r *result.Result) {
-			if r == nil || !r.Succeeded() {
+			if !r.Succeeded() {
 				rb.Logger().Error(
 					"Connection: Unexpected result.", "result", r)
 				return

diff --git a/tests/chassis/main_test.go b/tests/chassis/main_test.go
@@ -9,12 +9,15 @@ import (
 	"github.com/brunoga/robomaster/module/chassis"
 	"github.com/brunoga/robomaster/module/controller"
 	"github.com/brunoga/robomaster/support"
+	"github.com/brunoga/robomaster/support/logger"
 )
 
 var chassisModule *chassis.Chassis
 
 func TestMain(m *testing.M) {
-	c, err := robomaster.NewWithModules(nil, support.AnyAppID,
+	l := logger.New(logger.LevelTrace, "unity_bridge", "wrapper")
+
+	c, err := robomaster.NewWithModules(l, support.AnyAppID,
 		module.TypeConnection|module.TypeRobot|module.TypeController|module.TypeChassis)
 	if err != nil {
 		panic(err)
@@ -31,18 +34,6 @@ func TestMain(m *testing.M) {
 
 	chassisModule = c.Chassis()
 
-	// Enable robot movement.
-	//err = c.Robot().EnableFunction(robot.FunctionTypeMovementControl, true)
-	//if err != nil {
-	//	panic(err)
-	//}
-	//defer func() {
-	//	err := c.Robot().EnableFunction(robot.FunctionTypeMovementControl, false)
-	//	if err != nil {
-	//		panic(err)
-	//	}
-	//}()
-
 	// Set controller mode to SDK for the tests here.
 	err = c.Controller().SetMode(controller.ModeSDK)
 	if err != nil {

diff --git a/tests/gimbal/main_test.go b/tests/gimbal/main_test.go
@@ -1,7 +1,6 @@
 package gimbal
 
 import (
-	"log/slog"
 	"os"
 	"testing"
 
@@ -16,7 +15,7 @@ import (
 var gimbalModule *gimbal.Gimbal
 
 func TestMain(m *testing.M) {
-	c, err := robomaster.NewWithModules(logger.New(slog.LevelDebug), support.AnyAppID,
+	c, err := robomaster.NewWithModules(logger.New(logger.LevelTrace, "wrapper"), support.AnyAppID,
 		module.TypeConnection|module.TypeRobot|module.TypeController|module.TypeGimbal)
 	if err != nil {
 		panic(err)

diff --git a/tests/gimbal/set_rotation_speed_test.go b/tests/gimbal/set_rotation_speed_test.go
@@ -6,7 +6,7 @@ import (
 )
 
 func TestSetRotationSpeed(t *testing.T) {
-	err := gimbalModule.SetRotationSpeed(0, 10)
+	err := gimbalModule.SetRotationSpeed(10, 10)
 	if err != nil {
 		t.Errorf("SetRotationSpeed() failed, got: %v", err)
 	}

diff --git a/unitybridge/internal/unitybridgeimpl.go b/unitybridge/internal/unitybridgeimpl.go
@@ -635,7 +635,7 @@ func (u *UnityBridgeImpl) notifyEventTypeListeners(e *event.Event,
 }
 
 func (u *UnityBridgeImpl) notifyKeyListeners(k *key.Key, data []byte) {
-	endTrace := u.l.Trace("notifyKeyListeners", "key", k, "data", data)
+	endTrace := u.l.Trace("notifyKeyListeners", "key", k, "data", string(data))
 	defer endTrace()
 
 	u.m.RLock()
@@ -654,7 +654,7 @@ func (u *UnityBridgeImpl) notifyKeyListeners(k *key.Key, data []byte) {
 }
 
 func (u *UnityBridgeImpl) notifyCallbacks(data []byte, tag uint64) {
-	endTrace := u.l.Trace("notifyCallbacks", "data", data, "tag", tag)
+	endTrace := u.l.Trace("notifyCallbacks", "data", string(data), "tag", tag)
 	defer endTrace()
 
 	u.m.Lock()