add test for incorrect pid type

components/base/sensorcontrolled/sensorcontrolled_test.go

@@ -29,6 +29,8 @@ const (
 	// compassValue and orientationValue should be different for tests.
 	defaultCompassValue     = 45.
 	defaultOrientationValue = 40.
+	wrongTypeLinVel         = "linear"
+	wrongTypeAngVel         = "angulr_velocity"
 )
 
 var (
@@ -146,16 +148,16 @@ func TestSensorBase(t *testing.T) {
 	test.That(t, sb.Close(ctx), test.ShouldBeNil)
 }
 
-func sBaseTestConfig(msNames []string, freq float64) resource.Config {
+func sBaseTestConfig(msNames []string, freq float64, linType, angType string) resource.Config {
 	controlParams := make([]control.PIDConfig, 2)
 	controlParams[0] = control.PIDConfig{
-		Type: typeLinVel,
+		Type: linType,
 		P:    0.5,
 		I:    0.5,
 		D:    0.0,
 	}
 	controlParams[1] = control.PIDConfig{
-		Type: typeAngVel,
+		Type: angType,
 		P:    0.5,
 		I:    0.5,
 		D:    0.0,
@@ -178,7 +180,7 @@ func msDependencies(t *testing.T, msNames []string,
 ) (resource.Dependencies, resource.Config) {
 	t.Helper()
 
-	cfg := sBaseTestConfig(msNames, defaultControlFreq)
+	cfg := sBaseTestConfig(msNames, defaultControlFreq, typeLinVel, typeAngVel)
 
 	deps := make(resource.Dependencies)
 
@@ -280,7 +282,7 @@ func TestReconfig(t *testing.T) {
 
 	deps, _ = msDependencies(t, []string{"setvel2"})
 	// generate a config with a non default freq
-	cfg = sBaseTestConfig([]string{"setvel2"}, 100)
+	cfg = sBaseTestConfig([]string{"setvel2"}, 100, typeLinVel, typeAngVel)
 	err = b.Reconfigure(ctx, deps, cfg)
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, sb.velocities.Name().ShortName(), test.ShouldResemble, "setvel2")
@@ -337,14 +339,20 @@ func TestReconfig(t *testing.T) {
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, headingSupported, test.ShouldBeFalse)
 	test.That(t, headingBad, test.ShouldEqual, 0)
+
+	deps, _ = msDependencies(t, []string{"setvel2"})
+	// generate a config with invalid pid types
+	cfg = sBaseTestConfig([]string{"setvel2"}, 100, wrongTypeLinVel, wrongTypeAngVel)
+	err = b.Reconfigure(ctx, deps, cfg)
+	test.That(t, err.Error(), test.ShouldContainSubstring, "type must be 'linear_velocity' or 'angular_velocity'")
 }
 
 func TestSensorBaseWithVelocitiesSensor(t *testing.T) {
 	ctx := context.Background()
 	logger := logging.NewTestLogger(t)
 	deps, _ := msDependencies(t, []string{"setvel1"})
 	// generate a config with a non default freq
-	cfg := sBaseTestConfig([]string{"setvel1"}, 100)
+	cfg := sBaseTestConfig([]string{"setvel1"}, 100, typeLinVel, typeAngVel)
 
 	b, err := createSensorBase(ctx, deps, cfg, logger)
 	test.That(t, err, test.ShouldBeNil)