func TestAdaptorConnect(t *testing.T) {
	a := NewAdaptor()
	gobottest.Assert(t, a.Connect(), ErrConnection)

	a = initTestAdaptor()
	gobottest.Assert(t, a.Connect(), nil)
}
func TestMCP23017DriverGetPort(t *testing.T) {
	// port A
	mcp := initTestMCP23017Driver(0)
	expectedPort := getBank(0).PortA
	actualPort := mcp.getPort("A")
	gobottest.Assert(t, expectedPort, actualPort)

	// port B
	mcp = initTestMCP23017Driver(0)
	expectedPort = getBank(0).PortB
	actualPort = mcp.getPort("B")
	gobottest.Assert(t, expectedPort, actualPort)

	// default
	mcp = initTestMCP23017Driver(0)
	expectedPort = getBank(0).PortA
	actualPort = mcp.getPort("")
	gobottest.Assert(t, expectedPort, actualPort)

	// port A bank 1
	mcp = initTestMCP23017Driver(1)
	expectedPort = getBank(1).PortA
	actualPort = mcp.getPort("")
	gobottest.Assert(t, expectedPort, actualPort)
}
Example #3
0
func TestBMP180DriverMeasurements(t *testing.T) {
	bmp180, adaptor := initTestBMP180DriverWithStubbedAdaptor()
	adaptor.i2cReadImpl = func() ([]byte, error) {
		buf := new(bytes.Buffer)
		// Values from the datasheet example.
		if adaptor.written[len(adaptor.written)-1] == bmp180RegisterAC1MSB {
			binary.Write(buf, binary.BigEndian, int16(408))
			binary.Write(buf, binary.BigEndian, int16(-72))
			binary.Write(buf, binary.BigEndian, int16(-14383))
			binary.Write(buf, binary.BigEndian, uint16(32741))
			binary.Write(buf, binary.BigEndian, uint16(32757))
			binary.Write(buf, binary.BigEndian, uint16(23153))
			binary.Write(buf, binary.BigEndian, int16(6190))
			binary.Write(buf, binary.BigEndian, int16(4))
			binary.Write(buf, binary.BigEndian, int16(-32768))
			binary.Write(buf, binary.BigEndian, int16(-8711))
			binary.Write(buf, binary.BigEndian, int16(2868))
		} else if adaptor.written[len(adaptor.written)-2] == bmp180CmdTemp && adaptor.written[len(adaptor.written)-1] == bmp180RegisterTempMSB {
			binary.Write(buf, binary.BigEndian, int16(27898))
		} else if adaptor.written[len(adaptor.written)-2] == bmp180CmdPressure && adaptor.written[len(adaptor.written)-1] == bmp180RegisterPressureMSB {
			binary.Write(buf, binary.BigEndian, int16(23843))
			// XLSB, not used in this test.
			buf.WriteByte(0)
		}
		return buf.Bytes(), nil
	}
	bmp180.Start()
	temp, err := bmp180.Temperature()
	gobottest.Assert(t, err, nil)
	gobottest.Assert(t, temp, float32(15.0))
	pressure, err := bmp180.Pressure(BMP180UltraLowPower)
	gobottest.Assert(t, err, nil)
	gobottest.Assert(t, pressure, float32(69964))
}
Example #4
0
func TestExecuteMcpCommand(t *testing.T) {
	var body interface{}
	a := initTestAPI()

	// known command
	request, _ := http.NewRequest("GET",
		"/api/commands/TestFunction",
		bytes.NewBufferString(`{"message":"Beep Boop"}`),
	)
	request.Header.Add("Content-Type", "application/json")
	response := httptest.NewRecorder()
	a.ServeHTTP(response, request)

	json.NewDecoder(response.Body).Decode(&body)
	gobottest.Assert(t, body.(map[string]interface{})["result"], "hey Beep Boop")

	// unknown command
	request, _ = http.NewRequest("GET",
		"/api/commands/TestFuntion1",
		bytes.NewBufferString(`{"message":"Beep Boop"}`),
	)
	request.Header.Add("Content-Type", "application/json")
	response = httptest.NewRecorder()
	a.ServeHTTP(response, request)

	json.NewDecoder(response.Body).Decode(&body)
	gobottest.Assert(t, body.(map[string]interface{})["error"], "Unknown Command")
}
func TestAdaptorConnect(t *testing.T) {
	a := initTestAdaptor()
	gobottest.Assert(t, a.Connect(), nil)

	a = NewAdaptor()
	gobottest.Assert(t, a.Connect(), errors.New("No joystick available"))
}
Example #6
0
func TestServoConfig(t *testing.T) {
	b := New()
	b.connection = readWriteCloser{}

	tests := []struct {
		description string
		arguments   [3]int
		expected    []byte
		result      error
	}{
		{
			description: "Min values for min & max",
			arguments:   [3]int{9, 0, 0},
			expected:    []byte{0xF0, 0x70, 9, 0, 0, 0, 0, 0xF7},
		},
		{
			description: "Max values for min & max",
			arguments:   [3]int{9, 0x3FFF, 0x3FFF},
			expected:    []byte{0xF0, 0x70, 9, 0x7F, 0x7F, 0x7F, 0x7F, 0xF7},
		},
		{
			description: "Clipped max values for min & max",
			arguments:   [3]int{9, 0xFFFF, 0xFFFF},
			expected:    []byte{0xF0, 0x70, 9, 0x7F, 0x7F, 0x7F, 0x7F, 0xF7},
		},
	}

	for _, test := range tests {
		testWriteData.Reset()
		err := b.ServoConfig(test.arguments[0], test.arguments[1], test.arguments[2])
		gobottest.Assert(t, testWriteData.Bytes(), test.expected)
		gobottest.Assert(t, err, test.result)
	}
}
Example #7
0
func TestConfigureLocator(t *testing.T) {
	d := initTestSpheroDriver()
	d.ConfigureLocator(DefaultLocatorConfig())
	data := <-d.packetChannel

	buf := new(bytes.Buffer)
	binary.Write(buf, binary.BigEndian, DefaultLocatorConfig())

	gobottest.Assert(t, data.body, buf.Bytes())

	ret := d.Command("ConfigureLocator")(
		map[string]interface{}{
			"Flags":   1.0,
			"X":       100.0,
			"Y":       100.0,
			"YawTare": 0.0,
		},
	)
	gobottest.Assert(t, ret, nil)
	data = <-d.packetChannel

	lconfig := LocatorConfig{Flags: 1, X: 100, Y: 100, YawTare: 0}
	buf = new(bytes.Buffer)
	binary.Write(buf, binary.BigEndian, lconfig)

	gobottest.Assert(t, data.body, buf.Bytes())
}
func TestArdroneAdaptor(t *testing.T) {
	a := NewAdaptor()
	gobottest.Assert(t, a.config.Ip, "192.168.1.1")

	a = NewAdaptor("192.168.100.100")
	gobottest.Assert(t, a.config.Ip, "192.168.100.100")
}
Example #9
0
// Test Name & SetName
func TestSHT3xDriverName(t *testing.T) {
	sht3x := initTestSHT3xDriver()

	gobottest.Assert(t, sht3x.Name(), "SHT3x")
	sht3x.SetName("Sensor")
	gobottest.Assert(t, sht3x.Name(), "Sensor")
}
Example #10
0
func TestL3GD20HDriverScale(t *testing.T) {
	d := initTestL3GD20HDriver()
	gobottest.Assert(t, d.Scale(), L3GD20HScale250dps)

	d.SetScale(L3GD20HScale500dps)
	gobottest.Assert(t, d.Scale(), L3GD20HScale500dps)
}
Example #11
0
func TestServoDriver(t *testing.T) {
	var err interface{}

	d := initTestServoDriver()

	gobottest.Assert(t, d.Pin(), "1")
	gobottest.Refute(t, d.Connection(), nil)

	testAdaptorServoWrite = func() (err error) {
		return errors.New("pwm error")
	}

	err = d.Command("Min")(nil)
	gobottest.Assert(t, err.(error), errors.New("pwm error"))

	err = d.Command("Center")(nil)
	gobottest.Assert(t, err.(error), errors.New("pwm error"))

	err = d.Command("Max")(nil)
	gobottest.Assert(t, err.(error), errors.New("pwm error"))

	err = d.Command("Move")(map[string]interface{}{"angle": 100.0})
	gobottest.Assert(t, err.(error), errors.New("pwm error"))

}
Example #12
0
func TestAdaptorPinLevel(t *testing.T) {
	a := initTestAdaptor()

	gobottest.Assert(t, a.pinLevel(1), "HIGH")
	gobottest.Assert(t, a.pinLevel(0), "LOW")
	gobottest.Assert(t, a.pinLevel(5), "LOW")
}
func TestGroveTemperatureSensorDriver(t *testing.T) {
	testAdaptor := newAioTestAdaptor()
	d := NewGroveTemperatureSensorDriver(testAdaptor, "123")
	gobottest.Assert(t, d.Connection(), testAdaptor)
	gobottest.Assert(t, d.Pin(), "123")
	gobottest.Assert(t, d.interval, 10*time.Millisecond)
}
Example #14
0
func TestMavlinkAdaptorConnect(t *testing.T) {
	a := initTestMavlinkAdaptor()
	gobottest.Assert(t, a.Connect(), nil)

	a.connect = func(port string) (io.ReadWriteCloser, error) { return nil, errors.New("connect error") }
	gobottest.Assert(t, a.Connect(), errors.New("connect error"))
}
Example #15
0
func TestBlinkMDriverColor(t *testing.T) {
	blinkM, adaptor := initTestBlinkDriverWithStubbedAdaptor()

	// when len(data) is 3
	adaptor.i2cReadImpl = func() ([]byte, error) {
		return []byte{99, 1, 2}, nil
	}

	color, _ := blinkM.Color()
	gobottest.Assert(t, color, []byte{99, 1, 2})

	// when len(data) is not 3
	adaptor.i2cReadImpl = func() ([]byte, error) {
		return []byte{99}, nil
	}

	color, _ = blinkM.Color()
	gobottest.Assert(t, color, []byte{})

	adaptor.i2cWriteImpl = func() error {
		return errors.New("write error")
	}

	color, err := blinkM.Color()
	gobottest.Assert(t, err, errors.New("write error"))

}
Example #16
0
func TestAdaptorDigitalRead(t *testing.T) {
	// When HIGH
	response := `{"return_value": 1}`
	params := []string{"D7"}

	a := initTestAdaptor()
	testServer := getDummyResponseForPathWithParams("/"+a.DeviceID+"/digitalread", params, response, t)

	a.setAPIServer(testServer.URL)

	val, _ := a.DigitalRead("D7")
	gobottest.Assert(t, val, 1)
	testServer.Close()

	// When LOW
	response = `{"return_value": 0}`

	testServer = getDummyResponseForPathWithParams("/"+a.DeviceID+"/digitalread", params, response, t)

	a.setAPIServer(testServer.URL)
	defer testServer.Close()

	val, _ = a.DigitalRead("D7")
	gobottest.Assert(t, val, 0)
}
Example #17
0
// Test internal sendCommandDelayGetResponse
func TestSHT3xDriverSCDGRIoFailures(t *testing.T) {
	sht3x, adaptor := initTestSHT3xDriverWithStubbedAdaptor()

	invalidRead := errors.New("Read error")
	invalidWrite := errors.New("Write error")

	// Only send 5 bytes
	adaptor.i2cReadImpl = func() ([]byte, error) {
		return []byte{0xbe, 0xef, 0x92, 0xbe, 0xef}, nil
	}

	_, err := sht3x.sendCommandDelayGetResponse(nil, nil, 2)
	gobottest.Assert(t, err, ErrNotEnoughBytes)

	// Don't read any bytes and return an error
	adaptor.i2cReadImpl = func() ([]byte, error) {
		return nil, invalidRead
	}

	_, err = sht3x.sendCommandDelayGetResponse(nil, nil, 1)
	gobottest.Assert(t, err, invalidRead)

	// Don't write any bytes and return an error
	adaptor.i2cWriteImpl = func() error {
		return invalidWrite
	}

	_, err = sht3x.sendCommandDelayGetResponse(nil, nil, 1)
	gobottest.Assert(t, err, invalidWrite)
}
Example #18
0
func TestBlinkMDriverFirmwareVersion(t *testing.T) {
	blinkM, adaptor := initTestBlinkDriverWithStubbedAdaptor()

	// when len(data) is 2
	adaptor.i2cReadImpl = func() ([]byte, error) {
		return []byte{99, 1}, nil
	}

	version, _ := blinkM.FirmwareVersion()
	gobottest.Assert(t, version, "99.1")

	// when len(data) is not 2
	adaptor.i2cReadImpl = func() ([]byte, error) {
		return []byte{99}, nil
	}

	version, _ = blinkM.FirmwareVersion()
	gobottest.Assert(t, version, "")

	adaptor.i2cWriteImpl = func() error {
		return errors.New("write error")
	}

	version, err := blinkM.FirmwareVersion()
	gobottest.Assert(t, err, errors.New("write error"))
}
Example #19
0
func TestServoDriverMove(t *testing.T) {
	d := initTestServoDriver()
	d.Move(100)
	gobottest.Assert(t, d.CurrentAngle, uint8(100))
	err := d.Move(200)
	gobottest.Assert(t, err, ErrServoOutOfRange)
}
Example #20
0
func TestSpheroDriverSetDataStreaming(t *testing.T) {
	d := initTestSpheroDriver()
	d.SetDataStreaming(DefaultDataStreamingConfig())

	data := <-d.packetChannel

	buf := new(bytes.Buffer)
	binary.Write(buf, binary.BigEndian, DefaultDataStreamingConfig())

	gobottest.Assert(t, data.body, buf.Bytes())

	ret := d.Command("SetDataStreaming")(
		map[string]interface{}{
			"N":     100.0,
			"M":     200.0,
			"Mask":  300.0,
			"Pcnt":  255.0,
			"Mask2": 400.0,
		},
	)
	gobottest.Assert(t, ret, nil)
	data = <-d.packetChannel

	dconfig := DataStreamingConfig{N: 100, M: 200, Mask: 300, Pcnt: 255, Mask2: 400}
	buf = new(bytes.Buffer)
	binary.Write(buf, binary.BigEndian, dconfig)

	gobottest.Assert(t, data.body, buf.Bytes())
}
Example #21
0
func TestLedDriver(t *testing.T) {
	var err interface{}

	d := initTestLedDriver(newGpioTestAdaptor())

	gobottest.Assert(t, d.Pin(), "1")
	gobottest.Refute(t, d.Connection(), nil)

	testAdaptorDigitalWrite = func() (err error) {
		return errors.New("write error")
	}
	testAdaptorPwmWrite = func() (err error) {
		return errors.New("pwm error")
	}

	err = d.Command("Toggle")(nil)
	gobottest.Assert(t, err.(error), errors.New("write error"))

	err = d.Command("On")(nil)
	gobottest.Assert(t, err.(error), errors.New("write error"))

	err = d.Command("Off")(nil)
	gobottest.Assert(t, err.(error), errors.New("write error"))

	err = d.Command("Brightness")(map[string]interface{}{"level": 100.0})
	gobottest.Assert(t, err.(error), errors.New("pwm error"))

}
Example #22
0
func TestMotorDriverToggle(t *testing.T) {
	d := initTestMotorDriver()
	d.Off()
	d.Toggle()
	gobottest.Assert(t, d.IsOn(), true)
	d.Toggle()
	gobottest.Assert(t, d.IsOn(), false)
}
Example #23
0
func TestLedDriverToggle(t *testing.T) {
	d := initTestLedDriver(newGpioTestAdaptor())
	d.Off()
	d.Toggle()
	gobottest.Assert(t, d.State(), true)
	d.Toggle()
	gobottest.Assert(t, d.State(), false)
}
Example #24
0
func TestAdaptorFinalize(t *testing.T) {
	a := initTestAdaptor()
	gobottest.Assert(t, a.Finalize(), nil)

	a = initTestAdaptor()
	a.board.(*mockFirmataBoard).disconnectError = errors.New("close error")
	gobottest.Assert(t, a.Finalize(), errors.New("close error"))
}
func TestLeapMotionDriverStart(t *testing.T) {
	d := initTestLeapMotionDriver()
	gobottest.Assert(t, d.Start(), nil)

	d = initTestLeapMotionDriver()
	writeError = errors.New("write error")
	gobottest.Assert(t, d.Start(), errors.New("write error"))
}
Example #26
0
func TestMPU6050Driver(t *testing.T) {
	mpu := initTestMPU6050Driver()
	gobottest.Refute(t, mpu.Connection(), nil)
	gobottest.Assert(t, mpu.interval, 10*time.Millisecond)

	mpu = NewMPU6050Driver(newI2cTestAdaptor(), 100*time.Millisecond)
	gobottest.Assert(t, mpu.interval, 100*time.Millisecond)
}
Example #27
0
func TestSetHatAddresses(t *testing.T) {
	ada, _ := initTestAdafruitMotorHatDriverWithStubbedAdaptor()

	motorHatAddr := 0x61
	servoHatAddr := 0x41
	gobottest.Assert(t, ada.SetMotorHatAddress(motorHatAddr), nil)
	gobottest.Assert(t, ada.SetServoHatAddress(servoHatAddr), nil)
}
Example #28
0
func TestWiichuckDriver(t *testing.T) {
	wii := initTestWiichuckDriver()
	gobottest.Refute(t, wii.Connection(), nil)
	gobottest.Assert(t, wii.interval, 10*time.Millisecond)

	wii = NewWiichuckDriver(newI2cTestAdaptor(), 100*time.Millisecond)
	gobottest.Assert(t, wii.interval, 100*time.Millisecond)
}
Example #29
0
func TestWiichuckDriverDecode(t *testing.T) {
	wii := initTestWiichuckDriver()

	gobottest.Assert(t, wii.decode(byte(0)), float64(46))
	gobottest.Assert(t, wii.decode(byte(100)), float64(138))
	gobottest.Assert(t, wii.decode(byte(200)), float64(246))
	gobottest.Assert(t, wii.decode(byte(254)), float64(0))
}
Example #30
0
func TestNullReadWriteCloser(t *testing.T) {
	n := &NullReadWriteCloser{}
	i, _ := n.Write([]byte{1, 2, 3})
	gobottest.Assert(t, i, 3)
	i, _ = n.Read(make([]byte, 10))
	gobottest.Assert(t, i, 10)
	gobottest.Assert(t, n.Close(), nil)
}