func TestUtils(t *testing.T) {
_, currentfile, _, _ := runtime.Caller(0)
image := cv.LoadImage(path.Join(path.Dir(currentfile), "lena-256x256.jpg"))
rect := DetectFaces("haarcascade_frontalface_alt.xml", image)
gobot.Refute(t, len(rect), 0)
gobot.Refute(t, DrawRectangles(image, rect, 0, 0, 0, 0), nil)
}
func TestMcp(t *testing.T) {
a := initTestAPI()
request, _ := http.NewRequest("GET", "/api/", nil)
response := httptest.NewRecorder()
a.ServeHTTP(response, request)
var body map[string]interface{}
json.NewDecoder(response.Body).Decode(&body)
gobot.Refute(t, body["MCP"].(map[string]interface{})["robots"], nil)
gobot.Refute(t, body["MCP"].(map[string]interface{})["commands"], nil)
}
func TestDirectPinDriverPwmWrite(t *testing.T) {
d := initTestDirectPinDriver(newGpioTestAdaptor("adaptor"))
gobot.Refute(t, d.PwmWrite(1), nil)
d = initTestDirectPinDriver(&gpioTestBareAdaptor{})
gobot.Assert(t, d.PwmWrite(1), ErrPwmWriteUnsupported)
}
func TestSparkCoreAdaptorSetAPIServer(t *testing.T) {
a := initTestSparkCoreAdaptor()
apiServer := "new_api_server"
gobot.Refute(t, a.APIServer, apiServer)
a.setAPIServer(apiServer)
gobot.Assert(t, a.APIServer, apiServer)
}
func TestEdisonAdaptorConnect(t *testing.T) {
a, _ := initTestEdisonAdaptor()
gobot.Assert(t, len(a.Connect()), 0)
a = NewEdisonAdaptor("myAdaptor")
sysfs.SetFilesystem(sysfs.NewMockFilesystem([]string{}))
gobot.Refute(t, len(a.Connect()), 0)
}
func TestMockFilesystemOpen(t *testing.T) {
fs := NewMockFilesystem([]string{"foo"})
f1 := fs.Files["foo"]
gobot.Assert(t, f1.Opened, false)
f2, err := fs.OpenFile("foo", 0, 0666)
gobot.Assert(t, f1, f2)
gobot.Assert(t, err, nil)
err = f2.Sync()
gobot.Assert(t, err, nil)
_, err = fs.OpenFile("bar", 0, 0666)
gobot.Refute(t, err, nil)
fs.Add("bar")
f4, err := fs.OpenFile("bar", 0, 0666)
gobot.Refute(t, f4.Fd(), f1.Fd())
}
func TestEdisonAdaptorFinalize(t *testing.T) {
a, _ := initTestEdisonAdaptor()
a.DigitalWrite("3", 1)
a.PwmWrite("5", 100)
a.i2cDevice = &NullReadWriteCloser{}
gobot.Assert(t, len(a.Finalize()), 0)
closeErr = errors.New("close error")
sysfs.SetFilesystem(sysfs.NewMockFilesystem([]string{}))
gobot.Refute(t, len(a.Finalize()), 0)
}
func TestNewI2cDevice(t *testing.T) {
fs := NewMockFilesystem([]string{})
SetFilesystem(fs)
i, err := NewI2cDevice(os.DevNull, 0xff)
gobot.Refute(t, err, nil)
fs = NewMockFilesystem([]string{
"/dev/i2c-1",
})
SetFilesystem(fs)
i, err = NewI2cDevice("/dev/i2c-1", 0xff)
gobot.Refute(t, err, nil)
SetSyscall(&MockSyscall{})
i, err = NewI2cDevice("/dev/i2c-1", 0xff)
var _ I2cDevice = i
gobot.Assert(t, err, nil)
gobot.Assert(t, i.SetAddress(0xff), nil)
buf := []byte{0x01, 0x02, 0x03}
n, err := i.Write(buf)
gobot.Assert(t, n, len(buf))
gobot.Assert(t, err, nil)
buf = make([]byte, 4)
n, err = i.Read(buf)
gobot.Assert(t, n, 3)
gobot.Assert(t, err, nil)
}
func TestNewI2cDevice(t *testing.T) {
fs := NewMockFilesystem([]string{})
SetFilesystem(fs)
i, err := NewI2cDevice(os.DevNull, 0xff)
gobot.Refute(t, err, nil)
fs = NewMockFilesystem([]string{
"/dev/i2c-1",
})
SetFilesystem(fs)
i, err = NewI2cDevice("/dev/i2c-1", 0xff)
gobot.Refute(t, err, nil)
SetSyscall(&MockSyscall{})
i, err = NewI2cDevice("/dev/i2c-1", 0xff)
gobot.Assert(t, err, nil)
var _ io.ReadWriteCloser = i
}
func TestCORS(t *testing.T) {
api := initTestAPI()
// Accepted origin
allowedOrigin := []string{"http://server.com"}
api.AddHandler(AllowRequestsFrom(allowedOrigin[0]))
request, _ := http.NewRequest("GET", "/api/", nil)
request.Header.Set("Origin", allowedOrigin[0])
response := httptest.NewRecorder()
api.ServeHTTP(response, request)
gobot.Assert(t, response.Header()["Access-Control-Allow-Origin"], allowedOrigin)
// Not accepted Origin
disallowedOrigin := []string{"http://disallowed.com"}
request, _ = http.NewRequest("GET", "/api/", nil)
request.Header.Set("Origin", disallowedOrigin[0])
response = httptest.NewRecorder()
api.ServeHTTP(response, request)
gobot.Refute(t, response.Header()["Access-Control-Allow-Origin"], disallowedOrigin)
gobot.Refute(t, response.Header()["Access-Control-Allow-Origin"], allowedOrigin)
}
func TestEdisonAdaptorFinalize(t *testing.T) {
a, _ := initTestEdisonAdaptor()
a.DigitalWrite("3", 1)
a.PwmWrite("5", 100)
sysfs.SetSyscall(&sysfs.MockSyscall{})
a.I2cStart(0xff)
gobot.Assert(t, len(a.Finalize()), 0)
closeErr = errors.New("close error")
sysfs.SetFilesystem(sysfs.NewMockFilesystem([]string{}))
gobot.Refute(t, len(a.Finalize()), 0)
}
func TestDigisparkAdaptorDigitalWrite(t *testing.T) {
a := initTestDigisparkAdaptor()
err := a.DigitalWrite("0", uint8(1))
gobot.Assert(t, err, nil)
gobot.Assert(t, a.littleWire.(*mock).pin, uint8(0))
gobot.Assert(t, a.littleWire.(*mock).state, uint8(1))
err = a.DigitalWrite("?", uint8(1))
gobot.Refute(t, err, nil)
errorFunc = func() error { return errors.New("pin mode error") }
err = a.DigitalWrite("0", uint8(1))
gobot.Assert(t, err, errors.New("pin mode error"))
}
func TestCameraDriverStart(t *testing.T) {
sem := make(chan bool)
d := initTestCameraDriver()
gobot.Assert(t, len(d.Start()), 0)
gobot.On(d.Event("frame"), func(data interface{}) {
sem <- true
})
select {
case <-sem:
case <-time.After(100 * time.Millisecond):
t.Errorf("Event \"frame\" was not published")
}
d = NewCameraDriver("bot", "")
gobot.Assert(t, len(d.Start()), 0)
d = NewCameraDriver("bot", true)
gobot.Refute(t, len(d.Start()), 0)
}
func ExampleRefute() {
t := &testing.T{}
var a int = 100
var b int = 200
gobot.Refute(t, a, b)
}
func TestDigitalPin(t *testing.T) {
fs := NewMockFilesystem([]string{
"/sys/class/gpio/export",
"/sys/class/gpio/unexport",
"/sys/class/gpio/gpio10/value",
"/sys/class/gpio/gpio10/direction",
})
SetFilesystem(fs)
pin := NewDigitalPin(10, "custom").(*digitalPin)
gobot.Assert(t, pin.pin, "10")
gobot.Assert(t, pin.label, "custom")
pin = NewDigitalPin(10).(*digitalPin)
gobot.Assert(t, pin.label, "gpio10")
pin.Unexport()
gobot.Assert(t, fs.Files["/sys/class/gpio/unexport"].Contents, "10")
pin.Export()
gobot.Assert(t, fs.Files["/sys/class/gpio/unexport"].Contents, "10")
pin.Write(1)
gobot.Assert(t, fs.Files["/sys/class/gpio/gpio10/value"].Contents, "1")
pin.Direction(IN)
gobot.Assert(t, fs.Files["/sys/class/gpio/gpio10/direction"].Contents, "in")
data, _ := pin.Read()
gobot.Assert(t, 1, data)
pin2 := NewDigitalPin(30, "custom")
err := pin2.Write(1)
gobot.Refute(t, err, nil)
data, err = pin2.Read()
gobot.Refute(t, err, nil)
gobot.Assert(t, data, 0)
writeFile = func(string, []byte) (int, error) {
return 0, &os.PathError{Err: syscall.EINVAL}
}
err = pin.Unexport()
gobot.Assert(t, err, nil)
writeFile = func(string, []byte) (int, error) {
return 0, &os.PathError{Err: errors.New("write error")}
}
err = pin.Unexport()
gobot.Assert(t, err.(*os.PathError).Err, errors.New("write error"))
writeFile = func(string, []byte) (int, error) {
return 0, &os.PathError{Err: syscall.EBUSY}
}
err = pin.Export()
gobot.Assert(t, err, nil)
writeFile = func(string, []byte) (int, error) {
return 0, &os.PathError{Err: errors.New("write error")}
}
err = pin.Export()
gobot.Assert(t, err.(*os.PathError).Err, errors.New("write error"))
}