func TestLEDs(t *testing.T) {
expected := []byte{139, 4, 0, 128}
r := rt.MakeTestRoomba()
defer rt.ClearTestRoomba()
r.LEDs(false, true, false, false, 0, 128)
rt.VerifyWritten(r, expected, t)
}
func TestDrive(t *testing.T) {
expected := []byte{137, 255, 56, 1, 244}
r := rt.MakeTestRoomba()
defer rt.ClearTestRoomba()
r.Drive(-200, 500)
rt.VerifyWritten(r, expected, t)
}
func TestPauseStream(t *testing.T) {
r := rt.MakeTestRoomba()
defer rt.ClearTestRoomba()
r.PauseStream()
out, _ := r.Stream([]byte{})
_, ok := <-out
if ok {
t.Fatalf("non-empty channel return by empty stream")
}
expected_input := []byte{148, 0, 150, 0}
rt.VerifyWritten(r, expected_input, t)
}
func TestStream(t *testing.T) {
expected_data := [][]byte{{2, 25}, {5}}
r := rt.MakeTestRoomba()
defer rt.ClearTestRoomba()
expected_input := []byte{148, 2, 29, 13}
out, err := r.Stream([]byte{
constants.SENSOR_CLIFF_FRONT_LEFT_SIGNAL,
constants.SENSOR_VIRTUAL_WALL})
if err != nil {
t.Fatal("error querying senors")
}
response := <-out
rt.VerifyWritten(r, expected_input, t)
for i, packet_data := range response {
for j, packet_byte := range packet_data {
if expected_data[i][j] != packet_byte {
t.Errorf("output byte doesn't match (byte %d in packet %d) expected %v != actual %v", j, i, expected_data[i], packet_data)
}
}
}
}
func TestQueryLists(t *testing.T) {
output := []byte{3, 5}
r := rt.MakeTestRoomba()
defer rt.ClearTestRoomba()
expected_input := []byte{149, 2, 7, 13}
res, err := r.QueryList([]byte{
constants.SENSOR_BUMP_WHEELS_DROPS,
constants.SENSOR_VIRTUAL_WALL})
if err != nil {
t.Fatalf("error querying sensors: %s", err)
}
rt.VerifyWritten(r, expected_input, t)
for i, b := range res {
if len(b) != 1 {
t.Errorf("query_list returned wrong packet len for packet_id %d",
expected_input[i+2])
}
if b[0] != output[i] {
t.Errorf("query_list result %d doesn't match expected value", i)
}
}
}