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)
gobottest.Refute(t, len(rect), 0)
gobottest.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)
gobottest.Refute(t, body["MCP"].(map[string]interface{})["robots"], nil)
gobottest.Refute(t, body["MCP"].(map[string]interface{})["commands"], nil)
}
func TestDirectPinDriverPwmWrite(t *testing.T) {
d := initTestDirectPinDriver(newGpioTestAdaptor())
gobottest.Refute(t, d.PwmWrite(1), nil)
d = initTestDirectPinDriver(&gpioTestBareAdaptor{})
gobottest.Assert(t, d.PwmWrite(1), ErrPwmWriteUnsupported)
}
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"))
}
func TestButtonDriver(t *testing.T) {
d := NewButtonDriver(newGpioTestAdaptor(), "1")
gobottest.Refute(t, d.Connection(), nil)
d = NewButtonDriver(newGpioTestAdaptor(), "1", 30*time.Second)
gobottest.Assert(t, d.interval, 30*time.Second)
}
func TestRgbLedDriver(t *testing.T) {
var err interface{}
d := initTestRgbLedDriver(newGpioTestAdaptor())
gobottest.Assert(t, d.Pin(), "r=1, g=2, b=3")
gobottest.Assert(t, d.RedPin(), "1")
gobottest.Assert(t, d.GreenPin(), "2")
gobottest.Assert(t, d.BluePin(), "3")
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("pwm error"))
err = d.Command("On")(nil)
gobottest.Assert(t, err.(error), errors.New("pwm error"))
err = d.Command("Off")(nil)
gobottest.Assert(t, err.(error), errors.New("pwm error"))
err = d.Command("SetRGB")(map[string]interface{}{"r": 0xff, "g": 0xff, "b": 0xff})
gobottest.Assert(t, err.(error), errors.New("pwm error"))
}
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"))
}
func TestAdaptorConnect(t *testing.T) {
a, _ := initTestAdaptor()
gobottest.Assert(t, a.Connect(), nil)
a = NewAdaptor()
sysfs.SetFilesystem(sysfs.NewMockFilesystem([]string{}))
gobottest.Refute(t, a.Connect(), nil)
}
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)
}
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)
}
func TestAdaptorSetAPIServer(t *testing.T) {
a := initTestAdaptor()
apiServer := "new_api_server"
gobottest.Refute(t, a.APIServer, apiServer)
a.setAPIServer(apiServer)
gobottest.Assert(t, a.APIServer, apiServer)
}
func TestMakeyButtonDriver(t *testing.T) {
d := initTestMakeyButtonDriver()
gobottest.Assert(t, d.Pin(), "1")
gobottest.Refute(t, d.Connection(), nil)
gobottest.Assert(t, d.interval, 10*time.Millisecond)
d = NewMakeyButtonDriver(newGpioTestAdaptor(), "1", 30*time.Second)
gobottest.Assert(t, d.interval, MAKEY_TEST_DELAY*time.Second)
}
func TestMockFilesystemOpen(t *testing.T) {
fs := NewMockFilesystem([]string{"foo"})
f1 := fs.Files["foo"]
gobottest.Assert(t, f1.Opened, false)
f2, err := fs.OpenFile("foo", 0, 0666)
gobottest.Assert(t, f1, f2)
gobottest.Assert(t, err, nil)
err = f2.Sync()
gobottest.Assert(t, err, nil)
_, err = fs.OpenFile("bar", 0, 0666)
gobottest.Refute(t, err, nil)
fs.Add("bar")
f4, _ := fs.OpenFile("bar", 0, 0666)
gobottest.Refute(t, f4.Fd(), f1.Fd())
}
func TestNewMCP23017Driver(t *testing.T) {
var bm interface{} = NewMCP23017Driver(newMcpI2cTestAdaptor(), MCP23017Config{}, 0x20)
_, ok := bm.(*MCP23017Driver)
if !ok {
t.Errorf("NewMCP23017Driver() should have returned a *MCP23017Driver")
}
b := NewMCP23017Driver(newMcpI2cTestAdaptor(), MCP23017Config{}, 0x20)
gobottest.Refute(t, b.Connection(), nil)
}
func TestAudioDriver(t *testing.T) {
d := NewDriver(NewAdaptor(), "../../examples/laser.mp3")
gobottest.Assert(t, d.Filename(), "../../examples/laser.mp3")
gobottest.Refute(t, d.Connection(), nil)
gobottest.Assert(t, d.Start(), nil)
gobottest.Assert(t, d.Halt(), nil)
}
func TestNewHMC6352Driver(t *testing.T) {
// Does it return a pointer to an instance of HMC6352Driver?
var bm interface{} = NewHMC6352Driver(newI2cTestAdaptor())
_, ok := bm.(*HMC6352Driver)
if !ok {
t.Errorf("NewHMC6352Driver() should have returned a *HMC6352Driver")
}
b := NewHMC6352Driver(newI2cTestAdaptor())
gobottest.Refute(t, b.Connection(), nil)
}
func TestMavlinkDriver(t *testing.T) {
m := NewAdaptor("/dev/null")
m.sp = nullReadWriteCloser{}
m.connect = func(port string) (io.ReadWriteCloser, error) { return nil, nil }
d := NewDriver(m)
gobottest.Refute(t, d.Connection(), nil)
gobottest.Assert(t, d.interval, 10*time.Millisecond)
d = NewDriver(m, 100*time.Millisecond)
gobottest.Assert(t, d.interval, 100*time.Millisecond)
}
func TestNewI2cDevice(t *testing.T) {
fs := NewMockFilesystem([]string{})
SetFilesystem(fs)
i, err := NewI2cDevice(os.DevNull, 0xff)
gobottest.Refute(t, err, nil)
fs = NewMockFilesystem([]string{
"/dev/i2c-1",
})
SetFilesystem(fs)
i, err = NewI2cDevice("/dev/i2c-1", 0xff)
gobottest.Refute(t, err, nil)
SetSyscall(&MockSyscall{})
i, err = NewI2cDevice("/dev/i2c-1", 0xff)
var _ I2cDevice = i
gobottest.Assert(t, err, nil)
gobottest.Assert(t, i.SetAddress(0xff), nil)
buf := []byte{0x01, 0x02, 0x03}
n, err := i.Write(buf)
gobottest.Assert(t, n, len(buf))
gobottest.Assert(t, err, nil)
buf = make([]byte, 4)
n, err = i.Read(buf)
gobottest.Assert(t, n, 3)
gobottest.Assert(t, err, nil)
}
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)
gobottest.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)
gobottest.Refute(t, response.Header()["Access-Control-Allow-Origin"], disallowedOrigin)
gobottest.Refute(t, response.Header()["Access-Control-Allow-Origin"], allowedOrigin)
}
func TestAdaptorDigitalWrite(t *testing.T) {
a := initTestAdaptor()
err := a.DigitalWrite("0", uint8(1))
gobottest.Assert(t, err, nil)
gobottest.Assert(t, a.littleWire.(*mock).pin, uint8(0))
gobottest.Assert(t, a.littleWire.(*mock).state, uint8(1))
err = a.DigitalWrite("?", uint8(1))
gobottest.Refute(t, err, nil)
errorFunc = func() error { return errors.New("pin mode error") }
err = a.DigitalWrite("0", uint8(1))
gobottest.Assert(t, err, errors.New("pin mode error"))
}
func TestAdaptorFinalize(t *testing.T) {
a, _ := initTestAdaptor()
a.DigitalWrite("1", 1)
a.PwmWrite("25", 100)
sysfs.SetSyscall(&sysfs.MockSyscall{})
a.I2cStart(0xff)
gobottest.Assert(t, a.Finalize(), nil)
closeErr = errors.New("close error")
sysfs.SetFilesystem(sysfs.NewMockFilesystem([]string{}))
gobottest.Refute(t, a.Finalize(), nil)
}
func TestCommaner(t *testing.T) {
c := NewCommander()
c.AddCommand("test", func(map[string]interface{}) interface{} {
return "hi"
})
if _, ok := c.Commands()["test"]; !ok {
t.Errorf("Could not add command to list of Commands")
}
command := c.Command("test")
gobottest.Refute(t, command, nil)
command = c.Command("booyeah")
gobottest.Assert(t, command, (func(map[string]interface{}) interface{})(nil))
}
func TestAnalogSensorDriver(t *testing.T) {
d := NewAnalogSensorDriver(newAioTestAdaptor(), "1")
gobottest.Refute(t, d.Connection(), nil)
// default interval
gobottest.Assert(t, d.interval, 10*time.Millisecond)
d = NewAnalogSensorDriver(newAioTestAdaptor(), "42", 30*time.Second)
gobottest.Assert(t, d.Pin(), "42")
gobottest.Assert(t, d.interval, 30*time.Second)
testAdaptorAnalogRead = func() (val int, err error) {
val = 100
return
}
ret := d.Command("Read")(nil).(map[string]interface{})
gobottest.Assert(t, ret["val"].(int), 100)
gobottest.Assert(t, ret["err"], nil)
}
func TestCameraDriverStart(t *testing.T) {
sem := make(chan bool)
d := initTestCameraDriver()
gobottest.Assert(t, d.Start(), nil)
d.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("")
gobottest.Assert(t, d.Start(), nil)
d = NewCameraDriver(true)
gobottest.Refute(t, d.Start(), nil)
}
func TestDirectPinDriver(t *testing.T) {
var ret map[string]interface{}
var err interface{}
d := initTestDirectPinDriver(newGpioTestAdaptor())
gobottest.Assert(t, d.Pin(), "1")
gobottest.Refute(t, d.Connection(), nil)
ret = d.Command("DigitalRead")(nil).(map[string]interface{})
gobottest.Assert(t, ret["val"].(int), 1)
gobottest.Assert(t, ret["err"], nil)
err = d.Command("DigitalWrite")(map[string]interface{}{"level": "1"})
gobottest.Assert(t, err.(error), errors.New("write error"))
err = d.Command("PwmWrite")(map[string]interface{}{"level": "1"})
gobottest.Assert(t, err.(error), errors.New("write error"))
err = d.Command("ServoWrite")(map[string]interface{}{"level": "1"})
gobottest.Assert(t, err.(error), errors.New("write error"))
}
// Test Heater and getStatusRegister
func TestSHT3xDriverHeater(t *testing.T) {
sht3x, adaptor := initTestSHT3xDriverWithStubbedAdaptor()
// heater enabled
adaptor.i2cReadImpl = func() ([]byte, error) {
return []byte{0x20, 0x00, 0x5d}, nil
}
status, err := sht3x.Heater()
gobottest.Assert(t, err, nil)
gobottest.Assert(t, status, true)
// heater disabled
adaptor.i2cReadImpl = func() ([]byte, error) {
return []byte{0x00, 0x00, 0x81}, nil
}
status, err = sht3x.Heater()
gobottest.Assert(t, err, nil)
gobottest.Assert(t, status, false)
// heater crc failed
adaptor.i2cReadImpl = func() ([]byte, error) {
return []byte{0x00, 0x00, 0x00}, nil
}
status, err = sht3x.Heater()
gobottest.Assert(t, err, ErrInvalidCrc)
// heater read failed
adaptor.i2cReadImpl = func() ([]byte, error) {
return []byte{0x00, 0x00}, nil
}
status, err = sht3x.Heater()
gobottest.Refute(t, err, nil)
}
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)
gobottest.Assert(t, pin.pin, "10")
gobottest.Assert(t, pin.label, "custom")
pin = NewDigitalPin(10).(*digitalPin)
gobottest.Assert(t, pin.pin, "10")
gobottest.Assert(t, pin.label, "gpio10")
gobottest.Assert(t, pin.value, nil)
err := pin.Unexport()
gobottest.Assert(t, err, nil)
gobottest.Assert(t, fs.Files["/sys/class/gpio/unexport"].Contents, "10")
err = pin.Export()
gobottest.Assert(t, err, nil)
gobottest.Assert(t, fs.Files["/sys/class/gpio/export"].Contents, "10")
gobottest.Refute(t, pin.value, nil)
err = pin.Write(1)
gobottest.Assert(t, err, nil)
gobottest.Assert(t, fs.Files["/sys/class/gpio/gpio10/value"].Contents, "1")
err = pin.Direction(IN)
gobottest.Assert(t, err, nil)
gobottest.Assert(t, fs.Files["/sys/class/gpio/gpio10/direction"].Contents, "in")
data, _ := pin.Read()
gobottest.Assert(t, 1, data)
pin2 := NewDigitalPin(30, "custom")
err = pin2.Write(1)
gobottest.Refute(t, err, nil)
data, err = pin2.Read()
gobottest.Refute(t, err, nil)
gobottest.Assert(t, data, 0)
writeFile = func(File, []byte) (int, error) {
return 0, &os.PathError{Err: syscall.EINVAL}
}
err = pin.Unexport()
gobottest.Assert(t, err, nil)
writeFile = func(File, []byte) (int, error) {
return 0, &os.PathError{Err: errors.New("write error")}
}
err = pin.Unexport()
gobottest.Assert(t, err.(*os.PathError).Err, errors.New("write error"))
writeFile = func(File, []byte) (int, error) {
return 0, &os.PathError{Err: syscall.EBUSY}
}
err = pin.Export()
gobottest.Assert(t, err, nil)
writeFile = func(File, []byte) (int, error) {
return 0, &os.PathError{Err: errors.New("write error")}
}
err = pin.Export()
gobottest.Assert(t, err.(*os.PathError).Err, errors.New("write error"))
}
func TestBMP180Driver(t *testing.T) {
bmp180 := initTestBMP180Driver()
gobottest.Refute(t, bmp180.Connection(), nil)
}
func TestL3GD20HDriver(t *testing.T) {
d := initTestL3GD20HDriver()
gobottest.Refute(t, d.Connection(), nil)
}
func ExampleRefute() {
t := &testing.T{}
var a int = 100
var b int = 200
gobottest.Refute(t, a, b)
}