func TestButtonDriverActive(t *testing.T) {
d := initTestButtonDriver()
d.update(1)
gobot.Expect(t, d.Active, true)
d.update(0)
gobot.Expect(t, d.Active, false)
}
func TestLedDriverToggle(t *testing.T) {
d := initTestLedDriver()
d.Off()
d.Toggle()
gobot.Expect(t, d.IsOn(), true)
d.Toggle()
gobot.Expect(t, d.IsOff(), true)
}
func TestFirmataAdaptorDigitalRead(t *testing.T) {
a := initTestFirmataAdaptor()
// -1 on no data
gobot.Expect(t, a.DigitalRead("1"), -1)
pinNumber := "1"
a.Board.Events = append(a.Board.Events, event{Name: fmt.Sprintf("digital_read_%v", pinNumber), Data: []byte{0x01}})
gobot.Expect(t, a.DigitalRead(pinNumber), 0x01)
}
func TestMotorDriverIsOn(t *testing.T) {
d := initTestMotorDriver()
d.CurrentMode = "digital"
d.CurrentState = 1
gobot.Expect(t, d.IsOn(), true)
d.CurrentMode = "analog"
d.CurrentSpeed = 100
gobot.Expect(t, d.IsOn(), true)
}
func TestPebbleDriverNotification(t *testing.T) {
d := initTestPebbleDriver()
d.SendNotification("Hello")
d.SendNotification("World")
gobot.Expect(t, d.Messages[0], "Hello")
gobot.Expect(t, d.PendingMessage(), "Hello")
gobot.Expect(t, d.PendingMessage(), "World")
gobot.Expect(t, d.PendingMessage(), "")
}
func TestFirmataAdaptorAnalogRead(t *testing.T) {
a := initTestFirmataAdaptor()
// -1 on no data
gobot.Expect(t, a.AnalogRead("1"), -1)
pinNumber := "1"
value := 133
a.Board.Events = append(a.Board.Events, event{Name: fmt.Sprintf("analog_read_%v", pinNumber), Data: []byte{byte(value >> 24), byte(value >> 16), byte(value >> 8), byte(value & 0xff)}})
gobot.Expect(t, a.AnalogRead(pinNumber), 133)
}
func TestMotorDriverOff(t *testing.T) {
d := initTestMotorDriver()
d.CurrentMode = "digital"
d.Off()
gobot.Expect(t, d.CurrentState, uint8(0))
d.CurrentMode = "analog"
d.CurrentSpeed = 100
d.Off()
gobot.Expect(t, d.CurrentSpeed, uint8(0))
}
func TestFirmataAdaptorI2cRead(t *testing.T) {
a := initTestFirmataAdaptor()
// [] on no data
gobot.Expect(t, a.I2cRead(1), []byte{})
i := []byte{100}
i2cReply := map[string][]byte{}
i2cReply["data"] = i
a.Board.Events = append(a.Board.Events, event{Name: "i2c_reply", I2cReply: i2cReply})
gobot.Expect(t, a.I2cRead(1), i)
}
func TestRobotDevices(t *testing.T) {
a := initTestAPI()
request, _ := http.NewRequest("GET", "/robots/Robot%201/devices", nil)
response := httptest.NewRecorder()
a.server.ServeHTTP(response, request)
body, _ := ioutil.ReadAll(response.Body)
var i []map[string]interface{}
json.Unmarshal(body, &i)
gobot.Expect(t, len(i), 3)
}
func TestRobotCommands(t *testing.T) {
a := initTestAPI()
request, _ := http.NewRequest("GET", "/robots/Robot%201/commands", nil)
response := httptest.NewRecorder()
a.server.ServeHTTP(response, request)
body, _ := ioutil.ReadAll(response.Body)
var i []string
json.Unmarshal(body, &i)
gobot.Expect(t, i, []string{"robotTestFunction"})
}
func TestRobot(t *testing.T) {
a := initTestAPI()
request, _ := http.NewRequest("GET", "/robots/Robot%201", nil)
response := httptest.NewRecorder()
a.server.ServeHTTP(response, request)
body, _ := ioutil.ReadAll(response.Body)
var i map[string]interface{}
json.Unmarshal(body, &i)
gobot.Expect(t, i["name"].(string), "Robot 1")
}
func TestLeapMotionDriverParser(t *testing.T) {
d := initTestLeapMotionDriver()
file, _ := ioutil.ReadFile("./test/support/example_frame.json")
parsedFrame := d.ParseFrame(file)
if parsedFrame.Hands == nil || parsedFrame.Pointables == nil || parsedFrame.Gestures == nil {
t.Errorf("ParseFrame incorrectly parsed frame")
}
parsedFrame = d.ParseFrame([]byte{})
gobot.Expect(t, parsedFrame.Timestamp, 0)
}
func TestExecuteRobotDeviceCommand(t *testing.T) {
a := initTestAPI()
request, _ := http.NewRequest("GET", "/robots/Robot%201/devices/Device%201/commands/TestDriverCommand", bytes.NewBufferString(`{"name":"human"}`))
request.Header.Add("Content-Type", "application/json")
response := httptest.NewRecorder()
a.server.ServeHTTP(response, request)
body, _ := ioutil.ReadAll(response.Body)
var i interface{}
json.Unmarshal(body, &i)
gobot.Expect(t, i, "hello human")
}
func TestUnknownRobotCommand(t *testing.T) {
a := initTestAPI()
request, _ := http.NewRequest("GET", "/robots/Robot%201/commands/robotTestFuntion1", bytes.NewBufferString(`{"message":"Beep Boop"}`))
request.Header.Add("Content-Type", "application/json")
response := httptest.NewRecorder()
a.server.ServeHTTP(response, request)
body, _ := ioutil.ReadAll(response.Body)
var i interface{}
json.Unmarshal(body, &i)
gobot.Expect(t, i, "Unknown Command")
}
func TestConnect(t *testing.T) {
a := initTestArdroneAdaptor()
gobot.Expect(t, a.Connect(), true)
}
func TestPebbleDriverHalt(t *testing.T) {
d := initTestPebbleDriver()
gobot.Expect(t, d.Halt(), true)
}
func TestFinalize(t *testing.T) {
a := initTestArdroneAdaptor()
gobot.Expect(t, a.Finalize(), true)
}
func TestLedDriverOff(t *testing.T) {
d := initTestLedDriver()
gobot.Expect(t, d.Off(), true)
gobot.Expect(t, d.IsOff(), true)
}
func TestLedDriverInit(t *testing.T) {
d := initTestLedDriver()
gobot.Expect(t, d.Init(), true)
}
func TestServoDriverCenter(t *testing.T) {
d := initTestServoDriver()
d.Center()
gobot.Expect(t, d.CurrentAngle, uint8(90))
}
func TestAnalogSensorDriverRead(t *testing.T) {
d := initTestAnalogSensorDriver()
gobot.Expect(t, d.Read(), 99)
}
func TestServoDriverMove(t *testing.T) {
d := initTestServoDriver()
d.Move(100)
gobot.Expect(t, d.CurrentAngle, uint8(100))
}
func TestServoDriverStart(t *testing.T) {
d := initTestServoDriver()
gobot.Expect(t, d.Start(), true)
}
func TestBeagleboneAdaptorFinalize(t *testing.T) {
a := initTestBeagleboneAdaptor()
gobot.Expect(t, a.Finalize(), true)
}
func TestBeagleboneAdaptorReconnect(t *testing.T) {
a := initTestBeagleboneAdaptor()
gobot.Expect(t, a.Reconnect(), true)
}
func TestDigisparkAdaptorReconnect(t *testing.T) {
a := initTestDigisparkAdaptor()
gobot.Expect(t, a.Reconnect(), true)
}
func TestSparkCoreAdaptorConnect(t *testing.T) {
a := initTestSparkCoreAdaptor()
gobot.Expect(t, a.Connect(), true)
}
func TestServoDriverMax(t *testing.T) {
d := initTestServoDriver()
d.Max()
gobot.Expect(t, d.CurrentAngle, uint8(180))
}
func TestSparkCoreAdaptorFinalize(t *testing.T) {
a := initTestSparkCoreAdaptor()
gobot.Expect(t, a.Finalize(), true)
}
func TestAnalogSensorDriverInit(t *testing.T) {
d := initTestAnalogSensorDriver()
gobot.Expect(t, d.Init(), true)
}
