75 lines
1.8 KiB
Go
75 lines
1.8 KiB
Go
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package i2c
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import (
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"bytes"
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"encoding/binary"
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"testing"
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"gobot.io/x/gobot"
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"gobot.io/x/gobot/gobottest"
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)
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var _ gobot.Driver = (*HMC6352Driver)(nil)
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// --------- HELPERS
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func initTestL3GD20HDriver() (driver *L3GD20HDriver) {
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driver, _ = initTestL3GD20HDriverWithStubbedAdaptor()
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return
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}
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func initTestL3GD20HDriverWithStubbedAdaptor() (*L3GD20HDriver, *i2cTestAdaptor) {
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adaptor := newI2cTestAdaptor()
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return NewL3GD20HDriver(adaptor, L3GD20HScale250dps), adaptor
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}
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// --------- TESTS
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func TestNewL3GD20HDriver(t *testing.T) {
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// Does it return a pointer to an instance of HMC6352Driver?
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var d interface{} = NewL3GD20HDriver(newI2cTestAdaptor(), L3GD20HScale250dps)
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_, ok := d.(*L3GD20HDriver)
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if !ok {
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t.Errorf("NewL3GD20HDriver() should have returned a *L3GD20HDriver")
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}
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}
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func TestL3GD20HDriver(t *testing.T) {
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d := initTestL3GD20HDriver()
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gobottest.Refute(t, d.Connection(), nil)
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}
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// Methods
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func TestL3GD20HDriverStart(t *testing.T) {
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d, _ := initTestL3GD20HDriverWithStubbedAdaptor()
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gobottest.Assert(t, d.Start(), nil)
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}
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func TestL3GD20HDriverHalt(t *testing.T) {
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d := initTestHMC6352Driver()
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gobottest.Assert(t, d.Halt(), nil)
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}
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func TestHMC6352DriverMeasurement(t *testing.T) {
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d, adaptor := initTestL3GD20HDriverWithStubbedAdaptor()
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rawX := 5
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rawY := 8
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rawZ := -3
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adaptor.i2cReadImpl = func() ([]byte, error) {
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buf := new(bytes.Buffer)
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binary.Write(buf, binary.LittleEndian, int16(rawX))
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binary.Write(buf, binary.LittleEndian, int16(rawY))
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binary.Write(buf, binary.LittleEndian, int16(rawZ))
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return buf.Bytes(), nil
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}
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d.Start()
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x, y, z, err := d.XYZ()
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gobottest.Assert(t, err, nil)
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var factor float32 = 0.00875
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gobottest.Assert(t, x, float32(rawX) * factor)
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gobottest.Assert(t, y, float32(rawY) * factor)
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gobottest.Assert(t, z, float32(rawZ) * factor)
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}
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