132 lines
3.6 KiB
Go
132 lines
3.6 KiB
Go
package i2c
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import (
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"errors"
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"strings"
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"testing"
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"gobot.io/x/gobot"
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"gobot.io/x/gobot/drivers/gpio"
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"gobot.io/x/gobot/gobottest"
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)
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// ensure that PCA9685Driver fulfills Gobot Driver interface
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var _ gobot.Driver = (*PCA9685Driver)(nil)
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// and also the PwmWriter and ServoWriter interfaces
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var _ gpio.PwmWriter = (*PCA9685Driver)(nil)
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var _ gpio.ServoWriter = (*PCA9685Driver)(nil)
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// --------- HELPERS
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func initTestPCA9685Driver() (driver *PCA9685Driver) {
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driver, _ = initTestPCA9685DriverWithStubbedAdaptor()
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return
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}
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func initTestPCA9685DriverWithStubbedAdaptor() (*PCA9685Driver, *i2cTestAdaptor) {
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adaptor := newI2cTestAdaptor()
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return NewPCA9685Driver(adaptor), adaptor
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}
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// --------- TESTS
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func TestNewPCA9685Driver(t *testing.T) {
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// Does it return a pointer to an instance of PCA9685Driver?
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var pca interface{} = NewPCA9685Driver(newI2cTestAdaptor())
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_, ok := pca.(*PCA9685Driver)
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if !ok {
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t.Errorf("NewPCA9685Driver() should have returned a *PCA9685Driver")
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}
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}
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func TestPCA9685DriverName(t *testing.T) {
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pca := initTestPCA9685Driver()
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gobottest.Refute(t, pca.Connection(), nil)
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gobottest.Assert(t, strings.HasPrefix(pca.Name(), "PCA9685"), true)
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}
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func TestPCA9685DriverOptions(t *testing.T) {
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pca := NewPCA9685Driver(newI2cTestAdaptor(), WithBus(2))
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gobottest.Assert(t, pca.GetBusOrDefault(1), 2)
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}
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// Methods
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func TestPCA9685DriverStart(t *testing.T) {
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pca := initTestPCA9685Driver()
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gobottest.Assert(t, pca.Start(), nil)
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}
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func TestPCA9685DriverStartConnectError(t *testing.T) {
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d, adaptor := initTestPCA9685DriverWithStubbedAdaptor()
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adaptor.Testi2cConnectErr(true)
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gobottest.Assert(t, d.Start(), errors.New("Invalid i2c connection"))
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}
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func TestPCA9685DriverStartWriteError(t *testing.T) {
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pca, adaptor := initTestPCA9685DriverWithStubbedAdaptor()
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adaptor.i2cWriteImpl = func([]byte) (int, error) {
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return 0, errors.New("write error")
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}
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gobottest.Assert(t, pca.Start(), errors.New("write error"))
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}
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func TestPCA9685DriverHalt(t *testing.T) {
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pca := initTestPCA9685Driver()
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gobottest.Assert(t, pca.Start(), nil)
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gobottest.Assert(t, pca.Halt(), nil)
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}
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func TestPCA9685DriverSetPWM(t *testing.T) {
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pca := initTestPCA9685Driver()
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gobottest.Assert(t, pca.Start(), nil)
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gobottest.Assert(t, pca.SetPWM(0, 0, 256), nil)
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}
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func TestPCA9685DriverSetPWMError(t *testing.T) {
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pca, adaptor := initTestPCA9685DriverWithStubbedAdaptor()
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gobottest.Assert(t, pca.Start(), nil)
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adaptor.i2cWriteImpl = func([]byte) (int, error) {
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return 0, errors.New("write error")
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}
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gobottest.Assert(t, pca.SetPWM(0, 0, 256), errors.New("write error"))
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}
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func TestPCA9685DriverSetPWMFreq(t *testing.T) {
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pca, adaptor := initTestPCA9685DriverWithStubbedAdaptor()
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gobottest.Assert(t, pca.Start(), nil)
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adaptor.i2cReadImpl = func(b []byte) (int, error) {
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copy(b, []byte{0x01})
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return 1, nil
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}
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gobottest.Assert(t, pca.SetPWMFreq(60), nil)
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}
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func TestPCA9685DriverSetPWMFreqReadError(t *testing.T) {
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pca, adaptor := initTestPCA9685DriverWithStubbedAdaptor()
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gobottest.Assert(t, pca.Start(), nil)
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adaptor.i2cReadImpl = func(b []byte) (int, error) {
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return 0, errors.New("read error")
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}
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gobottest.Assert(t, pca.SetPWMFreq(60), errors.New("read error"))
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}
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func TestPCA9685DriverSetPWMFreqWriteError(t *testing.T) {
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pca, adaptor := initTestPCA9685DriverWithStubbedAdaptor()
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gobottest.Assert(t, pca.Start(), nil)
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adaptor.i2cWriteImpl = func([]byte) (int, error) {
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return 0, errors.New("write error")
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}
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gobottest.Assert(t, pca.SetPWMFreq(60), errors.New("write error"))
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}
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func TestPCA9685DriverSetName(t *testing.T) {
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pca := initTestPCA9685Driver()
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pca.SetName("TESTME")
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gobottest.Assert(t, pca.Name(), "TESTME")
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}
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