143 lines
3.8 KiB
Go
143 lines
3.8 KiB
Go
package i2c
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import (
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"bytes"
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"errors"
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"strings"
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"testing"
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"gobot.io/x/gobot/v2"
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"gobot.io/x/gobot/v2/gobottest"
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)
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// this ensures that the implementation is based on i2c.Driver, which implements the gobot.Driver
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// and tests all implementations, so no further tests needed here for gobot.Driver interface
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var _ gobot.Driver = (*LIDARLiteDriver)(nil)
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func initTestLIDARLiteDriver() (driver *LIDARLiteDriver) {
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driver, _ = initTestLIDARLiteDriverWithStubbedAdaptor()
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return
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}
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func initTestLIDARLiteDriverWithStubbedAdaptor() (*LIDARLiteDriver, *i2cTestAdaptor) {
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a := newI2cTestAdaptor()
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d := NewLIDARLiteDriver(a)
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if err := d.Start(); err != nil {
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panic(err)
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}
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return d, a
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}
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func TestNewLIDARLiteDriver(t *testing.T) {
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var di interface{} = NewLIDARLiteDriver(newI2cTestAdaptor())
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d, ok := di.(*LIDARLiteDriver)
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if !ok {
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t.Errorf("NewLIDARLiteDriver() should have returned a *LIDARLiteDriver")
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}
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gobottest.Refute(t, d.Driver, nil)
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gobottest.Assert(t, strings.HasPrefix(d.Name(), "LIDARLite"), true)
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gobottest.Assert(t, d.defaultAddress, 0x62)
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}
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func TestLIDARLiteDriverOptions(t *testing.T) {
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// This is a general test, that options are applied in constructor by using the common WithBus() option and
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// least one of this driver. Further tests for options can also be done by call of "WithOption(val)(d)".
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d := NewLIDARLiteDriver(newI2cTestAdaptor(), WithBus(2))
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gobottest.Assert(t, d.GetBusOrDefault(1), 2)
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}
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func TestLIDARLiteDriverStart(t *testing.T) {
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d := NewLIDARLiteDriver(newI2cTestAdaptor())
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gobottest.Assert(t, d.Start(), nil)
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}
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func TestLIDARLiteDriverHalt(t *testing.T) {
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d := initTestLIDARLiteDriver()
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gobottest.Assert(t, d.Halt(), nil)
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}
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func TestLIDARLiteDriverDistance(t *testing.T) {
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// when everything is happy
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d, a := initTestLIDARLiteDriverWithStubbedAdaptor()
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first := true
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a.i2cReadImpl = func(b []byte) (int, error) {
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if first {
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first = false
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copy(b, []byte{99})
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return 1, nil
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}
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copy(b, []byte{1})
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return 1, nil
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}
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distance, err := d.Distance()
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, distance, int(25345))
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// when insufficient bytes have been read
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d, a = initTestLIDARLiteDriverWithStubbedAdaptor()
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a.i2cReadImpl = func([]byte) (int, error) {
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return 0, nil
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}
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distance, err = d.Distance()
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gobottest.Assert(t, distance, int(0))
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gobottest.Assert(t, err, ErrNotEnoughBytes)
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// when read error
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d, a = initTestLIDARLiteDriverWithStubbedAdaptor()
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a.i2cReadImpl = func([]byte) (int, error) {
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return 0, errors.New("read error")
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}
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distance, err = d.Distance()
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gobottest.Assert(t, distance, int(0))
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gobottest.Assert(t, err, errors.New("read error"))
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}
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func TestLIDARLiteDriverDistanceError1(t *testing.T) {
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d, a := initTestLIDARLiteDriverWithStubbedAdaptor()
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a.i2cWriteImpl = func([]byte) (int, error) {
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return 0, errors.New("write error")
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}
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distance, err := d.Distance()
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gobottest.Assert(t, distance, int(0))
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gobottest.Assert(t, err, errors.New("write error"))
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}
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func TestLIDARLiteDriverDistanceError2(t *testing.T) {
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d, a := initTestLIDARLiteDriverWithStubbedAdaptor()
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a.i2cWriteImpl = func(b []byte) (int, error) {
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if b[0] == 0x0f {
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return 0, errors.New("write error")
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}
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return len(b), nil
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}
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distance, err := d.Distance()
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gobottest.Assert(t, distance, int(0))
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gobottest.Assert(t, err, errors.New("write error"))
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}
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func TestLIDARLiteDriverDistanceError3(t *testing.T) {
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d, a := initTestLIDARLiteDriverWithStubbedAdaptor()
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a.i2cWriteImpl = func(b []byte) (int, error) {
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if b[0] == 0x10 {
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return 0, errors.New("write error")
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}
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return len(b), nil
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}
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a.i2cReadImpl = func(b []byte) (int, error) {
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buf := new(bytes.Buffer)
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buf.Write([]byte{0x03})
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copy(b, buf.Bytes())
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return buf.Len(), nil
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}
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distance, err := d.Distance()
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gobottest.Assert(t, distance, int(0))
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gobottest.Assert(t, err, errors.New("write error"))
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}
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