321 lines
8.4 KiB
Go
321 lines
8.4 KiB
Go
package i2c
|
|
|
|
import (
|
|
"errors"
|
|
"strings"
|
|
"testing"
|
|
"time"
|
|
|
|
"gobot.io/x/gobot"
|
|
"gobot.io/x/gobot/gobottest"
|
|
)
|
|
|
|
var _ gobot.Driver = (*WiichuckDriver)(nil)
|
|
|
|
// --------- HELPERS
|
|
func initTestWiichuckDriver() (driver *WiichuckDriver) {
|
|
driver, _ = initTestWiichuckDriverWithStubbedAdaptor()
|
|
return
|
|
}
|
|
|
|
func initTestWiichuckDriverWithStubbedAdaptor() (*WiichuckDriver, *i2cTestAdaptor) {
|
|
adaptor := newI2cTestAdaptor()
|
|
return NewWiichuckDriver(adaptor), adaptor
|
|
}
|
|
|
|
// --------- TESTS
|
|
|
|
func TestNewWiichuckDriver(t *testing.T) {
|
|
// Does it return a pointer to an instance of WiichuckDriver?
|
|
var bm interface{} = NewWiichuckDriver(newI2cTestAdaptor())
|
|
_, ok := bm.(*WiichuckDriver)
|
|
if !ok {
|
|
t.Errorf("NewWiichuckDriver() should have returned a *WiichuckDriver")
|
|
}
|
|
}
|
|
|
|
func TestWiichuckDriver(t *testing.T) {
|
|
wii := initTestWiichuckDriver()
|
|
gobottest.Refute(t, wii.Connection(), nil)
|
|
gobottest.Assert(t, wii.interval, 10*time.Millisecond)
|
|
|
|
wii = NewWiichuckDriver(newI2cTestAdaptor())
|
|
gobottest.Assert(t, strings.HasPrefix(wii.Name(), "Wiichuck"), true)
|
|
}
|
|
|
|
func TestWiichuckDriverStart(t *testing.T) {
|
|
sem := make(chan bool)
|
|
wii, adaptor := initTestWiichuckDriverWithStubbedAdaptor()
|
|
|
|
adaptor.Testi2cReadImpl(func(b []byte) (int, error) {
|
|
copy(b, []byte{1, 2, 3, 4, 5, 6})
|
|
return 6, nil
|
|
})
|
|
|
|
numberOfCyclesForEvery := 3
|
|
|
|
wii.interval = 1 * time.Millisecond
|
|
gobottest.Assert(t, wii.Start(), nil)
|
|
|
|
go func() {
|
|
for {
|
|
time.Sleep(time.Duration(numberOfCyclesForEvery) * time.Millisecond)
|
|
j := wii.Joystick()
|
|
if (j["sy_origin"] == float64(44)) &&
|
|
(j["sx_origin"] == float64(45)) {
|
|
sem <- true
|
|
return
|
|
}
|
|
}
|
|
}()
|
|
|
|
select {
|
|
case <-sem:
|
|
case <-time.After(100 * time.Millisecond):
|
|
t.Errorf("origin not read correctly")
|
|
}
|
|
|
|
}
|
|
|
|
func TestWiichuckStartConnectError(t *testing.T) {
|
|
d, adaptor := initTestWiichuckDriverWithStubbedAdaptor()
|
|
adaptor.Testi2cConnectErr(true)
|
|
gobottest.Assert(t, d.Start(), errors.New("Invalid i2c connection"))
|
|
}
|
|
|
|
func TestWiichuckDriverHalt(t *testing.T) {
|
|
wii := initTestWiichuckDriver()
|
|
|
|
gobottest.Assert(t, wii.Halt(), nil)
|
|
}
|
|
|
|
func TestWiichuckDriverCanParse(t *testing.T) {
|
|
wii := initTestWiichuckDriver()
|
|
|
|
// ------ When value is not encrypted
|
|
decryptedValue := []byte{1, 2, 3, 4, 5, 6}
|
|
wii.update(decryptedValue)
|
|
|
|
// - This should be done by WiichuckDriver.parse
|
|
gobottest.Assert(t, wii.data["sx"], float64(45))
|
|
gobottest.Assert(t, wii.data["sy"], float64(44))
|
|
gobottest.Assert(t, wii.data["z"], float64(0))
|
|
gobottest.Assert(t, wii.data["c"], float64(0))
|
|
}
|
|
|
|
func TestWiichuckDriverCanAdjustOrigins(t *testing.T) {
|
|
wii := initTestWiichuckDriver()
|
|
|
|
// ------ When value is not encrypted
|
|
decryptedValue := []byte{1, 2, 3, 4, 5, 6}
|
|
wii.update(decryptedValue)
|
|
|
|
// - This should be done by WiichuckDriver.adjustOrigins
|
|
gobottest.Assert(t, wii.Joystick()["sx_origin"], float64(45))
|
|
gobottest.Assert(t, wii.Joystick()["sy_origin"], float64(44))
|
|
}
|
|
|
|
func TestWiichuckDriverCButton(t *testing.T) {
|
|
wii := initTestWiichuckDriver()
|
|
|
|
// ------ When value is not encrypted
|
|
decryptedValue := []byte{1, 2, 3, 4, 5, 6}
|
|
wii.update(decryptedValue)
|
|
|
|
// - This should be done by WiichuckDriver.updateButtons
|
|
done := make(chan bool)
|
|
|
|
wii.On(wii.Event(C), func(data interface{}) {
|
|
gobottest.Assert(t, data, true)
|
|
done <- true
|
|
})
|
|
|
|
wii.update(decryptedValue)
|
|
|
|
select {
|
|
case <-done:
|
|
case <-time.After(10 * time.Second):
|
|
t.Errorf("Did not receive 'C' event")
|
|
}
|
|
}
|
|
|
|
func TestWiichuckDriverZButton(t *testing.T) {
|
|
wii := initTestWiichuckDriver()
|
|
|
|
// ------ When value is not encrypted
|
|
decryptedValue := []byte{1, 2, 3, 4, 5, 6}
|
|
wii.update(decryptedValue)
|
|
|
|
done := make(chan bool)
|
|
|
|
wii.On(wii.Event(Z), func(data interface{}) {
|
|
gobottest.Assert(t, data, true)
|
|
done <- true
|
|
})
|
|
|
|
wii.update(decryptedValue)
|
|
|
|
select {
|
|
case <-done:
|
|
case <-time.After(10 * time.Second):
|
|
t.Errorf("Did not receive 'Z' event")
|
|
}
|
|
}
|
|
|
|
func TestWiichuckDriverUpdateJoystick(t *testing.T) {
|
|
wii := initTestWiichuckDriver()
|
|
|
|
// ------ When value is not encrypted
|
|
decryptedValue := []byte{1, 2, 3, 4, 5, 6}
|
|
|
|
// - This should be done by WiichuckDriver.updateJoystick
|
|
expectedData := map[string]float64{
|
|
"x": float64(0),
|
|
"y": float64(0),
|
|
}
|
|
|
|
done := make(chan bool)
|
|
|
|
wii.On(wii.Event(Joystick), func(data interface{}) {
|
|
gobottest.Assert(t, data, expectedData)
|
|
done <- true
|
|
})
|
|
|
|
wii.update(decryptedValue)
|
|
|
|
select {
|
|
case <-done:
|
|
case <-time.After(10 * time.Second):
|
|
t.Errorf("Did not receive 'Joystick' event")
|
|
}
|
|
}
|
|
|
|
func TestWiichuckDriverEncrypted(t *testing.T) {
|
|
wii := initTestWiichuckDriver()
|
|
|
|
// ------ When value is encrypted
|
|
wii = initTestWiichuckDriver()
|
|
encryptedValue := []byte{1, 1, 2, 2, 3, 3}
|
|
|
|
wii.update(encryptedValue)
|
|
|
|
gobottest.Assert(t, wii.data["sx"], float64(0))
|
|
gobottest.Assert(t, wii.data["sy"], float64(0))
|
|
gobottest.Assert(t, wii.data["z"], float64(0))
|
|
gobottest.Assert(t, wii.data["c"], float64(0))
|
|
|
|
gobottest.Assert(t, wii.Joystick()["sx_origin"], float64(-1))
|
|
gobottest.Assert(t, wii.Joystick()["sy_origin"], float64(-1))
|
|
}
|
|
|
|
func TestWiichuckDriverSetJoystickDefaultValue(t *testing.T) {
|
|
wii := initTestWiichuckDriver()
|
|
|
|
gobottest.Assert(t, wii.Joystick()["sy_origin"], float64(-1))
|
|
|
|
wii.setJoystickDefaultValue("sy_origin", float64(2))
|
|
|
|
gobottest.Assert(t, wii.Joystick()["sy_origin"], float64(2))
|
|
|
|
// when current default value is not -1 it keeps the current value
|
|
wii.setJoystickDefaultValue("sy_origin", float64(20))
|
|
|
|
gobottest.Assert(t, wii.Joystick()["sy_origin"], float64(2))
|
|
}
|
|
|
|
func TestWiichuckDriverCalculateJoystickValue(t *testing.T) {
|
|
wii := initTestWiichuckDriver()
|
|
|
|
gobottest.Assert(t, wii.calculateJoystickValue(float64(20), float64(5)), float64(15))
|
|
gobottest.Assert(t, wii.calculateJoystickValue(float64(1), float64(2)), float64(-1))
|
|
gobottest.Assert(t, wii.calculateJoystickValue(float64(10), float64(5)), float64(5))
|
|
gobottest.Assert(t, wii.calculateJoystickValue(float64(5), float64(10)), float64(-5))
|
|
}
|
|
|
|
func TestWiichuckDriverIsEncrypted(t *testing.T) {
|
|
wii := initTestWiichuckDriver()
|
|
|
|
encryptedValue := []byte{1, 1, 2, 2, 3, 3}
|
|
gobottest.Assert(t, wii.isEncrypted(encryptedValue), true)
|
|
|
|
encryptedValue = []byte{42, 42, 24, 24, 30, 30}
|
|
gobottest.Assert(t, wii.isEncrypted(encryptedValue), true)
|
|
|
|
decryptedValue := []byte{1, 2, 3, 4, 5, 6}
|
|
gobottest.Assert(t, wii.isEncrypted(decryptedValue), false)
|
|
|
|
decryptedValue = []byte{1, 1, 2, 2, 5, 6}
|
|
gobottest.Assert(t, wii.isEncrypted(decryptedValue), false)
|
|
|
|
decryptedValue = []byte{1, 1, 2, 3, 3, 3}
|
|
gobottest.Assert(t, wii.isEncrypted(decryptedValue), false)
|
|
}
|
|
|
|
func TestWiichuckDriverDecode(t *testing.T) {
|
|
wii := initTestWiichuckDriver()
|
|
|
|
gobottest.Assert(t, wii.decode(byte(0)), float64(46))
|
|
gobottest.Assert(t, wii.decode(byte(100)), float64(138))
|
|
gobottest.Assert(t, wii.decode(byte(200)), float64(246))
|
|
gobottest.Assert(t, wii.decode(byte(254)), float64(0))
|
|
}
|
|
|
|
func TestWiichuckDriverParse(t *testing.T) {
|
|
wii := initTestWiichuckDriver()
|
|
|
|
gobottest.Assert(t, wii.data["sx"], float64(0))
|
|
gobottest.Assert(t, wii.data["sy"], float64(0))
|
|
gobottest.Assert(t, wii.data["z"], float64(0))
|
|
gobottest.Assert(t, wii.data["c"], float64(0))
|
|
|
|
// First pass
|
|
wii.parse([]byte{12, 23, 34, 45, 56, 67})
|
|
|
|
gobottest.Assert(t, wii.data["sx"], float64(50))
|
|
gobottest.Assert(t, wii.data["sy"], float64(23))
|
|
gobottest.Assert(t, wii.data["z"], float64(1))
|
|
gobottest.Assert(t, wii.data["c"], float64(2))
|
|
|
|
// Second pass
|
|
wii.parse([]byte{70, 81, 92, 103, 204, 205})
|
|
|
|
gobottest.Assert(t, wii.data["sx"], float64(104))
|
|
gobottest.Assert(t, wii.data["sy"], float64(93))
|
|
gobottest.Assert(t, wii.data["z"], float64(1))
|
|
gobottest.Assert(t, wii.data["c"], float64(0))
|
|
}
|
|
|
|
func TestWiichuckDriverAdjustOrigins(t *testing.T) {
|
|
wii := initTestWiichuckDriver()
|
|
|
|
gobottest.Assert(t, wii.Joystick()["sy_origin"], float64(-1))
|
|
gobottest.Assert(t, wii.Joystick()["sx_origin"], float64(-1))
|
|
|
|
// First pass
|
|
wii.parse([]byte{1, 2, 3, 4, 5, 6})
|
|
wii.adjustOrigins()
|
|
|
|
gobottest.Assert(t, wii.Joystick()["sy_origin"], float64(44))
|
|
gobottest.Assert(t, wii.Joystick()["sx_origin"], float64(45))
|
|
|
|
// Second pass
|
|
wii = initTestWiichuckDriver()
|
|
|
|
wii.parse([]byte{61, 72, 83, 94, 105, 206})
|
|
wii.adjustOrigins()
|
|
|
|
gobottest.Assert(t, wii.Joystick()["sy_origin"], float64(118))
|
|
gobottest.Assert(t, wii.Joystick()["sx_origin"], float64(65))
|
|
}
|
|
|
|
func TestWiichuckDriverSetName(t *testing.T) {
|
|
d := initTestWiichuckDriver()
|
|
d.SetName("TESTME")
|
|
gobottest.Assert(t, d.Name(), "TESTME")
|
|
}
|
|
|
|
func TestWiichuckDriverOptions(t *testing.T) {
|
|
d := NewWiichuckDriver(newI2cTestAdaptor(), WithBus(2))
|
|
gobottest.Assert(t, d.GetBusOrDefault(1), 2)
|
|
}
|