97 lines
2.6 KiB
Go
97 lines
2.6 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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"github.com/stretchr/testify/assert"
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"github.com/stretchr/testify/require"
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"gobot.io/x/gobot/v2"
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)
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// this ensures that the implementation implements the gobot.Driver interface
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var _ gobot.Driver = (*Adafruit2327Driver)(nil)
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func initTestAdafruit2327WithStubbedAdaptor() (*Adafruit2327Driver, *i2cTestAdaptor) {
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a := newI2cTestAdaptor()
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d := NewAdafruit2327Driver(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 TestNewAdafruit2327Driver(t *testing.T) {
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// arrange & act
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d := NewAdafruit2327Driver(newI2cTestAdaptor())
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// assert
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assert.IsType(t, &Adafruit2327Driver{}, d)
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assert.True(t, strings.HasPrefix(d.Name(), "Adafruit2327ServoHat"))
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assert.Equal(t, 0x40, d.defaultAddress)
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}
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func TestAdafruit2327Options(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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// arrange & act
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d := NewAdafruit2327Driver(newI2cTestAdaptor(), WithBus(2))
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// assert
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assert.Equal(t, 2, d.GetBusOrDefault(1))
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}
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func TestAdafruit2327SetServoMotorFreq(t *testing.T) {
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// arrange
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d, a := initTestAdafruit2327WithStubbedAdaptor()
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a.written = []byte{} // reset writes of former test
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const freq = 60.0
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// act
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err := d.SetServoMotorFreq(freq)
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// assert
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require.NoError(t, err)
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assert.Len(t, a.written, 9) // detailed test, see "TestPCA9685SetPWMFreq"
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}
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func TestAdafruit2327SetServoMotorFreqError(t *testing.T) {
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// arrange
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d, a := initTestAdafruit2327WithStubbedAdaptor()
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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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const freq = 60.0
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// act & assert
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require.ErrorContains(t, d.SetServoMotorFreq(freq), "write error")
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}
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func TestAdafruit2327SetServoMotorPulse(t *testing.T) {
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// arrange
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d, a := initTestAdafruit2327WithStubbedAdaptor()
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a.written = []byte{} // reset writes of former test
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const (
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channel byte = 7
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on int32 = 1234
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off int32 = 4321
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)
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// act
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err := d.SetServoMotorPulse(channel, on, off)
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// assert
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require.NoError(t, err)
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assert.Len(t, a.written, 8) // detailed test, see "TestPCA9685SetPWM"
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}
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func TestAdafruit2327SetServoMotorPulseError(t *testing.T) {
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// arrange
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d, a := initTestAdafruit2327WithStubbedAdaptor()
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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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const (
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channel byte = 7
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on int32 = 1234
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off int32 = 4321
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)
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// act & assert
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require.ErrorContains(t, d.SetServoMotorPulse(channel, on, off), "write error")
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}
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