hybridgroup.gobot/drivers/i2c/adafruit2348_driver_test.go

163 lines
4.3 KiB
Go

package i2c
import (
"errors"
"strings"
"testing"
"github.com/stretchr/testify/assert"
"gobot.io/x/gobot/v2"
)
// this ensures that the implementation implements the gobot.Driver interface
var _ gobot.Driver = (*Adafruit2348Driver)(nil)
func initTestAdafruit2348WithStubbedAdaptor() (*Adafruit2348Driver, *i2cTestAdaptor) {
a := newI2cTestAdaptor()
d := NewAdafruit2348Driver(a)
if err := d.Start(); err != nil {
panic(err)
}
return d, a
}
func TestNewAdafruit2348Driver(t *testing.T) {
// arrange & act
d := NewAdafruit2348Driver(newI2cTestAdaptor())
// assert
assert.IsType(t, &Adafruit2348Driver{}, d)
assert.True(t, strings.HasPrefix(d.Name(), "Adafruit2348MotorHat"))
assert.Equal(t, 0x40, d.defaultAddress) // the default address of PCA9685 driver
assert.Equal(t, 0x60, d.Config.GetAddressOrDefault(d.defaultAddress)) // the really used address
}
func TestAdafruit2348Options(t *testing.T) {
// This is a general test, that options are applied in constructor by using the common WithBus() option and
// least one of this driver. Further tests for options can also be done by call of "WithOption(val)(d)".
// arrange & act
d := NewAdafruit2348Driver(newI2cTestAdaptor(), WithBus(2), WithAddress(0x45))
// assert
assert.Equal(t, 2, d.GetBusOrDefault(1))
assert.Equal(t, 0x45, d.GetAddressOrDefault(2))
}
func TestAdafruit2348SetDCMotorSpeed(t *testing.T) {
// arrange
d, a := initTestAdafruit2348WithStubbedAdaptor()
a.written = []byte{} // reset writes of former test
const (
dcMotor = 1
speed = 255
)
// act
err := d.SetDCMotorSpeed(dcMotor, speed)
// assert
assert.NoError(t, err)
assert.Equal(t, 8, len(a.written)) // detailed test, see "TestPCA9685SetPWM"
}
func TestAdafruit2348SetDCMotorSpeedError(t *testing.T) {
// arrange
d, a := initTestAdafruit2348WithStubbedAdaptor()
a.i2cWriteImpl = func([]byte) (int, error) {
return 0, errors.New("write error")
}
// act & assert
assert.ErrorContains(t, d.SetDCMotorSpeed(1, 255), "write error")
}
func TestAdafruit2348RunDCMotor(t *testing.T) {
// arrange
d, _ := initTestAdafruit2348WithStubbedAdaptor()
const dcMotor = 1
// act & assert
assert.NoError(t, d.RunDCMotor(dcMotor, Adafruit2348Forward))
assert.NoError(t, d.RunDCMotor(dcMotor, Adafruit2348Backward))
assert.NoError(t, d.RunDCMotor(dcMotor, Adafruit2348Release))
}
func TestAdafruit2348RunDCMotorError(t *testing.T) {
// arrange
d, a := initTestAdafruit2348WithStubbedAdaptor()
a.i2cWriteImpl = func([]byte) (int, error) {
return 0, errors.New("write error")
}
const dcMotor = 1
// act & assert
assert.ErrorContains(t, d.RunDCMotor(dcMotor, Adafruit2348Forward), "write error")
assert.ErrorContains(t, d.RunDCMotor(dcMotor, Adafruit2348Backward), "write error")
assert.ErrorContains(t, d.RunDCMotor(dcMotor, Adafruit2348Release), "write error")
}
func TestAdafruit2348SetStepperMotorSpeed(t *testing.T) {
// arrange
d, _ := initTestAdafruit2348WithStubbedAdaptor()
const (
stepperMotor = 1
rpm = 30
)
// act & assert
assert.NoError(t, d.SetStepperMotorSpeed(stepperMotor, rpm))
assert.Equal(t, 0.01, d.stepperMotors[stepperMotor].secPerStep) // 60/(revSteps*rpm), revSteps=200
}
func TestAdafruit2348StepperSingleStep(t *testing.T) {
// arrange
d, _ := initTestAdafruit2348WithStubbedAdaptor()
const (
stepperMotor = 0
steps = 50
back = 1
single = 0
)
// act
err := d.Step(stepperMotor, steps, back, single)
// assert
assert.NoError(t, err)
}
func TestAdafruit2348StepperDoubleStep(t *testing.T) {
// arrange
d, _ := initTestAdafruit2348WithStubbedAdaptor()
const (
stepperMotor = 0
steps = 50
back = 1
double = 1
)
// act
err := d.Step(stepperMotor, steps, back, double)
// assert
assert.NoError(t, err)
}
func TestAdafruit2348StepperInterleaveStep(t *testing.T) {
// arrange
d, _ := initTestAdafruit2348WithStubbedAdaptor()
const (
stepperMotor = 0
steps = 50
back = 1
interleave = 2
)
// act
err := d.Step(stepperMotor, steps, back, interleave)
// assert
assert.NoError(t, err)
}
func TestAdafruit2348StepperMicroStep(t *testing.T) {
// arrange
d, _ := initTestAdafruit2348WithStubbedAdaptor()
const (
stepperMotor = 0
steps = 50
back = 1
micro = 3
)
// act
err := d.Step(stepperMotor, steps, back, micro)
// assert
assert.NoError(t, err)
}