87 lines
2.0 KiB
Go
87 lines
2.0 KiB
Go
package mavlink
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import (
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"io"
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"strings"
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"testing"
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"time"
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"gobot.io/x/gobot/v2"
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"gobot.io/x/gobot/v2/gobottest"
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common "gobot.io/x/gobot/v2/platforms/mavlink/common"
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)
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var _ gobot.Driver = (*Driver)(nil)
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func initTestMavlinkDriver() *Driver {
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m := NewAdaptor("/dev/null")
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m.connect = func(port string) (io.ReadWriteCloser, error) { return nil, nil }
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m.sp = nullReadWriteCloser{}
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return NewDriver(m)
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}
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func TestMavlinkDriver(t *testing.T) {
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m := NewAdaptor("/dev/null")
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m.sp = nullReadWriteCloser{}
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m.connect = func(port string) (io.ReadWriteCloser, error) { return nil, nil }
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d := NewDriver(m)
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gobottest.Refute(t, d.Connection(), nil)
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gobottest.Assert(t, d.interval, 10*time.Millisecond)
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d = NewDriver(m, 100*time.Millisecond)
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gobottest.Assert(t, d.interval, 100*time.Millisecond)
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}
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func TestMavlinkDriverName(t *testing.T) {
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d := initTestMavlinkDriver()
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gobottest.Assert(t, strings.HasPrefix(d.Name(), "Mavlink"), true)
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d.SetName("NewName")
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gobottest.Assert(t, d.Name(), "NewName")
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}
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func TestMavlinkDriverStart(t *testing.T) {
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d := initTestMavlinkDriver()
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err := make(chan error)
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packet := make(chan *common.MAVLinkPacket)
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message := make(chan common.MAVLinkMessage)
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_ = d.On(PacketEvent, func(data interface{}) {
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packet <- data.(*common.MAVLinkPacket)
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})
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_ = d.On(MessageEvent, func(data interface{}) {
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message <- data.(common.MAVLinkMessage)
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})
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_ = d.On(ErrorIOEvent, func(data interface{}) {
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err <- data.(error)
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})
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_ = d.On(ErrorMAVLinkEvent, func(data interface{}) {
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err <- data.(error)
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})
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gobottest.Assert(t, d.Start(), nil)
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select {
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case p := <-packet:
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gobottest.Assert(t, d.SendPacket(p), nil)
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case <-time.After(100 * time.Millisecond):
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t.Errorf("packet was not emitted")
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}
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select {
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case <-message:
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case <-time.After(100 * time.Millisecond):
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t.Errorf("message was not emitted")
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}
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select {
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case <-err:
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case <-time.After(100 * time.Millisecond):
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t.Errorf("error was not emitted")
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}
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}
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func TestMavlinkDriverHalt(t *testing.T) {
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d := initTestMavlinkDriver()
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gobottest.Assert(t, d.Halt(), nil)
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}
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