153 lines
3.3 KiB
Go
153 lines
3.3 KiB
Go
//nolint:forcetypeassert // ok here
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package serial
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import (
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"bytes"
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"encoding/binary"
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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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"gobot.io/x/gobot/v2/drivers/common/sphero"
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)
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var _ gobot.Driver = (*SpheroDriver)(nil)
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func initTestSpheroDriver() *SpheroDriver {
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a := newSerialTestAdaptor()
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return NewSpheroDriver(a)
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}
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func TestNewSpheroDriver(t *testing.T) {
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d := initTestSpheroDriver()
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assert.True(t, strings.HasPrefix(d.Name(), "Sphero"))
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assert.NotNil(t, d.Eventer)
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}
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func TestSpheroCommands(t *testing.T) {
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d := initTestSpheroDriver()
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var ret interface{}
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ret = d.Command("SetRGB")(
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map[string]interface{}{"r": 100.0, "g": 100.0, "b": 100.0},
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)
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assert.Nil(t, ret)
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ret = d.Command("Roll")(
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map[string]interface{}{"speed": 100.0, "heading": 100.0},
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)
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assert.Nil(t, ret)
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ret = d.Command("SetBackLED")(
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map[string]interface{}{"level": 100.0},
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)
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assert.Nil(t, ret)
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ret = d.Command("ConfigureLocator")(
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map[string]interface{}{"Flags": 1.0, "X": 100.0, "Y": 100.0, "YawTare": 100.0},
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)
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assert.Nil(t, ret)
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ret = d.Command("SetHeading")(
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map[string]interface{}{"heading": 100.0},
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)
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assert.Nil(t, ret)
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ret = d.Command("SetRotationRate")(
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map[string]interface{}{"level": 100.0},
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)
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assert.Nil(t, ret)
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ret = d.Command("SetStabilization")(
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map[string]interface{}{"enable": true},
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)
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assert.Nil(t, ret)
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ret = d.Command("SetStabilization")(
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map[string]interface{}{"enable": false},
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)
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assert.Nil(t, ret)
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ret = d.Command("Stop")(nil)
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assert.Nil(t, ret)
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ret = d.Command("GetRGB")(nil)
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assert.Equal(t, []byte{}, ret.([]byte))
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ret = d.Command("ReadLocator")(nil)
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assert.Equal(t, []int16{}, ret)
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}
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func TestSpheroStart(t *testing.T) {
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d := initTestSpheroDriver()
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require.NoError(t, d.Start())
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}
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func TestSpheroHalt(t *testing.T) {
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a := newSerialTestAdaptor()
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a.isConnected = true
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d := NewSpheroDriver(a)
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require.NoError(t, d.Halt())
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}
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func TestSpheroSetDataStreaming(t *testing.T) {
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d := initTestSpheroDriver()
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d.SetDataStreaming(sphero.DefaultDataStreamingConfig())
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data := <-d.packetChannel
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buf := new(bytes.Buffer)
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_ = binary.Write(buf, binary.BigEndian, sphero.DefaultDataStreamingConfig())
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assert.Equal(t, buf.Bytes(), data.body)
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ret := d.Command("SetDataStreaming")(
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map[string]interface{}{
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"N": 100.0,
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"M": 200.0,
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"Mask": 300.0,
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"Pcnt": 255.0,
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"Mask2": 400.0,
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},
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)
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assert.Nil(t, ret)
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data = <-d.packetChannel
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dconfig := sphero.DataStreamingConfig{N: 100, M: 200, Mask: 300, Pcnt: 255, Mask2: 400}
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buf = new(bytes.Buffer)
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_ = binary.Write(buf, binary.BigEndian, dconfig)
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assert.Equal(t, buf.Bytes(), data.body)
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}
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func TestSpheroConfigureLocator(t *testing.T) {
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d := initTestSpheroDriver()
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d.ConfigureLocator(spheroDefaultLocatorConfig())
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data := <-d.packetChannel
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buf := new(bytes.Buffer)
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_ = binary.Write(buf, binary.BigEndian, spheroDefaultLocatorConfig())
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assert.Equal(t, buf.Bytes(), data.body)
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ret := d.Command("ConfigureLocator")(
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map[string]interface{}{
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"Flags": 1.0,
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"X": 100.0,
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"Y": 100.0,
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"YawTare": 0.0,
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},
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)
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assert.Nil(t, ret)
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data = <-d.packetChannel
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lconfig := sphero.LocatorConfig{Flags: 1, X: 100, Y: 100, YawTare: 0}
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buf = new(bytes.Buffer)
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_ = binary.Write(buf, binary.BigEndian, lconfig)
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assert.Equal(t, buf.Bytes(), data.body)
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}
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