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