248 lines
6.9 KiB
Go
248 lines
6.9 KiB
Go
package firmata
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import (
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"errors"
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"io"
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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/drivers/i2c"
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"gobot.io/x/gobot/v2/gobottest"
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"gobot.io/x/gobot/v2/platforms/firmata/client"
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)
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// make sure that this Adaptor fulfills all required I2C interfaces
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var _ i2c.Connector = (*Adaptor)(nil)
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type i2cMockFirmataBoard struct {
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gobot.Eventer
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i2cDataForRead []byte
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numBytesToRead int
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i2cWritten []byte
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}
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// setup mock for i2c tests
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func (t *i2cMockFirmataBoard) I2cRead(address int, numBytes int) error {
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t.numBytesToRead = numBytes
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i2cReply := client.I2cReply{Data: t.i2cDataForRead}
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go func() {
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<-time.After(10 * time.Millisecond)
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t.Publish(t.Event("I2cReply"), i2cReply)
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}()
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return nil
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}
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func (t *i2cMockFirmataBoard) I2cWrite(address int, data []byte) error {
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t.i2cWritten = append(t.i2cWritten, data...)
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return nil
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}
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func (i2cMockFirmataBoard) I2cConfig(int) error { return nil }
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// GPIO, PWM and servo functions unused in this test scenarios
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func (i2cMockFirmataBoard) Connect(io.ReadWriteCloser) error { return nil }
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func (i2cMockFirmataBoard) Disconnect() error { return nil }
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func (i2cMockFirmataBoard) Pins() []client.Pin { return nil }
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func (i2cMockFirmataBoard) AnalogWrite(int, int) error { return nil }
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func (i2cMockFirmataBoard) SetPinMode(int, int) error { return nil }
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func (i2cMockFirmataBoard) ReportAnalog(int, int) error { return nil }
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func (i2cMockFirmataBoard) ReportDigital(int, int) error { return nil }
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func (i2cMockFirmataBoard) DigitalWrite(int, int) error { return nil }
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func (i2cMockFirmataBoard) ServoConfig(int, int, int) error { return nil }
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// WriteSysex of the client implementation not tested here
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func (i2cMockFirmataBoard) WriteSysex([]byte) error { return nil }
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func newI2cMockFirmataBoard() *i2cMockFirmataBoard {
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m := &i2cMockFirmataBoard{
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Eventer: gobot.NewEventer(),
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}
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m.AddEvent("I2cReply")
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return m
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}
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func initTestTestAdaptorWithI2cConnection() (i2c.Connection, *i2cMockFirmataBoard) {
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a := NewAdaptor()
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a.Board = newI2cMockFirmataBoard()
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con, err := a.GetI2cConnection(0, 0)
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if err != nil {
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panic(err)
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}
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return con, a.Board.(*i2cMockFirmataBoard)
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}
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func TestClose(t *testing.T) {
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i2c, _ := initTestTestAdaptorWithI2cConnection()
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gobottest.Assert(t, i2c.Close(), nil)
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}
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func TestRead(t *testing.T) {
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// arrange
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con, brd := initTestTestAdaptorWithI2cConnection()
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brd.i2cDataForRead = []byte{111}
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buf := []byte{0}
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// act
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countRead, err := con.Read(buf)
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, countRead, 1)
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gobottest.Assert(t, brd.numBytesToRead, 1)
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gobottest.Assert(t, buf, brd.i2cDataForRead)
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gobottest.Assert(t, len(brd.i2cWritten), 0)
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}
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func TestReadByte(t *testing.T) {
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// arrange
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con, brd := initTestTestAdaptorWithI2cConnection()
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brd.i2cDataForRead = []byte{222}
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// act
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val, err := con.ReadByte()
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// assert
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, brd.numBytesToRead, 1)
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gobottest.Assert(t, val, brd.i2cDataForRead[0])
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gobottest.Assert(t, len(brd.i2cWritten), 0)
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}
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func TestReadByteData(t *testing.T) {
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// arrange
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con, brd := initTestTestAdaptorWithI2cConnection()
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brd.i2cDataForRead = []byte{100}
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reg := uint8(0x01)
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// act
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val, err := con.ReadByteData(reg)
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// assert
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, brd.numBytesToRead, 1)
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gobottest.Assert(t, val, brd.i2cDataForRead[0])
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gobottest.Assert(t, len(brd.i2cWritten), 1)
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gobottest.Assert(t, brd.i2cWritten[0], reg)
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}
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func TestReadWordData(t *testing.T) {
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// arrange
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con, brd := initTestTestAdaptorWithI2cConnection()
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lsb := uint8(0x11)
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msb := uint8(0xff)
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brd.i2cDataForRead = []byte{lsb, msb}
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reg := uint8(0x22)
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// act
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val, err := con.ReadWordData(reg)
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// assert
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, brd.numBytesToRead, 2)
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gobottest.Assert(t, val, uint16(lsb)|uint16(msb)<<8)
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gobottest.Assert(t, len(brd.i2cWritten), 1)
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gobottest.Assert(t, brd.i2cWritten[0], reg)
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}
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func TestReadBlockData(t *testing.T) {
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// arrange
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con, brd := initTestTestAdaptorWithI2cConnection()
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brd.i2cDataForRead = []byte{50, 40, 30, 20, 10}
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reg := uint8(0x33)
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buf := []byte{1, 2, 3, 4, 5}
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// act
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err := con.ReadBlockData(reg, buf)
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// assert
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, brd.numBytesToRead, 5)
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gobottest.Assert(t, buf, brd.i2cDataForRead)
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gobottest.Assert(t, len(brd.i2cWritten), 1)
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gobottest.Assert(t, brd.i2cWritten[0], reg)
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}
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func TestWrite(t *testing.T) {
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// arrange
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con, brd := initTestTestAdaptorWithI2cConnection()
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want := []byte{0x00, 0x01}
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wantLen := len(want)
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// act
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written, err := con.Write(want)
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// assert
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, written, wantLen)
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gobottest.Assert(t, brd.i2cWritten, want)
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}
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func TestWrite20bytes(t *testing.T) {
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// arrange
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con, brd := initTestTestAdaptorWithI2cConnection()
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want := []byte{0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19}
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wantLen := len(want)
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// act
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written, err := con.Write(want)
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// assert
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, written, wantLen)
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gobottest.Assert(t, brd.i2cWritten, want)
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}
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func TestWriteByte(t *testing.T) {
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// arrange
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con, brd := initTestTestAdaptorWithI2cConnection()
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want := uint8(0x11)
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// act
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err := con.WriteByte(want)
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// assert
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, len(brd.i2cWritten), 1)
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gobottest.Assert(t, brd.i2cWritten[0], want)
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}
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func TestWriteByteData(t *testing.T) {
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// arrange
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con, brd := initTestTestAdaptorWithI2cConnection()
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reg := uint8(0x12)
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val := uint8(0x22)
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// act
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err := con.WriteByteData(reg, val)
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// assert
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, len(brd.i2cWritten), 2)
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gobottest.Assert(t, brd.i2cWritten[0], reg)
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gobottest.Assert(t, brd.i2cWritten[1], val)
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}
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func TestWriteWordData(t *testing.T) {
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// arrange
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con, brd := initTestTestAdaptorWithI2cConnection()
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reg := uint8(0x13)
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val := uint16(0x8002)
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// act
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err := con.WriteWordData(reg, val)
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// assert
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, len(brd.i2cWritten), 3)
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gobottest.Assert(t, brd.i2cWritten[0], reg)
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gobottest.Assert(t, brd.i2cWritten[1], uint8(val&0x00FF))
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gobottest.Assert(t, brd.i2cWritten[2], uint8(val>>8))
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}
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func TestWriteBlockData(t *testing.T) {
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// arrange
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con, brd := initTestTestAdaptorWithI2cConnection()
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reg := uint8(0x14)
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val := []byte{}
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// we prepare more than 32 bytes, because the call has to drop it
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for i := uint8(0); i < 40; i++ {
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val = append(val, i)
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}
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// act
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err := con.WriteBlockData(reg, val)
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// assert
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, len(brd.i2cWritten), 33)
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gobottest.Assert(t, brd.i2cWritten[0], reg)
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gobottest.Assert(t, brd.i2cWritten[1:], val[0:32])
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}
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func TestDefaultBus(t *testing.T) {
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a := NewAdaptor()
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gobottest.Assert(t, a.DefaultI2cBus(), 0)
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}
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func TestGetI2cConnectionInvalidBus(t *testing.T) {
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a := NewAdaptor()
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_, err := a.GetI2cConnection(0x01, 99)
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gobottest.Assert(t, err, errors.New("Invalid bus number 99, only 0 is supported"))
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}
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