163 lines
3.6 KiB
Go
163 lines
3.6 KiB
Go
package sphero
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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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"gobot.io/x/gobot"
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"gobot.io/x/gobot/gobottest"
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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, _ := initTestSpheroAdaptor()
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a.Connect()
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return NewSpheroDriver(a)
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}
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func TestSpheroDriver(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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gobottest.Assert(t, ret, nil)
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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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gobottest.Assert(t, ret, nil)
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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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gobottest.Assert(t, ret, nil)
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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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gobottest.Assert(t, ret, nil)
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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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gobottest.Assert(t, ret, nil)
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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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gobottest.Assert(t, ret, nil)
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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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gobottest.Assert(t, ret, nil)
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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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gobottest.Assert(t, ret, nil)
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ret = d.Command("Stop")(nil)
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gobottest.Assert(t, ret, nil)
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ret = d.Command("GetRGB")(nil)
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gobottest.Assert(t, ret.([]byte), []byte{})
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ret = d.Command("ReadLocator")(nil)
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gobottest.Assert(t, ret, []int16{})
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gobottest.Assert(t, strings.HasPrefix(d.Name(), "Sphero"), true)
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gobottest.Assert(t, strings.HasPrefix(d.Connection().Name(), "Sphero"), true)
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}
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func TestSpheroDriverStart(t *testing.T) {
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d := initTestSpheroDriver()
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gobottest.Assert(t, d.Start(), nil)
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}
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func TestSpheroDriverHalt(t *testing.T) {
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d := initTestSpheroDriver()
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d.adaptor().connected = true
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gobottest.Assert(t, d.Halt(), nil)
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}
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func TestSpheroDriverSetDataStreaming(t *testing.T) {
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d := initTestSpheroDriver()
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d.SetDataStreaming(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, DefaultDataStreamingConfig())
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gobottest.Assert(t, data.body, buf.Bytes())
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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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gobottest.Assert(t, ret, nil)
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data = <-d.packetChannel
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dconfig := 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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gobottest.Assert(t, data.body, buf.Bytes())
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}
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func TestConfigureLocator(t *testing.T) {
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d := initTestSpheroDriver()
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d.ConfigureLocator(DefaultLocatorConfig())
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data := <-d.packetChannel
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buf := new(bytes.Buffer)
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binary.Write(buf, binary.BigEndian, DefaultLocatorConfig())
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gobottest.Assert(t, data.body, buf.Bytes())
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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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gobottest.Assert(t, ret, nil)
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data = <-d.packetChannel
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lconfig := 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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gobottest.Assert(t, data.body, buf.Bytes())
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}
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func TestCalculateChecksum(t *testing.T) {
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tests := []struct {
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data []byte
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checksum byte
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}{
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{[]byte{0x00}, 0xff},
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{[]byte{0xf0, 0x0f}, 0x00},
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}
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for _, tt := range tests {
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actual := calculateChecksum(tt.data)
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if actual != tt.checksum {
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t.Errorf("Expected %x, got %x for data %x.", tt.checksum, actual, tt.data)
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}
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}
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}
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