162 lines
3.9 KiB
Go
162 lines
3.9 KiB
Go
package i2c
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import (
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"bytes"
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"errors"
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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 = (*LIDARLiteDriver)(nil)
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// --------- HELPERS
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func initTestLIDARLiteDriver() (driver *LIDARLiteDriver) {
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driver, _ = initTestLIDARLiteDriverWithStubbedAdaptor()
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return
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}
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func initTestLIDARLiteDriverWithStubbedAdaptor() (*LIDARLiteDriver, *i2cTestAdaptor) {
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adaptor := newI2cTestAdaptor()
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return NewLIDARLiteDriver(adaptor), adaptor
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}
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// --------- TESTS
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func TestNewLIDARLiteDriver(t *testing.T) {
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// Does it return a pointer to an instance of LIDARLiteDriver?
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var bm interface{} = NewLIDARLiteDriver(newI2cTestAdaptor())
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_, ok := bm.(*LIDARLiteDriver)
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if !ok {
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t.Errorf("NewLIDARLiteDriver() should have returned a *LIDARLiteDriver")
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}
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b := NewLIDARLiteDriver(newI2cTestAdaptor())
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gobottest.Refute(t, b.Connection(), nil)
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}
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// Methods
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func TestLIDARLiteDriverStart(t *testing.T) {
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hmc, _ := initTestLIDARLiteDriverWithStubbedAdaptor()
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gobottest.Assert(t, hmc.Start(), nil)
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}
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func TestLIDARLiteDriverHalt(t *testing.T) {
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hmc := initTestLIDARLiteDriver()
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gobottest.Assert(t, hmc.Halt(), nil)
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}
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func TestLIDARLiteDriverDistance(t *testing.T) {
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// when everything is happy
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hmc, adaptor := initTestLIDARLiteDriverWithStubbedAdaptor()
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gobottest.Assert(t, hmc.Start(), nil)
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first := true
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adaptor.i2cReadImpl = func(b []byte) (int, error) {
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if first {
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first = false
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copy(b, []byte{99})
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return 1, nil
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}
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copy(b, []byte{1})
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return 1, nil
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}
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distance, err := hmc.Distance()
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, distance, int(25345))
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// when insufficient bytes have been read
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hmc, adaptor = initTestLIDARLiteDriverWithStubbedAdaptor()
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gobottest.Assert(t, hmc.Start(), nil)
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adaptor.i2cReadImpl = func([]byte) (int, error) {
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return 0, nil
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}
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distance, err = hmc.Distance()
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gobottest.Assert(t, distance, int(0))
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gobottest.Assert(t, err, ErrNotEnoughBytes)
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// when read error
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hmc, adaptor = initTestLIDARLiteDriverWithStubbedAdaptor()
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gobottest.Assert(t, hmc.Start(), nil)
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adaptor.i2cReadImpl = func([]byte) (int, error) {
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return 0, errors.New("read error")
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}
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distance, err = hmc.Distance()
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gobottest.Assert(t, distance, int(0))
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gobottest.Assert(t, err, errors.New("read error"))
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}
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func TestLIDARLiteDriverDistanceError1(t *testing.T) {
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hmc, adaptor := initTestLIDARLiteDriverWithStubbedAdaptor()
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gobottest.Assert(t, hmc.Start(), nil)
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adaptor.i2cWriteImpl = func([]byte) (int, error) {
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return 0, errors.New("write error")
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}
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distance, err := hmc.Distance()
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gobottest.Assert(t, distance, int(0))
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gobottest.Assert(t, err, errors.New("write error"))
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}
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func TestLIDARLiteDriverDistanceError2(t *testing.T) {
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hmc, adaptor := initTestLIDARLiteDriverWithStubbedAdaptor()
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gobottest.Assert(t, hmc.Start(), nil)
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adaptor.i2cWriteImpl = func(b []byte) (int, error) {
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if b[0] == 0x0f {
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return 0, errors.New("write error")
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}
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return len(b), nil
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}
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distance, err := hmc.Distance()
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gobottest.Assert(t, distance, int(0))
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gobottest.Assert(t, err, errors.New("write error"))
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}
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func TestLIDARLiteDriverDistanceError3(t *testing.T) {
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hmc, adaptor := initTestLIDARLiteDriverWithStubbedAdaptor()
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gobottest.Assert(t, hmc.Start(), nil)
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adaptor.i2cWriteImpl = func(b []byte) (int, error) {
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if b[0] == 0x10 {
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return 0, errors.New("write error")
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}
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return len(b), nil
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}
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adaptor.i2cReadImpl = func(b []byte) (int, error) {
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buf := new(bytes.Buffer)
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buf.Write([]byte{0x03})
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copy(b, buf.Bytes())
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return buf.Len(), nil
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}
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distance, err := hmc.Distance()
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gobottest.Assert(t, distance, int(0))
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gobottest.Assert(t, err, errors.New("write error"))
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}
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func TestLIDARLiteDriverSetName(t *testing.T) {
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l := initTestLIDARLiteDriver()
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l.SetName("TESTME")
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gobottest.Assert(t, l.Name(), "TESTME")
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}
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func TestLIDARLiteDriverOptions(t *testing.T) {
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l := NewLIDARLiteDriver(newI2cTestAdaptor(), WithBus(2))
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gobottest.Assert(t, l.GetBusOrDefault(1), 2)
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}
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