107 lines
2.3 KiB
Go
107 lines
2.3 KiB
Go
package ollie
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import (
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"fmt"
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"strconv"
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"testing"
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"time"
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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/platforms/sphero"
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)
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var _ gobot.Driver = (*Driver)(nil)
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func initTestOllieDriver() *Driver {
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d := NewDriver(NewBleTestAdaptor())
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return d
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}
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func TestOllieDriver(t *testing.T) {
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d := initTestOllieDriver()
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d.SetName("NewName")
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assert.Equal(t, "NewName", d.Name())
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}
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func TestOllieDriverStartAndHalt(t *testing.T) {
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d := initTestOllieDriver()
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require.NoError(t, d.Start())
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require.NoError(t, d.Halt())
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}
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func TestLocatorData(t *testing.T) {
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d := initTestOllieDriver()
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tables := []struct {
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x1 byte
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x2 byte
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y1 byte
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y2 byte
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x int16
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y int16
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}{
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{0x00, 0x05, 0x00, 0x05, 5, 5},
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{0x00, 0x00, 0x00, 0x00, 0, 0},
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{0x00, 0x0A, 0x00, 0xF0, 10, 240},
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{0x01, 0x00, 0x01, 0x00, 256, 256},
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{0xFF, 0xFE, 0xFF, 0xFE, -1, -1},
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}
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for _, point := range tables {
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// 0x0B is the locator ID
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packet := []byte{
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0xFF, 0xFF, 0x00, 0x00, 0x0B, point.x1, point.x2, point.y1, point.y2, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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}
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d.GetLocatorData(func(p Point2D) {
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assert.Equal(t, point.y, p.Y)
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})
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d.HandleResponses(packet, nil)
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}
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}
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func TestDataStreaming(t *testing.T) {
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d := initTestOllieDriver()
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_ = d.SetDataStreamingConfig(sphero.DefaultDataStreamingConfig())
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responseChan := make(chan bool)
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_ = d.On("sensordata", func(data interface{}) {
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cont := data.(DataStreamingPacket)
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fmt.Printf("got streaming packet: %+v \n", cont)
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assert.Equal(t, int16(10), cont.RawAccX)
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responseChan <- true
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})
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// example data packet
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p1 := []string{
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"FFFE030053000A003900FAFFFE0007FFFF000000",
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"000000000000000000FFECFFFB00010000004B01",
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"BD1034FFFF000300000000000000000000000000",
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"0000002701FDE500560000000000000065000000",
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"0000000000000071",
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}
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for _, elem := range p1 {
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var bytes []byte
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for i := 0; i < len([]rune(elem)); i += 2 {
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a := []rune(elem)[i : i+2]
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b, _ := strconv.ParseUint(string(a), 16, 16)
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c := uint16(b)
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bytes = append(bytes, byte(c))
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}
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d.HandleResponses(bytes, nil)
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}
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// send empty packet to indicate start of next message
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d.HandleResponses([]byte{0xFF}, nil)
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select {
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case <-responseChan:
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case <-time.After(10 * time.Millisecond):
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t.Error("no response received")
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}
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}
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