110 lines
2.8 KiB
Go
110 lines
2.8 KiB
Go
//nolint:forcetypeassert // ok here
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package gpio
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import (
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"errors"
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"strings"
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"testing"
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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/drivers/aio"
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)
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var _ gobot.Driver = (*ServoDriver)(nil)
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func initTestServoDriver() *ServoDriver {
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return NewServoDriver(newGpioTestAdaptor(), "1")
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}
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func TestNewServoDriver(t *testing.T) {
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// arrange
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a := newGpioTestAdaptor()
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// act
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d := NewServoDriver(a, "10")
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// assert
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assert.IsType(t, &ServoDriver{}, d)
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// assert: gpio.driver attributes
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require.NotNil(t, d.driver)
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assert.True(t, strings.HasPrefix(d.driverCfg.name, "Servo"))
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assert.Equal(t, "10", d.driverCfg.pin)
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assert.Equal(t, a, d.connection)
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assert.NotNil(t, d.afterStart)
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assert.NotNil(t, d.beforeHalt)
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assert.NotNil(t, d.Commander)
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assert.NotNil(t, d.mutex)
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// assert: driver specific attributes
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assert.Equal(t, uint8(0), d.currentAngle)
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}
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func TestNewServoDriver_options(t *testing.T) {
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// This is a general test, that options are applied in constructor by using the common WithName() option, least one
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// option of this driver and one of another driver (which should lead to panic). Further tests for options can also
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// be done by call of "WithOption(val).apply(cfg)".
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// arrange
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const (
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myName = "left wheel"
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)
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panicFunc := func() {
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NewServoDriver(newGpioTestAdaptor(), "1", WithName("crazy"),
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aio.WithActuatorScaler(func(float64) int { return 0 }))
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}
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// act
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d := NewServoDriver(newGpioTestAdaptor(), "1", WithName(myName))
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// assert
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assert.Equal(t, myName, d.Name())
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assert.PanicsWithValue(t, "'scaler option for analog actuators' can not be applied on 'crazy'", panicFunc)
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}
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func TestServo_Commands(t *testing.T) {
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var err interface{}
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a := newGpioTestAdaptor()
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d := NewServoDriver(a, "1")
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a.servoWriteFunc = func(string, byte) error {
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return errors.New("pwm error")
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}
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err = d.Command("ToMin")(nil)
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require.EqualError(t, err.(error), "pwm error")
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err = d.Command("ToCenter")(nil)
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require.EqualError(t, err.(error), "pwm error")
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err = d.Command("ToMax")(nil)
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require.EqualError(t, err.(error), "pwm error")
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err = d.Command("Move")(map[string]interface{}{"angle": 100.0})
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require.EqualError(t, err.(error), "pwm error")
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}
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func TestServoMove(t *testing.T) {
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d := initTestServoDriver()
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_ = d.Move(100)
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assert.Equal(t, uint8(100), d.currentAngle)
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err := d.Move(200)
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require.EqualError(t, err, "servo angle (200) must be between 0-180")
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}
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func TestServoMin(t *testing.T) {
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d := initTestServoDriver()
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_ = d.ToMin()
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assert.Equal(t, uint8(0), d.currentAngle)
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assert.Equal(t, d.currentAngle, d.Angle())
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}
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func TestServoMax(t *testing.T) {
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d := initTestServoDriver()
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_ = d.ToMax()
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assert.Equal(t, uint8(180), d.currentAngle)
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}
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func TestServoCenter(t *testing.T) {
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d := initTestServoDriver()
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_ = d.ToCenter()
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assert.Equal(t, uint8(90), d.currentAngle)
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}
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