154 lines
3.7 KiB
Go
154 lines
3.7 KiB
Go
package i2c
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import (
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"bytes"
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"errors"
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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 = (*ADXL345Driver)(nil)
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// --------- HELPERS
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func initTestADXL345Driver() (driver *ADXL345Driver) {
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driver, _ = initTestADXL345DriverWithStubbedAdaptor()
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return
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}
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func initTestADXL345DriverWithStubbedAdaptor() (*ADXL345Driver, *i2cTestAdaptor) {
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adaptor := newI2cTestAdaptor()
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return NewADXL345Driver(adaptor), adaptor
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}
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// --------- TESTS
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func TestNewADXL345Driver(t *testing.T) {
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// Does it return a pointer to an instance of ADXL345Driver?
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var mma interface{} = NewADXL345Driver(newI2cTestAdaptor())
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_, ok := mma.(*ADXL345Driver)
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if !ok {
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t.Errorf("NewADXL345Driver() should have returned a *ADXL345Driver")
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}
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}
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// Methods
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func TestADXL345Driver(t *testing.T) {
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mma := initTestADXL345Driver()
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gobottest.Refute(t, mma.Connection(), nil)
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gobottest.Assert(t, strings.HasPrefix(mma.Name(), "ADXL345"), true)
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}
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func TestADXL345DriverSetName(t *testing.T) {
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d := initTestADXL345Driver()
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d.SetName("TESTME")
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gobottest.Assert(t, d.Name(), "TESTME")
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}
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func TestADXL345DriverOptions(t *testing.T) {
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d := NewADXL345Driver(newI2cTestAdaptor(), WithBus(2))
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gobottest.Assert(t, d.GetBusOrDefault(1), 2)
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}
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func TestADXL345DriverStart(t *testing.T) {
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d := initTestADXL345Driver()
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gobottest.Assert(t, d.Start(), nil)
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}
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func TestADXL345StartConnectError(t *testing.T) {
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d, adaptor := initTestADXL345DriverWithStubbedAdaptor()
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adaptor.Testi2cConnectErr(true)
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gobottest.Assert(t, d.Start(), errors.New("Invalid i2c connection"))
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}
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func TestADXL345DriverStartWriteError(t *testing.T) {
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mma, adaptor := initTestADXL345DriverWithStubbedAdaptor()
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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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gobottest.Assert(t, mma.Start(), errors.New("write error"))
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}
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func TestADXL345DriverHalt(t *testing.T) {
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d := initTestADXL345Driver()
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gobottest.Assert(t, d.Start(), nil)
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gobottest.Assert(t, d.Halt(), nil)
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}
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func TestADXL345DriverNullXYZ(t *testing.T) {
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d, _ := initTestADXL345DriverWithStubbedAdaptor()
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d.Start()
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x, y, z, _ := d.XYZ()
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gobottest.Assert(t, x, 0.0)
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gobottest.Assert(t, y, 0.0)
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gobottest.Assert(t, z, 0.0)
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}
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func TestADXL345DriverXYZ(t *testing.T) {
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d, adaptor := initTestADXL345DriverWithStubbedAdaptor()
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d.Start()
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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{218, 0, 251, 255, 100, 0})
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copy(b, buf.Bytes())
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return buf.Len(), nil
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}
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x, y, z, _ := d.XYZ()
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gobottest.Assert(t, x, 0.8515625)
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gobottest.Assert(t, y, -0.01953125)
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gobottest.Assert(t, z, 0.390625)
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}
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func TestADXL345DriverXYZError(t *testing.T) {
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d, adaptor := initTestADXL345DriverWithStubbedAdaptor()
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d.Start()
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adaptor.i2cReadImpl = func(b []byte) (int, error) {
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return 0, errors.New("read error")
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}
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_, _, _, err := d.XYZ()
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gobottest.Assert(t, err, errors.New("read error"))
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}
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func TestADXL345DriverRawXYZ(t *testing.T) {
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d, adaptor := initTestADXL345DriverWithStubbedAdaptor()
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d.Start()
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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{218, 0, 251, 255, 100, 0})
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copy(b, buf.Bytes())
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return buf.Len(), nil
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}
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x, y, z, _ := d.RawXYZ()
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gobottest.Assert(t, int(x), 218)
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gobottest.Assert(t, int(y), -5)
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gobottest.Assert(t, int(z), 100)
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}
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func TestADXL345DriverRawXYZError(t *testing.T) {
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d, adaptor := initTestADXL345DriverWithStubbedAdaptor()
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d.Start()
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adaptor.i2cReadImpl = func(b []byte) (int, error) {
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return 0, errors.New("read error")
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}
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_, _, _, err := d.RawXYZ()
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gobottest.Assert(t, err, errors.New("read error"))
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}
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func TestADXL345DriverSetRange(t *testing.T) {
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d := initTestADXL345Driver()
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d.Start()
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gobottest.Assert(t, d.SetRange(ADXL345_RANGE_16G), nil)
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}
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