111 lines
2.8 KiB
Go
111 lines
2.8 KiB
Go
package leap
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import (
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"errors"
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"io"
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"os"
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"strings"
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"sync"
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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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)
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var _ gobot.Driver = (*Driver)(nil)
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type NullReadWriteCloser struct {
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mtx sync.Mutex
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writeError error
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}
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func (n *NullReadWriteCloser) WriteError(e error) {
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n.mtx.Lock()
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defer n.mtx.Unlock()
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n.writeError = e
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}
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func (n *NullReadWriteCloser) Write(p []byte) (int, error) {
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n.mtx.Lock()
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defer n.mtx.Unlock()
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return len(p), n.writeError
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}
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func (n *NullReadWriteCloser) Read(b []byte) (int, error) {
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return len(b), nil
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}
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func (n *NullReadWriteCloser) Close() error {
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return nil
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}
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func initTestLeapMotionDriver() (*Driver, *NullReadWriteCloser) {
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a := NewAdaptor("")
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rwc := &NullReadWriteCloser{}
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a.connect = func(port string) (io.ReadWriteCloser, error) {
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return rwc, nil
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}
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_ = a.Connect()
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d := NewDriver(a)
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d.receive = func(ws io.ReadWriteCloser, buf *[]byte) {
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file, _ := os.ReadFile("./test/support/example_frame.json")
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copy(*buf, file)
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}
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return d, rwc
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}
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func TestLeapMotionDriver(t *testing.T) {
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d, _ := initTestLeapMotionDriver()
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assert.NotNil(t, d.Connection())
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}
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func TestLeapMotionDriverName(t *testing.T) {
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d, _ := initTestLeapMotionDriver()
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assert.True(t, strings.HasPrefix(d.Name(), "Leap"))
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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 TestLeapMotionDriverStart(t *testing.T) {
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d, _ := initTestLeapMotionDriver()
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require.NoError(t, d.Start())
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d2, rwc := initTestLeapMotionDriver()
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e := errors.New("write error")
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rwc.WriteError(e)
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assert.Equal(t, e, d2.Start())
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}
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func TestLeapMotionDriverHalt(t *testing.T) {
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d, _ := initTestLeapMotionDriver()
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require.NoError(t, d.Halt())
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}
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func TestLeapMotionDriverParser(t *testing.T) {
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d, _ := initTestLeapMotionDriver()
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file, _ := os.ReadFile("./test/support/example_frame.json")
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parsedFrame, _ := d.ParseFrame(file)
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if parsedFrame.Hands == nil || parsedFrame.Pointables == nil || parsedFrame.Gestures == nil {
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t.Errorf("ParseFrame incorrectly parsed frame")
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}
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assert.Equal(t, uint64(134211791358), parsedFrame.Timestamp)
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assert.InDelta(t, 247.410, parsedFrame.Hands[0].X(), 0.0)
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assert.InDelta(t, 275.868, parsedFrame.Hands[0].Y(), 0.0)
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assert.InDelta(t, 132.843, parsedFrame.Hands[0].Z(), 0.0)
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assert.InDelta(t, 214.293, parsedFrame.Pointables[0].BTipPosition[0], 0.0)
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assert.InDelta(t, 213.865, parsedFrame.Pointables[0].BTipPosition[1], 0.0)
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assert.InDelta(t, 95.0224, parsedFrame.Pointables[0].BTipPosition[2], 0.0)
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assert.InDelta(t, -0.468069, parsedFrame.Pointables[0].Bases[0][0][0], 0.0)
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assert.InDelta(t, 0.807844, parsedFrame.Pointables[0].Bases[0][0][1], 0.0)
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assert.InDelta(t, -0.358190, parsedFrame.Pointables[0].Bases[0][0][2], 0.0)
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assert.InDelta(t, 19.7871, parsedFrame.Pointables[0].Width, 0.0)
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}
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