hybridgroup.gobot/platforms/digispark/digispark_adaptor_test.go

package digispark

import (
	"errors"
	"fmt"
	"strings"
	"testing"

	"gobot.io/x/gobot"
	"gobot.io/x/gobot/drivers/gpio"
	"gobot.io/x/gobot/drivers/i2c"
	"gobot.io/x/gobot/gobottest"
)

var _ gobot.Adaptor = (*Adaptor)(nil)

var _ gpio.DigitalWriter = (*Adaptor)(nil)
var _ gpio.PwmWriter = (*Adaptor)(nil)
var _ gpio.ServoWriter = (*Adaptor)(nil)
var _ i2c.Connector = (*Adaptor)(nil)

type mock struct {
	locationA         uint8
	locationB         uint8
	pwmChannelA       uint8
	pwmChannelB       uint8
	pwmPrescalerValue uint
	pin               uint8
	mode              uint8
	state             uint8
	address           int
	duration          uint
	direction         uint8
}

func (l *mock) digitalWrite(pin uint8, state uint8) error {
	l.pin = pin
	l.state = state
	return l.error()
}
func (l *mock) pinMode(pin uint8, mode uint8) error {
	l.pin = pin
	l.mode = mode
	return l.error()
}

var pwmInitErrorFunc = func() error { return nil }

func (l *mock) pwmInit() error { return pwmInitErrorFunc() }
func (l *mock) pwmStop() error { return l.error() }
func (l *mock) pwmUpdateCompare(channelA uint8, channelB uint8) error {
	l.pwmChannelA = channelA
	l.pwmChannelB = channelB
	return l.error()
}
func (l *mock) pwmUpdatePrescaler(value uint) error {
	l.pwmPrescalerValue = value
	return l.error()
}
func (l *mock) servoInit() error { return l.error() }
func (l *mock) servoUpdateLocation(locationA uint8, locationB uint8) error {
	l.locationA = locationA
	l.locationB = locationB
	return l.error()
}

const availableI2cAddress = 0x40
const maxUint8 = ^uint8(0)

var i2cData = []byte{5, 4, 3, 2, 1, 0}

func (l *mock) i2cInit() error {
	l.direction = maxUint8
	return l.error()
}

func (l *mock) i2cStart(address7bit uint8, direction uint8) error {
	if address7bit != availableI2cAddress {
		return fmt.Errorf("Invalid address, only %d is supported", availableI2cAddress)
	}
	if err := l.error(); err != nil {
		return err
	}
	l.direction = direction
	return nil
}

func (l *mock) i2cWrite(sendBuffer []byte, length int, endWithStop uint8) error {
	l.direction = 0
	return l.error()
}

func (l *mock) i2cRead(readBuffer []byte, length int, endWithStop uint8) error {
	l.direction = 1
	if len(readBuffer) < length {
		length = len(readBuffer)
	}
	if len(i2cData) < length {
		length = len(i2cData)
	}
	copy(readBuffer[:length], i2cData[:length])
	return l.error()
}

func (l *mock) i2cUpdateDelay(duration uint) error {
	l.duration = duration
	return l.error()
}

var errorFunc = func() error { return nil }

func (l *mock) error() error { return errorFunc() }

func initTestAdaptor() *Adaptor {
	a := NewAdaptor()
	a.connect = func(a *Adaptor) (err error) { return nil }
	a.littleWire = new(mock)
	errorFunc = func() error { return nil }
	pwmInitErrorFunc = func() error { return nil }
	return a
}

func TestDigisparkAdaptorName(t *testing.T) {
	a := NewAdaptor()
	gobottest.Assert(t, strings.HasPrefix(a.Name(), "Digispark"), true)
	a.SetName("NewName")
	gobottest.Assert(t, a.Name(), "NewName")
}

func TestAdaptorConnect(t *testing.T) {
	a := initTestAdaptor()
	gobottest.Assert(t, a.Connect(), nil)
}

func TestAdaptorFinalize(t *testing.T) {
	a := initTestAdaptor()
	gobottest.Assert(t, a.Finalize(), nil)
}

func TestAdaptorDigitalWrite(t *testing.T) {
	a := initTestAdaptor()
	err := a.DigitalWrite("0", uint8(1))
	gobottest.Assert(t, err, nil)
	gobottest.Assert(t, a.littleWire.(*mock).pin, uint8(0))
	gobottest.Assert(t, a.littleWire.(*mock).state, uint8(1))

	err = a.DigitalWrite("?", uint8(1))
	gobottest.Refute(t, err, nil)

	errorFunc = func() error { return errors.New("pin mode error") }
	err = a.DigitalWrite("0", uint8(1))
	gobottest.Assert(t, err, errors.New("pin mode error"))
}

func TestAdaptorServoWrite(t *testing.T) {
	a := initTestAdaptor()
	err := a.ServoWrite("2", uint8(80))
	gobottest.Assert(t, err, nil)
	gobottest.Assert(t, a.littleWire.(*mock).locationA, uint8(80))
	gobottest.Assert(t, a.littleWire.(*mock).locationB, uint8(80))

	a = initTestAdaptor()
	errorFunc = func() error { return errors.New("servo error") }
	err = a.ServoWrite("2", uint8(80))
	gobottest.Assert(t, err, errors.New("servo error"))
}

func TestAdaptorPwmWrite(t *testing.T) {
	a := initTestAdaptor()
	err := a.PwmWrite("1", uint8(100))
	gobottest.Assert(t, err, nil)
	gobottest.Assert(t, a.littleWire.(*mock).pwmChannelA, uint8(100))
	gobottest.Assert(t, a.littleWire.(*mock).pwmChannelB, uint8(100))

	a = initTestAdaptor()
	pwmInitErrorFunc = func() error { return errors.New("pwminit error") }
	err = a.PwmWrite("1", uint8(100))
	gobottest.Assert(t, err, errors.New("pwminit error"))

	a = initTestAdaptor()
	errorFunc = func() error { return errors.New("pwm error") }
	err = a.PwmWrite("1", uint8(100))
	gobottest.Assert(t, err, errors.New("pwm error"))
}

func TestAdaptorI2c(t *testing.T) {
	var c i2c.Connection
	var err error
	data := []byte{0, 1, 2, 3, 4}
	dataLen := len(data)
	count := 0

	a := initTestAdaptor()
	c, err = a.GetConnection(0x40, 1)
	gobottest.Assert(t, err, errors.New("Invalid bus number 1, only 0 is supported"))
	gobottest.Assert(t, c, nil)
	// init couldn't run, direction is still 0
	gobottest.Assert(t, a.littleWire.(*mock).direction, uint8(0))

	// connection inits, but start will fail
	c, err = a.GetConnection(0x39, a.GetDefaultBus())
	gobottest.Assert(t, err, nil)
	gobottest.Refute(t, c, nil)
	gobottest.Assert(t, a.littleWire.(*mock).direction, maxUint8)
	err = c.(*digisparkI2cConnection).UpdateDelay(uint(100))
	gobottest.Assert(t, err, nil)
	gobottest.Assert(t, a.littleWire.(*mock).duration, uint(100))
	count, err = c.Write(data)
	gobottest.Assert(t, count, 0)
	gobottest.Assert(t, err, fmt.Errorf("Invalid address, only %d is supported", availableI2cAddress))
	gobottest.Assert(t, a.littleWire.(*mock).direction, maxUint8)

	// connection inits, but start will succeed
	c, err = a.GetConnection(availableI2cAddress, a.GetDefaultBus())
	gobottest.Assert(t, err, nil)
	gobottest.Refute(t, c, nil)
	count, err = c.Write(data)
	gobottest.Assert(t, count, dataLen)
	gobottest.Assert(t, err, nil)
	gobottest.Assert(t, a.littleWire.(*mock).direction, uint8(0))
	count, err = c.Read(data)
	gobottest.Assert(t, count, dataLen)
	gobottest.Assert(t, err, nil)
	gobottest.Assert(t, a.littleWire.(*mock).direction, uint8(1))
	gobottest.Assert(t, data, i2cData[:dataLen])
}