hybridgroup.gobot/platforms/firmata/firmata_adaptor_test.go

package firmata

import (
	"fmt"
	"testing"

	"github.com/hybridgroup/gobot"
)

func initTestFirmataAdaptor() *FirmataAdaptor {
	a := NewFirmataAdaptor("board", "/dev/null")
	a.connect = func(f *FirmataAdaptor) {
		f.Board = newBoard(gobot.NullReadWriteCloser{})
		f.Board.Events = append(f.Board.Events, event{Name: "firmware_query"})
		f.Board.Events = append(f.Board.Events, event{Name: "capability_query"})
		f.Board.Events = append(f.Board.Events, event{Name: "analog_mapping_query"})
	}
	a.Connect()
	a.Board.Pins = make([]pin, 100)
	return a
}

func TestFirmataAdaptorFinalize(t *testing.T) {
	a := initTestFirmataAdaptor()
	gobot.Expect(t, a.Finalize(), true)
}
func TestFirmataAdaptorConnect(t *testing.T) {
	a := initTestFirmataAdaptor()
	gobot.Expect(t, a.Connect(), true)
}
func TestFirmataAdaptorInitServo(t *testing.T) {
	a := initTestFirmataAdaptor()
	a.InitServo()
}
func TestFirmataAdaptorServoWrite(t *testing.T) {
	a := initTestFirmataAdaptor()
	a.ServoWrite("1", 50)
}
func TestFirmataAdaptorPwmWrite(t *testing.T) {
	a := initTestFirmataAdaptor()
	a.PwmWrite("1", 50)
}
func TestFirmataAdaptorDigitalWrite(t *testing.T) {
	a := initTestFirmataAdaptor()
	a.DigitalWrite("1", 1)
}
func TestFirmataAdaptorDigitalRead(t *testing.T) {
	a := initTestFirmataAdaptor()
	// -1 on no data
	gobot.Expect(t, a.DigitalRead("1"), -1)

	pinNumber := "1"
	a.Board.Events = append(a.Board.Events, event{Name: fmt.Sprintf("digital_read_%v", pinNumber), Data: []byte{0x01}})
	gobot.Expect(t, a.DigitalRead(pinNumber), 0x01)
}
func TestFirmataAdaptorAnalogRead(t *testing.T) {
	a := initTestFirmataAdaptor()
	// -1 on no data
	gobot.Expect(t, a.AnalogRead("1"), -1)

	pinNumber := "1"
	value := 133
	a.Board.Events = append(a.Board.Events, event{Name: fmt.Sprintf("analog_read_%v", pinNumber), Data: []byte{byte(value >> 24), byte(value >> 16), byte(value >> 8), byte(value & 0xff)}})
	gobot.Expect(t, a.AnalogRead(pinNumber), 133)
}
func TestFirmataAdaptorI2cStart(t *testing.T) {
	a := initTestFirmataAdaptor()
	a.I2cStart(0x00)
}
func TestFirmataAdaptorI2cRead(t *testing.T) {
	a := initTestFirmataAdaptor()
	// [] on no data
	gobot.Expect(t, a.I2cRead(1), []byte{})

	i := []byte{100}
	i2cReply := map[string][]byte{}
	i2cReply["data"] = i
	a.Board.Events = append(a.Board.Events, event{Name: "i2c_reply", I2cReply: i2cReply})
	gobot.Expect(t, a.I2cRead(1), i)
}
func TestFirmataAdaptorI2cWrite(t *testing.T) {
	a := initTestFirmataAdaptor()
	a.I2cWrite([]byte{0x00, 0x01})
}