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BUGFIX: stabilize firmata tests

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This commit is contained in:
Thomas Kohler 2022-10-18 11:42:57 +02:00
parent cab50412e9
commit bf98277e03
1 changed files with 120 additions and 161 deletions
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281
platforms/firmata/client/client_test.go
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@ -2,6 +2,7 @@ package client
import (
"bytes"
"log"
"sync"
"testing"
"time"
@ -9,7 +10,39 @@ import (
"gobot.io/x/gobot/gobottest"
)
type readWriteCloser struct{}
const semPublishWait = 10 * time.Millisecond
type readWriteCloser struct {
id string
}
var testWriteData = bytes.Buffer{}
var writeDataMutex sync.Mutex
// do not set this data directly, use always addTestReadData()
var testReadDataMap = make(map[string][]byte)
var rwDataMapMutex sync.Mutex
// arduino uno r3 protocol response "2.3"
var testDataProtocolResponse = []byte{249, 2, 3}
// arduino uno r3 firmware response "StandardFirmata.ino"
var testDataFirmwareResponse = []byte{240, 121, 2, 3, 83, 0, 116, 0, 97, 0, 110, 0, 100, 0, 97,
0, 114, 0, 100, 0, 70, 0, 105, 0, 114, 0, 109, 0, 97, 0, 116, 0, 97, 0, 46,
0, 105, 0, 110, 0, 111, 0, 247}
// arduino uno r3 capabilities response
var testDataCapabilitiesResponse = []byte{240, 108, 127, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1, 1, 1, 3,
8, 4, 14, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1, 1, 1, 3, 8, 4, 14, 127, 0, 1,
1, 1, 3, 8, 4, 14, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1, 1, 1, 4, 14, 127, 0,
1, 1, 1, 3, 8, 4, 14, 127, 0, 1, 1, 1, 3, 8, 4, 14, 127, 0, 1, 1, 1, 3, 8,
4, 14, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1, 1, 1, 2,
10, 127, 0, 1, 1, 1, 2, 10, 127, 0, 1, 1, 1, 2, 10, 127, 0, 1, 1, 1, 2, 10,
127, 0, 1, 1, 1, 2, 10, 6, 1, 127, 0, 1, 1, 1, 2, 10, 6, 1, 127, 247}
// arduino uno r3 analog mapping response
var testDataAnalogMappingResponse = []byte{240, 106, 127, 127, 127, 127, 127, 127, 127, 127, 127, 127,
127, 127, 127, 127, 0, 1, 2, 3, 4, 5, 247}
func (readWriteCloser) Write(p []byte) (int, error) {
writeDataMutex.Lock()
@ -17,30 +50,37 @@ func (readWriteCloser) Write(p []byte) (int, error) {
return testWriteData.Write(p)
}
var clientMutex sync.Mutex
var writeDataMutex sync.Mutex
var readDataMutex sync.Mutex
var testReadData = []byte{}
var testWriteData = bytes.Buffer{}
func (rwc readWriteCloser) addTestReadData(d []byte) {
// concurrent read/change of map is not allowed
rwDataMapMutex.Lock()
defer rwDataMapMutex.Unlock()
func SetTestReadData(d []byte) {
readDataMutex.Lock()
defer readDataMutex.Unlock()
testReadData = d
return
data, ok := testReadDataMap[rwc.id]
if !ok {
data = []byte{}
}
data = append(data, d...)
testReadDataMap[rwc.id] = data
}
func (readWriteCloser) Read(b []byte) (int, error) {
readDataMutex.Lock()
defer readDataMutex.Unlock()
func (rwc readWriteCloser) Read(b []byte) (int, error) {
// concurrent change of map is not allowed
rwDataMapMutex.Lock()
defer rwDataMapMutex.Unlock()
size := len(b)
if len(testReadData) < size {
size = len(testReadData)
data, ok := testReadDataMap[rwc.id]
if !ok {
// there was no content stored before to read
log.Printf("no content stored in %s", rwc.id)
return 0, nil
}
copy(b, []byte(testReadData)[:size])
testReadData = testReadData[size:]
size := len(b)
if len(data) < size {
size = len(data)
}
copy(b, []byte(data)[:size])
testReadDataMap[rwc.id] = data[size:]
return size, nil
}
@ -48,86 +88,45 @@ func (readWriteCloser) Close() error {
return nil
}
func testProtocolResponse() []byte {
// arduino uno r3 protocol response "2.3"
return []byte{249, 2, 3}
}
func testFirmwareResponse() []byte {
// arduino uno r3 firmware response "StandardFirmata.ino"
return []byte{240, 121, 2, 3, 83, 0, 116, 0, 97, 0, 110, 0, 100, 0, 97,
0, 114, 0, 100, 0, 70, 0, 105, 0, 114, 0, 109, 0, 97, 0, 116, 0, 97, 0, 46,
0, 105, 0, 110, 0, 111, 0, 247}
}
func testCapabilitiesResponse() []byte {
// arduino uno r3 capabilities response
return []byte{240, 108, 127, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1, 1, 1, 3,
8, 4, 14, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1, 1, 1, 3, 8, 4, 14, 127, 0, 1,
1, 1, 3, 8, 4, 14, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1, 1, 1, 4, 14, 127, 0,
1, 1, 1, 3, 8, 4, 14, 127, 0, 1, 1, 1, 3, 8, 4, 14, 127, 0, 1, 1, 1, 3, 8,
4, 14, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1, 1, 1, 2,
10, 127, 0, 1, 1, 1, 2, 10, 127, 0, 1, 1, 1, 2, 10, 127, 0, 1, 1, 1, 2, 10,
127, 0, 1, 1, 1, 2, 10, 6, 1, 127, 0, 1, 1, 1, 2, 10, 6, 1, 127, 247}
}
func testAnalogMappingResponse() []byte {
// arduino uno r3 analog mapping response
return []byte{240, 106, 127, 127, 127, 127, 127, 127, 127, 127, 127, 127,
127, 127, 127, 127, 0, 1, 2, 3, 4, 5, 247}
}
func initTestFirmata() *Client {
func initTestFirmataWithReadWriteCloser(name string, data ...[]byte) (*Client, readWriteCloser) {
b := New()
b.connection = readWriteCloser{}
rwc := readWriteCloser{id: name}
b.connection = rwc
for _, f := range []func() []byte{
testProtocolResponse,
testFirmwareResponse,
testCapabilitiesResponse,
testAnalogMappingResponse,
} {
SetTestReadData(f())
for _, d := range data {
rwc.addTestReadData(d)
b.process()
}
return b
b.setConnected(true)
return b, rwc
}
func TestPins(t *testing.T) {
b := initTestFirmata()
b.setConnected(true)
b, _ := initTestFirmataWithReadWriteCloser(t.Name(), testDataCapabilitiesResponse, testDataAnalogMappingResponse)
gobottest.Assert(t, len(b.Pins()), 20)
gobottest.Assert(t, len(b.analogPins), 6)
}
func TestReportVersion(t *testing.T) {
b := initTestFirmata()
b.setConnected(true)
//test if functions executes
func TestProtocolVersionQuery(t *testing.T) {
b, _ := initTestFirmataWithReadWriteCloser(t.Name())
gobottest.Assert(t, b.ProtocolVersionQuery(), nil)
}
func TestQueryFirmware(t *testing.T) {
b := initTestFirmata()
b.setConnected(true)
//test if functions executes
func TestFirmwareQuery(t *testing.T) {
b, _ := initTestFirmataWithReadWriteCloser(t.Name())
gobottest.Assert(t, b.FirmwareQuery(), nil)
}
func TestQueryPinState(t *testing.T) {
b := initTestFirmata()
b.setConnected(true)
//test if functions executes
func TestPinStateQuery(t *testing.T) {
b, _ := initTestFirmataWithReadWriteCloser(t.Name())
gobottest.Assert(t, b.PinStateQuery(1), nil)
}
func TestProcessProtocolVersion(t *testing.T) {
sem := make(chan bool)
b := initTestFirmata()
b.setConnected(true)
SetTestReadData([]byte{249, 2, 3})
b, rwc := initTestFirmataWithReadWriteCloser(t.Name())
rwc.addTestReadData(testDataProtocolResponse)
b.Once(b.Event("ProtocolVersion"), func(data interface{}) {
gobottest.Assert(t, data, "2.3")
@ -138,16 +137,15 @@ func TestProcessProtocolVersion(t *testing.T) {
select {
case <-sem:
case <-time.After(100 * time.Millisecond):
case <-time.After(semPublishWait):
t.Errorf("ProtocolVersion was not published")
}
}
func TestProcessAnalogRead0(t *testing.T) {
sem := make(chan bool)
b := initTestFirmata()
b.setConnected(true)
SetTestReadData([]byte{0xE0, 0x23, 0x05})
b, rwc := initTestFirmataWithReadWriteCloser(t.Name(), testDataCapabilitiesResponse, testDataAnalogMappingResponse)
rwc.addTestReadData([]byte{0xE0, 0x23, 0x05})
b.Once(b.Event("AnalogRead0"), func(data interface{}) {
gobottest.Assert(t, data, 675)
@ -158,16 +156,15 @@ func TestProcessAnalogRead0(t *testing.T) {
select {
case <-sem:
case <-time.After(100 * time.Millisecond):
case <-time.After(semPublishWait):
t.Errorf("AnalogRead0 was not published")
}
}
func TestProcessAnalogRead1(t *testing.T) {
sem := make(chan bool)
b := initTestFirmata()
b.setConnected(true)
SetTestReadData([]byte{0xE1, 0x23, 0x06})
b, rwc := initTestFirmataWithReadWriteCloser(t.Name(), testDataCapabilitiesResponse, testDataAnalogMappingResponse)
rwc.addTestReadData([]byte{0xE1, 0x23, 0x06})
b.Once(b.Event("AnalogRead1"), func(data interface{}) {
gobottest.Assert(t, data, 803)
@ -178,17 +175,16 @@ func TestProcessAnalogRead1(t *testing.T) {
select {
case <-sem:
case <-time.After(100 * time.Millisecond):
case <-time.After(semPublishWait):
t.Errorf("AnalogRead1 was not published")
}
}
func TestProcessDigitalRead2(t *testing.T) {
sem := make(chan bool)
b := initTestFirmata()
b.setConnected(true)
b, rwc := initTestFirmataWithReadWriteCloser(t.Name(), testDataCapabilitiesResponse)
b.pins[2].Mode = Input
SetTestReadData([]byte{0x90, 0x04, 0x00})
rwc.addTestReadData([]byte{0x90, 0x04, 0x00})
b.Once(b.Event("DigitalRead2"), func(data interface{}) {
gobottest.Assert(t, data, 1)
@ -199,17 +195,16 @@ func TestProcessDigitalRead2(t *testing.T) {
select {
case <-sem:
case <-time.After(100 * time.Millisecond):
case <-time.After(semPublishWait):
t.Errorf("DigitalRead2 was not published")
}
}
func TestProcessDigitalRead4(t *testing.T) {
sem := make(chan bool)
b := initTestFirmata()
b.setConnected(true)
b, rwc := initTestFirmataWithReadWriteCloser(t.Name(), testDataCapabilitiesResponse)
b.pins[4].Mode = Input
SetTestReadData([]byte{0x90, 0x16, 0x00})
rwc.addTestReadData([]byte{0x90, 0x16, 0x00})
b.Once(b.Event("DigitalRead4"), func(data interface{}) {
gobottest.Assert(t, data, 1)
@ -220,41 +215,36 @@ func TestProcessDigitalRead4(t *testing.T) {
select {
case <-sem:
case <-time.After(100 * time.Millisecond):
case <-time.After(semPublishWait):
t.Errorf("DigitalRead4 was not published")
}
}
func TestDigitalWrite(t *testing.T) {
b := initTestFirmata()
b.setConnected(true)
b, _ := initTestFirmataWithReadWriteCloser(t.Name(), testDataCapabilitiesResponse)
gobottest.Assert(t, b.DigitalWrite(13, 0), nil)
}
func TestSetPinMode(t *testing.T) {
b := initTestFirmata()
b.setConnected(true)
b, _ := initTestFirmataWithReadWriteCloser(t.Name(), testDataCapabilitiesResponse)
gobottest.Assert(t, b.SetPinMode(13, Output), nil)
}
func TestAnalogWrite(t *testing.T) {
b := initTestFirmata()
b.setConnected(true)
b, _ := initTestFirmataWithReadWriteCloser(t.Name(), testDataCapabilitiesResponse)
gobottest.Assert(t, b.AnalogWrite(0, 128), nil)
}
func TestReportAnalog(t *testing.T) {
b := initTestFirmata()
b.setConnected(true)
b, _ := initTestFirmataWithReadWriteCloser(t.Name())
gobottest.Assert(t, b.ReportAnalog(0, 1), nil)
gobottest.Assert(t, b.ReportAnalog(0, 0), nil)
}
func TestProcessPinState13(t *testing.T) {
sem := make(chan bool)
b := initTestFirmata()
b.setConnected(true)
SetTestReadData([]byte{240, 110, 13, 1, 1, 247})
b, rwc := initTestFirmataWithReadWriteCloser(t.Name(), testDataCapabilitiesResponse, testDataAnalogMappingResponse)
rwc.addTestReadData([]byte{240, 110, 13, 1, 1, 247})
b.Once(b.Event("PinState13"), func(data interface{}) {
gobottest.Assert(t, data, Pin{[]int{0, 1, 4}, 1, 0, 1, 127})
@ -265,40 +255,35 @@ func TestProcessPinState13(t *testing.T) {
select {
case <-sem:
case <-time.After(100 * time.Millisecond):
case <-time.After(semPublishWait):
t.Errorf("PinState13 was not published")
}
}
func TestI2cConfig(t *testing.T) {
b := initTestFirmata()
b.setConnected(true)
b, _ := initTestFirmataWithReadWriteCloser(t.Name())
gobottest.Assert(t, b.I2cConfig(100), nil)
}
func TestI2cWrite(t *testing.T) {
b := initTestFirmata()
b.setConnected(true)
b, _ := initTestFirmataWithReadWriteCloser(t.Name())
gobottest.Assert(t, b.I2cWrite(0x00, []byte{0x01, 0x02}), nil)
}
func TestI2cRead(t *testing.T) {
b := initTestFirmata()
b.setConnected(true)
b, _ := initTestFirmataWithReadWriteCloser(t.Name())
gobottest.Assert(t, b.I2cRead(0x00, 10), nil)
}
func TestWriteSysex(t *testing.T) {
b := initTestFirmata()
b.setConnected(true)
b, _ := initTestFirmataWithReadWriteCloser(t.Name())
gobottest.Assert(t, b.WriteSysex([]byte{0x01, 0x02}), nil)
}
func TestProcessI2cReply(t *testing.T) {
sem := make(chan bool)
b := initTestFirmata()
b.setConnected(true)
SetTestReadData([]byte{240, 119, 9, 0, 0, 0, 24, 1, 1, 0, 26, 1, 247})
b, rwc := initTestFirmataWithReadWriteCloser(t.Name())
rwc.addTestReadData([]byte{240, 119, 9, 0, 0, 0, 24, 1, 1, 0, 26, 1, 247})
b.Once(b.Event("I2cReply"), func(data interface{}) {
gobottest.Assert(t, data, I2cReply{
@ -313,18 +298,15 @@ func TestProcessI2cReply(t *testing.T) {
select {
case <-sem:
case <-time.After(100 * time.Millisecond):
case <-time.After(semPublishWait):
t.Errorf("I2cReply was not published")
}
}
func TestProcessFirmwareQuery(t *testing.T) {
sem := make(chan bool)
b := initTestFirmata()
b.setConnected(true)
SetTestReadData([]byte{240, 121, 2, 3, 83, 0, 116, 0, 97, 0, 110, 0, 100, 0, 97,
0, 114, 0, 100, 0, 70, 0, 105, 0, 114, 0, 109, 0, 97, 0, 116, 0, 97, 0, 46,
0, 105, 0, 110, 0, 111, 0, 247})
b, rwc := initTestFirmataWithReadWriteCloser(t.Name())
rwc.addTestReadData(testDataFirmwareResponse)
b.Once(b.Event("FirmwareQuery"), func(data interface{}) {
gobottest.Assert(t, data, "StandardFirmata.ino")
@ -335,16 +317,15 @@ func TestProcessFirmwareQuery(t *testing.T) {
select {
case <-sem:
case <-time.After(100 * time.Millisecond):
case <-time.After(semPublishWait):
t.Errorf("FirmwareQuery was not published")
}
}
func TestProcessStringData(t *testing.T) {
sem := make(chan bool)
b := initTestFirmata()
b.setConnected(true)
SetTestReadData(append([]byte{240, 0x71}, append([]byte("Hello Firmata!"), 247)...))
b, rwc := initTestFirmataWithReadWriteCloser(t.Name())
rwc.addTestReadData(append([]byte{240, 0x71}, append([]byte("Hello Firmata!"), 247)...))
b.Once(b.Event("StringData"), func(data interface{}) {
gobottest.Assert(t, data, "Hello Firmata!")
@ -355,55 +336,34 @@ func TestProcessStringData(t *testing.T) {
select {
case <-sem:
case <-time.After(100 * time.Millisecond):
case <-time.After(semPublishWait):
t.Errorf("StringData was not published")
}
}
func TestConnect(t *testing.T) {
b := New()
b, rwc := initTestFirmataWithReadWriteCloser(t.Name())
b.setConnected(false)
var responseMutex sync.Mutex
responseMutex.Lock()
response := testProtocolResponse()
responseMutex.Unlock()
rwc.addTestReadData(testDataProtocolResponse)
b.Once(b.Event("ProtocolVersion"), func(data interface{}) {
responseMutex.Lock()
response = testFirmwareResponse()
responseMutex.Unlock()
rwc.addTestReadData(testDataFirmwareResponse)
})
b.Once(b.Event("FirmwareQuery"), func(data interface{}) {
responseMutex.Lock()
response = testCapabilitiesResponse()
responseMutex.Unlock()
rwc.addTestReadData(testDataCapabilitiesResponse)
})
b.Once(b.Event("CapabilityQuery"), func(data interface{}) {
responseMutex.Lock()
response = testAnalogMappingResponse()
responseMutex.Unlock()
rwc.addTestReadData(testDataAnalogMappingResponse)
})
b.Once(b.Event("AnalogMappingQuery"), func(data interface{}) {
responseMutex.Lock()
response = testProtocolResponse()
responseMutex.Unlock()
rwc.addTestReadData(testDataProtocolResponse)
})
go func() {
for {
responseMutex.Lock()
readDataMutex.Lock()
testReadData = append(testReadData, response...)
readDataMutex.Unlock()
responseMutex.Unlock()
time.Sleep(100 * time.Millisecond)
}
}()
gobottest.Assert(t, b.Connect(readWriteCloser{}), nil)
gobottest.Assert(t, b.Connect(rwc), nil)
time.Sleep(150 * time.Millisecond)
gobottest.Assert(t, b.Disconnect(), nil)
}
@ -449,9 +409,8 @@ func TestServoConfig(t *testing.T) {
func TestProcessSysexData(t *testing.T) {
sem := make(chan bool)
b := initTestFirmata()
b.setConnected(true)
SetTestReadData([]byte{240, 17, 1, 2, 3, 247})
b, rwc := initTestFirmataWithReadWriteCloser(t.Name())
rwc.addTestReadData([]byte{240, 17, 1, 2, 3, 247})
b.Once("SysexResponse", func(data interface{}) {
gobottest.Assert(t, data, []byte{240, 17, 1, 2, 3, 247})
@ -462,7 +421,7 @@ func TestProcessSysexData(t *testing.T) {
select {
case <-sem:
case <-time.After(250 * time.Millisecond):
case <-time.After(semPublishWait):
t.Errorf("SysexResponse was not published")
}
}