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https://github.com/hybridgroup/gobot.git
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Increase firmata test coverage
This commit is contained in:
Adrian Zankich
parent
5a15fb3198
commit
e55744657c
@ -368,9 +368,8 @@ func (b *board) process(data []byte) {
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b.firmwareName = string(name[:])
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gobot.Publish(b.events["firmware_query"], b.firmwareName)
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case stringData:
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str := currentBuffer[2 : len(currentBuffer)-1]
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fmt.Println(string(str[:len(str)]))
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gobot.Publish(b.events["string_data"], str)
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str := currentBuffer[2:len(currentBuffer)]
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gobot.Publish(b.events["string_data"], string(str[:len(str)]))
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default:
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fmt.Println("bad byte", fmt.Sprintf("0x%x", command))
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}
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@ -13,12 +13,22 @@ func initTestFirmataAdaptor() *FirmataAdaptor {
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a.connect = func(f *FirmataAdaptor) {
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f.board = newBoard(gobot.NullReadWriteCloser{})
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f.board.initTimeInterval = 0 * time.Second
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f.board.pins = make([]pin, 100)
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f.board.events["digital_read_1"] = gobot.NewEvent()
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f.board.events["analog_read_1"] = gobot.NewEvent()
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gobot.Publish(f.board.events["firmware_query"], nil)
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gobot.Publish(f.board.events["capability_query"], nil)
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gobot.Publish(f.board.events["analog_mapping_query"], nil)
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// arduino uno r3 firmware response "StandardFirmata.ino"
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f.board.process([]byte{240, 121, 2, 3, 83, 0, 116, 0, 97, 0, 110, 0, 100,
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0, 97, 0, 114, 0, 100, 0, 70, 0, 105, 0, 114, 0, 109, 0, 97, 0, 116, 0,
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97, 0, 46, 0, 105, 0, 110, 0, 111, 0, 247})
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// arduino uno r3 capabilities response
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f.board.process([]byte{240, 108, 127, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1,
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1, 1, 3, 8, 4, 14, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1, 1, 1, 3, 8, 4, 14,
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127, 0, 1, 1, 1, 3, 8, 4, 14, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1, 1, 1,
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4, 14, 127, 0, 1, 1, 1, 3, 8, 4, 14, 127, 0, 1, 1, 1, 3, 8, 4, 14, 127,
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0, 1, 1, 1, 3, 8, 4, 14, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1, 1, 1, 4, 14,
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127, 0, 1, 1, 1, 2, 10, 127, 0, 1, 1, 1, 2, 10, 127, 0, 1, 1, 1, 2, 10,
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127, 0, 1, 1, 1, 2, 10, 127, 0, 1, 1, 1, 2, 10, 6, 1, 127, 0, 1, 1, 1,
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2, 10, 6, 1, 127, 247})
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// arduino uno r3 analog mapping response
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f.board.process([]byte{240, 106, 127, 127, 127, 127, 127, 127, 127, 127,
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127, 127, 127, 127, 127, 127, 0, 1, 2, 3, 4, 5, 247})
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}
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a.Connect()
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return a
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@ -55,10 +65,10 @@ func TestFirmataAdaptorDigitalWrite(t *testing.T) {
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func TestFirmataAdaptorDigitalRead(t *testing.T) {
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a := initTestFirmataAdaptor()
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// -1 on no data
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gobot.Expect(t, a.DigitalRead("1"), -1)
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pinNumber := "1"
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// -1 on no data
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gobot.Expect(t, a.DigitalRead(pinNumber), -1)
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go func() {
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<-time.After(5 * time.Millisecond)
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gobot.Publish(a.board.events[fmt.Sprintf("digital_read_%v", pinNumber)],
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@ -69,10 +79,10 @@ func TestFirmataAdaptorDigitalRead(t *testing.T) {
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func TestFirmataAdaptorAnalogRead(t *testing.T) {
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a := initTestFirmataAdaptor()
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// -1 on no data
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gobot.Expect(t, a.AnalogRead("1"), -1)
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pinNumber := "1"
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// -1 on no data
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gobot.Expect(t, a.AnalogRead(pinNumber), -1)
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value := 133
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go func() {
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<-time.After(5 * time.Millisecond)
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110
platforms/firmata/firmata_test.go
Normal file
110
platforms/firmata/firmata_test.go
Normal file
@ -0,0 +1,110 @@
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package firmata
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import (
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"testing"
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"time"
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"github.com/hybridgroup/gobot"
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)
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func initTestFirmata() *board {
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b := newBoard(gobot.NullReadWriteCloser{})
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b.initTimeInterval = 0 * time.Second
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// arduino uno r3 firmware response "StandardFirmata.ino"
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b.process([]byte{240, 121, 2, 3, 83, 0, 116, 0, 97, 0, 110, 0, 100, 0, 97,
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0, 114, 0, 100, 0, 70, 0, 105, 0, 114, 0, 109, 0, 97, 0, 116, 0, 97, 0, 46,
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0, 105, 0, 110, 0, 111, 0, 247})
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// arduino uno r3 capabilities response
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b.process([]byte{240, 108, 127, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1, 1, 1, 3,
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8, 4, 14, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1, 1, 1, 3, 8, 4, 14, 127, 0, 1,
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1, 1, 3, 8, 4, 14, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1, 1, 1, 4, 14, 127, 0,
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1, 1, 1, 3, 8, 4, 14, 127, 0, 1, 1, 1, 3, 8, 4, 14, 127, 0, 1, 1, 1, 3, 8,
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4, 14, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1, 1, 1, 2,
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10, 127, 0, 1, 1, 1, 2, 10, 127, 0, 1, 1, 1, 2, 10, 127, 0, 1, 1, 1, 2, 10,
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127, 0, 1, 1, 1, 2, 10, 6, 1, 127, 0, 1, 1, 1, 2, 10, 6, 1, 127, 247})
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// arduino uno r3 analog mapping response
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b.process([]byte{240, 106, 127, 127, 127, 127, 127, 127, 127, 127, 127, 127,
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127, 127, 127, 127, 0, 1, 2, 3, 4, 5, 247})
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return b
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}
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func TestProcess(t *testing.T) {
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b := initTestFirmata()
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sem := make(chan bool)
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//reportVersion
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gobot.Once(b.events["report_version"], func(data interface{}) {
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gobot.Expect(t, data.(string), "1.17")
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sem <- true
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})
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b.process([]byte{0xF9, 0x01, 0x11})
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<-sem
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//analogMessageRangeStart
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gobot.Once(b.events["analog_read_0"], func(data interface{}) {
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b := data.([]byte)
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gobot.Expect(t,
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int(uint(b[0])<<24|uint(b[1])<<16|uint(b[2])<<8|uint(b[3])),
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675)
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sem <- true
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})
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b.process([]byte{0xE0, 0x23, 0x05})
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<-sem
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gobot.Once(b.events["analog_read_1"], func(data interface{}) {
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b := data.([]byte)
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gobot.Expect(t,
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int(uint(b[0])<<24|uint(b[1])<<16|uint(b[2])<<8|uint(b[3])),
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803)
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sem <- true
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})
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b.process([]byte{0xE1, 0x23, 0x06})
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<-sem
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//digitalMessageRangeStart
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b.pins[2].mode = input
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gobot.Once(b.events["digital_read_2"], func(data interface{}) {
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gobot.Expect(t, int(data.([]byte)[0]), 1)
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sem <- true
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})
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b.process([]byte{0x90, 0x04, 0x00})
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<-sem
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b.pins[4].mode = input
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gobot.Once(b.events["digital_read_4"], func(data interface{}) {
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gobot.Expect(t, int(data.([]byte)[0]), 1)
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sem <- true
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})
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b.process([]byte{0x90, 0x16, 0x00})
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<-sem
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//TODO we need a test here
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//pinStateResponse
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//gobot.Once(b.events["pin_0_state"], func(data interface{}) {
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// gobot.Expect(t, data, "")
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// sem <- true
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//})
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//b.process([]byte{240, 0x6E})
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//<-sem
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//i2cReply
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gobot.Once(b.events["i2c_reply"], func(data interface{}) {
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i2c_reply := map[string][]byte{
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"slave_address": []byte{9},
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"register": []byte{0},
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"data": []byte{152, 1, 154}}
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gobot.Expect(t, data.(map[string][]byte), i2c_reply)
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sem <- true
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})
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b.process([]byte{240, 119, 9, 0, 0, 0, 24, 1, 1, 0, 26, 1, 247})
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<-sem
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//firmwareName
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gobot.Once(b.events["firmware_query"], func(data interface{}) {
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gobot.Expect(t, data.(string), "StandardFirmata.ino")
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sem <- true
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})
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b.process([]byte{240, 121, 2, 3, 83, 0, 116, 0, 97, 0, 110, 0, 100, 0, 97,
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0, 114, 0, 100, 0, 70, 0, 105, 0, 114, 0, 109, 0, 97, 0, 116, 0, 97, 0, 46,
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0, 105, 0, 110, 0, 111, 0, 247})
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<-sem
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//stringData
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gobot.Once(b.events["string_data"], func(data interface{}) {
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gobot.Expect(t, data.(string), "Hello Firmata!")
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sem <- true
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})
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b.process(append([]byte{240, 0x71}, []byte("Hello Firmata!")...))
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<-sem
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}
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