Increase firmata test coverage

platforms/firmata/firmata.go

@@ -368,9 +368,8 @@ func (b *board) process(data []byte) {
 				b.firmwareName = string(name[:])
 				gobot.Publish(b.events["firmware_query"], b.firmwareName)
 			case stringData:
-				str := currentBuffer[2 : len(currentBuffer)-1]
+				str := currentBuffer[2:len(currentBuffer)]
-				fmt.Println(string(str[:len(str)]))
+				gobot.Publish(b.events["string_data"], string(str[:len(str)]))
-				gobot.Publish(b.events["string_data"], str)
 			default:
 				fmt.Println("bad byte", fmt.Sprintf("0x%x", command))
 			}

platforms/firmata/firmata_adaptor_test.go

@@ -13,12 +13,22 @@ func initTestFirmataAdaptor() *FirmataAdaptor {
 	a.connect = func(f *FirmataAdaptor) {
 		f.board = newBoard(gobot.NullReadWriteCloser{})
 		f.board.initTimeInterval = 0 * time.Second
-		f.board.pins = make([]pin, 100)
+		// arduino uno r3 firmware response "StandardFirmata.ino"
-		f.board.events["digital_read_1"] = gobot.NewEvent()
+		f.board.process([]byte{240, 121, 2, 3, 83, 0, 116, 0, 97, 0, 110, 0, 100,
-		f.board.events["analog_read_1"] = gobot.NewEvent()
+			0, 97, 0, 114, 0, 100, 0, 70, 0, 105, 0, 114, 0, 109, 0, 97, 0, 116, 0,
-		gobot.Publish(f.board.events["firmware_query"], nil)
+			97, 0, 46, 0, 105, 0, 110, 0, 111, 0, 247})
-		gobot.Publish(f.board.events["capability_query"], nil)
+		// arduino uno r3 capabilities response
-		gobot.Publish(f.board.events["analog_mapping_query"], nil)
+		f.board.process([]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
+		f.board.process([]byte{240, 106, 127, 127, 127, 127, 127, 127, 127, 127,
+			127, 127, 127, 127, 127, 127, 0, 1, 2, 3, 4, 5, 247})
 	}
 	a.Connect()
 	return a
@@ -55,10 +65,10 @@ func TestFirmataAdaptorDigitalWrite(t *testing.T) {
 
 func TestFirmataAdaptorDigitalRead(t *testing.T) {
 	a := initTestFirmataAdaptor()
-	// -1 on no data
-	gobot.Expect(t, a.DigitalRead("1"), -1)
-
 	pinNumber := "1"
+	// -1 on no data
+	gobot.Expect(t, a.DigitalRead(pinNumber), -1)
+
 	go func() {
 		<-time.After(5 * time.Millisecond)
 		gobot.Publish(a.board.events[fmt.Sprintf("digital_read_%v", pinNumber)],
@@ -69,10 +79,10 @@ func TestFirmataAdaptorDigitalRead(t *testing.T) {
 
 func TestFirmataAdaptorAnalogRead(t *testing.T) {
 	a := initTestFirmataAdaptor()
-	// -1 on no data
-	gobot.Expect(t, a.AnalogRead("1"), -1)
-
 	pinNumber := "1"
+	// -1 on no data
+	gobot.Expect(t, a.AnalogRead(pinNumber), -1)
+
 	value := 133
 	go func() {
 		<-time.After(5 * time.Millisecond)

platforms/firmata/firmata_test.go

@@ -0,0 +1,110 @@
+package firmata
+
+import (
+	"testing"
+	"time"
+
+	"github.com/hybridgroup/gobot"
+)
+
+func initTestFirmata() *board {
+	b := newBoard(gobot.NullReadWriteCloser{})
+	b.initTimeInterval = 0 * time.Second
+	// arduino uno r3 firmware response "StandardFirmata.ino"
+	b.process([]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
+	b.process([]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
+	b.process([]byte{240, 106, 127, 127, 127, 127, 127, 127, 127, 127, 127, 127,
+		127, 127, 127, 127, 0, 1, 2, 3, 4, 5, 247})
+	return b
+}
+
+func TestProcess(t *testing.T) {
+	b := initTestFirmata()
+	sem := make(chan bool)
+	//reportVersion
+	gobot.Once(b.events["report_version"], func(data interface{}) {
+		gobot.Expect(t, data.(string), "1.17")
+		sem <- true
+	})
+	b.process([]byte{0xF9, 0x01, 0x11})
+	<-sem
+	//analogMessageRangeStart
+	gobot.Once(b.events["analog_read_0"], func(data interface{}) {
+		b := data.([]byte)
+		gobot.Expect(t,
+			int(uint(b[0])<<24|uint(b[1])<<16|uint(b[2])<<8|uint(b[3])),
+			675)
+		sem <- true
+	})
+	b.process([]byte{0xE0, 0x23, 0x05})
+	<-sem
+	gobot.Once(b.events["analog_read_1"], func(data interface{}) {
+		b := data.([]byte)
+		gobot.Expect(t,
+			int(uint(b[0])<<24|uint(b[1])<<16|uint(b[2])<<8|uint(b[3])),
+			803)
+		sem <- true
+	})
+	b.process([]byte{0xE1, 0x23, 0x06})
+	<-sem
+	//digitalMessageRangeStart
+	b.pins[2].mode = input
+	gobot.Once(b.events["digital_read_2"], func(data interface{}) {
+		gobot.Expect(t, int(data.([]byte)[0]), 1)
+		sem <- true
+	})
+	b.process([]byte{0x90, 0x04, 0x00})
+	<-sem
+	b.pins[4].mode = input
+	gobot.Once(b.events["digital_read_4"], func(data interface{}) {
+		gobot.Expect(t, int(data.([]byte)[0]), 1)
+		sem <- true
+	})
+	b.process([]byte{0x90, 0x16, 0x00})
+	<-sem
+	//TODO we need a test here
+	//pinStateResponse
+	//gobot.Once(b.events["pin_0_state"], func(data interface{}) {
+	//	gobot.Expect(t, data, "")
+	//	sem <- true
+	//})
+	//b.process([]byte{240, 0x6E})
+	//<-sem
+	//i2cReply
+	gobot.Once(b.events["i2c_reply"], func(data interface{}) {
+		i2c_reply := map[string][]byte{
+			"slave_address": []byte{9},
+			"register":      []byte{0},
+			"data":          []byte{152, 1, 154}}
+		gobot.Expect(t, data.(map[string][]byte), i2c_reply)
+		sem <- true
+	})
+	b.process([]byte{240, 119, 9, 0, 0, 0, 24, 1, 1, 0, 26, 1, 247})
+	<-sem
+	//firmwareName
+	gobot.Once(b.events["firmware_query"], func(data interface{}) {
+		gobot.Expect(t, data.(string), "StandardFirmata.ino")
+		sem <- true
+	})
+	b.process([]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})
+	<-sem
+	//stringData
+	gobot.Once(b.events["string_data"], func(data interface{}) {
+		gobot.Expect(t, data.(string), "Hello Firmata!")
+		sem <- true
+	})
+	b.process(append([]byte{240, 0x71}, []byte("Hello Firmata!")...))
+	<-sem
+}