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93 lines
2.0 KiB
Go
93 lines
2.0 KiB
Go
//nolint:forcetypeassert // ok here
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package gpio
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import (
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"errors"
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"strings"
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"testing"
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"github.com/stretchr/testify/assert"
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"github.com/stretchr/testify/require"
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"gobot.io/x/gobot/v2"
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)
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var _ gobot.Driver = (*ServoDriver)(nil)
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func initTestServoDriver() *ServoDriver {
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return NewServoDriver(newGpioTestAdaptor(), "1")
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}
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func TestServoDriver(t *testing.T) {
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var err interface{}
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a := newGpioTestAdaptor()
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d := NewServoDriver(a, "1")
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assert.Equal(t, "1", d.Pin())
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assert.NotNil(t, d.Connection())
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a.servoWriteFunc = func(string, byte) error {
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return errors.New("pwm error")
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}
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err = d.Command("Min")(nil)
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require.EqualError(t, err.(error), "pwm error")
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err = d.Command("Center")(nil)
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require.EqualError(t, err.(error), "pwm error")
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err = d.Command("Max")(nil)
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require.EqualError(t, err.(error), "pwm error")
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err = d.Command("Move")(map[string]interface{}{"angle": 100.0})
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require.EqualError(t, err.(error), "pwm error")
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}
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func TestServoDriverStart(t *testing.T) {
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d := initTestServoDriver()
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require.NoError(t, d.Start())
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}
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func TestServoDriverHalt(t *testing.T) {
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d := initTestServoDriver()
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require.NoError(t, d.Halt())
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}
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func TestServoDriverMove(t *testing.T) {
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d := initTestServoDriver()
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_ = d.Move(100)
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assert.Equal(t, uint8(100), d.CurrentAngle)
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err := d.Move(200)
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assert.Equal(t, ErrServoOutOfRange, err)
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}
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func TestServoDriverMin(t *testing.T) {
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d := initTestServoDriver()
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_ = d.Min()
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assert.Equal(t, uint8(0), d.CurrentAngle)
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}
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func TestServoDriverMax(t *testing.T) {
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d := initTestServoDriver()
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_ = d.Max()
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assert.Equal(t, uint8(180), d.CurrentAngle)
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}
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func TestServoDriverCenter(t *testing.T) {
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d := initTestServoDriver()
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_ = d.Center()
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assert.Equal(t, uint8(90), d.CurrentAngle)
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}
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func TestServoDriverDefaultName(t *testing.T) {
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d := initTestServoDriver()
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assert.True(t, strings.HasPrefix(d.Name(), "Servo"))
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}
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func TestServoDriverSetName(t *testing.T) {
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d := initTestServoDriver()
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d.SetName("mybot")
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assert.Equal(t, "mybot", d.Name())
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}
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