mirror of
https://github.com/hybridgroup/gobot.git
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111b5c6dc1
add ultrasonic support for i2c driver add basic test for ultrasonic sensor fix length and update test for i2c driver
92 lines
2.3 KiB
Go
92 lines
2.3 KiB
Go
package i2c
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import (
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"gobot.io/x/gobot"
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"gobot.io/x/gobot/drivers/aio"
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"gobot.io/x/gobot/drivers/gpio"
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"gobot.io/x/gobot/gobottest"
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"strings"
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"testing"
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)
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var _ gobot.Driver = (*GrovePiDriver)(nil)
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// must implement the DigitalReader interface
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var _ gpio.DigitalReader = (*GrovePiDriver)(nil)
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// must implement the DigitalWriter interface
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var _ gpio.DigitalWriter = (*GrovePiDriver)(nil)
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// must implement the AnalogReader interface
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var _ aio.AnalogReader = (*GrovePiDriver)(nil)
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// must implement the Adaptor interface
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var _ gobot.Adaptor = (*GrovePiDriver)(nil)
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func initTestGrovePiDriver() (driver *GrovePiDriver, adaptor *i2cTestAdaptor) {
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return initGrovePiDriverWithStubbedAdaptor()
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}
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func initGrovePiDriverWithStubbedAdaptor() (*GrovePiDriver, *i2cTestAdaptor) {
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adaptor := newI2cTestAdaptor()
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return NewGrovePiDriver(adaptor), adaptor
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}
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func TestGrovePiDriverName(t *testing.T) {
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g, _ := initTestGrovePiDriver()
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gobottest.Refute(t, g.Connection(), nil)
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gobottest.Assert(t, strings.HasPrefix(g.Name(), "GrovePi"), true)
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}
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func TestGrovePiDriverOptions(t *testing.T) {
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g := NewGrovePiDriver(newI2cTestAdaptor(), WithBus(2))
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gobottest.Assert(t, g.GetBusOrDefault(1), 2)
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}
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func TestGrovePiDriver_UltrasonicRead(t *testing.T) {
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g, a := initTestGrovePiDriver()
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g.Start()
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fakePin := byte(1)
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fakeI2cResponse := []byte{CommandReadUltrasonic, 1, 2}
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expectedCommand := []byte{CommandReadUltrasonic, fakePin, 0, 0}
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expectedResult := 257
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resultCommand := make([]byte, 3)
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// capture i2c command
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a.i2cWriteImpl = func(bytes []byte) (i int, e error) {
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resultCommand = bytes
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return len(bytes), nil
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}
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// fake i2c response
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a.i2cReadImpl = func(bytes []byte) (i int, e error) {
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bytes[0] = fakeI2cResponse[0]
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bytes[1] = fakeI2cResponse[1]
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bytes[2] = fakeI2cResponse[2]
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return len(bytes), nil
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}
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result, _ := g.readUltrasonic(fakePin, 10)
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gobottest.Assert(t, resultCommand, expectedCommand)
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gobottest.Assert(t, result, expectedResult)
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}
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// Methods
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func TestGrovePiDriverStart(t *testing.T) {
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g, _ := initTestGrovePiDriver()
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gobottest.Assert(t, g.Start(), nil)
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}
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func TestGrovePiDrivergetPin(t *testing.T) {
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gobottest.Assert(t, getPin("a1"), "1")
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gobottest.Assert(t, getPin("A16"), "16")
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gobottest.Assert(t, getPin("D3"), "3")
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gobottest.Assert(t, getPin("d22"), "22")
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gobottest.Assert(t, getPin("22"), "22")
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}
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