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107 lines
2.7 KiB
Go
107 lines
2.7 KiB
Go
package leap
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import (
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"errors"
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"io"
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"io/ioutil"
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"strings"
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"sync"
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"testing"
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"gobot.io/x/gobot/v2"
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"gobot.io/x/gobot/v2/gobottest"
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)
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var _ gobot.Driver = (*Driver)(nil)
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type NullReadWriteCloser struct {
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mtx sync.Mutex
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writeError error
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}
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func (n *NullReadWriteCloser) WriteError(e error) {
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n.mtx.Lock()
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defer n.mtx.Unlock()
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n.writeError = e
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}
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func (n *NullReadWriteCloser) Write(p []byte) (int, error) {
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n.mtx.Lock()
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defer n.mtx.Unlock()
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return len(p), n.writeError
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}
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func (n *NullReadWriteCloser) Read(b []byte) (int, error) {
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return len(b), nil
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}
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func (n *NullReadWriteCloser) Close() error {
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return nil
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}
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func initTestLeapMotionDriver() (*Driver, *NullReadWriteCloser) {
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a := NewAdaptor("")
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rwc := &NullReadWriteCloser{}
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a.connect = func(port string) (io.ReadWriteCloser, error) {
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return rwc, nil
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}
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a.Connect()
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d := NewDriver(a)
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d.receive = func(ws io.ReadWriteCloser, buf *[]byte) {
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file, _ := ioutil.ReadFile("./test/support/example_frame.json")
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copy(*buf, file)
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}
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return d, rwc
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}
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func TestLeapMotionDriver(t *testing.T) {
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d, _ := initTestLeapMotionDriver()
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gobottest.Refute(t, d.Connection(), nil)
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}
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func TestLeapMotionDriverName(t *testing.T) {
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d, _ := initTestLeapMotionDriver()
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gobottest.Assert(t, strings.HasPrefix(d.Name(), "Leap"), true)
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d.SetName("NewName")
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gobottest.Assert(t, d.Name(), "NewName")
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}
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func TestLeapMotionDriverStart(t *testing.T) {
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d, _ := initTestLeapMotionDriver()
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gobottest.Assert(t, d.Start(), nil)
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d2, rwc := initTestLeapMotionDriver()
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e := errors.New("write error")
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rwc.WriteError(e)
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gobottest.Assert(t, d2.Start(), e)
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}
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func TestLeapMotionDriverHalt(t *testing.T) {
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d, _ := initTestLeapMotionDriver()
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gobottest.Assert(t, d.Halt(), nil)
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}
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func TestLeapMotionDriverParser(t *testing.T) {
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d, _ := initTestLeapMotionDriver()
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file, _ := ioutil.ReadFile("./test/support/example_frame.json")
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parsedFrame := d.ParseFrame(file)
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if parsedFrame.Hands == nil || parsedFrame.Pointables == nil || parsedFrame.Gestures == nil {
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t.Errorf("ParseFrame incorrectly parsed frame")
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}
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gobottest.Assert(t, parsedFrame.Timestamp, uint64(134211791358))
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gobottest.Assert(t, parsedFrame.Hands[0].X(), 247.410)
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gobottest.Assert(t, parsedFrame.Hands[0].Y(), 275.868)
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gobottest.Assert(t, parsedFrame.Hands[0].Z(), 132.843)
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gobottest.Assert(t, parsedFrame.Pointables[0].BTipPosition[0], 214.293)
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gobottest.Assert(t, parsedFrame.Pointables[0].BTipPosition[1], 213.865)
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gobottest.Assert(t, parsedFrame.Pointables[0].BTipPosition[2], 95.0224)
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gobottest.Assert(t, parsedFrame.Pointables[0].Bases[0][0][0], -0.468069)
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gobottest.Assert(t, parsedFrame.Pointables[0].Bases[0][0][1], 0.807844)
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gobottest.Assert(t, parsedFrame.Pointables[0].Bases[0][0][2], -0.358190)
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gobottest.Assert(t, parsedFrame.Pointables[0].Width, 19.7871)
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}
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