mirror of
https://github.com/hybridgroup/gobot.git
synced 2025-04-26 13:48:49 +08:00
107 lines
2.6 KiB
Go
107 lines
2.6 KiB
Go
package firmata
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import (
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"fmt"
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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 initTestFirmataAdaptor() *FirmataAdaptor {
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a := NewFirmataAdaptor("board", "/dev/null")
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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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}
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a.Connect()
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return a
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}
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func TestFirmataAdaptorFinalize(t *testing.T) {
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a := initTestFirmataAdaptor()
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gobot.Expect(t, a.Finalize(), true)
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}
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func TestFirmataAdaptorConnect(t *testing.T) {
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a := initTestFirmataAdaptor()
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gobot.Expect(t, a.Connect(), true)
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}
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func TestFirmataAdaptorInitServo(t *testing.T) {
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a := initTestFirmataAdaptor()
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a.InitServo()
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}
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func TestFirmataAdaptorServoWrite(t *testing.T) {
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a := initTestFirmataAdaptor()
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a.ServoWrite("1", 50)
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}
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func TestFirmataAdaptorPwmWrite(t *testing.T) {
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a := initTestFirmataAdaptor()
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a.PwmWrite("1", 50)
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}
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func TestFirmataAdaptorDigitalWrite(t *testing.T) {
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a := initTestFirmataAdaptor()
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a.DigitalWrite("1", 1)
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}
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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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gobot.Publish(a.board.events[fmt.Sprintf("digital_read_%v", pinNumber)],
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[]byte{0x01})
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gobot.Expect(t, a.DigitalRead(pinNumber), 0x01)
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}
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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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value := 133
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gobot.Publish(a.board.events[fmt.Sprintf("analog_read_%v", pinNumber)],
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[]byte{
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byte(value >> 24),
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byte(value >> 16),
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byte(value >> 8),
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byte(value & 0xff),
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},
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)
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gobot.Expect(t, a.AnalogRead(pinNumber), 133)
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}
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func TestFirmataAdaptorAnalogWrite(t *testing.T) {
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a := initTestFirmataAdaptor()
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a.AnalogWrite("1", 50)
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}
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func TestFirmataAdaptorI2cStart(t *testing.T) {
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a := initTestFirmataAdaptor()
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a.I2cStart(0x00)
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}
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func TestFirmataAdaptorI2cRead(t *testing.T) {
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a := initTestFirmataAdaptor()
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// [] on no data
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gobot.Expect(t, a.I2cRead(1), []byte{})
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i := []byte{100}
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i2cReply := map[string][]byte{}
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i2cReply["data"] = i
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gobot.Publish(a.board.events["i2c_reply"], i2cReply)
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gobot.Expect(t, a.I2cRead(1), i)
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}
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func TestFirmataAdaptorI2cWrite(t *testing.T) {
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a := initTestFirmataAdaptor()
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a.I2cWrite([]byte{0x00, 0x01})
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}
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