curie: increase test coverage

Signed-off-by: deadprogram <[email protected]>

platforms/intel-iot/curie/imu_driver_test.go

@@ -1,21 +1,219 @@
 package curie
 
 import (
+	"bytes"
+	"errors"
+	"io"
+	"strings"
 	"testing"
 
 	"gobot.io/x/gobot"
 	"gobot.io/x/gobot/gobottest"
 
 	"gobot.io/x/gobot/platforms/firmata"
+	"gobot.io/x/gobot/platforms/firmata/client"
 )
 
 var _ gobot.Driver = (*IMUDriver)(nil)
 
+type readWriteCloser struct{}
+
+func (readWriteCloser) Write(p []byte) (int, error) {
+	return testWriteData.Write(p)
+}
+
+var testReadData = []byte{}
+var testWriteData = bytes.Buffer{}
+
+func (readWriteCloser) Read(b []byte) (int, error) {
+	size := len(b)
+	if len(testReadData) < size {
+		size = len(testReadData)
+	}
+	copy(b, []byte(testReadData)[:size])
+	testReadData = testReadData[size:]
+
+	return size, nil
+}
+
+func (readWriteCloser) Close() error {
+	return nil
+}
+
+type mockFirmataBoard struct {
+	disconnectError error
+	gobot.Eventer
+	pins []client.Pin
+}
+
+func newMockFirmataBoard() *mockFirmataBoard {
+	m := &mockFirmataBoard{
+		Eventer:         gobot.NewEventer(),
+		disconnectError: nil,
+		pins:            make([]client.Pin, 100),
+	}
+
+	m.pins[1].Value = 1
+	m.pins[15].Value = 133
+
+	m.AddEvent("I2cReply")
+	return m
+}
+
+func (mockFirmataBoard) Connect(io.ReadWriteCloser) error { return nil }
+func (m mockFirmataBoard) Disconnect() error {
+	return m.disconnectError
+}
+func (m mockFirmataBoard) Pins() []client.Pin {
+	return m.pins
+}
+func (mockFirmataBoard) AnalogWrite(int, int) error      { return nil }
+func (mockFirmataBoard) SetPinMode(int, int) error       { return nil }
+func (mockFirmataBoard) ReportAnalog(int, int) error     { return nil }
+func (mockFirmataBoard) ReportDigital(int, int) error    { return nil }
+func (mockFirmataBoard) DigitalWrite(int, int) error     { return nil }
+func (mockFirmataBoard) I2cRead(int, int) error          { return nil }
+func (mockFirmataBoard) I2cWrite(int, []byte) error      { return nil }
+func (mockFirmataBoard) I2cConfig(int) error             { return nil }
+func (mockFirmataBoard) ServoConfig(int, int, int) error { return nil }
+func (mockFirmataBoard) WriteSysex(data []byte) error    { return nil }
+
 func initTestIMUDriver() *IMUDriver {
-	return NewIMUDriver(firmata.NewAdaptor("/dev/null"))
+	a := firmata.NewAdaptor("/dev/null")
+	a.Board = newMockFirmataBoard()
+	a.PortOpener = func(port string) (io.ReadWriteCloser, error) {
+		return &readWriteCloser{}, nil
+	}
+	return NewIMUDriver(a)
+}
+
+func TestIMUDriverStart(t *testing.T) {
+	d := initTestIMUDriver()
+	gobottest.Assert(t, d.Start(), nil)
 }
 
 func TestIMUDriverHalt(t *testing.T) {
 	d := initTestIMUDriver()
 	gobottest.Assert(t, d.Halt(), nil)
 }
+
+func TestIMUDriverDefaultName(t *testing.T) {
+	d := initTestIMUDriver()
+	gobottest.Assert(t, strings.HasPrefix(d.Name(), "CurieIMU"), true)
+}
+
+func TestIMUDriverSetName(t *testing.T) {
+	d := initTestIMUDriver()
+	d.SetName("mybot")
+	gobottest.Assert(t, d.Name(), "mybot")
+}
+
+func TestIMUDriverConnection(t *testing.T) {
+	d := initTestIMUDriver()
+	gobottest.Refute(t, d.Connection(), nil)
+}
+
+func TestIMUDriverReadAccelerometer(t *testing.T) {
+	d := initTestIMUDriver()
+	d.Start()
+	gobottest.Assert(t, d.ReadAccelerometer(), nil)
+}
+
+func TestIMUDriverReadAccelerometerData(t *testing.T) {
+	result, err := parseAccelerometerData([]byte{})
+	gobottest.Assert(t, err, errors.New("Invalid data"))
+
+	result, err = parseAccelerometerData([]byte{0xF0, 0x11, 0x00, 0x00, 0x0f, 0x00, 0x0f, 0x00, 0x0f, 0xf7})
+	gobottest.Assert(t, err, nil)
+	gobottest.Assert(t, result, &AccelerometerData{X: 1920, Y: 1920, Z: 1920})
+}
+
+func TestIMUDriverReadGyroscope(t *testing.T) {
+	d := initTestIMUDriver()
+	d.Start()
+	gobottest.Assert(t, d.ReadGyroscope(), nil)
+}
+
+func TestIMUDriverReadGyroscopeData(t *testing.T) {
+	result, err := parseGyroscopeData([]byte{})
+	gobottest.Assert(t, err, errors.New("Invalid data"))
+
+	result, err = parseGyroscopeData([]byte{0xF0, 0x11, 0x01, 0x00, 0x0f, 0x00, 0x0f, 0x00, 0x0f, 0xf7})
+	gobottest.Assert(t, err, nil)
+	gobottest.Assert(t, result, &GyroscopeData{X: 1920, Y: 1920, Z: 1920})
+}
+
+func TestIMUDriverReadTemperature(t *testing.T) {
+	d := initTestIMUDriver()
+	d.Start()
+	gobottest.Assert(t, d.ReadTemperature(), nil)
+}
+
+func TestIMUDriverReadTemperatureData(t *testing.T) {
+	result, err := parseTemperatureData([]byte{})
+	gobottest.Assert(t, err, errors.New("Invalid data"))
+
+	result, err = parseTemperatureData([]byte{0xF0, 0x11, 0x02, 0x00, 0x02, 0x03, 0x04, 0xf7})
+	gobottest.Assert(t, err, nil)
+	gobottest.Assert(t, result, float32(31.546875))
+}
+
+func TestIMUDriverEnableShockDetection(t *testing.T) {
+	d := initTestIMUDriver()
+	d.Start()
+	gobottest.Assert(t, d.EnableShockDetection(true), nil)
+}
+
+func TestIMUDriverShockDetectData(t *testing.T) {
+	result, err := parseShockData([]byte{})
+	gobottest.Assert(t, err, errors.New("Invalid data"))
+
+	result, err = parseShockData([]byte{0xF0, 0x11, 0x03, 0x00, 0x02, 0xf7})
+	gobottest.Assert(t, err, nil)
+	gobottest.Assert(t, result, &ShockData{Axis: 0, Direction: 2})
+}
+
+func TestIMUDriverEnableStepCounter(t *testing.T) {
+	d := initTestIMUDriver()
+	d.Start()
+	gobottest.Assert(t, d.EnableStepCounter(true), nil)
+}
+
+func TestIMUDriverStepCountData(t *testing.T) {
+	result, err := parseStepData([]byte{})
+	gobottest.Assert(t, err, errors.New("Invalid data"))
+
+	result, err = parseStepData([]byte{0xF0, 0x11, 0x04, 0x00, 0x02, 0xf7})
+	gobottest.Assert(t, err, nil)
+	gobottest.Assert(t, result, int16(256))
+}
+
+func TestIMUDriverEnableTapDetection(t *testing.T) {
+	d := initTestIMUDriver()
+	d.Start()
+	gobottest.Assert(t, d.EnableTapDetection(true), nil)
+}
+
+func TestIMUDriverTapDetectData(t *testing.T) {
+	result, err := parseTapData([]byte{})
+	gobottest.Assert(t, err, errors.New("Invalid data"))
+
+	result, err = parseTapData([]byte{0xF0, 0x11, 0x05, 0x00, 0x02, 0xf7})
+	gobottest.Assert(t, err, nil)
+	gobottest.Assert(t, result, &TapData{Axis: 0, Direction: 2})
+}
+
+func TestIMUDriverEnableReadMotion(t *testing.T) {
+	d := initTestIMUDriver()
+	d.Start()
+	gobottest.Assert(t, d.ReadMotion(), nil)
+}
+
+func TestIMUDriverReadMotionData(t *testing.T) {
+	result, err := parseMotionData([]byte{})
+	gobottest.Assert(t, err, errors.New("Invalid data"))
+
+	result, err = parseMotionData([]byte{0xF0, 0x11, 0x06, 0x00, 0x0f, 0x00, 0x0f, 0x00, 0x0f, 0x00, 0x0f, 0x00, 0x0f, 0x00, 0x0f, 0xf7})
+	gobottest.Assert(t, err, nil)
+	gobottest.Assert(t, result, &MotionData{AX: 1920, AY: 1920, AZ: 1920, GX: 1920, GY: 1920, GZ: 1920})
+}