[test] Implement driver tests

drivers/i2c/bmp388.go → drivers/i2c/bmp388_driver.go

@@ -125,13 +125,23 @@ func (d *BMP388Driver) Connection() gobot.Connection {
 
 // Start initializes the BMP388 and loads the calibration coefficients.
 func (d *BMP388Driver) Start() (err error) {
+	var chipID uint8
+
 	bus := d.GetBusOrDefault(d.connector.GetDefaultBus())
 	address := d.GetAddressOrDefault(bmp180Address)
 
 	if d.connection, err = d.connector.GetConnection(address, bus); err != nil {
 		return err
 	}
 
+	if chipID, err = d.connection.ReadByteData(bmp388RegisterChipID); err != nil {
+		return err
+	}
+
+	if bmp388ChipID != chipID {
+		return fmt.Errorf("Incorrect BMP388 chip ID '0%x' Expected 0x%x", chipID, bmp388ChipID)
+	}
+
 	if err := d.initialization(); err != nil {
 		return err
 	}
@@ -206,7 +216,6 @@ func (d *BMP388Driver) Altitude(accuracy BMP388Accuracy) (alt float32, err error
 // initialization reads the calibration coefficients.
 func (d *BMP388Driver) initialization() (err error) {
 	var (
-		chipID       uint8
 		coefficients []byte
 		t1           uint16
 		t2           uint16
@@ -224,18 +233,11 @@ func (d *BMP388Driver) initialization() (err error) {
 		p11          int8
 	)
 
-	if chipID, err = d.connection.ReadByteData(bmp388RegisterChipID); err != nil {
-		return err
-	}
-
-	if bmp388ChipID != chipID {
-		return fmt.Errorf("Incorrect BMP388 chip ID '0%x' Expected 0x%x", chipID, bmp388ChipID)
-	}
-
 	if coefficients, err = d.read(bmp388RegisterCalib00, 24); err != nil {
 		return err
 	}
 	buf := bytes.NewBuffer(coefficients)
+
 	binary.Read(buf, binary.LittleEndian, &t1)
 	binary.Read(buf, binary.LittleEndian, &t2)
 	binary.Read(buf, binary.LittleEndian, &t3)
@@ -288,12 +290,12 @@ func (d *BMP388Driver) rawTemp() (temp int32, err error) {
 		return 0, err
 	}
 	buf := bytes.NewBuffer(data)
+
 	binary.Read(buf, binary.LittleEndian, &tp0) // XLSB
 	binary.Read(buf, binary.LittleEndian, &tp1) // LSB
 	binary.Read(buf, binary.LittleEndian, &tp2) // MSB
 
 	temp = ((int32(tp2) << 16) | (int32(tp1) << 8) | int32(tp0))
-
 	return
 }
 
@@ -305,6 +307,7 @@ func (d *BMP388Driver) rawPressure() (press int32, err error) {
 		return 0, err
 	}
 	buf := bytes.NewBuffer(data)
+
 	binary.Read(buf, binary.LittleEndian, &tp0) // XLSB
 	binary.Read(buf, binary.LittleEndian, &tp1) // LSB
 	binary.Read(buf, binary.LittleEndian, &tp2) // MSB

drivers/i2c/bmp388_driver_test.go

@@ -2,6 +2,7 @@ package i2c
 
 import (
 	"bytes"
+	"encoding/binary"
 	"errors"
 	"testing"
 
@@ -19,6 +20,14 @@ func initTestBMP388Driver() (driver *BMP388Driver) {
 
 func initTestBMP388DriverWithStubbedAdaptor() (*BMP388Driver, *i2cTestAdaptor) {
 	adaptor := newI2cTestAdaptor()
+	adaptor.i2cReadImpl = func(b []byte) (int, error) {
+		buf := new(bytes.Buffer)
+		// Simulate returning of 0x50 for the
+		// ReadByteData(bmp388RegisterChipID) call in initialisation()
+		binary.Write(buf, binary.LittleEndian, uint8(0x50))
+		copy(b, buf.Bytes())
+		return buf.Len(), nil
+	}
 	return NewBMP388Driver(adaptor), adaptor
 }
 
@@ -44,9 +53,9 @@ func TestBMP388DriverStart(t *testing.T) {
 }
 
 func TestBMP388StartConnectError(t *testing.T) {
-	d, adaptor := initTestBMP388DriverWithStubbedAdaptor()
+	bmp388, adaptor := initTestBMP388DriverWithStubbedAdaptor()
 	adaptor.Testi2cConnectErr(true)
-	gobottest.Assert(t, d.Start(), errors.New("Invalid i2c connection"))
+	gobottest.Assert(t, bmp388.Start(), errors.New("Invalid i2c connection"))
 }
 
 func TestBMP388DriverStartWriteError(t *testing.T) {
@@ -75,27 +84,32 @@ func TestBMP388DriverMeasurements(t *testing.T) {
 	bmp388, adaptor := initTestBMP388DriverWithStubbedAdaptor()
 	adaptor.i2cReadImpl = func(b []byte) (int, error) {
 		buf := new(bytes.Buffer)
-		// Values produced by dumping data from actual sensor
-		if adaptor.written[len(adaptor.written)-1] == bmp388RegisterCalib00 {
-			buf.Write([]byte{126, 109, 214, 102, 50, 0, 54, 149, 220, 213, 208, 11, 64, 30, 166, 255, 249, 255, 172, 38, 10, 216, 189, 16})
+		if len(adaptor.written) == 0 {
+			// Simulate returning of 0x50 for the
+			// ReadByteData(bmp388RegisterChipID) call in initialisation()
+			binary.Write(buf, binary.LittleEndian, uint8(0x50))
+		} else if adaptor.written[len(adaptor.written)-1] == bmp388RegisterCalib00 {
+			// Values produced by dumping data from actual sensor
+			buf.Write([]byte{36, 107, 156, 73, 246, 104, 255, 189, 245, 35, 0, 151, 101, 184, 122, 243, 246, 211, 64, 14, 196, 0, 0, 0})
 		} else if adaptor.written[len(adaptor.written)-1] == bmp388RegisterTempData {
-			buf.Write([]byte{128, 243, 0})
+			buf.Write([]byte{0, 28, 127})
 		} else if adaptor.written[len(adaptor.written)-1] == bmp388RegisterPressureData {
-			buf.Write([]byte{77, 23, 48})
+			buf.Write([]byte{0, 66, 113})
 		}
+
 		copy(b, buf.Bytes())
 		return buf.Len(), nil
 	}
 	bmp388.Start()
 	temp, err := bmp388.Temperature(2)
 	gobottest.Assert(t, err, nil)
-	gobottest.Assert(t, temp, float32(25.014637))
+	gobottest.Assert(t, temp, float32(22.906143))
 	pressure, err := bmp388.Pressure(2)
 	gobottest.Assert(t, err, nil)
-	gobottest.Assert(t, pressure, float32(99545.414))
+	gobottest.Assert(t, pressure, float32(98874.85))
 	alt, err := bmp388.Altitude(2)
 	gobottest.Assert(t, err, nil)
-	gobottest.Assert(t, alt, float32(149.22713))
+	gobottest.Assert(t, alt, float32(205.89395))
 }
 
 func TestBMP388DriverTemperatureWriteError(t *testing.T) {