Petfilamachine/libraries/Firmata/test/firmata_test/firmata_test.ino

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2022-03-11 22:50:28 +03:00
/*
* To run this test suite, you must first install the ArduinoUnit library
* to your Arduino/libraries/ directory.
* You can get ArduinoUnit here: https://github.com/mmurdoch/arduinounit
* Download version 2.0 or greater or install it via the Arduino library manager.
*/
#include <ArduinoUnit.h>
#include <Firmata.h>
void setup()
{
Serial.begin(9600);
}
void loop()
{
Test::run();
}
test(beginPrintsVersion)
{
FakeStream stream;
Firmata.begin(stream);
char expected[] = {
REPORT_VERSION,
FIRMATA_PROTOCOL_MAJOR_VERSION,
FIRMATA_PROTOCOL_MINOR_VERSION,
0
};
assertEqual(expected, stream.bytesWritten());
}
void processMessage(const byte *message, size_t length)
{
FakeStream stream;
Firmata.begin(stream);
for (size_t i = 0; i < length; i++) {
stream.nextByte(message[i]);
Firmata.processInput();
}
}
byte _digitalPort;
int _digitalPortValue;
void writeToDigitalPort(byte port, int value)
{
_digitalPort = port;
_digitalPortValue = value;
}
void setupDigitalPort()
{
_digitalPort = 0;
_digitalPortValue = 0;
}
char * _receivedString;
void handleStringCallback(char *str)
{
_receivedString = str;
}
test(processWriteDigital_0)
{
setupDigitalPort();
Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
byte message[] = { DIGITAL_MESSAGE, 0, 0 };
processMessage(message, 3);
assertEqual(0, _digitalPortValue);
}
test(processWriteDigital_127)
{
setupDigitalPort();
Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
byte message[] = { DIGITAL_MESSAGE, 127, 0 };
processMessage(message, 3);
assertEqual(127, _digitalPortValue);
}
test(processWriteDigital_128)
{
setupDigitalPort();
Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
byte message[] = { DIGITAL_MESSAGE, 0, 1 };
processMessage(message, 3);
assertEqual(128, _digitalPortValue);
}
test(processWriteLargestDigitalValue)
{
setupDigitalPort();
Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
byte message[] = { DIGITAL_MESSAGE, 0x7F, 0x7F };
processMessage(message, 3);
// Maximum of 14 bits can be set (B0011111111111111)
assertEqual(0x3FFF, _digitalPortValue);
}
test(defaultDigitalWritePortIsZero)
{
setupDigitalPort();
Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
byte message[] = { DIGITAL_MESSAGE, 0, 0 };
processMessage(message, 3);
assertEqual(0, _digitalPort);
}
test(specifiedDigitalWritePort)
{
setupDigitalPort();
Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
byte message[] = { DIGITAL_MESSAGE + 1, 0, 0 };
processMessage(message, 3);
assertEqual(1, _digitalPort);
}
test(setFirmwareVersionDoesNotLeakMemory)
{
Firmata.setFirmwareVersion(1, 0);
int initialMemory = freeMemory();
Firmata.setFirmwareVersion(1, 0);
assertEqual(0, initialMemory - freeMemory());
}
test(sendStringShouldEncode2BytesPerChar)
{
FakeStream stream;
Firmata.begin(stream);
// reset the buffer because the firmware name string will be sent on Firmata.begin
stream.reset();
char testString[] = "hi!";
Firmata.sendString(testString);
byte expected[] = { START_SYSEX, STRING_DATA, 'h', 0, 'i', 0, '!', 0, END_SYSEX };
int len = stream.bytesWritten().length();
assertEqual(sizeof(expected), len);
for (byte i = 0; i < len; i++) {
assertEqual(expected[i], (byte)stream.bytesWritten().charAt(i));
}
}
test(receivedStringShouldDecodeFrom2BytesPerChar)
{
Firmata.attach(STRING_DATA, handleStringCallback);
byte message[] = { START_SYSEX, STRING_DATA, 'b', 0, 'y', 0, 'e', 0, '!', 0, END_SYSEX };
processMessage(message, 11);
assertEqual("bye!", _receivedString);
}