sensorium
Version:
makeblock mainboards protocol api
992 lines (885 loc) • 43 kB
JavaScript
//test latest_auriga：09.01.012
//cmd is also ok
const dataman = require('./dataman');
import * as Utils from "../../src/core/utils";
import protocolAssembler from '../../src/protocol/cmd';
import Auriga from '../../src/mainboard/auriga';
import Control from '../../src/core/control';
import chai from 'chai';
const expect = chai.expect;
function formatProtocol(protocol) {
let currentCmd = protocol.map(function(val) {
let newVal = val.toString(16);
return newVal.length == 1 ? '0' + newVal : newVal;
});
return currentCmd.join(' ');
}
let auriga = new Auriga();
describe('【auriga_最新固件 协议测试】', function() {
describe('#执行协议部分', function() {
describe('直流电机：auriga.DcMotor(1／2/3/4).speed(-255～255)', function() {
//生成 5 个测试用例
let ports = [1, 2, 3, 4, 5];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`设置直流电机端口${i}速度为255`, function() {
let dcMotor = auriga.DcMotor(port).speed(255);
let targetCmd = dataman.auriga.write.dcMotor[i];
let currentCmd = formatProtocol(dcMotor.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
let speeds = [-255, 100, 256, -256];
for (let i = 0, speed; speed = speeds[i]; i++) {
it(`设置直流电机端口速度为${speed}`, function() {
let dcMotor = auriga.DcMotor(1).speed(speed);
let targetCmd = dataman.auriga.write.dcMotor[i + 5];
let currentCmd = formatProtocol(dcMotor.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
});
describe('板载编码电机：auriga.EncoderMotorOnBoard(1/2,-255～255)', function() {
let speeds = [100, 255, -255, 0, 256, -256];
for (let i = 0; i < speeds.length; i++) {
let speed = speeds[i];
it(`板载编码电机slot1 速度 ${speed}`, function() {
let encoderMotorOnBoard = auriga.EncoderMotorOnBoard(1).speed(speed);
let targetCmd = dataman.auriga.write.encoderMotorBoard[i];
let currentCmd = formatProtocol(encoderMotorOnBoard.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
it('板载编码电机slot2 速度100', function() {
let encoderMotorOnBoard = auriga.EncoderMotorOnBoard(2).speed(100);
let targetCmd = dataman.auriga.write.encoderMotorBoard[6];
let currentCmd = formatProtocol(encoderMotorOnBoard.protocol);
expect(currentCmd).to.equal(targetCmd);
});
});
describe('外接编码电机：auriga.EncoderMotor(1～4, 1/2, 0～300, 720)', function() {
let ports = [1, 2, 3, 4];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`外接编码电机port${port} slot1 速度150 角度720`, function() {
let encoderMotor = auriga.EncoderMotor(port, 1).speed(150).offsetAngle(720);
let targetCmd = dataman.auriga.write.encoder[i];
let currentCmd = formatProtocol(encoderMotor.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
it(`外接编码电机port1 slot2 速度150 角度720`, function() {
let encoderMotor = auriga.EncoderMotor(1, 2).speed(150).offsetAngle(720);
let targetCmd = dataman.auriga.write.encoder[4];
let currentCmd = formatProtocol(encoderMotor.protocol);
expect(currentCmd).to.equal(targetCmd);
});
let speeds = [0, 300, 301, -1];
for (let i = 0; i < speeds.length; i++) {
let speed = speeds[i];
it(`外接编码电机port1 slot1 速度${speed} 角度720`, function() {
let encoderMotor = auriga.EncoderMotor(1, 1).speed(speed).offsetAngle(720);
let targetCmd = dataman.auriga.write.encoder[i + 5];
let currentCmd = formatProtocol(encoderMotor.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
let angles = [0, 2147483647, -2147483648, 2147483648, -2147483649];
for (let i = 0; i < angles.length; i++) {
let angle = angles[i];
it(`外接编码电机port1 slot1 速度150 角度${angle}`, function() {
let encoderMotor = auriga.EncoderMotor(1, 1).speed(150).offsetAngle(angle);
let targetCmd = dataman.auriga.write.encoder[i + 9];
let currentCmd = formatProtocol(encoderMotor.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
});
describe('摇杆1：VirtualJoystick(-255～255,-255～255)', function() {
let leftSpeeds = [100, 255, -255, 0, -100, 150, 100, 256, -256];
let rightSpeeds = [100, 255, -255, 150, 100, 0, -100, 256, -256];
for (let i = 0; i < rightSpeeds.length; i++) {
let left = leftSpeeds[i];
let right = rightSpeeds[i];
it(`app虚拟摇杆1 左轮速度 ${left} 右轮速度 ${right}`, function() {
let joystick = auriga.VirtualJoystick(1, 1).leftSpeed(left).rightSpeed(right);
let targetCmd = dataman.auriga.write.joystick[i];
let currentCmd = formatProtocol(joystick.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
});
describe('摇杆2：VirtualJoystickForBalance(-255~255,-255~255)', function() {
let turnRanges = [100, 255, -255, 0, -100, 150, 100, 256, -256];
let speeds = [100, 255, -255, 150, 100, 0, -100, 256, -256];
for (let i = 0; i < speeds.length; i++) {
let speed = speeds[i];
let turnRange = turnRanges[i];
it(`app虚拟摇杆2 拐弯 ${turnRange} 速度 ${speed}`, function() {
let joystick = auriga.VirtualJoystickForBalance(1, 1).speed(speed).turnRange(turnRange);
let targetCmd = dataman.auriga.write.virtualJoystickForBalance[i];
let currentCmd = formatProtocol(joystick.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
});
describe('步进电机：setStepperMotor(1~4,0~3000,-2147483648~2147483647)', function() {
let ports = [1, 2, 3, 4];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`步进电机在端口${port} 速度为3000 位移为1000`, function() {
let stepperMotor = auriga.StepperMotor(port).speed(3000).distance(1000);
let targetCmd = dataman.auriga.write.stepperMotor[i];
let currentCmd = formatProtocol(stepperMotor.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
let speeds = [0, 1500, -1, 3001];
for (let i = 0; i < speeds.length; i++) {
let speed = speeds[i];
it(`步进电机在端口1 速度为${speed} 位移为1000`, function() {
let stepperMotor = auriga.StepperMotor(1).speed(speed).distance(1000);
let targetCmd = dataman.auriga.write.stepperMotor[i + 4];
let currentCmd = formatProtocol(stepperMotor.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
let distances = [2147483647, -2147483648, 0, -2147483649, 2147483648];
for (let i = 0; i < distances.length; i++) {
let distance = distances[i];
it(`步进电机在端口1 速度为3000 位移为${distance}`, function() {
let stepperMotor = auriga.StepperMotor(1).speed(3000).distance(distance);
let targetCmd = dataman.auriga.write.stepperMotor[i + 8];
let currentCmd = formatProtocol(stepperMotor.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
});
describe('RGB LED灯条：RgbLed(6~10,1/2,0~12,0~255,0~255,0~255)', function() {
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`将端口号${port} slot1的灯条的全部位置上亮起红色`, function() {
let rgbLed = auriga.RgbLed(port, 1).position(0).rgb('#ff0000');
let targetCmd = dataman.auriga.write.led[i];
let currentCmd = formatProtocol(rgbLed.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
let positions = [0, 2, 13, -1];
for (let i = 0; i < positions.length; i++) {
let position = positions[i];
it(`将端口号6 slot2 的灯条的 ${position}位置上亮起红色`, function() {
let rgbLed = auriga.RgbLed(6, 2).position(position).rgb('#ff0000');
let targetCmd = dataman.auriga.write.led[i + 5];
let currentCmd = formatProtocol(rgbLed.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
it(`将端口号6 slot2的灯条的全部位置上亮起混合色`, function() {
let rgbLed = auriga.RgbLed(6, 2).r(125).g(100).b(55);
let targetCmd = dataman.auriga.write.led[9];
let currentCmd = formatProtocol(rgbLed.protocol);
expect(currentCmd).to.equal(targetCmd);
});
let colorsApi = ['blue', 'green', 'white'];
for (let i = 0; i < colorsApi.length; i++) {
let color = colorsApi[i];
it(`将端口号6 slot2 的灯条的全部位置上亮起${color}`, function() {
let rgbLed = (auriga.RgbLed(6, 2).position(0)[color])();
let targetCmd = dataman.auriga.write.led[i + 10];
let currentCmd = formatProtocol(rgbLed.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
it('将端口号6 slot2的灯条的全部位置上熄灭（turnOffAll)', function() {
let rgbLed = auriga.RgbLed(6, 2).turnOffAll();
let targetCmd = dataman.auriga.write.led[13];
let currentCmd = formatProtocol(rgbLed.protocol);
expect(currentCmd).to.equal(targetCmd);
});
it('将端口号6 slot2的灯条的全部位置上亮起红色（超出界限0～255）', function() {
let rgbLed = auriga.RgbLed(6, 2).r(256).g(0).b(0);
let targetCmd = dataman.auriga.write.led[14];
let currentCmd = formatProtocol(rgbLed.protocol);
expect(currentCmd).to.equal(targetCmd);
});
it('将端口号6 slot2的灯条的全部位置上不亮（超出界限0～255）', function() {
let rgbLed = auriga.RgbLed(6, 2).r(0).g(-1).b(0);
let targetCmd = dataman.auriga.write.led[15];
let currentCmd = formatProtocol(rgbLed.protocol);
expect(currentCmd).to.equal(targetCmd);
});
});
describe('板载灯盘即板载灯：RgbLedOnBoard(0~12,0~255,0~255,0~255)', function() {
let positions = [0, 2, 13, -1];
for (let i = 0; i < positions.length; i++) {
let position = positions[i];
it(`将端口号6 slot2 的灯条的 ${position}位置上亮起红色`, function() {
let ledPanelOnBoard = auriga.RgbLedOnBoard(6).position(position).r(256);
let targetCmd = dataman.auriga.write.ledPanelOnBoard[i];
let currentCmd = formatProtocol(ledPanelOnBoard.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
});
describe('四键led灯：setFourLeds(6～10，0~4,0~255,0~255,0~255)', function() {
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`将端口号${port}上的四键led灯的全部位置上亮起红色`, function() {
let fourLed = auriga.FourLeds(port).position(0).r(256);
let targetCmd = dataman.auriga.write.fourLeds[i];
let currentCmd = formatProtocol(fourLed.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
let positions = [2, 5, -1];
for (let i = 0; i < positions.length; i++) {
let position = positions[i];
it(`将端口6上的四键led灯的 ${position}位置上亮起红色`, function() {
let fourLed = auriga.FourLeds(6).position(position).r(256);
let targetCmd = dataman.auriga.write.fourLeds[i + 5];
let currentCmd = formatProtocol(fourLed.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
});
describe('主板通用命令：auriga.setFirmwareMode(0～4)', function() {
let modes = [0, 1, 2, 3, 4, 5, -1, 3.5];
let modeDescs = ['蓝牙模式', '自动避障', '平衡车', '红外线', '巡线', '错误模式', '错误模式', '错误模式'];
for (let i = 0; i < modes.length; i++) {
let mode = modes[i];
let desc = modeDescs[i];
it(`主板通用命令-设置模式为${desc}`, function() {
let targetCmd = dataman.auriga.write.firmwareMode[i];
auriga.setFirmwareMode(mode);
expect(formatProtocol(auriga.protocol)).to.equal(targetCmd);
});
}
});
describe('数字舵机：ServoMotor(6~10,1/2,0~180)', function() {
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`数字舵机在 port${port} slot1 旋转角度 90`, function() {
let servoMotor = auriga.ServoMotor(port, 1).angle(90);
let targetCmd = dataman.auriga.write.servo[i];
let currentCmd = formatProtocol(servoMotor.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
it('数字舵机在端口6 slot2 旋转角度90', function() {
let servoMotor = auriga.ServoMotor(6, 2).angle(90);
let targetCmd = dataman.auriga.write.servo[5];
let currentCmd = formatProtocol(servoMotor.protocol);
expect(currentCmd).to.equal(targetCmd);
});
let angles = [0, 180, 181, -1];
for (let i = 0; i < angles.length; i++) {
let angle = angles[i];
it(`数字舵机在端口6 slot1 旋转角度 ${angle}`, function() {
let servoMotor = auriga.ServoMotor(6, 1).angle(angle);
let targetCmd = dataman.auriga.write.servo[i+6];
let currentCmd = formatProtocol(servoMotor.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
it(`数字舵机在端口6 slot1 旋转角度 跳到 0 度`, function() {
let servoMotor = auriga.ServoMotor(6, 1).toStart();
let targetCmd = dataman.auriga.write.servo[6];
let currentCmd = formatProtocol(servoMotor.protocol);
expect(currentCmd).to.equal(targetCmd);
});
it(`数字舵机在端口6 slot1 旋转角度 跳到 180 度`, function() {
let servoMotor = auriga.ServoMotor(6, 1).toEnd();
let targetCmd = dataman.auriga.write.servo[7];
let currentCmd = formatProtocol(servoMotor.protocol);
expect(currentCmd).to.equal(targetCmd);
});
});
describe('四位七段数码管：SevenSegment(6～10，-2147483648～2147483647)', function() {
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`四位七段数码管在 port${port} 显示数值 100`, function() {
let sevenSegment = auriga.SevenSegment(port).number(100);
let targetCmd = dataman.auriga.write.sevenSegment[i];
let currentCmd = formatProtocol(sevenSegment.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
let numbers = [0, -100, 2147483647, -2147483648, 1.63, 10.678, 2147483648, -2147483649];
for (let i = 0; i < numbers.length; i++) {
let number = numbers[i];
it(`四位七段数码管在port 6 显示数值 ${number}`, function() {
let sevenSegment = auriga.SevenSegment(6).number(number);
let targetCmd = dataman.auriga.write.sevenSegment[i+5];
let currentCmd = formatProtocol(sevenSegment.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
});
describe('表情面板：LedMatrix(6, 0, 1, "Hi")', function() {
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`在端口 ${port} x：0 y：0 的表情面板上显示字符串‘Hi’`, function() {
let ledMatrixChar = auriga.LedMatrix(port).charMode().x(0).y(0).char('Hi');
let targetCmd = dataman.auriga.write.ledMatrixChar[i];
// console.log(auriga.LedMatrix(port).charMode(), ledMatrixChar.protocol);
let currentCmd = formatProtocol(ledMatrixChar.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
let xy = [{x: 1, y:0}, {x: 0, y:1}, {x: 1, y:2}, {x: -1, y: 0},
{x: 0, y: -4}, {x: -1, y: -5}
];
for (let i = 0; i < xy.length; i++) {
let x = xy[i].x;
let y = xy[i].y;
it(`在端口 6 x：${x} y：${y} 的表情面板上显示字符串‘Hi’`, function() {
let ledMatrixChar = auriga.LedMatrix(6).charMode().x(x).y(y).char('Hi');
let targetCmd = dataman.auriga.write.ledMatrixChar[i+5];
let currentCmd = formatProtocol(ledMatrixChar.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
it(`在端口 7 x：1 y：1 的表情面板上显示字符串‘hello world’`, function() {
let ledMatrixCharHelloWorld = auriga.LedMatrix(7).charMode().x(1).y(1).char('hello world');
let targetCmd = 'ff 55 13 00 02 29 07 01 01 08 0b 68 65 6c 6c 6f 20 77 6f 72 6c 64';
console.log('hello world', ledMatrixCharHelloWorld.protocol.join(','));
let currentCmd = formatProtocol(ledMatrixCharHelloWorld.protocol);
expect(currentCmd).to.equal(targetCmd);
});
});
describe('表情面板-显示表情：setLedMatrixChar(6, 0, 0, "默认表情")', function() {
it("在端口6 x：0 y：0的表情面板上显示表情‘？？’", function() { // 6 7 8 9 10
let targetCmd = dataman.auriga.write.ledMatrixEmotion[0];
let emotionStr = "00000000000000000001000000100000010000000010000000010010000000100000001000010010001000000100000000100000000100000000000000000000";
// let emotionData = [00, 00, 0x40, 0x48, 0x44, 0x42, 0x02, 0x02, 0x02, 0x02, 0x42, 0x44, 0x48, 0x40, 0x00, 0x00];
let LedMatrixEmotion = auriga.LedMatrix(6).emotionMode().x(0).y(0).emotion(emotionStr);
let currentCmd = formatProtocol(LedMatrixEmotion.protocol);
// console.log('LedMatrixEmotion.protocol', currentCmd)
expect(currentCmd).to.equal(targetCmd);
});
})
// it("在端口6 x：1 y：0的表情面板上显示表情‘？？’", function() {
// var targetCmd = dataman.auriga.write.ledMatrixEmotion[5];
// var emotionData = [00, 00, 0x40, 0x48, 0x44, 0x42, 0x02, 0x02, 0x02, 0x02, 0x42, 0x44, 0x48, 0x40, 0x00, 0x00];
// var cmd = auriga.setLedMatrixEmotion(6, 1, 0, emotionData);
// assert.equal(targetCmd, cmd);
// });
// it("在端口6 x：0 y：1的表情面板上显示表情‘？？’", function() {
// var targetCmd = dataman.auriga.write.ledMatrixEmotion[6];
// var emotionData = [00, 00, 0x40, 0x48, 0x44, 0x42, 0x02, 0x02, 0x02, 0x02, 0x42, 0x44, 0x48, 0x40, 0x00, 0x00];
// var cmd = auriga.setLedMatrixEmotion(6, 0, 1, emotionData);
// assert.equal(targetCmd, cmd);
// });
// it("在端口6 x：1 y：2的表情面板上显示表情‘？？’", function() {
// var targetCmd = dataman.auriga.write.ledMatrixEmotion[7];
// var emotionData = [00, 00, 0x40, 0x48, 0x44, 0x42, 0x02, 0x02, 0x02, 0x02, 0x42, 0x44, 0x48, 0x40, 0x00, 0x00];
// var cmd = auriga.setLedMatrixEmotion(6, 1, 2, emotionData);
// assert.equal(targetCmd, cmd);
// });
// it("在端口6 x：-1 y：0的表情面板上显示表情‘？？’", function() {
// var targetCmd = dataman.auriga.write.ledMatrixEmotion[8];
// var emotionData = [00, 00, 0x40, 0x48, 0x44, 0x42, 0x02, 0x02, 0x02, 0x02, 0x42, 0x44, 0x48, 0x40, 0x00, 0x00];
// var cmd = auriga.setLedMatrixEmotion(6, -1, 0, emotionData);
// assert.equal(targetCmd, cmd);
// });
// it("在端口6 x：0 y：-4的表情面板上显示表情‘？？’", function() {
// var targetCmd = dataman.auriga.write.ledMatrixEmotion[9];
// var emotionData = [00, 00, 0x40, 0x48, 0x44, 0x42, 0x02, 0x02, 0x02, 0x02, 0x42, 0x44, 0x48, 0x40, 0x00, 0x00];
// var cmd = auriga.setLedMatrixEmotion(6, 0, -4, emotionData);
// assert.equal(targetCmd, cmd);
// });
// it("在端口6 x：-1 y：-5的表情面板上显示表情‘？？’", function() {
// var targetCmd = dataman.auriga.write.ledMatrixEmotion[10];
// var emotionData = [00, 00, 0x40, 0x48, 0x44, 0x42, 0x02, 0x02, 0x02, 0x02, 0x42, 0x44, 0x48, 0x40, 0x00, 0x00];
// var cmd = auriga.setLedMatrixEmotion(6, -1, -5, emotionData);
// assert.equal(targetCmd, cmd);
// });
// });
describe('表情面板显示时间-LedMatrixTime(6～10, 0/1, 0～23, 0～59)', function() {
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`在端口 port${port} 以分隔符‘:’显示时间10:20`, ()=>{
let targetCmd = dataman.auriga.write.ledMatrixTime[i];
let LedMatrixTime = auriga.LedMatrix(port).timeMode().hour(10).minute(20);
let currentCmd = formatProtocol(LedMatrixTime.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
let hours = [0, 23, -1, 0, 23, 24, 'time', 15.5];
let minutes = [0, 59, 0, -1, 60, 0, 1, 12];
for (let i = 0; i < hours.length; i++) {
let hour = hours[i];
let minute = minutes[i];
it(`在端口6上以分隔符 ':'显示时间${hour}:${minute}`, ()=>{
let targetCmd = dataman.auriga.write.ledMatrixTime[i+6];
let LedMatrixTime = auriga.LedMatrix(6).timeMode().hour(hour).minute(minute);
let currentCmd = formatProtocol(LedMatrixTime.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
})
// it("在端口6上以分隔符‘ ’显示时间10 20 ", function() {
// var targetCmd = dataman.auriga.write.ledMatrixTime[5];
// var cmd = auriga.setLedMatrixTime(6, 0, 10, 20);
// assert.equal(targetCmd, cmd);
// });
describe('表情面板-显示数字：LedMatrix(port).numberMode()', function() {
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`在端口 port${port} 上的表情面板显示数字0`, ()=>{
let targetCmd = dataman.auriga.write.ledMatrixNumber[i];
let LedMatrixNumber = auriga.LedMatrix(port).numberMode().number(0);
let currentCmd = formatProtocol(LedMatrixNumber.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
let numbers = [-1,1,12.25,2147483647,-2147483648, 2147483648, -2147483649, 'error'];
for (let i = 0; i < numbers.length; i++) {
let number = numbers[i];
it(`在端口 port 6 上的表情面板显示数字 ${number}`, ()=>{
let targetCmd = dataman.auriga.write.ledMatrixNumber[i+5];
let LedMatrixNumber = auriga.LedMatrix(6).numberMode().number(number);
// console.log(LedMatrixNumber.protocol)
let currentCmd = formatProtocol(LedMatrixNumber.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
})
// describe('快门线模块：setShutter(6, 2)', function() {
// it('在端口6的快门线设置为按下快门00 ', function() {
// var targetCmd = dataman.auriga.write.shutter[0];
// var cmd = auriga.setShutter(6, 0);
// assert.equal(targetCmd, cmd);
// });
// it('在端口7的快门线设置为按下快门00 ', function() {
// var targetCmd = dataman.auriga.write.shutter[1];
// var cmd = auriga.setShutter(7, 0);
// assert.equal(targetCmd, cmd);
// });
// it('在端口8的快门线设置为按下快门00 ', function() {
// var targetCmd = dataman.auriga.write.shutter[2];
// var cmd = auriga.setShutter(8, 0);
// assert.equal(targetCmd, cmd);
// });
// it('在端口9的快门线设置为按下快门00 ', function() {
// var targetCmd = dataman.auriga.write.shutter[3];
// var cmd = auriga.setShutter(9, 0);
// assert.equal(targetCmd, cmd);
// });
// it('在端口10的快门线设置为按下快门00 ', function() {
// var targetCmd = dataman.auriga.write.shutter[4];
// var cmd = auriga.setShutter(10, 0);
// assert.equal(targetCmd, cmd);
// });
// it('在端口6的快门线设置为松开快门01 ', function() {
// var targetCmd = dataman.auriga.write.shutter[5];
// var cmd = auriga.setShutter(6, 1);
// assert.equal(targetCmd, cmd);
// });
// it('在端口6的快门线设置为开始对焦02 ', function() {
// var targetCmd = dataman.auriga.write.shutter[6];
// var cmd = auriga.setShutter(6, 2);
// assert.equal(targetCmd, cmd);
// });
// it('在端口6的快门线设置为停止对焦03 ', function() {
// var targetCmd = dataman.auriga.write.shutter[7];
// var cmd = auriga.setShutter(6, 3);
// assert.equal(targetCmd, cmd);
// });
// it('在端口6的快门线设置为错误模式05 ', function() {
// var targetCmd = dataman.auriga.write.shutter[8];
// var cmd = auriga.setShutter(6, 5);
// assert.equal(targetCmd, cmd);
// });
// it('在端口6的快门线设置为错误模式-1 ', function() {
// var targetCmd = dataman.auriga.write.shutter[9];
// var cmd = auriga.setShutter(6, -1);
// assert.equal(targetCmd, cmd);
// });
// });
// describe('设置TONE输出：setTone("C2～D8", 125~2000)', function() {
// it('设置TONE输出C2(65)频率二分之一（500）节拍', function() {
// var targetCmd = dataman.auriga.write.tone[0];
// var toneData = "C2";
// var cmd = auriga.setTone(toneData, 500);
// assert.equal(targetCmd, cmd);
// });
// it('设置TONE输出A2(110)频率8分之一（125）节拍', function() {
// var targetCmd = dataman.auriga.write.tone[1];
// var toneData = "A2";
// var cmd = auriga.setTone(toneData, 125);
// assert.equal(targetCmd, cmd);
// });
// it('设置TONE输出B2(123)频率4分之一（250）节拍', function() {
// var targetCmd = dataman.auriga.write.tone[2];
// var toneData = "B2";
// var cmd = auriga.setTone(toneData, 250);
// assert.equal(targetCmd, cmd);
// });
// it('设置TONE输出D5(555)频率一（1000）节拍', function() {
// var targetCmd = dataman.auriga.write.tone[3];
// var toneData = "D5";
// var cmd = auriga.setTone(toneData, 1000);
// assert.equal(targetCmd, cmd);
// });
// it('设置TONE输出C7(2093)频率二（2000）节拍', function() {
// var targetCmd = dataman.auriga.write.tone[4];
// var toneData = "C7";
// var cmd = auriga.setTone(toneData, 2000);
// assert.equal(targetCmd, cmd);
// });
// it('设置TONE输出B7(3951)频率（500）停止节拍', function() {
// var targetCmd = dataman.auriga.write.tone[5];
// var toneData = "B7";
// var cmd = auriga.setTone(toneData, 0);//停止节拍在协议上也没有标注是多少
// assert.equal(targetCmd, cmd);
// });
// });
// describe('数字舵机2：xxxxxxx', function() {
// targetCmd = "xxxxxxxx";
// it(targetCmd + ' should be sent', function() {
// var cmd = auriga.setEncodeMotorxxxxx(1,100);
// console.log("the data from bluetooth: "+ cmd);
// assert.equal(targetCmd, cmd);
// });
// });
// describe('智能舵机：xxxxxxx', function() {
// targetCmd = "xxxxxxxx";
// it(targetCmd + ' should be sent', function() {
// var cmd = auriga.setEncodeMotorxxxxx(1,100);
// console.log("the data from bluetooth: "+ cmd);
// assert.equal(targetCmd, cmd);
// });
// });
});
//重启命令
describe('#它的重启命令', function() {
describe('重启指令：reset()', function() {
var targetCmd = dataman.auriga.write.reset[0];
it(targetCmd + ' should be sent', function() {
// var cmd = auriga.reset();
// assert.equal(targetCmd, cmd);
});
});
});
//读指令:需要设备返回数据的指令
describe('#读协议部分', function() {
describe('读取版本号: auriga.getVersion(0)', function() {
//未完成
it('查询版本号的指令', function() {
let targetCmd = dataman.auriga.read.version[0];
let currentCmd = formatProtocol(auriga.readVersion().protocol);
// console.log(currentCmd)
expect(currentCmd).to.equal(targetCmd);
});
});
describe('超声波传感器：Ultrasonic(6~10)', function() {
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`发送读取端口号${port} 的超声波的指令`, function() {
let ultrasonic = auriga.Ultrasonic(port);
let targetCmd = dataman.auriga.read.ultrasonic[i];
let currentCmd = formatProtocol(ultrasonic.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
});
describe('温度传感器：readTemperature(6～10,1/2)', function() {
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`发送读取端口号${port} slot1 上的温度的指令`, function() {
let temperature = auriga.Temperature(port, 1);
let targetCmd = dataman.auriga.read.temperature[i];
let currentCmd = formatProtocol(temperature.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
it(`发送读取端口号6 slot2 上的温度的指令`, function() {
let temperature = auriga.Temperature(6, 2);
let targetCmd = dataman.auriga.read.temperature[5];
let currentCmd = formatProtocol(temperature.protocol);
expect(currentCmd).to.equal(targetCmd);
});
});
describe('光线传感器：readLight(6～12)', function() {
let ports = [6, 7, 8, 9, 10, 11, 12];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`发送读取端口号${port} 的光线的指令`, function() {
let light = auriga.Light(port);
let targetCmd = dataman.auriga.read.light[i];
let currentCmd = formatProtocol(light.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
});
describe('电位器传感器：Potentionmeter(6~10)', function() {
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`发送读取端口号${port} 的电位器传感器的指令`, function() {
let potentionmeter = auriga.Potentionmeter(port);
let targetCmd = dataman.auriga.read.potentionmeter[i];
let currentCmd = formatProtocol(potentionmeter.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
});
describe('摇杆传感器：Joystick(6~10).axis(1~2)', function() {
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`发送读取端口号${port} 上的摇杆在 x 轴上的值的指令`, function() {
let joystick = auriga.Joystick(port).axis(1);
let targetCmd = dataman.auriga.read.joystick[i];
let currentCmd = formatProtocol(joystick.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
it(`发送读取端口号6 上的摇杆在 y 轴上的值的指令`, function() {
let joystick = auriga.Joystick(6).axis(2);
let targetCmd = dataman.auriga.read.joystick[5];
let currentCmd = formatProtocol(joystick.protocol);
expect(currentCmd).to.equal(targetCmd);
});
});
describe('姿态传感器（陀螺仪）板载和外接：Gyro(0,1/0,1~3)', function() {
let axises = ['x', 'y', 'z'];
for (let i = 0; i < axises.length; i++) {
let axis = axises[i];
it(`发送读取板载陀螺仪在 ${axis} 轴上的值的指令`, function() {
let gyroOnBoard = auriga.GyroOnBoard().axis(i+1);
let targetCmd = dataman.auriga.read.gyro[i];
let currentCmd = formatProtocol(gyroOnBoard.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`发送读取端口 ${port} 上的陀螺仪在 x 轴上的值的指令`, function() {
let gyro = auriga.Gyro(port).axis(1);
let targetCmd = dataman.auriga.read.gyro[i+3];
let currentCmd = formatProtocol(gyro.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
let yz = ['y', 'z'];
for (let i = 0; i < yz.length; i++) {
let axis = yz[i];
it(`发送读取端口 6 上的陀螺仪在 ${axis} 轴上的值的指令`, function() {
let gyro = auriga.Gyro(6).axis(i+2);
let targetCmd = dataman.auriga.read.gyro[i+8];
let currentCmd = formatProtocol(gyro.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
});
describe('音量传感器(含板载)：Sound(0,14／6～10)', function() {
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`发送读取端口 ${port} 上的音量传感器的值的指令`, function() {
let sound = auriga.Sound(port);
let targetCmd = dataman.auriga.read.sound[i];
let currentCmd = formatProtocol(sound.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
//auriga 专有
it('发送读取板载的音量传感器的值的指令', function() {
let soundOnBoard = auriga.SoundOnBoard();
let targetCmd = dataman.auriga.read.sound[5];
let currentCmd = formatProtocol(soundOnBoard.protocol);
expect(currentCmd).to.equal(targetCmd);
});
});
describe('板载温度传感器：TemperatureOnBoard(0)', function() {
it('发送读取板载温度传感器的值的指令', function() {
let temperatureOnBoard = auriga.TemperatureOnBoard();
let targetCmd = dataman.auriga.read.temperatureOnBoard[0];
let currentCmd = formatProtocol(temperatureOnBoard.protocol);
expect(currentCmd).to.equal(targetCmd);
});
});
describe('被动式红外传感器：Pirmotion(0, 6)', function() {
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`发送读取端口 ${port} 上的被动式红外传感器的值的指令`, function() {
let pirmotion = auriga.Pirmotion(port);
let targetCmd = dataman.auriga.read.pirmotion[i];
let currentCmd = formatProtocol(pirmotion.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
});
describe('巡线传感器：LineFollower(0, 6~10)', function() {
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`发送读取端口 ${port} 上的巡线传感器的值的指令`, function() {
let lineFollower = auriga.LineFollower(port);
let targetCmd = dataman.auriga.read.lineFollower[i];
let currentCmd = formatProtocol(lineFollower.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
});
describe('限位开关传感器：LimitSwitch(0, 6～10, 1/2)', function() {
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`发送读取端口 ${port} slot 1 上的限位开关的值的指令`, function() {
let limitSwitch = auriga.LimitSwitch(port, 1);
let targetCmd = dataman.auriga.read.limitSwitch[i];
let currentCmd = formatProtocol(limitSwitch.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
it('发送读取端口 6 slot 2 上的限位开关的值的指令', function() {
let limitSwitch = auriga.LimitSwitch(6, 2);
let targetCmd = dataman.auriga.read.limitSwitch[5];
let currentCmd = formatProtocol(limitSwitch.protocol);
expect(currentCmd).to.equal(targetCmd);
});
});
describe('电子罗盘传感器：Compass(0, 6)', function() {
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`发送读取端口 ${port} 上的电子罗盘传感器的值的指令`, function() {
let compass = auriga.Compass(port, 1);
let targetCmd = dataman.auriga.read.compass[i];
let currentCmd = formatProtocol(compass.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
});
describe('温湿度传感器：Humiture(0, 6～10, 1／0)', function() {
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`发送读取端口 ${port} 上的温湿度传感器上的温度的指令`, function() {
let humiture = auriga.Humiture(port).readTemperature();
let targetCmd = dataman.auriga.read.humiture[i];
let currentCmd = formatProtocol(humiture.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
it(`发送读取端口 6 上的温湿度传感器上的湿度的指令`, function() {
let humiture = auriga.Humiture(6).readHumidity();
let targetCmd = dataman.auriga.read.humiture[5];
let currentCmd = formatProtocol(humiture.protocol);
expect(currentCmd).to.equal(targetCmd);
});
});
describe('火焰传感器：Flame(0, 6~10)', function() {
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`发送读取端口 ${port} 上的火焰传感器的值的指令`, function() {
let flame = auriga.Flame(port);
let targetCmd = dataman.auriga.read.flame[i];
let currentCmd = formatProtocol(flame.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
});
describe('气体传感器：Gas(0, 6~10)', function() {
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`发送读取端口 ${port} 上的气体传感器的值的指令`, function() {
let gas = auriga.Gas(port);
let targetCmd = dataman.auriga.read.gas[i];
let currentCmd = formatProtocol(gas.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
});
describe('触摸传感器：Touch(0, 6～10)', function() {
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`发送读取端口 ${port} 上的触摸传感器的值的指令`, function() {
let touch = auriga.Touch(port);
let targetCmd = dataman.auriga.read.touch[i];
let currentCmd = formatProtocol(touch.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
});
describe('按键传感器：FourKeys(0, 6, 1)', function() {
let ports = [6, 7, 8, 9, 10];
for (let i = 0; i < ports.length; i++) {
let port = ports[i];
it(`发送读取端口 ${port} 第 1 个按键的按键传感器的值的指令`, function() {
let fourKeys = auriga.FourKeys(port).key(1);
let targetCmd = dataman.auriga.read.fourKeys[i];
let currentCmd = formatProtocol(fourKeys.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
let keys = [2,3,4];
for (let i = 0; i < keys.length; i++) {
let key = keys[i];
it(`发送读取端口 6 第 ${key} 个按键的按键传感器的值的指令`, function() {
let fourKeys = auriga.FourKeys(6).key(i+2);
let targetCmd = dataman.auriga.read.fourKeys[i+5];
let currentCmd = formatProtocol(fourKeys.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
});
describe('读取板载编码电机的速度：EncoderMotorOnBoard(0, 1／2, 2)', function() {
let slots = [1, 2];
for (let i = 0; i < slots.length; i++) {
let slot = slots[i];
it(`发送读取板载slot ${slot} 上的速度的指令`, function() {
let encoderMotorOnBoard = auriga.EncoderMotorOnBoard(slot).readSpeed();
let targetCmd = dataman.auriga.read.encoderMotorOnBoard[i];
let currentCmd = formatProtocol(encoderMotorOnBoard.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
});
describe('读取板载编码电机的角度位置：EncoderMotorOnBoard(0, 1／2, 1)', function() {
let slots = [1, 2];
for (let i = 0; i < slots.length; i++) {
let slot = slots[i];
it(`发送读取板载slot ${slot} 上的位置的指令`, function() {
let encoderMotorOnBoard = auriga.EncoderMotorOnBoard(slot).readAngle();
let targetCmd = dataman.auriga.read.encoderMotorOnBoard[i+2];
let currentCmd = formatProtocol(encoderMotorOnBoard.protocol);
expect(currentCmd).to.equal(targetCmd);
});
}
});
describe('主板通用命令-读取电压：auriga.getVoltage(callback)', function() {
// it(`发送读取主板电压的指令`, function() {
// let targetCmd = dataman.auriga.read.voltage[0];
// let currentCmd = formatProtocol(gyroOnBoard.protocol);
// expect(currentCmd).to.equal(targetCmd);
// });
});
describe('主板通用命令-读取模式：auriga.getFirmwareMode(0, 113)', function() {
// it('发送读取主板模式的指令', function() {
// let targetCmd = dataman.auriga.read.mode[0];
// let currentCmd = formatProtocol(gyroOnBoard.protocol);
// expect(currentCmd).to.equal(targetCmd);
// });
});
//智能舵机
});
});