sphero-pwn

Robot = SpheroPwn.Robot describe 'Robot', -> describe '._macroStatusFromData', -> it 'parses a no-macro response correctly', -> data = new Buffer [0x00, 0xAA, 0xBB] expect(Robot._macroStatusFromData(data)).to.equal null it 'parses a system macro response correctly', -> data = new Buffer [0x02, 0x12, 0x34] expect(Robot._macroStatusFromData(data)).to.deep.equal( macroId: 2, commandId: 0x1234, type: 'system') it 'parses a user macro response correctly', -> data = new Buffer [0x28, 0x12, 0x34] expect(Robot._macroStatusFromData(data)).to.deep.equal( macroId: 40, commandId: 0x1234, type: 'user') it 'parses a streaming macro response correctly', -> data = new Buffer [0xFE, 0x12, 0x34] expect(Robot._macroStatusFromData(data)).to.deep.equal( macroId: 254, commandId: 0x1234, type: 'streaming') it 'parses a temporary macro response correctly', -> data = new Buffer [0xFF, 0x12, 0x34] expect(Robot._macroStatusFromData(data)).to.deep.equal( macroId: 255, commandId: 0x1234, type: 'temporary') describe '#_saveMacro with short macro', -> beforeEach -> testRecordingChannel('macro-markers') .then (channel) => @channel = channel @robot = new Robot @channel afterEach -> @robot.resetMacros() it 'creates a macro runnable by #runMacro', -> macroBytes = new Buffer([ 0x14, # MF_ALLOW_SOD | MF_ENDSIG 0x15, 0xAA, # emit marker 0xAA 0x15, 0xBB, # emit marker 0xBB 0x00 # end ]) @robot.resetMacros() .then (result) => expect(result).to.equal true @robot.abortMacro() .then (result) => expect(result).to.equal null @robot._saveMacro 0xFF, macroBytes .then (result) => expect(result).to.equal true new Promise (resolve, reject) => events = [] @robot.on 'macro', (event) -> events.push event resolve events if events.length is 3 @robot.runMacro 0xFF .then (events) => expect(events.length).to.equal 3 expect(events[0]).to.deep.equal( markerId: 0xAA, macroId: 0xFF, commandId: 1) expect(events[1]).to.deep.equal( markerId: 0xBB, macroId: 0xFF, commandId: 2) expect(events[2]).to.deep.equal( markerId: 0x00, macroId: 0xFF, commandId: 3) describe '#_saveMacro with long macro', -> beforeEach -> testRecordingChannel('macro-long-markers') .then (channel) => @channel = channel @robot = new Robot @channel afterEach -> @robot.resetMacros() it 'creates a macro runnable by #runMacro', -> macroBytes = new Buffer([ 0x14, # MF_ALLOW_SOD | MF_ENDSIG 0x20, 0x00, 0x20, # 32-byte comment 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27, 0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x15, 0xAA, # emit marker 0xAA 0x15, 0xBB, # emit marker 0xBB 0x00 # end ]) @robot.resetMacros() .then (result) => expect(result).to.equal true @robot.abortMacro() .then (result) => expect(result).to.equal null @robot._saveMacro 0xFF, macroBytes .then (result) => expect(result).to.equal true new Promise (resolve, reject) => events = [] @robot.on 'macro', (event) -> events.push event resolve events if events.length is 3 @robot.runMacro 0xFF .then (events) => expect(events.length).to.equal 3 expect(events[0]).to.deep.equal( markerId: 0xAA, macroId: 0xFF, commandId: 2) expect(events[1]).to.deep.equal( markerId: 0xBB, macroId: 0xFF, commandId: 3) expect(events[2]).to.deep.equal( markerId: 0x00, macroId: 0xFF, commandId: 4) describe '#_saveMacro with macro that exceeds maximum length', -> beforeEach -> testRecordingChannel('macro-too-long') .then (channel) => @channel = channel @robot = new Robot @channel afterEach -> @robot.resetMacros() it 'returns a rejected promise', -> macroBytes = new Buffer(0x00 for i in [0...1042]) @robot._saveMacro 0xFF, macroBytes .then (result) => expect(false).to.equal '_saveMacro promise not rejected' .catch (error) => expect(error).to.be.an.instanceOf Error expect(error).to.have.property 'message', 'Macro length 1042 exceeds maximum of 253 bytes' describe '#_appendMacroFragment', -> beforeEach -> testRecordingChannel('macro-append') .then (channel) => @channel = channel @robot = new Robot @channel afterEach -> @robot.resetMacros() it 'creates a macro runnable by #runMacro', -> macroBytes = new Buffer([ 0x14, # MF_ALLOW_SOD | MF_ENDSIG 0x20, 0x00, 0x20, # 32-byte comment 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27, 0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x15, 0xAA, # emit marker 0xAA 0x15, 0xBB, # emit marker 0xBB 0x00 # end ]) @robot.resetMacros() .then (result) => expect(result).to.equal true @robot.abortMacro() .then (result) => expect(result).to.equal null @robot._appendMacroFragment true, macroBytes.slice(0, 16) .then (result) => expect(result).to.equal true @robot._appendMacroFragment false, macroBytes.slice(16) .then (result) => expect(result).to.equal true new Promise (resolve, reject) => events = [] @robot.on 'macro', (event) -> events.push event resolve events if events.length is 3 @robot.runMacro 0xFF .then (events) => expect(events.length).to.equal 3 expect(events[0]).to.deep.equal( markerId: 0xAA, macroId: 0xFF, commandId: 2) expect(events[1]).to.deep.equal( markerId: 0xBB, macroId: 0xFF, commandId: 3) expect(events[2]).to.deep.equal( markerId: 0x00, macroId: 0xFF, commandId: 4) describe '#loadMacro with short user macro', -> beforeEach -> testRecordingChannel('macro-load-short-user') .then (channel) => @channel = channel @robot = new Robot @channel afterEach -> @robot.resetMacros() it 'creates a macro runnable by #runMacro', -> macroBytes = new Buffer([ 0x14, # MF_ALLOW_SOD | MF_ENDSIG 0x15, 0xAA, # emit marker 0xAA 0x15, 0xBB, # emit marker 0xBB 0x00 # end ]) @robot.resetMacros() .then (result) => expect(result).to.equal true @robot.abortMacro() .then (result) => expect(result).to.equal null @robot.loadMacro 0x40, macroBytes .then (result) => expect(result).to.equal true new Promise (resolve, reject) => events = [] @robot.on 'macro', (event) -> events.push event resolve events if events.length is 3 @robot.runMacro 0x40 .then (events) => expect(events.length).to.equal 3 expect(events[0]).to.deep.equal( markerId: 0xAA, macroId: 0x40, commandId: 1) expect(events[1]).to.deep.equal( markerId: 0xBB, macroId: 0x40, commandId: 2) expect(events[2]).to.deep.equal( markerId: 0x00, macroId: 0x40, commandId: 3) describe '#loadMacro with long user macro', -> beforeEach -> testRecordingChannel('macro-load-long-user') .then (channel) => @channel = channel @robot = new Robot @channel afterEach -> @robot.resetMacros() it 'returns a rejected promise', -> macroBytes = new Buffer(0x00 for i in [0...1042]) @robot.loadMacro 0x40, macroBytes .then (result) => expect(false).to.equal 'loadMacro promise not rejected' .catch (error) => expect(error).to.be.an.instanceOf Error expect(error).to.have.property 'message', 'Macro length 1042 exceeds maximum of 253 bytes; ' + 'only the temporary macro be longer' describe '#loadMacro with short temporary macro', -> beforeEach -> testRecordingChannel('macro-load-short-temp') .then (channel) => @channel = channel @robot = new Robot @channel afterEach -> @robot.resetMacros() it 'creates a macro runnable by #runMacro', -> macroBytes = new Buffer([ 0x14, # MF_ALLOW_SOD | MF_ENDSIG 0x15, 0xAA, # emit marker 0xAA 0x15, 0xBB, # emit marker 0xBB 0x00 # end ]) @robot.resetMacros() .then (result) => expect(result).to.equal true @robot.abortMacro() .then (result) => expect(result).to.equal null @robot.loadMacro 0xFF, macroBytes .then (result) => expect(result).to.equal true new Promise (resolve, reject) => events = [] @robot.on 'macro', (event) -> events.push event resolve events if events.length is 3 @robot.runMacro 0xFF .then (events) => expect(events.length).to.equal 3 expect(events[0]).to.deep.equal( markerId: 0xAA, macroId: 0xFF, commandId: 1) expect(events[1]).to.deep.equal( markerId: 0xBB, macroId: 0xFF, commandId: 2) expect(events[2]).to.deep.equal( markerId: 0x00, macroId: 0xFF, commandId: 3) describe '#loadMacro with long macro', -> beforeEach -> testRecordingChannel('macro-load-long-temp') .then (channel) => @channel = channel @robot = new Robot @channel afterEach -> @robot.resetMacros() it 'creates a macro runnable by #runMacro', -> macroBytes = new Buffer([ 0x14, # MF_ALLOW_SOD | MF_ENDSIG 0x20, 0x00, 0x40, # 64-byte comment A 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27, 0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x40, 0x41, 0x42, 0x43, 0x44, 0x45, 0x46, 0x47, 0x50, 0x51, 0x52, 0x53, 0x54, 0x55, 0x56, 0x57, 0x60, 0x61, 0x62, 0x63, 0x64, 0x65, 0x66, 0x67, 0x70, 0x71, 0x72, 0x73, 0x74, 0x75, 0x76, 0x77, 0x20, 0x00, 0x40, # 64-byte comment B 0x08, 0x09, 0x0A, 0x0B, 0x0C, 0x0D, 0x0E, 0x0F, 0x18, 0x19, 0x1A, 0x1B, 0x1C, 0x1D, 0x1E, 0x1F, 0x28, 0x29, 0x2A, 0x2B, 0x2C, 0x2D, 0x2E, 0x2F, 0x38, 0x39, 0x3A, 0x3B, 0x3C, 0x3D, 0x3E, 0x3F, 0x48, 0x49, 0x4A, 0x4B, 0x4C, 0x4D, 0x4E, 0x4F, 0x58, 0x59, 0x5A, 0x5B, 0x5C, 0x5D, 0x5E, 0x5F, 0x68, 0x69, 0x6A, 0x6B, 0x6C, 0x6D, 0x6E, 0x6F, 0x78, 0x79, 0x7A, 0x7B, 0x7C, 0x7D, 0x7E, 0x7F, 0x20, 0x00, 0x40, # 64-byte comment A 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27, 0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x40, 0x41, 0x42, 0x43, 0x44, 0x45, 0x46, 0x47, 0x50, 0x51, 0x52, 0x53, 0x54, 0x55, 0x56, 0x57, 0x60, 0x61, 0x62, 0x63, 0x64, 0x65, 0x66, 0x67, 0x70, 0x71, 0x72, 0x73, 0x74, 0x75, 0x76, 0x77, 0x15, 0xAA, # emit marker 0xAA 0x20, 0x00, 0x40, # 64-byte comment B 0x08, 0x09, 0x0A, 0x0B, 0x0C, 0x0D, 0x0E, 0x0F, 0x18, 0x19, 0x1A, 0x1B, 0x1C, 0x1D, 0x1E, 0x1F, 0x28, 0x29, 0x2A, 0x2B, 0x2C, 0x2D, 0x2E, 0x2F, 0x38, 0x39, 0x3A, 0x3B, 0x3C, 0x3D, 0x3E, 0x3F, 0x48, 0x49, 0x4A, 0x4B, 0x4C, 0x4D, 0x4E, 0x4F, 0x58, 0x59, 0x5A, 0x5B, 0x5C, 0x5D, 0x5E, 0x5F, 0x68, 0x69, 0x6A, 0x6B, 0x6C, 0x6D, 0x6E, 0x6F, 0x78, 0x79, 0x7A, 0x7B, 0x7C, 0x7D, 0x7E, 0x7F, 0x20, 0x00, 0x40, # 64-byte comment A 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27, 0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x40, 0x41, 0x42, 0x43, 0x44, 0x45, 0x46, 0x47, 0x50, 0x51, 0x52, 0x53, 0x54, 0x55, 0x56, 0x57, 0x60, 0x61, 0x62, 0x63, 0x64, 0x65, 0x66, 0x67, 0x70, 0x71, 0x72, 0x73, 0x74, 0x75, 0x76, 0x77, 0x20, 0x00, 0x40, # 64-byte comment B 0x08, 0x09, 0x0A, 0x0B, 0x0C, 0x0D, 0x0E, 0x0F, 0x18, 0x19, 0x1A, 0x1B, 0x1C, 0x1D, 0x1E, 0x1F, 0x28, 0x29, 0x2A, 0x2B, 0x2C, 0x2D, 0x2E, 0x2F, 0x38, 0x39, 0x3A, 0x3B, 0x3C, 0x3D, 0x3E, 0x3F, 0x48, 0x49, 0x4A, 0x4B, 0x4C, 0x4D, 0x4E, 0x4F, 0x58, 0x59, 0x5A, 0x5B, 0x5C, 0x5D, 0x5E, 0x5F, 0x68, 0x69, 0x6A, 0x6B, 0x6C, 0x6D, 0x6E, 0x6F, 0x78, 0x79, 0x7A, 0x7B, 0x7C, 0x7D, 0x7E, 0x7F, 0x15, 0xBB, # emit marker 0xBB 0x20, 0x00, 0x40, # 64-byte comment A 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27, 0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x40, 0x41, 0x42, 0x43, 0x44, 0x45, 0x46, 0x47, 0x50, 0x51, 0x52, 0x53, 0x54, 0x55, 0x56, 0x57, 0x60, 0x61, 0x62, 0x63, 0x64, 0x65, 0x66, 0x67, 0x70, 0x71, 0x72, 0x73, 0x74, 0x75, 0x76, 0x77, 0x20, 0x00, 0x40, # 64-byte comment B 0x08, 0x09, 0x0A, 0x0B, 0x0C, 0x0D, 0x0E, 0x0F, 0x18, 0x19, 0x1A, 0x1B, 0x1C, 0x1D, 0x1E, 0x1F, 0x28, 0x29, 0x2A, 0x2B, 0x2C, 0x2D, 0x2E, 0x2F, 0x38, 0x39, 0x3A, 0x3B, 0x3C, 0x3D, 0x3E, 0x3F, 0x48, 0x49, 0x4A, 0x4B, 0x4C, 0x4D, 0x4E, 0x4F, 0x58, 0x59, 0x5A, 0x5B, 0x5C, 0x5D, 0x5E, 0x5F, 0x68, 0x69, 0x6A, 0x6B, 0x6C, 0x6D, 0x6E, 0x6F, 0x78, 0x79, 0x7A, 0x7B, 0x7C, 0x7D, 0x7E, 0x7F, 0x20, 0x00, 0x40, # 64-byte comment A 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27, 0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x40, 0x41, 0x42, 0x43, 0x44, 0x45, 0x46, 0x47, 0x50, 0x51, 0x52, 0x53, 0x54, 0x55, 0x56, 0x57, 0x60, 0x61, 0x62, 0x63, 0x64, 0x65, 0x66, 0x67, 0x70, 0x71, 0x72, 0x73, 0x74, 0x75, 0x76, 0x77, 0x00 # end ]) @robot.resetMacros() .then (result) => expect(result).to.equal true @robot.abortMacro() .then (result) => expect(result).to.equal null @robot.loadMacro 0xFF, macroBytes .then (result) => expect(result).to.equal true new Promise (resolve, reject) => events = [] @robot.on 'macro', (event) -> events.push event resolve events if events.length is 3 @robot.runMacro 0xFF .then (events) => expect(events.length).to.equal 3 expect(events[0]).to.deep.equal( markerId: 0xAA, macroId: 0xFF, commandId: 4) expect(events[1]).to.deep.equal( markerId: 0xBB, macroId: 0xFF, commandId: 8) expect(events[2]).to.deep.equal( markerId: 0x00, macroId: 0xFF, commandId: 12)