254 lines
8.0 KiB
Go
254 lines
8.0 KiB
Go
package beaglebone
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import (
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"errors"
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"strings"
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"testing"
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"gobot.io/x/gobot"
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"gobot.io/x/gobot/drivers/aio"
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"gobot.io/x/gobot/drivers/gpio"
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"gobot.io/x/gobot/drivers/i2c"
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"gobot.io/x/gobot/drivers/spi"
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"gobot.io/x/gobot/gobottest"
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"gobot.io/x/gobot/sysfs"
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)
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// make sure that this Adaptor fullfills all the required interfaces
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var _ gobot.Adaptor = (*Adaptor)(nil)
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var _ gpio.DigitalReader = (*Adaptor)(nil)
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var _ gpio.DigitalWriter = (*Adaptor)(nil)
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var _ aio.AnalogReader = (*Adaptor)(nil)
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var _ gpio.PwmWriter = (*Adaptor)(nil)
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var _ gpio.ServoWriter = (*Adaptor)(nil)
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var _ sysfs.DigitalPinnerProvider = (*Adaptor)(nil)
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var _ sysfs.PWMPinnerProvider = (*Adaptor)(nil)
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var _ i2c.Connector = (*Adaptor)(nil)
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var _ spi.Connector = (*Adaptor)(nil)
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func initBBBTestAdaptor() (*Adaptor, error) {
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a := NewAdaptor()
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a.findPin = func(pinPath string) (string, error) {
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switch pinPath {
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case "/sys/devices/platform/ocp/48304000.epwmss/48304200.pwm/pwm/pwmchip*":
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return "/sys/devices/platform/ocp/48304000.epwmss/48304200.pwm/pwm/pwmchip4", nil
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case "/sys/devices/platform/ocp/48302000.epwmss/48302200.pwm/pwm/pwmchip*":
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return "/sys/devices/platform/ocp/48302000.epwmss/48302200.pwm/pwm/pwmchip2", nil
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case "/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip*":
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return "/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0", nil
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case "/sys/devices/platform/ocp/48300000.epwmss/48300100.ecap/pwm/pwmchip*":
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return "/sys/devices/platform/ocp/48300000.epwmss/48300100.ecap/pwm/pwmchip0", nil
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default:
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return pinPath, nil
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}
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}
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err := a.Connect()
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return a, err
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}
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func TestBeagleboneAdaptor(t *testing.T) {
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fs := sysfs.NewMockFilesystem([]string{
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"/dev/i2c-2",
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"/sys/devices/platform/bone_capemgr",
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"/sys/devices/platform/ocp/ocp:P8_07_pinmux/state",
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"/sys/devices/platform/ocp/ocp:P9_11_pinmux/state",
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"/sys/devices/platform/ocp/ocp:P9_12_pinmux/state",
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"/sys/devices/platform/ocp/ocp:P9_22_pinmux/state",
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"/sys/devices/platform/ocp/ocp:P9_21_pinmux/state",
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"/sys/class/leds/beaglebone:green:usr1/brightness",
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"/sys/bus/iio/devices/iio:device0/in_voltage1_raw",
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"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/export",
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"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/unexport",
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"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm0/enable",
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"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm0/period",
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"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm0/duty_cycle",
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"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm0/polarity",
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"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm1/enable",
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"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm1/period",
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"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm1/duty_cycle",
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"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm1/polarity",
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"/sys/class/gpio/export",
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"/sys/class/gpio/unexport",
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"/sys/class/gpio/gpio60/value",
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"/sys/class/gpio/gpio60/direction",
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"/sys/class/gpio/gpio66/value",
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"/sys/class/gpio/gpio66/direction",
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"/sys/class/gpio/gpio10/value",
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"/sys/class/gpio/gpio10/direction",
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"/sys/class/gpio/gpio30/value",
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"/sys/class/gpio/gpio30/direction",
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})
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sysfs.SetFilesystem(fs)
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a, _ := initBBBTestAdaptor()
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// PWM
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gobottest.Assert(t, a.PwmWrite("P9_99", 175), errors.New("Not a valid PWM pin"))
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a.PwmWrite("P9_21", 175)
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gobottest.Assert(
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t,
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fs.Files["/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm1/period"].Contents,
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"500000",
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)
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gobottest.Assert(
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t,
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fs.Files["/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm1/duty_cycle"].Contents,
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"343137",
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)
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a.ServoWrite("P9_21", 100)
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gobottest.Assert(
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t,
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fs.Files["/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm1/period"].Contents,
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"500000",
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)
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gobottest.Assert(
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t,
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fs.Files["/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm1/duty_cycle"].Contents,
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"66666",
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)
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gobottest.Assert(t, a.ServoWrite("P9_99", 175), errors.New("Not a valid PWM pin"))
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fs.WithReadError = true
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gobottest.Assert(t, a.PwmWrite("P9_21", 175), errors.New("read error"))
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fs.WithReadError = false
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fs.WithWriteError = true
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gobottest.Assert(t, a.PwmWrite("P9_22", 175), errors.New("write error"))
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fs.WithWriteError = false
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// Analog
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fs.Files["/sys/bus/iio/devices/iio:device0/in_voltage1_raw"].Contents = "567\n"
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i, err := a.AnalogRead("P9_40")
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gobottest.Assert(t, i, 567)
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gobottest.Assert(t, err, nil)
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_, err = a.AnalogRead("P9_99")
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gobottest.Assert(t, err, errors.New("Not a valid analog pin"))
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fs.WithReadError = true
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_, err = a.AnalogRead("P9_40")
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gobottest.Assert(t, err, errors.New("read error"))
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fs.WithReadError = false
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// DigitalIO
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a.DigitalWrite("usr1", 1)
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gobottest.Assert(t,
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fs.Files["/sys/class/leds/beaglebone:green:usr1/brightness"].Contents,
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"1",
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)
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// no such LED
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err = a.DigitalWrite("usr10101", 1)
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gobottest.Refute(t, err, nil)
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a.DigitalWrite("P9_12", 1)
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gobottest.Assert(t, fs.Files["/sys/class/gpio/gpio60/value"].Contents, "1")
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gobottest.Assert(t, a.DigitalWrite("P9_99", 1), errors.New("Not a valid pin"))
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_, err = a.DigitalRead("P9_99")
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gobottest.Assert(t, err, errors.New("Not a valid pin"))
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fs.Files["/sys/class/gpio/gpio66/value"].Contents = "1"
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i, err = a.DigitalRead("P8_07")
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gobottest.Assert(t, i, 1)
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gobottest.Assert(t, err, nil)
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fs.WithReadError = true
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_, err = a.DigitalRead("P8_07")
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gobottest.Assert(t, err, errors.New("read error"))
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fs.WithReadError = false
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fs.WithWriteError = true
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_, err = a.DigitalRead("P9_11")
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gobottest.Assert(t, err, errors.New("write error"))
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fs.WithWriteError = false
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// I2c
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sysfs.SetSyscall(&sysfs.MockSyscall{})
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con, err := a.GetConnection(0xff, 2)
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gobottest.Assert(t, err, nil)
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con.Write([]byte{0x00, 0x01})
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data := []byte{42, 42}
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con.Read(data)
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gobottest.Assert(t, data, []byte{0x00, 0x01})
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gobottest.Assert(t, a.Finalize(), nil)
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}
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func TestBeagleboneAdaptorName(t *testing.T) {
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a := NewAdaptor()
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gobottest.Assert(t, strings.HasPrefix(a.Name(), "Beaglebone"), true)
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a.SetName("NewName")
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gobottest.Assert(t, a.Name(), "NewName")
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}
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func TestBeagleboneDefaultBus(t *testing.T) {
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a := NewAdaptor()
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gobottest.Assert(t, a.GetDefaultBus(), 2)
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}
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func TestBeagleboneGetConnectionInvalidBus(t *testing.T) {
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a := NewAdaptor()
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_, err := a.GetConnection(0x01, 99)
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gobottest.Assert(t, err, errors.New("Bus number 99 out of range"))
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}
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func TestBeagleboneAnalogReadFileError(t *testing.T) {
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fs := sysfs.NewMockFilesystem([]string{
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"/sys/devices/platform/whatever",
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})
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sysfs.SetFilesystem(fs)
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a, _ := initBBBTestAdaptor()
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_, err := a.AnalogRead("P9_40")
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gobottest.Assert(t, strings.Contains(err.Error(), "/sys/bus/iio/devices/iio:device0/in_voltage1_raw: No such file."), true)
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}
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func TestBeagleboneDigitalPinDirectionFileError(t *testing.T) {
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fs := sysfs.NewMockFilesystem([]string{
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"/sys/class/gpio/export",
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"/sys/class/gpio/gpio60/value",
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"/sys/devices/platform/ocp/ocp:P9_12_pinmux/state",
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})
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sysfs.SetFilesystem(fs)
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a, _ := initBBBTestAdaptor()
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err := a.DigitalWrite("P9_12", 1)
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gobottest.Assert(t, strings.Contains(err.Error(), "/sys/class/gpio/gpio60/direction: No such file."), true)
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err = a.Finalize()
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gobottest.Assert(t, strings.Contains(err.Error(), "/sys/class/gpio/unexport: No such file."), true)
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}
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func TestBeagleboneDigitalPinFinalizeFileError(t *testing.T) {
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fs := sysfs.NewMockFilesystem([]string{
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"/sys/class/gpio/export",
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"/sys/class/gpio/gpio60/value",
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"/sys/class/gpio/gpio60/direction",
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"/sys/devices/platform/ocp/ocp:P9_12_pinmux/state",
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})
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sysfs.SetFilesystem(fs)
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a, _ := initBBBTestAdaptor()
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err := a.DigitalWrite("P9_12", 1)
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gobottest.Assert(t, err, nil)
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err = a.Finalize()
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gobottest.Assert(t, strings.Contains(err.Error(), "/sys/class/gpio/unexport: No such file."), true)
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}
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func TestPocketBeagleAdaptorName(t *testing.T) {
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a := NewPocketBeagleAdaptor()
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gobottest.Assert(t, strings.HasPrefix(a.Name(), "PocketBeagle"), true)
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}
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