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hybridgroup.gobot/platforms/beaglebone/beaglebone_adaptor_test.go

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