152 lines
3.7 KiB
Go
152 lines
3.7 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/gobottest"
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"gobot.io/x/gobot/sysfs"
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)
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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 _ i2c.I2c = (*Adaptor)(nil)
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type NullReadWriteCloser struct {
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contents []byte
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}
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func (n *NullReadWriteCloser) SetAddress(int) error {
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return nil
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}
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func (n *NullReadWriteCloser) Write(b []byte) (int, error) {
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n.contents = make([]byte, len(b))
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copy(n.contents[:], b[:])
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return len(b), nil
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}
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func (n *NullReadWriteCloser) Read(b []byte) (int, error) {
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copy(b, n.contents)
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return len(b), nil
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}
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var closeErr error
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func (n *NullReadWriteCloser) Close() error {
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return closeErr
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}
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func TestBeagleboneAdaptor(t *testing.T) {
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glob = func(pattern string) (matches []string, err error) {
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return make([]string, 2), nil
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}
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fs := sysfs.NewMockFilesystem([]string{
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"/dev/i2c-1",
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"/sys/devices/platform/bone_capemgr",
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"/sys/devices/platform/ocp/ocp4",
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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/ocp4/pwm_test_P9_14.5",
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"/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/run",
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"/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/period",
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"/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/polarity",
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"/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/duty",
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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/gpio10/value",
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"/sys/class/gpio/gpio10/direction",
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})
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sysfs.SetFilesystem(fs)
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a := NewAdaptor()
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a.slots = "/sys/devices/platform/bone_capemgr"
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a.ocp = "/sys/devices/platform/ocp/ocp4"
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a.kernel = "4.4"
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a.Connect()
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a.analogPath = "/sys/bus/iio/devices/iio:device0"
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// PWM
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glob = func(pattern string) (matches []string, err error) {
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pattern = strings.TrimSuffix(pattern, "*")
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return []string{pattern + "5"}, nil
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}
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gobottest.Assert(t, a.PwmWrite("P9_99", 175), errors.New("Not a valid pin"))
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a.PwmWrite("P9_14", 175)
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gobottest.Assert(
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t,
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fs.Files["/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/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/ocp4/pwm_test_P9_14.5/duty"].Contents,
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"343137",
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)
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a.ServoWrite("P9_14", 100)
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gobottest.Assert(
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t,
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fs.Files["/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/period"].Contents,
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"16666666",
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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/ocp4/pwm_test_P9_14.5/duty"].Contents,
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"1898148",
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)
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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, _ := a.AnalogRead("P9_40")
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gobottest.Assert(t, i, 567)
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_, err := a.AnalogRead("P9_99")
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gobottest.Assert(t, err, errors.New("Not a valid pin"))
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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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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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fs.Files["/sys/class/gpio/gpio10/value"].Contents = "1"
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i, _ = a.DigitalRead("P8_31")
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gobottest.Assert(t, i, 1)
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// I2c
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sysfs.SetSyscall(&sysfs.MockSyscall{})
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a.I2cStart(0xff)
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a.i2cDevice = &NullReadWriteCloser{}
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a.I2cWrite(0xff, []byte{0x00, 0x01})
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data, _ := a.I2cRead(0xff, 2)
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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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