474 lines
12 KiB
Go
474 lines
12 KiB
Go
package nanopi
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import (
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"fmt"
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"strconv"
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"strings"
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"testing"
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"github.com/stretchr/testify/assert"
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"github.com/stretchr/testify/require"
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"gobot.io/x/gobot/v2"
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"gobot.io/x/gobot/v2/drivers/aio"
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"gobot.io/x/gobot/v2/drivers/gpio"
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"gobot.io/x/gobot/v2/drivers/i2c"
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"gobot.io/x/gobot/v2/platforms/adaptors"
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"gobot.io/x/gobot/v2/system"
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)
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const (
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gpio203Path = "/sys/class/gpio/gpio203/"
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gpio199Path = "/sys/class/gpio/gpio199/"
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)
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const (
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pwmDir = "/sys/devices/platform/soc/1c21400.pwm/pwm/pwmchip0/" //nolint:gosec // false positive
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pwmExportPath = pwmDir + "export"
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pwmUnexportPath = pwmDir + "unexport"
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pwmPwmDir = pwmDir + "pwm0/"
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pwmEnablePath = pwmPwmDir + "enable"
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pwmPeriodPath = pwmPwmDir + "period"
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pwmDutyCyclePath = pwmPwmDir + "duty_cycle"
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pwmPolarityPath = pwmPwmDir + "polarity"
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pwmInvertedIdentifier = "inversed"
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)
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var pwmMockPaths = []string{
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pwmExportPath,
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pwmUnexportPath,
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pwmEnablePath,
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pwmPeriodPath,
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pwmDutyCyclePath,
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pwmPolarityPath,
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}
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var gpioMockPaths = []string{
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"/sys/class/gpio/export",
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"/sys/class/gpio/unexport",
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gpio203Path + "value",
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gpio203Path + "direction",
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gpio199Path + "value",
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gpio199Path + "direction",
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}
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// make sure that this Adaptor fulfills all the required interfaces
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var (
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_ gobot.Adaptor = (*Adaptor)(nil)
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_ gobot.DigitalPinnerProvider = (*Adaptor)(nil)
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_ gobot.PWMPinnerProvider = (*Adaptor)(nil)
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_ gpio.DigitalReader = (*Adaptor)(nil)
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_ gpio.DigitalWriter = (*Adaptor)(nil)
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_ gpio.PwmWriter = (*Adaptor)(nil)
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_ gpio.ServoWriter = (*Adaptor)(nil)
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_ aio.AnalogReader = (*Adaptor)(nil)
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_ i2c.Connector = (*Adaptor)(nil)
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)
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func preparePwmFs(fs *system.MockFilesystem) {
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fs.Files[pwmEnablePath].Contents = "0"
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fs.Files[pwmPeriodPath].Contents = "0"
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fs.Files[pwmDutyCyclePath].Contents = "0"
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fs.Files[pwmPolarityPath].Contents = pwmInvertedIdentifier
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}
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func initTestAdaptorWithMockedFilesystem(mockPaths []string) (*Adaptor, *system.MockFilesystem) {
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a := NewNeoAdaptor()
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fs := a.sys.UseMockFilesystem(mockPaths)
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if err := a.Connect(); err != nil {
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panic(err)
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}
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return a, fs
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}
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func TestName(t *testing.T) {
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a := NewNeoAdaptor()
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assert.True(t, strings.HasPrefix(a.Name(), "NanoPi NEO Board"))
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a.SetName("NewName")
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assert.Equal(t, "NewName", a.Name())
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}
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func TestDigitalIO(t *testing.T) {
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// only basic tests needed, further tests are done in "digitalpinsadaptor.go"
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a, fs := initTestAdaptorWithMockedFilesystem(gpioMockPaths)
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_ = a.DigitalWrite("7", 1)
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assert.Equal(t, "1", fs.Files[gpio203Path+"value"].Contents)
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fs.Files[gpio199Path+"value"].Contents = "1"
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i, _ := a.DigitalRead("10")
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assert.Equal(t, 1, i)
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require.ErrorContains(t, a.DigitalWrite("99", 1), "'99' is not a valid id for a digital pin")
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require.NoError(t, a.Finalize())
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}
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func TestAnalog(t *testing.T) {
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mockPaths := []string{
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"/sys/class/thermal/thermal_zone0/temp",
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}
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a, fs := initTestAdaptorWithMockedFilesystem(mockPaths)
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fs.Files["/sys/class/thermal/thermal_zone0/temp"].Contents = "567\n"
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got, err := a.AnalogRead("thermal_zone0")
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require.NoError(t, err)
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assert.Equal(t, 567, got)
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_, err = a.AnalogRead("thermal_zone10")
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require.ErrorContains(t, err, "'thermal_zone10' is not a valid id for a analog pin")
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fs.WithReadError = true
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_, err = a.AnalogRead("thermal_zone0")
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require.ErrorContains(t, err, "read error")
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fs.WithReadError = false
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require.NoError(t, a.Finalize())
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}
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func TestInvalidPWMPin(t *testing.T) {
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a, fs := initTestAdaptorWithMockedFilesystem(pwmMockPaths)
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preparePwmFs(fs)
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err := a.PwmWrite("666", 42)
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require.ErrorContains(t, err, "'666' is not a valid id for a PWM pin")
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err = a.ServoWrite("666", 120)
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require.ErrorContains(t, err, "'666' is not a valid id for a PWM pin")
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err = a.PwmWrite("3", 42)
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require.ErrorContains(t, err, "'3' is not a valid id for a PWM pin")
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err = a.ServoWrite("3", 120)
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require.ErrorContains(t, err, "'3' is not a valid id for a PWM pin")
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}
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func TestPwmWrite(t *testing.T) {
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// arrange
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a, fs := initTestAdaptorWithMockedFilesystem(pwmMockPaths)
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preparePwmFs(fs)
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// act
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err := a.PwmWrite("PWM", 100)
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// assert
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require.NoError(t, err)
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assert.Equal(t, "0", fs.Files[pwmExportPath].Contents)
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assert.Equal(t, "1", fs.Files[pwmEnablePath].Contents)
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assert.Equal(t, strconv.Itoa(10000000), fs.Files[pwmPeriodPath].Contents)
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assert.Equal(t, "3921568", fs.Files[pwmDutyCyclePath].Contents)
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assert.Equal(t, "normal", fs.Files[pwmPolarityPath].Contents)
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require.NoError(t, a.Finalize())
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}
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func TestServoWrite(t *testing.T) {
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// arrange: prepare 50Hz for servos
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const (
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pin = "PWM"
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fiftyHzNano = 20000000
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)
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a := NewNeoAdaptor(adaptors.WithPWMDefaultPeriodForPin(pin, fiftyHzNano))
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fs := a.sys.UseMockFilesystem(pwmMockPaths)
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preparePwmFs(fs)
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require.NoError(t, a.Connect())
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// act & assert for 0° (min default value)
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err := a.ServoWrite(pin, 0)
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require.NoError(t, err)
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assert.Equal(t, strconv.Itoa(fiftyHzNano), fs.Files[pwmPeriodPath].Contents)
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assert.Equal(t, "500000", fs.Files[pwmDutyCyclePath].Contents)
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// act & assert for 180° (max default value)
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err = a.ServoWrite(pin, 180)
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require.NoError(t, err)
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assert.Equal(t, strconv.Itoa(fiftyHzNano), fs.Files[pwmPeriodPath].Contents)
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assert.Equal(t, "2500000", fs.Files[pwmDutyCyclePath].Contents)
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// act & assert invalid pins
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err = a.ServoWrite("3", 120)
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require.ErrorContains(t, err, "'3' is not a valid id for a PWM pin")
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require.NoError(t, a.Finalize())
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}
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func TestSetPeriod(t *testing.T) {
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// arrange
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a, fs := initTestAdaptorWithMockedFilesystem(pwmMockPaths)
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preparePwmFs(fs)
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newPeriod := uint32(2550000)
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// act
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err := a.SetPeriod("PWM", newPeriod)
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// assert
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require.NoError(t, err)
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assert.Equal(t, "0", fs.Files[pwmExportPath].Contents)
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assert.Equal(t, "1", fs.Files[pwmEnablePath].Contents)
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assert.Equal(t, fmt.Sprintf("%d", newPeriod), fs.Files[pwmPeriodPath].Contents) //nolint:perfsprint // ok here
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assert.Equal(t, "0", fs.Files[pwmDutyCyclePath].Contents)
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assert.Equal(t, "normal", fs.Files[pwmPolarityPath].Contents)
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// arrange test for automatic adjustment of duty cycle to lower value
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err = a.PwmWrite("PWM", 127) // 127 is a little bit smaller than 50% of period
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require.NoError(t, err)
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assert.Equal(t, strconv.Itoa(1270000), fs.Files[pwmDutyCyclePath].Contents)
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newPeriod = newPeriod / 10
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// act
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err = a.SetPeriod("PWM", newPeriod)
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// assert
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require.NoError(t, err)
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assert.Equal(t, strconv.Itoa(127000), fs.Files[pwmDutyCyclePath].Contents)
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// arrange test for automatic adjustment of duty cycle to higher value
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newPeriod = newPeriod * 20
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// act
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err = a.SetPeriod("PWM", newPeriod)
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// assert
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require.NoError(t, err)
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assert.Equal(t, strconv.Itoa(2540000), fs.Files[pwmDutyCyclePath].Contents)
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}
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func TestFinalizeErrorAfterGPIO(t *testing.T) {
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a, fs := initTestAdaptorWithMockedFilesystem(gpioMockPaths)
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require.NoError(t, a.DigitalWrite("7", 1))
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fs.WithWriteError = true
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err := a.Finalize()
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require.ErrorContains(t, err, "write error")
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}
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func TestFinalizeErrorAfterPWM(t *testing.T) {
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a, fs := initTestAdaptorWithMockedFilesystem(pwmMockPaths)
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preparePwmFs(fs)
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require.NoError(t, a.PwmWrite("PWM", 1))
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fs.WithWriteError = true
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err := a.Finalize()
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require.ErrorContains(t, err, "write error")
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}
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func TestSpiDefaultValues(t *testing.T) {
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a := NewNeoAdaptor()
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assert.Equal(t, 0, a.SpiDefaultBusNumber())
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assert.Equal(t, 0, a.SpiDefaultChipNumber())
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assert.Equal(t, 0, a.SpiDefaultMode())
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assert.Equal(t, 8, a.SpiDefaultBitCount())
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assert.Equal(t, int64(500000), a.SpiDefaultMaxSpeed())
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}
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func TestI2cDefaultBus(t *testing.T) {
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a := NewNeoAdaptor()
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assert.Equal(t, 0, a.DefaultI2cBus())
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}
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func TestI2cFinalizeWithErrors(t *testing.T) {
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// arrange
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a := NewNeoAdaptor()
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a.sys.UseMockSyscall()
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fs := a.sys.UseMockFilesystem([]string{"/dev/i2c-1"})
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require.NoError(t, a.Connect())
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con, err := a.GetI2cConnection(0xff, 1)
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require.NoError(t, err)
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_, err = con.Write([]byte{0xbf})
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require.NoError(t, err)
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fs.WithCloseError = true
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// act
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err = a.Finalize()
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// assert
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require.ErrorContains(t, err, "close error")
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}
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func Test_validateSpiBusNumber(t *testing.T) {
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tests := map[string]struct {
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busNr int
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wantErr error
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}{
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"number_negative_error": {
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busNr: -1,
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wantErr: fmt.Errorf("Bus number -1 out of range"),
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},
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"number_0_ok": {
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busNr: 0,
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},
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"number_1_error": {
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busNr: 1,
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wantErr: fmt.Errorf("Bus number 1 out of range"),
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},
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}
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for name, tc := range tests {
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t.Run(name, func(t *testing.T) {
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// arrange
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a := NewNeoAdaptor()
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// act
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err := a.validateSpiBusNumber(tc.busNr)
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// assert
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assert.Equal(t, tc.wantErr, err)
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})
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}
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}
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func Test_validateI2cBusNumber(t *testing.T) {
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tests := map[string]struct {
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busNr int
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wantErr error
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}{
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"number_negative_error": {
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busNr: -1,
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wantErr: fmt.Errorf("Bus number -1 out of range"),
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},
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"number_0_ok": {
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busNr: 0,
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},
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"number_1_ok": {
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busNr: 1,
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},
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"number_2_ok": {
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busNr: 2,
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},
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"number_3_error": {
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busNr: 3,
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wantErr: fmt.Errorf("Bus number 3 out of range"),
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},
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}
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for name, tc := range tests {
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t.Run(name, func(t *testing.T) {
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// arrange
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a := NewNeoAdaptor()
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// act
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err := a.validateI2cBusNumber(tc.busNr)
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// assert
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assert.Equal(t, tc.wantErr, err)
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})
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}
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}
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func Test_translateDigitalPin(t *testing.T) {
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tests := map[string]struct {
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access string
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pin string
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wantChip string
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wantLine int
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wantErr error
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}{
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"cdev_ok": {
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access: "cdev",
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pin: "7",
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wantChip: "gpiochip0",
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wantLine: 203,
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},
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"sysfs_ok": {
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access: "sysfs",
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pin: "7",
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wantChip: "",
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wantLine: 203,
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},
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"unknown_pin": {
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pin: "99",
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wantChip: "",
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wantLine: -1,
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wantErr: fmt.Errorf("'99' is not a valid id for a digital pin"),
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},
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}
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for name, tc := range tests {
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t.Run(name, func(t *testing.T) {
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// arrange
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a := NewNeoAdaptor()
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a.sys.UseDigitalPinAccessWithMockFs(tc.access, []string{})
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// act
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chip, line, err := a.translateDigitalPin(tc.pin)
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// assert
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assert.Equal(t, tc.wantErr, err)
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assert.Equal(t, tc.wantChip, chip)
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assert.Equal(t, tc.wantLine, line)
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})
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}
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}
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func Test_translateAnalogPin(t *testing.T) {
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mockedPaths := []string{
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"/sys/class/thermal/thermal_zone0/temp",
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"/sys/class/thermal/thermal_zone1/temp",
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}
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tests := map[string]struct {
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id string
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wantPath string
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wantReadable bool
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wantBufLen uint16
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wantErr string
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}{
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"translate_thermal_zone0": {
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id: "thermal_zone0",
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wantPath: "/sys/class/thermal/thermal_zone0/temp",
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wantReadable: true,
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wantBufLen: 7,
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},
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"unknown_id": {
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id: "thermal_zone1",
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wantErr: "'thermal_zone1' is not a valid id for a analog pin",
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},
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}
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for name, tc := range tests {
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t.Run(name, func(t *testing.T) {
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// arrange
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a, _ := initTestAdaptorWithMockedFilesystem(mockedPaths)
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// act
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path, r, w, buf, err := a.translateAnalogPin(tc.id)
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// assert
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if tc.wantErr != "" {
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require.EqualError(t, err, tc.wantErr)
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} else {
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require.NoError(t, err)
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}
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assert.Equal(t, tc.wantPath, path)
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assert.Equal(t, tc.wantReadable, r)
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assert.False(t, w)
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assert.Equal(t, tc.wantBufLen, buf)
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})
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}
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}
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func Test_translatePWMPin(t *testing.T) {
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basePaths := []string{"/sys/devices/platform/soc/1c21400.pwm/pwm/"}
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tests := map[string]struct {
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pin string
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chip string
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wantDir string
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wantChannel int
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wantErr error
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}{
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"33_chip0": {
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pin: "PWM",
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chip: "pwmchip0",
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wantDir: "/sys/devices/platform/soc/1c21400.pwm/pwm/pwmchip0",
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wantChannel: 0,
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},
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"invalid_pin": {
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pin: "7",
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wantDir: "",
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wantChannel: -1,
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wantErr: fmt.Errorf("'7' is not a valid id for a PWM pin"),
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},
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}
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for name, tc := range tests {
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t.Run(name, func(t *testing.T) {
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// arrange
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mockedPaths := []string{}
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for _, base := range basePaths {
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mockedPaths = append(mockedPaths, base+tc.chip+"/")
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}
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a, _ := initTestAdaptorWithMockedFilesystem(mockedPaths)
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// act
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dir, channel, err := a.translatePWMPin(tc.pin)
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// assert
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assert.Equal(t, tc.wantErr, err)
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assert.Equal(t, tc.wantDir, dir)
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assert.Equal(t, tc.wantChannel, channel)
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})
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}
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}
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