171 lines
3.6 KiB
Go
171 lines
3.6 KiB
Go
package raspi
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import (
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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/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 _ 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 initTestAdaptor() *Adaptor {
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readFile = func() ([]byte, error) {
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return []byte(`
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Hardware : BCM2708
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Revision : 0010
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Serial : 000000003bc748ea
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`), nil
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}
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a := NewAdaptor()
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a.Connect()
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return a
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}
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func TestAdaptor(t *testing.T) {
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readFile = func() ([]byte, error) {
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return []byte(`
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Hardware : BCM2708
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Revision : 0010
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Serial : 000000003bc748ea
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`), nil
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}
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a := NewAdaptor()
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gobottest.Assert(t, a.Name(), "RaspberryPi")
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gobottest.Assert(t, a.i2cLocation, "/dev/i2c-1")
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gobottest.Assert(t, a.revision, "3")
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readFile = func() ([]byte, error) {
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return []byte(`
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Hardware : BCM2708
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Revision : 000D
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Serial : 000000003bc748ea
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`), nil
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}
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a = NewAdaptor()
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gobottest.Assert(t, a.i2cLocation, "/dev/i2c-1")
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gobottest.Assert(t, a.revision, "2")
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readFile = func() ([]byte, error) {
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return []byte(`
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Hardware : BCM2708
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Revision : 0002
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Serial : 000000003bc748ea
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`), nil
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}
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a = NewAdaptor()
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gobottest.Assert(t, a.i2cLocation, "/dev/i2c-0")
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gobottest.Assert(t, a.revision, "1")
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}
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func TestAdaptorFinalize(t *testing.T) {
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a := initTestAdaptor()
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fs := sysfs.NewMockFilesystem([]string{
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"/sys/class/gpio/export",
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"/sys/class/gpio/unexport",
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"/dev/pi-blaster",
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"/dev/i2c-1",
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"/dev/i2c-0",
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})
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sysfs.SetFilesystem(fs)
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sysfs.SetSyscall(&sysfs.MockSyscall{})
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a.DigitalWrite("3", 1)
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a.PwmWrite("7", 255)
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a.I2cStart(0xff)
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gobottest.Assert(t, a.Finalize(), nil)
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}
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func TestAdaptorDigitalPWM(t *testing.T) {
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a := initTestAdaptor()
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gobottest.Assert(t, a.PwmWrite("7", 4), nil)
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fs := sysfs.NewMockFilesystem([]string{
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"/dev/pi-blaster",
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})
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sysfs.SetFilesystem(fs)
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gobottest.Assert(t, a.PwmWrite("7", 255), nil)
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gobottest.Assert(t, strings.Split(fs.Files["/dev/pi-blaster"].Contents, "\n")[0], "4=1")
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gobottest.Assert(t, a.ServoWrite("11", 255), nil)
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gobottest.Assert(t, strings.Split(fs.Files["/dev/pi-blaster"].Contents, "\n")[0], "17=0.25")
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}
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func TestAdaptorDigitalIO(t *testing.T) {
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a := initTestAdaptor()
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fs := sysfs.NewMockFilesystem([]string{
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"/sys/class/gpio/export",
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"/sys/class/gpio/unexport",
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"/sys/class/gpio/gpio4/value",
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"/sys/class/gpio/gpio4/direction",
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"/sys/class/gpio/gpio27/value",
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"/sys/class/gpio/gpio27/direction",
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})
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sysfs.SetFilesystem(fs)
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a.DigitalWrite("7", 1)
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gobottest.Assert(t, fs.Files["/sys/class/gpio/gpio4/value"].Contents, "1")
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a.DigitalWrite("13", 1)
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i, _ := a.DigitalRead("13")
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gobottest.Assert(t, i, 1)
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}
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func TestAdaptorI2c(t *testing.T) {
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a := initTestAdaptor()
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fs := sysfs.NewMockFilesystem([]string{
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"/dev/i2c-1",
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})
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sysfs.SetFilesystem(fs)
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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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}
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