511 lines
15 KiB
Go
511 lines
15 KiB
Go
package edison
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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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// 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 _ 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 testPinFiles = []string{
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"/sys/bus/iio/devices/iio:device1/in_voltage0_raw",
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"/sys/kernel/debug/gpio_debug/gpio111/current_pinmux",
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"/sys/kernel/debug/gpio_debug/gpio115/current_pinmux",
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"/sys/kernel/debug/gpio_debug/gpio114/current_pinmux",
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"/sys/kernel/debug/gpio_debug/gpio109/current_pinmux",
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"/sys/kernel/debug/gpio_debug/gpio131/current_pinmux",
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"/sys/kernel/debug/gpio_debug/gpio129/current_pinmux",
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"/sys/kernel/debug/gpio_debug/gpio40/current_pinmux",
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"/sys/kernel/debug/gpio_debug/gpio13/current_pinmux",
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"/sys/kernel/debug/gpio_debug/gpio28/current_pinmux",
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"/sys/kernel/debug/gpio_debug/gpio27/current_pinmux",
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"/sys/class/pwm/pwmchip0/export",
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"/sys/class/pwm/pwmchip0/unexport",
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"/sys/class/pwm/pwmchip0/pwm1/duty_cycle",
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"/sys/class/pwm/pwmchip0/pwm1/period",
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"/sys/class/pwm/pwmchip0/pwm1/enable",
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"/sys/class/gpio/export",
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"/sys/class/gpio/unexport",
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"/sys/class/gpio/gpio13/value",
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"/sys/class/gpio/gpio13/direction",
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"/sys/class/gpio/gpio40/value",
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"/sys/class/gpio/gpio40/direction",
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"/sys/class/gpio/gpio128/value",
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"/sys/class/gpio/gpio128/direction",
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"/sys/class/gpio/gpio221/value",
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"/sys/class/gpio/gpio221/direction",
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"/sys/class/gpio/gpio243/value",
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"/sys/class/gpio/gpio243/direction",
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"/sys/class/gpio/gpio229/value",
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"/sys/class/gpio/gpio229/direction",
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"/sys/class/gpio/gpio253/value",
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"/sys/class/gpio/gpio253/direction",
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"/sys/class/gpio/gpio261/value",
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"/sys/class/gpio/gpio261/direction",
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"/sys/class/gpio/gpio214/value",
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"/sys/class/gpio/gpio214/direction",
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"/sys/class/gpio/gpio14/direction",
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"/sys/class/gpio/gpio14/value",
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"/sys/class/gpio/gpio165/direction",
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"/sys/class/gpio/gpio165/value",
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"/sys/class/gpio/gpio212/direction",
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"/sys/class/gpio/gpio212/value",
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"/sys/class/gpio/gpio213/direction",
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"/sys/class/gpio/gpio213/value",
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"/sys/class/gpio/gpio236/direction",
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"/sys/class/gpio/gpio236/value",
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"/sys/class/gpio/gpio237/direction",
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"/sys/class/gpio/gpio237/value",
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"/sys/class/gpio/gpio204/direction",
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"/sys/class/gpio/gpio204/value",
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"/sys/class/gpio/gpio205/direction",
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"/sys/class/gpio/gpio205/value",
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"/sys/class/gpio/gpio263/direction",
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"/sys/class/gpio/gpio263/value",
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"/sys/class/gpio/gpio262/direction",
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"/sys/class/gpio/gpio262/value",
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"/sys/class/gpio/gpio240/direction",
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"/sys/class/gpio/gpio240/value",
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"/sys/class/gpio/gpio241/direction",
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"/sys/class/gpio/gpio241/value",
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"/sys/class/gpio/gpio242/direction",
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"/sys/class/gpio/gpio242/value",
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"/sys/class/gpio/gpio218/direction",
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"/sys/class/gpio/gpio218/value",
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"/sys/class/gpio/gpio250/direction",
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"/sys/class/gpio/gpio250/value",
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"/dev/i2c-6",
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}
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func initTestAdaptor() (*Adaptor, *sysfs.MockFilesystem) {
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a := NewAdaptor()
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fs := sysfs.NewMockFilesystem(testPinFiles)
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sysfs.SetFilesystem(fs)
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fs.Files["/sys/class/pwm/pwmchip0/pwm1/period"].Contents = "5000"
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a.Connect()
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return a, fs
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}
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func TestEdisonAdaptorName(t *testing.T) {
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a, _ := initTestAdaptor()
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gobottest.Assert(t, strings.HasPrefix(a.Name(), "Edison"), 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 TestAdaptorConnect(t *testing.T) {
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a, _ := initTestAdaptor()
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gobottest.Assert(t, a.Connect(), nil)
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gobottest.Assert(t, a.GetDefaultBus(), 6)
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gobottest.Assert(t, a.Board(), "arduino")
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gobottest.Assert(t, a.Connect(), nil)
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}
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func TestAdaptorArduinoSetupFail263(t *testing.T) {
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a, fs := initTestAdaptor()
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delete(fs.Files, "/sys/class/gpio/gpio263/direction")
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err := a.arduinoSetup()
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gobottest.Assert(t, strings.Contains(err.Error(), "/sys/class/gpio/gpio263/direction: No such file"), true)
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}
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func TestAdaptorArduinoSetupFail240(t *testing.T) {
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a, fs := initTestAdaptor()
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delete(fs.Files, "/sys/class/gpio/gpio240/direction")
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err := a.arduinoSetup()
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gobottest.Assert(t, strings.Contains(err.Error(), "/sys/class/gpio/gpio240/direction: No such file"), true)
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}
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func TestAdaptorArduinoSetupFail111(t *testing.T) {
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a, fs := initTestAdaptor()
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delete(fs.Files, "/sys/kernel/debug/gpio_debug/gpio111/current_pinmux")
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err := a.arduinoSetup()
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gobottest.Assert(t, strings.Contains(err.Error(), "/sys/kernel/debug/gpio_debug/gpio111/current_pinmux: No such file"), true)
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}
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func TestAdaptorArduinoSetupFail131(t *testing.T) {
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a, fs := initTestAdaptor()
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delete(fs.Files, "/sys/kernel/debug/gpio_debug/gpio131/current_pinmux")
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err := a.arduinoSetup()
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gobottest.Assert(t, strings.Contains(err.Error(), "/sys/kernel/debug/gpio_debug/gpio131/current_pinmux: No such file"), true)
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}
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func TestAdaptorArduinoI2CSetupFailTristate(t *testing.T) {
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a, fs := initTestAdaptor()
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gobottest.Assert(t, a.arduinoSetup(), nil)
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fs.WithWriteError = true
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err := a.arduinoI2CSetup()
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gobottest.Assert(t, err, errors.New("write error"))
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}
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func TestAdaptorArduinoI2CSetupFail14(t *testing.T) {
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a, fs := initTestAdaptor()
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gobottest.Assert(t, a.arduinoSetup(), nil)
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delete(fs.Files, "/sys/class/gpio/gpio14/direction")
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err := a.arduinoI2CSetup()
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gobottest.Assert(t, strings.Contains(err.Error(), "/sys/class/gpio/gpio14/direction: No such file"), true)
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}
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func TestAdaptorArduinoI2CSetupUnexportFail(t *testing.T) {
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a, fs := initTestAdaptor()
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gobottest.Assert(t, a.arduinoSetup(), nil)
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delete(fs.Files, "/sys/class/gpio/unexport")
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err := a.arduinoI2CSetup()
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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 TestAdaptorArduinoI2CSetupFail236(t *testing.T) {
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a, fs := initTestAdaptor()
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gobottest.Assert(t, a.arduinoSetup(), nil)
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delete(fs.Files, "/sys/class/gpio/gpio236/direction")
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err := a.arduinoI2CSetup()
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gobottest.Assert(t, strings.Contains(err.Error(), "/sys/class/gpio/gpio236/direction: No such file"), true)
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}
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func TestAdaptorArduinoI2CSetupFail28(t *testing.T) {
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a, fs := initTestAdaptor()
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gobottest.Assert(t, a.arduinoSetup(), nil)
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delete(fs.Files, "/sys/kernel/debug/gpio_debug/gpio28/current_pinmux")
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err := a.arduinoI2CSetup()
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gobottest.Assert(t, strings.Contains(err.Error(), "/sys/kernel/debug/gpio_debug/gpio28/current_pinmux: No such file"), true)
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}
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func TestAdaptorConnectArduinoError(t *testing.T) {
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a, _ := initTestAdaptor()
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a.writeFile = func(string, []byte) (int, error) {
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return 0, errors.New("write error")
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}
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err := a.Connect()
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gobottest.Assert(t, strings.Contains(err.Error(), "write error"), true)
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}
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func TestAdaptorConnectArduinoWriteError(t *testing.T) {
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a, fs := initTestAdaptor()
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fs.WithWriteError = true
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err := a.Connect()
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gobottest.Assert(t, strings.Contains(err.Error(), "write error"), true)
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}
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func TestAdaptorConnectSparkfun(t *testing.T) {
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a, _ := initTestAdaptor()
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a.SetBoard("sparkfun")
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gobottest.Assert(t, a.Connect(), nil)
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gobottest.Assert(t, a.GetDefaultBus(), 1)
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gobottest.Assert(t, a.Board(), "sparkfun")
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}
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func TestAdaptorConnectMiniboard(t *testing.T) {
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a, _ := initTestAdaptor()
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a.SetBoard("miniboard")
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gobottest.Assert(t, a.Connect(), nil)
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gobottest.Assert(t, a.GetDefaultBus(), 1)
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gobottest.Assert(t, a.Board(), "miniboard")
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}
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func TestAdaptorConnectUnknown(t *testing.T) {
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a, _ := initTestAdaptor()
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a.SetBoard("wha")
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gobottest.Refute(t, a.Connect(), nil)
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}
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func TestAdaptorFinalize(t *testing.T) {
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a, _ := initTestAdaptor()
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a.DigitalWrite("3", 1)
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a.PwmWrite("5", 100)
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sysfs.SetSyscall(&sysfs.MockSyscall{})
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a.GetConnection(0xff, 6)
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gobottest.Assert(t, a.Finalize(), nil)
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sysfs.SetFilesystem(sysfs.NewMockFilesystem([]string{}))
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gobottest.Refute(t, a.Finalize(), nil)
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}
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func TestAdaptorFinalizeError(t *testing.T) {
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a, fs := initTestAdaptor()
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a.PwmWrite("5", 100)
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fs.WithWriteError = true
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gobottest.Refute(t, a.Finalize(), nil)
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}
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func TestAdaptorDigitalIO(t *testing.T) {
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a, fs := initTestAdaptor()
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a.DigitalWrite("13", 1)
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gobottest.Assert(t, fs.Files["/sys/class/gpio/gpio40/value"].Contents, "1")
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a.DigitalWrite("2", 0)
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i, err := a.DigitalRead("2")
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, i, 0)
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}
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func TestAdaptorDigitalPinInFileError(t *testing.T) {
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a := NewAdaptor()
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fs := sysfs.NewMockFilesystem([]string{
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"/sys/kernel/debug/gpio_debug/gpio40/current_pinmux",
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"/sys/class/gpio/export",
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"/sys/class/gpio/unexport",
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// "/sys/class/gpio/gpio40/value",
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// "/sys/class/gpio/gpio40/direction",
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"/sys/class/gpio/gpio229/value", // resistor
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"/sys/class/gpio/gpio229/direction",
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"/sys/class/gpio/gpio243/value",
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"/sys/class/gpio/gpio243/direction",
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"/sys/class/gpio/gpio261/value", // level shifter
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"/sys/class/gpio/gpio261/direction",
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})
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sysfs.SetFilesystem(fs)
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a.Connect()
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_, err := a.DigitalPin("13", "in")
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gobottest.Assert(t, strings.Contains(err.Error(), "No such file"), true)
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}
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func TestAdaptorDigitalPinInResistorFileError(t *testing.T) {
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a := NewAdaptor()
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fs := sysfs.NewMockFilesystem([]string{
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"/sys/kernel/debug/gpio_debug/gpio40/current_pinmux",
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"/sys/class/gpio/export",
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"/sys/class/gpio/unexport",
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"/sys/class/gpio/gpio40/value",
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"/sys/class/gpio/gpio40/direction",
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// "/sys/class/gpio/gpio229/value", // resistor
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// "/sys/class/gpio/gpio229/direction",
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"/sys/class/gpio/gpio243/value",
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"/sys/class/gpio/gpio243/direction",
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"/sys/class/gpio/gpio261/value", // level shifter
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"/sys/class/gpio/gpio261/direction",
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})
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sysfs.SetFilesystem(fs)
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a.Connect()
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_, err := a.DigitalPin("13", "in")
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gobottest.Assert(t, strings.Contains(err.Error(), "No such file"), true)
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}
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func TestAdaptorDigitalPinInLevelShifterFileError(t *testing.T) {
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a := NewAdaptor()
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fs := sysfs.NewMockFilesystem([]string{
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"/sys/kernel/debug/gpio_debug/gpio40/current_pinmux",
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"/sys/class/gpio/export",
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"/sys/class/gpio/unexport",
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"/sys/class/gpio/gpio40/value",
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"/sys/class/gpio/gpio40/direction",
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"/sys/class/gpio/gpio229/value", // resistor
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"/sys/class/gpio/gpio229/direction",
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"/sys/class/gpio/gpio243/value",
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"/sys/class/gpio/gpio243/direction",
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// "/sys/class/gpio/gpio261/value", // level shifter
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// "/sys/class/gpio/gpio261/direction",
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})
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sysfs.SetFilesystem(fs)
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a.Connect()
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_, err := a.DigitalPin("13", "in")
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gobottest.Assert(t, strings.Contains(err.Error(), "No such file"), true)
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}
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func TestAdaptorDigitalPinInMuxFileError(t *testing.T) {
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a := NewAdaptor()
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fs := sysfs.NewMockFilesystem([]string{
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"/sys/kernel/debug/gpio_debug/gpio40/current_pinmux",
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"/sys/class/gpio/export",
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"/sys/class/gpio/unexport",
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"/sys/class/gpio/gpio40/value",
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"/sys/class/gpio/gpio40/direction",
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"/sys/class/gpio/gpio229/value", // resistor
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"/sys/class/gpio/gpio229/direction",
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// "/sys/class/gpio/gpio243/value",
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// "/sys/class/gpio/gpio243/direction",
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"/sys/class/gpio/gpio261/value", // level shifter
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"/sys/class/gpio/gpio261/direction",
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})
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sysfs.SetFilesystem(fs)
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a.Connect()
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_, err := a.DigitalPin("13", "in")
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gobottest.Assert(t, strings.Contains(err.Error(), "No such file"), true)
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}
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func TestAdaptorDigitalWriteError(t *testing.T) {
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a, fs := initTestAdaptor()
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fs.WithWriteError = true
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err := a.DigitalWrite("13", 1)
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gobottest.Assert(t, err, errors.New("write error"))
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}
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func TestAdaptorDigitalReadWriteError(t *testing.T) {
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a, fs := initTestAdaptor()
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fs.WithWriteError = true
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_, err := a.DigitalRead("13")
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gobottest.Assert(t, err, errors.New("write error"))
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}
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func TestAdaptorI2c(t *testing.T) {
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a, _ := initTestAdaptor()
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sysfs.SetSyscall(&sysfs.MockSyscall{})
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con, err := a.GetConnection(0xff, 6)
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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 TestAdaptorI2cInvalidBus(t *testing.T) {
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a, _ := initTestAdaptor()
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_, err := a.GetConnection(0xff, 3)
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gobottest.Assert(t, err, errors.New("Unsupported I2C bus"))
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}
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func TestAdaptorPwm(t *testing.T) {
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a, fs := initTestAdaptor()
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err := a.PwmWrite("5", 100)
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, fs.Files["/sys/class/pwm/pwmchip0/pwm1/duty_cycle"].Contents, "1960")
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err = a.PwmWrite("7", 100)
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gobottest.Assert(t, err, errors.New("Not a PWM pin"))
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}
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func TestAdaptorPwmExportError(t *testing.T) {
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a := NewAdaptor()
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fs := sysfs.NewMockFilesystem([]string{
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"/sys/kernel/debug/gpio_debug/gpio13/current_pinmux",
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"/sys/class/gpio/export",
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"/sys/class/gpio/gpio13/direction",
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"/sys/class/gpio/gpio13/value",
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"/sys/class/gpio/gpio221/direction",
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"/sys/class/gpio/gpio221/value",
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"/sys/class/gpio/gpio253/direction",
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"/sys/class/gpio/gpio253/value",
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//"/sys/class/pwm/pwmchip0/export",
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"/sys/class/pwm/pwmchip0/unexport",
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"/sys/class/pwm/pwmchip0/pwm1/duty_cycle",
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"/sys/class/pwm/pwmchip0/pwm1/period",
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"/sys/class/pwm/pwmchip0/pwm1/enable",
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})
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sysfs.SetFilesystem(fs)
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a.Connect()
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err := a.PwmWrite("5", 100)
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gobottest.Assert(t, strings.Contains(err.Error(), "/sys/class/pwm/pwmchip0/export: No such file"), true)
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}
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func TestAdaptorPwmEnableError(t *testing.T) {
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a := NewAdaptor()
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fs := sysfs.NewMockFilesystem([]string{
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"/sys/kernel/debug/gpio_debug/gpio13/current_pinmux",
|
|
"/sys/class/gpio/export",
|
|
"/sys/class/gpio/gpio13/direction",
|
|
"/sys/class/gpio/gpio13/value",
|
|
"/sys/class/gpio/gpio221/direction",
|
|
"/sys/class/gpio/gpio221/value",
|
|
"/sys/class/gpio/gpio253/direction",
|
|
"/sys/class/gpio/gpio253/value",
|
|
"/sys/class/pwm/pwmchip0/export",
|
|
"/sys/class/pwm/pwmchip0/unexport",
|
|
"/sys/class/pwm/pwmchip0/pwm1/duty_cycle",
|
|
"/sys/class/pwm/pwmchip0/pwm1/period",
|
|
//"/sys/class/pwm/pwmchip0/pwm1/enable",
|
|
})
|
|
sysfs.SetFilesystem(fs)
|
|
a.Connect()
|
|
|
|
err := a.PwmWrite("5", 100)
|
|
gobottest.Assert(t, strings.Contains(err.Error(), "/sys/class/pwm/pwmchip0/pwm1/enable: No such file"), true)
|
|
}
|
|
|
|
func TestAdaptorPwmWritePinError(t *testing.T) {
|
|
a, _ := initTestAdaptor()
|
|
|
|
a.writeFile = func(string, []byte) (int, error) {
|
|
return 0, errors.New("write error")
|
|
}
|
|
|
|
err := a.PwmWrite("5", 100)
|
|
gobottest.Assert(t, err, errors.New("write error"))
|
|
}
|
|
|
|
func TestAdaptorPwmWriteError(t *testing.T) {
|
|
a, fs := initTestAdaptor()
|
|
|
|
fs.WithWriteError = true
|
|
|
|
err := a.PwmWrite("5", 100)
|
|
gobottest.Assert(t, err, errors.New("write error"))
|
|
}
|
|
|
|
func TestAdaptorPwmReadError(t *testing.T) {
|
|
a, fs := initTestAdaptor()
|
|
|
|
fs.WithReadError = true
|
|
|
|
err := a.PwmWrite("5", 100)
|
|
gobottest.Assert(t, err, errors.New("read error"))
|
|
}
|
|
|
|
func TestAdaptorAnalog(t *testing.T) {
|
|
a, fs := initTestAdaptor()
|
|
|
|
fs.Files["/sys/bus/iio/devices/iio:device1/in_voltage0_raw"].Contents = "1000\n"
|
|
i, _ := a.AnalogRead("0")
|
|
gobottest.Assert(t, i, 250)
|
|
}
|
|
|
|
func TestAdaptorAnalogError(t *testing.T) {
|
|
a, _ := initTestAdaptor()
|
|
|
|
a.readFile = func(string) ([]byte, error) {
|
|
return nil, errors.New("read error")
|
|
}
|
|
_, err := a.AnalogRead("0")
|
|
gobottest.Assert(t, err, errors.New("read error"))
|
|
}
|