249 lines
6.4 KiB
Go
249 lines
6.4 KiB
Go
package chip
|
|
|
|
import (
|
|
"errors"
|
|
"fmt"
|
|
"strings"
|
|
"testing"
|
|
|
|
"gobot.io/x/gobot/v2"
|
|
"gobot.io/x/gobot/v2/drivers/gpio"
|
|
"gobot.io/x/gobot/v2/drivers/i2c"
|
|
"gobot.io/x/gobot/v2/gobottest"
|
|
"gobot.io/x/gobot/v2/system"
|
|
)
|
|
|
|
// make sure that this Adaptor fulfills all the required interfaces
|
|
var _ gobot.Adaptor = (*Adaptor)(nil)
|
|
var _ gobot.DigitalPinnerProvider = (*Adaptor)(nil)
|
|
var _ gobot.PWMPinnerProvider = (*Adaptor)(nil)
|
|
var _ gpio.DigitalReader = (*Adaptor)(nil)
|
|
var _ gpio.DigitalWriter = (*Adaptor)(nil)
|
|
var _ gpio.PwmWriter = (*Adaptor)(nil)
|
|
var _ gpio.ServoWriter = (*Adaptor)(nil)
|
|
var _ i2c.Connector = (*Adaptor)(nil)
|
|
|
|
var mockPaths = []string{
|
|
"/sys/class/gpio/export",
|
|
"/sys/class/gpio/unexport",
|
|
"/sys/class/gpio/gpio50/value",
|
|
"/sys/class/gpio/gpio50/direction",
|
|
"/sys/class/gpio/gpio139/value",
|
|
"/sys/class/gpio/gpio139/direction",
|
|
"/sys/class/pwm/pwmchip0/export",
|
|
"/sys/class/pwm/pwmchip0/unexport",
|
|
"/sys/class/pwm/pwmchip0/pwm0/enable",
|
|
"/sys/class/pwm/pwmchip0/pwm0/duty_cycle",
|
|
"/sys/class/pwm/pwmchip0/pwm0/polarity",
|
|
"/sys/class/pwm/pwmchip0/pwm0/period",
|
|
}
|
|
|
|
func initTestAdaptorWithMockedFilesystem() (*Adaptor, *system.MockFilesystem) {
|
|
a := NewAdaptor()
|
|
fs := a.sys.UseMockFilesystem(mockPaths)
|
|
if err := a.Connect(); err != nil {
|
|
panic(err)
|
|
}
|
|
return a, fs
|
|
}
|
|
|
|
func initTestProAdaptorWithMockedFilesystem() (*Adaptor, *system.MockFilesystem) {
|
|
a := NewProAdaptor()
|
|
fs := a.sys.UseMockFilesystem(mockPaths)
|
|
if err := a.Connect(); err != nil {
|
|
panic(err)
|
|
}
|
|
return a, fs
|
|
}
|
|
|
|
func TestName(t *testing.T) {
|
|
a := NewAdaptor()
|
|
gobottest.Assert(t, strings.HasPrefix(a.Name(), "CHIP"), true)
|
|
a.SetName("NewName")
|
|
gobottest.Assert(t, a.Name(), "NewName")
|
|
}
|
|
|
|
func TestNewProAdaptor(t *testing.T) {
|
|
a := NewProAdaptor()
|
|
gobottest.Assert(t, strings.HasPrefix(a.Name(), "CHIP Pro"), true)
|
|
}
|
|
|
|
func TestFinalizeErrorAfterGPIO(t *testing.T) {
|
|
a, fs := initTestAdaptorWithMockedFilesystem()
|
|
gobottest.Assert(t, a.Connect(), nil)
|
|
gobottest.Assert(t, a.DigitalWrite("CSID7", 1), nil)
|
|
|
|
fs.WithWriteError = true
|
|
|
|
err := a.Finalize()
|
|
gobottest.Assert(t, strings.Contains(err.Error(), "write error"), true)
|
|
}
|
|
|
|
func TestFinalizeErrorAfterPWM(t *testing.T) {
|
|
a, fs := initTestAdaptorWithMockedFilesystem()
|
|
gobottest.Assert(t, a.Connect(), nil)
|
|
gobottest.Assert(t, a.PwmWrite("PWM0", 100), nil)
|
|
|
|
fs.WithWriteError = true
|
|
|
|
err := a.Finalize()
|
|
gobottest.Assert(t, strings.Contains(err.Error(), "write error"), true)
|
|
}
|
|
|
|
func TestDigitalIO(t *testing.T) {
|
|
a, fs := initTestAdaptorWithMockedFilesystem()
|
|
_ = a.Connect()
|
|
|
|
_ = a.DigitalWrite("CSID7", 1)
|
|
gobottest.Assert(t, fs.Files["/sys/class/gpio/gpio139/value"].Contents, "1")
|
|
|
|
fs.Files["/sys/class/gpio/gpio50/value"].Contents = "1"
|
|
i, _ := a.DigitalRead("TWI2-SDA")
|
|
gobottest.Assert(t, i, 1)
|
|
|
|
gobottest.Assert(t, a.DigitalWrite("XIO-P10", 1), errors.New("'XIO-P10' is not a valid id for a digital pin"))
|
|
gobottest.Assert(t, a.Finalize(), nil)
|
|
}
|
|
|
|
func TestProDigitalIO(t *testing.T) {
|
|
a, fs := initTestProAdaptorWithMockedFilesystem()
|
|
_ = a.Connect()
|
|
|
|
_ = a.DigitalWrite("CSID7", 1)
|
|
gobottest.Assert(t, fs.Files["/sys/class/gpio/gpio139/value"].Contents, "1")
|
|
|
|
fs.Files["/sys/class/gpio/gpio50/value"].Contents = "1"
|
|
i, _ := a.DigitalRead("TWI2-SDA")
|
|
gobottest.Assert(t, i, 1)
|
|
|
|
gobottest.Assert(t, a.DigitalWrite("XIO-P0", 1), errors.New("'XIO-P0' is not a valid id for a digital pin"))
|
|
gobottest.Assert(t, a.Finalize(), nil)
|
|
}
|
|
|
|
func TestPWM(t *testing.T) {
|
|
a, fs := initTestAdaptorWithMockedFilesystem()
|
|
_ = a.Connect()
|
|
|
|
err := a.PwmWrite("PWM0", 100)
|
|
gobottest.Assert(t, err, nil)
|
|
|
|
gobottest.Assert(t, fs.Files["/sys/class/pwm/pwmchip0/export"].Contents, "0")
|
|
gobottest.Assert(t, fs.Files["/sys/class/pwm/pwmchip0/pwm0/enable"].Contents, "1")
|
|
gobottest.Assert(t, fs.Files["/sys/class/pwm/pwmchip0/pwm0/duty_cycle"].Contents, "3921568")
|
|
gobottest.Assert(t, fs.Files["/sys/class/pwm/pwmchip0/pwm0/polarity"].Contents, "normal")
|
|
|
|
err = a.ServoWrite("PWM0", 0)
|
|
gobottest.Assert(t, err, nil)
|
|
|
|
gobottest.Assert(t, fs.Files["/sys/class/pwm/pwmchip0/pwm0/duty_cycle"].Contents, "500000")
|
|
|
|
err = a.ServoWrite("PWM0", 180)
|
|
gobottest.Assert(t, err, nil)
|
|
|
|
gobottest.Assert(t, fs.Files["/sys/class/pwm/pwmchip0/pwm0/duty_cycle"].Contents, "2000000")
|
|
gobottest.Assert(t, a.Finalize(), nil)
|
|
}
|
|
|
|
func TestI2cDefaultBus(t *testing.T) {
|
|
a := NewAdaptor()
|
|
gobottest.Assert(t, a.DefaultI2cBus(), 1)
|
|
}
|
|
|
|
func TestI2cFinalizeWithErrors(t *testing.T) {
|
|
// arrange
|
|
a := NewAdaptor()
|
|
a.sys.UseMockSyscall()
|
|
fs := a.sys.UseMockFilesystem([]string{"/dev/i2c-2"})
|
|
gobottest.Assert(t, a.Connect(), nil)
|
|
con, err := a.GetI2cConnection(0xff, 2)
|
|
gobottest.Assert(t, err, nil)
|
|
_, err = con.Write([]byte{0xbf})
|
|
gobottest.Assert(t, err, nil)
|
|
fs.WithCloseError = true
|
|
// act
|
|
err = a.Finalize()
|
|
// assert
|
|
gobottest.Assert(t, strings.Contains(err.Error(), "close error"), true)
|
|
}
|
|
|
|
func Test_validateI2cBusNumber(t *testing.T) {
|
|
var tests = map[string]struct {
|
|
busNr int
|
|
wantErr error
|
|
}{
|
|
"number_negative_error": {
|
|
busNr: -1,
|
|
wantErr: fmt.Errorf("Bus number -1 out of range"),
|
|
},
|
|
"number_0_ok": {
|
|
busNr: 0,
|
|
},
|
|
"number_1_ok": {
|
|
busNr: 1,
|
|
},
|
|
"number_2_ok": {
|
|
busNr: 2,
|
|
},
|
|
"number_3_error": {
|
|
busNr: 3,
|
|
wantErr: fmt.Errorf("Bus number 3 out of range"),
|
|
},
|
|
}
|
|
for name, tc := range tests {
|
|
t.Run(name, func(t *testing.T) {
|
|
// arrange
|
|
a := NewAdaptor()
|
|
// act
|
|
err := a.validateI2cBusNumber(tc.busNr)
|
|
// assert
|
|
gobottest.Assert(t, err, tc.wantErr)
|
|
})
|
|
}
|
|
}
|
|
|
|
func Test_translatePWMPin(t *testing.T) {
|
|
var tests = map[string]struct {
|
|
usePro bool
|
|
wantDir string
|
|
wantChannel int
|
|
wantErr error
|
|
}{
|
|
"PWM0": {
|
|
wantDir: "/sys/class/pwm/pwmchip0",
|
|
wantChannel: 0,
|
|
},
|
|
"PWM1": {
|
|
usePro: true,
|
|
wantDir: "/sys/class/pwm/pwmchip0",
|
|
wantChannel: 1,
|
|
},
|
|
"33_1": {
|
|
wantDir: "",
|
|
wantChannel: -1,
|
|
wantErr: fmt.Errorf("'33_1' is not a valid id for a pin"),
|
|
},
|
|
"AP-EINT3": {
|
|
wantDir: "",
|
|
wantChannel: -1,
|
|
wantErr: fmt.Errorf("'AP-EINT3' is not a valid id for a PWM pin"),
|
|
},
|
|
}
|
|
for name, tc := range tests {
|
|
t.Run(name, func(t *testing.T) {
|
|
// arrange
|
|
var a *Adaptor
|
|
if tc.usePro {
|
|
a = NewProAdaptor()
|
|
} else {
|
|
a = NewAdaptor()
|
|
}
|
|
// act
|
|
dir, channel, err := a.translatePWMPin(name)
|
|
// assert
|
|
gobottest.Assert(t, err, tc.wantErr)
|
|
gobottest.Assert(t, dir, tc.wantDir)
|
|
gobottest.Assert(t, channel, tc.wantChannel)
|
|
})
|
|
}
|
|
}
|