adaptors(PWM): fix wrong duty cycle after kill program (#994)

platforms/adaptors/pwmpinsadaptor.go

@@ -191,7 +191,7 @@ func (a *PWMPinsAdaptor) getDefaultInitializer() func(gobot.PWMPinner) error {
 				return err
 			}
 		}
-		if err := setPeriod(pin, a.periodDefault, false); err != nil {
+		if err := setPeriod(pin, a.periodDefault, a.adjustDutyOnSetPeriod); err != nil {
 			return err
 		}
 		// period needs to be set >1 before all next statements

platforms/adaptors/pwmpinsadaptor_test.go

@@ -2,6 +2,7 @@ package adaptors
 
 import (
 	"fmt"
+	"log"
 	"runtime"
 	"strconv"
 	"strings"
@@ -127,6 +128,8 @@ func TestPWMPinsFinalize(t *testing.T) {
 	sys := system.NewAccesser()
 	fs := sys.UseMockFilesystem(pwmMockPaths)
 	a := NewPWMPinsAdaptor(sys, testPWMPinTranslator)
+	fs.Files[pwmPeriodPath].Contents = "0"
+	fs.Files[pwmDutyCyclePath].Contents = "0"
 	// assert that finalize before connect is working
 	gobottest.Assert(t, a.Finalize(), nil)
 	// arrange
@@ -270,12 +273,15 @@ func Test_PWMPin(t *testing.T) {
 	var tests = map[string]struct {
 		mockPaths []string
 		period    string
+		dutyCycle string
 		translate func(string) (string, int, error)
 		pin       string
 		wantErr   string
 	}{
 		"pin_ok": {
 			mockPaths: []string{pwmExportPath, pwmEnablePath, pwmPeriodPath, pwmDutyCyclePath, pwmPolarityPath},
+			period:    "0",
+			dutyCycle: "0",
 			translate: translator,
 			pin:       "33",
 		},
@@ -293,18 +299,23 @@ func Test_PWMPin(t *testing.T) {
 			wantErr:   "SetEnabled(false) failed for id 44 with  : /sys/devices/platform/ff680020.pwm/pwm/pwmchip3/pwm44/enable: no such file",
 		},
 		"init_setperiod_dutycycle_no_error": {
-			mockPaths: []string{pwmExportPath, pwmEnablePath, pwmPeriodPath, pwmPolarityPath},
+			mockPaths: []string{pwmExportPath, pwmEnablePath, pwmPeriodPath, pwmDutyCyclePath, pwmPolarityPath},
+			period:    "0",
+			dutyCycle: "0",
 			translate: translator,
 			pin:       "33",
 		},
 		"init_setperiod_error": {
-			mockPaths: []string{pwmExportPath, pwmEnablePath},
+			mockPaths: []string{pwmExportPath, pwmEnablePath, pwmDutyCyclePath},
+			dutyCycle: "0",
 			translate: translator,
 			pin:       "33",
 			wantErr:   "SetPeriod(10000000) failed for id 44 with  : /sys/devices/platform/ff680020.pwm/pwm/pwmchip3/pwm44/period: no such file",
 		},
 		"init_setpolarity_error": {
 			mockPaths: []string{pwmExportPath, pwmEnablePath, pwmPeriodPath, pwmDutyCyclePath},
+			period:    "0",
+			dutyCycle: "0",
 			translate: translator,
 			pin:       "33",
 			wantErr:   "SetPolarity(normal) failed for id 44 with  : /sys/devices/platform/ff680020.pwm/pwm/pwmchip3/pwm44/polarity: no such file",
@@ -322,6 +333,9 @@ func Test_PWMPin(t *testing.T) {
 			if tc.period != "" {
 				fs.Files[pwmPeriodPath].Contents = tc.period
 			}
+			if tc.dutyCycle != "" {
+				fs.Files[pwmDutyCyclePath].Contents = tc.dutyCycle
+			}
 			a := NewPWMPinsAdaptor(sys, tc.translate)
 			if err := a.Connect(); err != nil {
 				panic(err)
@@ -333,6 +347,9 @@ func Test_PWMPin(t *testing.T) {
 				gobottest.Assert(t, err, nil)
 				gobottest.Refute(t, got, nil)
 			} else {
+				if !strings.Contains(err.Error(), tc.wantErr) {
+					log.Println(err.Error())
+				}
 				gobottest.Assert(t, strings.Contains(err.Error(), tc.wantErr), true)
 				gobottest.Assert(t, got, nil)
 			}

platforms/beaglebone/beaglebone_adaptor_test.go

@@ -54,6 +54,8 @@ func TestPWM(t *testing.T) {
 	}
 
 	a, fs := initTestAdaptorWithMockedFilesystem(mockPaths)
+	fs.Files["/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm1/duty_cycle"].Contents = "0"
+	fs.Files["/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm1/period"].Contents = "0"
 
 	gobottest.Assert(t, a.PwmWrite("P9_99", 175), errors.New("'P9_99' is not a valid id for a PWM pin"))
 	_ = a.PwmWrite("P9_21", 175)

platforms/chip/chip_adaptor_test.go

@@ -81,6 +81,9 @@ func TestFinalizeErrorAfterGPIO(t *testing.T) {
 
 func TestFinalizeErrorAfterPWM(t *testing.T) {
 	a, fs := initTestAdaptorWithMockedFilesystem()
+	fs.Files["/sys/class/pwm/pwmchip0/pwm0/duty_cycle"].Contents = "0"
+	fs.Files["/sys/class/pwm/pwmchip0/pwm0/period"].Contents = "0"
+
 	gobottest.Assert(t, a.Connect(), nil)
 	gobottest.Assert(t, a.PwmWrite("PWM0", 100), nil)
 
@@ -122,6 +125,9 @@ func TestProDigitalIO(t *testing.T) {
 
 func TestPWM(t *testing.T) {
 	a, fs := initTestAdaptorWithMockedFilesystem()
+	fs.Files["/sys/class/pwm/pwmchip0/pwm0/duty_cycle"].Contents = "0"
+	fs.Files["/sys/class/pwm/pwmchip0/pwm0/period"].Contents = "0"
+
 	_ = a.Connect()
 
 	err := a.PwmWrite("PWM0", 100)
@@ -130,17 +136,21 @@ func TestPWM(t *testing.T) {
 	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/period"].Contents, "10000000") // pwmPeriodDefault
 	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")
+	gobottest.Assert(t, fs.Files["/sys/class/pwm/pwmchip0/pwm0/period"].Contents, "10000000")
 
 	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, fs.Files["/sys/class/pwm/pwmchip0/pwm0/period"].Contents, "10000000") // pwmPeriodDefault
+
 	gobottest.Assert(t, a.Finalize(), nil)
 }
 

platforms/upboard/up2/adaptor_test.go

@@ -82,6 +82,8 @@ func TestDigitalIO(t *testing.T) {
 
 func TestPWM(t *testing.T) {
 	a, fs := initTestAdaptorWithMockedFilesystem(pwmMockPaths)
+	fs.Files["/sys/class/pwm/pwmchip0/pwm0/duty_cycle"].Contents = "0"
+	fs.Files["/sys/class/pwm/pwmchip0/pwm0/period"].Contents = "0"
 
 	err := a.PwmWrite("32", 100)
 	gobottest.Assert(t, err, nil)
@@ -89,17 +91,21 @@ func TestPWM(t *testing.T) {
 	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/period"].Contents, "10000000") // pwmPeriodDefault
 	gobottest.Assert(t, fs.Files["/sys/class/pwm/pwmchip0/pwm0/polarity"].Contents, "normal")
 
 	err = a.ServoWrite("32", 0)
 	gobottest.Assert(t, err, nil)
 
 	gobottest.Assert(t, fs.Files["/sys/class/pwm/pwmchip0/pwm0/duty_cycle"].Contents, "500000")
+	gobottest.Assert(t, fs.Files["/sys/class/pwm/pwmchip0/pwm0/period"].Contents, "10000000")
 
 	err = a.ServoWrite("32", 180)
 	gobottest.Assert(t, err, nil)
 
 	gobottest.Assert(t, fs.Files["/sys/class/pwm/pwmchip0/pwm0/duty_cycle"].Contents, "2000000")
+	gobottest.Assert(t, fs.Files["/sys/class/pwm/pwmchip0/pwm0/period"].Contents, "10000000")
+
 	gobottest.Assert(t, a.Finalize(), nil)
 }
 
@@ -116,6 +122,8 @@ func TestFinalizeErrorAfterGPIO(t *testing.T) {
 
 func TestFinalizeErrorAfterPWM(t *testing.T) {
 	a, fs := initTestAdaptorWithMockedFilesystem(pwmMockPaths)
+	fs.Files["/sys/class/pwm/pwmchip0/pwm0/duty_cycle"].Contents = "0"
+	fs.Files["/sys/class/pwm/pwmchip0/pwm0/period"].Contents = "0"
 
 	gobottest.Assert(t, a.PwmWrite("32", 1), nil)