mirror of
https://github.com/hybridgroup/gobot.git
synced 2025-04-24 13:48:49 +08:00
251 lines
7.8 KiB
Go
251 lines
7.8 KiB
Go
//nolint:forcetypeassert // ok here
|
|
package aio
|
|
|
|
import (
|
|
"errors"
|
|
"fmt"
|
|
"strings"
|
|
"testing"
|
|
"time"
|
|
|
|
"github.com/stretchr/testify/assert"
|
|
"github.com/stretchr/testify/require"
|
|
)
|
|
|
|
func TestNewTemperatureSensorDriver(t *testing.T) {
|
|
// arrange
|
|
const pin = "123"
|
|
a := newAioTestAdaptor()
|
|
// act
|
|
d := NewTemperatureSensorDriver(a, pin)
|
|
// assert: driver attributes
|
|
assert.IsType(t, &TemperatureSensorDriver{}, d)
|
|
assert.NotNil(t, d.driverCfg)
|
|
assert.True(t, strings.HasPrefix(d.Name(), "TemperatureSensor"))
|
|
assert.Equal(t, a, d.Connection())
|
|
require.NoError(t, d.afterStart())
|
|
require.NoError(t, d.beforeHalt())
|
|
assert.NotNil(t, d.Commander)
|
|
assert.NotNil(t, d.mutex)
|
|
// assert: sensor attributes
|
|
assert.Equal(t, pin, d.Pin())
|
|
assert.InDelta(t, 0.0, d.lastValue, 0, 0)
|
|
assert.Equal(t, 0, d.lastRawValue)
|
|
assert.Nil(t, d.halt) // will be created on initialize, if cyclic reading is on
|
|
assert.NotNil(t, d.Eventer)
|
|
require.NotNil(t, d.sensorCfg)
|
|
assert.Equal(t, time.Duration(0), d.sensorCfg.readInterval)
|
|
assert.NotNil(t, d.sensorCfg.scale)
|
|
}
|
|
|
|
func TestNewTemperatureSensorDriver_options(t *testing.T) {
|
|
// This is a general test, that options are applied in constructor by using the common WithName() option, least one
|
|
// option of this driver and one of another driver (which should lead to panic). Further tests for options can also
|
|
// be done by call of "WithOption(val).apply(cfg)".
|
|
// arrange
|
|
const (
|
|
myName = "outlet temperature"
|
|
cycReadDur = 10 * time.Millisecond
|
|
)
|
|
panicFunc := func() {
|
|
NewTemperatureSensorDriver(newAioTestAdaptor(), "1", WithName("crazy"),
|
|
WithActuatorScaler(func(float64) int { return 0 }))
|
|
}
|
|
// act
|
|
d := NewTemperatureSensorDriver(newAioTestAdaptor(), "1", WithName(myName), WithSensorCyclicRead(cycReadDur))
|
|
// assert
|
|
assert.Equal(t, cycReadDur, d.sensorCfg.readInterval)
|
|
assert.Equal(t, myName, d.Name())
|
|
assert.PanicsWithValue(t, "'scaler option for analog actuators' can not be applied on 'crazy'", panicFunc)
|
|
}
|
|
|
|
func TestTemperatureSensorRead_NtcScaler(t *testing.T) {
|
|
tests := map[string]struct {
|
|
input int
|
|
want float64
|
|
}{
|
|
"smaller_than_min": {input: -1, want: 457.720219684306},
|
|
"min": {input: 0, want: 457.720219684306},
|
|
"near_min": {input: 1, want: 457.18923673420545},
|
|
"mid_range": {input: 127, want: 87.9784401845593},
|
|
"T25C": {input: 232, want: 24.805280460718336},
|
|
"T0C": {input: 248, want: -0.9858175109026774},
|
|
"T-25C": {input: 253, want: -22.92863536929451},
|
|
"near_max": {input: 254, want: -33.51081663999781},
|
|
"max": {input: 255, want: -273.15},
|
|
"bigger_than_max": {input: 256, want: -273.15},
|
|
}
|
|
a := newAioTestAdaptor()
|
|
d := NewTemperatureSensorDriver(a, "4")
|
|
ntc1 := TemperatureSensorNtcConf{TC0: 25, R0: 10000.0, B: 3950} // Ohm, R25=10k, B=3950
|
|
d.SetNtcScaler(255, 1000, true, ntc1) // Ohm, reference value: 3300, series R: 1k
|
|
for name, tc := range tests {
|
|
t.Run(name, func(t *testing.T) {
|
|
// arrange
|
|
a.analogReadFunc = func() (int, error) {
|
|
return tc.input, nil
|
|
}
|
|
// act
|
|
got, err := d.Read()
|
|
// assert
|
|
require.NoError(t, err)
|
|
assert.InDelta(t, tc.want, got, 0.0)
|
|
})
|
|
}
|
|
}
|
|
|
|
func TestTemperatureSensorDriver_LinearScaler(t *testing.T) {
|
|
tests := map[string]struct {
|
|
input int
|
|
want float64
|
|
}{
|
|
"smaller_than_min": {input: -129, want: -40},
|
|
"min": {input: -128, want: -40},
|
|
"near_min": {input: -127, want: -39.450980392156865},
|
|
"T-25C": {input: -101, want: -25.17647058823529},
|
|
"T0C": {input: -55, want: 0.07843137254902288},
|
|
"T25C": {input: -10, want: 24.7843137254902},
|
|
"mid_range": {input: 0, want: 30.274509803921575},
|
|
"near_max": {input: 126, want: 99.45098039215688},
|
|
"max": {input: 127, want: 100},
|
|
"bigger_than_max": {input: 128, want: 100},
|
|
}
|
|
a := newAioTestAdaptor()
|
|
d := NewTemperatureSensorDriver(a, "4")
|
|
d.SetLinearScaler(-128, 127, -40, 100)
|
|
for name, tc := range tests {
|
|
t.Run(name, func(t *testing.T) {
|
|
// arrange
|
|
a.analogReadFunc = func() (int, error) {
|
|
return tc.input, nil
|
|
}
|
|
// act
|
|
got, err := d.Read()
|
|
// assert
|
|
require.NoError(t, err)
|
|
assert.InDelta(t, tc.want, got, 0.0)
|
|
})
|
|
}
|
|
}
|
|
|
|
func TestTemperatureSensorWithSensorCyclicRead_PublishesTemperatureInCelsius(t *testing.T) {
|
|
// arrange
|
|
sem := make(chan bool)
|
|
a := newAioTestAdaptor()
|
|
d := NewTemperatureSensorDriver(a, "1", WithSensorCyclicRead(10*time.Millisecond))
|
|
ntc := TemperatureSensorNtcConf{TC0: 25, R0: 10000.0, B: 3975} // Ohm, R25=10k
|
|
d.SetNtcScaler(1023, 10000, false, ntc) // Ohm, reference value: 1023, series R: 10k
|
|
|
|
a.analogReadFunc = func() (int, error) {
|
|
return 585, nil
|
|
}
|
|
|
|
require.NoError(t, d.Start())
|
|
_ = d.Once(d.Event(Value), func(data interface{}) {
|
|
assert.Equal(t, "31.62", fmt.Sprintf("%.2f", data.(float64)))
|
|
sem <- true
|
|
})
|
|
|
|
select {
|
|
case <-sem:
|
|
case <-time.After(1 * time.Second):
|
|
require.Fail(t, " Temperature Sensor Event \"Data\" was not published")
|
|
}
|
|
|
|
assert.InDelta(t, 31.61532462352477, d.Value(), 0.0)
|
|
}
|
|
|
|
func TestTemperatureSensorWithSensorCyclicRead_PublishesError(t *testing.T) {
|
|
// arrange
|
|
sem := make(chan bool)
|
|
a := newAioTestAdaptor()
|
|
d := NewTemperatureSensorDriver(a, "1", WithSensorCyclicRead(10*time.Millisecond))
|
|
|
|
// send error
|
|
a.analogReadFunc = func() (int, error) {
|
|
return 0, errors.New("read error")
|
|
}
|
|
|
|
require.NoError(t, d.Start())
|
|
|
|
// expect error
|
|
_ = d.Once(d.Event(Error), func(data interface{}) {
|
|
assert.Equal(t, "read error", data.(error).Error())
|
|
sem <- true
|
|
})
|
|
|
|
select {
|
|
case <-sem:
|
|
case <-time.After(1 * time.Second):
|
|
require.Fail(t, " Temperature Sensor Event \"Error\" was not published")
|
|
}
|
|
}
|
|
|
|
func TestTemperatureSensorHalt_WithSensorCyclicRead(t *testing.T) {
|
|
// arrange
|
|
d := NewTemperatureSensorDriver(newAioTestAdaptor(), "1", WithSensorCyclicRead(10*time.Millisecond))
|
|
done := make(chan struct{})
|
|
require.NoError(t, d.Start())
|
|
// act & assert
|
|
go func() {
|
|
require.NoError(t, d.Halt())
|
|
close(done)
|
|
}()
|
|
// test that the halt is not blocked by any deadlock with mutex and/or channel
|
|
select {
|
|
case <-done:
|
|
case <-time.After(100 * time.Millisecond):
|
|
require.Fail(t, "Temperature Sensor was not halted")
|
|
}
|
|
}
|
|
|
|
func TestTempDriver_initialize(t *testing.T) {
|
|
tests := map[string]struct {
|
|
input TemperatureSensorNtcConf
|
|
want TemperatureSensorNtcConf
|
|
}{
|
|
"B_low_tc0": {
|
|
input: TemperatureSensorNtcConf{TC0: -13, B: 2601.5},
|
|
want: TemperatureSensorNtcConf{TC0: -13, B: 2601.5, t0: 260.15, r: 10},
|
|
},
|
|
"B_low_tc0_B": {
|
|
input: TemperatureSensorNtcConf{TC0: -13, B: 5203},
|
|
want: TemperatureSensorNtcConf{TC0: -13, B: 5203, t0: 260.15, r: 20},
|
|
},
|
|
"B_mid_tc0": {
|
|
input: TemperatureSensorNtcConf{TC0: 25, B: 3950},
|
|
want: TemperatureSensorNtcConf{TC0: 25, B: 3950, t0: 298.15, r: 13.248364916988095},
|
|
},
|
|
"B_mid_tc0_r0_no_change": {
|
|
input: TemperatureSensorNtcConf{TC0: 25, R0: 1234.5, B: 3950},
|
|
want: TemperatureSensorNtcConf{TC0: 25, R0: 1234.5, B: 3950, t0: 298.15, r: 13.248364916988095},
|
|
},
|
|
"B_high_tc0": {
|
|
input: TemperatureSensorNtcConf{TC0: 100, B: 3731.5},
|
|
want: TemperatureSensorNtcConf{TC0: 100, B: 3731.5, t0: 373.15, r: 10},
|
|
},
|
|
"T1_low": {
|
|
input: TemperatureSensorNtcConf{TC0: 25, R0: 2500.0, TC1: -13, R1: 10000},
|
|
want: TemperatureSensorNtcConf{
|
|
TC0: 25, R0: 2500.0, TC1: -13, R1: 10000, B: 2829.6355560320544, t0: 298.15, r: 9.490644159087891,
|
|
},
|
|
},
|
|
"T1_high": {
|
|
input: TemperatureSensorNtcConf{TC0: 25, R0: 2500.0, TC1: 100, R1: 371},
|
|
want: TemperatureSensorNtcConf{
|
|
TC0: 25, R0: 2500.0, TC1: 100, R1: 371, B: 2830.087381913779, t0: 298.15, r: 9.49215959052081,
|
|
},
|
|
},
|
|
}
|
|
for name, tc := range tests {
|
|
t.Run(name, func(t *testing.T) {
|
|
// arrange
|
|
ntc := tc.input
|
|
// act
|
|
ntc.initialize()
|
|
// assert
|
|
assert.Equal(t, tc.want, ntc)
|
|
})
|
|
}
|
|
}
|