mirror of
https://github.com/hybridgroup/gobot.git
synced 2025-04-24 13:48:49 +08:00
381 lines
11 KiB
Go
381 lines
11 KiB
Go
package beaglebone
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import (
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"errors"
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"fmt"
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"strings"
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"testing"
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"gobot.io/x/gobot/v2"
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"gobot.io/x/gobot/v2/drivers/aio"
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"gobot.io/x/gobot/v2/drivers/gpio"
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"gobot.io/x/gobot/v2/drivers/i2c"
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"gobot.io/x/gobot/v2/drivers/spi"
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"gobot.io/x/gobot/v2/gobottest"
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"gobot.io/x/gobot/v2/system"
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)
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// make sure that this Adaptor fulfills all the required interfaces
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var _ gobot.Adaptor = (*Adaptor)(nil)
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var _ gobot.DigitalPinnerProvider = (*Adaptor)(nil)
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var _ gobot.PWMPinnerProvider = (*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 _ gpio.ServoWriter = (*Adaptor)(nil)
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var _ i2c.Connector = (*Adaptor)(nil)
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var _ spi.Connector = (*Adaptor)(nil)
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func initTestAdaptorWithMockedFilesystem(mockPaths []string) (*Adaptor, *system.MockFilesystem) {
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a := NewAdaptor()
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fs := a.sys.UseMockFilesystem(mockPaths)
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if err := a.Connect(); err != nil {
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panic(err)
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}
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return a, fs
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}
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func TestPWM(t *testing.T) {
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mockPaths := []string{
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"/sys/devices/platform/ocp/ocp:P9_22_pinmux/state",
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"/sys/devices/platform/ocp/ocp:P9_21_pinmux/state",
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"/sys/bus/iio/devices/iio:device0/in_voltage1_raw",
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"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/export",
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"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/unexport",
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"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm0/enable",
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"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm0/period",
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"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm0/duty_cycle",
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"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm0/polarity",
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"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm1/enable",
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"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm1/period",
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"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm1/duty_cycle",
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"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm1/polarity",
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}
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a, fs := initTestAdaptorWithMockedFilesystem(mockPaths)
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fs.Files["/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm1/duty_cycle"].Contents = "0"
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fs.Files["/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm1/period"].Contents = "0"
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gobottest.Assert(t, a.PwmWrite("P9_99", 175), errors.New("'P9_99' is not a valid id for a PWM pin"))
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_ = a.PwmWrite("P9_21", 175)
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gobottest.Assert(
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t,
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fs.Files["/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm1/period"].Contents,
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"500000",
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)
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gobottest.Assert(
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t,
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fs.Files["/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm1/duty_cycle"].Contents,
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"343137",
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)
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_ = a.ServoWrite("P9_21", 100)
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gobottest.Assert(
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t,
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fs.Files["/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm1/period"].Contents,
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"500000",
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)
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gobottest.Assert(
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t,
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fs.Files["/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/pwm1/duty_cycle"].Contents,
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"66666",
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)
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gobottest.Assert(t, a.Finalize(), nil)
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}
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func TestAnalog(t *testing.T) {
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mockPaths := []string{
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"/sys/bus/iio/devices/iio:device0/in_voltage1_raw",
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}
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a, fs := initTestAdaptorWithMockedFilesystem(mockPaths)
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fs.Files["/sys/bus/iio/devices/iio:device0/in_voltage1_raw"].Contents = "567\n"
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i, err := a.AnalogRead("P9_40")
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gobottest.Assert(t, i, 567)
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gobottest.Assert(t, err, nil)
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_, err = a.AnalogRead("P9_99")
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gobottest.Assert(t, err, errors.New("Not a valid analog pin"))
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fs.WithReadError = true
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_, err = a.AnalogRead("P9_40")
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gobottest.Assert(t, err, errors.New("read error"))
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fs.WithReadError = false
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gobottest.Assert(t, a.Finalize(), nil)
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}
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func TestDigitalIO(t *testing.T) {
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mockPaths := []string{
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"/sys/devices/platform/ocp/ocp:P8_07_pinmux/state",
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"/sys/devices/platform/ocp/ocp:P9_11_pinmux/state",
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"/sys/devices/platform/ocp/ocp:P9_12_pinmux/state",
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"/sys/class/leds/beaglebone:green:usr1/brightness",
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"/sys/class/gpio/export",
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"/sys/class/gpio/unexport",
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"/sys/class/gpio/gpio60/value",
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"/sys/class/gpio/gpio60/direction",
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"/sys/class/gpio/gpio66/value",
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"/sys/class/gpio/gpio66/direction",
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"/sys/class/gpio/gpio10/value",
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"/sys/class/gpio/gpio10/direction",
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"/sys/class/gpio/gpio30/value",
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"/sys/class/gpio/gpio30/direction",
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}
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a, fs := initTestAdaptorWithMockedFilesystem(mockPaths)
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// DigitalIO
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_ = a.DigitalWrite("usr1", 1)
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gobottest.Assert(t,
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fs.Files["/sys/class/leds/beaglebone:green:usr1/brightness"].Contents,
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"1",
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)
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// no such LED
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err := a.DigitalWrite("usr10101", 1)
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gobottest.Assert(t, err.Error(), " : /sys/class/leds/beaglebone:green:usr10101/brightness: no such file")
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_ = a.DigitalWrite("P9_12", 1)
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gobottest.Assert(t, fs.Files["/sys/class/gpio/gpio60/value"].Contents, "1")
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gobottest.Assert(t, a.DigitalWrite("P9_99", 1), errors.New("'P9_99' is not a valid id for a digital pin"))
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_, err = a.DigitalRead("P9_99")
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gobottest.Assert(t, err, errors.New("'P9_99' is not a valid id for a digital pin"))
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fs.Files["/sys/class/gpio/gpio66/value"].Contents = "1"
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i, err := a.DigitalRead("P8_07")
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gobottest.Assert(t, i, 1)
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, a.Finalize(), nil)
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}
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func TestName(t *testing.T) {
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a := NewAdaptor()
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gobottest.Assert(t, strings.HasPrefix(a.Name(), "Beaglebone"), 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 TestAnalogReadFileError(t *testing.T) {
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mockPaths := []string{
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"/sys/devices/platform/whatever",
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}
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a, _ := initTestAdaptorWithMockedFilesystem(mockPaths)
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_, err := a.AnalogRead("P9_40")
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gobottest.Assert(t, strings.Contains(err.Error(), "/sys/bus/iio/devices/iio:device0/in_voltage1_raw: no such file"), true)
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}
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func TestDigitalPinDirectionFileError(t *testing.T) {
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mockPaths := []string{
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"/sys/class/gpio/export",
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"/sys/class/gpio/gpio60/value",
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"/sys/devices/platform/ocp/ocp:P9_12_pinmux/state",
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}
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a, _ := initTestAdaptorWithMockedFilesystem(mockPaths)
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err := a.DigitalWrite("P9_12", 1)
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gobottest.Assert(t, strings.Contains(err.Error(), "/sys/class/gpio/gpio60/direction: no such file"), true)
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// no pin added after previous problem, so no pin to unexport in finalize
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err = a.Finalize()
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gobottest.Assert(t, nil, err)
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}
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func TestDigitalPinFinalizeFileError(t *testing.T) {
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mockPaths := []string{
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"/sys/class/gpio/export",
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"/sys/class/gpio/gpio60/value",
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"/sys/class/gpio/gpio60/direction",
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"/sys/devices/platform/ocp/ocp:P9_12_pinmux/state",
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}
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a, _ := initTestAdaptorWithMockedFilesystem(mockPaths)
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err := a.DigitalWrite("P9_12", 1)
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gobottest.Assert(t, err, nil)
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err = a.Finalize()
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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 TestPocketName(t *testing.T) {
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a := NewPocketBeagleAdaptor()
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gobottest.Assert(t, strings.HasPrefix(a.Name(), "PocketBeagle"), true)
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}
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func TestSpiDefaultValues(t *testing.T) {
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a := NewAdaptor()
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gobottest.Assert(t, a.SpiDefaultBusNumber(), 0)
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gobottest.Assert(t, a.SpiDefaultChipNumber(), 0)
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gobottest.Assert(t, a.SpiDefaultMode(), 0)
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gobottest.Assert(t, a.SpiDefaultBitCount(), 8)
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gobottest.Assert(t, a.SpiDefaultMaxSpeed(), int64(500000))
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}
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func TestI2cDefaultBus(t *testing.T) {
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a := NewAdaptor()
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gobottest.Assert(t, a.DefaultI2cBus(), 2)
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}
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func TestI2cFinalizeWithErrors(t *testing.T) {
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// arrange
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a := NewAdaptor()
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a.sys.UseMockSyscall()
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fs := a.sys.UseMockFilesystem([]string{"/dev/i2c-2"})
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gobottest.Assert(t, a.Connect(), nil)
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con, err := a.GetI2cConnection(0xff, 2)
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gobottest.Assert(t, err, nil)
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_, err = con.Write([]byte{0xbf})
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gobottest.Assert(t, err, nil)
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fs.WithCloseError = true
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// act
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err = a.Finalize()
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// assert
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gobottest.Assert(t, strings.Contains(err.Error(), "close error"), true)
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}
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func Test_validateSpiBusNumber(t *testing.T) {
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var tests = map[string]struct {
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busNr int
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wantErr error
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}{
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"number_negative_error": {
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busNr: -1,
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wantErr: fmt.Errorf("Bus number -1 out of range"),
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},
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"number_0_ok": {
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busNr: 0,
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},
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"number_1_ok": {
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busNr: 1,
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},
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"number_2_error": {
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busNr: 2,
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wantErr: fmt.Errorf("Bus number 2 out of range"),
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},
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}
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for name, tc := range tests {
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t.Run(name, func(t *testing.T) {
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// arrange
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a := NewAdaptor()
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// act
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err := a.validateSpiBusNumber(tc.busNr)
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// assert
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gobottest.Assert(t, err, tc.wantErr)
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})
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}
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}
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func Test_validateI2cBusNumber(t *testing.T) {
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var tests = map[string]struct {
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busNr int
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wantErr error
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}{
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"number_negative_error": {
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busNr: -1,
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wantErr: fmt.Errorf("Bus number -1 out of range"),
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},
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"number_0_ok": {
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busNr: 0,
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},
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"number_1_error": {
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busNr: 1,
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wantErr: fmt.Errorf("Bus number 1 out of range"),
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},
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"number_2_ok": {
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busNr: 2,
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},
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"number_3_error": {
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busNr: 3,
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wantErr: fmt.Errorf("Bus number 3 out of range"),
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},
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}
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for name, tc := range tests {
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t.Run(name, func(t *testing.T) {
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// arrange
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a := NewAdaptor()
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// act
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err := a.validateI2cBusNumber(tc.busNr)
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// assert
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gobottest.Assert(t, err, tc.wantErr)
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})
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}
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}
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func Test_translateAndMuxPWMPin(t *testing.T) {
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// arrange
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mockPaths := []string{
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"/sys/devices/platform/ocp/48304000.epwmss/48304200.pwm/pwm/pwmchip4/",
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"/sys/devices/platform/ocp/48302000.epwmss/48302200.pwm/pwm/pwmchip2/",
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"/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0/",
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"/sys/devices/platform/ocp/48300000.epwmss/48300100.ecap/pwm/pwmchip0/",
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}
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a, fs := initTestAdaptorWithMockedFilesystem(mockPaths)
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var tests = map[string]struct {
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wantDir string
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wantChannel int
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wantErr error
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}{
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"P8_13": {
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wantDir: "/sys/devices/platform/ocp/48304000.epwmss/48304200.pwm/pwm/pwmchip4",
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wantChannel: 1,
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},
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"P8_19": {
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wantDir: "/sys/devices/platform/ocp/48304000.epwmss/48304200.pwm/pwm/pwmchip4",
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wantChannel: 0,
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},
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"P9_14": {
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wantDir: "/sys/devices/platform/ocp/48302000.epwmss/48302200.pwm/pwm/pwmchip2",
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wantChannel: 0,
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},
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"P9_16": {
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wantDir: "/sys/devices/platform/ocp/48302000.epwmss/48302200.pwm/pwm/pwmchip2",
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wantChannel: 1,
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},
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"P9_21": {
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wantDir: "/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0",
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wantChannel: 1,
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},
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"P9_22": {
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wantDir: "/sys/devices/platform/ocp/48300000.epwmss/48300200.pwm/pwm/pwmchip0",
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wantChannel: 0,
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},
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"P9_42": {
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wantDir: "/sys/devices/platform/ocp/48300000.epwmss/48300100.ecap/pwm/pwmchip0",
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wantChannel: 0,
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},
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"P9_99": {
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wantDir: "",
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wantChannel: -1,
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wantErr: fmt.Errorf("'P9_99' is not a valid id for a PWM pin"),
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},
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}
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for name, tc := range tests {
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t.Run(name, func(t *testing.T) {
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// arrange
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muxPath := fmt.Sprintf("/sys/devices/platform/ocp/ocp:%s_pinmux/state", name)
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fs.Add(muxPath)
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// act
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path, channel, err := a.translateAndMuxPWMPin(name)
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// assert
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gobottest.Assert(t, err, tc.wantErr)
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gobottest.Assert(t, path, tc.wantDir)
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gobottest.Assert(t, channel, tc.wantChannel)
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if tc.wantErr == nil {
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gobottest.Assert(t, fs.Files[muxPath].Contents, "pwm")
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}
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})
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}
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}
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