mirror of
https://github.com/hybridgroup/gobot.git
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130 lines
3.6 KiB
Go
130 lines
3.6 KiB
Go
package tinkerboard
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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/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 _ 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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func initTestTinkerboardAdaptor() *Adaptor {
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a := NewAdaptor()
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a.Connect()
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return a
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}
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func TestTinkerboardAdaptorName(t *testing.T) {
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a := NewAdaptor()
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gobottest.Assert(t, strings.HasPrefix(a.Name(), "Tinker Board"), 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 TestTinkerboardAdaptorDigitalIO(t *testing.T) {
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a := initTestTinkerboardAdaptor()
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fs := sysfs.NewMockFilesystem([]string{
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"/sys/class/gpio/export",
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"/sys/class/gpio/unexport",
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"/sys/class/gpio/gpio17/value",
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"/sys/class/gpio/gpio17/direction",
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"/sys/class/gpio/gpio160/value",
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"/sys/class/gpio/gpio160/direction",
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})
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sysfs.SetFilesystem(fs)
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a.DigitalWrite("7", 1)
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gobottest.Assert(t, fs.Files["/sys/class/gpio/gpio17/value"].Contents, "1")
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fs.Files["/sys/class/gpio/gpio160/value"].Contents = "1"
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i, _ := a.DigitalRead("10")
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gobottest.Assert(t, i, 1)
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gobottest.Assert(t, a.DigitalWrite("99", 1), errors.New("Not a valid pin"))
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}
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func TestTinkerboardAdaptorI2c(t *testing.T) {
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a := initTestTinkerboardAdaptor()
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fs := sysfs.NewMockFilesystem([]string{
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"/dev/i2c-1",
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})
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sysfs.SetFilesystem(fs)
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sysfs.SetSyscall(&sysfs.MockSyscall{})
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con, err := a.GetConnection(0xff, 1)
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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 TestTinkerboardAdaptorInvalidPWMPin(t *testing.T) {
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a := initTestTinkerboardAdaptor()
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err := a.PwmWrite("666", 42)
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gobottest.Refute(t, err, nil)
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err = a.ServoWrite("666", 120)
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gobottest.Refute(t, err, nil)
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}
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func TestTinkerboardAdaptorPWM(t *testing.T) {
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a := initTestTinkerboardAdaptor()
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fs := sysfs.NewMockFilesystem([]string{
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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/pwm0/enable",
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"/sys/class/pwm/pwmchip0/pwm0/period",
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"/sys/class/pwm/pwmchip0/pwm0/duty_cycle",
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"/sys/class/pwm/pwmchip0/pwm0/polarity",
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})
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sysfs.SetFilesystem(fs)
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err := a.PwmWrite("PWM0", 100)
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, fs.Files["/sys/class/pwm/pwmchip0/export"].Contents, "0")
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gobottest.Assert(t, fs.Files["/sys/class/pwm/pwmchip0/pwm0/enable"].Contents, "1")
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gobottest.Assert(t, fs.Files["/sys/class/pwm/pwmchip0/pwm0/duty_cycle"].Contents, "3921568")
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gobottest.Assert(t, fs.Files["/sys/class/pwm/pwmchip0/pwm0/polarity"].Contents, "normal")
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err = a.ServoWrite("PWM0", 0)
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, fs.Files["/sys/class/pwm/pwmchip0/pwm0/duty_cycle"].Contents, "500000")
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err = a.ServoWrite("PWM0", 180)
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, fs.Files["/sys/class/pwm/pwmchip0/pwm0/duty_cycle"].Contents, "2000000")
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gobottest.Assert(t, a.Finalize(), nil)
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}
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func TestTinkerboardDefaultBus(t *testing.T) {
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a := initTestTinkerboardAdaptor()
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gobottest.Assert(t, a.GetDefaultBus(), 1)
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}
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func TestTinkerboardGetConnectionInvalidBus(t *testing.T) {
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a := initTestTinkerboardAdaptor()
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_, err := a.GetConnection(0x01, 99)
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gobottest.Assert(t, err, errors.New("Bus number 99 out of range"))
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}
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