mirror of
https://github.com/hybridgroup/gobot.git
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227 lines
6.2 KiB
Go
227 lines
6.2 KiB
Go
package joule
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import (
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"fmt"
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"strings"
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"testing"
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"github.com/stretchr/testify/assert"
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"github.com/stretchr/testify/require"
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"gobot.io/x/gobot/v2"
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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/system"
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)
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// make sure that this Adaptor fulfills all the required interfaces
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var (
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_ gobot.Adaptor = (*Adaptor)(nil)
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_ gobot.DigitalPinnerProvider = (*Adaptor)(nil)
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_ gobot.PWMPinnerProvider = (*Adaptor)(nil)
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_ gpio.DigitalReader = (*Adaptor)(nil)
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_ gpio.DigitalWriter = (*Adaptor)(nil)
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_ gpio.PwmWriter = (*Adaptor)(nil)
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_ i2c.Connector = (*Adaptor)(nil)
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)
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func initTestAdaptorWithMockedFilesystem() (*Adaptor, *system.MockFilesystem) {
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a := NewAdaptor()
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mockPaths := []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/duty_cycle",
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"/sys/class/pwm/pwmchip0/pwm0/period",
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"/sys/class/pwm/pwmchip0/pwm0/enable",
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"/sys/class/gpio/export",
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"/sys/class/gpio/unexport",
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"/sys/class/gpio/gpio13/value",
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"/sys/class/gpio/gpio13/direction",
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"/sys/class/gpio/gpio40/value",
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"/sys/class/gpio/gpio40/direction",
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"/sys/class/gpio/gpio446/value",
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"/sys/class/gpio/gpio446/direction",
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"/sys/class/gpio/gpio463/value",
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"/sys/class/gpio/gpio463/direction",
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"/sys/class/gpio/gpio421/value",
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"/sys/class/gpio/gpio421/direction",
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"/sys/class/gpio/gpio221/value",
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"/sys/class/gpio/gpio221/direction",
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"/sys/class/gpio/gpio243/value",
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"/sys/class/gpio/gpio243/direction",
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"/sys/class/gpio/gpio229/value",
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"/sys/class/gpio/gpio229/direction",
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"/sys/class/gpio/gpio253/value",
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"/sys/class/gpio/gpio253/direction",
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"/sys/class/gpio/gpio261/value",
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"/sys/class/gpio/gpio261/direction",
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"/sys/class/gpio/gpio214/value",
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"/sys/class/gpio/gpio214/direction",
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"/sys/class/gpio/gpio14/direction",
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"/sys/class/gpio/gpio14/value",
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"/sys/class/gpio/gpio165/direction",
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"/sys/class/gpio/gpio165/value",
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"/sys/class/gpio/gpio212/direction",
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"/sys/class/gpio/gpio212/value",
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"/sys/class/gpio/gpio213/direction",
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"/sys/class/gpio/gpio213/value",
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"/sys/class/gpio/gpio236/direction",
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"/sys/class/gpio/gpio236/value",
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"/sys/class/gpio/gpio237/direction",
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"/sys/class/gpio/gpio237/value",
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"/sys/class/gpio/gpio204/direction",
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"/sys/class/gpio/gpio204/value",
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"/sys/class/gpio/gpio205/direction",
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"/sys/class/gpio/gpio205/value",
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"/sys/class/gpio/gpio263/direction",
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"/sys/class/gpio/gpio263/value",
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"/sys/class/gpio/gpio262/direction",
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"/sys/class/gpio/gpio262/value",
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"/sys/class/gpio/gpio240/direction",
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"/sys/class/gpio/gpio240/value",
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"/sys/class/gpio/gpio241/direction",
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"/sys/class/gpio/gpio241/value",
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"/sys/class/gpio/gpio242/direction",
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"/sys/class/gpio/gpio242/value",
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"/sys/class/gpio/gpio218/direction",
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"/sys/class/gpio/gpio218/value",
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"/sys/class/gpio/gpio250/direction",
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"/sys/class/gpio/gpio250/value",
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"/sys/class/gpio/gpio451/direction",
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"/sys/class/gpio/gpio451/value",
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"/dev/i2c-0",
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}
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fs := a.sys.UseMockFilesystem(mockPaths)
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fs.Files["/sys/class/pwm/pwmchip0/pwm0/period"].Contents = "5000"
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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 TestName(t *testing.T) {
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a, _ := initTestAdaptorWithMockedFilesystem()
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assert.True(t, strings.HasPrefix(a.Name(), "Joule"))
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a.SetName("NewName")
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assert.Equal(t, "NewName", a.Name())
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}
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func TestFinalize(t *testing.T) {
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a, _ := initTestAdaptorWithMockedFilesystem()
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_ = a.DigitalWrite("J12_1", 1)
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_ = a.PwmWrite("J12_26", 100)
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require.NoError(t, a.Finalize())
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// assert finalize after finalize is working
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require.NoError(t, a.Finalize())
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// assert re-connect is working
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require.NoError(t, a.Connect())
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}
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func TestDigitalIO(t *testing.T) {
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a, fs := initTestAdaptorWithMockedFilesystem()
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_ = a.DigitalWrite("J12_1", 1)
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assert.Equal(t, "1", fs.Files["/sys/class/gpio/gpio451/value"].Contents)
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_ = a.DigitalWrite("J12_1", 0)
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i, err := a.DigitalRead("J12_1")
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require.NoError(t, err)
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assert.Equal(t, 0, i)
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_, err = a.DigitalRead("P9_99")
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require.ErrorContains(t, err, "'P9_99' is not a valid id for a digital pin")
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}
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func TestPwm(t *testing.T) {
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a, fs := initTestAdaptorWithMockedFilesystem()
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err := a.PwmWrite("J12_26", 100)
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require.NoError(t, err)
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assert.Equal(t, "3921568", fs.Files["/sys/class/pwm/pwmchip0/pwm0/duty_cycle"].Contents)
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err = a.PwmWrite("4", 100)
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require.ErrorContains(t, err, "'4' is not a valid id for a pin")
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err = a.PwmWrite("J12_1", 100)
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require.ErrorContains(t, err, "'J12_1' is not a valid id for a PWM pin")
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}
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func TestPwmPinExportError(t *testing.T) {
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a, fs := initTestAdaptorWithMockedFilesystem()
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delete(fs.Files, "/sys/class/pwm/pwmchip0/export")
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err := a.PwmWrite("J12_26", 100)
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require.ErrorContains(t, err, "/sys/class/pwm/pwmchip0/export: no such file")
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}
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func TestPwmPinEnableError(t *testing.T) {
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a, fs := initTestAdaptorWithMockedFilesystem()
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delete(fs.Files, "/sys/class/pwm/pwmchip0/pwm0/enable")
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err := a.PwmWrite("J12_26", 100)
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require.ErrorContains(t, err, "/sys/class/pwm/pwmchip0/pwm0/enable: no such file")
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}
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func TestI2cDefaultBus(t *testing.T) {
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a := NewAdaptor()
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assert.Equal(t, 0, a.DefaultI2cBus())
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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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require.NoError(t, a.Connect())
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con, err := a.GetI2cConnection(0xff, 2)
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require.NoError(t, err)
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_, err = con.Write([]byte{0xbf})
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require.NoError(t, err)
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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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require.ErrorContains(t, err, "close error")
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}
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func Test_validateI2cBusNumber(t *testing.T) {
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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_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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assert.Equal(t, tc.wantErr, err)
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})
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}
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}
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