mirror of
https://github.com/hybridgroup/gobot.git
synced 2025-05-11 19:29:20 +08:00
226 lines
6.4 KiB
Go
226 lines
6.4 KiB
Go
package joule
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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 _ sysfs.DigitalPinnerProvider = (*Adaptor)(nil)
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var _ sysfs.PWMPinnerProvider = (*Adaptor)(nil)
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var _ i2c.Connector = (*Adaptor)(nil)
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func initTestAdaptor() (*Adaptor, *sysfs.MockFilesystem) {
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a := NewAdaptor()
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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/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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sysfs.SetFilesystem(fs)
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fs.Files["/sys/class/pwm/pwmchip0/pwm0/period"].Contents = "5000"
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a.Connect()
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return a, fs
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}
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func cleanTestAdaptor() {
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defer sysfs.SetFilesystem(&sysfs.NativeFilesystem{})
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}
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func TestJouleAdaptorName(t *testing.T) {
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a, _ := initTestAdaptor()
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defer cleanTestAdaptor()
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gobottest.Assert(t, strings.HasPrefix(a.Name(), "Joule"), 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 TestAdaptorConnect(t *testing.T) {
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a, _ := initTestAdaptor()
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defer cleanTestAdaptor()
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gobottest.Assert(t, a.Connect(), nil)
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gobottest.Assert(t, a.GetDefaultBus(), 0)
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}
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func TestAdaptorInvalidBus(t *testing.T) {
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a, _ := initTestAdaptor()
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defer cleanTestAdaptor()
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gobottest.Assert(t, a.Connect(), nil)
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_, err := a.GetConnection(0xff, 10)
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gobottest.Assert(t, err, errors.New("Bus number 10 out of range"))
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}
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func TestAdaptorFinalize(t *testing.T) {
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a, _ := initTestAdaptor()
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defer cleanTestAdaptor()
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a.DigitalWrite("J12_1", 1)
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a.PwmWrite("J12_26", 100)
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sysfs.SetSyscall(&sysfs.MockSyscall{})
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defer sysfs.SetSyscall(&sysfs.NativeSyscall{})
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gobottest.Assert(t, a.Finalize(), nil)
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_, err := a.GetConnection(0xff, 0)
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, a.Finalize(), nil)
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sysfs.SetFilesystem(sysfs.NewMockFilesystem([]string{}))
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gobottest.Refute(t, a.Finalize(), nil)
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}
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func TestAdaptorDigitalIO(t *testing.T) {
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a, fs := initTestAdaptor()
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defer cleanTestAdaptor()
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a.DigitalWrite("J12_1", 1)
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gobottest.Assert(t, fs.Files["/sys/class/gpio/gpio451/value"].Contents, "1")
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a.DigitalWrite("J12_1", 0)
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i, err := a.DigitalRead("J12_1")
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, i, 0)
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}
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func TestAdaptorDigitalWriteError(t *testing.T) {
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a, fs := initTestAdaptor()
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defer cleanTestAdaptor()
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fs.WithWriteError = true
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err := a.DigitalWrite("13", 1)
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gobottest.Assert(t, err, errors.New("write error"))
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}
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func TestAdaptorDigitalReadWriteError(t *testing.T) {
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a, fs := initTestAdaptor()
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defer cleanTestAdaptor()
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fs.WithWriteError = true
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_, err := a.DigitalRead("13")
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gobottest.Assert(t, err, errors.New("write error"))
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}
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func TestAdaptorI2c(t *testing.T) {
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a, _ := initTestAdaptor()
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defer cleanTestAdaptor()
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sysfs.SetSyscall(&sysfs.MockSyscall{})
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defer sysfs.SetSyscall(&sysfs.NativeSyscall{})
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con, err := a.GetConnection(0xff, 0)
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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 TestAdaptorPwm(t *testing.T) {
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a, fs := initTestAdaptor()
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defer cleanTestAdaptor()
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err := a.PwmWrite("J12_26", 100)
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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, "3921568")
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err = a.PwmWrite("4", 100)
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gobottest.Assert(t, err, errors.New("Not a valid pin"))
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err = a.PwmWrite("J12_1", 100)
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gobottest.Assert(t, err, errors.New("Not a PWM pin"))
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}
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func TestAdaptorPwmPinExportError(t *testing.T) {
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a, fs := initTestAdaptor()
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defer cleanTestAdaptor()
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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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gobottest.Assert(t, strings.Contains(err.Error(), "/sys/class/pwm/pwmchip0/export: No such file"), true)
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}
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func TestAdaptorPwmPinEnableError(t *testing.T) {
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a, fs := initTestAdaptor()
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defer cleanTestAdaptor()
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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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gobottest.Assert(t, strings.Contains(err.Error(), "/sys/class/pwm/pwmchip0/pwm0/enable: No such file"), true)
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}
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