mirror of
https://github.com/hybridgroup/gobot.git
synced 2025-05-11 19:29:20 +08:00
340 lines
7.9 KiB
Go
340 lines
7.9 KiB
Go
package raspi
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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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"runtime"
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"strconv"
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"sync"
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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/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 _ 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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a.Connect()
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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 := NewAdaptor()
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gobottest.Assert(t, strings.HasPrefix(a.Name(), "RaspberryPi"), 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 TestGetDefaultBus(t *testing.T) {
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const contentPattern = "Hardware : BCM2708\n%sSerial : 000000003bc748ea\n"
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var tests = map[string]struct {
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revisionPart string
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wantRev string
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wantBus int
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}{
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"no_revision": {
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wantRev: "0",
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wantBus: 0,
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},
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"rev_1": {
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revisionPart: "Revision : 0002\n",
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wantRev: "1",
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wantBus: 0,
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},
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"rev_2": {
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revisionPart: "Revision : 000D\n",
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wantRev: "2",
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wantBus: 1,
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},
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"rev_3": {
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revisionPart: "Revision : 0010\n",
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wantRev: "3",
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wantBus: 1,
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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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fs := a.sys.UseMockFilesystem([]string{infoFile})
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fs.Files[infoFile].Contents = fmt.Sprintf(contentPattern, tc.revisionPart)
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gobottest.Assert(t, a.revision, "")
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//act, will read and refresh the revision
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gotBus := a.DefaultI2cBus()
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//assert
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gobottest.Assert(t, a.revision, tc.wantRev)
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gobottest.Assert(t, gotBus, tc.wantBus)
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})
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}
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}
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func TestFinalize(t *testing.T) {
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mockedPaths := []string{
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"/sys/class/gpio/export",
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"/sys/class/gpio/unexport",
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"/dev/pi-blaster",
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"/dev/i2c-1",
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"/dev/i2c-0",
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"/dev/spidev0.0",
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"/dev/spidev0.1",
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}
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a, _ := initTestAdaptorWithMockedFilesystem(mockedPaths)
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a.DigitalWrite("3", 1)
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a.PwmWrite("7", 255)
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a.GetI2cConnection(0xff, 0)
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gobottest.Assert(t, a.Finalize(), nil)
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}
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func TestDigitalPWM(t *testing.T) {
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mockedPaths := []string{"/dev/pi-blaster"}
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a, fs := initTestAdaptorWithMockedFilesystem(mockedPaths)
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a.PiBlasterPeriod = 20000000
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gobottest.Assert(t, a.PwmWrite("7", 4), nil)
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pin, _ := a.PWMPin("7")
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period, _ := pin.Period()
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gobottest.Assert(t, period, uint32(20000000))
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gobottest.Assert(t, a.PwmWrite("7", 255), nil)
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gobottest.Assert(t, strings.Split(fs.Files["/dev/pi-blaster"].Contents, "\n")[0], "4=1")
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gobottest.Assert(t, a.ServoWrite("11", 90), nil)
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gobottest.Assert(t, strings.Split(fs.Files["/dev/pi-blaster"].Contents, "\n")[0], "17=0.5")
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gobottest.Assert(t, a.PwmWrite("notexist", 1), errors.New("Not a valid pin"))
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gobottest.Assert(t, a.ServoWrite("notexist", 1), errors.New("Not a valid pin"))
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pin, _ = a.PWMPin("12")
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period, _ = pin.Period()
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gobottest.Assert(t, period, uint32(20000000))
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gobottest.Assert(t, pin.SetDutyCycle(1.5*1000*1000), nil)
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gobottest.Assert(t, strings.Split(fs.Files["/dev/pi-blaster"].Contents, "\n")[0], "18=0.075")
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}
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func TestDigitalIO(t *testing.T) {
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mockedPaths := []string{
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"/sys/class/gpio/export",
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"/sys/class/gpio/unexport",
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"/sys/class/gpio/gpio4/value",
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"/sys/class/gpio/gpio4/direction",
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"/sys/class/gpio/gpio27/value",
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"/sys/class/gpio/gpio27/direction",
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}
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a, fs := initTestAdaptorWithMockedFilesystem(mockedPaths)
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err := a.DigitalWrite("7", 1)
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, fs.Files["/sys/class/gpio/gpio4/value"].Contents, "1")
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a.revision = "2"
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err = a.DigitalWrite("13", 1)
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gobottest.Assert(t, err, nil)
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i, err := a.DigitalRead("13")
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, i, 1)
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gobottest.Assert(t, a.DigitalWrite("notexist", 1), errors.New("Not a valid pin"))
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gobottest.Assert(t, a.Finalize(), nil)
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}
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func TestDigitalPinConcurrency(t *testing.T) {
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oldProcs := runtime.GOMAXPROCS(0)
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runtime.GOMAXPROCS(8)
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defer runtime.GOMAXPROCS(oldProcs)
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for retry := 0; retry < 20; retry++ {
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a := NewAdaptor()
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var wg sync.WaitGroup
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for i := 0; i < 20; i++ {
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wg.Add(1)
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pinAsString := strconv.Itoa(i)
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go func(pin string) {
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defer wg.Done()
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a.DigitalPin(pin)
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}(pinAsString)
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}
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wg.Wait()
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}
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}
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func TestPWMPin(t *testing.T) {
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a := NewAdaptor()
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if err := a.Connect(); err != nil {
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panic(err)
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}
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gobottest.Assert(t, len(a.pwmPins), 0)
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a.revision = "3"
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firstSysPin, err := a.PWMPin("35")
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, len(a.pwmPins), 1)
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secondSysPin, err := a.PWMPin("35")
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, len(a.pwmPins), 1)
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gobottest.Assert(t, firstSysPin, secondSysPin)
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otherSysPin, err := a.PWMPin("36")
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, len(a.pwmPins), 2)
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gobottest.Refute(t, firstSysPin, otherSysPin)
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}
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func TestPWMPinsReConnect(t *testing.T) {
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// arrange
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a := NewAdaptor()
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a.revision = "3"
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if err := a.Connect(); err != nil {
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panic(err)
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}
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_, err := a.PWMPin("35")
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, len(a.pwmPins), 1)
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gobottest.Assert(t, a.Finalize(), nil)
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// act
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err = a.Connect()
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// assert
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, len(a.pwmPins), 0)
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_, _ = a.PWMPin("35")
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_, err = a.PWMPin("36")
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, len(a.pwmPins), 2)
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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.SpiDefaultMaxSpeed(), int64(500000))
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}
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func TestI2cDefaultBus(t *testing.T) {
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mockedPaths := []string{"/dev/i2c-1"}
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a, _ := initTestAdaptorWithMockedFilesystem(mockedPaths)
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a.sys.UseMockSyscall()
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a.revision = "0"
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gobottest.Assert(t, a.DefaultI2cBus(), 0)
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a.revision = "2"
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gobottest.Assert(t, a.DefaultI2cBus(), 1)
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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-1"})
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gobottest.Assert(t, a.Connect(), nil)
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con, err := a.GetI2cConnection(0xff, 1)
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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_ok": {
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busNr: 1,
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},
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"number_2_not_ok": {
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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.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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