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56 lines
1.6 KiB
Go
56 lines
1.6 KiB
Go
package jetson
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import (
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"errors"
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"testing"
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"gobot.io/x/gobot/v2"
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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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var _ gobot.PWMPinner = (*PWMPin)(nil)
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func TestPwmPin(t *testing.T) {
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a := system.NewAccesser()
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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/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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}
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a.UseMockFilesystem(mockPaths)
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pin := NewPWMPin(a, "/sys/class/pwm/pwmchip0", "0")
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gobottest.Assert(t, pin.Export(), nil)
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gobottest.Assert(t, pin.SetEnabled(true), nil)
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val, _ := pin.Polarity()
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gobottest.Assert(t, val, true)
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gobottest.Assert(t, pin.SetPolarity(false), nil)
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val, _ = pin.Polarity()
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gobottest.Assert(t, val, true)
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_, err := pin.Period()
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gobottest.Assert(t, err, errors.New("Jetson PWM pin period not set"))
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gobottest.Assert(t, pin.SetDutyCycle(10000), errors.New("Jetson PWM pin period not set"))
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gobottest.Assert(t, pin.SetPeriod(20000000), nil)
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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.SetPeriod(10000000), errors.New("Cannot set the period of individual PWM pins on Jetson"))
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dc, _ := pin.DutyCycle()
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gobottest.Assert(t, dc, uint32(0))
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gobottest.Assert(t, pin.SetDutyCycle(10000), nil)
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dc, _ = pin.DutyCycle()
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gobottest.Assert(t, dc, uint32(10000))
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gobottest.Assert(t, pin.SetDutyCycle(999999999), errors.New("Duty cycle exceeds period"))
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dc, _ = pin.DutyCycle()
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gobottest.Assert(t, dc, uint32(10000))
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gobottest.Assert(t, pin.Unexport(), nil)
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}
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