func TestAdaptorI2c(t *testing.T) {
a, _ := initTestAdaptor()
sysfs.SetSyscall(&sysfs.MockSyscall{})
a.I2cStart(0xff)
a.i2cDevice = &NullReadWriteCloser{}
a.I2cWrite(0xff, []byte{0x00, 0x01})
data, _ := a.I2cRead(0xff, 2)
gobottest.Assert(t, data, []byte{0x00, 0x01})
}
func TestAdaptorFinalize(t *testing.T) {
a, _ := initTestAdaptor()
a.DigitalWrite("1", 1)
a.PwmWrite("25", 100)
sysfs.SetSyscall(&sysfs.MockSyscall{})
a.I2cStart(0xff)
gobottest.Assert(t, a.Finalize(), nil)
closeErr = errors.New("close error")
sysfs.SetFilesystem(sysfs.NewMockFilesystem([]string{}))
gobottest.Refute(t, a.Finalize(), nil)
}
func TestAdaptorI2c(t *testing.T) {
a := initTestAdaptor()
fs := sysfs.NewMockFilesystem([]string{
"/dev/i2c-1",
})
sysfs.SetFilesystem(fs)
sysfs.SetSyscall(&sysfs.MockSyscall{})
a.I2cStart(0xff)
a.i2cDevice = &NullReadWriteCloser{}
a.I2cWrite(0xff, []byte{0x00, 0x01})
data, _ := a.I2cRead(0xff, 2)
gobottest.Assert(t, data, []byte{0x00, 0x01})
}
func TestAdaptorFinalize(t *testing.T) {
a := initTestAdaptor()
fs := sysfs.NewMockFilesystem([]string{
"/sys/class/gpio/export",
"/sys/class/gpio/unexport",
"/dev/pi-blaster",
"/dev/i2c-1",
"/dev/i2c-0",
})
sysfs.SetFilesystem(fs)
sysfs.SetSyscall(&sysfs.MockSyscall{})
a.DigitalWrite("3", 1)
a.PwmWrite("7", 255)
a.I2cStart(0xff)
gobottest.Assert(t, a.Finalize(), nil)
}
func TestBeagleboneAdaptor(t *testing.T) {
glob = func(pattern string) (matches []string, err error) {
return make([]string, 2), nil
}
fs := sysfs.NewMockFilesystem([]string{
"/dev/i2c-1",
"/sys/devices/platform/bone_capemgr",
"/sys/devices/platform/ocp/ocp4",
"/sys/class/leds/beaglebone:green:usr1/brightness",
"/sys/bus/iio/devices/iio:device0/in_voltage1_raw",
"/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5",
"/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/run",
"/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/period",
"/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/polarity",
"/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/duty",
"/sys/class/gpio/export",
"/sys/class/gpio/unexport",
"/sys/class/gpio/gpio60/value",
"/sys/class/gpio/gpio60/direction",
"/sys/class/gpio/gpio10/value",
"/sys/class/gpio/gpio10/direction",
})
sysfs.SetFilesystem(fs)
a := NewAdaptor()
a.slots = "/sys/devices/platform/bone_capemgr"
a.ocp = "/sys/devices/platform/ocp/ocp4"
a.kernel = "4.4"
a.Connect()
a.analogPath = "/sys/bus/iio/devices/iio:device0"
// PWM
glob = func(pattern string) (matches []string, err error) {
pattern = strings.TrimSuffix(pattern, "*")
return []string{pattern + "5"}, nil
}
gobottest.Assert(t, a.PwmWrite("P9_99", 175), errors.New("Not a valid pin"))
a.PwmWrite("P9_14", 175)
gobottest.Assert(
t,
fs.Files["/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/period"].Contents,
"500000",
)
gobottest.Assert(
t,
fs.Files["/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/duty"].Contents,
"343137",
)
a.ServoWrite("P9_14", 100)
gobottest.Assert(
t,
fs.Files["/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/period"].Contents,
"16666666",
)
gobottest.Assert(
t,
fs.Files["/sys/devices/platform/ocp/ocp4/pwm_test_P9_14.5/duty"].Contents,
"1898148",
)
// Analog
fs.Files["/sys/bus/iio/devices/iio:device0/in_voltage1_raw"].Contents = "567\n"
i, _ := a.AnalogRead("P9_40")
gobottest.Assert(t, i, 567)
_, err := a.AnalogRead("P9_99")
gobottest.Assert(t, err, errors.New("Not a valid pin"))
// DigitalIO
a.DigitalWrite("usr1", 1)
gobottest.Assert(t,
fs.Files["/sys/class/leds/beaglebone:green:usr1/brightness"].Contents,
"1",
)
a.DigitalWrite("P9_12", 1)
gobottest.Assert(t, fs.Files["/sys/class/gpio/gpio60/value"].Contents, "1")
gobottest.Assert(t, a.DigitalWrite("P9_99", 1), errors.New("Not a valid pin"))
fs.Files["/sys/class/gpio/gpio10/value"].Contents = "1"
i, _ = a.DigitalRead("P8_31")
gobottest.Assert(t, i, 1)
// I2c
sysfs.SetSyscall(&sysfs.MockSyscall{})
a.I2cStart(0xff)
a.i2cDevice = &NullReadWriteCloser{}
a.I2cWrite(0xff, []byte{0x00, 0x01})
data, _ := a.I2cRead(0xff, 2)
gobottest.Assert(t, data, []byte{0x00, 0x01})
gobottest.Assert(t, a.Finalize(), nil)
}