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) }