Tests for digital io and i2c

platforms/beaglebone/beaglebone_adaptor.go

@@ -15,12 +15,13 @@ import (
 )
 
 const (
-	Slots       = "/sys/devices/bone_capemgr.*"
-	Ocp         = "/sys/devices/ocp.*"
-	I2CLocation = "/dev/i2c-1"
-	UsrLed      = "/sys/devices/ocp.3/gpio-leds.8/leds/beaglebone:green:"
+	Slots  = "/sys/devices/bone_capemgr.*"
+	Ocp    = "/sys/devices/ocp.*"
+	UsrLed = "/sys/devices/ocp.3/gpio-leds.8/leds/beaglebone:green:"
 )
 
+var i2cLocation = "/dev/i2c-1"
+
 var pins = map[string]int{
 	"P8_3":  38,
 	"P8_4":  39,
@@ -113,7 +114,7 @@ var analogPins = map[string]string{
 
 type BeagleboneAdaptor struct {
 	gobot.Adaptor
-	digitalPins []*sysfs.DigitalPin
+	digitalPins []sysfs.DigitalPin
 	pwmPins     map[string]*pwmPin
 	analogPins  map[string]*analogPin
 	i2cDevice   io.ReadWriteCloser
@@ -137,7 +138,7 @@ func NewBeagleboneAdaptor(name string) *BeagleboneAdaptor {
 // Connect returns true on a succesful connection to beaglebone board.
 // It initializes digital, pwm and analog pins
 func (b *BeagleboneAdaptor) Connect() bool {
-	b.digitalPins = make([]*sysfs.DigitalPin, 120)
+	b.digitalPins = make([]sysfs.DigitalPin, 120)
 	b.pwmPins = make(map[string]*pwmPin)
 	b.analogPins = make(map[string]*analogPin)
 	b.connect()
@@ -162,12 +163,6 @@ func (b *BeagleboneAdaptor) Finalize() bool {
 	return true
 }
 
-// Reconnect returns true if connection is stablished succesfully
-func (b *BeagleboneAdaptor) Reconnect() bool { return true }
-
-// Disconnect returns true if connection is closed succesfully
-func (b *BeagleboneAdaptor) Disconnect() bool { return true }
-
 // PwmWrite writes value in specified pin
 func (b *BeagleboneAdaptor) PwmWrite(pin string, val byte) {
 	b.pwmWrite(pin, val)
@@ -218,7 +213,7 @@ func (b *BeagleboneAdaptor) AnalogWrite(pin string, val byte) {
 
 // I2cStart starts a i2c device in specified address
 func (b *BeagleboneAdaptor) I2cStart(address byte) {
-	b.i2cDevice, _ = sysfs.NewI2cDevice(I2CLocation, address)
+	b.i2cDevice, _ = sysfs.NewI2cDevice(i2cLocation, address)
 }
 
 // I2CWrite writes data to i2c device
@@ -273,18 +268,16 @@ func (b *BeagleboneAdaptor) analogPin(pin string) string {
 }
 
 // digitalPin retrieves digital pin value by name
-func (b *BeagleboneAdaptor) digitalPin(pin string, dir string) *sysfs.DigitalPin {
+func (b *BeagleboneAdaptor) digitalPin(pin string, dir string) sysfs.DigitalPin {
 	i := b.translatePin(pin)
 	if b.digitalPins[i] == nil {
 		b.digitalPins[i] = sysfs.NewDigitalPin(i)
 		err := b.digitalPins[i].Export()
 		if err != nil {
 			fmt.Println(err)
 		}
-		b.digitalPins[i].SetDirection(dir)
-	} else if b.digitalPins[i].Direction() != dir {
-		b.digitalPins[i].SetDirection(dir)
 	}
+	b.digitalPins[i].Direction(dir)
 	return b.digitalPins[i]
 }
 

platforms/beaglebone/beaglebone_adaptor_test.go

@@ -1,29 +1,62 @@
 package beaglebone
 
 import (
-	"github.com/hybridgroup/gobot"
+	"io"
+	"os"
 	"testing"
+
+	"github.com/hybridgroup/gobot"
+	"github.com/hybridgroup/gobot/sysfs"
 )
 
 func initTestBeagleboneAdaptor() *BeagleboneAdaptor {
-	b := NewBeagleboneAdaptor("bot")
-	b.connect = func() {}
-	return b
+	i2cLocation = os.DevNull
+	sysfs.WriteFile = func(path string, data []byte) (i int, err error) {
+		return
+	}
+	a := NewBeagleboneAdaptor("myAdaptor")
+	a.connect = func() {}
+	a.Connect()
+	a.DigitalWrite("P9_12", 1)
+	a.i2cDevice = new(gobot.NullReadWriteCloser)
+	return a
 }
 
 func TestBeagleboneAdaptorFinalize(t *testing.T) {
-	a := initTestBeagleboneAdaptor()
-	gobot.Assert(t, a.Finalize(), true)
-}
-func TestBeagleboneAdaptorConnect(t *testing.T) {
-	a := initTestBeagleboneAdaptor()
-	gobot.Assert(t, a.Connect(), true)
+	gobot.Assert(t, initTestBeagleboneAdaptor().Finalize(), true)
 }
-func TestBeagleboneAdaptorDisconnect(t *testing.T) {
+
+func TestBeagleboneAdaptorDigitalIO(t *testing.T) {
 	a := initTestBeagleboneAdaptor()
-	gobot.Assert(t, a.Disconnect(), true)
+	lastWritePath := ""
+	lastReadPath := ""
+	lastWriteData := []byte{}
+
+	sysfs.WriteFile = func(path string, data []byte) (i int, err error) {
+		lastWritePath = path
+		lastWriteData = data
+		return
+	}
+	sysfs.ReadFile = func(path string) (b []byte, err error) {
+		lastReadPath = path
+		return []byte("1"), nil
+	}
+
+	a.DigitalWrite("P9_12", 1)
+	gobot.Assert(t, lastWritePath, "/sys/class/gpio/gpio60/value")
+	gobot.Assert(t, lastWriteData, []byte{49})
+
+	i := a.DigitalRead("P8_31")
+	gobot.Assert(t, lastReadPath, "/sys/class/gpio/gpio10/value")
+	gobot.Assert(t, i, 1)
 }
-func TestBeagleboneAdaptorReconnect(t *testing.T) {
+
+func TestBeagleboneAdaptorI2c(t *testing.T) {
 	a := initTestBeagleboneAdaptor()
-	gobot.Assert(t, a.Reconnect(), true)
+	a.I2cStart(0xff)
+	var _ io.ReadWriteCloser = a.i2cDevice
+
+	a.i2cDevice = new(gobot.NullReadWriteCloser)
+	a.I2cWrite([]byte{0x00, 0x01})
+	gobot.Assert(t, a.I2cRead(2), make([]byte, 2))
 }