core: Now both Robot and Master operate using AutoRun as expected

Signed-off-by: deadprogram <[email protected]>

helpers_test.go

@@ -1,5 +1,7 @@
 package gobot
 
+import "os"
+
 type NullReadWriteCloser struct{}
 
 func (NullReadWriteCloser) Write(p []byte) (int, error) {
@@ -79,6 +81,9 @@ func newTestRobot(name string) *Robot {
 		work,
 	)
 	r.AddCommand("RobotCommand", func(params map[string]interface{}) interface{} { return nil })
+	r.trap = func(c chan os.Signal) {
+		c <- os.Interrupt
+	}
 
 	return r
 }

master.go

@@ -61,6 +61,7 @@ func (g *Master) Start() (errs []error) {
 			log.Println("Error:", err)
 			errs = append(errs, err)
 		}
+		return
 	}
 
 	if g.AutoRun {

master_test.go

@@ -19,7 +19,7 @@ func TestConnectionEach(t *testing.T) {
 	gobottest.Assert(t, r.Connections().Len(), i)
 }
 
-func initTestGobot() *Master {
+func initTestMaster() *Master {
 	log.SetOutput(&NullReadWriteCloser{})
 	g := NewMaster()
 	g.trap = func(c chan os.Signal) {
@@ -31,6 +31,17 @@ func initTestGobot() *Master {
 	return g
 }
 
+func initTestMaster1Robot() *Master {
+	log.SetOutput(&NullReadWriteCloser{})
+	g := NewMaster()
+	g.trap = func(c chan os.Signal) {
+		c <- os.Interrupt
+	}
+	g.AddRobot(newTestRobot("Robot99"))
+
+	return g
+}
+
 func TestVersion(t *testing.T) {
 	gobottest.Assert(t, version, Version())
 }
@@ -45,7 +56,7 @@ func TestNullReadWriteCloser(t *testing.T) {
 }
 
 func TestGobotRobot(t *testing.T) {
-	g := initTestGobot()
+	g := initTestMaster()
 	gobottest.Assert(t, g.Robot("Robot1").Name, "Robot1")
 	gobottest.Assert(t, g.Robot("Robot4"), (*Robot)(nil))
 	gobottest.Assert(t, g.Robot("Robot4").Device("Device1"), (Device)(nil))
@@ -58,7 +69,7 @@ func TestGobotRobot(t *testing.T) {
 }
 
 func TestGobotToJSON(t *testing.T) {
-	g := initTestGobot()
+	g := initTestMaster()
 	g.AddCommand("test_function", func(params map[string]interface{}) interface{} {
 		return nil
 	})
@@ -67,24 +78,14 @@ func TestGobotToJSON(t *testing.T) {
 	gobottest.Assert(t, len(json.Commands), len(g.Commands()))
 }
 
-func TestGobotStart(t *testing.T) {
-	g := initTestGobot()
+func TestMasterStart(t *testing.T) {
+	g := initTestMaster()
 	gobottest.Assert(t, len(g.Start()), 0)
 	gobottest.Assert(t, len(g.Stop()), 0)
 }
 
-func TestGobotStartErrors(t *testing.T) {
-	log.SetOutput(&NullReadWriteCloser{})
-	g := NewMaster()
-
-	adaptor1 := newTestAdaptor("Connection1", "/dev/null")
-	driver1 := newTestDriver(adaptor1, "Device1", "0")
-	r := NewRobot("Robot1",
-		[]Connection{adaptor1},
-		[]Device{driver1},
-	)
-
-	g.AddRobot(r)
+func TestMasterStartDriverErrors(t *testing.T) {
+	g := initTestMaster1Robot()
 
 	testDriverStart = func() (errs []error) {
 		return []error{
@@ -96,6 +97,11 @@ func TestGobotStartErrors(t *testing.T) {
 	gobottest.Assert(t, len(g.Stop()), 0)
 
 	testDriverStart = func() (errs []error) { return }
+}
+
+func TestMasterStartAdaptorErrors(t *testing.T) {
+	g := initTestMaster1Robot()
+
 	testAdaptorConnect = func() (errs []error) {
 		return []error{
 			errors.New("adaptor start error 1"),
@@ -105,12 +111,11 @@ func TestGobotStartErrors(t *testing.T) {
 	gobottest.Assert(t, len(g.Start()), 1)
 	gobottest.Assert(t, len(g.Stop()), 0)
 
-	testDriverStart = func() (errs []error) { return }
 	testAdaptorConnect = func() (errs []error) { return }
+}
 
-	g.trap = func(c chan os.Signal) {
-		c <- os.Interrupt
-	}
+func TestMasterHaltErrors(t *testing.T) {
+	g := initTestMaster1Robot()
 
 	testDriverHalt = func() (errs []error) {
 		return []error{
@@ -125,5 +130,5 @@ func TestGobotStartErrors(t *testing.T) {
 	}
 
 	gobottest.Assert(t, len(g.Start()), 0)
-	gobottest.Assert(t, len(g.Stop()), 2)
+	gobottest.Assert(t, len(g.Stop()), 6)
 }

robot.go

@@ -107,7 +107,7 @@ func NewRobot(v ...interface{}) *Robot {
 		Name:        fmt.Sprintf("%X", Rand(int(^uint(0)>>1))),
 		connections: &Connections{},
 		devices:     &Devices{},
-		done:        make(chan bool),
+		done:        make(chan bool, 1),
 		trap: func(c chan os.Signal) {
 			signal.Notify(c, os.Interrupt)
 		},
@@ -157,14 +157,16 @@ func (r *Robot) Start(args ...interface{}) (errs []error) {
 		errs = append(errs, derrs...)
 		return
 	}
-	if r.Work != nil {
-		log.Println("Starting work...")
-		go func() {
-			r.Work()
-			<-r.done
-		}()
+	if r.Work == nil {
+		r.Work = func() {}
 	}
 
+	log.Println("Starting work...")
+	go func() {
+		r.Work()
+		<-r.done
+	}()
+
 	if r.AutoRun {
 		c := make(chan os.Signal, 1)
 		r.trap(c)
@@ -177,7 +179,7 @@ func (r *Robot) Start(args ...interface{}) (errs []error) {
 		// waiting for interrupt coming on the channel
 		<-c
 
-		// Stop calls the Stop method on itself, it we are "auto-running".
+		// Stop calls the Stop method on itself, if we are "auto-running".
 		r.Stop()
 	}