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RSDK-702: Test for input gpio defaults + errors #1646

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merged 1 commit into from
Dec 8, 2022
Merged

RSDK-702: Test for input gpio defaults + errors #1646

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89 changes: 52 additions & 37 deletions components/input/gpio/gpio.go
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Original file line number Diff line number Diff line change
Expand Up @@ -23,9 +23,28 @@ const modelName = "gpio"

// Config is the overall config.
type Config struct {
Board string `json:"board"`
Buttons map[string]ButtonConfig `json:"buttons"`
Axes map[string]AxisConfig `json:"axes"`
Board string `json:"board"`
Buttons map[string]*ButtonConfig `json:"buttons"`
Axes map[string]*AxisConfig `json:"axes"`
}

// AxisConfig is a subconfig for axes.
type AxisConfig struct {
Control input.Control `json:"control"`
Min int `json:"min"`
Max int `json:"max"`
Bidirectional bool `json:"bidirectional"`
Deadzone int `json:"deadzone"`
MinChange int `json:"min_change"`
PollHz float64 `json:"poll_hz"`
Invert bool `json:"invert"`
}

// ButtonConfig is a subconfig for buttons.
type ButtonConfig struct {
Control input.Control `json:"control"`
Invert bool `json:"invert"`
DebounceMs int `json:"debounce_msec"` // set to -1 to disable, default=5
}

// Validate ensures all parts of the config are valid.
Expand All @@ -41,6 +60,28 @@ func (config *Config) Validate(path string) ([]string, error) {
return deps, nil
}

func (config *Config) validateValues() error {
for _, control := range config.Buttons {
if control.DebounceMs == 0 {
control.DebounceMs = 5
}
}

for _, axis := range config.Axes {
if axis.MinChange < 1 {
axis.MinChange = 1
}
if axis.PollHz <= 0 {
axis.PollHz = 10
}
if axis.Min >= axis.Max {
return fmt.Errorf("min (%d) must be less than max (%d)", axis.Min, axis.Max)
}
}

return nil
}

func init() {
registry.RegisterComponent(input.Subtype, modelName, registry.Component{Constructor: NewGPIOController})

Expand Down Expand Up @@ -73,20 +114,25 @@ func NewGPIOController(
return nil, errors.New("type assertion failed on input/gpio config")
}

err := cfg.validateValues()
if err != nil {
return nil, err
}

brd, err := board.FromDependencies(deps, cfg.Board)
if err != nil {
return nil, err
}

for interrupt, control := range cfg.Buttons {
err := c.newButton(ctx, brd, interrupt, control)
err := c.newButton(ctx, brd, interrupt, *control)
if err != nil {
return nil, err
}
}

for reader, axis := range cfg.Axes {
err := c.newAxis(ctx, brd, reader, axis)
err := c.newAxis(ctx, brd, reader, *axis)
if err != nil {
return nil, err
}
Expand All @@ -97,25 +143,6 @@ func NewGPIOController(
return &c, nil
}

// AxisConfig is a subconfig for axes.
type AxisConfig struct {
Control input.Control `json:"control"`
Min int `json:"min"`
Max int `json:"max"`
Bidirectional bool `json:"bidirectional"`
Deadzone int `json:"deadzone"`
MinChange int `json:"min_change"`
PollHz float64 `json:"poll_hz"`
Invert bool `json:"invert"`
}

// ButtonConfig is a subconfig for buttons.
type ButtonConfig struct {
Control input.Control `json:"control"`
Invert bool `json:"invert"`
DebounceMs int `json:"debounce_msec"` // set to -1 to disable, default=5
}

var _ = input.Controller(&Controller{})

// A Controller creates an input.Controller from DigitalInterrupts and AnalogReaders.
Expand Down Expand Up @@ -243,10 +270,6 @@ func (c *Controller) newButton(ctx context.Context, brd board.Board, intName str
intChan := make(chan bool)
interrupt.AddCallback(intChan)

if cfg.DebounceMs == 0 {
cfg.DebounceMs = 5
}

c.activeBackgroundWorkers.Add(1)
utils.ManagedGo(func() {
defer interrupt.RemoveCallback(intChan)
Expand Down Expand Up @@ -292,15 +315,7 @@ func (c *Controller) newAxis(ctx context.Context, brd board.Board, analogName st
if !ok {
return fmt.Errorf("can't find AnalogReader (%s)", analogName)
}
if cfg.MinChange < 1 {
cfg.MinChange = 1
}
if cfg.PollHz <= 0 {
cfg.PollHz = 10
}
if cfg.Min >= cfg.Max {
return fmt.Errorf("min (%d) must be less than max (%d)", cfg.Min, cfg.Max)
}

c.activeBackgroundWorkers.Add(1)
utils.ManagedGo(func() {
var prevVal int
Expand Down
87 changes: 80 additions & 7 deletions components/input/gpio/gpio_test.go
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Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
package gpio_test
package gpio

import (
"context"
Expand All @@ -16,7 +16,6 @@ import (
"go.viam.com/rdk/components/board"
fakeboard "go.viam.com/rdk/components/board/fake"
"go.viam.com/rdk/components/input"
"go.viam.com/rdk/components/input/gpio"
"go.viam.com/rdk/config"
"go.viam.com/rdk/registry"
)
Expand Down Expand Up @@ -57,9 +56,9 @@ func setup(t *testing.T) *setupResult {
deps := make(registry.Dependencies)
deps[board.Named("main")] = s.b

ic := gpio.Config{
ic := Config{
Board: "main",
Buttons: map[string]gpio.ButtonConfig{
Buttons: map[string]*ButtonConfig{
"interrupt1": {
Control: input.ButtonNorth,
Invert: false,
Expand All @@ -71,7 +70,7 @@ func setup(t *testing.T) *setupResult {
DebounceMs: -1,
},
},
Axes: map[string]gpio.AxisConfig{
Axes: map[string]*AxisConfig{
"analog1": {
Control: input.AbsoluteX,
Min: 0,
Expand Down Expand Up @@ -171,6 +170,81 @@ func teardown(t *testing.T, s *setupResult) {
}

func TestGPIOInput(t *testing.T) {
t.Run("config defaults", func(t *testing.T) {
c := &Config{
Board: "main",
Buttons: map[string]*ButtonConfig{
"interrupt1": {
Control: input.ButtonNorth,
Invert: false,
DebounceMs: 20,
},
"interrupt2": {
Control: input.ButtonSouth,
Invert: true,
DebounceMs: -1,
},
"interrupt3": {
Control: input.ButtonWest,
Invert: false,
DebounceMs: 0, // default
},
},
Axes: map[string]*AxisConfig{
"analog1": {
Control: input.AbsoluteX,
Min: 0,
Max: 1023,
Bidirectional: false,
Deadzone: 0,
MinChange: 0,
PollHz: 0,
Invert: false,
},
"analog2": {
Control: input.AbsoluteY,
Min: 0,
Max: 1023,
Bidirectional: true,
Deadzone: 20,
MinChange: 15,
PollHz: 50,
Invert: false,
},
},
}
err := c.validateValues()

test.That(t, err, test.ShouldBeNil)
test.That(t, c.Buttons["interrupt1"].DebounceMs, test.ShouldEqual, 20) // unchanged
test.That(t, c.Buttons["interrupt2"].DebounceMs, test.ShouldEqual, -1) // unchanged
test.That(t, c.Buttons["interrupt3"].DebounceMs, test.ShouldEqual, 5) // default

test.That(t, c.Axes["analog1"].PollHz, test.ShouldEqual, 10) // default
test.That(t, c.Axes["analog2"].PollHz, test.ShouldEqual, 50) // default
})

t.Run("config axis min > max", func(t *testing.T) {
c := &Config{
Board: "main",
Axes: map[string]*AxisConfig{
"analog1": {
Control: input.AbsoluteX,
Min: 1023,
Max: 0,
Bidirectional: false,
Deadzone: 0,
MinChange: 0,
PollHz: 0,
Invert: false,
},
},
}
err := c.validateValues()

test.That(t, err, test.ShouldNotBeNil)
})

t.Run("initial button state", func(t *testing.T) {
s := setup(t)
defer teardown(t, s)
Expand Down Expand Up @@ -522,8 +596,7 @@ func TestGPIOInput(t *testing.T) {
test.That(tb, atomic.LoadInt64(&s.axis1Callbacks), test.ShouldEqual, i)
})
s.axisMu.RLock()
epsilon := 15 * time.Millisecond
test.That(t, s.axis1Time.Sub(startTime), test.ShouldBeBetween, 70*time.Millisecond, 100*time.Millisecond+epsilon)
test.That(t, s.axis1Time.Sub(startTime), test.ShouldBeBetween, 70*time.Millisecond, 130*time.Millisecond)
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fly by as we've seen failures :(

s.axisMu.RUnlock()
}
})
Expand Down