192 lines
5.7 KiB
Elixir
192 lines
5.7 KiB
Elixir
defmodule Farmbot.CeleryScript.SysCallsTest do
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use ExUnit.Case, async: false
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alias Farmbot.CeleryScript.TestSupport.TestSysCalls
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alias Farmbot.CeleryScript.{SysCalls, RuntimeError}
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setup do
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{:ok, shim} = TestSysCalls.checkout()
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[shim: shim]
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end
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test "point", %{shim: shim} do
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:ok = shim_fun_ok(shim, %{x: 100, y: 200, z: 300})
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assert %{x: 100, y: 200, z: 300} = SysCalls.point(TestSysCalls, "Peripheral", 1)
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assert_receive {:point, ["Peripheral", 1]}
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:ok = shim_fun_error(shim, "point error")
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assert_raise RuntimeError, "point error", fn ->
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SysCalls.point(TestSysCalls, "Peripheral", 1)
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end
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end
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test "move_absolute", %{shim: shim} do
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:ok = shim_fun_ok(shim)
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assert :ok = SysCalls.move_absolute(TestSysCalls, 1, 2, 3, 4)
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assert_receive {:move_absolute, [1, 2, 3, 4]}
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:ok = shim_fun_error(shim, "move failed!")
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assert_raise RuntimeError, "move failed!", fn ->
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SysCalls.move_absolute(TestSysCalls, 1, 2, 3, 4)
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end
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end
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test "get current positions", %{shim: shim} do
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:ok = shim_fun_ok(shim, 100.00)
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assert 100.00 = SysCalls.get_current_x(TestSysCalls)
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assert 100.00 = SysCalls.get_current_y(TestSysCalls)
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assert 100.00 = SysCalls.get_current_z(TestSysCalls)
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assert_receive {:get_current_x, []}
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assert_receive {:get_current_y, []}
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assert_receive {:get_current_z, []}
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:ok = shim_fun_error(shim, "firmware error")
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assert_raise RuntimeError, "firmware error", fn ->
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SysCalls.get_current_x(TestSysCalls)
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end
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assert_raise RuntimeError, "firmware error", fn ->
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SysCalls.get_current_y(TestSysCalls)
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end
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assert_raise RuntimeError, "firmware error", fn ->
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SysCalls.get_current_z(TestSysCalls)
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end
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end
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test "write_pin", %{shim: shim} do
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:ok = shim_fun_ok(shim)
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assert :ok = SysCalls.write_pin(TestSysCalls, 1, 0, 1)
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assert :ok = SysCalls.write_pin(TestSysCalls, {:boxled, 4}, 0, 1)
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assert :ok = SysCalls.write_pin(TestSysCalls, {:boxled, 3}, 1, 123)
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assert_receive {:write_pin, [1, 0, 1]}
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assert_receive {:write_pin, [{:boxled, 4}, 0, 1]}
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assert_receive {:write_pin, [{:boxled, 3}, 1, 123]}
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:ok = shim_fun_error(shim, "firmware error")
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assert_raise RuntimeError, "firmware error", fn ->
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SysCalls.write_pin(TestSysCalls, 1, 0, 1)
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end
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end
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test "read_pin", %{shim: shim} do
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:ok = shim_fun_ok(shim, 1)
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assert 1 == SysCalls.read_pin(TestSysCalls, 10, 0)
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assert 1 == SysCalls.read_pin(TestSysCalls, 77, nil)
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assert_receive {:read_pin, [10, 0]}
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assert_receive {:read_pin, [77, nil]}
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:ok = shim_fun_error(shim, "firmware error")
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assert_raise RuntimeError, "firmware error", fn ->
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SysCalls.read_pin(TestSysCalls, 1, 0)
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end
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end
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test "wait", %{shim: shim} do
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:ok = shim_fun_ok(shim, "this doesn't matter!")
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assert :ok = SysCalls.wait(TestSysCalls, 1000)
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assert_receive {:wait, [1000]}
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end
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test "named_pin", %{shim: shim} do
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# Peripheral and Sensor are on the Arduino
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:ok = shim_fun_ok(shim, 44)
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assert 44 == SysCalls.named_pin(TestSysCalls, "Peripheral", 5)
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assert 44 == SysCalls.named_pin(TestSysCalls, "Sensor", 1999)
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# BoxLed is on the GPIO
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:ok = shim_fun_ok(shim, {:boxled, 3})
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assert {:boxled, 3} == SysCalls.named_pin(TestSysCalls, "BoxLed", 3)
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:ok = shim_fun_ok(shim, {:boxled, 4})
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assert {:boxled, 4} == SysCalls.named_pin(TestSysCalls, "BoxLed", 4)
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assert_receive {:named_pin, ["Peripheral", 5]}
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assert_receive {:named_pin, ["Sensor", 1999]}
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assert_receive {:named_pin, ["BoxLed", 3]}
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assert_receive {:named_pin, ["BoxLed", 4]}
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:ok = shim_fun_error(shim, "error finding resource")
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assert_raise RuntimeError, "error finding resource", fn ->
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SysCalls.named_pin(TestSysCalls, "Peripheral", 888)
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end
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end
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test "send_message", %{shim: shim} do
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:ok = shim_fun_ok(shim)
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assert :ok = SysCalls.send_message(TestSysCalls, "success", "hello world", ["email"])
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assert_receive {:send_message, ["success", "hello world", ["email"]]}
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:ok = shim_fun_error(shim, "email machine broke")
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assert_raise RuntimeError, "email machine broke", fn ->
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SysCalls.send_message(TestSysCalls, "error", "goodbye world", ["email"])
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end
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end
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test "find_home", %{shim: shim} do
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:ok = shim_fun_ok(shim)
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assert :ok = SysCalls.find_home(TestSysCalls, "x", 100)
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assert_receive {:find_home, ["x", 100]}
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:ok = shim_fun_error(shim, "home lost")
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assert_raise RuntimeError, "home lost", fn ->
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SysCalls.find_home(TestSysCalls, "x", 100)
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end
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end
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test "execute_script", %{shim: shim} do
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:ok = shim_fun_ok(shim)
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assert :ok = SysCalls.execute_script(TestSysCalls, "take-photo", %{})
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assert_receive {:execute_script, ["take-photo", %{}]}
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:ok = shim_fun_error(shim, "not installed")
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assert_raise RuntimeError, "not installed", fn ->
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SysCalls.execute_script(TestSysCalls, "take-photo", %{})
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end
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end
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test "get_sequence", %{shim: shim} do
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:ok =
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shim_fun_ok(shim, %{
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kind: :sequence,
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args: %{locals: %{kind: :scope_declaration, args: %{}}}
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})
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assert %{} = SysCalls.get_sequence(TestSysCalls, 123)
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assert_receive {:get_sequence, [123]}
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:ok = shim_fun_error(shim, "sequence not found")
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assert_raise RuntimeError, "sequence not found", fn ->
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SysCalls.get_sequence(TestSysCalls, 123)
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end
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end
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def shim_fun_ok(shim, val \\ :ok) do
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pid = self()
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:ok =
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TestSysCalls.handle(shim, fn kind, args ->
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send(pid, {kind, args})
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val
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end)
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end
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def shim_fun_error(shim, val) when is_binary(val) do
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:ok =
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TestSysCalls.handle(shim, fn _kind, _args ->
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{:error, val}
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end)
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end
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end
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