tests: fix for arm64 environment and stabilize (hybridgroup#1115)

Author: gen2thomas

api/api_test.go

@@ -401,24 +401,18 @@ func TestRobotDeviceEvent(t *testing.T) {
 		Event("TestEvent")
 
 	go func() {
-		time.Sleep(time.Millisecond * 5)
+		time.Sleep(time.Millisecond * 10) // wait some time, so select below is ready
 		a.manager.Robot("Robot1").
 			Device("Device1").(gobot.Eventer).Publish(event, "event-data")
 	}()
 
-	done := false
-
-	for !done {
-		select {
-		case resp := <-respc:
-			reader := bufio.NewReader(resp.Body)
-			data, _ := reader.ReadString('\n')
-			assert.Equal(t, "data: \"event-data\"\n", data)
-			done = true
-		case <-time.After(200 * time.Millisecond):
-			t.Error("Not receiving data")
-			done = true
-		}
+	select {
+	case resp := <-respc:
+		reader := bufio.NewReader(resp.Body)
+		data, _ := reader.ReadString('\n')
+		assert.Equal(t, "data: \"event-data\"\n", data)
+	case <-time.After(50 * time.Millisecond):
+		t.Error("Not receiving data")
 	}
 
 	server.CloseClientConnections()

drivers/aio/analog_sensor_driver_test.go

@@ -144,7 +144,7 @@ func TestAnalogSensorRead_SetScaler(t *testing.T) {
 			got, err := d.Read()
 			// assert
 			require.NoError(t, err)
-			assert.InDelta(t, tc.want, got, 0.0)
+			assert.InDelta(t, tc.want, got, 1.0e-14)
 		})
 	}
 }
@@ -157,7 +157,7 @@ func TestAnalogSensor_WithSensorCyclicRead(t *testing.T) {
 	semData := make(chan bool)
 	semDone := make(chan bool)
 	nextVal := make(chan int)
-	readTimeout := 1 * time.Second
+	readTimeout := time.Second
 	a.analogReadFunc = func() (int, error) {
 		val := 100
 		var err error
@@ -172,23 +172,26 @@ func TestAnalogSensor_WithSensorCyclicRead(t *testing.T) {
 		}
 	}
 
-	// act (start cyclic reading)
-	require.NoError(t, d.Start())
-
 	// arrange: expect raw value to be received
-	_ = d.Once(d.Event(Data), func(data interface{}) {
+	_ = d.Once(Data, func(data interface{}) { // we can't use d.Event(Data) here, because not registered yet
 		assert.Equal(t, 100, data.(int))
 		semData <- true
 	})
 
 	// arrange: expect scaled value to be received
-	_ = d.Once(d.Event(Value), func(value interface{}) {
+	_ = d.Once(Value, func(value interface{}) { // we can't use d.Event(Value) here, because not registered yet
 		assert.InDelta(t, 10000.0, value.(float64), 0.0)
 		<-semData // wait for data is finished
 		semDone <- true
 		nextVal <- -1 // arrange: error in read function
 	})
 
+	// wait some time to ensure the cyclic go routine is working
+	time.Sleep(15 * time.Millisecond)
+
+	// act (start cyclic reading)
+	require.NoError(t, d.Start())
+
 	// assert: both events within timeout
 	select {
 	case <-semDone:
@@ -227,7 +230,7 @@ func TestAnalogSensor_WithSensorCyclicRead(t *testing.T) {
 		require.Fail(t, "AnalogSensor Event for data should not published")
 	case <-semDone:
 		require.Fail(t, "AnalogSensor Event for value should not published")
-	case <-time.After(readTimeout):
+	case <-time.After(100 * time.Millisecond):
 	}
 }
 

drivers/aio/grove_temperature_sensor_driver_test.go

@@ -2,7 +2,6 @@
 package aio
 
 import (
-	"fmt"
 	"strings"
 	"testing"
 	"time"
@@ -100,24 +99,37 @@ func TestGroveTemperatureSensor_publishesTemperatureInCelsius(t *testing.T) {
 	a := newAioTestAdaptor()
 	d := NewGroveTemperatureSensorDriver(a, "1", WithSensorCyclicRead(10*time.Millisecond))
 
+	// 584: 31.52208881030674, 585: 31.61532462352477
+	lastRawValue := 584
 	a.analogReadFunc = func() (int, error) {
-		return 585, nil
+		// ensure a changed value on each read, otherwise no event will be published
+		lastRawValue++
+		if lastRawValue > 585 {
+			lastRawValue = 584
+		}
+		return lastRawValue, nil
 	}
 
 	// act: start cyclic reading
 	require.NoError(t, d.Start())
 
+	// wait some time to ensure the cyclic go routine is working
+	time.Sleep(15 * time.Millisecond)
+
+	var eventValue float64
 	_ = d.Once(d.Event(Value), func(data interface{}) {
-		assert.Equal(t, "31.62", fmt.Sprintf("%.2f", data.(float64)))
+		eventValue = data.(float64)
 		sem <- true
 	})
 
-	// assert: value was published
+	// assert: value was published and is in expected delta
 	select {
 	case <-sem:
-	case <-time.After(1 * time.Second):
+		require.NoError(t, d.Halt())
+	case <-time.After(100 * time.Millisecond):
 		require.Fail(t, "Grove Temperature Sensor Event \"Value\" was not published")
 	}
 
-	assert.InDelta(t, 31.61532462352477, d.Temperature(), 0.0)
+	assert.InDelta(t, eventValue, d.Temperature(), 0.0)
+	assert.InDelta(t, 31.61532462352477, d.Temperature(), 31.61532462352477-31.52208881030674)
 }

drivers/aio/temperature_sensor_driver_test.go

@@ -3,7 +3,6 @@ package aio
 
 import (
 	"errors"
-	"fmt"
 	"strings"
 	"testing"
 	"time"
@@ -123,7 +122,7 @@ func TestTemperatureSensorDriver_LinearScaler(t *testing.T) {
 			got, err := d.Read()
 			// assert
 			require.NoError(t, err)
-			assert.InDelta(t, tc.want, got, 0.0)
+			assert.InDelta(t, tc.want, got, 1.0e-14)
 		})
 	}
 }
@@ -136,23 +135,39 @@ func TestTemperatureSensorWithSensorCyclicRead_PublishesTemperatureInCelsius(t *
 	ntc := TemperatureSensorNtcConf{TC0: 25, R0: 10000.0, B: 3975} // Ohm, R25=10k
 	d.SetNtcScaler(1023, 10000, false, ntc)                        // Ohm, reference value: 1023, series R: 10k
 
+	// 584: 31.52208881030674, 585: 31.61532462352477
+	lastRawValue := 585
 	a.analogReadFunc = func() (int, error) {
-		return 585, nil
+		// ensure a changed value on each read, otherwise no event will be published
+		lastRawValue++
+		if lastRawValue > 585 {
+			lastRawValue = 584
+		}
+		return lastRawValue, nil
 	}
 
+	// act: start cyclic reading
 	require.NoError(t, d.Start())
+
+	// wait some time to ensure the cyclic go routine is working
+	time.Sleep(15 * time.Millisecond)
+
+	var eventValue float64
 	_ = d.Once(d.Event(Value), func(data interface{}) {
-		assert.Equal(t, "31.62", fmt.Sprintf("%.2f", data.(float64)))
+		eventValue = data.(float64)
 		sem <- true
 	})
 
+	// assert: value was published and is in expected delta
 	select {
 	case <-sem:
-	case <-time.After(1 * time.Second):
-		require.Fail(t, " Temperature Sensor Event \"Data\" was not published")
+		require.NoError(t, d.Halt())
+	case <-time.After(100 * time.Millisecond):
+		require.Fail(t, "Grove Temperature Sensor Event \"Value\" was not published")
 	}
 
-	assert.InDelta(t, 31.61532462352477, d.Value(), 0.0)
+	assert.InDelta(t, eventValue, d.Temperature(), 0.0)
+	assert.InDelta(t, 31.61532462352477, d.Value(), 31.61532462352477-31.52208881030674)
 }
 
 func TestTemperatureSensorWithSensorCyclicRead_PublishesError(t *testing.T) {

drivers/i2c/mpl115a2_driver_test.go

@@ -90,7 +90,7 @@ func TestMPL115A2ReadData(t *testing.T) {
 	assert.Equal(t, uint8(0x12), a.written[3])
 	assert.Equal(t, uint8(0x00), a.written[4])
 	assert.Equal(t, uint8(0x00), a.written[5])
-	assert.InDelta(t, float32(96.585915), press, 0.0)
+	assert.InDelta(t, float32(96.585915), press, 1.0e-5)
 	assert.InDelta(t, float32(23.317757), temp, 0.0)
 }
 

drivers/i2c/sht2x_driver_test.go

@@ -78,7 +78,7 @@ func TestSHT2xMeasurements(t *testing.T) {
 	_ = d.Start()
 	temp, err := d.Temperature()
 	require.NoError(t, err)
-	assert.InDelta(t, float32(18.809052), temp, 0.0)
+	assert.InDelta(t, float32(18.809052), temp, 1.0e-5)
 	hum, err := d.Humidity()
 	require.NoError(t, err)
 	assert.InDelta(t, float32(40.279907), hum, 0.0)