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add consolenotifier for peripheral system alerts

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legop3
2026-09-08 21:46:10 -04:00
parent 3859806fca
commit 038ae0f45a
19 changed files with 299 additions and 25 deletions
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pi/roverd/firmata_hardware_controllers_test.go
+10
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@@ -47,6 +47,10 @@ func TestDisabledNativeRolesResolveToFirmataOnEveryHostBuild(t *testing.T) {
if !controllers.CameraServo.Configuration().Enabled || !controllers.Headlight.Configuration().Enabled || !controllers.Laser.Configuration().Enabled {
t.Fatal("ESP32-backed roles were not advertised as enabled")
}
wantHardwareBroadcast := "Rover hardware ready: camera servo via ESP32 firmata-0, headlight via ESP32 firmata-0, laser via ESP32 firmata-0."
if messages := controllers.StartupBroadcasts(); len(messages) != 1 || messages[0] != wantHardwareBroadcast {
t.Fatalf("hardware broadcasts = %#v, want %q", messages, wantHardwareBroadcast)
}
// Initialization uses only standard Firmata: servo calibration and mode,
// followed by the home position and digital initial states. The active-low
@@ -129,6 +133,10 @@ func TestEnabledNativeRolesWinEvenWithSeveralFirmataProviders(t *testing.T) {
if controllers.CameraServo != nativeCamera || controllers.Headlight != nativeToggles["headlight"] || controllers.Laser != nativeToggles["laser"] {
t.Fatal("resolver did not retain native controllers")
}
messages := controllers.StartupBroadcasts()
if len(messages) != 2 || messages[0] != "Ignored ESP32 camera servo, headlight, laser because native GPIO is enabled." || messages[1] != "Rover hardware ready: camera servo via native GPIO, headlight via native GPIO, laser via native GPIO." {
t.Fatalf("native precedence broadcasts = %#v", messages)
}
}
type testCameraServoController struct {
@@ -140,6 +148,7 @@ func (controller *testCameraServoController) Nudge(float64) error {
func (controller *testCameraServoController) SetPulseWidth(int) error { return nil }
func (controller *testCameraServoController) CurrentAngle() float64 { return 0 }
func (controller *testCameraServoController) Configuration() CameraServoConfig { return controller.cfg }
func (controller *testCameraServoController) BackendDescription() string { return "native GPIO" }
func (controller *testCameraServoController) Close() {}
type testToggleController struct {
@@ -150,4 +159,5 @@ type testToggleController struct {
func (controller *testToggleController) HandleAction(string) error { return nil }
func (controller *testToggleController) On() bool { return controller.on }
func (controller *testToggleController) Configuration() GPIOToggleConfig { return controller.cfg }
func (controller *testToggleController) BackendDescription() string { return "native GPIO" }
func (controller *testToggleController) Close() {}