system(syscall): switch to x/sys (#963)

.golangci.yml

@@ -32,7 +32,7 @@ linters:
   # currently active linters:
   #
   #INFO [lintersdb] Active 35 linters: [asasalint asciicheck bidichk contextcheck decorder depguard durationcheck errcheck exportloopref
-  # gocheckcompilerdirectives gomoddirectives gomodguard goprintffuncname gosimple govet grouper importas ineffassign mirror musttag
+  # gocheckcompilerdirectives gomoddirectives gomodguard goprintffuncname gosimple govet grouper ineffassign mirror musttag
   # nilerr nilnil nolintlint nosprintfhostport prealloc reassign revive staticcheck tagalign tenv testableexamples tparallel typecheck unused wastedassign]
 
   enable-all: true
@@ -62,6 +62,7 @@ linters:
     - goerr113 # not used (we allow error creation at return statement)
     - gofumpt # not used (we use "go fmt" or "gofmt" not gofumpt"
     - gosmopolitan # not needed (report i18n/l10n anti-patterns)
+    - importas # not needed (there is no alias rule at the moment)
     - ireturn # not used (we allow return interfaces)
     - loggercheck # not needed (relates to kitlog, klog, logr, zap)
     - paralleltest # not used

Makefile

@@ -16,7 +16,7 @@ including_except := $(shell go list ./... | grep -v platforms/opencv)
 
 # Run tests on nearly all directories without test cache
 test:
-	go test -count=1 -v $(including_except)
+	go test -failfast -count=1 -v $(including_except)
 
 # Run tests with race detection
 test_race:

drivers/i2c/i2c_connection_test.go

@@ -7,7 +7,6 @@ import (
 	"errors"
 	"testing"
 
-	"syscall"
 	"unsafe"
 
 	"gobot.io/x/gobot/v2"
@@ -17,13 +16,13 @@ import (
 
 const dev = "/dev/i2c-1"
 
-func getSyscallFuncImpl(errorMask byte) func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err syscall.Errno) {
+func getSyscallFuncImpl(errorMask byte) func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err system.SyscallErrno) {
 	// bit 0: error on function query
 	// bit 1: error on set address
 	// bit 2: error on command
-	return func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err syscall.Errno) {
+	return func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err system.SyscallErrno) {
 		// function query
-		if (trap == syscall.SYS_IOCTL) && (a2 == system.I2C_FUNCS) {
+		if (trap == system.Syscall_SYS_IOCTL) && (a2 == system.I2C_FUNCS) {
 			if errorMask&0x01 == 0x01 {
 				return 0, 0, 1
 			}
@@ -35,13 +34,13 @@ func getSyscallFuncImpl(errorMask byte) func(trap, a1, a2, a3 uintptr) (r1, r2 u
 				system.I2C_FUNC_SMBUS_WRITE_WORD_DATA
 		}
 		// set address
-		if (trap == syscall.SYS_IOCTL) && (a2 == system.I2C_SLAVE) {
+		if (trap == system.Syscall_SYS_IOCTL) && (a2 == system.I2C_SLAVE) {
 			if errorMask&0x02 == 0x02 {
 				return 0, 0, 1
 			}
 		}
 		// command
-		if (trap == syscall.SYS_IOCTL) && (a2 == system.I2C_SMBUS) {
+		if (trap == system.Syscall_SYS_IOCTL) && (a2 == system.I2C_SMBUS) {
 			if errorMask&0x04 == 0x04 {
 				return 0, 0, 1
 			}

system/digitalpin_sysfs.go

@@ -7,7 +7,6 @@ import (
 	"log"
 	"os"
 	"strconv"
-	"syscall"
 	"time"
 
 	"gobot.io/x/gobot/v2"
@@ -92,7 +91,7 @@ func (d *digitalPinSysfs) Unexport() error {
 	if err != nil {
 		// If EINVAL then the pin is reserved in the system and can't be unexported
 		e, ok := err.(*os.PathError)
-		if !ok || e.Err != syscall.EINVAL {
+		if !ok || e.Err != Syscall_EINVAL {
 			return err
 		}
 	}
@@ -126,7 +125,7 @@ func (d *digitalPinSysfs) reconfigure() error {
 	if err != nil {
 		// If EBUSY then the pin has already been exported
 		e, ok := err.(*os.PathError)
-		if !ok || e.Err != syscall.EBUSY {
+		if !ok || e.Err != Syscall_EBUSY {
 			return err
 		}
 	}

system/digitalpin_sysfs_test.go

@@ -3,7 +3,6 @@ package system
 import (
 	"errors"
 	"os"
-	"syscall"
 	"testing"
 
 	"gobot.io/x/gobot/v2"
@@ -63,7 +62,7 @@ func TestDigitalPin(t *testing.T) {
 	gobottest.Assert(t, data, 0)
 
 	writeFile = func(File, []byte) (int, error) {
-		return 0, &os.PathError{Err: syscall.EINVAL}
+		return 0, &os.PathError{Err: Syscall_EINVAL}
 	}
 
 	err = pin.Unexport()
@@ -81,7 +80,7 @@ func TestDigitalPin(t *testing.T) {
 	writeFile = func(File, []byte) (int, error) {
 		cnt++
 		if cnt == 1 {
-			return 0, &os.PathError{Err: syscall.EBUSY}
+			return 0, &os.PathError{Err: Syscall_EBUSY}
 		}
 		return 0, nil
 	}
@@ -104,7 +103,7 @@ func TestDigitalPinExportError(t *testing.T) {
 	pin, _ := initTestDigitalPinSysFsWithMockedFilesystem(mockPaths)
 
 	writeFile = func(File, []byte) (int, error) {
-		return 0, &os.PathError{Err: syscall.EBUSY}
+		return 0, &os.PathError{Err: Syscall_EBUSY}
 	}
 
 	err := pin.Export()
@@ -118,7 +117,7 @@ func TestDigitalPinUnexportError(t *testing.T) {
 	pin, _ := initTestDigitalPinSysFsWithMockedFilesystem(mockPaths)
 
 	writeFile = func(File, []byte) (int, error) {
-		return 0, &os.PathError{Err: syscall.EBUSY}
+		return 0, &os.PathError{Err: Syscall_EBUSY}
 	}
 
 	err := pin.Unexport()

system/i2c_device.go

@@ -5,7 +5,6 @@ import (
 	"log"
 	"os"
 	"sync"
-	"syscall"
 	"unsafe"
 )
 
@@ -375,7 +374,7 @@ func (d *i2cDevice) syscallIoctl(signal uintptr, payload unsafe.Pointer, sender
 	if err := d.openFileLazy(sender); err != nil {
 		return err
 	}
-	if _, _, errno := d.sys.syscall(syscall.SYS_IOCTL, d.file, signal, payload); errno != 0 {
+	if _, _, errno := d.sys.syscall(Syscall_SYS_IOCTL, d.file, signal, payload); errno != 0 {
 		return fmt.Errorf("%s failed with syscall.Errno %v", sender, errno)
 	}
 

system/i2c_device_test.go

@@ -3,7 +3,6 @@ package system
 import (
 	"errors"
 	"os"
-	"syscall"
 	"testing"
 	"unsafe"
 
@@ -13,13 +12,13 @@ import (
 
 const dev = "/dev/i2c-1"
 
-func getSyscallFuncImpl(errorMask byte) func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err syscall.Errno) {
+func getSyscallFuncImpl(errorMask byte) func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err SyscallErrno) {
 	// bit 0: error on function query
 	// bit 1: error on set address
 	// bit 2: error on command
-	return func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err syscall.Errno) {
+	return func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err SyscallErrno) {
 		// function query
-		if (trap == syscall.SYS_IOCTL) && (a2 == I2C_FUNCS) {
+		if (trap == Syscall_SYS_IOCTL) && (a2 == I2C_FUNCS) {
 			if errorMask&0x01 == 0x01 {
 				return 0, 0, 1
 			}
@@ -31,13 +30,13 @@ func getSyscallFuncImpl(errorMask byte) func(trap, a1, a2, a3 uintptr) (r1, r2 u
 				I2C_FUNC_SMBUS_WRITE_WORD_DATA
 		}
 		// set address
-		if (trap == syscall.SYS_IOCTL) && (a2 == I2C_SLAVE) {
+		if (trap == Syscall_SYS_IOCTL) && (a2 == I2C_SLAVE) {
 			if errorMask&0x02 == 0x02 {
 				return 0, 0, 1
 			}
 		}
 		// command
-		if (trap == syscall.SYS_IOCTL) && (a2 == I2C_SMBUS) {
+		if (trap == Syscall_SYS_IOCTL) && (a2 == I2C_SMBUS) {
 			if errorMask&0x04 == 0x04 {
 				return 0, 0, 1
 			}
@@ -117,7 +116,7 @@ func TestWriteRead(t *testing.T) {
 func TestReadByte(t *testing.T) {
 	var tests = map[string]struct {
 		funcs       uint64
-		syscallImpl func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err syscall.Errno)
+		syscallImpl func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err SyscallErrno)
 		wantErr     string
 	}{
 		"read_byte_ok": {
@@ -161,7 +160,7 @@ func TestReadByte(t *testing.T) {
 func TestReadByteData(t *testing.T) {
 	var tests = map[string]struct {
 		funcs       uint64
-		syscallImpl func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err syscall.Errno)
+		syscallImpl func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err SyscallErrno)
 		wantErr     string
 	}{
 		"read_byte_data_ok": {
@@ -208,7 +207,7 @@ func TestReadByteData(t *testing.T) {
 func TestReadWordData(t *testing.T) {
 	var tests = map[string]struct {
 		funcs       uint64
-		syscallImpl func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err syscall.Errno)
+		syscallImpl func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err SyscallErrno)
 		wantErr     string
 	}{
 		"read_word_data_ok": {
@@ -272,7 +271,7 @@ func TestReadBlockData(t *testing.T) {
 	)
 	var tests = map[string]struct {
 		funcs       uint64
-		syscallImpl func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err syscall.Errno)
+		syscallImpl func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err SyscallErrno)
 		wantErr     string
 	}{
 		"read_block_data_ok": {
@@ -317,7 +316,7 @@ func TestReadBlockData(t *testing.T) {
 func TestWriteByte(t *testing.T) {
 	var tests = map[string]struct {
 		funcs       uint64
-		syscallImpl func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err syscall.Errno)
+		syscallImpl func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err SyscallErrno)
 		wantErr     string
 	}{
 		"write_byte_ok": {
@@ -359,7 +358,7 @@ func TestWriteByte(t *testing.T) {
 func TestWriteByteData(t *testing.T) {
 	var tests = map[string]struct {
 		funcs       uint64
-		syscallImpl func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err syscall.Errno)
+		syscallImpl func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err SyscallErrno)
 		wantErr     string
 	}{
 		"write_byte_data_ok": {
@@ -406,7 +405,7 @@ func TestWriteByteData(t *testing.T) {
 func TestWriteWordData(t *testing.T) {
 	var tests = map[string]struct {
 		funcs       uint64
-		syscallImpl func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err syscall.Errno)
+		syscallImpl func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err SyscallErrno)
 		wantErr     string
 	}{
 		"write_word_data_ok": {
@@ -471,7 +470,7 @@ func TestWriteBlockData(t *testing.T) {
 	)
 	var tests = map[string]struct {
 		funcs       uint64
-		syscallImpl func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err syscall.Errno)
+		syscallImpl func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err SyscallErrno)
 		wantErr     string
 	}{
 		"write_block_data_ok": {
@@ -533,7 +532,7 @@ func Test_queryFunctionality(t *testing.T) {
 	var tests = map[string]struct {
 		requested   uint64
 		dev         string
-		syscallImpl func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err syscall.Errno)
+		syscallImpl func(trap, a1, a2, a3 uintptr) (r1, r2 uintptr, err SyscallErrno)
 		wantErr     string
 		wantFile    bool
 		wantFuncs   uint64

system/pwmpin_sysfs.go

@@ -6,7 +6,6 @@ import (
 	"os"
 	"path"
 	"strconv"
-	"syscall"
 	"time"
 )
 
@@ -50,7 +49,7 @@ func (p *pwmPinSysFs) Export() error {
 	if err != nil {
 		// If EBUSY then the pin has already been exported
 		e, ok := err.(*os.PathError)
-		if !ok || e.Err != syscall.EBUSY {
+		if !ok || e.Err != Syscall_EBUSY {
 			return fmt.Errorf(pwmPinErrorPattern, "Export", p.pin, err)
 		}
 	}

system/pwmpin_sysfs_test.go

@@ -2,7 +2,6 @@ package system
 
 import (
 	"os"
-	"syscall"
 	"testing"
 
 	"gobot.io/x/gobot/v2"
@@ -85,7 +84,7 @@ func TestPwmPinAlreadyExported(t *testing.T) {
 	pin, _ := initTestPWMPinSysFsWithMockedFilesystem(mockedPaths)
 
 	pin.write = func(filesystem, string, []byte) (int, error) {
-		return 0, &os.PathError{Err: syscall.EBUSY}
+		return 0, &os.PathError{Err: Syscall_EBUSY}
 	}
 
 	// no error indicates that the pin was already exported
@@ -103,7 +102,7 @@ func TestPwmPinExportError(t *testing.T) {
 	pin, _ := initTestPWMPinSysFsWithMockedFilesystem(mockedPaths)
 
 	pin.write = func(filesystem, string, []byte) (int, error) {
-		return 0, &os.PathError{Err: syscall.EFAULT}
+		return 0, &os.PathError{Err: Syscall_EFAULT}
 	}
 
 	// no error indicates that the pin was already exported
@@ -122,7 +121,7 @@ func TestPwmPinUnxportError(t *testing.T) {
 	pin, _ := initTestPWMPinSysFsWithMockedFilesystem(mockedPaths)
 
 	pin.write = func(filesystem, string, []byte) (int, error) {
-		return 0, &os.PathError{Err: syscall.EBUSY}
+		return 0, &os.PathError{Err: Syscall_EBUSY}
 	}
 
 	err := pin.Unexport()
@@ -140,7 +139,7 @@ func TestPwmPinPeriodError(t *testing.T) {
 	pin, _ := initTestPWMPinSysFsWithMockedFilesystem(mockedPaths)
 
 	pin.read = func(filesystem, string) ([]byte, error) {
-		return nil, &os.PathError{Err: syscall.EBUSY}
+		return nil, &os.PathError{Err: Syscall_EBUSY}
 	}
 
 	_, err := pin.Period()
@@ -158,7 +157,7 @@ func TestPwmPinPolarityError(t *testing.T) {
 	pin, _ := initTestPWMPinSysFsWithMockedFilesystem(mockedPaths)
 
 	pin.read = func(filesystem, string) ([]byte, error) {
-		return nil, &os.PathError{Err: syscall.EBUSY}
+		return nil, &os.PathError{Err: Syscall_EBUSY}
 	}
 
 	_, err := pin.Polarity()
@@ -176,7 +175,7 @@ func TestPwmPinDutyCycleError(t *testing.T) {
 	pin, _ := initTestPWMPinSysFsWithMockedFilesystem(mockedPaths)
 
 	pin.read = func(filesystem, string) ([]byte, error) {
-		return nil, &os.PathError{Err: syscall.EBUSY}
+		return nil, &os.PathError{Err: Syscall_EBUSY}
 	}
 
 	_, err := pin.DutyCycle()

system/syscall.go

@@ -1,14 +1,32 @@
 package system
 
 import (
-	"syscall"
 	"unsafe"
+
+	"golang.org/x/sys/unix"
+)
+
+// SyscallErrno wraps the "unix.Errno"
+type SyscallErrno unix.Errno
+
+// wrapping for used constants of unix package
+const (
+	Syscall_SYS_IOCTL = unix.SYS_IOCTL
+	Syscall_EINVAL    = unix.EINVAL
+	Syscall_EBUSY     = unix.EBUSY
+	Syscall_EFAULT    = unix.EFAULT
 )
 
 // nativeSyscall represents the native Syscall
 type nativeSyscall struct{}
 
-// Syscall calls the native syscall.Syscall, implements the SystemCaller interface
-func (sys *nativeSyscall) syscall(trap uintptr, f File, signal uintptr, payload unsafe.Pointer) (r1, r2 uintptr, err syscall.Errno) {
-	return syscall.Syscall(trap, f.Fd(), signal, uintptr(payload))
+// Syscall calls the native unix.Syscall, implements the SystemCaller interface
+func (sys *nativeSyscall) syscall(trap uintptr, f File, signal uintptr, payload unsafe.Pointer) (r1, r2 uintptr, err SyscallErrno) {
+	r1, r2, errNo := unix.Syscall(trap, f.Fd(), signal, uintptr(payload))
+	return r1, r2, SyscallErrno(errNo)
+}
+
+// Error implements the error interface. It wraps the "unix.Errno.Error()".
+func (e SyscallErrno) Error() string {
+	return unix.Errno(e).Error()
 }