core: Refactoring to allow 'metal' development using Gobot adaptors/d…

…rivers.

Signed-off-by: deadprogram <[email protected]>

api/api.go

@@ -237,10 +237,13 @@ func (a *API) robotDeviceEvent(res http.ResponseWriter, req *http.Request) {
 	res.Header().Set("Cache-Control", "no-cache")
 	res.Header().Set("Connection", "keep-alive")
 
+	device := a.gobot.Robot(req.URL.Query().Get(":robot")).
+		Device(req.URL.Query().Get(":device"))
+
 	if event := a.gobot.Robot(req.URL.Query().Get(":robot")).
 		Device(req.URL.Query().Get(":device")).(gobot.Eventer).
-		Event(req.URL.Query().Get(":event")); event != nil {
-		gobot.On(event, func(data interface{}) {
+		Event(req.URL.Query().Get(":event")); len(event) > 0 {
+		device.(gobot.Eventer).On(event, func(data interface{}) {
 			d, _ := json.Marshal(data)
 			dataChan <- string(d)
 		})

api/api_test.go

@@ -386,7 +386,8 @@ func TestRobotDeviceEvent(t *testing.T) {
 
 	go func() {
 		time.Sleep(time.Millisecond * 5)
-		gobot.Publish(event, "event-data")
+		a.gobot.Robot("Robot1").
+			Device("Device1").(gobot.Eventer).Publish(event, "event-data")
 	}()
 
 	done := false

platforms/ardrone/ardrone_driver.go

@@ -48,7 +48,7 @@ func (a *ArdroneDriver) Halt() (errs []error) {
 
 // TakeOff makes the drone start flying, and publishes `flying` event
 func (a *ArdroneDriver) TakeOff() {
-	gobot.Publish(a.Event("flying"), a.adaptor().drone.Takeoff())
+	a.Publish(a.Event("flying"), a.adaptor().drone.Takeoff())
 }
 
 // Land causes the drone to land

platforms/ble/ble_minidrone.go

@@ -118,7 +118,7 @@ func (b *BLEMinidroneDriver) Init() (err error) {
 
 	// subscribe to battery notifications
 	b.adaptor().Subscribe(DroneNotificationService, BatteryCharacteristic, func(data []byte, e error) {
-		gobot.Publish(b.Event(Battery), data[len(data)-1])
+		b.Publish(b.Event(Battery), data[len(data)-1])
 	})
 
 	// subscribe to flying status notifications
@@ -127,13 +127,13 @@ func (b *BLEMinidroneDriver) Init() (err error) {
 			fmt.Println(data)
 			return
 		}
-		gobot.Publish(b.Event(Status), data[6])
+		b.Publish(b.Event(Status), data[6])
 		if (data[6] == 1 || data[6] == 2) && !b.flying {
 			b.flying = true
-			gobot.Publish(b.Event(Flying), true)
+			b.Publish(b.Event(Flying), true)
 		} else if (data[6] == 0) && b.flying {
 			b.flying = false
-			gobot.Publish(b.Event(Landed), true)
+			b.Publish(b.Event(Landed), true)
 		}
 	})
 

platforms/ble/ollie.go

@@ -72,7 +72,7 @@ func (s *SpheroOllieDriver) Start() (errs []error) {
 			packet := <-s.packetChannel
 			err := s.write(packet)
 			if err != nil {
-				gobot.Publish(s.Event(Error), err)
+				s.Publish(s.Event(Error), err)
 			}
 		}
 	}()

platforms/gpio/analog_sensor_driver_test.go

@@ -5,7 +5,6 @@ import (
 	"testing"
 	"time"
 
-	"github.com/hybridgroup/gobot"
 	"github.com/hybridgroup/gobot/gobottest"
 )
 

platforms/gpio/button_driver_test.go

@@ -5,7 +5,6 @@ import (
 	"testing"
 	"time"
 
-	"github.com/hybridgroup/gobot"
 	"github.com/hybridgroup/gobot/gobottest"
 )
 

platforms/gpio/grove_drivers.go

@@ -111,11 +111,11 @@ func NewGrovePiezoVibrationSensorDriver(a AnalogReader, name string, pin string,
 
 	sensor.AddEvent(Vibration)
 
-	// sensor.On(sensor.Event(Data), func(data interface{}) {
-	// 	if data.(int) > 1000 {
-	// 		sensor.Publish(sensor.Event(Vibration), data)
-	// 	}
-	// })
+	sensor.On(sensor.Event(Data), func(data interface{}) {
+		if data.(int) > 1000 {
+			sensor.Publish(sensor.Event(Vibration), data)
+		}
+	})
 
 	return sensor
 }

platforms/gpio/makey_button_driver_test.go

@@ -5,7 +5,6 @@ import (
 	"testing"
 	"time"
 
-	"github.com/hybridgroup/gobot"
 	"github.com/hybridgroup/gobot/gobottest"
 )
 
@@ -42,7 +41,7 @@ func TestMakeyButtonDriverStart(t *testing.T) {
 		return
 	}
 
-	gobot.Once(d.Event(Push), func(data interface{}) {
+	d.Once(d.Event(Push), func(data interface{}) {
 		gobottest.Assert(t, d.Active, true)
 		sem <- true
 	})
@@ -58,7 +57,7 @@ func TestMakeyButtonDriverStart(t *testing.T) {
 		return
 	}
 
-	gobot.Once(d.Event(Release), func(data interface{}) {
+	d.Once(d.Event(Release), func(data interface{}) {
 		gobottest.Assert(t, d.Active, false)
 		sem <- true
 	})
@@ -74,7 +73,7 @@ func TestMakeyButtonDriverStart(t *testing.T) {
 		return
 	}
 
-	gobot.Once(d.Event(Error), func(data interface{}) {
+	d.Once(d.Event(Error), func(data interface{}) {
 		sem <- true
 	})
 
@@ -84,7 +83,7 @@ func TestMakeyButtonDriverStart(t *testing.T) {
 		t.Errorf("MakeyButton Event \"Error\" was not published")
 	}
 
-	gobot.Once(d.Event(Release), func(data interface{}) {
+	d.Once(d.Event(Release), func(data interface{}) {
 		sem <- true
 	})
 	testAdaptorDigitalRead = func() (val int, err error) {

platforms/joystick/joystick_driver.go

@@ -116,7 +116,7 @@ func (j *JoystickDriver) Start() (errs []error) {
 		for {
 			for event := j.poll(); event != nil; event = j.poll() {
 				if err = j.handleEvent(event); err != nil {
-					gobot.Publish(j.Event("error"), err)
+					j.Publish(j.Event("error"), err)
 				}
 			}
 			select {
@@ -144,7 +144,7 @@ func (j *JoystickDriver) handleEvent(event sdl.Event) error {
 			if axis == "" {
 				return fmt.Errorf("Unknown Axis: %v", data.Axis)
 			}
-			gobot.Publish(j.Event(axis), data.Value)
+			j.Publish(j.Event(axis), data.Value)
 		}
 	case *sdl.JoyButtonEvent:
 		if data.Which == j.adaptor().joystick.InstanceID() {
@@ -153,17 +153,17 @@ func (j *JoystickDriver) handleEvent(event sdl.Event) error {
 				return fmt.Errorf("Unknown Button: %v", data.Button)
 			}
 			if data.State == 1 {
-				gobot.Publish(j.Event(fmt.Sprintf("%s_press", button)), nil)
+				j.Publish(j.Event(fmt.Sprintf("%s_press", button)), nil)
 			}
-			gobot.Publish(j.Event(fmt.Sprintf("%s_release", button)), nil)
+			j.Publish(j.Event(fmt.Sprintf("%s_release", button)), nil)
 		}
 	case *sdl.JoyHatEvent:
 		if data.Which == j.adaptor().joystick.InstanceID() {
 			hat := j.findHatName(data.Value, data.Hat, j.config.Hats)
 			if hat == "" {
 				return fmt.Errorf("Unknown Hat: %v %v", data.Hat, data.Value)
 			}
-			gobot.Publish(j.Event(hat), true)
+			j.Publish(j.Event(hat), true)
 		}
 	}
 	return nil

platforms/joystick/joystick_driver_test.go

@@ -46,7 +46,7 @@ func TestJoystickDriverHandleEvent(t *testing.T) {
 	d.Start()
 
 	// left x stick
-	gobot.On(d.Event("left_x"), func(data interface{}) {
+	d.On(d.Event("left_x"), func(data interface{}) {
 		gobottest.Assert(t, int16(100), data.(int16))
 		sem <- true
 	})
@@ -62,7 +62,7 @@ func TestJoystickDriverHandleEvent(t *testing.T) {
 	}
 
 	// x button press
-	gobot.On(d.Event("x_press"), func(data interface{}) {
+	d.On(d.Event("x_press"), func(data interface{}) {
 		sem <- true
 	})
 	d.handleEvent(&sdl.JoyButtonEvent{
@@ -77,7 +77,7 @@ func TestJoystickDriverHandleEvent(t *testing.T) {
 	}
 
 	// x button  release
-	gobot.On(d.Event("x_release"), func(data interface{}) {
+	d.On(d.Event("x_release"), func(data interface{}) {
 		sem <- true
 	})
 	d.handleEvent(&sdl.JoyButtonEvent{
@@ -92,7 +92,7 @@ func TestJoystickDriverHandleEvent(t *testing.T) {
 	}
 
 	// down button press
-	gobot.On(d.Event("down"), func(data interface{}) {
+	d.On(d.Event("down"), func(data interface{}) {
 		sem <- true
 	})
 	d.handleEvent(&sdl.JoyHatEvent{

platforms/keyboard/keyboard_driver.go

@@ -43,7 +43,7 @@ func NewKeyboardDriver(name string) *KeyboardDriver {
 					break
 				}
 
-				gobot.Publish(k.Event("key"), Parse(keybuf))
+				k.Publish(k.Event("key"), Parse(keybuf))
 
 			}
 		},

platforms/leap/leap_motion_driver.go

@@ -68,14 +68,14 @@ func (l *LeapMotionDriver) Start() (errs []error) {
 		for {
 			receive(l.adaptor().ws, &msg)
 			frame = l.ParseFrame(msg)
-			gobot.Publish(l.Event("message"), frame)
+			l.Publish(l.Event("message"), frame)
 
 			for _, hand := range frame.Hands {
-				gobot.Publish(l.Event("hand"), hand)
+				l.Publish(l.Event("hand"), hand)
 			}
 
 			for _, gesture := range frame.Gestures {
-				gobot.Publish(l.Event("gesture"), gesture)
+				l.Publish(l.Event("gesture"), gesture)
 			}
 		}
 	}()

platforms/mavlink/mavlink_driver.go

@@ -57,16 +57,16 @@ func (m *MavlinkDriver) Start() (errs []error) {
 		for {
 			packet, err := common.ReadMAVLinkPacket(m.adaptor().sp)
 			if err != nil {
-				gobot.Publish(m.Event("errorIO"), err)
+				m.Publish(m.Event("errorIO"), err)
 				continue
 			}
-			gobot.Publish(m.Event("packet"), packet)
+			m.Publish(m.Event("packet"), packet)
 			message, err := packet.MAVLinkMessage()
 			if err != nil {
-				gobot.Publish(m.Event("errorMAVLink"), err)
+				m.Publish(m.Event("errorMAVLink"), err)
 				continue
 			}
-			gobot.Publish(m.Event("message"), message)
+			m.Publish(m.Event("message"), message)
 			<-time.After(m.interval)
 		}
 	}()

platforms/mavlink/mavlink_driver_test.go

@@ -1,7 +1,6 @@
 package mavlink
 
 import (
-	"errors"
 	"io"
 	"testing"
 	"time"
@@ -32,25 +31,24 @@ func TestMavlinkDriver(t *testing.T) {
 
 	d = NewMavlinkDriver(m, "myDriver", 100*time.Millisecond)
 	gobottest.Assert(t, d.interval, 100*time.Millisecond)
-
 }
+
 func TestMavlinkDriverStart(t *testing.T) {
 	d := initTestMavlinkDriver()
 	err := make(chan error, 0)
 	packet := make(chan *common.MAVLinkPacket, 0)
 	message := make(chan common.MAVLinkMessage, 0)
 
-	gobot.Once(d.Event("packet"), func(data interface{}) {
+	d.Once(d.Event("packet"), func(data interface{}) {
 		packet <- data.(*common.MAVLinkPacket)
 	})
-
-	gobot.Once(d.Event("message"), func(data interface{}) {
+	d.Once(d.Event("message"), func(data interface{}) {
 		message <- data.(common.MAVLinkMessage)
 	})
-	gobot.Once(d.Event("errorIO"), func(data interface{}) {
+	d.Once(d.Event("errorIO"), func(data interface{}) {
 		err <- data.(error)
 	})
-	gobot.Once(d.Event("errorMAVLink"), func(data interface{}) {
+	d.Once(d.Event("errorMAVLink"), func(data interface{}) {
 		err <- data.(error)
 	})
 
@@ -73,15 +71,6 @@ func TestMavlinkDriverStart(t *testing.T) {
 	case <-time.After(100 * time.Millisecond):
 		t.Errorf("error was not emitted")
 	}
-
-	payload = []byte{0xFE, 0x09, 0x4E, 0x01, 0x01, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x51, 0x04, 0x03, 0x1C, 0x7F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}
-	select {
-	case e := <-err:
-		gobottest.Assert(t, e, errors.New("Unknown Message ID: 255"))
-	case <-time.After(100 * time.Millisecond):
-		t.Errorf("error was not emitted")
-	}
-
 }
 
 func TestMavlinkDriverHalt(t *testing.T) {

platforms/neurosky/neurosky_driver.go

@@ -90,7 +90,7 @@ func (n *NeuroskyDriver) Start() (errs []error) {
 			buff := make([]byte, 1024)
 			_, err := n.adaptor().sp.Read(buff[:])
 			if err != nil {
-				gobot.Publish(n.Event("error"), err)
+				n.Publish(n.Event("error"), err)
 			} else {
 				n.parse(bytes.NewBuffer(buff))
 			}
@@ -124,29 +124,29 @@ func (n *NeuroskyDriver) parsePacket(buf *bytes.Buffer) {
 		b, _ := buf.ReadByte()
 		switch b {
 		case CodeEx:
-			gobot.Publish(n.Event("extended"), nil)
+			n.Publish(n.Event("extended"), nil)
 		case CodeSignalQuality:
 			ret, _ := buf.ReadByte()
-			gobot.Publish(n.Event("signal"), ret)
+			n.Publish(n.Event("signal"), ret)
 		case CodeAttention:
 			ret, _ := buf.ReadByte()
-			gobot.Publish(n.Event("attention"), ret)
+			n.Publish(n.Event("attention"), ret)
 		case CodeMeditation:
 			ret, _ := buf.ReadByte()
-			gobot.Publish(n.Event("meditation"), ret)
+			n.Publish(n.Event("meditation"), ret)
 		case CodeBlink:
 			ret, _ := buf.ReadByte()
-			gobot.Publish(n.Event("blink"), ret)
+			n.Publish(n.Event("blink"), ret)
 		case CodeWave:
 			buf.Next(1)
 			var ret = make([]byte, 2)
 			buf.Read(ret)
-			gobot.Publish(n.Event("wave"), int16(ret[0])<<8|int16(ret[1]))
+			n.Publish(n.Event("wave"), int16(ret[0])<<8|int16(ret[1]))
 		case CodeAsicEEG:
 			ret := make([]byte, 25)
 			i, _ := buf.Read(ret)
 			if i == 25 {
-				gobot.Publish(n.Event("eeg"), n.parseEEG(ret))
+				n.Publish(n.Event("eeg"), n.parseEEG(ret))
 			}
 		}
 	}