Bugfix/Improvement: Use PWMPinsAdaptor for platforms

adaptor.go

@@ -46,27 +46,26 @@ type DigitalPinnerProvider interface {
 
 // PWMPinner is the interface for system PWM interactions
 type PWMPinner interface {
-	// Export exports the pin for use by the operating system
+	// Export exports the PWM pin for use by the operating system
 	Export() error
-	// Unexport unexports the pin and releases the pin from the operating system
+	// Unexport releases the PWM pin from the operating system
 	Unexport() error
-	// Enable enables/disables the PWM pin
-	// TODO: rename to "SetEnable(bool)" according to golang style and allow "Enable()" to be the getter function
-	Enable(bool) (err error)
-	// Polarity returns the polarity either normal or inverted
-	Polarity() (polarity string, err error)
-	// SetPolarity writes value to pwm polarity path
-	SetPolarity(value string) (err error)
-	// InvertPolarity sets the polarity to inverted if called with true
-	InvertPolarity(invert bool) (err error)
-	// Period returns the current PWM period for pin
-	Period() (period uint32, err error)
-	// SetPeriod sets the current PWM period for pin
-	SetPeriod(period uint32) (err error)
-	// DutyCycle returns the duty cycle for the pin
-	DutyCycle() (duty uint32, err error)
-	// SetDutyCycle writes the duty cycle to the pin
-	SetDutyCycle(duty uint32) (err error)
+	// Enabled returns the enabled state of the PWM pin
+	Enabled() (bool, error)
+	// SetEnabled enables/disables the PWM pin
+	SetEnabled(bool) error
+	// Polarity returns true if the polarity of the PWM pin is normal, otherwise false
+	Polarity() (bool, error)
+	// SetPolarity sets the polarity of the PWM pin to normal if called with true and to inverted if called with false
+	SetPolarity(normal bool) error
+	// Period returns the current PWM period in nanoseconds for pin
+	Period() (uint32, error)
+	// SetPeriod sets the current PWM period in nanoseconds for pin
+	SetPeriod(uint32) error
+	// DutyCycle returns the duty cycle in nanoseconds for the PWM pin
+	DutyCycle() (uint32, error)
+	// SetDutyCycle writes the duty cycle in nanoseconds to the PWM pin
+	SetDutyCycle(uint32) error
 }
 
 // PWMPinnerProvider is the interface that an Adaptor should implement to allow
@@ -80,7 +79,7 @@ type Adaptor interface {
 	// Name returns the label for the Adaptor
 	Name() string
 	// SetName sets the label for the Adaptor
-	SetName(n string)
+	SetName(string)
 	// Connect initiates the Adaptor
 	Connect() error
 	// Finalize terminates the Adaptor

platforms/adaptors/digitalpinsadaptor.go

@@ -9,42 +9,43 @@ import (
 	"gobot.io/x/gobot/system"
 )
 
-type translator func(pin string) (chip string, line int, err error)
-type creator func(chip string, line int, o ...func(gobot.DigitalPinOptioner) bool) gobot.DigitalPinner
+type digitalPinTranslator func(pin string) (chip string, line int, err error)
+type digitalPinInitializer func(gobot.DigitalPinner) error
 
 type digitalPinsOption interface {
-	setCreator(creator) // needed e.g. by Beaglebone adaptor
+	setDigitalPinInitializer(digitalPinInitializer)
 }
 
 // DigitalPinsAdaptor is a adaptor for digital pins, normally used for composition in platforms.
 type DigitalPinsAdaptor struct {
-	sys       *system.Accesser
-	translate translator
-	create    creator
-	pins      map[string]gobot.DigitalPinner
-	mutex     sync.Mutex
+	sys        *system.Accesser
+	translate  digitalPinTranslator
+	initialize digitalPinInitializer
+	pins       map[string]gobot.DigitalPinner
+	mutex      sync.Mutex
 }
 
 // NewDigitalPinsAdaptor provides the access to digital pins of the board. It supports sysfs and gpiod system drivers.
-// This is decided by the given accesser. The translator is used to adapt the header naming, which is given by user, to
-// the internal file name or chip/line nomenclature. This varies by each platform. If for some reasons the default
-// creator is not suitable, it can be given by the option "WithPinCreator()". This is especially needed, if some values
-// needs to be adjusted after the pin was created. E.g. for Beaglebone platform.
-func NewDigitalPinsAdaptor(sys *system.Accesser, t translator, options ...func(digitalPinsOption)) *DigitalPinsAdaptor {
-	s := &DigitalPinsAdaptor{
-		translate: t,
-		create:    sys.NewDigitalPin,
+// This is decided by the given accesser. The translator is used to adapt the pin header naming, which is given by user,
+// to the internal file name or chip/line nomenclature. This varies by each platform. If for some reasons the default
+// initializer is not suitable, it can be given by the option "WithDigitalPinInitializer()". This is especially needed,
+// if some values needs to be adjusted after the pin was created but before the pin is exported.
+func NewDigitalPinsAdaptor(sys *system.Accesser, t digitalPinTranslator, options ...func(digitalPinsOption)) *DigitalPinsAdaptor {
+	a := &DigitalPinsAdaptor{
+		sys:        sys,
+		translate:  t,
+		initialize: func(pin gobot.DigitalPinner) error { return pin.Export() },
 	}
 	for _, option := range options {
-		option(s)
+		option(a)
 	}
-	return s
+	return a
 }
 
-// WithPinCreator can be used to substitute the default creator.
-func WithPinCreator(pc creator) func(digitalPinsOption) {
+// WithDigitalPinInitializer can be used to substitute the default initializer.
+func WithDigitalPinInitializer(pc digitalPinInitializer) func(digitalPinsOption) {
 	return func(a digitalPinsOption) {
-		a.setCreator(pc)
+		a.setDigitalPinInitializer(pc)
 	}
 }
 
@@ -106,8 +107,8 @@ func (a *DigitalPinsAdaptor) DigitalWrite(id string, val byte) error {
 	return pin.Write(int(val))
 }
 
-func (a *DigitalPinsAdaptor) setCreator(pc creator) {
-	a.create = pc
+func (a *DigitalPinsAdaptor) setDigitalPinInitializer(pinInit digitalPinInitializer) {
+	a.initialize = pinInit
 }
 
 func (a *DigitalPinsAdaptor) digitalPin(id string, o ...func(gobot.DigitalPinOptioner) bool) (gobot.DigitalPinner, error) {
@@ -122,8 +123,8 @@ func (a *DigitalPinsAdaptor) digitalPin(id string, o ...func(gobot.DigitalPinOpt
 		if err != nil {
 			return nil, err
 		}
-		pin = a.create(chip, line, o...)
-		if err = pin.Export(); err != nil {
+		pin = a.sys.NewDigitalPin(chip, line, o...)
+		if err = a.initialize(pin); err != nil {
 			return nil, err
 		}
 		a.pins[id] = pin

platforms/adaptors/digitalpinsadaptor_test.go

@@ -21,14 +21,17 @@ var _ gobot.DigitalPinnerProvider = (*DigitalPinsAdaptor)(nil)
 var _ gpio.DigitalReader = (*DigitalPinsAdaptor)(nil)
 var _ gpio.DigitalWriter = (*DigitalPinsAdaptor)(nil)
 
-func initTestAdaptorWithMockedFilesystem(mockPaths []string) (*DigitalPinsAdaptor, *system.MockFilesystem) {
+func initTestDigitalPinsAdaptorWithMockedFilesystem(mockPaths []string) (*DigitalPinsAdaptor, *system.MockFilesystem) {
 	sys := system.NewAccesser()
 	fs := sys.UseMockFilesystem(mockPaths)
-	a := NewDigitalPinsAdaptor(sys, testTranslator)
+	a := NewDigitalPinsAdaptor(sys, testDigitalPinTranslator)
+	if err := a.Connect(); err != nil {
+		panic(err)
+	}
 	return a, fs
 }
 
-func testTranslator(pin string) (string, int, error) {
+func testDigitalPinTranslator(pin string) (string, int, error) {
 	line, err := strconv.Atoi(pin)
 	if err != nil {
 		return "", 0, fmt.Errorf("not a valid pin")
@@ -37,27 +40,36 @@ func testTranslator(pin string) (string, int, error) {
 	return "", line, err
 }
 
-func TestConnect(t *testing.T) {
+func TestDigitalPinsConnect(t *testing.T) {
 	translate := func(pin string) (chip string, line int, err error) { return }
 	sys := system.NewAccesser()
 
 	a := NewDigitalPinsAdaptor(sys, translate)
 	gobottest.Assert(t, a.pins, (map[string]gobot.DigitalPinner)(nil))
 
-	a.Connect()
+	_, err := a.DigitalRead("13")
+	gobottest.Assert(t, err.Error(), "not connected")
+
+	err = a.DigitalWrite("7", 1)
+	gobottest.Assert(t, err.Error(), "not connected")
+
+	err = a.Connect()
+	gobottest.Assert(t, err, nil)
 	gobottest.Refute(t, a.pins, (map[string]gobot.DigitalPinner)(nil))
 	gobottest.Assert(t, len(a.pins), 0)
 }
 
-func TestFinalize(t *testing.T) {
+func TestDigitalPinsFinalize(t *testing.T) {
 	// arrange
 	mockedPaths := []string{
 		"/sys/class/gpio/export",
 		"/sys/class/gpio/unexport",
 		"/sys/class/gpio/gpio14/direction",
 		"/sys/class/gpio/gpio14/value",
 	}
-	a, fs := initTestAdaptorWithMockedFilesystem(mockedPaths)
+	sys := system.NewAccesser()
+	fs := sys.UseMockFilesystem(mockedPaths)
+	a := NewDigitalPinsAdaptor(sys, testDigitalPinTranslator)
 	// assert that finalize before connect is working
 	gobottest.Assert(t, a.Finalize(), nil)
 	// arrange
@@ -79,16 +91,15 @@ func TestFinalize(t *testing.T) {
 	gobottest.Assert(t, strings.Contains(err.Error(), "/sys/class/gpio/unexport: No such file"), true)
 }
 
-func TestReConnect(t *testing.T) {
+func TestDigitalPinsReConnect(t *testing.T) {
 	// arrange
 	mockedPaths := []string{
 		"/sys/class/gpio/export",
 		"/sys/class/gpio/unexport",
 		"/sys/class/gpio/gpio15/direction",
 		"/sys/class/gpio/gpio15/value",
 	}
-	a, _ := initTestAdaptorWithMockedFilesystem(mockedPaths)
-	a.Connect()
+	a, _ := initTestDigitalPinsAdaptorWithMockedFilesystem(mockedPaths)
 	gobottest.Assert(t, a.DigitalWrite("4", 1), nil)
 	gobottest.Assert(t, len(a.pins), 1)
 	gobottest.Assert(t, a.Finalize(), nil)
@@ -106,8 +117,7 @@ func TestDigitalIO(t *testing.T) {
 		"/sys/class/gpio/gpio25/value",
 		"/sys/class/gpio/gpio25/direction",
 	}
-	a, _ := initTestAdaptorWithMockedFilesystem(mockedPaths)
-	a.Connect()
+	a, _ := initTestDigitalPinsAdaptorWithMockedFilesystem(mockedPaths)
 
 	err := a.DigitalWrite("14", 1)
 	gobottest.Assert(t, err, nil)
@@ -124,14 +134,10 @@ func TestDigitalRead(t *testing.T) {
 		"/sys/class/gpio/gpio24/value",
 		"/sys/class/gpio/gpio24/direction",
 	}
-	a, fs := initTestAdaptorWithMockedFilesystem(mockedPaths)
+	a, fs := initTestDigitalPinsAdaptorWithMockedFilesystem(mockedPaths)
 	fs.Files["/sys/class/gpio/gpio24/value"].Contents = "1"
-	i, err := a.DigitalRead("13")
-	gobottest.Assert(t, err.Error(), "not connected")
-
-	a.Connect()
 
-	i, err = a.DigitalRead("13")
+	i, err := a.DigitalRead("13")
 	gobottest.Assert(t, err, nil)
 	gobottest.Assert(t, i, 1)
 
@@ -151,13 +157,9 @@ func TestDigitalWrite(t *testing.T) {
 		"/sys/class/gpio/gpio18/value",
 		"/sys/class/gpio/gpio18/direction",
 	}
-	a, fs := initTestAdaptorWithMockedFilesystem(mockedPaths)
-	err := a.DigitalWrite("7", 1)
-	gobottest.Assert(t, err.Error(), "not connected")
-
-	a.Connect()
+	a, fs := initTestDigitalPinsAdaptorWithMockedFilesystem(mockedPaths)
 
-	err = a.DigitalWrite("7", 1)
+	err := a.DigitalWrite("7", 1)
 	gobottest.Assert(t, err, nil)
 	gobottest.Assert(t, fs.Files["/sys/class/gpio/gpio18/value"].Contents, "1")