Merge branch 'dev' into feature/jetson-nano-adaptor

.circleci/config.yml

@@ -1,25 +1,49 @@
+# Since switch to cimg, the GOPATH has been changed from /go to $HOME/go. 
+# The latter will expand to the full path of /home/circleci/go. 
+# On first run, this change may affect caching and some other commands if
+# you don’t correct the page in your config.
+#
+# Specify service dependencies here if necessary
+# CircleCI maintains a library of pre-built images
+# documented at https://circleci.com/docs/circleci-images
+# - image: cimg/postgres:14.5.0
+#
+# For more information, please read https://github.com/CircleCI-Public/cimg-go/blob/main/README.md
+
 version: 2
 jobs:
-  build:
+  "test_core_and_drivers_with_coverage":
     docker:
-      # specify the version
-      - image: circleci/golang:1.15
-
-      # Specify service dependencies here if necessary
-      # CircleCI maintains a library of pre-built images
-      # documented at https://circleci.com/docs/2.0/circleci-images/
-      # - image: circleci/postgres:9.4
-
-    working_directory: /go/src/github.com/{{ORG_NAME}}/{{REPO_NAME}}
+      - image: cimg/go:1.17
     steps:
       - checkout
       - run:
-          name: Core and drivers tests
-          command: go test -v -cpu=2 -coverprofile=coverage.txt -covermode=atomic . ./drivers/...
+          name: Debug version
+          command: go version
       - run:
-          name: Firmata tests
-          command: go test -v -cpu=2 ./platforms/firmata/...
+          name: Core and drivers tests
+          command: go test -v -coverprofile=coverage.txt -covermode=atomic . ./drivers/...
       - run:
           name: Code coverage
           command: | 
             bash <(curl -s https://codecov.io/bash)
+
+  "test_platforms":
+    docker:
+      - image: cimg/go:1.17
+    steps:
+      - checkout
+      - run:
+          name: Debug version
+          command: go version
+      - run:
+          # digispark needs libusb, joystick needs sdl2, opencv needs opencv
+          name: Platform tests (except digispark, joystick, opencv)
+          command: go test -v $(go list ./platforms/... | grep -v platforms/digispark | grep -v platforms/joystick | grep -v platforms/opencv)
+
+workflows:
+  version: 2
+  build:
+      jobs:
+        - "test_core_and_drivers_with_coverage"
+        - "test_platforms"

.gitignore

@@ -10,3 +10,4 @@ count.out
 /stage
 vendor/
 .idea/
+coverage.txt

CHANGELOG.md

@@ -1,3 +1,34 @@
+1.16.0
+---
+* **bugfix**
+  * failing leftovers after usage of PR #569
+  * Fix servo and DC motors presence
+  * FIX the bug #568 without further impact, heavy improvements of tests
+  * fixed PinMode, SetPullUp and SetPolarity, unit tests activated
+  * ReadGPIO fixed with #576, failing leftovers for PinMode, SetPullUp and SetPolarity
+  * helper_test ReadByteData, ReadWordData to use reg
+* **core**
+  * update uuid package and directly access it; remove archived uuid package
+* **digispark**
+  * fix ReadByte & WriteByte, rework and add i2c tests
+  * remove useless code in i2c test
+* **drivers**
+  * add AnalogActuatorDriver, analog temperature sensor, driver for PCF8591 (with 400kbit stabilization), driver for YL-40
+  * Adding support for hmc5883l compass
+  * bmp388 fix missing address write byte in test of Measurements
+  * drv2605l fix missing address write byte in test of Halt()
+  * introduce adafruit1109 2x16 LCD with 5 keys
+  * mcp23017: add mutex for write, hd44780: fix mutexes
+  * MCP3004: correct number of channels
+* **raspi**
+  * fix raspi PWMPin.SetDutyCycle (#800)
+* **tello**
+  * Guards Dji Tello Halt against nil dereference
+* **test**
+  * don't panic on 'With*' allow simpler wrapping of drivers
+* **tinkerboard**
+  * fix tinkerboard i2c0 to i2c4, improve comments in pin map, improve README
+
 1.15.0
 ---
 * **build**

Makefile

@@ -1,22 +1,25 @@
-.PHONY: test race cover robeaux examples test_with_coverage fmt_check
+# include also examples in other than ./examples folder
+ALL_EXAMPLES := $(shell grep -l -r --include "*.go" 'build example' ./)
+# prevent examples with joystick (sdl2) and gocv (opencv) dependencies
+EXAMPLES := $(shell grep -L 'joystick' $$(grep -L 'gocv' $(ALL_EXAMPLES)))
 
-excluding_vendor := $(shell go list ./... | grep -v /vendor/)
+.PHONY: test test_race test_cover robeaux version_check fmt_check fmt_fix examples examples_check $(EXAMPLES)
 
-# Run tests on all non-vendor directories
-test:
-	go test -v $(excluding_vendor)
+# opencv platform currently skipped to prevent install of preconditions
+including_except := $(shell go list ./... | grep -v platforms/opencv)
 
-# Run tests with race detection on all non-vendor directories
-race:
-	go test -race $(excluding_vendor)
+# Run tests on nearly all directories without test cache
+test:
+	go test -count=1 -v $(including_except)
 
-# Check for code well-formedness
-fmt_check:
-	./ci/format.sh
+# Run tests with race detection
+test_race:
+	go test -race $(including_except)
 
-# Test and generate coverage
-test_with_coverage:
-	./ci/test.sh
+# Test, generate and show coverage in browser
+test_cover:
+	go test -v $(including_except) -coverprofile=coverage.txt ; \
+	go tool cover -html=coverage.txt ; \
 
 robeaux:
 ifeq (,$(shell which go-bindata))
@@ -36,9 +39,32 @@ endif
 	rm -rf node_modules/ ; \
 	go fmt ./robeaux/robeaux.go ; \
 
-EXAMPLES := $(shell ls examples/*.go | sed -e 's/examples\///')
+# Check for installed and module version match. Will exit with code 50 if not match.
+# There is nothing bad in general, if you program with a higher version.
+# At least the recipe "fmt_fix" will not work in that case.
+version_check:
+	@gv=$$(echo $$(go version) | sed "s/^.* go\([0-9].[0-9]*\).*/\1/") ; \
+	mv=$$(grep -m 1 'go 1.' ./go.mod | sed "s/^go \([0-9].[0-9]*\).*/\1/") ; \
+	echo "go: $${gv}.*, go.mod: $${mv}" ; \
+	if [ "$${gv}" != "$${mv}" ]; then exit 50; fi ; \
+
+# Check for bad code style and other issues
+fmt_check:
+	gofmt -l ./
+	go vet ./...
 
-examples:
-	for example in $(EXAMPLES) ; do \
-		go build -o /tmp/$$example examples/$$example ; \
-	done ; \
+# Fix bad code style (will only be executed, on version match)
+fmt_fix: version_check
+	go fmt ./...
+
+examples: $(EXAMPLES)
+
+examples_check: 
+	$(MAKE) CHECK=ON examples
+
+$(EXAMPLES):
+ifeq ($(CHECK),ON)
+	go vet ./$@
+else
+	go build -o /tmp/gobot_examples/$@ ./$@
+endif

README.md

@@ -260,6 +260,7 @@ Support for devices that use Inter-Integrated Circuit (I2C) have a shared set of
 drivers provided using the `gobot/drivers/i2c` package:
 
 - [I2C](https://en.wikipedia.org/wiki/I%C2%B2C) <=> [Drivers](https://github.com/hybridgroup/gobot/tree/master/drivers/i2c)
+	- Adafruit 2x16 RGB-LCD with 5 keys
 	- Adafruit Motor Hat
 	- ADS1015 Analog to Digital Converter
 	- ADS1115 Analog to Digital Converter
@@ -271,25 +272,29 @@ drivers provided using the `gobot/drivers/i2c` package:
 	- BMP280 Barometric Pressure/Temperature/Altitude Sensor
 	- BMP388 Barometric Pressure/Temperature/Altitude Sensor
 	- DRV2605L Haptic Controller
+	- Generic driver for read and write values to/from register address
 	- Grove Digital Accelerometer
 	- GrovePi Expansion Board
 	- Grove RGB LCD
 	- HMC6352 Compass
-	- HMC8553L 3-Axis Digital Compass
+	- HMC5883L 3-Axis Digital Compass
 	- INA3221 Voltage Monitor
 	- JHD1313M1 LCD Display w/RGB Backlight
 	- L3GD20H 3-Axis Gyroscope
 	- LIDAR-Lite
 	- MCP23017 Port Expander
 	- MMA7660 3-Axis Accelerometer
-	- MPL115A2 Barometer
+	- MPL115A2 Barometric Pressure/Temperature
 	- MPU6050 Accelerometer/Gyroscope
+	- PCA9501 8-bit I/O port with interrupt, 2-kbit EEPROM
 	- PCA9685 16-channel 12-bit PWM/Servo Driver
+	- PCF8591 8-bit 4xA/D & 1xD/A converter
 	- SHT2x Temperature/Humidity
 	- SHT3x-D Temperature/Humidity
 	- SSD1306 OLED Display Controller
 	- TSL2561 Digital Luminosity/Lux/Light Sensor
 	- Wii Nunchuck Controller
+	- YL-40 Brightness/Temperature sensor, Potentiometer, analog input, analog output Driver
 
 Support for devices that use Serial Peripheral Interface (SPI) have
 a shared set of drivers provided using the `gobot/drivers/spi` package:

appveyor.yml

@@ -1,25 +1,19 @@
 version: "{build}"
 
-clone_folder: c:\gopath\src\gobot.io\x\gobot
+image: Visual Studio 2019
 
-platform:
-  - MinGW_x64
+clone_folder: c:\gopath\src\gobot.io\x\gobot
 
 environment:
+  PATH: C:\mingw-w64\x86_64-8.1.0-posix-seh-rt_v6-rev0\mingw64\bin;%PATH%
   GOPATH: c:\gopath
-  GOROOT: c:\go
-  GOVERSION: 1.15
-  TEST_EXTERNAL: 1
 
-install:
-  - set PATH=%PATH%;C:\mingw-w64\x86_64-7.3.0-posix-seh-rt_v5-rev0\mingw64\bin
-  - echo %PATH%
-  - echo %GOPATH%
+before_test:
   - go version
   - go env
-  - go get -d ./...
 
 build_script:
   - go test -v -cpu=2 .
   - go test -v -cpu=2 ./drivers/...
   - go test -v -cpu=2 ./platforms/firmata/...
+  - go test -v -cpu=2 ./platforms/ble/...

drivers/aio/README.md

@@ -12,9 +12,11 @@ go get -d -u gobot.io/x/gobot/...
 ## Hardware Support
 Gobot has a extensible system for connecting to hardware devices. The following AIO devices are currently supported:
   - Analog Sensor
+  - Analog Actuator
   - Grove Light Sensor
   - Grove Rotary Dial
   - Grove Sound Sensor
   - Grove Temperature Sensor
+  - Temperature Sensor (supports linear and NTC thermistor in normal and inverse mode)
 
 More drivers are coming soon...

drivers/aio/aio.go

@@ -15,12 +15,20 @@ const (
 	Error = "error"
 	// Data event
 	Data = "data"
+	// Value event
+	Value = "value"
 	// Vibration event
 	Vibration = "vibration"
 )
 
-// AnalogReader interface represents an Adaptor which has Analog capabilities
+// AnalogReader interface represents an Adaptor which has AnalogRead capabilities
 type AnalogReader interface {
 	//gobot.Adaptor
-	AnalogRead(string) (val int, err error)
+	AnalogRead(pin string) (val int, err error)
+}
+
+// AnalogWriter interface represents an Adaptor which has AnalogWrite capabilities
+type AnalogWriter interface {
+	//gobot.Adaptor
+	AnalogWrite(pin string, val int) (err error)
 }

drivers/aio/analog_actuator_driver.go

@@ -0,0 +1,111 @@
+package aio
+
+import (
+	"strconv"
+
+	"gobot.io/x/gobot"
+)
+
+// AnalogActuatorDriver represents an analog actuator
+type AnalogActuatorDriver struct {
+	name       string
+	pin        string
+	connection AnalogWriter
+	gobot.Eventer
+	gobot.Commander
+	scale        func(input float64) (value int)
+	lastValue    float64
+	lastRawValue int
+}
+
+// NewAnalogActuatorDriver returns a new AnalogActuatorDriver given by an AnalogWriter and pin.
+// The driver supports customizable scaling from given float64 value to written int.
+// The default scaling is 1:1. An adjustable linear scaler is provided by the driver.
+//
+// Adds the following API Commands:
+// 	"Write"    - See AnalogActuator.Write
+// 	"RawWrite" - See AnalogActuator.RawWrite
+func NewAnalogActuatorDriver(a AnalogWriter, pin string) *AnalogActuatorDriver {
+	d := &AnalogActuatorDriver{
+		name:       gobot.DefaultName("AnalogActuator"),
+		connection: a,
+		pin:        pin,
+		Commander:  gobot.NewCommander(),
+		scale:      func(input float64) (value int) { return int(input) },
+	}
+
+	d.AddCommand("Write", func(params map[string]interface{}) interface{} {
+		val, err := strconv.ParseFloat(params["val"].(string), 64)
+		if err != nil {
+			return err
+		}
+		return d.Write(val)
+	})
+
+	d.AddCommand("RawWrite", func(params map[string]interface{}) interface{} {
+		val, _ := strconv.Atoi(params["val"].(string))
+		return d.RawWrite(val)
+	})
+
+	return d
+}
+
+// Start starts driver
+func (a *AnalogActuatorDriver) Start() (err error) { return }
+
+// Halt is for halt
+func (a *AnalogActuatorDriver) Halt() (err error) { return }
+
+// Name returns the drivers name
+func (a *AnalogActuatorDriver) Name() string { return a.name }
+
+// SetName sets the drivers name
+func (a *AnalogActuatorDriver) SetName(n string) { a.name = n }
+
+// Pin returns the drivers pin
+func (a *AnalogActuatorDriver) Pin() string { return a.pin }
+
+// Connection returns the drivers Connection
+func (a *AnalogActuatorDriver) Connection() gobot.Connection { return a.connection.(gobot.Connection) }
+
+// RawWrite write the given raw value to the actuator
+func (a *AnalogActuatorDriver) RawWrite(val int) (err error) {
+	a.lastRawValue = val
+	return a.connection.AnalogWrite(a.Pin(), val)
+}
+
+// SetScaler substitute the default 1:1 return value function by a new scaling function
+func (a *AnalogActuatorDriver) SetScaler(scaler func(float64) int) {
+	a.scale = scaler
+}
+
+// Write writes the given value to the actuator
+func (a *AnalogActuatorDriver) Write(val float64) (err error) {
+	a.lastValue = val
+	rawValue := a.scale(val)
+	return a.RawWrite(rawValue)
+}
+
+// RawValue returns the last written raw value
+func (a *AnalogActuatorDriver) RawValue() (val int) {
+	return a.lastRawValue
+}
+
+// Value returns the last written value
+func (a *AnalogActuatorDriver) Value() (val float64) {
+	return a.lastValue
+}
+
+func AnalogActuatorLinearScaler(fromMin, fromMax float64, toMin, toMax int) func(input float64) (value int) {
+	m := float64(toMax-toMin) / (fromMax - fromMin)
+	n := float64(toMin) - m*fromMin
+	return func(input float64) (value int) {
+		if input <= fromMin {
+			return toMin
+		}
+		if input >= fromMax {
+			return toMax
+		}
+		return int(input*m + n)
+	}
+}