pocketbeagle: introduce and use cdev by default (#1118)

MIGRATION.md

@@ -48,6 +48,32 @@ Also those findings needs to be replaced, which usually affects developers, but
 * `system.WithDigitalPinGpiodAccess()` --> `system.WithDigitalPinCdevAccess()`
 * `IsGpiodDigitalPinAccess()` --> `IsCdevDigitalPinAccess()`
 
+### PocketBeagle adaptor goes cdev
+
+The beagle board "PocketBeagle" supports with latest images the Linux Kernel character device API, so the adaptor was
+changed to use this as the default.
+
+By "adaptors.WithSysfsAccess()" the old behavior can be forced. This is most likely needed if an old image with old
+Kernel is used which does not support this new API.
+
+A small renaming is also done, please search and replace:
+
+```go
+// old
+...
+"gobot.io/x/gobot/v2/platforms/beaglebone"
+...
+beaglebone.NewPocketBeagleAdaptor(...)
+...
+
+// new
+...
+"gobot.io/x/gobot/v2/platforms/beagleboard/pocketbeagle"
+...
+pocketbeagle.NewAdaptor(...)
+...
+```
+
 ## Switch from version 2.3.0 (ble and sphero adaptors affected)
 
 ### BLE drivers and client adaptor

examples/beaglebone_basic_direct_pin.go

@@ -10,7 +10,7 @@ import (
 	"fmt"
 
 	"gobot.io/x/gobot/v2/drivers/gpio"
-	"gobot.io/x/gobot/v2/platforms/beaglebone"
+	"gobot.io/x/gobot/v2/platforms/beagleboard/beaglebone"
 )
 
 func main() {

examples/beaglebone_blink.go

@@ -12,7 +12,7 @@ import (
 
 	"gobot.io/x/gobot/v2"
 	"gobot.io/x/gobot/v2/drivers/gpio"
-	"gobot.io/x/gobot/v2/platforms/beaglebone"
+	"gobot.io/x/gobot/v2/platforms/beagleboard/beaglebone"
 )
 
 func main() {

examples/beaglebone_blink_usr_led.go

@@ -12,7 +12,7 @@ import (
 
 	"gobot.io/x/gobot/v2"
 	"gobot.io/x/gobot/v2/drivers/gpio"
-	"gobot.io/x/gobot/v2/platforms/beaglebone"
+	"gobot.io/x/gobot/v2/platforms/beagleboard/beaglebone"
 )
 
 func main() {

examples/beaglebone_blinkm.go

@@ -12,7 +12,7 @@ import (
 
 	"gobot.io/x/gobot/v2"
 	"gobot.io/x/gobot/v2/drivers/i2c"
-	"gobot.io/x/gobot/v2/platforms/beaglebone"
+	"gobot.io/x/gobot/v2/platforms/beagleboard/beaglebone"
 )
 
 func main() {

examples/beaglebone_button.go

@@ -11,7 +11,7 @@ import (
 
 	"gobot.io/x/gobot/v2"
 	"gobot.io/x/gobot/v2/drivers/gpio"
-	"gobot.io/x/gobot/v2/platforms/beaglebone"
+	"gobot.io/x/gobot/v2/platforms/beagleboard/beaglebone"
 )
 
 func main() {

examples/beaglebone_direct_pin.go

@@ -12,7 +12,7 @@ import (
 
 	"gobot.io/x/gobot/v2"
 	"gobot.io/x/gobot/v2/drivers/gpio"
-	"gobot.io/x/gobot/v2/platforms/beaglebone"
+	"gobot.io/x/gobot/v2/platforms/beagleboard/beaglebone"
 )
 
 func main() {

examples/beaglebone_grove_accelerometer.go

@@ -12,7 +12,7 @@ import (
 
 	"gobot.io/x/gobot/v2"
 	"gobot.io/x/gobot/v2/drivers/i2c"
-	"gobot.io/x/gobot/v2/platforms/beaglebone"
+	"gobot.io/x/gobot/v2/platforms/beagleboard/beaglebone"
 )
 
 func main() {

examples/beaglebone_led_brightness.go

@@ -12,7 +12,7 @@ import (
 
 	"gobot.io/x/gobot/v2"
 	"gobot.io/x/gobot/v2/drivers/gpio"
-	"gobot.io/x/gobot/v2/platforms/beaglebone"
+	"gobot.io/x/gobot/v2/platforms/beagleboard/beaglebone"
 )
 
 func main() {

examples/beaglebone_led_brightness_with_analog_input.go

@@ -13,7 +13,7 @@ import (
 	"gobot.io/x/gobot/v2"
 	"gobot.io/x/gobot/v2/drivers/aio"
 	"gobot.io/x/gobot/v2/drivers/gpio"
-	"gobot.io/x/gobot/v2/platforms/beaglebone"
+	"gobot.io/x/gobot/v2/platforms/beagleboard/beaglebone"
 )
 
 func main() {

examples/beaglebone_servo.go

@@ -13,7 +13,7 @@ import (
 
 	"gobot.io/x/gobot/v2"
 	"gobot.io/x/gobot/v2/drivers/gpio"
-	"gobot.io/x/gobot/v2/platforms/beaglebone"
+	"gobot.io/x/gobot/v2/platforms/beagleboard/beaglebone"
 )
 
 func main() {

examples/beaglepocket_direct_pin.go

@@ -13,7 +13,7 @@ import (
 	"gobot.io/x/gobot/v2"
 	"gobot.io/x/gobot/v2/drivers/gpio"
 	"gobot.io/x/gobot/v2/platforms/adaptors"
-	"gobot.io/x/gobot/v2/platforms/beaglebone"
+	"gobot.io/x/gobot/v2/platforms/beagleboard/pocketbeagle"
 )
 
 // Wiring
@@ -23,29 +23,37 @@ import (
 // LED's: the output pins are wired to the cathode of the LED, the anode is wired with a resistor (70-130Ohm for 20mA)
 // to VCC
 // Expected behavior: always one LED is on, the other in opposite state, if button is pressed the state changes
+// note: you can also use user LEDs, e.g. "usr0", "usr3"
 func main() {
 	const (
 		inPinNum          = "P1_34"
 		outPinNum         = "P1_35"
 		outPinInvertedNum = "P1_36"
 	)
 
-	board := beaglebone.NewPocketBeagleAdaptor(adaptors.WithGpiosActiveLow(outPinInvertedNum))
+	board := pocketbeagle.NewAdaptor(adaptors.WithGpiosActiveLow(outPinInvertedNum))
 
 	inPin := gpio.NewDirectPinDriver(board, inPinNum)
 	outPin := gpio.NewDirectPinDriver(board, outPinNum)
 	outPinInverted := gpio.NewDirectPinDriver(board, outPinInvertedNum)
 
 	work := func() {
+		level := byte(1)
+
 		gobot.Every(500*time.Millisecond, func() {
 			read, err := inPin.DigitalRead()
 			fmt.Printf("pin %s state is %d\n", inPinNum, read)
 			if err != nil {
 				fmt.Println(err)
+				if level == 1 {
+					level = 0
+				} else {
+					level = 1
+				}
+			} else {
+				level = byte(read)
 			}
 
-			level := byte(read)
-
 			err = outPin.DigitalWrite(level)
 			fmt.Printf("pin %s is now %d\n", outPinNum, level)
 			if err != nil {

examples/nanopi_direct_pin.go

@@ -49,6 +49,11 @@ func main() {
 			fmt.Printf("pin %s state is %d\n", inPinNum, read)
 			if err != nil {
 				fmt.Println(err)
+				if level == 1 {
+					level = 0
+				} else {
+					level = 1
+				}
 			} else {
 				level = byte(read)
 			}
@@ -64,12 +69,6 @@ func main() {
 			if err != nil {
 				fmt.Println(err)
 			}
-
-			if level == 1 {
-				level = 0
-			} else {
-				level = 1
-			}
 		})
 	}
 

platforms/beaglebone/README.md → platforms/beagleboard/README.md

@@ -1,4 +1,4 @@
-# Beaglebone
+# BeagleBoard devices
 
 The BeagleBone is an ARM based single board computer, with lots of GPIO, I2C, and analog interfaces built in.
 
@@ -35,12 +35,12 @@ import (
 
   "gobot.io/x/gobot/v2"
   "gobot.io/x/gobot/v2/drivers/gpio"
-  "gobot.io/x/gobot/v2/platforms/beaglebone"
+  "gobot.io/x/gobot/v2/platforms/beagleboard/beaglebone"
 )
 
 func main() {
-  beagleboneAdaptor := beaglebone.NewAdaptor()
-  led := gpio.NewLedDriver(beagleboneAdaptor, "P9_12")
+  beagleBoneAdaptor := beaglebone.NewAdaptor()
+  led := gpio.NewLedDriver(beagleBoneAdaptor, "P9_12")
 
   work := func() {
     gobot.Every(1*time.Second, func() {
@@ -51,7 +51,7 @@ func main() {
   }
 
   robot := gobot.NewRobot("blinkBot",
-    []gobot.Connection{beagleboneAdaptor},
+    []gobot.Connection{beagleBoneAdaptor},
     []gobot.Device{led},
     work,
   )
@@ -62,7 +62,7 @@ func main() {
 }
 ```
 
-To use the PocketBeagle, use `beaglebone.NewPocketBeagleAdaptor()` like this:
+To use the PocketBeagle, use `pocketbeagle.NewAdaptor()` like this:
 
 ```go
 package main
@@ -72,12 +72,12 @@ import (
 
   "gobot.io/x/gobot/v2"
   "gobot.io/x/gobot/v2/drivers/gpio"
-  "gobot.io/x/gobot/v2/platforms/beaglebone"
+  "gobot.io/x/gobot/v2/platforms/beagleboard/pocketbeagle"
 )
 
 func main() {
-  beagleboneAdaptor := beaglebone.NewPocketBeagleAdaptor()
-  led := gpio.NewLedDriver(beagleboneAdaptor, "P1_02")
+  pocketBeagleAdaptor := pocketbeagle.NewAdaptor()
+  led := gpio.NewLedDriver(pocketBeagleAdaptor, "P1_02")
 
   work := func() {
     gobot.Every(1*time.Second, func() {
@@ -88,7 +88,7 @@ func main() {
   }
 
   robot := gobot.NewRobot("pocketBeagleBot",
-    []gobot.Connection{beagleboneAdaptor},
+    []gobot.Connection{pocketBeagleAdaptor},
     []gobot.Device{led},
     work,
   )

platforms/beaglebone/beaglebone_adaptor.go → platforms/beagleboard/beaglebone/beaglebone_adaptor.go

@@ -36,9 +36,7 @@ type Adaptor struct {
 	*adaptors.PWMPinsAdaptor
 	*adaptors.I2cBusAdaptor
 	*adaptors.SpiBusAdaptor
-	usrLed          string
-	pinMap          map[string]int
-	pwmPinTranslate func(string) (string, int, error)
+	usrLed string
 }
 
 // NewAdaptor returns a new Beaglebone Black/Green Adaptor
@@ -53,12 +51,10 @@ func NewAdaptor(opts ...interface{}) *Adaptor {
 	sys := system.NewAccesser(system.WithDigitalPinSysfsAccess())
 	pwmPinTranslator := adaptors.NewPWMPinTranslator(sys, bbbPwmPinMap)
 	a := &Adaptor{
-		name:            gobot.DefaultName("BeagleboneBlack"),
-		sys:             sys,
-		mutex:           &sync.Mutex{},
-		pinMap:          bbbPinMap,
-		pwmPinTranslate: pwmPinTranslator.Translate,
-		usrLed:          "/sys/class/leds/beaglebone:green:",
+		name:   gobot.DefaultName("BeagleboneBlack"),
+		sys:    sys,
+		mutex:  &sync.Mutex{},
+		usrLed: "/sys/class/leds/beaglebone:green:",
 	}
 
 	var digitalPinsOpts []adaptors.DigitalPinsOptionApplier
@@ -69,6 +65,8 @@ func NewAdaptor(opts ...interface{}) *Adaptor {
 			digitalPinsOpts = append(digitalPinsOpts, o)
 		case adaptors.PwmPinsOptionApplier:
 			pwmPinsOpts = append(pwmPinsOpts, o)
+		case func(system.Optioner):
+			o(sys)
 		default:
 			panic(fmt.Sprintf("'%s' can not be applied on adaptor '%s'", opt, a.name))
 		}
@@ -83,7 +81,8 @@ func NewAdaptor(opts ...interface{}) *Adaptor {
 
 	a.AnalogPinsAdaptor = adaptors.NewAnalogPinsAdaptor(sys, analogPinTranslator.Translate)
 	a.DigitalPinsAdaptor = adaptors.NewDigitalPinsAdaptor(sys, a.translateAndMuxDigitalPin, digitalPinsOpts...)
-	a.PWMPinsAdaptor = adaptors.NewPWMPinsAdaptor(sys, a.translateAndMuxPWMPin, pwmPinsOpts...)
+	a.PWMPinsAdaptor = adaptors.NewPWMPinsAdaptor(sys, a.getTranslateAndMuxPWMPinFunc(pwmPinTranslator.Translate),
+		pwmPinsOpts...)
 	a.I2cBusAdaptor = adaptors.NewI2cBusAdaptor(sys, i2cBusNumberValidator.Validate, defaultI2cBusNumber)
 	a.SpiBusAdaptor = adaptors.NewSpiBusAdaptor(sys, spiBusNumberValidator.Validate, defaultSpiBusNumber,
 		defaultSpiChipNumber, defaultSpiMode, defaultSpiBitsNumber, defaultSpiMaxSpeed)
@@ -165,7 +164,7 @@ func (a *Adaptor) DigitalWrite(id string, val byte) error {
 
 // translatePin converts digital pin name to pin position
 func (a *Adaptor) translateAndMuxDigitalPin(id string) (string, int, error) {
-	line, ok := a.pinMap[id]
+	line, ok := bbbPinMap[id]
 	if !ok {
 		return "", -1, fmt.Errorf("'%s' is not a valid id for a digital pin", id)
 	}
@@ -176,17 +175,21 @@ func (a *Adaptor) translateAndMuxDigitalPin(id string) (string, int, error) {
 	return "", line, nil
 }
 
-func (a *Adaptor) translateAndMuxPWMPin(id string) (string, int, error) {
-	path, channel, err := a.pwmPinTranslate(id)
-	if err != nil {
-		return path, channel, err
-	}
+func (a *Adaptor) getTranslateAndMuxPWMPinFunc(
+	pwmPinTranslate func(id string) (string, int, error),
+) func(id string) (string, int, error) {
+	return func(id string) (string, int, error) {
+		path, channel, err := pwmPinTranslate(id)
+		if err != nil {
+			return path, channel, err
+		}
 
-	if err := a.muxPin(id, "pwm"); err != nil {
-		return "", -1, err
-	}
+		if err := a.muxPin(id, "pwm"); err != nil {
+			return "", -1, err
+		}
 
-	return path, channel, nil
+		return path, channel, nil
+	}
 }
 
 func (a *Adaptor) muxPin(pin, cmd string) error {

platforms/beaglebone/beaglebone_adaptor_test.go → platforms/beagleboard/beaglebone/beaglebone_adaptor_test.go

@@ -89,8 +89,6 @@ func TestNewAdaptor(t *testing.T) {
 	assert.NotNil(t, a.PWMPinsAdaptor)
 	assert.NotNil(t, a.I2cBusAdaptor)
 	assert.NotNil(t, a.SpiBusAdaptor)
-	assert.Equal(t, bbbPinMap, a.pinMap)
-	assert.NotNil(t, a.pwmPinTranslate)
 	assert.Equal(t, "/sys/class/leds/beaglebone:green:", a.usrLed)
 	assert.True(t, a.sys.IsSysfsDigitalPinAccess())
 	// act & assert
@@ -341,8 +339,10 @@ func Test_translateAndMuxPWMPin(t *testing.T) {
 			// arrange
 			muxPath := fmt.Sprintf("/sys/devices/platform/ocp/ocp:%s_pinmux/state", name)
 			fs.Add(muxPath)
+			pwmPinTranslator := adaptors.NewPWMPinTranslator(a.sys, bbbPwmPinMap)
+			translateAndMuxPWMPin := a.getTranslateAndMuxPWMPinFunc(pwmPinTranslator.Translate)
 			// act
-			path, channel, err := a.translateAndMuxPWMPin(name)
+			path, channel, err := translateAndMuxPWMPin(name)
 			// assert
 			assert.Equal(t, tc.wantErr, err)
 			assert.Equal(t, tc.wantDir, path)

platforms/beaglebone/doc.go → platforms/beagleboard/doc.go

@@ -1,5 +1,5 @@
 /*
-Package beaglebone provides the Gobot adaptor for the Beaglebone Black/Green, as well as a
+Package beagleboard provides the Gobot adaptor for the Beaglebone Black/Green, as well as a
 separate Adaptor for the PocketBeagle.
 
 Installing:
@@ -15,7 +15,7 @@ Example:
 
 		"gobot.io/x/gobot/v2"
 		"gobot.io/x/gobot/v2/drivers/gpio"
-		"gobot.io/x/gobot/v2/platforms/beaglebone"
+		"gobot.io/x/gobot/v2/platforms/beagleboard/beaglebone"
 	)
 
 	func main() {
@@ -42,6 +42,6 @@ Example:
 	}
 
 For more information refer to the beaglebone README:
-https://github.com/hybridgroup/gobot/blob/release/platforms/beaglebone/README.md
+https://github.com/hybridgroup/gobot/blob/release/platforms/beagleboard/README.md
 */
-package beaglebone // import "gobot.io/x/gobot/v2/platforms/beaglebone"
+package beagleboard // import "gobot.io/x/gobot/v2/platforms/beagleboard"