core: Continue refactoring to allow 'metal' development using Gobot l…

…ibs.

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

eventer.go

@@ -26,6 +26,10 @@ type Eventer interface {
 	Publish(name string, data interface{})
 	// Subscribe to any events from this eventer
 	Subscribe() (events eventChannel)
+	// Event handler
+	On(name string, f func(s interface{})) (err error)
+	// Event handler, only exectues one time
+	Once(name string, f func(s interface{})) (err error)
 }
 
 // NewEventer returns a new Eventer.

platforms/firmata/client/client.go

@@ -143,19 +143,19 @@ func (b *Client) Connect(conn io.ReadWriteCloser) (err error) {
 
 	initFunc := b.ProtocolVersionQuery
 
-	gobot.Once(b.Event("ProtocolVersion"), func(data interface{}) {
+	b.Once(b.Event("ProtocolVersion"), func(data interface{}) {
 		initFunc = b.FirmwareQuery
 	})
 
-	gobot.Once(b.Event("FirmwareQuery"), func(data interface{}) {
+	b.Once(b.Event("FirmwareQuery"), func(data interface{}) {
 		initFunc = b.CapabilitiesQuery
 	})
 
-	gobot.Once(b.Event("CapabilityQuery"), func(data interface{}) {
+	b.Once(b.Event("CapabilityQuery"), func(data interface{}) {
 		initFunc = b.AnalogMappingQuery
 	})
 
-	gobot.Once(b.Event("AnalogMappingQuery"), func(data interface{}) {
+	b.Once(b.Event("AnalogMappingQuery"), func(data interface{}) {
 		initFunc = func() error { return nil }
 		b.ReportDigital(0, 1)
 		b.ReportDigital(1, 1)
@@ -177,7 +177,7 @@ func (b *Client) Connect(conn io.ReadWriteCloser) (err error) {
 					}
 
 					if err := b.process(); err != nil {
-						gobot.Publish(b.Event("Error"), err)
+						b.Publish(b.Event("Error"), err)
 					}
 				}
 			}()
@@ -343,7 +343,7 @@ func (b *Client) process() (err error) {
 	case ProtocolVersion == messageType:
 		b.ProtocolVersion = fmt.Sprintf("%v.%v", buf[1], buf[2])
 
-		gobot.Publish(b.Event("ProtocolVersion"), b.ProtocolVersion)
+		b.Publish(b.Event("ProtocolVersion"), b.ProtocolVersion)
 	case AnalogMessageRangeStart <= messageType &&
 		AnalogMessageRangeEnd >= messageType:
 
@@ -353,7 +353,7 @@ func (b *Client) process() (err error) {
 		if len(b.analogPins) > pin {
 			if len(b.pins) > b.analogPins[pin] {
 				b.pins[b.analogPins[pin]].Value = int(value)
-				gobot.Publish(b.Event(fmt.Sprintf("AnalogRead%v", pin)), b.pins[b.analogPins[pin]].Value)
+				b.Publish(b.Event(fmt.Sprintf("AnalogRead%v", pin)), b.pins[b.analogPins[pin]].Value)
 			}
 		}
 	case DigitalMessageRangeStart <= messageType &&
@@ -367,7 +367,7 @@ func (b *Client) process() (err error) {
 			if len(b.pins) > pinNumber {
 				if b.pins[pinNumber].Mode == Input {
 					b.pins[pinNumber].Value = int((portValue >> (byte(i) & 0x07)) & 0x01)
-					gobot.Publish(b.Event(fmt.Sprintf("DigitalRead%v", pinNumber)), b.pins[pinNumber].Value)
+					b.Publish(b.Event(fmt.Sprintf("DigitalRead%v", pinNumber)), b.pins[pinNumber].Value)
 				}
 			}
 		}
@@ -412,7 +412,7 @@ func (b *Client) process() (err error) {
 				}
 				n ^= 1
 			}
-			gobot.Publish(b.Event("CapabilityQuery"), nil)
+			b.Publish(b.Event("CapabilityQuery"), nil)
 		case AnalogMappingResponse:
 			pinIndex := 0
 			b.analogPins = []int{}
@@ -427,7 +427,7 @@ func (b *Client) process() (err error) {
 				b.AddEvent(fmt.Sprintf("AnalogRead%v", pinIndex))
 				pinIndex++
 			}
-			gobot.Publish(b.Event("AnalogMappingQuery"), nil)
+			b.Publish(b.Event("AnalogMappingQuery"), nil)
 		case PinStateResponse:
 			pin := currentBuffer[2]
 			b.pins[pin].Mode = int(currentBuffer[3])
@@ -440,7 +440,7 @@ func (b *Client) process() (err error) {
 				b.pins[pin].State = int(uint(b.pins[pin].State) | uint(currentBuffer[6])<<14)
 			}
 
-			gobot.Publish(b.Event(fmt.Sprintf("PinState%v", pin)), b.pins[pin])
+			b.Publish(b.Event(fmt.Sprintf("PinState%v", pin)), b.pins[pin])
 		case I2CReply:
 			reply := I2cReply{
 				Address:  int(byte(currentBuffer[2]) | byte(currentBuffer[3])<<7),
@@ -458,7 +458,7 @@ func (b *Client) process() (err error) {
 					byte(currentBuffer[i])|byte(currentBuffer[i+1])<<7,
 				)
 			}
-			gobot.Publish(b.Event("I2cReply"), reply)
+			b.Publish(b.Event("I2cReply"), reply)
 		case FirmwareQuery:
 			name := []byte{}
 			for _, val := range currentBuffer[4:(len(currentBuffer) - 1)] {
@@ -467,10 +467,10 @@ func (b *Client) process() (err error) {
 				}
 			}
 			b.FirmwareName = string(name[:])
-			gobot.Publish(b.Event("FirmwareQuery"), b.FirmwareName)
+			b.Publish(b.Event("FirmwareQuery"), b.FirmwareName)
 		case StringData:
 			str := currentBuffer[2:]
-			gobot.Publish(b.Event("StringData"), string(str[:len(str)-1]))
+			b.Publish(b.Event("StringData"), string(str[:len(str)-1]))
 		}
 	}
 	return

platforms/firmata/client/client_test.go

@@ -174,7 +174,7 @@ func TestProcess(t *testing.T) {
 
 	for _, test := range tests {
 		test.init()
-		gobot.Once(b.Event(test.event), func(data interface{}) {
+		b.Once(b.Event(test.event), func(data interface{}) {
 			gobottest.Assert(t, data, test.expected)
 			sem <- true
 		})
@@ -202,19 +202,19 @@ func TestConnect(t *testing.T) {
 		}
 	}()
 
-	gobot.Once(b.Event("ProtocolVersion"), func(data interface{}) {
+	b.Once(b.Event("ProtocolVersion"), func(data interface{}) {
 		response = testFirmwareResponse()
 	})
 
-	gobot.Once(b.Event("FirmwareQuery"), func(data interface{}) {
+	b.Once(b.Event("FirmwareQuery"), func(data interface{}) {
 		response = testCapabilitiesResponse()
 	})
 
-	gobot.Once(b.Event("CapabilityQuery"), func(data interface{}) {
+	b.Once(b.Event("CapabilityQuery"), func(data interface{}) {
 		response = testAnalogMappingResponse()
 	})
 
-	gobot.Once(b.Event("AnalogMappingQuery"), func(data interface{}) {
+	b.Once(b.Event("AnalogMappingQuery"), func(data interface{}) {
 		response = testProtocolResponse()
 	})
 

platforms/firmata/firmata_adaptor.go

@@ -23,7 +23,7 @@ type firmataBoard interface {
 	I2cWrite(int, []byte) error
 	I2cConfig(int) error
 	ServoConfig(int, int, int) error
-	Event(string) *gobot.Event
+	Event(string) string
 }
 
 // FirmataAdaptor is the Gobot Adaptor for Firmata based boards
@@ -33,6 +33,7 @@ type FirmataAdaptor struct {
 	board  firmataBoard
 	conn   io.ReadWriteCloser
 	openSP func(port string) (io.ReadWriteCloser, error)
+	gobot.Eventer
 }
 
 // NewFirmataAdaptor returns a new FirmataAdaptor with specified name and optionally accepts:
@@ -53,6 +54,7 @@ func NewFirmataAdaptor(name string, args ...interface{}) *FirmataAdaptor {
 		openSP: func(port string) (io.ReadWriteCloser, error) {
 			return serial.OpenPort(&serial.Config{Name: port, Baud: 57600})
 		},
+		Eventer: gobot.NewEventer(),
 	}
 
 	for _, arg := range args {
@@ -230,7 +232,7 @@ func (f *FirmataAdaptor) I2cRead(address int, size int) (data []byte, err error)
 		return
 	}
 
-	gobot.Once(f.board.Event("I2cReply"), func(data interface{}) {
+	f.Once(f.board.Event("I2cReply"), func(data interface{}) {
 		ret <- data.(client.I2cReply).Data
 	})
 

platforms/firmata/firmata_adaptor_test.go

@@ -173,7 +173,7 @@ func TestFirmataAdaptorI2cRead(t *testing.T) {
 	i2cReply := client.I2cReply{Data: i}
 	go func() {
 		<-time.After(10 * time.Millisecond)
-		gobot.Publish(a.board.Event("I2cReply"), i2cReply)
+		a.Publish(a.board.Event("I2cReply"), i2cReply)
 	}()
 	data, err := a.I2cRead(0x00, 1)
 	gobottest.Assert(t, err, nil)

platforms/i2c/mpl115a2_driver.go

@@ -72,20 +72,20 @@ func (h *MPL115A2Driver) Start() (errs []error) {
 	go func() {
 		for {
 			if err := h.connection.I2cWrite(mpl115a2Address, []byte{MPL115A2_REGISTER_STARTCONVERSION, 0}); err != nil {
-				gobot.Publish(h.Event(Error), err)
+				h.Publish(h.Event(Error), err)
 				continue
 
 			}
 			<-time.After(5 * time.Millisecond)
 
 			if err := h.connection.I2cWrite(mpl115a2Address, []byte{MPL115A2_REGISTER_PRESSURE_MSB}); err != nil {
-				gobot.Publish(h.Event(Error), err)
+				h.Publish(h.Event(Error), err)
 				continue
 			}
 
 			ret, err := h.connection.I2cRead(mpl115a2Address, 4)
 			if err != nil {
-				gobot.Publish(h.Event(Error), err)
+				h.Publish(h.Event(Error), err)
 				continue
 			}
 			if len(ret) == 4 {

platforms/i2c/mpu6050_driver.go

@@ -74,13 +74,13 @@ func (h *MPU6050Driver) Start() (errs []error) {
 	go func() {
 		for {
 			if err := h.connection.I2cWrite(mpu6050Address, []byte{MPU6050_RA_ACCEL_XOUT_H}); err != nil {
-				gobot.Publish(h.Event(Error), err)
+				h.Publish(h.Event(Error), err)
 				continue
 			}
 
 			ret, err := h.connection.I2cRead(mpu6050Address, 14)
 			if err != nil {
-				gobot.Publish(h.Event(Error), err)
+				h.Publish(h.Event(Error), err)
 				continue
 			}
 			buf := bytes.NewBuffer(ret)
@@ -111,12 +111,12 @@ func (h *MPU6050Driver) initialize() (err error) {
 	}
 
 	// setFullScaleGyroRange
-  if err = h.connection.I2cWrite(mpu6050Address, []byte{MPU6050_RA_GYRO_CONFIG,
-    MPU6050_GCONFIG_FS_SEL_BIT,
-    MPU6050_GCONFIG_FS_SEL_LENGTH,
-    MPU6050_GYRO_FS_250}); err != nil {
-    return
-  }
+	if err = h.connection.I2cWrite(mpu6050Address, []byte{MPU6050_RA_GYRO_CONFIG,
+		MPU6050_GCONFIG_FS_SEL_BIT,
+		MPU6050_GCONFIG_FS_SEL_LENGTH,
+		MPU6050_GYRO_FS_250}); err != nil {
+		return
+	}
 
 	// setFullScaleAccelRange
 	if err = h.connection.I2cWrite(mpu6050Address, []byte{MPU6050_RA_ACCEL_CONFIG,

platforms/i2c/wiichuck_driver.go

@@ -69,23 +69,23 @@ func (w *WiichuckDriver) Start() (errs []error) {
 	go func() {
 		for {
 			if err := w.connection.I2cWrite(wiichuckAddress, []byte{0x40, 0x00}); err != nil {
-				gobot.Publish(w.Event(Error), err)
+				w.Publish(w.Event(Error), err)
 				continue
 			}
 			<-time.After(w.pauseTime)
 			if err := w.connection.I2cWrite(wiichuckAddress, []byte{0x00}); err != nil {
-				gobot.Publish(w.Event(Error), err)
+				w.Publish(w.Event(Error), err)
 				continue
 			}
 			<-time.After(w.pauseTime)
 			newValue, err := w.connection.I2cRead(wiichuckAddress, 6)
 			if err != nil {
-				gobot.Publish(w.Event(Error), err)
+				w.Publish(w.Event(Error), err)
 				continue
 			}
 			if len(newValue) == 6 {
 				if err = w.update(newValue); err != nil {
-					gobot.Publish(w.Event(Error), err)
+					w.Publish(w.Event(Error), err)
 					continue
 				}
 			}
@@ -146,16 +146,16 @@ func (w *WiichuckDriver) adjustOrigins() {
 // updateButtons publishes "c" and "x" events if present in data
 func (w *WiichuckDriver) updateButtons() {
 	if w.data["c"] == 0 {
-		gobot.Publish(w.Event(C), true)
+		w.Publish(w.Event(C), true)
 	}
 	if w.data["z"] == 0 {
-		gobot.Publish(w.Event(Z), true)
+		w.Publish(w.Event(Z), true)
 	}
 }
 
 // updateJoystick publishes event with current x and y values for joystick
 func (w *WiichuckDriver) updateJoystick() {
-	gobot.Publish(w.Event(Joystick), map[string]float64{
+	w.Publish(w.Event(Joystick), map[string]float64{
 		"x": w.calculateJoystickValue(w.data["sx"], w.joystick["sx_origin"]),
 		"y": w.calculateJoystickValue(w.data["sy"], w.joystick["sy_origin"]),
 	})