Moved gopigo3 to a platform

drivers/spi/README.MD

@@ -12,8 +12,6 @@ go get -d -u gobot.io/x/gobot/...
 ## Hardware Support
 Gobot has a extensible system for connecting to hardware devices. The following spi devices are currently supported:
 
-- GoPiGo3 robotics board (built for Rapsberry Pi, but in theory it could be used in another platform)
-
 More drivers are coming soon...
 
 ## Using A Different Bus or Address

drivers/spi/spi.go

@@ -99,43 +99,3 @@ func (c *SpiConnection) SetMode(mode xspi.Mode) error {
 func (c *SpiConnection) Tx(w, r []byte) error {
 	return c.bus.Tx(w, r)
 }
-
-func (c *SpiConnection) ReadBytes(address byte, msg byte, numBytes int) (val []byte, err error) {
-	w := make([]byte, numBytes)
-	w[0] = address
-	w[1] = msg
-	r := make([]byte, len(w))
-	err = c.Tx(w, r)
-	if err != nil {
-		return val, err
-	}
-	return r, nil
-}
-
-func (c *SpiConnection) ReadUint8(address, msg byte) (val uint8, err error) {
-	r, err := c.ReadBytes(address, msg, 8)
-	if err != nil {
-		return val, err
-	}
-	return uint8(r[4]) << 8, nil
-}
-
-func (c *SpiConnection) ReadUint16(address, msg byte) (val uint16, err error) {
-	r, err := c.ReadBytes(address, msg, 8)
-	if err != nil {
-		return val, err
-	}
-	return uint16(r[4])<<8 | uint16(r[5]), nil
-}
-
-func (c *SpiConnection) ReadUint32(address, msg byte) (val uint32, err error) {
-	r, err := c.ReadBytes(address, msg, 8)
-	if err != nil {
-		return val, err
-	}
-	return uint32(r[4])<<24 | uint32(r[5])<<16 | uint32(r[6])<<8 | uint32(r[7]), nil
-}
-
-func (c *SpiConnection) WriteBytes(w []byte) (err error) {
-	return c.Tx(w, nil)
-}

examples/gopigo3.go

@@ -0,0 +1,41 @@
+// +build example
+//
+// Do not build by default.
+
+package main
+
+import (
+	"fmt"
+	"time"
+
+	"gobot.io/x/gobot"
+	g "gobot.io/x/gobot/platforms/gopigo3"
+)
+
+func main() {
+	gopigo3Adaptor := g.NewAdaptor("/dev/spidev0.1", 0, 500000)
+	gopigo3 := g.NewGoPiGo3Driver(gopigo3Adaptor)
+
+	work := func() {
+		on := uint8(0xFF)
+		gobot.Every(1000*time.Millisecond, func() {
+			err := gopigo3.SetLED(g.LED_EYE_RIGHT, 0x00, 0x00, on)
+			if err != nil {
+				fmt.Println(err)
+			}
+			err = gopigo3.SetLED(g.LED_EYE_LEFT, ^on, 0x00, 0x00)
+			if err != nil {
+				fmt.Println(err)
+			}
+			on = ^on
+		})
+	}
+
+	robot := gobot.NewRobot("gopigo3",
+		[]gobot.Connection{gopigo3Adaptor},
+		[]gobot.Device{gopigo3},
+		work,
+	)
+
+	robot.Start()
+}

platforms/gopigo3/README.md

@@ -0,0 +1,52 @@
+# GoPiGo3
+
+The GoPiGo3 is a robotics controller by Dexter Industries that is compatible with the Raspberry Pi.
+
+## How to Install
+
+```
+go get -d -u gobot.io/x/gobot/...
+```
+
+## How to Use
+This example will blink the left and right leds red/blue.
+
+```go
+package main
+
+import (
+	"fmt"
+	"time"
+
+	"gobot.io/x/gobot"
+	g "gobot.io/x/gobot/platforms/gopigo3"
+)
+
+func main() {
+	gopigo3Adaptor := g.NewAdaptor("/dev/spidev0.1", 0, 500000)
+	gopigo3 := g.NewGoPiGo3Driver(gopigo3Adaptor)
+
+	work := func() {
+		on := uint8(0xFF)
+		gobot.Every(1000*time.Millisecond, func() {
+			err := gopigo3.SetLED(g.LED_EYE_RIGHT, 0x00, 0x00, on)
+			if err != nil {
+				fmt.Println(err)
+			}
+			err = gopigo3.SetLED(g.LED_EYE_LEFT, ^on, 0x00, 0x00)
+			if err != nil {
+				fmt.Println(err)
+			}
+			on = ^on
+		})
+	}
+
+	robot := gobot.NewRobot("gopigo3",
+		[]gobot.Connection{gopigo3Adaptor},
+		[]gobot.Device{gopigo3},
+		work,
+	)
+
+	robot.Start()
+}
+```

platforms/gopigo3/gopigo3_adaptor.go

@@ -0,0 +1,133 @@
+package gopigo3
+
+import (
+	"time"
+
+	"gobot.io/x/gobot"
+	"gobot.io/x/gobot/drivers/spi"
+	xspi "golang.org/x/exp/io/spi"
+)
+
+var _ gobot.Adaptor = (*Adaptor)(nil)
+
+type Adaptor struct {
+	name              string
+	port              string
+	spiMode           xspi.Mode
+	maxSpeed          int64
+	connection        spi.SPIDevice
+	writeBytesChannel chan []byte
+	finalizeChannel   chan struct{}
+}
+
+func NewAdaptor(port string, mode int, maxSpeed int64) *Adaptor {
+	var spiMode xspi.Mode
+	switch mode {
+	case 0:
+		spiMode = xspi.Mode0
+	case 1:
+		spiMode = xspi.Mode1
+	case 2:
+		spiMode = xspi.Mode2
+	case 3:
+		spiMode = xspi.Mode3
+	default:
+		spiMode = xspi.Mode0
+	}
+	return &Adaptor{
+		name:              "GoPiGo3",
+		port:              port,
+		spiMode:           spiMode,
+		maxSpeed:          maxSpeed,
+		connection:        nil,
+		writeBytesChannel: make(chan []byte),
+		finalizeChannel:   make(chan struct{}),
+	}
+}
+
+func (a *Adaptor) Name() string {
+	return a.name
+}
+
+func (a *Adaptor) SetName(name string) {
+	a.name = name
+}
+
+func (a *Adaptor) Connect() error {
+	if a.connection == nil {
+		devfs := &xspi.Devfs{
+			Dev:      a.port,
+			Mode:     a.spiMode,
+			MaxSpeed: a.maxSpeed,
+		}
+		con, err := xspi.Open(devfs)
+		if err != nil {
+			return err
+		}
+		a.connection = con
+	}
+	go func() {
+		for {
+			select {
+			case bytes := <-a.writeBytesChannel:
+				a.connection.Tx(bytes, nil)
+				time.Sleep(10 * time.Millisecond)
+			case <-a.finalizeChannel:
+				a.finalizeChannel <- struct{}{}
+				return
+			default:
+				time.Sleep(10 * time.Millisecond)
+			}
+		}
+	}()
+	return nil
+}
+
+func (a *Adaptor) Finalize() error {
+	a.finalizeChannel <- struct{}{}
+	<-a.finalizeChannel
+	if err := a.connection.Close(); err != nil {
+		return err
+	}
+	return nil
+}
+
+func (a *Adaptor) ReadBytes(address byte, msg byte, numBytes int) (val []byte, err error) {
+	w := make([]byte, numBytes)
+	w[0] = address
+	w[1] = msg
+	r := make([]byte, len(w))
+	err = a.connection.Tx(w, r)
+	if err != nil {
+		return val, err
+	}
+	return r, nil
+}
+
+func (a *Adaptor) ReadUint8(address, msg byte) (val uint8, err error) {
+	r, err := a.ReadBytes(address, msg, 8)
+	if err != nil {
+		return val, err
+	}
+	return uint8(r[4]) << 8, nil
+}
+
+func (a *Adaptor) ReadUint16(address, msg byte) (val uint16, err error) {
+	r, err := a.ReadBytes(address, msg, 8)
+	if err != nil {
+		return val, err
+	}
+	return uint16(r[4])<<8 | uint16(r[5]), nil
+}
+
+func (a *Adaptor) ReadUint32(address, msg byte) (val uint32, err error) {
+	r, err := a.ReadBytes(address, msg, 8)
+	if err != nil {
+		return val, err
+	}
+	return uint32(r[4])<<24 | uint32(r[5])<<16 | uint32(r[6])<<8 | uint32(r[7]), nil
+}
+
+func (a *Adaptor) WriteBytes(w []byte) (err error) {
+	return a.connection.Tx(w, nil)
+}