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core: Refactor Firmata platform for new Adaptor creation signature
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Signed-off-by: deadprogram <[email protected]>
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@deadprogram
deadprogram committed Sep 25, 2016
1 parent 12a5cec commit 6d4b992
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Showing 4 changed files with 72 additions and 71 deletions.
6 changes: 3 additions & 3 deletions platforms/firmata/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -22,14 +22,14 @@ import (

"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot/platforms/firmata"
"github.com/hybridgroup/gobot/platforms/gpio"
"github.com/hybridgroup/gobot/drivers/gpio"
)

func main() {
gbot := gobot.NewGobot()

firmataAdaptor := firmata.NewFirmataAdaptor("arduino", "/dev/ttyACM0")
led := gpio.NewLedDriver(firmataAdaptor, "led", "13")
firmataAdaptor := firmata.NewAdaptor("/dev/ttyACM0")
led := gpio.NewLedDriver(firmataAdaptor, "13")

work := func() {
gobot.Every(1*time.Second, func() {
Expand Down
6 changes: 3 additions & 3 deletions platforms/firmata/doc.go
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Original file line number Diff line number Diff line change
Expand Up @@ -14,14 +14,14 @@ Example:
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot/platforms/firmata"
"github.com/hybridgroup/gobot/platforms/gpio"
"github.com/hybridgroup/gobot/drivers/gpio"
)
func main() {
gbot := gobot.NewGobot()
firmataAdaptor := firmata.NewFirmataAdaptor("arduino", "/dev/ttyACM0")
led := gpio.NewLedDriver(firmataAdaptor, "led", "13")
firmataAdaptor := firmata.NewAdaptor("/dev/ttyACM0")
led := gpio.NewLedDriver(firmataAdaptor, "13")
work := func() {
gobot.Every(1*time.Second, func() {
Expand Down
56 changes: 29 additions & 27 deletions platforms/firmata/firmata_adaptor.go
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Original file line number Diff line number Diff line change
Expand Up @@ -26,8 +26,8 @@ type firmataBoard interface {
Event(string) string
}

// FirmataAdaptor is the Gobot Adaptor for Firmata based boards
type FirmataAdaptor struct {
// Adaptor is the Gobot Adaptor for Firmata based boards
type Adaptor struct {
name string
port string
board firmataBoard
Expand All @@ -36,18 +36,17 @@ type FirmataAdaptor struct {
gobot.Eventer
}

// NewFirmataAdaptor returns a new FirmataAdaptor with specified name and optionally accepts:
// NewAdaptor returns a new Firmata Adaptor which optionally accepts:
//
// string: port the FirmataAdaptor uses to connect to a serial port with a baude rate of 57600
// io.ReadWriteCloser: connection the FirmataAdaptor uses to communication with the hardware
// string: port the Adaptor uses to connect to a serial port with a baude rate of 57600
// io.ReadWriteCloser: connection the Adaptor uses to communication with the hardware
//
// If an io.ReadWriteCloser is not supplied, the FirmataAdaptor will open a connection
// If an io.ReadWriteCloser is not supplied, the Adaptor will open a connection
// to a serial port with a baude rate of 57600. If an io.ReadWriteCloser
// is supplied, then the FirmataAdaptor will use the provided io.ReadWriteCloser and use the
// is supplied, then the Adaptor will use the provided io.ReadWriteCloser and use the
// string port as a label to be displayed in the log and api.
func NewFirmataAdaptor(name string, args ...interface{}) *FirmataAdaptor {
f := &FirmataAdaptor{
name: name,
func NewAdaptor(args ...interface{}) *Adaptor {
f := &Adaptor{
port: "",
conn: nil,
board: client.New(),
Expand All @@ -70,7 +69,7 @@ func NewFirmataAdaptor(name string, args ...interface{}) *FirmataAdaptor {
}

// Connect starts a connection to the board.
func (f *FirmataAdaptor) Connect() (errs []error) {
func (f *Adaptor) Connect() (errs []error) {
if f.conn == nil {
sp, err := f.openSP(f.Port())
if err != nil {
Expand All @@ -85,29 +84,32 @@ func (f *FirmataAdaptor) Connect() (errs []error) {
}

// Disconnect closes the io connection to the board
func (f *FirmataAdaptor) Disconnect() (err error) {
func (f *Adaptor) Disconnect() (err error) {
if f.board != nil {
return f.board.Disconnect()
}
return nil
}

// Finalize terminates the firmata connection
func (f *FirmataAdaptor) Finalize() (errs []error) {
func (f *Adaptor) Finalize() (errs []error) {
if err := f.Disconnect(); err != nil {
return []error{err}
}
return
}

// Port returns the FirmataAdaptors port
func (f *FirmataAdaptor) Port() string { return f.port }
// Port returns the Firmata Adaptors port
func (f *Adaptor) Port() string { return f.port }

// Name returns the FirmataAdaptors name
func (f *FirmataAdaptor) Name() string { return f.name }
// Name returns the Firmata Adaptors name
func (f *Adaptor) Name() string { return f.name }

// SetName sets the Firmata Adaptors name
func (f *Adaptor) SetName(n string) { f.name = n }

// ServoConfig sets the pulse width in microseconds for a pin attached to a servo
func (f *FirmataAdaptor) ServoConfig(pin string, min, max int) error {
func (f *Adaptor) ServoConfig(pin string, min, max int) error {
p, err := strconv.Atoi(pin)
if err != nil {
return err
Expand All @@ -117,7 +119,7 @@ func (f *FirmataAdaptor) ServoConfig(pin string, min, max int) error {
}

// ServoWrite writes the 0-180 degree angle to the specified pin.
func (f *FirmataAdaptor) ServoWrite(pin string, angle byte) (err error) {
func (f *Adaptor) ServoWrite(pin string, angle byte) (err error) {
p, err := strconv.Atoi(pin)
if err != nil {
return err
Expand All @@ -134,7 +136,7 @@ func (f *FirmataAdaptor) ServoWrite(pin string, angle byte) (err error) {
}

// PwmWrite writes the 0-254 value to the specified pin
func (f *FirmataAdaptor) PwmWrite(pin string, level byte) (err error) {
func (f *Adaptor) PwmWrite(pin string, level byte) (err error) {
p, err := strconv.Atoi(pin)
if err != nil {
return err
Expand All @@ -151,7 +153,7 @@ func (f *FirmataAdaptor) PwmWrite(pin string, level byte) (err error) {
}

// DigitalWrite writes a value to the pin. Acceptable values are 1 or 0.
func (f *FirmataAdaptor) DigitalWrite(pin string, level byte) (err error) {
func (f *Adaptor) DigitalWrite(pin string, level byte) (err error) {
p, err := strconv.Atoi(pin)
if err != nil {
return
Expand All @@ -170,7 +172,7 @@ func (f *FirmataAdaptor) DigitalWrite(pin string, level byte) (err error) {

// DigitalRead retrieves digital value from specified pin.
// Returns -1 if the response from the board has timed out
func (f *FirmataAdaptor) DigitalRead(pin string) (val int, err error) {
func (f *Adaptor) DigitalRead(pin string) (val int, err error) {
p, err := strconv.Atoi(pin)
if err != nil {
return
Expand All @@ -191,7 +193,7 @@ func (f *FirmataAdaptor) DigitalRead(pin string) (val int, err error) {

// AnalogRead retrieves value from analog pin.
// Returns -1 if the response from the board has timed out
func (f *FirmataAdaptor) AnalogRead(pin string) (val int, err error) {
func (f *Adaptor) AnalogRead(pin string) (val int, err error) {
p, err := strconv.Atoi(pin)
if err != nil {
return
Expand All @@ -214,18 +216,18 @@ func (f *FirmataAdaptor) AnalogRead(pin string) (val int, err error) {
}

// digitalPin converts pin number to digital mapping
func (f *FirmataAdaptor) digitalPin(pin int) int {
func (f *Adaptor) digitalPin(pin int) int {
return pin + 14
}

// I2cStart starts an i2c device at specified address
func (f *FirmataAdaptor) I2cStart(address int) (err error) {
func (f *Adaptor) I2cStart(address int) (err error) {
return f.board.I2cConfig(0)
}

// I2cRead returns size bytes from the i2c device
// Returns an empty array if the response from the board has timed out
func (f *FirmataAdaptor) I2cRead(address int, size int) (data []byte, err error) {
func (f *Adaptor) I2cRead(address int, size int) (data []byte, err error) {
ret := make(chan []byte)

if err = f.board.I2cRead(address, size); err != nil {
Expand All @@ -242,6 +244,6 @@ func (f *FirmataAdaptor) I2cRead(address int, size int) (data []byte, err error)
}

// I2cWrite writes data to i2c device
func (f *FirmataAdaptor) I2cWrite(address int, data []byte) (err error) {
func (f *Adaptor) I2cWrite(address int, data []byte) (err error) {
return f.board.I2cWrite(address, data)
}
75 changes: 37 additions & 38 deletions platforms/firmata/firmata_adaptor_test.go
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Original file line number Diff line number Diff line change
Expand Up @@ -10,21 +10,21 @@ import (
"time"

"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot/drivers/gpio"
"github.com/hybridgroup/gobot/drivers/i2c"
"github.com/hybridgroup/gobot/gobottest"
"github.com/hybridgroup/gobot/platforms/firmata/client"
"github.com/hybridgroup/gobot/platforms/gpio"
"github.com/hybridgroup/gobot/platforms/i2c"
)

var _ gobot.Adaptor = (*FirmataAdaptor)(nil)
var _ gobot.Adaptor = (*Adaptor)(nil)

var _ gpio.DigitalReader = (*FirmataAdaptor)(nil)
var _ gpio.DigitalWriter = (*FirmataAdaptor)(nil)
var _ gpio.AnalogReader = (*FirmataAdaptor)(nil)
var _ gpio.PwmWriter = (*FirmataAdaptor)(nil)
var _ gpio.ServoWriter = (*FirmataAdaptor)(nil)
var _ gpio.DigitalReader = (*Adaptor)(nil)
var _ gpio.DigitalWriter = (*Adaptor)(nil)
var _ gpio.AnalogReader = (*Adaptor)(nil)
var _ gpio.PwmWriter = (*Adaptor)(nil)
var _ gpio.ServoWriter = (*Adaptor)(nil)

var _ i2c.I2c = (*FirmataAdaptor)(nil)
var _ i2c.I2c = (*Adaptor)(nil)

type readWriteCloser struct{}

Expand Down Expand Up @@ -87,8 +87,8 @@ func (mockFirmataBoard) I2cWrite(int, []byte) error { return nil }
func (mockFirmataBoard) I2cConfig(int) error { return nil }
func (mockFirmataBoard) ServoConfig(int, int, int) error { return nil }

func initTestFirmataAdaptor() *FirmataAdaptor {
a := NewFirmataAdaptor("board", "/dev/null")
func initTestAdaptor() *Adaptor {
a := NewAdaptor("/dev/null")
a.board = newMockFirmataBoard()
a.openSP = func(port string) (io.ReadWriteCloser, error) {
return &readWriteCloser{}, nil
Expand All @@ -97,78 +97,77 @@ func initTestFirmataAdaptor() *FirmataAdaptor {
return a
}

func TestFirmataAdaptor(t *testing.T) {
a := initTestFirmataAdaptor()
gobottest.Assert(t, a.Name(), "board")
func TestAdaptor(t *testing.T) {
a := initTestAdaptor()
gobottest.Assert(t, a.Port(), "/dev/null")
}

func TestFirmataAdaptorFinalize(t *testing.T) {
a := initTestFirmataAdaptor()
func TestAdaptorFinalize(t *testing.T) {
a := initTestAdaptor()
gobottest.Assert(t, len(a.Finalize()), 0)

a = initTestFirmataAdaptor()
a = initTestAdaptor()
a.board.(*mockFirmataBoard).disconnectError = errors.New("close error")
gobottest.Assert(t, a.Finalize()[0], errors.New("close error"))
}

func TestFirmataAdaptorConnect(t *testing.T) {
func TestAdaptorConnect(t *testing.T) {
var openSP = func(port string) (io.ReadWriteCloser, error) {
return &readWriteCloser{}, nil
}
a := NewFirmataAdaptor("board", "/dev/null")
a := NewAdaptor("/dev/null")
a.openSP = openSP
a.board = newMockFirmataBoard()
gobottest.Assert(t, len(a.Connect()), 0)

a = NewFirmataAdaptor("board", "/dev/null")
a = NewAdaptor("/dev/null")
a.board = newMockFirmataBoard()
a.openSP = func(port string) (io.ReadWriteCloser, error) {
return nil, errors.New("connect error")
}
gobottest.Assert(t, a.Connect()[0], errors.New("connect error"))

a = NewFirmataAdaptor("board", &readWriteCloser{})
a = NewAdaptor(&readWriteCloser{})
a.board = newMockFirmataBoard()
gobottest.Assert(t, len(a.Connect()), 0)

}

func TestFirmataAdaptorServoWrite(t *testing.T) {
a := initTestFirmataAdaptor()
func TestAdaptorServoWrite(t *testing.T) {
a := initTestAdaptor()
a.ServoWrite("1", 50)
}

func TestFirmataAdaptorPwmWrite(t *testing.T) {
a := initTestFirmataAdaptor()
func TestAdaptorPwmWrite(t *testing.T) {
a := initTestAdaptor()
a.PwmWrite("1", 50)
}

func TestFirmataAdaptorDigitalWrite(t *testing.T) {
a := initTestFirmataAdaptor()
func TestAdaptorDigitalWrite(t *testing.T) {
a := initTestAdaptor()
a.DigitalWrite("1", 1)
}

func TestFirmataAdaptorDigitalRead(t *testing.T) {
a := initTestFirmataAdaptor()
func TestAdaptorDigitalRead(t *testing.T) {
a := initTestAdaptor()
val, err := a.DigitalRead("1")
gobottest.Assert(t, err, nil)
gobottest.Assert(t, val, 1)
}

func TestFirmataAdaptorAnalogRead(t *testing.T) {
a := initTestFirmataAdaptor()
func TestAdaptorAnalogRead(t *testing.T) {
a := initTestAdaptor()
val, err := a.AnalogRead("1")
gobottest.Assert(t, val, 133)
gobottest.Assert(t, err, nil)
}

func TestFirmataAdaptorI2cStart(t *testing.T) {
a := initTestFirmataAdaptor()
func TestAdaptorI2cStart(t *testing.T) {
a := initTestAdaptor()
a.I2cStart(0x00)
}
func TestFirmataAdaptorI2cRead(t *testing.T) {
a := initTestFirmataAdaptor()
func TestAdaptorI2cRead(t *testing.T) {
a := initTestAdaptor()
i := []byte{100}
i2cReply := client.I2cReply{Data: i}
go func() {
Expand All @@ -179,13 +178,13 @@ func TestFirmataAdaptorI2cRead(t *testing.T) {
gobottest.Assert(t, err, nil)
gobottest.Assert(t, data, i)
}
func TestFirmataAdaptorI2cWrite(t *testing.T) {
a := initTestFirmataAdaptor()
func TestAdaptorI2cWrite(t *testing.T) {
a := initTestAdaptor()
a.I2cWrite(0x00, []byte{0x00, 0x01})
}

func TestServoConfig(t *testing.T) {
a := initTestFirmataAdaptor()
a := initTestAdaptor()
err := a.ServoConfig("9", 0, 0)
gobottest.Assert(t, err, nil)

Expand Down

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