Update platforms to support the new Driver and Adaptor interfaces

x-itec · Nov 16, 2014 · abc1f0b · abc1f0b
1 parent 17cbf2c
commit abc1f0b
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Showing 72 changed files with 262 additions and 250 deletions.
diff --git a/Makefile b/Makefile
@@ -3,13 +3,13 @@ PACKAGES := gobot gobot/api gobot/platforms/intel-iot/edison gobot/sysfs $(shell
 
 test:
 	for package in $(PACKAGES) ; do \
-		go test github.com/hybridgroup/$$package ; \
+		go test -a github.com/hybridgroup/$$package ; \
 	done ; \
 
 cover:
 	echo "mode: count" > profile.cov ; \
 	for package in $(PACKAGES) ; do \
-		go test -covermode=count -coverprofile=tmp.cov github.com/hybridgroup/$$package ; \
+		go test -a -covermode=count -coverprofile=tmp.cov github.com/hybridgroup/$$package ; \
 		cat tmp.cov | grep -v "mode: count" >> profile.cov ; \
 	done ; \
 	rm tmp.cov ; \

diff --git a/platforms/ardrone/ardrone_adaptor.go b/platforms/ardrone/ardrone_adaptor.go
@@ -5,6 +5,8 @@ import (
 	"github.com/hybridgroup/gobot"
 )
 
+var _ gobot.AdaptorInterface = (*ArdroneAdaptor)(nil)
+
 // drone defines expected drone behaviour
 type drone interface {
 	Takeoff() bool
@@ -48,12 +50,12 @@ func NewArdroneAdaptor(name string, v ...string) *ArdroneAdaptor {
 }
 
 // Connect returns true when connection to ardrone is established correclty
-func (a *ArdroneAdaptor) Connect() bool {
+func (a *ArdroneAdaptor) Connect() error {
 	a.connect(a)
-	return true
+	return nil
 }
 
 // Finalize returns true when connection is finalized correctly
-func (a *ArdroneAdaptor) Finalize() bool {
-	return true
+func (a *ArdroneAdaptor) Finalize() error {
+	return nil
 }
diff --git a/platforms/ardrone/ardrone_adaptor_test.go b/platforms/ardrone/ardrone_adaptor_test.go
@@ -15,10 +15,10 @@ func initTestArdroneAdaptor() *ArdroneAdaptor {
 
 func TestConnect(t *testing.T) {
 	a := initTestArdroneAdaptor()
-	gobot.Assert(t, a.Connect(), true)
+	gobot.Assert(t, a.Connect(), nil)
 }
 
 func TestFinalize(t *testing.T) {
 	a := initTestArdroneAdaptor()
-	gobot.Assert(t, a.Finalize(), true)
+	gobot.Assert(t, a.Finalize(), nil)
 }
diff --git a/platforms/ardrone/ardrone_driver.go b/platforms/ardrone/ardrone_driver.go
@@ -4,6 +4,8 @@ import (
 	"github.com/hybridgroup/gobot"
 )
 
+var _ gobot.DriverInterface = (*ArdroneDriver)(nil)
+
 type ArdroneDriver struct {
 	gobot.Driver
 }
@@ -30,13 +32,13 @@ func (a *ArdroneDriver) adaptor() *ArdroneAdaptor {
 }
 
 // Start returns true if driver is started succesfully
-func (a *ArdroneDriver) Start() bool {
-	return true
+func (a *ArdroneDriver) Start() error {
+	return nil
 }
 
 // Halt returns true if driver is halted succesfully
-func (a *ArdroneDriver) Halt() bool {
-	return true
+func (a *ArdroneDriver) Halt() error {
+	return nil
 }
 
 // TakeOff makes the drone start flying

diff --git a/platforms/ardrone/ardrone_driver_test.go b/platforms/ardrone/ardrone_driver_test.go
@@ -17,12 +17,12 @@ func initTestArdroneDriver() *ArdroneDriver {
 
 func TestArdroneDriverStart(t *testing.T) {
 	d := initTestArdroneDriver()
-	gobot.Assert(t, d.Start(), true)
+	gobot.Assert(t, d.Start(), nil)
 }
 
 func TestArdroneDriverHalt(t *testing.T) {
 	d := initTestArdroneDriver()
-	gobot.Assert(t, d.Halt(), true)
+	gobot.Assert(t, d.Halt(), nil)
 }
 func TestArdroneDriverTakeOff(t *testing.T) {
 	d := initTestArdroneDriver()

diff --git a/platforms/beaglebone/beaglebone_adaptor.go b/platforms/beaglebone/beaglebone_adaptor.go
@@ -14,6 +14,7 @@ import (
 	"github.com/hybridgroup/gobot/sysfs"
 )
 
+var _ gobot.AdaptorInterface = (*BeagleboneAdaptor)(nil)
 var slots = "/sys/devices/bone_capemgr.*"
 var ocp = "/sys/devices/ocp.*"
 var usrLed = "/sys/devices/ocp.3/gpio-leds.8/leds/beaglebone:green:"
@@ -143,18 +144,18 @@ func NewBeagleboneAdaptor(name string) *BeagleboneAdaptor {
 
 // Connect returns true on a succesful connection to beaglebone board.
 // It initializes digital, pwm and analog pins
-func (b *BeagleboneAdaptor) Connect() bool {
+func (b *BeagleboneAdaptor) Connect() error {
 	ensureSlot(b.slots, "cape-bone-iio")
 	ensureSlot(b.slots, "am33xx_pwm")
 
 	g, _ := glob(fmt.Sprintf("%v/helper.*", b.ocp))
 	b.helper = g[0]
 
-	return true
+	return nil
 }
 
 // Finalize returns true when board connection is finalized correctly.
-func (b *BeagleboneAdaptor) Finalize() bool {
+func (b *BeagleboneAdaptor) Finalize() error {
 	for _, pin := range b.pwmPins {
 		if pin != nil {
 			pin.release()
@@ -168,7 +169,7 @@ func (b *BeagleboneAdaptor) Finalize() bool {
 	if b.i2cDevice != nil {
 		b.i2cDevice.Close()
 	}
-	return true
+	return nil
 }
 
 // PwmWrite writes value in specified pin

diff --git a/platforms/beaglebone/beaglebone_adaptor_test.go b/platforms/beaglebone/beaglebone_adaptor_test.go
@@ -108,5 +108,5 @@ func TestBeagleboneAdaptor(t *testing.T) {
 	a.I2cWrite([]byte{0x00, 0x01})
 	gobot.Assert(t, a.I2cRead(2), []byte{0x00, 0x01})
 
-	gobot.Assert(t, a.Finalize(), true)
+	gobot.Assert(t, a.Finalize(), nil)
 }
diff --git a/platforms/digispark/digispark_adaptor.go b/platforms/digispark/digispark_adaptor.go
@@ -6,6 +6,8 @@ import (
 	"github.com/hybridgroup/gobot"
 )
 
+var _ gobot.AdaptorInterface = (*DigisparkAdaptor)(nil)
+
 type DigisparkAdaptor struct {
 	gobot.Adaptor
 	littleWire lw
@@ -28,13 +30,13 @@ func NewDigisparkAdaptor(name string) *DigisparkAdaptor {
 }
 
 // Connect starts connection to digispark, returns true if successful
-func (d *DigisparkAdaptor) Connect() bool {
+func (d *DigisparkAdaptor) Connect() error {
 	d.connect(d)
-	return true
+	return nil
 }
 
 // Finalize returns true if finalization is successful
-func (d *DigisparkAdaptor) Finalize() bool { return true }
+func (d *DigisparkAdaptor) Finalize() error { return nil }
 
 // DigitalWrite writes level to specified pin using littlewire
 func (d *DigisparkAdaptor) DigitalWrite(pin string, level byte) {

diff --git a/platforms/digispark/digispark_adaptor_test.go b/platforms/digispark/digispark_adaptor_test.go
@@ -49,12 +49,12 @@ func initTestDigisparkAdaptor() *DigisparkAdaptor {
 
 func TestDigisparkAdaptorFinalize(t *testing.T) {
 	a := initTestDigisparkAdaptor()
-	gobot.Assert(t, a.Finalize(), true)
+	gobot.Assert(t, a.Finalize(), nil)
 }
 
 func TestDigisparkAdaptorConnect(t *testing.T) {
 	a := initTestDigisparkAdaptor()
-	gobot.Assert(t, a.Connect(), true)
+	gobot.Assert(t, a.Connect(), nil)
 }
 
 func TestDigisparkAdaptorIO(t *testing.T) {

diff --git a/platforms/firmata/firmata_adaptor.go b/platforms/firmata/firmata_adaptor.go
@@ -9,6 +9,8 @@ import (
 	"github.com/tarm/goserial"
 )
 
+var _ gobot.AdaptorInterface = (*FirmataAdaptor)(nil)
+
 type FirmataAdaptor struct {
 	gobot.Adaptor
 	board      *board
@@ -36,25 +38,25 @@ func NewFirmataAdaptor(name, port string) *FirmataAdaptor {
 }
 
 // Connect returns true if connection to board is succesfull
-func (f *FirmataAdaptor) Connect() bool {
+func (f *FirmataAdaptor) Connect() error {
 	f.connect(f)
 	f.board.connect()
 	f.SetConnected(true)
-	return true
+	return nil
 }
 
 // close finishes connection to serial port
 // Prints error message on error
-func (f *FirmataAdaptor) Disconnect() bool {
+func (f *FirmataAdaptor) Disconnect() error {
 	err := f.board.serial.Close()
 	if err != nil {
 		fmt.Println(err)
 	}
-	return true
+	return nil
 }
 
 // Finalize disconnects firmata adaptor
-func (f *FirmataAdaptor) Finalize() bool { return f.Disconnect() }
+func (f *FirmataAdaptor) Finalize() error { return f.Disconnect() }
 
 // InitServo (not yet implemented)
 func (f *FirmataAdaptor) InitServo() {}

diff --git a/platforms/firmata/firmata_adaptor_test.go b/platforms/firmata/firmata_adaptor_test.go
@@ -36,11 +36,11 @@ func initTestFirmataAdaptor() *FirmataAdaptor {
 
 func TestFirmataAdaptorFinalize(t *testing.T) {
 	a := initTestFirmataAdaptor()
-	gobot.Assert(t, a.Finalize(), true)
+	gobot.Assert(t, a.Finalize(), nil)
 }
 func TestFirmataAdaptorConnect(t *testing.T) {
 	a := initTestFirmataAdaptor()
-	gobot.Assert(t, a.Connect(), true)
+	gobot.Assert(t, a.Connect(), nil)
 }
 
 func TestFirmataAdaptorInitServo(t *testing.T) {

diff --git a/platforms/gpio/analog_sensor_driver.go b/platforms/gpio/analog_sensor_driver.go
@@ -4,6 +4,8 @@ import (
 	"github.com/hybridgroup/gobot"
 )
 
+var _ gobot.DriverInterface = (*AnalogSensorDriver)(nil)
+
 // Represents an Analog Sensor
 type AnalogSensorDriver struct {
 	gobot.Driver
@@ -39,7 +41,7 @@ func (a *AnalogSensorDriver) adaptor() AnalogReader {
 // Returns true on successful start of the driver.
 // Emits the Events:
 //	"data" int - Event is emitted on change and represents the current reading from the sensor.
-func (a *AnalogSensorDriver) Start() bool {
+func (a *AnalogSensorDriver) Start() error {
 	value := 0
 	gobot.Every(a.Interval(), func() {
 		newValue := a.Read()
@@ -48,11 +50,11 @@ func (a *AnalogSensorDriver) Start() bool {
 			gobot.Publish(a.Event("data"), value)
 		}
 	})
-	return true
+	return nil
 }
 
 // Halt returns true on a successful halt of the driver
-func (a *AnalogSensorDriver) Halt() bool { return true }
+func (a *AnalogSensorDriver) Halt() error { return nil }
 
 // Read returns the current reading from the Analog Sensor
 func (a *AnalogSensorDriver) Read() int {

diff --git a/platforms/gpio/analog_sensor_driver_test.go b/platforms/gpio/analog_sensor_driver_test.go
@@ -12,12 +12,12 @@ func initTestAnalogSensorDriver() *AnalogSensorDriver {
 
 func TestAnalogSensorDriverStart(t *testing.T) {
 	d := initTestAnalogSensorDriver()
-	gobot.Assert(t, d.Start(), true)
+	gobot.Assert(t, d.Start(), nil)
 }
 
 func TestAnalogSensorDriverHalt(t *testing.T) {
 	d := initTestAnalogSensorDriver()
-	gobot.Assert(t, d.Halt(), true)
+	gobot.Assert(t, d.Halt(), nil)
 }
 
 func TestAnalogSensorDriverRead(t *testing.T) {

diff --git a/platforms/gpio/button_driver.go b/platforms/gpio/button_driver.go
@@ -4,6 +4,8 @@ import (
 	"github.com/hybridgroup/gobot"
 )
 
+var _ gobot.DriverInterface = (*ButtonDriver)(nil)
+
 // Represents a digital Button
 type ButtonDriver struct {
 	gobot.Driver
@@ -38,7 +40,7 @@ func (b *ButtonDriver) adaptor() DigitalReader {
 // Emits the Events:
 // 	"push"    int - On button push
 //	"release" int - On button release
-func (b *ButtonDriver) Start() bool {
+func (b *ButtonDriver) Start() error {
 	state := 0
 	gobot.Every(b.Interval(), func() {
 		newValue := b.readState()
@@ -47,11 +49,11 @@ func (b *ButtonDriver) Start() bool {
 			b.update(newValue)
 		}
 	})
-	return true
+	return nil
 }
 
 // Halt returns true on a successful halt of the driver
-func (b *ButtonDriver) Halt() bool { return true }
+func (b *ButtonDriver) Halt() error { return nil }
 
 func (b *ButtonDriver) readState() int {
 	return b.adaptor().DigitalRead(b.Pin())

diff --git a/platforms/gpio/button_driver_test.go b/platforms/gpio/button_driver_test.go
@@ -12,12 +12,12 @@ func initTestButtonDriver() *ButtonDriver {
 
 func TestButtonDriverStart(t *testing.T) {
 	d := initTestButtonDriver()
-	gobot.Assert(t, d.Start(), true)
+	gobot.Assert(t, d.Start(), nil)
 }
 
 func TestButtonDriverHalt(t *testing.T) {
 	d := initTestButtonDriver()
-	gobot.Assert(t, d.Halt(), true)
+	gobot.Assert(t, d.Halt(), nil)
 }
 
 func TestButtonDriverReadState(t *testing.T) {

diff --git a/platforms/gpio/direct_pin_driver.go b/platforms/gpio/direct_pin_driver.go
@@ -6,6 +6,8 @@ import (
 	"github.com/hybridgroup/gobot"
 )
 
+var _ gobot.DriverInterface = (*DirectPinDriver)(nil)
+
 // Represents a raw GPIO pin
 type DirectPinDriver struct {
 	gobot.Driver
@@ -65,10 +67,10 @@ func (d *DirectPinDriver) adaptor() DirectPin {
 }
 
 // Starts the DirectPinDriver. Returns true on successful start of the driver
-func (d *DirectPinDriver) Start() bool { return true }
+func (d *DirectPinDriver) Start() error { return nil }
 
 // Halts the DirectPinDriver. Returns true on successful halt of the driver
-func (d *DirectPinDriver) Halt() bool { return true }
+func (d *DirectPinDriver) Halt() error { return nil }
 
 // DigitalRead returns the current digital state of the pin
 func (d *DirectPinDriver) DigitalRead() int {

diff --git a/platforms/gpio/direct_pin_driver_test.go b/platforms/gpio/direct_pin_driver_test.go
@@ -12,12 +12,12 @@ func initTestDirectPinDriver() *DirectPinDriver {
 
 func TestDirectPinDriverStart(t *testing.T) {
 	d := initTestDirectPinDriver()
-	gobot.Assert(t, d.Start(), true)
+	gobot.Assert(t, d.Start(), nil)
 }
 
 func TestDirectPinDriverHalt(t *testing.T) {
 	d := initTestDirectPinDriver()
-	gobot.Assert(t, d.Halt(), true)
+	gobot.Assert(t, d.Halt(), nil)
 }
 
 func TestDirectPinDriverDigitalRead(t *testing.T) {

diff --git a/platforms/gpio/led_driver.go b/platforms/gpio/led_driver.go
@@ -4,6 +4,8 @@ import (
 	"github.com/hybridgroup/gobot"
 )
 
+var _ gobot.DriverInterface = (*LedDriver)(nil)
+
 // Represents a digital Led
 type LedDriver struct {
 	gobot.Driver
@@ -57,10 +59,10 @@ func (l *LedDriver) adaptor() PwmDigitalWriter {
 }
 
 // Start starts the LedDriver. Returns true on successful start of the driver
-func (l *LedDriver) Start() bool { return true }
+func (l *LedDriver) Start() error { return nil }
 
 // Halt halts the LedDriver. Returns true on successful halt of the driver
-func (l *LedDriver) Halt() bool { return true }
+func (l *LedDriver) Halt() error { return nil }
 
 // State return true if the led is On and false if the led is Off
 func (l *LedDriver) State() bool {