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Merge pull request #922 from hybridgroup/dev

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code for next release
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8
.github/pull_request_template.md vendored
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@ -4,18 +4,20 @@
## Manual test
* OS and Version (Win/Mac/Linux):
* Adaptor(s) and/or driver(s):
- OS and Version (Win/Mac/Linux):
- Adaptor(s) and/or driver(s):
...
## Checklist
- [ ] The PR's target branch is 'hybridgroup:dev'
- [ ] I have performed a self-review of my own code
- [ ] I have added tests that prove my fix is effective or that my feature works
- [ ] New and existing unit tests pass locally with my changes (e.g. by run `make test`)
- [ ] No linter errors exist locally (e.g. by run `make fmt_check`)
- [ ] I have performed a self-review of my own code
If this is a new driver or adaptor:
- [ ] I have added the name to the corresponding README.md
- [ ] I have added an example to see how to setup and use it
- [ ] I have checked or build at least my new example (e.g. by run `make examples_check`)

47
.github/workflows/golangci-lint.yml vendored Normal file
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@ -0,0 +1,47 @@
name: golangci-lint
on:
push:
tags:
- v*
branches:
- dev
pull_request:
permissions:
contents: read
# Optional: allow read access to pull request. Use with `only-new-issues` option.
# pull-requests: read
jobs:
golangci:
name: lint
runs-on: ubuntu-latest
steps:
- uses: actions/setup-go@v4
with:
go-version: '1.17'
cache: false
- uses: actions/checkout@v3
- name: golangci-lint
uses: golangci/golangci-lint-action@v3
with:
# Optional: version of golangci-lint to use in form of v1.2 or v1.2.3 or `latest` to use the latest version
version: v1.52.2
# Optional: working directory, useful for monorepos
# working-directory: somedir
# Optional: golangci-lint command line arguments.
# mostly there is no problem locally, but on server: "could not import C (cgo preprocessing failed) (typecheck)"
args: --skip-files platforms/digispark/littleWire.go
# Optional: show only new issues if it's a pull request. The default value is `false`.
# only-new-issues: true
# Optional: if set to true then the all caching functionality will be complete disabled,
# takes precedence over all other caching options.
# skip-cache: true
# Optional: if set to true then the action don't cache or restore ~/go/pkg.
# skip-pkg-cache: true
# Optional: if set to true then the action don't cache or restore ~/.cache/go-build.
# skip-build-cache: true

61
.golangci.yml Normal file
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@ -0,0 +1,61 @@
run:
# Timeout for analysis, e.g. 30s, 5m.
# gobot is very expensive, on a machine with heavy load it takes some minutes
# for first run or after empty the cache by 'golangci-lint cache clean'
# Default: 1m
timeout: 5m
# If set we pass it to "go list -mod={option}". From "go help modules":
# If invoked with -mod=readonly, the go command is disallowed from the implicit
# automatic updating of go.mod described above. Instead, it fails when any changes
# to go.mod are needed. This setting is most useful to check that go.mod does
# not need updates, such as in a continuous integration and testing system.
# If invoked with -mod=vendor, the go command assumes that the vendor
# directory holds the correct copies of dependencies and ignores
# the dependency descriptions in go.mod.
#
# Allowed values: readonly|vendor|mod
# By default, it isn't set.
modules-download-mode: readonly
# Enables skipping of directories:
# - vendor$, third_party$, testdata$, examples$, Godeps$, builtin$
# Default: true
skip-dirs-use-default: false
# note: examples will be currently omitted by the build tag
skip-dirs:
- platforms/opencv
linters:
# Enable specific linter
# https://golangci-lint.run/usage/linters/#enabled-by-default
# note: typecheck can not be disabled, it is used to check code compilation
#
# TODO: this default linters needs to be disabled to run successfully, we have to fix
# all issues step by step to enable at least the default linters
disable:
- errcheck
- ineffassign
#- staticcheck
- unused
enable:
- nolintlint
linters-settings:
nolintlint:
# Enable to require an explanation of nonzero length after each nolint directive.
# Default: false
require-explanation: true
# Enable to require nolint directives to mention the specific linter being suppressed.
# Default: false
require-specific: true
revive:
rules:
# https://github.com/mgechev/revive/blob/master/RULES_DESCRIPTIONS.md#unexported-return
# disable this rule, because sometimes it has its justification
- name: unexported-return
severity: warning
disabled: true

55
CONTRIBUTING.md
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@ -1,6 +1,7 @@
# Contributing to Gobot
## Target Branch
**Please open all non-hotfix PRs against the `dev` branch!**
Gobot follows a ["git flow"](http://nvie.com/posts/a-successful-git-branching-model/)-style model for managing development.
@ -19,23 +20,27 @@ This document will guide you through the contribution process.
What do you want to contribute?
- I want to otherwise correct or improve the docs or examples
- I want to report a bug
- I want to add some feature or functionality to an existing hardware platform
- I want to add support for a new hardware platform
* I want to otherwise correct or improve the docs or examples
* I want to report a bug
* I want to add some feature or functionality to an existing hardware platform
* I want to add support for a new hardware platform
Descriptions for each of these will eventually be provided below.
## General Guidelines
* All active development is in the `dev` branch. New or updated features must be added to the `dev` branch. Hotfixes will be considered on the `master` branch in situations where it does not alter behaviour or features, only fixes a bug.
* All active development is in the `dev` branch. New or updated features must be added to the `dev` branch. Hotfixes
will be considered on the `master` branch in situations where it does not alter behavior or features, only fixes a bug.
* All patches must be provided under the Apache 2.0 License
* Please use the -S option in git to "sign off" that the commit is your work and you are providing it under the Apache 2.0 License
* Please use the -S option in git to "sign off" that the commit is your work and you are providing it under the
Apache 2.0 License
* Submit a Github Pull Request to the appropriate branch and ideally discuss the changes with us in IRC.
* We will look at the patch, test it out, and give you feedback.
* Avoid doing minor whitespace changes, renamings, etc. along with merged content. These will be done by the maintainers from time to time but they can complicate merges and should be done seperately.
* Avoid doing minor whitespace changes, renamings, etc. along with merged content. These will be done by the maintainers
from time to time but they can complicate merges and should be done separately.
* Take care to maintain the existing coding style.
* `golint` and `go fmt` your code.
* `golangci-lint` your code, see [instruction for local installation](https://golangci-lint.run/usage/install/#local-installation)
* `go fmt` your code (with the go version of go.mod)
* Add unit tests for any new or changed functionality.
* All pull requests should be "fast forward"
* If there are commits after yours use “git rebase -i <new_head_branch>”
@ -43,6 +48,7 @@ Descriptions for each of these will eventually be provided below.
* For git help see [progit](http://git-scm.com/book) which is an awesome (and free) book on git
## Creating Pull Requests
Because Gobot makes use of self-referencing import paths, you will want
to implement the local copy of your fork as a remote on your copy of the
original Gobot repo. Katrina Owen has [an excellent post on this workflow](https://splice.com/blog/contributing-open-source-git-repositories-go/).
@ -53,34 +59,38 @@ The basics are as follows:
2. `go get` the upstream repo and set it up as the `upstream` remote and your own repo as the `origin` remote:
`go get gobot.io/x/gobot`
`cd $GOPATH/src/gobot.io/x/gobot`
`git remote rename origin upstream`
`git remote add origin git@github.com/YOUR_GITHUB_NAME/gobot`
`go get gobot.io/x/gobot/v2`
`cd $GOPATH/src/gobot.io/x/gobot`
`git remote rename origin upstream`
`git remote add origin git@github.com/YOUR_GITHUB_NAME/gobot`
All import paths should now work fine assuming that you've got the
proper branch checked out.
All import paths should now work fine assuming that you've got the
proper branch checked out.
3. Get all the needed gobot's dependencies each of them at their needed version. Gobot uses [dep (Dependency management for Go)](https://golang.github.io/dep/) to manage the project's dependencies. To get all the correct dependencies:
3. Get all the needed gobot's dependencies each of them at their needed version. Gobot uses
[dep (Dependency management for Go)](https://golang.github.io/dep/) to manage the project's dependencies. To get all
the correct dependencies:
* Install dep tool. Follow the dep [installation](https://golang.github.io/dep/docs/installation.html) instructions in case you don't have it already installed.
* `cd $GOPATH/src/gobot.io/x/gobot`
* `dep ensure` will fetch all the dependencies at their needed version.
* Install dep tool. Follow the dep [installation](https://golang.github.io/dep/docs/installation.html) instructions in
case you don't have it already installed.
* `cd $GOPATH/src/gobot.io/x/gobot`
* `dep ensure` will fetch all the dependencies at their needed version.
## Landing Pull Requests
(This is for committers only. If you are unsure whether you are a committer, you are not.)
1. Set the contributor's fork as an upstream on your checkout
`git remote add contrib1 https://github.com/contrib1/gobot`
`git remote add contrib1 https://github.com/contrib1/gobot`
2. Fetch the contributor's repo
`git fetch contrib1`
`git fetch contrib1`
3. Checkout a copy of the PR branch
`git checkout pr-1234 --track contrib1/branch-for-pr-1234`
`git checkout pr-1234 --track contrib1/branch-for-pr-1234`
4. Review the PR as normal
@ -104,7 +114,8 @@ By making a contribution to this project, I certify that:
## Code of Conduct
Gobot is released with a Contributor Code of Conduct. By participating in this project you agree to abide by its terms. [You can read about it here](CODE_OF_CONDUCT.md).
Gobot is released with a Contributor Code of Conduct. By participating in this project you agree to abide by its terms.
[You can read about it here](CODE_OF_CONDUCT.md).
## Origins

8
Makefile
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@ -2,10 +2,12 @@
ALL_EXAMPLES := $(shell grep -l -r --include "*.go" 'build example' ./)
# prevent examples with gocv (opencv) dependencies
EXAMPLES_NO_GOCV := $(shell grep -L 'gocv' $(ALL_EXAMPLES))
# prevent examples with joystick (sdl2) dependencies
EXAMPLES_NO_JOYSTICK := $(shell grep -L 'joystick' $(ALL_EXAMPLES))
# prevent examples with joystick (sdl2) and gocv (opencv) dependencies
EXAMPLES_NO_GOCV_JOYSTICK := $(shell grep -L 'joystick' $$(grep -L 'gocv' $(EXAMPLES_NO_GOCV)))
# used examples
EXAMPLES := $(EXAMPLES_NO_GOCV)
EXAMPLES := $(EXAMPLES_NO_GOCV_JOYSTICK)
.PHONY: test test_race test_cover robeaux version_check fmt_check fmt_fix examples examples_check $(EXAMPLES)
@ -54,8 +56,8 @@ version_check:
# Check for bad code style and other issues
fmt_check:
gofmt -l ./
go vet ./...
gofmt -l ./
golangci-lint run -v
# Fix bad code style (will only be executed, on version match)
fmt_fix: version_check

26
README.md
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@ -1,6 +1,6 @@
[![Gobot](https://raw.githubusercontent.com/hybridgroup/gobot-site/master/source/images/elements/gobot-logo-small.png)](http://gobot.io/)
[![GoDoc](https://godoc.org/gobot.io/x/gobot?status.svg)](https://godoc.org/gobot.io/x/gobot)
[![GoDoc](https://godoc.org/gobot.io/x/gobot/v2?status.svg)](https://godoc.org/gobot.io/x/gobot/v2)
[![CircleCI Build status](https://circleci.com/gh/hybridgroup/gobot/tree/dev.svg?style=svg)](https://circleci.com/gh/hybridgroup/gobot/tree/dev)
[![Appveyor Build status](https://ci.appveyor.com/api/projects/status/ix29evnbdrhkr7ud/branch/dev?svg=true)](https://ci.appveyor.com/project/deadprogram/gobot/branch/dev)
[![codecov](https://codecov.io/gh/hybridgroup/gobot/branch/dev/graph/badge.svg)](https://codecov.io/gh/hybridgroup/gobot)
@ -17,7 +17,7 @@ Want to run Go directly on microcontrollers? Check out our sister project TinyGo
## Getting Started
Get the Gobot package by running this command: `go get -d -u gobot.io/x/gobot`
Get the Gobot package by running this command: `go get -d -u gobot.io/x/gobot/v2`
## Examples
@ -29,9 +29,9 @@ package main
import (
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/drivers/gpio"
"gobot.io/x/gobot/platforms/firmata"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/drivers/gpio"
"gobot.io/x/gobot/v2/platforms/firmata"
)
func main() {
@ -63,8 +63,8 @@ import (
"fmt"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/platforms/sphero"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/platforms/sphero"
)
func main() {
@ -96,8 +96,8 @@ the various Gobot packages to control hardware with nothing but pure idiomatic G
package main
import (
"gobot.io/x/gobot/drivers/gpio"
"gobot.io/x/gobot/platforms/intel-iot/edison"
"gobot.io/x/gobot/v2/drivers/gpio"
"gobot.io/x/gobot/v2/platforms/intel-iot/edison"
"time"
)
@ -127,9 +127,9 @@ import (
"fmt"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/api"
"gobot.io/x/gobot/platforms/sphero"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/api"
"gobot.io/x/gobot/v2/platforms/sphero"
)
func NewSwarmBot(port string) *gobot.Robot {
@ -329,7 +329,7 @@ More platforms and drivers are coming soon...
Gobot includes a RESTful API to query the status of any robot running within a group, including the connection and
device status, and execute device commands.
To activate the API, import the `gobot.io/x/gobot/api` package and instantiate the `API` like this:
To activate the API, import the `gobot.io/x/gobot/v2/api` package and instantiate the `API` like this:
```go
master := gobot.NewMaster()

10
api/api.go
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@ -10,8 +10,8 @@ import (
"strings"
"github.com/bmizerany/pat"
"gobot.io/x/gobot"
"gobot.io/x/gobot/api/robeaux"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/api/robeaux"
)
// API represents an API server
@ -109,7 +109,6 @@ func (a *API) Start() {
// StartWithoutDefaults initializes the api without setting up the default routes.
// Good for custom web interfaces.
//
func (a *API) StartWithoutDefaults() {
a.start(a)
}
@ -117,7 +116,6 @@ func (a *API) StartWithoutDefaults() {
// AddC3PIORoutes adds all of the standard C3PIO routes to the API.
// For more information, please see:
// http://cppp.io/
//
func (a *API) AddC3PIORoutes() {
mcpCommandRoute := "/api/commands/:command"
robotDeviceCommandRoute := "/api/robots/:robot/devices/:device/commands/:command"
@ -250,10 +248,8 @@ func (a *API) robotDevice(res http.ResponseWriter, req *http.Request) {
func (a *API) robotDeviceEvent(res http.ResponseWriter, req *http.Request) {
f, _ := res.(http.Flusher)
c, _ := res.(http.CloseNotifier)
dataChan := make(chan string)
closer := c.CloseNotify()
res.Header().Set("Content-Type", "text/event-stream")
res.Header().Set("Cache-Control", "no-cache")
@ -275,7 +271,7 @@ func (a *API) robotDeviceEvent(res http.ResponseWriter, req *http.Request) {
case data := <-dataChan:
fmt.Fprintf(res, "data: %v\n\n", data)
f.Flush()
case <-closer:
case <-req.Context().Done():
log.Println("Closing connection")
return
}

6
api/api_test.go
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@ -11,8 +11,8 @@ import (
"testing"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
func initTestAPI() *API {
@ -81,7 +81,7 @@ func TestIndex(t *testing.T) {
a.ServeHTTP(response, request)
gobottest.Assert(t, http.StatusMovedPermanently, response.Code)
gobottest.Assert(t, "/index.html", response.HeaderMap["Location"][0])
gobottest.Assert(t, "/index.html", response.Header()["Location"][0])
}
func TestMcp(t *testing.T) {

2
api/basic_auth_test.go
View File

@ -5,7 +5,7 @@ import (
"net/http/httptest"
"testing"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2/gobottest"
)
func TestBasicAuth(t *testing.T) {

2
api/cors_test.go
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@ -5,7 +5,7 @@ import (
"net/http/httptest"
"testing"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2/gobottest"
)
func TestCORSIsOriginAllowed(t *testing.T) {

42
api/doc.go
View File

@ -3,35 +3,35 @@ Package api provides a webserver to interact with your Gobot program over the ne
Example:
package main
package main
import (
"fmt"
import (
"fmt"
"gobot.io/x/gobot"
"gobot.io/x/gobot/api"
)
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/api"
)
func main() {
gbot := gobot.NewMaster()
func main() {
gbot := gobot.NewMaster()
// Starts the API server on default port 3000
api.NewAPI(gbot).Start()
// Starts the API server on default port 3000
api.NewAPI(gbot).Start()
// Accessible via http://localhost:3000/api/commands/say_hello
gbot.AddCommand("say_hello", func(params map[string]interface{}) interface{} {
return "Master says hello!"
})
// Accessible via http://localhost:3000/api/commands/say_hello
gbot.AddCommand("say_hello", func(params map[string]interface{}) interface{} {
return "Master says hello!"
})
hello := gbot.AddRobot(gobot.NewRobot("Eve"))
hello := gbot.AddRobot(gobot.NewRobot("Eve"))
// Accessible via http://localhost:3000/api/robots/Eve/commands/say_hello
hello.AddCommand("say_hello", func(params map[string]interface{}) interface{} {
return fmt.Sprintf("%v says hello!", hello.Name)
})
// Accessible via http://localhost:3000/api/robots/Eve/commands/say_hello
hello.AddCommand("say_hello", func(params map[string]interface{}) interface{} {
return fmt.Sprintf("%v says hello!", hello.Name)
})
gbot.Start()
}
gbot.Start()
}
It follows Common Protocol for Programming Physical Input and Output (CPPP-IO) spec:
https://gobot.io/x/cppp-io

2
api/helpers_test.go
View File

@ -3,7 +3,7 @@ package api
import (
"fmt"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
type NullReadWriteCloser struct{}

24
cli/generate.go
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@ -30,7 +30,7 @@ func Generate() cli.Command {
valid = true
}
}
if valid == false {
if !valid {
fmt.Println("Invalid/no subcommand supplied.")
fmt.Println("Usage:")
fmt.Println(" gobot generate adaptor <name> [package] # generate a new Gobot adaptor")
@ -102,7 +102,7 @@ func generate(c config, file string, tmpl string) error {
fmt.Println("Creating", fileLocation)
f, err := os.Create(fileLocation)
defer f.Close()
defer f.Close() //nolint:staticcheck // for historical reasons
if err != nil {
return err
}
@ -149,11 +149,11 @@ func generatePlatform(c config) error {
c.dir = dir
if exp, err := ioutil.ReadFile(exampleDir + "/main.go"); err != nil {
exp, err := ioutil.ReadFile(exampleDir + "/main.go")
if err != nil {
return err
} else {
c.Example = string(exp)
}
c.Example = string(exp)
return generate(c, "README.md", readme())
}
@ -189,7 +189,7 @@ func driver() string {
import (
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
const Hello string = "hello"
@ -274,7 +274,7 @@ import (
"fmt"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
func main() {
@ -313,8 +313,8 @@ import (
"testing"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Driver = (*{{.UpperName}}Driver)(nil)
@ -368,8 +368,8 @@ func adaptorTest() string {
import (
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Adaptor = (*{{.UpperName}}Adaptor)(nil)
@ -398,7 +398,7 @@ Gobot (http://gobot.io/) is a framework for robotics and physical computing usin
This repository contains the Gobot adaptor and driver for {{.Package}}.
For more information about Gobot, check out the github repo at
https://gobot.io/x/gobot
https://gobot.io/x/gobot/v2
## Installing
` + "```bash\ngo get path/to/repo/{{.Package}}\n```" + `

4
cli/main.go
View File

@ -4,14 +4,14 @@ import (
"os"
"github.com/urfave/cli"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
func main() {
app := cli.NewApp()
app.Name = "gobot"
app.Author = "The Gobot team"
app.Email = "https://gobot.io/x/gobot"
app.Email = "https://gobot.io/x/gobot/v2"
app.Version = gobot.Version()
app.Usage = "Command Line Utility for generating new Gobot adaptors, drivers, and platforms"
app.Commands = []cli.Command{

7
commander.go
View File

@ -22,10 +22,9 @@ func NewCommander() Commander {
}
}
// Command returns the command interface whene passed a valid command name
func (c *commander) Command(name string) (command func(map[string]interface{}) interface{}) {
command, _ = c.commands[name]
return
// Command returns the command interface when passed a valid command name
func (c *commander) Command(name string) func(map[string]interface{}) interface{} {
return c.commands[name]
}
// Commands returns the entire map of valid commands

2
commander_test.go
View File

@ -3,7 +3,7 @@ package gobot
import (
"testing"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2/gobottest"
)
func TestCommaner(t *testing.T) {

146
doc.go
View File

@ -5,129 +5,129 @@ Package gobot is the primary entrypoint for Gobot (http://gobot.io), a framework
It provides a simple, yet powerful way to create solutions that incorporate multiple, different hardware devices at the same time.
Classic Gobot
# Classic Gobot
Here is a "Classic Gobot" program that blinks an LED using an Arduino:
package main
import (
"time"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/drivers/gpio"
"gobot.io/x/gobot/platforms/firmata"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/drivers/gpio"
"gobot.io/x/gobot/v2/platforms/firmata"
)
func main() {
firmataAdaptor := firmata.NewAdaptor("/dev/ttyACM0")
led := gpio.NewLedDriver(firmataAdaptor, "13")
firmataAdaptor := firmata.NewAdaptor("/dev/ttyACM0")
led := gpio.NewLedDriver(firmataAdaptor, "13")
work := func() {
gobot.Every(1*time.Second, func() {
led.Toggle()
})
}
work := func() {
gobot.Every(1*time.Second, func() {
led.Toggle()
})
}
robot := gobot.NewRobot("bot",
[]gobot.Connection{firmataAdaptor},
[]gobot.Device{led},
work,
)
robot := gobot.NewRobot("bot",
[]gobot.Connection{firmataAdaptor},
[]gobot.Device{led},
work,
)
robot.Start()
robot.Start()
}
Metal Gobot
# Metal Gobot
You can also use Metal Gobot and pick and choose from the various Gobot packages to control hardware with nothing but pure idiomatic Golang code. For example:
package main
import (
"gobot.io/x/gobot/drivers/gpio"
"gobot.io/x/gobot/platforms/intel-iot/edison"
"time"
"gobot.io/x/gobot/v2/drivers/gpio"
"gobot.io/x/gobot/v2/platforms/intel-iot/edison"
"time"
)
func main() {
e := edison.NewAdaptor()
e.Connect()
e := edison.NewAdaptor()
e.Connect()
led := gpio.NewLedDriver(e, "13")
led.Start()
led := gpio.NewLedDriver(e, "13")
led.Start()
for {
led.Toggle()
time.Sleep(1000 * time.Millisecond)
}
for {
led.Toggle()
time.Sleep(1000 * time.Millisecond)
}
}
Master Gobot
# Master Gobot
Finally, you can use Master Gobot to add the complete Gobot API or control swarms of Robots:
package main
import (
"fmt"
"time"
"fmt"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/api"
"gobot.io/x/gobot/platforms/sphero"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/api"
"gobot.io/x/gobot/v2/platforms/sphero"
)
func NewSwarmBot(port string) *gobot.Robot {
spheroAdaptor := sphero.NewAdaptor(port)
spheroDriver := sphero.NewSpheroDriver(spheroAdaptor)
spheroDriver.SetName("Sphero" + port)
spheroAdaptor := sphero.NewAdaptor(port)
spheroDriver := sphero.NewSpheroDriver(spheroAdaptor)
spheroDriver.SetName("Sphero" + port)
work := func() {
spheroDriver.Stop()
work := func() {
spheroDriver.Stop()
spheroDriver.On(sphero.Collision, func(data interface{}) {
fmt.Println("Collision Detected!")
})
spheroDriver.On(sphero.Collision, func(data interface{}) {
fmt.Println("Collision Detected!")
})
gobot.Every(1*time.Second, func() {
spheroDriver.Roll(100, uint16(gobot.Rand(360)))
})
gobot.Every(3*time.Second, func() {
spheroDriver.SetRGB(uint8(gobot.Rand(255)),
uint8(gobot.Rand(255)),
uint8(gobot.Rand(255)),
)
})
}
gobot.Every(1*time.Second, func() {
spheroDriver.Roll(100, uint16(gobot.Rand(360)))
})
gobot.Every(3*time.Second, func() {
spheroDriver.SetRGB(uint8(gobot.Rand(255)),
uint8(gobot.Rand(255)),
uint8(gobot.Rand(255)),
)
})
}
robot := gobot.NewRobot("sphero",
[]gobot.Connection{spheroAdaptor},
[]gobot.Device{spheroDriver},
work,
)
robot := gobot.NewRobot("sphero",
[]gobot.Connection{spheroAdaptor},
[]gobot.Device{spheroDriver},
work,
)
return robot
return robot
}
func main() {
master := gobot.NewMaster()
api.NewAPI(master).Start()
master := gobot.NewMaster()
api.NewAPI(master).Start()
spheros := []string{
"/dev/rfcomm0",
"/dev/rfcomm1",
"/dev/rfcomm2",
"/dev/rfcomm3",
}
spheros := []string{
"/dev/rfcomm0",
"/dev/rfcomm1",
"/dev/rfcomm2",
"/dev/rfcomm3",
}
for _, port := range spheros {
master.AddRobot(NewSwarmBot(port))
}
for _, port := range spheros {
master.AddRobot(NewSwarmBot(port))
}
master.Start()
master.Start()
}
Copyright (c) 2013-2018 The Hybrid Group. Licensed under the Apache 2.0 license.
*/
package gobot // import "gobot.io/x/gobot"
package gobot // import "gobot.io/x/gobot/v2"

25
drivers/aio/README.md
View File

@ -1,22 +1,27 @@
# AIO
This package provides drivers for [Analog Input/Output (AIO)](https://en.wikipedia.org/wiki/Analog-to-digital_converter) devices. It is normally used by connecting an adaptor such as [firmata](https://gobot.io/x/gobot/platforms/firmata) that supports the needed interfaces for analog devices.
This package provides drivers for [Analog Input/Output (AIO)](https://en.wikipedia.org/wiki/Analog-to-digital_converter)
devices. It is normally used by connecting an adaptor such as [BeagleBone](https://gobot.io/documentation/platforms/beaglebone/)
that supports the needed interfaces for analog devices.
## Getting Started
## Installing
```
go get -d -u gobot.io/x/gobot/...
```sh
go get -d -u gobot.io/x/gobot/v2/...
```
## Hardware Support
Gobot has a extensible system for connecting to hardware devices. The following AIO devices are currently supported:
- Analog Sensor
- Analog Actuator
- Grove Light Sensor
- Grove Rotary Dial
- Grove Sound Sensor
- Grove Temperature Sensor
- Temperature Sensor (supports linear and NTC thermistor in normal and inverse mode)
- Analog Sensor
- Analog Actuator
- Grove Light Sensor
- Grove Rotary Dial
- Grove Sound Sensor
- Grove Temperature Sensor
- Temperature Sensor (supports linear and NTC thermistor in normal and inverse mode)
More drivers are coming soon...

7
drivers/aio/analog_actuator_driver.go
View File

@ -3,7 +3,7 @@ package aio
import (
"strconv"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
// AnalogActuatorDriver represents an analog actuator
@ -23,8 +23,9 @@ type AnalogActuatorDriver struct {
// The default scaling is 1:1. An adjustable linear scaler is provided by the driver.
//
// Adds the following API Commands:
// "Write" - See AnalogActuator.Write
// "RawWrite" - See AnalogActuator.RawWrite
//
// "Write" - See AnalogActuator.Write
// "RawWrite" - See AnalogActuator.RawWrite
func NewAnalogActuatorDriver(a AnalogWriter, pin string) *AnalogActuatorDriver {
d := &AnalogActuatorDriver{
name: gobot.DefaultName("AnalogActuator"),

2
drivers/aio/analog_actuator_driver_test.go
View File

@ -4,7 +4,7 @@ import (
"strings"
"testing"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2/gobottest"
)
func TestAnalogActuatorDriver(t *testing.T) {

11
drivers/aio/analog_sensor_driver.go
View File

@ -3,7 +3,7 @@ package aio
import (
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
// AnalogSensorDriver represents an Analog Sensor
@ -26,11 +26,13 @@ type AnalogSensorDriver struct {
// The default scaling is 1:1. An adjustable linear scaler is provided by the driver.
//
// Optionally accepts:
// time.Duration: Interval at which the AnalogSensor is polled for new information
//
// time.Duration: Interval at which the AnalogSensor is polled for new information
//
// Adds the following API Commands:
// "Read" - See AnalogDriverSensor.Read
// "ReadRaw" - See AnalogDriverSensor.ReadRaw
//
// "Read" - See AnalogDriverSensor.Read
// "ReadRaw" - See AnalogDriverSensor.ReadRaw
func NewAnalogSensorDriver(a AnalogReader, pin string, v ...time.Duration) *AnalogSensorDriver {
d := &AnalogSensorDriver{
name: gobot.DefaultName("AnalogSensor"),
@ -66,6 +68,7 @@ func NewAnalogSensorDriver(a AnalogReader, pin string, v ...time.Duration) *Anal
// Start starts the AnalogSensorDriver and reads the sensor at the given interval.
// Emits the Events:
//
// Data int - Event is emitted on change and represents the current raw reading from the sensor.
// Value float64 - Event is emitted on change and represents the current reading from the sensor.
// Error error - Event is emitted on error reading from the sensor.

4
drivers/aio/analog_sensor_driver_test.go
View File

@ -6,8 +6,8 @@ import (
"testing"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Driver = (*AnalogSensorDriver)(nil)

4
drivers/aio/doc.go
View File

@ -3,9 +3,9 @@ Package aio provides Gobot drivers for Analog Input/Output devices.
Installing:
go get -d -u gobot.io/x/gobot
go get -d -u gobot.io/x/gobot/v2
For further information refer to aio README:
https://github.com/hybridgroup/gobot/blob/master/platforms/aio/README.md
*/
package aio // import "gobot.io/x/gobot/drivers/aio"
package aio // import "gobot.io/x/gobot/v2/drivers/aio"

4
drivers/aio/grove_drivers_test.go
View File

@ -7,8 +7,8 @@ import (
"testing"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
type DriverAndPinner interface {

10
drivers/aio/grove_temperature_sensor_driver.go
View File

@ -3,7 +3,7 @@ package aio
import (
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
var _ gobot.Driver = (*GroveTemperatureSensorDriver)(nil)
@ -18,11 +18,13 @@ type GroveTemperatureSensorDriver struct {
// 10 Milliseconds given an AnalogReader and pin.
//
// Optionally accepts:
// time.Duration: Interval at which the sensor is polled for new information (given 0 switch the polling off)
//
// time.Duration: Interval at which the sensor is polled for new information (given 0 switch the polling off)
//
// Adds the following API Commands:
// "Read" - See AnalogDriverSensor.Read
// "ReadValue" - See AnalogDriverSensor.ReadValue
//
// "Read" - See AnalogDriverSensor.Read
// "ReadValue" - See AnalogDriverSensor.ReadValue
func NewGroveTemperatureSensorDriver(a AnalogReader, pin string, v ...time.Duration) *GroveTemperatureSensorDriver {
t := NewTemperatureSensorDriver(a, pin, v...)
ntc := TemperatureSensorNtcConf{TC0: 25, R0: 10000.0, B: 3975} //Ohm, R25=10k

4
drivers/aio/grove_temperature_sensor_driver_test.go
View File

@ -6,8 +6,8 @@ import (
"testing"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Driver = (*GroveTemperatureSensorDriver)(nil)

10
drivers/aio/temperature_sensor_driver.go
View File

@ -4,7 +4,7 @@ import (
"math"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
const kelvinOffset = 273.15
@ -31,11 +31,13 @@ type TemperatureSensorDriver struct {
// Linear scaling and NTC scaling is supported.
//
// Optionally accepts:
// time.Duration: Interval at which the sensor is polled for new information (given 0 switch the polling off)
//
// time.Duration: Interval at which the sensor is polled for new information (given 0 switch the polling off)
//
// Adds the following API Commands:
// "Read" - See AnalogDriverSensor.Read
// "ReadValue" - See AnalogDriverSensor.ReadValue
//
// "Read" - See AnalogDriverSensor.Read
// "ReadValue" - See AnalogDriverSensor.ReadValue
func NewTemperatureSensorDriver(a AnalogReader, pin string, v ...time.Duration) *TemperatureSensorDriver {
ad := NewAnalogSensorDriver(a, pin, v...)

2
drivers/aio/temperature_sensor_driver_test.go
View File

@ -7,7 +7,7 @@ import (
"testing"
"time"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2/gobottest"
)
func TestTemperatureSensorDriver(t *testing.T) {

3
drivers/common/mfrc522/mfrc522_pcd.go
View File

@ -328,6 +328,9 @@ func (d *MFRC522Common) writeFifo(fifoData []byte) error {
func (d *MFRC522Common) readFifo(backData []byte) (uint8, error) {
n, err := d.readByteData(regFIFOLevel) // Number of bytes in the FIFO
if err != nil {
return 0, err
}
if n > uint8(len(backData)) {
return 0, fmt.Errorf("more data in FIFO (%d) than expected (%d)", n, len(backData))
}

2
drivers/common/mfrc522/mfrc522_pcd_test.go
View File

@ -3,7 +3,7 @@ package mfrc522
import (
"testing"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2/gobottest"
)
type busConnMock struct {

47
drivers/gpio/README.md
View File

@ -1,33 +1,38 @@
# GPIO
This package provides drivers for [General Purpose Input/Output (GPIO)](https://en.wikipedia.org/wiki/General_Purpose_Input/Output) devices. It is normally used by connecting an adaptor such as [firmata](https://gobot.io/x/gobot/platforms/firmata) that supports the needed interfaces for GPIO devices.
This package provides drivers for [General Purpose Input/Output (GPIO)](https://en.wikipedia.org/wiki/General_Purpose_Input/Output)
devices. It is normally used by connecting an adaptor such as [Raspberry Pi](https://gobot.io/documentation/platforms/raspi/)
that supports the needed interfaces for GPIO devices.
## Getting Started
## Installing
```
go get -d -u gobot.io/x/gobot/...
```sh
go get -d -u gobot.io/x/gobot/v2/...
```
## Hardware Support
Gobot has a extensible system for connecting to hardware devices. The following GPIO devices are currently supported:
- Button
- Buzzer
- Direct Pin
- Grove Button
- Grove Buzzer
- Grove LED
- Grove Magnetic Switch
- Grove Relay
- Grove Touch Sensor
- LED
- Makey Button
- Motor
- Proximity Infra Red (PIR) Motion Sensor
- Relay
- RGB LED
- Servo
- Stepper Motor
- TM1638 LED Controller
- Button
- Buzzer
- Direct Pin
- Grove Button
- Grove Buzzer
- Grove LED
- Grove Magnetic Switch
- Grove Relay
- Grove Touch Sensor
- LED
- Makey Button
- Motor
- Proximity Infra Red (PIR) Motion Sensor
- Relay
- RGB LED
- Servo
- Stepper Motor
- TM1638 LED Controller
More drivers are coming soon...

2
drivers/gpio/aip1640_driver.go
View File

@ -3,7 +3,7 @@ package gpio
import (
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
// Commands of the driver

4
drivers/gpio/aip1640_driver_test.go
View File

@ -4,8 +4,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Driver = (*AIP1640Driver)(nil)

8
drivers/gpio/button_driver.go
View File

@ -3,7 +3,7 @@ package gpio
import (
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
// ButtonDriver Represents a digital Button
@ -22,7 +22,8 @@ type ButtonDriver struct {
// 10 Milliseconds given a DigitalReader and pin.
//
// Optionally accepts:
// time.Duration: Interval at which the ButtonDriver is polled for new information
//
// time.Duration: Interval at which the ButtonDriver is polled for new information
func NewButtonDriver(a DigitalReader, pin string, v ...time.Duration) *ButtonDriver {
b := &ButtonDriver{
name: gobot.DefaultName("Button"),
@ -49,7 +50,8 @@ func NewButtonDriver(a DigitalReader, pin string, v ...time.Duration) *ButtonDri
// Start starts the ButtonDriver and polls the state of the button at the given interval.
//
// Emits the Events:
// Push int - On button push
//
// Push int - On button push
// Release int - On button release
// Error error - On button error
func (b *ButtonDriver) Start() (err error) {

8
drivers/gpio/button_driver_test.go
View File

@ -6,8 +6,8 @@ import (
"testing"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Driver = (*ButtonDriver)(nil)
@ -35,7 +35,7 @@ func TestButtonDriver(t *testing.T) {
}
func TestButtonDriverStart(t *testing.T) {
sem := make(chan bool, 0)
sem := make(chan bool)
a := newGpioTestAdaptor()
d := NewButtonDriver(a, "1")
@ -107,7 +107,7 @@ func TestButtonDriverStart(t *testing.T) {
}
func TestButtonDriverDefaultState(t *testing.T) {
sem := make(chan bool, 0)
sem := make(chan bool)
a := newGpioTestAdaptor()
d := NewButtonDriver(a, "1")
d.DefaultState = 1

2
drivers/gpio/buzzer_driver.go
View File

@ -3,7 +3,7 @@ package gpio
import (
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
// Some useful divider

4
drivers/gpio/buzzer_driver_test.go
View File

@ -5,8 +5,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Driver = (*BuzzerDriver)(nil)

11
drivers/gpio/direct_pin_driver.go
View File

@ -3,7 +3,7 @@ package gpio
import (
"strconv"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
// DirectPinDriver represents a GPIO pin
@ -17,10 +17,11 @@ type DirectPinDriver struct {
// NewDirectPinDriver return a new DirectPinDriver given a Connection and pin.
//
// Adds the following API Commands:
// "DigitalRead" - See DirectPinDriver.DigitalRead
// "DigitalWrite" - See DirectPinDriver.DigitalWrite
// "PwmWrite" - See DirectPinDriver.PwmWrite
// "ServoWrite" - See DirectPinDriver.ServoWrite
//
// "DigitalRead" - See DirectPinDriver.DigitalRead
// "DigitalWrite" - See DirectPinDriver.DigitalWrite
// "PwmWrite" - See DirectPinDriver.PwmWrite
// "ServoWrite" - See DirectPinDriver.ServoWrite
func NewDirectPinDriver(a gobot.Connection, pin string) *DirectPinDriver {
d := &DirectPinDriver{
name: gobot.DefaultName("DirectPin"),

4
drivers/gpio/direct_pin_driver_test.go
View File

@ -5,8 +5,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Driver = (*DirectPinDriver)(nil)

4
drivers/gpio/doc.go
View File

@ -3,9 +3,9 @@ Package gpio provides Gobot drivers for General Purpose Input/Output devices.
Installing:
go get -d -u gobot.io/x/gobot
go get -d -u gobot.io/x/gobot/v2
For further information refer to gpio README:
https://github.com/hybridgroup/gobot/blob/master/platforms/gpio/README.md
*/
package gpio // import "gobot.io/x/gobot/drivers/gpio"
package gpio // import "gobot.io/x/gobot/v2/drivers/gpio"

2
drivers/gpio/easy_driver.go
View File

@ -5,7 +5,7 @@ import (
"strconv"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
// EasyDriver object

4
drivers/gpio/easy_driver_test.go
View File

@ -1,10 +1,11 @@
package gpio
import (
"gobot.io/x/gobot/gobottest"
"strings"
"testing"
"time"
"gobot.io/x/gobot/v2/gobottest"
)
const (
@ -183,4 +184,3 @@ func TestEasyDriverDisable(t *testing.T) {
gobottest.Assert(t, d.IsEnabled(), false)
gobottest.Assert(t, d.IsMoving(), false)
}

4
drivers/gpio/grove_drivers_test.go
View File

@ -7,8 +7,8 @@ import (
"testing"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
type DriverAndPinner interface {

2
drivers/gpio/hd44780_driver.go
View File

@ -6,7 +6,7 @@ import (
"sync"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
// Commands for the driver

4
drivers/gpio/hd44780_driver_test.go
View File

@ -5,8 +5,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Driver = (*HD44780Driver)(nil)

3
drivers/gpio/led_driver.go
View File

@ -1,6 +1,6 @@
package gpio
import "gobot.io/x/gobot"
import "gobot.io/x/gobot/v2"
// LedDriver represents a digital Led
type LedDriver struct {
@ -14,6 +14,7 @@ type LedDriver struct {
// NewLedDriver return a new LedDriver given a DigitalWriter and pin.
//
// Adds the following API Commands:
//
// "Brightness" - See LedDriver.Brightness
// "Toggle" - See LedDriver.Toggle
// "On" - See LedDriver.On

4
drivers/gpio/led_driver_test.go
View File

@ -5,8 +5,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Driver = (*LedDriver)(nil)

8
drivers/gpio/makey_button_driver.go
View File

@ -3,7 +3,7 @@ package gpio
import (
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
// MakeyButtonDriver Represents a Makey Button
@ -21,7 +21,8 @@ type MakeyButtonDriver struct {
// 10 Milliseconds given a DigitalReader and pin.
//
// Optionally accepts:
// time.Duration: Interval at which the ButtonDriver is polled for new information
//
// time.Duration: Interval at which the ButtonDriver is polled for new information
func NewMakeyButtonDriver(a DigitalReader, pin string, v ...time.Duration) *MakeyButtonDriver {
m := &MakeyButtonDriver{
name: gobot.DefaultName("MakeyButton"),
@ -59,7 +60,8 @@ func (b *MakeyButtonDriver) Connection() gobot.Connection { return b.connection.
// Start starts the MakeyButtonDriver and polls the state of the button at the given interval.
//
// Emits the Events:
// Push int - On button push
//
// Push int - On button push
// Release int - On button release
// Error error - On button error
func (b *MakeyButtonDriver) Start() (err error) {

4
drivers/gpio/makey_button_driver_test.go
View File

@ -5,8 +5,8 @@ import (
"testing"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Driver = (*MakeyButtonDriver)(nil)

2
drivers/gpio/max7219_driver.go
View File

@ -1,7 +1,7 @@
package gpio
import (
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
// Access and command constants for the driver

4
drivers/gpio/max7219_driver_test.go
View File

@ -4,8 +4,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Driver = (*MAX7219Driver)(nil)

2
drivers/gpio/motor_driver.go
View File

@ -1,7 +1,7 @@
package gpio
import (
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
// MotorDriver Represents a Motor

4
drivers/gpio/motor_driver_test.go
View File

@ -4,8 +4,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Driver = (*MotorDriver)(nil)

8
drivers/gpio/pir_motion_driver.go
View File

@ -3,7 +3,7 @@ package gpio
import (
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
// PIRMotionDriver represents a digital Proximity Infra Red (PIR) motion detecter
@ -21,7 +21,8 @@ type PIRMotionDriver struct {
// 10 Milliseconds given a DigitalReader and pin.
//
// Optionally accepts:
// time.Duration: Interval at which the PIRMotionDriver is polled for new information
//
// time.Duration: Interval at which the PIRMotionDriver is polled for new information
func NewPIRMotionDriver(a DigitalReader, pin string, v ...time.Duration) *PIRMotionDriver {
b := &PIRMotionDriver{
name: gobot.DefaultName("PIRMotion"),
@ -47,7 +48,8 @@ func NewPIRMotionDriver(a DigitalReader, pin string, v ...time.Duration) *PIRMot
// Start starts the PIRMotionDriver and polls the state of the sensor at the given interval.
//
// Emits the Events:
// MotionDetected - On motion detected
//
// MotionDetected - On motion detected
// MotionStopped int - On motion stopped
// Error error - On button error
//

6
drivers/gpio/pir_motion_driver_test.go
View File

@ -6,8 +6,8 @@ import (
"testing"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Driver = (*PIRMotionDriver)(nil)
@ -35,7 +35,7 @@ func TestPIRMotionDriver(t *testing.T) {
}
func TestPIRMotionDriverStart(t *testing.T) {
sem := make(chan bool, 0)
sem := make(chan bool)
a := newGpioTestAdaptor()
d := NewPIRMotionDriver(a, "1")

3
drivers/gpio/relay_driver.go
View File

@ -1,6 +1,6 @@
package gpio
import "gobot.io/x/gobot"
import "gobot.io/x/gobot/v2"
// RelayDriver represents a digital relay
type RelayDriver struct {
@ -15,6 +15,7 @@ type RelayDriver struct {
// NewRelayDriver return a new RelayDriver given a DigitalWriter and pin.
//
// Adds the following API Commands:
//
// "Toggle" - See RelayDriver.Toggle
// "On" - See RelayDriver.On
// "Off" - See RelayDriver.Off

4
drivers/gpio/relay_driver_test.go
View File

@ -4,8 +4,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Driver = (*RelayDriver)(nil)

7
drivers/gpio/rgb_led_driver.go
View File

@ -1,6 +1,6 @@
package gpio
import "gobot.io/x/gobot"
import "gobot.io/x/gobot/v2"
// RgbLedDriver represents a digital RGB Led
type RgbLedDriver struct {
@ -20,6 +20,7 @@ type RgbLedDriver struct {
// 3 pins: redPin, greenPin, and bluePin
//
// Adds the following API Commands:
//
// "SetRGB" - See RgbLedDriver.SetRGB
// "Toggle" - See RgbLedDriver.Toggle
// "On" - See RgbLedDriver.On
@ -70,7 +71,9 @@ func (l *RgbLedDriver) Name() string { return l.name }
func (l *RgbLedDriver) SetName(n string) { l.name = n }
// Pin returns the RgbLedDrivers pins
func (l *RgbLedDriver) Pin() string { return "r=" + l.pinRed + ", g=" + l.pinGreen + ", b=" + l.pinBlue }
func (l *RgbLedDriver) Pin() string {
return "r=" + l.pinRed + ", g=" + l.pinGreen + ", b=" + l.pinBlue
}
// RedPin returns the RgbLedDrivers redPin
func (l *RgbLedDriver) RedPin() string { return l.pinRed }

4
drivers/gpio/rgb_led_driver_test.go
View File

@ -5,8 +5,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Driver = (*RgbLedDriver)(nil)

7
drivers/gpio/servo_driver.go
View File

@ -1,6 +1,6 @@
package gpio
import "gobot.io/x/gobot"
import "gobot.io/x/gobot/v2"
// ServoDriver Represents a Servo
type ServoDriver struct {
@ -14,7 +14,8 @@ type ServoDriver struct {
// NewServoDriver returns a new ServoDriver given a ServoWriter and pin.
//
// Adds the following API Commands:
// "Move" - See ServoDriver.Move
//
// "Move" - See ServoDriver.Move
// "Min" - See ServoDriver.Min
// "Center" - See ServoDriver.Center
// "Max" - See ServoDriver.Max
@ -65,7 +66,7 @@ func (s *ServoDriver) Halt() (err error) { return }
// Move sets the servo to the specified angle. Acceptable angles are 0-180
func (s *ServoDriver) Move(angle uint8) (err error) {
if !(angle >= 0 && angle <= 180) {
if angle > 180 {
return ErrServoOutOfRange
}
s.CurrentAngle = angle

4
drivers/gpio/servo_driver_test.go
View File

@ -5,8 +5,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Driver = (*ServoDriver)(nil)

8
drivers/gpio/stepper_driver.go
View File

@ -8,7 +8,7 @@ import (
"sync"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
type phase [][4]byte
@ -111,7 +111,7 @@ func (s *StepperDriver) Start() (err error) { return }
// Run continuously runs the stepper
func (s *StepperDriver) Run() (err error) {
//halt if already moving
if s.moving == true {
if s.moving {
s.Halt()
}
@ -123,7 +123,7 @@ func (s *StepperDriver) Run() (err error) {
go func() {
for {
if s.moving == false {
if !s.moving {
break
}
s.step()
@ -191,7 +191,7 @@ func (s *StepperDriver) Move(stepsToMove int) error {
return s.Halt()
}
if s.moving == true {
if s.moving {
//stop previous motion
s.Halt()
}

4
drivers/gpio/stepper_driver_test.go
View File

@ -6,7 +6,7 @@ import (
"testing"
"time"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2/gobottest"
)
const (
@ -58,7 +58,7 @@ func TestStepperDriverDefaultDirection(t *testing.T) {
func TestStepperDriverInvalidDirection(t *testing.T) {
d := initStepperMotorDriver()
err := d.SetDirection("reverse")
gobottest.Assert(t, err.(error), errors.New("Invalid direction. Value should be forward or backward"))
gobottest.Assert(t, err, errors.New("Invalid direction. Value should be forward or backward"))
}
func TestStepperDriverMoveForward(t *testing.T) {

2
drivers/gpio/tm1638_driver.go
View File

@ -5,7 +5,7 @@ import (
"strings"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
// Colors of the display

4
drivers/gpio/tm1638_driver_test.go
View File

@ -4,8 +4,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Driver = (*TM1638Driver)(nil)

13
drivers/i2c/README.md
View File

@ -1,15 +1,19 @@
# I2C
This package provides drivers for [i2c](https://en.wikipedia.org/wiki/I%C2%B2C)devices. It must be used along with an adaptor such as [firmata](https://gobot.io/x/gobot/platforms/firmata) that supports the needed interfaces for i2c devices.
This package provides drivers for [i2c](https://en.wikipedia.org/wiki/I%C2%B2C)devices. It must be used along with an
adaptor such as [Tinker Board](https://gobot.io/documentation/platforms/tinkerboard/) that supports the needed
interfaces for i2c devices.
## Getting Started
## Installing
```
go get -d -u gobot.io/x/gobot/...
```sh
go get -d -u gobot.io/x/gobot/v2/...
```
## Hardware Support
Gobot has a extensible system for connecting to hardware devices. The following i2c devices are currently supported:
- Adafruit 2x16 RGB-LCD with 5 keys
@ -54,7 +58,8 @@ More drivers are coming soon...
## Using A Different Bus or Address
You can set a different I2C address or I2C bus than the default when initializing your I2C drivers by using optional parameters. Here is an example:
You can set a different I2C address or I2C bus than the default when initializing your I2C drivers by using optional
parameters. Here is an example:
```go
blinkm := i2c.NewBlinkMDriver(e, i2c.WithBus(0), i2c.WithAddress(0x09))

4
drivers/i2c/adafruit1109_driver.go
View File

@ -6,8 +6,8 @@ import (
"strconv"
"strings"
"gobot.io/x/gobot"
"gobot.io/x/gobot/drivers/gpio"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/drivers/gpio"
)
const adafruit1109Debug = false

4
drivers/i2c/adafruit1109_driver_test.go
View File

@ -6,8 +6,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Driver = (*Adafruit1109Driver)(nil)

9
drivers/i2c/adafruit_driver.go
View File

@ -6,7 +6,7 @@ import (
"math"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
// AdafruitDirection declares a type for specification of the motor direction
@ -97,12 +97,13 @@ const (
// NewAdafruitMotorHatDriver initializes the internal DCMotor and StepperMotor types.
// Again the Adafruit Motor Hat supports up to four DC motors and up to two stepper motors.
// Params:
// conn Connector - the Adaptor to use with this Driver
//
// conn Connector - the Adaptor to use with this Driver
//
// Optional params:
// i2c.WithBus(int): bus to use with this driver
// i2c.WithAddress(int): address to use with this driver
//
// i2c.WithBus(int): bus to use with this driver
// i2c.WithAddress(int): address to use with this driver
func NewAdafruitMotorHatDriver(conn Connector, options ...func(Config)) *AdafruitMotorHatDriver {
var dc []adaFruitDCMotor
var st []adaFruitStepperMotor

4
drivers/i2c/adafruit_driver_test.go
View File

@ -5,8 +5,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
// this ensures that the implementation implements the gobot.Driver interface

4
drivers/i2c/ads1x15_driver.go
View File

@ -348,16 +348,12 @@ func (d *ADS1x15Driver) AnalogRead(pin string) (value int, err error) {
switch pin {
case "0-1":
channel = 0
break
case "0-3":
channel = 1
break
case "1-3":
channel = 2
break
case "2-3":
channel = 3
break
default:
// read the voltage at a specific pin, compared to the ground
channel, err = strconv.Atoi(pin)

4
drivers/i2c/ads1x15_driver_1015_test.go
View File

@ -5,7 +5,7 @@ import (
"strings"
"testing"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2/gobottest"
)
func initTestADS1015DriverWithStubbedAdaptor() (*ADS1x15Driver, *i2cTestAdaptor) {
@ -103,7 +103,7 @@ func TestADS1015AnalogRead(t *testing.T) {
gobottest.Assert(t, val, 32767)
gobottest.Assert(t, err, nil)
val, err = d.AnalogRead("3-2")
_, err = d.AnalogRead("3-2")
gobottest.Refute(t, err.Error(), nil)
}

4
drivers/i2c/ads1x15_driver_1115_test.go
View File

@ -5,7 +5,7 @@ import (
"strings"
"testing"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2/gobottest"
)
func initTestADS1115DriverWithStubbedAdaptor() (*ADS1x15Driver, *i2cTestAdaptor) {
@ -103,7 +103,7 @@ func TestADS1115AnalogRead(t *testing.T) {
gobottest.Assert(t, val, 32767)
gobottest.Assert(t, err, nil)
val, err = d.AnalogRead("3-2")
_, err = d.AnalogRead("3-2")
gobottest.Refute(t, err.Error(), nil)
}

10
drivers/i2c/ads1x15_driver_test.go
View File

@ -4,9 +4,9 @@ import (
"errors"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/drivers/aio"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/drivers/aio"
"gobot.io/x/gobot/v2/gobottest"
)
// this ensures that the implementation is based on i2c.Driver, which implements the gobot.Driver
@ -96,9 +96,9 @@ func TestADS1x15CommandsAnalogRead(t *testing.T) {
}
func TestADS1x15_ads1x15BestGainForVoltage(t *testing.T) {
g, err := ads1x15BestGainForVoltage(1.5)
g, _ := ads1x15BestGainForVoltage(1.5)
gobottest.Assert(t, g, 2)
g, err = ads1x15BestGainForVoltage(20.0)
_, err := ads1x15BestGainForVoltage(20.0)
gobottest.Assert(t, err, errors.New("The maximum voltage which can be read is 6.144000"))
}

4
drivers/i2c/adxl345_driver_test.go
View File

@ -5,8 +5,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
// this ensures that the implementation is based on i2c.Driver, which implements the gobot.Driver

4
drivers/i2c/bh1750_driver_test.go
View File

@ -7,8 +7,8 @@ import (
"bytes"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
// this ensures that the implementation is based on i2c.Driver, which implements the gobot.Driver

8
drivers/i2c/blinkm_driver_test.go
View File

@ -5,8 +5,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
// this ensures that the implementation is based on i2c.Driver, which implements the gobot.Driver
@ -124,7 +124,7 @@ func TestBlinkMFirmwareVersion(t *testing.T) {
return 0, errors.New("write error")
}
version, err := d.FirmwareVersion()
_, err := d.FirmwareVersion()
gobottest.Assert(t, err, errors.New("write error"))
}
@ -152,7 +152,7 @@ func TestBlinkMColor(t *testing.T) {
return 0, errors.New("write error")
}
color, err := d.Color()
_, err := d.Color()
gobottest.Assert(t, err, errors.New("write error"))
}

9
drivers/i2c/bme280_driver.go
View File

@ -39,8 +39,8 @@ type bmeHumidityCalibrationCoefficients struct {
// It implements all of the same functions as the BMP280Driver, but also
// adds the Humidity() function by reading the BME280's humidity sensor.
// For details on the BMP280Driver please see:
// https://godoc.org/gobot.io/x/gobot/drivers/i2c#BMP280Driver
//
// https://godoc.org/gobot.io/x/gobot/v2/drivers/i2c#BMP280Driver
type BME280Driver struct {
*BMP280Driver
humCalCoeffs *bmeHumidityCalibrationCoefficients
@ -49,12 +49,13 @@ type BME280Driver struct {
// NewBME280Driver creates a new driver with specified i2c interface.
// Params:
// conn Connector - the Adaptor to use with this Driver
//
// conn Connector - the Adaptor to use with this Driver
//
// Optional params:
// i2c.WithBus(int): bus to use with this driver
// i2c.WithAddress(int): address to use with this driver
//
// i2c.WithBus(int): bus to use with this driver
// i2c.WithAddress(int): address to use with this driver
func NewBME280Driver(c Connector, options ...func(Config)) *BME280Driver {
d := &BME280Driver{
BMP280Driver: NewBMP280Driver(c),

4
drivers/i2c/bme280_driver_test.go
View File

@ -6,8 +6,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
// this ensures that the implementation is based on i2c.Driver, which implements the gobot.Driver

4
drivers/i2c/bmp180_driver_test.go
View File

@ -8,8 +8,8 @@ import (
"testing"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
// this ensures that the implementation is based on i2c.Driver, which implements the gobot.Driver

4
drivers/i2c/bmp280_driver_test.go
View File

@ -6,8 +6,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
// this ensures that the implementation is based on i2c.Driver, which implements the gobot.Driver

4
drivers/i2c/bmp388_driver_test.go
View File

@ -7,8 +7,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
// this ensures that the implementation is based on i2c.Driver, which implements the gobot.Driver

8
drivers/i2c/ccs811_driver.go
View File

@ -12,10 +12,10 @@ type CCS811DriveMode uint8
// Operating modes which dictate how often measurements are being made. If 0x00 is used as an operating mode, measurements will be disabled
const (
CCS811DriveModeIdle CCS811DriveMode = 0x00
CCS811DriveMode1Sec = 0x01
CCS811DriveMode10Sec = 0x02
CCS811DriveMode60Sec = 0x03
CCS811DriveMode250MS = 0x04
CCS811DriveMode1Sec CCS811DriveMode = 0x01
CCS811DriveMode10Sec CCS811DriveMode = 0x02
CCS811DriveMode60Sec CCS811DriveMode = 0x03
CCS811DriveMode250MS CCS811DriveMode = 0x04
)
const (

4
drivers/i2c/ccs811_driver_test.go
View File

@ -5,8 +5,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
// this ensures that the implementation is based on i2c.Driver, which implements the gobot.Driver

4
drivers/i2c/doc.go
View File

@ -3,9 +3,9 @@ Package i2c provides Gobot drivers for i2c devices.
Installing:
go get -d -u gobot.io/x/gobot
go get -d -u gobot.io/x/gobot/v2
For further information refer to i2c README:
https://github.com/hybridgroup/gobot/blob/master/drivers/i2c/README.md
*/
package i2c // import "gobot.io/x/gobot/drivers/i2c"
package i2c // import "gobot.io/x/gobot/v2/drivers/i2c"

14
drivers/i2c/drv2605l_driver.go
View File

@ -6,13 +6,13 @@ type DRV2605Mode uint8
// Operating modes, for use in SetMode()
const (
DRV2605ModeIntTrig DRV2605Mode = 0x00
DRV2605ModeExtTrigEdge = 0x01
DRV2605ModeExtTrigLvl = 0x02
DRV2605ModePWMAnalog = 0x03
DRV2605ModeAudioVibe = 0x04
DRV2605ModeRealtime = 0x05
DRV2605ModeDiagnose = 0x06
DRV2605ModeAutocal = 0x07
DRV2605ModeExtTrigEdge DRV2605Mode = 0x01
DRV2605ModeExtTrigLvl DRV2605Mode = 0x02
DRV2605ModePWMAnalog DRV2605Mode = 0x03
DRV2605ModeAudioVibe DRV2605Mode = 0x04
DRV2605ModeRealtime DRV2605Mode = 0x05
DRV2605ModeDiagnose DRV2605Mode = 0x06
DRV2605ModeAutocal DRV2605Mode = 0x07
)
const (

4
drivers/i2c/drv2605l_driver_test.go
View File

@ -7,8 +7,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
// this ensures that the implementation is based on i2c.Driver, which implements the gobot.Driver

4
drivers/i2c/generic_driver_test.go
View File

@ -4,8 +4,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Driver = (*GenericDriver)(nil)

4
drivers/i2c/grove_drivers_test.go
View File

@ -4,8 +4,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Driver = (*GroveLcdDriver)(nil)

2
drivers/i2c/grovepi_driver.go
View File

@ -267,7 +267,7 @@ func (d *GrovePiDriver) SetPinMode(pin byte, mode string) error {
func getPin(pin string) string {
if len(pin) > 1 {
if strings.ToUpper(pin[0:1]) == "A" || strings.ToUpper(pin[0:1]) == "D" {
return pin[1:len(pin)]
return pin[1:]
}
}

30
drivers/i2c/grovepi_driver_test.go
View File

@ -5,10 +5,10 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/drivers/aio"
"gobot.io/x/gobot/drivers/gpio"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/drivers/aio"
"gobot.io/x/gobot/v2/drivers/gpio"
"gobot.io/x/gobot/v2/gobottest"
)
// this ensures that the implementation is based on i2c.Driver, which implements the gobot.Driver
@ -70,67 +70,67 @@ func TestGrovePiSomeRead(t *testing.T) {
"DigitalRead": {
usedPin: 2,
wantWritten: []uint8{commandSetPinMode, 2, 0, 0, commandReadDigital, 2, 0, 0},
simResponse: [][]uint8{[]uint8{0}, []uint8{commandReadDigital, 3}},
simResponse: [][]uint8{{0}, {commandReadDigital, 3}},
wantCallsRead: 2,
wantResult: 3,
},
"AnalogRead": {
usedPin: 3,
wantWritten: []uint8{commandSetPinMode, 3, 0, 0, commandReadAnalog, 3, 0, 0},
simResponse: [][]uint8{[]uint8{0}, []uint8{commandReadAnalog, 4, 5}},
simResponse: [][]uint8{{0}, {commandReadAnalog, 4, 5}},
wantResult: 1029,
},
"UltrasonicRead": {
usedPin: 4,
wantWritten: []uint8{commandSetPinMode, 4, 0, 0, commandReadUltrasonic, 4, 0, 0},
simResponse: [][]uint8{[]uint8{0}, []uint8{commandReadUltrasonic, 5, 6}},
simResponse: [][]uint8{{0}, {commandReadUltrasonic, 5, 6}},
wantResult: 1281,
},
"FirmwareVersionRead": {
wantWritten: []uint8{commandReadFirmwareVersion, 0, 0, 0},
simResponse: [][]uint8{[]uint8{commandReadFirmwareVersion, 7, 8, 9}},
simResponse: [][]uint8{{commandReadFirmwareVersion, 7, 8, 9}},
wantResultString: "7.8.9",
},
"DHTRead": {
usedPin: 5,
wantWritten: []uint8{commandSetPinMode, 5, 0, 0, commandReadDHT, 5, 1, 0},
simResponse: [][]uint8{[]uint8{0}, []uint8{commandReadDHT, 164, 112, 69, 193, 20, 174, 54, 66}},
simResponse: [][]uint8{{0}, {commandReadDHT, 164, 112, 69, 193, 20, 174, 54, 66}},
wantResultF1: -12.34,
wantResultF2: 45.67,
},
"DigitalRead_error_wrong_return_cmd": {
usedPin: 15,
wantWritten: []uint8{commandSetPinMode, 15, 0, 0, commandReadDigital, 15, 0, 0},
simResponse: [][]uint8{[]uint8{0}, []uint8{0, 2}},
simResponse: [][]uint8{{0}, {0, 2}},
wantErr: fmt.Errorf("answer (0) was not for command (1)"),
},
"AnalogRead_error_wrong_return_cmd": {
usedPin: 16,
wantWritten: []uint8{commandSetPinMode, 16, 0, 0, commandReadAnalog, 16, 0, 0},
simResponse: [][]uint8{[]uint8{0}, []uint8{0, 3, 4}},
simResponse: [][]uint8{{0}, {0, 3, 4}},
wantErr: fmt.Errorf("answer (0) was not for command (3)"),
},
"UltrasonicRead_error_wrong_return_cmd": {
usedPin: 17,
wantWritten: []uint8{commandSetPinMode, 17, 0, 0, commandReadUltrasonic, 17, 0, 0},
simResponse: [][]uint8{[]uint8{0}, []uint8{0, 5, 6}},
simResponse: [][]uint8{{0}, {0, 5, 6}},
wantErr: fmt.Errorf("answer (0) was not for command (7)"),
},
"FirmwareVersionRead_error_wrong_return_cmd": {
wantWritten: []uint8{commandReadFirmwareVersion, 0, 0, 0},
simResponse: [][]uint8{[]uint8{0, 7, 8, 9}},
simResponse: [][]uint8{{0, 7, 8, 9}},
wantErr: fmt.Errorf("answer (0) was not for command (8)"),
},
"DHTRead_error_wrong_return_cmd": {
usedPin: 18,
wantWritten: []uint8{commandSetPinMode, 18, 0, 0, commandReadDHT, 18, 1, 0},
simResponse: [][]uint8{[]uint8{0}, []uint8{0, 164, 112, 69, 193, 20, 174, 54, 66}},
simResponse: [][]uint8{{0}, {0, 164, 112, 69, 193, 20, 174, 54, 66}},
wantErr: fmt.Errorf("answer (0) was not for command (40)"),
},
"DigitalRead_error_wrong_data_count": {
usedPin: 28,
wantWritten: []uint8{commandSetPinMode, 28, 0, 0, commandReadDigital, 28, 0, 0},
simResponse: [][]uint8{[]uint8{0}, []uint8{commandReadDigital, 2, 3}},
simResponse: [][]uint8{{0}, {commandReadDigital, 2, 3}},
wantErr: fmt.Errorf("read count mismatch (3 should be 2)"),
},
}

4
drivers/i2c/hmc5883l_driver_test.go
View File

@ -4,8 +4,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
// this ensures that the implementation is based on i2c.Driver, which implements the gobot.Driver

4
drivers/i2c/hmc6352_driver_test.go
View File

@ -5,8 +5,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
// this ensures that the implementation is based on i2c.Driver, which implements the gobot.Driver

2
drivers/i2c/i2c_config_test.go
View File

@ -3,7 +3,7 @@ package i2c
import (
"testing"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2/gobottest"
)
func TestNewConfig(t *testing.T) {

4
drivers/i2c/i2c_connection.go
View File

@ -3,7 +3,7 @@ package i2c
import (
"fmt"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
const (
@ -30,7 +30,7 @@ type bitState uint8
const (
clear bitState = 0x00
set = 0x01
set bitState = 0x01
)
// Connection is a connection to an I2C device with a specified address

7
drivers/i2c/i2c_connection_test.go
View File

@ -1,3 +1,4 @@
//go:build !windows
// +build !windows
package i2c
@ -9,9 +10,9 @@ import (
"syscall"
"unsafe"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/system"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
"gobot.io/x/gobot/v2/system"
)
const dev = "/dev/i2c-1"

2
drivers/i2c/i2c_driver.go
View File

@ -6,7 +6,7 @@ import (
"strconv"
"sync"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
// Config is the interface to set and get I2C device related parameters.

4
drivers/i2c/i2c_driver_test.go
View File

@ -5,8 +5,8 @@ import (
"strings"
"testing"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
var _ gobot.Driver = (*Driver)(nil)

4
drivers/i2c/ina3221_driver_test.go
View File

@ -7,8 +7,8 @@ import (
"strings"
"gobot.io/x/gobot"
"gobot.io/x/gobot/gobottest"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/gobottest"
)
// this ensures that the implementation is based on i2c.Driver, which implements the gobot.Driver

7
drivers/i2c/jhd1313m1_driver.go
View File

@ -5,7 +5,7 @@ import (
"strconv"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/v2"
)
const (
@ -86,11 +86,12 @@ type JHD1313M1Driver struct {
// NewJHD1313M1Driver creates a new driver with specified i2c interface.
// Params:
// conn Connector - the Adaptor to use with this Driver
//
// conn Connector - the Adaptor to use with this Driver
//
// Optional params:
// i2c.WithBus(int): bus to use with this driver
//
// i2c.WithBus(int): bus to use with this driver
func NewJHD1313M1Driver(a Connector, options ...func(Config)) *JHD1313M1Driver {
j := &JHD1313M1Driver{
name: gobot.DefaultName("JHD1313M1"),

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