Merge branch 'dev'

examples/beaglebone_button.go

@@ -0,0 +1,29 @@
+package main
+
+import (
+	"fmt"
+	"github.com/hybridgroup/gobot"
+	"github.com/hybridgroup/gobot/platforms/beaglebone"
+	"github.com/hybridgroup/gobot/platforms/gpio"
+)
+
+func main() {
+	gbot := gobot.NewGobot()
+
+	beagleboneAdaptor := beaglebone.NewBeagleboneAdaptor("beaglebone")
+	button := gpio.NewButtonDriver(beagleboneAdaptor, "button", "P8_9")
+
+	work := func() {
+		gobot.On(button.Events["push"], func(data interface{}) {
+			fmt.Println("button pressed")
+		})
+
+		gobot.On(button.Events["release"], func(data interface{}) {
+			fmt.Println("button released")
+		})
+	}
+
+	gbot.Robots = append(gbot.Robots,
+		gobot.NewRobot("buttonBot", []gobot.Connection{beagleboneAdaptor}, []gobot.Device{button}, work))
+	gbot.Start()
+}

examples/beaglebone_direct_pin.go

@@ -0,0 +1,30 @@
+package main
+
+import (
+	"github.com/hybridgroup/gobot"
+	"github.com/hybridgroup/gobot/platforms/beaglebone"
+	"github.com/hybridgroup/gobot/platforms/gpio"
+	"time"
+)
+
+func main() {
+	gbot := gobot.NewGobot()
+
+	beagleboneAdaptor := beaglebone.NewBeagleboneAdaptor("beaglebone")
+	led := gpio.NewDirectPinDriver(beagleboneAdaptor, "led", "P8_10")
+	button := gpio.NewDirectPinDriver(beagleboneAdaptor, "button", "P8_9")
+
+	work := func() {
+		gobot.Every(500*time.Millisecond, func() {
+			if button.DigitalRead() == 1 {
+				led.DigitalWrite(1)
+			} else {
+				led.DigitalWrite(0)
+			}
+		})
+	}
+
+	gbot.Robots = append(gbot.Robots,
+		gobot.NewRobot("pinBot", []gobot.Connection{beagleboneAdaptor}, []gobot.Device{led}, work))
+	gbot.Start()
+}

examples/beaglebone_makey_button.go

@@ -0,0 +1,29 @@
+package main
+
+import (
+	"fmt"
+	"github.com/hybridgroup/gobot"
+	"github.com/hybridgroup/gobot/platforms/beaglebone"
+	"github.com/hybridgroup/gobot/platforms/gpio"
+)
+
+func main() {
+	gbot := gobot.NewGobot()
+
+	beagleboneAdaptor := beaglebone.NewBeagleboneAdaptor("beaglebone")
+	button := gpio.NewMakeyButtonDriver(beagleboneAdaptor, "button", "P8_9")
+
+	work := func() {
+		gobot.On(button.Events["push"], func(data interface{}) {
+			fmt.Println("button pressed")
+		})
+
+		gobot.On(button.Events["release"], func(data interface{}) {
+			fmt.Println("button released")
+		})
+	}
+
+	gbot.Robots = append(gbot.Robots,
+		gobot.NewRobot("makeyBot", []gobot.Connection{beagleboneAdaptor}, []gobot.Device{button}, work))
+	gbot.Start()
+}

platforms/beaglebone/analog_pin.go

@@ -13,22 +13,9 @@ type analogPin struct {
 }
 
 func newAnalogPin(pinNum string) *analogPin {
-	var err error
-	var fi *os.File
-
 	d := new(analogPin)
 	d.pinNum = pinNum
 
-	slot, err := filepath.Glob(Slots)
-	if err != nil {
-		panic(err)
-	}
-	fi, err = os.OpenFile(fmt.Sprintf("%v/slots", slot[0]), os.O_WRONLY|os.O_APPEND, 0666)
-	if err != nil {
-		panic(err)
-	}
-	fi.WriteString("cape-bone-iio")
-	fi.Close()
 	return d
 }
 

platforms/beaglebone/beaglebone_adaptor.go

@@ -1,8 +1,13 @@
 package beaglebone
 
 import (
+	"bufio"
+	"fmt"
 	"github.com/hybridgroup/gobot"
+	"os"
+	"path/filepath"
 	"strconv"
+	"strings"
 )
 
 const Slots = "/sys/devices/bone_capemgr.*"
@@ -103,6 +108,7 @@ type BeagleboneAdaptor struct {
 	pwmPins     map[string]*pwmPin
 	analogPins  map[string]*analogPin
 	i2cDevice   *i2cDevice
+	connect     func()
 }
 
 func NewBeagleboneAdaptor(name string) *BeagleboneAdaptor {
@@ -110,6 +116,10 @@ func NewBeagleboneAdaptor(name string) *BeagleboneAdaptor {
 		Adaptor: gobot.Adaptor{
 			Name: name,
 		},
+		connect: func() {
+			ensureSlot("cape-bone-iio")
+			ensureSlot("am33xx_pwm")
+		},
 	}
 }
 
@@ -117,6 +127,7 @@ func (b *BeagleboneAdaptor) Connect() bool {
 	b.digitalPins = make([]*digitalPin, 120)
 	b.pwmPins = make(map[string]*pwmPin)
 	b.analogPins = make(map[string]*analogPin)
+	b.connect()
 	return true
 }
 
@@ -140,10 +151,7 @@ func (b *BeagleboneAdaptor) Reconnect() bool  { return true }
 func (b *BeagleboneAdaptor) Disconnect() bool { return true }
 
 func (b *BeagleboneAdaptor) PwmWrite(pin string, val byte) {
-	i := b.pwmPin(pin)
-	period := 500000.0
-	duty := gobot.FromScale(float64(^val), 0, 255.0)
-	b.pwmPins[i].pwmWrite(strconv.Itoa(int(period)), strconv.Itoa(int(period*duty)))
+	b.pwmWrite(pin, val)
 }
 
 func (b *BeagleboneAdaptor) InitServo() {}
@@ -154,6 +162,11 @@ func (b *BeagleboneAdaptor) ServoWrite(pin string, val byte) {
 	b.pwmPins[i].pwmWrite(strconv.Itoa(int(period)), strconv.Itoa(int(period*duty)))
 }
 
+func (b *BeagleboneAdaptor) DigitalRead(pin string) int {
+	i := b.digitalPin(pin, "r")
+	return b.digitalPins[i].digitalRead()
+}
+
 func (b *BeagleboneAdaptor) DigitalWrite(pin string, val byte) {
 	i := b.digitalPin(pin, "w")
 	b.digitalPins[i].digitalWrite(strconv.Itoa(int(val)))
@@ -164,6 +177,10 @@ func (b *BeagleboneAdaptor) AnalogRead(pin string) int {
 	return b.analogPins[i].analogRead()
 }
 
+func (b *BeagleboneAdaptor) AnalogWrite(pin string, val byte) {
+	b.pwmWrite(pin, val)
+}
+
 func (b *BeagleboneAdaptor) I2cStart(address byte) {
 	b.i2cDevice = newI2cDevice(I2CLocation, address)
 	b.i2cDevice.start()
@@ -227,3 +244,45 @@ func (b *BeagleboneAdaptor) pwmPin(pin string) string {
 	}
 	return i
 }
+
+func (b *BeagleboneAdaptor) pwmWrite(pin string, val byte) {
+	i := b.pwmPin(pin)
+	period := 500000.0
+	duty := gobot.FromScale(float64(^val), 0, 255.0)
+	b.pwmPins[i].pwmWrite(strconv.Itoa(int(period)), strconv.Itoa(int(period*duty)))
+}
+
+func ensureSlot(item string) {
+	var err error
+	var fi *os.File
+
+	slot, err := filepath.Glob(Slots)
+	if err != nil {
+		panic(err)
+	}
+	fi, err = os.OpenFile(fmt.Sprintf("%v/slots", slot[0]), os.O_RDWR|os.O_APPEND, 0666)
+	if err != nil {
+		panic(err)
+	}
+	defer fi.Close()
+
+	//ensure the slot is not already written into the capemanager (from: https://github.com/mrmorphic/hwio/blob/master/module_bb_pwm.go#L190)
+	scanner := bufio.NewScanner(fi)
+	for scanner.Scan() {
+		line := scanner.Text()
+		if strings.Index(line, item) > 0 {
+			return
+		}
+	}
+
+	fi.WriteString(item)
+	fi.Sync()
+
+	scanner = bufio.NewScanner(fi)
+	for scanner.Scan() {
+		line := scanner.Text()
+		if strings.Index(line, item) > 0 {
+			return
+		}
+	}
+}

platforms/beaglebone/beaglebone_adaptor_test.go

@@ -6,7 +6,9 @@ import (
 )
 
 func initTestBeagleboneAdaptor() *BeagleboneAdaptor {
-	return NewBeagleboneAdaptor("bot")
+	b := NewBeagleboneAdaptor("bot")
+	b.connect = func() {}
+	return b
 }
 
 func TestBeagleboneAdaptorFinalize(t *testing.T) {

platforms/beaglebone/digital_pin.go

@@ -26,8 +26,9 @@ func newDigitalPin(pinNum int, mode string) *digitalPin {
 	if err != nil {
 		panic(err)
 	}
+	defer fi.Close()
+
 	fi.WriteString(d.PinNum)
-	fi.Close()
 
 	d.setMode(mode)
 
@@ -71,6 +72,18 @@ func (d *digitalPin) digitalWrite(value string) {
 	d.PinFile.Sync()
 }
 
+func (d *digitalPin) digitalRead() int {
+	if d.Mode != "r" {
+		d.setMode("r")
+	}
+
+	var buf []byte = make([]byte, 1)
+	d.PinFile.ReadAt(buf, 0)
+
+	i, _ := strconv.Atoi(string(buf[0]))
+	return i
+}
+
 func (d *digitalPin) close() {
 	fi, err := os.OpenFile(GPIOPath+"/unexport", os.O_WRONLY|os.O_APPEND, 0666)
 	if err != nil {

platforms/beaglebone/pwm_pin.go

@@ -5,7 +5,6 @@ import (
 	"os"
 	"path/filepath"
 	"strings"
-	"time"
 )
 
 type pwmPin struct {
@@ -17,21 +16,11 @@ func newPwmPin(pinNum string) *pwmPin {
 	var err error
 	var fi *os.File
 
-	d := new(pwmPin)
-	d.pinNum = strings.ToUpper(pinNum)
-	slots, err := filepath.Glob(Slots)
-	if err != nil {
-		panic(err)
+	d := &pwmPin{
+		pinNum: strings.ToUpper(pinNum),
 	}
-	fi, err = os.OpenFile(fmt.Sprintf("%v/slots", slots[0]), os.O_WRONLY|os.O_APPEND, 0666)
-	if err != nil {
-		panic(err)
-	}
-	fi.WriteString("am33xx_pwm")
-	fi.Sync()
-	fi.WriteString(fmt.Sprintf("bone_pwm_%v", d.pinNum))
-	fi.Sync()
-	fi.Close()
+
+	ensureSlot(fmt.Sprintf("bone_pwm_%v", d.pinNum))
 
 	ocp, err := filepath.Glob(Ocp)
 	if err != nil {
@@ -42,18 +31,32 @@ func newPwmPin(pinNum string) *pwmPin {
 	if err != nil {
 		panic(err)
 	}
+
 	d.pwmDevice = pwmDevice[0]
 
 	for i := 0; i < 10; i++ {
-		fi, err = os.OpenFile(fmt.Sprintf("%v/run", d.pwmDevice), os.O_WRONLY|os.O_APPEND, 0666)
+		fi, err = os.OpenFile(fmt.Sprintf("%v/run", d.pwmDevice), os.O_RDWR|os.O_APPEND, 0666)
 		if err != nil && i == 9 {
 			panic(err)
+		} else {
+			break
 		}
-		time.Sleep(10 * time.Millisecond)
 	}
+
 	fi.WriteString("1")
+	fi.Sync()
 	fi.Close()
 
+	for {
+		if _, err := os.Stat(fmt.Sprintf("%v/period", d.pwmDevice)); err == nil {
+			break
+		}
+	}
+	for {
+		if _, err := os.Stat(fmt.Sprintf("%v/duty", d.pwmDevice)); err == nil {
+			break
+		}
+	}
 	return d
 }