sprkplus: add new platform for Sphero SPRK+

Signed-off-by: deadprogram <ron@hybridgroup.com>

README.md

@@ -215,7 +215,8 @@ Gobot has a extensible system for connecting to hardware devices. The following
 - [Raspberry Pi](http://www.raspberrypi.org/) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/raspi)
 - [Sphero](http://www.sphero.com/) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/sphero)
 - [Sphero BB-8](http://www.sphero.com/bb8) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/sphero/bb8)
-- [Sphero Ollie](http://www.sphero.com/) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/sphero/ollie)
+- [Sphero Ollie](http://www.sphero.com/ollie) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/sphero/ollie)
+- [Sphero SPRK+](http://www.sphero.com/sprk-plus) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/sphero/sprkplus)
 - [Tinker Board](https://www.asus.com/us/Single-Board-Computer/Tinker-Board/) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/tinkerboard)
 
 Support for many devices that use General Purpose Input/Output (GPIO) have

examples/sprkplus.go

@@ -0,0 +1,45 @@
+// +build example
+//
+// Do not build by default.
+
+/*
+ How to run
+ Pass the Bluetooth address or name as the first param:
+
+	go run examples/sprkplus.go SK-1234
+
+ NOTE: sudo is required to use BLE in Linux
+*/
+
+package main
+
+import (
+	"os"
+	"time"
+
+	"gobot.io/x/gobot"
+	"gobot.io/x/gobot/platforms/ble"
+	"gobot.io/x/gobot/platforms/sphero/sprkplus"
+)
+
+func main() {
+	bleAdaptor := ble.NewClientAdaptor(os.Args[1])
+	sprk := sprkplus.NewDriver(bleAdaptor)
+
+	work := func() {
+		gobot.Every(1*time.Second, func() {
+			r := uint8(gobot.Rand(255))
+			g := uint8(gobot.Rand(255))
+			b := uint8(gobot.Rand(255))
+			sprk.SetRGB(r, g, b)
+		})
+	}
+
+	robot := gobot.NewRobot("sprkBot",
+		[]gobot.Connection{bleAdaptor},
+		[]gobot.Device{sprk},
+		work,
+	)
+
+	robot.Start()
+}

platforms/sphero/sprkplus/LICENSE

@@ -0,0 +1,13 @@
+Copyright (c) 2014-2017 The Hybrid Group
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+   http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.

platforms/sphero/sprkplus/README.md

@@ -0,0 +1,75 @@
+# Sphero SPRK+
+
+The Sphero SPRK+ is a toy robot from Sphero that is controlled using Bluetooth LE. For more information, go to [http://www.sphero.com/sprk-plus](http://www.sphero.com/sprk-plus)
+
+## How to Install
+
+```
+go get -d -u gobot.io/x/gobot/...
+```
+
+## How to Use
+
+```go
+package main
+
+import (
+	"os"
+	"time"
+
+	"gobot.io/x/gobot"
+	"gobot.io/x/gobot/platforms/ble"
+	"gobot.io/x/gobot/platforms/sphero/sprkplus"
+)
+
+func main() {
+	bleAdaptor := ble.NewClientAdaptor(os.Args[1])
+	sprk := sprkplus.NewDriver(bleAdaptor)
+
+	work := func() {
+		gobot.Every(1*time.Second, func() {
+			r := uint8(gobot.Rand(255))
+			g := uint8(gobot.Rand(255))
+			b := uint8(gobot.Rand(255))
+			sprk.SetRGB(r, g, b)
+		})
+	}
+
+	robot := gobot.NewRobot("sprk",
+		[]gobot.Connection{bleAdaptor},
+		[]gobot.Device{sprk},
+		work,
+	)
+
+	robot.Start()
+}
+```
+
+## How to Connect
+
+The Sphero SPRK+ is a Bluetooth LE device.
+
+You need to know the BLE ID of the SPRK+ you want to connect to. The Gobot BLE client adaptor also lets you connect by friendly name, aka "SK-1247".
+
+### OSX
+
+To run any of the Gobot BLE code you must use the `GODEBUG=cgocheck=0` flag in order to get around some of the issues in the CGo-based implementation.
+
+If you connect by name, then you do not need to worry about the Bluetooth LE ID. However, if you want to connect by ID, OS X uses its own Bluetooth ID system which is different from the IDs used on Linux. The code calls thru the XPC interfaces provided by OSX, so as a result does not need to run under sudo.
+
+For example:
+
+    GODEBUG=cgocheck=0 go run examples/sprkplus.go SK-1247
+
+### Ubuntu
+
+On Linux the BLE code will need to run as a root user account. The easiest way to accomplish this is probably to use `go build` to build your program, and then to run the requesting executable using `sudo`.
+
+For example:
+
+    go build examples/sprkplus.go
+    sudo ./sprkplus SK-1247
+
+### Windows
+
+Hopefully coming soon...

platforms/sphero/sprkplus/doc.go

@@ -0,0 +1,7 @@
+/*
+Package sprkplus contains the Gobot driver for the Sphero SPRK+.
+
+For more information refer to the sprkplus README:
+https://github.com/hybridgroup/gobot/blob/master/platforms/sphero/sprkplus/README.md
+*/
+package sprkplus // import "gobot.io/x/gobot/platforms/sphero/sprkplus"

platforms/sphero/sprkplus/helpers_test.go

@@ -0,0 +1,69 @@
+package sprkplus
+
+import (
+	"sync"
+
+	"gobot.io/x/gobot/platforms/ble"
+)
+
+var _ ble.BLEConnector = (*bleTestClientAdaptor)(nil)
+
+type bleTestClientAdaptor struct {
+	name            string
+	address         string
+	mtx             sync.Mutex
+	withoutReponses bool
+
+	testReadCharacteristic  func(string) ([]byte, error)
+	testWriteCharacteristic func(string, []byte) error
+}
+
+func (t *bleTestClientAdaptor) Connect() (err error)     { return }
+func (t *bleTestClientAdaptor) Reconnect() (err error)   { return }
+func (t *bleTestClientAdaptor) Disconnect() (err error)  { return }
+func (t *bleTestClientAdaptor) Finalize() (err error)    { return }
+func (t *bleTestClientAdaptor) Name() string             { return t.name }
+func (t *bleTestClientAdaptor) SetName(n string)         { t.name = n }
+func (t *bleTestClientAdaptor) Address() string          { return t.address }
+func (t *bleTestClientAdaptor) WithoutReponses(use bool) { t.withoutReponses = use }
+
+func (t *bleTestClientAdaptor) ReadCharacteristic(cUUID string) (data []byte, err error) {
+	t.mtx.Lock()
+	defer t.mtx.Unlock()
+	return t.testReadCharacteristic(cUUID)
+}
+
+func (t *bleTestClientAdaptor) WriteCharacteristic(cUUID string, data []byte) (err error) {
+	t.mtx.Lock()
+	defer t.mtx.Unlock()
+	return t.testWriteCharacteristic(cUUID, data)
+}
+
+func (t *bleTestClientAdaptor) Subscribe(cUUID string, f func([]byte, error)) (err error) {
+	// TODO: implement this...
+	return
+}
+
+func (t *bleTestClientAdaptor) TestReadCharacteristic(f func(cUUID string) (data []byte, err error)) {
+	t.mtx.Lock()
+	defer t.mtx.Unlock()
+	t.testReadCharacteristic = f
+}
+
+func (t *bleTestClientAdaptor) TestWriteCharacteristic(f func(cUUID string, data []byte) (err error)) {
+	t.mtx.Lock()
+	defer t.mtx.Unlock()
+	t.testWriteCharacteristic = f
+}
+
+func NewBleTestAdaptor() *bleTestClientAdaptor {
+	return &bleTestClientAdaptor{
+		address: "01:02:03:04:05:06",
+		testReadCharacteristic: func(cUUID string) (data []byte, e error) {
+			return
+		},
+		testWriteCharacteristic: func(cUUID string, data []byte) (e error) {
+			return
+		},
+	}
+}

platforms/sphero/sprkplus/sprkplus_driver.go

@@ -0,0 +1,22 @@
+package sprkplus
+
+import (
+	"gobot.io/x/gobot"
+	"gobot.io/x/gobot/platforms/ble"
+	"gobot.io/x/gobot/platforms/sphero/ollie"
+)
+
+// Driver represents a Sphero SPRK+
+type SPRKPlusDriver struct {
+	*ollie.Driver
+}
+
+// NewDriver creates a Driver for a Sphero SPRK+
+func NewDriver(a ble.BLEConnector) *SPRKPlusDriver {
+	d := ollie.NewDriver(a)
+	d.SetName(gobot.DefaultName("SPRKPlus"))
+
+	return &SPRKPlusDriver{
+		Driver: d,
+	}
+}

platforms/sphero/sprkplus/sprkplus_driver_test.go

@@ -0,0 +1,29 @@
+package sprkplus
+
+import (
+	"strings"
+	"testing"
+
+	"gobot.io/x/gobot"
+	"gobot.io/x/gobot/gobottest"
+)
+
+var _ gobot.Driver = (*SPRKPlusDriver)(nil)
+
+func initTestSPRKPlusDriver() *SPRKPlusDriver {
+	d := NewDriver(NewBleTestAdaptor())
+	return d
+}
+
+func TestSPRKPlusDriver(t *testing.T) {
+	d := initTestSPRKPlusDriver()
+	gobottest.Assert(t, strings.HasPrefix(d.Name(), "SPRK"), true)
+	d.SetName("NewName")
+	gobottest.Assert(t, d.Name(), "NewName")
+}
+
+func TestSPRKPlusDriverStartAndHalt(t *testing.T) {
+	d := initTestSPRKPlusDriver()
+	gobottest.Assert(t, d.Start(), nil)
+	gobottest.Assert(t, d.Halt(), nil)
+}