From 5eac41a6bcd67011730a6aebec95b7917a049ff8 Mon Sep 17 00:00:00 2001
From: deadprogram <ron@hybridgroup.com>
Date: Sun, 16 Oct 2016 18:25:05 +0200
Subject: [PATCH] core: WIP on all work happening in separate goroutine

Signed-off-by: deadprogram <ron@hybridgroup.com>
---
 examples/firmata_blink_robot.go | 28 ++++++++++++++++++++++++++++
 robot.go                        |  8 +++++++-
 2 files changed, 35 insertions(+), 1 deletion(-)
 create mode 100644 examples/firmata_blink_robot.go

diff --git a/examples/firmata_blink_robot.go b/examples/firmata_blink_robot.go
new file mode 100644
index 00000000..e27de4ce
--- /dev/null
+++ b/examples/firmata_blink_robot.go
@@ -0,0 +1,28 @@
+package main
+
+import (
+	"time"
+
+	"github.com/hybridgroup/gobot"
+	"github.com/hybridgroup/gobot/drivers/gpio"
+	"github.com/hybridgroup/gobot/platforms/firmata"
+)
+
+func main() {
+	firmataAdaptor := firmata.NewAdaptor("/dev/ttyACM0")
+	led := gpio.NewLedDriver(firmataAdaptor, "13")
+
+	work := func() {
+		gobot.Every(1*time.Second, func() {
+			led.Toggle()
+		})
+	}
+
+	robot := gobot.NewRobot("bot",
+		[]gobot.Connection{firmataAdaptor},
+		[]gobot.Device{led},
+		work,
+	)
+
+	robot.Start()
+}
diff --git a/robot.go b/robot.go
index 46b0431b..b85b8ecc 100644
--- a/robot.go
+++ b/robot.go
@@ -42,6 +42,7 @@ type Robot struct {
 	Work        func()
 	connections *Connections
 	devices     *Devices
+	done        chan bool
 	Commander
 	Eventer
 }
@@ -98,6 +99,7 @@ func NewRobot(v ...interface{}) *Robot {
 		Name:        fmt.Sprintf("%X", Rand(int(^uint(0)>>1))),
 		connections: &Connections{},
 		devices:     &Devices{},
+		done:        make(chan bool),
 		Work:        nil,
 		Eventer:     NewEventer(),
 		Commander:   NewCommander(),
@@ -142,7 +144,10 @@ func (r *Robot) Start() (errs []error) {
 	}
 	if r.Work != nil {
 		log.Println("Starting work...")
-		r.Work()
+		go func() {
+			r.Work()
+			<-r.done
+		}()
 	}
 	return
 }
@@ -152,6 +157,7 @@ func (r *Robot) Stop() (errs []error) {
 	log.Println("Stopping Robot", r.Name, "...")
 	errs = append(errs, r.Devices().Halt()...)
 	errs = append(errs, r.Connections().Finalize()...)
+	r.done <- true
 	return errs
 }