Merge branch 'dev' into refactor_device_connection

Makefile

@@ -12,3 +12,18 @@ cover:
 		cat tmp.cov | grep -v "mode: count" >> profile.cov ; \
 	done ; \
 	rm tmp.cov ; \
+
+robeaux:
+ifeq (,$(shell which go-bindata))
+	$(error robeaux not built! https://github.com/jteeuwen/go-bindata is required to build robeaux assets )
+endif
+	cd api ; \
+	git clone --depth 1 git://github.com/hybridgroup/robeaux.git ; \
+	cd robeaux ; \
+	echo "Updating robeaux to $(shell git rev-parse HEAD)" ; \
+	go-bindata -pkg="api" -o robeaux.go -ignore=\\.git ./... ; \
+	mv robeaux.go .. ; \
+	cd .. ; \
+	rm -rf robeaux/ ; \
+	go fmt ./robeaux.go ; \
+	

README.md

@@ -135,7 +135,7 @@ You can also specify the api host and port, and turn on authentication:
   server.Start()
 ```
 
-In order to use the [robeaux](https://github.com/hybridgroup/robeaux) AngularJS interface with Gobot you simply clone the robeaux repo and place it in the directory of your Gobot program. The robeaux assets must be in a folder called `robeaux`.
+In order to use the [robeaux](https://github.com/hybridgroup/robeaux) AngularJS interface with Gobot you must have [go-bindata](https://github.com/jteeuwen/go-bindata) installed and then run `$ make robeaux`. You may now access robeaux by navigating to `http://localhost:3000/index.html`.
 
 ## Documentation
 We're busy adding documentation to our web site at http://gobot.io/ please check there as we continue to work on Gobot

api/api.go

@@ -9,6 +9,7 @@ import (
 	"io/ioutil"
 	"log"
 	"net/http"
+	"strings"
 )
 
 // Optional restful API through Gobot has access
@@ -45,6 +46,7 @@ func NewAPI(g *gobot.Gobot) *api {
 
 			log.Println("Initializing API on " + host + ":" + port + "...")
 			http.Handle("/", a.server)
+
 			go func() {
 				if cert != "" && key != "" {
 					http.ListenAndServeTLS(host+":"+port, cert, key, nil)
@@ -82,6 +84,12 @@ func (a *api) Start() {
 	a.server.Post(deviceCommandRoute, a.setHeaders(a.executeDeviceCommand))
 	a.server.Get("/robots/:robot/connections", a.setHeaders(a.robotConnections))
 	a.server.Get("/robots/:robot/connections/:connection", a.setHeaders(a.robotConnection))
+	a.server.Get("/:a", a.setHeaders(a.robeaux))
+	a.server.Get("/:a/", a.setHeaders(a.robeaux))
+	a.server.Get("/:a/:b", a.setHeaders(a.robeaux))
+	a.server.Get("/:a/:b/", a.setHeaders(a.robeaux))
+	a.server.Get("/:a/:b/:c", a.setHeaders(a.robeaux))
+	a.server.Get("/:a/:b/:c/", a.setHeaders(a.robeaux))
 
 	a.start(a)
 }
@@ -118,6 +126,23 @@ func (a *api) setHeaders(f func(http.ResponseWriter, *http.Request)) http.Handle
 	}
 }
 
+func (a *api) robeaux(res http.ResponseWriter, req *http.Request) {
+	path := req.URL.Path
+	buf, err := Asset(path[1:])
+	if err != nil {
+		log.Println("Error serving static file:", err.Error())
+		res.Write([]byte(err.Error()))
+		return
+	}
+	t := strings.Split(path, ".")
+	if t[len(t)-1] == "js" {
+		res.Header().Set("Content-Type", "text/javascript; charset=utf-8")
+	} else if t[len(t)-1] == "css" {
+		res.Header().Set("Content-Type", "text/css; charset=utf-8")
+	}
+	res.Write(buf)
+}
+
 func (a *api) root(res http.ResponseWriter, req *http.Request) {
 	data, _ := json.Marshal(a.gobot.ToJSON())
 	res.Header().Set("Content-Type", "application/json; charset=utf-8")

api/robeaux.go

@@ -0,0 +1,9 @@
+package api
+
+import (
+	"fmt"
+)
+
+func Asset(name string) ([]byte, error) {
+	return nil, fmt.Errorf("Please run '$ make robeaux' for robeaux support")
+}

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()
+}

examples/firmata_led_brightness_with_analog_input.go

@@ -5,7 +5,6 @@ import (
 	"github.com/hybridgroup/gobot"
 	"github.com/hybridgroup/gobot/platforms/firmata"
 	"github.com/hybridgroup/gobot/platforms/gpio"
-	"time"
 )
 
 func main() {
@@ -15,10 +14,9 @@ func main() {
 	led := gpio.NewLedDriver(firmataAdaptor, "led", "3")
 
 	work := func() {
-		gobot.Every(100*time.Millisecond, func() {
+		gobot.On(sensor.Events["data"], func(data interface{}) {
-			val := sensor.Read()
+			brightness := uint8(gobot.ToScale(gobot.FromScale(float64(data.(int)), 0, 1024), 0, 255))
-			brightness := uint8(gobot.ToScale(gobot.FromScale(float64(val), 0, 1024), 0, 255))
+			fmt.Println("sensor", data)
-			fmt.Println("sensor", val)
 			fmt.Println("brightness", brightness)
 			led.Brightness(brightness)
 		})

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 {
@@ -111,6 +117,10 @@ func NewBeagleboneAdaptor(name string) *BeagleboneAdaptor {
 			name,
 			"BeagleboneAdaptor",
 		),
+		connect: func() {
+			ensureSlot("cape-bone-iio")
+			ensureSlot("am33xx_pwm")
+		},
 	}
 }
 
@@ -118,6 +128,7 @@ 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
 }
 
@@ -141,10 +152,7 @@ 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)
+	b.pwmWrite(pin, val)
-	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 (b *BeagleboneAdaptor) InitServo() {}
@@ -155,6 +163,11 @@ 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)))
@@ -165,6 +178,10 @@ 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()
@@ -228,3 +245,45 @@ 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 := &pwmPin{
-	d.pinNum = strings.ToUpper(pinNum)
+		pinNum: strings.ToUpper(pinNum),
-	slots, err := filepath.Glob(Slots)
-	if err != nil {
-		panic(err)
 	}
-	fi, err = os.OpenFile(fmt.Sprintf("%v/slots", slots[0]), os.O_WRONLY|os.O_APPEND, 0666)
+
-	if err != nil {
+	ensureSlot(fmt.Sprintf("bone_pwm_%v", d.pinNum))
-		panic(err)
-	}
-	fi.WriteString("am33xx_pwm")
-	fi.Sync()
-	fi.WriteString(fmt.Sprintf("bone_pwm_%v", d.pinNum))
-	fi.Sync()
-	fi.Close()
 
 	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
 }
 

platforms/firmata/firmata.go

@@ -249,12 +249,12 @@ func (b *board) process(data []byte) {
 		if err != nil {
 			break
 		}
-		switch messageType {
+		switch {
-		case ReportVersion:
+		case ReportVersion == messageType:
 			b.MajorVersion, _ = buf.ReadByte()
 			b.MinorVersion, _ = buf.ReadByte()
 			b.Events = append(b.Events, event{Name: "report_version"})
-		case AnalogMessage:
+		case AnalogMessageRangeStart <= messageType && AnalogMessageRangeEnd >= messageType:
 			leastSignificantByte, _ := buf.ReadByte()
 			mostSignificantByte, _ := buf.ReadByte()
 
@@ -264,7 +264,7 @@ func (b *board) process(data []byte) {
 			b.Pins[b.AnalogPins[pin]].Value = int(value)
 			b.Events = append(b.Events, event{Name: fmt.Sprintf("analog_read_%v", pin), Data: []byte{byte(value >> 24), byte(value >> 16), byte(value >> 8), byte(value & 0xff)}})
 
-		case DigitalMessage:
+		case DigitalMessageRangeStart <= messageType && DigitalMessageRangeEnd >= messageType:
 			port := messageType & 0x0F
 			firstBitmask, _ := buf.ReadByte()
 			secondBitmask, _ := buf.ReadByte()
@@ -279,7 +279,7 @@ func (b *board) process(data []byte) {
 				}
 			}
 
-		case StartSysex:
+		case StartSysex == messageType:
 			currentBuffer := []byte{messageType}
 			for {
 				b, err := buf.ReadByte()

platforms/gpio/analog_sensor_driver.go

@@ -18,6 +18,7 @@ func NewAnalogSensorDriver(a AnalogReader, name string, pin string) *AnalogSenso
 		),
 	}
 
+	d.AddEvent("data")
 	d.Driver.AddCommand("Read", func(params map[string]interface{}) interface{} {
 		return d.Read()
 	})
@@ -29,7 +30,17 @@ func (a *AnalogSensorDriver) adaptor() AnalogReader {
 	return a.Driver.Adaptor().(AnalogReader)
 }
 
-func (a *AnalogSensorDriver) Start() bool { return true }
+func (a *AnalogSensorDriver) Start() bool {
+	value := 0
+	gobot.Every(a.Interval(), func() {
+		newValue := a.Read()
+		if newValue != value && newValue != -1 {
+			value = newValue
+			gobot.Publish(a.Event("data"), value)
+		}
+	})
+	return true
+}
 func (a *AnalogSensorDriver) Init() bool { return true }
 func (a *AnalogSensorDriver) Halt() bool { return true }
 

version.go

@@ -0,0 +1,7 @@
+package gobot
+
+const version = "0.5.1"
+
+func Version() string {
+	return version
+}