88 lines
2.0 KiB
Go
88 lines
2.0 KiB
Go
package megapi
|
|
|
|
import (
|
|
"io"
|
|
"time"
|
|
|
|
"go.bug.st/serial"
|
|
"gobot.io/x/gobot/v2"
|
|
)
|
|
|
|
var _ gobot.Adaptor = (*Adaptor)(nil)
|
|
|
|
// Adaptor is the Gobot adaptor for the MakeBlock MegaPi board
|
|
type Adaptor struct {
|
|
name string
|
|
port string
|
|
connection io.ReadWriteCloser
|
|
serialMode *serial.Mode
|
|
writeBytesChannel chan []byte
|
|
finalizeChannel chan struct{}
|
|
}
|
|
|
|
// NewAdaptor returns a new MegaPi Adaptor with specified serial port used to talk to the MegaPi with a baud rate of 115200
|
|
func NewAdaptor(device string) *Adaptor {
|
|
c := &serial.Mode{BaudRate: 115200}
|
|
return &Adaptor{
|
|
name: "MegaPi",
|
|
connection: nil,
|
|
port: device,
|
|
serialMode: c,
|
|
writeBytesChannel: make(chan []byte),
|
|
finalizeChannel: make(chan struct{}),
|
|
}
|
|
}
|
|
|
|
// Name returns the name of this adaptor
|
|
func (megaPi *Adaptor) Name() string {
|
|
return megaPi.name
|
|
}
|
|
|
|
// SetName sets the name of this adaptor
|
|
func (megaPi *Adaptor) SetName(n string) {
|
|
megaPi.name = n
|
|
}
|
|
|
|
// Connect starts a connection to the board
|
|
func (megaPi *Adaptor) Connect() error {
|
|
if megaPi.connection == nil {
|
|
sp, err := serial.Open(megaPi.port, megaPi.serialMode)
|
|
if err != nil {
|
|
return err
|
|
}
|
|
|
|
// sleeping is required to give the board a chance to reset
|
|
time.Sleep(2 * time.Second)
|
|
megaPi.connection = sp
|
|
}
|
|
|
|
// kick off thread to send bytes to the board
|
|
go func() {
|
|
for {
|
|
select {
|
|
case bytes := <-megaPi.writeBytesChannel:
|
|
if _, err := megaPi.connection.Write(bytes); err != nil {
|
|
panic(err)
|
|
}
|
|
time.Sleep(10 * time.Millisecond)
|
|
case <-megaPi.finalizeChannel:
|
|
megaPi.finalizeChannel <- struct{}{}
|
|
return
|
|
default:
|
|
time.Sleep(10 * time.Millisecond)
|
|
}
|
|
}
|
|
}()
|
|
return nil
|
|
}
|
|
|
|
// Finalize terminates the connection to the board
|
|
func (megaPi *Adaptor) Finalize() error {
|
|
megaPi.finalizeChannel <- struct{}{}
|
|
<-megaPi.finalizeChannel
|
|
if err := megaPi.connection.Close(); err != nil {
|
|
return err
|
|
}
|
|
return nil
|
|
}
|