124 lines
3.4 KiB
Go
124 lines
3.4 KiB
Go
package gpio
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import (
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"strconv"
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"gobot.io/x/gobot/v2"
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)
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// DirectPinDriver represents a GPIO pin
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type DirectPinDriver struct {
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name string
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pin string
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connection gobot.Connection
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gobot.Commander
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}
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// NewDirectPinDriver return a new DirectPinDriver given a Connection and pin.
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//
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// Adds the following API Commands:
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//
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// "DigitalRead" - See DirectPinDriver.DigitalRead
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// "DigitalWrite" - See DirectPinDriver.DigitalWrite
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// "PwmWrite" - See DirectPinDriver.PwmWrite
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// "ServoWrite" - See DirectPinDriver.ServoWrite
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func NewDirectPinDriver(a gobot.Connection, pin string) *DirectPinDriver {
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d := &DirectPinDriver{
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name: gobot.DefaultName("DirectPin"),
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connection: a,
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pin: pin,
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Commander: gobot.NewCommander(),
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}
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d.AddCommand("DigitalRead", func(params map[string]interface{}) interface{} {
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val, err := d.DigitalRead()
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return map[string]interface{}{"val": val, "err": err}
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})
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d.AddCommand("DigitalWrite", func(params map[string]interface{}) interface{} {
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level, _ := strconv.Atoi(params["level"].(string))
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return d.DigitalWrite(byte(level))
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})
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d.AddCommand("PwmWrite", func(params map[string]interface{}) interface{} {
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level, _ := strconv.Atoi(params["level"].(string))
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return d.PwmWrite(byte(level))
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})
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d.AddCommand("ServoWrite", func(params map[string]interface{}) interface{} {
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level, _ := strconv.Atoi(params["level"].(string))
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return d.ServoWrite(byte(level))
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})
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return d
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}
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// Name returns the DirectPinDrivers name
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func (d *DirectPinDriver) Name() string { return d.name }
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// SetName sets the DirectPinDrivers name
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func (d *DirectPinDriver) SetName(n string) { d.name = n }
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// Pin returns the DirectPinDrivers pin
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func (d *DirectPinDriver) Pin() string { return d.pin }
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// Connection returns the DirectPinDrivers Connection
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func (d *DirectPinDriver) Connection() gobot.Connection { return d.connection }
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// Start implements the Driver interface
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func (d *DirectPinDriver) Start() error { return nil }
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// Halt implements the Driver interface
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func (d *DirectPinDriver) Halt() error { return nil }
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// Off turn off pin
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func (d *DirectPinDriver) Off() error {
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if writer, ok := d.Connection().(DigitalWriter); ok {
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return writer.DigitalWrite(d.Pin(), byte(0))
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}
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return ErrDigitalWriteUnsupported
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}
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// On turn on pin
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func (d *DirectPinDriver) On() error {
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if writer, ok := d.Connection().(DigitalWriter); ok {
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return writer.DigitalWrite(d.Pin(), byte(1))
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}
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return ErrDigitalWriteUnsupported
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}
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// DigitalRead returns the current digital state of the pin
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func (d *DirectPinDriver) DigitalRead() (int, error) {
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if reader, ok := d.Connection().(DigitalReader); ok {
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return reader.DigitalRead(d.Pin())
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}
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return 0, ErrDigitalReadUnsupported
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}
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// DigitalWrite writes to the pin. Acceptable values are 1 or 0
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func (d *DirectPinDriver) DigitalWrite(level byte) error {
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if writer, ok := d.Connection().(DigitalWriter); ok {
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return writer.DigitalWrite(d.Pin(), level)
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}
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return ErrDigitalWriteUnsupported
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}
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// PwmWrite writes the 0-254 value to the specified pin
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func (d *DirectPinDriver) PwmWrite(level byte) error {
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if writer, ok := d.Connection().(PwmWriter); ok {
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return writer.PwmWrite(d.Pin(), level)
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}
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return ErrPwmWriteUnsupported
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}
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// ServoWrite writes value to the specified pin
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func (d *DirectPinDriver) ServoWrite(level byte) error {
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if writer, ok := d.Connection().(ServoWriter); ok {
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return writer.ServoWrite(d.Pin(), level)
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}
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return ErrServoWriteUnsupported
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}
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