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