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firmata_adaptor.go
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firmata_adaptor.go
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package firmata
import (
"fmt"
"io"
"strconv"
"time"
serial "go.bug.st/serial.v1"
"gobot.io/x/gobot"
"gobot.io/x/gobot/drivers/i2c"
"gobot.io/x/gobot/platforms/firmata/client"
)
type firmataBoard interface {
Connect(io.ReadWriteCloser) error
Disconnect() error
Pins() []client.Pin
AnalogWrite(int, int) error
SetPinMode(int, int) error
ReportAnalog(int, int) error
ReportDigital(int, int) error
DigitalWrite(int, int) error
I2cRead(int, int) error
I2cWrite(int, []byte) error
I2cConfig(int) error
ServoConfig(int, int, int) error
WriteSysex(data []byte) error
gobot.Eventer
}
type FirmataAdaptor interface {
Connect() (err error)
Finalize() (err error)
Name() string
SetName(n string)
WriteSysex(data []byte) error
gobot.Eventer
}
// Adaptor is the Gobot Adaptor for Firmata based boards
type Adaptor struct {
name string
port string
Board firmataBoard
conn io.ReadWriteCloser
PortOpener func(port string) (io.ReadWriteCloser, error)
gobot.Eventer
}
// NewAdaptor returns a new Firmata Adaptor which optionally accepts:
//
// string: port the Adaptor uses to connect to a serial port with a baude rate of 57600
// io.ReadWriteCloser: connection the Adaptor uses to communication with the hardware
//
// If an io.ReadWriteCloser is not supplied, the Adaptor will open a connection
// to a serial port with a baude rate of 57600. If an io.ReadWriteCloser
// is supplied, then the Adaptor will use the provided io.ReadWriteCloser and use the
// string port as a label to be displayed in the log and api.
func NewAdaptor(args ...interface{}) *Adaptor {
f := &Adaptor{
name: gobot.DefaultName("Firmata"),
port: "",
conn: nil,
Board: client.New(),
PortOpener: func(port string) (io.ReadWriteCloser, error) {
return serial.Open(port, &serial.Mode{BaudRate: 57600})
},
Eventer: gobot.NewEventer(),
}
for _, arg := range args {
switch arg.(type) {
case string:
f.port = arg.(string)
case io.ReadWriteCloser:
f.conn = arg.(io.ReadWriteCloser)
}
}
return f
}
// Connect starts a connection to the board.
func (f *Adaptor) Connect() (err error) {
if f.conn == nil {
sp, e := f.PortOpener(f.Port())
if e != nil {
return e
}
f.conn = sp
}
if err = f.Board.Connect(f.conn); err != nil {
return err
}
f.Board.On("SysexResponse", func(data interface{}) {
f.Publish("SysexResponse", data)
})
return
}
// Disconnect closes the io connection to the Board
func (f *Adaptor) Disconnect() (err error) {
if f.Board != nil {
return f.Board.Disconnect()
}
return nil
}
// Finalize terminates the firmata connection
func (f *Adaptor) Finalize() (err error) {
err = f.Disconnect()
return err
}
// Port returns the Firmata Adaptors port
func (f *Adaptor) Port() string { return f.port }
// Name returns the Firmata Adaptors name
func (f *Adaptor) Name() string { return f.name }
// SetName sets the Firmata Adaptors name
func (f *Adaptor) SetName(n string) { f.name = n }
// ServoConfig sets the pulse width in microseconds for a pin attached to a servo
func (f *Adaptor) ServoConfig(pin string, min, max int) error {
p, err := strconv.Atoi(pin)
if err != nil {
return err
}
return f.Board.ServoConfig(p, max, min)
}
// ServoWrite writes the 0-180 degree angle to the specified pin.
func (f *Adaptor) ServoWrite(pin string, angle byte) (err error) {
p, err := strconv.Atoi(pin)
if err != nil {
return err
}
if f.Board.Pins()[p].Mode != client.Servo {
err = f.Board.SetPinMode(p, client.Servo)
if err != nil {
return err
}
}
err = f.Board.AnalogWrite(p, int(angle))
return
}
// PwmWrite writes the 0-254 value to the specified pin
func (f *Adaptor) PwmWrite(pin string, level byte) (err error) {
p, err := strconv.Atoi(pin)
if err != nil {
return err
}
if f.Board.Pins()[p].Mode != client.Pwm {
err = f.Board.SetPinMode(p, client.Pwm)
if err != nil {
return err
}
}
err = f.Board.AnalogWrite(p, int(level))
return
}
// DigitalWrite writes a value to the pin. Acceptable values are 1 or 0.
func (f *Adaptor) DigitalWrite(pin string, level byte) (err error) {
p, err := strconv.Atoi(pin)
if err != nil {
return
}
if f.Board.Pins()[p].Mode != client.Output {
err = f.Board.SetPinMode(p, client.Output)
if err != nil {
return
}
}
err = f.Board.DigitalWrite(p, int(level))
return
}
// DigitalRead retrieves digital value from specified pin.
// Returns -1 if the response from the board has timed out
func (f *Adaptor) DigitalRead(pin string) (val int, err error) {
p, err := strconv.Atoi(pin)
if err != nil {
return
}
if f.Board.Pins()[p].Mode != client.Input {
if err = f.Board.SetPinMode(p, client.Input); err != nil {
return
}
if err = f.Board.ReportDigital(p, 1); err != nil {
return
}
<-time.After(10 * time.Millisecond)
}
return f.Board.Pins()[p].Value, nil
}
// AnalogRead retrieves value from analog pin.
// Returns -1 if the response from the board has timed out
func (f *Adaptor) AnalogRead(pin string) (val int, err error) {
p, err := strconv.Atoi(pin)
if err != nil {
return
}
p = f.digitalPin(p)
if f.Board.Pins()[p].Mode != client.Analog {
if err = f.Board.SetPinMode(p, client.Analog); err != nil {
return
}
if err = f.Board.ReportAnalog(p, 1); err != nil {
return
}
<-time.After(10 * time.Millisecond)
}
return f.Board.Pins()[p].Value, nil
}
func (f *Adaptor) WriteSysex(data []byte) error {
return f.Board.WriteSysex(data)
}
// digitalPin converts pin number to digital mapping
func (f *Adaptor) digitalPin(pin int) int {
return pin + 14
}
// GetConnection returns an i2c connection to a device on a specified bus.
// Only supports bus number 0
func (f *Adaptor) GetConnection(address int, bus int) (connection i2c.Connection, err error) {
if bus != 0 {
return nil, fmt.Errorf("Invalid bus number %d, only 0 is supported", bus)
}
err = f.Board.I2cConfig(0)
return NewFirmataI2cConnection(f, address), err
}
// GetDefaultBus returns the default i2c bus for this platform
func (f *Adaptor) GetDefaultBus() int {
return 0
}