ble: introduce in drivers folder (#1057)

hybridgroup · Feb 4, 2024 · 3ac63bf · 3ac63bf
1 parent 474d553
commit 3ac63bf
Show file tree

Hide file tree

Showing 158 changed files with 3,966 additions and 4,154 deletions.
diff --git a/Makefile b/Makefile
@@ -12,7 +12,7 @@ including_except := $(shell go list ./... | grep -v platforms/opencv)
 
 # Run tests on nearly all directories without test cache, with race detection
 test_race:
-	go test -failfast -count=1 -v -race $(including_except)
+	go test -failfast -count=1 -race $(including_except)
 
 # Run tests on nearly all directories without test cache
 test:

diff --git a/README.md b/README.md
@@ -101,12 +101,13 @@ import (
   "time"
 
   "gobot.io/x/gobot/v2"
-  "gobot.io/x/gobot/v2/platforms/sphero"
+  "gobot.io/x/gobot/v2/drivers/serial"
+  "gobot.io/x/gobot/v2/platforms/serialport"
 )
 
 func main() {
-  adaptor := sphero.NewAdaptor("/dev/rfcomm0")
-  driver := sphero.NewSpheroDriver(adaptor)
+  adaptor := serialport.NewAdaptor("/dev/rfcomm0")
+  driver := serial.NewSpheroDriver(adaptor)
 
   work := func() {
     gobot.Every(3*time.Second, func() {
@@ -166,18 +167,20 @@ import (
 
   "gobot.io/x/gobot/v2"
   "gobot.io/x/gobot/v2/api"
-  "gobot.io/x/gobot/v2/platforms/sphero"
+  "gobot.io/x/gobot/v2/drivers/common/sphero"
+  "gobot.io/x/gobot/v2/drivers/serial"
+  "gobot.io/x/gobot/v2/platforms/serialport"
 )
 
 func NewSwarmBot(port string) *gobot.Robot {
-  spheroAdaptor := sphero.NewAdaptor(port)
-  spheroDriver := sphero.NewSpheroDriver(spheroAdaptor)
+  spheroAdaptor := serialport.NewAdaptor(port)
+  spheroDriver := serial.NewSpheroDriver(spheroAdaptor)
   spheroDriver.SetName("Sphero" + port)
 
   work := func() {
     spheroDriver.Stop()
 
-    spheroDriver.On(sphero.Collision, func(data interface{}) {
+    spheroDriver.On(sphero.CollisionEvent, func(data interface{}) {
       fmt.Println("Collision Detected!")
     })
 
@@ -229,7 +232,7 @@ platforms are currently supported:
 - Audio <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/audio)
 - [Beaglebone Black](http://beagleboard.org/boards) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/beaglebone)
 - [Beaglebone PocketBeagle](http://beagleboard.org/pocket/) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/beaglebone)
-- [Bluetooth LE](https://www.bluetooth.com/what-is-bluetooth-technology/bluetooth-technology-basics/low-energy) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/ble)
+- [Bluetooth LE](https://www.bluetooth.com/what-is-bluetooth-technology/bluetooth-technology-basics/low-energy) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/bleclient)
 - [C.H.I.P](http://www.nextthing.co/pages/chip) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/chip)
 - [C.H.I.P Pro](https://docs.getchip.com/chip_pro.html) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/chip)
 - [Digispark](http://digistump.com/products/1) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/digispark)
@@ -259,15 +262,47 @@ platforms are currently supported:
 - [Pebble](https://www.getpebble.com/) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/pebble)
 - [Radxa Rock Pi 4](https://wiki.radxa.com/Rock4/) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/rockpi)
 - [Raspberry Pi](http://www.raspberrypi.org/) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/raspi)
-- [Sphero](http://www.sphero.com/) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/sphero)
+- [Serial Port](https://en.wikipedia.org/wiki/Serial_port) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/serialport)
+- [Sphero](http://www.sphero.com/) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/sphero/sphero)
 - [Sphero BB-8](http://www.sphero.com/bb8) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/sphero/bb8)
 - [Sphero Ollie](http://www.sphero.com/ollie) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/sphero/ollie)
 - [Sphero SPRK+](http://www.sphero.com/sprk-plus) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/sphero/sprkplus)
 - [Tinker Board](https://www.asus.com/us/Single-Board-Computer/Tinker-Board/) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/tinkerboard)
 - [UP2](http://www.up-board.org/upsquared/) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/upboard/up2)
 
-Support for many devices that use General Purpose Input/Output (GPIO) have
-a shared set of drivers provided using the `gobot/drivers/gpio` package:
+Support for many devices that use Analog Input/Output (AIO) have a shared set of drivers provided using
+the `gobot/drivers/aio` package:
+
+- [AIO](https://en.wikipedia.org/wiki/Analog-to-digital_converter) <=> [Drivers](https://github.com/hybridgroup/gobot/tree/master/drivers/aio)
+  - Analog Actuator
+  - Analog Sensor
+  - Grove Light Sensor
+  - Grove Piezo Vibration Sensor
+  - Grove Rotary Dial
+  - Grove Sound Sensor
+  - Grove Temperature Sensor
+  - Temperature Sensor (supports linear and NTC thermistor in normal and inverse mode)
+  - Thermal Zone Temperature Sensor
+
+Support for many devices that use Bluetooth LE (BLE) have a shared set of drivers provided using
+the `gobot/drivers/ble` package:
+
+- [BLE](http://en.wikipedia.org/wiki/Bluetooth_low_energy) <=> [Drivers](https://github.com/hybridgroup/gobot/tree/master/drivers/ble)
+  - Battery Service
+  - Device Information Service
+  - Generic Access Service
+  - Microbit: AccelerometerDriver
+  - Microbit: ButtonDriver
+  - Microbit: IOPinDriver
+  - Microbit: LEDDriver
+  - Microbit: MagnetometerDriver
+  - Microbit: TemperatureDriver
+  - Sphero: BB8
+  - Sphero: Ollie
+  - Sphero: SPRK+
+
+Support for many devices that use General Purpose Input/Output (GPIO) have a shared set of drivers provided using
+the `gobot/drivers/gpio` package:
 
 - [GPIO](https://en.wikipedia.org/wiki/General_Purpose_Input/Output) <=> [Drivers](https://github.com/hybridgroup/gobot/tree/master/drivers/gpio)
   - AIP1640 LED Dot Matrix/7 Segment Controller
@@ -294,22 +329,8 @@ a shared set of drivers provided using the `gobot/drivers/gpio` package:
   - Stepper Motor
   - TM1638 LED Controller
 
-Support for many devices that use Analog Input/Output (AIO) have
-a shared set of drivers provided using the `gobot/drivers/aio` package:
-
-- [AIO](https://en.wikipedia.org/wiki/Analog-to-digital_converter) <=> [Drivers](https://github.com/hybridgroup/gobot/tree/master/drivers/aio)
-  - Analog Actuator
-  - Analog Sensor
-  - Grove Light Sensor
-  - Grove Piezo Vibration Sensor
-  - Grove Rotary Dial
-  - Grove Sound Sensor
-  - Grove Temperature Sensor
-  - Temperature Sensor (supports linear and NTC thermistor in normal and inverse mode)
-  - Thermal Zone Temperature Sensor
-
-Support for devices that use Inter-Integrated Circuit (I2C) have a shared set of
-drivers provided using the `gobot/drivers/i2c` package:
+Support for devices that use Inter-Integrated Circuit (I2C) have a shared set of drivers provided using
+the `gobot/drivers/i2c` package:
 
 - [I2C](https://en.wikipedia.org/wiki/I%C2%B2C) <=> [Drivers](https://github.com/hybridgroup/gobot/tree/master/drivers/i2c)
   - Adafruit 1109 2x16 RGB-LCD with 5 keys
@@ -351,6 +372,12 @@ drivers provided using the `gobot/drivers/i2c` package:
   - Wii Nunchuck Controller
   - YL-40 Brightness/Temperature sensor, Potentiometer, analog input, analog output Driver
 
+Support for many devices that use Serial communication (UART) have a shared set of drivers provided using
+the `gobot/drivers/serial` package:
+
+- [UART](https://en.wikipedia.org/wiki/Serial_port) <=> [Drivers](https://github.com/hybridgroup/gobot/tree/master/drivers/serial)
+  - Sphero: Sphero
+
 Support for devices that use Serial Peripheral Interface (SPI) have
 a shared set of drivers provided using the `gobot/drivers/spi` package:
 
@@ -366,8 +393,6 @@ a shared set of drivers provided using the `gobot/drivers/spi` package:
   - MFRC522 RFID Card Reader
   - SSD1306 OLED Display Controller
 
-More platforms and drivers are coming soon...
-
 ## API
 
 Gobot includes a RESTful API to query the status of any robot running within a group, including the connection and

diff --git a/adaptor.go b/adaptor.go
@@ -225,6 +225,20 @@ type Adaptor interface {
 	Finalize() error
 }
 
+// BLEConnector is the interface that a BLE ClientAdaptor must implement
+type BLEConnector interface {
+	Adaptor
+
+	Reconnect() error
+	Disconnect() error
+	Address() string
+
+	ReadCharacteristic(cUUID string) ([]byte, error)
+	WriteCharacteristic(cUUID string, data []byte) error
+	Subscribe(cUUID string, f func([]byte, error)) error
+	WithoutResponses(use bool)
+}
+
 // Porter is the interface that describes an adaptor's port
 type Porter interface {
 	Port() string

diff --git a/appveyor.yml b/appveyor.yml
@@ -15,10 +15,14 @@ before_test:
 build_script:
   - go test -v -cpu=2 .
   - go test -v -cpu=2 ./drivers/aio/...
-  - go test -v -cpu=2 ./platforms/ble/...
+  - go test -v -cpu=2 ./drivers/ble/.
+  - go test -v -cpu=2 ./drivers/ble/parrot/.
+  - go test -v -cpu=2 ./drivers/ble/sphero/.
+  - go test -v -cpu=2 ./drivers/serial/...
+  - go test -v -cpu=2 ./platforms/bleclient/...
   - go test -v -cpu=2 ./platforms/dji/...
   - go test -v -cpu=2 ./platforms/firmata/...
   - go test -v -cpu=2 ./platforms/joystick/...
   - go test -v -cpu=2 ./platforms/parrot/...
-  - go test -v -cpu=2 ./platforms/sphero/...
+  - go test -v -cpu=2 ./platforms/serialport/...
   - cd ..
diff --git a/doc.go b/doc.go
@@ -70,66 +70,68 @@ pure idiomatic Golang code. For example:
 
 Finally, you can use Master Gobot to add the complete Gobot API or control swarms of Robots:
 
-	package main
-
-	import (
-	    "fmt"
-	    "time"
-
-	    "gobot.io/x/gobot/v2"
-	    "gobot.io/x/gobot/v2/api"
-	    "gobot.io/x/gobot/v2/platforms/sphero"
-	)
-
-	func NewSwarmBot(port string) *gobot.Robot {
-	    spheroAdaptor := sphero.NewAdaptor(port)
-	    spheroDriver := sphero.NewSpheroDriver(spheroAdaptor)
-	    spheroDriver.SetName("Sphero" + port)
-
-	    work := func() {
-	        spheroDriver.Stop()
-
-	        spheroDriver.On(sphero.Collision, func(data interface{}) {
-	            fmt.Println("Collision Detected!")
-	        })
-
-	        gobot.Every(1*time.Second, func() {
-	            spheroDriver.Roll(100, uint16(gobot.Rand(360)))
-	        })
-	        gobot.Every(3*time.Second, func() {
-	            spheroDriver.SetRGB(uint8(gobot.Rand(255)),
-	                uint8(gobot.Rand(255)),
-	                uint8(gobot.Rand(255)),
-	            )
-	        })
-	    }
-
-	    robot := gobot.NewRobot("sphero",
-	        []gobot.Connection{spheroAdaptor},
-	        []gobot.Device{spheroDriver},
-	        work,
-	    )
-
-	    return robot
-	}
-
-	func main() {
-	    master := gobot.NewMaster()
-	    api.NewAPI(master).Start()
-
-	    spheros := []string{
-	        "/dev/rfcomm0",
-	        "/dev/rfcomm1",
-	        "/dev/rfcomm2",
-	        "/dev/rfcomm3",
-	    }
-
-	    for _, port := range spheros {
-	        master.AddRobot(NewSwarmBot(port))
-	    }
-
-	    master.Start()
-	}
+		package main
+
+		import (
+		    "fmt"
+		    "time"
+
+		    "gobot.io/x/gobot/v2"
+	  		"gobot.io/x/gobot/v2/api"
+	  		"gobot.io/x/gobot/v2/drivers/common/sphero"
+	  		"gobot.io/x/gobot/v2/drivers/serial"
+	  		"gobot.io/x/gobot/v2/platforms/serialport"
+		)
+
+		func NewSwarmBot(port string) *gobot.Robot {
+		    spheroAdaptor := serialport.NewAdaptor(port)
+		    spheroDriver := serial.NewSpheroDriver(spheroAdaptor)
+		    spheroDriver.SetName("Sphero" + port)
+
+		    work := func() {
+		        spheroDriver.Stop()
+
+		        spheroDriver.On(sphero.CollisionEvent, func(data interface{}) {
+		            fmt.Println("Collision Detected!")
+		        })
+
+		        gobot.Every(1*time.Second, func() {
+		            spheroDriver.Roll(100, uint16(gobot.Rand(360)))
+		        })
+		        gobot.Every(3*time.Second, func() {
+		            spheroDriver.SetRGB(uint8(gobot.Rand(255)),
+		                uint8(gobot.Rand(255)),
+		                uint8(gobot.Rand(255)),
+		            )
+		        })
+		    }
+
+		    robot := gobot.NewRobot("sphero",
+		        []gobot.Connection{spheroAdaptor},
+		        []gobot.Device{spheroDriver},
+		        work,
+		    )
+
+		    return robot
+		}
+
+		func main() {
+		    master := gobot.NewMaster()
+		    api.NewAPI(master).Start()
+
+		    spheros := []string{
+		        "/dev/rfcomm0",
+		        "/dev/rfcomm1",
+		        "/dev/rfcomm2",
+		        "/dev/rfcomm3",
+		    }
+
+		    for _, port := range spheros {
+		        master.AddRobot(NewSwarmBot(port))
+		    }
+
+		    master.Start()
+		}
 
 Copyright (c) 2013-2018 The Hybrid Group. Licensed under the Apache 2.0 license.
 */