func TestConnect(t *testing.T) {
b := New()
response := testProtocolResponse()
go func() {
for {
testReadData = append(testReadData, response...)
<-time.After(100 * time.Millisecond)
}
}()
gobot.Once(b.Event("ProtocolVersion"), func(data interface{}) {
response = testFirmwareResponse()
})
gobot.Once(b.Event("FirmwareQuery"), func(data interface{}) {
response = testCapabilitiesResponse()
})
gobot.Once(b.Event("CapabilityQuery"), func(data interface{}) {
response = testAnalogMappingResponse()
})
gobot.Once(b.Event("AnalogMappingQuery"), func(data interface{}) {
response = testProtocolResponse()
})
gobot.Assert(t, b.Connect(readWriteCloser{}), nil)
}
func TestSparkCoreAdaptorEventStream(t *testing.T) {
a := initTestSparkCoreAdaptor()
var url string
eventSource = func(u string) (chan eventsource.Event, chan error, error) {
url = u
return nil, nil, nil
}
a.EventStream("all", "ping")
gobot.Assert(t, url, "https://api.spark.io/v1/events/ping?access_token=token")
a.EventStream("devices", "ping")
gobot.Assert(t, url, "https://api.spark.io/v1/devices/events/ping?access_token=token")
a.EventStream("device", "ping")
gobot.Assert(t, url, "https://api.spark.io/v1/devices/myDevice/events/ping?access_token=token")
_, err := a.EventStream("nothing", "ping")
gobot.Assert(t, err.Error(), "source param should be: all, devices or device")
eventSource = func(u string) (chan eventsource.Event, chan error, error) {
return nil, nil, errors.New("error connecting sse")
}
_, err = a.EventStream("devices", "")
gobot.Assert(t, err.Error(), "error connecting sse")
eventChan := make(chan eventsource.Event, 0)
errorChan := make(chan error, 0)
eventSource = func(u string) (chan eventsource.Event, chan error, error) {
return eventChan, errorChan, nil
}
sem := make(chan bool, 0)
stream, err := a.EventStream("devices", "")
gobot.Assert(t, err, nil)
eventChan <- testEventSource{event: "event", data: "sse event"}
gobot.Once(stream, func(data interface{}) {
e := data.(Event)
gobot.Assert(t, e.Name, "event")
gobot.Assert(t, e.Data, "sse event")
gobot.Assert(t, e.Error, nil)
sem <- true
})
<-sem
errorChan <- errors.New("stream error")
gobot.Once(stream, func(data interface{}) {
e := data.(Event)
gobot.Assert(t, e.Name, "")
gobot.Assert(t, e.Data, "")
gobot.Assert(t, e.Error.Error(), "stream error")
sem <- true
})
<-sem
}
func TestAnalogSensorDriverStart(t *testing.T) {
sem := make(chan bool, 1)
d := NewAnalogSensorDriver(newGpioTestAdaptor("adaptor"), "bot", "1")
gobot.Assert(t, len(d.Start()), 0)
gobot.Once(d.Event(Data), func(data interface{}) {
gobot.Assert(t, data.(int), 100)
sem <- true
})
testAdaptorAnalogRead = func() (val int, err error) {
val = 100
return
}
select {
case <-sem:
case <-time.After(15 * time.Millisecond):
t.Errorf("AnalogSensor Event \"Data\" was not published")
}
gobot.Once(d.Event(Error), func(data interface{}) {
gobot.Assert(t, data.(error).Error(), "read error")
sem <- true
})
testAdaptorAnalogRead = func() (val int, err error) {
err = errors.New("read error")
return
}
select {
case <-sem:
case <-time.After(15 * time.Millisecond):
t.Errorf("AnalogSensor Event \"Error\" was not published")
}
gobot.Once(d.Event(Data), func(data interface{}) {
sem <- true
})
testAdaptorAnalogRead = func() (val int, err error) {
val = 200
return
}
d.halt <- true
select {
case <-sem:
t.Errorf("AnalogSensor Event should not published")
case <-time.After(30 * time.Millisecond):
}
}
// Connect connects to the Client given conn. It first resets the firmata board
// then continuously polls the firmata board for new information when it's
// available.
func (b *Client) Connect(conn io.ReadWriteCloser) (err error) {
if b.connected {
return ErrConnected
}
b.connection = conn
b.Reset()
initFunc := b.ProtocolVersionQuery
gobot.Once(b.Event("ProtocolVersion"), func(data interface{}) {
initFunc = b.FirmwareQuery
})
gobot.Once(b.Event("FirmwareQuery"), func(data interface{}) {
initFunc = b.CapabilitiesQuery
})
gobot.Once(b.Event("CapabilityQuery"), func(data interface{}) {
initFunc = b.AnalogMappingQuery
})
gobot.Once(b.Event("AnalogMappingQuery"), func(data interface{}) {
initFunc = func() error { return nil }
b.ReportDigital(0, 1)
b.ReportDigital(1, 1)
b.connected = true
})
for {
if err := initFunc(); err != nil {
return err
}
if err := b.process(); err != nil {
return err
}
if b.connected {
go func() {
for {
if !b.connected {
break
}
if err := b.process(); err != nil {
gobot.Publish(b.Event("Error"), err)
}
}
}()
break
}
}
return
}
func TestMavlinkDriverStart(t *testing.T) {
d := initTestMavlinkDriver()
err := make(chan error, 0)
packet := make(chan *common.MAVLinkPacket, 0)
message := make(chan common.MAVLinkMessage, 0)
gobot.Once(d.Event("packet"), func(data interface{}) {
packet <- data.(*common.MAVLinkPacket)
})
gobot.Once(d.Event("message"), func(data interface{}) {
message <- data.(common.MAVLinkMessage)
})
gobot.Once(d.Event("errorIO"), func(data interface{}) {
err <- data.(error)
})
gobot.Once(d.Event("errorMAVLink"), func(data interface{}) {
err <- data.(error)
})
gobottest.Assert(t, len(d.Start()), 0)
select {
case p := <-packet:
gobottest.Assert(t, d.SendPacket(p), nil)
case <-time.After(100 * time.Millisecond):
t.Errorf("packet was not emitted")
}
select {
case <-message:
case <-time.After(100 * time.Millisecond):
t.Errorf("message was not emitted")
}
select {
case <-err:
case <-time.After(100 * time.Millisecond):
t.Errorf("error was not emitted")
}
payload = []byte{0xFE, 0x09, 0x4E, 0x01, 0x01, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x51, 0x04, 0x03, 0x1C, 0x7F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}
select {
case e := <-err:
gobottest.Assert(t, e, errors.New("Unknown Message ID: 255"))
case <-time.After(100 * time.Millisecond):
t.Errorf("error was not emitted")
}
}
// initBoard initializes board by listening for "firware_query", "capability_query"
// and "analog_mapping_query" events
func (b *board) initBoard() {
gobot.Once(b.events["firmware_query"], func(data interface{}) {
b.queryCapabilities()
})
gobot.Once(b.events["capability_query"], func(data interface{}) {
b.queryAnalogMapping()
})
gobot.Once(b.events["analog_mapping_query"], func(data interface{}) {
b.togglePinReporting(0, high, reportDigital)
b.togglePinReporting(1, high, reportDigital)
b.connected = true
})
}
// AnalogRead retrieves value from analog pin.
// Returns -1 if the response from the board has timed out
func (f *FirmataAdaptor) AnalogRead(pin string) (val int, err error) {
ret := make(chan int)
p, err := strconv.Atoi(pin)
if err != nil {
return
}
// NOTE pins are numbered A0-A5, which translate to digital pins 14-19
p = f.digitalPin(p)
if err = f.board.setPinMode(byte(p), analog); err != nil {
return
}
if err = f.board.togglePinReporting(byte(p), high, reportAnalog); err != nil {
return
}
if err = f.board.readAndProcess(); err != nil {
return
}
gobot.Once(f.board.events[fmt.Sprintf("analog_read_%v", pin)], func(data interface{}) {
b := data.([]byte)
ret <- int(uint(b[0])<<24 | uint(b[1])<<16 | uint(b[2])<<8 | uint(b[3]))
})
select {
case data := <-ret:
return data, nil
case <-time.After(10 * time.Millisecond):
}
return -1, nil
}
// DigitalRead retrieves digital value from specified pin.
// Returns -1 if the response from the board has timed out
func (f *FirmataAdaptor) DigitalRead(pin string) (val int, err error) {
ret := make(chan int)
p, err := strconv.Atoi(pin)
if err != nil {
return
}
if err = f.board.setPinMode(byte(p), input); err != nil {
return
}
if err = f.board.togglePinReporting(byte(p), high, reportDigital); err != nil {
return
}
if err = f.board.readAndProcess(); err != nil {
return
}
gobot.Once(f.board.events[fmt.Sprintf("digital_read_%v", pin)], func(data interface{}) {
ret <- int(data.([]byte)[0])
})
select {
case data := <-ret:
return data, nil
case <-time.After(10 * time.Millisecond):
}
return -1, nil
}
func ExampleOnce() {
e := gobot.NewEvent()
gobot.Once(e, func(s interface{}) {
fmt.Println(s)
fmt.Println("I will no longer respond to events")
})
gobot.Publish(e, 100)
gobot.Publish(e, 200)
}
// I2cRead returns size bytes from the i2c device
// Returns an empty array if the response from the board has timed out
func (f *FirmataAdaptor) I2cRead(address int, size int) (data []byte, err error) {
ret := make(chan []byte)
if err = f.board.I2cRead(address, size); err != nil {
return
}
gobot.Once(f.board.Event("I2cReply"), func(data interface{}) {
ret <- data.(client.I2cReply).Data
})
data = <-ret
return
}
func main() {
gbot := gobot.NewGobot()
adaptor := mavlink.NewMavlinkAdaptor("iris", "/dev/ttyACM0")
iris := mavlink.NewMavlinkDriver(adaptor, "iris")
work := func() {
gobot.Once(iris.Event("packet"), func(data interface{}) {
packet := data.(*common.MAVLinkPacket)
dataStream := common.NewRequestDataStream(100,
packet.SystemID,
packet.ComponentID,
4,
1,
)
iris.SendPacket(common.CraftMAVLinkPacket(packet.SystemID,
packet.ComponentID,
dataStream,
))
})
gobot.On(iris.Event("message"), func(data interface{}) {
if data.(common.MAVLinkMessage).Id() == 30 {
message := data.(*common.Attitude)
fmt.Println("Attitude")
fmt.Println("TIME_BOOT_MS", message.TIME_BOOT_MS)
fmt.Println("ROLL", message.ROLL)
fmt.Println("PITCH", message.PITCH)
fmt.Println("YAW", message.YAW)
fmt.Println("ROLLSPEED", message.ROLLSPEED)
fmt.Println("PITCHSPEED", message.PITCHSPEED)
fmt.Println("YAWSPEED", message.YAWSPEED)
fmt.Println("")
}
})
}
robot := gobot.NewRobot("mavBot",
[]gobot.Connection{adaptor},
[]gobot.Device{iris},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
// I2cRead returns size bytes from the i2c device
// Returns an empty array if the response from the board has timed out
func (f *FirmataAdaptor) I2cRead(size uint) (data []byte, err error) {
ret := make(chan []byte)
if err = f.board.i2cReadRequest(f.i2cAddress, size); err != nil {
return
}
if err = f.board.readAndProcess(); err != nil {
return
}
gobot.Once(f.board.events["i2c_reply"], func(data interface{}) {
ret <- data.(map[string][]byte)["data"]
})
select {
case data := <-ret:
return data, nil
case <-time.After(10 * time.Millisecond):
}
return []byte{}, nil
}
func TestNeuroskyDriverStart(t *testing.T) {
sem := make(chan bool, 0)
d := initTestNeuroskyDriver()
gobot.Once(d.Event("error"), func(data interface{}) {
gobottest.Assert(t, data.(error), errors.New("read error"))
sem <- true
})
gobottest.Assert(t, len(d.Start()), 0)
<-time.After(50 * time.Millisecond)
readError = errors.New("read error")
select {
case <-sem:
case <-time.After(100 * time.Millisecond):
{
t.Errorf("error was not emitted")
}
}
}
func TestButtonDriverStart(t *testing.T) {
sem := make(chan bool, 0)
d := initTestButtonDriver()
gobot.Assert(t, len(d.Start()), 0)
testAdaptorDigitalRead = func() (val int, err error) {
val = 1
return
}
gobot.Once(d.Event(Push), func(data interface{}) {
gobot.Assert(t, d.Active, true)
sem <- true
})
select {
case <-sem:
case <-time.After(15 * time.Millisecond):
t.Errorf("Button Event \"Push\" was not published")
}
testAdaptorDigitalRead = func() (val int, err error) {
val = 0
return
}
gobot.Once(d.Event(Release), func(data interface{}) {
gobot.Assert(t, d.Active, false)
sem <- true
})
select {
case <-sem:
case <-time.After(15 * time.Millisecond):
t.Errorf("Button Event \"Release\" was not published")
}
testAdaptorDigitalRead = func() (val int, err error) {
err = errors.New("digital read error")
return
}
gobot.Once(d.Event(Error), func(data interface{}) {
sem <- true
})
select {
case <-sem:
case <-time.After(15 * time.Millisecond):
t.Errorf("Button Event \"Error\" was not published")
}
testAdaptorDigitalRead = func() (val int, err error) {
val = 1
return
}
gobot.Once(d.Event(Push), func(data interface{}) {
sem <- true
})
d.halt <- true
select {
case <-sem:
t.Errorf("Button Event \"Press\" should not published")
case <-time.After(15 * time.Millisecond):
}
}
func TestProcess(t *testing.T) {
sem := make(chan bool)
b := initTestFirmata()
tests := []struct {
event string
data []byte
expected interface{}
init func()
}{
{
event: "ProtocolVersion",
data: []byte{249, 2, 3},
expected: "2.3",
init: func() {},
},
{
event: "AnalogRead0",
data: []byte{0xE0, 0x23, 0x05},
expected: 675,
init: func() {},
},
{
event: "AnalogRead1",
data: []byte{0xE1, 0x23, 0x06},
expected: 803,
init: func() {},
},
{
event: "DigitalRead2",
data: []byte{0x90, 0x04, 0x00},
expected: 1,
init: func() { b.pins[2].Mode = Input },
},
{
event: "DigitalRead4",
data: []byte{0x90, 0x16, 0x00},
expected: 1,
init: func() { b.pins[4].Mode = Input },
},
{
event: "PinState13",
data: []byte{240, 110, 13, 1, 1, 247},
expected: Pin{[]int{0, 1, 4}, 1, 0, 1, 127},
init: func() {},
},
{
event: "I2cReply",
data: []byte{240, 119, 9, 0, 0, 0, 24, 1, 1, 0, 26, 1, 247},
expected: I2cReply{
Address: 9,
Register: 0,
Data: []byte{152, 1, 154},
},
init: func() {},
},
{
event: "FirmwareQuery",
data: []byte{240, 121, 2, 3, 83, 0, 116, 0, 97, 0, 110, 0, 100, 0, 97,
0, 114, 0, 100, 0, 70, 0, 105, 0, 114, 0, 109, 0, 97, 0, 116, 0, 97, 0, 46,
0, 105, 0, 110, 0, 111, 0, 247},
expected: "StandardFirmata.ino",
init: func() {},
},
{
event: "StringData",
data: append([]byte{240, 0x71}, append([]byte("Hello Firmata!"), 247)...),
expected: "Hello Firmata!",
init: func() {},
},
}
for _, test := range tests {
test.init()
gobot.Once(b.Event(test.event), func(data interface{}) {
gobot.Assert(t, data, test.expected)
sem <- true
})
testReadData = test.data
go b.process()
select {
case <-sem:
case <-time.After(10 * time.Millisecond):
t.Errorf("%v was not published", test.event)
}
}
}
func main() {
if gobot.Version() != "0.7.dev" {
panic("this requires the dev branch!")
}
summary := &telemetry{Status: "STANDBY"}
gbot := gobot.NewGobot()
a := api.NewAPI(gbot)
a.Get("/mavlink/:a", func(res http.ResponseWriter, req *http.Request) {
path := req.URL.Path
t := strings.Split(path, "/")
buf, err := Asset("assets/" + t[2])
if err != nil {
http.Error(res, err.Error(), http.StatusNotFound)
return
}
t = strings.Split(path, ".")
if t[len(t)-1] == "js" {
res.Header().Set("Content-Type", "text/javascript; charset=utf-8")
} else if t[len(t)-1] == "css" {
res.Header().Set("Content-Type", "text/css; charset=utf-8")
}
res.Write(buf)
})
adaptor := mavlink.NewMavlinkAdaptor("iris", "/dev/ttyACM0")
iris := mavlink.NewMavlinkDriver(adaptor, "iris")
work := func() {
iris.AddEvent("telemetry")
gobot.Once(iris.Event("packet"), func(data interface{}) {
fmt.Println(data)
packet := data.(*common.MAVLinkPacket)
dataStream := common.NewRequestDataStream(10,
packet.SystemID,
packet.ComponentID,
0,
1,
)
iris.SendPacket(common.CraftMAVLinkPacket(packet.SystemID,
packet.ComponentID,
dataStream,
))
})
gobot.On(iris.Event("message"), func(data interface{}) {
fmt.Println("message: ", data.(common.MAVLinkMessage).Id())
if data.(common.MAVLinkMessage).Id() == 0 {
statusCodes := map[uint8]string{
1: "BOOT",
2: "CALIBRATING",
3: "STANDBY",
4: "ACTIVE",
5: "CRITICAL",
6: "EMERGENCY",
7: "POWEROFF",
8: "ENUM_END",
}
summary.Status = statusCodes[data.(*common.Heartbeat).SYSTEM_STATUS]
if summary.Status != "" {
gobot.Publish(iris.Event("telemetry"), summary)
}
}
if data.(common.MAVLinkMessage).Id() == 30 {
roll := data.(*common.Attitude).ROLL
pitch := data.(*common.Attitude).PITCH
yaw := data.(*common.Attitude).YAW
if roll < 4 || roll > -4 {
summary.Roll = (roll * 180 / 3.14)
}
if yaw < 4 || roll > -4 {
summary.Yaw = (yaw * 180 / 3.14)
}
if pitch < 4 || roll > -4 {
summary.Pitch = (pitch * 180 / 3.14)
}
gobot.Publish(iris.Event("telemetry"), summary)
}
if data.(common.MAVLinkMessage).Id() == 33 {
summary.Latitude = float32(data.(*common.GlobalPositionInt).LAT) / 10000000.0
summary.Longitude = float32(data.(*common.GlobalPositionInt).LON) / 10000000.0
summary.Altitude = data.(*common.GlobalPositionInt).ALT
summary.Heading = float32(data.(*common.GlobalPositionInt).HDG) / 100
gobot.Publish(iris.Event("telemetry"), summary)
}
})
}
gbot.AddRobot(gobot.NewRobot("irisBot",
[]gobot.Connection{adaptor},
[]gobot.Device{iris},
work,
))
a.Start()
gbot.Start()
}
