neurosky: use serialport adaptor and move driver to drivers/serial (hybridgroup#1061)

Author: gen2thomas

README.md

@@ -111,7 +111,7 @@ import (
 
 func main() {
   adaptor := serialport.NewAdaptor("/dev/rfcomm0")
-  driver := serial.NewSpheroDriver(adaptor)
+  driver := sphero.NewSpheroDriver(adaptor)
 
   work := func() {
     gobot.Every(3*time.Second, func() {
@@ -179,14 +179,14 @@ import (
 
   "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/common/spherocommon"
   "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, serial.WithName("Sphero" + port))
+  spheroDriver := sphero.NewSpheroDriver(spheroAdaptor, serial.WithName("Sphero" + port))
 
   work := func() {
     spheroDriver.Stop()
@@ -390,6 +390,7 @@ 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
+  - Neurosky: MindWave
 
 Support for devices that use Serial Peripheral Interface (SPI) have
 a shared set of drivers provided using the `gobot/drivers/spi` package:

doc.go

@@ -88,14 +88,14 @@ Finally, you can use Master Gobot to add the complete Gobot API or control swarm
 
 		    "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/common/spherocommon"
 	  		"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, serial.WithName("Sphero" + port))
+		    spheroDriver := sphero.NewSpheroDriver(spheroAdaptor, serial.WithName("Sphero" + port))
 
 		    work := func() {
 		        spheroDriver.Stop()

drivers/MIGRATION.md

@@ -80,7 +80,7 @@ returned instead and the log output needs to be done at caller side.
 ### Sphero adaptor split off
 
 The Serial Based Sphero adaptor was split off into a generic serial adaptor and the driver part. With this, the imports
-needs to be adjusted. In addition all events now have a postfix "Event", see below.
+needs to be adjusted. In addition all events now have a suffix "Event", see below.
 
 ```go
 // old
@@ -100,19 +100,54 @@ import(
 // new
 import(
   ...
-  "gobot.io/x/gobot/v2/drivers/common/sphero"
+  "gobot.io/x/gobot/v2/drivers/common/spherocommon"
   "gobot.io/x/gobot/v2/drivers/serial"
   "gobot.io/x/gobot/v2/platforms/serialport"
   ...
 )
 ...
   adaptor := serialport.NewAdaptor("/dev/rfcomm0")
-  spheroDriver := serial.NewSpheroDriver(adaptor)
+  spheroDriver := sphero.NewSpheroDriver(adaptor)
 ...
   _ = spheroDriver.On(sphero.CollisionEvent, func(data interface{}) {
 ...
 ```
 
+### Neurosky adaptor split off
+
+The Neurosky adaptor now us the generic serial adaptor. The driver part was moved. With this, the imports needs to be
+adjusted. In addition all events now have a suffix "Event", see below.
+
+```go
+// old
+import(
+  ...
+  "gobot.io/x/gobot/v2/platforms/neurosky"
+  ...
+)
+
+...
+  adaptor := neurosky.NewAdaptor("/dev/rfcomm0")
+  neuro := neurosky.NewDriver(adaptor)
+...
+  _ = neuro.On(neurosky.Extended, func(data interface{}) {
+...
+
+// new
+import(
+  ...
+  "gobot.io/x/gobot/v2/drivers/serial/neurosky"
+  "gobot.io/x/gobot/v2/platforms/serialport"
+  ...
+)
+...
+  adaptor := serialport.NewAdaptor("/dev/rfcomm0", serialport.WithName("Neurosky"), serialport.WithBaudRate(57600))
+  neuro := neurosky.NewMindWaveDriver(adaptor)
+...
+  _ = neuro.On(neurosky.ExtendedEvent, func(data interface{}) {
+...
+```
+
 ## Switch from version 2.2.0 (gpio drivers affected)
 
 ### gpio.ButtonDriver, gpio.PIRMotionDriver: substitute parameter "v time.duration"

drivers/ble/sphero/sphero_bb8_driver.go

@@ -3,7 +3,7 @@ package sphero
 import (
 	"gobot.io/x/gobot/v2"
 	"gobot.io/x/gobot/v2/drivers/ble"
-	"gobot.io/x/gobot/v2/drivers/common/sphero"
+	"gobot.io/x/gobot/v2/drivers/common/spherocommon"
 )
 
 // BB8Driver represents a Sphero BB-8
@@ -17,8 +17,8 @@ func NewBB8Driver(a gobot.BLEConnector, opts ...ble.OptionApplier) *BB8Driver {
 }
 
 // bb8DefaultCollisionConfig returns a CollisionConfig with sensible collision defaults
-func bb8DefaultCollisionConfig() sphero.CollisionConfig {
-	return sphero.CollisionConfig{
+func bb8DefaultCollisionConfig() spherocommon.CollisionConfig {
+	return spherocommon.CollisionConfig{
 		Method: 0x01,
 		Xt:     0x20,
 		Yt:     0x20,

drivers/ble/sphero/sphero_ollie_driver.go

@@ -8,7 +8,7 @@ import (
 
 	"gobot.io/x/gobot/v2"
 	"gobot.io/x/gobot/v2/drivers/ble"
-	"gobot.io/x/gobot/v2/drivers/common/sphero"
+	"gobot.io/x/gobot/v2/drivers/common/spherocommon"
 )
 
 // MotorModes is used to configure the motor
@@ -63,14 +63,14 @@ type Point2D struct {
 type OllieDriver struct {
 	*ble.Driver
 	gobot.Eventer
-	defaultCollisionConfig sphero.CollisionConfig
+	defaultCollisionConfig spherocommon.CollisionConfig
 	seq                    uint8
 	collisionResponse      []uint8
 	packetChannel          chan *packet
 	asyncBuffer            []byte
 	asyncMessage           []byte
 	locatorCallback        func(p Point2D)
-	powerstateCallback     func(p sphero.PowerStatePacket)
+	powerstateCallback     func(p spherocommon.PowerStatePacket)
 }
 
 // NewOllieDriver creates a driver for a Sphero Ollie
@@ -80,7 +80,7 @@ func NewOllieDriver(a gobot.BLEConnector, opts ...ble.OptionApplier) *OllieDrive
 
 func newOllieBaseDriver(
 	a gobot.BLEConnector, name string,
-	dcc sphero.CollisionConfig, opts ...ble.OptionApplier,
+	dcc spherocommon.CollisionConfig, opts ...ble.OptionApplier,
 ) *OllieDriver {
 	d := &OllieDriver{
 		defaultCollisionConfig: dcc,
@@ -89,8 +89,8 @@ func newOllieBaseDriver(
 	}
 	d.Driver = ble.NewDriver(a, name, d.initialize, d.shutdown, opts...)
 
-	d.AddEvent(sphero.ErrorEvent)
-	d.AddEvent(sphero.CollisionEvent)
+	d.AddEvent(spherocommon.ErrorEvent)
+	d.AddEvent(spherocommon.CollisionEvent)
 
 	return d
 }
@@ -118,7 +118,7 @@ func (d *OllieDriver) Wake() error {
 }
 
 // ConfigureCollisionDetection configures the sensitivity of the detection.
-func (d *OllieDriver) ConfigureCollisionDetection(cc sphero.CollisionConfig) {
+func (d *OllieDriver) ConfigureCollisionDetection(cc spherocommon.CollisionConfig) {
 	d.sendCraftPacket([]uint8{cc.Method, cc.Xt, cc.Yt, cc.Xs, cc.Ys, cc.Dead}, 0x02, 0x12)
 }
 
@@ -130,7 +130,7 @@ func (d *OllieDriver) GetLocatorData(f func(p Point2D)) {
 }
 
 // GetPowerState calls the passed function with the Power State information from the sphero
-func (d *OllieDriver) GetPowerState(f func(p sphero.PowerStatePacket)) {
+func (d *OllieDriver) GetPowerState(f func(p spherocommon.PowerStatePacket)) {
 	// CID 0x20 is the code for the power state
 	d.sendCraftPacket([]uint8{}, 0x00, 0x20)
 	d.powerstateCallback = f
@@ -194,7 +194,7 @@ func (d *OllieDriver) Sleep() {
 }
 
 // SetDataStreamingConfig passes the config to the sphero to stream sensor data
-func (d *OllieDriver) SetDataStreamingConfig(dsc sphero.DataStreamingConfig) error {
+func (d *OllieDriver) SetDataStreamingConfig(dsc spherocommon.DataStreamingConfig) error {
 	buf := new(bytes.Buffer)
 	if err := binary.Write(buf, binary.BigEndian, dsc); err != nil {
 		return err
@@ -225,7 +225,7 @@ func (d *OllieDriver) initialize() error {
 			packet := <-d.packetChannel
 			err := d.writeCommand(packet)
 			if err != nil {
-				d.Publish(d.Event(sphero.ErrorEvent), err)
+				d.Publish(d.Event(spherocommon.ErrorEvent), err)
 			}
 		}
 	}()
@@ -331,13 +331,13 @@ func (d *OllieDriver) handleDataStreaming(data []byte) {
 
 	// data packet is the same as for the normal sphero, since the same communication api is used
 	// only difference in communication is that the "newer" spheros use BLE for communications
-	var dataPacket sphero.DataStreamingPacket
+	var dataPacket spherocommon.DataStreamingPacket
 	buffer := bytes.NewBuffer(data[5:]) // skip header
 	if err := binary.Read(buffer, binary.BigEndian, &dataPacket); err != nil {
 		panic(err)
 	}
 
-	d.Publish(sphero.SensorDataEvent, dataPacket)
+	d.Publish(spherocommon.SensorDataEvent, dataPacket)
 }
 
 func (d *OllieDriver) handleLocatorDetected(data []uint8) {
@@ -368,7 +368,7 @@ func (d *OllieDriver) handleLocatorDetected(data []uint8) {
 }
 
 func (d *OllieDriver) handlePowerStateDetected(data []uint8) {
-	var dataPacket sphero.PowerStatePacket
+	var dataPacket spherocommon.PowerStatePacket
 	buffer := bytes.NewBuffer(data[5:]) // skip header
 	if err := binary.Read(buffer, binary.BigEndian, &dataPacket); err != nil {
 		panic(err)
@@ -404,18 +404,18 @@ func (d *OllieDriver) handleCollisionDetected(data []uint8) {
 	// confirm checksum
 	size := len(d.collisionResponse)
 	chk := d.collisionResponse[size-1] // last byte is checksum
-	if chk != sphero.CalculateChecksum(d.collisionResponse[2:size-1]) {
+	if chk != spherocommon.CalculateChecksum(d.collisionResponse[2:size-1]) {
 		return
 	}
 
-	var collision sphero.CollisionPacket
+	var collision spherocommon.CollisionPacket
 	buffer := bytes.NewBuffer(d.collisionResponse[5:]) // skip header
 	if err := binary.Read(buffer, binary.BigEndian, &collision); err != nil {
 		panic(err)
 	}
 	d.collisionResponse = nil // clear the current response
 
-	d.Publish(sphero.CollisionEvent, collision)
+	d.Publish(spherocommon.CollisionEvent, collision)
 }
 
 func (d *OllieDriver) sendCraftPacket(body []uint8, did byte, cid byte) {
@@ -430,15 +430,15 @@ func (d *OllieDriver) craftPacket(body []uint8, did byte, cid byte) *packet {
 	packet := &packet{
 		body:     body,
 		header:   hdr,
-		checksum: sphero.CalculateChecksum(buf[2:]),
+		checksum: spherocommon.CalculateChecksum(buf[2:]),
 	}
 
 	return packet
 }
 
 // ollieDefaultCollisionConfig returns a CollisionConfig with sensible collision defaults
-func ollieDefaultCollisionConfig() sphero.CollisionConfig {
-	return sphero.CollisionConfig{
+func ollieDefaultCollisionConfig() spherocommon.CollisionConfig {
+	return spherocommon.CollisionConfig{
 		Method: 0x01,
 		Xt:     0x20,
 		Yt:     0x20,

drivers/ble/sphero/sphero_ollie_driver_test.go

@@ -12,7 +12,7 @@ import (
 	"gobot.io/x/gobot/v2"
 	"gobot.io/x/gobot/v2/drivers/ble"
 	"gobot.io/x/gobot/v2/drivers/ble/testutil"
-	"gobot.io/x/gobot/v2/drivers/common/sphero"
+	"gobot.io/x/gobot/v2/drivers/common/spherocommon"
 )
 
 var _ gobot.Driver = (*OllieDriver)(nil)
@@ -82,12 +82,12 @@ func TestLocatorData(t *testing.T) {
 func TestDataStreaming(t *testing.T) {
 	d := initTestOllieDriver()
 
-	err := d.SetDataStreamingConfig(sphero.DefaultDataStreamingConfig())
+	err := d.SetDataStreamingConfig(spherocommon.DefaultDataStreamingConfig())
 	require.NoError(t, err)
 
 	responseChan := make(chan bool)
 	err = d.On("sensordata", func(data interface{}) {
-		cont := data.(sphero.DataStreamingPacket)
+		cont := data.(spherocommon.DataStreamingPacket)
 		// fmt.Printf("got streaming packet: %+v \n", cont)
 		assert.Equal(t, int16(10), cont.RawAccX)
 		responseChan <- true

drivers/ble/sphero/sphero_sprkplus_driver.go

@@ -3,7 +3,7 @@ package sphero
 import (
 	"gobot.io/x/gobot/v2"
 	"gobot.io/x/gobot/v2/drivers/ble"
-	"gobot.io/x/gobot/v2/drivers/common/sphero"
+	"gobot.io/x/gobot/v2/drivers/common/spherocommon"
 )
 
 // SPRKPlusDriver represents a Sphero SPRK+
@@ -17,8 +17,8 @@ func NewSPRKPlusDriver(a gobot.BLEConnector, opts ...ble.OptionApplier) *SPRKPlu
 }
 
 // sprkplusDefaultCollisionConfig returns a CollisionConfig with sensible collision defaults
-func sprkplusDefaultCollisionConfig() sphero.CollisionConfig {
-	return sphero.CollisionConfig{
+func sprkplusDefaultCollisionConfig() spherocommon.CollisionConfig {
+	return spherocommon.CollisionConfig{
 		Method: 0x01,
 		Xt:     0x20,
 		Yt:     0x20,

drivers/common/sphero/sphero_driver.go drivers/common/spherocommon/spherocommon.go

@@ -1,4 +1,4 @@
-package sphero
+package spherocommon
 
 const (
 	// ErrorEvent event when error encountered

drivers/common/sphero/sphero_packets.go drivers/common/spherocommon/spherocommon_packets.go

@@ -1,4 +1,4 @@
-package sphero
+package spherocommon
 
 // LocatorConfig provides configuration for the Location api.
 // https://github.com/orbotix/DeveloperResources/blob/master/docs/Sphero_API_1.50.pdf

drivers/common/sphero/sphero_driver_test.go drivers/common/spherocommon/spherocommon_test.go

@@ -1,4 +1,4 @@
-package sphero
+package spherocommon
 
 import "testing"
 

drivers/serial/README.md

@@ -13,3 +13,4 @@ Please refer to the main [README.md](https://github.com/hybridgroup/gobot/blob/r
 Gobot has a extensible system for connecting to hardware devices. The following Serial devices are currently supported:
 
 - Sphero: Sphero
+- Neurosky: MindWave

drivers/serial/helpers_test.go

@@ -0,0 +1,13 @@
+Copyright (c) 2013-2018 The Hybrid Group
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+   http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.