From 36fcd79ec4fa9ec9e9257bb0a764e0c1948c9e61 Mon Sep 17 00:00:00 2001 From: JohnN193 <92045055+JohnN193@users.noreply.github.com> Date: Thu, 24 Oct 2024 13:23:29 -0400 Subject: [PATCH] add pull up/down configuration (#39) --- README.md | 47 ++++--- go.mod | 89 +++++++------ go.sum | 207 ++++++++++++++++--------------- rpi/analog_reader.go | 4 +- rpi/board.go | 49 +++++++- rpi/board_test.go | 6 +- rpi/interrupts.go | 11 +- rpi/pi.c | 17 ++- rpi/pi.h | 5 +- tests/rpi_external_test.go | 4 +- utils/digital_interrupts.go | 69 +++++++++-- utils/digital_interrupts_test.go | 6 +- 12 files changed, 321 insertions(+), 193 deletions(-) diff --git a/README.md b/README.md index ae2fd9f..f81904b 100644 --- a/README.md +++ b/README.md @@ -36,10 +36,11 @@ Fill in the attributes as applicable to your board: "samples_per_sec": } ], - "digital_interrupts": [ + "pins": [ { - "name": "", - "pin": "" + "name": "", + "pin": "", + "type": "" } ] }, @@ -50,7 +51,7 @@ Fill in the attributes as applicable to your board: "type": "registry", "name": "viam_raspberry-pi", "module_id": "viam:raspberry-pi", - "version": "0.0.1" + "version": "latest" } ], } @@ -63,7 +64,7 @@ The following attributes are available for `viam:raspberry-pi:rpi` board: | Name | Type | Required? | Description | | ---- | ---- | --------- | ----------- | | `analogs` | object | Optional | Attributes of any pins that can be used as analog-to-digital converter (ADC) inputs. See [configuration info](#analogs). | -| `digital_interrupts` | object | Optional | Any digital interrupts's pin number" and name. See [configuration info](#digital_interrupts). | +| `pins` | object | Optional | Any pin's pin number and name. Used to configure gpios and interrupts. See [configuration info](#pins). | #### `analogs` @@ -130,31 +131,34 @@ Example: } ``` -#### `digital_interrupts` +#### `pins` -[Interrupts](https://en.wikipedia.org/wiki/Interrupt) are a method of signaling precise state changes. Configuring digital interrupts to monitor GPIO pins on your board is useful when your application needs to know precisely when there is a change in GPIO value between high and low. +Pins can be configured as GPIO pins and interrupts. [Interrupts](https://en.wikipedia.org/wiki/Interrupt) are a method of signaling precise state changes. Configuring digital interrupts to monitor GPIO pins on your board is useful when your application needs to know precisely when there is a change in GPIO value between high and low. - When an interrupt configured on your board processes a change in the state of the GPIO pin it is configured to monitor, it ticks to record the state change. You can stream these ticks with the board API’s [`StreamTicks()`](https://docs.viam.com/components/board/#streamticks), or get the current value of the digital interrupt with Value(). - Calling [`GetGPIO()`](https://docs.viam.com/components/board/#getgpio) on a GPIO pin, which you can do without configuring interrupts, is useful when you want to know a pin’s value at specific points in your program, but is less precise and convenient than using an interrupt. -Integrate `digital_interrupts` into your machine in the `attributes` of your board by following the **Config Builder** instructions, or by adding the following to your board’s JSON configuration: +Integrate `pins` into your machine in the `attributes` of your board by following the **Config Builder** instructions, or by adding the following to your board’s JSON configuration: ```json // "attributes": { ... , -"digital_interrupts": [ +"pins": [ { "name": "", - "pin": "" + "pin": "", + "type": "" } ] ``` -The following properties are available for `digital_interrupts`: +The following properties are available for `pins`: | Name | Type | Required? | Description | | ---- | ---- | --------- | ----------- | |`name` | string | **Required** | Your name for the digital interrupt. | |`pin`| string | **Required** | The pin number of the board's GPIO pin that you wish to configure the digital interrupt for. | -|`type`| string | Optional | Default: `basic`: Tracks interrupt count. | +|`type`| string | Optional | Whether the pin should be an `interrupt` or `gpio` pin. Default: `"gpio"` | +|`pull`| string | Optional | Define whether the pins should be pull up or pull down. Omitting this uses your Pi's default configuration | +|`debounce_ms`| string | Optional | define a signal debounce for your interrupts to help prevent false triggers. | Example: @@ -166,14 +170,27 @@ Example: "name": "your-board", "type": "board", "attributes": { - "digital_interrupts": [ + "pins": [ + { + "name": "your-gpio-1", + "pin": "13", + "type": "gpio" + }, + { + "name": "your-gpio-2", + "pin": "14", + "pull": "down" + }, { "name": "your-interrupt-1", - "pin": "15" + "pin": "15", + "type": "interrupt" }, { "name": "your-interrupt-2", - "pin": "16" + "pin": "16", + "type": "interrupt", + "pull": "down" } ] } diff --git a/go.mod b/go.mod index 0bc9dca..24724b8 100644 --- a/go.mod +++ b/go.mod @@ -4,36 +4,36 @@ go 1.23.0 require ( github.com/edaniels/golinters v0.0.5-0.20220906153528-641155550742 - github.com/golangci/golangci-lint v1.60.2 + github.com/golangci/golangci-lint v1.61.0 github.com/pkg/errors v0.9.1 github.com/rhysd/actionlint v1.6.24 go.uber.org/multierr v1.11.0 - go.viam.com/api v0.1.336 - go.viam.com/rdk v0.40.0 + go.viam.com/api v0.1.350 + go.viam.com/rdk v0.47.1-0.20241023182436-b6f09254154f go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 - go.viam.com/utils v0.1.97 + go.viam.com/utils v0.1.106 ) require ( 4d63.com/gocheckcompilerdirectives v1.2.1 // indirect 4d63.com/gochecknoglobals v0.2.1 // indirect - cloud.google.com/go v0.115.0 // indirect - cloud.google.com/go/auth v0.8.1 // indirect - cloud.google.com/go/auth/oauth2adapt v0.2.3 // indirect + cloud.google.com/go v0.115.1 // indirect + cloud.google.com/go/auth v0.9.3 // indirect + cloud.google.com/go/auth/oauth2adapt v0.2.4 // indirect cloud.google.com/go/compute/metadata v0.5.0 // indirect - cloud.google.com/go/iam v1.1.12 // indirect - cloud.google.com/go/storage v1.41.0 // indirect + cloud.google.com/go/iam v1.2.0 // indirect + cloud.google.com/go/storage v1.43.0 // indirect git.sr.ht/~sbinet/gg v0.3.1 // indirect github.com/4meepo/tagalign v1.3.4 // indirect - github.com/Abirdcfly/dupword v0.0.14 // indirect + github.com/Abirdcfly/dupword v0.1.1 // indirect github.com/Antonboom/errname v0.1.13 // indirect github.com/Antonboom/nilnil v0.1.9 // indirect github.com/Antonboom/testifylint v1.4.3 // indirect github.com/BurntSushi/toml v1.4.1-0.20240526193622-a339e1f7089c // indirect - github.com/Crocmagnon/fatcontext v0.4.0 // indirect + github.com/Crocmagnon/fatcontext v0.5.2 // indirect github.com/Djarvur/go-err113 v0.0.0-20210108212216-aea10b59be24 // indirect github.com/GaijinEntertainment/go-exhaustruct/v3 v3.3.0 // indirect - github.com/Masterminds/semver/v3 v3.2.1 // indirect + github.com/Masterminds/semver/v3 v3.3.0 // indirect github.com/OpenPeeDeeP/depguard/v2 v2.2.0 // indirect github.com/a8m/envsubst v1.4.2 // indirect github.com/ajstarks/svgo v0.0.0-20211024235047-1546f124cd8b // indirect @@ -61,12 +61,12 @@ require ( github.com/ccojocar/zxcvbn-go v1.0.2 // indirect github.com/cenkalti/backoff v2.2.1+incompatible // indirect github.com/cenkalti/backoff/v4 v4.2.1 // indirect - github.com/cespare/xxhash/v2 v2.2.0 // indirect + github.com/cespare/xxhash/v2 v2.3.0 // indirect github.com/charithe/durationcheck v0.0.10 // indirect github.com/chavacava/garif v0.1.0 // indirect - github.com/ckaznocha/intrange v0.1.2 // indirect + github.com/ckaznocha/intrange v0.2.0 // indirect github.com/curioswitch/go-reassign v0.2.0 // indirect - github.com/daixiang0/gci v0.13.4 // indirect + github.com/daixiang0/gci v0.13.5 // indirect github.com/davecgh/go-spew v1.1.1 // indirect github.com/decred/dcrd/dcrec/secp256k1/v4 v4.2.0 // indirect github.com/denis-tingaikin/go-header v0.5.0 // indirect @@ -100,7 +100,7 @@ require ( github.com/go-toolsmith/astp v1.1.0 // indirect github.com/go-toolsmith/strparse v1.1.0 // indirect github.com/go-toolsmith/typep v1.1.0 // indirect - github.com/go-viper/mapstructure/v2 v2.0.0 // indirect + github.com/go-viper/mapstructure/v2 v2.1.0 // indirect github.com/go-xmlfmt/xmlfmt v1.1.2 // indirect github.com/gobwas/glob v0.2.3 // indirect github.com/goccy/go-json v0.10.2 // indirect @@ -122,7 +122,7 @@ require ( github.com/google/go-cmp v0.6.0 // indirect github.com/google/s2a-go v0.1.8 // indirect github.com/google/uuid v1.6.0 // indirect - github.com/googleapis/enterprise-certificate-proxy v0.3.2 // indirect + github.com/googleapis/enterprise-certificate-proxy v0.3.3 // indirect github.com/googleapis/gax-go/v2 v2.13.0 // indirect github.com/gordonklaus/ineffassign v0.1.0 // indirect github.com/gorilla/securecookie v1.1.1 // indirect @@ -173,7 +173,7 @@ require ( github.com/matoous/godox v0.0.0-20230222163458-006bad1f9d26 // indirect github.com/mattn/go-colorable v0.1.13 // indirect github.com/mattn/go-isatty v0.0.20 // indirect - github.com/mattn/go-runewidth v0.0.14 // indirect + github.com/mattn/go-runewidth v0.0.16 // indirect github.com/matttproud/golang_protobuf_extensions v1.0.4 // indirect github.com/mgechev/revive v1.3.9 // indirect github.com/miekg/dns v1.1.53 // indirect @@ -187,7 +187,7 @@ require ( github.com/nunnatsa/ginkgolinter v0.16.2 // indirect github.com/olekukonko/tablewriter v0.0.5 // indirect github.com/pelletier/go-toml v1.9.5 // indirect - github.com/pelletier/go-toml/v2 v2.2.2 // indirect + github.com/pelletier/go-toml/v2 v2.2.3 // indirect github.com/pion/datachannel v1.5.8 // indirect github.com/pion/dtls/v2 v2.2.12 // indirect github.com/pion/ice/v2 v2.3.34 // indirect @@ -206,24 +206,24 @@ require ( github.com/pmezard/go-difflib v1.0.0 // indirect github.com/polyfloyd/go-errorlint v1.6.0 // indirect github.com/prometheus/client_golang v1.12.2 // indirect - github.com/prometheus/client_model v0.4.0 // indirect + github.com/prometheus/client_model v0.6.0 // indirect github.com/prometheus/common v0.37.0 // indirect github.com/prometheus/procfs v0.7.3 // indirect - github.com/quasilyte/go-ruleguard v0.4.2 // indirect + github.com/quasilyte/go-ruleguard v0.4.3-0.20240823090925-0fe6f58b47b1 // indirect github.com/quasilyte/go-ruleguard/dsl v0.3.22 // indirect github.com/quasilyte/gogrep v0.5.0 // indirect github.com/quasilyte/regex/syntax v0.0.0-20210819130434-b3f0c404a727 // indirect github.com/quasilyte/stdinfo v0.0.0-20220114132959-f7386bf02567 // indirect - github.com/rivo/uniseg v0.4.4 // indirect + github.com/rivo/uniseg v0.4.7 // indirect github.com/robfig/cron v1.2.0 // indirect github.com/rs/cors v1.11.1 // indirect - github.com/ryancurrah/gomodguard v1.3.3 // indirect + github.com/ryancurrah/gomodguard v1.3.5 // indirect github.com/ryanrolds/sqlclosecheck v0.5.1 // indirect github.com/sanposhiho/wastedassign/v2 v2.0.7 // indirect github.com/santhosh-tekuri/jsonschema/v5 v5.3.1 // indirect github.com/sashamelentyev/interfacebloat v1.1.0 // indirect github.com/sashamelentyev/usestdlibvars v1.27.0 // indirect - github.com/securego/gosec/v2 v2.20.1-0.20240820084340-81cda2f91fbe // indirect + github.com/securego/gosec/v2 v2.21.2 // indirect github.com/sergi/go-diff v1.3.1 // indirect github.com/shazow/go-diff v0.0.0-20160112020656-b6b7b6733b8c // indirect github.com/sirupsen/logrus v1.9.3 // indirect @@ -245,7 +245,7 @@ require ( github.com/stretchr/testify v1.9.0 // indirect github.com/subosito/gotenv v1.4.1 // indirect github.com/tdakkota/asciicheck v0.2.0 // indirect - github.com/tetafro/godot v1.4.16 // indirect + github.com/tetafro/godot v1.4.17 // indirect github.com/timakin/bodyclose v0.0.0-20230421092635-574207250966 // indirect github.com/timonwong/loggercheck v0.9.4 // indirect github.com/tomarrell/wrapcheck/v2 v2.9.0 // indirect @@ -253,7 +253,7 @@ require ( github.com/ultraware/funlen v0.1.0 // indirect github.com/ultraware/whitespace v0.1.1 // indirect github.com/uudashr/gocognit v1.1.3 // indirect - github.com/viamrobotics/webrtc/v3 v3.99.9 // indirect + github.com/viamrobotics/webrtc/v3 v3.99.10 // indirect github.com/wlynxg/anet v0.0.3 // indirect github.com/xdg-go/pbkdf2 v1.0.0 // indirect github.com/xdg-go/scram v1.1.2 // indirect @@ -271,34 +271,33 @@ require ( go-simpler.org/sloglint v0.7.2 // indirect go.mongodb.org/mongo-driver v1.11.6 // indirect go.opencensus.io v0.24.0 // indirect - go.opentelemetry.io/contrib/instrumentation/google.golang.org/grpc/otelgrpc v0.51.0 // indirect - go.opentelemetry.io/contrib/instrumentation/net/http/otelhttp v0.51.0 // indirect - go.opentelemetry.io/otel v1.26.0 // indirect - go.opentelemetry.io/otel/metric v1.26.0 // indirect - go.opentelemetry.io/otel/trace v1.26.0 // indirect - go.uber.org/atomic v1.10.0 // indirect + go.opentelemetry.io/contrib/instrumentation/google.golang.org/grpc/otelgrpc v0.54.0 // indirect + go.opentelemetry.io/contrib/instrumentation/net/http/otelhttp v0.54.0 // indirect + go.opentelemetry.io/otel v1.29.0 // indirect + go.opentelemetry.io/otel/metric v1.29.0 // indirect + go.opentelemetry.io/otel/trace v1.29.0 // indirect go.uber.org/automaxprocs v1.5.3 // indirect - go.uber.org/goleak v1.2.1 // indirect - go.uber.org/zap v1.24.0 // indirect - golang.org/x/crypto v0.26.0 // indirect - golang.org/x/exp v0.0.0-20240719175910-8a7402abbf56 // indirect + go.uber.org/goleak v1.3.0 // indirect + go.uber.org/zap v1.27.0 // indirect + golang.org/x/crypto v0.28.0 // indirect + golang.org/x/exp v0.0.0-20240904232852-e7e105dedf7e // indirect golang.org/x/exp/typeparams v0.0.0-20240314144324-c7f7c6466f7f // indirect golang.org/x/image v0.19.0 // indirect - golang.org/x/mod v0.20.0 // indirect - golang.org/x/net v0.28.0 // indirect + golang.org/x/mod v0.21.0 // indirect + golang.org/x/net v0.30.0 // indirect golang.org/x/oauth2 v0.22.0 // indirect golang.org/x/sync v0.8.0 // indirect - golang.org/x/sys v0.23.0 // indirect - golang.org/x/text v0.17.0 // indirect + golang.org/x/sys v0.26.0 // indirect + golang.org/x/text v0.19.0 // indirect golang.org/x/time v0.6.0 // indirect golang.org/x/tools v0.24.0 // indirect gonum.org/v1/gonum v0.12.0 // indirect gonum.org/v1/plot v0.12.0 // indirect - google.golang.org/api v0.192.0 // indirect - google.golang.org/genproto v0.0.0-20240730163845-b1a4ccb954bf // indirect - google.golang.org/genproto/googleapis/api v0.0.0-20240725223205-93522f1f2a9f // indirect - google.golang.org/genproto/googleapis/rpc v0.0.0-20240730163845-b1a4ccb954bf // indirect - google.golang.org/grpc v1.64.1 // indirect + google.golang.org/api v0.196.0 // indirect + google.golang.org/genproto v0.0.0-20240903143218-8af14fe29dc1 // indirect + google.golang.org/genproto/googleapis/api v0.0.0-20240827150818-7e3bb234dfed // indirect + google.golang.org/genproto/googleapis/rpc v0.0.0-20240903143218-8af14fe29dc1 // indirect + google.golang.org/grpc v1.66.0 // indirect google.golang.org/protobuf v1.34.2 // indirect gopkg.in/ini.v1 v1.67.0 // indirect gopkg.in/square/go-jose.v2 v2.6.0 // indirect diff --git a/go.sum b/go.sum index 6ca89ce..bd280d6 100644 --- a/go.sum +++ b/go.sum @@ -20,12 +20,12 @@ cloud.google.com/go v0.57.0/go.mod h1:oXiQ6Rzq3RAkkY7N6t3TcE6jE+CIBBbA36lwQ1JyzZ cloud.google.com/go v0.60.0/go.mod h1:yw2G51M9IfRboUH61Us8GqCeF1PzPblB823Mn2q2eAU= cloud.google.com/go v0.62.0/go.mod h1:jmCYTdRCQuc1PHIIJ/maLInMho30T/Y0M4hTdTShOYc= cloud.google.com/go v0.65.0/go.mod h1:O5N8zS7uWy9vkA9vayVHs65eM1ubvY4h553ofrNHObY= -cloud.google.com/go v0.115.0 h1:CnFSK6Xo3lDYRoBKEcAtia6VSC837/ZkJuRduSFnr14= -cloud.google.com/go v0.115.0/go.mod h1:8jIM5vVgoAEoiVxQ/O4BFTfHqulPZgs/ufEzMcFMdWU= -cloud.google.com/go/auth v0.8.1 h1:QZW9FjC5lZzN864p13YxvAtGUlQ+KgRL+8Sg45Z6vxo= -cloud.google.com/go/auth v0.8.1/go.mod h1:qGVp/Y3kDRSDZ5gFD/XPUfYQ9xW1iI7q8RIRoCyBbJc= -cloud.google.com/go/auth/oauth2adapt v0.2.3 h1:MlxF+Pd3OmSudg/b1yZ5lJwoXCEaeedAguodky1PcKI= -cloud.google.com/go/auth/oauth2adapt v0.2.3/go.mod h1:tMQXOfZzFuNuUxOypHlQEXgdfX5cuhwU+ffUuXRJE8I= +cloud.google.com/go v0.115.1 h1:Jo0SM9cQnSkYfp44+v+NQXHpcHqlnRJk2qxh6yvxxxQ= +cloud.google.com/go v0.115.1/go.mod h1:DuujITeaufu3gL68/lOFIirVNJwQeyf5UXyi+Wbgknc= +cloud.google.com/go/auth v0.9.3 h1:VOEUIAADkkLtyfr3BLa3R8Ed/j6w1jTBmARx+wb5w5U= +cloud.google.com/go/auth v0.9.3/go.mod h1:7z6VY+7h3KUdRov5F1i8NDP5ZzWKYmEPO842BgCsmTk= +cloud.google.com/go/auth/oauth2adapt v0.2.4 h1:0GWE/FUsXhf6C+jAkWgYm7X9tK8cuEIfy19DBn6B6bY= +cloud.google.com/go/auth/oauth2adapt v0.2.4/go.mod h1:jC/jOpwFP6JBxhB3P5Rr0a9HLMC/Pe3eaL4NmdvqPtc= cloud.google.com/go/bigquery v1.0.1/go.mod h1:i/xbL2UlR5RvWAURpBYZTtm/cXjCha9lbfbpx4poX+o= cloud.google.com/go/bigquery v1.3.0/go.mod h1:PjpwJnslEMmckchkHFfq+HTD2DmtT67aNFKH1/VBDHE= cloud.google.com/go/bigquery v1.4.0/go.mod h1:S8dzgnTigyfTmLBfrtrhyYhwRxG72rYxvftPBK2Dvzc= @@ -37,8 +37,10 @@ cloud.google.com/go/compute/metadata v0.5.0/go.mod h1:aHnloV2TPI38yx4s9+wAZhHykW cloud.google.com/go/datastore v1.0.0/go.mod h1:LXYbyblFSglQ5pkeyhO+Qmw7ukd3C+pD7TKLgZqpHYE= cloud.google.com/go/datastore v1.1.0/go.mod h1:umbIZjpQpHh4hmRpGhH4tLFup+FVzqBi1b3c64qFpCk= cloud.google.com/go/firestore v1.1.0/go.mod h1:ulACoGHTpvq5r8rxGJ4ddJZBZqakUQqClKRT5SZwBmk= -cloud.google.com/go/iam v1.1.12 h1:JixGLimRrNGcxvJEQ8+clfLxPlbeZA6MuRJ+qJNQ5Xw= -cloud.google.com/go/iam v1.1.12/go.mod h1:9LDX8J7dN5YRyzVHxwQzrQs9opFFqn0Mxs9nAeB+Hhg= +cloud.google.com/go/iam v1.2.0 h1:kZKMKVNk/IsSSc/udOb83K0hL/Yh/Gcqpz+oAkoIFN8= +cloud.google.com/go/iam v1.2.0/go.mod h1:zITGuWgsLZxd8OwAlX+eMFgZDXzBm7icj1PVTYG766Q= +cloud.google.com/go/longrunning v0.6.0 h1:mM1ZmaNsQsnb+5n1DNPeL0KwQd9jQRqSqSDEkBZr+aI= +cloud.google.com/go/longrunning v0.6.0/go.mod h1:uHzSZqW89h7/pasCWNYdUpwGz3PcVWhrWupreVPYLts= cloud.google.com/go/pubsub v1.0.1/go.mod h1:R0Gpsv3s54REJCy4fxDixWD93lHJMoZTyQ2kNxGRt3I= cloud.google.com/go/pubsub v1.1.0/go.mod h1:EwwdRX2sKPjnvnqCa270oGRyludottCI76h+R3AArQw= cloud.google.com/go/pubsub v1.2.0/go.mod h1:jhfEVHT8odbXTkndysNHCcx0awwzvfOlguIAii9o8iA= @@ -50,16 +52,16 @@ cloud.google.com/go/storage v1.5.0/go.mod h1:tpKbwo567HUNpVclU5sGELwQWBDZ8gh0Zeo cloud.google.com/go/storage v1.6.0/go.mod h1:N7U0C8pVQ/+NIKOBQyamJIeKQKkZ+mxpohlUTyfDhBk= cloud.google.com/go/storage v1.8.0/go.mod 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v1.3.4/go.mod h1:M+pnkHH2vG8+qhE5bVc/zeP7HS/j910Fwa9TUSyZVI0= -github.com/Abirdcfly/dupword v0.0.14 h1:3U4ulkc8EUo+CaT105/GJ1BQwtgyj6+VaBVbAX11Ba8= -github.com/Abirdcfly/dupword v0.0.14/go.mod h1:VKDAbxdY8YbKUByLGg8EETzYSuC4crm9WwI6Y3S0cLI= +github.com/Abirdcfly/dupword v0.1.1 h1:Bsxe0fIw6OwBtXMIncaTxCLHYO5BB+3mcsR5E8VXloY= +github.com/Abirdcfly/dupword v0.1.1/go.mod h1:B49AcJdTYYkpd4HjgAcutNGG9HZ2JWwKunH9Y2BA6sM= github.com/Antonboom/errname v0.1.13 h1:JHICqsewj/fNckzrfVSe+T33svwQxmjC+1ntDsHOVvM= github.com/Antonboom/errname v0.1.13/go.mod h1:uWyefRYRN54lBg6HseYCFhs6Qjcy41Y3Jl/dVhA87Ns= github.com/Antonboom/nilnil v0.1.9 h1:eKFMejSxPSA9eLSensFmjW2XTgTwJMjZ8hUHtV4s/SQ= @@ -72,8 +74,8 @@ github.com/BurntSushi/toml v1.4.1-0.20240526193622-a339e1f7089c/go.mod h1:ukJfTF github.com/BurntSushi/xgb v0.0.0-20160522181843-27f122750802/go.mod h1:IVnqGOEym/WlBOVXweHU+Q+/VP0lqqI8lqeDx9IjBqo= github.com/CPRT/roboclaw v0.0.0-20190825181223-76871438befc h1:X6Ptoxdi1w0lofv51zchUBBvULiL97ruSjtTRa/SL5Q= github.com/CPRT/roboclaw v0.0.0-20190825181223-76871438befc/go.mod h1:1nLByU34wsr4qNJ4yrfxuGFmIl/0/eAuB8VAiGK0GHs= -github.com/Crocmagnon/fatcontext v0.4.0 h1:4ykozu23YHA0JB6+thiuEv7iT6xq995qS1vcuWZq0tg= -github.com/Crocmagnon/fatcontext v0.4.0/go.mod h1:ZtWrXkgyfsYPzS6K3O88va6t2GEglG93vnII/F94WC0= +github.com/Crocmagnon/fatcontext v0.5.2 h1:vhSEg8Gqng8awhPju2w7MKHqMlg4/NI+gSDHtR3xgwA= +github.com/Crocmagnon/fatcontext v0.5.2/go.mod h1:87XhRMaInHP44Q7Tlc7jkgKKB7kZAOPiDkFMdKCC+74= github.com/Djarvur/go-err113 v0.0.0-20210108212216-aea10b59be24 h1:sHglBQTwgx+rWPdisA5ynNEsoARbiCBOyGcJM4/OzsM= github.com/Djarvur/go-err113 v0.0.0-20210108212216-aea10b59be24/go.mod h1:4UJr5HIiMZrwgkSPdsjy2uOQExX/WEILpIrO9UPGuXs= github.com/GaijinEntertainment/go-exhaustruct/v3 v3.3.0 h1:/fTUt5vmbkAcMBt4YQiuC23cV0kEsN1MVMNqeOW43cU= @@ -85,8 +87,8 @@ github.com/Masterminds/goutils v1.1.1/go.mod h1:8cTjp+g8YejhMuvIA5y2vz3BpJxksy86 github.com/Masterminds/semver v1.4.2/go.mod 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h1:f6KPmirojxKA github.com/cespare/xxhash v1.1.0/go.mod h1:XrSqR1VqqWfGrhpAt58auRo0WTKS1nRRg3ghfAqPWnc= github.com/cespare/xxhash/v2 v2.1.1/go.mod h1:VGX0DQ3Q6kWi7AoAeZDth3/j3BFtOZR5XLFGgcrjCOs= github.com/cespare/xxhash/v2 v2.1.2/go.mod h1:VGX0DQ3Q6kWi7AoAeZDth3/j3BFtOZR5XLFGgcrjCOs= -github.com/cespare/xxhash/v2 v2.2.0 h1:DC2CZ1Ep5Y4k3ZQ899DldepgrayRUGE6BBZ/cd9Cj44= -github.com/cespare/xxhash/v2 v2.2.0/go.mod h1:VGX0DQ3Q6kWi7AoAeZDth3/j3BFtOZR5XLFGgcrjCOs= +github.com/cespare/xxhash/v2 v2.3.0 h1:UL815xU9SqsFlibzuggzjXhog7bL6oX9BbNZnL2UFvs= +github.com/cespare/xxhash/v2 v2.3.0/go.mod h1:VGX0DQ3Q6kWi7AoAeZDth3/j3BFtOZR5XLFGgcrjCOs= github.com/charithe/durationcheck v0.0.6/go.mod h1:SSbRIBVfMjCi/kEB6K65XEA83D6prSM8ap1UCpNKtgg= github.com/charithe/durationcheck v0.0.10 h1:wgw73BiocdBDQPik+zcEoBG/ob8uyBHf2iyoHGPf5w4= github.com/charithe/durationcheck v0.0.10/go.mod h1:bCWXb7gYRysD1CU3C+u4ceO49LoGOY1C1L6uouGNreQ= @@ -229,8 +231,8 @@ github.com/chewxy/math32 v1.0.8/go.mod h1:dOB2rcuFrCn6UHrze36WSLVPKtzPMRAQvBvUwk github.com/chzyer/logex v1.1.10/go.mod h1:+Ywpsq7O8HXn0nuIou7OrIPyXbp3wmkHB+jjWRnGsAI= github.com/chzyer/readline v0.0.0-20180603132655-2972be24d48e/go.mod h1:nSuG5e5PlCu98SY8svDHJxuZscDgtXS6KTTbou5AhLI= github.com/chzyer/test v0.0.0-20180213035817-a1ea475d72b1/go.mod h1:Q3SI9o4m/ZMnBNeIyt5eFwwo7qiLfzFZmjNmxjkiQlU= -github.com/ckaznocha/intrange v0.1.2 h1:3Y4JAxcMntgb/wABQ6e8Q8leMd26JbX2790lIss9MTI= -github.com/ckaznocha/intrange v0.1.2/go.mod h1:RWffCw/vKBwHeOEwWdCikAtY0q4gGt8VhJZEEA5n+RE= +github.com/ckaznocha/intrange v0.2.0 h1:FykcZuJ8BD7oX93YbO1UY9oZtkRbp+1/kJcDjkefYLs= +github.com/ckaznocha/intrange v0.2.0/go.mod h1:r5I7nUlAAG56xmkOpw4XVr16BXhwYTUdcuRFeevn1oE= github.com/clbanning/x2j v0.0.0-20191024224557-825249438eec/go.mod h1:jMjuTZXRI4dUb/I5gc9Hdhagfvm9+RyrPryS/auMzxE= github.com/client9/misspell v0.3.4/go.mod h1:qj6jICC3Q7zFZvVWo7KLAzC3yx5G7kyvSDkc90ppPyw= github.com/cloudwego/base64x v0.1.4 h1:jwCgWpFanWmN8xoIUHa2rtzmkd5J2plF/dnLS6Xd/0Y= @@ -271,8 +273,8 @@ github.com/d2r2/go-i2c v0.0.0-20191123181816-73a8a799d6bc/go.mod h1:AwxDPnsgIpy4 github.com/d2r2/go-logger v0.0.0-20210606094344-60e9d1233e22 h1:nO+SY4KOMsF/LsZ5EtbSKhiT3M6sv/igo2PEru/xEHI= github.com/d2r2/go-logger v0.0.0-20210606094344-60e9d1233e22/go.mod h1:eSx+YfcVy5vCjRZBNIhpIpfCGFMQ6XSOSQkDk7+VCpg= github.com/daixiang0/gci v0.2.8/go.mod h1:+4dZ7TISfSmqfAGv59ePaHfNzgGtIkHAhhdKggP1JAc= -github.com/daixiang0/gci v0.13.4 h1:61UGkmpoAcxHM2hhNkZEf5SzwQtWJXTSws7jaPyqwlw= -github.com/daixiang0/gci v0.13.4/go.mod h1:12etP2OniiIdP4q+kjUGrC/rUagga7ODbqsom5Eo5Yk= +github.com/daixiang0/gci v0.13.5 h1:kThgmH1yBmZSBCh1EJVxQ7JsHpm5Oms0AMed/0LaH4c= +github.com/daixiang0/gci v0.13.5/go.mod h1:12etP2OniiIdP4q+kjUGrC/rUagga7ODbqsom5Eo5Yk= github.com/davecgh/go-spew v0.0.0-20161028175848-04cdfd42973b/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38= github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38= github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c= @@ -454,8 +456,8 @@ github.com/go-toolsmith/typep v1.0.0/go.mod h1:JSQCQMUPdRlMZFswiq3TGpNp1GMktqkR2 github.com/go-toolsmith/typep v1.0.2/go.mod h1:JSQCQMUPdRlMZFswiq3TGpNp1GMktqkR2Ns5AIQkATU= github.com/go-toolsmith/typep v1.1.0 h1:fIRYDyF+JywLfqzyhdiHzRop/GQDxxNhLGQ6gFUNHus= github.com/go-toolsmith/typep v1.1.0/go.mod h1:fVIw+7zjdsMxDA3ITWnH1yOiw1rnTQKCsF/sk2H/qig= -github.com/go-viper/mapstructure/v2 v2.0.0 h1:dhn8MZ1gZ0mzeodTG3jt5Vj/o87xZKuNAprG2mQfMfc= -github.com/go-viper/mapstructure/v2 v2.0.0/go.mod h1:oJDH3BJKyqBA2TXFhDsKDGDTlndYOZ6rGS0BRZIxGhM= +github.com/go-viper/mapstructure/v2 v2.1.0 h1:gHnMa2Y/pIxElCH2GlZZ1lZSsn6XMtufpGyP1XxdC/w= +github.com/go-viper/mapstructure/v2 v2.1.0/go.mod h1:oJDH3BJKyqBA2TXFhDsKDGDTlndYOZ6rGS0BRZIxGhM= github.com/go-xmlfmt/xmlfmt v0.0.0-20191208150333-d5b6f63a941b/go.mod h1:aUCEOzzezBEjDBbFBoSiya/gduyIiWYRP6CnSFIV8AM= github.com/go-xmlfmt/xmlfmt v1.1.2 h1:Nea7b4icn8s57fTx1M5AI4qQT5HEM3rVUO8MuE6g80U= github.com/go-xmlfmt/xmlfmt v1.1.2/go.mod h1:aUCEOzzezBEjDBbFBoSiya/gduyIiWYRP6CnSFIV8AM= @@ -493,8 +495,8 @@ github.com/golang/freetype v0.0.0-20170609003504-e2365dfdc4a0/go.mod h1:E/TSTwGw github.com/golang/geo v0.0.0-20210211234256-740aa86cb551 h1:gtexQ/VGyN+VVFRXSFiguSNcXmS6rkKT+X7FdIrTtfo= github.com/golang/geo v0.0.0-20210211234256-740aa86cb551/go.mod h1:QZ0nwyI2jOfgRAoBvP+ab5aRr7c9x7lhGEJrKvBwjWI= github.com/golang/glog v0.0.0-20160126235308-23def4e6c14b/go.mod h1:SBH7ygxi8pfUlaOkMMuAQtPIUF8ecWP5IEl/CR7VP2Q= -github.com/golang/glog v1.2.0 h1:uCdmnmatrKCgMBlM4rMuJZWOkPDqdbZPnrMXDY4gI68= -github.com/golang/glog v1.2.0/go.mod h1:6AhwSGph0fcJtXVM/PEHPqZlFeoLxhs7/t5UDAwmO+w= +github.com/golang/glog v1.2.1 h1:OptwRhECazUx5ix5TTWC3EZhsZEHWcYWY4FQHTIubm4= +github.com/golang/glog v1.2.1/go.mod h1:6AhwSGph0fcJtXVM/PEHPqZlFeoLxhs7/t5UDAwmO+w= github.com/golang/groupcache v0.0.0-20160516000752-02826c3e7903/go.mod h1:cIg4eruTrX1D+g88fzRXU5OdNfaM+9IcxsU14FzY7Hc= github.com/golang/groupcache v0.0.0-20190129154638-5b532d6fd5ef/go.mod h1:cIg4eruTrX1D+g88fzRXU5OdNfaM+9IcxsU14FzY7Hc= github.com/golang/groupcache v0.0.0-20190702054246-869f871628b6/go.mod h1:cIg4eruTrX1D+g88fzRXU5OdNfaM+9IcxsU14FzY7Hc= @@ -541,8 +543,8 @@ github.com/golangci/gofmt v0.0.0-20240816233607-d8596aa466a9 h1:/1322Qns6BtQxUZD github.com/golangci/gofmt v0.0.0-20240816233607-d8596aa466a9/go.mod h1:Oesb/0uFAyWoaw1U1qS5zyjCg5NP9C9iwjnI4tIsXEE= github.com/golangci/golangci-lint v1.38.0/go.mod h1:Knp/sd5ATrVp7EOzWzwIIFH+c8hUfpW+oOQb8NvdZDo= github.com/golangci/golangci-lint v1.39.0/go.mod h1:mzMK3FGyk8LKTOxpRDcDqxwHVudnYemESTt5rpUxqCM= -github.com/golangci/golangci-lint v1.60.2 h1:Y8aWnZCMOLY5T7Ga5hcoemyKsZZJCUmIIK3xTD3jIhc= -github.com/golangci/golangci-lint v1.60.2/go.mod h1:4UvjLpOJoQSvmyWkmO1urDR3txhL9R9sn4oM/evJ95g= +github.com/golangci/golangci-lint v1.61.0 h1:VvbOLaRVWmyxCnUIMTbf1kDsaJbTzH20FAMXTAlQGu8= +github.com/golangci/golangci-lint v1.61.0/go.mod h1:e4lztIrJJgLPhWvFPDkhiMwEFRrWlmFbrZea3FsJyN8= github.com/golangci/lint-1 v0.0.0-20191013205115-297bf364a8e0/go.mod h1:66R6K6P6VWk9I95jvqGxkqJxVWGFy9XlDwLwVz1RCFg= github.com/golangci/maligned v0.0.0-20180506175553-b1d89398deca/go.mod h1:tvlJhZqDe4LMs4ZHD0oMUlt9G2LWuDGoisJTBzLMV9o= github.com/golangci/misspell v0.3.5/go.mod h1:dEbvlSfYbMQDtrpRMQU675gSDLDNa8sCPPChZ7PhiVA= @@ -595,8 +597,8 @@ github.com/google/pprof v0.0.0-20200229191704-1ebb73c60ed3/go.mod h1:ZgVRPoUq/hf github.com/google/pprof v0.0.0-20200430221834-fc25d7d30c6d/go.mod h1:ZgVRPoUq/hfqzAqh7sHMqb3I9Rq5C59dIz2SbBwJ4eM= github.com/google/pprof v0.0.0-20200507031123-427632fa3b1c/go.mod h1:ZgVRPoUq/hfqzAqh7sHMqb3I9Rq5C59dIz2SbBwJ4eM= github.com/google/pprof v0.0.0-20200708004538-1a94d8640e99/go.mod h1:ZgVRPoUq/hfqzAqh7sHMqb3I9Rq5C59dIz2SbBwJ4eM= -github.com/google/pprof v0.0.0-20240727154555-813a5fbdbec8 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v0.0.0-20201230142125-a7e3863a1245/go.mod h1:pQAZKsJ8yyVxGRWYNEm9oFB8ieLgKFnamEyDmSA0BRk= github.com/ryancurrah/gomodguard v1.2.0/go.mod h1:rNqbC4TOIdUDcVMSIpNNAzTbzXAZa6W5lnUepvuMMgQ= -github.com/ryancurrah/gomodguard v1.3.3 h1:eiSQdJVNr9KTNxY2Niij8UReSwR8Xrte3exBrAZfqpg= -github.com/ryancurrah/gomodguard v1.3.3/go.mod h1:rsKQjj4l3LXe8N344Ow7agAy5p9yjsWOtRzUMYmA0QY= +github.com/ryancurrah/gomodguard v1.3.5 h1:cShyguSwUEeC0jS7ylOiG/idnd1TpJ1LfHGpV3oJmPU= +github.com/ryancurrah/gomodguard v1.3.5/go.mod h1:MXlEPQRxgfPQa62O8wzK3Ozbkv9Rkqr+wKjSxTdsNJE= github.com/ryanrolds/sqlclosecheck v0.3.0/go.mod h1:1gREqxyTGR3lVtpngyFo3hZAgk0KCtEdgEkHwDbigdA= github.com/ryanrolds/sqlclosecheck v0.5.1 h1:dibWW826u0P8jNLsLN+En7+RqWWTYrjCB9fJfSfdyCU= github.com/ryanrolds/sqlclosecheck v0.5.1/go.mod h1:2g3dUjoS6AL4huFdv6wn55WpLIDjY7ZgUR4J8HOO/XQ= @@ -1211,8 +1214,8 @@ github.com/sashamelentyev/usestdlibvars v1.27.0/go.mod h1:9nl0jgOfHKWNFS43Ojw0i7 github.com/sean-/seed v0.0.0-20170313163322-e2103e2c3529/go.mod h1:DxrIzT+xaE7yg65j358z/aeFdxmN0P9QXhEzd20vsDc= github.com/securego/gosec/v2 v2.6.1/go.mod h1:I76p3NTHBXsGhybUW+cEQ692q2Vp+A0Z6ZLzDIZy+Ao= github.com/securego/gosec/v2 v2.7.0/go.mod h1:xNbGArrGUspJLuz3LS5XCY1EBW/0vABAl/LWfSklmiM= -github.com/securego/gosec/v2 v2.20.1-0.20240820084340-81cda2f91fbe h1:exdneYmXwZ4+VaIWv9mQ47uIHkTQSN50DYdCjXJ1cdQ= -github.com/securego/gosec/v2 v2.20.1-0.20240820084340-81cda2f91fbe/go.mod h1:iyeMMRw8QEmueUSZ2VqmkQMiDyDcobfPnG00CV/NWdE= +github.com/securego/gosec/v2 v2.21.2 h1:deZp5zmYf3TWwU7A7cR2+SolbTpZ3HQiwFqnzQyEl3M= +github.com/securego/gosec/v2 v2.21.2/go.mod h1:au33kg78rNseF5PwPnTWhuYBFf534bvJRvOrgZ/bFzU= github.com/sergi/go-diff v1.1.0/go.mod h1:STckp+ISIX8hZLjrqAeVduY0gWCT9IjLuqbuNXdaHfM= github.com/sergi/go-diff v1.3.1 h1:xkr+Oxo4BOQKmkn/B9eMK0g5Kg/983T9DqqPHwYqD+8= github.com/sergi/go-diff v1.3.1/go.mod h1:aMJSSKb2lpPvRNec0+w3fl7LP9IOFzdc9Pa4NFbPK1I= @@ -1319,8 +1322,8 @@ github.com/tenntenn/modver v1.0.1/go.mod h1:bePIyQPb7UeioSRkw3Q0XeMhYZSMx9B8ePqg github.com/tenntenn/text/transform v0.0.0-20200319021203-7eef512accb3 h1:f+jULpRQGxTSkNYKJ51yaw6ChIqO+Je8UqsTKN/cDag= github.com/tenntenn/text/transform v0.0.0-20200319021203-7eef512accb3/go.mod h1:ON8b8w4BN/kE1EOhwT0o+d62W65a6aPw1nouo9LMgyY= github.com/tetafro/godot v1.4.4/go.mod h1:FVDd4JuKliW3UgjswZfJfHq4vAx0bD/Jd5brJjGeaz4= -github.com/tetafro/godot v1.4.16 h1:4ChfhveiNLk4NveAZ9Pu2AN8QZ2nkUGFuadM9lrr5D0= -github.com/tetafro/godot v1.4.16/go.mod h1:2oVxTBSftRTh4+MVfUaUXR6bn2GDXCaMcOG4Dk3rfio= +github.com/tetafro/godot v1.4.17 h1:pGzu+Ye7ZUEFx7LHU0dAKmCOXWsPjl7qA6iMGndsjPs= +github.com/tetafro/godot v1.4.17/go.mod h1:2oVxTBSftRTh4+MVfUaUXR6bn2GDXCaMcOG4Dk3rfio= github.com/tidwall/pretty v1.0.0/go.mod h1:XNkn88O1ChpSDQmQeStsy+sBenx6DDtFZJxhVysOjyk= github.com/tidwall/pretty v1.2.0 h1:RWIZEg2iJ8/g6fDDYzMpobmaoGh5OLl4AXtGUGPcqCs= github.com/tidwall/pretty v1.2.0/go.mod h1:ITEVvHYasfjBbM0u2Pg8T2nJnzm8xPwvNhhsoaGGjNU= @@ -1370,8 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golang.org/x/crypto v0.21.0/go.mod h1:0BP7YvVV9gBbVKyeTG0Gyn+gZm94bibOW5BjDEYAOMs= -golang.org/x/crypto v0.26.0 h1:RrRspgV4mU+YwB4FYnuBoKsUapNIL5cohGAmSH3azsw= -golang.org/x/crypto v0.26.0/go.mod h1:GY7jblb9wI+FOo5y8/S2oY4zWP07AkOJ4+jxCqdqn54= +golang.org/x/crypto v0.28.0 h1:GBDwsMXVQi34v5CCYUm2jkJvu4cbtru2U4TN2PSyQnw= +golang.org/x/crypto v0.28.0/go.mod h1:rmgy+3RHxRZMyY0jjAJShp2zgEdOqj2AO7U0pYmeQ7U= golang.org/x/exp v0.0.0-20190121172915-509febef88a4/go.mod h1:CJ0aWSM057203Lf6IL+f9T1iT9GByDxfZKAQTCR3kQA= golang.org/x/exp v0.0.0-20190306152737-a1d7652674e8/go.mod h1:CJ0aWSM057203Lf6IL+f9T1iT9GByDxfZKAQTCR3kQA= golang.org/x/exp v0.0.0-20190510132918-efd6b22b2522/go.mod h1:ZjyILWgesfNpC6sMxTJOJm9Kp84zZh5NQWvqDGG3Qr8= @@ -1528,8 +1531,8 @@ golang.org/x/exp v0.0.0-20200119233911-0405dc783f0a/go.mod h1:2RIsYlXP63K8oxa1u0 golang.org/x/exp v0.0.0-20200207192155-f17229e696bd/go.mod h1:J/WKrq2StrnmMY6+EHIKF9dgMWnmCNThgcyBT1FY9mM= golang.org/x/exp v0.0.0-20200224162631-6cc2880d07d6/go.mod h1:3jZMyOhIsHpP37uCMkUooju7aAi5cS1Q23tOzKc+0MU= golang.org/x/exp v0.0.0-20200331195152-e8c3332aa8e5/go.mod h1:4M0jN8W1tt0AVLNr8HDosyJCDCDuyL9N9+3m7wDWgKw= -golang.org/x/exp v0.0.0-20240719175910-8a7402abbf56 h1:2dVuKD2vS7b0QIHQbpyTISPd0LeHDbnYEryqj5Q1ug8= -golang.org/x/exp v0.0.0-20240719175910-8a7402abbf56/go.mod h1:M4RDyNAINzryxdtnbRXRL/OHtkFuWGRjvuhBJpk2IlY= +golang.org/x/exp v0.0.0-20240904232852-e7e105dedf7e h1:I88y4caeGeuDQxgdoFPUq097j7kNfw6uvuiNxUBfcBk= +golang.org/x/exp v0.0.0-20240904232852-e7e105dedf7e/go.mod h1:akd2r19cwCdwSwWeIdzYQGa/EZZyqcOdwWiwj5L5eKQ= golang.org/x/exp/typeparams v0.0.0-20220428152302-39d4317da171/go.mod h1:AbB0pIl9nAr9wVwH+Z2ZpaocVmF5I4GyWCDIsVjR0bk= golang.org/x/exp/typeparams v0.0.0-20230203172020-98cc5a0785f9/go.mod h1:AbB0pIl9nAr9wVwH+Z2ZpaocVmF5I4GyWCDIsVjR0bk= golang.org/x/exp/typeparams v0.0.0-20240314144324-c7f7c6466f7f h1:phY1HzDcf18Aq9A8KkmRtY9WvOFIxN8wgfvy6Zm1DV8= @@ -1569,8 +1572,8 @@ golang.org/x/mod v0.6.0-dev.0.20220419223038-86c51ed26bb4/go.mod h1:jJ57K6gSWd91 golang.org/x/mod v0.6.0/go.mod h1:4mET923SAdbXp2ki8ey+zGs1SLqsuM2Y0uvdZR/fUNI= golang.org/x/mod v0.7.0/go.mod h1:iBbtSCu2XBx23ZKBPSOrRkjjQPZFPuis4dIYUhu/chs= golang.org/x/mod v0.8.0/go.mod h1:iBbtSCu2XBx23ZKBPSOrRkjjQPZFPuis4dIYUhu/chs= -golang.org/x/mod v0.20.0 h1:utOm6MM3R3dnawAiJgn0y+xvuYRsm1RKM/4giyfDgV0= -golang.org/x/mod v0.20.0/go.mod h1:hTbmBsO62+eylJbnUtE2MGJUyE7QWk4xUqPFrRgJ+7c= +golang.org/x/mod v0.21.0 h1:vvrHzRwRfVKSiLrG+d4FMl/Qi4ukBCE6kZlTUkDYRT0= +golang.org/x/mod v0.21.0/go.mod h1:6SkKJ3Xj0I0BrPOZoBy3bdMptDDU9oJrpohJ3eWZ1fY= golang.org/x/net v0.0.0-20180724234803-3673e40ba225/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4= golang.org/x/net v0.0.0-20180826012351-8a410e7b638d/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4= golang.org/x/net v0.0.0-20180906233101-161cd47e91fd/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4= @@ -1632,8 +1635,8 @@ golang.org/x/net v0.10.0/go.mod h1:0qNGK6F8kojg2nk9dLZ2mShWaEBan6FAoqfSigmmuDg= golang.org/x/net v0.14.0/go.mod h1:PpSgVXXLK0OxS0F31C1/tv6XNguvCrnXIDrFMspZIUI= golang.org/x/net v0.20.0/go.mod h1:z8BVo6PvndSri0LbOE3hAn0apkU+1YvI6E70E9jsnvY= golang.org/x/net v0.21.0/go.mod h1:bIjVDfnllIU7BJ2DNgfnXvpSvtn8VRwhlsaeUTyUS44= -golang.org/x/net v0.28.0 h1:a9JDOJc5GMUJ0+UDqmLT86WiEy7iWyIhz8gz8E4e5hE= -golang.org/x/net v0.28.0/go.mod h1:yqtgsTWOOnlGLG9GFRrK3++bGOUEkNBoHZc8MEDWPNg= +golang.org/x/net v0.30.0 h1:AcW1SDZMkb8IpzCdQUaIq2sP4sZ4zw+55h6ynffypl4= +golang.org/x/net v0.30.0/go.mod h1:2wGyMJ5iFasEhkwi13ChkO/t1ECNC4X4eBKkVFyYFlU= golang.org/x/oauth2 v0.0.0-20180821212333-d2e6202438be/go.mod h1:N/0e6XlmueqKjAGxoOufVs8QHGRruUQn6yWY3a++T0U= golang.org/x/oauth2 v0.0.0-20190226205417-e64efc72b421/go.mod h1:gOpvHmFTYa4IltrdGE7lF6nIHvwfUNPOp7c8zoXwtLw= golang.org/x/oauth2 v0.0.0-20190604053449-0f29369cfe45/go.mod h1:gOpvHmFTYa4IltrdGE7lF6nIHvwfUNPOp7c8zoXwtLw= @@ -1746,8 +1749,8 @@ golang.org/x/sys v0.11.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg= golang.org/x/sys v0.16.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA= golang.org/x/sys v0.17.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA= golang.org/x/sys v0.18.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA= -golang.org/x/sys v0.23.0 h1:YfKFowiIMvtgl1UERQoTPPToxltDeZfbj4H7dVUCwmM= -golang.org/x/sys v0.23.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA= +golang.org/x/sys v0.26.0 h1:KHjCJyddX0LoSTb3J+vWpupP9p0oznkqVk/IfjymZbo= +golang.org/x/sys v0.26.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA= golang.org/x/term v0.0.0-20201117132131-f5c789dd3221/go.mod h1:Nr5EML6q2oocZ2LXRh80K7BxOlk5/8JxuGnuhpl+muw= golang.org/x/term v0.0.0-20201126162022-7de9c90e9dd1/go.mod h1:bj7SfCRtBDWHUb9snDiAeCFNEtKQo2Wmx5Cou7ajbmo= golang.org/x/term v0.0.0-20210927222741-03fcf44c2211/go.mod h1:jbD1KX2456YbFQfuXm/mYQcufACuNUgVhRMnK/tPxf8= @@ -1776,8 +1779,8 @@ golang.org/x/text v0.7.0/go.mod h1:mrYo+phRRbMaCq/xk9113O4dZlRixOauAjOtrjsXDZ8= golang.org/x/text v0.9.0/go.mod h1:e1OnstbJyHTd6l/uOt8jFFHp6TRDWZR/bV3emEE/zU8= golang.org/x/text v0.12.0/go.mod h1:TvPlkZtksWOMsz7fbANvkp4WM8x/WCo/om8BMLbz+aE= golang.org/x/text v0.14.0/go.mod h1:18ZOQIKpY8NJVqYksKHtTdi31H5itFRjB5/qKTNYzSU= -golang.org/x/text v0.17.0 h1:XtiM5bkSOt+ewxlOE/aE/AKEHibwj/6gvWMl9Rsh0Qc= -golang.org/x/text v0.17.0/go.mod h1:BuEKDfySbSR4drPmRPG/7iBdf8hvFMuRexcpahXilzY= +golang.org/x/text v0.19.0 h1:kTxAhCbGbxhK0IwgSKiMO5awPoDQ0RpfiVYBfK860YM= +golang.org/x/text v0.19.0/go.mod h1:BuEKDfySbSR4drPmRPG/7iBdf8hvFMuRexcpahXilzY= golang.org/x/time v0.0.0-20180412165947-fbb02b2291d2/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ= golang.org/x/time v0.0.0-20181108054448-85acf8d2951c/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ= golang.org/x/time v0.0.0-20190308202827-9d24e82272b4/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ= @@ -1896,8 +1899,8 @@ golang.org/x/xerrors v0.0.0-20190717185122-a985d3407aa7/go.mod h1:I/5z698sn9Ka8T golang.org/x/xerrors v0.0.0-20191011141410-1b5146add898/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0= golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0= golang.org/x/xerrors v0.0.0-20200804184101-5ec99f83aff1/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0= -golang.org/x/xerrors v0.0.0-20231012003039-104605ab7028 h1:+cNy6SZtPcJQH3LJVLOSmiC7MMxXNOb3PU/VUEz+EhU= -golang.org/x/xerrors v0.0.0-20231012003039-104605ab7028/go.mod h1:NDW/Ps6MPRej6fsCIbMTohpP40sJ/P/vI1MoTEGwX90= +golang.org/x/xerrors v0.0.0-20220907171357-04be3eba64a2 h1:H2TDz8ibqkAF6YGhCdN3jS9O0/s90v0rJh3X/OLHEUk= +golang.org/x/xerrors v0.0.0-20220907171357-04be3eba64a2/go.mod h1:K8+ghG5WaK9qNqU5K3HdILfMLy1f3aNYFI/wnl100a8= gonum.org/v1/gonum v0.12.0 h1:xKuo6hzt+gMav00meVPUlXwSdoEJP46BR+wdxQEFK2o= gonum.org/v1/gonum v0.12.0/go.mod h1:73TDxJfAAHeA8Mk9mf8NlIppyhQNo5GLTcYeqgo2lvY= gonum.org/v1/plot v0.12.0 h1:y1ZNmfz/xHuHvtgFe8USZVyykQo5ERXPnspQNVK15Og= @@ -1920,8 +1923,8 @@ google.golang.org/api v0.24.0/go.mod h1:lIXQywCXRcnZPGlsd8NbLnOjtAoL6em04bJ9+z0M google.golang.org/api v0.28.0/go.mod h1:lIXQywCXRcnZPGlsd8NbLnOjtAoL6em04bJ9+z0MncE= google.golang.org/api v0.29.0/go.mod h1:Lcubydp8VUV7KeIHD9z2Bys/sm/vGKnG1UHuDBSrHWM= google.golang.org/api v0.30.0/go.mod h1:QGmEvQ87FHZNiUVJkT14jQNYJ4ZJjdRF23ZXz5138Fc= -google.golang.org/api v0.192.0 h1:PljqpNAfZaaSpS+TnANfnNAXKdzHM/B9bKhwRlo7JP0= -google.golang.org/api v0.192.0/go.mod h1:9VcphjvAxPKLmSxVSzPlSRXy/5ARMEw5bf58WoVXafQ= +google.golang.org/api v0.196.0 h1:k/RafYqebaIJBO3+SMnfEGtFVlvp5vSgqTUF54UN/zg= +google.golang.org/api v0.196.0/go.mod h1:g9IL21uGkYgvQ5BZg6BAtoGJQIm8r6EgaAbpNey5wBE= google.golang.org/appengine v1.1.0/go.mod h1:EbEs0AVv82hx2wNQdGPgUI5lhzA/G0D9YwlJXL52JkM= google.golang.org/appengine v1.2.0/go.mod h1:xpcJRLb0r/rnEns0DIKYYv+WjYCduHsrkT7/EB5XEv4= google.golang.org/appengine v1.4.0/go.mod h1:xpcJRLb0r/rnEns0DIKYYv+WjYCduHsrkT7/EB5XEv4= @@ -1968,12 +1971,12 @@ google.golang.org/genproto v0.0.0-20200729003335-053ba62fc06f/go.mod h1:FWY/as6D google.golang.org/genproto v0.0.0-20200804131852-c06518451d9c/go.mod h1:FWY/as6DDZQgahTzZj3fqbO1CbirC29ZNUFHwi0/+no= google.golang.org/genproto v0.0.0-20200825200019-8632dd797987/go.mod h1:FWY/as6DDZQgahTzZj3fqbO1CbirC29ZNUFHwi0/+no= google.golang.org/genproto v0.0.0-20210126160654-44e461bb6506/go.mod h1:FWY/as6DDZQgahTzZj3fqbO1CbirC29ZNUFHwi0/+no= -google.golang.org/genproto v0.0.0-20240730163845-b1a4ccb954bf h1:OqdXDEakZCVtDiZTjcxfwbHPCT11ycCEsTKesBVKvyY= -google.golang.org/genproto v0.0.0-20240730163845-b1a4ccb954bf/go.mod h1:mCr1K1c8kX+1iSBREvU3Juo11CB+QOEWxbRS01wWl5M= -google.golang.org/genproto/googleapis/api v0.0.0-20240725223205-93522f1f2a9f h1:b1Ln/PG8orm0SsBbHZWke8dDp2lrCD4jSmfglFpTZbk= -google.golang.org/genproto/googleapis/api v0.0.0-20240725223205-93522f1f2a9f/go.mod h1:AHT0dDg3SoMOgZGnZk29b5xTbPHMoEC8qthmBLJCpys= -google.golang.org/genproto/googleapis/rpc v0.0.0-20240730163845-b1a4ccb954bf h1:liao9UHurZLtiEwBgT9LMOnKYsHze6eA6w1KQCMVN2Q= -google.golang.org/genproto/googleapis/rpc v0.0.0-20240730163845-b1a4ccb954bf/go.mod h1:Ue6ibwXGpU+dqIcODieyLOcgj7z8+IcskoNIgZxtrFY= +google.golang.org/genproto v0.0.0-20240903143218-8af14fe29dc1 h1:BulPr26Jqjnd4eYDVe+YvyR7Yc2vJGkO5/0UxD0/jZU= +google.golang.org/genproto v0.0.0-20240903143218-8af14fe29dc1/go.mod h1:hL97c3SYopEHblzpxRL4lSs523++l8DYxGM1FQiYmb4= +google.golang.org/genproto/googleapis/api v0.0.0-20240827150818-7e3bb234dfed h1:3RgNmBoI9MZhsj3QxC+AP/qQhNwpCLOvYDYYsFrhFt0= +google.golang.org/genproto/googleapis/api v0.0.0-20240827150818-7e3bb234dfed/go.mod h1:OCdP9MfskevB/rbYvHTsXTtKC+3bHWajPdoKgjcYkfo= +google.golang.org/genproto/googleapis/rpc v0.0.0-20240903143218-8af14fe29dc1 h1:pPJltXNxVzT4pK9yD8vR9X75DaWYYmLGMsEvBfFQZzQ= +google.golang.org/genproto/googleapis/rpc v0.0.0-20240903143218-8af14fe29dc1/go.mod h1:UqMtugtsSgubUsoxbuAoiCXvqvErP7Gf0so0mK9tHxU= google.golang.org/grpc v1.8.0/go.mod h1:yo6s7OP7yaDglbqo1J04qKzAhqBH6lvTonzMVmEdcZw= google.golang.org/grpc v1.17.0/go.mod h1:6QZJwpn2B+Zp71q/5VxRsJ6NXXVCE5NRUHRo+f3cWCs= google.golang.org/grpc v1.19.0/go.mod h1:mqu4LbDTu4XGKhr4mRzUsmM4RtVoemTSY81AxZiDr8c= @@ -1999,8 +2002,8 @@ google.golang.org/grpc v1.33.1/go.mod h1:fr5YgcSWrqhRRxogOsw7RzIpsmvOZ6IcH4kBYTp google.golang.org/grpc v1.33.2/go.mod h1:JMHMWHQWaTccqQQlmk3MJZS+GWXOdAesneDmEnv2fbc= google.golang.org/grpc v1.36.0/go.mod h1:qjiiYl8FncCW8feJPdyg3v6XW24KsRHe+dy9BAGRRjU= google.golang.org/grpc v1.44.0/go.mod h1:k+4IHHFw41K8+bbowsex27ge2rCb65oeWqe4jJ590SU= -google.golang.org/grpc v1.64.1 h1:LKtvyfbX3UGVPFcGqJ9ItpVWW6oN/2XqTxfAnwRRXiA= -google.golang.org/grpc v1.64.1/go.mod h1:hiQF4LFZelK2WKaP6W0L92zGHtiQdZxk8CrSdvyjeP0= +google.golang.org/grpc v1.66.0 h1:DibZuoBznOxbDQxRINckZcUvnCEvrW9pcWIE2yF9r1c= +google.golang.org/grpc v1.66.0/go.mod h1:s3/l6xSSCURdVfAnL+TqCNMyTDAGN6+lZeVxnZR128Y= google.golang.org/protobuf v0.0.0-20200109180630-ec00e32a8dfd/go.mod h1:DFci5gLYBciE7Vtevhsrf46CRTquxDuWsQurQQe4oz8= google.golang.org/protobuf v0.0.0-20200221191635-4d8936d0db64/go.mod h1:kwYJMbMJ01Woi6D6+Kah6886xMZcty6N08ah7+eCXa0= google.golang.org/protobuf v0.0.0-20200228230310-ab0ca4ff8a60/go.mod h1:cfTl7dwQJ+fmap5saPgwCLgHXTUD7jkjRqWcaiX5VyM= diff --git a/rpi/analog_reader.go b/rpi/analog_reader.go index afcff7f..c8ea5d4 100644 --- a/rpi/analog_reader.go +++ b/rpi/analog_reader.go @@ -19,9 +19,9 @@ func (pi *piPigpio) reconfigureAnalogReaders(cfg *Config) error { // No need to reconfigure the old analog readers; just throw them out and make new ones. pi.analogReaders = map[string]*pinwrappers.AnalogSmoother{} for _, ac := range cfg.AnalogReaders { - channel, err := strconv.Atoi(ac.Pin) + channel, err := strconv.Atoi(ac.Channel) if err != nil { - return errors.Errorf("bad analog pin (%s)", ac.Pin) + return errors.Errorf("bad analog pin (%s)", ac.Channel) } chipSelect := ac.ChipSelect diff --git a/rpi/board.go b/rpi/board.go index 65d8b0d..81510c7 100644 --- a/rpi/board.go +++ b/rpi/board.go @@ -26,6 +26,8 @@ import ( "sync" "time" + rpiutils "raspberry-pi/utils" + "go.uber.org/multierr" pb "go.viam.com/api/component/board/v1" "go.viam.com/rdk/components/board" @@ -35,7 +37,6 @@ import ( "go.viam.com/rdk/logging" "go.viam.com/rdk/resource" "go.viam.com/utils" - rpiutils "raspberry-pi/utils" ) // Model represents a raspberry pi board model. @@ -48,8 +49,8 @@ var ( // A Config describes the configuration of a board and all of its connected parts. type Config struct { - AnalogReaders []mcp3008helper.MCP3008AnalogConfig `json:"analogs,omitempty"` - DigitalInterrupts []rpiutils.DigitalInterruptConfig `json:"digital_interrupts,omitempty"` + AnalogReaders []mcp3008helper.MCP3008AnalogConfig `json:"analogs,omitempty"` + Pins []rpiutils.PinConfig `json:"pins,omitempty"` } // init registers a pi board based on pigpio. @@ -69,8 +70,9 @@ func (conf *Config) Validate(path string) ([]string, error) { return nil, err } } - for idx, c := range conf.DigitalInterrupts { - if err := c.Validate(fmt.Sprintf("%s.%s.%d", path, "digital_interrupts", idx)); err != nil { + + for _, c := range conf.Pins { + if err := c.Validate(path); err != nil { return nil, err } } @@ -96,6 +98,8 @@ type piPigpio struct { piID C.int // id to communicate with pigpio daemon + pulls map[int]string // mapping of gpio pin to pull up/down + activeBackgroundWorkers sync.WaitGroup } @@ -192,6 +196,10 @@ func (pi *piPigpio) Reconfigure( return err } + if err := pi.reconfigurePulls(ctx, cfg); err != nil { + return err + } + boardInstanceMu.Lock() defer boardInstanceMu.Unlock() boardInstance = pi @@ -199,6 +207,37 @@ func (pi *piPigpio) Reconfigure( return nil } +func (pi *piPigpio) reconfigurePulls(ctx context.Context, cfg *Config) error { + for _, pullConf := range cfg.Pins { + // skip pins that do not have a pull state set + if pullConf.PullState == rpiutils.PullDefault { + continue + } + gpioNum, have := rpiutils.BroadcomPinFromHardwareLabel(pullConf.Pin) + if !have { + return fmt.Errorf("error configuring pull: no gpio pin found for %s", pullConf.Name) + } + switch pullConf.PullState { + case rpiutils.PullNone: + if result := C.setPullNone(pi.piID, C.int(gpioNum)); result != 0 { + pi.logger.Error(rpiutils.ConvertErrorCodeToMessage(int(result), "error")) + } + case rpiutils.PullUp: + if result := C.setPullUp(pi.piID, C.int(gpioNum)); result != 0 { + pi.logger.Error(rpiutils.ConvertErrorCodeToMessage(int(result), "error")) + } + case rpiutils.PullDown: + if result := C.setPullDown(pi.piID, C.int(gpioNum)); result != 0 { + pi.logger.Error(rpiutils.ConvertErrorCodeToMessage(int(result), "error")) + } + default: + return fmt.Errorf("error configuring gpio pin %v pull: unexpected pull method %v", pullConf.Name, pullConf.PullState) + } + + } + return nil +} + // Close attempts to close all parts of the board cleanly. func (pi *piPigpio) Close(ctx context.Context) error { pi.mu.Lock() diff --git a/rpi/board_test.go b/rpi/board_test.go index 11fa96f..2a8bad6 100644 --- a/rpi/board_test.go +++ b/rpi/board_test.go @@ -19,9 +19,9 @@ func TestPiPigpio(t *testing.T) { logger := logging.NewTestLogger(t) cfg := Config{ - DigitalInterrupts: []rpiutils.DigitalInterruptConfig{ - {Name: "i1", Pin: "11"}, // bcom 17 - {Name: "servo-i", Pin: "22", Type: "basic"}, + Pins: []rpiutils.PinConfig{ + {Name: "i1", Pin: "11", Type: "interrupt"}, // bcom 17 + {Name: "servo-i", Pin: "22", Type: "interrupt"}, }, } resourceConfig := resource.Config{ diff --git a/rpi/interrupts.go b/rpi/interrupts.go index 524eec8..54f3ec8 100644 --- a/rpi/interrupts.go +++ b/rpi/interrupts.go @@ -68,7 +68,10 @@ func (pi *piPigpio) reconfigureInterrupts(ctx context.Context, cfg *Config) erro } // Set new interrupts based on config - for _, newConfig := range cfg.DigitalInterrupts { + for _, newConfig := range cfg.Pins { + if newConfig.Type != rpiutils.PinInterrupt { + continue + } // check if pin is valid bcom, ok := rpiutils.BroadcomPinFromHardwareLabel(newConfig.Pin) if !ok { @@ -86,7 +89,7 @@ func (pi *piPigpio) reconfigureInterrupts(ctx context.Context, cfg *Config) erro } // createNewInterrupt creates a new digital interrupt and sets it up with the specified configuration. -func (ctx *reconfigureContext) createNewInterrupt(newConfig rpiutils.DigitalInterruptConfig, bcom uint) error { +func (ctx *reconfigureContext) createNewInterrupt(newConfig rpiutils.PinConfig, bcom uint) error { di, err := rpiutils.CreateDigitalInterrupt(newConfig) if err != nil { return err @@ -135,10 +138,10 @@ func (pi *piPigpio) DigitalInterruptByName(name string) (board.DigitalInterrupt, return d.interrupt, nil } d, err = rpiutils.CreateDigitalInterrupt( - rpiutils.DigitalInterruptConfig{ + rpiutils.PinConfig{ Name: name, Pin: name, - Type: "basic", + Type: rpiutils.PinInterrupt, }) if err != nil { return nil, err diff --git a/rpi/pi.c b/rpi/pi.c index 1e49b65..b168508 100644 --- a/rpi/pi.c +++ b/rpi/pi.c @@ -1,6 +1,6 @@ /* pi.c: This file is a bridge to setup interrupts for the Raspberry Pi GPIO pins - using the pigpiod library. It uses a callback function pigpioInterruptCallback + using the pigpiod library. It uses a callback function pigpioInterruptCallback for interrupt handling, which is exported within rpi.go. */ #include @@ -29,6 +29,21 @@ int setupInterrupt(int pi, int gpio) { result = callback(pi, gpio, EITHER_EDGE, interruptCallback); return result; } +int setPullUp(int pi, int gpio) { + int result = set_pull_up_down(pi, gpio, PI_PUD_UP); + return result; + +} + +int setPullDown(int pi, int gpio) { + int result = set_pull_up_down(pi, gpio, PI_PUD_DOWN); + return result; +} + +int setPullNone(int pi, int gpio) { + int result = set_pull_up_down(pi, gpio, PI_PUD_OFF); + return result; +} int teardownInterrupt(unsigned int callback_id) { int result = callback_cancel(callback_id); diff --git a/rpi/pi.h b/rpi/pi.h index 45e09e2..8019bea 100644 --- a/rpi/pi.h +++ b/rpi/pi.h @@ -5,4 +5,7 @@ // interruptCallback calls through to the go linked interrupt callback. int setupInterrupt(int pi, int gpio); -int teardownInterrupt(unsigned int callback_id); \ No newline at end of file +int setPullDown(int pi, int gpio); +int setPullUp(int pi, int gpio); +int setPullNone(int pi, int gpio); +int teardownInterrupt(unsigned int callback_id); diff --git a/tests/rpi_external_test.go b/tests/rpi_external_test.go index c926c77..80f23ff 100644 --- a/tests/rpi_external_test.go +++ b/tests/rpi_external_test.go @@ -27,8 +27,8 @@ func TestPiPigpio(t *testing.T) { logger := logging.NewTestLogger(t) cfg := rpi.Config{ - DigitalInterrupts: []rpiutils.DigitalInterruptConfig{ - {Name: "i1", Pin: "11"}, // bcom 17 + Pins: []rpiutils.PinConfig{ + {Name: "i1", Pin: "11", Type: "interrupt"}, // bcom 17 }, } diff --git a/utils/digital_interrupts.go b/utils/digital_interrupts.go index 59886ab..7d3c48e 100644 --- a/utils/digital_interrupts.go +++ b/utils/digital_interrupts.go @@ -3,6 +3,7 @@ package rpiutils import ( "context" + "fmt" "sync" "sync/atomic" @@ -11,21 +12,60 @@ import ( "go.viam.com/rdk/resource" ) -// DigitalInterruptConfig describes the configuration of digital interrupt for the board. -type DigitalInterruptConfig struct { - Name string `json:"name"` - Pin string `json:"pin"` - Type string `json:"type,omitempty"` // e.g. basic, servo +// PinConfig describes the configuration of a pin for the board. +type PinConfig struct { + Name string `json:"name"` + Pin string `json:"pin"` + Type PinType `json:"type,omitempty"` // e.g. gpio, interrupt + DebounceMS int `json:"debounce_ms,omitempty"` // only used with interrupts + PullState Pull `json:"pull,omitempty"` +} + +// PinType defines the pin types we support. +type PinType string + +const ( + // PinGPIO represents GPIO pins. + PinGPIO PinType = "gpio" + // PinInterrupt represents interrupt pins. + PinInterrupt PinType = "interrupt" +) + +// Pull defines the pins pull state(pull up vs pull down). +type Pull string + +const ( + // PullUp is for pull ups. + PullUp Pull = "up" + // PullDown is for pull downs. + PullDown Pull = "down" + // PullNone is for no pulls. + PullNone Pull = "none" + // PullDefault is for if no pull was set. + PullDefault Pull = "" +) + +// Validate validates that the pull is a valid message. +func (pull Pull) Validate() error { + switch pull { + case PullDefault, PullUp, PullDown, PullNone: + default: + return fmt.Errorf("invalid pull configuration %v, supported pull config attributes are up, down, and none", pull) + } + return nil } // Validate ensures all parts of the config are valid. -func (config *DigitalInterruptConfig) Validate(path string) error { +func (config *PinConfig) Validate(path string) error { if config.Name == "" { return resource.NewConfigValidationFieldRequiredError(path, "name") } if config.Pin == "" { return resource.NewConfigValidationFieldRequiredError(path, "pin") } + if err := config.PullState.Validate(); err != nil { + return err + } return nil } @@ -37,12 +77,19 @@ const ServoRollingAverageWindow = 10 // reconfiguration within the same type. type ReconfigurableDigitalInterrupt interface { board.DigitalInterrupt - Reconfigure(cfg DigitalInterruptConfig) error + Reconfigure(cfg PinConfig) error } -// CreateDigitalInterrupt is a factory method for creating a BasicDigitalInterrupt type. -func CreateDigitalInterrupt(cfg DigitalInterruptConfig) (ReconfigurableDigitalInterrupt, error) { +// CreateDigitalInterrupt is a factory method for creating a specific DigitalInterrupt based +// on the given config. If no type is specified, an error is returned. +func CreateDigitalInterrupt(cfg PinConfig) (ReconfigurableDigitalInterrupt, error) { i := &BasicDigitalInterrupt{} + //nolint:exhaustive + switch cfg.Type { + case PinInterrupt: + default: + return nil, fmt.Errorf("expected pin %v to be configured as %v, got %v instead", cfg.Name, PinInterrupt, cfg.Type) + } if err := i.Reconfigure(cfg); err != nil { return nil, err @@ -58,7 +105,7 @@ type BasicDigitalInterrupt struct { callbacks []chan board.Tick mu sync.RWMutex - cfg DigitalInterruptConfig + cfg PinConfig } // Value returns the amount of ticks that have occurred. @@ -118,7 +165,7 @@ func (i *BasicDigitalInterrupt) Name() string { } // Reconfigure reconfigures this digital interrupt. -func (i *BasicDigitalInterrupt) Reconfigure(conf DigitalInterruptConfig) error { +func (i *BasicDigitalInterrupt) Reconfigure(conf PinConfig) error { i.mu.Lock() defer i.mu.Unlock() i.cfg = conf diff --git a/utils/digital_interrupts_test.go b/utils/digital_interrupts_test.go index a098592..cfd2b0a 100644 --- a/utils/digital_interrupts_test.go +++ b/utils/digital_interrupts_test.go @@ -15,8 +15,9 @@ func nowNanosecondsTest() uint64 { } func TestBasicDigitalInterrupt1(t *testing.T) { - config := DigitalInterruptConfig{ + config := PinConfig{ Name: "i1", + Type: "interrupt", } i, err := CreateDigitalInterrupt(config) @@ -68,8 +69,9 @@ func TestBasicDigitalInterrupt1(t *testing.T) { } func TestRemoveCallbackDigitalInterrupt(t *testing.T) { - config := DigitalInterruptConfig{ + config := PinConfig{ Name: "d1", + Type: "interrupt", } i, err := CreateDigitalInterrupt(config) test.That(t, err, test.ShouldBeNil)