board

package
v0.7.3-rc0 Latest Latest
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 Go to latest Published: Aug 17, 2023 License: AGPL-3.0 Imports: 22 Imported by: 12

Documentation

Overview

Package board defines the interfaces that typically live on a single-board computer such as a Raspberry Pi.

Besides the board itself, some other interfaces it defines are analog readers and digital interrupts.

Package board contains a gRPC based board client.

Package board contains a gRPC based Board service server.

Index

Constants

View Source 
const ServoRollingAverageWindow = 10

ServoRollingAverageWindow is how many entries to average over for servo ticks.

View Source 
const SubtypeName = "board"

SubtypeName is a constant that identifies the component resource API string "board".

Variables

View Source 
var API = resource.APINamespaceRDK.WithComponentType(SubtypeName)

API is a variable that identifies the component resource API.

Functions

func CreateStatus 

func CreateStatus(ctx context.Context, b Board, extra map[string]interface{}) (*commonpb.BoardStatus, error)

CreateStatus constructs a new up to date status from the given board. The operation can take time and be expensive, so it can be cancelled by the given context.

func Named 

func Named(name string) resource.Name

Named is a helper for getting the named board's typed resource name.

func NamesFromRobot 

func NamesFromRobot(r robot.Robot) []string

NamesFromRobot is a helper for getting all board names from the given Robot.

func NewRPCServiceServer added in v0.2.36 

func NewRPCServiceServer(coll resource.APIResourceCollection[Board]) interface{}

NewRPCServiceServer constructs an board gRPC service server. It is intentionally untyped to prevent use outside of tests.

Types

type AnalogConfig 

type AnalogConfig struct {
	Name              string `json:"name"`
	Pin               string `json:"pin"`         // analog input pin on the ADC itself
	SPIBus            string `json:"spi_bus"`     // name of the SPI bus (which is configured elsewhere in the config file)
	ChipSelect        string `json:"chip_select"` // the CS line for the ADC chip, typically a pin number on the board
	AverageOverMillis int    `json:"average_over_ms,omitempty"`
	SamplesPerSecond  int    `json:"samples_per_sec,omitempty"`
}

AnalogConfig describes the configuration of an analog reader on a board.

func (*AnalogConfig) Validate 

func (config *AnalogConfig) Validate(path string) error

Validate ensures all parts of the config are valid.

type AnalogReader 

type AnalogReader interface {
	// Read reads off the current value.
	Read(ctx context.Context, extra map[string]interface{}) (int, error)
	Close(ctx context.Context) error
}

An AnalogReader represents an analog pin reader that resides on a board.

type AnalogRecord added in v0.2.13 

type AnalogRecord struct {
	AnalogName  string
	AnalogValue int
}

AnalogRecord a single analog reading.

type AnalogRecords added in v0.2.13 

type AnalogRecords struct {
	Readings []AnalogRecord
}

AnalogRecords a collection of AnalogRecord.

type AnalogSmoother 

type AnalogSmoother struct {
	Raw               AnalogReader
	AverageOverMillis int
	SamplesPerSecond  int
	// contains filtered or unexported fields
}

An AnalogSmoother smooths the readings out from an underlying reader.

func SmoothAnalogReader 

func SmoothAnalogReader(r AnalogReader, c AnalogConfig, logger golog.Logger) *AnalogSmoother

SmoothAnalogReader wraps the given reader in a smoother.

func (*AnalogSmoother) Close 

func (as *AnalogSmoother) Close(ctx context.Context) error

Close stops the smoothing routine.

func (*AnalogSmoother) Read 

func (as *AnalogSmoother) Read(ctx context.Context, extra map[string]interface{}) (int, error)

Read returns the smoothed out reading.

func (*AnalogSmoother) Start 

func (as *AnalogSmoother) Start(ctx context.Context)

Start begins the smoothing routine that reads from the underlying analog reader.

type BasicDigitalInterrupt 

type BasicDigitalInterrupt struct {
	// contains filtered or unexported fields
}

A BasicDigitalInterrupt records how many ticks/interrupts happen and can report when they happen to interested callbacks.

func (*BasicDigitalInterrupt) AddCallback 

func (i *BasicDigitalInterrupt) AddCallback(c chan Tick)

AddCallback adds a listener for interrupts.

func (*BasicDigitalInterrupt) AddPostProcessor 

func (i *BasicDigitalInterrupt) AddPostProcessor(pp PostProcessor)

AddPostProcessor sets the post processor that will modify the value that Value returns.

func (*BasicDigitalInterrupt) Close added in v0.2.36 

func (i *BasicDigitalInterrupt) Close(ctx context.Context) error

Close does nothing.

func (*BasicDigitalInterrupt) Config 

func (i *BasicDigitalInterrupt) Config(ctx context.Context) (DigitalInterruptConfig, error)

Config returns the config used to create this interrupt.

func (*BasicDigitalInterrupt) Reconfigure added in v0.2.36 

func (i *BasicDigitalInterrupt) Reconfigure(conf DigitalInterruptConfig) error

Reconfigure reconfigures this digital interrupt with a new formula.

func (*BasicDigitalInterrupt) RemoveCallback 

func (i *BasicDigitalInterrupt) RemoveCallback(c chan Tick)

RemoveCallback removes a listener for interrupts.

func (*BasicDigitalInterrupt) Tick 

func (i *BasicDigitalInterrupt) Tick(ctx context.Context, high bool, nanoseconds uint64) error

Tick records an interrupt and notifies any interested callbacks. See comment on the DigitalInterrupt interface for caveats.

func (*BasicDigitalInterrupt) Ticks 

func (i *BasicDigitalInterrupt) Ticks(ctx context.Context, num int, now uint64) error

Ticks is really just for testing.

func (*BasicDigitalInterrupt) Value 

func (i *BasicDigitalInterrupt) Value(ctx context.Context, extra map[string]interface{}) (int64, error)

Value returns the amount of ticks that have occurred.

type Board 

type Board interface {
	resource.Resource

	// AnalogReaderByName returns an analog reader by name.
	AnalogReaderByName(name string) (AnalogReader, bool)

	// DigitalInterruptByName returns a digital interrupt by name.
	DigitalInterruptByName(name string) (DigitalInterrupt, bool)

	// GPIOPinByName returns a GPIOPin by name.
	GPIOPinByName(name string) (GPIOPin, error)

	// SPINames returns the names of all known SPI buses.
	SPINames() []string

	// I2CNames returns the names of all known I2C buses.
	I2CNames() []string

	// AnalogReaderNames returns the names of all known analog readers.
	AnalogReaderNames() []string

	// DigitalInterruptNames returns the names of all known digital interrupts.
	DigitalInterruptNames() []string

	// GPIOPinNames returns the names of all known GPIO pins.
	GPIOPinNames() []string

	// Status returns the current status of the board. Usually you
	// should use the CreateStatus helper instead of directly calling
	// this.
	Status(ctx context.Context, extra map[string]interface{}) (*commonpb.BoardStatus, error)

	// ModelAttributes returns attributes related to the model of this board.
	ModelAttributes() ModelAttributes

	// SetPowerMode sets the board to the given power mode. If
	// provided, the board will exit the given power mode after
	// the specified duration.
	SetPowerMode(ctx context.Context, mode pb.PowerMode, duration *time.Duration) error
}

A Board represents a physical general purpose board that contains various components such as analog readers, and digital interrupts.

func FromDependencies 

func FromDependencies(deps resource.Dependencies, name string) (Board, error)

FromDependencies is a helper for getting the named board from a collection of dependencies.

func FromRobot 

func FromRobot(r robot.Robot, name string) (Board, error)

FromRobot is a helper for getting the named board from the given Robot.

func NewClientFromConn 

func NewClientFromConn(
	ctx context.Context,
	conn rpc.ClientConn,
	remoteName string,
	name resource.Name,
	logger golog.Logger,
) (Board, error)

NewClientFromConn constructs a new Client from connection passed in.

type DigitalInterrupt 

type DigitalInterrupt interface {
	// Value returns the current value of the interrupt which is
	// based on the type of interrupt.
	Value(ctx context.Context, extra map[string]interface{}) (int64, error)

	// Tick is to be called either manually if the interrupt is a proxy to some real
	// hardware interrupt or for tests.
	// nanoseconds is from an arbitrary point in time, but always increasing and always needs
	// to be accurate.
	Tick(ctx context.Context, high bool, nanoseconds uint64) error

	// AddCallback adds a callback to be sent a low/high value to when a tick
	// happens.
	AddCallback(c chan Tick)

	// AddPostProcessor adds a post processor that should be used to modify
	// what is returned by Value.
	AddPostProcessor(pp PostProcessor)

	// RemoveCallback removes a listener for interrupts
	RemoveCallback(c chan Tick)

	Close(ctx context.Context) error
}

A DigitalInterrupt represents a configured interrupt on the board that when interrupted, calls the added callbacks. Post processors can also be added to modify what Value ultimately returns.

type DigitalInterruptConfig 

type DigitalInterruptConfig struct {
	Name    string `json:"name"`
	Pin     string `json:"pin"`
	Type    string `json:"type,omitempty"` // e.g. basic, servo
	Formula string `json:"formula,omitempty"`
}

DigitalInterruptConfig describes the configuration of digital interrupt for a board.

func (*DigitalInterruptConfig) Validate 

func (config *DigitalInterruptConfig) Validate(path string) error

Validate ensures all parts of the config are valid.

type GPIOPin 

type GPIOPin interface {
	// Set sets the pin to either low or high.
	Set(ctx context.Context, high bool, extra map[string]interface{}) error

	// Get gets the high/low state of the pin.
	Get(ctx context.Context, extra map[string]interface{}) (bool, error)

	// PWM gets the pin's given duty cycle.
	PWM(ctx context.Context, extra map[string]interface{}) (float64, error)

	// SetPWM sets the pin to the given duty cycle.
	SetPWM(ctx context.Context, dutyCyclePct float64, extra map[string]interface{}) error

	// PWMFreq gets the PWM frequency of the pin.
	PWMFreq(ctx context.Context, extra map[string]interface{}) (uint, error)

	// SetPWMFreq sets the given pin to the given PWM frequency. For Raspberry Pis,
	// 0 will use a default PWM frequency of 800.
	SetPWMFreq(ctx context.Context, freqHz uint, extra map[string]interface{}) error
}

A GPIOPin represents an individual GPIO pin on a board.

type GpioRecord added in v0.2.13 

type GpioRecord struct {
	GPIOName  string
	GPIOValue bool
}

GpioRecord a signle gpio reading.

type GpioRecords added in v0.2.13 

type GpioRecords struct {
	Readings []GpioRecord
}

GpioRecords a collection of GpioRecord.

type I2C 

type I2C interface {
	// OpenHandle locks returns a handle interface that MUST be closed when done.
	// you cannot have 2 open for the same addr
	OpenHandle(addr byte) (I2CHandle, error)
}

I2C represents a shareable I2C bus on the board.

type I2CConfig 

type I2CConfig struct {
	Name string `json:"name"`
	Bus  string `json:"bus"`
}

I2CConfig enumerates a specific, shareable I2C bus.

func (*I2CConfig) Validate 

func (config *I2CConfig) Validate(path string) error

Validate ensures all parts of the config are valid.

type I2CHandle 

type I2CHandle interface {
	Write(ctx context.Context, tx []byte) error
	Read(ctx context.Context, count int) ([]byte, error)

	ReadByteData(ctx context.Context, register byte) (byte, error)
	WriteByteData(ctx context.Context, register, data byte) error

	ReadBlockData(ctx context.Context, register byte, numBytes uint8) ([]byte, error)
	WriteBlockData(ctx context.Context, register byte, data []byte) error

	// Close closes the handle and releases the lock on the bus.
	Close() error
}

I2CHandle is similar to an io handle. It MUST be closed to release the bus.

type I2CRegister 

type I2CRegister struct {
	Handle   I2CHandle
	Register byte
}

An I2CRegister is a lightweight wrapper around a handle for a particular register.

func (*I2CRegister) ReadByteData 

func (reg *I2CRegister) ReadByteData(ctx context.Context) (byte, error)

ReadByteData reads a byte from the I2C channel register.

func (*I2CRegister) WriteByteData 

func (reg *I2CRegister) WriteByteData(ctx context.Context, data byte) error

WriteByteData writes a byte to the I2C channel register.

type LocalBoard 

type LocalBoard interface {
	Board

	// SPIByName returns an SPI bus by name.
	SPIByName(name string) (SPI, bool)

	// I2CByName returns an I2C bus by name.
	I2CByName(name string) (I2C, bool)
}

A LocalBoard represents a Board where you can request SPIs and I2Cs by name.

type MCP3008AnalogReader 

type MCP3008AnalogReader struct {
	Channel int
	Bus     SPI
	Chip    string
}

MCP3008AnalogReader implements a board.AnalogReader using an MCP3008 ADC via SPI.

func (*MCP3008AnalogReader) Close added in v0.2.36 

func (mar *MCP3008AnalogReader) Close(ctx context.Context) error

Close does nothing.

func (*MCP3008AnalogReader) Read 

func (mar *MCP3008AnalogReader) Read(ctx context.Context, extra map[string]interface{}) (value int, err error)

type ModelAttributes 

type ModelAttributes struct {
	// Remote signifies this board is accessed over a remote connection.
	// e.g. gRPC
	Remote bool
}

ModelAttributes provide info related to a board model.

type PostProcessor 

type PostProcessor func(raw int64) int64

A PostProcessor takes a raw input and transforms it into a new value. Multiple post processors can be stacked on each other. This is currently only used in DigitalInterrupt readings.

type ReconfigurableDigitalInterrupt added in v0.2.36 

type ReconfigurableDigitalInterrupt interface {
	DigitalInterrupt
	Reconfigure(cfg DigitalInterruptConfig) error
}

A ReconfigurableDigitalInterrupt is a simple reconfigurable digital interrupt that expects reconfiguration within the same type.

func CreateDigitalInterrupt 

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, a BasicDigitalInterrupt is returned.

type SPI 

type SPI interface {
	// OpenHandle locks the shared bus and returns a handle interface that MUST be closed when done.
	OpenHandle() (SPIHandle, error)
	Close(ctx context.Context) error
}

SPI represents a shareable SPI bus on the board.

type SPIConfig 

type SPIConfig struct {
	Name      string `json:"name"`
	BusSelect string `json:"bus_select"` // "0" or "1" for main/aux in libpigpio
}

SPIConfig enumerates a specific, shareable SPI bus.

func (*SPIConfig) Validate 

func (config *SPIConfig) Validate(path string) error

Validate ensures all parts of the config are valid.

type SPIHandle 

type SPIHandle interface {
	// Xfer performs a single SPI transfer, that is, the complete transaction from chipselect enable to chipselect disable.
	// SPI transfers are synchronous, number of bytes received will be equal to the number of bytes sent.
	// Write-only transfers can usually just discard the returned bytes.
	// Read-only transfers usually transmit a request/address and continue with some number of null bytes to equal the expected size of the
	// returning data.
	// Large transmissions are usually broken up into multiple transfers.
	// There are many different paradigms for most of the above, and implementation details are chip/device specific.
	Xfer(
		ctx context.Context,
		baud uint,
		chipSelect string,
		mode uint,
		tx []byte,
	) ([]byte, error)
	// Close closes the handle and releases the lock on the bus.
	Close() error
}

SPIHandle is similar to an io handle. It MUST be closed to release the bus.

type ServoDigitalInterrupt 

type ServoDigitalInterrupt struct {
	// contains filtered or unexported fields
}

A ServoDigitalInterrupt is an interrupt associated with a servo in order to track the amount of time that has passed between low signals (pulse width). Post processors make meaning of these widths.

func (*ServoDigitalInterrupt) AddCallback 

func (i *ServoDigitalInterrupt) AddCallback(c chan Tick)

AddCallback currently panics.

func (*ServoDigitalInterrupt) AddPostProcessor 

func (i *ServoDigitalInterrupt) AddPostProcessor(pp PostProcessor)

AddPostProcessor sets the post processor that will modify the value that Value returns.

func (*ServoDigitalInterrupt) Close added in v0.2.36 

func (i *ServoDigitalInterrupt) Close(ctx context.Context) error

Close does nothing.

func (*ServoDigitalInterrupt) Config 

func (i *ServoDigitalInterrupt) Config(ctx context.Context) (DigitalInterruptConfig, error)

Config returns the config the interrupt was created with.

func (*ServoDigitalInterrupt) Reconfigure added in v0.2.36 

func (i *ServoDigitalInterrupt) Reconfigure(conf DigitalInterruptConfig) error

Reconfigure reconfigures this digital interrupt with a new formula.

func (*ServoDigitalInterrupt) RemoveCallback 

func (i *ServoDigitalInterrupt) RemoveCallback(c chan Tick)

RemoveCallback currently panics.

func (*ServoDigitalInterrupt) Tick 

func (i *ServoDigitalInterrupt) Tick(ctx context.Context, high bool, now uint64) error

Tick records the time between two successive low signals (pulse width). How it is interpreted is based off the consumer of Value.

func (*ServoDigitalInterrupt) Value 

func (i *ServoDigitalInterrupt) Value(ctx context.Context, extra map[string]interface{}) (int64, error)

Value will return the window averaged value followed by its post processed result.

type Tick added in v0.2.19 

type Tick struct {
	High             bool
	TimestampNanosec uint64
}

Tick represents a signal received by an interrupt pin. This signal is communicated via registered channel to the various drivers. Depending on board implementation there may be a wraparound in timestamp values past 4294967295000 nanoseconds (~72 minutes) if the value was originally in microseconds as a 32-bit integer. The timestamp in nanoseconds of the tick SHOULD ONLY BE USED FOR CALCULATING THE TIME ELAPSED BETWEEN CONSECUTIVE TICKS AND NOT AS AN ABSOLUTE TIMESTAMP.

Source Files

View all Source files

Directories

Path Synopsis
Package beaglebone implements a beaglebone based board.
 Package beaglebone implements a beaglebone based board.
Package customlinux implements a board running Linux.
 Package customlinux implements a board running Linux.
Package fake implements a fake board.
 Package fake implements a fake board.
Package genericlinux implements a Linux-based board making heavy use of sysfs (https://en.wikipedia.org/wiki/Sysfs).
 Package genericlinux implements a Linux-based board making heavy use of sysfs (https://en.wikipedia.org/wiki/Sysfs).
hat
pca9685
Package pca9685 implements a PCA9685 HAT.
 Package pca9685 implements a PCA9685 HAT.
Package jetson implements a jetson-based board.
 Package jetson implements a jetson-based board.
Package numato is for numato IO boards.
 Package numato is for numato IO boards.
pi
Package pi implements a Board and its related interfaces for a Raspberry Pi.
 Package pi implements a Board and its related interfaces for a Raspberry Pi.
common
Package picommon contains shared information for supported and non-supported pi boards.
 Package picommon contains shared information for supported and non-supported pi boards.
Package register registers all relevant Boards and also API specific functions
 Package register registers all relevant Boards and also API specific functions
Package ti implements a ti based board.
 Package ti implements a ti based board.
Package upboard implements an Intel based board.
 Package upboard implements an Intel based board.

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