board

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 pins and digital interrupts.

Package board contains a gRPC based board client.

Package board contains a gRPC based Board service server.

Index

• Constants
• Variables
• func CreateStatus(ctx context.Context, b Board) (*pb.Status, error)
• func Named(name string) resource.Name
• func NamesFromRobot(r robot.Robot) []string
• func NewRPCServiceServer(coll resource.APIResourceCollection[Board]) interface{}
• type Analog
• type AnalogReaderConfig
  • func (config *AnalogReaderConfig) Validate(path string) error
• type Board
  • func FromDependencies(deps resource.Dependencies, name string) (Board, error)
  • func FromRobot(r robot.Robot, name string) (Board, error)
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, remoteName string, ...) (Board, error)
• type DigitalInterrupt
• type DigitalInterruptConfig
  • func (config *DigitalInterruptConfig) Validate(path string) error
• type GPIOPin
• type I2CConfig
  • func (config *I2CConfig) Validate(path string) error
• type SPIConfig
  • func (config *SPIConfig) Validate(path string) error
• type Tick

Constants

const SubtypeName = "board"

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

Variables

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) (*pb.Status, 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

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 Analog

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

	// Write writes a value to the analog pin.
	Write(ctx context.Context, value int, extra map[string]interface{}) error
}

An Analog represents an analog pin that resides on a board.

type AnalogReaderConfig

type AnalogReaderConfig struct {
	Name              string `json:"name"`
	Pin               string `json:"pin"`
	AverageOverMillis int    `json:"average_over_ms,omitempty"`
	SamplesPerSecond  int    `json:"samples_per_sec,omitempty"`
}

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

func (*AnalogReaderConfig) Validate

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

Validate ensures all parts of the config are valid.

type Board

type Board interface {
	resource.Resource

	// AnalogByName returns an analog pin by name.
	AnalogByName(name string) (Analog, error)

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

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

	// AnalogNames returns the names of all known analog pins.
	AnalogNames() []string

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

	// 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

	// WriteAnalog writes an analog value to a pin on the board.
	WriteAnalog(ctx context.Context, pin string, value int32, extra map[string]interface{}) error

	// StreamTicks starts a stream of digital interrupt ticks.
	StreamTicks(ctx context.Context, interrupts []DigitalInterrupt, ch chan Tick,
		extra map[string]interface{}) error
}

A Board represents a physical general purpose board that contains various components such as analogs, 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 logging.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)

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

	// Name returns the name of the interrupt.
	Name() string
}

A DigitalInterrupt represents a configured interrupt on the board that when interrupted, calls the added callbacks.

type DigitalInterruptConfig

type DigitalInterruptConfig struct {
	Name string `json:"name"`
	Pin  string `json:"pin"`
}

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 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 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 Tick

type Tick struct {
	Name             string
	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.