Santa Monica Golang

notifier.go

package main

import (
	"encoding/json"
	"fmt"
	"net/http"
	"time"

	"github.com/goiot/devices/piglow"
	"golang.org/x/exp/io/i2c"
)

type ColorNotifier interface {
	Yellow(int) error
	Orange(int) error
	Red(int) error
	Green(int) error
	Blue(int) error
}

func check(notifier ColorNotifier) {
	req, err := http.NewRequest("GET", "https://api.travis-ci.org/repos/zankich/shipit", nil)
	if err != nil {
		panic(err)
	}
	req.Header.Add("Accept", "application/vnd.travis-ci.2+json")

	resp, err := http.DefaultClient.Do(req)
	if err != nil {
		panic(err)
	}

	var travis struct {
		Repo struct {
			LastBuildState string `json:"last_build_state"`
		} `json:"repo"`
	}

	if err := json.NewDecoder(resp.Body).Decode(&travis); err != nil {
		panic(err)
	}

	switch travis.Repo.LastBuildState {
	case "passed":
		notifier.Green(255)
		fmt.Println("green")
	case "failed":
		notifier.Red(255)
		fmt.Println("red")
	case "started":
		notifier.Blue(255)
		fmt.Println("blue")
	case "created":
		notifier.Yellow(255)
		fmt.Println("yellow")
	default:
		notifier.Orange(255)
		fmt.Println("orange")
	}
}

func main() {
	p, err := piglow.Open(&i2c.Devfs{Dev: "/dev/i2c-1"})
	if err != nil {
		panic(err)
	}

	if err := p.Setup(); err != nil {
		panic(err)
	}

	for {
		p.SetBrightness(0)
		check(p)
		time.Sleep(3 * time.Second)
	}
}

talk.slide

Go + Robots

Adrian Zankich

[email protected]
@adzankich

* Go for hardware?

- Strongly typed language
- Strong concurrency primitives
- Fantastic deployment story
- Cross compilation

* Can Go be used for "Bare Metal" programming?

- Short answer: no
- Requires some sort of embedded version of supported OS
- Maybe an RTOS eventually
.link https://devel.rtems.org/wiki/Projects/GCCGoRTEMS

* How does Go communicate with hardware?

- devfs
- sysfs
- OS primitives
- remote serial interface
- http

* Current landscape

- One off libraries
- Frameworks (gobot, embd, hwio)
- Varying levels of portability and idiomaticity

.link https://github.com/rakyll/go-hardware

* Peripheral IO

- Base of common interfaces
- Common platform implementations: sysfs, devfs, firmata, etc
- Suite of device drivers
- Targetting core IO operations: i2c, spi, gpio, pwm, etc

.link https://golang.org/x/exp/io
.link https://github.com/goiot/devices
.link https://github.com/zankich/hal

* DEMOS!
.image robot-fire.jpg

tweet_reader.go

package main

import (
	"fmt"
	"net/url"
	"os"
	"time"

	"github.com/ChimeraCoder/anaconda"
	"github.com/goiot/devices/lcdrgbbacklight"
	"github.com/zankich/hal/firmata"
)

func main() {
	anaconda.SetConsumerKey(os.Getenv("CONSUMER_KEY"))
	anaconda.SetConsumerSecret(os.Getenv("CONSUMER_SECRET"))
	api := anaconda.NewTwitterApi(os.Getenv("ACCESS_TOKEN"), os.Getenv("ACCESS_TOKEN_SECRET"))

	display, err := lcdrgbbacklight.Open(
		firmata.New("/dev/cu.usbmodem1421", 57600),
	)
	if err != nil {
		panic(err)
	}

	display.SetRGB(255, 255, 255)

	for {
		v := url.Values{}
		v.Set("count", "1")
		searchResult, _ := api.GetSearch("DemsInPhilly", v)

		display.Clear()
		display.Home()

		for _, tweet := range searchResult.Statuses {
			fmt.Println(tweet.Text)
			fmt.Println(fmt.Sprintf("@%s", tweet.User.ScreenName))

			for i, rvalue := range tweet.Text {
				if (i % 15) == 0 {
					display.Clear()

					display.SetPosition(16)
					display.Write(fmt.Sprintf("@%s", tweet.User.ScreenName))

					display.SetPosition(0)
				}
				display.Write(string(rvalue))
				time.Sleep(100 * time.Millisecond)
			}
		}

		time.Sleep(2 * time.Second)
	}

}

tweet_reader_queue.go

package main

import (
	"fmt"
	"net/url"
	"os"
	"time"

	"github.com/ChimeraCoder/anaconda"
	"github.com/goiot/devices/lcdrgbbacklight"
	"github.com/zankich/hal/firmata"
)

func main() {
	anaconda.SetConsumerKey(os.Getenv("CONSUMER_KEY"))
	anaconda.SetConsumerSecret(os.Getenv("CONSUMER_SECRET"))
	api := anaconda.NewTwitterApi(os.Getenv("ACCESS_TOKEN"), os.Getenv("ACCESS_TOKEN_SECRET"))

	display, err := lcdrgbbacklight.Open(firmata.New("/dev/cu.usbmodem1411", 57600))
	if err != nil {
		panic(err)
	}

	display.SetRGB(255, 255, 255)

	tweets := map[int64]anaconda.Tweet{}

	go func() {
		for {
			v := url.Values{}
			v.Set("count", "10")
			searchResult, _ := api.GetSearch("DemsInPhilly", v)
			for _, tweet := range searchResult.Statuses {
				tweets[tweet.Id] = tweet
			}
			time.Sleep(10 * time.Second)
		}
	}()

	for {
		for _, tweet := range tweets {
			fmt.Println(tweet.Text)
			fmt.Println(fmt.Sprintf("@%s", tweet.User.ScreenName))

			for i, rvalue := range tweet.Text {
				if (i % 15) == 0 {
					display.Clear()

					display.SetPosition(16)
					display.Write(fmt.Sprintf("@%s", tweet.User.ScreenName))

					display.SetPosition(0)
				}
				display.Write(string(rvalue))
				time.Sleep(100 * time.Millisecond)
			}
			time.Sleep(1 * time.Second)
		}
	}
}