inital commit of PCA9685 backend in go

.gitignore

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+# Created by https://www.gitignore.io/api/go,linux,intellij+all
+
+### Go ###
+# Binaries for programs and plugins
+*.exe
+*.dll
+*.so
+*.dylib
+
+# Test binary, build with `go test -c`
+*.test
+
+# Output of the go coverage tool, specifically when used with LiteIDE
+*.out
+
+# Project-local glide cache, RE: https://github.com/Masterminds/glide/issues/736
+.glide/
+
+### Intellij+all ###
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+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff:
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/dictionaries
+
+# Sensitive or high-churn files:
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+.idea/**/dataSources.ids
+.idea/**/dataSources.xml
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+
+# Gradle:
+.idea/**/gradle.xml
+.idea/**/libraries
+
+# CMake
+cmake-build-debug/
+
+# Mongo Explorer plugin:
+.idea/**/mongoSettings.xml
+
+## File-based project format:
+*.iws
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+## Plugin-specific files:
+
+# IntelliJ
+/out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
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+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
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+# Ruby plugin and RubyMine
+/.rakeTasks
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+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
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+### Intellij+all Patch ###
+# Ignores the whole idea folder
+# See https://github.com/joeblau/gitignore.io/issues/186 and https://github.com/joeblau/gitignore.io/issues/360
+
+.idea/
+
+### Linux ###
+*~
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+# temporary files which can be created if a process still has a handle open of a deleted file
+.fuse_hidden*
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+# KDE directory preferences
+.directory
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+# Linux trash folder which might appear on any partition or disk
+.Trash-*
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+.nfs*
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+# End of https://www.gitignore.io/api/go,linux,intellij+all
+
+bin/
+pkg/
+src/
+

.gitmodules

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+[submodule "proto"]
+	path = proto
+	url = git@github.com:LED-Freaks/LedD-protobuf.git

config.yaml

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+name: PCA9685
+ledd:
+  host: "127.0.0.1"
+  port: 5640
+pca9685:
+  device: "dev/i2c-2"
+  address: 0x40
+  minpulse: 0
+  maxpulse: 1000

main.go

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+package main
+
+import (
+	"github.com/op/go-logging"
+	"golang.org/x/exp/io/i2c"
+	"gopkg.in/yaml.v2"
+	"os"
+	"os/signal"
+	"syscall"
+	"io/ioutil"
+	"net"
+	"encoding/binary"
+	"gen/ledd"
+	"github.com/golang/protobuf/proto"
+	"github.com/sergiorb/pca9685-golang/device"
+	"fmt"
+)
+
+// CONSTANTS
+
+const VERSION = "0.1"
+const RESOLUTION = 4096
+const CHANNEL = 16
+
+// STRUCTS
+
+type config struct {
+	Name string
+	Ledd struct {
+		Host string
+		Port int
+	}
+	Pca9685 struct {
+		Device   string
+		Address  int
+		MinPulse int
+		MaxPulse int
+	}
+}
+
+type LedD struct {
+	name string
+	socket net.Conn
+	data   chan []byte
+}
+
+var log = logging.MustGetLogger("LedD")
+var ledDaemon = &LedD{}
+var pca9685 = device.PCA9685{}
+
+
+func check(e error) {
+	if e != nil {
+		panic(e)
+	}
+}
+
+func (ledd *LedD) receive() {
+	for {
+		message := make([]byte, 4096)
+		length, err := ledd.socket.Read(message)
+		if err != nil {
+			ledd.socket.Close()
+			break
+		}
+		if length > 0 {
+			msgLen := binary.BigEndian.Uint32(message[0:3])
+
+			log.Debugf("[%s] Read %d bytes, first protobuf is %d long", ledd.name, length, msgLen)
+
+			backendMsg := &ledd.BackendWrapperMessage{}
+			err = proto.Unmarshal(message[4:msgLen], backendMsg)
+			if err != nil {
+				log.Warningf("[%s] Couldn't decode protobuf msg!", backend.niceName())
+				continue
+			}
+
+			switch msg := backendMsg.Msg.(type) {
+			case *ledd.BackendWrapperMessage_MLedd:
+				ledd.name = msg.MLedd.Name
+				log.Infof("Connection with LedD (%s) etablished and registered", msg.MLedd.Name)
+			}
+		}
+	}
+}
+
+func (ledd *LedD) send() {
+	defer ledd.socket.Close()
+	for {
+		select {
+		case message, ok := <-ledd.data:
+			if !ok {
+				return
+			}
+			ledd.socket.Write(message)
+		}
+	}
+}
+
+func main() {
+	killSignals := make(chan os.Signal, 1)
+	signal.Notify(killSignals, syscall.SIGINT, syscall.SIGTERM)
+
+	log.Info("LedD", VERSION)
+	config := config{}
+
+	content, err := ioutil.ReadFile("config.yaml")
+	check(err)
+
+	err = yaml.Unmarshal(content, &config)
+	check(err)
+
+	i2cDevice, err := i2c.Open(&i2c.Devfs{Dev: config.Pca9685.Device}, config.Pca9685.Address)
+	check(err)
+	defer i2cDevice.Close()
+
+	pca9685 := device.NewPCA9685(i2cDevice, "PWM Controller", config.Pca9685.MinPulse, config.Pca9685.MaxPulse, log)
+	pca9685.Init()
+
+	conn, err := net.Dial("tcp4", fmt.Sprintf("%s:%d", config.Ledd.Host, config.Ledd.Port))
+	check(err)
+
+	ledDaemon = &LedD{
+		socket:conn,
+		data: make (chan []byte),
+	}
+
+	go ledDaemon.send()
+	go ledDaemon.receive()
+
+	wrapperMsg := &ledd.BackendWrapperMessage{
+		Msg: &ledd.BackendWrapperMessage_MBackend{
+			MBackend: &ledd.Backend{
+				Name: config.Name,
+				Channel: CHANNEL,
+				Type: "PCA9685",
+				Resolution: RESOLUTION,
+				Version: VERSION,
+			},
+		},
+	}
+
+	data, err := proto.Marshal(wrapperMsg)
+	check(err)
+
+	ledDaemon.data <- data
+
+	<-killSignals
+}