add driver code

.canon.yaml

@@ -1,5 +1,5 @@
 # This file provides project-level configuration for the canon dev environment utility. https://github.com/viamrobotics/canon
-MODULE:
+pca:
     default: true
     image_amd64: ghcr.io/viamrobotics/rdk-devenv:amd64-cache
     image_arm64: ghcr.io/viamrobotics/rdk-devenv:arm64-cache
@@ -9,7 +9,7 @@ MODULE:
     group: testbot
     persistent: true
 
-MODULE-antique:
+pca-antique:
     image_amd64: ghcr.io/viamrobotics/antique2:amd64-cache
     image_arm64: ghcr.io/viamrobotics/antique2:arm64-cache
     minimum_date: 2023-10-26T20:00:00.0Z

.github/workflows/pr-labeler.yml

@@ -21,14 +21,14 @@ jobs:
           script: |
             let prNumber = context.payload.pull_request && context.payload.pull_request.number;
             try {
-              await github.rest.issues.removeLabel({owner: "viam-modules", repo: "MODULE", issue_number: prNumber, name: "safe to test"});
+              await github.rest.issues.removeLabel({owner: "viam-modules", repo: "pca", issue_number: prNumber, name: "safe to test"});
             } catch (err) {
               core.info(`Non-fatal error ${err}, while trying to remove 'safe to test' label.`);
             }
             let orgResp = await github.rest.orgs.checkMembershipForUser({org: "viam-modules", username: context.payload.sender.login});
             if (orgResp.status === 204) {
               // order of labeling events must be preserved, so two seperate calls
-              await github.rest.issues.addLabels({owner: "viam-modules", repo: "MODULE", issue_number: prNumber, labels: ["safe to test"]});
+              await github.rest.issues.addLabels({owner: "viam-modules", repo: "pca", issue_number: prNumber, labels: ["safe to test"]});
               return true;
             }
             return false;

.github/workflows/pullrequest-trusted.yml

@@ -12,10 +12,10 @@ on:
 jobs:
   test:
     if: (github.event.label.name == 'safe to test' || github.event.label.name == 'appimage')
-    uses: viam-modules/MODULE/.github/workflows/test.yml@main
+    uses: viam-modules/pca/.github/workflows/test.yml@main
     secrets:
       MONGODB_TEST_OUTPUT_URI: ${{ secrets.MONGODB_TEST_OUTPUT_URI }}
       DOCKER_PUBLIC_READONLY_PAT: ${{ secrets.DOCKER_PUBLIC_READONLY_PAT }}
 
   license_finder:
-    uses: viam-modules/MODULE/.github/workflows/license_finder.yml@main
+    uses: viam-modules/pca/.github/workflows/license_finder.yml@main

.github/workflows/release.yml

@@ -46,10 +46,10 @@ jobs:
 
     - name: Build and package
       run: |
-        canon --profile MODULE
+        canon --profile pca
         TARGET_OS=${{ matrix.platform }} TARGET_ARCH=${{ matrix.arch }} make module
 
-    - name: Upload MODULE module to registry
+    - name: Upload pca module to registry
       uses: viamrobotics/upload-module@main
       with:
         meta-path: meta.json

Makefile

@@ -9,13 +9,13 @@ endif
 
 module: build
 	rm -f $(BIN_OUTPUT_PATH)/module.tar.gz
-	tar czf $(BIN_OUTPUT_PATH)/module.tar.gz $(BIN_OUTPUT_PATH)/MODULE meta.json
+	tar czf $(BIN_OUTPUT_PATH)/module.tar.gz $(BIN_OUTPUT_PATH)/pca meta.json
 
 build: build-go
 
 build-go:
-	rm -f $(BIN_OUTPUT_PATH)/MODULE
-	go build -tags no_cgo,osusergo,netgo -ldflags="-extldflags=-static $(COMMON_LDFLAGS)"  -o $(BIN_OUTPUT_PATH)/MODULE main.go
+	rm -f $(BIN_OUTPUT_PATH)/pca
+	go build -tags no_cgo,osusergo,netgo -ldflags="-extldflags=-static $(COMMON_LDFLAGS)"  -o $(BIN_OUTPUT_PATH)/pca main.go
 
 tool-install:
 	GOBIN=`pwd`/$(TOOL_BIN) go install \

README.md

@@ -1,16 +1,16 @@
-# [`MODULE` module](https://github.com/viam-modules/MODULE)
+# [`pca` module](https://github.com/viam-modules/pca)
 
-This [MODULE module](https://app.viam.com/module/viam/MODULE) implements a MODULE [MODEL COMPONENT](<LINK TO HARDWARE>), used for <DESCRIPTION> using the [`rdk:component:COMPONENT` API](https://docs.viam.com/appendix/apis/components/COMPONENT/).
+This [pca module](https://app.viam.com/module/viam/pca) implements a pca [pca9685 board](<LINK TO HARDWARE>), used for <DESCRIPTION> using the [`rdk:component:board` API](https://docs.viam.com/appendix/apis/components/board/).
 
 > [!NOTE]
-> Before configuring your COMPONENT, you must [create a machine](https://docs.viam.com/cloud/machines/#add-a-new-machine).
+> Before configuring your board, you must [create a machine](https://docs.viam.com/cloud/machines/#add-a-new-machine).
 
-## Configure your MODEL COMPONENT
+## Configure your pca9685 board
 
 Navigate to the [**CONFIGURE** tab](https://docs.viam.com/configure/) of your [machine](https://docs.viam.com/fleet/machines/) in the [Viam app](https://app.viam.com/).
-[Add COMPONENT / MODULE:MODEL to your machine](https://docs.viam.com/configure/#components).
+[Add board / pca:pca9685 to your machine](https://docs.viam.com/configure/#components).
 
-On the new component panel, copy and paste the following attribute template into your COMPONENT's attributes field:
+On the new component panel, copy and paste the following attribute template into your board's attributes field:
 
 ```json
 {
@@ -20,22 +20,22 @@ On the new component panel, copy and paste the following attribute template into
 
 ### Attributes
 
-The following attributes are available for `viam:MODULE:MODEL` COMPONENTs:
+The following attributes are available for `viam:pca:pca9685` boards:
 
 <EXAMPLE !!>
 | Attribute | Type | Required? | Description |
 | --------- | ---- | --------- | ----------  |
-| `i2c_bus` | string | **Required** | The index of the I<sup>2</sup>C bus on the board that the COMPONENT is wired to. |
-| `i2c_address` | string | Optional | Default: `0x77`. The [I<sup>2</sup>C device address](https://learn.adafruit.com/i2c-addresses/overview) of the COMPONENT. |
+| `i2c_bus` | string | **Required** | The index of the I<sup>2</sup>C bus on the board that the board is wired to. |
+| `i2c_address` | string | Optional | Default: `0x77`. The [I<sup>2</sup>C device address](https://learn.adafruit.com/i2c-addresses/overview) of the board. |
 
 ## Example configuration
 
-### `viam:MODULE:MODEL`
+### `viam:pca:pca9685`
 ```json
   {
-     "name": "<your-MODULE-MODEL-COMPONENT-name>",
-      "model": "viam:MODULE:MODEL",
-      "type": "COMPONENT",
+     "name": "<your-pca-pca9685-board-name>",
+      "model": "viam:pca:pca9685",
+      "type": "board",
       "namespace": "rdk",
       "attributes": {
       },
@@ -44,6 +44,6 @@ The following attributes are available for `viam:MODULE:MODEL` COMPONENTs:
 ```
 
 ### Next Steps
-- To test your COMPONENT, expand the **TEST** section of its configuration pane or go to the [**CONTROL** tab](https://docs.viam.com/fleet/control/).
-- To write code against your COMPONENT, use one of the [available SDKs](https://docs.viam.com/sdks/).
-- To view examples using a COMPONENT component, explore [these tutorials](https://docs.viam.com/tutorials/).
+- To test your board, expand the **TEST** section of its configuration pane or go to the [**CONTROL** tab](https://docs.viam.com/fleet/control/).
+- To write code against your board, use one of the [available SDKs](https://docs.viam.com/sdks/).
+- To view examples using a board component, explore [these tutorials](https://docs.viam.com/tutorials/).

go.mod

@@ -1,4 +1,4 @@
-module MODULE
+module pca
 
 go 1.23.0
 
@@ -8,7 +8,9 @@ require (
 	github.com/edaniels/golinters v0.0.5-0.20220906153528-641155550742
 	github.com/fullstorydev/grpcurl v1.8.6
 	github.com/golangci/golangci-lint v1.61.0
+	github.com/pkg/errors v0.9.1
 	github.com/rhysd/actionlint v1.6.24
+	go.viam.com/api v0.1.350
 	go.viam.com/rdk v0.48.2
 	go.viam.com/utils v0.1.110
 	gotest.tools/gotestsum v1.10.0
@@ -44,6 +46,7 @@ require (
 	github.com/alingse/asasalint v0.0.11 // indirect
 	github.com/ashanbrown/forbidigo v1.6.0 // indirect
 	github.com/ashanbrown/makezero v1.1.1 // indirect
+	github.com/benbjohnson/clock v1.3.5 // indirect
 	github.com/beorn7/perks v1.0.1 // indirect
 	github.com/bep/debounce v1.2.1 // indirect
 	github.com/bkielbasa/cyclop v1.2.1 // indirect
@@ -208,7 +211,6 @@ require (
 	github.com/pion/stun v0.6.1 // indirect
 	github.com/pion/transport/v2 v2.2.10 // indirect
 	github.com/pion/turn/v2 v2.1.6 // indirect
-	github.com/pkg/errors v0.9.1 // indirect
 	github.com/planetscale/vtprotobuf v0.6.1-0.20240319094008-0393e58bdf10 // indirect
 	github.com/pmezard/go-difflib v1.0.0 // indirect
 	github.com/polyfloyd/go-errorlint v1.6.0 // indirect
@@ -287,7 +289,6 @@ require (
 	go.uber.org/goleak v1.3.0 // indirect
 	go.uber.org/multierr v1.11.0 // indirect
 	go.uber.org/zap v1.27.0 // indirect
-	go.viam.com/api v0.1.350 // indirect
 	go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 // indirect
 	golang.org/x/crypto v0.28.0 // indirect
 	golang.org/x/exp v0.0.0-20240904232852-e7e105dedf7e // indirect
@@ -318,4 +319,6 @@ require (
 	mvdan.cc/gofumpt v0.7.0 // indirect
 	mvdan.cc/unparam v0.0.0-20240528143540-8a5130ca722f // indirect
 	nhooyr.io/websocket v1.8.7 // indirect
+	periph.io/x/conn/v3 v3.7.0 // indirect
+	periph.io/x/host/v3 v3.8.1-0.20230331112814-9f0d9f7d76db // indirect
 )

go.sum

@@ -761,6 +761,8 @@ github.com/jmespath/go-jmespath/internal/testify v1.5.1/go.mod h1:L3OGu8Wl2/fWfC
 github.com/jmoiron/sqlx v1.2.0/go.mod h1:1FEQNm3xlJgrMD+FBdI9+xvCksHtbpVBBw5dYhBSsks=
 github.com/jonboulle/clockwork v0.1.0/go.mod h1:Ii8DK3G1RaLaWxj9trq07+26W01tbo22gdxWY5EU2bo=
 github.com/jonboulle/clockwork v0.2.0/go.mod h1:Pkfl5aHPm1nk2H9h0bjmnJD/BcgbGXUBGnn1kMkgxc8=
+github.com/jonboulle/clockwork v0.3.0 h1:9BSCMi8C+0qdApAp4auwX0RkLGUjs956h0EkuQymUhg=
+github.com/jonboulle/clockwork v0.3.0/go.mod h1:Pkfl5aHPm1nk2H9h0bjmnJD/BcgbGXUBGnn1kMkgxc8=
 github.com/jpillora/backoff v1.0.0/go.mod h1:J/6gKK9jxlEcS3zixgDgUAsiuZ7yrSoa/FX5e0EB2j4=
 github.com/json-iterator/go v1.1.6/go.mod h1:+SdeFBvtyEkXs7REEP0seUULqWtbJapLOCVDaaPEHmU=
 github.com/json-iterator/go v1.1.7/go.mod h1:KdQUCv79m/52Kvf8AW2vK1V8akMuk1QjK/uOdHXbAo4=

main.go

@@ -4,13 +4,16 @@ package main
 import (
 	"context"
 
+	"pca/pca9685"
+
+	"go.viam.com/rdk/components/board"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/module"
 	"go.viam.com/utils"
 )
 
 func main() {
-	utils.ContextualMain(mainWithArgs, module.NewLoggerFromArgs("MODULE"))
+	utils.ContextualMain(mainWithArgs, module.NewLoggerFromArgs("pca"))
 }
 
 func mainWithArgs(ctx context.Context, args []string, logger logging.Logger) error {
@@ -19,7 +22,7 @@ func mainWithArgs(ctx context.Context, args []string, logger logging.Logger) err
 		return err
 	}
 
-	if err = module.AddModelFromRegistry(ctx, COMPONENT.API, MODEL.Model); err != nil {
+	if err = module.AddModelFromRegistry(ctx, board.API, pca9685.Model); err != nil {
 		return err
 	}
 

meta.json

@@ -1,19 +1,19 @@
 {
   "$schema": "https://dl.viam.dev/module.schema.json",
-  "module_id": "NAMESPACE:MODULE",
+  "module_id": "viam:pca",
   "visibility": "public",
-  "url": "https://github.com/viam-modules/MODULE",
-  "description": "Go module for MODULE MODEL COMPONENT, compatible with Viam",
+  "url": "https://github.com/viam-modules/pca",
+  "description": "Go module for pca pca9685 board, compatible with Viam",
   "models": [
     {
-      "api": "rdk:component:COMPONENT",
-      "model": "NAMESPACE:MODULE:MODEL"
+      "api": "rdk:component:board",
+      "model": "viam:pca:pca9685"
     }
   ],
   "build": {
     "build": "make module",
     "path": "bin/module.tar.gz",
     "arch" : ["linux/arm64", "linux/amd64", "darwin/arm64"]
   },
-  "entrypoint": "bin/MODULE"
+  "entrypoint": "bin/pca"
 }