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minidrone: switch to use new API signatures for updated ble package

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Signed-off-by: deadprogram <ron@hybridgroup.com>
This commit is contained in:
deadprogram 2016-12-28 18:48:30 +01:00
parent fbefbea19b
commit 4531075bc7
1 changed files with 13 additions and 13 deletions
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26
platforms/parrot/minidrone/minidrone_driver.go
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@ -156,12 +156,12 @@ func (b *Driver) Init() (err error) {
b.GenerateAllStates()
// subscribe to battery notifications
b.adaptor().Subscribe(droneNotificationService, batteryCharacteristic, func(data []byte, e error) {
b.adaptor().Subscribe(batteryCharacteristic, func(data []byte, e error) {
b.Publish(b.Event(Battery), data[len(data)-1])
})
// subscribe to flying status notifications
b.adaptor().Subscribe(droneNotificationService, flightStatusCharacteristic, func(data []byte, e error) {
b.adaptor().Subscribe(flightStatusCharacteristic, func(data []byte, e error) {
if len(data) < 5 {
// ignore, just a sync
return
@ -208,7 +208,7 @@ func (b *Driver) Init() (err error) {
func (b *Driver) GenerateAllStates() (err error) {
b.stepsfa0b++
buf := []byte{0x04, byte(b.stepsfa0b), 0x00, 0x04, 0x01, 0x00, 0x32, 0x30, 0x31, 0x34, 0x2D, 0x31, 0x30, 0x2D, 0x32, 0x38, 0x00}
err = b.adaptor().WriteCharacteristic(droneCommandService, commandCharacteristic, buf)
err = b.adaptor().WriteCharacteristic(commandCharacteristic, buf)
if err != nil {
fmt.Println("GenerateAllStates error:", err)
return err
@ -221,7 +221,7 @@ func (b *Driver) GenerateAllStates() (err error) {
func (b *Driver) TakeOff() (err error) {
b.stepsfa0b++
buf := []byte{0x02, byte(b.stepsfa0b) & 0xff, 0x02, 0x00, 0x01, 0x00}
err = b.adaptor().WriteCharacteristic(droneCommandService, commandCharacteristic, buf)
err = b.adaptor().WriteCharacteristic(commandCharacteristic, buf)
if err != nil {
fmt.Println("takeoff error:", err)
return err
@ -234,7 +234,7 @@ func (b *Driver) TakeOff() (err error) {
func (b *Driver) Land() (err error) {
b.stepsfa0b++
buf := []byte{0x02, byte(b.stepsfa0b) & 0xff, 0x02, 0x00, 0x03, 0x00}
err = b.adaptor().WriteCharacteristic(droneCommandService, commandCharacteristic, buf)
err = b.adaptor().WriteCharacteristic(commandCharacteristic, buf)
return err
}
@ -243,7 +243,7 @@ func (b *Driver) Land() (err error) {
func (b *Driver) FlatTrim() (err error) {
b.stepsfa0b++
buf := []byte{0x02, byte(b.stepsfa0b) & 0xff, 0x02, 0x00, 0x00, 0x00}
err = b.adaptor().WriteCharacteristic(droneCommandService, commandCharacteristic, buf)
err = b.adaptor().WriteCharacteristic(commandCharacteristic, buf)
return err
}
@ -252,7 +252,7 @@ func (b *Driver) FlatTrim() (err error) {
func (b *Driver) Emergency() (err error) {
b.stepsfa0b++
buf := []byte{0x02, byte(b.stepsfa0b) & 0xff, 0x02, 0x00, 0x04, 0x00}
err = b.adaptor().WriteCharacteristic(droneCommandService, priorityCharacteristic, buf)
err = b.adaptor().WriteCharacteristic(priorityCharacteristic, buf)
return err
}
@ -261,7 +261,7 @@ func (b *Driver) Emergency() (err error) {
func (b *Driver) TakePicture() (err error) {
b.stepsfa0b++
buf := []byte{0x02, byte(b.stepsfa0b) & 0xff, 0x02, 0x06, 0x01, 0x00}
err = b.adaptor().WriteCharacteristic(droneCommandService, commandCharacteristic, buf)
err = b.adaptor().WriteCharacteristic(commandCharacteristic, buf)
return err
}
@ -272,7 +272,7 @@ func (b *Driver) StartPcmd() {
// wait a little bit so that there is enough time to get some ACKs
time.Sleep(500 * time.Millisecond)
for {
err := b.adaptor().WriteCharacteristic(droneCommandService, pcmdCharacteristic, b.generatePcmd().Bytes())
err := b.adaptor().WriteCharacteristic(pcmdCharacteristic, b.generatePcmd().Bytes())
if err != nil {
fmt.Println("pcmd write error:", err)
}
@ -373,22 +373,22 @@ func (b *Driver) Outdoor(outdoor bool) error {
// FrontFlip tells the drone to perform a front flip
func (b *Driver) FrontFlip() (err error) {
return b.adaptor().WriteCharacteristic(droneCommandService, commandCharacteristic, b.generateAnimation(0).Bytes())
return b.adaptor().WriteCharacteristic(commandCharacteristic, b.generateAnimation(0).Bytes())
}
// BackFlip tells the drone to perform a backflip
func (b *Driver) BackFlip() (err error) {
return b.adaptor().WriteCharacteristic(droneCommandService, commandCharacteristic, b.generateAnimation(1).Bytes())
return b.adaptor().WriteCharacteristic(commandCharacteristic, b.generateAnimation(1).Bytes())
}
// RightFlip tells the drone to perform a flip to the right
func (b *Driver) RightFlip() (err error) {
return b.adaptor().WriteCharacteristic(droneCommandService, commandCharacteristic, b.generateAnimation(2).Bytes())
return b.adaptor().WriteCharacteristic(commandCharacteristic, b.generateAnimation(2).Bytes())
}
// LeftFlip tells the drone to perform a flip to the left
func (b *Driver) LeftFlip() (err error) {
return b.adaptor().WriteCharacteristic(droneCommandService, commandCharacteristic, b.generateAnimation(3).Bytes())
return b.adaptor().WriteCharacteristic(commandCharacteristic, b.generateAnimation(3).Bytes())
}
func (b *Driver) generateAnimation(direction int8) *bytes.Buffer {