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Refactor ardrone to use new driver and adaptor interfaces

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This commit is contained in:
Adrian Zankich 2014-11-22 18:56:23 -08:00
parent 88db6be3ac
commit 9a0f3b46f7
4 changed files with 22 additions and 20 deletions
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15
platforms/ardrone/ardrone_adaptor.go
View File

@ -5,7 +5,7 @@ import (
"github.com/hybridgroup/gobot" "github.com/hybridgroup/gobot"
) )
var _ gobot.AdaptorInterface = (*ArdroneAdaptor)(nil) var _ gobot.Adaptor = (*ArdroneAdaptor)(nil)
// drone defines expected drone behaviour // drone defines expected drone behaviour
type drone interface { type drone interface {
@ -23,7 +23,7 @@ type drone interface {
} }
type ArdroneAdaptor struct { type ArdroneAdaptor struct {
gobot.Adaptor name string
drone drone drone drone
connect func(*ArdroneAdaptor) (err error) connect func(*ArdroneAdaptor) (err error)
} }
@ -31,10 +31,7 @@ type ArdroneAdaptor struct {
// NewArdroneAdaptor creates a new ardrone and connects with default configuration // NewArdroneAdaptor creates a new ardrone and connects with default configuration
func NewArdroneAdaptor(name string, v ...string) *ArdroneAdaptor { func NewArdroneAdaptor(name string, v ...string) *ArdroneAdaptor {
return &ArdroneAdaptor{ return &ArdroneAdaptor{
Adaptor: *gobot.NewAdaptor( name: name,
name,
"ArdroneAdaptor",
),
connect: func(a *ArdroneAdaptor) (err error) { connect: func(a *ArdroneAdaptor) (err error) {
config := client.DefaultConfig() config := client.DefaultConfig()
if len(v) > 0 { if len(v) > 0 {
@ -50,6 +47,8 @@ func NewArdroneAdaptor(name string, v ...string) *ArdroneAdaptor {
} }
} }
func (a *ArdroneAdaptor) Name() string { return a.name }
// Connect returns true when connection to ardrone is established correclty // Connect returns true when connection to ardrone is established correclty
func (a *ArdroneAdaptor) Connect() (errs []error) { func (a *ArdroneAdaptor) Connect() (errs []error) {
if err := a.connect(a); err != nil { if err := a.connect(a); err != nil {
@ -59,6 +58,4 @@ func (a *ArdroneAdaptor) Connect() (errs []error) {
} }
// Finalize returns true when connection is finalized correctly // Finalize returns true when connection is finalized correctly
func (a *ArdroneAdaptor) Finalize() (errs []error) { func (a *ArdroneAdaptor) Finalize() (errs []error) { return }
return
}

3
platforms/ardrone/ardrone_adaptor_test.go
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@ -1,8 +1,9 @@
package ardrone package ardrone
import ( import (
"github.com/hybridgroup/gobot"
"testing" "testing"
"github.com/hybridgroup/gobot"
) )
func initTestArdroneAdaptor() *ArdroneAdaptor { func initTestArdroneAdaptor() *ArdroneAdaptor {

21
platforms/ardrone/ardrone_driver.go
View File

@ -4,31 +4,34 @@ import (
"github.com/hybridgroup/gobot" "github.com/hybridgroup/gobot"
) )
var _ gobot.DriverInterface = (*ArdroneDriver)(nil) var _ gobot.Driver = (*ArdroneDriver)(nil)
type ArdroneDriver struct { type ArdroneDriver struct {
gobot.Driver name string
connection gobot.Connection
gobot.Eventer
} }
// NewArdroneDriver creates an ArdroneDriver with specified name. // NewArdroneDriver creates an ArdroneDriver with specified name.
// //
// It add the following events: // It add the following events:
// 'flying' - Sent when the device has taken off. // 'flying' - Sent when the device has taken off.
func NewArdroneDriver(adaptor *ArdroneAdaptor, name string) *ArdroneDriver { func NewArdroneDriver(connection *ArdroneAdaptor, name string) *ArdroneDriver {
d := &ArdroneDriver{ d := &ArdroneDriver{
Driver: *gobot.NewDriver( name: name,
name, connection: connection,
"ArdroneDriver", Eventer: gobot.NewEventer(),
adaptor,
),
} }
d.AddEvent("flying") d.AddEvent("flying")
return d return d
} }
func (a *ArdroneDriver) Name() string { return a.name }
func (a *ArdroneDriver) Connection() gobot.Connection { return a.connection }
// adaptor returns ardrone adaptor // adaptor returns ardrone adaptor
func (a *ArdroneDriver) adaptor() *ArdroneAdaptor { func (a *ArdroneDriver) adaptor() *ArdroneAdaptor {
return a.Adaptor().(*ArdroneAdaptor) return a.Connection().(*ArdroneAdaptor)
} }
// Start returns true if driver is started succesfully // Start returns true if driver is started succesfully

3
platforms/ardrone/ardrone_driver_test.go
View File

@ -1,8 +1,9 @@
package ardrone package ardrone
import ( import (
"github.com/hybridgroup/gobot"
"testing" "testing"
"github.com/hybridgroup/gobot"
) )
func initTestArdroneDriver() *ArdroneDriver { func initTestArdroneDriver() *ArdroneDriver {