From 61e70f7571ed4bde14c33de348d12ee039e35f05 Mon Sep 17 00:00:00 2001
From: Adrian Zankich <adrian@hybridgroup.com>
Date: Fri, 28 Nov 2014 18:21:02 -0800
Subject: [PATCH] Refactor sphero to use new driver and adaptor interfaces

---
 platforms/sphero/sphero_adaptor.go      | 27 +++++++++++++------------
 platforms/sphero/sphero_adaptor_test.go |  3 ++-
 platforms/sphero/sphero_driver.go       | 21 +++++++++++--------
 3 files changed, 29 insertions(+), 22 deletions(-)

diff --git a/platforms/sphero/sphero_adaptor.go b/platforms/sphero/sphero_adaptor.go
index 86163b36..e5c6fc66 100644
--- a/platforms/sphero/sphero_adaptor.go
+++ b/platforms/sphero/sphero_adaptor.go
@@ -7,41 +7,42 @@ import (
 	"github.com/tarm/goserial"
 )
 
-var _ gobot.AdaptorInterface = (*SpheroAdaptor)(nil)
+var _ gobot.Adaptor = (*SpheroAdaptor)(nil)
 
 // Represents a Connection to a Sphero
 type SpheroAdaptor struct {
-	gobot.Adaptor
-	sp      io.ReadWriteCloser
-	connect func(*SpheroAdaptor) (err error)
+	name      string
+	port      string
+	sp        io.ReadWriteCloser
+	connected bool
+	connect   func(*SpheroAdaptor) (err error)
 }
 
 // NewSpheroAdaptor returns a new SpheroAdaptor given a name and port
 func NewSpheroAdaptor(name string, port string) *SpheroAdaptor {
 	return &SpheroAdaptor{
-		Adaptor: *gobot.NewAdaptor(
-			name,
-			"SpheroAdaptor",
-			port,
-		),
+		name: name,
+		port: port,
 		connect: func(a *SpheroAdaptor) (err error) {
 			c := &serial.Config{Name: a.Port(), Baud: 115200}
 			s, err := serial.OpenPort(c)
 			if err != nil {
 				return err
 			}
+			a.connected = true
 			a.sp = s
 			return
 		},
 	}
 }
+func (a *SpheroAdaptor) Name() string { return a.name }
+func (a *SpheroAdaptor) Port() string { return a.port }
 
 // Connect initiates a connection to the Sphero. Returns true on successful connection.
 func (a *SpheroAdaptor) Connect() (errs []error) {
 	if err := a.connect(a); err != nil {
 		return []error{err}
 	}
-	a.SetConnected(true)
 	return
 }
 
@@ -49,7 +50,7 @@ func (a *SpheroAdaptor) Connect() (errs []error) {
 // it will first close that connection and then establish a new connection.
 // Returns true on Successful reconnection
 func (a *SpheroAdaptor) Reconnect() (errs []error) {
-	if a.Connected() == true {
+	if a.connected == true {
 		a.Disconnect()
 	}
 	return a.Connect()
@@ -60,11 +61,11 @@ func (a *SpheroAdaptor) Disconnect() (errs []error) {
 	if err := a.sp.Close(); err != nil {
 		return []error{err}
 	}
-	a.SetConnected(false)
+	a.connected = false
 	return
 }
 
 // Finalize finalizes the SpheroAdaptor
 func (a *SpheroAdaptor) Finalize() (errs []error) {
-	return
+	return a.Disconnect()
 }
diff --git a/platforms/sphero/sphero_adaptor_test.go b/platforms/sphero/sphero_adaptor_test.go
index 1df6e4b4..05fb3b4b 100644
--- a/platforms/sphero/sphero_adaptor_test.go
+++ b/platforms/sphero/sphero_adaptor_test.go
@@ -1,8 +1,9 @@
 package sphero
 
 import (
-	"github.com/hybridgroup/gobot"
 	"testing"
+
+	"github.com/hybridgroup/gobot"
 )
 
 func initTestSpheroAdaptor() *SpheroAdaptor {
diff --git a/platforms/sphero/sphero_driver.go b/platforms/sphero/sphero_driver.go
index 1add47d5..b0dd117f 100644
--- a/platforms/sphero/sphero_driver.go
+++ b/platforms/sphero/sphero_driver.go
@@ -9,7 +9,7 @@ import (
 	"github.com/hybridgroup/gobot"
 )
 
-var _ gobot.DriverInterface = (*SpheroDriver)(nil)
+var _ gobot.Driver = (*SpheroDriver)(nil)
 
 type packet struct {
 	header   []uint8
@@ -19,12 +19,15 @@ type packet struct {
 
 // Represents a Sphero
 type SpheroDriver struct {
-	gobot.Driver
+	name            string
+	connection      gobot.Connection
 	seq             uint8
 	asyncResponse   [][]uint8
 	syncResponse    [][]uint8
 	packetChannel   chan *packet
 	responseChannel chan []uint8
+	gobot.Eventer
+	gobot.Commander
 }
 
 type Collision struct {
@@ -51,11 +54,10 @@ type Collision struct {
 // 	"SetStabilization" - See SpheroDriver.SetStabilization
 func NewSpheroDriver(a *SpheroAdaptor, name string) *SpheroDriver {
 	s := &SpheroDriver{
-		Driver: *gobot.NewDriver(
-			name,
-			"SpheroDriver",
-			a,
-		),
+		name:            name,
+		connection:      a,
+		Eventer:         gobot.NewEventer(),
+		Commander:       gobot.NewCommander(),
 		packetChannel:   make(chan *packet, 1024),
 		responseChannel: make(chan []uint8, 1024),
 	}
@@ -106,8 +108,11 @@ func NewSpheroDriver(a *SpheroAdaptor, name string) *SpheroDriver {
 	return s
 }
 
+func (s *SpheroDriver) Name() string                 { return s.name }
+func (s *SpheroDriver) Connection() gobot.Connection { return s.connection }
+
 func (s *SpheroDriver) adaptor() *SpheroAdaptor {
-	return s.Adaptor().(*SpheroAdaptor)
+	return s.Connection().(*SpheroAdaptor)
 }
 
 // Start starts the SpheroDriver and enables Collision Detection.