71 lines
1.6 KiB
Go
71 lines
1.6 KiB
Go
package sphero
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import (
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"io"
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"github.com/hybridgroup/gobot"
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"github.com/tarm/goserial"
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)
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var _ gobot.AdaptorInterface = (*SpheroAdaptor)(nil)
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// Represents a Connection to a Sphero
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type SpheroAdaptor struct {
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gobot.Adaptor
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sp io.ReadWriteCloser
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connect func(*SpheroAdaptor) (err error)
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}
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// NewSpheroAdaptor returns a new SpheroAdaptor given a name and port
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func NewSpheroAdaptor(name string, port string) *SpheroAdaptor {
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return &SpheroAdaptor{
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Adaptor: *gobot.NewAdaptor(
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name,
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"SpheroAdaptor",
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port,
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),
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connect: func(a *SpheroAdaptor) (err error) {
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c := &serial.Config{Name: a.Port(), Baud: 115200}
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s, err := serial.OpenPort(c)
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if err != nil {
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return err
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}
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a.sp = s
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return
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},
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}
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}
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// Connect initiates a connection to the Sphero. Returns true on successful connection.
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func (a *SpheroAdaptor) Connect() (err error) {
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if err = a.connect(a); err != nil {
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return
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}
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a.SetConnected(true)
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return
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}
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// Reconnect attempts to reconnect to the Sphero. If the Sphero has an active connection
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// it will first close that connection and then establish a new connection.
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// Returns true on Successful reconnection
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func (a *SpheroAdaptor) Reconnect() (err error) {
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if a.Connected() == true {
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a.Disconnect()
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}
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return a.Connect()
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}
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// Disconnect terminates the connection to the Sphero. Returns true on successful disconnect.
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func (a *SpheroAdaptor) Disconnect() (err error) {
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if err = a.sp.Close(); err != nil {
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return
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}
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a.SetConnected(false)
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return nil
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}
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// Finalize finalizes the SpheroAdaptor
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func (a *SpheroAdaptor) Finalize() error {
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return nil
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}
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