125 lines
2.5 KiB
Go
125 lines
2.5 KiB
Go
package gobot
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import (
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"errors"
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"fmt"
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"log"
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"reflect"
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"time"
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)
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type Device interface {
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Start() bool
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Halt() bool
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setInterval(time.Duration)
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interval() time.Duration
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setName(string)
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name() string
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commands() map[string]func(map[string]interface{}) interface{}
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}
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type JSONDevice struct {
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Name string `json:"name"`
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Driver string `json:"driver"`
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Connection *JSONConnection `json:"connection"`
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Commands []string `json:"commands"`
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}
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type device struct {
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Name string `json:"-"`
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Type string `json:"-"`
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Robot *Robot `json:"-"`
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Driver DriverInterface `json:"-"`
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}
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type devices []*device
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// Start() starts all the devices.
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func (d devices) Start() error {
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var err error
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log.Println("Starting devices...")
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for _, device := range d {
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log.Println("Starting device " + device.Name + "...")
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if device.Start() == false {
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err = errors.New("Could not start device")
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break
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}
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}
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return err
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}
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// Halt() stop all the devices.
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func (d devices) Halt() {
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for _, device := range d {
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device.Halt()
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}
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}
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func NewDevice(driver DriverInterface, r *Robot) *device {
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if driver.name() == "" {
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driver.setName(fmt.Sprintf("%X", Rand(int(^uint(0)>>1))))
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}
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t := reflect.ValueOf(driver).Type().String()
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if driver.interval() == 0 {
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driver.setInterval(10 * time.Millisecond)
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}
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return &device{
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Type: t[1:len(t)],
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Name: driver.name(),
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Robot: r,
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Driver: driver,
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}
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}
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func (d *device) setInterval(t time.Duration) {
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d.Driver.setInterval(t)
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}
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func (d *device) interval() time.Duration {
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return d.Driver.interval()
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}
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func (d *device) setName(s string) {
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d.Name = s
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}
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func (d *device) name() string {
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return d.Name
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}
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func (d *device) commands() map[string]func(map[string]interface{}) interface{} {
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return d.Driver.commands()
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}
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func (d *device) Commands() map[string]func(map[string]interface{}) interface{} {
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return d.commands()
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}
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func (d *device) Start() bool {
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log.Println("Device " + d.Name + " started")
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return d.Driver.Start()
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}
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func (d *device) Halt() bool {
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log.Println("Device " + d.Name + " halted")
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return d.Driver.Halt()
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}
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func (d *device) ToJSON() *JSONDevice {
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jsonDevice := &JSONDevice{
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Name: d.Name,
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Driver: d.Type,
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Connection: d.Robot.Connection(FieldByNamePtr(FieldByNamePtr(d.Driver, "Adaptor").
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Interface().(AdaptorInterface), "Name").
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Interface().(string)).ToJSON(),
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Commands: []string{},
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}
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commands := d.commands()
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for command := range commands {
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jsonDevice.Commands = append(jsonDevice.Commands, command)
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}
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return jsonDevice
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}
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