72 lines
1.7 KiB
Go
72 lines
1.7 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.Adaptor = (*SpheroAdaptor)(nil)
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// Represents a Connection to a Sphero
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type SpheroAdaptor struct {
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name string
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port string
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sp io.ReadWriteCloser
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connected bool
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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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name: name,
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port: port,
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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.connected = true
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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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func (a *SpheroAdaptor) Name() string { return a.name }
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func (a *SpheroAdaptor) Port() string { return a.port }
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// Connect initiates a connection to the Sphero. Returns true on successful connection.
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func (a *SpheroAdaptor) Connect() (errs []error) {
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if err := a.connect(a); err != nil {
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return []error{err}
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}
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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() (errs []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() (errs []error) {
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if err := a.sp.Close(); err != nil {
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return []error{err}
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}
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a.connected = false
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return
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}
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// Finalize finalizes the SpheroAdaptor
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func (a *SpheroAdaptor) Finalize() (errs []error) {
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return a.Disconnect()
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}
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