110 lines
2.3 KiB
Go
110 lines
2.3 KiB
Go
package gobot
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import (
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"errors"
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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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getInterval() time.Duration
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setName(string)
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getName() string
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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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Interval time.Duration `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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d := new(device)
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s := reflect.ValueOf(driver).Type().String()
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d.Type = s[1:len(s)]
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d.Name = driver.getName()
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d.Robot = r
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if driver.getInterval() == 0 {
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driver.setInterval(10 * time.Millisecond)
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}
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d.Driver = driver
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return d
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}
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func (d *device) setInterval(t time.Duration) {
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d.Interval = t
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}
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func (d *device) getInterval() time.Duration {
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return d.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) getName() string {
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return d.Name
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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) Commands() interface{} {
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return FieldByNamePtr(d.Driver, "Commands").Interface()
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}
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func (d *device) ToJson() *JsonDevice {
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jsonDevice := new(JsonDevice)
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jsonDevice.Name = d.Name
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jsonDevice.Driver = d.Type
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jsonDevice.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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jsonDevice.Commands = FieldByNamePtr(d.Driver, "Commands").Interface().([]string)
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return jsonDevice
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}
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