72 lines
1.7 KiB
Go
72 lines
1.7 KiB
Go
package sphero
|
|
|
|
import (
|
|
"io"
|
|
|
|
"github.com/hybridgroup/gobot"
|
|
"github.com/tarm/goserial"
|
|
)
|
|
|
|
var _ gobot.Adaptor = (*SpheroAdaptor)(nil)
|
|
|
|
// Represents a Connection to a Sphero
|
|
type SpheroAdaptor struct {
|
|
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{
|
|
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.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.connected = true
|
|
return
|
|
}
|
|
|
|
// Reconnect attempts to reconnect to the Sphero. If the Sphero has an active connection
|
|
// 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 {
|
|
a.Disconnect()
|
|
}
|
|
return a.Connect()
|
|
}
|
|
|
|
// Disconnect terminates the connection to the Sphero. Returns true on successful disconnect.
|
|
func (a *SpheroAdaptor) Disconnect() (errs []error) {
|
|
if err := a.sp.Close(); err != nil {
|
|
return []error{err}
|
|
}
|
|
a.connected = false
|
|
return
|
|
}
|
|
|
|
// Finalize finalizes the SpheroAdaptor
|
|
func (a *SpheroAdaptor) Finalize() (errs []error) {
|
|
return a.Disconnect()
|
|
}
|