67 lines
1.6 KiB
Go
67 lines
1.6 KiB
Go
package sphero
|
|
|
|
import (
|
|
"io"
|
|
|
|
"github.com/tarm/goserial"
|
|
)
|
|
|
|
// Represents a Connection to a Sphero
|
|
type SpheroAdaptor struct {
|
|
name string
|
|
port string
|
|
sp io.ReadWriteCloser
|
|
connected bool
|
|
connect func(string) (io.ReadWriteCloser, 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(port string) (io.ReadWriteCloser, error) {
|
|
return serial.OpenPort(&serial.Config{Name: port, Baud: 115200})
|
|
},
|
|
}
|
|
}
|
|
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 sp, err := a.connect(a.Port()); err != nil {
|
|
return []error{err}
|
|
} else {
|
|
a.sp = sp
|
|
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 {
|
|
a.Disconnect()
|
|
}
|
|
return a.Connect()
|
|
}
|
|
|
|
// Disconnect terminates the connection to the Sphero. Returns true on successful disconnect.
|
|
func (a *SpheroAdaptor) Disconnect() (errs []error) {
|
|
if a.connected {
|
|
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()
|
|
}
|