68 lines
1.4 KiB
Go
68 lines
1.4 KiB
Go
package ardrone
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import (
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client "github.com/hybridgroup/go-ardrone/client"
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"github.com/hybridgroup/gobot"
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)
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var _ gobot.Adaptor = (*ArdroneAdaptor)(nil)
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// drone defines expected drone behaviour
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type drone interface {
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Takeoff() bool
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Land()
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Up(n float64)
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Down(n float64)
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Left(n float64)
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Right(n float64)
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Forward(n float64)
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Backward(n float64)
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Clockwise(n float64)
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Counterclockwise(n float64)
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Hover()
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}
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// ArdroneAdaptor is gobot.Adaptor representation for the Ardrone
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type ArdroneAdaptor struct {
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name string
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drone drone
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config client.Config
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connect func(*ArdroneAdaptor) (drone, error)
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}
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// NewArdroneAdaptor returns a new ArdroneAdaptor and optionally accepts:
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//
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// string: The ardrones IP Address
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//
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func NewArdroneAdaptor(name string, v ...string) *ArdroneAdaptor {
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a := &ArdroneAdaptor{
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name: name,
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connect: func(a *ArdroneAdaptor) (drone, error) {
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return client.Connect(a.config)
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},
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}
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a.config = client.DefaultConfig()
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if len(v) > 0 {
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a.config.Ip = v[0]
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}
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return a
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}
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// Name returns the ArdroneAdaptors Name
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func (a *ArdroneAdaptor) Name() string { return a.name }
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// Connect establishes a connection to the ardrone
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func (a *ArdroneAdaptor) Connect() (errs []error) {
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d, err := a.connect(a)
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if err != nil {
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return []error{err}
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}
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a.drone = d
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return
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}
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// Finalize terminates the connection to the ardrone
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func (a *ArdroneAdaptor) Finalize() (errs []error) { return }
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