Refactor ardrone driver

platforms/ardrone/ardrone_adaptor.go

@@ -5,7 +5,19 @@ import (
 	"github.com/hybridgroup/gobot"
 )
 
-type drone interface{}
+type drone interface {
+	Takeoff() bool
+	Land()
+	Up(n float64)
+	Down(n float64)
+	Left(n float64)
+	Right(n float64)
+	Forward(n float64)
+	Backward(n float64)
+	Clockwise(n float64)
+	Counterclockwise(n float64)
+	Hover()
+}
 
 type ArdroneAdaptor struct {
 	gobot.Adaptor
@@ -33,18 +45,6 @@ func (a *ArdroneAdaptor) Connect() bool {
 	return true
 }
 
-func (a *ArdroneAdaptor) Reconnect() bool {
-	return true
-}
-
-func (a *ArdroneAdaptor) Disconnect() bool {
-	return true
-}
-
 func (a *ArdroneAdaptor) Finalize() bool {
 	return true
 }
-
-func (a *ArdroneAdaptor) Drone() drone {
-	return a.drone
-}

platforms/ardrone/ardrone_adaptor_test.go

@@ -5,35 +5,20 @@ import (
 	"testing"
 )
 
-func initTestArdroneAdaptor() (*ArdroneAdaptor, *testDrone) {
-	d := &testDrone{}
+func initTestArdroneAdaptor() *ArdroneAdaptor {
 	a := NewArdroneAdaptor("drone")
 	a.connect = func(a *ArdroneAdaptor) {
-		a.drone = d
+		a.drone = &testDrone{}
 	}
-	return a, d
+	return a
 }
 
-func TestFinalize(t *testing.T) {
-	a, _ := initTestArdroneAdaptor()
-	gobot.Expect(t, a.Finalize(), true)
-}
 func TestConnect(t *testing.T) {
-	a, _ := initTestArdroneAdaptor()
+	a := initTestArdroneAdaptor()
 	gobot.Expect(t, a.Connect(), true)
 }
-func TestDisconnect(t *testing.T) {
-	a, _ := initTestArdroneAdaptor()
-	gobot.Expect(t, a.Disconnect(), true)
-}
 
-func TestReconnect(t *testing.T) {
-	a, _ := initTestArdroneAdaptor()
-	gobot.Expect(t, a.Reconnect(), true)
-}
-
-func TestDrone(t *testing.T) {
-	a, d := initTestArdroneAdaptor()
-	a.Connect()
-	gobot.Expect(t, a.Drone(), d)
+func TestFinalize(t *testing.T) {
+	a := initTestArdroneAdaptor()
+	gobot.Expect(t, a.Finalize(), true)
 }

platforms/ardrone/ardrone_driver.go

@@ -6,14 +6,10 @@ import (
 
 type ArdroneDriver struct {
 	gobot.Driver
-	Adaptor DroneInterface
+	Adaptor *ArdroneAdaptor
 }
 
-type DroneInterface interface {
-	Drone() drone
-}
-
-func NewArdroneDriver(adaptor DroneInterface, name string) *ArdroneDriver {
+func NewArdroneDriver(adaptor *ArdroneAdaptor, name string) *ArdroneDriver {
 	return &ArdroneDriver{
 		Driver: gobot.Driver{
 			Name: name,
@@ -28,40 +24,51 @@ func NewArdroneDriver(adaptor DroneInterface, name string) *ArdroneDriver {
 func (a *ArdroneDriver) Start() bool {
 	return true
 }
+
 func (a *ArdroneDriver) Halt() bool {
 	return true
 }
 
 func (a *ArdroneDriver) TakeOff() {
-	gobot.Publish(a.Events["Flying"], gobot.Call(a.Adaptor.Drone(), "Takeoff"))
+	gobot.Publish(a.Events["Flying"], a.Adaptor.drone.Takeoff())
 }
+
 func (a *ArdroneDriver) Land() {
-	gobot.Call(a.Adaptor.Drone(), "Land")
+	a.Adaptor.drone.Land()
 }
+
 func (a *ArdroneDriver) Up(n float64) {
-	gobot.Call(a.Adaptor.Drone(), "Up", n)
+	a.Adaptor.drone.Up(n)
 }
+
 func (a *ArdroneDriver) Down(n float64) {
-	gobot.Call(a.Adaptor.Drone(), "Down", n)
+	a.Adaptor.drone.Down(n)
 }
+
 func (a *ArdroneDriver) Left(n float64) {
-	gobot.Call(a.Adaptor.Drone(), "Left", n)
+	a.Adaptor.drone.Left(n)
 }
+
 func (a *ArdroneDriver) Right(n float64) {
-	gobot.Call(a.Adaptor.Drone(), "Right", n)
+	a.Adaptor.drone.Right(n)
 }
+
 func (a *ArdroneDriver) Forward(n float64) {
-	gobot.Call(a.Adaptor.Drone(), "Forward", n)
+	a.Adaptor.drone.Forward(n)
 }
+
 func (a *ArdroneDriver) Backward(n float64) {
-	gobot.Call(a.Adaptor.Drone(), "Backward", n)
+	a.Adaptor.drone.Backward(n)
 }
+
 func (a *ArdroneDriver) Clockwise(n float64) {
-	gobot.Call(a.Adaptor.Drone(), "Clockwise", n)
+	a.Adaptor.drone.Clockwise(n)
 }
+
 func (a *ArdroneDriver) CounterClockwise(n float64) {
-	gobot.Call(a.Adaptor.Drone(), "Counterclockwise", n)
+	a.Adaptor.drone.Counterclockwise(n)
 }
+
 func (a *ArdroneDriver) Hover() {
-	gobot.Call(a.Adaptor.Drone(), "Hover")
+	a.Adaptor.drone.Hover()
 }