Update sphero package and examples

cjqian · May 23, 2014 · d877ffd · d877ffd
1 parent f81aa43
commit d877ffd
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Showing 9 changed files with 62 additions and 82 deletions.
diff --git a/examples/sphero.go b/examples/sphero.go
@@ -3,39 +3,35 @@ package main
 import (
 	"fmt"
 	"github.com/hybridgroup/gobot"
-	"github.com/hybridgroup/gobot/sphero"
+	"github.com/hybridgroup/gobot/platforms/sphero"
+	"time"
 )
 
 func main() {
-	adaptor := sphero.NewAdaptor()
-	adaptor.Name = "Sphero"
-	adaptor.Port = "/dev/rfcomm0"
+	gbot := gobot.NewGobot()
 
-	spheroDriver := sphero.NewSpheroDriver(adaptor)
-	spheroDriver.Name = "sphero"
+	adaptor := sphero.NewSpheroAdaptor("Sphero", "/dev/rfcomm0")
+	spheroDriver := sphero.NewSpheroDriver(adaptor, "sphero")
 
 	work := func() {
 		gobot.On(spheroDriver.Events["Collision"], func(data interface{}) {
 			fmt.Println("Collision Detected!")
 		})
 
-		gobot.Every("3s", func() {
+		gobot.Every(3*time.Second, func() {
 			spheroDriver.Roll(30, uint16(gobot.Rand(360)))
 		})
 
-		gobot.Every("1s", func() {
+		gobot.Every(1*time.Second, func() {
 			r := uint8(gobot.Rand(255))
 			g := uint8(gobot.Rand(255))
 			b := uint8(gobot.Rand(255))
 			spheroDriver.SetRGB(r, g, b)
 		})
 	}
 
-	robot := gobot.Robot{
-		Connections: []gobot.Connection{adaptor},
-		Devices:     []gobot.Device{spheroDriver},
-		Work:        work,
-	}
+	gbot.Robots = append(gbot.Robots,
+		gobot.NewRobot("sphero", []gobot.Connection{adaptor}, []gobot.Device{spheroDriver}, work))
 
-	robot.Start()
+	gbot.Start()
 }
diff --git a/examples/sphero_api.go b/examples/sphero_api.go
@@ -2,10 +2,11 @@ package main
 
 import (
 	"github.com/hybridgroup/gobot"
-	"github.com/hybridgroup/gobot/sphero"
+	"github.com/hybridgroup/gobot/api"
+	"github.com/hybridgroup/gobot/platforms/sphero"
 )
 
-var Master *gobot.Master = gobot.NewMaster()
+Master := gobot.NewGobot()
 
 func TurnBlue(params map[string]interface{}) bool {
 	spheroDriver := Master.FindRobotDevice(params["robotname"].(string), "sphero")
@@ -14,32 +15,25 @@ func TurnBlue(params map[string]interface{}) bool {
 }
 
 func main() {
-	gobot.Api(Master)
+	api.Api(Master).Start()
 
 	spheros := map[string]string{
 		"Sphero-BPO": "/dev/rfcomm0",
 	}
 
 	for name, port := range spheros {
-		spheroAdaptor := sphero.NewSpheroAdaptor()
-		spheroAdaptor.Name = "sphero"
-		spheroAdaptor.Port = port
+		spheroAdaptor := sphero.NewSpheroAdaptor("sphero", port)
 
-		spheroDriver := sphero.NewSpheroDriver(spheroAdaptor)
-		spheroDriver.Name = "sphero"
-		spheroDriver.Interval = "0.5s"
+		spheroDriver := sphero.NewSpheroDriver(spheroAdaptor, "sphero")
 
 		work := func() {
 			spheroDriver.SetRGB(uint8(255), uint8(0), uint8(0))
 		}
 
-		Master.Robots = append(Master.Robots, &gobot.Robot{
-			Name:        name,
-			Connections: []gobot.Connection{spheroAdaptor},
-			Devices:     []gobot.Device{spheroDriver},
-			Work:        work,
-			Commands:    map[string]interface{}{"TurnBlue": TurnBlue},
-		})
+		robot := gobot.NewRobot(name, []gobot.Connection{spheroAdaptor}, []gobot.Device{spheroDriver}, work)
+		robot.Commands = map[string]interface{}{"TurnBlue": TurnBlue}
+
+		Master.Robots = append(Master.Robots, robot)
 	}
 
 	Master.Start()

diff --git a/examples/sphero_conways.go b/examples/sphero_conways.go
@@ -3,7 +3,8 @@ package main
 import (
 	"fmt"
 	"github.com/hybridgroup/gobot"
-	"github.com/hybridgroup/gobot/sphero"
+	"github.com/hybridgroup/gobot/platforms/sphero"
+	"time"
 )
 
 type conway struct {
@@ -14,7 +15,7 @@ type conway struct {
 }
 
 func main() {
-	master := gobot.NewMaster()
+	master := gobot.NewGobot()
 
 	spheros := []string{
 		"/dev/rfcomm0",
@@ -23,12 +24,9 @@ func main() {
 	}
 
 	for s := range spheros {
-		spheroAdaptor := sphero.NewSpheroAdaptor()
-		spheroAdaptor.Name = "Sphero"
-		spheroAdaptor.Port = spheros[s]
+		spheroAdaptor := sphero.NewSpheroAdaptor("Sphero", spheros[s])
 
-		cell := sphero.NewSpheroDriver(spheroAdaptor)
-		cell.Name = "Sphero" + spheros[s]
+		cell := sphero.NewSpheroDriver(spheroAdaptor, "Sphero"+spheros[s])
 
 		work := func() {
 
@@ -41,24 +39,21 @@ func main() {
 				conway.contact()
 			})
 
-			gobot.Every("3s", func() {
+			gobot.Every(3*time.Second, func() {
 				if conway.alive == true {
 					conway.movement()
 				}
 			})
 
-			gobot.Every("10s", func() {
+			gobot.Every(10*time.Second, func() {
 				if conway.alive == true {
 					conway.birthday()
 				}
 			})
 		}
 
-		master.Robots = append(master.Robots, &gobot.Robot{
-			Connections: []gobot.Connection{spheroAdaptor},
-			Devices:     []gobot.Device{cell},
-			Work:        work,
-		})
+		master.Robots = append(master.Robots,
+			gobot.NewRobot("conway", []gobot.Connection{spheroAdaptor}, []gobot.Device{cell}, work))
 	}
 
 	master.Start()

diff --git a/examples/sphero_master.go b/examples/sphero_master.go
@@ -2,44 +2,40 @@ package main
 
 import (
 	"github.com/hybridgroup/gobot"
-	"github.com/hybridgroup/gobot/sphero"
+	"github.com/hybridgroup/gobot/platforms/sphero"
+	"time"
 )
 
 func main() {
-	master := gobot.GobotMaster()
+	master := gobot.NewGobot()
 
 	spheros := map[string]string{
 		"Sphero-BPO": "/dev/rfcomm0",
 	}
 
 	for name, port := range spheros {
-		spheroAdaptor := new(sphero.Adaptor)
-		spheroAdaptor.Name = "sphero"
-		spheroAdaptor.Port = port
+		spheroAdaptor := sphero.NewSpheroAdaptor("sphero", port)
 
-		spheroDriver := sphero.NewSpheroDriver(spheroAdaptor)
-		spheroDriver.Name = "sphero"
-		spheroDriver.Interval = "0.5s"
+		spheroDriver := sphero.NewSpheroDriver(spheroAdaptor, "sphero")
 
 		work := func() {
 			spheroDriver.SetRGB(uint8(255), uint8(0), uint8(0))
 		}
 
-		master.Robots = append(master.Robots, &gobot.Robot{
-			Name:        name,
-			Connections: []gobot.Connection{spheroAdaptor},
-			Devices:     []gobot.Device{spheroDriver},
-			Work:        work,
-		})
+		master.Robots = append(master.Robots,
+			gobot.NewRobot(name, []gobot.Connection{spheroAdaptor}, []gobot.Device{spheroDriver}, work))
 	}
 
-	master.Robots = append(master.Robots, &gobot.Robot{
-		Work: func() {
-			gobot.Every("1s", func() {
+	master.Robots = append(master.Robots, gobot.NewRobot(
+		""
+		nil,
+		nil,
+		func() {
+			gobot.Every(1*time.Second, func() {
 				gobot.Call(master.FindRobot("Sphero-BPO").GetDevice("spheroDriver").Driver, "SetRGB", uint8(gobot.Rand(255)), uint8(gobot.Rand(255)), uint8(gobot.Rand(255)))
 			})
 		},
-	})
+	))
 
 	master.Start()
 }
diff --git a/examples/sphero_multiple.go b/examples/sphero_multiple.go
@@ -3,11 +3,12 @@ package main
 import (
 	"fmt"
 	"github.com/hybridgroup/gobot"
-	"github.com/hybridgroup/gobot/sphero"
+	"github.com/hybridgroup/gobot/platforms/sphero"
+	"time"
 )
 
 func main() {
-	master := gobot.NewMaster()
+	master := gobot.NewGobot()
 
 	spheros := []string{
 		"/dev/rfcomm0",
@@ -17,13 +18,9 @@ func main() {
 	}
 
 	for s := range spheros {
-		spheroAdaptor := sphero.NewSpheroAdaptor()
-		spheroAdaptor.Name = "Sphero"
-		spheroAdaptor.Port = spheros[s]
+		spheroAdaptor := sphero.NewSpheroAdaptor("Sphero", spheros[s])
 
-		spheroDriver := sphero.NewSpheroDriver(spheroAdaptor)
-		spheroDriver.Name = "Sphero" + spheros[s]
-		spheroDriver.Interval = "0.5s"
+		spheroDriver := sphero.NewSpheroDriver(spheroAdaptor, "Sphero"+spheros[s])
 
 		work := func() {
 			spheroDriver.Stop()
@@ -32,19 +29,16 @@ func main() {
 				fmt.Println("Collision Detected!")
 			})
 
-			gobot.Every("1s", func() {
+			gobot.Every(1*time.Second, func() {
 				spheroDriver.Roll(100, uint16(gobot.Rand(360)))
 			})
-			gobot.Every("3s", func() {
+			gobot.Every(3*time.Second, func() {
 				spheroDriver.SetRGB(uint8(gobot.Rand(255)), uint8(gobot.Rand(255)), uint8(gobot.Rand(255)))
 			})
 		}
 
-		master.Robots = append(master.Robots, &gobot.Robot{
-			Connections: []gobot.Connection{spheroAdaptor},
-			Devices:     []gobot.Device{spheroDriver},
-			Work:        work,
-		})
+		master.Robots = append(master.Robots,
+			gobot.NewRobot("sphero", []gobot.Connection{spheroAdaptor}, []gobot.Device{spheroDriver}, work))
 	}
 
 	master.Start()

diff --git a/platforms/sphero/sphero_adaptor.go b/platforms/sphero/sphero_adaptor.go
@@ -12,8 +12,12 @@ type SpheroAdaptor struct {
 	connect func(*SpheroAdaptor)
 }
 
-func NewSpheroAdaptor() *SpheroAdaptor {
+func NewSpheroAdaptor(name string, port string) *SpheroAdaptor {
 	return &SpheroAdaptor{
+		Adaptor: gobot.Adaptor{
+			Name: name,
+			Port: port,
+		},
 		connect: func(a *SpheroAdaptor) {
 			c := &serial.Config{Name: a.Port, Baud: 115200}
 			s, err := serial.OpenPort(c)

diff --git a/platforms/sphero/sphero_adaptor_test.go b/platforms/sphero/sphero_adaptor_test.go
@@ -11,7 +11,7 @@ var _ = Describe("SpheroAdaptor", func() {
 	)
 
 	BeforeEach(func() {
-		a = NewSpheroAdaptor()
+		a = NewSpheroAdaptor("bot", "/dev/null")
 		a.sp = sp{}
 		a.connect = func(a *SpheroAdaptor) {}
 	})

diff --git a/platforms/sphero/sphero_driver.go b/platforms/sphero/sphero_driver.go
@@ -22,9 +22,10 @@ type SpheroDriver struct {
 	response_channel chan []uint8
 }
 
-func NewSpheroDriver(a *SpheroAdaptor) *SpheroDriver {
+func NewSpheroDriver(a *SpheroAdaptor, name string) *SpheroDriver {
 	return &SpheroDriver{
 		Driver: gobot.Driver{
+			Name:   name,
 			Events: make(map[string]chan interface{}),
 			Commands: []string{
 				"SetRGBC",

diff --git a/platforms/sphero/sphero_driver_test.go b/platforms/sphero/sphero_driver_test.go
@@ -12,9 +12,9 @@ var _ = Describe("SpheroDriver", func() {
 	)
 
 	BeforeEach(func() {
-		a = NewSpheroAdaptor()
+		a = NewSpheroAdaptor("bot", "/dev/null")
 		a.sp = sp{}
-		s = NewSpheroDriver(a)
+		s = NewSpheroDriver(a, "bot")
 	})
 
 	It("Must be able to Start", func() {