Update ardrone adaptor, driver and examples

wallyqs · May 21, 2014 · d32a527 · d32a527
1 parent efbc75e
commit d32a527
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Showing 7 changed files with 49 additions and 68 deletions.
diff --git a/examples/ardrone.go b/examples/ardrone.go
@@ -2,36 +2,32 @@ package main
 
 import (
 	"github.com/hybridgroup/gobot"
-	"github.com/hybridgroup/gobot/ardrone"
+	"github.com/hybridgroup/gobot/platforms/ardrone"
+	"time"
 )
 
 func main() {
-	ardroneAdaptor := ardrone.NewArdroneAdaptor()
-	ardroneAdaptor.Name = "Drone"
-
-	drone := ardrone.NewArdroneDriver(ardroneAdaptor)
-	drone.Name = "Drone"
+	gbot := gobot.NewGobot()
+	ardroneAdaptor := ardrone.NewArdroneAdaptor("Drone")
+	drone := ardrone.NewArdroneDriver(ardroneAdaptor, "Drone")
 
 	work := func() {
 		drone.TakeOff()
 		gobot.On(drone.Events["Flying"], func(data interface{}) {
-			gobot.After("1s", func() {
+			gobot.After(1*time.Second, func() {
 				drone.Right(0.1)
 			})
-			gobot.After("2s", func() {
+			gobot.After(2*time.Second, func() {
 				drone.Left(0.1)
 			})
-			gobot.After("3s", func() {
+			gobot.After(3*time.Second, func() {
 				drone.Land()
 			})
 		})
 	}
 
-	robot := gobot.Robot{
-		Connections: []gobot.Connection{ardroneAdaptor},
-		Devices:     []gobot.Device{drone},
-		Work:        work,
-	}
+	gbot.Robots = append(gbot.Robots,
+		gobot.NewRobot("drone", []gobot.Connection{ardroneAdaptor}, []gobot.Device{drone}, work))
 
-	robot.Start()
+	gbot.Start()
 }
diff --git a/examples/ardrone_face_tracking.go b/examples/ardrone_face_tracking.go
@@ -4,29 +4,23 @@ import (
 	"fmt"
 	cv "github.com/hybridgroup/go-opencv/opencv"
 	"github.com/hybridgroup/gobot"
-	"github.com/hybridgroup/gobot/ardrone"
-	"github.com/hybridgroup/gobot/opencv"
+	"github.com/hybridgroup/gobot/platforms/ardrone"
+	"github.com/hybridgroup/gobot/platforms/opencv"
 	"math"
 	"path"
 	"runtime"
+	"time"
 )
 
 func main() {
+	gbot := gobot.NewGobot()
+
 	_, currentfile, _, _ := runtime.Caller(0)
 	cascade := path.Join(path.Dir(currentfile), "haarcascade_frontalface_alt.xml")
-
-	window := opencv.NewWindowDriver()
-	window.Name = "window"
-
-	camera := opencv.NewCamera()
-	camera.Name = "camera"
-	camera.Source = "tcp://192.168.1.1:5555"
-
-	ardroneAdaptor := ardrone.NewArdroneAdaptor()
-	ardroneAdaptor.Name = "Drone"
-
-	drone := ardrone.NewArdroneDriver(ardroneAdaptor)
-	drone.Name = "Drone"
+	window := opencv.NewWindowDriver("window")
+	camera := opencv.NewCamera("camera", "tcp://192.168.1.1:5555")
+	ardroneAdaptor := ardrone.NewArdroneAdaptor("Drone")
+	drone := ardrone.NewArdroneDriver(ardroneAdaptor, "drone")
 
 	work := func() {
 		detect := false
@@ -39,11 +33,11 @@ func main() {
 			}
 		})
 		gobot.On(drone.Events["Flying"], func(data interface{}) {
-			gobot.After("1s", func() { drone.Up(0.2) })
-			gobot.After("2s", func() { drone.Hover() })
-			gobot.After("5s", func() {
+			gobot.After(1*time.Second, func() { drone.Up(0.2) })
+			gobot.After(2*time.Second, func() { drone.Hover() })
+			gobot.After(5*time.Second, func() {
 				detect = true
-				gobot.Every("0.3s", func() {
+				gobot.Every(0.3*time.Second, func() {
 					drone.Hover()
 					i := image
 					faces := opencv.DetectFaces(cascade, i)
@@ -68,16 +62,13 @@ func main() {
 					}
 					window.ShowImage(i)
 				})
-				gobot.After("20s", func() { drone.Land() })
+				gobot.After(20*time.Second, func() { drone.Land() })
 			})
 		})
 	}
 
-	robot := gobot.Robot{
-		Connections: []gobot.Connection{ardroneAdaptor},
-		Devices:     []gobot.Device{window, camera, drone},
-		Work:        work,
-	}
+	gbot.Robots = append(gbot.Robots,
+		gobot.NewRobot("face", []gobot.Connection{ardroneAdaptor}, []gobot.Device{window, camera, drone}, work))
 
 	robot.Start()
 }
diff --git a/examples/ardrone_ps3.go b/examples/ardrone_ps3.go
@@ -2,9 +2,10 @@ package main
 
 import (
 	"github.com/hybridgroup/gobot"
-	"github.com/hybridgroup/gobot/ardrone"
-	"github.com/hybridgroup/gobot/joystick"
+	"github.com/hybridgroup/gobot/platforms/ardrone"
+	"github.com/hybridgroup/gobot/platforms/joystick"
 	"math"
+	"time"
 )
 
 type pair struct {
@@ -13,23 +14,15 @@ type pair struct {
 }
 
 func main() {
-	joystickAdaptor := joystick.NewJoystickAdaptor()
-	joystickAdaptor.Name = "ps3"
-	joystickAdaptor.Params = map[string]interface{}{
-		"config": "../joytsitkc/configs/dualshock3.json",
-	}
-
-	joystick := joystick.NewJoystickDriver(joystickAdaptor)
-	joystick.Name = "ps3"
+	gbot := gobot.NewGobot()
 
-	ardroneAdaptor := ardrone.NewArdroneAdaptor()
-	ardroneAdaptor.Name = "Drone"
+	joystickAdaptor := joystick.NewJoystickAdaptor("ps3", "../joystick/configs/dualshock3.json")
+	joystick := joystick.NewJoystickDriver(joystickAdaptor, "ps3")
 
-	drone := ardrone.NewArdroneDriver(ardroneAdaptor)
-	drone.Name = "Drone"
+	ardroneAdaptor := ardrone.NewArdroneAdaptor("Drone")
+	drone := ardrone.NewArdroneDriver(ardroneAdaptor, "Drone")
 
 	work := func() {
-
 		offset := 32767.0
 		right_stick := pair{x: 0, y: 0}
 		left_stick := pair{x: 0, y: 0}
@@ -68,7 +61,7 @@ func main() {
 			}
 		})
 
-		gobot.Every("0.01s", func() {
+		gobot.Every(0.01*time.Second, func() {
 			pair := left_stick
 			if pair.y < -10 {
 				drone.Forward(validatePitch(pair.y, offset))
@@ -87,7 +80,7 @@ func main() {
 			}
 		})
 
-		gobot.Every("0.01s", func() {
+		gobot.Every(0.01*time.Second, func() {
 			pair := right_stick
 			if pair.y < -10 {
 				drone.Up(validatePitch(pair.y, offset))
@@ -107,13 +100,10 @@ func main() {
 		})
 	}
 
-	robot := gobot.Robot{
-		Connections: []gobot.Connection{joystickAdaptor, ardroneAdaptor},
-		Devices:     []gobot.Device{joystick, drone},
-		Work:        work,
-	}
+	gbot.Robot = append(gbot.Robots,
+		gobot.NewRobot("ardrone", []gobot.Connection{joystickAdaptor, ardroneAdaptor}, []gobot.Device{joystick, drone}, work))
 
-	robot.Start()
+	gbot.Start()
 }
 
 func validatePitch(data float64, offset float64) float64 {

diff --git a/platforms/ardrone/ardrone_adaptor.go b/platforms/ardrone/ardrone_adaptor.go
@@ -13,8 +13,11 @@ type ArdroneAdaptor struct {
 	connect func(*ArdroneAdaptor)
 }
 
-func NewArdroneAdaptor() *ArdroneAdaptor {
+func NewArdroneAdaptor(name string) *ArdroneAdaptor {
 	return &ArdroneAdaptor{
+		Adaptor: gobot.Adaptor{
+			Name: name,
+		},
 		connect: func(a *ArdroneAdaptor) {
 			d, err := client.Connect(client.DefaultConfig())
 			if err != nil {

diff --git a/platforms/ardrone/ardrone_adaptor_test.go b/platforms/ardrone/ardrone_adaptor_test.go
@@ -13,7 +13,7 @@ var _ = Describe("ArdroneAdaptor", func() {
 
 	BeforeEach(func() {
 		drone = &testDrone{}
-		adaptor = NewArdroneAdaptor()
+		adaptor = NewArdroneAdaptor("drone")
 		adaptor.connect = func(a *ArdroneAdaptor) {
 			a.drone = drone
 		}

diff --git a/platforms/ardrone/ardrone_driver.go b/platforms/ardrone/ardrone_driver.go
@@ -13,9 +13,10 @@ type DroneInterface interface {
 	Drone() drone
 }
 
-func NewArdroneDriver(adaptor DroneInterface) *ArdroneDriver {
+func NewArdroneDriver(adaptor DroneInterface, name string) *ArdroneDriver {
 	return &ArdroneDriver{
 		Driver: gobot.Driver{
+			Name: name,
 			Events: map[string]chan interface{}{
 				"Flying": make(chan interface{}, 1),
 			},

diff --git a/platforms/ardrone/ardrone_driver_test.go b/platforms/ardrone/ardrone_driver_test.go
@@ -11,11 +11,11 @@ var _ = Describe("ArdroneDriver", func() {
 	)
 
 	BeforeEach(func() {
-		adaptor := NewArdroneAdaptor()
+		adaptor := NewArdroneAdaptor("drone")
 		adaptor.connect = func(a *ArdroneAdaptor) {
 			a.drone = &testDrone{}
 		}
-		driver = NewArdroneDriver(adaptor)
+		driver = NewArdroneDriver(adaptor, "drone")
 		adaptor.Connect()
 	})