Refactor mavlink serialport connection instantiation

wmv · Dec 18, 2014 · 3b82731 · 3b82731
1 parent 3ab7aa1
commit 3b82731
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Showing 3 changed files with 12 additions and 13 deletions.
diff --git a/platforms/mavlink/mavlink_adaptor.go b/platforms/mavlink/mavlink_adaptor.go
@@ -13,21 +13,16 @@ type MavlinkAdaptor struct {
 	name    string
 	port    string
 	sp      io.ReadWriteCloser
-	connect func(*MavlinkAdaptor) (err error)
+	connect func(string) (io.ReadWriteCloser, error)
 }
 
 // NewMavLinkAdaptor creates a new mavlink adaptor with specified name and port
 func NewMavlinkAdaptor(name string, port string) *MavlinkAdaptor {
 	return &MavlinkAdaptor{
 		name: name,
 		port: port,
-		connect: func(m *MavlinkAdaptor) (err error) {
-			s, err := serial.OpenPort(&serial.Config{Name: m.Port(), Baud: 57600})
-			if err != nil {
-				return err
-			}
-			m.sp = s
-			return
+		connect: func(port string) (io.ReadWriteCloser, error) {
+			return serial.OpenPort(&serial.Config{Name: port, Baud: 57600})
 		},
 	}
 }
@@ -37,8 +32,10 @@ func (m *MavlinkAdaptor) Port() string { return m.port }
 
 // Connect returns true if connection to device is successful
 func (m *MavlinkAdaptor) Connect() (errs []error) {
-	if err := m.connect(m); err != nil {
+	if sp, err := m.connect(m.Port()); err != nil {
 		return []error{err}
+	} else {
+		m.sp = sp
 	}
 	return
 }

diff --git a/platforms/mavlink/mavlink_adaptor_test.go b/platforms/mavlink/mavlink_adaptor_test.go
@@ -2,6 +2,7 @@ package mavlink
 
 import (
 	"errors"
+	"io"
 	"testing"
 
 	"github.com/hybridgroup/gobot"
@@ -43,7 +44,7 @@ func (nullReadWriteCloser) Close() error {
 func initTestMavlinkAdaptor() *MavlinkAdaptor {
 	m := NewMavlinkAdaptor("myAdaptor", "/dev/null")
 	m.sp = nullReadWriteCloser{}
-	m.connect = func(a *MavlinkAdaptor) (err error) { return nil }
+	m.connect = func(port string) (io.ReadWriteCloser, error) { return nil, nil }
 	return m
 }
 
@@ -56,7 +57,7 @@ func TestMavlinkAdaptorConnect(t *testing.T) {
 	a := initTestMavlinkAdaptor()
 	gobot.Assert(t, len(a.Connect()), 0)
 
-	a.connect = func(a *MavlinkAdaptor) (err error) { return errors.New("connect error") }
+	a.connect = func(port string) (io.ReadWriteCloser, error) { return nil, errors.New("connect error") }
 	gobot.Assert(t, a.Connect()[0], errors.New("connect error"))
 }
 

diff --git a/platforms/mavlink/mavlink_driver_test.go b/platforms/mavlink/mavlink_driver_test.go
@@ -2,6 +2,7 @@ package mavlink
 
 import (
 	"errors"
+	"io"
 	"testing"
 	"time"
 
@@ -11,15 +12,15 @@ import (
 
 func initTestMavlinkDriver() *MavlinkDriver {
 	m := NewMavlinkAdaptor("myAdaptor", "/dev/null")
-	m.connect = func(a *MavlinkAdaptor) (err error) { return nil }
+	m.connect = func(port string) (io.ReadWriteCloser, error) { return nil, nil }
 	m.sp = nullReadWriteCloser{}
 	return NewMavlinkDriver(m, "myDriver")
 }
 
 func TestMavlinkDriver(t *testing.T) {
 	m := NewMavlinkAdaptor("myAdaptor", "/dev/null")
 	m.sp = nullReadWriteCloser{}
-	m.connect = func(a *MavlinkAdaptor) (err error) { return nil }
+	m.connect = func(port string) (io.ReadWriteCloser, error) { return nil, nil }
 
 	d := NewMavlinkDriver(m, "myDriver")
 	gobot.Assert(t, d.Name(), "myDriver")