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mavlink_adaptor.go
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mavlink_adaptor.go
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package mavlink
import (
"io"
"github.com/hybridgroup/gobot"
"github.com/tarm/goserial"
)
var _ gobot.Adaptor = (*MavlinkAdaptor)(nil)
type MavlinkAdaptor struct {
name string
port string
sp io.ReadWriteCloser
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(port string) (io.ReadWriteCloser, error) {
return serial.OpenPort(&serial.Config{Name: port, Baud: 57600})
},
}
}
func (m *MavlinkAdaptor) Name() string { return m.name }
func (m *MavlinkAdaptor) Port() string { return m.port }
// Connect returns true if connection to device is successful
func (m *MavlinkAdaptor) Connect() (errs []error) {
if sp, err := m.connect(m.Port()); err != nil {
return []error{err}
} else {
m.sp = sp
}
return
}
// Finalize returns true if connection to devices is closed successfully
func (m *MavlinkAdaptor) Finalize() (errs []error) {
if err := m.sp.Close(); err != nil {
return []error{err}
}
return
}