lib/artoo/drivers/sphero.rb in artoo-sphero-1.0.0.pre vs lib/artoo/drivers/sphero.rb in artoo-sphero-1.0.0.rc1

@@ -9,67 +9,49 @@
       GREEN   = [0,   255, 0]
       YELLOW  = [255, 255, 0]
       BLUE    = [0,   0,   255]
       WHITE   = [255, 255, 255]
 
-      COMMANDS = [:detect_collisions, :clear_collisions, :collisions,
-                  :power_notifications, :sensor_data, :set_color, :color].freeze
+      COMMANDS = [:roll, :stop, :detect_collisions, :messages, :set_color, :color].freeze
 
       # Starts drives and required connections
       def start_driver
         begin
           detect_collisions
 
           every(interval) do
-            handle_collision_events
+            handle_message_events
           end
 
           super
         rescue Exception => e
           Logger.error "Error starting Sphero driver!"
           Logger.error e.message
           Logger.error e.backtrace.inspect
         end
       end
 
-      def handle_collision_events
-        while i = find_event(::Sphero::Response::CollisionDetected) do
-          update_collision(messages.slice!(i))
+      def handle_message_events         
+        while not connection.messages.empty? do        
+          evt = connection.messages.pop
+          case 
+          when evt.is_a?(::Sphero::Response::CollisionDetected)
+            handle_collision_detected(evt)
+          when evt.is_a?(::Sphero::Response::PowerNotification)
+            handle_power_notification(evt)
+          when evt.is_a?(::Sphero::Response::SensorData)
+            handle_sensor_data(evt)
+          end
         end
       end
 
-      # Publish collision events
-      def update_collision(data)
-        publish(event_topic_name("collision"), data)
-      end
-
       # Detects collisions
       # @param [Hash] params
       def detect_collisions(params={})
         connection.configure_collision_detection 0x01, 0x20, 0x20, 0x20, 0x20, 0x50
       end
 
-      # Clears collisions
-      def clear_collisions
-        messages.clear if responses = messages
-      end
-
-      # @return [CollisionDetected] collision
-      def collisions
-        matching_response_types messages, ::Sphero::Response::CollisionDetected
-      end
-
-      # @return [PowerNotification] power notification
-      def power_notifications
-        matching_response_types messages, ::Sphero::Response::PowerNotification
-      end
-
-      # @return [SensorData] sensor data
-      def sensor_data
-        matching_response_types messages, ::Sphero::Response::SensorData
-      end
-
       # Set color
       # @param [Collection] colors
       def set_color(*colors)
         connection.rgb(*color(*colors))
       end
@@ -87,19 +69,22 @@
         end
       end
 
       private
 
-      def find_event(response_klass)
-        messages.index {|m| m.is_a? response_klass}
+      # Publish collision events
+      def handle_collision_detected(data)
+        publish(event_topic_name("collision"), data)
       end
 
-      def matching_response_types(responses, respone_klass)
-        responses.select { |m| m.is_a? respone_klass } if responses
+      # Publish collision events
+      def handle_power_notification(data)
+        publish(event_topic_name("power"), data)
       end
 
-      def messages
-        connection.async_messages
+      # Publish collision events
+      def handle_sensor_data(data)
+        publish(event_topic_name("sensor"), data)
       end
     end
   end
 end