Class: Artoo::Drivers::ArdroneNavigation
- Inherits:
-
Driver
- Object
- Driver
- Artoo::Drivers::ArdroneNavigation
- Defined in:
- lib/artoo/drivers/ardrone_navigation.rb
Overview
Ardrone navigation driver behaviors
Constant Summary collapse
- COMMANDS =
[:emergency_landing?].freeze
Instance Method Summary collapse
- #emergency_landing? ⇒ Boolean
-
#handle_update ⇒ Object
Receives data from navigation and publishes and event in update topic for it.
-
#start_driver ⇒ Object
Starts driver and handle updates from device.
Instance Method Details
#emergency_landing? ⇒ Boolean
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# File 'lib/artoo/drivers/ardrone_navigation.rb', line 48 def emergency_landing? @emergency_landing end |
#handle_update ⇒ Object
Receives data from navigation and publishes and event in update topic for it
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# File 'lib/artoo/drivers/ardrone_navigation.rb', line 22 def handle_update navdata = connection.receive_data return unless navdata @emergency_landing = navdata.emergency_landing? navdata..each do |opt| n = navdata.clone n. = opt case when opt.is_a?(::Argus::NavOptionDemo) publish(event_topic_name("update"), "navdata_demo", n, opt) publish(event_topic_name("demo"), n, opt) when opt.is_a?(::Argus::NavOptionVisionDetect) publish(event_topic_name("update"), "navdata_vision_detect", n, opt) publish(event_topic_name("vision_detect"), n, opt) end end publish(event_topic_name("update"), "navdata", navdata) publish(event_topic_name("navdata"), navdata) end |
#start_driver ⇒ Object
Starts driver and handle updates from device
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# File 'lib/artoo/drivers/ardrone_navigation.rb', line 10 def start_driver every(interval) do handle_update end super publish(event_topic_name("ready")) end |