Documentation
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Overview ¶
Package sim defines a limited OpenInterface simulator type that's mainly used for testing.
Simulator can be created using MakeRoombaSim() function, which returns a simulator instance and a ReadWriter, suitable for passing to go-roomba client.
Index ¶
Constants ¶
This section is empty.
Variables ¶
View Source
var MockSensorValues = map[byte][]byte{ constants.SENSOR_BUMP_WHEELS_DROPS: []byte{0}, constants.SENSOR_VIRTUAL_WALL: []byte{5}, constants.SENSOR_CLIFF_RIGHT: []byte{42}, constants.SENSOR_CHARGING: []byte{21}, constants.SENSOR_VOLTAGE: roomba.Pack([]interface{}{uint16(1200)}), constants.SENSOR_TEMPERATURE: []byte{24}, constants.SENSOR_OI_MODE: []byte{2}, constants.SENSOR_SONG_NUMBER: []byte{1}, constants.SENSOR_DISTANCE: []byte{10, 20}, constants.SENSOR_WALL: []byte{35}, constants.SENSOR_BATTERY_CHARGE: roomba.Pack([]interface{}{uint16(1300)}), constants.SENSOR_BATTERY_CAPACITY: roomba.Pack([]interface{}{uint16(1500)}), constants.SENSOR_CURRENT: roomba.Pack([]interface{}{int16(-747)}), constants.SENSOR_CLIFF_FRONT_LEFT_SIGNAL: roomba.Pack([]interface{}{uint8(2), uint8(25)}), }
MockSensorValues contains mapping of sensor codes to sensor values returned by a RoombaSimulator object on sensor requests.
Functions ¶
This section is empty.
Types ¶
type RoombaSimulator ¶
type RoombaSimulator struct {
WrittenBytes bytes.Buffer // Logs all the bytes written by the simulator to its Writer.
ReadBytes bytes.Buffer // Logs all the bytes read by the simulator from its Reader.
RequestedVelocity []byte
RequestedRadius []byte
// contains filtered or unexported fields
}
Roomba simulator instance. Should be constructed with MakeRoombaSim() function.
func MakeRoombaSim ¶
func MakeRoombaSim() (*RoombaSimulator, *readWriter)
func (*RoombaSimulator) Stop ¶
func (sim *RoombaSimulator) Stop()
Source Files
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