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Fix #248

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Add Servo and AngularServo implementation along with docs and tests.
This is a deliberately minimal implementation designed to be added to as
we agree on new extensions (better than making an all-singing,
all-dancing version in which I get things wrong and then wind up making
backward incompatible changes to get it right :)
This commit is contained in:
Dave Jones
2016-06-15 23:34:50 +01:00
parent 20df5e4249
commit 02f7d20bc3
8 changed files with 489 additions and 29 deletions
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2
docs/images/composite_device_hierarchy.dot
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@@ -32,5 +32,7 @@ digraph classes {
RyanteckRobot->Robot;
CamJamKitRobot->Robot;
Motor->CompositeDevice;
Servo->CompositeDevice;
AngularServo->Servo;
Energenie->Device;
}

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docs/images/composite_device_hierarchy.pdf
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docs/images/composite_device_hierarchy.png
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docs/images/composite_device_hierarchy.svg
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@@ -4,25 +4,25 @@
<!-- Generated by graphviz version 2.38.0 (20140413.2041)
-->
<!-- Title: classes Pages: 1 -->
<svg width="587pt" height="476pt"
viewBox="0.00 0.00 587.00 476.00" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<svg width="687pt" height="476pt"
viewBox="0.00 0.00 686.50 476.00" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g id="graph0" class="graph" transform="scale(1 1) rotate(0) translate(4 472)">
<title>classes</title>
<polygon fill="white" stroke="none" points="-4,4 -4,-472 583,-472 583,4 -4,4"/>
<polygon fill="white" stroke="none" points="-4,4 -4,-472 682.5,-472 682.5,4 -4,4"/>
<!-- Device -->
<g id="node1" class="node"><title>Device</title>
<polygon fill="#9ec6e0" stroke="#9ec6e0" points="499,-468 445,-468 445,-432 499,-432 499,-468"/>
<text text-anchor="middle" x="472" y="-447.5" font-family="Sans" font-size="10.00" fill="#000000">Device</text>
<polygon fill="#9ec6e0" stroke="#9ec6e0" points="553,-468 499,-468 499,-432 553,-432 553,-468"/>
<text text-anchor="middle" x="526" y="-447.5" font-family="Sans" font-size="10.00" fill="#000000">Device</text>
</g>
<!-- CompositeDevice -->
<g id="node2" class="node"><title>CompositeDevice</title>
<polygon fill="#9ec6e0" stroke="#9ec6e0" points="472.5,-396 371.5,-396 371.5,-360 472.5,-360 472.5,-396"/>
<text text-anchor="middle" x="422" y="-375.5" font-family="Sans" font-size="10.00" fill="#000000">CompositeDevice</text>
<polygon fill="#9ec6e0" stroke="#9ec6e0" points="526.5,-396 425.5,-396 425.5,-360 526.5,-360 526.5,-396"/>
<text text-anchor="middle" x="476" y="-375.5" font-family="Sans" font-size="10.00" fill="#000000">CompositeDevice</text>
</g>
<!-- CompositeDevice&#45;&gt;Device -->
<g id="edge1" class="edge"><title>CompositeDevice&#45;&gt;Device</title>
<path fill="none" stroke="black" d="M434.36,-396.303C440.233,-404.526 447.369,-414.517 453.842,-423.579"/>
<polygon fill="black" stroke="black" points="451.122,-425.793 459.783,-431.896 456.818,-421.724 451.122,-425.793"/>
<path fill="none" stroke="black" d="M488.36,-396.303C494.233,-404.526 501.369,-414.517 507.842,-423.579"/>
<polygon fill="black" stroke="black" points="505.122,-425.793 513.783,-431.896 510.818,-421.724 505.122,-425.793"/>
</g>
<!-- CompositeOutputDevice -->
<g id="node3" class="node"><title>CompositeOutputDevice</title>
@@ -31,8 +31,8 @@
</g>
<!-- CompositeOutputDevice&#45;&gt;CompositeDevice -->
<g id="edge2" class="edge"><title>CompositeOutputDevice&#45;&gt;CompositeDevice</title>
<path fill="none" stroke="black" d="M335.888,-324.124C350.793,-333.276 369.329,-344.658 385.382,-354.515"/>
<polygon fill="black" stroke="black" points="383.652,-357.56 394.005,-359.81 387.315,-351.595 383.652,-357.56"/>
<path fill="none" stroke="black" d="M349.097,-324.124C372.166,-333.736 401.136,-345.807 425.57,-355.987"/>
<polygon fill="black" stroke="black" points="424.459,-359.316 435.036,-359.932 427.151,-352.855 424.459,-359.316"/>
</g>
<!-- LEDCollection -->
<g id="node4" class="node"><title>LEDCollection</title>
@@ -136,13 +136,13 @@
</g>
<!-- Robot -->
<g id="node14" class="node"><title>Robot</title>
<polygon fill="#2980b9" stroke="#2980b9" points="449,-324 395,-324 395,-288 449,-288 449,-324"/>
<text text-anchor="middle" x="422" y="-303.5" font-family="Sans" font-size="10.00" fill="#ffffff">Robot</text>
<polygon fill="#2980b9" stroke="#2980b9" points="467,-324 413,-324 413,-288 467,-288 467,-324"/>
<text text-anchor="middle" x="440" y="-303.5" font-family="Sans" font-size="10.00" fill="#ffffff">Robot</text>
</g>
<!-- Robot&#45;&gt;CompositeDevice -->
<g id="edge13" class="edge"><title>Robot&#45;&gt;CompositeDevice</title>
<path fill="none" stroke="black" d="M422,-324.303C422,-332.017 422,-341.288 422,-349.888"/>
<polygon fill="black" stroke="black" points="418.5,-349.896 422,-359.896 425.5,-349.896 418.5,-349.896"/>
<path fill="none" stroke="black" d="M448.899,-324.303C452.997,-332.272 457.949,-341.9 462.493,-350.736"/>
<polygon fill="black" stroke="black" points="459.517,-352.604 467.203,-359.896 465.742,-349.402 459.517,-352.604"/>
</g>
<!-- RyanteckRobot -->
<g id="node15" class="node"><title>RyanteckRobot</title>
@@ -151,8 +151,8 @@
</g>
<!-- RyanteckRobot&#45;&gt;Robot -->
<g id="edge14" class="edge"><title>RyanteckRobot&#45;&gt;Robot</title>
<path fill="none" stroke="black" d="M422,-252.303C422,-260.017 422,-269.288 422,-277.888"/>
<polygon fill="black" stroke="black" points="418.5,-277.896 422,-287.896 425.5,-277.896 418.5,-277.896"/>
<path fill="none" stroke="black" d="M426.449,-252.303C428.455,-260.102 430.869,-269.491 433.101,-278.171"/>
<polygon fill="black" stroke="black" points="429.722,-279.082 435.602,-287.896 436.501,-277.339 429.722,-279.082"/>
</g>
<!-- CamJamKitRobot -->
<g id="node16" class="node"><title>CamJamKitRobot</title>
@@ -161,28 +161,48 @@
</g>
<!-- CamJamKitRobot&#45;&gt;Robot -->
<g id="edge15" class="edge"><title>CamJamKitRobot&#45;&gt;Robot</title>
<path fill="none" stroke="black" d="M504.336,-252.124C490.216,-261.192 472.689,-272.448 457.439,-282.241"/>
<polygon fill="black" stroke="black" points="455.29,-279.462 448.767,-287.81 459.073,-285.352 455.29,-279.462"/>
<path fill="none" stroke="black" d="M508.506,-252.303C497.045,-261.119 482.942,-271.968 470.516,-281.526"/>
<polygon fill="black" stroke="black" points="468.028,-279.024 462.236,-287.896 472.296,-284.573 468.028,-279.024"/>
</g>
<!-- Motor -->
<g id="node17" class="node"><title>Motor</title>
<polygon fill="#2980b9" stroke="#2980b9" points="521,-324 467,-324 467,-288 521,-288 521,-324"/>
<text text-anchor="middle" x="494" y="-303.5" font-family="Sans" font-size="10.00" fill="#ffffff">Motor</text>
<polygon fill="#2980b9" stroke="#2980b9" points="539,-324 485,-324 485,-288 539,-288 539,-324"/>
<text text-anchor="middle" x="512" y="-303.5" font-family="Sans" font-size="10.00" fill="#ffffff">Motor</text>
</g>
<!-- Motor&#45;&gt;CompositeDevice -->
<g id="edge16" class="edge"><title>Motor&#45;&gt;CompositeDevice</title>
<path fill="none" stroke="black" d="M476.202,-324.303C467.396,-332.865 456.618,-343.344 446.999,-352.696"/>
<polygon fill="black" stroke="black" points="444.323,-350.415 439.593,-359.896 449.203,-355.434 444.323,-350.415"/>
<path fill="none" stroke="black" d="M503.101,-324.303C499.003,-332.272 494.051,-341.9 489.507,-350.736"/>
<polygon fill="black" stroke="black" points="486.258,-349.402 484.797,-359.896 492.483,-352.604 486.258,-349.402"/>
</g>
<!-- Servo -->
<g id="node18" class="node"><title>Servo</title>
<polygon fill="#2980b9" stroke="#2980b9" points="647,-324 593,-324 593,-288 647,-288 647,-324"/>
<text text-anchor="middle" x="620" y="-303.5" font-family="Sans" font-size="10.00" fill="#ffffff">Servo</text>
</g>
<!-- Servo&#45;&gt;CompositeDevice -->
<g id="edge17" class="edge"><title>Servo&#45;&gt;CompositeDevice</title>
<path fill="none" stroke="black" d="M592.915,-320.166C572.488,-330.096 544.032,-343.929 520.308,-355.462"/>
<polygon fill="black" stroke="black" points="518.604,-352.398 511.14,-359.918 521.664,-358.694 518.604,-352.398"/>
</g>
<!-- AngularServo -->
<g id="node19" class="node"><title>AngularServo</title>
<polygon fill="#2980b9" stroke="#2980b9" points="678.5,-252 597.5,-252 597.5,-216 678.5,-216 678.5,-252"/>
<text text-anchor="middle" x="638" y="-231.5" font-family="Sans" font-size="10.00" fill="#ffffff">AngularServo</text>
</g>
<!-- AngularServo&#45;&gt;Servo -->
<g id="edge18" class="edge"><title>AngularServo&#45;&gt;Servo</title>
<path fill="none" stroke="black" d="M633.551,-252.303C631.545,-260.102 629.131,-269.491 626.899,-278.171"/>
<polygon fill="black" stroke="black" points="623.499,-277.339 624.398,-287.896 630.278,-279.082 623.499,-277.339"/>
</g>
<!-- Energenie -->
<g id="node18" class="node"><title>Energenie</title>
<polygon fill="#2980b9" stroke="#2980b9" points="555.5,-396 490.5,-396 490.5,-360 555.5,-360 555.5,-396"/>
<text text-anchor="middle" x="523" y="-375.5" font-family="Sans" font-size="10.00" fill="#ffffff">Energenie</text>
<g id="node20" class="node"><title>Energenie</title>
<polygon fill="#2980b9" stroke="#2980b9" points="609.5,-396 544.5,-396 544.5,-360 609.5,-360 609.5,-396"/>
<text text-anchor="middle" x="577" y="-375.5" font-family="Sans" font-size="10.00" fill="#ffffff">Energenie</text>
</g>
<!-- Energenie&#45;&gt;Device -->
<g id="edge17" class="edge"><title>Energenie&#45;&gt;Device</title>
<path fill="none" stroke="black" d="M510.393,-396.303C504.403,-404.526 497.124,-414.517 490.521,-423.579"/>
<polygon fill="black" stroke="black" points="487.522,-421.752 484.462,-431.896 493.179,-425.874 487.522,-421.752"/>
<g id="edge19" class="edge"><title>Energenie&#45;&gt;Device</title>
<path fill="none" stroke="black" d="M564.393,-396.303C558.403,-404.526 551.124,-414.517 544.521,-423.579"/>
<polygon fill="black" stroke="black" points="541.522,-421.752 538.462,-431.896 547.179,-425.874 541.522,-421.752"/>
</g>
</g>
</svg>
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