roombaIO.rb

@@events = {
  distance: [],
  angle: []
}

def register_event(name, &block)
  @@events[name] << &block

  return block
end

def bump(&block)
  @@register_event(:bump_or_whatever, block)
end

loop do
  read, write = IO.select([roomba],[roomba]) 

  if read
    # read sensor data
    # sensor data is a hash of event names to values
    events = get_sensor_list(@@events.keys)
    events.each do |name,value|
      @@events[name].each do |event|
        event.call(value)
      end
    end
  elsif write
    # meh
  end
end

Roomba.new('/asdf/') do
  bump do
    puts "hey, knock that off!"
  end

  forward
end