artoo 0.1.0

data/examples/hello_api_multiple.rb

@@ -0,0 +1,25 @@
+require 'artoo/robot'
+
+class HelloRobot < Artoo::Robot
+	connection :loopback1
+	connection :loopback2
+	connection :loopback3
+	device :passthru1
+	device :passthru2
+	device :pinger, :driver => :pinger
+	device :pinger2, :driver => :pinger2
+
+	api :host => '127.0.0.1', :port => '4321'
+
+	work do
+		puts "Hello from '#{name}' attached to API running at #{api_host}:#{api_port}..."
+	end
+end
+
+robots = []
+5.times do |i|
+	robots << HelloRobot.new(:name => "Number #{i}")
+end
+
+HelloRobot.work!(robots)
+sleep

data/examples/hello_modular.rb

@@ -0,0 +1,16 @@
+require 'artoo/robot'
+
+class HelloRobot < Artoo::Robot
+	connection :loop
+  
+	work do
+	  every(3.seconds) do
+	     puts "hello"
+	  end
+	  after(10.seconds) do
+	  	puts "wow"
+	  end
+	end
+end
+
+HelloRobot.work!

data/examples/hello_multiple.rb

@@ -0,0 +1,22 @@
+require 'artoo/robot'
+
+class HelloRobot < Artoo::Robot
+	connection :loop
+  
+	work do
+	  every(3.seconds) do
+	     puts "Hello from #{name}"
+	  end
+	  after(10.seconds) do
+	  	puts "#{name} is alive!" if name == 'Number 5'
+	  end
+	end
+end
+
+robots = []
+5.times do |i|
+	robots << HelloRobot.new(:name => "Number #{i}")
+end
+
+HelloRobot.work!(robots)
+sleep

data/examples/notifications.rb

@@ -0,0 +1,9 @@
+require 'artoo'
+
+connection :loop
+device :pinger, :driver => :pinger
+
+work do
+  puts 'Starting...'
+  on pinger, :alive => proc {puts 'I am awesome!'}
+end

data/examples/sphero.rb

@@ -0,0 +1,11 @@
+require 'artoo'
+
+connection :sphero, :adaptor => :sphero, :port => '4560' #/dev/tty.Sphero-YRR-RN-SPP'
+device :sphero, :driver => :sphero
+  
+work do
+  every(3.seconds) do
+  	puts "Rolling..."
+    sphero.roll 60, rand(360)
+  end
+end

data/examples/sphero_color.rb

@@ -0,0 +1,13 @@
+require 'artoo'
+
+connection :sphero, :adaptor => :sphero, :port => '4560' #/dev/tty.Sphero-YRR-RN-SPP'
+device :sphero, :driver => :sphero
+  
+work do
+  @count = 1
+  every(3.seconds) do
+    sphero.set_color(@count % 2 == 0 ? :green : :red)
+    @count += 1
+    sphero.roll 60, rand(360)
+  end
+end

data/examples/sphero_firmata.rb

@@ -0,0 +1,17 @@
+require 'artoo'
+
+connection :sphero, :adaptor => :sphero, :port => '/dev/tty.Sphero-BRG-RN-SPP'
+device :sphero, :driver => :sphero, :connection => :sphero
+
+connection :arduino, :adaptor => :firmata, :port => '/dev/cu.usbserial-A700636n'
+device :led, :driver => :led, :connection => :arduino, :pin => 13
+
+work do
+  every 3.seconds do
+    sphero.roll 60, rand(360)
+  end
+
+  every 1.second do
+    led.toggle
+  end
+end

data/examples/sphero_messages.rb

@@ -0,0 +1,22 @@
+require 'artoo'
+
+connection :sphero, :adaptor => :sphero, :port => '4560' #'/dev/tty.Sphero-BWY-RN-SPP'
+device :sphero, :driver => :sphero
+  
+work do
+  puts "Configuring..."
+  sphero.detect_collisions
+
+  every(3.seconds) do
+    puts "Rolling..."
+    sphero.roll 60, rand(360)
+    unless sphero.collisions.empty?
+      puts "----------"
+      sphero.collisions.each do |c|
+        puts c
+      end
+      puts "=========="
+      sphero.async_messages.clear
+    end
+  end
+end

data/examples/sphero_multiple.rb

@@ -0,0 +1,33 @@
+require 'artoo/robot'
+
+#SPHEROS = ["4567", "4568", "4569", "4570", "4571"]
+SPHEROS = {"4560" => "/dev/tty.Sphero-BRG-RN-SPP",
+           "4561" => "/dev/tty.Sphero-YBW-RN-SPP",
+           "4562" => "/dev/tty.Sphero-BWY-RN-SPP",
+           "4563" => "/dev/tty.Sphero-YRR-RN-SPP",
+           "4564" => "/dev/tty.Sphero-OBG-RN-SPP",
+           "4565" => "/dev/tty.Sphero-GOB-RN-SPP",
+           "4566" => "/dev/tty.Sphero-PYG-RN-SPP"}
+           
+class SpheroRobot < Artoo::Robot
+  connection :sphero, :adaptor => :sphero
+  device :sphero, :driver => :sphero
+  
+  work do
+    @count = 1
+    every(3.seconds) do
+      sphero.set_color(@count % 2 == 0 ? :green : :red)
+      @count += 1
+      sphero.roll 90, rand(360)
+    end
+  end
+end
+
+robots = []
+SPHEROS.each_key {|p|
+  robots << SpheroRobot.new(:connections => 
+                              {:sphero => 
+                                {:port => p}})
+}
+
+SpheroRobot.work!(robots)

data/examples/wiiclassic.rb

@@ -0,0 +1,94 @@
+require 'artoo'
+
+connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.1:5556'
+#connection :ardrone, :adaptor => :ardrone, :port => '192.168.0.100:5556'
+device :drone, :driver => :ardrone, :connection => :ardrone
+
+#connection :arduino, :adaptor => :firmata, :port => "/dev/ttyACM0"
+connection :arduino, :adaptor => :firmata, :port => "8023"
+device :classic, :driver => :wiiclassic, :connection => :arduino, :interval => 0.1
+
+work do
+  @rotate_pitch = 0.5
+  @fly_pitch = 0.7
+  @altitude_pitch = 1
+  @toggle_camera = 0
+  on classic, :a_button => proc { 
+    puts "Take Off" 
+    drone.take_off
+  }
+  on classic, :b_button => proc { 
+    puts "Hover" 
+    drone.hover
+  }
+  on classic, :x_button => proc { 
+    puts "Land" 
+    drone.land
+  }
+  on classic, :y_button => proc { 
+    puts "Toggle camera" 
+    if @toggle_camera == 0
+      puts "Bottom Camera Enabled"
+      drone.bottom_camera
+      @toggle_camera = 1
+    else
+      puts "Front Camera Enabled"
+      drone.front_camera
+      @toggle_camera = 0
+    end
+  }
+  on classic, :home_button => proc { 
+    puts "EMERGENGY!!!"
+    drone.emergency
+  }
+  on classic, :start_button => proc { 
+    puts "Start"
+    drone.start
+  }
+  on classic, :select_button => proc { 
+    puts "Stop"
+    drone.stop
+  }
+  on classic, :ry_up => proc {
+    puts "Up"
+    drone.up(@altitude_pitch)
+  }
+  on classic, :ry_down => proc {
+    puts "Down"
+    drone.down(@altitude_pitch)
+  }
+  on classic, :ly_up => proc {
+    puts "Forward"
+    drone.forward(@fly_pitch)
+  }
+  on classic, :ly_down => proc {
+    puts "Backward"
+    drone.backward(@fly_pitch)
+  }
+  on classic, :lx_right => proc {
+    puts "Right"
+    drone.right(@fly_pitch)
+  }
+  on classic, :lx_left => proc {
+    puts "Left"
+    drone.left(@fly_pitch)
+  }
+  on classic, :reset_pitch_roll => proc {
+    drone.left(0.0)
+    drone.forward(0.0)
+  }
+  on classic, :rotate_left => proc {
+    puts "rotate left"
+    drone.turn_left(@rotate_pitch)
+  } 
+  on classic, :rotate_right => proc {
+    puts "rotate right"
+    drone.turn_right(@rotate_pitch)
+  }
+  on classic, :reset_rotate => proc {
+    drone.turn_left(0.0)
+  }
+  on classic, :reset_altitude => proc {
+    drone.up(0.0)
+  } 
+end

data/lib/artoo.rb

@@ -0,0 +1,3 @@
+$:.unshift(File.dirname(__FILE__))
+require 'artoo/robot'
+require 'artoo/main'

data/lib/artoo/adaptors/adaptor.rb

@@ -0,0 +1,54 @@
+module Artoo
+  module Adaptors
+    # The Adaptor class is the base class used to  
+    # connect to a specific group of hardware devices. Examples 
+    # would be an Arduino, a Sphero, or an ARDrone.
+    #
+    # Derive a class from this class, in order to implement communication
+    # with a new type of hardware device.
+    class Adaptor
+      include Celluloid::IO
+
+      attr_reader :parent, :port
+
+      def initialize(params={})
+        @parent = params[:parent]
+        @port = params[:port]
+        @connected = false
+      end
+
+      def connect
+        @connected = true
+      end
+
+      def disconnect
+        @connected = false
+        true
+      end
+
+      def reconnect
+        connect unless connected?
+      end
+
+      def connected?
+        @connected == true
+      end
+
+      def connect_to
+        if port.is_tcp?
+          connect_to_tcp
+        else
+          port.port
+        end
+      end
+
+      def connect_to_tcp
+        @socket ||= TCPSocket.new(port.host, port.port)
+      end
+
+      def connect_to_udp
+        @udp_socket ||= UDPSocket.new
+      end
+    end
+  end
+end

data/lib/artoo/adaptors/ardrone.rb

@@ -0,0 +1,32 @@
+require 'artoo/adaptors/adaptor'
+
+module Artoo
+  module Adaptors
+    # Connect to a ARDrone 2.0 (http://ardrone2.parrot.com/)
+    class Ardrone < Adaptor
+      attr_reader :ardrone
+
+      def finalize
+        if connected?
+          ardrone.land
+          ardrone.stop
+        end
+      end
+
+      def connect
+        require 'argus' unless defined?(::Argus)
+        @ardrone = Argus::Drone.new(connect_to_udp, port.host, port.port)
+        super
+      end
+
+      def disconnect
+        ardrone.stop
+        super
+      end
+
+      def method_missing(method_name, *arguments, &block)
+        ardrone.send(method_name, *arguments, &block)
+      end
+    end
+  end
+end

data/lib/artoo/adaptors/ardrone_navigation.rb

@@ -0,0 +1,26 @@
+require 'artoo/adaptors/adaptor'
+
+module Artoo
+  module Adaptors
+    # Connect to a ARDrone 2.0 (http://ardrone2.parrot.com/) navigation data stream
+    class ArdroneNavigation < Adaptor
+      attr_reader :ardrone
+
+      def connect
+        require 'argus' unless defined?(::Argus)
+        @ardrone = Argus::NavStreamer.new(connect_to_udp, port.host, port.port.to_i)
+        @ardrone.start
+        super
+      end
+
+      def disconnect
+        ardrone.close
+        super
+      end
+
+      def method_missing(method_name, *arguments, &block)
+        ardrone.send(method_name, *arguments, &block)
+      end
+    end
+  end
+end

data/lib/artoo/adaptors/ardrone_video.rb

@@ -0,0 +1,27 @@
+require 'artoo/adaptors/adaptor'
+
+module Artoo
+  module Adaptors
+    # Connect to a ARDrone 2.0 (http://ardrone2.parrot.com/) video data stream
+    class ArdroneVideo < Adaptor
+      attr_reader :ardrone, :video_parser
+
+      def connect
+        require 'argus' unless defined?(::Argus)
+        @ardrone = Argus::TcpVideoStreamer.new(connect_to_tcp, port.host, port.port)
+        @video_parser = Argus::PaVEParser.new(@ardrone)
+        @ardrone.start_stream(connect_to_udp)
+        super
+      end
+
+      def disconnect
+        ardrone.close
+        super
+      end
+
+      def method_missing(method_name, *arguments, &block)
+        ardrone.send(method_name, *arguments, &block)
+      end
+    end
+  end
+end

data/lib/artoo/adaptors/firmata.rb

@@ -0,0 +1,25 @@
+require 'artoo/adaptors/adaptor'
+
+module Artoo
+  module Adaptors
+    class Firmata < Adaptor
+      attr_reader :firmata
+
+      def connect
+        require 'firmata' unless defined?(::Firmata)
+        @firmata = ::Firmata::Board.new(connect_to)
+        @firmata.connect
+        super
+        return true
+      end
+
+      def disconnect
+        super
+      end     
+
+      def method_missing(method_name, *arguments, &block)
+        firmata.send(method_name, *arguments, &block)
+      end
+   end
+  end
+end