artoo 0.1.0
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- data/.gitignore +25 -0
- data/Gemfile +26 -0
- data/Gemfile.lock +144 -0
- data/Guardfile +15 -0
- data/LICENSE +13 -0
- data/README.md +97 -0
- data/Rakefile +11 -0
- data/api/assets/compass.rb +25 -0
- data/api/assets/javascripts/artoo/controllers/robot.js.coffee +27 -0
- data/api/assets/javascripts/artoo/routes.js.coffee +23 -0
- data/api/assets/javascripts/core.js.coffee +6 -0
- data/api/assets/javascripts/vendor/angular.min.js +161 -0
- data/api/assets/javascripts/vendor/bootstrap.min.js +6 -0
- data/api/assets/javascripts/vendor/jquery.min.js +5 -0
- data/api/assets/stylesheets/artoo/_core.css.scss +3 -0
- data/api/assets/stylesheets/artoo/_font-awesome.scss +534 -0
- data/api/assets/stylesheets/artoo/_variables.scss +8 -0
- data/api/assets/stylesheets/core.scss +70 -0
- data/api/public/core.css +9848 -0
- data/api/public/core.js +259 -0
- data/api/public/favicon.ico +0 -0
- data/api/public/font/FontAwesome.otf +0 -0
- data/api/public/font/fontawesome-webfont.eot +0 -0
- data/api/public/font/fontawesome-webfont.svg +284 -0
- data/api/public/font/fontawesome-webfont.ttf +0 -0
- data/api/public/font/fontawesome-webfont.woff +0 -0
- data/api/public/html5shiv.js +8 -0
- data/api/public/images/devices/ardrone.jpg +0 -0
- data/api/public/images/devices/arduino.jpg +0 -0
- data/api/public/images/devices/sphero.png +0 -0
- data/api/public/images/glyphicons-halflings-white.png +0 -0
- data/api/public/images/glyphicons-halflings.png +0 -0
- data/api/public/index.html +36 -0
- data/api/public/partials/robot-detail.html +111 -0
- data/api/public/partials/robot-device-detail.html +0 -0
- data/api/public/partials/robot-index.html +26 -0
- data/artoo.gemspec +21 -0
- data/bin/retry.sh +8 -0
- data/bin/sphero.sh +8 -0
- data/examples/ardrone.rb +12 -0
- data/examples/ardrone_nav.rb +22 -0
- data/examples/ardrone_nav_video.rb +33 -0
- data/examples/ardrone_video.rb +22 -0
- data/examples/conway_sphero.rb +65 -0
- data/examples/firmata.rb +13 -0
- data/examples/firmata_button.rb +9 -0
- data/examples/hello.rb +12 -0
- data/examples/hello_api.rb +9 -0
- data/examples/hello_api_multiple.rb +25 -0
- data/examples/hello_modular.rb +16 -0
- data/examples/hello_multiple.rb +22 -0
- data/examples/notifications.rb +9 -0
- data/examples/sphero.rb +11 -0
- data/examples/sphero_color.rb +13 -0
- data/examples/sphero_firmata.rb +17 -0
- data/examples/sphero_messages.rb +22 -0
- data/examples/sphero_multiple.rb +33 -0
- data/examples/wiiclassic.rb +94 -0
- data/lib/artoo.rb +3 -0
- data/lib/artoo/adaptors/adaptor.rb +54 -0
- data/lib/artoo/adaptors/ardrone.rb +32 -0
- data/lib/artoo/adaptors/ardrone_navigation.rb +26 -0
- data/lib/artoo/adaptors/ardrone_video.rb +27 -0
- data/lib/artoo/adaptors/firmata.rb +25 -0
- data/lib/artoo/adaptors/loopback.rb +8 -0
- data/lib/artoo/adaptors/sphero.rb +46 -0
- data/lib/artoo/api.rb +48 -0
- data/lib/artoo/api_route_helpers.rb +197 -0
- data/lib/artoo/connection.rb +70 -0
- data/lib/artoo/delegator.rb +49 -0
- data/lib/artoo/device.rb +61 -0
- data/lib/artoo/device_event_client.rb +27 -0
- data/lib/artoo/drivers/ardrone.rb +9 -0
- data/lib/artoo/drivers/ardrone_navigation.rb +21 -0
- data/lib/artoo/drivers/ardrone_video.rb +22 -0
- data/lib/artoo/drivers/button.rb +40 -0
- data/lib/artoo/drivers/driver.rb +48 -0
- data/lib/artoo/drivers/led.rb +37 -0
- data/lib/artoo/drivers/passthru.rb +9 -0
- data/lib/artoo/drivers/pinger.rb +19 -0
- data/lib/artoo/drivers/pinger2.rb +18 -0
- data/lib/artoo/drivers/sphero.rb +57 -0
- data/lib/artoo/drivers/wiichuck.rb +29 -0
- data/lib/artoo/drivers/wiiclassic.rb +137 -0
- data/lib/artoo/main.rb +32 -0
- data/lib/artoo/master.rb +16 -0
- data/lib/artoo/port.rb +51 -0
- data/lib/artoo/robot.rb +299 -0
- data/lib/artoo/utility.rb +39 -0
- data/lib/artoo/version.rb +5 -0
- data/test/adaptors/adaptor_test.rb +18 -0
- data/test/adaptors/ardrone_test.rb +24 -0
- data/test/adaptors/firmata_test.rb +25 -0
- data/test/adaptors/loopback_test.rb +18 -0
- data/test/adaptors/sphero_test.rb +24 -0
- data/test/api_test.rb +61 -0
- data/test/artoo_test.rb +12 -0
- data/test/connection_test.rb +28 -0
- data/test/delegator_test.rb +71 -0
- data/test/device_test.rb +41 -0
- data/test/drivers/ardrone_navigation_test.rb +11 -0
- data/test/drivers/ardrone_test.rb +11 -0
- data/test/drivers/ardrone_video_test.rb +11 -0
- data/test/drivers/driver_test.rb +21 -0
- data/test/drivers/led_test.rb +52 -0
- data/test/drivers/sphero_test.rb +54 -0
- data/test/drivers/wiichuck_test.rb +11 -0
- data/test/port_test.rb +33 -0
- data/test/robot_test.rb +96 -0
- data/test/test_helper.rb +8 -0
- data/test/utility_test.rb +27 -0
- metadata +185 -0
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*/
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<!DOCTYPE html>
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<html ng-app="artoo">
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<head>
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<title>Artoo</title>
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<meta name="viewport" content="width=device-width, initial-scale=1.0">
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<!-- Bootstrap -->
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<script type="text/javascript" src="core.js"></script>
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<link rel="stylesheet" href="core.css" rel="stylesheet" media="screen">
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<!-- Le HTML5 shim, for IE6-8 support of HTML5 elements -->
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<!--[if lt IE 9]>
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<script src="html5shiv.js"></script>
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<![endif]-->
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</head>
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<body>
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<div class="navbar navbar-inverse navbar-fixed-top">
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<div class="navbar-inner">
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<div class="container">
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<a class="brand" href="/">Artoo</a>
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<button type="button" class="btn btn-navbar" data-toggle="collapse" data-target=".nav-collapse">
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<span class="icon-bar"></span>
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<span class="icon-bar"></span>
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<span class="icon-bar"></span>
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</button>
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<div class="nav-collapse collapse">
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<ul class="nav" ng-app="link">
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<li active-link="active"><a href="#/robots">Robots</a></li>
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</ul>
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</div><!--/.nav-collapse -->
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</div>
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</div>
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</div>
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<div ng-view></div>
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</body>
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</html>
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<div class="container">
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<div class="container device">
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<div class="row-fluid">
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<div class="span2">
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<div class="display">
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{{robot.type || "Robot"}}
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</div>
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</div>
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<div class="span10">
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<b>
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<span class="name">{{robot.name}}</span>
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<dl class="controls">
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<dt><i class="icon-fighter-jet"></i> devices: </dt>
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<dd>{{robot.connections.length}}</dd>
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<dt><i class="icon-exchange"></i> connections: </dt>
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<dd>{{robot.connections.length}}</dd>
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</dl>
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</b>
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</div>
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</div>
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</div>
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<div class="container device details" ng-show='deviceDetail'>
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<div class="row-fluid">
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<div class="span12">
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<!--<div class="display">Pending</div>-->
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<b>
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<span class="name">{{deviceDetail.name}}</span>
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{{device}}
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<dl class="controls">
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<span ng-show='deviceDetail.pin'>
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<dt><i class="icon-fighter-jet"></i> </dt>
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<dd>{{ deviceDetail.pin }}</dd>
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</span>
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<span ng-show='deviceDetail.driver'>
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<dt><i class="icon-exchange"></i></dt>
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<dd>{{ deviceDetail.driver }}</dd>
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</span>
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<span ng-show='deviceDetail.adaptor'>
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<dt><i class="icon-exchange"></i></dt>
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<dd>{{ deviceDetail.adaptor }}</dd>
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</span>
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<span ng-show='deviceDetail.connection'>
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<dt><i class="icon-circle" ng-class="isConnected(deviceDetail.connection)"></i> </dt>
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<dd ng-show="deviceDetail.connection.name">{{deviceDetail.connection.name}}</dd>
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</span>
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</dl>
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</b>
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</div>
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</div>
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<div class="row-fluid content">
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<div class="console">
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<code></code>
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</div>
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</div>
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</div>
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<div class="row">
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<div class="span6">
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<div class="device" ng-repeat="device in robot.devices" ng-click="getDeviceDetail(device.name)">
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<div class="row-fluid">
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<div class="span2">
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<div class="display">
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</div>
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</div>
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<div class="span10">
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<b>
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<span class="name">{{device.name}}</span>
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<dl class="controls">
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<span ng-show="device.pin">
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<dt ><i class="icon-bolt"></i> pin: </dt>
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<dd>{{device.pin}}</dd>
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</span>
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<dt><i class="icon-exchange"></i> </dt>
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<dd>{{device.connection.name}}</dd>
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</dl>
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</b>
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</div>
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</div>
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</div>
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</div>
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<div class="span6">
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<div class="device" ng-repeat="connection in robot.connections">
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<div class="row-fluid">
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<div class="span2">
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<div class="display">
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<i class="icon-exchange"></i>
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</div>
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</div>
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<div class="span10">
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<b>
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<span class="name">{{connection.name}}</span>
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<dl class="controls">
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<dt><i class="icon-circle" ng-class="isConnected(connection)"></i> </dt>
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<dd ng-show="connection.port">{{connection.port}}</dd>
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</dl>
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</b>
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</div>
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</div>
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</div>
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</div>
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</div>
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</div>
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<div class="container">
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<h1>Listing all Robots</h1>
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<div class="container device clickable" ng-repeat="robot in robots" ng-click="robotDetail(robot.name)">
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<div class="row-fluid">
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<div class="span2">
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<div class="display sphero">
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{{robot.type || "Robot"}}
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</div>
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</div>
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<div class="span10">
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<b>
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<span class="name">{{robot.name}}</span>
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<dl class="controls">
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<dt><i class="icon-fighter-jet"></i> Devices: </dt>
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<dd>{{robot.connections.length}}</dd>
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<dt><i class="icon-exchange"></i> Connections: </dt>
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<dd>{{robot.connections.length}}</dd>
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</dl>
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</b>
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</div>
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</div>
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</div>
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</div>
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data/artoo.gemspec
ADDED
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# -*- encoding: utf-8 -*-
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$:.push File.expand_path("../lib", __FILE__)
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require "artoo/version"
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Gem::Specification.new do |s|
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s.name = "artoo"
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s.version = Artoo::VERSION
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s.platform = Gem::Platform::RUBY
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s.authors = ["Ron Evans", "Adrian Zankich", "Ari Lerner", "Mario Ricalde", "Daniel Fischer"]
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s.email = ["artoo@hybridgroup.com"]
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s.homepage = "https://github.com/hybridgroup/artoo"
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s.summary = %q{Ruby-based microframework for robotics}
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s.description = %q{Ruby-based microframework for robotics}
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s.rubyforge_project = "artoo"
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s.files = `git ls-files`.split("\n")
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s.test_files = `git ls-files -- {test,spec,features}/*`.split("\n")
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|
19
|
+
s.executables = `git ls-files -- bin/*`.split("\n").map{ |f| File.basename(f) }
|
|
20
|
+
s.require_paths = ["lib"]
|
|
21
|
+
end
|
data/bin/retry.sh
ADDED
data/bin/sphero.sh
ADDED
data/examples/ardrone.rb
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
1
|
+
require 'artoo'
|
|
2
|
+
|
|
3
|
+
connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.1:5556'
|
|
4
|
+
device :drone, :driver => :ardrone, :connection => :ardrone
|
|
5
|
+
|
|
6
|
+
connection :navigation, :adaptor => :ardrone_navigation, :port => '192.168.1.1:5554'
|
|
7
|
+
device :nav, :driver => :ardrone_navigation, :connection => :navigation
|
|
8
|
+
|
|
9
|
+
work do
|
|
10
|
+
on nav, :update => :nav_update
|
|
11
|
+
drone.start
|
|
12
|
+
drone.take_off
|
|
13
|
+
|
|
14
|
+
after(25.seconds) { drone.hover.land }
|
|
15
|
+
after(30.seconds) { drone.stop }
|
|
16
|
+
end
|
|
17
|
+
|
|
18
|
+
def nav_update(*data)
|
|
19
|
+
data[1].drone_state.each do |name, val|
|
|
20
|
+
p "#{name}: #{val}"
|
|
21
|
+
end
|
|
22
|
+
end
|
|
@@ -0,0 +1,33 @@
|
|
|
1
|
+
require 'artoo'
|
|
2
|
+
|
|
3
|
+
connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.1:5556'
|
|
4
|
+
device :drone, :driver => :ardrone, :connection => :ardrone
|
|
5
|
+
|
|
6
|
+
connection :navigation, :adaptor => :ardrone_navigation, :port => '192.168.1.1:5554'
|
|
7
|
+
device :nav, :driver => :ardrone_navigation, :connection => :navigation
|
|
8
|
+
|
|
9
|
+
connection :videodrone, :adaptor => :ardrone_video, :port => '192.168.1.1:5555'
|
|
10
|
+
device :video, :driver => :ardrone_video, :connection => :videodrone
|
|
11
|
+
|
|
12
|
+
work do
|
|
13
|
+
on nav, :update => :nav_update
|
|
14
|
+
on video, :frame => :v_frame
|
|
15
|
+
|
|
16
|
+
drone.start
|
|
17
|
+
drone.take_off
|
|
18
|
+
|
|
19
|
+
after(25.seconds) { drone.hover.land }
|
|
20
|
+
after(30.seconds) { drone.stop }
|
|
21
|
+
end
|
|
22
|
+
|
|
23
|
+
def v_frame(*data)
|
|
24
|
+
@count ||= 0
|
|
25
|
+
@count += 1
|
|
26
|
+
puts "Frame# #{@count} #{data[1].size} bytes"
|
|
27
|
+
end
|
|
28
|
+
|
|
29
|
+
def nav_update(*data)
|
|
30
|
+
data[1].drone_state.each do |name, val|
|
|
31
|
+
p "#{name}: #{val}"
|
|
32
|
+
end
|
|
33
|
+
end
|
|
@@ -0,0 +1,22 @@
|
|
|
1
|
+
require 'artoo'
|
|
2
|
+
|
|
3
|
+
connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.1:5556'
|
|
4
|
+
device :drone, :driver => :ardrone, :connection => :ardrone
|
|
5
|
+
|
|
6
|
+
connection :videodrone, :adaptor => :ardrone_video, :port => '192.168.1.1:5555'
|
|
7
|
+
device :video, :driver => :ardrone_video, :connection => :videodrone
|
|
8
|
+
|
|
9
|
+
work do
|
|
10
|
+
on video, :frame => :v_frame
|
|
11
|
+
drone.start
|
|
12
|
+
drone.take_off
|
|
13
|
+
|
|
14
|
+
after(25.seconds) { drone.hover.land }
|
|
15
|
+
after(30.seconds) { drone.stop }
|
|
16
|
+
end
|
|
17
|
+
|
|
18
|
+
def v_frame(*data)
|
|
19
|
+
@count ||= 0
|
|
20
|
+
@count += 1
|
|
21
|
+
puts "Frame# #{@count} #{data[1].size} bytes"
|
|
22
|
+
end
|
|
@@ -0,0 +1,65 @@
|
|
|
1
|
+
require 'artoo/robot'
|
|
2
|
+
|
|
3
|
+
class SpheroRobot < Artoo::Robot
|
|
4
|
+
connection :sphero, :adaptor => :sphero
|
|
5
|
+
device :sphero, :driver => :sphero
|
|
6
|
+
|
|
7
|
+
work do
|
|
8
|
+
birth
|
|
9
|
+
|
|
10
|
+
every(3.seconds) { movement if alive? }
|
|
11
|
+
every(10.seconds) { birthday if alive? }
|
|
12
|
+
end
|
|
13
|
+
|
|
14
|
+
def alive?; (@alive == true); end
|
|
15
|
+
|
|
16
|
+
def birth
|
|
17
|
+
sphero.detect_collisions
|
|
18
|
+
@age = 0
|
|
19
|
+
life
|
|
20
|
+
movement
|
|
21
|
+
end
|
|
22
|
+
|
|
23
|
+
def life
|
|
24
|
+
@alive = true
|
|
25
|
+
sphero.set_color :green
|
|
26
|
+
end
|
|
27
|
+
|
|
28
|
+
def death
|
|
29
|
+
puts "Death."
|
|
30
|
+
@alive = false
|
|
31
|
+
sphero.set_color :red
|
|
32
|
+
sphero.stop
|
|
33
|
+
terminate
|
|
34
|
+
end
|
|
35
|
+
|
|
36
|
+
def birthday
|
|
37
|
+
@age += 1
|
|
38
|
+
contacts = sphero.collisions.size
|
|
39
|
+
sphero.clear_collisions
|
|
40
|
+
|
|
41
|
+
puts "Happy birthday, #{name}, you are #{@age} and had #{contacts} contacts."
|
|
42
|
+
#return if @age <= 3
|
|
43
|
+
death unless contacts >= 3 && contacts < 5
|
|
44
|
+
end
|
|
45
|
+
|
|
46
|
+
def movement
|
|
47
|
+
sphero.roll 90, rand(360)
|
|
48
|
+
end
|
|
49
|
+
end
|
|
50
|
+
|
|
51
|
+
SPHEROS = {"4560" => "/dev/tty.Sphero-BRG-RN-SPP",
|
|
52
|
+
"4561" => "/dev/tty.Sphero-YBW-RN-SPP",
|
|
53
|
+
"4562" => "/dev/tty.Sphero-BWY-RN-SPP",
|
|
54
|
+
"4563" => "/dev/tty.Sphero-YRR-RN-SPP",
|
|
55
|
+
"4564" => "/dev/tty.Sphero-OBG-RN-SPP",
|
|
56
|
+
"4565" => "/dev/tty.Sphero-GOB-RN-SPP",
|
|
57
|
+
"4566" => "/dev/tty.Sphero-PYG-RN-SPP"}
|
|
58
|
+
robots = []
|
|
59
|
+
SPHEROS.each_key {|p|
|
|
60
|
+
robots << SpheroRobot.new(:connections =>
|
|
61
|
+
{:sphero =>
|
|
62
|
+
{:port => p}})
|
|
63
|
+
}
|
|
64
|
+
|
|
65
|
+
SpheroRobot.work!(robots)
|
data/examples/firmata.rb
ADDED
|
@@ -0,0 +1,13 @@
|
|
|
1
|
+
require 'artoo'
|
|
2
|
+
|
|
3
|
+
connection :firmata, :adaptor => :firmata, :port => '4567' #/dev/tty.usbserial-A700636n'
|
|
4
|
+
device :board
|
|
5
|
+
device :led, :driver => :led, :pin => 13
|
|
6
|
+
|
|
7
|
+
work do
|
|
8
|
+
puts "Firmware name #{board.firmware_name}"
|
|
9
|
+
puts "Firmata version #{board.version}"
|
|
10
|
+
every 1.second do
|
|
11
|
+
led.toggle
|
|
12
|
+
end
|
|
13
|
+
end
|
data/examples/hello.rb
ADDED