artoo 0.5.0 → 1.0.0.pre

data/api/public/core.js

@@ -174,7 +174,6 @@ ngChange:rd,required:dc,ngRequired:dc,ngValue:ud}).directive(lb).directive(ec);a
 
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 (function() {
-
   angular.module("artoo", []).config([
     "$routeProvider", function($routeProvider) {
       return $routeProvider.when("/robots", {
@@ -193,6 +192,7 @@ ngChange:rd,required:dc,ngRequired:dc,ngValue:ud}).directive(lb).directive(ec);a
         restrict: "A",
         link: function(scope, element, attrs, controller) {
           var clazz, path;
+
           clazz = attrs.activeLink;
           path = attrs.$$element.find('a').attr('href');
           path = path.substring(1);
@@ -211,9 +211,6 @@ ngChange:rd,required:dc,ngRequired:dc,ngValue:ud}).directive(lb).directive(ec);a
 
 }).call(this);
 (function() {
-
-  window.driversWithOutput = ["Pinger", "Pinger2", "ardrone_navigation", "wiiclassic"];
-
   this.RobotIndexCtrl = function($scope, $http, $location, $route) {
     $http.get('/robots').success(function(data) {
       return $scope.robots = data;
@@ -225,6 +222,7 @@ ngChange:rd,required:dc,ngRequired:dc,ngValue:ud}).directive(lb).directive(ec);a
 
   this.RobotDetailCtrl = function($scope, $http, $routeParams, $location) {
     var device;
+
     $http.get('/robots/' + $routeParams.robotId).success(function(data) {
       return $scope.robot = data;
     });
@@ -236,6 +234,7 @@ ngChange:rd,required:dc,ngRequired:dc,ngValue:ud}).directive(lb).directive(ec);a
     };
     $scope.executeCommand = function(deviceId, command) {
       var params, post_params;
+
       params = $("#appendedDropdownButton").val();
       post_params = {};
       if (params !== "") {
@@ -245,21 +244,18 @@ ngChange:rd,required:dc,ngRequired:dc,ngValue:ud}).directive(lb).directive(ec);a
         return true;
       });
     };
-    $scope.driverHasOutput = function(driverId) {
-      if ($.inArray(driverId, window.driversWithOutput) !== -1) {
-        return true;
-      }
-    };
     device = {
       console: function() {
         var wspath;
+
         if (window.ws) {
+          window.ws.onmessage = null;
           window.ws.close();
+          $(".console code").empty();
         }
         wspath = "ws://" + location.host + "/robots/";
         window.ws = new WebSocket(wspath + $scope.robot.name + "/devices/" + $scope.deviceDetail.name + "/events");
-        $(".console code").empty();
-        return ws.onmessage = function(evt) {
+        return window.ws.onmessage = function(evt) {
           return $(".console code").prepend(evt.data + "\n");
         };
       }
@@ -275,5 +271,4 @@ ngChange:rd,required:dc,ngRequired:dc,ngValue:ud}).directive(lb).directive(ec);a
 (function() {
 
 
-
 }).call(this);

data/api/public/partials/robot-detail.html

@@ -62,7 +62,7 @@
 				</b>
 			</div>
 		</div>
-		<div class="row-fluid content" ng-show="driverHasOutput( deviceDetail.driver )" >
+		<div class="row-fluid content">
 			<div class="console">
 				<code></code>
 			</div>

data/bin/robi

@@ -26,7 +26,7 @@ command_set = Pry::CommandSet.new do
   end
 
   block_command "stop", "Stop all robots" do
-    output.puts "Not yet implemented..."
+    output.puts "Stopping robots..."
     Celluloid::Actor[:master].stop_work
   end
 

data/examples/christmas_roomba.rb

@@ -16,8 +16,8 @@ end
 def play_jingle_bells
   roomba.song(JingleBells.song0, 0)
   roomba.song(JingleBells.song1, 1)
-  roomba.song(JingleBells.song2, 2)
-  roomba.song(JingleBells.song3, 3)
+  roomba.song(JingleBells.song0, 2)
+  roomba.song(JingleBells.song2, 3)
 
   roomba.play(0)
   sleep(7)
@@ -33,31 +33,28 @@ class JingleBells
 
   class << self
     def song0
-      [[B, QUARTER], [B, QUARTER], [B, HALF],
-       [B, QUARTER], [B, QUARTER], [B, HALF],
-       [B, QUARTER], [D, QUARTER], [G, QUARTER], [A, QUARTER],
-       [B, WHOLE]]
+      [n(B), n(B), n(B, HALF),
+       n(B), n(B), n(B, HALF),
+       n(B), n(D), n(G), n(A),
+       n(B, WHOLE)]
     end
 
     def song1
-      [[C, QUARTER], [C, QUARTER], [C, QUARTER], [C, QUARTER],
-       [C, QUARTER], [B, QUARTER], [B, HALF],
-       [B, QUARTER], [A, QUARTER], [A, QUARTER], [B, QUARTER],
-       [A, HALF], [D, HALF]]
+      [n(C), n(C), n(C), n(C),
+       n(C), n(B), n(B, HALF),
+       n(B), n(A), n(A), n(B),
+       n(A, HALF), n(D, HALF)]
     end
 
     def song2
-      [[B, QUARTER], [B, QUARTER], [B, HALF],
-       [B, QUARTER], [B, QUARTER], [B, HALF],
-       [B, QUARTER], [D, QUARTER], [G, QUARTER], [A, QUARTER],
-       [B, WHOLE]]
+      [n(C), n(C), n(C), n(C),
+       n(C), n(B), n(B), n(B),
+       n(D), n(D), n(C), n(A),
+       n(G, WHOLE)]
     end
 
-    def song3
-      [[C, QUARTER], [C, QUARTER], [C, QUARTER], [C, QUARTER],
-       [C, QUARTER], [B, QUARTER], [B, QUARTER], [B, QUARTER],
-       [D, QUARTER], [D, QUARTER], [C, QUARTER], [A, QUARTER],
-       [G, WHOLE]]
+    def n(note, duration=QUARTER)
+      [note, duration]
     end
   end
 end

data/examples/hello_api_multiple.rb

@@ -4,10 +4,11 @@ class HelloRobot < Artoo::Robot
 	connection :loopback1
 	connection :loopback2
 	connection :loopback3
+	device :pinger, :driver => :pinger
+	device :counter, :driver => :counter
+	device :random, :driver => :random
 	device :passthru1
 	device :passthru2
-	device :pinger, :driver => :pinger
-	device :pinger2, :driver => :pinger2
 
 	api :host => '127.0.0.1', :port => '8080'
 

data/examples/notifications.rb

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

data/examples/sphero_messages.rb

@@ -2,12 +2,18 @@ require 'artoo'
 
 connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4560'
 device :sphero, :driver => :sphero
-  
+
+def contact(*args)
+  @contacts ||= 0
+  @contacts += 1
+  puts "Contact #{@contacts}"
+end
+
 work do
-  on sphero, :collision => proc { puts "Collision!" }
+  on sphero, :collision => :contact
 
   every(3.seconds) do
     puts "Rolling..."
     sphero.roll 90, rand(360)
   end
-end
+end

data/lib/artoo/adaptors/test.rb

@@ -0,0 +1,28 @@
+require 'artoo/adaptors/adaptor'
+
+module Artoo
+  module Adaptors
+    # This class is used for testing
+    class Test < Adaptor
+      def connect
+        super
+        Logger.info "Test adapter connected."
+      end
+
+      def disconnect
+        super
+        Logger.info "Test adapter disconnected."
+      end
+
+      def reconnect
+        Logger.info "Test adapter reconnecting..."
+        super
+      end
+
+      def method_missing(method_name, *arguments, &block)
+        Logger.info "Test adapter called '#{method_name}'."
+        true
+      end
+    end
+  end
+end

data/lib/artoo/connection.rb

@@ -92,6 +92,11 @@ module Artoo
     private
 
     def require_adaptor(type)
+      if Artoo::Robot.test?
+        original_type = type
+        type = :test
+      end
+
       require "artoo/adaptors/#{type.to_s}"
       @adaptor = constantize("Artoo::Adaptors::#{classify(type.to_s)}").new(:port => port, :parent => current_instance)
     end

data/lib/artoo/delegator.rb

@@ -2,7 +2,7 @@ module Artoo
   # Execution context for top-level robots
   # DSL methods executed on main are delegated to this class like Sinatra
   class MainRobot < Robot
-    set :start_work, false
+    set :start_work, Proc.new { ! test? }
   end
 
   # Artoo delegation mixin that acts like Sinatra.

data/lib/artoo/device.rb

@@ -47,6 +47,14 @@ module Artoo
       "#{parent.safe_name}_#{name}_#{event}"
     end
 
+    def publish(event, *data)
+      if data.first
+        driver.publish(event_topic_name(event), *data)
+      else
+        driver.publish(event_topic_name(event))
+      end
+    end
+
     # @return [Hash] device
     def to_hash
       {
@@ -87,6 +95,11 @@ module Artoo
     private
 
     def require_driver(d)
+      if Artoo::Robot.test?
+        original_type = d
+        d = :test
+      end
+
       require "artoo/drivers/#{d.to_s}"
       @driver = constantize("Artoo::Drivers::#{classify(d.to_s)}").new(:parent => current_instance)
     end

data/lib/artoo/drivers/counter.rb

@@ -0,0 +1,28 @@
+require 'artoo/drivers/driver'
+
+module Artoo
+  module Drivers
+    # Test driver to count up
+    class Counter < Driver
+
+      COMMANDS = [:count].freeze
+
+      # Publishes events to update and alive event topics
+      # with incremental count
+      def start_driver
+        @count = 0
+        every(interval) do
+          @count += 1
+          publish(event_topic_name("update"), "count", @count)
+          publish(event_topic_name("count"), @count)
+        end
+
+        super
+      end
+
+      def count
+        @count
+      end
+    end
+  end
+end

data/lib/artoo/drivers/pinger.rb

@@ -2,26 +2,23 @@ require 'artoo/drivers/driver'
 
 module Artoo
   module Drivers
-    # Pings itself
+    # Test driver that can be pinged itself
     class Pinger < Driver
 
       COMMANDS = [:ping].freeze
 
-      # Publishes events to update and alive event topics
-      # with incremental count
       def start_driver
-        @count = 1
-        every(interval) do
-          publish(event_topic_name("update"), "alive", @count)
-          publish(event_topic_name("alive"), @count)
-          @count += 1
-        end
-
+        @count = 0
         super
       end
 
+      # Publishes events to update event topic
+      # when pinged
       def ping
-        "pong"
+        @count += 1
+        publish(event_topic_name("update"), "ping", @count)
+        publish(event_topic_name("ping"), @count)
+        "ping #{@count}"
       end
     end
   end

data/lib/artoo/drivers/random.rb

@@ -0,0 +1,27 @@
+require 'artoo/drivers/driver'
+
+module Artoo
+  module Drivers
+    # Test driver to obtain a random number
+    class Random < Driver
+
+      COMMANDS = [:random].freeze
+
+      # Publishes event to update event topic
+      # with random number
+      def start_driver
+        every(interval) do
+          @number = rand(100000)
+          publish(event_topic_name("update"), "random", @number)
+          publish(event_topic_name("random"), @number)
+        end
+
+        super
+      end
+
+      def random
+        @number
+      end
+    end
+  end
+end

data/lib/artoo/drivers/test.rb

@@ -0,0 +1,23 @@
+require 'artoo/drivers/driver'
+
+module Artoo
+  module Drivers
+    # Test driver
+    class Test < Driver
+      def start_driver
+        Logger.info "Test driver starting..."
+
+        super
+      end
+
+      def command(method_name, *arguments)
+        if method_name == "publish"
+          super
+        else
+          Logger.info "Driver command '#{method_name}'"
+          true
+        end
+      end
+    end
+  end
+end

data/lib/artoo/master.rb

@@ -46,6 +46,7 @@ module Artoo
     # Do asynchronous work for each robot
     def start_work
       robots.each {|r| r.async.work} unless Artoo::Robot.is_running?
+      Artoo::Robot.running!
     end
 
     # Pause work for each robot
@@ -61,9 +62,10 @@ module Artoo
       robots.each {|r| r.async.continue_work}
     end
 
-    # @deprecated
+    # terminate all robots
     def stop_work
-      #robots.each {|r| r.async.stop_work} unless !Artoo::Robot.is_running?
+      robots.each {|r| r.terminate} unless !Artoo::Robot.is_running?
+      Artoo::Robot.stopped!
     end
   end
 end

data/lib/artoo/robot.rb

@@ -4,6 +4,7 @@ require 'multi_json'
 require 'artoo/ext/timers'
 require 'artoo/ext/actor'
 
+require 'artoo/robot_class_methods'
 require 'artoo/basic'
 require 'artoo/connection'
 require 'artoo/device'
@@ -13,14 +14,16 @@ require 'artoo/master'
 require 'artoo/port'
 require 'artoo/utility'
 
-
 module Artoo
   # The most important class used by Artoo is Robot. This represents the primary
   # interface for interacting with a collection of physical computing capabilities.
+  #
+  # This file contains the instance-level methods used by Artoo::Robot
   class Robot
     include Celluloid
     include Celluloid::Notifications
     extend Artoo::Basic
+    extend Artoo::Robot::ClassMethods
     include Artoo::Utility
     include Artoo::Events
 
@@ -37,108 +40,6 @@ module Artoo
       initialize_devices(params[:devices] || {})
     end
 
-    class << self
-      attr_accessor :device_types, :working_code, :running,
-                    :use_api, :api_host, :api_port
-
-      def connection_types
-        @@connection_types ||= []
-      end
-
-      # Connection to some hardware that has one or more devices via some specific protocol
-      # @example connection :arduino, :adaptor => :firmata, :port => '/dev/tty.usbmodemxxxxx'
-      # @param [String] name
-      # @param [Hash]   params
-      def connection(name, params = {})
-        Celluloid::Logger.info "Registering connection '#{name}'..."
-        self.connection_types << {:name => name}.merge(params)
-      end
-
-      # Device that uses a connection to communicate
-      # @example device :collision_detect, :driver => :switch, :pin => 3
-      # @param [String] name
-      # @param [Hash]   params
-      def device(name, params = {})
-        Celluloid::Logger.info "Registering device '#{name}'..."
-        self.device_types ||= []
-        self.device_types << {:name => name}.merge(params)
-      end
-
-      # The work that needs to be performed
-      # @example
-      #   work do
-      #     every(10.seconds) do
-      #       puts "hello, world"
-      #     end
-      #   end
-      # @param [block] work
-      def work(&block)
-        Celluloid::Logger.info "Preparing work..."
-        self.working_code = block if block_given?
-      end
-
-      # Activate RESTful api
-      # Example:
-      #   api :host => '127.0.0.1', :port => '1234'
-      def api(params = {})
-        Celluloid::Logger.info "Registering api..."
-        self.use_api = true
-        self.api_host = params[:host] || '127.0.0.1'
-        self.api_port = params[:port] || '4321'
-      end
-
-      # Work can be performed by either:
-      #  an existing instance
-      #  an array of existing instances
-      #  or, a new instance can be created
-      # @param [Robot] robot
-      def work!(robot=nil)
-        return if !test? && is_running?
-        prepare_robots(robot)
-
-        unless cli?
-          Celluloid::Actor[:api] = Api.new(self.api_host, self.api_port) if self.use_api
-          master.start_work
-          self.running = true
-          sleep # sleep main thread, and let the work commence!
-        end
-      end
-
-      # Prepare master robots for work
-      def prepare_robots(robot=nil)
-        if robot.respond_to?(:work)
-          robots = [robot]
-        elsif robot.kind_of?(Array)
-          robots = robot
-        else
-          robots = [self.new]
-        end
-
-        Celluloid::Actor[:master] = Master.new(robots)
-      end
-
-      # Master actor
-      def master
-        Celluloid::Actor[:master]
-      end
-
-      # @return [Boolean] True if test env
-      def test?
-        ENV["ARTOO_TEST"] == 'true'
-      end
-
-      # @return [Boolean] True if cli env
-      def cli?
-        ENV["ARTOO_CLI"] == 'true'
-      end
-
-      # @return [Boolean] True if it's running
-      def is_running?
-        self.running ||= false
-        self.running == true
-      end
-    end
-
     # @return [String] Name without spaces and downcased
     def safe_name
       name.gsub(' ', '_').downcase
@@ -200,6 +101,13 @@ module Artoo
       current_class.working_code ||= proc {puts "No work defined."}
     end
 
+    # @param [Symbol] period
+    # @param [Numeric] interval
+    # @return [Boolean] True if there is recurring work for the period and interval
+    def has_work?(period, interval)
+      current_instance.timers.find {|t| t.recurring == (period == :every) && t.interval == interval}
+    end
+
     # @return [Hash] robot
     def to_hash
       {