artoo 0.5.0 → 1.0.0.pre

data/lib/artoo/robot_class_methods.rb

@@ -0,0 +1,147 @@
+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 module contains the class-level methods used by Artoo::Robot
+  class Robot
+    module ClassMethods
+      attr_accessor :device_types, :working_code,
+                      :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 is_running?
+        prepare_robots(robot)
+
+        unless cli?
+          begin
+            start_api
+            master.start_work
+            begin_working
+          rescue Interrupt
+            Celluloid::Logger.info 'Shutting down...'
+            master.stop_work if master
+            # Explicitly exit so busy Processor threads can't block
+            # process shutdown... taken from Sidekiq, thanks!
+            exit(0)
+          end
+        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
+
+      def begin_working
+        self_read, self_write = IO.pipe
+        setup_interrupt(self_write)
+        handle_signals(self_read)
+      end
+      
+      def setup_interrupt(self_write)
+        Signal.trap("INT") do
+          self_write.puts("INT")
+        end
+      end
+
+      def handle_signals(self_read)
+        while readable_io = IO.select([self_read])
+          signal = readable_io.first[0].gets.strip
+          raise Interrupt
+        end
+      end
+
+      def start_api
+        Celluloid::Actor[:api] = Api.new(self.api_host, self.api_port) if self.use_api
+      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?
+        @@running ||= false
+        @@running == true
+      end
+
+      def running!
+        @@running = true
+      end
+
+      def stopped!
+        @@running = false
+      end
+    end
+  end
+end

data/lib/artoo/version.rb

@@ -1,5 +1,5 @@
 module Artoo
   unless const_defined?('VERSION')
-    VERSION = "0.5.0"
+    VERSION = "1.0.0.pre"
   end
 end

data/test/robot_test.rb

@@ -64,12 +64,12 @@ describe Artoo::Robot do
     MultiJson.load(@robot.as_json, :symbolize_keys => true)[:name].must_equal "testme"
   end
 
-  describe 'work' do
+  describe 'work!' do
     before do
-      TestRobot.stubs(:sleep)
+      TestRobot.stubs(:begin_working)
       @master = mock('master')
-      TestRobot.stubs(:master).returns(@master)
       @master.expects(:start_work)
+      TestRobot.stubs(:master).returns(@master)
     end
 
     it 'Artoo::Robot.work! with single object' do

data/test/test_helper.rb

@@ -1,7 +1,6 @@
-gem 'minitest'
 require 'minitest/autorun'
 require 'mocha/setup'
 
 require 'artoo/robot'
 
-Celluloid.logger = nil
+Celluloid.logger = nil

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: artoo
 version: !ruby/object:Gem::Version
-  version: 0.5.0
+  version: 1.0.0.pre
 platform: ruby
 authors:
 - Ron Evans
@@ -12,7 +12,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-05-16 00:00:00.000000000 Z
+date: 2013-05-24 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: celluloid
@@ -146,15 +146,13 @@ email:
 executables:
 - retry.sh
 - robi
-- sphero.sh
-- sphero_linux_bind.sh
-- sphero_linux_socat.sh
 extensions: []
 extra_rdoc_files: []
 files:
 - .gitignore
 - .travis.yml
 - .yardopts
+- CONTRIBUTORS.md
 - Gemfile
 - Gemfile.lock
 - Guardfile
@@ -193,9 +191,6 @@ files:
 - artoo.gemspec
 - bin/retry.sh
 - bin/robi
-- bin/sphero.sh
-- bin/sphero_linux_bind.sh
-- bin/sphero_linux_socat.sh
 - examples/ardrone.rb
 - examples/ardrone_nav.rb
 - examples/ardrone_nav_video.rb
@@ -217,7 +212,6 @@ files:
 - examples/roomba.rb
 - examples/roomba_wiichuck.rb
 - examples/sphero.rb
-- examples/sphero2.rb
 - examples/sphero_color.rb
 - examples/sphero_cycle.rb
 - examples/sphero_firmata.rb
@@ -228,13 +222,8 @@ files:
 - examples/wiiclassic.rb
 - lib/artoo.rb
 - lib/artoo/adaptors/adaptor.rb
-- lib/artoo/adaptors/ardrone.rb
-- lib/artoo/adaptors/ardrone_navigation.rb
-- lib/artoo/adaptors/ardrone_video.rb
-- lib/artoo/adaptors/firmata.rb
 - lib/artoo/adaptors/loopback.rb
-- lib/artoo/adaptors/roomba.rb
-- lib/artoo/adaptors/sphero.rb
+- lib/artoo/adaptors/test.rb
 - lib/artoo/api.rb
 - lib/artoo/api_route_helpers.rb
 - lib/artoo/basic.rb
@@ -242,22 +231,12 @@ files:
 - lib/artoo/delegator.rb
 - lib/artoo/device.rb
 - lib/artoo/device_event_client.rb
-- lib/artoo/drivers/ardrone.rb
-- lib/artoo/drivers/ardrone_navigation.rb
-- lib/artoo/drivers/ardrone_video.rb
-- lib/artoo/drivers/button.rb
+- lib/artoo/drivers/counter.rb
 - lib/artoo/drivers/driver.rb
-- lib/artoo/drivers/led.rb
-- lib/artoo/drivers/motor.rb
 - lib/artoo/drivers/passthru.rb
 - lib/artoo/drivers/pinger.rb
-- lib/artoo/drivers/pinger2.rb
-- lib/artoo/drivers/roomba.rb
-- lib/artoo/drivers/servo.rb
-- lib/artoo/drivers/sphero.rb
-- lib/artoo/drivers/wiichuck.rb
-- lib/artoo/drivers/wiiclassic.rb
-- lib/artoo/drivers/wiidriver.rb
+- lib/artoo/drivers/random.rb
+- lib/artoo/drivers/test.rb
 - lib/artoo/events.rb
 - lib/artoo/ext/actor.rb
 - lib/artoo/ext/timers.rb
@@ -265,30 +244,17 @@ files:
 - lib/artoo/master.rb
 - lib/artoo/port.rb
 - lib/artoo/robot.rb
+- lib/artoo/robot_class_methods.rb
 - lib/artoo/utility.rb
 - lib/artoo/version.rb
 - test/adaptors/adaptor_test.rb
-- test/adaptors/ardrone_test.rb
-- test/adaptors/firmata_test.rb
 - test/adaptors/loopback_test.rb
-- test/adaptors/sphero_test.rb
 - test/api_test.rb
 - test/artoo_test.rb
 - test/connection_test.rb
 - test/delegator_test.rb
 - test/device_test.rb
-- test/drivers/ardrone_navigation_test.rb
-- test/drivers/ardrone_test.rb
-- test/drivers/ardrone_video_test.rb
 - test/drivers/driver_test.rb
-- test/drivers/led_test.rb
-- test/drivers/motor_test.rb
-- test/drivers/roomba_test.rb
-- test/drivers/servo_test.rb
-- test/drivers/sphero_test.rb
-- test/drivers/wiichuck_test.rb
-- test/drivers/wiiclassic_test.rb
-- test/drivers/wiidriver_test.rb
 - test/master_test.rb
 - test/port_test.rb
 - test/robot_test.rb
@@ -309,9 +275,9 @@ required_ruby_version: !ruby/object:Gem::Requirement
       version: '0'
 required_rubygems_version: !ruby/object:Gem::Requirement
   requirements:
-  - - '>='
+  - - '>'
     - !ruby/object:Gem::Version
-      version: '0'
+      version: 1.3.1
 requirements: []
 rubyforge_project: artoo
 rubygems_version: 2.0.3

data/bin/sphero.sh

@@ -1,8 +0,0 @@
-#!/bin/bash
-
-NEXT_WAIT_TIME=0
-COMMAND="socat PIPE:/dev/tty.Sphero-$1-RN-SPP,nonblock TCP-LISTEN:$2,fork"
-until $COMMAND || [ $NEXT_WAIT_TIME -eq 4 ]; do
-  echo "retry..."
-  sleep $(( NEXT_WAIT_TIME++ ))
-done

data/bin/sphero_linux_bind.sh

@@ -1,25 +0,0 @@
-#!/bin/bash
-#
-# This will create a sphero connection bound to /dev/Sphero-XXX
-#
-# Requires sudo or ran as root
-#
-# $1 = unbound /dev/rfcommXX
-# $2 = sphero hardware address from hcitool scan
-# $3 = sphero three letter color code
-#
-# Optional parameter
-# $4 = bluetooth radio hcix
-# 
-# Example
-#
-# sudo ./sphero_linux_bind.sh 1 00:06:66:4A:43:23 PYG hci1
-#
-#
-if [ -z "$4" ]; then
-  addr="hci0"
-else
-  addr=$4
-fi
-rfcomm -i $addr bind /dev/rfcomm$1 $2 1
-ln -s /dev/rfcomm$1 /dev/Sphero-$3

data/bin/sphero_linux_socat.sh

@@ -1,8 +0,0 @@
-#!/bin/bash
-
-NEXT_WAIT_TIME=0
-COMMAND="socat FILE:/dev/$2,nonblock,raw,b115200,echo=0 TCP-LISTEN:$1,fork"
-until $COMMAND || [ $NEXT_WAIT_TIME -eq 4 ]; do
-  echo "retry..."
-  sleep $(( NEXT_WAIT_TIME++ ))
-done

data/examples/sphero2.rb

@@ -1,26 +0,0 @@
-require 'artoo/robot'
-           
-class DoubleSpheroRobot < 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 : :blue)
-      @count += 1
-      sphero.roll 90, rand(360)
-    end
-  end
-end
-
-SPHEROS = {"127.0.0.1:4560" => "/dev/tty.Sphero-BRG-RN-SPP",
-           "127.0.0.1:4561" => "/dev/tty.Sphero-YBW-RN-SPP"}
-robots = []
-SPHEROS.each_key {|p|
-  robots << DoubleSpheroRobot.new(:connections => 
-                              {:sphero => 
-                                {:port => p}})
-}
-
-DoubleSpheroRobot.work!(robots)

data/lib/artoo/adaptors/ardrone.rb

@@ -1,41 +0,0 @@
-require 'artoo/adaptors/adaptor'
-
-module Artoo
-  module Adaptors
-    # This class connects to a ARDrone 2.0
-    # @see http://rubydoc.info/gems/hybridgroup-argus/0.2.0/Argus/Drone Argus Drone Documentation
-    class Ardrone < Adaptor
-      finalizer :finalize
-      attr_reader :ardrone
-
-      # Finalizes connection with ARDrone by landing and stopping the device
-      def finalize
-        if connected?
-          ardrone.land
-          ardrone.stop
-        end
-      end
-
-      # Creates Argus Drone connection with device
-      # @return [Boolean]
-      def connect
-        require 'argus' unless defined?(::Argus)
-        @ardrone = Argus::Drone.new(connect_to_udp, port.host, port.port)
-        super
-      end
-
-      # Disconnects device by stopping it and ending connection
-      # @return [Boolean]
-      def disconnect
-        ardrone.stop
-        super
-      end
-
-      # Calls ardrone actions using method missing
-      # @see https://github.com/hybridgroup/argus/blob/master/lib/argus/drone.rb hybridgroup-argus Drone
-      def method_missing(method_name, *arguments, &block)
-        ardrone.send(method_name, *arguments, &block)
-      end
-    end
-  end
-end

data/lib/artoo/adaptors/ardrone_navigation.rb

@@ -1,33 +0,0 @@
-require 'artoo/adaptors/adaptor'
-
-module Artoo
-  module Adaptors
-    # Connect to a ARDrone 2.0 navigation data stream
-    # @see http://rubydoc.info/gems/hybridgroup-argus/0.2.0/Argus/NavStreamer Argus NavStremer Documentation
-    class ArdroneNavigation < Adaptor
-      attr_reader :ardrone
-
-      # Creates connection with Argus NavStreamer and starts ardrone device
-      # @return [Boolean]
-      def connect
-        require 'argus' unless defined?(::Argus)
-        @ardrone = Argus::NavStreamer.new(connect_to_udp, port.host, port.port.to_i)
-        @ardrone.start
-        super
-      end
-
-      # Closes connection with ardrone device
-      # @return [Boolean]
-      def disconnect
-        ardrone.close
-        super
-      end
-
-      # Calls ardrone actions using method missing
-      # @see http://rubydoc.info/gems/hybridgroup-argus/0.2.0/Argus/Drone Argus Drone Documentation
-      def method_missing(method_name, *arguments, &block)
-        ardrone.send(method_name, *arguments, &block)
-      end
-    end
-  end
-end