artoo 1.4.1 → 1.5.0

checksums.yaml

@@ -1,7 +1,7 @@
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+  data.tar.gz: aff806d943afefb360b34d6f4cb8eff004c432a7
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data/.travis.yml

@@ -7,3 +7,6 @@ rvm:
 matrix:
   allow_failures:
     - rvm: jruby-1.7.4
+branches:
+  except:
+    - artoo.io

data/Gemfile.lock

@@ -1,7 +1,7 @@
 PATH
   remote: .
   specs:
-    artoo (1.4.1)
+    artoo (1.5.0)
       celluloid (~> 0.15.0)
       celluloid-io (~> 0.15.0)
       multi_json (~> 1.6)
@@ -15,7 +15,7 @@ GEM
   specs:
     bootstrap-sass (2.3.2.2)
       sass (~> 3.2)
-    celluloid (0.15.1)
+    celluloid (0.15.2)
       timers (~> 1.1.0)
     celluloid-io (0.15.0)
       celluloid (>= 0.15.0)
@@ -60,6 +60,7 @@ GEM
     http (0.5.0)
       http_parser.rb
     http_parser.rb (0.6.0.beta.2)
+    http_parser.rb (0.6.0.beta.2-java)
     json (1.7.7)
     json (1.7.7-java)
     kramdown (1.2.0)
@@ -74,6 +75,7 @@ GEM
       metaclass (~> 0.0.1)
     multi_json (1.8.0)
     nio4r (0.5.0)
+    nio4r (0.5.0-java)
     pry (0.9.12.2)
       coderay (~> 1.0.5)
       method_source (~> 0.8)

data/README.md

@@ -6,6 +6,8 @@ Artoo is a micro-framework for robotics using Ruby.
 
 Artoo provides a simple, yet powerful Domain-Specific Language (DSL) for robotics and physical computing.
 
+Want to use JavaScript on robots? Check out our sister project Cylon.js (http://cylonjs.com)
+
 [![Code Climate](https://codeclimate.com/github/hybridgroup/artoo.png)](https://codeclimate.com/github/hybridgroup/artoo) [![Build Status](https://travis-ci.org/hybridgroup/artoo.png?branch=master)](https://travis-ci.org/hybridgroup/artoo)
 
 ## Examples:
@@ -96,8 +98,9 @@ Artoo has a extensible system for connecting to hardware devices. The following
   - [BeagleBone](http://beagleboard.org/) <=> [Adaptor](https://github.com/hybridgroup/artoo-beaglebone)
   - [Crazyflie](http://www.bitcraze.se/) <=> [Adaptor](https://github.com/hybridgroup/artoo-crazyflie)
   - [Digispark](http://digistump.com/products/1) <=> [Adaptor](https://github.com/hybridgroup/artoo-digispark)
-  - [Leap Motion](https://www.leapmotion.com/) <=> [Adaptor](https://github.com/hybridgroup/artoo-leapmotion)
   - [Joystick](http://www.libsdl.org/) <=> [Adaptor](https://github.com/hybridgroup/artoo-joystick)
+  - [Leap Motion](https://www.leapmotion.com/) <=> [Adaptor](https://github.com/hybridgroup/artoo-leapmotion)
+  - [OpenCV](http://opencv.org/) <=> [Adaptor](https://github.com/hybridgroup/artoo-opencv)
   - [Pebble](http://getpebble.com/) <=> [Adaptor](https://github.com/hybridgroup/artoo-pebble)
   - [Raspberry Pi](http://www.raspberrypi.org/) <=> [Adaptor](https://github.com/hybridgroup/artoo-raspi)
   - [Roomba](http://www.irobot.com/us/robots/Educators/Create.aspx) <=> [Adaptor](https://github.com/hybridgroup/artoo-roomba)
@@ -168,31 +171,44 @@ Once the robot or group is working, you can view the main API page at the host a
 
 Artoo makes it easy to do Test Driven Development (TDD) of your robotic devices using your favorite Ruby test and mocking frameworks.
 
-Here is an example that uses Minitest and Mocha:
+Here is an example that uses Minitest, Mocha, and Timecop:
 
 ```ruby
+require './test_helper'
+require './test_robot'
+
 describe 'sphero' do
   let(:robot) { Artoo::MainRobot.new }
-   
-  it 'has work to do every 3 seconds' do
+  let (:start) { Time.now }
+
+  before :each do
+    Timecop.travel(start)
     robot.work
-     
-    robot.has_work?(:every, 3.seconds).wont_be_nil
   end
-   
-  it 'must roll every 3 seconds' do
-    robot.sphero.expects(:roll).twice
-     
-    robot.work
-    sleep 6.1
+
+  after :each do
+    Timecop.return
   end
-   
+
+  it 'has work to do every 3 seconds' do
+    robot.has_work?(:every, 3.seconds).wont_be_nil
+  end
+
   it 'receives collision event' do
     robot.expects(:contact)
-     
-    robot.work
     robot.sphero.publish("collision", "clunk")
-    sleep 0.1
+    sleep 0.05
+  end
+
+  it 'must roll every 3 seconds' do
+    Timecop.travel(start + 3.seconds) do
+      robot.sphero.expects(:roll)
+      sleep 0.05
+    end
+    Timecop.travel(start + 6.seconds) do
+      robot.sphero.expects(:roll)
+      sleep 0.05
+    end
   end
 end
 ```
@@ -214,12 +230,13 @@ work do
   on sphero, :collision => :contact
 
   every(3.seconds) do
-    puts "Rolling..."
     sphero.roll 90, rand(360)
   end
 end
 ```
 
+The repo with full example of using Artoo for test driven robotics is located at [https://github.com/hybridgroup/artoo-test-example](https://github.com/hybridgroup/artoo-test-example)
+
 ## CLI
 
 Artoo has a Command Line Interface (CLI) so you can access important features right from the command line.
@@ -305,6 +322,8 @@ Done!
 
 Check out our [documentation](http://artoo.io/documentation/) for lots of information about how to use Artoo.
 
+If you want to help us with some documentation on the site, you can go to [artoo.io branch](https://github.com/hybridgroup/artoo/tree/artoo.io) and then, follow the instructions.
+
 ## IRC
 
 Need more help? Just want to say "Hello"? Come visit us on IRC freenode #artoo

data/examples/hello_api.rb

@@ -1,9 +1,20 @@
-require 'artoo'
+require 'artoo/robot'
 
-connection :loop
-device :passthru
-api :host => '127.0.0.1', :port => '4321'
+class HelloRobot < Artoo::Robot
+  connection :loop
+  device :passthru
 
-work do
-	puts "Hello from the API running at #{api_host}:#{api_port}..."
-end
+  api :host => '127.0.0.1', :port => '4321'
+
+  work do
+  	puts "Hello from the API running at #{api_host}:#{api_port}..."
+  end
+
+  def hello name
+    "hi #{name}!"
+  end
+end
+
+robots = []
+robots << HelloRobot.new(:name => "hello", :commands => [:hello])
+HelloRobot.work!(robots)

data/lib/artoo/api/api.rb

@@ -36,6 +36,19 @@ module Artoo
         master.robot(@params['robotid']).as_json
       end
 
+      # Retrieve robot commands
+      # @return [JSON] commands
+      get '/robots/:robotid/commands' do
+        MultiJson.dump(master.robot(@params['robotid']).commands)
+      end
+
+      # Execute robot command
+      # @return [JSON] command
+      any '/robots/:robotid/commands/:commandid' do
+        result = master.robot(@params['robotid']).command(@params['commandid'], *command_params)
+        return MultiJson.dump({'result' => result})
+      end
+
       # Retrieve robot devices
       # @return [JSON] devices
       get '/robots/:robotid/devices' do
@@ -56,7 +69,7 @@ module Artoo
 
       # Execute robot command
       # @return [JSON] command
-      post '/robots/:robotid/devices/:deviceid/commands/:commandid' do
+      any '/robots/:robotid/devices/:deviceid/commands/:commandid' do
         result = device(@params['robotid'], @params['deviceid']).command(@params['commandid'], *command_params)
         return MultiJson.dump({'result' => result})
       end
@@ -91,11 +104,17 @@ module Artoo
       end
 
       def command_params
-        data = MultiJson.load(@req.body, :symbolize_keys => true)
-        if data && params = data[:params]
-          params.size == 1 ? params.first : params
-        else
-          nil
+        if @req.body.to_s != ""
+          data = MultiJson.load(@req.body.to_s, :symbolize_keys => true)
+          if data
+            params = []
+            data.each {|key, value|
+              params << value
+            }
+            params
+          else
+            nil
+          end
         end
       end
     end

data/lib/artoo/api/route_helpers.rb

@@ -124,6 +124,12 @@ module Artoo
         def put(path, &block)
           route 'PUT', path, &block
         end
+
+        # Route function for put
+        def any(path, &block)
+          route 'GET', path, &block
+          route 'POST', path, &block
+        end
       end
 
       module InstanceMethods

data/lib/artoo/ext/timers.rb

@@ -0,0 +1,41 @@
+# Monkeypatches for Timers & Timer classes used by Celluloid
+class Timers
+  def initialize
+    @timers = SortedSet.new
+    @paused_timers = SortedSet.new
+  end
+
+  def pause(timer = nil)
+    return pause_all if timer.nil?
+    raise TypeError, "not a Timers::Timer" unless timer.is_a? Timers::Timer
+    @timers.delete timer
+    @paused_timers.add timer
+  end
+
+  def pause_all
+    @timers.each {|timer| timer.pause}
+  end
+
+  def continue(timer = nil)
+    return continue_all if timer.nil?
+    raise TypeError, "not a Timers::Timer" unless timer.is_a? Timers::Timer
+    @paused_timers.delete timer
+    @timers.add timer
+  end
+
+  def continue_all
+    @paused_timers.each {|timer| timer.continue}
+  end
+
+  class Timer
+    # Pause this timer
+    def pause
+      @timers.pause self
+    end
+
+    # Continue this timer
+    def continue
+      @timers.continue self
+    end
+  end
+end

data/lib/artoo/robot.rb

@@ -1,8 +1,9 @@
 require 'celluloid/autostart'
 require 'celluloid/io'
 require 'multi_json'
-
+require 'artoo/ext/timers'
 require 'artoo/ext/actor'
+
 require 'artoo/robot_class_methods'
 require 'artoo/basic'
 require 'artoo/connection'
@@ -29,7 +30,7 @@ module Artoo
     include Artoo::Utility
     include Artoo::Events
 
-    attr_reader :connections, :devices, :name
+    attr_reader :connections, :devices, :name, :commands
 
     exclusive :execute_startup
 
@@ -40,6 +41,7 @@ module Artoo
     # @option params [Collection] :devices
     def initialize(params={})
       @name = params[:name] || "Robot #{random_string}"
+      @commands = params[:commands] || []
       initialize_connections(params[:connections] || {})
       initialize_devices(params[:devices] || {})
     end
@@ -117,7 +119,8 @@ module Artoo
       {
         :name => name,
         :connections => connections.each_value.collect {|c|c.to_hash},
-        :devices => devices.each_value.collect {|d|d.to_hash}
+        :devices => devices.each_value.collect {|d|d.to_hash},
+        :commands => commands
       }
     end
 
@@ -131,8 +134,31 @@ module Artoo
       "#<Robot #{object_id}>"
     end
 
+    def command(method_name, *arguments)
+      if known_command?(method_name)
+        if arguments.first
+          self.send(method_name, *arguments)
+        else
+          self.send(method_name)
+        end
+      else
+        "Unknown Command"
+      end
+    rescue Exception => e
+      Logger.error e.message
+      Logger.error e.backtrace.inspect
+      return nil
+    end
+
+    # @return [Boolean] True if command exists
+    def known_command?(method_name)
+      return commands.include?(method_name.intern)
+    end
+
+
     private
 
+
     def initialize_connections(params={})
       @connections = {}
       connection_types.each {|ct|
@@ -147,7 +173,8 @@ module Artoo
       @devices = {}
       device_types.each {|d|
         Logger.info "Initializing device #{d[:name].to_s}..."
-        d = Device.new(d.merge(:parent => current_instance))
+        dp = params[d[:name]] || {}
+        d = Device.new(d.merge(dp).merge(:parent => current_instance))
         instance_eval("def #{d.name}; return devices[:#{d.name}]; end")
         @devices[d.name.intern] = d
       }

data/lib/artoo/version.rb

@@ -1,5 +1,5 @@
 module Artoo
   unless const_defined?('VERSION')
-    VERSION = "1.4.1"
+    VERSION = "1.5.0"
   end
 end

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: artoo
 version: !ruby/object:Gem::Version
-  version: 1.4.1
+  version: 1.5.0
 platform: ruby
 authors:
 - Ron Evans
@@ -12,7 +12,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-10-18 00:00:00.000000000 Z
+date: 2013-12-07 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: celluloid
@@ -226,6 +226,7 @@ files:
 - lib/artoo/exceptions.rb
 - lib/artoo/ext/actor.rb
 - lib/artoo/ext/numeric.rb
+- lib/artoo/ext/timers.rb
 - lib/artoo/generators/adaptor.rb
 - lib/artoo/generators/adaptor/Gemfile.tt
 - lib/artoo/generators/adaptor/LICENSE