artoo 1.0.0.pre → 1.0.0.rc1

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA1:
-  metadata.gz: 731043a8242e8887c4cbff414816cdf7eadae2af
-  data.tar.gz: 6b0f65cd67cefd32098bea77d87adefcf7032d60
+  metadata.gz: bd71026c937b88a49c8386760572abc6744fb74c
+  data.tar.gz: 0d9006bcde225de347974ca52d3a961c45af4e9b
 SHA512:
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-  data.tar.gz: 6392e99e47cd6eaddcb69d98777afcf3cf4000a721632b42bfceb18242c2965c7fc150b3d32b87cf1d75fa19d39f2909d5f7b604c8694cefa827cdb01e08500d
+  metadata.gz: 28dad43c2ea5426571f389b3198777c13495794dde7ae09b2868614206889d2dfd295a69b041ea2b038b7d4b7a76dae8779cf773b0969153d5894c008a08004b
+  data.tar.gz: 63c0b5190bc20dc0508128aca8178f6a8f537e4a6ea522abb81a6f2c661c584b347b3c6af23b8edbaf957c06dd7f73bc839649fa015f64d9c8541086f521df0c

data/Gemfile

@@ -10,7 +10,6 @@ gem 'sprockets'
 gem 'compass'
 gem 'bootstrap-sass'
 gem 'guard'
-gem 'guard-livereload'
 gem 'guard-sprockets'
 gem 'guard-compass'
 gem 'rb-inotify', '~> 0.8.8'

data/Gemfile.lock

@@ -1,23 +1,23 @@
 PATH
   remote: .
   specs:
-    artoo (1.0.0.pre)
-      celluloid (~> 0.14.0)
-      celluloid-io (~> 0.14.0)
+    artoo (1.0.0.rc1)
+      celluloid (~> 0.14.1)
+      celluloid-io (~> 0.14.1)
       multi_json (~> 1.6)
       pry (~> 0.9)
       rake (~> 10.0)
-      reel (~> 0.4.pre)
+      reel (~> 0.4.0.pre)
 
 GEM
   remote: http://rubygems.org/
   specs:
     bootstrap-sass (2.3.1.0)
       sass (~> 3.2)
-    celluloid (0.14.0)
+    celluloid (0.14.1)
       timers (>= 1.0.0)
-    celluloid-io (0.14.0)
-      celluloid (>= 0.13.0)
+    celluloid-io (0.14.1)
+      celluloid (>= 0.14.1)
       nio4r (>= 0.4.5)
     certified (0.1.1)
     chunky_png (1.2.8)
@@ -31,11 +31,6 @@ GEM
       fssm (>= 0.2.7)
       sass (~> 3.1)
     dotenv (0.7.0)
-    em-websocket (0.5.0)
-      eventmachine (>= 0.12.9)
-      http_parser.rb (~> 0.5.3)
-    eventmachine (1.0.3)
-    eventmachine (1.0.3-java)
     execjs (1.4.0)
       multi_json (~> 1.0)
     ffi (1.8.1)
@@ -57,10 +52,6 @@ GEM
     guard-compass (0.0.6)
       compass (>= 0.10.5)
       guard (>= 0.2.1)
-    guard-livereload (1.3.0)
-      em-websocket (>= 0.2.0)
-      guard (>= 1.5.0)
-      multi_json (~> 1.0)
     guard-sprockets (0.4.3)
       execjs (~> 1.0)
       guard (>= 1.1.0)
@@ -70,7 +61,6 @@ GEM
       certified
       http_parser.rb
     http_parser.rb (0.5.3)
-    http_parser.rb (0.5.3-java)
     json (1.7.7)
     json (1.7.7-java)
     kramdown (1.0.2)
@@ -84,7 +74,7 @@ GEM
     mocha (0.14.0)
       metaclass (~> 0.0.1)
     multi_json (1.7.3)
-    nio4r (0.4.5)
+    nio4r (0.4.6)
     pry (0.9.12.2)
       coderay (~> 1.0.5)
       method_source (~> 0.8)
@@ -120,7 +110,7 @@ GEM
     thor (0.18.1)
     tilt (1.4.1)
     timers (1.1.0)
-    websocket_parser (0.1.2)
+    websocket_parser (0.1.4)
       http
     yard (0.8.6.1)
     yard-sinatra (1.0.0)
@@ -139,7 +129,6 @@ DEPENDENCIES
   foreman
   guard
   guard-compass
-  guard-livereload
   guard-sprockets
   json (~> 1.7.7)
   kramdown

data/Guardfile

@@ -8,8 +8,3 @@ end
 guard 'compass', :configuration_file => 'api/assets/compass.rb', :project_path => 'api/assets' do
   watch(%r{api(/assets/stylesheets/(.+\.(scss)))})
 end
-
-guard 'livereload' do
-  watch(%r{api(/public/(.+\.(css|js|html)))}) 
-end
-

data/artoo.gemspec

@@ -19,13 +19,13 @@ Gem::Specification.new do |s|
   s.executables   = `git ls-files -- bin/*`.split("\n").map{ |f| File.basename(f) }
   s.require_paths = ["lib"]
 
-  s.add_runtime_dependency 'celluloid', '~> 0.14.0'
-  s.add_runtime_dependency 'celluloid-io', '~> 0.14.0'
-  s.add_runtime_dependency 'reel', '~> 0.4.pre'
+  s.add_runtime_dependency 'celluloid', '~> 0.14.1'
+  s.add_runtime_dependency 'celluloid-io', '~> 0.14.1'
+  s.add_runtime_dependency 'reel', '~> 0.4.0.pre'
   s.add_runtime_dependency 'multi_json', '~> 1.6'
   s.add_runtime_dependency 'rake', '~> 10.0'
   s.add_runtime_dependency 'pry', '~> 0.9'
   s.add_development_dependency 'minitest', '~> 5.0'
   s.add_development_dependency 'minitest-happy'
-  s.add_development_dependency 'mocha', '~> 0.14.0.alpha'
+  s.add_development_dependency 'mocha', '~> 0.14.0'
 end

data/examples/ardrone.rb

@@ -1,6 +1,6 @@
 require 'artoo'
 
-connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.1:5556'
+connection :ardrone, :adaptor => :ardrone, :port => '192.168.0.43:5556'
 device :drone, :driver => :ardrone, :connection => :ardrone
 
 work do

data/examples/ardrone_multi.rb

@@ -0,0 +1,37 @@
+require 'artoo/robot'
+
+class DroneRobot < Artoo::Robot
+  connection :drone, :adaptor => :ardrone
+  device :drone, :driver => :ardrone
+
+  #api :host => '127.0.0.1', :port => '8080'
+
+  work do
+    drone.start
+
+    after(10.seconds){
+      drone.take_off
+      drone.hover
+    }
+    after(15.seconds){
+      drone.turn_right(0.3)
+    }
+    after(25.seconds){
+      drone.hover
+    }
+    after(30.seconds){
+      drone.land
+    }
+  end
+end
+
+DRONES = {"192.168.0.43:5556" => "wedge",
+           "192.168.0.44:5556" => "biggs"}
+robots = []
+DRONES.each_key {|p|
+  robots << DroneRobot.new(:connections =>
+                              {:drone =>
+                                {:port => p}})
+}
+
+DroneRobot.work!(robots)

data/examples/ardrone_wiiclassic.rb

@@ -1,6 +1,6 @@
 require 'artoo'
 
-connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.1:5556'
+connection :ardrone, :adaptor => :ardrone, :port => '192.168.0.43:5556'
 device :drone, :driver => :ardrone, :connection => :ardrone
 
 connection :arduino, :adaptor => :firmata, :port => "8023"

data/examples/conway_sphero.rb

@@ -12,7 +12,7 @@ class ConwaySpheroRobot < Artoo::Robot
     on sphero, :collision => proc { contact }
 
     every(3.seconds) { movement if alive? }
-    every(10.seconds) { birthday if alive? }
+    every(16.seconds) { birthday if alive? }
   end
 
   def alive?; (@alive == true); end
@@ -44,7 +44,7 @@ class ConwaySpheroRobot < Artoo::Robot
     
     puts "Happy birthday, #{name}, you are #{@age} and had #{@contacts} contacts."
     #return if @age <= 3
-    death unless @contacts >= 3 && @contacts < 5
+    death unless @contacts >= 6 && @contacts < 11
     reset_contacts
   end
 
@@ -53,13 +53,17 @@ class ConwaySpheroRobot < Artoo::Robot
   end
 end
 
-SPHEROS = {"127.0.0.1:4560" => "/dev/tty.Sphero-BRG-RN-SPP",
+SPHEROS = {
+           "127.0.0.1:4560" => "/dev/tty.Sphero-BRG-RN-SPP",
            "127.0.0.1:4561" => "/dev/tty.Sphero-YBW-RN-SPP",
            "127.0.0.1:4562" => "/dev/tty.Sphero-BWY-RN-SPP",
            "127.0.0.1:4563" => "/dev/tty.Sphero-YRR-RN-SPP",
            "127.0.0.1:4564" => "/dev/tty.Sphero-OBG-RN-SPP",
            "127.0.0.1:4565" => "/dev/tty.Sphero-GOB-RN-SPP",
-           "127.0.0.1:4566" => "/dev/tty.Sphero-PYG-RN-SPP"}
+           "127.0.0.1:4566" => "/dev/tty.Sphero-PYG-RN-SPP",
+           "127.0.0.1:4567" => "/dev/tty.Sphero-PYG-RN-SPP",
+           "127.0.0.1:4568" => "/dev/tty.Sphero-PYG-RN-SPP",
+           "127.0.0.1:4569" => "/dev/tty.Sphero-PYG-RN-SPP"}
 robots = []
 SPHEROS.each_key {|p|
   robots << ConwaySpheroRobot.new(:connections => 

data/examples/sphero.rb

@@ -1,11 +1,11 @@
 require 'artoo'
 
-connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4560'
+connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4569'
 device :sphero, :driver => :sphero
   
 work do
-  every(3.seconds) do
+  every(1.seconds) do
   	puts "Rolling..."
     sphero.roll 90, rand(360)
   end
-end
+end

data/examples/sphero_color.rb

@@ -1,13 +1,13 @@
 require 'artoo'
 
-connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4560'
+connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4569'
 device :sphero, :driver => :sphero
-  
+
 work do
-  @count = 1
-  every(3.seconds) do
-    sphero.set_color(@count % 2 == 0 ? :green : :blue)
-    @count += 1
-    sphero.roll 60, rand(360)
+  every(1.seconds) do
+    puts "Rolling..."
+    sphero.set_color(rand(255),rand(255),rand(255))
+    sphero.roll 20, rand(360)
   end
 end
+

data/examples/sphero_color_wiichuck.rb

@@ -0,0 +1,30 @@
+require 'artoo'
+
+connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4569'
+device :sphero, :driver => :sphero
+
+connection :arduino, :adaptor => :firmata, :port => "8023"
+device :wiichuck, :driver => :wiichuck, :connection => :arduino, :interval => 0.1
+  
+work do
+  init_settings
+
+  on wiichuck, :joystick => proc { |*value|
+    @heading = heading(value[1])
+  }
+
+  every(1.seconds) do
+  	puts "Rolling..."
+    sphero.set_color(rand(255),rand(255),rand(255))
+    sphero.roll 20, @heading
+  end
+end
+
+def init_settings
+  sphero.stop
+  @heading = 0
+end
+
+def heading(value)
+  (180.0 - (Math.atan2(value[:y],value[:x]) * (180.0 / Math::PI))).round
+end

data/examples/sphero_wiichuck.rb

@@ -1,6 +1,6 @@
 require 'artoo'
 
-connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4560'
+connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4568'
 device :sphero, :driver => :sphero
 
 connection :arduino, :adaptor => :firmata, :port => "8023"
@@ -15,7 +15,7 @@ work do
   }
   every(1.seconds) do
   	puts "Rolling..."
-    sphero.roll 20, @heading
+    sphero.roll 50, @heading
   end
 end
 

data/lib/artoo/adaptors/adaptor.rb

@@ -60,6 +60,7 @@ module Artoo
       def connect_to_tcp
         @socket ||= TCPSocket.new(port.host, port.port)
       end
+      
       # @return [UDPSocket] UDP socket connection
       def connect_to_udp
         @udp_socket ||= UDPSocket.new

data/lib/artoo/api/api.rb

@@ -0,0 +1,103 @@
+require 'reel'
+require 'artoo/api/route_helpers'
+require 'artoo/api/device_event_client'
+
+module Artoo
+  module Api
+    # Artoo API Server provides an interface to communicate with
+    # master class and retrieve information about robots being
+    # controlled
+    class Server < Reel::Server
+      include RouteHelpers
+
+      # Create new API server
+      # @param [String] host
+      # @param [Int]    port
+      def initialize(host = "127.0.0.1", port = 3000)
+        super(host, port, &method(:on_connection))
+      end
+
+      # Dispatches connection requests
+      def on_connection(connection)
+        while request = connection.request
+          dispatch!(connection, request)
+        end
+      end
+
+      # Retrieve list of robots
+      # @return [JSON] robots
+      get '/robots' do
+        MultiJson.dump(master.robots.collect {|r|r.to_hash})
+      end
+
+      # Retrieve robot by id
+      # @return [JSON] robot
+      get '/robots/:robotid' do
+        master.robot(@params['robotid']).as_json
+      end
+
+      # Retrieve robot devices
+      # @return [JSON] devices
+      get '/robots/:robotid/devices' do
+        MultiJson.dump(master.robot_devices(@params['robotid']).each_value.collect {|d| d.to_hash})
+      end
+
+      # Retrieve robot device
+      # @return [JSON] device
+      get '/robots/:robotid/devices/:deviceid' do
+        device(@params['robotid'], @params['deviceid']).as_json
+      end
+
+      # Retrieve robot commands
+      # @return [JSON] commands
+      get '/robots/:robotid/devices/:deviceid/commands' do
+        MultiJson.dump(device(@params['robotid'], @params['deviceid']).commands)
+      end
+
+      # Execute robot command
+      # @return [JSON] command
+      post '/robots/:robotid/devices/:deviceid/commands/:commandid' do
+        result = device(@params['robotid'], @params['deviceid']).command(@params['commandid'], command_params)
+        return MultiJson.dump({'result' => result})
+      end
+
+      # Subscribte to robot device events
+      # @return [nil]
+      get_ws '/robots/:robotid/devices/:deviceid/events' do
+        DeviceEventClient.new(@req, device(@params['robotid'], @params['deviceid']).event_topic_name('update'))
+        return nil
+      end
+
+      # Retrieve robot connections
+      # @return [JSON] connections
+      get '/robots/:robotid/connections' do
+        MultiJson.dump(master.robot_connections(@params['robotid']).each_value.collect {|c| c.to_hash})
+      end
+
+      # Retrieve robot connection
+      # @return [JSON] connection
+      get '/robots/:robotid/connections/:connectionid' do
+        master.robot_connection(@params['robotid'], @params['connectionid']).as_json
+      end
+
+      protected
+
+      def master
+        Actor[:master]
+      end
+
+      def device(robot_id, device_id)
+        master.robot_device(robot_id, device_id)
+      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
+        end
+      end
+    end
+  end
+end

data/lib/artoo/api/device_event_client.rb

@@ -0,0 +1,35 @@
+module Artoo
+  module Api
+    # The Artoo::Api::DeviceEventClient class is how a websocket client can subscribe
+    # to event notifications for a specific device.
+    # Example: ardrone nav data
+    class DeviceEventClient
+      include Celluloid
+      include Celluloid::Notifications
+      include Celluloid::Logger
+
+      attr_reader :topic
+
+      # Create new event client
+      # @param [Socket] websocket
+      # @param [String] topic
+      def initialize(websocket, topic)
+        @topic = topic
+        info "Streaming #{@topic} to websocket..."
+        @socket = websocket
+        subscribe(@topic, :notify_event)
+      end
+
+      # Event notification
+      # @param [String] topic
+      # @param [Object] data
+      def notify_event(topic, *data)
+        # TODO: send which topic sent the notification
+        @socket << data.last.to_s
+      rescue Reel::SocketError, Errno::EPIPE
+        info "Device event notification #{topic} websocket disconnected"
+        terminate
+      end
+    end
+  end
+end

data/lib/artoo/api/route_helpers.rb

@@ -0,0 +1,222 @@
+module Artoo
+  module Api
+  # Route helpers used within the Artoo::Api::Server class
+    module RouteHelpers
+      class ResponseHandled < StandardError; end
+      module ClassMethods
+
+        # Path to api/public directory
+        # @return [String] static path
+        def static_path(default=File.join(File.dirname(__FILE__), "..", "..", "..","api/public"))
+          @static_path ||= default
+        end
+
+        # @return [Hash] routes
+        def routes
+          @routes ||= {}
+        end
+
+        # Adds compiled signature to routes hash
+        # @return [Array] signature
+        def route(verb, path, &block)
+          signature = compile!(verb, path, block, {})
+          (routes[verb] ||= []) << signature
+        end
+
+        # Creates method from block, ripped from Sinatra
+        # 'cause it's so sexy in there
+        # @return [Method] generated method
+        def generate_method(method_name, &block)
+          define_method(method_name, &block)
+          method = instance_method method_name
+          remove_method method_name
+          method
+        end
+
+        #@todo Add documentation
+        def compile!(verb, path, block, options = {})
+          options.each_pair { |option, args| send(option, *args) }
+          method_name             = "#{verb} #{path}"
+          unbound_method          = generate_method(method_name, &block)
+          pattern, keys           = compile path
+          conditions, @conditions = @conditions, []
+
+          [ pattern, keys, conditions, block.arity != 0 ?
+              proc { |a,p| unbound_method.bind(a).call(*p) } :
+              proc { |a,p| unbound_method.bind(a).call } ]
+        end
+
+        #@todo Add documentation
+        def compile(path)
+          keys = []
+          if path.respond_to? :to_str
+            ignore = ""
+            pattern = path.to_str.gsub(/[^\?\%\\\/\:\*\w]/) do |c|
+              ignore << escaped(c).join if c.match(/[\.@]/)
+              patt = encoded(c)
+              patt.gsub(/%[\da-fA-F]{2}/) do |match|
+                match.split(//).map {|char| char =~ /[A-Z]/ ? "[#{char}#{char.tr('A-Z', 'a-z')}]" : char}.join
+              end
+            end
+            pattern.gsub!(/((:\w+)|\*)/) do |match|
+              if match == "*"
+                keys << 'splat'
+                "(.*?)"
+              else
+                keys << $2[1..-1]
+                ignore_pattern = safe_ignore(ignore)
+
+                ignore_pattern
+              end
+            end
+            [/\A#{pattern}\z/, keys]
+          elsif path.respond_to?(:keys) && path.respond_to?(:match)
+            [path, path.keys]
+          elsif path.respond_to?(:names) && path.respond_to?(:match)
+            [path, path.names]
+          elsif path.respond_to? :match
+            [path, keys]
+          else
+            raise TypeError, path
+          end
+        end
+
+        #@todo Add documentation
+        def safe_ignore(ignore)
+          unsafe_ignore = []
+          ignore = ignore.gsub(/%[\da-fA-F]{2}/) do |hex|
+            unsafe_ignore << hex[1..2]
+            ''
+          end
+          unsafe_patterns = unsafe_ignore.map do |unsafe|
+            chars = unsafe.split(//).map do |char|
+              if char =~ /[A-Z]/
+                char <<= char.tr('A-Z', 'a-z')
+              end
+              char
+            end
+
+            "|(?:%[^#{chars[0]}].|%[#{chars[0]}][^#{chars[1]}])"
+          end
+          if unsafe_patterns.length > 0
+            "((?:[^#{ignore}/?#%]#{unsafe_patterns.join()})+)"
+          else
+            "([^#{ignore}/?#]+)"
+          end
+        end
+
+        # Route function for get
+        def get(path, &block)
+          route 'GET', path, &block
+        end
+
+        # Route function for get_ws
+        def get_ws(path, &block)
+          route 'GET', path, &block
+        end
+
+        # Route function for post
+        def post(path, &block)
+          route 'POST', path, &block
+        end
+
+        # Route function for put
+        def put(path, &block)
+          route 'PUT', path, &block
+        end
+      end
+
+      module InstanceMethods
+        ## Handle the request
+        def dispatch!(connection, req)
+          resp = catch(:halt) do
+            try_static! connection, req
+            route!      connection, req
+          end
+          if resp && !resp.nil?
+            return if req.is_a?(Reel::WebSocket)
+            status, body = resp
+            begin
+              req.respond status, body
+            rescue Errno::EAGAIN
+              retry
+            end
+          else
+            req.respond :not_found, "NOT FOUND"
+          end
+        end
+
+        # Exit the current block, halts any further processing
+        # of the request, and returns the specified response.
+        def halt(*response)
+          response = response.first if response.length == 1
+          throw :halt, response
+        end
+
+        def try_static!(connection, req)
+          fpath = req.url == '/' ? 'index.html' : req.url[1..-1]
+          filepath = File.expand_path(fpath, self.class.static_path)
+          if File.file?(filepath)
+            # TODO: stream this?
+            data = open(filepath).read
+            halt :ok, data
+          end
+        end
+
+        def route!(connection, req)
+          if routes = self.class.routes[req.method]
+            routes.each do |pattern, keys, conditions, block|
+              route = req.url
+              next unless match = pattern.match(route)
+              values = match.captures.to_a.map { |v| URI.decode_www_form_component(v) if v }
+              if values.any?
+                params = {}
+                keys.zip(values) { |k,v| Array === params[k] ? params[k] << v : params[k] = v if v }
+                @params = params
+              end
+
+              @connection = connection
+              @req = req
+
+              begin
+                body = block ? block[self, values] : yield(self, values)
+                halt [:ok, body]
+              rescue Exception => e
+                p [:e, e]
+              end
+            end
+          end
+          nil
+        end
+
+        # Fixes encoding issues by
+        # * defaulting to UTF-8
+        # * casting params to Encoding.default_external
+        #
+        # The latter might not be necessary if Rack handles it one day.
+        # Keep an eye on Rack's LH #100.
+        def force_encoding(*args) settings.force_encoding(*args) end
+        if defined? Encoding
+          def self.force_encoding(data, encoding = default_encoding)
+            return if data == settings || data.is_a?(Tempfile)
+            if data.respond_to? :force_encoding
+              data.force_encoding(encoding).encode!
+            elsif data.respond_to? :each_value
+              data.each_value { |v| force_encoding(v, encoding) }
+            elsif data.respond_to? :each
+              data.each { |v| force_encoding(v, encoding) }
+            end
+            data
+          end
+        else
+          def self.force_encoding(data, *) data end
+        end
+      end
+
+      def self.included(receiver)
+        receiver.extend         ClassMethods
+        receiver.send :include, InstanceMethods
+      end
+    end
+  end
+end

data/lib/artoo/connection.rb

@@ -13,12 +13,13 @@ module Artoo
 
     # Create new connection
     # @param [Hash] params
+    # @option params :id      [String]
     # @option params :name    [String]
     # @option params :parent  [String]
     # @option params :adaptor [String]
     # @option params :port    [Integer]
     def initialize(params={})
-      @connection_id = rand(10000)
+      @connection_id = params[:id] || rand(10000).to_s
       @name = params[:name].to_s
       @port = Port.new(params[:port])
       @parent = params[:parent]

data/lib/artoo/robot.rb

@@ -9,7 +9,7 @@ require 'artoo/basic'
 require 'artoo/connection'
 require 'artoo/device'
 require 'artoo/events'
-require 'artoo/api'
+require 'artoo/api/api'
 require 'artoo/master'
 require 'artoo/port'
 require 'artoo/utility'

data/lib/artoo/robot_class_methods.rb

@@ -111,7 +111,7 @@ module Artoo
       end
 
       def start_api
-        Celluloid::Actor[:api] = Api.new(self.api_host, self.api_port) if self.use_api
+        Celluloid::Actor[:api] = Api::Server.new(self.api_host, self.api_port) if self.use_api
       end
       
       # Master actor

data/lib/artoo/version.rb

@@ -1,5 +1,5 @@
 module Artoo
   unless const_defined?('VERSION')
-    VERSION = "1.0.0.pre"
+    VERSION = "1.0.0.rc1"
   end
 end

data/test/{api_test.rb → api/api_test.rb}

@@ -1,5 +1,5 @@
-require File.expand_path(File.dirname(__FILE__) + "/test_helper")
-require File.expand_path(File.dirname(__FILE__) + "/../lib/artoo/api")
+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require File.expand_path(File.dirname(__FILE__) + "/../../lib/artoo/api/api")
 
 class ExampleRequest
   extend Forwardable
@@ -34,11 +34,11 @@ class ExampleRequest
   end
 end
 
-describe Artoo::Api do
-	describe Artoo::ApiRouteHelpers do
+describe Artoo::Api::Server do
+	describe Artoo::Api::RouteHelpers do
 
 		class DummyClass
-			include Artoo::ApiRouteHelpers
+			include Artoo::Api::RouteHelpers
 		end
 
 		it "should have a list of routes" do

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: artoo
 version: !ruby/object:Gem::Version
-  version: 1.0.0.pre
+  version: 1.0.0.rc1
 platform: ruby
 authors:
 - Ron Evans
@@ -12,7 +12,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-05-24 00:00:00.000000000 Z
+date: 2013-07-01 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: celluloid
@@ -20,42 +20,42 @@ dependencies:
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: 0.14.0
+        version: 0.14.1
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: 0.14.0
+        version: 0.14.1
 - !ruby/object:Gem::Dependency
   name: celluloid-io
   requirement: !ruby/object:Gem::Requirement
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: 0.14.0
+        version: 0.14.1
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: 0.14.0
+        version: 0.14.1
 - !ruby/object:Gem::Dependency
   name: reel
   requirement: !ruby/object:Gem::Requirement
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: 0.4.pre
+        version: 0.4.0.pre
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: 0.4.pre
+        version: 0.4.0.pre
 - !ruby/object:Gem::Dependency
   name: multi_json
   requirement: !ruby/object:Gem::Requirement
@@ -132,14 +132,14 @@ dependencies:
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: 0.14.0.alpha
+        version: 0.14.0
   type: :development
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: 0.14.0.alpha
+        version: 0.14.0
 description: Ruby-based microframework for robotics
 email:
 - artoo@hybridgroup.com
@@ -192,6 +192,7 @@ files:
 - bin/retry.sh
 - bin/robi
 - examples/ardrone.rb
+- examples/ardrone_multi.rb
 - examples/ardrone_nav.rb
 - examples/ardrone_nav_video.rb
 - examples/ardrone_nav_video_wii.rb
@@ -213,6 +214,7 @@ files:
 - examples/roomba_wiichuck.rb
 - examples/sphero.rb
 - examples/sphero_color.rb
+- examples/sphero_color_wiichuck.rb
 - examples/sphero_cycle.rb
 - examples/sphero_firmata.rb
 - examples/sphero_messages.rb
@@ -224,13 +226,13 @@ files:
 - lib/artoo/adaptors/adaptor.rb
 - lib/artoo/adaptors/loopback.rb
 - lib/artoo/adaptors/test.rb
-- lib/artoo/api.rb
-- lib/artoo/api_route_helpers.rb
+- lib/artoo/api/api.rb
+- lib/artoo/api/device_event_client.rb
+- lib/artoo/api/route_helpers.rb
 - lib/artoo/basic.rb
 - lib/artoo/connection.rb
 - lib/artoo/delegator.rb
 - lib/artoo/device.rb
-- lib/artoo/device_event_client.rb
 - lib/artoo/drivers/counter.rb
 - lib/artoo/drivers/driver.rb
 - lib/artoo/drivers/passthru.rb
@@ -249,7 +251,7 @@ files:
 - lib/artoo/version.rb
 - test/adaptors/adaptor_test.rb
 - test/adaptors/loopback_test.rb
-- test/api_test.rb
+- test/api/api_test.rb
 - test/artoo_test.rb
 - test/connection_test.rb
 - test/delegator_test.rb

data/lib/artoo/api.rb

@@ -1,101 +0,0 @@
-require 'reel'
-require 'artoo/api_route_helpers'
-require 'artoo/device_event_client'
-
-module Artoo
-  # Artoo API Server provides an interface to communicate with
-  # master class and retrieve information about robots being
-  # controlled
-  class Api < Reel::Server
-    include Artoo::ApiRouteHelpers
-
-    # Create new API server
-    # @param [String] host
-    # @param [Int]    port
-    def initialize(host = "127.0.0.1", port = 3000)
-      super(host, port, &method(:on_connection))
-    end
-
-    # Dispatches connection requests
-    def on_connection(connection)
-      while request = connection.request
-        dispatch!(connection, request)
-      end
-    end
-
-    # Retrieve list of robots
-    # @return [JSON] robots
-    get '/robots' do
-      MultiJson.dump(master.robots.collect {|r|r.to_hash})
-    end
-
-    # Retrieve robot by id
-    # @return [JSON] robot
-    get '/robots/:robotid' do
-      master.robot(@params['robotid']).as_json
-    end
-
-    # Retrieve robot devices
-    # @return [JSON] devices
-    get '/robots/:robotid/devices' do
-      MultiJson.dump(master.robot_devices(@params['robotid']).each_value.collect {|d| d.to_hash})
-    end
-
-    # Retrieve robot device
-    # @return [JSON] device
-    get '/robots/:robotid/devices/:deviceid' do
-      device(@params['robotid'], @params['deviceid']).as_json
-    end
-
-    # Retrieve robot commands
-    # @return [JSON] commands
-    get '/robots/:robotid/devices/:deviceid/commands' do
-      MultiJson.dump(device(@params['robotid'], @params['deviceid']).commands)
-    end
-
-    # Execute robot command
-    # @return [JSON] command
-    post '/robots/:robotid/devices/:deviceid/commands/:commandid' do
-      result = device(@params['robotid'], @params['deviceid']).command(@params['commandid'], command_params)
-      return MultiJson.dump({'result' => result})
-    end
-
-    # Subscribte to robot device events
-    # @return [nil]
-    get_ws '/robots/:robotid/devices/:deviceid/events' do
-      DeviceEventClient.new(@req, device(@params['robotid'], @params['deviceid']).event_topic_name('update'))
-      return nil
-    end
-
-    # Retrieve robot connections
-    # @return [JSON] connections
-    get '/robots/:robotid/connections' do
-      MultiJson.dump(master.robot_connections(@params['robotid']).each_value.collect {|c| c.to_hash})
-    end
-
-    # Retrieve robot connection
-    # @return [JSON] connection
-    get '/robots/:robotid/connections/:connectionid' do
-      master.robot_connection(@params['robotid'], @params['connectionid']).as_json
-    end
-
-    protected
-
-    def master
-      Actor[:master]
-    end
-
-    def device(robot_id, device_id)
-      master.robot_device(robot_id, device_id)
-    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
-      end
-    end
-  end
-end

data/lib/artoo/api_route_helpers.rb

@@ -1,220 +0,0 @@
-module Artoo
-  # Route helpers used within the Artoo::Api class
-  module ApiRouteHelpers
-    class ResponseHandled < StandardError; end
-    module ClassMethods
-
-      # Path to api/public directory
-      # @return [String] static path
-      def static_path(default=File.join(File.dirname(__FILE__), "..", "..", "api/public"))
-        @static_path ||= default
-      end
-
-      # @return [Hash] routes
-      def routes
-        @routes ||= {}
-      end
-
-      # Adds compiled signature to routes hash
-      # @return [Array] signature
-      def route(verb, path, &block)
-        signature = compile!(verb, path, block, {})
-        (routes[verb] ||= []) << signature
-      end
-
-      # Creates method from block, ripped from Sinatra
-      # 'cause it's so sexy in there
-      # @return [Method] generated method
-      def generate_method(method_name, &block)
-        define_method(method_name, &block)
-        method = instance_method method_name
-        remove_method method_name
-        method
-      end
-
-      #@todo Add documentation
-      def compile!(verb, path, block, options = {})
-        options.each_pair { |option, args| send(option, *args) }
-        method_name             = "#{verb} #{path}"
-        unbound_method          = generate_method(method_name, &block)
-        pattern, keys           = compile path
-        conditions, @conditions = @conditions, []
-
-        [ pattern, keys, conditions, block.arity != 0 ?
-            proc { |a,p| unbound_method.bind(a).call(*p) } :
-            proc { |a,p| unbound_method.bind(a).call } ]
-      end
-
-      #@todo Add documentation
-      def compile(path)
-        keys = []
-        if path.respond_to? :to_str
-          ignore = ""
-          pattern = path.to_str.gsub(/[^\?\%\\\/\:\*\w]/) do |c|
-            ignore << escaped(c).join if c.match(/[\.@]/)
-            patt = encoded(c)
-            patt.gsub(/%[\da-fA-F]{2}/) do |match|
-              match.split(//).map {|char| char =~ /[A-Z]/ ? "[#{char}#{char.tr('A-Z', 'a-z')}]" : char}.join
-            end
-          end
-          pattern.gsub!(/((:\w+)|\*)/) do |match|
-            if match == "*"
-              keys << 'splat'
-              "(.*?)"
-            else
-              keys << $2[1..-1]
-              ignore_pattern = safe_ignore(ignore)
-
-              ignore_pattern
-            end
-          end
-          [/\A#{pattern}\z/, keys]
-        elsif path.respond_to?(:keys) && path.respond_to?(:match)
-          [path, path.keys]
-        elsif path.respond_to?(:names) && path.respond_to?(:match)
-          [path, path.names]
-        elsif path.respond_to? :match
-          [path, keys]
-        else
-          raise TypeError, path
-        end
-      end
-
-      #@todo Add documentation
-      def safe_ignore(ignore)
-        unsafe_ignore = []
-        ignore = ignore.gsub(/%[\da-fA-F]{2}/) do |hex|
-          unsafe_ignore << hex[1..2]
-          ''
-        end
-        unsafe_patterns = unsafe_ignore.map do |unsafe|
-          chars = unsafe.split(//).map do |char|
-            if char =~ /[A-Z]/
-              char <<= char.tr('A-Z', 'a-z')
-            end
-            char
-          end
-
-          "|(?:%[^#{chars[0]}].|%[#{chars[0]}][^#{chars[1]}])"
-        end
-        if unsafe_patterns.length > 0
-          "((?:[^#{ignore}/?#%]#{unsafe_patterns.join()})+)"
-        else
-          "([^#{ignore}/?#]+)"
-        end
-      end
-
-      # Route function for get
-      def get(path, &block)
-        route 'GET', path, &block
-      end
-
-      # Route function for get_ws
-      def get_ws(path, &block)
-        route 'GET', path, &block
-      end
-
-      # Route function for post
-      def post(path, &block)
-        route 'POST', path, &block
-      end
-
-      # Route function for put
-      def put(path, &block)
-        route 'PUT', path, &block
-      end
-    end
-
-    module InstanceMethods
-      ## Handle the request
-      def dispatch!(connection, req)
-        resp = catch(:halt) do
-          try_static! connection, req
-          route!      connection, req
-        end
-        if resp && !resp.nil?
-          return if req.is_a?(Reel::WebSocket)
-          status, body = resp
-          begin
-            req.respond status, body
-          rescue Errno::EAGAIN
-            retry
-          end
-        else
-          req.respond :not_found, "NOT FOUND"
-        end
-      end
-
-      # Exit the current block, halts any further processing
-      # of the request, and returns the specified response.
-      def halt(*response)
-        response = response.first if response.length == 1
-        throw :halt, response
-      end
-
-      def try_static!(connection, req)
-        fpath = req.url == '/' ? 'index.html' : req.url[1..-1]
-        filepath = File.expand_path(fpath, self.class.static_path)
-        if File.file?(filepath)
-          # TODO: stream this?
-          data = open(filepath).read
-          halt :ok, data
-        end
-      end
-
-      def route!(connection, req)
-        if routes = self.class.routes[req.method]
-          routes.each do |pattern, keys, conditions, block|
-            route = req.url
-            next unless match = pattern.match(route)
-            values = match.captures.to_a.map { |v| URI.decode_www_form_component(v) if v }
-            if values.any?
-              params = {}
-              keys.zip(values) { |k,v| Array === params[k] ? params[k] << v : params[k] = v if v }
-              @params = params
-            end
-
-            @connection = connection
-            @req = req
-
-            begin
-              body = block ? block[self, values] : yield(self, values)
-              halt [:ok, body]
-            rescue Exception => e
-              p [:e, e]
-            end
-          end
-        end
-        nil
-      end
-
-      # Fixes encoding issues by
-      # * defaulting to UTF-8
-      # * casting params to Encoding.default_external
-      #
-      # The latter might not be necessary if Rack handles it one day.
-      # Keep an eye on Rack's LH #100.
-      def force_encoding(*args) settings.force_encoding(*args) end
-      if defined? Encoding
-        def self.force_encoding(data, encoding = default_encoding)
-          return if data == settings || data.is_a?(Tempfile)
-          if data.respond_to? :force_encoding
-            data.force_encoding(encoding).encode!
-          elsif data.respond_to? :each_value
-            data.each_value { |v| force_encoding(v, encoding) }
-          elsif data.respond_to? :each
-            data.each { |v| force_encoding(v, encoding) }
-          end
-          data
-        end
-      else
-        def self.force_encoding(data, *) data end
-      end
-    end
-
-    def self.included(receiver)
-      receiver.extend         ClassMethods
-      receiver.send :include, InstanceMethods
-    end
-  end
-end

data/lib/artoo/device_event_client.rb

@@ -1,33 +0,0 @@
-module Artoo
-  # The Artoo::DeviceEventClient class is how a websocket client can subscribe
-  # to event notifications for a specific device.
-  # Example: ardrone nav data
-  class DeviceEventClient
-    include Celluloid
-    include Celluloid::Notifications
-    include Celluloid::Logger
-
-    attr_reader :topic
-
-    # Create new event client
-    # @param [Socket] websocket
-    # @param [String] topic
-    def initialize(websocket, topic)
-      @topic = topic
-      info "Streaming #{@topic} to websocket..."
-      @socket = websocket
-      subscribe(@topic, :notify_event)
-    end
-
-    # Event notification
-    # @param [String] topic
-    # @param [Object] data
-    def notify_event(topic, *data)
-      # TODO: send which topic sent the notification
-      @socket << data.last.to_s
-    rescue Reel::SocketError, Errno::EPIPE
-      info "Device event notification #{topic} websocket disconnected"
-      terminate
-    end
-  end
-end