artoo 1.6.7 → 1.8.0

checksums.yaml

@@ -1,7 +1,7 @@
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data/.gitignore

@@ -12,6 +12,7 @@ spec/reports
 test/tmp
 test/version_tmp
 tmp
+Gemfile.lock
 
 # YARD artifacts
 .yardoc

data/README.md

@@ -1,4 +1,4 @@
-[![Artoo](https://raw.github.com/hybridgroup/artoo/gh-pages/images/artoo-logo.png)](http://artoo.io)
+[![Artoo](https://cdn.rawgit.com/hybridgroup/artoo-site/master/source/images/elements/artoo.png)](http://artoo.io)
 
 http://artoo.io/
 
@@ -243,12 +243,13 @@ The repo with full example of using Artoo for test driven robotics is located at
 
 ## CLI
 
-Artoo has a Command Line Interface (CLI) so you can access important features right from the command line.
+Artoo uses the Gort [http://gort.io](http://gort.io) Command Line Interface (CLI) so you can access important features right from the command line. We call it "RobotOps", aka "DevOps For Robotics". You can scan, connect, update device firmware, and more!
+
+Artoo also has its own CLI so you can generate new robots, or use its console.
 
 ```
 $ artoo
 Commands:
-  artoo connect SUBCOMMAND ...ARGS   # Connects to device
   artoo console ROBOT                # Run a robot using the Robi console
   artoo generate SUBCOMMAND ...ARGS  # Generates a new robot or adaptor
   artoo help [COMMAND]               # Describe available commands or one specific command
@@ -257,24 +258,9 @@ Commands:
   artoo version                      # Displays the current version
 ```
 
-### Connect:
-
-Artoo makes it a lot easier to connect TCP Socket to Bluetooth and serial port devices using the command line interface:
-
-```
-$ artoo connect
-connect commands:
-  artoo connect bind [ADDRESS] [NAME]  # Binds a Bluetooth device to some connected hardware
-  artoo connect help [COMMAND]         # Describe subcommands or one specific subcommand
-  artoo connect scan                   # Scan for connected devices
-  artoo connect serial [NAME] [PORT]   # Connect a serial device to a TCP socket using socat
-```
-
-You can scan your computer for paired Bluetooth devices, bind them to unix ports, and connect socket to serial interfaces, easily from the command line!
-
 ### Console:
 
-Artoo includes Robi, a console based on [Pry](http://pryrepl.org/) to allow you to interactively debug and control your robot.
+Artoo includes a console based on [Pry](http://pryrepl.org/) to allow you to interactively debug and control your robot.
 
 ```
 $ artoo console ./examples/hello.rb 
@@ -333,7 +319,7 @@ If you want to help us with some documentation on the site, you can go to [artoo
 Need more help? Just want to say "Hello"? Come visit us on IRC freenode #artoo
 
 ## Contributing
-
+* All active development is in the dev branch. New or updated features must be added to the dev branch. Hotfixes will be considered on the master branch in situations where it does not alter behaviour or features, only fixes a bug.
 * All patches must be provided under the Apache 2.0 License
 * Please use the -s option in git to "sign off" that the commit is your work and you are providing it under the Apache 2.0 License
 * Submit a Github Pull Request to the appropriate branch and ideally discuss the changes with us in IRC.

data/artoo.gemspec

@@ -20,13 +20,13 @@ 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', '~> 0.15.0'
-  s.add_runtime_dependency 'celluloid-io', '~> 0.15.0'
-  s.add_runtime_dependency 'http', '~> 0.5.0'
-  s.add_runtime_dependency 'reel', '~> 0.4.0'
-  s.add_runtime_dependency 'multi_json', '~> 1.6.0'
+  s.add_runtime_dependency 'celluloid', '>= 0.16.0.pre'
+  s.add_runtime_dependency 'celluloid-io', '>= 0.16.0.pre'
+  s.add_runtime_dependency 'http', '~> 0.6.1'
+  s.add_runtime_dependency 'reel', '~> 0.5.0'
+  s.add_runtime_dependency 'multi_json', '~> 1.10.1'
   s.add_runtime_dependency 'rake'
   s.add_runtime_dependency 'pry', '~> 0.9.0'
-  s.add_runtime_dependency 'thor', '~> 0.18.1'
-  s.add_runtime_dependency 'robeaux', '~> 0.0.4'
+  s.add_runtime_dependency 'thor', '~> 0.19.1'
+  s.add_runtime_dependency 'robeaux', '0.2.0'
 end

data/bin/artoo

@@ -6,9 +6,7 @@ require 'artoo/robot'
 require 'artoo/commands/generate'
 require 'artoo/commands/commands'
 require 'artoo/commands/install'
-require 'artoo/commands/scan'
 require 'artoo/commands/socket'
-require 'artoo/commands/bluetooth'
 
 Celluloid.logger = nil
 
@@ -39,14 +37,8 @@ module CLI
     desc "generate <SUBCOMMAND> ...ARGS", "Generates a new robot or adaptor"
     subcommand "generate", Artoo::Commands::Generate
 
-    desc "bluetooth <SUBCOMMAND> ...ARGS", "Scans, pairs and Connects to a bluetooth device"
-    subcommand "bluetooth", Artoo::Commands::Bluetooth
-
     desc "install <SUBCOMMAND> ...ARGS", "Installs utility programs, like socat"
     subcommand "install", Artoo::Commands::Install
-
-    desc "scan <type> ...ARGS", "Installs utility programs"
-    subcommand "scan", Artoo::Commands::Scan
   end
 end
 

data/examples/ardrone_nav_video_wii.rb

@@ -9,7 +9,7 @@ device :nav, :driver => :ardrone_navigation, :connection => :navigation
 connection :videodrone, :adaptor => :ardrone_video, :port => '192.168.1.1:5555'
 device :video, :driver => :ardrone_video, :connection => :videodrone
 
-connection :arduino, :adaptor => :firmata, :port => "8023"
+connection :arduino, :adaptor => :firmata, :port => "/dev/ttyACM0" # linux
 device :classic, :driver => :wiiclassic, :connection => :arduino, :interval => 0.1
 
 api :host => '127.0.0.1', :port => '8080'

data/examples/ardrone_nav_wiiclassic.rb

@@ -6,7 +6,7 @@ device :drone, :driver => :ardrone, :connection => :ardrone
 connection :navigation, :adaptor => :ardrone_navigation, :port => '192.168.1.1:5554'
 device :nav, :driver => :ardrone_navigation, :connection => :navigation
 
-connection :arduino, :adaptor => :firmata, :port => "8023"
+connection :arduino, :adaptor => :firmata, :port => "/dev/ttyACM0" # linux
 device :classic, :driver => :wiiclassic, :connection => :arduino, :interval => 0.1
 
 api :host => 'localhost', :port => '8080'

data/examples/ardrone_wiiclassic.rb

@@ -3,7 +3,7 @@ require 'artoo'
 connection :ardrone, :adaptor => :ardrone, :port => '192.168.0.43:5556'
 device :drone, :driver => :ardrone, :connection => :ardrone
 
-connection :arduino, :adaptor => :firmata, :port => "8023"
+connection :arduino, :adaptor => :firmata, :port => "/dev/ttyACM0" #linux
 device :classic, :driver => :wiiclassic, :connection => :arduino, :interval => 0.1
 
 OFFSETS = {

data/examples/firmata.rb

@@ -1,6 +1,6 @@
 require 'artoo'
 
-connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:8023'
+connection :firmata, :adaptor => :firmata, :port => '/dev/ttyACM0' #linux
 device :board
 device :led, :driver => :led, :pin => 13
 

data/examples/firmata_button.rb

@@ -1,6 +1,6 @@
 require 'artoo'
 
-connection :arduino, :adaptor => :firmata, :port => '127.0.0.1:8023'
+connection :arduino, :adaptor => :firmata, :port => '/dev/ttyACM0' #linux
 device :led, :driver => :led, :pin => 13
 device :button, :driver => :button, :pin => 2
 

data/examples/hello_api_multiple.rb

@@ -4,7 +4,7 @@ class HelloRobot < Artoo::Robot
 	connection :loopback1
 	connection :loopback2
 	connection :loopback3
-	device :pinger, :driver => :pinger
+	device :pinger, :driver => :ping
 	device :counter, :driver => :counter
 	device :random, :driver => :random
 	device :passthru1

data/examples/roomba_wiichuck.rb

@@ -3,7 +3,7 @@ require 'artoo'
 connection :roomba, :adaptor => :roomba, :port => '8023'
 device :roomba, :driver => :roomba, :connection => :roomba
 
-connection :arduino, :adaptor => :firmata, :port => '8024'
+connection :arduino, :adaptor => :firmata, :port => '/dev/ttyACM0' #linux
 device :wiichuck, :driver => :wiichuck, :connection => :arduino, :interval => 0.1
   
 work do

data/examples/sphero.rb

@@ -1,8 +1,8 @@
 require 'artoo'
 
-connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4569'
+connection :sphero, :adaptor => :sphero, :port => '/dev/rfcomm0' #linux
 device :sphero, :driver => :sphero
-  
+
 work do
   every(1.seconds) do
   	puts "Rolling..."

data/examples/sphero_color.rb

@@ -1,6 +1,6 @@
 require 'artoo'
 
-connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4569'
+connection :sphero, :adaptor => :sphero, :port => '/dev/rfcomm0' #linux
 device :sphero, :driver => :sphero
 
 work do

data/examples/sphero_color_wiichuck.rb

@@ -1,9 +1,9 @@
 require 'artoo'
 
-connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4569'
+connection :sphero, :adaptor => :sphero, :port => '/dev/rfcomm0' #linux
 device :sphero, :driver => :sphero
 
-connection :arduino, :adaptor => :firmata, :port => "8023"
+connection :arduino, :adaptor => :firmata, :port => '/dev/ttyACM0' #linux
 device :wiichuck, :driver => :wiichuck, :connection => :arduino, :interval => 0.1
   
 work do

data/examples/sphero_cycle.rb

@@ -1,6 +1,6 @@
 require 'artoo'
 
-connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4560'
+connection :sphero, :adaptor => :sphero, :port => '/dev/rfcomm0' #linux
 device :sphero, :driver => :sphero
   
 work do

data/examples/sphero_messages.rb

@@ -1,6 +1,6 @@
 require 'artoo'
 
-connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4560'
+connection :sphero, :adaptor => :sphero, :port => '/dev/rfcomm0' #linux
 device :sphero, :driver => :sphero
 
 def contact(*args)

data/examples/sphero_pebble.rb

@@ -0,0 +1,42 @@
+require 'artoo'
+
+connection :sphero, :adaptor => :sphero, :port => '/dev/rfcomm0' #linux
+device     :sphero, :driver  => :sphero
+
+connection :pebble, :adaptor => :pebble
+device     :watch,  :driver  => :pebble, :name => 'pebble'
+
+api :host => '0.0.0.0', :port => '8080'
+
+name 'pebble'
+
+def move_forward
+  p 'moving forward'
+  sphero.roll 100, 0
+  sleep 4
+  sphero.stop
+end
+
+def move_backward
+  p 'moving backward'
+  sphero.roll 100, 180
+  sleep 4
+  sphero.stop
+end
+
+def button_push(*data)
+  unless data[1].nil?
+    case data[1]
+    when 'up' then
+      move_forward
+    when 'select' then
+      sphero.set_color(rand(255),rand(255),rand(255))
+    when 'down' then
+      move_backward
+    end
+  end
+end
+
+work do
+  on pebble, :button => :button_push
+end

data/examples/sphero_wiichuck.rb

@@ -1,11 +1,11 @@
 require 'artoo'
 
-connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4568'
+connection :sphero, :adaptor => :sphero, :port => '/dev/rfcomm0' #linux
 device :sphero, :driver => :sphero
 
-connection :arduino, :adaptor => :firmata, :port => "8023"
+connection :arduino, :adaptor => :firmata, :port => '/dev/ttyACM0' #linux
 device :wiichuck, :driver => :wiichuck, :connection => :arduino, :interval => 0.1
-  
+
 work do
   init_settings
   on wiichuck, :c_button => proc {}

data/examples/test_bot.rb

@@ -0,0 +1,23 @@
+require 'artoo/robot'
+
+class TestBot < Artoo::Robot
+  connection :loopback, port: '/dev/null', test: 'abc'
+  device :ping, driver: 'ping', pin: '13', test: 'abc'
+
+  api host: '127.0.0.1', port: '8080'
+
+  work do
+    every(5) { ping }
+  end
+
+  def hello name
+    "Hello, #{name}!"
+  end
+
+end
+
+test_bot = TestBot.new(:name => "TestBot", commands: [:hello])
+
+Artoo::Master.add_command(:echo, lambda { |param| param })
+
+TestBot.work!([test_bot])

data/examples/wiichuck.rb

@@ -1,6 +1,6 @@
 require 'artoo'
 
-connection :arduino, :adaptor => :firmata, :port => "8023"
+connection :arduino, :adaptor => :firmata, :port => "/dev/tty.ACM0"
 device :wiichuck, :driver => :wiichuck, :connection => :arduino, :interval => 0.1
 
 work do

data/examples/wiiclassic.rb

@@ -1,6 +1,6 @@
 require 'artoo'
 
-connection :arduino, :adaptor => :firmata, :port => "8023"
+connection :arduino, :adaptor => :firmata, :port => "/dev/ttyACM0" #linux
 device :classic, :driver => :wiiclassic, :connection => :arduino, :interval => 0.1
 
 work do

data/lib/artoo/api/api.rb

@@ -7,7 +7,7 @@ module Artoo
     # Artoo API Server provides an interface to communicate with
     # master class and retrieve information about robots being
     # controlled
-    class Server < Reel::Server
+    class Server < Reel::Server::HTTP
       include RouteHelpers
 
       # Create new API server
@@ -19,82 +19,114 @@ module Artoo
 
       # Dispatches connection requests
       def on_connection(connection)
-        while request = connection.request
+        while !connection.current_request && request = connection.request
           dispatch!(connection, request)
-          if request.websocket?
-            connection.detach
-            return 
-          end
         end
       end
 
+      # Retrieve api index
+      # @return [JSON] MCP index
+      get '/api' do
+        robots   = master.robots.collect { |r| r.to_hash }
+        response = {MCP: {robots: robots, commands: master.commands}}
+        MultiJson.dump(response)
+      end
+
+      # Retrieve list of master commands
+      # @return [JSON] commands
+      get '/api/commands' do
+        MultiJson.dump({commands: master.commands})
+      end
+
+      # Execute master command
+      # @return [JSON] result
+      any '/api/commands/:commandid' do
+        result = master.command(@params['commandid'], *command_params)
+        MultiJson.dump({result: result})
+      end
+
       # Retrieve list of robots
       # @return [JSON] robots
-      get '/robots' do
-        MultiJson.dump(master.robots.collect {|r|r.to_hash})
+      get '/api/robots' do
+        robots = master.robots.collect {|r|r.to_hash}
+        response = {robots: robots}
+        MultiJson.dump(response)
       end
 
       # Retrieve robot by id
       # @return [JSON] robot
-      get '/robots/:robotid' do
-        master.robot(@params['robotid']).as_json
+      get '/api/robots/:robotid' do
+        validate_params!
+        MultiJson.dump({robot: @robot.to_hash})
       end
 
       # Retrieve robot commands
       # @return [JSON] commands
-      get '/robots/:robotid/commands' do
-        MultiJson.dump(master.robot(@params['robotid']).commands)
+      get '/api/robots/:robotid/commands' do
+        validate_params!
+        MultiJson.dump({commands: @robot.commands})
       end
 
       # Execute robot command
       # @return [JSON] command
-      any '/robots/:robotid/commands/:commandid' do
-        result = master.robot(@params['robotid']).command(@params['commandid'], *command_params)
+      any '/api/robots/:robotid/commands/:commandid' do
+        validate_params!
+        result = @robot.command(@params['commandid'], *command_params)
         return MultiJson.dump({'result' => result})
       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})
+      get '/api/robots/:robotid/devices' do
+        validate_params!
+        devices = @robot.devices.each_value.collect {|d| d.to_hash}
+        MultiJson.dump({devices: devices})
       end
 
       # Retrieve robot device
       # @return [JSON] device
-      get '/robots/:robotid/devices/:deviceid' do
-        device(@params['robotid'], @params['deviceid']).as_json
+      get '/api/robots/:robotid/devices/:deviceid' do
+        validate_params!
+        MultiJson.dump({device: @device.to_hash})
       end
 
       # Retrieve robot commands
       # @return [JSON] commands
-      get '/robots/:robotid/devices/:deviceid/commands' do
-        MultiJson.dump(device(@params['robotid'], @params['deviceid']).commands)
+      get '/api/robots/:robotid/devices/:deviceid/commands' do
+        validate_params!
+        MultiJson.dump({commands: @device.commands})
       end
 
       # Execute robot command
       # @return [JSON] command
-      any '/robots/:robotid/devices/:deviceid/commands/:commandid' do
-        result = device(@params['robotid'], @params['deviceid']).command(@params['commandid'], *command_params)
+      any '/api/robots/:robotid/devices/:deviceid/commands/:commandid' do
+        validate_params!
+        result = @device.command(@params['commandid'], *command_params)
         return MultiJson.dump({'result' => result})
       end
 
-      # Subscribte to robot device events
+      # Subscribe to robot device events
       # @return [nil]
-      get_ws '/robots/:robotid/devices/:deviceid/events/:eventid' do
-        DeviceEventClient.new(@req.websocket, device(@params['robotid'], @params['deviceid']).event_topic_name(@params['eventid']))
-        return nil
+      get '/api/robots/:robotid/devices/:deviceid/events/:eventid' do
+        validate_params!
+        topic = @device.event_topic_name(@params['eventid'])
+        DeviceEventClient.new(@connection, topic)
+        return
       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})
+      get '/api/robots/:robotid/connections' do
+        validate_params!
+        connections = @robot.connections.each_value.collect {|c| c.to_hash}
+        MultiJson.dump({connections: connections})
       end
 
       # Retrieve robot connection
       # @return [JSON] connection
-      get '/robots/:robotid/connections/:connectionid' do
-        master.robot_connection(@params['robotid'], @params['connectionid']).as_json
+      get '/api/robots/:robotid/connections/:connectionid' do
+        validate_params!
+        MultiJson.dump({connection: @conn.to_hash})
       end
 
       protected
@@ -107,6 +139,37 @@ module Artoo
         master.robot_device(robot_id, device_id)
       end
 
+      def validate_params!
+        robot = @params['robotid']
+        device = @params['deviceid']
+        connection = @params['connectionid']
+
+
+        if robot
+          @robot = master.robot(robot)
+          unless @robot
+            @error = "No Robot found with the name #{robot}"
+            raise RobotNotFound
+          end
+        end
+
+        if device
+          @device = @robot.devices[device.intern]
+          unless @device
+            @error = "No device found with the name #{device}"
+            raise RobotNotFound
+          end
+        end
+
+        if connection
+          @conn = @robot.connections[connection.intern]
+          unless @conn
+            @error = "No connection found with the name #{connection}"
+            raise RobotNotFound
+          end
+        end
+      end
+
       def command_params
         if @req.body.to_s != ""
           data = MultiJson.load(@req.body.to_s, :symbolize_keys => true)

data/lib/artoo/api/device_event_client.rb

@@ -2,6 +2,7 @@ require 'json'
 
 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
@@ -15,22 +16,26 @@ module Artoo
       # 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)
+      def initialize(connection, topic)
+        @io = Reel::Response::Writer.new(connection.socket)
+
+        connection.detach
+
+        connection.respond(:ok, {
+          'Content-Type' => 'text/event-stream',
+          'Connection' => 'keep-alive',
+          'Transfer-Encoding' => 'chunked',
+          'Cache-Control' => 'no-cache'
+        })
+
+        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_json
-      rescue Reel::SocketError, Errno::EPIPE
-        info "Device event notification #{topic} websocket disconnected"
-        terminate
+        @io.write "data: #{JSON.dump(data[0])}\n\n"
       end
     end
   end

data/lib/artoo/api/route_helpers.rb

@@ -139,16 +139,25 @@ module Artoo
             try_static! connection, req
             route!      connection, req
           end
+
+          return unless connection.response_state == :headers
+
           if resp && !resp.nil?
-            return if req.websocket?
             status, body = resp
+
             begin
-              req.respond status, body 
+              if @is_static
+                req.respond status, body
+              else
+                req.respond status, {'Content-Type' => 'application/json'}, body
+              end
             rescue Errno::EAGAIN
               retry
             end
           else
-            req.respond :not_found, "NOT FOUND"
+            @error ||= "NOT FOUND"
+            req.respond :not_found, {'Content-Type' => 'application/json'}, {error: @error}.to_json
+            @error = nil
           end
         end
 
@@ -165,8 +174,10 @@ module Artoo
           if File.file?(filepath)
             # TODO: stream this?
             data = open(filepath).read
+            @is_static = true
             halt :ok, data
           end
+          @is_static = false
         end
 
         def route!(connection, req)