pangdudu-robots 0.2.1 → 0.2.2

data/README.rdoc

@@ -1,11 +1,9 @@
 = ROBOTS
 
-Start your clocks boys and girls, it's weekend coding time!
-
-On monday I want: working messaging, data-mapper/mysql memory agent, visualizer agent with agent introspection, slim agent that requests modules,classes over the net and evals them online.
-
 Local messaging with dbus working, need to make service avahi discoverable. 
 
+Well, fork, dbus is not really remote capable right now. Ohh, I so much don't want to write that myself,... ;(...  
+
 Let's try to built a nice easy to use multiagent framework
 based on all the cool stuff we can get for ruby.
 
@@ -17,6 +15,7 @@ rObOts!
   sudo apt-get install avahi-daemon avahi-utils libavahi-client-dev libavahi-common-dev libavahi-compat-libdnssd-dev libnss-mdns libdbus-1-dev libdbus-glib-1-dev
   #essential gems
   sudo gem install pangdudu-ruby-dbus --source=http://gems.github.com
+  sudo gem install pangdudu-ruby-dbus-daemon --source=http://gems.github.com
   sudo gem install pangdudu-rofl --source=http://gems.github.com
   sudo gem install pangdudu-robots --source=http://gems.github.com
   #for xml parsing and building

data/config/org.robots.service.conf

@@ -1,5 +1,4 @@
  <!DOCTYPE busconfig PUBLIC "-//freedesktop//DTD D-BUS Bus Configuration 1.0//EN" "http://www.freedesktop.org/standards/dbus/1.0/busconfig.dtd">
- <!-- place this file under /etc/dbus-1/system.d/ -->
  <busconfig>
    <policy user="root">
       <allow own="org.robots.Service" />
@@ -30,4 +29,3 @@
       <allow send_destination="org.ruby.Service" send_interface="org.freedesktop.DBus.Introspectable" />
    </policy>
  </busconfig>
-

data/config/remote.session.dbus.conf

@@ -0,0 +1,41 @@
+<!-- This configuration file controls the per-user-login-session message bus.
+     Add a session-local.conf and edit that rather than changing this 
+     file directly. -->
+
+<!DOCTYPE busconfig PUBLIC "-//freedesktop//DTD D-Bus Bus Configuration 1.0//EN"
+ "http://www.freedesktop.org/standards/dbus/1.0/busconfig.dtd">
+<busconfig>
+  <!-- Our well-known bus type, don't change this -->
+  <type>session</type>
+
+  <!-- If we fork, keep the user's original umask to avoid affecting
+       the behavior of child processes. -->
+  <keep_umask/>
+  
+  <!-- Listen to everything on tcp! -->
+  <listen>tcp:host=0.0.0.0,port=2687,family=ipv4</listen>
+  <!-- Listen on socket at this file location -->
+  <listen>unix:path=/tmp/robots_session_bus_socket</listen>
+  
+  <standard_session_servicedirs /> 
+
+  <policy context="default">
+    <!-- Allow everything to be sent -->
+    <allow send_destination="*" eavesdrop="true"/>
+    <!-- Allow everything to be received -->
+    <allow eavesdrop="true"/>
+    <!-- Allow anyone to own anything -->
+    <allow own="*"/>
+  </policy>
+
+  <!-- Config files are placed here that among other things, 
+       further restrict the above policy for specific services. -->
+  <include>org.robots.service.conf</include>
+
+  <!-- raise the service start timeout to 40 seconds as it can timeout
+       on the live cd on slow machines -->
+  <limit name="service_start_timeout">60000</limit>
+
+  <include if_selinux_enabled="yes" selinux_root_relative="yes">contexts/dbus_contexts</include>
+
+</busconfig>

data/config/start_dbus_session.sh

@@ -0,0 +1,2 @@
+#!/bin/bash
+dbus-daemon --config-file=remote.session.dbus.conf

data/funky-examples/memory-agent/memory_agent.rb

@@ -67,8 +67,11 @@ class MemoryAgent
   include Robots
   include RobotsXml
   
+  attr_accessor :roboname
+  
   def initialize
-    ilog "RobotsProto initialized"
+    @roboname = "Active Memory" #name used in alive messages
+    ilog "#{@roboname} initialized"
   end
   
   #process an incoming memory message
@@ -245,6 +248,6 @@ ma.release_robots #start the robot agent module
 loop do 
   sleep 1
   #send an xml message over the system
-  ma.send_msg ma.create_xml_msg { |b| b.info("memory agent alive","timestamp" => "#{Time.now}") }
+  ma.send_msg ma.create_xml_alive_msg
 end
 #=end

data/funky-examples/memory-agent/memory_generator_agent.rb

@@ -12,8 +12,11 @@ class MemoryGeneratorAgent
   include Robots
   include RobotsXml
   
+  attr_accessor :roboname
+  
   def initialize
-    ilog "MemoryGeneratorAgent initialized"
+    @roboname = "Memory Generator" #name used in alive messages
+    ilog "#{@roboname} initialized"
   end
   
   #ROBOTS message parsing stuff
@@ -45,7 +48,7 @@ mga.release_robots #start the robot agent module
 loop do 
   sleep 3
   #send an xml message over the system
-  mga.send_msg mga.create_xml_msg { |b| b.info("memory generator agent alive","timestamp" => "#{Time.now}") }
+  mga.send_msg mga.create_xml_alive_msg
   #generate some bogus memory remember
   mga.send_msg mga.create_xml_msg { |b| b.memory("something happened","action" => "remember");b.question("what happened?","action"=>"remember");b.keyword("stuff");b.keyword("happening") }
   #generate bogus ask question

data/funky-examples/talking-swift-agent/talking_swift_agent.rb

@@ -14,8 +14,11 @@ class SwiftAgent
   include Robots
   include RobotsXml
   
+  attr_accessor :roboname
+  
   def initialize
-    ilog "SwiftAgent initialized"
+    @roboname = "Swift Talker" #name used in alive messages
+    ilog "#{@roboname} initialized"
   end
   
   #method that gets called when a new message arrives
@@ -40,5 +43,5 @@ sa.release_robots #start the robot agent module
 loop do 
   sleep 1
   #send an xml message over the system
-  sa.send_msg sa.create_xml_msg { |b| b.body("swift alive"); b.info("timestamp" => "#{Time.now}") }
+  sa.send_msg sa.create_xml_alive_msg
 end

data/funky-examples/talking-swift-agent/text_generator.rb

@@ -11,9 +11,12 @@ require 'robots_xml'
 class TextGenerator
   include Robots
   include RobotsXml
+
+  attr_accessor :roboname
   
   def initialize
-    ilog "TextGenerator initialized"
+    @roboname = "Text Generator" #name used in alive messages
+    ilog "#{@roboname} initialized"  
   end
   
   #method that gets called when a new message arrives
@@ -34,5 +37,6 @@ tg.release_robots #start the robot agent module
 loop do 
   sleep 5
   #send an xml message over the system
-  tg.send_msg tg.create_xml_msg { |b| b.speak("the robots say hello!"); b.info("timestamp" => "#{Time.now}") }
+  tg.send_msg tg.create_xml_alive_msg
+  tg.send_msg tg.create_xml_msg { |b| b.speak("the robots are coming!"); b.info("timestamp" => "#{Time.now}") }
 end

data/funky-examples/visualizer-agent/flow_physics.rb

@@ -0,0 +1,99 @@
+require 'rubygems'
+require 'matrix'
+#require 'unprof'
+class Physics
+include Math
+
+  attr_accessor :widht,:height,:objects,:singularity
+  
+  def initialize width,height,parent=nil
+    @width,@height = width,height
+    @center = PhysicsObject.new(@width/2,@height/2)
+    @objects = []
+    @parent = parent
+    @force = Force.new
+    @singularity = false
+    start_loop
+  end
+  
+  #add an object to the physics module
+  def add_object object
+    #object need attribute x,y to be valid
+    @objects << object    
+  end
+  
+  #apply the forces
+  def apply_physics
+    while @singularity
+      sleep 0.1
+    end
+    #apply force pushing nodes to center
+    @objects.each do |o|
+      delta = @force.center_mom(Vector.[](o.x-@center.x,o.y-@center.y))
+        o.x += delta[0]; o.y += delta[1]
+    end
+    #apply force pushing nodes apart
+    @objects.each do |o|
+      @objects.each do |oo|
+        unless o === oo
+          delta = @force.field_mom(Vector.[](o.x-oo.x,o.y-oo.y))
+          o.x += delta[0]; o.y += delta[1]
+        end
+      end  
+    end
+  end
+  
+  #a loop
+  def start_loop
+    Thread.new do
+      loop {sleep(1/45);update_physics}
+    end
+  end
+  
+  #update the physics model
+  def update_physics
+     unless @parent.nil?
+       unless @parent.physics.nil?
+        apply_physics
+        @parent.update unless @parent.updating
+       end 
+    end
+  end 
+end
+
+class Force
+  #push nodes apart
+  def field_mom(delta)
+    r = delta.r
+    r = 1e-5 if r < 1e-5
+    delta *= 1/r
+    delta *= (1./(r**1.5 + 1e-5)*5000)
+    return delta 
+  end
+    
+  # delta is PVector, diff between the nodes, deg is the strength of the edge
+  def edge_mom(delta, deg)
+    r = delta.r
+    r = 1e-5 if r < 1e-5
+    delta *= 1/r
+    delta *= (r*4e-3)
+    return delta;
+  end
+    
+  #pull nodes to center
+  def center_mom(delta)
+    r = delta.r
+    r = 1e-5 if r < 1e-5
+    delta *= 1/r
+    delta *= (r*-1e-2)
+    return delta;
+  end
+end
+
+#simple physics object
+class PhysicsObject
+  attr_accessor :x,:y
+  def initialize x,y
+    @x,@y = x,y
+  end
+end

data/funky-examples/visualizer-agent/qt_visual.rb

@@ -0,0 +1,117 @@
+require 'Qt4'
+require 'flow_physics'
+
+class Agent
+  attr_accessor :x, :y, :rel_angle, :agentname
+
+  def initialize agentname, x=0, y=0
+    @agentname = agentname
+    @x, @y=  x, y
+  end
+
+  #get the relative angle
+  def get_rel_angle x,y
+    #angle in radian (up -0.5, left -1/1, down 0.5, right 0)
+    @rel_angle = Math.atan2(@y-y,@x-x)/Math::PI
+    #we want a range from -1 to +1
+    @rel_angle = @rel_angle * 180
+    return @rel_angle
+  end
+end
+
+class DragInfo
+  attr_accessor :x, :y, :object
+
+  def initialize startx, starty, object=nil
+    @x, @y, @object = startx, starty, object
+  end
+end
+
+class Gui < Qt::Widget
+  
+  attr_accessor :agents,:physics, :updating
+
+  @@r = 15 #circle radius
+  
+  def initialize(parent = nil)
+    super()
+    @agents = {}
+    setPalette(Qt::Palette.new(Qt::Color.new(250, 250, 250)))
+    setAutoFillBackground(true)
+    @cur1 = self.cursor
+    @cur2 = Qt::Cursor.new(Qt::PointingHandCursor)
+    self.mouseTracking = true
+    @updating = false
+  end
+  
+  #add an agent to the model
+  def add_agent agent
+    @agents[agent.agentname] = agent
+    @physics.add_object agent unless @physics.nil?
+    puts "Agent: #{agent.agentname} added."
+  end
+
+  #gets called when a repaint is necessary
+  def paintEvent(event)
+    @updating = true
+    painter = Qt::Painter.new(self)
+    painter.setRenderHint(Qt::Painter::Antialiasing)
+    painter.setBrush(Qt::Brush.new(Qt::Color.new(255,250,250,150)))
+    @agents.each do |agentname,agent|
+      painter.resetMatrix
+      painter.translate(agent.x,agent.y)
+      painter.setPen(Qt::Pen.new(Qt::blue))
+      painter.drawEllipse Qt::Rect.new(-@@r,-@@r, 2*@@r, 2*@@r)
+      painter.setPen(Qt::Pen.new(Qt::blue))
+      painter.drawEllipse Qt::Rect.new(-3*@@r,-3*@@r, @@r/2, @@r/2)
+      painter.setPen(Qt::Pen.new(Qt::blue))
+      painter.drawLine Qt::LineF.new(-2.5*@@r,-2.5*@@r, -0.8*@@r, -0.8*@@r)
+      painter.setPen(Qt::Pen.new(Qt::blue))
+      painter.drawText(-2*@@r,-2.5*@@r,"#{agentname}")
+    end
+    painter.end()
+    @updating = false
+  end
+  
+  #mouse press event
+  def mousePressEvent event
+    @draginfo = nil
+    @physics.singularity = true unless @physics.nil?
+    if event.buttons == Qt::RightButton
+    elsif event.buttons == Qt::LeftButton
+      agent = object_at(event.x, event.y)
+      @draginfo = DragInfo.new(event.x, event.y, agent) unless agent.nil?
+    end
+  end
+  
+  #returns object at x,y
+  def object_at x,y
+    @agents.each do |name,agent|
+      return agent if (agent.x-x)**2 + (agent.y-y)**2 <= @@r**2
+    end
+    return nil
+  end
+
+  #release mouse event
+  def mouseReleaseEvent event
+    update_drag_object event.x, event.y unless @draginfo.nil?
+    @physics.singularity = false unless @physics.nil?
+  end
+
+  #update dragged object
+  def update_drag_object x,y
+    @draginfo.object.x = x
+    @draginfo.object.y = y
+    update
+  end
+
+  #a mouse move event
+  def mouseMoveEvent event
+    self.cursor = object_at(event.x, event.y).nil? ? @cur1 : @cur2
+    if event.buttons == Qt::LeftButton and not @draginfo.nil?
+      update_drag_object event.x, event.y unless @draginfo.nil?
+    elsif event.buttons == Qt::RightButton
+    end  
+  end
+
+end

data/funky-examples/visualizer-agent/visualizer_agent.rb

@@ -0,0 +1,102 @@
+require 'rubygems'
+require 'Qt4'
+require 'flow_physics'
+require 'qt_visual'
+#require 'rofl' #sudo gem install pangdudu-rofl --source=http://gems.github.com
+require 'robots' #sudo gem install pangdudu-robots --source=http://gems.github.com
+require 'robots_xml'
+
+class VisualizerAgent
+  include Robots
+  include RobotsXml
+
+  attr_accessor :roboname
+  
+  def initialize argv
+    @roboname = "Visualizer" #name used in alive messages
+    ilog "#{@roboname} initialized"
+    @width, @height = 800,600
+    @app = Qt::Application.new(argv)
+    @agents = {} #thats where we register the agents in
+  end
+  
+  #process an info message
+  def process_info xml_msg
+    infos = parse_xml_msg xml_msg,"//info"
+    infos.each do |i| 
+      unless i.attributes["alive"].nil?
+        agentname = i.attributes["alive"]
+        @agents[agentname] = "#{i.attributes["timestamp"]}"
+        unless @gui.nil?
+          x_rnd = 23-rand(46)/2
+          y_rnd = 23-rand(46)/2
+          @gui.add_agent Agent.new(agentname,@width/2+x_rnd,@height/2+y_rnd) unless @gui.agents.has_key? agentname
+        end
+        #cleanup gui agent model - not yet implemented
+      end
+    end
+  end
+  
+  #ROBOTS message parsing stuff
+  
+  #method that gets called when a new message arrives
+  def receive_msg msg
+    check_for_interests msg
+  end
+  
+  #check if this msg interests us
+  def check_for_interests xml_msg
+    #message filter callback looks like this now
+    info = parse_xml_msg xml_msg,"//info"
+    process_info xml_msg unless info.empty?
+  end
+  
+  def start_qt_visualizer
+    @gui = Gui.new
+    @physics = Physics.new(@width,@height,@gui)
+    #dirty qt timer magic to make ruby threads work
+    sleep 0.5
+    block=Proc.new{ Thread.pass }
+    timer=Qt::Timer.new(@gui)
+    invoke=Qt::BlockInvocation.new(timer, block, "invoke()")
+    Qt::Object.connect(timer, SIGNAL("timeout()"), invoke, SLOT("invoke()"))
+    sleep 0.5
+    timer.start(1000/60) #in millis
+    #end of dirty timer hack
+    @gui.physics = @physics
+    @gui.resize(@width, @height)
+    @gui.show()
+    #just because it's fun
+    add_dbug_agents
+    @app.exec()
+  end
+  
+  #debug method to add agents quickly
+  def add_dbug_agents
+    dbug_agents = ["Jeanette","Kurt","Maurice","Patrice"]
+    dbug_agents.each do |agentname|
+      x_rnd = 23-rand(46)/2
+      y_rnd = 23-rand(46)/2
+      @gui.add_agent Agent.new("dbug.#{agentname}",@width/2+x_rnd,@height/2+y_rnd)
+    end
+  end
+end
+
+#start the app
+va = VisualizerAgent.new(ARGV)
+va.release_robots #start the robot agent module
+
+Thread.new do
+  sleep 1
+  #build you own loop if you need one
+  loop do 
+    sleep 1
+    #send an xml message over the system
+    #alive_msg = va.create_xml_alive_msg
+    #dlog "alive_msg: #{alive_msg.to_s}"
+    #va.send_msg alive_msg
+  end
+end
+
+va.start_qt_visualizer
+

data/lib/robots.rb

@@ -1,3 +1,4 @@
+require 'socket' #to get hostname etc.
 require 'rubygems'
 require 'rofl' #gem install pangdudu-rofl --source=http://gems.github.com
 #local requires, actually don't need them, just to let you know whats going on
@@ -5,7 +6,7 @@ require 'robots_agent'
 
 module Robots
   
-  attr_accessor :robotsagent,:haz_robots
+  attr_accessor :robotsagent,:haz_robots,:hostname
   
   #release the robots
   def release_robots
@@ -27,6 +28,7 @@ module Robots
     @haz_robots = @robotsagent.nil?
     if @haz_robots
       @robotsagent = Robot.new
+      @hostname = @robotsagent.hostname
       @robotsagent.run
       @robotsagent.add_listener self
     end 

data/lib/robots_agent.rb

@@ -1,27 +1,36 @@
 require 'rubygems'
-require 'dbus' #gem install sdague-ruby-dbus --source=http://gems.github.com
+require 'dbus' #gem install pangdudu-ruby-dbus --source=http://gems.github.com
+require 'dbus-daemon' #gem install pangdudu-ruby-dbus-daemon --source=http://gems.github.com
 require 'rofl' #gem install pangdudu-rofl --source=http://gems.github.com
 #local requires, actually don't need them, just to let you know whats going on
 require 'robots_infrastructure'
 
 class Robot
-  attr_accessor :avahi
-  attr_accessor :emitters,:infrastructure,:listeners
+  attr_accessor :dbusdaemon #in case we use a custom dbus-daemon
+  attr_accessor :avahi #for mdns service discovery
+  attr_accessor :emitters,:infrastructure,:listeners #stuff a robot needs
+  attr_accessor :hostname #infos
   
   def initialize
     dlog "new Robot initialized."
+    @hostname = Socket.gethostname
+    @sessiontype = "system" #could be session,system or robots (use robots, if you want it to work over multiple hosts)
+    @daemonconfig = "~/.robots/config/remote.session.dbus.conf" #listens on path and tcp
+    @dbusdaemon = nil #we'll start our own dbus-daemon if we have to
+    @dbussession = nil #get_bus will get one for us
+    @coreservice = nil #the service we use to export objects with
     @robotsservice = "org.robots.Service"
     @emitterpath = "/org/robots/Service/Emitter"
     @emitterinterface = "org.ruby.Service.EmitterInterface"
-    @coreservice = nil
     @listeners = [] # listeners for incoming messages are here
     @emitters = {} #holds emitters we use
     @infrastructure = {} #holds infrastructure objects
-    @servicetypes = fill_servicetypes
+    @servicetypes = fill_servicetypes #refer to robots_infrastructure.rb
   end
   
   #start the mojo
   def run
+    check_for_dbus_daemon if @sessiontype.eql? "robots" #will start a daemon if necessary
     setup_robots_service
     register_callbacks
     #test_messages; #main_loop;
@@ -45,6 +54,28 @@ class Robot
   the following methods are only called, if the robots service is not already running 
 =end 
  
+  #check if a dbus-daemon suitable for robots is running, otherwise start one
+  def check_for_dbus_daemon
+    @daemonconfig = File.expand_path(@daemonconfig) #dbus-daemon won't accept otherwise
+    #ok, no config file, not good!
+    unless File.exist? @daemonconfig
+      wlog "no daemon config: #{@daemonconfig}!"
+      wlog "will sleep for 5 seconds,..."
+      sleep 5 #give the user time to realize
+    end
+    #if the config file is there
+    if File.exist? @daemonconfig  
+      @dbusdaemon = DbusDaemon.new @daemonconfig
+      got_twins = @dbusdaemon.got_twin_daemon? #check if a daemon like this is already running
+      ilog "custom dbus-daemon is already running." if got_twins #inform user
+      unless got_twins #no suitable dbus-daemon running, start one
+        @dbusdaemon.start_daemon
+        ilog "custom dbus-daemon started and running, check \"ps x | grep \"dbus-daemon\", if plan a CTRL-C."
+        #@dbusdaemon.stop_daemon #must get called sometimes, super nasty, use " ps x | grep "dbus-daemon" "
+      end
+    end
+  end
+ 
   #setup the infrastructure objects for communication
   def init_robots_infrastructure
     emitter = Emitter.new(@emitterpath,self)
@@ -60,7 +91,7 @@ class Robot
   
   #start a service
   def start_core_service service_name=@robotsservice
-    bus = DBus::system_bus
+    bus = get_bus
     #first of all check if the service we want to launch is already started
     dlog "skipping service: #{service_name} has already been started." if running? service_name 
     unless running? service_name
@@ -78,7 +109,7 @@ class Robot
   def get_object_from_service service_name,obj_path,default_iface
     begin
       if running? service_name
-        bus = DBus::system_bus
+        bus = get_bus
         ruby_service = bus.service(service_name)
         obj = ruby_service.object(obj_path)
         obj.introspect
@@ -94,10 +125,10 @@ class Robot
   
   #register callback methods
   def register_callbacks
-    bus = DBus::system_bus
     #setup callbacks for infrastructure emitters
     @emitters.each { |name,emitter| register_emitter_callback name,emitter }
     #setup service browser
+    bus = DBus::SystemBus.instance #needs to be the system bus for the avahi stuff
     proxy = bus.introspect("org.freedesktop.Avahi","/")
     @avahi = proxy["org.freedesktop.Avahi.Server"]  
     @servicetypes.each { |name,type| register_service_callback name,type }
@@ -105,7 +136,8 @@ class Robot
   
   #register an emitter callback
   def register_emitter_callback name,emitter
-    bus = DBus::system_bus
+    bus = get_bus
+    #dlog "emitter.inspect #{emitter.inspect}"
     dlog "registering callback for #{name} on path #{emitter.path}"
     mr = DBus::MatchRule.new
     mr.type = "signal"
@@ -128,7 +160,7 @@ class Robot
   
   #builds a service type specific callback
   def register_service_callback name,type
-    bus = DBus::system_bus
+    bus = DBus::SystemBus.instance #needs to be the system bus for the avahi stuff
     sb = @avahi.ServiceBrowserNew(-1,-1,"_#{type}._tcp","local",0)
     #now we start the match rule definition
     mr = DBus::MatchRule.new
@@ -150,7 +182,7 @@ class Robot
   
   #check if a service is running
   def running? service_name
-    bus = DBus::system_bus
+    bus = get_bus
     return bus.proxy.ListNames[0].include? service_name
   end
 
@@ -174,6 +206,26 @@ class Robot
     end
   end
 
+  #get the bus session, cleaner then creating new sessions all over
+  def get_bus
+    if @dbussession.nil?
+      @dbussession = DBus::SystemBus.instance if @sessiontype.eql? "system"
+      @dbussession = DBus::SessionBus.instance if @sessiontype.eql? "session"
+      if @sessiontype.eql? "robots"
+       #i somehow feel bad for doing it like this with ENV[]:
+       @robots_socket_name = "unix:path=/tmp/robots_session_bus_socket" #look at: config/remote.session.dbus.conf
+       DBus.const_set("SessionSocketName", @robots_socket_name) #overwrite the modules constant
+       @dbussession = DBus::SessionBus.instance
+      end
+    end
+    #no point if this is still true :)
+    if @dbussession.nil?
+      elog "@dbussession is nil! will exit now, sorry."
+      exit(0)
+    end
+    return @dbussession
+  end
+
 #functions used by the module end here 
   
   #dbus main loop
@@ -187,7 +239,7 @@ class Robot
   def test_messages
      Thread.new do 
       loop do
-        msg = "it worx from alpha!"
+        msg = "it worx from robots agent!"
         send_msg msg
         sleep 1
       end
@@ -195,9 +247,12 @@ class Robot
   end
   
   #list names of a proxy object
-  def list_names proxy=@dbus.proxy
+  def list_names proxy=nil
+    if proxy.nil?
+      bus = get_bus
+      proxy = bus.proxy
+    end
     dlog "listnames:"
     proxy.ListNames[0].each { |name| dlog name }
-    @services.each { |name,service| dlog "service introspection for #{name} introspection: #{service.introspect}" }
   end
 end

data/lib/robots_infrastructure.rb

@@ -2,7 +2,7 @@
 this includes all the necessary dbus objects we need for the robots infrastructure
 =end
 require 'rubygems'
-require 'dbus' #gem install sdague-ruby-dbus --source=http://gems.github.com
+require 'dbus' #gem install pangdudu-ruby-dbus --source=http://gems.github.com
 require 'rofl' #gem install pangdudu-rofl --source=http://gems.github.com 
 
 #basic emitter class

data/lib/robots_prototype.rb

@@ -12,7 +12,10 @@ class RobotsProto
   include Robots
   include RobotsXml
   
+  attr_accessor :roboname
+  
   def initialize
+    @roboname = "Robots Prototype" #name used in alive messages
     ilog "RobotsProto initialized"
   end
   
@@ -41,5 +44,5 @@ rp.release_robots #start the robot agent module
 loop do 
   sleep 1
   #send an xml message over the system
-  rp.send_msg rp.create_xml_msg { |b| b.body("test"); b.info("timestamp" => "#{Time.now}") }
+  rp.send_msg rp.create_xml_alive_msg
 end

data/lib/robots_xml.rb

@@ -22,5 +22,17 @@ module RobotsXml
       return xml = Hpricot.XML("<msg>parsing error</msg>")
     end
   end
+  
+  #SPECIALS
+  
+  #create an alive message
+  def create_xml_alive_msg
+    @hostname = "localhost" if @hostname.nil? #more fun with hostname
+    @roboname = "Nameless" if @roboname.nil? #at least it's nameless
+    robotsid = "#{@hostname}.#{@roboname.gsub(" ","_")}" #looks cooler
+    msg = create_xml_msg { |b| b.info("#{@roboname} alive","alive"=>"#{robotsid}","timestamp" => "#{Time.now}") }
+    return msg
+  end
+    
 end
 

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification 
 name: pangdudu-robots
 version: !ruby/object:Gem::Version 
-  version: 0.2.1
+  version: 0.2.2
 platform: ruby
 authors: 
 - pangdudu
@@ -22,6 +22,16 @@ dependencies:
       - !ruby/object:Gem::Version 
         version: "0"
     version: 
+- !ruby/object:Gem::Dependency 
+  name: pangdudu-rofl
+  type: :runtime
+  version_requirement: 
+  version_requirements: !ruby/object:Gem::Requirement 
+    requirements: 
+    - - ">="
+      - !ruby/object:Gem::Version 
+        version: "0"
+    version: 
 description: robots!
 email: pangdudu@github
 executables: 
@@ -39,6 +49,11 @@ files:
 - lib/robots_xml.rb
 - lib/robots_prototype.rb
 - config/org.robots.service.conf
+- config/remote.session.dbus.conf
+- config/start_dbus_session.sh
+- funky-examples/visualizer-agent/flow_physics.rb
+- funky-examples/visualizer-agent/qt_visual.rb
+- funky-examples/visualizer-agent/visualizer_agent.rb
 - funky-examples/talking-swift-agent/README
 - funky-examples/talking-swift-agent/talking_swift_agent.rb
 - funky-examples/talking-swift-agent/text_generator.rb