artoo

Artoo is a micro-framework for robotics using Ruby.

Artoo provides a simple, yet powerful domain-specific language (DSL) for robotics and physical computing.

Examples:

Basic

Arduino with an LED and a button, using the Firmata protocol.

require 'artoo'

connection :arduino, :adaptor => :firmata, :port => '/dev/tty.usbmodemxxxxx'
device :led, :driver => :led, :pin => 13
device :button, :driver => :button, :pin => 2

work do
  on button, :push => proc {led.toggle}
end

Parrot ARDrone 2.0

require 'artoo'

connection :ardrone, :adaptor => :ardrone
device :drone, :driver => :ardrone

work do
  drone.start
  drone.take_off

  after(25.seconds) { drone.hover.land }
  after(30.seconds) { drone.stop }
end

Modular

require 'artoo/robot'

SPHEROS = ["4567", "4568", "4569", "4570", "4571"]

class SpheroRobot < Artoo::Robot
  connection :sphero, :adaptor => :sphero
  device :sphero, :driver => :sphero

  work do
    every(3.seconds) do
      sphero.roll 90, rand(360)
    end
  end
end

robots = []
SPHEROS.each {|p|
  robots << SpheroRobot.new(:connections => 
                              {:sphero => 
                                {:port => p}})
}

SpheroRobot.work!(robots)

Ruby versions supported: Ruby 2.0, Ruby 1.9.3, JRuby 1.7.2, and Rubinius 2.0-rc1

Artoo is conceptualy influenced by Sinatra (https://github.com/sinatra/sinatra) as well as borrowing some code from it.

Artoo provides a robust actor-based messaging architecture, that can support fully multi-threaded operation and high-concurrency, as long as it is supported by the Ruby version in which it is executing. This means you will need to use JRuby or Rubinius for maximum concurrency.

To a large extent, this is due to being built on top of Celluloid (https://github.com/celluloid/celluloid), Celluloid::IO (https://github.com/celluloid/celluloid-io), and Reel (https://github.com/celluloid/reel).

API:

Artoo includes a RESTful API to query the status of any robot running within a group, including the connection and device status, and device streaming data via websockets.

To activate the API, use the api command like this:

require 'artoo'

connection :loop
device :passthru
api :host => '127.0.0.1', :port => '4321'

work do
  puts "Hello from the API running at #{api_host}:#{api_port}..."
end

Once the robot or group is working, you can view the main API page at the host and port specified.

Console:

Artoo includes Robi, a console based on Pry (http://pryrepl.org/) to allow you to interactively debug and control your robot.

robi ./examples/hello.rb
I, [2013-03-16T18:14:22.281462 #61513]  INFO -- : Registering connection 'loop'...
I, [2013-03-16T18:14:22.283027 #61513]  INFO -- : Preparing work...
[1] pry(main)> start
I, [2013-03-16T18:14:23.836523 #61513]  INFO -- : Initializing connection loop...
I, [2013-03-16T18:14:23.842265 #61513]  INFO -- : Starting work...
I, [2013-03-16T18:14:23.842879 #61513]  INFO -- : Connecting to 'loop' on port '#<Artoo::Port:0xe3c0>'...
[2] pry(main)> list
#<Artoo::MainRobot:0xe5e4>
[3] pry(main)> exit

Installing:

gem install artoo

Then install the gems required by your specific supported hardware:

gem install hybridgroup-firmata
gem install hybridgroup-argus
gem install hybridgroup-sphero

Running:

ruby myrobot.rb

Wiki

Check out our wiki for more docs