Class: Artoo::Robot

Inherits:
Object
  • Object
show all
Extended by:
Basic
Includes:
Events, Utility, Celluloid, Celluloid::Notifications
Defined in:
lib/artoo/robot.rb

Overview

The most important class used by Artoo is Robot. This represents the primary interface for interacting with a collection of physical computing capabilities.

Direct Known Subclasses

MainRobot

Constant Summary

Constants included from Basic

Basic::CALLERS_TO_IGNORE

Class Attribute Summary collapse

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Methods included from Basic

caller_files, set

Methods included from Events

#create_proxy_method, #on, #proxy_method_name

Methods included from Utility

#classify, #constantize, #current_class, #current_instance, #random_string

Methods included from Celluloid

#timers

Constructor Details

#initialize(params = {}) ⇒ Robot

Returns a new instance of Robot.



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# File 'lib/artoo/robot.rb', line 29

def initialize(params={})
  @name = params[:name] || "Robot #{random_string}"
  initialize_connections(params[:connections] || {})
  initialize_devices(params[:devices] || {})
end

Class Attribute Details

.api_host ⇒ Object

Returns the value of attribute api_host.



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# File 'lib/artoo/robot.rb', line 36

def api_host
  @api_host
end

.api_port ⇒ Object

Returns the value of attribute api_port.



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# File 'lib/artoo/robot.rb', line 36

def api_port
  @api_port
end

.device_types ⇒ Object

Returns the value of attribute device_types.



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# File 'lib/artoo/robot.rb', line 36

def device_types
  @device_types
end

.running ⇒ Object

Returns the value of attribute running.



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# File 'lib/artoo/robot.rb', line 36

def running
  @running
end

.use_api ⇒ Object

Returns the value of attribute use_api.



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# File 'lib/artoo/robot.rb', line 36

def use_api
  @use_api
end

.working_code ⇒ Object

Returns the value of attribute working_code.



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# File 'lib/artoo/robot.rb', line 36

def working_code
  @working_code
end

Instance Attribute Details

#connections ⇒ Object (readonly)

Returns the value of attribute connections.



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# File 'lib/artoo/robot.rb', line 27

def connections
  @connections
end

#devices ⇒ Object (readonly)

Returns the value of attribute devices.



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# File 'lib/artoo/robot.rb', line 27

def devices
  @devices
end

#name ⇒ Object (readonly)

Returns the value of attribute name.



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# File 'lib/artoo/robot.rb', line 27

def name
  @name
end

Class Method Details

.api(params = {}) ⇒ Object

activate RESTful api Example:

api :host => '127.0.0.1', :port => '1234'



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# File 'lib/artoo/robot.rb', line 75

def api(params = {})
  Celluloid::Logger.info "Registering api..."
  self.use_api = true
  self.api_host = params[:host] || '127.0.0.1'
  self.api_port = params[:port] || '4321'
end

.cli? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/artoo/robot.rb', line 114

def cli?
  ENV["ARTOO_CLI"] == 'true'
end

.connection(name, params = {}) ⇒ Object

connection to some hardware that has one or more devices via some specific protocol Example:

connection :arduino, :adaptor => :firmata, :port => '/dev/tty.usbmodemxxxxx'



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# File 'lib/artoo/robot.rb', line 46

def connection(name, params = {})
  Celluloid::Logger.info "Registering connection '#{name}'..."
  self.connection_types << {:name => name}.merge(params)
end

.connection_types ⇒ Object 



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# File 'lib/artoo/robot.rb', line 39

def connection_types
  @@connection_types ||= []
end

.device(name, params = {}) ⇒ Object

device that uses a connection to communicate Example:

device :collision_detect, :driver => :switch, :pin => 3



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# File 'lib/artoo/robot.rb', line 54

def device(name, params = {})
  Celluloid::Logger.info "Registering device '#{name}'..."
  self.device_types ||= []
  self.device_types << {:name => name}.merge(params)
end

.is_running? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/artoo/robot.rb', line 118

def is_running?
  self.running ||= false
  self.running == true
end

.prepare_robots(robot = nil) ⇒ Object 



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# File 'lib/artoo/robot.rb', line 98

def prepare_robots(robot=nil)
  if robot.respond_to?(:work)
    robots = [robot]
  elsif robot.kind_of?(Array)
    robots = robot
  else
    robots = [self.new]
  end

  Celluloid::Actor[:master] = Master.new(robots)
end

.test? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/artoo/robot.rb', line 110

def test?
  ENV["ARTOO_TEST"] == 'true'
end

.work(&block) ⇒ Object

the work that needs to be performed Example:

work do 
  every(10.seconds) do
    puts "hello, world"
  end
end



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# File 'lib/artoo/robot.rb', line 67

def work(&block)
  Celluloid::Logger.info "Preparing work..."
  self.working_code = block if block_given?
end

.work!(robot = nil) ⇒ Object

work can be performed by either:

an existing instance
an array of existing instances
or, a new instance can be created



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# File 'lib/artoo/robot.rb', line 86

def work!(robot=nil)
  return if !test? && is_running?
  prepare_robots(robot)

  unless cli?
    Celluloid::Actor[:api] = Api.new(self.api_host, self.api_port) if self.use_api
    Celluloid::Actor[:master].start_work
    self.running = true
    sleep # sleep main thread, and let the work commence!
  end
end

Instance Method Details

#api_host ⇒ Object 



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# File 'lib/artoo/robot.rb', line 128

def api_host
  self.class.api_host
end

#api_port ⇒ Object 



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# File 'lib/artoo/robot.rb', line 132

def api_port
  self.class.api_port
end

#as_json ⇒ Object 



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# File 'lib/artoo/robot.rb', line 182

def as_json
  MultiJson.dump(to_hash)
end

#connection_types ⇒ Object 



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# File 'lib/artoo/robot.rb', line 162

def connection_types
  current_class.connection_types
end

#continue_work ⇒ Object 



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# File 'lib/artoo/robot.rb', line 149

def continue_work
  Logger.info "Continuing work..."
  current_instance.timers.continue
end

#default_connection ⇒ Object 



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# File 'lib/artoo/robot.rb', line 158

def default_connection
  connections.values.first
end

#device_types ⇒ Object 



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# File 'lib/artoo/robot.rb', line 166

def device_types
  current_class.device_types ||= []
  current_class.device_types
end

#disconnect ⇒ Object 



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# File 'lib/artoo/robot.rb', line 154

def disconnect
  connections.each {|k, c| c.async.disconnect}
end

#inspect ⇒ Object 



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# File 'lib/artoo/robot.rb', line 186

def inspect
  "#<Robot #{object_id}>"
end

#pause_work ⇒ Object 



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# File 'lib/artoo/robot.rb', line 144

def pause_work
  Logger.info "Pausing work..."
  current_instance.timers.pause
end

#safe_name ⇒ Object 



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# File 'lib/artoo/robot.rb', line 124

def safe_name
  name.gsub(' ', '_').downcase
end

#to_hash ⇒ Object 



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# File 'lib/artoo/robot.rb', line 175

def to_hash
  {:name => name,
   :connections => connections.each_value.collect {|c|c.to_hash},
   :devices => devices.each_value.collect {|d|d.to_hash}
  }
end

#work ⇒ Object

start doing the work



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# File 'lib/artoo/robot.rb', line 137

def work
  Logger.info "Starting work..."
  execute_startup(connections) {|c| c.future.connect}
  execute_startup(devices) {|d| d.future.start_device}
  execute_working_code
end

#working_code ⇒ Object 



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# File 'lib/artoo/robot.rb', line 171

def working_code
  current_class.working_code ||= proc {puts "No work defined."}
end