From d4ed3117f341352e99e7b1a75d114fc6516aca4c Mon Sep 17 00:00:00 2001
From: Adrian Zankich <adrian@hybridgroup.com>
Date: Fri, 3 Oct 2014 23:07:07 -0700
Subject: [PATCH 1/2] enable async or sync work modes

---
 lib/cylon.js |  7 +++++++
 lib/robot.js | 32 ++++++++++++++++++++++----------
 2 files changed, 29 insertions(+), 10 deletions(-)

diff --git a/lib/cylon.js b/lib/cylon.js
index 46c2d77..4b406bf 100644
--- a/lib/cylon.js
+++ b/lib/cylon.js
@@ -78,6 +78,13 @@ Cylon.start = function start() {
   for (var bot in this.robots) {
     this.robots[bot].start();
   }
+  var mode = Utils.fetch(Config, 'workMode', 'async');
+  if (mode === 'sync') {
+    console.log('sync');
+    for (var bot in this.robots) {
+      this.robots[bot].startWork();
+    }
+  }
 };
 
 // Public: Sets the internal configuration, based on passed options
diff --git a/lib/robot.js b/lib/robot.js
index dd1326a..06e6933 100644
--- a/lib/robot.js
+++ b/lib/robot.js
@@ -240,20 +240,17 @@ Robot.prototype.start = function() {
     return this;
   }
 
-  var begin = function(callback) {
-    Logger.info('Working.');
-
-    this.emit('ready', this);
-    this.work.call(this, this);
-    this.running = true;
-
-    callback(null, true);
-  }.bind(this);
+  var mode = Utils.fetch(Config, 'workMode', 'async');
 
   Async.series([
     this.startConnections,
     this.startDevices,
-    begin
+    function(callback) {
+      if (mode === 'async') {
+        this.startWork();
+      }
+      callback(null, true);
+    }.bind(this)
   ], function(err) {
     if (!!err) {
       Logger.fatal("An error occured while trying to start the robot:");
@@ -268,6 +265,21 @@ Robot.prototype.start = function() {
   return this;
 };
 
+// Public: Starts the Robot's work and triggers a callback
+//
+// callback - callback function to be triggered
+//
+// Returns nothing
+Robot.prototype.startWork = function() {
+  Logger.info('Working.');
+
+  this.emit('ready', this);
+  this.work.call(this, this);
+  this.running = true;
+
+  //callback(null, true);
+};
+
 // Public: Starts the Robot's connections and triggers a callback
 //
 // callback - callback function to be triggered

From b80ad6e167606a46192613006aa5d7542bbd88dd Mon Sep 17 00:00:00 2001
From: Adrian Zankich <adrian@hybridgroup.com>
Date: Sat, 4 Oct 2014 00:56:08 -0700
Subject: [PATCH 2/2] start the robots in parallel

---
 lib/cylon.js | 18 ++++++++++--------
 lib/robot.js |  9 +++++----
 2 files changed, 15 insertions(+), 12 deletions(-)

diff --git a/lib/cylon.js b/lib/cylon.js
index 4b406bf..afcc374 100644
--- a/lib/cylon.js
+++ b/lib/cylon.js
@@ -75,16 +75,18 @@ Cylon.api = function api() {
 //
 // Returns nothing
 Cylon.start = function start() {
+  var starters = [];
   for (var bot in this.robots) {
-    this.robots[bot].start();
-  }
-  var mode = Utils.fetch(Config, 'workMode', 'async');
-  if (mode === 'sync') {
-    console.log('sync');
-    for (var bot in this.robots) {
-      this.robots[bot].startWork();
-    }
+    starters.push(this.robots[bot].start);
   }
+  Async.parallel(starters, function(err, results) {
+    var mode = Utils.fetch(Config, 'workMode', 'async');
+    if (mode === 'sync') {
+      for (var bot in this.robots) {
+        this.robots[bot].startWork();
+      }
+     }
+  }.bind(this));
 };
 
 // Public: Sets the internal configuration, based on passed options
diff --git a/lib/robot.js b/lib/robot.js
index 06e6933..1d2d12e 100644
--- a/lib/robot.js
+++ b/lib/robot.js
@@ -235,7 +235,7 @@ Robot.prototype.initDevices = function(devices) {
 // Starts the connections, devices, and work.
 //
 // Returns the result of the work
-Robot.prototype.start = function() {
+Robot.prototype.start = function(callback) {
   if (this.running) {
     return this;
   }
@@ -251,7 +251,7 @@ Robot.prototype.start = function() {
       }
       callback(null, true);
     }.bind(this)
-  ], function(err) {
+  ], function(err, results) {
     if (!!err) {
       Logger.fatal("An error occured while trying to start the robot:");
       Logger.fatal(err);
@@ -260,6 +260,9 @@ Robot.prototype.start = function() {
       }
       this.emit('error', err);
     }
+    if (typeof(callback) === 'function') {
+      callback(err, results);
+    }
   }.bind(this));
 
   return this;
@@ -276,8 +279,6 @@ Robot.prototype.startWork = function() {
   this.emit('ready', this);
   this.work.call(this, this);
   this.running = true;
-
-  //callback(null, true);
 };
 
 // Public: Starts the Robot's connections and triggers a callback