Ron Evans
commit
41e5d885b3
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@ -9,73 +9,79 @@
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(function() {
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'use strict';
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var Connection, EventEmitter, Port,
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var EventEmitter, Port, namespace,
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__bind = function(fn, me){ return function(){ return fn.apply(me, arguments); }; },
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__hasProp = {}.hasOwnProperty,
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__extends = function(child, parent) { for (var key in parent) { if (__hasProp.call(parent, key)) child[key] = parent[key]; } function ctor() { this.constructor = child; } ctor.prototype = parent.prototype; child.prototype = new ctor(); child.__super__ = parent.prototype; return child; };
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require("./robot");
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namespace = require('node-namespace');
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Port = require("./port");
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EventEmitter = require('events').EventEmitter;
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module.exports = Connection = (function(_super) {
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__extends(Connection, _super);
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namespace('Cylon', function() {
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return this.Connection = (function(_super) {
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__extends(Connection, _super);
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function Connection(opts) {
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if (opts == null) {
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opts = {};
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function Connection(opts) {
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if (opts == null) {
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opts = {};
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}
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this.connect = __bind(this.connect, this);
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if (opts.id == null) {
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opts.id = Math.floor(Math.random() * 10000);
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}
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this.self = this;
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this.robot = opts.robot;
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this.name = opts.name;
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this.connection_id = opts.id;
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this.adaptor = this.requireAdaptor(opts.adaptor);
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this.port = new Port(opts.port);
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proxyFunctionsToObject(this.adaptor.commands(), this.adaptor, Connection);
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}
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this.connect = __bind(this.connect, this);
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if (opts.id == null) {
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opts.id = Math.floor(Math.random() * 10000);
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}
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this.self = this;
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this.robot = opts.robot;
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this.name = opts.name;
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this.connection_id = opts.id;
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this.adaptor = this.requireAdaptor(opts.adaptor);
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this.port = new Port(opts.port);
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proxyFunctionsToObject(this.adaptor.commands(), this.adaptor, Connection);
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}
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Connection.prototype.data = function() {
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return {
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name: this.name,
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port: this.port.toString(),
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adaptor: this.adaptor.constructor.name || this.adaptor.name,
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connection_id: this.connection_id
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Connection.prototype.data = function() {
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return {
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name: this.name,
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port: this.port.toString(),
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adaptor: this.adaptor.constructor.name || this.adaptor.name,
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connection_id: this.connection_id
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};
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};
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};
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Connection.prototype.connect = function(callback) {
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var msg;
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msg = "Connecting to '" + this.name + "'";
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if (this.port != null) {
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msg += " on port '" + (this.port.toString()) + "'";
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}
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Logger.info(msg);
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return this.adaptor.connect(callback);
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};
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Connection.prototype.connect = function(callback) {
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var msg;
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msg = "Connecting to '" + this.name + "'";
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if (this.port != null) {
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msg += " on port '" + (this.port.toString()) + "'";
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}
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Logger.info(msg);
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return this.adaptor.connect(callback);
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};
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Connection.prototype.disconnect = function() {
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var msg;
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msg = "Disconnecting from '" + this.name + "'";
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if (this.port != null) {
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msg += " on port '" + (this.port.toString()) + "'";
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}
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Logger.info(msg);
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return this.adaptor.disconnect();
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};
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Connection.prototype.disconnect = function() {
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var msg;
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msg = "Disconnecting from '" + this.name + "'";
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if (this.port != null) {
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msg += " on port '" + (this.port.toString()) + "'";
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}
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Logger.info(msg);
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return this.adaptor.disconnect();
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};
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Connection.prototype.requireAdaptor = function(adaptorName) {
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Logger.debug("Loading adaptor '" + adaptorName + "'");
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return this.robot.requireAdaptor(adaptorName, this.self);
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};
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Connection.prototype.requireAdaptor = function(adaptorName) {
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Logger.debug("Loading adaptor '" + adaptorName + "'");
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return this.robot.requireAdaptor(adaptorName, this.self);
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};
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return Connection;
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return Connection;
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})(EventEmitter);
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})(EventEmitter);
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});
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module.exports = Cylon.Connection;
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}).call(this);
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@ -9,79 +9,85 @@
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(function() {
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'use strict';
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var Device, EventEmitter,
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var EventEmitter, namespace,
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__bind = function(fn, me){ return function(){ return fn.apply(me, arguments); }; },
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__hasProp = {}.hasOwnProperty,
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__extends = function(child, parent) { for (var key in parent) { if (__hasProp.call(parent, key)) child[key] = parent[key]; } function ctor() { this.constructor = child; } ctor.prototype = parent.prototype; child.prototype = new ctor(); child.__super__ = parent.prototype; return child; };
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require('./cylon');
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namespace = require('node-namespace');
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EventEmitter = require('events').EventEmitter;
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module.exports = Device = (function(_super) {
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__extends(Device, _super);
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namespace('Cylon', function() {
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return this.Device = (function(_super) {
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__extends(Device, _super);
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function Device(opts) {
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if (opts == null) {
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opts = {};
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function Device(opts) {
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if (opts == null) {
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opts = {};
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}
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this.start = __bind(this.start, this);
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this.self = this;
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this.robot = opts.robot;
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this.name = opts.name;
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this.pin = opts.pin;
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this.connection = this.determineConnection(opts.connection) || this.defaultConnection();
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this.driver = this.requireDriver(opts);
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proxyFunctionsToObject(this.driver.commands(), this.driver, Device);
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}
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this.start = __bind(this.start, this);
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this.self = this;
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this.robot = opts.robot;
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this.name = opts.name;
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this.pin = opts.pin;
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this.connection = this.determineConnection(opts.connection) || this.defaultConnection();
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this.driver = this.requireDriver(opts);
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proxyFunctionsToObject(this.driver.commands(), this.driver, Device);
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}
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Device.prototype.start = function(callback) {
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var msg;
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msg = "Starting device '" + this.name + "'";
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if (this.pin != null) {
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msg += " on pin " + this.pin;
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}
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Logger.info(msg);
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return this.driver.start(callback);
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};
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Device.prototype.data = function() {
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return {
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name: this.name,
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driver: this.driver.constructor.name || this.driver.name,
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pin: this.pin != null ? this.pin.toString : null,
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connection: this.connection.data(),
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commands: this.driver.commands()
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Device.prototype.start = function(callback) {
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var msg;
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msg = "Starting device '" + this.name + "'";
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if (this.pin != null) {
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msg += " on pin " + this.pin;
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}
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Logger.info(msg);
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return this.driver.start(callback);
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};
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};
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Device.prototype.determineConnection = function(c) {
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if (c) {
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return this.robot.connections[c];
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}
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};
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Device.prototype.data = function() {
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return {
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name: this.name,
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driver: this.driver.constructor.name || this.driver.name,
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pin: this.pin != null ? this.pin.toString : null,
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connection: this.connection.data(),
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commands: this.driver.commands()
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};
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};
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Device.prototype.defaultConnection = function() {
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var first, k, v, _ref;
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first = 0;
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_ref = this.robot.connections;
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for (k in _ref) {
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v = _ref[k];
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first || (first = v);
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}
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return first;
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};
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Device.prototype.determineConnection = function(c) {
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if (c) {
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return this.robot.connections[c];
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}
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};
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Device.prototype.requireDriver = function(opts) {
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if (opts == null) {
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opts = {};
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}
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Logger.debug("Loading driver '" + opts.driver + "'");
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return this.robot.requireDriver(opts.driver, this.self, opts);
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};
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Device.prototype.defaultConnection = function() {
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var first, k, v, _ref;
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first = 0;
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_ref = this.robot.connections;
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for (k in _ref) {
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v = _ref[k];
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first || (first = v);
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}
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return first;
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};
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return Device;
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Device.prototype.requireDriver = function(opts) {
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if (opts == null) {
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opts = {};
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}
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Logger.debug("Loading driver '" + opts.driver + "'");
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return this.robot.requireDriver(opts.driver, this.self, opts);
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};
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})(EventEmitter);
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return Device;
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})(EventEmitter);
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});
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module.exports = Cylon.Device;
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}).call(this);
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@ -9,47 +9,53 @@
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(function() {
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'use strict';
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var Port;
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var namespace;
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module.exports = Port = (function() {
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function Port(data) {
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this.self = this;
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this.isTcp = this.isSerial = this.isPortless = false;
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this.parse(data);
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}
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namespace = require('node-namespace');
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Port.prototype.parse = function(data) {
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var match;
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if (data === void 0) {
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this.port = void 0;
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return this.isPortless = true;
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} else if (match = /(\d{1,3}\.\d{1,3}\.\d{1,3}\.\d{1,3}):(\d{1,5})/.exec(data)) {
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this.port = match[2];
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this.host = match[1];
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return this.isTcp = true;
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} else if (/^[0-9]{1,5}$/.exec(data)) {
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this.port = data;
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this.host = "localhost";
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return this.isTcp = true;
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} else {
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this.port = data;
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this.host = void 0;
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return this.isSerial = true;
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namespace('Cylon', function() {
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return this.Port = (function() {
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function Port(data) {
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this.self = this;
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this.isTcp = this.isSerial = this.isPortless = false;
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this.parse(data);
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}
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};
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Port.prototype.toString = function() {
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if (this.isPortless) {
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return "none";
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} else if (this.isSerial) {
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return this.port;
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} else {
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return "" + this.host + ":" + this.port;
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}
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};
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Port.prototype.parse = function(data) {
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var match;
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if (data === void 0) {
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this.port = void 0;
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return this.isPortless = true;
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} else if (match = /(\d{1,3}\.\d{1,3}\.\d{1,3}\.\d{1,3}):(\d{1,5})/.exec(data)) {
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this.port = match[2];
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this.host = match[1];
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return this.isTcp = true;
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} else if (/^[0-9]{1,5}$/.exec(data)) {
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this.port = data;
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this.host = "localhost";
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return this.isTcp = true;
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} else {
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this.port = data;
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this.host = void 0;
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return this.isSerial = true;
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}
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};
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return Port;
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Port.prototype.toString = function() {
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if (this.isPortless) {
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return "none";
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} else if (this.isSerial) {
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return this.port;
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} else {
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return "" + this.host + ":" + this.port;
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}
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};
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})();
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return Port;
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})();
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});
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module.exports = Cylon.Port;
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}).call(this);
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@ -9,7 +9,7 @@
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(function() {
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'use strict';
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var Async, Connection, Device, Robot,
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var Async, Connection, Device, namespace,
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__bind = function(fn, me){ return function(){ return fn.apply(me, arguments); }; },
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__indexOf = [].indexOf || function(item) { for (var i = 0, l = this.length; i < l; i++) { if (i in this && this[i] === item) return i; } return -1; };
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@ -17,206 +17,212 @@
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require('./basestar');
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namespace = require('node-namespace');
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Connection = require("./connection");
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Device = require("./device");
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Async = require("async");
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module.exports = Robot = (function() {
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var klass;
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namespace('Cylon', function() {
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return this.Robot = (function() {
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var klass;
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klass = Robot;
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klass = Robot;
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function Robot(opts) {
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var func, n, reserved;
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if (opts == null) {
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opts = {};
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}
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this.registerDriver = __bind(this.registerDriver, this);
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this.startDevices = __bind(this.startDevices, this);
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this.startConnections = __bind(this.startConnections, this);
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this.start = __bind(this.start, this);
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this.initDevices = __bind(this.initDevices, this);
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this.initConnections = __bind(this.initConnections, this);
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this.robot = this;
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this.name = opts.name || this.constructor.randomName();
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this.master = opts.master;
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this.connections = {};
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this.devices = {};
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this.adaptors = {};
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this.drivers = {};
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this.registerAdaptor("./loopback", "loopback");
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this.registerDriver("./ping", "ping");
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this.initConnections(opts.connection || opts.connections);
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this.initDevices(opts.device || opts.devices);
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this.work = opts.work || function() {
|
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return Logger.info("No work yet");
|
||||
};
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for (n in opts) {
|
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func = opts[n];
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reserved = ['connection', 'connections', 'device', 'devices', 'work'];
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if (__indexOf.call(reserved, n) < 0) {
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this.robot[n] = func;
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||||
function Robot(opts) {
|
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var func, n, reserved;
|
||||
if (opts == null) {
|
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opts = {};
|
||||
}
|
||||
this.registerDriver = __bind(this.registerDriver, this);
|
||||
this.startDevices = __bind(this.startDevices, this);
|
||||
this.startConnections = __bind(this.startConnections, this);
|
||||
this.start = __bind(this.start, this);
|
||||
this.initDevices = __bind(this.initDevices, this);
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this.initConnections = __bind(this.initConnections, this);
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this.robot = this;
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||||
this.name = opts.name || this.constructor.randomName();
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||||
this.master = opts.master;
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||||
this.connections = {};
|
||||
this.devices = {};
|
||||
this.adaptors = {};
|
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this.drivers = {};
|
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this.registerAdaptor("./loopback", "loopback");
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this.registerDriver("./ping", "ping");
|
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this.initConnections(opts.connection || opts.connections);
|
||||
this.initDevices(opts.device || opts.devices);
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||||
this.work = opts.work || function() {
|
||||
return Logger.info("No work yet");
|
||||
};
|
||||
for (n in opts) {
|
||||
func = opts[n];
|
||||
reserved = ['connection', 'connections', 'device', 'devices', 'work'];
|
||||
if (__indexOf.call(reserved, n) < 0) {
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||||
this.robot[n] = func;
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||||
}
|
||||
}
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||||
}
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||||
}
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||||
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||||
Robot.randomName = function() {
|
||||
return "Robot " + (Math.floor(Math.random() * 100000));
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||||
};
|
||||
|
||||
Robot.prototype.data = function() {
|
||||
var connection, device, n;
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||||
return {
|
||||
name: this.name,
|
||||
connections: (function() {
|
||||
var _ref, _results;
|
||||
_ref = this.connections;
|
||||
_results = [];
|
||||
for (n in _ref) {
|
||||
connection = _ref[n];
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||||
_results.push(connection.data());
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||||
}
|
||||
return _results;
|
||||
}).call(this),
|
||||
devices: (function() {
|
||||
var _ref, _results;
|
||||
_ref = this.devices;
|
||||
_results = [];
|
||||
for (n in _ref) {
|
||||
device = _ref[n];
|
||||
_results.push(device.data());
|
||||
}
|
||||
return _results;
|
||||
}).call(this)
|
||||
Robot.randomName = function() {
|
||||
return "Robot " + (Math.floor(Math.random() * 100000));
|
||||
};
|
||||
};
|
||||
|
||||
Robot.prototype.initConnections = function(connections) {
|
||||
var connection, _i, _len;
|
||||
Logger.info("Initializing connections...");
|
||||
if (connections == null) {
|
||||
return;
|
||||
}
|
||||
connections = [].concat(connections);
|
||||
for (_i = 0, _len = connections.length; _i < _len; _i++) {
|
||||
connection = connections[_i];
|
||||
Logger.info("Initializing connection '" + connection.name + "'...");
|
||||
connection['robot'] = this;
|
||||
this.connections[connection.name] = new Connection(connection);
|
||||
}
|
||||
return this.connections;
|
||||
};
|
||||
Robot.prototype.data = function() {
|
||||
var connection, device, n;
|
||||
return {
|
||||
name: this.name,
|
||||
connections: (function() {
|
||||
var _ref, _results;
|
||||
_ref = this.connections;
|
||||
_results = [];
|
||||
for (n in _ref) {
|
||||
connection = _ref[n];
|
||||
_results.push(connection.data());
|
||||
}
|
||||
return _results;
|
||||
}).call(this),
|
||||
devices: (function() {
|
||||
var _ref, _results;
|
||||
_ref = this.devices;
|
||||
_results = [];
|
||||
for (n in _ref) {
|
||||
device = _ref[n];
|
||||
_results.push(device.data());
|
||||
}
|
||||
return _results;
|
||||
}).call(this)
|
||||
};
|
||||
};
|
||||
|
||||
Robot.prototype.initDevices = function(devices) {
|
||||
var device, _i, _len, _results;
|
||||
Logger.info("Initializing devices...");
|
||||
if (devices == null) {
|
||||
return;
|
||||
}
|
||||
devices = [].concat(devices);
|
||||
_results = [];
|
||||
for (_i = 0, _len = devices.length; _i < _len; _i++) {
|
||||
device = devices[_i];
|
||||
Logger.info("Initializing device '" + device.name + "'...");
|
||||
device['robot'] = this;
|
||||
_results.push(this.devices[device.name] = new Device(device));
|
||||
}
|
||||
return _results;
|
||||
};
|
||||
Robot.prototype.initConnections = function(connections) {
|
||||
var connection, _i, _len;
|
||||
Logger.info("Initializing connections...");
|
||||
if (connections == null) {
|
||||
return;
|
||||
}
|
||||
connections = [].concat(connections);
|
||||
for (_i = 0, _len = connections.length; _i < _len; _i++) {
|
||||
connection = connections[_i];
|
||||
Logger.info("Initializing connection '" + connection.name + "'...");
|
||||
connection['robot'] = this;
|
||||
this.connections[connection.name] = new Connection(connection);
|
||||
}
|
||||
return this.connections;
|
||||
};
|
||||
|
||||
Robot.prototype.start = function() {
|
||||
var _this = this;
|
||||
return this.startConnections(function() {
|
||||
return _this.robot.startDevices(function() {
|
||||
return _this.robot.work.call(_this.robot, _this.robot);
|
||||
Robot.prototype.initDevices = function(devices) {
|
||||
var device, _i, _len, _results;
|
||||
Logger.info("Initializing devices...");
|
||||
if (devices == null) {
|
||||
return;
|
||||
}
|
||||
devices = [].concat(devices);
|
||||
_results = [];
|
||||
for (_i = 0, _len = devices.length; _i < _len; _i++) {
|
||||
device = devices[_i];
|
||||
Logger.info("Initializing device '" + device.name + "'...");
|
||||
device['robot'] = this;
|
||||
_results.push(this.devices[device.name] = new Device(device));
|
||||
}
|
||||
return _results;
|
||||
};
|
||||
|
||||
Robot.prototype.start = function() {
|
||||
var _this = this;
|
||||
return this.startConnections(function() {
|
||||
return _this.robot.startDevices(function() {
|
||||
return _this.robot.work.call(_this.robot, _this.robot);
|
||||
});
|
||||
});
|
||||
});
|
||||
};
|
||||
};
|
||||
|
||||
Robot.prototype.startConnections = function(callback) {
|
||||
var connection, n, starters, _ref;
|
||||
Logger.info("Starting connections...");
|
||||
starters = {};
|
||||
_ref = this.connections;
|
||||
for (n in _ref) {
|
||||
connection = _ref[n];
|
||||
starters[n] = connection.connect;
|
||||
}
|
||||
return Async.parallel(starters, callback);
|
||||
};
|
||||
Robot.prototype.startConnections = function(callback) {
|
||||
var connection, n, starters, _ref;
|
||||
Logger.info("Starting connections...");
|
||||
starters = {};
|
||||
_ref = this.connections;
|
||||
for (n in _ref) {
|
||||
connection = _ref[n];
|
||||
starters[n] = connection.connect;
|
||||
}
|
||||
return Async.parallel(starters, callback);
|
||||
};
|
||||
|
||||
Robot.prototype.startDevices = function(callback) {
|
||||
var device, n, starters, _ref;
|
||||
Logger.info("Starting devices...");
|
||||
starters = {};
|
||||
_ref = this.devices;
|
||||
for (n in _ref) {
|
||||
device = _ref[n];
|
||||
this.robot[n] = device;
|
||||
starters[n] = device.start;
|
||||
}
|
||||
return Async.parallel(starters, callback);
|
||||
};
|
||||
Robot.prototype.startDevices = function(callback) {
|
||||
var device, n, starters, _ref;
|
||||
Logger.info("Starting devices...");
|
||||
starters = {};
|
||||
_ref = this.devices;
|
||||
for (n in _ref) {
|
||||
device = _ref[n];
|
||||
this.robot[n] = device;
|
||||
starters[n] = device.start;
|
||||
}
|
||||
return Async.parallel(starters, callback);
|
||||
};
|
||||
|
||||
Robot.prototype.requireAdaptor = function(adaptorName, connection) {
|
||||
if (this.robot.adaptors[adaptorName] != null) {
|
||||
if (typeof this.robot.adaptors[adaptorName] === 'string') {
|
||||
this.robot.adaptors[adaptorName] = require(this.robot.adaptors[adaptorName]).adaptor({
|
||||
Robot.prototype.requireAdaptor = function(adaptorName, connection) {
|
||||
if (this.robot.adaptors[adaptorName] != null) {
|
||||
if (typeof this.robot.adaptors[adaptorName] === 'string') {
|
||||
this.robot.adaptors[adaptorName] = require(this.robot.adaptors[adaptorName]).adaptor({
|
||||
name: adaptorName,
|
||||
connection: connection
|
||||
});
|
||||
}
|
||||
} else {
|
||||
require("cylon-" + adaptorName).register(this);
|
||||
this.robot.adaptors[adaptorName] = require("cylon-" + adaptorName).adaptor({
|
||||
name: adaptorName,
|
||||
connection: connection
|
||||
});
|
||||
}
|
||||
} else {
|
||||
require("cylon-" + adaptorName).register(this);
|
||||
this.robot.adaptors[adaptorName] = require("cylon-" + adaptorName).adaptor({
|
||||
name: adaptorName,
|
||||
connection: connection
|
||||
});
|
||||
}
|
||||
return this.robot.adaptors[adaptorName];
|
||||
};
|
||||
return this.robot.adaptors[adaptorName];
|
||||
};
|
||||
|
||||
Robot.prototype.registerAdaptor = function(moduleName, adaptorName) {
|
||||
if (this.adaptors[adaptorName] != null) {
|
||||
return;
|
||||
}
|
||||
return this.adaptors[adaptorName] = moduleName;
|
||||
};
|
||||
Robot.prototype.registerAdaptor = function(moduleName, adaptorName) {
|
||||
if (this.adaptors[adaptorName] != null) {
|
||||
return;
|
||||
}
|
||||
return this.adaptors[adaptorName] = moduleName;
|
||||
};
|
||||
|
||||
Robot.prototype.requireDriver = function(driverName, device, opts) {
|
||||
if (opts == null) {
|
||||
opts = {};
|
||||
}
|
||||
if (this.robot.drivers[driverName] != null) {
|
||||
if (typeof this.robot.drivers[driverName] === 'string') {
|
||||
this.robot.drivers[driverName] = require(this.robot.drivers[driverName]).driver({
|
||||
Robot.prototype.requireDriver = function(driverName, device, opts) {
|
||||
if (opts == null) {
|
||||
opts = {};
|
||||
}
|
||||
if (this.robot.drivers[driverName] != null) {
|
||||
if (typeof this.robot.drivers[driverName] === 'string') {
|
||||
this.robot.drivers[driverName] = require(this.robot.drivers[driverName]).driver({
|
||||
name: driverName,
|
||||
device: device,
|
||||
extraParams: opts
|
||||
});
|
||||
}
|
||||
} else {
|
||||
require("cylon-" + driverName).register(this);
|
||||
this.robot.drivers[driverName] = require("cylon-" + driverName).driver({
|
||||
name: driverName,
|
||||
device: device,
|
||||
extraParams: opts
|
||||
});
|
||||
}
|
||||
} else {
|
||||
require("cylon-" + driverName).register(this);
|
||||
this.robot.drivers[driverName] = require("cylon-" + driverName).driver({
|
||||
name: driverName,
|
||||
device: device,
|
||||
extraParams: opts
|
||||
});
|
||||
}
|
||||
return this.robot.drivers[driverName];
|
||||
};
|
||||
return this.robot.drivers[driverName];
|
||||
};
|
||||
|
||||
Robot.prototype.registerDriver = function(moduleName, driverName) {
|
||||
if (this.drivers[driverName] != null) {
|
||||
return;
|
||||
}
|
||||
return this.drivers[driverName] = moduleName;
|
||||
};
|
||||
Robot.prototype.registerDriver = function(moduleName, driverName) {
|
||||
if (this.drivers[driverName] != null) {
|
||||
return;
|
||||
}
|
||||
return this.drivers[driverName] = moduleName;
|
||||
};
|
||||
|
||||
return Robot;
|
||||
return Robot;
|
||||
|
||||
})();
|
||||
})();
|
||||
});
|
||||
|
||||
module.exports = Cylon.Robot;
|
||||
|
||||
}).call(this);
|
||||
|
|
|
|||
|
|
@ -8,72 +8,76 @@
|
|||
|
||||
'use strict';
|
||||
|
||||
require("./robot")
|
||||
require "./robot"
|
||||
|
||||
Port = require("./port")
|
||||
namespace = require 'node-namespace'
|
||||
|
||||
Port = require "./port"
|
||||
EventEmitter = require('events').EventEmitter
|
||||
|
||||
|
||||
# The Connection class represents the interface to
|
||||
# a specific group of hardware devices. Examples would be an
|
||||
# Arduino, a Sphero, or an ARDrone.
|
||||
module.exports = class Connection extends EventEmitter
|
||||
namespace 'Cylon', ->
|
||||
class @Connection extends EventEmitter
|
||||
|
||||
# Public: Creates a new Connection
|
||||
# @opts - a hash of acceptable params:
|
||||
# - id - a string ID for the connection
|
||||
# - name - a name for the connection
|
||||
# - robot - Robot the Connection belongs to
|
||||
# - adaptor - the string module of the adaptor to be set up
|
||||
# - port - a port to use for the Connection
|
||||
#
|
||||
# Returns the newly set-up connection
|
||||
constructor: (opts = {}) ->
|
||||
opts.id ?= Math.floor(Math.random() * 10000)
|
||||
@self = this
|
||||
@robot = opts.robot
|
||||
@name = opts.name
|
||||
@connection_id = opts.id
|
||||
@adaptor = @requireAdaptor(opts.adaptor) # or 'loopback')
|
||||
@port = new Port(opts.port)
|
||||
proxyFunctionsToObject @adaptor.commands(), @adaptor, Connection
|
||||
# Public: Creates a new Connection
|
||||
# @opts - a hash of acceptable params:
|
||||
# - id - a string ID for the connection
|
||||
# - name - a name for the connection
|
||||
# - robot - Robot the Connection belongs to
|
||||
# - adaptor - the string module of the adaptor to be set up
|
||||
# - port - a port to use for the Connection
|
||||
#
|
||||
# Returns the newly set-up connection
|
||||
constructor: (opts = {}) ->
|
||||
opts.id ?= Math.floor(Math.random() * 10000)
|
||||
@self = this
|
||||
@robot = opts.robot
|
||||
@name = opts.name
|
||||
@connection_id = opts.id
|
||||
@adaptor = @requireAdaptor(opts.adaptor) # or 'loopback')
|
||||
@port = new Port(opts.port)
|
||||
proxyFunctionsToObject @adaptor.commands(), @adaptor, Connection
|
||||
|
||||
# Public: Exports basic data for the Connection
|
||||
#
|
||||
# Returns an Object containing Connection data
|
||||
data: ->
|
||||
{
|
||||
name: @name,
|
||||
port: @port.toString()
|
||||
adaptor: @adaptor.constructor.name || @adaptor.name
|
||||
connection_id: @connection_id
|
||||
}
|
||||
# Public: Exports basic data for the Connection
|
||||
#
|
||||
# Returns an Object containing Connection data
|
||||
data: ->
|
||||
{
|
||||
name: @name,
|
||||
port: @port.toString()
|
||||
adaptor: @adaptor.constructor.name || @adaptor.name
|
||||
connection_id: @connection_id
|
||||
}
|
||||
|
||||
# Public: Creates the adaptor connection
|
||||
#
|
||||
# callback - callback function to run when the adaptor is connected
|
||||
#
|
||||
# Returns the result of the supplied callback function
|
||||
connect: (callback) =>
|
||||
msg = "Connecting to '#{@name}'"
|
||||
msg += " on port '#{@port.toString()}'" if @port?
|
||||
Logger.info msg
|
||||
@adaptor.connect(callback)
|
||||
# Public: Creates the adaptor connection
|
||||
#
|
||||
# callback - callback function to run when the adaptor is connected
|
||||
#
|
||||
# Returns the result of the supplied callback function
|
||||
connect: (callback) =>
|
||||
msg = "Connecting to '#{@name}'"
|
||||
msg += " on port '#{@port.toString()}'" if @port?
|
||||
Logger.info msg
|
||||
@adaptor.connect(callback)
|
||||
|
||||
# Public: Closes the adaptor connection
|
||||
#
|
||||
# Returns nothing
|
||||
disconnect: ->
|
||||
msg = "Disconnecting from '#{@name}'"
|
||||
msg += " on port '#{@port.toString()}'" if @port?
|
||||
Logger.info msg
|
||||
@adaptor.disconnect()
|
||||
# Public: Closes the adaptor connection
|
||||
#
|
||||
# Returns nothing
|
||||
disconnect: ->
|
||||
msg = "Disconnecting from '#{@name}'"
|
||||
msg += " on port '#{@port.toString()}'" if @port?
|
||||
Logger.info msg
|
||||
@adaptor.disconnect()
|
||||
|
||||
# Public: sets up adaptor with @robot
|
||||
#
|
||||
# adaptorName - module name of adaptor to require
|
||||
#
|
||||
# Returns the set-up adaptor
|
||||
requireAdaptor: (adaptorName) ->
|
||||
Logger.debug "Loading adaptor '#{adaptorName}'"
|
||||
@robot.requireAdaptor(adaptorName, @self)
|
||||
# Public: sets up adaptor with @robot
|
||||
#
|
||||
# adaptorName - module name of adaptor to require
|
||||
#
|
||||
# Returns the set-up adaptor
|
||||
requireAdaptor: (adaptorName) ->
|
||||
Logger.debug "Loading adaptor '#{adaptorName}'"
|
||||
@robot.requireAdaptor(adaptorName, @self)
|
||||
|
||||
module.exports = Cylon.Connection
|
||||
|
|
|
|||
|
|
@ -8,79 +8,83 @@
|
|||
|
||||
'use strict';
|
||||
|
||||
require('./cylon')
|
||||
require './cylon'
|
||||
namespace = require 'node-namespace'
|
||||
EventEmitter = require('events').EventEmitter
|
||||
|
||||
# The Artoo::Device class represents the interface to
|
||||
# a specific individual hardware devices. Examples would be a digital
|
||||
# thermometer connected to an Arduino, or a Sphero's accelerometer.
|
||||
module.exports = class Device extends EventEmitter
|
||||
namespace 'Cylon', ->
|
||||
class @Device extends EventEmitter
|
||||
|
||||
# Public: Creates a new Device
|
||||
#
|
||||
# opts - object containing Device params
|
||||
# name - string name of the device
|
||||
# pin - string pin of the device
|
||||
# robot - parent Robot to the device
|
||||
# connection - connection to the device
|
||||
# driver - string name of the module the device driver logic lives in
|
||||
#
|
||||
# Returns a new Device
|
||||
constructor: (opts = {}) ->
|
||||
@self = this
|
||||
@robot = opts.robot
|
||||
@name = opts.name
|
||||
@pin = opts.pin
|
||||
@connection = @determineConnection(opts.connection) or @defaultConnection()
|
||||
@driver = @requireDriver(opts)
|
||||
proxyFunctionsToObject @driver.commands(), @driver, Device
|
||||
# Public: Creates a new Device
|
||||
#
|
||||
# opts - object containing Device params
|
||||
# name - string name of the device
|
||||
# pin - string pin of the device
|
||||
# robot - parent Robot to the device
|
||||
# connection - connection to the device
|
||||
# driver - string name of the module the device driver logic lives in
|
||||
#
|
||||
# Returns a new Device
|
||||
constructor: (opts = {}) ->
|
||||
@self = this
|
||||
@robot = opts.robot
|
||||
@name = opts.name
|
||||
@pin = opts.pin
|
||||
@connection = @determineConnection(opts.connection) or @defaultConnection()
|
||||
@driver = @requireDriver(opts)
|
||||
proxyFunctionsToObject @driver.commands(), @driver, Device
|
||||
|
||||
# Public: Starts the device driver
|
||||
#
|
||||
# callback - callback function to be executed by the driver start
|
||||
#
|
||||
# Returns result of supplied callback
|
||||
start: (callback) =>
|
||||
msg = "Starting device '#{ @name }'"
|
||||
msg += " on pin #{@pin}" if @pin?
|
||||
Logger.info msg
|
||||
@driver.start(callback)
|
||||
# Public: Starts the device driver
|
||||
#
|
||||
# callback - callback function to be executed by the driver start
|
||||
#
|
||||
# Returns result of supplied callback
|
||||
start: (callback) =>
|
||||
msg = "Starting device '#{ @name }'"
|
||||
msg += " on pin #{@pin}" if @pin?
|
||||
Logger.info msg
|
||||
@driver.start(callback)
|
||||
|
||||
# Public: Exports basic data for the Connection
|
||||
#
|
||||
# Returns an Object containing Connection data
|
||||
data: ->
|
||||
{
|
||||
name: @name
|
||||
driver: @driver.constructor.name || @driver.name
|
||||
pin: if @pin? then @pin.toString else null
|
||||
connection: @connection.data()
|
||||
commands: @driver.commands()
|
||||
}
|
||||
# Public: Exports basic data for the Connection
|
||||
#
|
||||
# Returns an Object containing Connection data
|
||||
data: ->
|
||||
{
|
||||
name: @name
|
||||
driver: @driver.constructor.name || @driver.name
|
||||
pin: if @pin? then @pin.toString else null
|
||||
connection: @connection.data()
|
||||
commands: @driver.commands()
|
||||
}
|
||||
|
||||
# Public: Retrieves the connections from the parent Robot instances
|
||||
#
|
||||
# c - name of the connection to fetch
|
||||
#
|
||||
# Returns a Connection instance
|
||||
determineConnection: (c) ->
|
||||
@robot.connections[c] if c
|
||||
# Public: Retrieves the connections from the parent Robot instances
|
||||
#
|
||||
# c - name of the connection to fetch
|
||||
#
|
||||
# Returns a Connection instance
|
||||
determineConnection: (c) ->
|
||||
@robot.connections[c] if c
|
||||
|
||||
# Public: Returns a default Connection to use
|
||||
#
|
||||
# Returns a Connection instance
|
||||
defaultConnection: ->
|
||||
first = 0
|
||||
for k, v of @robot.connections
|
||||
first or= v
|
||||
first
|
||||
# Public: Returns a default Connection to use
|
||||
#
|
||||
# Returns a Connection instance
|
||||
defaultConnection: ->
|
||||
first = 0
|
||||
for k, v of @robot.connections
|
||||
first or= v
|
||||
first
|
||||
|
||||
# Public: sets up driver with @robot
|
||||
#
|
||||
# opts - object containing options when requiring driver
|
||||
# driver - name of the module to require()
|
||||
#
|
||||
# Returns the set-up driver
|
||||
requireDriver: (opts = {}) ->
|
||||
Logger.debug "Loading driver '#{ opts.driver }'"
|
||||
@robot.requireDriver(opts.driver, @self, opts)
|
||||
# Public: sets up driver with @robot
|
||||
#
|
||||
# opts - object containing options when requiring driver
|
||||
# driver - name of the module to require()
|
||||
#
|
||||
# Returns the set-up driver
|
||||
requireDriver: (opts = {}) ->
|
||||
Logger.debug "Loading driver '#{ opts.driver }'"
|
||||
@robot.requireDriver(opts.driver, @self, opts)
|
||||
|
||||
module.exports = Cylon.Device
|
||||
|
|
|
|||
|
|
@ -8,55 +8,60 @@
|
|||
|
||||
'use strict';
|
||||
|
||||
namespace = require 'node-namespace'
|
||||
|
||||
# The Port class represents a port and/or host to be used to connect to
|
||||
# a specific hardware device
|
||||
module.exports = class Port
|
||||
# Public: Creates a new Port based on a passed String representation
|
||||
#
|
||||
# data - string representation of the Port
|
||||
#
|
||||
# Returns a new Port
|
||||
constructor: (data) ->
|
||||
@self = this
|
||||
@isTcp = @isSerial = @isPortless = false
|
||||
@parse(data)
|
||||
namespace 'Cylon', ->
|
||||
class @Port
|
||||
# Public: Creates a new Port based on a passed String representation
|
||||
#
|
||||
# data - string representation of the Port
|
||||
#
|
||||
# Returns a new Port
|
||||
constructor: (data) ->
|
||||
@self = this
|
||||
@isTcp = @isSerial = @isPortless = false
|
||||
@parse(data)
|
||||
|
||||
# Public: Parses the Port's data to determine what kind of port it is
|
||||
#
|
||||
# data - string representation of the port to parse
|
||||
#
|
||||
# Returns nothing.
|
||||
parse: (data) ->
|
||||
if data is undefined
|
||||
@port = undefined
|
||||
@isPortless = true
|
||||
# Public: Parses the Port's data to determine what kind of port it is
|
||||
#
|
||||
# data - string representation of the port to parse
|
||||
#
|
||||
# Returns nothing.
|
||||
parse: (data) ->
|
||||
if data is undefined
|
||||
@port = undefined
|
||||
@isPortless = true
|
||||
|
||||
# is TCP host/port?
|
||||
else if match = /(\d{1,3}\.\d{1,3}\.\d{1,3}\.\d{1,3}):(\d{1,5})/.exec(data)
|
||||
@port = match[2]
|
||||
@host = match[1]
|
||||
@isTcp = true
|
||||
# is TCP host/port?
|
||||
else if match = /(\d{1,3}\.\d{1,3}\.\d{1,3}\.\d{1,3}):(\d{1,5})/.exec(data)
|
||||
@port = match[2]
|
||||
@host = match[1]
|
||||
@isTcp = true
|
||||
|
||||
# is it a numeric port for localhost tcp?
|
||||
else if /^[0-9]{1,5}$/.exec(data)
|
||||
@port = data
|
||||
@host = "localhost"
|
||||
@isTcp = true
|
||||
# is it a numeric port for localhost tcp?
|
||||
else if /^[0-9]{1,5}$/.exec(data)
|
||||
@port = data
|
||||
@host = "localhost"
|
||||
@isTcp = true
|
||||
|
||||
# must be a serial port
|
||||
else
|
||||
@port = data
|
||||
@host = undefined
|
||||
@isSerial = true
|
||||
# must be a serial port
|
||||
else
|
||||
@port = data
|
||||
@host = undefined
|
||||
@isSerial = true
|
||||
|
||||
# Public: Returns a string representation of the port that can be used to
|
||||
# connect to it.
|
||||
#
|
||||
# Returns a string
|
||||
toString: ->
|
||||
if @isPortless
|
||||
"none"
|
||||
else if @isSerial
|
||||
@port
|
||||
else
|
||||
"#{@host}:#{@port}"
|
||||
# Public: Returns a string representation of the port that can be used to
|
||||
# connect to it.
|
||||
#
|
||||
# Returns a string
|
||||
toString: ->
|
||||
if @isPortless
|
||||
"none"
|
||||
else if @isSerial
|
||||
@port
|
||||
else
|
||||
"#{@host}:#{@port}"
|
||||
|
||||
module.exports = Cylon.Port
|
||||
|
|
|
|||
336
src/robot.coffee
336
src/robot.coffee
|
|
@ -8,191 +8,197 @@
|
|||
|
||||
'use strict';
|
||||
|
||||
require('./cylon')
|
||||
require('./basestar')
|
||||
Connection = require("./connection")
|
||||
Device = require("./device")
|
||||
Async = require("async")
|
||||
require './cylon'
|
||||
require './basestar'
|
||||
|
||||
namespace = require 'node-namespace'
|
||||
|
||||
Connection = require "./connection"
|
||||
Device = require "./device"
|
||||
Async = require "async"
|
||||
|
||||
# A Robot is the primary interface for interacting with a collection of physical
|
||||
# computing capabilities.
|
||||
module.exports = class Robot
|
||||
klass = this
|
||||
namespace 'Cylon', ->
|
||||
class @Robot
|
||||
klass = this
|
||||
|
||||
# Public: Creates a new Robot
|
||||
#
|
||||
# opts - object containing Robot options
|
||||
# name - optional, string name of the robot
|
||||
# master - Cylon.Master class that orchestrates robots
|
||||
# connection/connections - object connections to connect to
|
||||
# device/devices - object devices to connect to
|
||||
# work - work to be performed when the Robot is started
|
||||
#
|
||||
# Returns a new Robot
|
||||
# Example (CoffeeScript):
|
||||
# Cylon.robot
|
||||
# name: "Spherobot!"
|
||||
#
|
||||
# connection:
|
||||
# name: 'sphero', adaptor: 'sphero', port: '/dev/rfcomm0'
|
||||
#
|
||||
# device:
|
||||
# name: 'sphero', driver: 'sphero'
|
||||
#
|
||||
# work: (me) ->
|
||||
# every 1.second(), ->
|
||||
# me.sphero.roll 60, Math.floor(Math.random() * 360)
|
||||
constructor: (opts = {}) ->
|
||||
@robot = this
|
||||
@name = opts.name or @constructor.randomName()
|
||||
@master = opts.master
|
||||
@connections = {}
|
||||
@devices = {}
|
||||
@adaptors = {}
|
||||
@drivers = {}
|
||||
# Public: Creates a new Robot
|
||||
#
|
||||
# opts - object containing Robot options
|
||||
# name - optional, string name of the robot
|
||||
# master - Cylon.Master class that orchestrates robots
|
||||
# connection/connections - object connections to connect to
|
||||
# device/devices - object devices to connect to
|
||||
# work - work to be performed when the Robot is started
|
||||
#
|
||||
# Returns a new Robot
|
||||
# Example (CoffeeScript):
|
||||
# Cylon.robot
|
||||
# name: "Spherobot!"
|
||||
#
|
||||
# connection:
|
||||
# name: 'sphero', adaptor: 'sphero', port: '/dev/rfcomm0'
|
||||
#
|
||||
# device:
|
||||
# name: 'sphero', driver: 'sphero'
|
||||
#
|
||||
# work: (me) ->
|
||||
# every 1.second(), ->
|
||||
# me.sphero.roll 60, Math.floor(Math.random() * 360)
|
||||
constructor: (opts = {}) ->
|
||||
@robot = this
|
||||
@name = opts.name or @constructor.randomName()
|
||||
@master = opts.master
|
||||
@connections = {}
|
||||
@devices = {}
|
||||
@adaptors = {}
|
||||
@drivers = {}
|
||||
|
||||
@registerAdaptor "./loopback", "loopback"
|
||||
@registerDriver "./ping", "ping"
|
||||
@registerAdaptor "./loopback", "loopback"
|
||||
@registerDriver "./ping", "ping"
|
||||
|
||||
@initConnections(opts.connection or opts.connections)
|
||||
@initDevices(opts.device or opts.devices)
|
||||
@work = opts.work or -> (Logger.info "No work yet")
|
||||
@initConnections(opts.connection or opts.connections)
|
||||
@initDevices(opts.device or opts.devices)
|
||||
@work = opts.work or -> (Logger.info "No work yet")
|
||||
|
||||
for n, func of opts
|
||||
reserved = ['connection', 'connections', 'device', 'devices', 'work']
|
||||
@robot[n] = func unless n in reserved
|
||||
for n, func of opts
|
||||
reserved = ['connection', 'connections', 'device', 'devices', 'work']
|
||||
@robot[n] = func unless n in reserved
|
||||
|
||||
# Public: Generates a random name for a Robot.
|
||||
#
|
||||
# Returns a string name
|
||||
@randomName: ->
|
||||
"Robot #{ Math.floor(Math.random() * 100000) }"
|
||||
# Public: Generates a random name for a Robot.
|
||||
#
|
||||
# Returns a string name
|
||||
@randomName: ->
|
||||
"Robot #{ Math.floor(Math.random() * 100000) }"
|
||||
|
||||
# Public: Exports basic data for the Robot
|
||||
#
|
||||
# Returns an Object containing Robot data
|
||||
data: ->
|
||||
{
|
||||
name: @name
|
||||
connections: (connection.data() for n, connection of @connections)
|
||||
devices: (device.data() for n, device of @devices)
|
||||
}
|
||||
# Public: Exports basic data for the Robot
|
||||
#
|
||||
# Returns an Object containing Robot data
|
||||
data: ->
|
||||
{
|
||||
name: @name
|
||||
connections: (connection.data() for n, connection of @connections)
|
||||
devices: (device.data() for n, device of @devices)
|
||||
}
|
||||
|
||||
# Public: Initializes all connections for the robot
|
||||
#
|
||||
# connections - connections to initialize
|
||||
#
|
||||
# Returns initialized connections
|
||||
initConnections: (connections) =>
|
||||
Logger.info "Initializing connections..."
|
||||
return unless connections?
|
||||
connections = [].concat connections
|
||||
for connection in connections
|
||||
Logger.info "Initializing connection '#{ connection.name }'..."
|
||||
connection['robot'] = this
|
||||
@connections[connection.name] = new Connection(connection)
|
||||
# Public: Initializes all connections for the robot
|
||||
#
|
||||
# connections - connections to initialize
|
||||
#
|
||||
# Returns initialized connections
|
||||
initConnections: (connections) =>
|
||||
Logger.info "Initializing connections..."
|
||||
return unless connections?
|
||||
connections = [].concat connections
|
||||
for connection in connections
|
||||
Logger.info "Initializing connection '#{ connection.name }'..."
|
||||
connection['robot'] = this
|
||||
@connections[connection.name] = new Connection(connection)
|
||||
|
||||
@connections
|
||||
@connections
|
||||
|
||||
# Public: Initializes all devices for the robot
|
||||
#
|
||||
# devices - devices to initialize
|
||||
#
|
||||
# Returns initialized devices
|
||||
initDevices: (devices) =>
|
||||
Logger.info "Initializing devices..."
|
||||
return unless devices?
|
||||
devices = [].concat devices
|
||||
for device in devices
|
||||
Logger.info "Initializing device '#{ device.name }'..."
|
||||
device['robot'] = this
|
||||
@devices[device.name] = new Device(device)
|
||||
# Public: Initializes all devices for the robot
|
||||
#
|
||||
# devices - devices to initialize
|
||||
#
|
||||
# Returns initialized devices
|
||||
initDevices: (devices) =>
|
||||
Logger.info "Initializing devices..."
|
||||
return unless devices?
|
||||
devices = [].concat devices
|
||||
for device in devices
|
||||
Logger.info "Initializing device '#{ device.name }'..."
|
||||
device['robot'] = this
|
||||
@devices[device.name] = new Device(device)
|
||||
|
||||
# Public: Starts the Robot working.
|
||||
#
|
||||
# Starts the connections, devices, and work.
|
||||
#
|
||||
# Returns the result of the work
|
||||
start: =>
|
||||
@startConnections =>
|
||||
@robot.startDevices =>
|
||||
@robot.work.call(@robot, @robot)
|
||||
# Public: Starts the Robot working.
|
||||
#
|
||||
# Starts the connections, devices, and work.
|
||||
#
|
||||
# Returns the result of the work
|
||||
start: =>
|
||||
@startConnections =>
|
||||
@robot.startDevices =>
|
||||
@robot.work.call(@robot, @robot)
|
||||
|
||||
# Public: Starts the Robot's connections and triggers a callback
|
||||
#
|
||||
# callback - callback function to be triggered
|
||||
#
|
||||
# Returns nothing
|
||||
startConnections: (callback) =>
|
||||
Logger.info "Starting connections..."
|
||||
starters = {}
|
||||
for n, connection of @connections
|
||||
starters[n] = connection.connect
|
||||
# Public: Starts the Robot's connections and triggers a callback
|
||||
#
|
||||
# callback - callback function to be triggered
|
||||
#
|
||||
# Returns nothing
|
||||
startConnections: (callback) =>
|
||||
Logger.info "Starting connections..."
|
||||
starters = {}
|
||||
for n, connection of @connections
|
||||
starters[n] = connection.connect
|
||||
|
||||
Async.parallel starters, callback
|
||||
Async.parallel starters, callback
|
||||
|
||||
# Public: Starts the Robot's devices and triggers a callback
|
||||
#
|
||||
# callback - callback function to be triggered
|
||||
#
|
||||
# Returns nothing
|
||||
startDevices: (callback) =>
|
||||
Logger.info "Starting devices..."
|
||||
starters = {}
|
||||
for n, device of @devices
|
||||
@robot[n] = device
|
||||
starters[n] = device.start
|
||||
# Public: Starts the Robot's devices and triggers a callback
|
||||
#
|
||||
# callback - callback function to be triggered
|
||||
#
|
||||
# Returns nothing
|
||||
startDevices: (callback) =>
|
||||
Logger.info "Starting devices..."
|
||||
starters = {}
|
||||
for n, device of @devices
|
||||
@robot[n] = device
|
||||
starters[n] = device.start
|
||||
|
||||
Async.parallel starters, callback
|
||||
Async.parallel starters, callback
|
||||
|
||||
# Public: Requires a hardware adaptor and adds it to @robot.adaptors
|
||||
#
|
||||
# adaptorName - module name of adaptor to require
|
||||
# connection - the Connection that requested the adaptor be required
|
||||
#
|
||||
# Returns the set-up adaptor
|
||||
requireAdaptor: (adaptorName, connection) ->
|
||||
if @robot.adaptors[adaptorName]?
|
||||
if typeof @robot.adaptors[adaptorName] is 'string'
|
||||
@robot.adaptors[adaptorName] = require(@robot.adaptors[adaptorName]).adaptor(name: adaptorName, connection: connection)
|
||||
else
|
||||
require("cylon-#{adaptorName}").register(this)
|
||||
@robot.adaptors[adaptorName] = require("cylon-#{adaptorName}").adaptor(name: adaptorName, connection: connection)
|
||||
# Public: Requires a hardware adaptor and adds it to @robot.adaptors
|
||||
#
|
||||
# adaptorName - module name of adaptor to require
|
||||
# connection - the Connection that requested the adaptor be required
|
||||
#
|
||||
# Returns the set-up adaptor
|
||||
requireAdaptor: (adaptorName, connection) ->
|
||||
if @robot.adaptors[adaptorName]?
|
||||
if typeof @robot.adaptors[adaptorName] is 'string'
|
||||
@robot.adaptors[adaptorName] = require(@robot.adaptors[adaptorName]).adaptor(name: adaptorName, connection: connection)
|
||||
else
|
||||
require("cylon-#{adaptorName}").register(this)
|
||||
@robot.adaptors[adaptorName] = require("cylon-#{adaptorName}").adaptor(name: adaptorName, connection: connection)
|
||||
|
||||
return @robot.adaptors[adaptorName]
|
||||
return @robot.adaptors[adaptorName]
|
||||
|
||||
# Public: Registers an Adaptor with the Robot
|
||||
#
|
||||
# moduleName - name of the Node module to require
|
||||
# adaptorName - name of the adaptor to register the moduleName under
|
||||
#
|
||||
# Returns the registered module name
|
||||
registerAdaptor: (moduleName, adaptorName) ->
|
||||
return if @adaptors[adaptorName]?
|
||||
@adaptors[adaptorName] = moduleName
|
||||
# Public: Registers an Adaptor with the Robot
|
||||
#
|
||||
# moduleName - name of the Node module to require
|
||||
# adaptorName - name of the adaptor to register the moduleName under
|
||||
#
|
||||
# Returns the registered module name
|
||||
registerAdaptor: (moduleName, adaptorName) ->
|
||||
return if @adaptors[adaptorName]?
|
||||
@adaptors[adaptorName] = moduleName
|
||||
|
||||
# Public: Requires a hardware driver and adds it to @robot.drivers
|
||||
#
|
||||
# driverName - module name of driver to require
|
||||
# connection - the Connection that requested the driver be required
|
||||
#
|
||||
# Returns the set-up driver
|
||||
requireDriver: (driverName, device, opts = {}) ->
|
||||
if @robot.drivers[driverName]?
|
||||
if typeof @robot.drivers[driverName] is 'string'
|
||||
@robot.drivers[driverName] = require(@robot.drivers[driverName]).driver(name: driverName, device: device, extraParams: opts)
|
||||
else
|
||||
require("cylon-#{driverName}").register(this)
|
||||
@robot.drivers[driverName] = require("cylon-#{driverName}").driver(name: driverName, device: device, extraParams: opts)
|
||||
# Public: Requires a hardware driver and adds it to @robot.drivers
|
||||
#
|
||||
# driverName - module name of driver to require
|
||||
# connection - the Connection that requested the driver be required
|
||||
#
|
||||
# Returns the set-up driver
|
||||
requireDriver: (driverName, device, opts = {}) ->
|
||||
if @robot.drivers[driverName]?
|
||||
if typeof @robot.drivers[driverName] is 'string'
|
||||
@robot.drivers[driverName] = require(@robot.drivers[driverName]).driver(name: driverName, device: device, extraParams: opts)
|
||||
else
|
||||
require("cylon-#{driverName}").register(this)
|
||||
@robot.drivers[driverName] = require("cylon-#{driverName}").driver(name: driverName, device: device, extraParams: opts)
|
||||
|
||||
return @robot.drivers[driverName]
|
||||
return @robot.drivers[driverName]
|
||||
|
||||
# Public: Registers an Driver with the Robot
|
||||
#
|
||||
# moduleName - name of the Node module to require
|
||||
# driverName - name of the driver to register the moduleName under
|
||||
#
|
||||
# Returns the registered module name
|
||||
registerDriver: (moduleName, driverName) =>
|
||||
return if @drivers[driverName]?
|
||||
@drivers[driverName] = moduleName
|
||||
# Public: Registers an Driver with the Robot
|
||||
#
|
||||
# moduleName - name of the Node module to require
|
||||
# driverName - name of the driver to register the moduleName under
|
||||
#
|
||||
# Returns the registered module name
|
||||
registerDriver: (moduleName, driverName) =>
|
||||
return if @drivers[driverName]?
|
||||
@drivers[driverName] = moduleName
|
||||
|
||||
module.exports = Cylon.Robot
|
||||
|
|
|
|||
|
|
@ -1,8 +1,8 @@
|
|||
(function() {
|
||||
'use strict';
|
||||
var Adaptor, Connection, Robot;
|
||||
var Adaptor, Robot;
|
||||
|
||||
Connection = source("connection");
|
||||
source("connection");
|
||||
|
||||
Adaptor = source("adaptor");
|
||||
|
||||
|
|
@ -17,7 +17,7 @@
|
|||
name: 'loopback'
|
||||
});
|
||||
requireAdaptor = sinon.stub(robot, 'requireAdaptor').returns(adaptor);
|
||||
connection = new Connection({
|
||||
connection = new Cylon.Connection({
|
||||
name: "connective",
|
||||
adaptor: "loopback",
|
||||
robot: robot
|
||||
|
|
|
|||
|
|
@ -1,23 +1,23 @@
|
|||
(function() {
|
||||
'use strict';
|
||||
var Device, Driver, Robot;
|
||||
var Driver;
|
||||
|
||||
Device = source("device");
|
||||
source("device");
|
||||
|
||||
source("robot");
|
||||
|
||||
Driver = source("driver");
|
||||
|
||||
Robot = source("robot");
|
||||
|
||||
describe("Device", function() {
|
||||
var device, driver, requireDriver, robot;
|
||||
robot = new Robot({
|
||||
robot = new Cylon.Robot({
|
||||
name: 'me'
|
||||
});
|
||||
driver = new Driver({
|
||||
name: 'driving'
|
||||
});
|
||||
requireDriver = sinon.stub(robot, 'requireDriver').returns(driver);
|
||||
device = new Device({
|
||||
device = new Cylon.Device({
|
||||
name: "devisive",
|
||||
driver: 'driving',
|
||||
robot: robot
|
||||
|
|
|
|||
|
|
@ -1,8 +1,6 @@
|
|||
(function() {
|
||||
'use strict';
|
||||
var Robot;
|
||||
|
||||
Robot = source("robot");
|
||||
source("robot");
|
||||
|
||||
source("logger");
|
||||
|
||||
|
|
@ -16,7 +14,7 @@
|
|||
whateverFunc = function() {
|
||||
return Logger.info("whatever!");
|
||||
};
|
||||
robot = new Robot({
|
||||
robot = new Cylon.Robot({
|
||||
name: "irobot",
|
||||
work: testWork,
|
||||
whatever: whateverFunc
|
||||
|
|
@ -26,8 +24,8 @@
|
|||
});
|
||||
it("has a random name, if not given", function() {
|
||||
var r;
|
||||
sinon.stub(Robot, 'randomName').returns('Electra');
|
||||
r = new Robot;
|
||||
sinon.stub(Cylon.Robot, 'randomName').returns('Electra');
|
||||
r = new Cylon.Robot;
|
||||
return r.name.should.be.equal('Electra');
|
||||
});
|
||||
it("has work", function() {
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
'use strict';
|
||||
|
||||
Connection = source("connection")
|
||||
source("connection")
|
||||
Adaptor = source("adaptor")
|
||||
Robot = source("robot")
|
||||
|
||||
|
|
@ -8,7 +8,10 @@ describe "Connection", ->
|
|||
robot = new Robot(name: 'me')
|
||||
adaptor = new Adaptor(name: 'loopback')
|
||||
requireAdaptor = sinon.stub(robot, 'requireAdaptor').returns(adaptor)
|
||||
connection = new Connection(name: "connective", adaptor: "loopback", robot: robot)
|
||||
connection = new Cylon.Connection
|
||||
name: "connective"
|
||||
adaptor: "loopback"
|
||||
robot: robot
|
||||
|
||||
it "should belong to a robot", ->
|
||||
connection.robot.name.should.be.equal 'me'
|
||||
|
|
|
|||
|
|
@ -1,14 +1,14 @@
|
|||
'use strict';
|
||||
|
||||
Device = source("device")
|
||||
source("device")
|
||||
source("robot")
|
||||
Driver = source("driver")
|
||||
Robot = source("robot")
|
||||
|
||||
describe "Device", ->
|
||||
robot = new Robot(name: 'me')
|
||||
robot = new Cylon.Robot(name: 'me')
|
||||
driver = new Driver(name: 'driving')
|
||||
requireDriver = sinon.stub(robot, 'requireDriver').returns(driver)
|
||||
device = new Device(name: "devisive", driver: 'driving', robot: robot)
|
||||
device = new Cylon.Device(name: "devisive", driver: 'driving', robot: robot)
|
||||
|
||||
it "should belong to a robot", ->
|
||||
device.robot.name.should.be.equal 'me'
|
||||
|
|
|
|||
|
|
@ -1,25 +1,25 @@
|
|||
'use strict';
|
||||
|
||||
Robot = source("robot")
|
||||
source("robot")
|
||||
source("logger")
|
||||
|
||||
Logger.setup(false) # quiet logger for tests
|
||||
|
||||
describe "Robot", ->
|
||||
testWork = ->
|
||||
Logger.info "hi"
|
||||
|
||||
whateverFunc = ->
|
||||
Logger.info "whatever!"
|
||||
testWork = -> Logger.info "hi"
|
||||
whateverFunc = -> Logger.info "whatever!"
|
||||
|
||||
robot = new Robot(name: "irobot", work: testWork, whatever: whateverFunc)
|
||||
robot = new Cylon.Robot
|
||||
name: "irobot"
|
||||
work: testWork
|
||||
whatever: whateverFunc
|
||||
|
||||
it "has a name, if given", ->
|
||||
robot.name.should.be.equal 'irobot'
|
||||
|
||||
it "has a random name, if not given", ->
|
||||
sinon.stub(Robot, 'randomName').returns('Electra')
|
||||
r = new Robot
|
||||
sinon.stub(Cylon.Robot, 'randomName').returns('Electra')
|
||||
r = new Cylon.Robot
|
||||
r.name.should.be.equal 'Electra'
|
||||
|
||||
it "has work", ->
|
||||
|
|
|
|||
Loading…
Reference in New Issue