Ron Evans
commit
4b374440d9
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@ -0,0 +1,43 @@
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"use strict";
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function lib(path) { return require("./lib/" + path); }
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var Config = lib("config"),
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MCP = lib("mcp"),
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API = lib("api");
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var exports = module.exports = {};
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exports.MCP = lib("mcp");
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exports.Robot = lib("robot");
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exports.Driver = lib("driver");
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exports.Adaptor = lib("adaptor");
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exports.Utils = lib("utils");
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exports.Logger = lib("logger");
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exports.IO = {
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DigitalPin: lib("io/digital-pin"),
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Utils: lib("io/utils")
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};
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exports.robot = MCP.create;
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exports.start = MCP.start;
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exports.halt = MCP.halt;
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exports.api = API.create;
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exports.config = Config.update;
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process.on("SIGINT", function() {
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exports.halt(function() {
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process.kill(process.pid);
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});
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});
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if (process.platform === "win32") {
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var io = { input: process.stdin, output: process.stdout },
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quit = process.emit.bind(process, "SIGINT");
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require("readline").createInterface(io).on("SIGINT", quit);
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}
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@ -0,0 +1,52 @@
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"use strict";
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var MCP = require("./mcp"),
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Logger = require("./logger"),
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_ = require("./utils/helpers");
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var api = module.exports = {};
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api.instances = [];
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/**
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* Creates a new API instance
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*
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* @param {String} [Server] which API plugin to use (e.g. "http" loads
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* cylon-api-http)
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* @param {Object} opts options for the new API instance
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* @return {void}
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*/
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api.create = function create(Server, opts) {
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// if only passed options (or nothing), assume HTTP server
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if (Server == null || _.isObject(Server) && !_.isFunction(Server)) {
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opts = Server;
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Server = "http";
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}
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opts = opts || {};
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if (_.isString(Server)) {
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var req = "cylon-api-" + Server;
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try {
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Server = require(req);
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} catch (e) {
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if (e.code !== "MODULE_NOT_FOUND") {
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throw e;
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}
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[
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"Cannot find the " + req + " API module.",
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"You may be able to install it: `npm install " + req + "`"
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].forEach(_.arity(Logger.fatal, 1));
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throw new Error("Missing API plugin - cannot proceed");
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}
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}
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opts.mcp = MCP;
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var instance = new Server(opts);
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api.instances.push(instance);
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instance.start();
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};
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@ -7,13 +7,14 @@ var config = module.exports = {},
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// default data
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config.logging = {};
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config.haltTimeout = 3000;
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config.testMode = false;
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/**
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* Updates the Config, and triggers handler callbacks
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*
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* @param {Object} data new configuration information to set
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* @return {void}
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* @return {Object} the updated configuration
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*/
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config.update = function update(data) {
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var forbidden = ["update", "subscribe", "unsubscribe"];
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@ -23,12 +24,14 @@ config.update = function update(data) {
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});
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if (!Object.keys(data).length) {
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return;
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return config;
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}
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_.extend(config, data);
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callbacks.forEach(function(callback) { callback(data); });
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return config;
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};
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/**
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164
lib/cylon.js
164
lib/cylon.js
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@ -1,164 +0,0 @@
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"use strict";
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var Logger = require("./logger"),
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Robot = require("./robot"),
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Config = require("./config"),
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Utils = require("./utils"),
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_ = require("./utils/helpers");
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var EventEmitter = require("events").EventEmitter;
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var Cylon = module.exports = new EventEmitter();
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Cylon.Logger = Logger;
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Cylon.Driver = require("./driver");
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Cylon.Adaptor = require("./adaptor");
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Cylon.Utils = Utils;
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Cylon.IO = {
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DigitalPin: require("./io/digital-pin"),
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Utils: require("./io/utils")
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};
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Cylon.apiInstances = [];
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Cylon.robots = {};
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Cylon.commands = {};
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Cylon.events = [ "robot_added", "robot_removed" ];
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// Public: Creates a new Robot
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//
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// opts - hash of Robot attributes
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//
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// Returns a shiny new Robot
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// Examples:
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// Cylon.robot
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// connection: { name: "arduino", adaptor: "firmata" }
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// device: { name: "led", driver: "led", pin: 13 }
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//
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// work: (me) ->
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// me.led.toggle()
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Cylon.robot = function robot(opts) {
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opts = opts || {};
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// check if a robot with the same name exists already
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if (opts.name && this.robots[opts.name]) {
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var original = opts.name;
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opts.name = Utils.makeUnique(original, Object.keys(this.robots));
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var str = "Robot names must be unique. Renaming '";
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str += original + "' to '" + opts.name + "'";
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Logger.warn(str);
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}
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var bot = new Robot(opts);
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this.robots[bot.name] = bot;
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this.emit("robot_added", bot.name);
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return bot;
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};
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// Public: Initializes an API instance based on provided options.
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//
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// Returns nothing
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Cylon.api = function api(Server, opts) {
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// if only passed options (or nothing), assume HTTP server
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if (Server == null || _.isObject(Server) && !_.isFunction(Server)) {
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opts = Server;
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Server = "http";
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}
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opts = opts || {};
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if (_.isString(Server)) {
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var req = "cylon-api-" + Server;
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try {
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Server = require(req);
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} catch (e) {
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if (e.code !== "MODULE_NOT_FOUND") {
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throw e;
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}
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[
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"Cannot find the " + req + " API module.",
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"You may be able to install it: `npm install " + req + "`"
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].forEach(_.arity(Logger.fatal, 1));
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throw new Error("Missing API plugin - cannot proceed");
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}
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}
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opts.mcp = this;
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var instance = new Server(opts);
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this.apiInstances.push(instance);
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instance.start();
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};
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// Public: Starts up the API and the robots
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//
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// Returns nothing
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Cylon.start = function start() {
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var starters = _.pluck(this.robots, "start");
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_.parallel(starters, function() {
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var mode = Utils.fetch(Config, "workMode", "async");
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if (mode === "sync") {
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_.invoke(this.robots, "startWork");
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}
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}.bind(this));
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};
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// Public: Sets the internal configuration, based on passed options
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//
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// opts - object containing configuration key/value pairs
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//
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// Returns the current config
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Cylon.config = function(opts) {
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if (_.isObject(opts)) { Config.update(opts); }
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return Config;
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};
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// Public: Halts the API and the robots
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//
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// callback - callback to be triggered when Cylon is ready to shutdown
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//
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// Returns nothing
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Cylon.halt = function halt(callback) {
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callback = callback || function() {};
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var fns = _.pluck(this.robots, "halt");
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// if robots can"t shut down quickly enough, forcefully self-terminate
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var timeout = Config.haltTimeout || 3000;
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Utils.after(timeout, callback);
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_.parallel(fns, callback);
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};
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Cylon.toJSON = function() {
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return {
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robots: _.invoke(this.robots, "toJSON"),
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commands: Object.keys(this.commands),
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events: this.events
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};
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};
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if (process.platform === "win32") {
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var readline = require("readline");
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var io = { input: process.stdin, output: process.stdout };
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readline.createInterface(io).on("SIGINT", function() {
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process.emit("SIGINT");
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});
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}
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process.on("SIGINT", function() {
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Cylon.halt(function() {
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process.kill(process.pid);
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});
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});
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@ -0,0 +1,82 @@
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"use strict";
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var EventEmitter = require("events").EventEmitter;
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var Config = require("./config"),
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Logger = require("./logger"),
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Utils = require("./utils"),
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Robot = require("./robot"),
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_ = require("./utils/helpers");
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var mcp = module.exports = new EventEmitter();
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mcp.robots = {};
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mcp.commands = {};
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mcp.events = [ "robot_added", "robot_removed" ];
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/**
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* Creates a new Robot with the provided options.
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*
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* @param {Object} opts robot options
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* @return {Robot} the new robot
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*/
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mcp.create = function create(opts) {
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opts = opts || {};
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// check if a robot with the same name exists already
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if (opts.name && mcp.robots[opts.name]) {
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var original = opts.name;
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opts.name = Utils.makeUnique(original, Object.keys(mcp.robots));
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var str = "Robot names must be unique. Renaming '";
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str += original + "' to '" + opts.name + "'";
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Logger.warn(str);
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}
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var bot = new Robot(opts);
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mcp.robots[bot.name] = bot;
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mcp.emit("robot_added", bot.name);
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return bot;
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};
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mcp.start = function start(callback) {
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var fns = _.pluck(mcp.robots, "start");
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_.parallel(fns, function() {
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var mode = Utils.fetch(Config, "workMode", "async");
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if (mode === "sync") { _.invoke(mcp.robots, "startWork"); }
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callback();
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});
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};
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/**
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* Halts all MCP robots.
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*
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* @param {Function} callback function to call when done halting robots
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* @return {void}
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*/
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mcp.halt = function halt(callback) {
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callback = callback || function() {};
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var timeout = setTimeout(callback, Config.haltTimeout || 3000);
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_.parallel(_.pluck(mcp.robots, "halt"), function() {
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clearTimeout(timeout);
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callback();
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});
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};
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/**
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* Serializes MCP robots, commands, and events into a JSON-serializable Object.
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*
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* @return {Object} a serializable representation of the MCP
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*/
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mcp.toJSON = function() {
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return {
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robots: _.invoke(mcp.robots, "toJSON"),
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commands: Object.keys(mcp.commands),
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events: mcp.events
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};
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};
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|
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@ -211,6 +211,8 @@ function parallel(functions, done) {
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results = [],
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error;
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if (typeof done !== "function") { done = function() {}; }
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function callback(err, result) {
|
||||
if (error) {
|
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return;
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|
|
@ -243,6 +245,8 @@ function series(functions, done) {
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var results = [],
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error;
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|
||||
if (typeof done !== "function") { done = function() {}; }
|
||||
|
||||
function callback(err, result) {
|
||||
if (err || error) {
|
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error = err;
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||||
|
|
|
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|
|
@ -1,7 +1,6 @@
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{
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"name": "cylon",
|
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"version": "1.0.0",
|
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"main": "lib/cylon.js",
|
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"description": "A JavaScript robotics framework for Node.js",
|
||||
"homepage": "http://cylonjs.com",
|
||||
"bugs": "https://github.com/hybridgroup/cylon/issues",
|
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|
|
@ -37,7 +36,8 @@
|
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"hardware": {
|
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"*": false,
|
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"./": false,
|
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"./lib": true
|
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"./lib": true,
|
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"index.js": true
|
||||
},
|
||||
|
||||
"engines" : {
|
||||
|
|
|
|||
|
|
@ -26,7 +26,7 @@ global.lib = function(module) {
|
|||
return require(path.normalize("./../lib/" + module));
|
||||
};
|
||||
|
||||
var Cylon = lib("cylon");
|
||||
var Cylon = require("./../");
|
||||
|
||||
Cylon.config({
|
||||
mode: "manual",
|
||||
|
|
|
|||
|
|
@ -0,0 +1,41 @@
|
|||
"use strict";
|
||||
|
||||
var API = lib("api"),
|
||||
MCP = lib("mcp");
|
||||
|
||||
describe("API", function() {
|
||||
describe("#create", function() {
|
||||
afterEach(function() {
|
||||
API.instances = [];
|
||||
});
|
||||
|
||||
context("with a provided API server and opts", function() {
|
||||
var Server, opts, instance;
|
||||
|
||||
beforeEach(function() {
|
||||
instance = { start: spy() };
|
||||
opts = { https: false };
|
||||
Server = stub().returns(instance);
|
||||
|
||||
API.create(Server, opts);
|
||||
});
|
||||
|
||||
it("creates an API instance", function() {
|
||||
expect(Server).to.be.calledWithNew;
|
||||
expect(Server).to.be.calledWith(opts);
|
||||
});
|
||||
|
||||
it("passes MCP through to the instance as opts.mcp", function() {
|
||||
expect(opts.mcp).to.be.eql(MCP);
|
||||
});
|
||||
|
||||
it("stores the API instance in @instances", function() {
|
||||
expect(API.instances).to.be.eql([instance]);
|
||||
});
|
||||
|
||||
it("tells the API instance to start", function() {
|
||||
expect(instance.start).to.be.called;
|
||||
});
|
||||
});
|
||||
});
|
||||
});
|
||||
|
|
@ -1,186 +1,78 @@
|
|||
"use strict";
|
||||
|
||||
var Cylon = lib("cylon"),
|
||||
Robot = lib("robot");
|
||||
var Cylon = lib("../index");
|
||||
|
||||
var Logger = lib("logger"),
|
||||
Adaptor = lib("adaptor"),
|
||||
var MCP = lib("mcp"),
|
||||
API = lib("api"),
|
||||
Robot = lib("robot"),
|
||||
Driver = lib("driver"),
|
||||
Config = lib("config");
|
||||
Adaptor = lib("adaptor"),
|
||||
Utils = lib("utils"),
|
||||
Config = lib("config"),
|
||||
Logger = lib("logger");
|
||||
|
||||
var IO = {
|
||||
DigitalPin: lib("io/digital-pin"),
|
||||
Utils: lib("io/utils")
|
||||
};
|
||||
|
||||
describe("Cylon", function() {
|
||||
describe("exports", function() {
|
||||
it("sets Logger to the Logger module", function() {
|
||||
expect(Cylon.Logger).to.be.eql(Logger);
|
||||
it("exports the MCP as Cylon.MCP", function() {
|
||||
expect(Cylon.MCP).to.be.eql(MCP);
|
||||
});
|
||||
|
||||
it("sets Adaptor to the Adaptor module", function() {
|
||||
expect(Cylon.Adaptor).to.be.eql(Adaptor);
|
||||
it("exports the Robot as Cylon.Robot", function() {
|
||||
expect(Cylon.Robot).to.be.eql(Robot);
|
||||
});
|
||||
|
||||
it("sets Driver to the Driver module", function() {
|
||||
it("exports the Driver as Cylon.Driver", function() {
|
||||
expect(Cylon.Driver).to.be.eql(Driver);
|
||||
});
|
||||
|
||||
it("sets @apiInstances to an empty array by default", function() {
|
||||
expect(Cylon.apiInstances).to.be.eql([]);
|
||||
it("exports the Adaptor as Cylon.Adaptor", function() {
|
||||
expect(Cylon.Adaptor).to.be.eql(Adaptor);
|
||||
});
|
||||
|
||||
it("sets @robots to an empty object by default", function() {
|
||||
expect(Cylon.robots).to.be.eql({});
|
||||
it("exports the Utils as Cylon.Utils", function() {
|
||||
expect(Cylon.Utils).to.be.eql(Utils);
|
||||
});
|
||||
|
||||
it("sets @robots to an empty object by default", function() {
|
||||
expect(Cylon.commands).to.be.eql({});
|
||||
|
||||
it("exports the Logger as Cylon.Logger", function() {
|
||||
expect(Cylon.Logger).to.be.eql(Logger);
|
||||
});
|
||||
|
||||
it("exports the IO DigitalPin and Utils as Cylon.IO", function() {
|
||||
expect(Cylon.IO).to.be.eql(IO);
|
||||
});
|
||||
|
||||
describe("#robot", function() {
|
||||
afterEach(function() {
|
||||
Cylon.robots = {};
|
||||
});
|
||||
|
||||
it("uses passed options to create a new Robot", function() {
|
||||
var opts = { name: "Ultron" };
|
||||
var robot = Cylon.robot(opts);
|
||||
|
||||
expect(robot.toString()).to.be.eql("[Robot name='Ultron']");
|
||||
expect(Cylon.robots.Ultron).to.be.eql(robot);
|
||||
});
|
||||
|
||||
it("avoids duplicating names", function() {
|
||||
Cylon.robot({ name: "Ultron" });
|
||||
Cylon.robot({ name: "Ultron" });
|
||||
|
||||
var bots = Object.keys(Cylon.robots);
|
||||
expect(bots).to.be.eql(["Ultron", "Ultron-1"]);
|
||||
});
|
||||
});
|
||||
|
||||
describe("#api", function() {
|
||||
afterEach(function() {
|
||||
Cylon.apiInstances = [];
|
||||
});
|
||||
|
||||
context("with a provided API server and opts", function() {
|
||||
var API, opts, instance;
|
||||
|
||||
beforeEach(function() {
|
||||
instance = { start: spy() };
|
||||
opts = { https: false };
|
||||
API = stub().returns(instance);
|
||||
|
||||
Cylon.api(API, opts);
|
||||
});
|
||||
|
||||
it("creates an API instance", function() {
|
||||
expect(API).to.be.calledWithNew;
|
||||
expect(API).to.be.calledWith(opts);
|
||||
});
|
||||
|
||||
it("passes Cylon through to the instance as opts.mcp", function() {
|
||||
expect(opts.mcp).to.be.eql(Cylon);
|
||||
});
|
||||
|
||||
it("stores the API instance in @apiInstances", function() {
|
||||
expect(Cylon.apiInstances).to.be.eql([instance]);
|
||||
});
|
||||
|
||||
it("tells the API instance to start", function() {
|
||||
expect(instance.start).to.be.called;
|
||||
});
|
||||
it("proxies to MCP.create", function() {
|
||||
expect(Cylon.robot).to.be.eql(MCP.create);
|
||||
});
|
||||
});
|
||||
|
||||
describe("#start", function() {
|
||||
it("calls #start() on all robots", function() {
|
||||
var bot1 = { start: spy() },
|
||||
bot2 = { start: spy() };
|
||||
|
||||
Cylon.robots = {
|
||||
bot1: bot1,
|
||||
bot2: bot2
|
||||
};
|
||||
|
||||
Cylon.start();
|
||||
|
||||
expect(bot1.start).to.be.called;
|
||||
expect(bot2.start).to.be.called;
|
||||
});
|
||||
});
|
||||
|
||||
describe("#config", function() {
|
||||
beforeEach(function() {
|
||||
delete Config.a;
|
||||
delete Config.b;
|
||||
});
|
||||
|
||||
it("sets config variables", function() {
|
||||
Cylon.config({ a: 1, b: 2 });
|
||||
expect(Config.a).to.be.eql(1);
|
||||
expect(Config.b).to.be.eql(2);
|
||||
});
|
||||
|
||||
it("updates existing config", function() {
|
||||
Cylon.config({ a: 1, b: 2 });
|
||||
Cylon.config({ a: 3 });
|
||||
expect(Config.a).to.be.eql(3);
|
||||
expect(Config.b).to.be.eql(2);
|
||||
});
|
||||
|
||||
it("returns updated config", function() {
|
||||
var config = Cylon.config({ a: 1, b: 2 });
|
||||
expect(Config).to.be.eql(config);
|
||||
});
|
||||
|
||||
it("doesn't ignores non-object arguments", function() {
|
||||
var config = Cylon.config({ a: 1, b: 2 });
|
||||
Cylon.config(["a", 1, "b", 2]);
|
||||
Cylon.config("hello world");
|
||||
expect(Config).to.be.eql(config);
|
||||
it("proxies to MCP.start", function() {
|
||||
expect(Cylon.start).to.be.eql(MCP.start);
|
||||
});
|
||||
});
|
||||
|
||||
describe("#halt", function() {
|
||||
it("calls #halt() on all robots", function() {
|
||||
var bot1 = { halt: spy() },
|
||||
bot2 = { halt: spy() };
|
||||
|
||||
Cylon.robots = {
|
||||
bot1: bot1,
|
||||
bot2: bot2
|
||||
};
|
||||
|
||||
Cylon.halt();
|
||||
|
||||
expect(bot1.halt).to.be.called;
|
||||
expect(bot2.halt).to.be.called;
|
||||
it("proxies to MCP.halt", function() {
|
||||
expect(Cylon.halt).to.be.eql(MCP.halt);
|
||||
});
|
||||
});
|
||||
|
||||
describe("#toJSON", function() {
|
||||
var json, bot1, bot2;
|
||||
|
||||
beforeEach(function() {
|
||||
bot1 = new Robot();
|
||||
bot2 = new Robot();
|
||||
|
||||
Cylon.robots = { bot1: bot1, bot2: bot2 };
|
||||
Cylon.commands.echo = function(arg) { return arg; };
|
||||
|
||||
json = Cylon.toJSON();
|
||||
describe("#api", function() {
|
||||
it("proxies to API.create", function() {
|
||||
expect(Cylon.api).to.be.eql(API.create);
|
||||
});
|
||||
});
|
||||
|
||||
it("contains all robots the MCP knows about", function() {
|
||||
expect(json.robots).to.be.eql([bot1.toJSON(), bot2.toJSON()]);
|
||||
});
|
||||
|
||||
it("contains an array of MCP commands", function() {
|
||||
expect(json.commands).to.be.eql(["echo"]);
|
||||
});
|
||||
|
||||
it("contains an array of MCP events", function() {
|
||||
expect(json.events).to.be.eql(["robot_added", "robot_removed"]);
|
||||
describe("#config", function() {
|
||||
it("proxies to Config.update", function() {
|
||||
expect(Cylon.config).to.be.eql(Config.update);
|
||||
});
|
||||
});
|
||||
});
|
||||
|
|
|
|||
|
|
@ -0,0 +1,100 @@
|
|||
"use strict";
|
||||
|
||||
var MCP = lib("mcp"),
|
||||
Robot = lib("robot");
|
||||
|
||||
describe("MCP", function() {
|
||||
it("contains a collection of robots", function() {
|
||||
expect(MCP.robots).to.be.eql({});
|
||||
});
|
||||
|
||||
it("contains a collection of commands", function() {
|
||||
expect(MCP.commands).to.be.eql({});
|
||||
});
|
||||
|
||||
it("contains a collection of events", function() {
|
||||
expect(MCP.events).to.be.eql(["robot_added", "robot_removed"]);
|
||||
});
|
||||
|
||||
describe("#create", function() {
|
||||
afterEach(function() {
|
||||
MCP.robots = {};
|
||||
});
|
||||
|
||||
it("uses passed options to create a new Robot", function() {
|
||||
var opts = { name: "Ultron" };
|
||||
var robot = MCP.create(opts);
|
||||
|
||||
expect(robot.toString()).to.be.eql("[Robot name='Ultron']");
|
||||
expect(MCP.robots.Ultron).to.be.eql(robot);
|
||||
});
|
||||
|
||||
it("avoids duplicating names", function() {
|
||||
MCP.create({ name: "Ultron" });
|
||||
MCP.create({ name: "Ultron" });
|
||||
|
||||
var bots = Object.keys(MCP.robots);
|
||||
expect(bots).to.be.eql(["Ultron", "Ultron-1"]);
|
||||
});
|
||||
});
|
||||
|
||||
describe("#start", function() {
|
||||
it("calls #start() on all robots", function() {
|
||||
var bot1 = { start: spy() },
|
||||
bot2 = { start: spy() };
|
||||
|
||||
MCP.robots = {
|
||||
bot1: bot1,
|
||||
bot2: bot2
|
||||
};
|
||||
|
||||
MCP.start();
|
||||
|
||||
expect(bot1.start).to.be.called;
|
||||
expect(bot2.start).to.be.called;
|
||||
});
|
||||
});
|
||||
|
||||
describe("#halt", function() {
|
||||
it("calls #halt() on all robots", function() {
|
||||
var bot1 = { halt: spy() },
|
||||
bot2 = { halt: spy() };
|
||||
|
||||
MCP.robots = {
|
||||
bot1: bot1,
|
||||
bot2: bot2
|
||||
};
|
||||
|
||||
MCP.halt();
|
||||
|
||||
expect(bot1.halt).to.be.called;
|
||||
expect(bot2.halt).to.be.called;
|
||||
});
|
||||
});
|
||||
|
||||
describe("#toJSON", function() {
|
||||
var json, bot1, bot2;
|
||||
|
||||
beforeEach(function() {
|
||||
bot1 = new Robot();
|
||||
bot2 = new Robot();
|
||||
|
||||
MCP.robots = { bot1: bot1, bot2: bot2 };
|
||||
MCP.commands.echo = function(arg) { return arg; };
|
||||
|
||||
json = MCP.toJSON();
|
||||
});
|
||||
|
||||
it("contains all robots the MCP knows about", function() {
|
||||
expect(json.robots).to.be.eql([bot1.toJSON(), bot2.toJSON()]);
|
||||
});
|
||||
|
||||
it("contains an array of MCP commands", function() {
|
||||
expect(json.commands).to.be.eql(["echo"]);
|
||||
});
|
||||
|
||||
it("contains an array of MCP events", function() {
|
||||
expect(json.events).to.be.eql(["robot_added", "robot_removed"]);
|
||||
});
|
||||
});
|
||||
});
|
||||
Loading…
Reference in New Issue