162 lines
3.5 KiB
JavaScript
162 lines
3.5 KiB
JavaScript
/*
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* cylon
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* cylonjs.com
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*
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* Copyright (c) 2013 The Hybrid Group
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* Licensed under the Apache 2.0 license.
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*/
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"use strict";
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var Async = require("async");
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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("./lodash");
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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.api_instance = null;
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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: Creates a new API based on passed options
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//
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// Returns nothing
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Cylon.api = function api(opts) {
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if (typeof opts === "object") {
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this.config({ api: opts });
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}
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var API = require("./api");
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var config = Utils.fetch(Config, "api", {});
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this.api_instance = new API(config);
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this.api_instance.listen();
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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 = _.map(this.robots, "start");
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Async.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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var logChanges = (opts.logging && !_.isEqual(Config.logging, opts.logging));
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if (_.isObject(opts) && !_.isArray(opts)) {
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Config = _.merge(Config, opts);
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}
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if (logChanges) {
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Logger.setup();
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}
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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 = _.map(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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Async.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: _.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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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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