111 lines
2.2 KiB
JavaScript
111 lines
2.2 KiB
JavaScript
/*
|
|
* cylon
|
|
* cylonjs.com
|
|
*
|
|
* Copyright (c) 2013 The Hybrid Group
|
|
* Licensed under the Apache 2.0 license.
|
|
*/
|
|
|
|
"use strict";
|
|
|
|
var Async = require('async');
|
|
|
|
var Logger = require('./logger'),
|
|
Robot = require('./robot'),
|
|
Utils = require('./utils');
|
|
|
|
Logger.setup();
|
|
|
|
var Cylon = module.exports = {
|
|
Logger: Logger,
|
|
Driver: require('./driver'),
|
|
Adaptor: require('./adaptor'),
|
|
Utils: Utils,
|
|
|
|
IO: {
|
|
DigitalPin: require('./io/digital-pin'),
|
|
Utils: require('./io/utils')
|
|
},
|
|
|
|
api_instance: null,
|
|
|
|
robots: {}
|
|
};
|
|
|
|
// Public: Creates a new Robot
|
|
//
|
|
// opts - hash of Robot attributes
|
|
//
|
|
// Returns a shiny new Robot
|
|
// Examples:
|
|
// Cylon.robot
|
|
// connection: { name: 'arduino', adaptor: 'firmata' }
|
|
// device: { name: 'led', driver: 'led', pin: 13 }
|
|
//
|
|
// work: (me) ->
|
|
// me.led.toggle()
|
|
Cylon.robot = function robot(opts) {
|
|
var robot = new Robot(opts);
|
|
this.robots[robot.name] = robot;
|
|
return robot;
|
|
};
|
|
|
|
// Public: Creates a new API based on passed options
|
|
//
|
|
// opts - object containing API options
|
|
//
|
|
// Returns nothing
|
|
Cylon.api = function api(opts) {
|
|
if (opts == null) {
|
|
opts = {};
|
|
}
|
|
|
|
var API = require('./api');
|
|
|
|
this.api_instance = new API(opts);
|
|
this.api_instance.listen();
|
|
};
|
|
|
|
// Public: Starts up the API and the robots
|
|
//
|
|
// Returns nothing
|
|
Cylon.start = function start() {
|
|
for (var bot in this.robots) {
|
|
this.robots[bot].start();
|
|
}
|
|
};
|
|
|
|
// Public: Halts the API and the robots
|
|
//
|
|
// callback - callback to be triggered when Cylon is ready to shutdown
|
|
//
|
|
// Returns nothing
|
|
Cylon.halt = function halt(callback) {
|
|
// set a timeout, in case trying to shut everything down nicely doesn't work
|
|
Utils.after((1.5).seconds(), callback);
|
|
|
|
var fns = [];
|
|
|
|
for (var bot in this.robots) {
|
|
var robot = this.robots[bot];
|
|
fns.push(robot.halt.bind(robot));
|
|
}
|
|
|
|
Async.parallel(fns, callback);
|
|
};
|
|
|
|
if (process.platform === "win32") {
|
|
var readline = require("readline"),
|
|
io = { input: process.stdin, output: process.stdout };
|
|
|
|
readline.createInterface(io).on("SIGINT", function() {
|
|
process.emit("SIGINT");
|
|
});
|
|
};
|
|
|
|
process.on("SIGINT", function() {
|
|
Cylon.halt(function() {
|
|
process.kill(process.pid);
|
|
});
|
|
});
|