161 lines
3.5 KiB
JavaScript
161 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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Logger.setup();
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var Cylon = module.exports = {
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Logger: Logger,
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Driver: require('./driver'),
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Adaptor: require('./adaptor'),
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Utils: Utils,
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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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api_instance: null,
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robots: {},
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commands: {}
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};
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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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// 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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Logger.warn("Robot names must be unique. Renaming '" + original + "' to '" + opts.name + "'");
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}
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var robot = new Robot(opts);
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this.robots[robot.name] = robot;
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return robot;
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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() {
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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 = [];
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for (var bot in this.robots) {
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starters.push(this.robots[bot].start);
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}
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Async.parallel(starters, function(err, results) {
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var mode = Utils.fetch(Config, 'workMode', 'async');
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if (mode === 'sync') {
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for (var bot in this.robots) {
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this.robots[bot].startWork();
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}
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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 loggingChanged = (opts.logging && Config.logging !== opts.logging);
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if (opts && typeof(opts) === 'object' && !Array.isArray(opts)) {
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for (var o in opts) {
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Config[o] = opts[o];
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}
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}
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if (loggingChanged) {
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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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// 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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var fns = [];
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for (var bot in this.robots) {
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var robot = this.robots[bot];
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fns.push(robot.halt.bind(robot));
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}
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Async.parallel(fns, callback);
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};
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Cylon.toJSON = function() {
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var robots = [];
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for (var bot in this.robots) {
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robots.push(this.robots[bot]);
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}
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return {
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robots: robots,
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commands: Object.keys(this.commands)
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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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