A Droid's Journey - RubyKaigi 2018

Joint talk with @code0100fun

Intro here: https://dee-too-intro.herokuapp.com/

Ruby has never been at the forefront of dealing with robots, IoT, or other low level systems. What Ruby is great at is scripting and building DSLs. Using mruby we can leverage existing ecosystems while still using the language we love.

In this talk, we'll deep dive into how we can execute mruby handlers inside a Go event reactor to control a Sphero R2-D2. With surprisingly few lines of code, you can coordinate motors, lights, and sound concurrently. Come learn about mruby & robotics and see the Droids™ you're looking for in action.

Transcript

1. Ruby Kaigi Episode XII It is a dark time for the galaxy. The new GO ORDER has seized power over the systems, imposing it’s tyrannical rules on the population. Space battles are being fought across the galaxy and the TAB fighters are winning. The ORDER has been busy converting historic libraries, compiling their scripts into new libraries that will bend to the will of GO. With the support of a large group of fanatic and loyal followers it seems all other languages will be lost to the might of the ORDER. But a small RUBY ALLIANCE has plans to hijack the ORDER’s Goroutines and in doing so, embed itself into their droid network. A difficult task lies ahead... A surprisingly short time ago, when this conference was not too far away...
2. A Droid’s™ Journey with mruby & Go
3. Chase McCarthy @code0100fun
4. Terence Lee @hone02
6. Austin, TX
7. Austin, TX
8. These are the droids you're looking for... August 2017 Sphero Announces R2-D2
9. Best R2-D2 replica toy
10. What can I do with this thing?
11. R2D2 + Ruby = ?
12. Ruby on Robots
13. • Sphero support* • *Only Bluetooth Classic • No support for BLE! • No BB8! GitHub issue #165 Artoo
14. Gobot
15. Pure Go BLE library *Linux and OS X only github.com/go-ble/ble
16. BB8 Hello World func main() { bleAdaptor := ble.NewClientAdaptor(os.Args[1]) bb8 := bb8.NewDriver(bleAdaptor) work := func() { gobot.Every(1*time.Second, func() { r := uint8(gobot.Rand(255)) g := uint8(gobot.Rand(255)) b := uint8(gobot.Rand(255)) bb8.SetRGB(r, g, b) }) } robot := gobot.NewRobot("bb", []gobot.Connection{bleAdaptor}, []gobot.Device{bb8}, work, ) robot.Start() }
17. gobot.NewRobot() bleAdaptor := ble.NewClientAdaptor(os.Args[1]) robot := gobot.NewRobot("bb", []gobot.Connection{bleAdaptor}, []gobot.Device{bb8}, work, ) robot.Start()
18. gobot.NewRobot() bb8 := bb8.NewDriver(bleAdaptor) robot := gobot.NewRobot("bb", []gobot.Connection{bleAdaptor}, []gobot.Device{bb8}, work, ) robot.Start()
19. gobot.NewRobot() work := func() { gobot.Every(1*time.Second, func() { r := uint8(gobot.Rand(255)) g := uint8(gobot.Rand(255)) b := uint8(gobot.Rand(255)) bb8.SetRGB(r, g, b) }) } robot := gobot.NewRobot("bb", []gobot.Connection{bleAdaptor}, []gobot.Device{bb8}, work, ) robot.Start()
20. gobot.NewRobot() robot := gobot.NewRobot("bb", []gobot.Connection{bleAdaptor}, []gobot.Device{bb8}, work, ) robot.Start()
21. Demo
22. No R2-D2 Driver
23. Where do we start?
24. Protocol
25. Terminology • BLE - Bluetooth Low Energy ◦ Modern Bluetooth 4.* spec • GATT - Generic Attribute ◦ Like a BLE plugin system
26. What do we need to know?
27. Services • Encapsulate the behavior of part of a device • Collection of data and associated behaviors
28. Service API
29. Characteristics • The API of a service • The “endpoints” to control a device
30. How do we find the services?
31. BlueZ
32. gatttool $ sudo hcitool lescan
33. gatttool $ sudo hcitool lescan LE Scan ... DF:59:60:07:1F:3B D2-1F3B
34. gatttool $ sudo hcitool lescan LE Scan ... DF:59:60:07:1F:3B D2-1F3B $ gatttool -b DF:59:60:07:1F:3B -I [DF:59:60:07:1F:3B][LE]> connect Attempting to connect to DF:59:60:07:1F:3B Connection successful
35. gatttool $ sudo hcitool lescan LE Scan ... DF:59:60:07:1F:3B D2-1F3B $ gatttool -b DF:59:60:07:1F:3B -I [DF:59:60:07:1F:3B][LE]> connect Attempting to connect to DF:59:60:07:1F:3B Connection successful [DF:59:60:07:1F:3B][LE]> (gatttool:11398): GLib-WARNING **: Invalid file descriptor.
36. Attempt #2
37. Bluetooth Sniffing Process
38. Sniffing: Over-the-air https://www.adafruit.com/product/2269
39. Attempt #3
40. Sniffing: Man-in-the-middle
41. Sniffing: Man-in-the-middle
42. Sniffing: Man-in-the-middle
43. Sniffing: Man-in-the-middle
44. Sniffing: Man-in-the-middle
45. Sniffing: Man-in-the-middle https://github.com/DigitalSecurity/btlejuice BtleJuice Framework
46. There is a better way!
47. Sniffing: btsnoop (Android 8+)
48. Sniffing: btsnoop (Android 8+)
49. Sniffing: btsnoop (Android 8+)
50. Sniffing: btsnoop (Android 8+)
51. Sniffing: btsnoop (Android 8+)
52. BLE Packet Sniffing (Android 8+)
53. BLE Packet Sniffing (Android 8+) FS > data > misc > bluetooth > logs
54. BLE Packet Sniffing (Android 8+)
55. BLE Packet Sniffing (Android 8+)
56. BLE Packet Sniffing (Android 8+) Service UUID
57. BLE Packet Sniffing (Android 8+) Characteristic UUID
58. BLE Packet Sniffing (Android 8+) Packet Value
59. • Reset logfiles • Send a command from the app • Dump logfiles • Load and find command • Record value • Repeat • Repeat again • ...and again Extracting Commands
60. Look for patterns Tripod - 8d:0a:17:0d:01:01:cf:d8 Bipod - 8d:0a:17:0d:02:02:cd:d8 Tripod - 8d:0a:17:0d:03:01:cd:d8 Bipod - 8d:0a:17:0d:04:02:cb:d8 Tripod - 8d:0a:17:0d:05:01:cb:d8
61. Look for patterns Tripod - 8d:0a:17:0d:01:01:cf:d8 Bipod - 8d:0a:17:0d:02:02:cd:d8 Tripod - 8d:0a:17:0d:03:01:cd:d8 Bipod - 8d:0a:17:0d:04:02:cb:d8 Tripod - 8d:0a:17:0d:05:01:cb:d8 Same for all
62. Look for patterns Tripod - 8d:0a:17:0d:01:01:cf:d8 Bipod - 8d:0a:17:0d:02:02:cd:d8 Tripod - 8d:0a:17:0d:03:01:cd:d8 Bipod - 8d:0a:17:0d:04:02:cb:d8 Tripod - 8d:0a:17:0d:05:01:cb:d8 Changing
63. Look for patterns Tripod - 8d:0a:17:0d:01:01:cf:d8 Bipod - 8d:0a:17:0d:02:02:cd:d8 Tripod - 8d:0a:17:0d:03:01:cd:d8 Bipod - 8d:0a:17:0d:04:02:cb:d8 Tripod - 8d:0a:17:0d:05:01:cb:d8 Sequence
64. Look for patterns Tripod - 8d:0a:17:0d:01:01:cf:d8 Bipod - 8d:0a:17:0d:02:02:cd:d8 Tripod - 8d:0a:17:0d:03:01:cd:d8 Bipod - 8d:0a:17:0d:04:02:cb:d8 Tripod - 8d:0a:17:0d:05:01:cb:d8 Command Value
65. Look for patterns Tripod - 8d:0a:17:0d:01:01:cf:d8 Bipod - 8d:0a:17:0d:02:02:cd:d8 Tripod - 8d:0a:17:0d:03:01:cd:d8 Bipod - 8d:0a:17:0d:04:02:cb:d8 Tripod - 8d:0a:17:0d:05:01:cb:d8 Checksum ~((0x0a + 0x17 + 0x0d + 0x05 + 0x01) % 0xFF) = 0xcb
66. R2D2 Driver package r2d2 type Driver struct { name string connection gobot.Connection seq uint8 mtx sync.Mutex collisionResponse []uint8 packetChannel chan *packet gobot.Eventer } func (b *Driver) Tripod() { log.Print("Tripod") b.packetChannel <- b.craftPacket(0x17, 0x0d, []uint8{0x01}) }
67. func (b *Driver) Tripod() { log.Print("Tripod") b.packetChannel <- b.craftPacket(0x17, 0x0d, []uint8{0x01}) } func (b *Driver) craftPacket(did byte, cid byte, body []uint8) *packet { b.mtx.Lock() defer b.mtx.Unlock() packet := new(packet) packet.header = []uint8{0x8d, 0x0a, did, cid, b.seq} packet.body = body packet.checksum = b.calculateChecksum(packet) packet.footer = []uint8{0xd8} return packet } craftPacket 8d:0a:17:0d:01:01:cf:d8
68. Packet Sending
69. Is Go the only option?
70. Ruby Native Extensions in Go
71. MRI concurrency limitations
72. Packaging
73. Embed mruby in Go
74. Go has better concurrency primitives
75. mruby & go have a packaging story
76. mitchellh/go-mruby
77. go-mruby Hello World func main() { mrb := mruby.NewMrb() defer mrb.Close() addFunc := func(m *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := m.GetArgs() return mruby.Int(args[0].Fixnum() + args[1].Fixnum()), nil } class := mrb.DefineClass("Example", nil) class.DefineClassMethod("add", addFunc, mruby.ArgsReq(2)) result, err := mrb.LoadString(`Example.add(12, 30)`) if err != nil { panic(err.Error()) } fmt.Printf("Result: %s\n", result.String()) }
78. go-mruby Hello World func main() { mrb := mruby.NewMrb() defer mrb.Close() addFunc := func(m *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := m.GetArgs() return mruby.Int(args[0].Fixnum() + args[1].Fixnum()), nil } class := mrb.DefineClass("Example", nil) class.DefineClassMethod("add", addFunc, mruby.ArgsReq(2)) result, err := mrb.LoadString(`Example.add(12, 30)`) if err != nil { panic(err.Error()) } fmt.Printf("Result: %s\n", result.String()) }
79. go-mruby Hello World func main() { mrb := mruby.NewMrb() defer mrb.Close() addFunc := func(m *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := m.GetArgs() return mruby.Int(args[0].Fixnum() + args[1].Fixnum()), nil } class := mrb.DefineClass("Example", nil) class.DefineClassMethod("add", addFunc, mruby.ArgsReq(2)) result, err := mrb.LoadString(`Example.add(12, 30)`) if err != nil { panic(err.Error()) } fmt.Printf("Result: %s\n", result.String()) }
80. go-mruby Hello World func main() { mrb := mruby.NewMrb() defer mrb.Close() addFunc := func(m *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := m.GetArgs() return mruby.Int(args[0].Fixnum() + args[1].Fixnum()), nil } class := mrb.DefineClass("Example", nil) class.DefineClassMethod("add", addFunc, mruby.ArgsReq(2)) result, err := mrb.LoadString(`Example.add(12, 30)`) if err != nil { panic(err.Error()) } fmt.Printf("Result: %s\n", result.String()) }
81. go-mruby Hello World func main() { mrb := mruby.NewMrb() defer mrb.Close() addFunc := func(m *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := m.GetArgs() return mruby.Int(args[0].Fixnum() + args[1].Fixnum()), nil } class := mrb.DefineClass("Example", nil) class.DefineClassMethod("add", addFunc, mruby.ArgsReq(2)) result, err := mrb.LoadString(`Example.add(12, 30)`) if err != nil { panic(err.Error()) } fmt.Printf("Result: %s\n", result.String()) }
82. go-mruby Hello World func main() { mrb := mruby.NewMrb() defer mrb.Close() addFunc := func(m *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := m.GetArgs() return mruby.Int(args[0].Fixnum() + args[1].Fixnum()), nil } class := mrb.DefineClass("Example", nil) class.DefineClassMethod("add", addFunc, mruby.ArgsReq(2)) result, err := mrb.LoadString(`Example.add(12, 30)`) if err != nil { panic(err.Error()) } fmt.Printf("Result: %s\n", result.String()) }
83. go-mruby Hello World func main() { mrb := mruby.NewMrb() defer mrb.Close() addFunc := func(m *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := m.GetArgs() return mruby.Int(args[0].Fixnum() + args[1].Fixnum()), nil } class := mrb.DefineClass("Example", nil) class.DefineClassMethod("add", addFunc, mruby.ArgsReq(2)) result, err := mrb.LoadString(`Example.add(12, 30)`) if err != nil { panic(err.Error()) } fmt.Printf("Result: %s\n", result.String()) }
84. go-mruby Hello World func main() { mrb := mruby.NewMrb() defer mrb.Close() addFunc := func(m *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := m.GetArgs() return mruby.Int(args[0].Fixnum() + args[1].Fixnum()), nil } class := mrb.DefineClass("Example", nil) class.DefineClassMethod("add", addFunc, mruby.ArgsReq(2)) result, err := mrb.LoadString(`Example.add(12, 30)`) if err != nil { panic(err.Error()) } fmt.Printf("Result: %s\n", result.String()) }
85. go-mruby Hello World func main() { mrb := mruby.NewMrb() defer mrb.Close() addFunc := func(m *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := m.GetArgs() return mruby.Int(args[0].Fixnum() + args[1].Fixnum()), nil } class := mrb.DefineClass("Example", nil) class.DefineClassMethod("add", addFunc, mruby.ArgsReq(2)) result, err := mrb.LoadString(`Example.add(12, 30)`) if err != nil { panic(err.Error()) } fmt.Printf("Result: %s\n", result.String()) }
86. 1. go-mruby: Builds libmruby.a Build Process
87. 1. go-mruby: Builds libmruby.a - MRUBY_CONFIG allows us to specify our own build_config.rb Build Process MRuby::Build.new do |conf| toolchain :gcc conf.gem :git => 'https://github.com/matsumoto-r/mruby-sleep.git' conf.gem :core => 'mruby-random' conf.gembox 'default' end
88. 1. go-mruby: Builds libmruby.a - MRUBY_CONFIG allows us to specify our own build_config.rb - vendor mruby: clones mruby from github - build mruby - copy libmruby.a out Build Process
89. 1. go-mruby: Builds libmruby.a - MRUBY_CONFIG allows us to specify our own build_config.rb - vendor mruby: clones mruby from github - build mruby - copy libmruby.a out 2. `go build` links against libmruby.a using Cgo Build Process // #cgo CFLAGS: -Ivendor/mruby/include // #cgo LDFLAGS: ${SRCDIR}/libmruby.a -lm import "C"
90. DeeToo
91. Vision • Only need to write Ruby • Extensible (leverage existing work) • Coordinate multiple async tasks • Small??
92. r2d2_dome.mrb droid = R2D2.new("D2-1F3B") heading = 0; direction = -1 while true do droid.dome(heading) direction = -1 if heading >= 180 direction = 1 if heading <= -160 heading = heading + direction Sleep::usleep(100) end
93. r2d2_dome.mrb droid = R2D2.new("D2-1F3B") heading = 0; direction = -1 while true do droid.dome(heading) direction = -1 if heading >= 180 direction = 1 if heading <= -160 heading = heading + direction Sleep::usleep(100) end
94. r2d2_dome.mrb droid = R2D2.new("D2-1F3B") heading = 0; direction = -1 while true do droid.dome(heading) direction = -1 if heading >= 180 direction = 1 if heading <= -160 heading = heading + direction Sleep::usleep(100) end
95. R2D2 Dome Demo $ ./deetoo examples/r2d2_dome.mrb
96. Setup mruby
97. startWorker()
98. startWorker() func main() { var wg sync.WaitGroup table := NewDroidTable() argsWithoutProg := os.Args[1:] for _, mrbFile := range argsWithoutProg { startWorker(mrbFile, table, &wg) } c := make(chan os.Signal, 1) signal.Notify(c, os.Interrupt, syscall.SIGTERM) go func() { <-c for _ = range argsWithoutProg { wg.Done() } }() wg.Wait() }
99. startWorker() func main() { var wg sync.WaitGroup table := NewDroidTable() argsWithoutProg := os.Args[1:] for _, mrbFile := range argsWithoutProg { startWorker(mrbFile, table, &wg) } c := make(chan os.Signal, 1) signal.Notify(c, os.Interrupt, syscall.SIGTERM) go func() { <-c for _ = range argsWithoutProg { wg.Done() } }() wg.Wait() }
100. startWorker() func main() { var wg sync.WaitGroup table := NewDroidTable() argsWithoutProg := os.Args[1:] for _, mrbFile := range argsWithoutProg { startWorker(mrbFile, table, &wg) } c := make(chan os.Signal, 1) signal.Notify(c, os.Interrupt, syscall.SIGTERM) go func() { <-c for _ = range argsWithoutProg { wg.Done() } }() wg.Wait() }
101. startWorker() func startWorker(file string, table droidTable, wg *sync.WaitGroup) { wg.Add(1) go func() { mrb := mruby.NewMrb() defer mrb.Close() droids.NewR2D2(table.r2d2, mrb) droids.NewBB8(table.bb8, mrb) dat, err := ioutil.ReadFile(file) content := string(dat) result, err := mrb.LoadString(content) fmt.Printf("Done: %s\n", result) }() }
102. startWorker() func startWorker(file string, table droidTable, wg *sync.WaitGroup) { wg.Add(1) go func() { mrb := mruby.NewMrb() defer mrb.Close() droids.NewR2D2(table.r2d2, mrb) droids.NewBB8(table.bb8, mrb) dat, err := ioutil.ReadFile(file) content := string(dat) result, err := mrb.LoadString(content) fmt.Printf("Done: %s\n", result) }() }
103. startWorker() func startWorker(file string, table droidTable, wg *sync.WaitGroup) { wg.Add(1) go func() { mrb := mruby.NewMrb() defer mrb.Close() droids.NewR2D2(table.r2d2, mrb) droids.NewBB8(table.bb8, mrb) dat, err := ioutil.ReadFile(file) content := string(dat) result, err := mrb.LoadString(content) fmt.Printf("Done: %s\n", result) }() }
104. startWorker() func startWorker(file string, table droidTable, wg *sync.WaitGroup) { wg.Add(1) go func() { mrb := mruby.NewMrb() defer mrb.Close() droids.NewR2D2(table.r2d2, mrb) droids.NewBB8(table.bb8, mrb) dat, err := ioutil.ReadFile(file) content := string(dat) result, err := mrb.LoadString(content) fmt.Printf("Done: %s\n", result) }() }
105. Define mruby Classes
106. Define mruby Classes func startWorker(file string, table droidTable, wg *sync.WaitGroup) { wg.Add(1) go func() { mrb := mruby.NewMrb() defer mrb.Close() droids.NewR2D2(table.r2d2, mrb) droids.NewBB8(table.bb8, mrb) dat, err := ioutil.ReadFile(file) content := string(dat) result, err := mrb.LoadString(content) fmt.Printf("Done: %s\n", result) }() }
107. Define mruby Classes func NewR2D2(table map[string]*gobotR2D2.Driver, mrb *mruby.Mrb) *r2d2 { droids := r2d2{ table: table, } class := mrb.DefineClass("R2D2", nil) _, err := mrb.LoadString(` class R2D2 attr_accessor :name end `) class.DefineMethod("initialize", droids.Initialize, mruby.ArgsReq(1)) class.DefineMethod("dome", droids.Dome, mruby.ArgsReq(1)) class.DefineMethod("tripod", droids.Tripod, mruby.ArgsReq(0)) class.DefineMethod("bipod", droids.Bipod, mruby.ArgsReq(0)) class.DefineMethod("macro", droids.Macro, mruby.ArgsReq(1)) class.DefineMethod("move", droids.Move, mruby.ArgsReq(2)) return &droids }
108. Define mruby Classes func NewR2D2(table map[string]*gobotR2D2.Driver, mrb *mruby.Mrb) *r2d2 { droids := r2d2{ table: table, } class := mrb.DefineClass("R2D2", nil) _, err := mrb.LoadString(` class R2D2 attr_accessor :name end `) class.DefineMethod("initialize", droids.Initialize, mruby.ArgsReq(1)) class.DefineMethod("dome", droids.Dome, mruby.ArgsReq(1)) class.DefineMethod("tripod", droids.Tripod, mruby.ArgsReq(0)) class.DefineMethod("bipod", droids.Bipod, mruby.ArgsReq(0)) class.DefineMethod("macro", droids.Macro, mruby.ArgsReq(1)) class.DefineMethod("move", droids.Move, mruby.ArgsReq(2)) return &droids }
109. R2D2.new
110. startWorker func startWorker(file string, table droidTable, wg *sync.WaitGroup) { wg.Add(1) go func() { mrb := mruby.NewMrb() defer mrb.Close() droids.NewR2D2(table.r2d2, mrb) droids.NewBB8(table.bb8, mrb) dat, err := ioutil.ReadFile(file) content := string(dat) result, err := mrb.LoadString(content) fmt.Printf("Done: %s\n", result) }() }
111. R2D2.new droid = R2D2.new("D2-1F3B") heading = 0 direction = -1 while true do droid.dome(heading) direction = -1 if heading >= 180 direction = 1 if heading <= -160 heading = heading + direction Sleep::usleep(100) end
112. R2D2.new func NewR2D2(table map[string]*gobotR2D2.Driver, mrb *mruby.Mrb) *r2d2 { droids := r2d2{ table: table, } class := mrb.DefineClass("R2D2", nil) _, err := mrb.LoadString(` class R2D2 attr_accessor :name end `) class.DefineMethod("initialize", droids.Initialize, mruby.ArgsReq(1)) class.DefineMethod("dome", droids.Dome, mruby.ArgsReq(1)) class.DefineMethod("tripod", droids.Tripod, mruby.ArgsReq(0)) class.DefineMethod("bipod", droids.Bipod, mruby.ArgsReq(0)) class.DefineMethod("macro", droids.Macro, mruby.ArgsReq(1)) class.DefineMethod("move", droids.Move, mruby.ArgsReq(2)) return &droids }
113. R2D2.new func (droids *r2d2) Initialize(mrb *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := mrb.GetArgs() name := string(args[0].String()) bleAdaptor := ble.NewClientAdaptor(name) droidDriver := gobotR2D2.NewDriver(bleAdaptor) droids.table[name] = droidDriver self.Call("name=", args[0]) var wg sync.WaitGroup wg.Add(1) work := func() { wg.Done() } robot := gobot.NewRobot("R2D2", []gobot.Connection{bleAdaptor}, []gobot.Device{droidDriver}, work) go robot.Start() wg.Wait() return self, nil }
114. R2D2.new func (droids *r2d2) Initialize(mrb *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := mrb.GetArgs() name := string(args[0].String()) bleAdaptor := ble.NewClientAdaptor(name) droidDriver := gobotR2D2.NewDriver(bleAdaptor) droids.table[name] = droidDriver self.Call("name=", args[0]) var wg sync.WaitGroup wg.Add(1) work := func() { wg.Done() } robot := gobot.NewRobot("R2D2", []gobot.Connection{bleAdaptor}, []gobot.Device{droidDriver}, work) go robot.Start() wg.Wait() return self, nil }
115. R2D2.new func (droids *r2d2) Initialize(mrb *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := mrb.GetArgs() name := string(args[0].String()) bleAdaptor := ble.NewClientAdaptor(name) droidDriver := gobotR2D2.NewDriver(bleAdaptor) droids.table[name] = droidDriver self.Call("name=", args[0]) var wg sync.WaitGroup wg.Add(1) work := func() { wg.Done() } robot := gobot.NewRobot("R2D2", []gobot.Connection{bleAdaptor}, []gobot.Device{droidDriver}, work) go robot.Start() wg.Wait() return self, nil }
116. dome() in mruby droid = R2D2.new("D2-1F3B") heading = 0; direction = -1 while true do droid.dome(heading) direction = -1 if heading >= 180 direction = 1 if heading <= -160 heading = heading + direction Sleep::usleep(100) end
117. dome() Method Call
118. dome() in mruby func NewR2D2(table map[string]*gobotR2D2.Driver, mrb *mruby.Mrb) *r2d2 { droids := r2d2{ table: table, } class := mrb.DefineClass("R2D2", nil) _, err := mrb.LoadString(` class R2D2 attr_accessor :name end `) class.DefineMethod("initialize", droids.Initialize, mruby.ArgsReq(1)) class.DefineMethod("dome", droids.Dome, mruby.ArgsReq(1)) class.DefineMethod("tripod", droids.Tripod, mruby.ArgsReq(0)) class.DefineMethod("bipod", droids.Bipod, mruby.ArgsReq(0)) class.DefineMethod("macro", droids.Macro, mruby.ArgsReq(1)) class.DefineMethod("move", droids.Move, mruby.ArgsReq(2)) return &droids }
119. Dome() in DeeToo func (droids *r2d2) Dome(mrb *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := mrb.GetArgs() heading := int16(args[0].Fixnum()) droids.driver(self).Dome(heading) return nil, nil }
120. Dome() in DeeToo func (droids *r2d2) Dome(mrb *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := mrb.GetArgs() heading := int16(args[0].Fixnum()) droids.driver(self).Dome(heading) return nil, nil }
121. Dome() in gobot R2D2 Driver func (b *Driver) Dome(heading int16) { log.Printf("Dome - heading: %v", heading) encoded,_ := EncodeSixShifted(heading) b.packetChannel <- b.craftPacket(0x17, 0x0f, append(encoded, 0x00, 0x00)) }
122. Managing Droid Connections
123. Droid Table func main() { var wg sync.WaitGroup table := NewDroidTable() argsWithoutProg := os.Args[1:] for _, mrbFile := range argsWithoutProg { startWorker(mrbFile, table, &wg) } c := make(chan os.Signal, 1) signal.Notify(c, os.Interrupt, syscall.SIGTERM) go func() { <-c for _ = range argsWithoutProg { wg.Done() } }() wg.Wait() }
124. Droid Table func main() { var wg sync.WaitGroup table := NewDroidTable() argsWithoutProg := os.Args[1:] for _, mrbFile := range argsWithoutProg { startWorker(mrbFile, table, &wg) } c := make(chan os.Signal, 1) signal.Notify(c, os.Interrupt, syscall.SIGTERM) go func() { <-c for _ = range argsWithoutProg { wg.Done() } }() wg.Wait() }
125. Droid Table type droidTable struct { bb8 map[string]*bb8.BB8Driver r2d2 map[string]*r2d2.Driver } func NewDroidTable() droidTable { table := droidTable{ bb8: make(map[string]*bb8.BB8Driver), r2d2: make(map[string]*r2d2.Driver), } return table }
126. Droid Table func main() { var wg sync.WaitGroup table := NewDroidTable() argsWithoutProg := os.Args[1:] for _, mrbFile := range argsWithoutProg { startWorker(mrbFile, table, &wg) } c := make(chan os.Signal, 1) signal.Notify(c, os.Interrupt, syscall.SIGTERM) go func() { <-c for _ = range argsWithoutProg { wg.Done() } }() wg.Wait() }
127. Droid Table func startWorker(file string, table droidTable, wg *sync.WaitGroup) { wg.Add(1) go func() { mrb := mruby.NewMrb() defer mrb.Close() droids.NewR2D2(table.r2d2, mrb) droids.NewBB8(table.bb8, mrb) dat, err := ioutil.ReadFile(file) content := string(dat) result, err := mrb.LoadString(content) fmt.Printf("Done: %s\n", result) }() }
128. Droid Table func (droids *r2d2) Initialize(mrb *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := mrb.GetArgs() name := string(args[0].String()) bleAdaptor := ble.NewClientAdaptor(name) droidDriver := gobotR2D2.NewDriver(bleAdaptor) droids.table[name] = droidDriver self.Call("name=", args[0]) var wg sync.WaitGroup wg.Add(1) work := func() { wg.Done() } robot := gobot.NewRobot("R2D2", []gobot.Connection{bleAdaptor}, []gobot.Device{droidDriver}, work) go robot.Start() wg.Wait() return self, nil }
129. Droid Table func NewR2D2(table map[string]*gobotR2D2.Driver, mrb *mruby.Mrb) *r2d2 { droids := r2d2{ table: table, } class := mrb.DefineClass("R2D2", nil) _, err := mrb.LoadString(` class R2D2 attr_accessor :name end `) class.DefineMethod("initialize", droids.Initialize, mruby.ArgsReq(1)) class.DefineMethod("dome", droids.Dome, mruby.ArgsReq(1)) class.DefineMethod("tripod", droids.Tripod, mruby.ArgsReq(0)) class.DefineMethod("bipod", droids.Bipod, mruby.ArgsReq(0)) class.DefineMethod("macro", droids.Macro, mruby.ArgsReq(1)) class.DefineMethod("move", droids.Move, mruby.ArgsReq(2)) return &droids }
130. Droid Table func (droids *r2d2) driver(mrbInstance *mruby.MrbValue) *gobotR2D2.Driver { value, err := mrbInstance.Call("name") var driver *gobotR2D2.Driver if err != nil { panic(err.Error()) } else { ident := string(value.String()) driver = droids.table[ident] } return driver }
131. Droid Table func (droids *r2d2) driver(mrbInstance *mruby.MrbValue) *gobotR2D2.Driver { value, err := mrbInstance.Call("name") var driver *gobotR2D2.Driver if err != nil { panic(err.Error()) } else { ident := string(value.String()) driver = droids.table[ident] } return driver }
132. Final Demo
133. Future/Roadmap • Single binary by compiling the mruby byte code into libmruby.a • Cross compiling the deetoo tool • Message passing between mrb files
134. Thank You https://github.com/code0100fun/deetoo