dRuby over BLE

dRuby over BLE: Device-to-Device Remote Method Calls
2026.06.06. 松江Ruby会議12

Transcript

1. E3VCZ
   PWFS
   #-& %FWJDFUP%FWJDF
   3FNPUF
   .FUIPE
   $BMMT !NBLJDBNFM দߐ3VCZձٞ  1 / 65
2. ࣗݾ঺հ 🔴 !NBLJDBNFM
   
   ઒ݪສق 🔴 3VCZ💎ͱϏʔϧ🍻ͱ͓ञ͕޷͖ 🔴 1JDP1JDP3VCZ
   ΍ͬͯ·͢ 🔴 3PBE
   UP
   3VCZ,BJHJͷ࡞ऀ 2 / 65
3. 3PBE
   UP
   3VCZ,BJHJ NBLJDBNFMSPBE@UP@SVCZLBJHJ IUUQTHJUIVCDPNNBLJDBNFMSPBE@UP@SVCZLBJHJ 3 / 65
4. 3PBE
   UP
   3VCZ,BJHJ 🔴 3VCZJTU
   ʹΑΔ
   3VCZJTU
   ͷͨΊͷ
   3VCZ
   ੡ͷήʔϜ 🔴 λʔϛφϧ্Ͱ༡ͿԣεΫϩʔϧΞΫγϣϯήʔϜ 🔴 όάΛ౗͠ʒ੾͔ΒಀΕͯ3VCZ,BJHJࢀՃΛ໨ࢦ͢ 4 / 65
5. 3PBE
   UP
   3VCZ,BJHJ
   ⭐ 🔴 !
   3VCZ,BJHJ
   
   -5 🔴 1JDP3VCZͱ Ճ଎౓ηϯαʔͰͭ͘Δ ήʔϜίϯτϩʔϥ 3PBE
   UP
   3VCZ,BJHJ
   1MBZ
   )BSE XBSF
   
   !NBLJDBNFM IUUQTTQFBLFSEFDLDPNNBLJDBNFMSPBEUPSVCZLBJHJQMBZIBSEXBSF 5 / 65
6. ొ৔ਓ෺ 1JDP3VCZ ૊ΈࠐΈ޲͚3VCZ ηϯαʔͳͲͱ઀ଓͯ͠ ޷͖ͳσόΠεΛͭ͘ΕΔ QJDPSVCZQJDPSVCZ IUUQTHJUIVCDPNQJDPSVCZQJDPSVCZ 6 / 65
7. ొ৔ਓ෺ 1JDP3VCZ ʢ3BTQCFSSZ
   1J
   1JDP
   8ʣ ૊ΈࠐΈ޲͚3VCZ ηϯαʔͳͲͱ઀ଓͯ͠ ޷͖ͳσόΠεΛͭ͘ΕΔ QJDPSVCZQJDPSVCZ IUUQTHJUIVCDPNQJDPSVCZQJDPSVCZ 7 / 65
8. ొ৔ਓ෺ ίϯτϩʔϥ 8 / 65
9. ొ৔ਓ෺ Ճ଎౓ηϯα 9 / 65
10. ొ৔ਓ෺ Ճ଎౓ηϯα Ճ଎౓ηϯαͷ஋Λ 3PBE
    UP
    3VCZ,BJHJʹ౉͍ͨ͠ 3PBE
    UP
    3VCZ,BJHJ 10 / 65
11. ొ৔ਓ෺ 1JDP3VCZ Ճ଎౓ηϯα 1JDP3VCZͰ Ճ଎౓ηϯαͷ஋ΛಡΈऔΓ 3PBE
    UP
    3VCZ,BJHJ 11 / 65
12. ొ৔ਓ෺ 1JDP3VCZ #MVFUPPUIͰ 3PBE
    UP
    3VCZ,BJHJʹૹ৴ 3PBE
    UP
    3VCZ,BJHJ 12 / 65
13. ొ৔ਓ෺ 1JDP3VCZ #MVFUPPUIͰ 3PBE
    UP
    3VCZ,BJHJʹૹ৴ Ͱ͖ͳ͍ 3PBE
    UP
    3VCZ,BJHJ 13 / 65
14. ొ৔ਓ෺ 1JDP3VCZ #MVFUPPUIͷ ΫϩεϓϥοτϑΥʔϜͳ 3VCZΫϥΠΞϯτ͕ͳ͍ #MVFUPPUIͰ 3PBE
    UP
    3VCZ,BJHJʹૹ৴ Ͱ͖ͳ͍ 3PBE
    UP
    3VCZ,BJHJ 14 / 65
15. ొ৔ਓ෺ ϒϥ΢β 8FC
    #MVFUPPUI
    "1* 8FC
    #MVFUPPUI
    "1*
    
    8FC
    "1*
    c
    .%/ IUUQTEFWFMPQFSNP[JMMBPSHKBEPDT8FC"1*8FC@#MVFUPPUI@"1* 15 / 65
16. ొ৔ਓ෺ ϒϥ΢β 8FC
    #MVFUPPUI
    "1* 8&#SJDLαʔό 3PBE
    UP
    3VCZ,BJHJ 16 / 65
17. ొ৔ਓ෺ 1JDP3VCZ #MVFUPPUI ϒϥ΢β 8&#SJDLαʔό 3PBE
    UP
    3VCZ,BJHJ 17 / 65
18. ొ৔ਓ෺ 1JDP3VCZ #MVFUPPUI ϒϥ΢β )551 8&#SJDLαʔό 3PBE
    UP
    3VCZ,BJHJʹ ૹ৴Ͱ͖ͨ 3PBE
    UP
    3VCZ,BJHJ 18 / 65
19. #MVFUPPUI 19 / 65
20. #-& 🔴 #MVFUPPUI
    -PX
    &OFSHZ 🔴 লిྗ޲͚#MVFUPPUIن֨ 🔴 3BTQCFSSZ
    1J
    1JDP
     8ʹແઢνοϓ͕৐͍ͬͯΔ 🔴 1JDP3VCZ͔Βѻ͑Δ ֓೦ɾ͓࡞๏͕ Ή͔͍ͣ͠ 20 / 65
21. #-&6"35 🔴 6"35 🔴 ػثΛ෺ཧઢͰͭͳ͍Ͱ૒ํ޲ʹόΠτΛૹΔ௨ ৴ํࣜ 🔴 #-&6"35 🔴 6"35Λ#-&ͰԾ૝తʹ࣮ݱ͢Δ1JDP3VCZͷ࣮૷ 🔴 *0ͷΑ͏ͳΠϯλʔϑΣʔεͰѻ͑Δ #-&6"35
    
    QJDPSVCZQJDPSVCZ IUUQTHJUIVCDPNQJDPSVCZQJDPSVCZUSFFNBTUFSNSCHFNTQJDPSVCZCMFVBSU 21 / 65
22. #-&6"35 # ૹ৴ଆ(PicoRuby) ble_uart = BLE::UART.new ble_uart.start do if ble_uart.connected? ble_uart.puts('Hello, BLE::UART!') end end 3VCZͬΆ͍ʂ 22 / 65
23. #-&6"35 # ड৴ଆ(PicoRuby.WASM) # ηοτΞοϓ @buffer = '' server = @device.connect service = server.service(@svc_uuid) @rx_char = service.characteristic(@rx_uuid) @rx_char.on_change { |data| @buffer << data } @rx_char.start_notify 23 / 65
24. #-&6"35 # ड৴ଆ(PicoRuby.WASM) # @bufferΛҰఆ࣌ؒຖʹνΣοΫ͢Δ while (idx = @buffer.index(SEPARATOR)) line = @buffer.slice!(0..idx).strip line.split(SAMPLE_SEPARATOR) .each { |sample| send_data(sample) } end 3VCZͬΆ͍ʜʜʁ 24 / 65
25. #-&6"35 🔴 )551 🔴 ϦΫΤετϝοηʔδ 🔴 #-&6"35 🔴 όΠτετϦʔϜ 🔴 ड৴
    
    ϝοηʔδ 🔴 FH ෳ਺ϝοηʔδɺϝοηʔδ్͕தͰ͖ΕΔ 🔴 ηύϨʔλͰ۠੾Γ௚ͯࣗ͠෼Ͱ૊ΈཱͯΔ 25 / 65
26. #-&6"35 3VCZͬΆ͘ॻ͖͍ͨʂ 26 / 65
27. E3VCZ 27 / 65
28. E3VCZ 🔴 EJTUSJCVUJPO
    3VCZ 🔴 ෼ࢄ3VCZ 🔴 ෼ࢄΦϒδΣΫτγεςϜΛ࣮ݱ͢ΔϥΠϒϥϦ 🔴 ؔকढ़͞Μ࡞ MJCSBSZ
    ESC
    3VCZ
    
    ϦϑΝϨϯεϚχϡΞϧ IUUQTEPDTSVCZMBOHPSHKBMBUFTUMJCSBSZESCIUNM 28 / 65
29. E3VCZ 🔴 ϓϩηε΍ωοτϫʔΫΛ௒͑ͯϝοηʔδΛૹΔ 🔴 ଞϓϩηεͷΦϒδΣΫτͷϝιουΛݺ΂Δ 29 / 65
30. E3VCZ { greeting: 'Hello, Matsue!' } E3VCZೖ໳ऀʹΑΔ͋ͳͨͷ਎ۙʹ͋ΔE3VCZೖ໳
    
    !NBLJDBNFM IUUQTTQFBLFSEFDLDPNNBLJDBNFMESVCZBUUSBDUJPO 30 / 65
31. E3VCZ { greeting: 'Hello, Matsue!' object[:greeting] } E3VCZೖ໳ऀʹΑΔ͋ͳͨͷ਎ۙʹ͋ΔE3VCZೖ໳
    
    !NBLJDBNFM IUUQTTQFBLFSEFDLDPNNBLJDBNFMESVCZBUUSBDUJPO 31 / 65
32. E3VCZ { greeting: 'Hello, Matsue!' object[:greeting] } # => 'Hello, Matsue!' E3VCZೖ໳ऀʹΑΔ͋ͳͨͷ਎ۙʹ͋ΔE3VCZೖ໳
    
    !NBLJDBNFM IUUQTTQFBLFSEFDLDPNNBLJDBNFMESVCZBUUSBDUJPO 32 / 65
33. E3VCZ 🔴 3VCZͬΆ͍ʂ 🔴 #-&
    ͝͠ʹผϓϩηεͷΦϒδΣΫτΛ͞ΘΓ͍ͨ 33 / 65
34. E3VCZ
    PWFS
    #-& 34 / 65
35. E3VCZ
    PWFS
    #-& E3VCZ͸ϓϩτίϧ͕ࠩ͠ସ͑Մೳ 🔴 ϏϧτΠϯ 🔴 Ϣʔβʔ֦ு 🔴 5$1 🔴 8FC4PDLFU 🔴 6/*9υϝΠϯιέοτ 🔴 44- 35 / 65
36. E3VCZ
    PWFS
    #-& E3VCZ͸ϓϩτίϧ͕ࠩ͠ସ͑Մೳ 🔴 ϏϧτΠϯ 🔴 Ϣʔβʔ֦ு 🔴 5$1 🔴 8FC4PDLFU 🔴 6/*9υϝΠϯιέοτ 🔴 #-&
    
    🆕 GPS
    1JDP3VCZ
    
    1JDP3VCZ8"4. 🔴 44- 36 / 65
37. E3VCZ
    GPS
    1JDP3VCZ ΫϥΠΞϯτ αʔό ᶃ
    ΦϒδΣΫτΛެ։ front = Calc.new DRb.start_service( "ble://picoruby", front) 37 / 65
38. E3VCZ
    GPS
    1JDP3VCZ ΫϥΠΞϯτ αʔό ᶄ
    ελϒΛ࡞Δ ᶃ
    ΦϒδΣΫτΛެ։ αʔόͷΞυϨεΛࢦఆ front = Calc.new obj = DRbObject.new( DRb.start_service( "ble://picoruby") "ble://picoruby", front) 38 / 65
39. E3VCZ
    GPS
    1JDP3VCZ ΫϥΠΞϯτ αʔό ᶄ
    ελϒΛ࡞Δ ᶃ
    ΦϒδΣΫτΛެ։ αʔόͷΞυϨεΛࢦఆ front = Calc.new obj = DRbObject.new( DRb.start_service( "ble://picoruby") "ble://picoruby", front) ᶅ
    ϝοηʔδૹ৴ obj.add(1, 2) όΠτྻ΁ม׵ͯ͠ૹ৴ όΠτྻΛૹड৴ 39 / 65
40. E3VCZ
    GPS
    1JDP3VCZ ΫϥΠΞϯτ αʔό ᶄ
    ελϒΛ࡞Δ ᶃ
    ΦϒδΣΫτΛެ։ αʔόͷΞυϨεΛࢦఆ front = Calc.new obj = DRbObject.new( DRb.start_service( "ble://picoruby") "ble://picoruby", front) ᶅ
    ϝοηʔδૹ৴ ᶆ
    ϝιουίʔϧ obj.add(1, 2) όΠτྻΛม׵ͯ͠ϝιουίʔϧ όΠτྻ΁ม׵ͯ͠ૹ৴ front.send(msg_id, *args) όΠτྻΛૹड৴ 40 / 65
41. E3VCZ
    GPS
    1JDP3VCZ ΫϥΠΞϯτ αʔό ᶄ
    ελϒΛ࡞Δ ᶃ
    ΦϒδΣΫτΛެ։ αʔόͷΞυϨεΛࢦఆ front = Calc.new obj = DRbObject.new( DRb.start_service( "ble://picoruby") "ble://picoruby", front) ᶅ
    ϝοηʔδૹ৴ ᶆ
    ϝιουίʔϧ obj.add(1, 2) όΠτྻΛม׵ͯ͠ϝιουίʔϧ όΠτྻ΁ม׵ͯ͠ૹ৴ front.send(msg_id, *args) όΠτྻΛૹड৴ ᶇ
    ݁ՌΛฦ͢ # => 3 41 / 65
42. E3VCZ
    GPS
    1JDP3VCZ ΫϥΠΞϯτ αʔό ᶄ
    ελϒΛ࡞Δ ᶃ
    ΦϒδΣΫτΛެ։ αʔόͷΞυϨεΛࢦఆ front = Calc.new obj = DRbObject.new( DRb.start_service( "ble://picoruby") "ble://picoruby", front) ᶅ
    ϝοηʔδૹ৴ ᶆ
    ϝιουίʔϧ obj.add(1, 2) όΠτྻΛม׵ͯ͠ϝιουίʔϧ όΠτྻ΁ม׵ͯ͠ૹ৴ front.send(msg_id, *args) όΠτྻΛૹड৴ ᶈ
    ݁ՌΛड͚औΔ ᶇ
    ݁ՌΛฦ͢ # => 3 # => 3 42 / 65
43. όΠτྻͷૹड৴ 🔴 DRbMessage 🔴 ϝιουίʔϧɾ໭Γ஋ˡˠόΠτྻͷม׵Λߦ͏ 🔴 ௨৴࿏ʹ৐ͤΒΕΔͷ͸όΠτྻ͚ͩ 🔴 τϥϯεϙʔτͱૄ݁߹ 43 / 65
44. όΠτྻͷૹड৴ 🔴 τϥϯεϙʔτ 🔴 FH 🔴 5$1 🔴 8FC4PDLFU 🔴 #-& 🔴 1JDP3VCZɾ4%,Ͱ࣮૷͞Ε͍ͯΔ 44 / 65
45. όΠτྻͷૹड৴ 🔴 DRbMessage
    
    τϥϯεϙʔτ 🔴 "1*ͷཁ݅ͱ࣮ଶʹ͕ࠩ͋Δ DRbMessage#recv_message | | | BLE::UART#read_nonblock 45 / 65
46. όΠτྻͷૹड৴ 🔴 DRbMessage
    
    ιέοτ
    
    τϥϯεϙʔτ 🔴 "1*ͷཁ݅ͱ࣮ଶͷࠩΛٵऩ͢ΔιέοτΛ࣮૷͢Δ DRbMessage#recv_message | Adapter#read | BLE::UART#read_nonblock 46 / 65
47. E3VCZ
    GPS
    1JDP3VCZ ΫϥΠΞϯτ αʔό ᶄ
    ελϒΛ࡞Δ ᶃ
    ΦϒδΣΫτΛެ։ αʔόͷΞυϨεΛࢦఆ front = Calc.new obj = DRbObject.new( DRb.start_service( "ble://picoruby") #-&༻ιέοτΛ "ble://picoruby", front) ࣮૷͢Δ͚ͩ ᶅ
    ϝοηʔδૹ৴ ᶆ
    ϝιουίʔϧ obj.add(1, 2) όΠτྻΛม׵ͯ͠ϝιουίʔϧ όΠτྻ΁ม׵ͯ͠ૹ৴ front.send(msg_id, *args) όΠτྻΛૹड৴ 47 / 65
48. %3C#-&"EBQUFS 🔴 όΠτྻʹର͢Δૢ࡞͸छྨ 🔴 read 🔴 write DRb::BLE::Adapter#close΋࣮૷͠·͕͢ࠓճ͸ׂѪ 48 / 65
49. %3C#-&"EBQUFS 🔴 DRbMessage 🔴 BLE::UART #recv_message(n) #read_nonblock(n) 🔴 ϒϩοΩϯάඞཁ 🔴 ϒϩοΩϯά͠ͳ͍ 🔴 ஸ౓OόΠτ΄͍͠ 🔴 ʙOόΠτΛฦ͢ ͜ͷࠩΛ DRb::BLE::Adapter#read Ͱٵऩ͢Δ 49 / 65
50. %3C#-&"EBQUFS def read(n) ड৴όοϑΝʹ until @uart.available >= n OόΠτ # ... ཷ·Δ·Ͱ଴ͭ ϒϩοΩϯά sleep_ms 10 end end 50 / 65
51. %3C#-&"EBQUFS def read(n) until @uart.available >= n # ... @uart.poll_once ड৴ύέοτΛ sleep_ms 10 όοϑΝʹੵΉ end end 51 / 65
52. %3C#-&"EBQUFS def read(n) until @uart.available >= n # ... @uart.poll_once sleep_ms 10 end OόΠτཷ·ͬͨΒ @uart.read_nonblock(n) औΓग़ͯ͠ฦ͢ end 52 / 65
53. %3C#-&"EBQUFS 🔴 DRbMessage 🔴 BLE::UART #send_request(data) #write(data) ࣗ෼ͷλΠϛϯάͰόΠτΛૹΕ͹Α͍ 53 / 65
54. %3C#-&"EBQUFS ͦͷ··సૹ͢Δ def write(data) @uart.write(data) end 54 / 65
55. %3C#-& 🔴 ιέοτ͕Ͱ͖ͨ🙌 🔴 αʔόͷ࣮૷ 🔴 Πϯελϯε࡞ͬͨΓ 🔴 ϝοηʔδΛड͚औͬͯϝιουίʔϧͯ͠ฦ͠ ͨΓ͢Δ͚ͩ 55 / 65
56. ΞϓϦଆίʔυ 🔴 CFGPSF # ड৴ଆ(PicoRuby.WASM) # ηοτΞοϓ @buffer = '' server = @device.connect service = server.service(@svc_uuid) @rx_char = service.characteristic(@rx_uuid) @rx_char.on_change { |data| @buffer << data } @rx_char.start_notify # @bufferΛҰఆ࣌ؒຖʹνΣοΫ͢Δ while (idx = @buffer.index(SEPARATOR)) line = @buffer.slice!(0..idx).strip line.split(SAMPLE_SEPARATOR) .each { |sample| send_data(sample) } end Ή͔͍ͣ͠ʜʜ 56 / 65
57. ΞϓϦଆίʔυ 🔴 BGUFS # ड৴ଆ(PicoRuby.WASM) # ηοτΞοϓ @obj = DRb::DRbObject.new_with_uri(uri) # @obj.readΛҰఆ࣌ؒຖʹίʔϧ͢Δ @obj.read.each { |sample| send_data(sample) } 3VCZͬΆ͍ʂ 57 / 65
58. σϞ 58 / 65
59. σϞ 🔴 ಈ͍ͯͳ͍ʜʜʁ 🔴 ඵؒαϯϓϧ਺͕଍Γ͍ͯͳ͍ 59 / 65
60. ༨ஊ 🔴 ϙʔϦϯάϨʔτ௿Լ 🔴 CFGPSF 🔴 ໿αϯϓϧඵ 🔴 BGUFS 🔴 ໿αϯϓϧඵ 😇 60 / 65
61. ༨ஊ 🔴 ϙʔϦϯάϨʔτ௿Լ ʮήʔϜίϯτϩʔϥΈ͍ͨͳͷʹ ɹSFRVFTUSFQMZܕͷ௨৴͸޲͖·ͤΜʯ ʮ
    😇
    ʯ 61 / 65
62. ༨ஊ 🔴 E3VCZ 🔴 QVTI 🔴 SFRVFTUSFQMZܕ 🔴 Ұํ޲ͷετϦʔϜ 🔴 ຖճ 🔴 ߴස౓ʹૹΕͯ௿஗Ԇ ૹ৴ɾ଴ػɾड৴ 🔴 ฦࣄෆཁ 🔴 ௨৴ճ਺͕૿͑Δ 🔴 ฦࣄΛ଴ͭ෼஗͘ͳΔ ༻్ʹ͋ͬͨํ๏ Λબ΅͏ ήʔϜίϯτϩʔϥ͸QVTIܕ޲͖ 62 / 65
63. ͓͠Βͤ 63 / 65
64. 1JDP3VCZ,BJHJ
     "TTFNCMF
    ΍Γ·͢ 64 / 65
65. 1JDP3VCZ,BJHJ
     "TTFNCMF
    ΍Γ·͢ 🔴 1JDP3VCZΛͭ͘Δ࿩ɺ1JDP3VCZͰͭ͘Δ࿩ 🔴 ϓϩϙʔβϧืू͸ࠓ݄։͖·͢ 🔴 
    ౔ 🔴 !ळ༿ݪ 🔴 IUUQTQJDPSVCZLBJHJPSH 65 / 65