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CodeDaze Episode II It is a dark time for the galaxy. The new GO ORDER has seized power over the systems, imposing it’s diabolical 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...

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A Droid’s™ Journey with mruby & Go

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Chase McCarthy @code0100fun

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Terence Lee @hone02

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Austin, TX

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Austin, TX

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These are the droids you're looking for... August 2017 Sphero Announces R2-D2

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Best R2-D2 replica toy

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What can I do with this thing?

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R2D2 + Ruby = ?

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Ruby on Robots

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● Sphero support* ● *Only Bluetooth Classic ● No support for BLE! ● No BB8! GitHub issue #165 Artoo

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Gobot

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Pure Go BLE library *Linux and OS X only github.com/go-ble/ble

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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() }

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gobot.NewRobot() bleAdaptor := ble.NewClientAdaptor(os.Args[1]) robot := gobot.NewRobot("bb", []gobot.Connection{bleAdaptor}, []gobot.Device{bb8}, work, ) robot.Start()

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gobot.NewRobot() bb8 := bb8.NewDriver(bleAdaptor) robot := gobot.NewRobot("bb", []gobot.Connection{bleAdaptor}, []gobot.Device{bb8}, work, ) robot.Start()

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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()

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gobot.NewRobot() robot := gobot.NewRobot("bb", []gobot.Connection{bleAdaptor}, []gobot.Device{bb8}, work, ) robot.Start()

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Demo

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No R2-D2 Driver

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Where do we start?

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Terminology ● BLE - Bluetooth Low Energy ○ Modern Bluetooth 4.* spec ● GATT - Generic Attribute ○ Like a BLE plugin system

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What do we need to know?

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Services ● Encapsulate the behavior of part of a device ● Collection of data and associated behaviors

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Service API

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Characteristics ● The API of a service ● The “endpoints” to control a device

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How do we find the services?

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BlueZ

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gatttool $ sudo hcitool lescan

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gatttool $ sudo hcitool lescan LE Scan ... DF:59:60:07:1F:3B D2-1F3B

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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

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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.

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Attempt #2

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Bluetooth Sniffing Process

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Sniffing: Over-the-air https://www.adafruit.com/product/2269

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Attempt #3

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Sniffing: Man-in-the-middle

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Sniffing: Man-in-the-middle

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Sniffing: Man-in-the-middle

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Sniffing: Man-in-the-middle

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Sniffing: Man-in-the-middle

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Sniffing: Man-in-the-middle https://github.com/DigitalSecurity/btlejuice BtleJuice Framework

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There is a better way!

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Sniffing: btsnoop (Android 8+)

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Sniffing: btsnoop (Android 8+)

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Sniffing: btsnoop (Android 8+)

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Sniffing: btsnoop (Android 8+)

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Sniffing: btsnoop (Android 8+)

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BLE Packet Sniffing (Android 8+)

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BLE Packet Sniffing (Android 8+) FS > data > misc > bluetooth > logs

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BLE Packet Sniffing (Android 8+)

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BLE Packet Sniffing (Android 8+)

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BLE Packet Sniffing (Android 8+) Service UUID

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BLE Packet Sniffing (Android 8+) Characteristic UUID

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BLE Packet Sniffing (Android 8+) Packet Value

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● Reset logfiles ● Send a command from the app ● Dump logfiles ● Load and find command ● Record value ● Repeat ● Repeat again ● ...and again Extracting Commands

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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

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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

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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

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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

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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

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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

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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}) }

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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

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Packet Sending

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Is Go the only option?

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Ruby Native Extensions in Go

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Ruby concurrency limitations

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Packaging

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Embed mruby in Go

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Go has better concurrency primitives

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mruby & go have a packaging story

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mitchellh/go-mruby

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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()) }

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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()) }

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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()) }

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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()) }

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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()) }

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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()) }

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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()) }

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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()) }

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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()) }

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1. go-mruby: Builds libmruby.a Build Process

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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

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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

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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"

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DeeToo

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Vision ● Only need to write Ruby ● Extensible (leverage existing work) ● Coordinate multiple async tasks ● Utilize Actor model ○ Droids as actors ○ Droid components as actors ● Actors pass messages to communicate intents

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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

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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

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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

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R2D2 Dome Demo $ ./deetoo examples/r2d2_dome.mrb

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Setup mruby

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startWorker()

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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() }

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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() }

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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() }

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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) }() }

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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) }() }

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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) }() }

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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) }() }

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Define mruby Classes

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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) }() }

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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 }

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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 }

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R2D2.new

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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) }() }

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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

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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 }

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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 }

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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 }

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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 }

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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

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dome() Method Call

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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 }

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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 }

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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 }

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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)) }

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Managing Droid Connections

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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() }

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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() }

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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 }

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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() }

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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) }() }

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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 }

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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 }

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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 }

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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 }

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Final Demo

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Future/Roadmap ● Single binary by compiling the mruby byte code into libmruby.a ● Cross compiling the deetoo tool ● Message passing between mrb files

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Thank You https://github.com/code0100fun/deetoo