Merge pull request #3 from hybridgroup/api

Gobot RESful API

README.md

@@ -54,6 +54,20 @@ func main() {
   robot.Start()
 }
 ```
+## API:
+
+Gobot includes a RESTful API to query the status of any robot running within a group, including the connection and device status, and execute device commands.
+
+To activate the API, use the `Api` command like this:
+
+```go	
+  master := gobot.GobotMaster()
+  gobot.Api(master)
+```
+To specify the api port run your Gobot program with the `PORT` environment variable
+```
+  $ PORT=8080 go run gobotProgram.go
+```
 
 ## Hardware Support
 Gobot has a extensible system for connecting to hardware devices. The following robotics and physical computing platforms are currently supported:

api.go

@@ -0,0 +1,60 @@
+package gobot
+
+import (
+	"encoding/json"
+	"github.com/codegangsta/martini"
+	"net/http"
+)
+
+type api struct{}
+
+func Api(bot *Master) {
+	a := new(api)
+	m := martini.Classic()
+
+	m.Get("/robots", func() string {
+		return toJson(bot.Robots)
+	})
+
+	m.Get("/robots/:robotname", func(params martini.Params) string {
+		return toJson(bot.FindRobot(params["robotname"]))
+	})
+
+	m.Get("/robots/:robotname/devices", func(params martini.Params) string {
+		return toJson(bot.FindRobot(params["robotname"]).GetDevices())
+	})
+
+	m.Get("/robots/:robotname/devices/:devicename", func(params martini.Params) string {
+		return toJson(bot.FindRobotDevice(params["robotname"], params["devicename"]))
+	})
+
+	m.Get("/robots/:robotname/devices/:devicename/commands", func(params martini.Params) string {
+		return toJson(bot.FindRobotDevice(params["robotname"], params["devicename"]).Commands())
+	})
+
+	command_route := "/robots/:robotname/devices/:devicename/commands/:command"
+
+	m.Get(command_route, func(params martini.Params, res http.ResponseWriter, req *http.Request) string {
+		return a.executeCommand(bot, params, res, req)
+	})
+	m.Post(command_route, func(params martini.Params, res http.ResponseWriter, req *http.Request) string {
+		return a.executeCommand(bot, params, res, req)
+	})
+
+	go m.Run()
+}
+
+func (a *api) executeCommand(bot *Master, params martini.Params, res http.ResponseWriter, req *http.Request) string {
+	decoder := json.NewDecoder(req.Body)
+	var body map[string]interface{}
+	decoder.Decode(&body)
+	robot := bot.FindRobotDevice(params["robotname"], params["devicename"])
+	commands := robot.Commands().([]string)
+	for command := range commands {
+		if commands[command] == params["command"] {
+			ret := Call(robot.Driver, params["command"], body)
+			return toJson(map[string]interface{}{"results": ret})
+		}
+	}
+	return toJson(map[string]interface{}{"results": "Unknown Command"})
+}

connection.go

@@ -9,7 +9,7 @@ type Connection struct {
 	Name    string
 	Adaptor interface{}
 	Port    string
-	Robot   *Robot
+	Robot   *Robot `json:"-"`
 	Params  map[string]string
 }
 

device.go

@@ -8,7 +8,7 @@ import (
 type Device struct {
 	Name     string
 	Interval string
-	Robot    *Robot
+	Robot    *Robot `json:"-"`
 	Driver   interface{}
 	Params   map[string]string
 }
@@ -29,6 +29,6 @@ func (d *Device) Start() {
 	}
 }
 
-func (d *Device) Command(method_name string, arguments []string) {
-	//dt.Driver.Command(method_name, arguments)
+func (d *Device) Commands() interface{} {
+	return reflect.ValueOf(d.Driver).Elem().FieldByName("Commands").Interface()
 }

driver.go

@@ -7,7 +7,8 @@ type Driver struct {
 	Pin      string
 	Name     string
 	Params   map[string]string
-	Events   map[string]chan interface{}
+	Commands []string
+	Events   map[string]chan interface{} `json:"-"`
 }
 
 func NewDriver(d Driver) Driver {

examples/sphero_api.go

@@ -0,0 +1,38 @@
+package main
+
+import (
+	"github.com/hybridgroup/gobot"
+	"github.com/hybridgroup/gobot-sphero"
+)
+
+func main() {
+	master := gobot.GobotMaster()
+	gobot.Api(master)
+
+	spheros := map[string]string{
+		"Sphero-BPO": "127.0.0.1:4560",
+	}
+
+	for name, port := range spheros {
+		spheroAdaptor := new(gobotSphero.SpheroAdaptor)
+		spheroAdaptor.Name = "sphero"
+		spheroAdaptor.Port = port
+
+		sphero := gobotSphero.NewSphero(spheroAdaptor)
+		sphero.Name = "sphero"
+		sphero.Interval = "0.5s"
+
+		work := func() {
+			sphero.SetRGB(uint8(255), uint8(0), uint8(0))
+		}
+
+		master.Robots = append(master.Robots, gobot.Robot{
+			Name:        name,
+			Connections: []interface{}{spheroAdaptor},
+			Devices:     []interface{}{sphero},
+			Work:        work,
+		})
+	}
+
+	master.Start()
+}

examples/sphero_master.go

@@ -0,0 +1,46 @@
+package main
+
+import (
+	"github.com/hybridgroup/gobot"
+	"github.com/hybridgroup/gobot-sphero"
+)
+
+func main() {
+	master := gobot.GobotMaster()
+
+	spheros := map[string]string{
+		"Sphero-BPO": "127.0.0.1:4560",
+	}
+
+	for name, port := range spheros {
+		spheroAdaptor := new(gobotSphero.SpheroAdaptor)
+		spheroAdaptor.Name = "sphero"
+		spheroAdaptor.Port = port
+
+		sphero := gobotSphero.NewSphero(spheroAdaptor)
+		sphero.Name = "sphero"
+		sphero.Interval = "0.5s"
+
+		work := func() {
+			sphero.SetRGB(uint8(255), uint8(0), uint8(0))
+		}
+
+		master.Robots = append(master.Robots, gobot.Robot{
+			Name:        name,
+			Connections: []interface{}{spheroAdaptor},
+			Devices:     []interface{}{sphero},
+			Work:        work,
+		})
+	}
+
+	master.Robots = append(master.Robots, gobot.Robot{
+		Work: func() {
+			sphero := master.FindRobot("Sphero-BPO")
+			gobot.Every("1s", func() {
+				gobot.Call(sphero.GetDevice("sphero").Driver, "SetRGB", uint8(gobot.Rand(255)), uint8(gobot.Rand(255)), uint8(gobot.Rand(255)))
+			})
+		},
+	})
+
+	master.Start()
+}

master.go

@@ -0,0 +1,55 @@
+package gobot
+
+import "time"
+
+type Master struct {
+	Robots []Robot
+}
+
+func GobotMaster() *Master {
+	m := new(Master)
+	return m
+}
+
+func (m *Master) Start() {
+	for s := range m.Robots {
+		go m.Robots[s].Start()
+	}
+
+	for {
+		time.Sleep(10 * time.Millisecond)
+	}
+}
+
+func (m *Master) FindRobot(name string) *Robot {
+	for s := range m.Robots {
+		if m.Robots[s].Name == name {
+			return &m.Robots[s]
+		}
+	}
+	return nil
+}
+func (m *Master) FindRobotDevice(name string, device string) *Device {
+	for r := range m.Robots {
+		if m.Robots[r].Name == name {
+			for d := range m.Robots[r].devices {
+				if m.Robots[r].devices[d].Name == device {
+					return m.Robots[r].devices[d]
+				}
+			}
+		}
+	}
+	return nil
+}
+func (m *Master) FindRobotConnection(name string, connection string) *Connection {
+	for r := range m.Robots {
+		if m.Robots[r].Name == name {
+			for c := range m.Robots[r].connections {
+				if m.Robots[r].connections[c].Name == connection {
+					return m.Robots[r].connections[c]
+				}
+			}
+		}
+	}
+	return nil
+}

robot.go

@@ -11,9 +11,9 @@ type Robot struct {
 	Connections []interface{}
 	Devices     []interface{}
 	Name        string
-	Work        func()
-	connections []*Connection
-	devices     []*Device
+	Work        func()        `json:"-"`
+	connections []*Connection `json:"-"`
+	devices     []*Device     `json:"-"`
 }
 
 func (r *Robot) Start() {
@@ -65,3 +65,16 @@ func (r *Robot) startDevices() {
 		r.devices[i].Start()
 	}
 }
+
+func (r *Robot) GetDevices() []*Device {
+	return r.devices
+}
+
+func (r *Robot) GetDevice(name string) *Device {
+	for i := range r.devices {
+		if r.devices[i].Name == name {
+			return r.devices[i]
+		}
+	}
+	return nil
+}

utils.go

@@ -1,8 +1,10 @@
 package gobot
 
 import (
+	"encoding/json"
 	"math/rand"
 	"net"
+	"reflect"
 	"time"
 )
 
@@ -25,9 +27,6 @@ func After(t string, f func()) {
 }
 
 func parseDuration(t string) time.Duration {
-	return ParseDuration(t)
-}
-func ParseDuration(t string) time.Duration {
 	dur, err := time.ParseDuration(t)
 	if err != nil {
 		panic(err)
@@ -35,9 +34,9 @@ func ParseDuration(t string) time.Duration {
 	return dur
 }
 
-func Random(min int, max int) int {
+func Rand(max int) int {
 	rand.Seed(time.Now().UTC().UnixNano())
-	return rand.Intn(max-min) + min
+	return rand.Intn(max)
 }
 
 func On(cs chan interface{}) interface{} {
@@ -47,15 +46,6 @@ func On(cs chan interface{}) interface{} {
 	return nil
 }
 
-func Work(robots []Robot) {
-	for s := range robots {
-		go robots[s].Start()
-	}
-	for {
-		time.Sleep(10 * time.Millisecond)
-	}
-}
-
 func ConnectTo(port string) net.Conn {
 	tcpPort, err := net.Dial("tcp", port)
 	if err != nil {
@@ -63,3 +53,16 @@ func ConnectTo(port string) net.Conn {
 	}
 	return tcpPort
 }
+
+func Call(thing interface{}, method string, params ...interface{}) []reflect.Value {
+	in := make([]reflect.Value, len(params))
+	for k, param := range params {
+		in[k] = reflect.ValueOf(param)
+	}
+	return reflect.ValueOf(thing).MethodByName(method).Call(in)
+}
+
+func toJson(obj interface{}) string {
+	b, _ := json.Marshal(obj)
+	return string(b)
+}