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gobot: rename Master to Manager (#1070)

This commit is contained in:
Thomas Kohler 2024-02-13 16:30:25 +01:00 committed by GitHub
parent 27d0b2164c
commit c159228f48
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GPG Key ID: B5690EEEBB952194
33 changed files with 206 additions and 206 deletions
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22
CHANGELOG.md
View File

@ -1183,7 +1183,7 @@
### core
* Add Running() methods for Master and Robot and increase test coverage accordingly
* Add Running() methods for Manager and Robot and increase test coverage accordingly
### sysfs
@ -1647,9 +1647,9 @@
### core
* Refactoring to allow 'Metal' development using Gobot packages
* Able to run robots without being part of a Master.
* Able to run robots without being part of a Manager.
* Now running all work in separate goroutines
* Rename internal name of Master type
* Rename internal name of Manager type
* Refactor events to use channels all the way down.
* Eliminate potential race conditions from Events and Every functions
* Add Unsubscribe() to Eventer, now Once() works as expected
@ -1657,7 +1657,7 @@
* Ranges over event channels instead of using select
* No longer return non-standard slices of errors, instead use hashicorp/go-multierror
* Ensure that all drivers have default names
* Now both Robot and Master operate using AutoRun as expected
* Now both Robot and Manager operate using AutoRun as expected
* Use canonical import domain of gobot.io for all code
* Use time.Sleep unless waiting for a timeout in a select
* Uses time.NewTimer() instead of time.After() to be more efficient
@ -2456,7 +2456,7 @@
* Replaced ginkgo/gomega with system testing package
* Refactor gobot/robot/device commands
* Added Event type
* Replaced Master type with Gobot type
* Replaced Manager type with Gobot type
* Every` and `After` now accept `time.Duration`
* Removed reflection helper methods
@ -2580,7 +2580,7 @@
* Finalize on SIGINT
* Publish function for driver events
* device test coverage
* master and robot test coverage
* manager and robot test coverage
### Clean
@ -2600,7 +2600,7 @@
### Refactor
* robot and master
* robot and manager
### Remove
@ -2636,8 +2636,8 @@
* Travis banner to README
* api commands
* POST command
* master example
* robot master
* manager example
* robot manager
* Sphero example
* Digispark to list of supported platforms
* helper functions
@ -2737,11 +2737,11 @@
### Rename
* Gobot struct to Master
* Gobot struct to Manager
### Set
* GOMAXPROCS property in GobotMaster
* GOMAXPROCS property in GobotManager
### Skeleton

44
README.md
View File

@ -78,8 +78,8 @@ func main() {
work := func() {
gobot.Every(1*time.Second, func() {
if err := led.Toggle(); err != nil {
fmt.Println(err)
}
fmt.Println(err)
}
})
}
@ -90,8 +90,8 @@ func main() {
)
if err := robot.Start(); err != nil {
panic(err)
}
panic(err)
}
}
```
@ -148,26 +148,26 @@ import (
func main() {
e := edison.NewAdaptor()
if err := e.Connect(); err != nil {
fmt.Println(err)
}
fmt.Println(err)
}
led := gpio.NewLedDriver(e, "13")
if err := led.Start(); err != nil {
fmt.Println(err)
}
fmt.Println(err)
}
for {
if err := led.Toggle(); err != nil {
fmt.Println(err)
}
fmt.Println(err)
}
time.Sleep(1000 * time.Millisecond)
}
}
```
### "Master" Gobot
### "Manager" Gobot
You can also use the full capabilities of the framework aka "Master Gobot" to control swarms of robots or other features
You can also use the full capabilities of the framework aka "Manager Gobot" to control swarms of robots or other features
such as the built-in API server. For example:
```go
@ -216,8 +216,8 @@ func NewSwarmBot(port string) *gobot.Robot {
}
func main() {
master := gobot.NewMaster()
api.NewAPI(master).Start()
manager := gobot.NewManager()
api.NewAPI(manager).Start()
spheros := []string{
"/dev/rfcomm0",
@ -227,12 +227,12 @@ func main() {
}
for _, port := range spheros {
master.AddRobot(NewSwarmBot(port))
manager.AddRobot(NewSwarmBot(port))
}
if err := master.Start(); err != nil {
panic(err)
}
if err := manager.Start(); err != nil {
panic(err)
}
}
```
@ -416,15 +416,15 @@ device status, and execute device commands.
To activate the API, import the `gobot.io/x/gobot/v2/api` package and instantiate the `API` like this:
```go
master := gobot.NewMaster()
api.NewAPI(master).Start()
manager := gobot.NewManager()
api.NewAPI(manager).Start()
```
You can also specify the api host and port, and turn on authentication:
```go
master := gobot.NewMaster()
server := api.NewAPI(master)
manager := gobot.NewManager()
server := api.NewAPI(manager)
server.Port = "4000"
server.AddHandler(api.BasicAuth("gort", "klatuu"))
server.Start()

36
api/api.go
View File

@ -17,7 +17,7 @@ import (
// API represents an API server
type API struct {
master *gobot.Master
manager *gobot.Manager
router *pat.PatternServeMux
Host string
Port string
@ -28,11 +28,11 @@ type API struct {
}
// NewAPI returns a new api instance
func NewAPI(m *gobot.Master) *API {
func NewAPI(m *gobot.Manager) *API {
return &API{
master: m,
router: pat.New(),
Port: "3000",
manager: m,
router: pat.New(),
Port: "3000",
start: func(a *API) {
log.Println("Initializing API on " + a.Host + ":" + a.Port + "...")
http.Handle("/", a)
@ -196,20 +196,20 @@ func (a *API) robeaux(res http.ResponseWriter, req *http.Request) {
// mcp returns MCP route handler.
// Writes JSON with gobot representation
func (a *API) mcp(res http.ResponseWriter, req *http.Request) {
a.writeJSON(map[string]interface{}{"MCP": gobot.NewJSONMaster(a.master)}, res)
a.writeJSON(map[string]interface{}{"MCP": gobot.NewJSONManager(a.manager)}, res)
}
// mcpCommands returns commands route handler.
// Writes JSON with global commands representation
func (a *API) mcpCommands(res http.ResponseWriter, req *http.Request) {
a.writeJSON(map[string]interface{}{"commands": gobot.NewJSONMaster(a.master).Commands}, res)
a.writeJSON(map[string]interface{}{"commands": gobot.NewJSONManager(a.manager).Commands}, res)
}
// robots returns route handler.
// Writes JSON with robots representation
func (a *API) robots(res http.ResponseWriter, req *http.Request) {
jsonRobots := []*gobot.JSONRobot{}
a.master.Robots().Each(func(r *gobot.Robot) {
a.manager.Robots().Each(func(r *gobot.Robot) {
jsonRobots = append(jsonRobots, gobot.NewJSONRobot(r))
})
a.writeJSON(map[string]interface{}{"robots": jsonRobots}, res)
@ -238,7 +238,7 @@ func (a *API) robotCommands(res http.ResponseWriter, req *http.Request) {
// robotDevices returns devices route handler.
// Writes JSON with robot devices representation
func (a *API) robotDevices(res http.ResponseWriter, req *http.Request) {
if robot := a.master.Robot(req.URL.Query().Get(":robot")); robot != nil {
if robot := a.manager.Robot(req.URL.Query().Get(":robot")); robot != nil {
jsonDevices := []*gobot.JSONDevice{}
robot.Devices().Each(func(d gobot.Device) {
jsonDevices = append(jsonDevices, gobot.NewJSONDevice(d))
@ -268,11 +268,11 @@ func (a *API) robotDeviceEvent(res http.ResponseWriter, req *http.Request) {
res.Header().Set("Cache-Control", "no-cache")
res.Header().Set("Connection", "keep-alive")
device := a.master.Robot(req.URL.Query().Get(":robot")).
device := a.manager.Robot(req.URL.Query().Get(":robot")).
Device(req.URL.Query().Get(":device"))
//nolint:forcetypeassert // no error return value, so there is no better way
if event := a.master.Robot(req.URL.Query().Get(":robot")).
if event := a.manager.Robot(req.URL.Query().Get(":robot")).
Device(req.URL.Query().Get(":device")).(gobot.Eventer).
Event(req.URL.Query().Get(":event")); len(event) > 0 {
//nolint:forcetypeassert // no error return value, so there is no better way
@ -314,7 +314,7 @@ func (a *API) robotDeviceCommands(res http.ResponseWriter, req *http.Request) {
// writes JSON with robot connections representation
func (a *API) robotConnections(res http.ResponseWriter, req *http.Request) {
jsonConnections := []*gobot.JSONConnection{}
if robot := a.master.Robot(req.URL.Query().Get(":robot")); robot != nil {
if robot := a.manager.Robot(req.URL.Query().Get(":robot")); robot != nil {
robot.Connections().Each(func(c gobot.Connection) {
jsonConnections = append(jsonConnections, gobot.NewJSONConnection(c))
})
@ -336,7 +336,7 @@ func (a *API) robotConnection(res http.ResponseWriter, req *http.Request) {
// executeMcpCommand calls a global command associated to requested route
func (a *API) executeMcpCommand(res http.ResponseWriter, req *http.Request) {
a.executeCommand(a.master.Command(req.URL.Query().Get(":command")),
a.executeCommand(a.manager.Command(req.URL.Query().Get(":command")),
res,
req,
)
@ -350,7 +350,7 @@ func (a *API) executeRobotDeviceCommand(res http.ResponseWriter, req *http.Reque
} else {
a.executeCommand(
//nolint:forcetypeassert // no error return value, so there is no better way
a.master.Robot(req.URL.Query().Get(":robot")).
a.manager.Robot(req.URL.Query().Get(":robot")).
Device(req.URL.Query().Get(":device")).(gobot.Commander).
Command(req.URL.Query().Get(":command")),
res,
@ -365,7 +365,7 @@ func (a *API) executeRobotCommand(res http.ResponseWriter, req *http.Request) {
a.writeJSON(map[string]interface{}{"error": err.Error()}, res)
} else {
a.executeCommand(
a.master.Robot(req.URL.Query().Get(":robot")).
a.manager.Robot(req.URL.Query().Get(":robot")).
Command(req.URL.Query().Get(":command")),
res,
req,
@ -410,14 +410,14 @@ func (a *API) Debug() {
}
func (a *API) jsonRobotFor(name string) (*gobot.JSONRobot, error) {
if robot := a.master.Robot(name); robot != nil {
if robot := a.manager.Robot(name); robot != nil {
return gobot.NewJSONRobot(robot), nil
}
return nil, fmt.Errorf("No Robot found with the name %s", name)
}
func (a *API) jsonDeviceFor(robot string, name string) (*gobot.JSONDevice, error) {
if device := a.master.Robot(robot).Device(name); device != nil {
if device := a.manager.Robot(robot).Device(name); device != nil {
return gobot.NewJSONDevice(device), nil
}
@ -425,7 +425,7 @@ func (a *API) jsonDeviceFor(robot string, name string) (*gobot.JSONDevice, error
}
func (a *API) jsonConnectionFor(robot string, name string) (*gobot.JSONConnection, error) {
if connection := a.master.Robot(robot).Connection(name); connection != nil {
if connection := a.manager.Robot(robot).Connection(name); connection != nil {
return gobot.NewJSONConnection(connection), nil
}

8
api/api_test.go
View File

@ -19,7 +19,7 @@ import (
func initTestAPI() *API {
log.SetOutput(NullReadWriteCloser{})
g := gobot.NewMaster()
g := gobot.NewManager()
a := NewAPI(g)
a.start = func(m *API) {}
a.Start()
@ -38,7 +38,7 @@ func initTestAPI() *API {
func TestStartWithoutDefaults(t *testing.T) {
log.SetOutput(NullReadWriteCloser{})
g := gobot.NewMaster()
g := gobot.NewManager()
a := NewAPI(g)
a.start = func(m *API) {}
@ -396,13 +396,13 @@ func TestRobotDeviceEvent(t *testing.T) {
respc <- resp
}()
event := a.master.Robot("Robot1").
event := a.manager.Robot("Robot1").
Device("Device1").(gobot.Eventer).
Event("TestEvent")
go func() {
time.Sleep(time.Millisecond * 5)
a.master.Robot("Robot1").
a.manager.Robot("Robot1").
Device("Device1").(gobot.Eventer).Publish(event, "event-data")
}()

4
api/doc.go
View File

@ -13,14 +13,14 @@ Example:
)
func main() {
gbot := gobot.NewMaster()
gbot := gobot.NewManager()
// Starts the API server on default port 3000
api.NewAPI(gbot).Start()
// Accessible via http://localhost:3000/api/commands/say_hello
gbot.AddCommand("say_hello", func(params map[string]interface{}) interface{} {
return "Master says hello!"
return "Manager says hello!"
})
hello := gbot.AddRobot(gobot.NewRobot("Eve"))

12
doc.go
View File

@ -76,9 +76,9 @@ pure idiomatic Golang code. For example:
}
}
# Master Gobot
# Manager Gobot
Finally, you can use Master Gobot to add the complete Gobot API or control swarms of Robots:
Finally, you can use Manager Gobot to add the complete Gobot API or control swarms of Robots:
package main
@ -125,8 +125,8 @@ Finally, you can use Master Gobot to add the complete Gobot API or control swarm
}
func main() {
master := gobot.NewMaster()
api.NewAPI(master).Start()
manager := gobot.NewManager()
api.NewAPI(manager).Start()
spheros := []string{
"/dev/rfcomm0",
@ -136,10 +136,10 @@ Finally, you can use Master Gobot to add the complete Gobot API or control swarm
}
for _, port := range spheros {
master.AddRobot(NewSwarmBot(port))
manager.AddRobot(NewSwarmBot(port))
}
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

2
examples/batty.go
View File

@ -15,7 +15,7 @@ import (
)
func main() {
gbot := gobot.NewMaster()
gbot := gobot.NewManager()
api.NewAPI(gbot).Start()

8
examples/bleclient_multiple_generic.go
View File

@ -53,15 +53,15 @@ func NewSwarmBot(port string) *gobot.Robot {
}
func main() {
master := gobot.NewMaster()
api.NewAPI(master).Start()
manager := gobot.NewManager()
api.NewAPI(manager).Start()
for _, port := range os.Args[1:] {
bot := NewSwarmBot(port)
master.AddRobot(bot)
manager.AddRobot(bot)
}
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

8
examples/bleclient_multiple_info.go
View File

@ -71,15 +71,15 @@ func NewSwarmBot(port string) *gobot.Robot {
}
func main() {
master := gobot.NewMaster()
api.NewAPI(master).Start()
manager := gobot.NewManager()
api.NewAPI(manager).Start()
for _, port := range os.Args[1:] {
bot := NewSwarmBot(port)
master.AddRobot(bot)
manager.AddRobot(bot)
}
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

8
examples/bleclient_ollie_multiple.go
View File

@ -47,15 +47,15 @@ func NewSwarmBot(port string) *gobot.Robot {
}
func main() {
master := gobot.NewMaster()
api.NewAPI(master).Start()
manager := gobot.NewManager()
api.NewAPI(manager).Start()
for _, port := range os.Args[1:] {
bot := NewSwarmBot(port)
master.AddRobot(bot)
manager.AddRobot(bot)
}
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

8
examples/digispark_api.go
View File

@ -14,8 +14,8 @@ import (
)
func main() {
master := gobot.NewMaster()
api.NewAPI(master).Start()
manager := gobot.NewManager()
api.NewAPI(manager).Start()
digisparkAdaptor := digispark.NewAdaptor()
led := gpio.NewLedDriver(digisparkAdaptor, "0")
@ -25,9 +25,9 @@ func main() {
[]gobot.Device{led},
)
master.AddRobot(robot)
manager.AddRobot(robot)
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

8
examples/edison_button_led_api.go
View File

@ -16,8 +16,8 @@ import (
)
func main() {
master := gobot.NewMaster()
api.NewAPI(master).Start()
manager := gobot.NewManager()
api.NewAPI(manager).Start()
e := edison.NewAdaptor()
@ -43,9 +43,9 @@ func main() {
work,
)
master.AddRobot(robot)
manager.AddRobot(robot)
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

8
examples/firmata_blink_api.go
View File

@ -17,8 +17,8 @@ import (
)
func main() {
master := gobot.NewMaster()
a := api.NewAPI(master)
manager := gobot.NewManager()
a := api.NewAPI(manager)
a.Start()
firmataAdaptor := firmata.NewAdaptor("/dev/ttyACM0")
@ -38,9 +38,9 @@ func main() {
work,
)
master.AddRobot(robot)
manager.AddRobot(robot)
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

10
examples/firmata_travis.go
View File

@ -88,16 +88,16 @@ func checkTravis(robot *gobot.Robot) {
}
func main() {
master := gobot.NewMaster()
manager := gobot.NewManager()
firmataAdaptor := firmata.NewAdaptor(os.Args[1])
red := gpio.NewLedDriver(firmataAdaptor, "7", gpio.WithName("red"))
green := gpio.NewLedDriver(firmataAdaptor, "6", gpio.WithName("green"))
blue := gpio.NewLedDriver(firmataAdaptor, "5", gpio.WithName("blue"))
work := func() {
checkTravis(master.Robot("travis"))
checkTravis(manager.Robot("travis"))
gobot.Every(10*time.Second, func() {
checkTravis(master.Robot("travis"))
checkTravis(manager.Robot("travis"))
})
}
@ -107,8 +107,8 @@ func main() {
work,
)
master.AddRobot(robot)
if err := master.Start(); err != nil {
manager.AddRobot(robot)
if err := manager.Start(); err != nil {
panic(err)
}
}

10
examples/hello_api.go
View File

@ -16,27 +16,27 @@ import (
)
func main() {
master := gobot.NewMaster()
manager := gobot.NewManager()
a := api.NewAPI(master)
a := api.NewAPI(manager)
a.AddHandler(func(w http.ResponseWriter, r *http.Request) {
fmt.Fprintf(w, "Hello, %q \n", html.EscapeString(r.URL.Path))
})
a.Debug()
a.Start()
master.AddCommand("custom_gobot_command",
manager.AddCommand("custom_gobot_command",
func(params map[string]interface{}) interface{} {
return "This command is attached to the mcp!"
})
hello := master.AddRobot(gobot.NewRobot("hello"))
hello := manager.AddRobot(gobot.NewRobot("hello"))
hello.AddCommand("hi_there", func(params map[string]interface{}) interface{} {
return fmt.Sprintf("This command is attached to the robot %v", hello.Name)
})
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

10
examples/hello_api_auth.go
View File

@ -16,9 +16,9 @@ import (
)
func main() {
master := gobot.NewMaster()
manager := gobot.NewManager()
a := api.NewAPI(master)
a := api.NewAPI(manager)
a.AddHandler(api.BasicAuth("gort", "klatuu"))
a.Debug()
@ -27,18 +27,18 @@ func main() {
})
a.Start()
master.AddCommand("custom_gobot_command",
manager.AddCommand("custom_gobot_command",
func(params map[string]interface{}) interface{} {
return "This command is attached to the mcp!"
})
hello := master.AddRobot(gobot.NewRobot("hello"))
hello := manager.AddRobot(gobot.NewRobot("hello"))
hello.AddCommand("hi_there", func(params map[string]interface{}) interface{} {
return fmt.Sprintf("This command is attached to the robot %v", hello.Name)
})
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

10
examples/hello_api_custom.go
View File

@ -15,9 +15,9 @@ import (
)
func main() {
master := gobot.NewMaster()
manager := gobot.NewManager()
a := api.NewAPI(master)
a := api.NewAPI(manager)
// creates routes/handlers for the custom API
a.Get("/", func(res http.ResponseWriter, req *http.Request) {
@ -26,7 +26,7 @@ func main() {
}
})
a.Get("/api/hello", func(res http.ResponseWriter, req *http.Request) {
msg := fmt.Sprintf("This command is attached to the robot %v", master.Robot("hello").Name)
msg := fmt.Sprintf("This command is attached to the robot %v", manager.Robot("hello").Name)
if _, err := res.Write([]byte(msg)); err != nil {
fmt.Println(err)
}
@ -35,9 +35,9 @@ func main() {
// starts the API without the default C2PIO API and Robeaux web interface.
a.StartWithoutDefaults()
master.AddRobot(gobot.NewRobot("hello"))
manager.AddRobot(gobot.NewRobot("hello"))
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

8
examples/hello_api_video.go
View File

@ -28,9 +28,9 @@ func main() {
// parse args
deviceID := os.Args[1]
master := gobot.NewMaster()
manager := gobot.NewManager()
a := api.NewAPI(master)
a := api.NewAPI(manager)
// add the standard C3PIO API routes manually.
a.AddC3PIORoutes()
@ -40,7 +40,7 @@ func main() {
// means the REST API will be available, but not the web interface.
a.StartWithoutDefaults()
hello := master.AddRobot(gobot.NewRobot("hello"))
hello := manager.AddRobot(gobot.NewRobot("hello"))
hello.AddCommand("hi_there", func(params map[string]interface{}) interface{} {
return fmt.Sprintf("This command is attached to the robot %v", hello.Name)
@ -61,7 +61,7 @@ func main() {
// start capturing
go mjpegCapture()
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

8
examples/particle_api.go
View File

@ -25,8 +25,8 @@ import (
)
func main() {
master := gobot.NewMaster()
api.NewAPI(master).Start()
manager := gobot.NewManager()
api.NewAPI(manager).Start()
core := particle.NewAdaptor(os.Args[1], os.Args[2])
led := gpio.NewLedDriver(core, "D7")
@ -45,9 +45,9 @@ func main() {
work,
)
master.AddRobot(robot)
manager.AddRobot(robot)
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

8
examples/pebble.go
View File

@ -15,8 +15,8 @@ import (
)
func main() {
master := gobot.NewMaster()
api := api.NewAPI(master)
manager := gobot.NewManager()
api := api.NewAPI(manager)
api.Port = "8080"
api.Start()
@ -40,9 +40,9 @@ func main() {
work,
)
master.AddRobot(robot)
manager.AddRobot(robot)
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

8
examples/pebble_accelerometer.go
View File

@ -15,8 +15,8 @@ import (
)
func main() {
master := gobot.NewMaster()
a := api.NewAPI(master)
manager := gobot.NewManager()
a := api.NewAPI(manager)
a.Port = "8080"
a.Start()
@ -35,9 +35,9 @@ func main() {
work,
)
master.AddRobot(robot)
manager.AddRobot(robot)
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

8
examples/serialport_sphero_api.go
View File

@ -14,8 +14,8 @@ import (
)
func main() {
master := gobot.NewMaster()
api.NewAPI(master).Start()
manager := gobot.NewManager()
api.NewAPI(manager).Start()
spheros := map[string]string{
"Sphero-BPO": "/dev/rfcomm0",
@ -39,10 +39,10 @@ func main() {
return nil
})
master.AddRobot(robot)
manager.AddRobot(robot)
}
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

8
examples/serialport_sphero_calibration.go
View File

@ -15,8 +15,8 @@ import (
)
func main() {
master := gobot.NewMaster()
a := api.NewAPI(master)
manager := gobot.NewManager()
a := api.NewAPI(manager)
a.Start()
ballConn := serialport.NewAdaptor("/dev/rfcomm0")
@ -62,9 +62,9 @@ func main() {
work,
)
master.AddRobot(robot)
manager.AddRobot(robot)
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

6
examples/serialport_sphero_conways.go
View File

@ -25,7 +25,7 @@ type conway struct {
}
func main() {
master := gobot.NewMaster()
manager := gobot.NewManager()
spheros := []string{
"/dev/rfcomm0",
@ -67,10 +67,10 @@ func main() {
work,
)
master.AddRobot(robot)
manager.AddRobot(robot)
}
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

8
examples/serialport_sphero_dpad.go
View File

@ -16,8 +16,8 @@ import (
)
func main() {
master := gobot.NewMaster()
a := api.NewAPI(master)
manager := gobot.NewManager()
a := api.NewAPI(manager)
a.Start()
conn := serialport.NewAdaptor("/dev/rfcomm0")
@ -47,9 +47,9 @@ func main() {
return "ok"
})
master.AddRobot(robot)
manager.AddRobot(robot)
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

10
examples/serialport_sphero_master.go
View File

@ -15,7 +15,7 @@ import (
)
func main() {
master := gobot.NewMaster()
manager := gobot.NewManager()
spheros := map[string]string{
"Sphero-BPO": "/dev/rfcomm0",
@ -35,13 +35,13 @@ func main() {
work,
)
master.AddRobot(robot)
manager.AddRobot(robot)
}
robot := gobot.NewRobot("",
func() {
gobot.Every(1*time.Second, func() {
sphero := master.Robot("Sphero-BPO").Device("sphero").(*sphero.SpheroDriver)
sphero := manager.Robot("Sphero-BPO").Device("sphero").(*sphero.SpheroDriver)
sphero.SetRGB(uint8(gobot.Rand(255)),
uint8(gobot.Rand(255)),
uint8(gobot.Rand(255)),
@ -50,9 +50,9 @@ func main() {
},
)
master.AddRobot(robot)
manager.AddRobot(robot)
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

8
examples/serialport_sphero_multiple.go
View File

@ -50,8 +50,8 @@ func NewSwarmBot(port string) *gobot.Robot {
}
func main() {
master := gobot.NewMaster()
api.NewAPI(master).Start()
manager := gobot.NewManager()
api.NewAPI(manager).Start()
spheros := []string{
"/dev/rfcomm0",
@ -61,10 +61,10 @@ func main() {
}
for _, port := range spheros {
master.AddRobot(NewSwarmBot(port))
manager.AddRobot(NewSwarmBot(port))
}
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

8
examples/square.go
View File

@ -17,8 +17,8 @@ import (
)
func main() {
master := gobot.NewMaster()
a := api.NewAPI(master)
manager := gobot.NewManager()
a := api.NewAPI(manager)
a.Start()
board := edison.NewAdaptor()
@ -103,9 +103,9 @@ func main() {
return enabled
})
master.AddRobot(robot)
manager.AddRobot(robot)
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

8
examples/square_fire.go
View File

@ -17,8 +17,8 @@ import (
)
func main() {
master := gobot.NewMaster()
a := api.NewAPI(master)
manager := gobot.NewManager()
a := api.NewAPI(manager)
a.Start()
board := edison.NewAdaptor()
@ -103,9 +103,9 @@ func main() {
return enabled
})
master.AddRobot(robot)
manager.AddRobot(robot)
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}

38
master.go → manager.go
View File

@ -6,15 +6,15 @@ import (
"sync/atomic"
)
// JSONMaster is a JSON representation of a Gobot Master.
type JSONMaster struct {
// JSONManager is a JSON representation of a Gobot Manager.
type JSONManager struct {
Robots []*JSONRobot `json:"robots"`
Commands []string `json:"commands"`
}
// NewJSONMaster returns a JSONMaster given a Gobot Master.
func NewJSONMaster(gobot *Master) *JSONMaster {
jsonGobot := &JSONMaster{
// NewJSONManager returns a JSONManager given a Gobot Manager.
func NewJSONManager(gobot *Manager) *JSONManager {
jsonGobot := &JSONManager{
Robots: []*JSONRobot{},
Commands: []string{},
}
@ -29,9 +29,9 @@ func NewJSONMaster(gobot *Master) *JSONMaster {
return jsonGobot
}
// Master is the main type of your Gobot application and contains a collection of
// Robots, API commands that apply to the Master, and Events that apply to the Master.
type Master struct {
// Manager is the main type of your Gobot application and contains a collection of
// Robots, API commands that apply to the Manager, and Events that apply to the Manager.
type Manager struct {
robots *Robots
trap func(chan os.Signal)
AutoRun bool
@ -40,9 +40,9 @@ type Master struct {
Eventer
}
// NewMaster returns a new Gobot Master
func NewMaster() *Master {
m := &Master{
// NewManager returns a new Gobot Manager
func NewManager() *Manager {
m := &Manager{
robots: &Robots{},
trap: func(c chan os.Signal) {
signal.Notify(c, os.Interrupt)
@ -58,7 +58,7 @@ func NewMaster() *Master {
// Start calls the Start method on each robot in its collection of robots. On
// error, call Stop to ensure that all robots are returned to a sane, stopped
// state.
func (g *Master) Start() error {
func (g *Manager) Start() error {
if err := g.robots.Start(!g.AutoRun); err != nil {
return err
}
@ -80,31 +80,31 @@ func (g *Master) Start() error {
}
// Stop calls the Stop method on each robot in its collection of robots.
func (g *Master) Stop() error {
func (g *Manager) Stop() error {
err := g.robots.Stop()
g.running.Store(false)
return err
}
// Running returns if the Master is currently started or not
func (g *Master) Running() bool {
// Running returns if the Manager is currently started or not
func (g *Manager) Running() bool {
return g.running.Load().(bool) //nolint:forcetypeassert // no error return value, so there is no better way
}
// Robots returns all robots associated with this Gobot Master.
func (g *Master) Robots() *Robots {
// Robots returns all robots associated with this Gobot Manager.
func (g *Manager) Robots() *Robots {
return g.robots
}
// AddRobot adds a new robot to the internal collection of robots. Returns the
// added robot
func (g *Master) AddRobot(r *Robot) *Robot {
func (g *Manager) AddRobot(r *Robot) *Robot {
*g.robots = append(*g.robots, r)
return r
}
// Robot returns a robot given name. Returns nil if the Robot does not exist.
func (g *Master) Robot(name string) *Robot {
func (g *Manager) Robot(name string) *Robot {
for _, robot := range *g.Robots() {
if robot.Name == name {
return robot

42
master_test.go → manager_test.go
View File

@ -13,9 +13,9 @@ import (
"github.com/stretchr/testify/require"
)
func initTestMaster() *Master {
func initTestManager() *Manager {
log.SetOutput(&NullReadWriteCloser{})
g := NewMaster()
g := NewManager()
g.trap = func(c chan os.Signal) {
c <- os.Interrupt
}
@ -25,9 +25,9 @@ func initTestMaster() *Master {
return g
}
func initTestMaster1Robot() *Master {
func initTestManager1Robot() *Manager {
log.SetOutput(&NullReadWriteCloser{})
g := NewMaster()
g := NewManager()
g.trap = func(c chan os.Signal) {
c <- os.Interrupt
}
@ -45,8 +45,8 @@ func TestNullReadWriteCloser(t *testing.T) {
require.NoError(t, n.Close())
}
func TestMasterRobot(t *testing.T) {
g := initTestMaster()
func TestManagerRobot(t *testing.T) {
g := initTestManager()
assert.Equal(t, "Robot1", g.Robot("Robot1").Name)
assert.Equal(t, (*Robot)(nil), g.Robot("Robot4"))
assert.Equal(t, (Device)(nil), g.Robot("Robot4").Device("Device1"))
@ -58,25 +58,25 @@ func TestMasterRobot(t *testing.T) {
assert.Equal(t, 3, g.Robot("Robot1").Connections().Len())
}
func TestMasterToJSON(t *testing.T) {
g := initTestMaster()
func TestManagerToJSON(t *testing.T) {
g := initTestManager()
g.AddCommand("test_function", func(params map[string]interface{}) interface{} {
return nil
})
json := NewJSONMaster(g)
json := NewJSONManager(g)
assert.Len(t, json.Robots, g.Robots().Len())
assert.Len(t, json.Commands, len(g.Commands()))
}
func TestMasterStart(t *testing.T) {
g := initTestMaster()
func TestManagerStart(t *testing.T) {
g := initTestManager()
require.NoError(t, g.Start())
require.NoError(t, g.Stop())
assert.False(t, g.Running())
}
func TestMasterStartAutoRun(t *testing.T) {
g := NewMaster()
func TestManagerStartAutoRun(t *testing.T) {
g := NewManager()
g.AddRobot(newTestRobot("Robot99"))
go func() { _ = g.Start() }()
time.Sleep(10 * time.Millisecond)
@ -87,8 +87,8 @@ func TestMasterStartAutoRun(t *testing.T) {
assert.False(t, g.Running())
}
func TestMasterStartDriverErrors(t *testing.T) {
g := initTestMaster1Robot()
func TestManagerStartDriverErrors(t *testing.T) {
g := initTestManager1Robot()
e := errors.New("driver start error 1")
testDriverStart = func() error {
return e
@ -105,8 +105,8 @@ func TestMasterStartDriverErrors(t *testing.T) {
testDriverStart = func() error { return nil }
}
func TestMasterHaltFromRobotDriverErrors(t *testing.T) {
g := initTestMaster1Robot()
func TestManagerHaltFromRobotDriverErrors(t *testing.T) {
g := initTestManager1Robot()
var ec int
testDriverHalt = func() error {
ec++
@ -123,8 +123,8 @@ func TestMasterHaltFromRobotDriverErrors(t *testing.T) {
assert.Equal(t, want, g.Start())
}
func TestMasterStartRobotAdaptorErrors(t *testing.T) {
g := initTestMaster1Robot()
func TestManagerStartRobotAdaptorErrors(t *testing.T) {
g := initTestManager1Robot()
var ec int
testAdaptorConnect = func() error {
ec++
@ -144,8 +144,8 @@ func TestMasterStartRobotAdaptorErrors(t *testing.T) {
testAdaptorConnect = func() error { return nil }
}
func TestMasterFinalizeErrors(t *testing.T) {
g := initTestMaster1Robot()
func TestManagerFinalizeErrors(t *testing.T) {
g := initTestManager1Robot()
var ec int
testAdaptorFinalize = func() error {
ec++

12
platforms/pebble/README.md
View File

@ -29,8 +29,8 @@ import (
)
func main() {
master := gobot.NewMaster()
api.NewAPI(master).Start()
manager := gobot.NewManager()
api.NewAPI(manager).Start()
pebbleAdaptor := pebble.NewAdaptor()
watch := pebble.NewDriver(pebbleAdaptor)
@ -52,11 +52,11 @@ func main() {
work,
)
master.AddRobot(robot)
manager.AddRobot(robot)
if err := master.Start(); err != nil {
panic(err)
}
if err := manager.Start(); err != nil {
panic(err)
}
}
```

8
platforms/pebble/doc.go
View File

@ -24,8 +24,8 @@ your computer IP, robot name is 'pebble' and robot api port is 8080
)
func main() {
master := gobot.NewMaster()
api.NewAPI(master).Start()
manager := gobot.NewManager()
api.NewAPI(manager).Start()
pebbleAdaptor := pebble.NewAdaptor()
watch := pebble.NewDriver(pebbleAdaptor)
@ -47,9 +47,9 @@ your computer IP, robot name is 'pebble' and robot api port is 8080
work,
)
master.AddRobot(robot)
manager.AddRobot(robot)
if err := master.Start(); err != nil {
if err := manager.Start(); err != nil {
panic(err)
}
}