132 lines
2.8 KiB
Go
132 lines
2.8 KiB
Go
package gobot
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import (
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"fmt"
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"log"
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"math/rand"
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"time"
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)
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type Robot struct {
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Connections []Connection `json:"connections"`
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Devices []Device `json:"devices"`
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Name string `json:"name"`
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Commands map[string]interface{} `json:"-"`
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RobotCommands []string `json:"commands"`
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Work func() `json:"-"`
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connections []*connection `json:"-"`
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devices []*device `json:"-"`
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}
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func (r *Robot) Start() {
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m := GobotMaster()
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m.Robots = []Robot{*r}
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m.Start()
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}
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func (r *Robot) startRobot() {
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r.initName()
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r.initCommands()
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r.initConnections()
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r.initDevices()
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if r.startConnections() != true {
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panic("Could not start connections")
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}
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if r.startDevices() != true {
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panic("Could not start devices")
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}
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if r.Work != nil {
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r.Work()
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}
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}
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func (r *Robot) initName() {
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if r.Name == "" {
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rand.Seed(time.Now().UTC().UnixNano())
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i := rand.Int()
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r.Name = fmt.Sprintf("Robot %v", i)
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}
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}
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func (r *Robot) initCommands() {
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for k, _ := range r.Commands {
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r.RobotCommands = append(r.RobotCommands, k)
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}
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}
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func (r *Robot) initConnections() {
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r.connections = make([]*connection, len(r.Connections))
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log.Println("Initializing connections...")
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for i, connection := range r.Connections {
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log.Println("Initializing connection ", FieldByNamePtr(connection, "Name"), "...")
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r.connections[i] = NewConnection(connection, r)
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}
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}
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func (r *Robot) initDevices() {
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r.devices = make([]*device, len(r.Devices))
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log.Println("Initializing devices...")
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for i, device := range r.Devices {
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log.Println("Initializing device ", FieldByNamePtr(device, "Name"), "...")
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r.devices[i] = NewDevice(device, r)
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}
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}
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func (r *Robot) startConnections() bool {
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log.Println("Starting connections...")
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success := true
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for _, connection := range r.connections {
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log.Println("Starting connection " + connection.Name + "...")
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if connection.Connect() == false {
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success = false
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break
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}
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}
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return success
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}
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func (r *Robot) startDevices() bool {
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log.Println("Starting devices...")
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success := true
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for _, device := range r.devices {
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log.Println("Starting device " + device.Name + "...")
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if device.Start() == false {
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success = false
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break
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}
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}
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return success
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}
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func (r *Robot) finalizeConnections() {
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for _, connection := range r.connections {
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connection.Finalize()
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}
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}
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func (r *Robot) GetDevices() []*device {
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return r.devices
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}
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func (r *Robot) GetDevice(name string) *device {
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for _, device := range r.devices {
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if device.Name == name {
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return device
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}
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}
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return nil
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}
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func (r *Robot) GetConnections() []*connection {
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return r.connections
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}
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func (r *Robot) GetConnection(name string) *connection {
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for _, connection := range r.connections {
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if connection.Name == name {
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return connection
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}
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}
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return nil
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}
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