112 lines
2.5 KiB
Go
112 lines
2.5 KiB
Go
package gobot
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import (
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"log"
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"os"
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"os/signal"
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)
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// JSONGobot holds a JSON representation of a Gobot.
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type JSONGobot struct {
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Robots []*JSONRobot `json:"robots"`
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Commands []string `json:"commands"`
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}
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// ToJSON returns a JSON representation of this Gobot.
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func NewJSONGobot(gobot *Gobot) *JSONGobot {
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jsonGobot := &JSONGobot{
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Robots: []*JSONRobot{},
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Commands: []string{},
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}
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for command := range gobot.Commands() {
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jsonGobot.Commands = append(jsonGobot.Commands, command)
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}
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gobot.robots.Each(func(r *Robot) {
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jsonGobot.Robots = append(jsonGobot.Robots, NewJSONRobot(r))
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})
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return jsonGobot
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}
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// Gobot is a container composed of one or more robots
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type Gobot struct {
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robots *robots
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trap func(chan os.Signal)
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Commander
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Eventer
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}
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// NewGobot returns a new Gobot
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func NewGobot() *Gobot {
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return &Gobot{
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robots: &robots{},
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trap: func(c chan os.Signal) {
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signal.Notify(c, os.Interrupt)
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},
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Commander: NewCommander(),
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Eventer: NewEventer(),
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}
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}
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// Start calls the Start method on each robot in it's collection of robots, and
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// stops all robots on reception of a SIGINT. Start will block the execution of
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// your main function until it receives the SIGINT.
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func (g *Gobot) Start() (errs []error) {
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if rerrs := g.robots.Start(); len(rerrs) > 0 {
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for _, err := range rerrs {
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log.Println("Error:", err)
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errs = append(errs, err)
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}
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}
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c := make(chan os.Signal, 1)
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g.trap(c)
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if len(errs) > 0 {
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// there was an error during start, so we immediatly pass the interrupt
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// in order to disconnect the initialized robots, connections and devices
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c <- os.Interrupt
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}
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// waiting for interrupt coming on the channel
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_ = <-c
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g.robots.Each(func(r *Robot) {
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log.Println("Stopping Robot", r.Name, "...")
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if herrs := r.Devices().Halt(); len(herrs) > 0 {
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for _, err := range herrs {
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log.Println("Error:", err)
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errs = append(errs, err)
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}
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}
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if cerrs := r.Connections().Finalize(); len(cerrs) > 0 {
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for _, err := range cerrs {
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log.Println("Error:", err)
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errs = append(errs, err)
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}
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}
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})
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return errs
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}
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// Robots returns all robots associated with this Gobot instance.
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func (g *Gobot) Robots() *robots {
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return g.robots
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}
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// AddRobot adds a new robot to the internal collection of robots. Returns the
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// added robot
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func (g *Gobot) AddRobot(r *Robot) *Robot {
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*g.robots = append(*g.robots, r)
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return r
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}
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// Robot returns a robot given name. Returns nil on no robot.
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func (g *Gobot) Robot(name string) *Robot {
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for _, robot := range *g.Robots() {
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if robot.Name == name {
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return robot
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}
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}
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return nil
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}
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