72 lines
1.1 KiB
Go
72 lines
1.1 KiB
Go
package gobot
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import (
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"os"
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"os/signal"
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"runtime"
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)
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type Master struct {
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Robots []*Robot
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NumCPU int
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Api *api
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}
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func GobotMaster() *Master {
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m := new(Master)
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m.NumCPU = runtime.NumCPU()
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return m
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}
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var trap = func(c chan os.Signal) {
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signal.Notify(c, os.Interrupt)
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}
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func (m *Master) Start() {
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runtime.GOMAXPROCS(m.NumCPU)
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if m.Api != nil {
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m.Api.StartApi()
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}
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for s := range m.Robots {
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m.Robots[s].startRobot()
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}
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var c = make(chan os.Signal, 1)
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trap(c)
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for _ = range c {
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for r := range m.Robots {
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m.Robots[r].haltDevices()
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m.Robots[r].finalizeConnections()
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}
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break
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}
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}
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func (m *Master) FindRobot(name string) *Robot {
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for _, robot := range m.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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func (m *Master) FindRobotDevice(name string, device string) *device {
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robot := m.FindRobot(name)
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if robot != nil {
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return robot.GetDevice(device)
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}
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return nil
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}
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func (m *Master) FindRobotConnection(name string, connection string) *connection {
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robot := m.FindRobot(name)
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if robot != nil {
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return robot.GetConnection(connection)
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}
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return nil
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}
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