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