A Droid's Journey - CodeDaze 2018

Intro: http://codedaze-deetoo-intro.herokuapp.com/

1. CodeDaze Episode II It is a dark time for the galaxy. The new GO ORDER has seized power over the systems, imposing it’s diabolical rules on the population. Space battles are being fought across the galaxy and the TAB fighters are winning. The ORDER has been busy converting historic libraries, compiling their scripts into new libraries that will bend to the will of GO. With the support of a large group of fanatic and loyal followers it seems all other languages will be lost to the might of the ORDER. But a small RUBY ALLIANCE has plans to hijack the ORDER’s Goroutines and in doing so, embed itself into their droid network. A difficult task lies ahead... A surprisingly short time ago, when this conference was not too far away...
2. A Droid’s™ Journey with mruby & Go
3. Chase McCarthy @code0100fun
5. Terence Lee @hone02
7. Austin, TX
8. Austin, TX
9. These are the droids you're looking for... August 2017 Sphero Announces R2-D2
10. Best R2-D2 replica toy
11. What can I do with this thing?
12. R2D2 + Ruby = ?
13. Ruby on Robots
14. • Sphero support* • *Only Bluetooth Classic • No support for BLE! • No BB8! GitHub issue #165 Artoo
15. Gobot
16. Pure Go BLE library *Linux and OS X only github.com/go-ble/ble
17. BB8 Hello World func main() { bleAdaptor := ble.NewClientAdaptor(os.Args[1]) bb8 := bb8.NewDriver(bleAdaptor) work := func() { gobot.Every(1*time.Second, func() { r := uint8(gobot.Rand(255)) g := uint8(gobot.Rand(255)) b := uint8(gobot.Rand(255)) bb8.SetRGB(r, g, b) }) } robot := gobot.NewRobot("bb", []gobot.Connection{bleAdaptor}, []gobot.Device{bb8}, work, ) robot.Start() }
18. gobot.NewRobot() bleAdaptor := ble.NewClientAdaptor(os.Args[1]) robot := gobot.NewRobot("bb", []gobot.Connection{bleAdaptor}, []gobot.Device{bb8}, work, ) robot.Start()
19. gobot.NewRobot() bb8 := bb8.NewDriver(bleAdaptor) robot := gobot.NewRobot("bb", []gobot.Connection{bleAdaptor}, []gobot.Device{bb8}, work, ) robot.Start()
20. gobot.NewRobot() work := func() { gobot.Every(1*time.Second, func() { r := uint8(gobot.Rand(255)) g := uint8(gobot.Rand(255)) b := uint8(gobot.Rand(255)) bb8.SetRGB(r, g, b) }) } robot := gobot.NewRobot("bb", []gobot.Connection{bleAdaptor}, []gobot.Device{bb8}, work, ) robot.Start()
21. gobot.NewRobot() robot := gobot.NewRobot("bb", []gobot.Connection{bleAdaptor}, []gobot.Device{bb8}, work, ) robot.Start()
22. Demo
23. No R2-D2 Driver
24. Where do we start?
26. Terminology • BLE - Bluetooth Low Energy ◦ Modern Bluetooth 4.* spec • GATT - Generic Attribute ◦ Like a BLE plugin system
27. What do we need to know?
28. Services • Encapsulate the behavior of part of a device • Collection of data and associated behaviors
29. Service API
30. Characteristics • The API of a service • The “endpoints” to control a device
32. How do we find the services?
33. BlueZ
34. gatttool $ sudo hcitool lescan
35. gatttool $ sudo hcitool lescan LE Scan ... DF:59:60:07:1F:3B D2-1F3B
36. gatttool $ sudo hcitool lescan LE Scan ... DF:59:60:07:1F:3B D2-1F3B $ gatttool -b DF:59:60:07:1F:3B -I [DF:59:60:07:1F:3B][LE]> connect Attempting to connect to DF:59:60:07:1F:3B Connection successful
37. gatttool $ sudo hcitool lescan LE Scan ... DF:59:60:07:1F:3B D2-1F3B $ gatttool -b DF:59:60:07:1F:3B -I [DF:59:60:07:1F:3B][LE]> connect Attempting to connect to DF:59:60:07:1F:3B Connection successful [DF:59:60:07:1F:3B][LE]> (gatttool:11398): GLib-WARNING **: Invalid file descriptor.
38. Attempt #2
39. Bluetooth Sniffing Process
40. Sniffing: Over-the-air https://www.adafruit.com/product/2269
41. Attempt #3
42. Sniffing: Man-in-the-middle
43. Sniffing: Man-in-the-middle
44. Sniffing: Man-in-the-middle
45. Sniffing: Man-in-the-middle
46. Sniffing: Man-in-the-middle
47. Sniffing: Man-in-the-middle https://github.com/DigitalSecurity/btlejuice BtleJuice Framework
48. There is a better way!
49. Sniffing: btsnoop (Android 8+)
50. Sniffing: btsnoop (Android 8+)
51. Sniffing: btsnoop (Android 8+)
52. Sniffing: btsnoop (Android 8+)
53. Sniffing: btsnoop (Android 8+)
54. BLE Packet Sniffing (Android 8+)
55. BLE Packet Sniffing (Android 8+) FS > data > misc > bluetooth > logs
56. BLE Packet Sniffing (Android 8+)
57. BLE Packet Sniffing (Android 8+)
58. BLE Packet Sniffing (Android 8+) Service UUID
59. BLE Packet Sniffing (Android 8+) Characteristic UUID
60. BLE Packet Sniffing (Android 8+) Packet Value
61. • Reset logfiles • Send a command from the app • Dump logfiles • Load and find command • Record value • Repeat • Repeat again • ...and again Extracting Commands
62. Look for patterns Tripod - 8d:0a:17:0d:01:01:cf:d8 Bipod - 8d:0a:17:0d:02:02:cd:d8 Tripod - 8d:0a:17:0d:03:01:cd:d8 Bipod - 8d:0a:17:0d:04:02:cb:d8 Tripod - 8d:0a:17:0d:05:01:cb:d8
63. Look for patterns Tripod - 8d:0a:17:0d:01:01:cf:d8 Bipod - 8d:0a:17:0d:02:02:cd:d8 Tripod - 8d:0a:17:0d:03:01:cd:d8 Bipod - 8d:0a:17:0d:04:02:cb:d8 Tripod - 8d:0a:17:0d:05:01:cb:d8 Same for all
64. Look for patterns Tripod - 8d:0a:17:0d:01:01:cf:d8 Bipod - 8d:0a:17:0d:02:02:cd:d8 Tripod - 8d:0a:17:0d:03:01:cd:d8 Bipod - 8d:0a:17:0d:04:02:cb:d8 Tripod - 8d:0a:17:0d:05:01:cb:d8 Changing
65. Look for patterns Tripod - 8d:0a:17:0d:01:01:cf:d8 Bipod - 8d:0a:17:0d:02:02:cd:d8 Tripod - 8d:0a:17:0d:03:01:cd:d8 Bipod - 8d:0a:17:0d:04:02:cb:d8 Tripod - 8d:0a:17:0d:05:01:cb:d8 Sequence
66. Look for patterns Tripod - 8d:0a:17:0d:01:01:cf:d8 Bipod - 8d:0a:17:0d:02:02:cd:d8 Tripod - 8d:0a:17:0d:03:01:cd:d8 Bipod - 8d:0a:17:0d:04:02:cb:d8 Tripod - 8d:0a:17:0d:05:01:cb:d8 Command Value
67. Look for patterns Tripod - 8d:0a:17:0d:01:01:cf:d8 Bipod - 8d:0a:17:0d:02:02:cd:d8 Tripod - 8d:0a:17:0d:03:01:cd:d8 Bipod - 8d:0a:17:0d:04:02:cb:d8 Tripod - 8d:0a:17:0d:05:01:cb:d8 Checksum ~((0x0a + 0x17 + 0x0d + 0x05 + 0x01) % 0xFF) = 0xcb
68. R2D2 Driver package r2d2 type Driver struct { name string connection gobot.Connection seq uint8 mtx sync.Mutex collisionResponse []uint8 packetChannel chan *packet gobot.Eventer } func (b *Driver) Tripod() { log.Print("Tripod") b.packetChannel <- b.craftPacket(0x17, 0x0d, []uint8{0x01}) }
69. func (b *Driver) Tripod() { log.Print("Tripod") b.packetChannel <- b.craftPacket(0x17, 0x0d, []uint8{0x01}) } func (b *Driver) craftPacket(did byte, cid byte, body []uint8) *packet { b.mtx.Lock() defer b.mtx.Unlock() packet := new(packet) packet.header = []uint8{0x8d, 0x0a, did, cid, b.seq} packet.body = body packet.checksum = b.calculateChecksum(packet) packet.footer = []uint8{0xd8} return packet } craftPacket 8d:0a:17:0d:01:01:cf:d8
70. Packet Sending
71. Is Go the only option?
72. Ruby Native Extensions in Go
73. Ruby concurrency limitations
74. Packaging
75. Embed mruby in Go
76. Go has better concurrency primitives
77. mruby & go have a packaging story
78. mitchellh/go-mruby
79. go-mruby Hello World func main() { mrb := mruby.NewMrb() defer mrb.Close() addFunc := func(m *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := m.GetArgs() return mruby.Int(args[0].Fixnum() + args[1].Fixnum()), nil } class := mrb.DefineClass("Example", nil) class.DefineClassMethod("add", addFunc, mruby.ArgsReq(2)) result, err := mrb.LoadString(`Example.add(12, 30)`) if err != nil { panic(err.Error()) } fmt.Printf("Result: %s\n", result.String()) }
80. go-mruby Hello World func main() { mrb := mruby.NewMrb() defer mrb.Close() addFunc := func(m *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := m.GetArgs() return mruby.Int(args[0].Fixnum() + args[1].Fixnum()), nil } class := mrb.DefineClass("Example", nil) class.DefineClassMethod("add", addFunc, mruby.ArgsReq(2)) result, err := mrb.LoadString(`Example.add(12, 30)`) if err != nil { panic(err.Error()) } fmt.Printf("Result: %s\n", result.String()) }
81. go-mruby Hello World func main() { mrb := mruby.NewMrb() defer mrb.Close() addFunc := func(m *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := m.GetArgs() return mruby.Int(args[0].Fixnum() + args[1].Fixnum()), nil } class := mrb.DefineClass("Example", nil) class.DefineClassMethod("add", addFunc, mruby.ArgsReq(2)) result, err := mrb.LoadString(`Example.add(12, 30)`) if err != nil { panic(err.Error()) } fmt.Printf("Result: %s\n", result.String()) }
82. go-mruby Hello World func main() { mrb := mruby.NewMrb() defer mrb.Close() addFunc := func(m *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := m.GetArgs() return mruby.Int(args[0].Fixnum() + args[1].Fixnum()), nil } class := mrb.DefineClass("Example", nil) class.DefineClassMethod("add", addFunc, mruby.ArgsReq(2)) result, err := mrb.LoadString(`Example.add(12, 30)`) if err != nil { panic(err.Error()) } fmt.Printf("Result: %s\n", result.String()) }
83. go-mruby Hello World func main() { mrb := mruby.NewMrb() defer mrb.Close() addFunc := func(m *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := m.GetArgs() return mruby.Int(args[0].Fixnum() + args[1].Fixnum()), nil } class := mrb.DefineClass("Example", nil) class.DefineClassMethod("add", addFunc, mruby.ArgsReq(2)) result, err := mrb.LoadString(`Example.add(12, 30)`) if err != nil { panic(err.Error()) } fmt.Printf("Result: %s\n", result.String()) }
84. go-mruby Hello World func main() { mrb := mruby.NewMrb() defer mrb.Close() addFunc := func(m *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := m.GetArgs() return mruby.Int(args[0].Fixnum() + args[1].Fixnum()), nil } class := mrb.DefineClass("Example", nil) class.DefineClassMethod("add", addFunc, mruby.ArgsReq(2)) result, err := mrb.LoadString(`Example.add(12, 30)`) if err != nil { panic(err.Error()) } fmt.Printf("Result: %s\n", result.String()) }
85. go-mruby Hello World func main() { mrb := mruby.NewMrb() defer mrb.Close() addFunc := func(m *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := m.GetArgs() return mruby.Int(args[0].Fixnum() + args[1].Fixnum()), nil } class := mrb.DefineClass("Example", nil) class.DefineClassMethod("add", addFunc, mruby.ArgsReq(2)) result, err := mrb.LoadString(`Example.add(12, 30)`) if err != nil { panic(err.Error()) } fmt.Printf("Result: %s\n", result.String()) }
86. go-mruby Hello World func main() { mrb := mruby.NewMrb() defer mrb.Close() addFunc := func(m *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := m.GetArgs() return mruby.Int(args[0].Fixnum() + args[1].Fixnum()), nil } class := mrb.DefineClass("Example", nil) class.DefineClassMethod("add", addFunc, mruby.ArgsReq(2)) result, err := mrb.LoadString(`Example.add(12, 30)`) if err != nil { panic(err.Error()) } fmt.Printf("Result: %s\n", result.String()) }
87. go-mruby Hello World func main() { mrb := mruby.NewMrb() defer mrb.Close() addFunc := func(m *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := m.GetArgs() return mruby.Int(args[0].Fixnum() + args[1].Fixnum()), nil } class := mrb.DefineClass("Example", nil) class.DefineClassMethod("add", addFunc, mruby.ArgsReq(2)) result, err := mrb.LoadString(`Example.add(12, 30)`) if err != nil { panic(err.Error()) } fmt.Printf("Result: %s\n", result.String()) }
88. 1. go-mruby: Builds libmruby.a Build Process
89. 1. go-mruby: Builds libmruby.a - MRUBY_CONFIG allows us to specify our own build_config.rb Build Process MRuby::Build.new do |conf| toolchain :gcc conf.gem :git => 'https://github.com/matsumoto-r/mruby-sleep.git' conf.gem :core => 'mruby-random' conf.gembox 'default' end
90. 1. go-mruby: Builds libmruby.a - MRUBY_CONFIG allows us to specify our own build_config.rb - vendor mruby: clones mruby from github - build mruby - copy libmruby.a out Build Process
91. 1. go-mruby: Builds libmruby.a - MRUBY_CONFIG allows us to specify our own build_config.rb - vendor mruby: clones mruby from github - build mruby - copy libmruby.a out 2. `go build` links against libmruby.a using Cgo Build Process // #cgo CFLAGS: -Ivendor/mruby/include // #cgo LDFLAGS: ${SRCDIR}/libmruby.a -lm import "C"
92. DeeToo
93. Vision • Only need to write Ruby • Extensible (leverage existing work) • Coordinate multiple async tasks • Utilize Actor model ◦ Droids as actors ◦ Droid components as actors • Actors pass messages to communicate intents
94. r2d2_dome.mrb droid = R2D2.new("D2-1F3B") heading = 0; direction = -1 while true do droid.dome(heading) direction = -1 if heading >= 180 direction = 1 if heading <= -160 heading = heading + direction Sleep::usleep(100) end
95. r2d2_dome.mrb droid = R2D2.new("D2-1F3B") heading = 0; direction = -1 while true do droid.dome(heading) direction = -1 if heading >= 180 direction = 1 if heading <= -160 heading = heading + direction Sleep::usleep(100) end
96. r2d2_dome.mrb droid = R2D2.new("D2-1F3B") heading = 0; direction = -1 while true do droid.dome(heading) direction = -1 if heading >= 180 direction = 1 if heading <= -160 heading = heading + direction Sleep::usleep(100) end
97. R2D2 Dome Demo $ ./deetoo examples/r2d2_dome.mrb
98. Setup mruby
99. startWorker()
100. startWorker() func main() { var wg sync.WaitGroup table := NewDroidTable() argsWithoutProg := os.Args[1:] for _, mrbFile := range argsWithoutProg { startWorker(mrbFile, table, &wg) } c := make(chan os.Signal, 1) signal.Notify(c, os.Interrupt, syscall.SIGTERM) go func() { <-c for _ = range argsWithoutProg { wg.Done() } }() wg.Wait() }
101. startWorker() func main() { var wg sync.WaitGroup table := NewDroidTable() argsWithoutProg := os.Args[1:] for _, mrbFile := range argsWithoutProg { startWorker(mrbFile, table, &wg) } c := make(chan os.Signal, 1) signal.Notify(c, os.Interrupt, syscall.SIGTERM) go func() { <-c for _ = range argsWithoutProg { wg.Done() } }() wg.Wait() }
102. startWorker() func main() { var wg sync.WaitGroup table := NewDroidTable() argsWithoutProg := os.Args[1:] for _, mrbFile := range argsWithoutProg { startWorker(mrbFile, table, &wg) } c := make(chan os.Signal, 1) signal.Notify(c, os.Interrupt, syscall.SIGTERM) go func() { <-c for _ = range argsWithoutProg { wg.Done() } }() wg.Wait() }
103. startWorker() func startWorker(file string, table droidTable, wg *sync.WaitGroup) { wg.Add(1) go func() { mrb := mruby.NewMrb() defer mrb.Close() droids.NewR2D2(table.r2d2, mrb) droids.NewBB8(table.bb8, mrb) dat, err := ioutil.ReadFile(file) content := string(dat) result, err := mrb.LoadString(content) fmt.Printf("Done: %s\n", result) }() }
104. startWorker() func startWorker(file string, table droidTable, wg *sync.WaitGroup) { wg.Add(1) go func() { mrb := mruby.NewMrb() defer mrb.Close() droids.NewR2D2(table.r2d2, mrb) droids.NewBB8(table.bb8, mrb) dat, err := ioutil.ReadFile(file) content := string(dat) result, err := mrb.LoadString(content) fmt.Printf("Done: %s\n", result) }() }
105. startWorker() func startWorker(file string, table droidTable, wg *sync.WaitGroup) { wg.Add(1) go func() { mrb := mruby.NewMrb() defer mrb.Close() droids.NewR2D2(table.r2d2, mrb) droids.NewBB8(table.bb8, mrb) dat, err := ioutil.ReadFile(file) content := string(dat) result, err := mrb.LoadString(content) fmt.Printf("Done: %s\n", result) }() }
106. startWorker() func startWorker(file string, table droidTable, wg *sync.WaitGroup) { wg.Add(1) go func() { mrb := mruby.NewMrb() defer mrb.Close() droids.NewR2D2(table.r2d2, mrb) droids.NewBB8(table.bb8, mrb) dat, err := ioutil.ReadFile(file) content := string(dat) result, err := mrb.LoadString(content) fmt.Printf("Done: %s\n", result) }() }
107. Define mruby Classes
108. Define mruby Classes func startWorker(file string, table droidTable, wg *sync.WaitGroup) { wg.Add(1) go func() { mrb := mruby.NewMrb() defer mrb.Close() droids.NewR2D2(table.r2d2, mrb) droids.NewBB8(table.bb8, mrb) dat, err := ioutil.ReadFile(file) content := string(dat) result, err := mrb.LoadString(content) fmt.Printf("Done: %s\n", result) }() }
109. Define mruby Classes func NewR2D2(table map[string]*gobotR2D2.Driver, mrb *mruby.Mrb) *r2d2 { droids := r2d2{ table: table, } class := mrb.DefineClass("R2D2", nil) _, err := mrb.LoadString(` class R2D2 attr_accessor :name end `) class.DefineMethod("initialize", droids.Initialize, mruby.ArgsReq(1)) class.DefineMethod("dome", droids.Dome, mruby.ArgsReq(1)) class.DefineMethod("tripod", droids.Tripod, mruby.ArgsReq(0)) class.DefineMethod("bipod", droids.Bipod, mruby.ArgsReq(0)) class.DefineMethod("macro", droids.Macro, mruby.ArgsReq(1)) class.DefineMethod("move", droids.Move, mruby.ArgsReq(2)) return &droids }
110. Define mruby Classes func NewR2D2(table map[string]*gobotR2D2.Driver, mrb *mruby.Mrb) *r2d2 { droids := r2d2{ table: table, } class := mrb.DefineClass("R2D2", nil) _, err := mrb.LoadString(` class R2D2 attr_accessor :name end `) class.DefineMethod("initialize", droids.Initialize, mruby.ArgsReq(1)) class.DefineMethod("dome", droids.Dome, mruby.ArgsReq(1)) class.DefineMethod("tripod", droids.Tripod, mruby.ArgsReq(0)) class.DefineMethod("bipod", droids.Bipod, mruby.ArgsReq(0)) class.DefineMethod("macro", droids.Macro, mruby.ArgsReq(1)) class.DefineMethod("move", droids.Move, mruby.ArgsReq(2)) return &droids }
111. R2D2.new
112. startWorker func startWorker(file string, table droidTable, wg *sync.WaitGroup) { wg.Add(1) go func() { mrb := mruby.NewMrb() defer mrb.Close() droids.NewR2D2(table.r2d2, mrb) droids.NewBB8(table.bb8, mrb) dat, err := ioutil.ReadFile(file) content := string(dat) result, err := mrb.LoadString(content) fmt.Printf("Done: %s\n", result) }() }
113. R2D2.new droid = R2D2.new("D2-1F3B") heading = 0 direction = -1 while true do droid.dome(heading) direction = -1 if heading >= 180 direction = 1 if heading <= -160 heading = heading + direction Sleep::usleep(100) end
114. R2D2.new func NewR2D2(table map[string]*gobotR2D2.Driver, mrb *mruby.Mrb) *r2d2 { droids := r2d2{ table: table, } class := mrb.DefineClass("R2D2", nil) _, err := mrb.LoadString(` class R2D2 attr_accessor :name end `) class.DefineMethod("initialize", droids.Initialize, mruby.ArgsReq(1)) class.DefineMethod("dome", droids.Dome, mruby.ArgsReq(1)) class.DefineMethod("tripod", droids.Tripod, mruby.ArgsReq(0)) class.DefineMethod("bipod", droids.Bipod, mruby.ArgsReq(0)) class.DefineMethod("macro", droids.Macro, mruby.ArgsReq(1)) class.DefineMethod("move", droids.Move, mruby.ArgsReq(2)) return &droids }
115. R2D2.new func (droids *r2d2) Initialize(mrb *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := mrb.GetArgs() name := string(args[0].String()) bleAdaptor := ble.NewClientAdaptor(name) droidDriver := gobotR2D2.NewDriver(bleAdaptor) droids.table[name] = droidDriver self.Call("name=", args[0]) var wg sync.WaitGroup wg.Add(1) work := func() { wg.Done() } robot := gobot.NewRobot("R2D2", []gobot.Connection{bleAdaptor}, []gobot.Device{droidDriver}, work) go robot.Start() wg.Wait() return self, nil }
116. R2D2.new func (droids *r2d2) Initialize(mrb *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := mrb.GetArgs() name := string(args[0].String()) bleAdaptor := ble.NewClientAdaptor(name) droidDriver := gobotR2D2.NewDriver(bleAdaptor) droids.table[name] = droidDriver self.Call("name=", args[0]) var wg sync.WaitGroup wg.Add(1) work := func() { wg.Done() } robot := gobot.NewRobot("R2D2", []gobot.Connection{bleAdaptor}, []gobot.Device{droidDriver}, work) go robot.Start() wg.Wait() return self, nil }
117. R2D2.new func (droids *r2d2) Initialize(mrb *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := mrb.GetArgs() name := string(args[0].String()) bleAdaptor := ble.NewClientAdaptor(name) droidDriver := gobotR2D2.NewDriver(bleAdaptor) droids.table[name] = droidDriver self.Call("name=", args[0]) var wg sync.WaitGroup wg.Add(1) work := func() { wg.Done() } robot := gobot.NewRobot("R2D2", []gobot.Connection{bleAdaptor}, []gobot.Device{droidDriver}, work) go robot.Start() wg.Wait() return self, nil }
118. dome() in mruby droid = R2D2.new("D2-1F3B") heading = 0; direction = -1 while true do droid.dome(heading) direction = -1 if heading >= 180 direction = 1 if heading <= -160 heading = heading + direction Sleep::usleep(100) end
119. dome() Method Call
120. dome() in mruby func NewR2D2(table map[string]*gobotR2D2.Driver, mrb *mruby.Mrb) *r2d2 { droids := r2d2{ table: table, } class := mrb.DefineClass("R2D2", nil) _, err := mrb.LoadString(` class R2D2 attr_accessor :name end `) class.DefineMethod("initialize", droids.Initialize, mruby.ArgsReq(1)) class.DefineMethod("dome", droids.Dome, mruby.ArgsReq(1)) class.DefineMethod("tripod", droids.Tripod, mruby.ArgsReq(0)) class.DefineMethod("bipod", droids.Bipod, mruby.ArgsReq(0)) class.DefineMethod("macro", droids.Macro, mruby.ArgsReq(1)) class.DefineMethod("move", droids.Move, mruby.ArgsReq(2)) return &droids }
121. Dome() in DeeToo func (droids *r2d2) Dome(mrb *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := mrb.GetArgs() heading := int16(args[0].Fixnum()) droids.driver(self).Dome(heading) return nil, nil }
122. Dome() in DeeToo func (droids *r2d2) Dome(mrb *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := mrb.GetArgs() heading := int16(args[0].Fixnum()) droids.driver(self).Dome(heading) return nil, nil }
123. Dome() in gobot R2D2 Driver func (b *Driver) Dome(heading int16) { log.Printf("Dome - heading: %v", heading) encoded,_ := EncodeSixShifted(heading) b.packetChannel <- b.craftPacket(0x17, 0x0f, append(encoded, 0x00, 0x00)) }
124. Managing Droid Connections
125. Droid Table func main() { var wg sync.WaitGroup table := NewDroidTable() argsWithoutProg := os.Args[1:] for _, mrbFile := range argsWithoutProg { startWorker(mrbFile, table, &wg) } c := make(chan os.Signal, 1) signal.Notify(c, os.Interrupt, syscall.SIGTERM) go func() { <-c for _ = range argsWithoutProg { wg.Done() } }() wg.Wait() }
126. Droid Table func main() { var wg sync.WaitGroup table := NewDroidTable() argsWithoutProg := os.Args[1:] for _, mrbFile := range argsWithoutProg { startWorker(mrbFile, table, &wg) } c := make(chan os.Signal, 1) signal.Notify(c, os.Interrupt, syscall.SIGTERM) go func() { <-c for _ = range argsWithoutProg { wg.Done() } }() wg.Wait() }
127. Droid Table type droidTable struct { bb8 map[string]*bb8.BB8Driver r2d2 map[string]*r2d2.Driver } func NewDroidTable() droidTable { table := droidTable{ bb8: make(map[string]*bb8.BB8Driver), r2d2: make(map[string]*r2d2.Driver), } return table }
128. Droid Table func main() { var wg sync.WaitGroup table := NewDroidTable() argsWithoutProg := os.Args[1:] for _, mrbFile := range argsWithoutProg { startWorker(mrbFile, table, &wg) } c := make(chan os.Signal, 1) signal.Notify(c, os.Interrupt, syscall.SIGTERM) go func() { <-c for _ = range argsWithoutProg { wg.Done() } }() wg.Wait() }
129. Droid Table func startWorker(file string, table droidTable, wg *sync.WaitGroup) { wg.Add(1) go func() { mrb := mruby.NewMrb() defer mrb.Close() droids.NewR2D2(table.r2d2, mrb) droids.NewBB8(table.bb8, mrb) dat, err := ioutil.ReadFile(file) content := string(dat) result, err := mrb.LoadString(content) fmt.Printf("Done: %s\n", result) }() }
130. Droid Table func (droids *r2d2) Initialize(mrb *mruby.Mrb, self *mruby.MrbValue) (mruby.Value, mruby.Value) { args := mrb.GetArgs() name := string(args[0].String()) bleAdaptor := ble.NewClientAdaptor(name) droidDriver := gobotR2D2.NewDriver(bleAdaptor) droids.table[name] = droidDriver self.Call("name=", args[0]) var wg sync.WaitGroup wg.Add(1) work := func() { wg.Done() } robot := gobot.NewRobot("R2D2", []gobot.Connection{bleAdaptor}, []gobot.Device{droidDriver}, work) go robot.Start() wg.Wait() return self, nil }
131. Droid Table func NewR2D2(table map[string]*gobotR2D2.Driver, mrb *mruby.Mrb) *r2d2 { droids := r2d2{ table: table, } class := mrb.DefineClass("R2D2", nil) _, err := mrb.LoadString(` class R2D2 attr_accessor :name end `) class.DefineMethod("initialize", droids.Initialize, mruby.ArgsReq(1)) class.DefineMethod("dome", droids.Dome, mruby.ArgsReq(1)) class.DefineMethod("tripod", droids.Tripod, mruby.ArgsReq(0)) class.DefineMethod("bipod", droids.Bipod, mruby.ArgsReq(0)) class.DefineMethod("macro", droids.Macro, mruby.ArgsReq(1)) class.DefineMethod("move", droids.Move, mruby.ArgsReq(2)) return &droids }
132. Droid Table func (droids *r2d2) driver(mrbInstance *mruby.MrbValue) *gobotR2D2.Driver { value, err := mrbInstance.Call("name") var driver *gobotR2D2.Driver if err != nil { panic(err.Error()) } else { ident := string(value.String()) driver = droids.table[ident] } return driver }
133. Droid Table func (droids *r2d2) driver(mrbInstance *mruby.MrbValue) *gobotR2D2.Driver { value, err := mrbInstance.Call("name") var driver *gobotR2D2.Driver if err != nil { panic(err.Error()) } else { ident := string(value.String()) driver = droids.table[ident] } return driver }
134. Final Demo
135. Future/Roadmap • Single binary by compiling the mruby byte code into libmruby.a • Cross compiling the deetoo tool • Message passing between mrb files
136. Thank You https://github.com/code0100fun/deetoo