dRuby over BLE

dRuby over BLE: Device-to-Device Remote Method Calls
2026.06.06. 松江Ruby会議12

Transcript

1. E3VCZ
   PWFS
   #-& %FWJDFUP%FWJDF
   3FNPUF
   .FUIPE
   $BMMT !NBLJDBNFM দߐ3VCZձٞ  1 / 64
2. ࣗݾ঺հ ! !NBLJDBNFM
   
   ઒ݪສق ! 3VCZ!ͱϏʔϧ"ͱ͓ञ͕޷͖ ! 1JDP1JDP3VCZ
   ΍ͬͯ·͢ ! 3PBE
   UP
   3VCZ,BJHJͷ࡞ऀ 2 / 64
3. 3PBE
   UP
   3VCZ,BJHJ NBLJDBNFMSPBE@UP@SVCZLBJHJ IUUQTHJUIVCDPNNBLJDBNFMSPBE@UP@SVCZLBJHJ 3 / 64
4. 3PBE
   UP
   3VCZ,BJHJ ! 3VCZJTU
   ʹΑΔ
   3VCZJTU
   ͷͨΊͷ
   3VCZ
   ੡ͷήʔϜ ! λʔϛφϧ্Ͱ༡ͿԣεΫϩʔϧΞΫγϣϯήʔϜ ! όάΛ౗͠ʒ੾͔ΒಀΕͯ3VCZ,BJHJࢀՃΛ໨ࢦ͢ 4 / 64
5. 3PBE
   UP
   3VCZ,BJHJ
   ⭐ ! !
   3VCZ,BJHJ
   
   -5 ! 1JDP3VCZͱ Ճ଎౓ηϯαʔͰͭ͘Δ ήʔϜίϯτϩʔϥ 3PBE
   UP
   3VCZ,BJHJ
   1MBZ
   )BSE XBSF
   
   !NBLJDBNFM IUUQTTQFBLFSEFDLDPNNBLJDBNFMSPBEUPSVCZLBJHJQMBZIBSEXBSF 5 / 64
6. ొ৔ਓ෺ 1JDP3VCZ ૊ΈࠐΈ޲͚3VCZ ηϯαʔͳͲͱ઀ଓͯ͠ ޷͖ͳσόΠεΛͭ͘ΕΔ QJDPSVCZQJDPSVCZ IUUQTHJUIVCDPNQJDPSVCZQJDPSVCZ 6 / 64
7. ొ৔ਓ෺ 1JDP3VCZ ʢ3BTQCFSSZ
   1J
   1JDP
   8ʣ ૊ΈࠐΈ޲͚3VCZ ηϯαʔͳͲͱ઀ଓͯ͠ ޷͖ͳσόΠεΛͭ͘ΕΔ QJDPSVCZQJDPSVCZ IUUQTHJUIVCDPNQJDPSVCZQJDPSVCZ 7 / 64
8. ొ৔ਓ෺ ίϯτϩʔϥ 8 / 64
9. ొ৔ਓ෺ Ճ଎౓ηϯα 9 / 64
10. ొ৔ਓ෺ Ճ଎౓ηϯα Ճ଎౓ηϯαͷ஋Λ 3PBE
    UP
    3VCZ,BJHJʹ౉͍ͨ͠ 3PBE
    UP
    3VCZ,BJHJ 10 / 64
11. ొ৔ਓ෺ 1JDP3VCZ Ճ଎౓ηϯα 1JDP3VCZͰ Ճ଎౓ηϯαͷ஋ΛಡΈऔΓ 3PBE
    UP
    3VCZ,BJHJ 11 / 64
12. ొ৔ਓ෺ 1JDP3VCZ #MVFUPPUIͰ 3PBE
    UP
    3VCZ,BJHJʹૹ৴ 3PBE
    UP
    3VCZ,BJHJ 12 / 64
13. ొ৔ਓ෺ 1JDP3VCZ #MVFUPPUIͰ 3PBE
    UP
    3VCZ,BJHJʹૹ৴ Ͱ͖ͳ͍ 3PBE
    UP
    3VCZ,BJHJ 13 / 64
14. ొ৔ਓ෺ 1JDP3VCZ #MVFUPPUIͷ ΫϩεϓϥοτϑΥʔϜͳ 3VCZΫϥΠΞϯτ͕ͳ͍ #MVFUPPUIͰ 3PBE
    UP
    3VCZ,BJHJʹૹ৴ Ͱ͖ͳ͍ 3PBE
    UP
    3VCZ,BJHJ 14 / 64
15. ొ৔ਓ෺ ϒϥ΢β 8FC
    #MVFUPPUI
    "1* 8FC
    #MVFUPPUI
    "1*
    
    8FC
    "1*
    c
    .%/ IUUQTEFWFMPQFSNP[JMMBPSHKBEPDT8FC"1*8FC@#MVFUPPUI@"1* 15 / 64
16. ొ৔ਓ෺ ϒϥ΢β 8FC
    #MVFUPPUI
    "1* 8&#SJDLαʔό 3PBE
    UP
    3VCZ,BJHJ 16 / 64
17. ొ৔ਓ෺ 1JDP3VCZ #MVFUPPUI ϒϥ΢β 8&#SJDLαʔό 3PBE
    UP
    3VCZ,BJHJ 17 / 64
18. ొ৔ਓ෺ 1JDP3VCZ #MVFUPPUI ϒϥ΢β )551 8&#SJDLαʔό 3PBE
    UP
    3VCZ,BJHJʹ ૹ৴Ͱ͖ͨ 3PBE
    UP
    3VCZ,BJHJ 18 / 64
19. #MVFUPPUI 19 / 64
20. #-& ! #MVFUPPUI
    -PX
    &OFSHZ ! লిྗ޲͚#MVFUPPUIن֨ ! 3BTQCFSSZ
    1J
    1JDP
     8ʹແઢνοϓ͕৐͍ͬͯΔ ! 1JDP3VCZ͔Βѻ͑Δ ֓೦ɾ͓࡞๏͕ Ή͔͍ͣ͠ 20 / 64
21. #-&6"35 ! 6"35 ! ػثΛ෺ཧઢͰͭͳ͍Ͱ૒ํ޲ʹόΠτΛૹΔ௨ ৴ํࣜ ! #-&6"35 ! 6"35Λ#-&ͰԾ૝తʹ࣮ݱ͢Δ1JDP3VCZͷ࣮૷ ! *0ͷΑ͏ͳΠϯλʔϑΣʔεͰѻ͑Δ #-&6"35
    
    QJDPSVCZQJDPSVCZ IUUQTHJUIVCDPNQJDPSVCZQJDPSVCZUSFFNBTUFSNSCHFNTQJDPSVCZCMFVBSU 21 / 64
22. #-&6"35 # ૹ৴ଆ(PicoRuby) ble_uart = BLE::UART.new ble_uart.start do if ble_uart.connected? ble_uart.puts('Hello, BLE::UART!') end end 3VCZͬΆ͍ʂ 22 / 64
23. #-&6"35 # ड৴ଆ(PicoRuby.WASM) # ηοτΞοϓ @buffer = '' server = @device.connect service = server.service(@svc_uuid) @rx_char = service.characteristic(@rx_uuid) @rx_char.on_change { |data| @buffer << data } @rx_char.start_notify 23 / 64
24. #-&6"35 # ड৴ଆ(PicoRuby.WASM) # @bufferΛҰఆ࣌ؒຖʹνΣοΫ͢Δ while (idx = @buffer.index(SEPARATOR)) line = @buffer.slice!(0..idx).strip line.split(SAMPLE_SEPARATOR) .each { |sample| send_data(sample) } end 3VCZͬΆ͍ʜʜʁ 24 / 64
25. #-&6"35 ! )551 ! ϦΫΤετϝοηʔδ ! #-&6"35 ! όΠτετϦʔϜ ! ड৴
    
    ϝοηʔδ ! FH ෳ਺ϝοηʔδɺϝοηʔδ్͕தͰ͖ΕΔ ! ηύϨʔλͰ۠੾Γ௚ͯࣗ͠෼Ͱ૊ΈཱͯΔ 25 / 64
26. #-&6"35 3VCZͬΆ͘ॻ͖͍ͨʂ 26 / 64
27. E3VCZ 27 / 64
28. E3VCZ ! EJTUSJCVUJPO
    3VCZ ! ෼ࢄ3VCZ ! ෼ࢄΦϒδΣΫτγεςϜΛ࣮ݱ͢ΔϥΠϒϥϦ ! ؔকढ़͞Μ࡞ MJCSBSZ
    ESC
    3VCZ
    
    ϦϑΝϨϯεϚχϡΞϧ IUUQTEPDTSVCZMBOHPSHKBMBUFTUMJCSBSZESCIUNM 28 / 64
29. E3VCZ ! ϓϩηε΍ωοτϫʔΫΛ௒͑ͯϝοηʔδΛૹΔ ! ଞϓϩηεͷΦϒδΣΫτͷϝιουΛݺ΂Δ 29 / 64
30. E3VCZ { greeting: 'Hello, Matsue!' } E3VCZೖ໳ऀʹΑΔ͋ͳͨͷ਎ۙʹ͋ΔE3VCZೖ໳
    
    !NBLJDBNFM IUUQTTQFBLFSEFDLDPNNBLJDBNFMESVCZBUUSBDUJPO 30 / 64
31. E3VCZ { greeting: 'Hello, Matsue!' object[:greeting] } E3VCZೖ໳ऀʹΑΔ͋ͳͨͷ਎ۙʹ͋ΔE3VCZೖ໳
    
    !NBLJDBNFM IUUQTTQFBLFSEFDLDPNNBLJDBNFMESVCZBUUSBDUJPO 31 / 64
32. E3VCZ { greeting: 'Hello, Matsue!' object[:greeting] } # => 'Hello, Matsue!' E3VCZೖ໳ऀʹΑΔ͋ͳͨͷ਎ۙʹ͋ΔE3VCZೖ໳
    
    !NBLJDBNFM IUUQTTQFBLFSEFDLDPNNBLJDBNFMESVCZBUUSBDUJPO 32 / 64
33. E3VCZ ! 3VCZͬΆ͍ʂ ! #-&
    ͝͠ʹผϓϩηεͷΦϒδΣΫτΛ͞ΘΓ͍ͨ 33 / 64
34. E3VCZ
    PWFS
    #-& 34 / 64
35. E3VCZ
    PWFS
    #-& E3VCZ͸ϓϩτίϧ͕ࠩ͠ସ͑Մೳ ! ϏϧτΠϯ ! Ϣʔβʔ֦ு ! 5$1 ! 8FC4PDLFU ! 6/*9υϝΠϯιέοτ ! 44- 35 / 64
36. E3VCZ
    PWFS
    #-& E3VCZ͸ϓϩτίϧ͕ࠩ͠ସ͑Մೳ ! ϏϧτΠϯ ! Ϣʔβʔ֦ு ! 5$1 ! 8FC4PDLFU ! 6/*9υϝΠϯιέοτ ! #-&
    
    ! GPS
    1JDP3VCZ
    
    1JDP3VCZ8"4. ! 44- 36 / 64
37. E3VCZ
    GPS
    1JDP3VCZ ΫϥΠΞϯτ αʔό ᶃ
    ΦϒδΣΫτΛެ։ front = Calc.new DRb.start_service( "ble://picoruby", front) 37 / 64
38. E3VCZ
    GPS
    1JDP3VCZ ΫϥΠΞϯτ αʔό ᶄ
    ελϒΛ࡞Δ ᶃ
    ΦϒδΣΫτΛެ։ αʔόͷΞυϨεΛࢦఆ front = Calc.new obj = DRbObject.new( DRb.start_service( "ble://picoruby") "ble://picoruby", front) 38 / 64
39. E3VCZ
    GPS
    1JDP3VCZ ΫϥΠΞϯτ αʔό ᶄ
    ελϒΛ࡞Δ ᶃ
    ΦϒδΣΫτΛެ։ αʔόͷΞυϨεΛࢦఆ front = Calc.new obj = DRbObject.new( DRb.start_service( "ble://picoruby") "ble://picoruby", front) ᶅ
    ϝοηʔδૹ৴ obj.add(1, 2) όΠτྻ΁ม׵ͯ͠ૹ৴ όΠτྻΛૹड৴ 39 / 64
40. E3VCZ
    GPS
    1JDP3VCZ ΫϥΠΞϯτ αʔό ᶄ
    ελϒΛ࡞Δ ᶃ
    ΦϒδΣΫτΛެ։ αʔόͷΞυϨεΛࢦఆ front = Calc.new obj = DRbObject.new( DRb.start_service( "ble://picoruby") "ble://picoruby", front) ᶅ
    ϝοηʔδૹ৴ ᶆ
    ϝιουίʔϧ obj.add(1, 2) όΠτྻΛม׵ͯ͠ϝιουίʔϧ όΠτྻ΁ม׵ͯ͠ૹ৴ front.send(msg_id, *args) όΠτྻΛૹड৴ 40 / 64
41. E3VCZ
    GPS
    1JDP3VCZ ΫϥΠΞϯτ αʔό ᶄ
    ελϒΛ࡞Δ ᶃ
    ΦϒδΣΫτΛެ։ αʔόͷΞυϨεΛࢦఆ front = Calc.new obj = DRbObject.new( DRb.start_service( "ble://picoruby") "ble://picoruby", front) ᶅ
    ϝοηʔδૹ৴ ᶆ
    ϝιουίʔϧ obj.add(1, 2) όΠτྻΛม׵ͯ͠ϝιουίʔϧ όΠτྻ΁ม׵ͯ͠ૹ৴ front.send(msg_id, *args) όΠτྻΛૹड৴ ᶇ
    ݁ՌΛฦ͢ # => 3 41 / 64
42. E3VCZ
    GPS
    1JDP3VCZ ΫϥΠΞϯτ αʔό ᶄ
    ελϒΛ࡞Δ ᶃ
    ΦϒδΣΫτΛެ։ αʔόͷΞυϨεΛࢦఆ front = Calc.new obj = DRbObject.new( DRb.start_service( "ble://picoruby") "ble://picoruby", front) ᶅ
    ϝοηʔδૹ৴ ᶆ
    ϝιουίʔϧ obj.add(1, 2) όΠτྻΛม׵ͯ͠ϝιουίʔϧ όΠτྻ΁ม׵ͯ͠ૹ৴ front.send(msg_id, *args) όΠτྻΛૹड৴ ᶈ
    ݁ՌΛड͚औΔ ᶇ
    ݁ՌΛฦ͢ # => 3 # => 3 42 / 64
43. όΠτྻͷૹड৴ ! DRbMessage ! ϝιουίʔϧɾ໭Γ஋ˡˠόΠτྻͷม׵Λߦ͏ ! ௨৴࿏ʹ৐ͤΒΕΔͷ͸όΠτྻ͚ͩ ! τϥϯεϙʔτͱૄ݁߹ 43 / 64
44. όΠτྻͷૹड৴ ! τϥϯεϙʔτ ! FH ! 5$1 ! 8FC4PDLFU ! #-& ! 1JDP3VCZɾ4%,Ͱ࣮૷͞Ε͍ͯΔ 44 / 64
45. όΠτྻͷૹड৴ ! DRbMessage
    
    τϥϯεϙʔτ ! "1*ͷཁ݅ͱ࣮ଶʹ͕ࠩ͋Δ DRbMessage#recv_message | | | BLE::UART#read_nonblock 45 / 64
46. όΠτྻͷૹड৴ ! DRbMessage
    
    ιέοτ
    
    τϥϯεϙʔτ ! "1*ͷཁ݅ͱ࣮ଶͷࠩΛٵऩ͢ΔιέοτΛ࣮૷͢Δ DRbMessage#recv_message | Adapter#read | BLE::UART#read_nonblock 46 / 64
47. E3VCZ
    GPS
    1JDP3VCZ ΫϥΠΞϯτ αʔό ᶄ
    ελϒΛ࡞Δ ᶃ
    ΦϒδΣΫτΛެ։ αʔόͷΞυϨεΛࢦఆ front = Calc.new obj = DRbObject.new( DRb.start_service( "ble://picoruby") #-&༻ιέοτΛ "ble://picoruby", front) ࣮૷͢Δ͚ͩ ᶅ
    ϝοηʔδૹ৴ ᶆ
    ϝιουίʔϧ obj.add(1, 2) όΠτྻΛม׵ͯ͠ϝιουίʔϧ όΠτྻ΁ม׵ͯ͠ૹ৴ front.send(msg_id, *args) όΠτྻΛૹड৴ ᶈ
    ݁ՌΛड͚औΔ ᶇ
    ݁ՌΛฦ͢ # => 3 # => 3 47 / 64
48. %3C#-&"EBQUFS ! όΠτྻʹର͢Δૢ࡞͸छྨ ! read ! write DRb::BLE::Adapter#close΋࣮૷͠·͕͢ࠓճ͸ׂѪ 48 / 64
49. %3C#-&"EBQUFS ! DRbMessage ! BLE::UART #recv_message(n) #read_nonblock(n) ! ϒϩοΩϯάඞཁ ! ϒϩοΩϯά͠ͳ͍ ! ஸ౓OόΠτ΄͍͠ ! ʙOόΠτΛฦ͢ ͜ͷࠩΛ DRb::BLE::Adapter#read Ͱٵऩ͢Δ 49 / 64
50. %3C#-&"EBQUFS def read(n) ड৴όοϑΝʹ until @uart.available >= n OόΠτ # ... ཷ·Δ·Ͱ଴ͭ ϒϩοΩϯά sleep_ms 10 end end 50 / 64
51. %3C#-&"EBQUFS def read(n) until @uart.available >= n # ... @uart.poll_once ड৴ύέοτΛ sleep_ms 10 όοϑΝʹੵΉ end end 51 / 64
52. %3C#-&"EBQUFS def read(n) until @uart.available >= n # ... @uart.poll_once sleep_ms 10 end OόΠτཷ·ͬͨΒ @uart.read_nonblock(n) औΓग़ͯ͠ฦ͢ end 52 / 64
53. %3C#-&"EBQUFS ! DRbMessage ! BLE::UART #send_request(data) #write(data) ࣗ෼ͷλΠϛϯάͰόΠτΛૹΕ͹Α͍ 53 / 64
54. %3C#-&"EBQUFS ͦͷ··సૹ͢Δ def write(data) @uart.write(data) end 54 / 64
55. %3C#-& ! ιέοτ͕Ͱ͖ͨ! ! αʔόͷ࣮૷ ! Πϯελϯε࡞ͬͨΓ ! ϝοηʔδΛड͚औͬͯϝιουίʔϧͯ͠ฦ͠ ͨΓ͢Δ͚ͩ 55 / 64
56. ΞϓϦଆίʔυ ! CFGPSF # ड৴ଆ(PicoRuby.WASM) # ηοτΞοϓ @buffer = '' server = @device.connect service = server.service(@svc_uuid) @rx_char = service.characteristic(@rx_uuid) @rx_char.on_change { |data| @buffer << data } @rx_char.start_notify # @bufferΛҰఆ࣌ؒຖʹνΣοΫ͢Δ while (idx = @buffer.index(SEPARATOR)) line = @buffer.slice!(0..idx).strip line.split(SAMPLE_SEPARATOR) .each { |sample| send_data(sample) } end Ή͔͍ͣ͠ʜʜ 56 / 64
57. ΞϓϦଆίʔυ ! BGUFS # ड৴ଆ(PicoRuby.WASM) # ηοτΞοϓ @obj = DRb::DRbObject.new_with_uri(uri) # @obj.readΛҰఆ࣌ؒຖʹίʔϧ͢Δ @obj.read.each { |sample| send_data(sample) } 3VCZͬΆ͍ʂ 57 / 64
58. σϞ 58 / 64
59. σϞ ! ಈ͍ͯͳ͍ʜʜʁ ! ඵؒαϯϓϧ਺͕଍Γ͍ͯͳ͍ 59 / 64
60. ༨ஊ ! ϙʔϦϯάϨʔτ௿Լ ! CFGPSF ! ໿αϯϓϧඵ ! BGUFS ! ໿αϯϓϧඵ ! 60 / 64
61. ༨ஊ ! ϙʔϦϯάϨʔτ௿Լ ʮήʔϜίϯτϩʔϥΈ͍ͨͳͷʹ ɹSFRVFTUSFQMZܕͷ௨৴͸޲͖·ͤΜʯ ʮ
    !
    ʯ 61 / 64
62. ༨ஊ ! E3VCZ ! QVTI ! SFRVFTUSFQMZܕ ! Ұํ޲ͷετϦʔϜ ! ຖճ ! ߴස౓ʹૹΕͯ௿஗Ԇ ૹ৴ɾ଴ػɾड৴ ! ฦࣄෆཁ ! ௨৴ճ਺͕૿͑Δ ! ฦࣄΛ଴ͭ෼஗͘ͳΔ ༻్ʹ͋ͬͨํ๏ Λબ΅͏ ήʔϜίϯτϩʔϥ͸QVTIܕ޲͖ 62 / 64
63. ͓͠Βͤ 63 / 64
64. 1JDP3VCZ,BJHJ
     "TTFNCMF
    ΍Γ·͢ ! 1JDP3VCZΛͭ͘Δ࿩ɺ1JDP3VCZͰͭ͘Δ࿩ ! ϓϩϙʔβϧืू͸ࠓ݄։͖·͢ ! 
    ౔ ! !ळ༿ݪ ! IUUQTQJDPSVCZLBJHJPSH 64 / 64