Artoo is a micro-framework for robotics using Ruby.
Artoo provides a simple, yet powerful domain-specific language (DSL) for robotics and physical computing.
require 'artoo'
connection :arduino, :adaptor => :firmata, :port => '/dev/tty.usbmodemxxxxx'
device :led, :driver => :led, :pin => 13
device :button, :driver => :button, :pin => 2
work do
on button, :push => proc {led.toggle}
end
require 'artoo'
connection :ardrone, :adaptor => :ardrone
device :drone, :driver => :ardrone
work do
drone.start
drone.take_off
after(25.seconds) { drone.hover.land }
after(30.seconds) { drone.stop }
end
You can also write more modular class-oriented code, that allows you to control swarms of robots:
require 'artoo/robot'
SPHEROS = ["4567", "4568", "4569", "4570", "4571"]
class SpheroRobot < Artoo::Robot
connection :sphero, :adaptor => :sphero
device :sphero, :driver => :sphero
work do
every(3.seconds) do
sphero.roll 90, rand(360)
end
end
end
robots = []
SPHEROS.each {|p|
robots << SpheroRobot.new(:connections =>
{:sphero =>
{:port => p}})
}
SpheroRobot.work!(robots)
Ruby versions supported: Ruby 2.0, Ruby 1.9.3, JRuby 1.7.4, and Rubinius 2.0-rc1
Artoo is conceptualy influenced by Sinatra (https://github.com/sinatra/sinatra) as well as borrowing some code from it.
Artoo provides a robust actor-based messaging architecture, that can support fully multi-threaded operation and high-concurrency, as long as it is supported by the Ruby version in which it is executing. This means you will need to use JRuby or Rubinius for maximum concurrency.
To a large extent, this is due to being built on top of Celluloid (https://github.com/celluloid/celluloid), Celluloid::IO (https://github.com/celluloid/celluloid-io), and Reel (https://github.com/celluloid/reel).
Artoo has a extensible system for connecting to hardware devices. The following robotics and physical computing platforms are currently supported:
- Arduino (http://www.arduino.cc/) adaptor (https://github.com/hybridgroup/artoo-arduino)
- ARDrone (http://ardrone2.parrot.com/) adaptor (https://github.com/hybridgroup/artoo-ardrone)
- Roomba (http://www.irobot.com/us/robots/Educators/Create.aspx) adaptor (https://github.com/hybridgroup/artoo-roomba)
- Sphero (http://www.gosphero.com/) adaptor (https://github.com/hybridgroup/artoo-sphero)
More platforms are coming soon!
Do you have some hardware that is not yet supported by Artoo? We want to help you, help us, help them! Get in touch...
Artoo includes a RESTful API to query the status of any robot running within a group, including the connection and device status, and device streaming data via websockets.
To activate the API, use the api
command like this:
require 'artoo'
connection :loop
device :passthru
api :host => '127.0.0.1', :port => '4321'
work do
puts "Hello from the API running at #{api_host}:#{api_port}..."
end
Once the robot or group is working, you can view the main API page at the host and port specified.
Artoo makes it easy to do Test Driven Development (TDD) of your robotic devices using your favorite Ruby test and mocking frameworks.
Here is an example that uses Minitest and Mocha:
describe 'sphero' do
let(:robot) { Artoo::MainRobot.new }
it 'has work to do every 3 seconds' do
robot.work
robot.has_work?(:every, 3.seconds).wont_be_nil
end
it 'must roll every 3 seconds' do
robot.sphero.expects(:roll).twice
robot.work
sleep 6.1
end
it 'receives collision event' do
robot.expects(:contact)
robot.work
robot.sphero.publish("collision", "clunk")
sleep 0.1
end
end
to describe the following Sphero robot:
require 'artoo'
connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4560'
device :sphero, :driver => :sphero
def contact(*args)
@contacts ||= 0
@contacts += 1
puts "Contact #{@contacts}"
end
work do
on sphero, :collision => :contact
every(3.seconds) do
puts "Rolling..."
sphero.roll 90, rand(360)
end
end
Artoo includes Robi, a console based on Pry (http://pryrepl.org/) to allow you to interactively debug and control your robot.
$ robi ./examples/hello.rb
I, [2013-05-21T18:09:05.179630 #8752] INFO -- : Registering connection 'loop'...
I, [2013-05-21T18:09:05.180681 #8752] INFO -- : Preparing work...
robi> start
Starting main robot...
I, [2013-05-21T18:09:37.086550 #8752] INFO -- : Initializing connection loop...
I, [2013-05-21T18:09:37.092231 #8752] INFO -- : Starting work...
I, [2013-05-21T18:09:37.092691 #8752] INFO -- : Connecting to 'loop' on port '#<Artoo::Port:0x104e4>'...
robi> hello
hello
robi> stop
Stopping robots...
robi> exit
D, [2013-05-21T18:09:53.507709 #8752] DEBUG -- : Terminating 7 actors...
D, [2013-05-21T18:09:53.508622 #8752] DEBUG -- : Shutdown completed cleanly
gem install artoo
Then install the gems required by the hardware you want to use. For example, if you wanted to integrate a Wiiclassic controller connected to an Arduino to fly your ARDrone:
gem install artoo-arduino
gem install artoo-ardrone
If you will be using socket to serial commuication (required if you will use JRuby or Rubinius), you are ready to start programming your hardware.
If you want to connect via serial port directly, and are using MRI, install the hybridgroup-serialport gem:
gem install hybridgroup-serialport
Now you are ready to write your own code. Take a look at the examples directory for a whole bunch of code you can use to help get started. We recommend using TDR (Test-Driven Robotics) with your preferred test frameworks.
ruby myrobot.rb
Check out our wiki for more docs
(c) 2012-2013 The Hybrid Group