mirror of
https://github.com/hybridgroup/gobot.git
synced 2025-05-02 22:17:12 +08:00
Merge pull request #601 from trevrosen/automation-model
Automation model
This commit is contained in:
Ron Evans
GitHub
commit
cf3987058b
@ -43,6 +43,7 @@ before_install:
|
||||
- cd $HOME/gopath/src/gobot.io/x/gobot
|
||||
- go get github.com/axw/gocov/gocov
|
||||
- go get -u github.com/golang/dep/cmd/dep
|
||||
- go get -u github.com/stretchr/testify
|
||||
before_cache:
|
||||
- rm -f $HOME/fresh-cache
|
||||
install:
|
||||
|
||||
176
Gopkg.lock
generated
176
Gopkg.lock
generated
@ -3,39 +3,58 @@
|
||||
|
||||
[[projects]]
|
||||
branch = "master"
|
||||
digest = "1:da54e55f2f63347514121c0d7b53631970367b26281d057ec66925c57324b8f1"
|
||||
name = "github.com/bmizerany/pat"
|
||||
packages = ["."]
|
||||
pruneopts = ""
|
||||
revision = "6226ea591a40176dd3ff9cd8eff81ed6ca721a00"
|
||||
|
||||
[[projects]]
|
||||
digest = "1:e85837cb04b78f61688c6eba93ea9d14f60d611e2aaf8319999b1a60d2dafbfa"
|
||||
name = "github.com/codegangsta/cli"
|
||||
packages = ["."]
|
||||
pruneopts = ""
|
||||
revision = "cfb38830724cc34fedffe9a2a29fb54fa9169cd1"
|
||||
version = "v1.20.0"
|
||||
|
||||
[[projects]]
|
||||
branch = "master"
|
||||
digest = "1:ea040951144214212d0402e862a786e8d68d2a1734f975933e6ba084b4d05f2f"
|
||||
name = "github.com/creack/goselect"
|
||||
packages = ["."]
|
||||
revision = "1bd5ca702c6154bccc56ecd598932ee8b295cab2"
|
||||
pruneopts = ""
|
||||
revision = "58854f77ee8d858ce751b0a9bcc5533fef7bfa9e"
|
||||
|
||||
[[projects]]
|
||||
digest = "1:0deddd908b6b4b768cfc272c16ee61e7088a60f7fe2f06c547bd3d8e1f8b8e77"
|
||||
name = "github.com/davecgh/go-spew"
|
||||
packages = ["spew"]
|
||||
pruneopts = ""
|
||||
revision = "8991bc29aa16c548c550c7ff78260e27b9ab7c73"
|
||||
version = "v1.1.1"
|
||||
|
||||
[[projects]]
|
||||
branch = "master"
|
||||
digest = "1:917123ed8122468eb815cc418af3bbf298c91f9cb1c36164e063f50e1a726e97"
|
||||
name = "github.com/donovanhide/eventsource"
|
||||
packages = ["."]
|
||||
pruneopts = ""
|
||||
revision = "3ed64d21fb0b6bd8b49bcfec08f3004daee8723d"
|
||||
|
||||
[[projects]]
|
||||
digest = "1:3fa846cb3feb4e65371fe3c347c299de9b5bc3e71e256c0d940cd19b767a6ba0"
|
||||
name = "github.com/eclipse/paho.mqtt.golang"
|
||||
packages = [
|
||||
".",
|
||||
"packets"
|
||||
"packets",
|
||||
]
|
||||
pruneopts = ""
|
||||
revision = "36d01c2b4cbeb3d2a12063e4880ce30800af9560"
|
||||
version = "v1.1.1"
|
||||
|
||||
[[projects]]
|
||||
branch = "master"
|
||||
digest = "1:c177fa1d2bdfc487f4bb7188f0fc683f85fd8cadcf1293eece899c86e75d6337"
|
||||
name = "github.com/go-ble/ble"
|
||||
packages = [
|
||||
".",
|
||||
@ -47,153 +66,222 @@
|
||||
"linux/hci",
|
||||
"linux/hci/cmd",
|
||||
"linux/hci/evt",
|
||||
"linux/hci/socket"
|
||||
"linux/hci/socket",
|
||||
]
|
||||
revision = "788214691384e85e345bff9fd5eeb046f5983594"
|
||||
pruneopts = ""
|
||||
revision = "731710e91806e163fe770d93dc318683f6f53c63"
|
||||
|
||||
[[projects]]
|
||||
branch = "master"
|
||||
digest = "1:c7382630b7f8958a68cf9c9314477a192890bea01d6bed9b22f95d3bad5530d2"
|
||||
name = "github.com/gobuffalo/uuid"
|
||||
packages = ["."]
|
||||
pruneopts = ""
|
||||
revision = "7652001f1b1ff3d69aa899943b668e9be27284a0"
|
||||
version = "v2.0.3"
|
||||
|
||||
[[projects]]
|
||||
digest = "1:8e3bd93036b4a925fe2250d3e4f38f21cadb8ef623561cd80c3c50c114b13201"
|
||||
name = "github.com/hashicorp/errwrap"
|
||||
packages = ["."]
|
||||
revision = "7554cd9344cec97297fa6649b055a8c98c2a1e55"
|
||||
pruneopts = ""
|
||||
revision = "8a6fb523712970c966eefc6b39ed2c5e74880354"
|
||||
version = "v1.0.0"
|
||||
|
||||
[[projects]]
|
||||
branch = "master"
|
||||
digest = "1:72308fdd6d5ef61106a95be7ca72349a5565809042b6426a3cfb61d99483b824"
|
||||
name = "github.com/hashicorp/go-multierror"
|
||||
packages = ["."]
|
||||
revision = "83588e72410abfbe4df460eeb6f30841ae47d4c4"
|
||||
pruneopts = ""
|
||||
revision = "886a7fbe3eb1c874d46f623bfa70af45f425b3d1"
|
||||
|
||||
[[projects]]
|
||||
branch = "master"
|
||||
digest = "1:aba830e5898f09dd06027a27a10f4d44e8b0762a3ba0c83a771a01f4e72b81c3"
|
||||
name = "github.com/hybridgroup/go-ardrone"
|
||||
packages = [
|
||||
"client",
|
||||
"client/commands",
|
||||
"client/navdata"
|
||||
"client/navdata",
|
||||
]
|
||||
pruneopts = ""
|
||||
revision = "b9750d8d7b78f9638e5fdd899835e99d46b5a56c"
|
||||
|
||||
[[projects]]
|
||||
branch = "master"
|
||||
digest = "1:9956f4f58b2ccea25656086bcd7be0273915961a8231965a1a6c886874172054"
|
||||
name = "github.com/hybridgroup/mjpeg"
|
||||
packages = ["."]
|
||||
pruneopts = ""
|
||||
revision = "4680f319790ebffe28bbee775ecd1725693731ca"
|
||||
|
||||
[[projects]]
|
||||
digest = "1:9ea83adf8e96d6304f394d40436f2eb44c1dc3250d223b74088cc253a6cd0a1c"
|
||||
name = "github.com/mattn/go-colorable"
|
||||
packages = ["."]
|
||||
pruneopts = ""
|
||||
revision = "167de6bfdfba052fa6b2d3664c8f5272e23c9072"
|
||||
version = "v0.0.9"
|
||||
|
||||
[[projects]]
|
||||
digest = "1:78229b46ddb7434f881390029bd1af7661294af31f6802e0e1bedaad4ab0af3c"
|
||||
name = "github.com/mattn/go-isatty"
|
||||
packages = ["."]
|
||||
pruneopts = ""
|
||||
revision = "0360b2af4f38e8d38c7fce2a9f4e702702d73a39"
|
||||
version = "v0.0.3"
|
||||
|
||||
[[projects]]
|
||||
branch = "master"
|
||||
digest = "1:50416da10e189bc201e122e20078fb8e680a439cbdd24aaece06c434b4415b60"
|
||||
name = "github.com/mgutz/ansi"
|
||||
packages = ["."]
|
||||
pruneopts = ""
|
||||
revision = "9520e82c474b0a04dd04f8a40959027271bab992"
|
||||
|
||||
[[projects]]
|
||||
digest = "1:47af139ef25cee26d54b8422b73a043ab5d8f5ec26a1ae49d3ca9212f1dbfdac"
|
||||
name = "github.com/mgutz/logxi"
|
||||
packages = ["v1"]
|
||||
pruneopts = ""
|
||||
revision = "aebf8a7d67ab4625e0fd4a665766fef9a709161b"
|
||||
version = "v1"
|
||||
|
||||
[[projects]]
|
||||
digest = "1:f04a78a43f55f089c919beee8ec4a1495dee1bd271548da2cb44bf44699a6a61"
|
||||
name = "github.com/nats-io/go-nats"
|
||||
packages = [
|
||||
"encoders/builtin",
|
||||
"util"
|
||||
"util",
|
||||
]
|
||||
revision = "29f9728a183bf3fa7e809e14edac00b33be72088"
|
||||
version = "v1.3.0"
|
||||
pruneopts = ""
|
||||
revision = "fb0396ee0bdb8018b0fef30d6d1de798ce99cd05"
|
||||
version = "v1.6.0"
|
||||
|
||||
[[projects]]
|
||||
digest = "1:f04a78a43f55f089c919beee8ec4a1495dee1bd271548da2cb44bf44699a6a61"
|
||||
name = "github.com/nats-io/nats"
|
||||
packages = ["."]
|
||||
revision = "29f9728a183bf3fa7e809e14edac00b33be72088"
|
||||
version = "v1.3.0"
|
||||
pruneopts = ""
|
||||
revision = "fb0396ee0bdb8018b0fef30d6d1de798ce99cd05"
|
||||
version = "v1.6.0"
|
||||
|
||||
[[projects]]
|
||||
digest = "1:be61e8224b84064109eaba8157cbb4bbe6ca12443e182b6624fdfa1c0dcf53d9"
|
||||
name = "github.com/nats-io/nuid"
|
||||
packages = ["."]
|
||||
pruneopts = ""
|
||||
revision = "289cccf02c178dc782430d534e3c1f5b72af807f"
|
||||
version = "v1.0.0"
|
||||
|
||||
[[projects]]
|
||||
digest = "1:7365acd48986e205ccb8652cc746f09c8b7876030d53710ea6ef7d0bd0dcd7ca"
|
||||
name = "github.com/pkg/errors"
|
||||
packages = ["."]
|
||||
pruneopts = ""
|
||||
revision = "645ef00459ed84a119197bfb8d8205042c6df63d"
|
||||
version = "v0.8.0"
|
||||
|
||||
[[projects]]
|
||||
branch = "master"
|
||||
name = "github.com/raff/goble"
|
||||
packages = ["xpc"]
|
||||
revision = "b12b34f940c4cf4363660073539b5fa9fd96bd16"
|
||||
digest = "1:256484dbbcd271f9ecebc6795b2df8cad4c458dd0f5fd82a8c2fa0c29f233411"
|
||||
name = "github.com/pmezard/go-difflib"
|
||||
packages = ["difflib"]
|
||||
pruneopts = ""
|
||||
revision = "792786c7400a136282c1664665ae0a8db921c6c2"
|
||||
version = "v1.0.0"
|
||||
|
||||
[[projects]]
|
||||
branch = "master"
|
||||
digest = "1:7b2df17857c98bcb45e200d6005f7af1f1e04757a77cd9e20cf27db05f0ad611"
|
||||
name = "github.com/raff/goble"
|
||||
packages = ["xpc"]
|
||||
pruneopts = ""
|
||||
revision = "efeac611681b89806d673dfbd8fc1690ca6bd093"
|
||||
|
||||
[[projects]]
|
||||
branch = "master"
|
||||
digest = "1:eb22cc3727f58f5939373c397b0b9a8076f63e5b19584dcc00901dc5d407a77b"
|
||||
name = "github.com/sigurn/crc8"
|
||||
packages = ["."]
|
||||
pruneopts = ""
|
||||
revision = "e55481d6f45c5a8f040343bace9013571dae103e"
|
||||
|
||||
[[projects]]
|
||||
branch = "master"
|
||||
digest = "1:52ed74cbf4d1bb1975642c817ec91b221c8963fa599885319407bf468431851d"
|
||||
name = "github.com/sigurn/utils"
|
||||
packages = ["."]
|
||||
pruneopts = ""
|
||||
revision = "f19e41f79f8f006116f682c1af454591bc278ad4"
|
||||
|
||||
[[projects]]
|
||||
branch = "master"
|
||||
name = "github.com/tarm/serial"
|
||||
packages = ["."]
|
||||
revision = "794054cb266296569307c08d1b475f44505dfab1"
|
||||
digest = "1:c587772fb8ad29ad4db67575dad25ba17a51f072ff18a22b4f0257a4d9c24f75"
|
||||
name = "github.com/stretchr/testify"
|
||||
packages = ["assert"]
|
||||
pruneopts = ""
|
||||
revision = "f35b8ab0b5a2cef36673838d662e249dd9c94686"
|
||||
version = "v1.2.2"
|
||||
|
||||
[[projects]]
|
||||
branch = "master"
|
||||
digest = "1:54f00349c493a13c9340be00aebfe75c1cf7c58f2ed2d1ed5d1952105c925992"
|
||||
name = "github.com/tarm/serial"
|
||||
packages = ["."]
|
||||
pruneopts = ""
|
||||
revision = "eaafced92e9619f03c72527efeab21e326f3bc36"
|
||||
|
||||
[[projects]]
|
||||
digest = "1:4aa77644fa15ef170580070adcb70bd0adb02b0980bcc632eeaa528fd0e8137e"
|
||||
name = "github.com/veandco/go-sdl2"
|
||||
packages = ["sdl"]
|
||||
pruneopts = ""
|
||||
revision = "271d2ec43388932fd2a80f4c2e81021734685a62"
|
||||
version = "v0.3"
|
||||
|
||||
[[projects]]
|
||||
branch = "master"
|
||||
digest = "1:488c97dd29d2f0ddb48e8a04aed2da02f43efbd6e6c9a7bf9653819f55c8e90c"
|
||||
name = "go.bug.st/serial.v1"
|
||||
packages = [
|
||||
".",
|
||||
"unixutils"
|
||||
"unixutils",
|
||||
]
|
||||
revision = "eae1344f9f90101f887b08d13391c34399f97873"
|
||||
pruneopts = ""
|
||||
revision = "5f7892a7bb453066bdc6683b9b5d24d9dee03ec1"
|
||||
|
||||
[[projects]]
|
||||
digest = "1:a5253f1c452abd612cf8975cde3f96285a00dc9015660e8d446291a48662b54d"
|
||||
name = "gocv.io/x/gocv"
|
||||
packages = ["."]
|
||||
pruneopts = ""
|
||||
revision = "116580adca5ee7dbf8d1307c9072f5094051116f"
|
||||
version = "v0.16.0"
|
||||
|
||||
[[projects]]
|
||||
branch = "master"
|
||||
digest = "1:7dd0f1b8c8bd70dbae4d3ed3fbfaec224e2b27bcc0fc65882d6f1dba5b1f6e22"
|
||||
name = "golang.org/x/net"
|
||||
packages = [
|
||||
"internal/socks",
|
||||
"proxy",
|
||||
"websocket"
|
||||
"websocket",
|
||||
]
|
||||
revision = "01c190206fbdffa42f334f4b2bf2220f50e64920"
|
||||
pruneopts = ""
|
||||
revision = "8a410e7b638dca158bf9e766925842f6651ff828"
|
||||
|
||||
[[projects]]
|
||||
branch = "master"
|
||||
digest = "1:79b4fb7cfed68c4d0727858bd32dbe3be4b97ea58e2d767f92287f67810cbc98"
|
||||
name = "golang.org/x/sys"
|
||||
packages = [
|
||||
"unix",
|
||||
"windows"
|
||||
"windows",
|
||||
]
|
||||
revision = "8eb05f94d449fdf134ec24630ce69ada5b469c1c"
|
||||
pruneopts = ""
|
||||
revision = "d99a578cf41bfccdeaf48b0845c823a4b8b0ad5e"
|
||||
|
||||
[[projects]]
|
||||
digest = "1:5a0018233f499284a0f49f649d657ebe3ca4c3db74c7a7a26ef9bf08e41df4c9"
|
||||
name = "periph.io/x/periph"
|
||||
packages = [
|
||||
".",
|
||||
@ -207,14 +295,40 @@
|
||||
"conn/spi",
|
||||
"conn/spi/spireg",
|
||||
"host/fs",
|
||||
"host/sysfs"
|
||||
"host/sysfs",
|
||||
]
|
||||
revision = "000523f7fa26b78f012b93221c94434ac5b18e37"
|
||||
version = "v3.0.0"
|
||||
pruneopts = ""
|
||||
revision = "f34a1b4e75c5935f6269723ae45eacd0aa1d1a2a"
|
||||
version = "v3.1.0"
|
||||
|
||||
[solve-meta]
|
||||
analyzer-name = "dep"
|
||||
analyzer-version = 1
|
||||
inputs-digest = "a0e4e9de33316ccc61210696bc25b441cb91684cb0197619239635be1d0fa7f7"
|
||||
input-imports = [
|
||||
"github.com/bmizerany/pat",
|
||||
"github.com/codegangsta/cli",
|
||||
"github.com/donovanhide/eventsource",
|
||||
"github.com/eclipse/paho.mqtt.golang",
|
||||
"github.com/go-ble/ble",
|
||||
"github.com/go-ble/ble/darwin",
|
||||
"github.com/go-ble/ble/linux",
|
||||
"github.com/gobuffalo/uuid",
|
||||
"github.com/hashicorp/go-multierror",
|
||||
"github.com/hybridgroup/go-ardrone/client",
|
||||
"github.com/hybridgroup/mjpeg",
|
||||
"github.com/nats-io/nats",
|
||||
"github.com/pkg/errors",
|
||||
"github.com/sigurn/crc8",
|
||||
"github.com/stretchr/testify/assert",
|
||||
"github.com/tarm/serial",
|
||||
"github.com/veandco/go-sdl2/sdl",
|
||||
"go.bug.st/serial.v1",
|
||||
"gocv.io/x/gocv",
|
||||
"golang.org/x/net/websocket",
|
||||
"periph.io/x/periph/conn",
|
||||
"periph.io/x/periph/conn/physic",
|
||||
"periph.io/x/periph/conn/spi",
|
||||
"periph.io/x/periph/host/sysfs",
|
||||
]
|
||||
solver-name = "gps-cdcl"
|
||||
solver-version = 1
|
||||
|
||||
@ -84,3 +84,7 @@
|
||||
[[constraint]]
|
||||
branch = "master"
|
||||
name = "golang.org/x/net"
|
||||
|
||||
[[constraint]]
|
||||
name = "github.com/stretchr/testify"
|
||||
version = "1.2.2"
|
||||
|
||||
@ -14,6 +14,7 @@ install:
|
||||
- go version
|
||||
- go env
|
||||
- go get -d ./...
|
||||
- go get github.com/stretchr/testify
|
||||
|
||||
build_script:
|
||||
- go test -v -cpu=2 .
|
||||
|
||||
27
robot.go
27
robot.go
@ -7,6 +7,8 @@ import (
|
||||
"os/signal"
|
||||
"sync/atomic"
|
||||
|
||||
"sync"
|
||||
|
||||
multierror "github.com/hashicorp/go-multierror"
|
||||
)
|
||||
|
||||
@ -43,14 +45,17 @@ func NewJSONRobot(robot *Robot) *JSONRobot {
|
||||
// It contains its own work routine and a collection of
|
||||
// custom commands to control a robot remotely via the Gobot api.
|
||||
type Robot struct {
|
||||
Name string
|
||||
Work func()
|
||||
connections *Connections
|
||||
devices *Devices
|
||||
trap func(chan os.Signal)
|
||||
AutoRun bool
|
||||
running atomic.Value
|
||||
done chan bool
|
||||
Name string
|
||||
Work func()
|
||||
connections *Connections
|
||||
devices *Devices
|
||||
trap func(chan os.Signal)
|
||||
AutoRun bool
|
||||
running atomic.Value
|
||||
done chan bool
|
||||
workRegistry *RobotWorkRegistry
|
||||
WorkEveryWaitGroup *sync.WaitGroup
|
||||
WorkAfterWaitGroup *sync.WaitGroup
|
||||
Commander
|
||||
Eventer
|
||||
}
|
||||
@ -139,6 +144,12 @@ func NewRobot(v ...interface{}) *Robot {
|
||||
}
|
||||
}
|
||||
|
||||
r.workRegistry = &RobotWorkRegistry{
|
||||
r: make(map[string]*RobotWork),
|
||||
}
|
||||
r.WorkAfterWaitGroup = &sync.WaitGroup{}
|
||||
r.WorkEveryWaitGroup = &sync.WaitGroup{}
|
||||
|
||||
r.running.Store(false)
|
||||
log.Println("Robot", r.Name, "initialized.")
|
||||
|
||||
|
||||
200
robot_work.go
Normal file
200
robot_work.go
Normal file
@ -0,0 +1,200 @@
|
||||
package gobot
|
||||
|
||||
import (
|
||||
"context"
|
||||
"fmt"
|
||||
"time"
|
||||
|
||||
"sync"
|
||||
|
||||
"github.com/gobuffalo/uuid"
|
||||
)
|
||||
|
||||
// RobotWorkRegistry contains all the work units registered on a Robot
|
||||
type RobotWorkRegistry struct {
|
||||
sync.RWMutex
|
||||
|
||||
r map[string]*RobotWork
|
||||
}
|
||||
|
||||
const (
|
||||
EveryWorkKind = "every"
|
||||
AfterWorkKind = "after"
|
||||
)
|
||||
|
||||
// RobotWork and the RobotWork registry represent units of executing computation
|
||||
// managed at the Robot level. Unlike the utility functions gobot.After and gobot.Every,
|
||||
// RobotWork units require a context.Context, and can be cancelled externally by calling code.
|
||||
//
|
||||
// Usage:
|
||||
//
|
||||
// someWork := myRobot.Every(context.Background(), time.Second * 2, func(){
|
||||
// fmt.Println("Here I am doing work")
|
||||
// })
|
||||
//
|
||||
// someWork.CallCancelFunc() // Cancel next tick and remove from work registry
|
||||
//
|
||||
// goroutines for Every and After are run on their own WaitGroups for synchronization:
|
||||
//
|
||||
// someWork2 := myRobot.Every(context.Background(), time.Second * 2, func(){
|
||||
// fmt.Println("Here I am doing more work")
|
||||
// })
|
||||
//
|
||||
// somework2.CallCancelFunc()
|
||||
//
|
||||
// // wait for both Every calls to finish
|
||||
// robot.WorkEveryWaitGroup().Wait()
|
||||
type RobotWork struct {
|
||||
id uuid.UUID
|
||||
kind string
|
||||
tickCount int
|
||||
ctx context.Context
|
||||
cancelFunc context.CancelFunc
|
||||
function func()
|
||||
ticker *time.Ticker
|
||||
duration time.Duration
|
||||
}
|
||||
|
||||
// ID returns the UUID of the RobotWork
|
||||
func (rw *RobotWork) ID() uuid.UUID {
|
||||
return rw.id
|
||||
}
|
||||
|
||||
// CancelFunc returns the context.CancelFunc used to cancel the work
|
||||
func (rw *RobotWork) CancelFunc() context.CancelFunc {
|
||||
return rw.cancelFunc
|
||||
}
|
||||
|
||||
// CallCancelFunc calls the context.CancelFunc used to cancel the work
|
||||
func (rw *RobotWork) CallCancelFunc() {
|
||||
rw.cancelFunc()
|
||||
}
|
||||
|
||||
// Ticker returns the time.Ticker used in an Every so that calling code can sync on the same channel
|
||||
func (rw *RobotWork) Ticker() *time.Ticker {
|
||||
if rw.kind == AfterWorkKind {
|
||||
return nil
|
||||
}
|
||||
return rw.ticker
|
||||
}
|
||||
|
||||
// TickCount returns the number of times the function successfully ran
|
||||
func (rw *RobotWork) TickCount() int {
|
||||
return rw.tickCount
|
||||
}
|
||||
|
||||
// Duration returns the timeout until an After fires or the period of an Every
|
||||
func (rw *RobotWork) Duration() time.Duration {
|
||||
return rw.duration
|
||||
}
|
||||
|
||||
func (rw *RobotWork) String() string {
|
||||
format := `ID: %s
|
||||
Kind: %s
|
||||
TickCount: %d
|
||||
|
||||
`
|
||||
return fmt.Sprintf(format, rw.id, rw.kind, rw.tickCount)
|
||||
}
|
||||
|
||||
// WorkRegistry returns the Robot's WorkRegistry
|
||||
func (r *Robot) WorkRegistry() *RobotWorkRegistry {
|
||||
return r.workRegistry
|
||||
}
|
||||
|
||||
// Every calls the given function for every tick of the provided duration.
|
||||
func (r *Robot) Every(ctx context.Context, d time.Duration, f func()) *RobotWork {
|
||||
rw := r.workRegistry.registerEvery(ctx, d, f)
|
||||
r.WorkEveryWaitGroup.Add(1)
|
||||
go func() {
|
||||
EVERYWORK:
|
||||
for {
|
||||
select {
|
||||
case <-rw.ctx.Done():
|
||||
r.workRegistry.delete(rw.id)
|
||||
rw.ticker.Stop()
|
||||
break EVERYWORK
|
||||
case <-rw.ticker.C:
|
||||
f()
|
||||
rw.tickCount++
|
||||
}
|
||||
}
|
||||
r.WorkEveryWaitGroup.Done()
|
||||
}()
|
||||
return rw
|
||||
}
|
||||
|
||||
// After calls the given function after the provided duration has elapsed
|
||||
func (r *Robot) After(ctx context.Context, d time.Duration, f func()) *RobotWork {
|
||||
rw := r.workRegistry.registerAfter(ctx, d, f)
|
||||
ch := time.After(d)
|
||||
r.WorkAfterWaitGroup.Add(1)
|
||||
go func() {
|
||||
AFTERWORK:
|
||||
for {
|
||||
select {
|
||||
case <-rw.ctx.Done():
|
||||
r.workRegistry.delete(rw.id)
|
||||
break AFTERWORK
|
||||
case <-ch:
|
||||
f()
|
||||
}
|
||||
}
|
||||
r.WorkAfterWaitGroup.Done()
|
||||
}()
|
||||
return rw
|
||||
}
|
||||
|
||||
// Get returns the RobotWork specified by the provided ID. To delete something from the registry, it's
|
||||
// necessary to call its context.CancelFunc, which will perform a goroutine-safe delete on the underlying
|
||||
// map.
|
||||
func (rwr *RobotWorkRegistry) Get(id uuid.UUID) *RobotWork {
|
||||
rwr.Lock()
|
||||
defer rwr.Unlock()
|
||||
return rwr.r[id.String()]
|
||||
}
|
||||
|
||||
// Delete returns the RobotWork specified by the provided ID
|
||||
func (rwr *RobotWorkRegistry) delete(id uuid.UUID) {
|
||||
rwr.Lock()
|
||||
defer rwr.Unlock()
|
||||
delete(rwr.r, id.String())
|
||||
}
|
||||
|
||||
// registerAfter creates a new unit of RobotWork and sets up its context/cancellation
|
||||
func (rwr *RobotWorkRegistry) registerAfter(ctx context.Context, d time.Duration, f func()) *RobotWork {
|
||||
rwr.Lock()
|
||||
defer rwr.Unlock()
|
||||
|
||||
id, _ := uuid.NewV4()
|
||||
rw := &RobotWork{
|
||||
id: id,
|
||||
kind: AfterWorkKind,
|
||||
function: f,
|
||||
duration: d,
|
||||
}
|
||||
|
||||
rw.ctx, rw.cancelFunc = context.WithCancel(ctx)
|
||||
rwr.r[id.String()] = rw
|
||||
return rw
|
||||
}
|
||||
|
||||
// registerEvery creates a new unit of RobotWork and sets up its context/cancellation
|
||||
func (rwr *RobotWorkRegistry) registerEvery(ctx context.Context, d time.Duration, f func()) *RobotWork {
|
||||
rwr.Lock()
|
||||
defer rwr.Unlock()
|
||||
|
||||
id, _ := uuid.NewV4()
|
||||
rw := &RobotWork{
|
||||
id: id,
|
||||
kind: EveryWorkKind,
|
||||
function: f,
|
||||
duration: d,
|
||||
ticker: time.NewTicker(d),
|
||||
}
|
||||
|
||||
rw.ctx, rw.cancelFunc = context.WithCancel(ctx)
|
||||
|
||||
rwr.r[id.String()] = rw
|
||||
return rw
|
||||
}
|
||||
100
robot_work_test.go
Normal file
100
robot_work_test.go
Normal file
@ -0,0 +1,100 @@
|
||||
package gobot
|
||||
|
||||
import (
|
||||
"context"
|
||||
"testing"
|
||||
|
||||
"time"
|
||||
|
||||
"github.com/gobuffalo/uuid"
|
||||
"github.com/stretchr/testify/assert"
|
||||
)
|
||||
|
||||
func TestRobotWork(t *testing.T) {
|
||||
id, _ := uuid.NewV4()
|
||||
|
||||
rw := &RobotWork{
|
||||
id: id,
|
||||
kind: EveryWorkKind,
|
||||
function: func() {},
|
||||
}
|
||||
|
||||
duration := time.Second * 1
|
||||
ctx, cancelFunc := context.WithCancel(context.Background())
|
||||
|
||||
rw.ctx = ctx
|
||||
rw.cancelFunc = cancelFunc
|
||||
rw.duration = duration
|
||||
|
||||
t.Run("ID()", func(t *testing.T) {
|
||||
assert.Equal(t, rw.ID(), id)
|
||||
})
|
||||
|
||||
t.Run("Ticker()", func(t *testing.T) {
|
||||
t.Skip()
|
||||
})
|
||||
|
||||
t.Run("Duration()", func(t *testing.T) {
|
||||
assert.Equal(t, rw.duration, duration)
|
||||
})
|
||||
}
|
||||
|
||||
func TestRobotWorkRegistry(t *testing.T) {
|
||||
robot := NewRobot("testbot")
|
||||
|
||||
rw := robot.Every(context.Background(), time.Millisecond*250, func() {
|
||||
_ = 1 + 1
|
||||
})
|
||||
|
||||
t.Run("Get retrieves", func(t *testing.T) {
|
||||
assert.Equal(t, robot.workRegistry.Get(rw.id), rw)
|
||||
})
|
||||
|
||||
t.Run("delete deletes", func(t *testing.T) {
|
||||
robot.workRegistry.delete(rw.id)
|
||||
postDeleteKeys := collectStringKeysFromWorkRegistry(robot.workRegistry)
|
||||
assert.NotContains(t, postDeleteKeys, rw.id.String())
|
||||
})
|
||||
}
|
||||
|
||||
func TestRobotAutomationFunctions(t *testing.T) {
|
||||
t.Run("Every with cancel", func(t *testing.T) {
|
||||
robot := NewRobot("testbot")
|
||||
|
||||
rw := robot.Every(context.Background(), time.Millisecond*10, func() {
|
||||
_ = 1 + 1 // perform mindless computation!
|
||||
})
|
||||
|
||||
time.Sleep(time.Millisecond * 25)
|
||||
rw.CallCancelFunc()
|
||||
|
||||
robot.WorkEveryWaitGroup.Wait()
|
||||
|
||||
assert.Equal(t, 2, rw.tickCount)
|
||||
postDeleteKeys := collectStringKeysFromWorkRegistry(robot.workRegistry)
|
||||
assert.NotContains(t, postDeleteKeys, rw.id.String())
|
||||
})
|
||||
|
||||
t.Run("After with cancel", func(t *testing.T) {
|
||||
robot := NewRobot("testbot")
|
||||
|
||||
rw := robot.After(context.Background(), time.Millisecond*10, func() {
|
||||
_ = 1 + 1 // perform mindless computation!
|
||||
})
|
||||
|
||||
rw.CallCancelFunc()
|
||||
|
||||
robot.WorkAfterWaitGroup.Wait()
|
||||
|
||||
postDeleteKeys := collectStringKeysFromWorkRegistry(robot.workRegistry)
|
||||
assert.NotContains(t, postDeleteKeys, rw.id.String())
|
||||
})
|
||||
}
|
||||
|
||||
func collectStringKeysFromWorkRegistry(rwr *RobotWorkRegistry) []string {
|
||||
keys := make([]string, len(rwr.r))
|
||||
for k, _ := range rwr.r {
|
||||
keys = append(keys, k)
|
||||
}
|
||||
return keys
|
||||
}
|
||||
Loading…
x
Reference in New Issue
Block a user