Inter-robot communication

config/dev.exs

@@ -7,12 +7,13 @@ use Mix.Config
 # watchers to your application. For example, we use it
 # with brunch.io to recompile .js and .css sources.
 config :ev3, Ev3.Endpoint,
-  # url: [host: "192.168.1.100"],
+#  url: [host: "192.168.1.100"],
+#  url: [host: "10.10.10.97"],
   http: [port: 4000],
   debug_errors: true,
   code_reloader: true,
   cache_static_lookup: false,
- #  watchers: []
+#   watchers: []
   watchers: [node: ["node_modules/brunch/bin/brunch", "watch", "--stdin"]]
 
 # Watch static and templates for browser reloading.

lib/ev3/body/communicating.ex

@@ -0,0 +1,7 @@
+defmodule Ev3.Communicating do
+	use Behaviour
+
+	@doc "Communicate info to other robots in a team"
+	defcallback communicate(info :: any, team :: atom) :: :any
+
+end

lib/ev3/body/device.ex

@@ -35,6 +35,34 @@ defmodule Ev3.Device do
     end
   end
 
+	#### TODO
+
+  def mode(device_type, :nxt) do
+    case device_type do
+      :infrared -> "nxt-i2c"
+      :touch -> "nxt-analog" # works
+      :gyro -> "nxt-analog"
+   #   :color -> "???" # NOT SUPPORTED but EV3 Color sensor works on brickpi
+      :ultrasonic -> "nxt-i2c"
+      :large -> "tacho-motor" # automatically detected
+   #   :medium -> "tacho-motor" # does not exist
+    end
+  end
+
+  def device_code(device_type, :nxt) do
+    case device_type do
+      :infrared -> "ht-nxt-ir-receiver 0x01" # HiTechnic NXT IRReceiver Sensor
+      :touch -> "lego-nxt-touch"
+      :gyro -> "ht-nxt-gyro"
+    #  :color -> "???" # NXT Color sensor not supported
+      :ultrasonic -> "lego-nxt-us"
+      :large -> "lego-ev3-l-motor"  # automatically detected as Lego EV3 Large motors
+   #   :medium -> "lego-ev3-m-motor" # does not exist
+    end
+  end
+
+
+
   def self_loading_on_brickpi?(device_type) do
     device_type == :touch
   end

lib/ev3/body/lego_communication.ex

@@ -0,0 +1,55 @@
+defmodule Ev3.LegoCommunication do
+	@moduledoc "Lego inter-robot communication"
+
+	require Logger
+	alias Ev3.Device
+
+	@doc "Get all available communicator"
+  def communicators() do
+		[:pg2]
+		|> Enum.map(&(init_communicator("#{&1}", module_for(&1))))
+	end
+
+	@doc"Find a communicator device by type"
+	def communicator(type: type) do
+		communicators()
+		|> Enum.find(&(type(&1) == type))
+	end
+
+	  @doc "Get the type of the communicator device"
+  def type(communicator) do
+    communicator.type
+  end
+
+  @doc "Execute a cound command"
+  def execute_command(communicator, command, params) do
+    apply(Ev3.LegoCommunication, command, [communicator | params])
+    communicator
+  end
+
+	@doc "Communicate through a communicator"
+	def communicate(communicator_device, %{info: info, team: team}) do
+		apply(communicator_device.path, :communicate, [communicator_device, info, team])
+	end
+
+	### Private
+
+  defp init_communicator(type, module) do
+    %Device{class: :comm,
+            path: module,
+            port: nil,
+            type: type
+           }
+  end
+
+	defp module_for(type) do
+		case type do
+			:pg2 -> Ev3.PG2Communicator
+		  other ->
+				error = "Unknown type #{type} of communicator"
+				Logger.error(error)
+				raise error
+		end
+	end
+
+end

lib/ev3/body/lego_sound.ex

@@ -6,19 +6,19 @@ defmodule Ev3.LegoSound do
 
   @sys_path "/sound"
 
-  @doc "Get the available sound players"
+  @doc "Get the available sound player devices"
   def sound_players() do
     [:speech]
     |> Enum.map(&(init_sound_player("#{&1}", "#{@sys_path}/#{&1}")))
   end
 
-  @doc "Find a sound player by type"
+  @doc "Find a sound player device by type"
   def sound_player(type: type) do
     sound_players()
     |> Enum.find(&(type(&1) == type))
   end
 
-  @doc "Get the type of the sound player"
+  @doc "Get the type of the sound player device"
   def type(sound_player) do
     sound_player.type
   end

lib/ev3/body/pg2_communicator.ex

@@ -0,0 +1,52 @@
+defmodule Ev3.PG2Communicator do
+	@moduledoc "Communicating with other robots via pg2"
+
+	@behaviour Ev3.Communicating
+	use GenServer
+	alias Ev3.Percept
+	alias Ev3.CNS
+	require Logger
+
+	@name __MODULE__
+
+	### API
+
+	@doc "Star the communication server"
+	def start_link() do
+		Logger.info("Starting #{@name}")
+		GenServer.start_link(@name, [], [name: @name])
+	end
+
+	@doc "Communicate a percept to the team"
+	def communicate(device, info, team) do
+		GenServer.cast(@name, {:communicate, device, info, team})
+	end
+
+
+	### CALLBACK
+
+	def init([]) do
+		group = Application.get_env(:ev3, :group)
+		:pg2.start()
+		:pg2.create(group)
+		:pg2.join(group, self())
+		{:ok, %{group: group}}
+	end
+
+	def handle_cast({:communicate, device, info, team}, state =  %{group: group}) do
+		:pg2.get_members(group)
+		|> Enum.each(&(GenServer.cast(&1, {:communication, Node.self(), info, team, device.props.ttl})))
+		Logger.info("COMMUNICATOR communicated #{inspect info} to team #{team}")
+		{:noreply, state}
+	end
+
+	def handle_cast({:communication, source, info, team, ttl}, state) do # ttl for what's communicated
+		Logger.info("COMMUNICATOR heard #{inspect info} for team #{team} from #{inspect source}")
+		percept = Percept.new(about: :heard, value: %{source: source, team: team, info: info})
+		CNS.notify_perceived(%{percept |
+														 ttl: ttl,
+														 source: @name})
+		{:noreply, state}
+		end
+
+end

lib/ev3/mind/actuation/actuation.ex

@@ -7,78 +7,90 @@ defmodule Ev3.Actuation do
 	alias Ev3.MotorSpec
 	alias Ev3.LEDSpec
   alias Ev3.SoundSpec
+	alias Ev3.CommSpec
 	alias Ev3.Activation
 	alias Ev3.Script
 
 	@doc "Give the configurations of all actuators to be activated"
   def actuator_configs() do
 		[
-				ActuatorConfig.new(name: :locomotion,
-													 type: :motor,
-													 specs: [  # to find and name motors from specs
-														 %MotorSpec{name: :left_wheel, port: "outA"},
-														 %MotorSpec{name: :right_wheel, port: "outB"}
-													 ],
-													 activations: [ # scripted actions to be taken upon receiving intents
-														 %Activation{intent: :go_forward,
-																				 action: going_forward()},
-														 %Activation{intent: :go_backward,
-																				 action: going_backward()},
-														 %Activation{intent: :turn_right,
-																				 action: turning_right()},
-														 %Activation{intent: :turn_left,
-																				 action: turning_left()},
-														 %Activation{intent: :stop,
-																				 action: stopping()}
-													 ]),
-				ActuatorConfig.new(name: :manipulation,
-													 type: :motor,
-													 specs: [
-														 %MotorSpec{name: :mouth, port: "outC"}
-													 ],
-													 activations: [
-														 %Activation{intent: :eat,
-																				 action: eating()}
-													 ]),
-				ActuatorConfig.new(name: :leds,
-													 type: :led,
-													 specs: [
-														 %LEDSpec{name: :lr, position: :left, color: :red}, #ev3
-														 %LEDSpec{name: :lg, position: :left, color: :green}, #ev3
-														 %LEDSpec{name: :lb, position: :left, color: :blue}, #brickpi
-													   %LEDSpec{name: :rr, position: :right, color: :red}, #ev3
-														 %LEDSpec{name: :rg, position: :right, color: :green}, #ev3
-														 %LEDSpec{name: :rb, position: :right, color: :blue} #brickpi
-													 ],
-													 activations: [
-														 %Activation{intent: :green_lights,
-																				 action: green_lights()},
-														 %Activation{intent: :red_lights,
-																				 action: red_lights()},
-														 %Activation{intent: :orange_lights,
-																				 action: orange_lights()}
-													 ]),
-        ActuatorConfig.new(name: :sounds,
-                           type: :sound,
-                           specs: [
-                             %SoundSpec{name: :loud_speech, type: :speech, props: %{volume: :loud, speed: :normal, voice: "en-sc"}}
-                           ],
-                           activations: [
-                             %Activation{intent: :say_hungry,
-                                         action: say_hungry()},
-                             %Activation{intent: :say_scared,
-                                         action: say_scared()},
-                             %Activation{intent: :say_curious,
-                                         action: say_curious()},
-                             %Activation{intent: :say_uh_oh,
-                                         action: say_uh_oh()},
-                             %Activation{intent: :say_stuck,
-                                         action: say_stuck()},
-                             %Activation{intent: :say_food,
-                                         action: say_food()},
-                             %Activation{intent: :eating_noises,
-                                         action: eating_noises()}
-                           ])                        
+			ActuatorConfig.new(name: :locomotion,
+												 type: :motor,
+												 specs: [  # to find and name motors from specs
+													 %MotorSpec{name: :left_wheel, port: "outA"},
+													 %MotorSpec{name: :right_wheel, port: "outB"}
+												 ],
+												 activations: [ # scripted actions to be taken upon receiving intents
+													 %Activation{intent: :go_forward,
+																			 action: going_forward()},
+													 %Activation{intent: :go_backward,
+																			 action: going_backward()},
+													 %Activation{intent: :turn_right,
+																			 action: turning_right()},
+													 %Activation{intent: :turn_left,
+																			 action: turning_left()},
+													 %Activation{intent: :stop,
+																			 action: stopping()}
+												 ]),
+			ActuatorConfig.new(name: :manipulation,
+												 type: :motor,
+												 specs: [
+													 %MotorSpec{name: :mouth, port: "outC"}
+												 ],
+												 activations: [
+													 %Activation{intent: :eat,
+																			 action: eating()}
+												 ]),
+			ActuatorConfig.new(name: :leds,
+												 type: :led,
+												 specs: [
+													 %LEDSpec{name: :lr, position: :left, color: :red}, #ev3
+													 %LEDSpec{name: :lg, position: :left, color: :green}, #ev3
+													 %LEDSpec{name: :lb, position: :left, color: :blue}, #brickpi
+													 %LEDSpec{name: :rr, position: :right, color: :red}, #ev3
+													 %LEDSpec{name: :rg, position: :right, color: :green}, #ev3
+													 %LEDSpec{name: :rb, position: :right, color: :blue} #brickpi
+												 ],
+												 activations: [
+													 %Activation{intent: :green_lights,
+																			 action: green_lights()},
+													 %Activation{intent: :red_lights,
+																			 action: red_lights()},
+													 %Activation{intent: :orange_lights,
+																			 action: orange_lights()}
+												 ]),
+      ActuatorConfig.new(name: :sounds,
+                         type: :sound,
+                         specs: [
+                           %SoundSpec{name: :loud_speech, type: :speech, props: %{volume: :loud, speed: :normal, voice: "en-sc"}}
+                         ],
+                         activations: [
+                           %Activation{intent: :say_hungry,
+                                       action: say_hungry()},
+                           %Activation{intent: :say_scared,
+                                       action: say_scared()},
+                           %Activation{intent: :say_curious,
+                                       action: say_curious()},
+                           %Activation{intent: :say_uh_oh,
+                                       action: say_uh_oh()},
+                           %Activation{intent: :say_stuck,
+                                       action: say_stuck()},
+                           %Activation{intent: :say_food,
+                                       action: say_food()},
+                           %Activation{intent: :eating_noises,
+                                       action: eating_noises()},
+                           %Activation{intent: :say,
+                                       action: say()}
+                         ]),
+      ActuatorConfig.new(name: :communicators,
+												 type: :comm,
+												 specs: [
+													 %CommSpec{name: :marvins, type: :pg2} # could set props.ttl to something other than 30 secs default
+												 ],
+												 activations: [
+													 %Activation{intent: :communicate, # intent value = %{info: info, team: team}
+																			 action: communicate()}
+												 ])													 
 		]
 	end
 
@@ -92,7 +104,7 @@ defmodule Ev3.Actuation do
 			|> Script.add_step(:right_wheel, :set_speed, [:rps, rps_speed])
 			|> Script.add_step(:left_wheel, :set_speed, [:rps, rps_speed])
 			|> Script.add_step(:all, :run_for, [how_long] )
-#			|> Script.add_wait(how_long)
+			#			|> Script.add_wait(how_long)
 		end
 	end
 
@@ -272,11 +284,27 @@ defmodule Ev3.Actuation do
     end
   end
 
+  defp say() do
+    fn(intent, sound_players) ->
+      Script.new(:say, sound_players)
+      |> Script.add_step(:loud_speech, :speak, [intent.value])
+    end
+  end
+
   defp eating_noises() do
     fn(_intent, sound_players) ->
       Script.new(:say_eating, sound_players)
       |> Script.add_step(:loud_speech, :speak, ["Nom de nom de nom"])
     end
   end
+
+	# communications
+
+	defp communicate() do
+		fn(intent, communicators) ->
+			Script.new(:communicate, communicators)
+			|> Script.add_step(:marvins, :communicate, [intent.value])
+		end
+	end
 
 end