api.go

package gobot

import (
	"encoding/json"
	"github.com/go-martini/martini"
	"github.com/martini-contrib/auth"
	"github.com/martini-contrib/cors"
	"io/ioutil"
	"log"
	"net/http"
	"reflect"
)

type api struct {
	master   *Master
	server   *martini.ClassicMartini
	Host     string
	Port     string
	Username string
	Password string
	Cert     string
	Key      string
}

type jsonRobot struct {
	Name        string            `json:"name"`
	Commands    []string          `json:"commands"`
	Connections []*jsonConnection `json:"connections"`
	Devices     []*jsonDevice     `json:"devices"`
}

type jsonDevice struct {
	Name       string          `json:"name"`
	Driver     string          `json:"driver"`
	Connection *jsonConnection `json:"connection"`
	Commands   []string        `json:"commands"`
}

type jsonConnection struct {
	Name    string `json:"name"`
	Port    string `json:"port"`
	Adaptor string `json:"adaptor"`
}

var startApi = func(me *api) {
	username := me.Username
	if username != "" {
		password := me.Password
		me.server.Use(auth.Basic(username, password))
	}

	port := me.Port
	if port == "" {
		port = "3000"
	}

	host := me.Host
	cert := me.Cert
	key := me.Key

	log.Println("Initializing API on " + host + ":" + port + "...")
	if cert != "" && key != "" {
		go http.ListenAndServeTLS(host+":"+port, cert, key, me.server)
	} else {
		log.Println("WARNING: API using insecure connection. We recommend using an SSL certificate with Gobot.")
		go http.ListenAndServe(host+":"+port, me.server)
	}
}

func (me *api) startApi() {
	startApi(me)
}

func Api(bot *Master) *api {
	a := new(api)
	a.master = bot
	bot.Api = a

	m := martini.Classic()
	a.server = m

	m.Use(martini.Static("robeaux"))
	m.Use(cors.Allow(&cors.Options{
		AllowAllOrigins: true,
	}))

	m.Get("/robots", func(res http.ResponseWriter, req *http.Request) {
		a.robots(res, req)
	})

	m.Get("/robots/:robotname", func(params martini.Params, res http.ResponseWriter, req *http.Request) {
		a.robot(params["robotname"], res, req)
	})

	m.Get("/robots/:robotname/commands", func(params martini.Params, res http.ResponseWriter, req *http.Request) {
		a.robot_commands(params["robotname"], res, req)
	})

	robot_command_route := "/robots/:robotname/commands/:command"

	m.Get(robot_command_route, func(params martini.Params, res http.ResponseWriter, req *http.Request) {
		a.executeRobotCommand(params["robotname"], params["command"], res, req)
	})
	m.Post(robot_command_route, func(params martini.Params, res http.ResponseWriter, req *http.Request) {
		a.executeRobotCommand(params["robotname"], params["command"], res, req)
	})

	m.Get("/robots/:robotname/devices", func(params martini.Params, res http.ResponseWriter, req *http.Request) {
		a.robot_devices(params["robotname"], res, req)
	})

	m.Get("/robots/:robotname/devices/:devicename", func(params martini.Params, res http.ResponseWriter, req *http.Request) {
		a.robot_device(params["robotname"], params["devicename"], res, req)
	})

	m.Get("/robots/:robotname/devices/:devicename/commands", func(params martini.Params, res http.ResponseWriter, req *http.Request) {
		a.robot_device_commands(params["robotname"], params["devicename"], res, req)
	})

	command_route := "/robots/:robotname/devices/:devicename/commands/:command"

	m.Get(command_route, func(params martini.Params, res http.ResponseWriter, req *http.Request) {
		a.executeCommand(params["robotname"], params["devicename"], params["command"], res, req)
	})
	m.Post(command_route, func(params martini.Params, res http.ResponseWriter, req *http.Request) {
		a.executeCommand(params["robotname"], params["devicename"], params["command"], res, req)
	})

	m.Get("/robots/:robotname/connections", func(params martini.Params, res http.ResponseWriter, req *http.Request) {
		a.robot_connections(params["robotname"], res, req)
	})

	m.Get("/robots/:robotname/connections/:connectionname", func(params martini.Params, res http.ResponseWriter, req *http.Request) {
		a.robot_connection(params["robotname"], params["connectionname"], res, req)
	})

	return a
}

func (me *api) robots(res http.ResponseWriter, req *http.Request) {
	jsonRobots := make([]*jsonRobot, 0)
	for _, robot := range me.master.Robots {
		jsonRobots = append(jsonRobots, me.formatJsonRobot(robot))
	}
	data, _ := json.Marshal(jsonRobots)
	res.Header().Set("Content-Type", "application/json; charset=utf-8")
	res.Write(data)
}

func (me *api) robot(name string, res http.ResponseWriter, req *http.Request) {
	data, _ := json.Marshal(me.formatJsonRobot(me.master.FindRobot(name)))
	res.Header().Set("Content-Type", "application/json; charset=utf-8")
	res.Write(data)
}

func (me *api) robot_commands(name string, res http.ResponseWriter, req *http.Request) {
	data, _ := json.Marshal(me.master.FindRobot(name).RobotCommands)
	res.Header().Set("Content-Type", "application/json; charset=utf-8")
	res.Write(data)
}

func (me *api) robot_devices(name string, res http.ResponseWriter, req *http.Request) {
	devices := me.master.FindRobot(name).GetDevices()
	jsonDevices := make([]*jsonDevice, 0)
	for _, device := range devices {
		jsonDevices = append(jsonDevices, me.formatJsonDevice(device))
	}
	data, _ := json.Marshal(jsonDevices)
	res.Header().Set("Content-Type", "application/json; charset=utf-8")
	res.Write(data)
}

func (me *api) robot_device(robot string, device string, res http.ResponseWriter, req *http.Request) {
	data, _ := json.Marshal(me.formatJsonDevice(me.master.FindRobotDevice(robot, device)))
	res.Header().Set("Content-Type", "application/json; charset=utf-8")
	res.Write(data)
}

func (me *api) robot_device_commands(robot string, device string, res http.ResponseWriter, req *http.Request) {
	data, _ := json.Marshal(me.master.FindRobotDevice(robot, device).Commands())
	res.Header().Set("Content-Type", "application/json; charset=utf-8")
	res.Write(data)
}

func (me *api) robot_connections(name string, res http.ResponseWriter, req *http.Request) {
	connections := me.master.FindRobot(name).GetConnections()
	jsonConnections := make([]*jsonConnection, 0)
	for _, connection := range connections {
		jsonConnections = append(jsonConnections, me.formatJsonConnection(connection))
	}
	data, _ := json.Marshal(jsonConnections)
	res.Header().Set("Content-Type", "application/json; charset=utf-8")
	res.Write(data)
}

func (me *api) robot_connection(robot string, connection string, res http.ResponseWriter, req *http.Request) {
	data, _ := json.Marshal(me.formatJsonConnection(me.master.FindRobotConnection(robot, connection)))
	res.Header().Set("Content-Type", "application/json; charset=utf-8")
	res.Write(data)
}

func (a *api) formatJsonRobot(robot *Robot) *jsonRobot {
	jsonRobot := new(jsonRobot)
	jsonRobot.Name = robot.Name
	jsonRobot.Commands = robot.RobotCommands
	jsonRobot.Connections = make([]*jsonConnection, 0)
	for _, device := range robot.devices {
		jsonDevice := a.formatJsonDevice(device)
		jsonRobot.Connections = append(jsonRobot.Connections, jsonDevice.Connection)
		jsonRobot.Devices = append(jsonRobot.Devices, jsonDevice)
	}
	return jsonRobot
}

func (a *api) formatJsonConnection(connection *connection) *jsonConnection {
	jsonConnection := new(jsonConnection)
	jsonConnection.Name = connection.Name
	jsonConnection.Port = connection.Port
	jsonConnection.Adaptor = connection.Type
	return jsonConnection
}

func (a *api) formatJsonDevice(device *device) *jsonDevice {
	jsonDevice := new(jsonDevice)
	jsonDevice.Name = device.Name
	jsonDevice.Driver = device.Type
	jsonDevice.Connection = a.formatJsonConnection(a.master.FindRobotConnection(device.Robot.Name, FieldByNamePtr(FieldByNamePtr(device.Driver, "Adaptor").Interface().(AdaptorInterface), "Name").Interface().(string)))
	jsonDevice.Commands = FieldByNamePtr(device.Driver, "Commands").Interface().([]string)
	return jsonDevice
}

func (a *api) executeCommand(robotname string, devicename string, commandname string, res http.ResponseWriter, req *http.Request) {
	data, _ := ioutil.ReadAll(req.Body)
	var body map[string]interface{}
	json.Unmarshal(data, &body)
	robot := a.master.FindRobotDevice(robotname, devicename)
	commands := robot.Commands().([]string)
	for command := range commands {
		if commands[command] == commandname {
			ret := Call(robot.Driver, commandname, body)
			data, _ = json.Marshal(map[string]interface{}{"result": ret[0].Interface()})
			res.Header().Set("Content-Type", "application/json; charset=utf-8")
			res.Write(data)
			return
		}
	}
	data, _ = json.Marshal(map[string]interface{}{"result": "Unknown Command"})
	res.Header().Set("Content-Type", "application/json; charset=utf-8")
	res.Write(data)
}

func (a *api) executeRobotCommand(robotname string, commandname string, res http.ResponseWriter, req *http.Request) {
	data, _ := ioutil.ReadAll(req.Body)
	body := make(map[string]interface{})
	json.Unmarshal(data, &body)
	robot := a.master.FindRobot(robotname)
	in := make([]reflect.Value, 1)
	body["robotname"] = robotname
	in[0] = reflect.ValueOf(body)
	command := robot.Commands[commandname]
	if command != nil {
		ret := reflect.ValueOf(robot.Commands[commandname]).Call(in)
		data, _ = json.Marshal(map[string]interface{}{"result": ret[0].Interface()})
	} else {
		data, _ = json.Marshal(map[string]interface{}{"result": "Unknown Command"})
	}
	res.Header().Set("Content-Type", "application/json; charset=utf-8")
	res.Write(data)
}