Updated quite a few things over our last hackathon

examples/connect_spheros.js

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+#!/usr/bin/env node
+/**
+ * Creates virtual serial ports in /tmp for each Sphero port and holds the
+ * bluetooth ones open. This is helpful for avoiding connection errors and
+ * interference from iOS devices when connecting multiple Spheros. 
+ *
+ * Requires the 'socat' command-line tool to create the virtual serial ports.
+ */
+var spawn = require('child_process').spawn;
+var extname = require('path').extname;
+
+// where to store the virtual ports while running
+var virtual_port_dir = '/tmp/';
+
+// socat displays this when successfully connected
+var success_str = 'starting data transfer loop';
+
+// socat binary
+//var socat = './testsocat.sh';
+var socat = 'socat';
+
+// terminal colors
+red   = '\033[31m';
+blue  = '\033[34m';
+green  = '\033[32m';
+reset = '\033[0m';
+
+var paths = process.argv.slice(2);
+var numPaths = paths.length;
+if(paths.length === 0) {
+  console.log('usage connectSpheros.js [sphero serial port paths]');
+  process.exit(1);
+}
+console.log('Connecting ' + numPaths + ' paired Spheros');
+
+var connectPort = function(index, path, callback) {
+  var self;
+  var virtual_port = virtual_port_dir + extname(path).slice(1);
+  console.log('Starting connection to ' + path + ' at ' + virtual_port);
+
+  // Run socat to connect virtual serial port to real one
+  child = spawn(socat, [
+    '-d','-d','-d', // Extra debugging
+    'pty,link=' + virtual_port + ',raw,echo=0', // Create virtual serial port
+    'file:' + path // Connect to Sphero serial port
+    ]);
+
+  child.on('exit', function() {
+    if(index in activeStreams) {
+      // We lost an active connection
+      console.log(red + 'Connection lost for ' + path + reset);
+    } else {
+      console.log('Failed to connect to ' + path);
+    }
+
+    delete activeStreams[index];
+
+    // Restart self
+    children[self.index] = connectPort(index, path, callback);
+  });
+
+  var handleOutput = function(buffer) {
+    var data = buffer.toString();
+    //console.log(index + ' stdout: ' + data);
+
+    if(data.search('starting data transfer loop') !== -1) {
+      self.ready = true;
+
+      console.log(self.path, ': stream is now active at ' + self.port);
+      callback();
+
+      activeStreams[index] = true;
+      if(Object.keys(activeStreams).length === numPaths) {
+        console.log('\n' + green + 'READY TO GO!!!' + reset + '\n');
+      }
+    }
+  };
+  child.stdout.on('data', handleOutput);
+  child.stderr.on('data', handleOutput);
+
+  self = {
+    index: index,
+    path: path,
+    port: virtual_port,
+    child: child,
+    ready: false
+  };
+  return self;
+};
+
+var children = Object.create(null);
+var activeStreams = Object.create(null);
+
+// connect one at a time, waiting for callback
+var i = 0;
+var connectNext = function() {
+  if(!paths.length) { return; }
+
+  i = i + 1;
+  var path = paths.shift();
+
+  children[i] = connectPort(i, path, connectNext);
+};
+connectNext();
+
+process.on('SIGINT', function() {
+  process.exit();
+});
+process.on('exit', function() {
+  for(var i=0; i<numPaths; i++) {
+    console.log('Killing ' + i);
+    children[i].child.kill();
+  }
+});
+

examples/orient_spheros.js

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+#!/usr/bin/env node
+/**
+ * Allows you to re-orient multiple spheros by temporarily disabling the
+ * auto-stabilization and turning it back on again after a keypress.
+ */
+var Sphero = require("../lib/sphero.js").Sphero;
+
+var paths = process.argv.slice(2);
+if(paths.length === 0) {
+  console.log('usage orientSpheros.js [paths to sphero ports]');
+  process.exit(1);
+}
+console.log('Orienting ' + paths.length + ' paired Spheros');
+
+var orient = function(path) {
+  var sphero = new Sphero(path);
+  var deviceName;
+
+  sphero.getBluetoothInfo(function(name, id) {
+    console.log("Device name is " + name + ' / ' + id);
+    deviceName = name;
+  })
+  // Turn off stabilization
+  .setStabilization(0x00, function() {
+    console.log(deviceName + ': stabilization turned off');
+  })
+  // Turn on back led
+  .setBackLED(255, function() {
+    console.log(deviceName + ': back LED on');
+  })
+  .setColor(0, 255, 0, function() {
+    console.log(deviceName + ' : set color to green');
+  })
+  ;
+
+  return sphero;
+};
+
+var numReset = 0;
+var reset = function(sphero) {
+  // Turn sphero to heading 0 so it reorients to the same place as the others
+  sphero.setHeading(0, function() {
+
+    // Turn on stabilization
+    sphero.setStabilization(0x01, function() {
+      console.log('Reset sphero ' + numReset);
+      sphero.disconnect();
+
+      numReset = numReset + 1;
+
+      if(numReset === paths.length) {
+        console.log("Finished orientation.");
+        process.exit(0);
+      }
+    });
+  });
+};
+
+var spheros = [];
+paths.forEach(function(path) {
+  spheros.push(orient(path));
+});
+
+console.log('Press any key to complete orientation. > ');
+var stdin = process.openStdin();
+stdin.once('data', function() {
+  spheros.forEach(function(sphero) {
+    reset(sphero);
+  });
+});
+

examples/setup_sphero.js

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+#!/usr/bin/env node
+var Sphero = require("../lib/sphero.js").Sphero;
+
+var run = function(sphero) {
+
+  sphero.getBluetoothInfo(function(name, id) {
+    console.log("Device name is " + name + ' / ' + id);
+  })
+  .setAutoReconnect(false, 5, function() {
+    console.log("Turned off auto reconnect");
+  })
+  .send({
+    device: sphero.devices.core,
+    command: 0x25,
+    data: new Buffer([0xFF, 0xFF]),
+    success: function(packet) {
+      console.log("Set timeout to 65535 seconds");
+      sphero.disconnect();
+      process.exit(0);
+    }
+  });
+};
+
+
+var sphero;
+if(process.argv.length === 2) {
+  sphero = new Sphero();
+}
+else if(process.argv.length === 3) {
+  sphero = new Sphero(process.argv[2]);
+} else {
+  console.log('usage: setup_sphero.js [path to sphero port]');
+  process.exit(1);
+}
+
+run(sphero);