hypothetical ruby DSL for brick pi robot operations

robobs.rb

# config phase

OperationInstance = Struct.new(:start, :condition, :finish)

class OperationBuilder
  def start(&block)
    @start = block || proc {}
  end

  def condition(&block)
    @condition = block || proc {}
  end

  def finish(&block)
    @finish = block || proc {}
  end

  def operation
    OperationInstance.new(@start, @condition, @finish)
  end
end


class Bot
  def operation
    builder = OperationBuilder.new
    yield builder
    operation = builder.operation
    schedule operation.start
    schedule do
      if operation.condition.call
        schedule operation.condition
      else
        schedule operation.finish
      end
    end
  end

  def schedule(&block)
    
  end
end

bot.run do |events|
  speed = 60
  events.on('keypress', 'w') do
    bot.move_forward
  end

  def bot.move_forward(fractional_seconds = nil)
    bot.operation do |op|
      start_time = nil
      op.start do
        start_time = Time.now
        bot.motor_1.spin 60
        bot.motor_2.spin 60
      end

      op.condition do
        if fractional_seconds
          ((Time.now - start_time) * 1000) < fractional_seconds
        else
          true
        end
      end
      op.finish do
        bot.motor_1.spin 0
        bot.motor_1.spin 0
      end
    end
  end

  loop do
    char = get_char
    bot.trigger 'keypress', key: char
  end
end