aseba.js

module.exports['ch.epfl.mobots.AsebaNetwork'] = function(bus) {
    this.addListener = this.on = function(signame, callback) {
        bus.addMatch('type=\'signal\',member=\'' + signame + '\'', function(err, result) {
            if (err) throw new Error(err);
        });
        var signalFullName = bus.mangle('/', 'ch.epfl.mobots.AsebaNetwork', signame);
        bus.signals.on(signalFullName, function(messageBody) {
             callback.apply(null, messageBody);
        });
    };
    this.LoadScripts = function(fileName, callback) {
        bus.invoke({
            destination: 'ch.epfl.mobots.Aseba',
            path: '/',
            interface: 'ch.epfl.mobots.AsebaNetwork',
            member: 'LoadScripts',
            body: [fileName], 
            signature: 's',
        }, callback);
    };
    this.GetNodesList = function(callback) {
        bus.invoke({
            destination: 'ch.epfl.mobots.Aseba',
            path: '/',
            interface: 'ch.epfl.mobots.AsebaNetwork',
            member: 'GetNodesList',
        }, callback);
    };
    this.GetNodeId = function(node, callback) {
        bus.invoke({
            destination: 'ch.epfl.mobots.Aseba',
            path: '/',
            interface: 'ch.epfl.mobots.AsebaNetwork',
            member: 'GetNodeId',
            body: [node], 
            signature: 's',
        }, callback);
    };
    this.GetVariablesList = function(node, callback) {
        bus.invoke({
            destination: 'ch.epfl.mobots.Aseba',
            path: '/',
            interface: 'ch.epfl.mobots.AsebaNetwork',
            member: 'GetVariablesList',
            body: [node], 
            signature: 's',
        }, callback);
    };
    this.SetVariable = function(node, variable, data, callback) {
        bus.invoke({
            destination: 'ch.epfl.mobots.Aseba',
            path: '/',
            interface: 'ch.epfl.mobots.AsebaNetwork',
            member: 'SetVariable',
            body: [node, variable, data], 
            signature: 'ssan',
        }, callback);
    };
    this.GetVariable = function(node, variable, callback) {
        bus.invoke({
            destination: 'ch.epfl.mobots.Aseba',
            path: '/',
            interface: 'ch.epfl.mobots.AsebaNetwork',
            member: 'GetVariable',
            body: [node, variable], 
            signature: 'ss',
        }, callback);
    };
    this.SendEvent = function(event, data, callback) {
        bus.invoke({
            destination: 'ch.epfl.mobots.Aseba',
            path: '/',
            interface: 'ch.epfl.mobots.AsebaNetwork',
            member: 'SendEvent',
            body: [event, data], 
            signature: 'qan',
        }, callback);
    };
    this.SendEventName = function(name, data, callback) {
        bus.invoke({
            destination: 'ch.epfl.mobots.Aseba',
            path: '/',
            interface: 'ch.epfl.mobots.AsebaNetwork',
            member: 'SendEventName',
            body: [name, data], 
            signature: 'san',
        }, callback);
    };
    this.CreateEventFilter = function(callback) {
        bus.invoke({
            destination: 'ch.epfl.mobots.Aseba',
            path: '/',
            interface: 'ch.epfl.mobots.AsebaNetwork',
            member: 'CreateEventFilter',
        }, callback);
    };
}
module.exports['org.freedesktop.DBus.Properties'] = function(bus) {
    this.addListener = this.on = function(signame, callback) {
        bus.addMatch('type=\'signal\',member=\'' + signame + '\'', function(err, result) {
            if (err) throw new Error(err);
        });
        var signalFullName = bus.mangle('/', 'org.freedesktop.DBus.Properties', signame);
        bus.signals.on(signalFullName, function(messageBody) {
             callback.apply(null, messageBody);
        });
    };
    this.Get = function(interface_name, property_name, callback) {
        bus.invoke({
            destination: 'ch.epfl.mobots.Aseba',
            path: '/',
            interface: 'org.freedesktop.DBus.Properties',
            member: 'Get',
            body: [interface_name, property_name], 
            signature: 'ss',
        }, callback);
    };
    this.Set = function(interface_name, property_name, value, callback) {
        bus.invoke({
            destination: 'ch.epfl.mobots.Aseba',
            path: '/',
            interface: 'org.freedesktop.DBus.Properties',
            member: 'Set',
            body: [interface_name, property_name, value], 
            signature: 'ssv',
        }, callback);
    };
    this.GetAll = function(interface_name, callback) {
        bus.invoke({
            destination: 'ch.epfl.mobots.Aseba',
            path: '/',
            interface: 'org.freedesktop.DBus.Properties',
            member: 'GetAll',
            body: [interface_name], 
            signature: 's',
        }, callback);
    };
}
module.exports['org.freedesktop.DBus.Introspectable'] = function(bus) {
    this.addListener = this.on = function(signame, callback) {
        bus.addMatch('type=\'signal\',member=\'' + signame + '\'', function(err, result) {
            if (err) throw new Error(err);
        });
        var signalFullName = bus.mangle('/', 'org.freedesktop.DBus.Introspectable', signame);
        bus.signals.on(signalFullName, function(messageBody) {
             callback.apply(null, messageBody);
        });
    };
    this.Introspect = function(callback) {
        bus.invoke({
            destination: 'ch.epfl.mobots.Aseba',
            path: '/',
            interface: 'org.freedesktop.DBus.Introspectable',
            member: 'Introspect',
        }, callback);
    };
}

test.js

var dbus = require('dbus-native');
var bus = dbus.sessionBus();

var Aseba = require('./aseba.js')['ch.epfl.mobots.AsebaNetwork'];

var a = new Aseba(bus);

a.SetVariable('thymio-II', 'motor.left.target',[300]);