artoo-ardrone 1.3.0 → 1.4.0

checksums.yaml

@@ -1,7 +1,7 @@
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-  data.tar.gz: 3bfcf7537ccdc036629ef87edc0cb7c8bb159eba
+  metadata.gz: 911540059c16451ee7d89eb38fff846c096caa56
+  data.tar.gz: e9aae4aa678c9e33ddb077b129ee89501353c52f
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data/.travis.yml

@@ -2,5 +2,6 @@ language: ruby
 rvm:
   - 2.0.0
   - 1.9.3
-  - jruby-19mode
-  - rbx-19mode
+  - jruby-1.7.9
+  - rbx-2.1.1
+  

data/Gemfile.lock

@@ -1,30 +1,31 @@
 PATH
   remote: .
   specs:
-    artoo-ardrone (1.3.0)
-      artoo (>= 1.4.0)
+    artoo-ardrone (1.4.0)
+      artoo (>= 1.6.0)
       hybridgroup-argus (>= 0.5.0)
 
 GEM
   remote: http://rubygems.org/
   specs:
-    artoo (1.4.1)
+    artoo (1.6.0)
       celluloid (~> 0.15.0)
       celluloid-io (~> 0.15.0)
       multi_json (~> 1.6)
       pry (~> 0.9)
       rake
       reel (~> 0.4.0)
+      robeaux (~> 0.0.3)
       thor (~> 0.18.1)
     celluloid (0.15.2)
       timers (~> 1.1.0)
     celluloid-io (0.15.0)
       celluloid (>= 0.15.0)
       nio4r (>= 0.5.0)
-    coderay (1.0.9)
+    coderay (1.1.0)
     http (0.5.0)
       http_parser.rb
-    http_parser.rb (0.6.0.beta.2)
+    http_parser.rb (0.6.0)
     hybridgroup-argus (0.5.1)
     metaclass (0.0.1)
     method_source (0.8.2)
@@ -32,24 +33,24 @@ GEM
     minitest-happy (1.0.0)
     mocha (0.14.0)
       metaclass (~> 0.0.1)
-    multi_json (1.8.2)
-    nio4r (0.5.0)
-    pry (0.9.12.2)
-      coderay (~> 1.0.5)
+    multi_json (1.8.4)
+    nio4r (1.0.0)
+    pry (0.9.12.6)
+      coderay (~> 1.0)
       method_source (~> 0.8)
       slop (~> 3.4)
-    rake (10.1.0)
+    rake (10.1.1)
     reel (0.4.0)
       celluloid (>= 0.15.1)
       celluloid-io (>= 0.15.0)
       http (>= 0.5.0)
       http_parser.rb (>= 0.6.0.beta.2)
       websocket_parser (>= 0.1.4)
-    slop (3.4.6)
+    robeaux (0.0.3)
+    slop (3.4.7)
     thor (0.18.1)
     timers (1.1.0)
-    websocket_parser (0.1.4)
-      http
+    websocket_parser (0.1.6)
 
 PLATFORMS
   ruby

data/LICENSE

@@ -1,4 +1,4 @@
-Copyright (c) 2012, 2013 The Hybrid Group
+Copyright (c) 2012-2014 The Hybrid Group
 
 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.

data/README.md

@@ -59,10 +59,27 @@ def fly(*data)
 end
 ```
 
+## Documentation
+
+Check out our [documentation](http://artoo.io/documentation/) for lots of information about how to use Artoo.
+
+## IRC
+
+Need more help? Just want to say "Hello"? Come visit us on IRC freenode #artoo
+
 ## Contributing
 
-1. Fork it
-2. Create your feature branch (`git checkout -b my-new-feature`)
-3. Commit your changes (`git commit -am 'Add some feature'`)
-4. Push to the branch (`git push origin my-new-feature`)
-5. Create new Pull Request
+* All patches must be provided under the Apache 2.0 License
+* Please use the -s option in git to "sign off" that the commit is your work and you are providing it under the Apache 2.0 License
+* Submit a Github Pull Request to the appropriate branch and ideally discuss the changes with us in IRC.
+* We will look at the patch, test it out, and give you feedback.
+* Avoid doing minor whitespace changes, renamings, etc. along with merged content. These will be done by the maintainers from time to time but they can complicate merges and should be done seperately.
+* Take care to maintain the existing coding style.
+* Add unit tests for any new or changed functionality.
+* All pull requests should be "fast forward"
+  * If there are commits after yours use “git rebase -i <new_head_branch>”
+  * If you have local changes you may need to use “git stash”
+  * For git help see [progit](http://git-scm.com/book) which is an awesome (and free) book on git
+
+
+(c) 2012-2014 The Hybrid Group

data/artoo-ardrone.gemspec

@@ -19,7 +19,7 @@ Gem::Specification.new do |s|
   s.executables   = `git ls-files -- bin/*`.split("\n").map{ |f| File.basename(f) }
   s.require_paths = ["lib"]
 
-  s.add_runtime_dependency 'artoo', '>= 1.4.0'
+  s.add_runtime_dependency 'artoo', '>= 1.6.0'
   s.add_runtime_dependency 'hybridgroup-argus', '>= 0.5.0'
   s.add_development_dependency 'minitest', '>= 5.0'
   s.add_development_dependency 'minitest-happy'

data/docs/commands_flight.md

@@ -0,0 +1,234 @@
+# Commands
+
+## start
+
+Starts up the drone.
+
+##### Params
+
+`no params`
+
+##### Returns
+
+`drone`
+
+## stop
+
+Stops the drone.
+
+##### Params
+
+`no params`
+
+##### Returns
+
+`drone` 
+
+## hover
+
+Causes the drone to hover at current altitude.
+
+##### Params
+
+`no params`
+
+##### Returns
+
+`drone` 
+
+## land
+
+Causes the drone to begin its landing sequence.
+
+##### Params
+
+`no params`
+
+##### Returns
+
+`drone` 
+
+## take_off
+
+Causes the drone to take off, if already started.
+
+##### Params
+
+`no params`
+
+##### Returns
+
+`drone` 
+
+## emergency
+
+Causes the drone to make an immediate emergency landing.
+
+##### Params
+
+`no params`
+
+##### Returns
+
+`drone` 
+
+## front_camera
+
+Causes the drone to turn on the front-facing camera.
+
+##### Params
+
+`no params`
+
+##### Returns
+
+`drone` 
+
+## bottom_camera
+
+Causes the drone to turn on the bottom-facing camera.
+
+##### Params
+
+`no params`
+
+##### Returns
+
+`drone` 
+
+## up
+
+Causes the drone to increase altitude.
+
+##### Params
+
+`no params`
+
+##### Returns
+
+`drone` 
+
+## down
+
+Causes the drone to decrease altitude.
+
+##### Params
+
+`no params`
+
+##### Returns
+
+`drone` 
+
+## left
+
+Causes the drone to bank to the left.
+
+##### Params
+
+`no params`
+
+##### Returns
+
+`drone` 
+
+## right
+
+Causes the drone to bank to the right.
+
+##### Params
+
+`no params`
+
+##### Returns
+
+`drone` 
+
+## forward
+
+Causes the drone to bank forward.
+
+##### Params
+
+`no params`
+
+##### Returns
+
+`drone` 
+
+## backward
+
+Causes the drone to bank backward.
+
+##### Params
+
+`no params`
+
+##### Returns
+
+`drone` 
+
+## turn_left
+
+Causes the drone to rotate to the left.
+
+##### Params
+
+`no params`
+
+##### Returns
+
+`drone` 
+
+## turn_right
+
+Causes the drone to rotate to the right.
+
+##### Params
+
+`no params`
+
+##### Returns
+
+`drone` 
+
+## reset_watchdog
+
+Reset the watchdog in the drone.
+
+##### Params
+
+`no params`
+
+##### Returns
+
+`drone` 
+
+## led(color_animation, strength, duration)
+
+Turn on the drone's built in LEDs with the color_animation passed, strength and duration color_animation might be one of the following: `:blink_green_red`, `:blink_green`, `:blink_red`, `:blink_orange`, `:snake_green_red`, `:fire`, `:standard`, `:red`, `:green`, `:red_snake`, `:blank`, `:right_missile`, `:left_missile`, `:double_missile`, `:front_left_green_others_red`, `:front_right_green_others_red`, `:rear_right_green_others_red`, `:rear_left_green_others_red`, `:left_green_right_red`, `:left_red_right_green`, `:blink_standard`
+
+##### Params
+
+- **color_animation** - params
+- **strength** - params
+- **duration** - params
+
+##### Returns
+
+`drone` 
+
+## animate(animation, duration) 
+
+Animate the ardrone to do flips and turns depending on selection, available animation options are: `:phi_m30_deg`,`:phi_30_deg`, `:theta_m30_deg`, `:theta_30_deg`, `:theta_20_deg_yaw_200_deg`, `:theta_20_deg_yaw_m_200_deg`, `:turnaround`, `:turnaround_go_down`, `:yaw_shake`, `:yaw_dance`, `:phi_dance`, `:theta_dance`, `:vz_dance`, `:wave`, `:phi_theta_mixed`, `:double_phi_theta_mixed`, `:flip_ahead`, `:flip_behind`, `:flip_left`, `:flip_right`
+
+##### Params
+
+- **animation** - params
+- **duration** - params
+
+##### Returns
+
+`drone` 
+
+

data/docs/commands_nav.md

@@ -0,0 +1,13 @@
+# Commands
+
+## emergency_landing?
+
+Text here
+
+##### Params
+
+`no params`
+
+##### Returns
+
+`` 

data/docs/events_flight.md

@@ -0,0 +1,9 @@
+# Events
+
+## start_driver
+
+Starts the driver
+
+## ready
+
+Gets triggered when the drone is ready.

data/docs/events_nav.md

@@ -0,0 +1,47 @@
+# Events
+
+## start_driver
+
+Starts the driver
+
+## navdata
+
+Gets triggered every time interval amount of time passes, returns and lets you access a NavData object containing the attributes described below:
+
+- navdata.sequence_number → String (returns the sequence number) -
+- navdata.vision_flag → String (returns the sequence number) -
+- navdata.flying? → Boolean (is the ardrone flying?) -
+- navdata.communication_lost? → Boolean (is communication lost?) -
+- navdata.com_watchdog_problem? → Boolean (is there a watchdog problem?) -
+- navdata.bootstrap? → Boolean (boostrap navigation setup?) -
+
+
+## demo
+
+Gets triggered every time interval amount of time passes, returns and lets you access a NavOptionDemo object containing navigation data as described below:
+
+- nav_option_demo.control_state_name → String (returns control state name) -
+- nav_option_demo.control_state → Integer (returns control state) -
+- nav_option_demo.battery_level → Integer -
+- nav_option_demo.pitch → float (returns the current pitch) -
+- nav_option_demo.roll → float (returns the current roll) -
+- nav_option_demo.yaw → float (returns the current yaw) -
+- nav_option_demo.altitude → float (returns the current altitude) -
+- nav_option_demo.vx → float (returns the current velocity on X axis) -
+- nav_option_demo.vy → float (returns the current velocity on Y axis) -
+- nav_option_demo.vz → float (returns the current velocity on Z axis) -
+
+## vision_detect
+
+Gets triggered every time interval amount of time passes, returns and lets you access a NavOptionVisionDetect object containing the following data:
+
+- nav_option_vision_detect.detected_count → Integer (Number of devices detected) -
+- nav_option_vision_detect.type → String -
+- nav_option_vision_detect.name → String -
+- nav_option_vision_detect.x → integer -
+- nav_option_vision_detect.y → integer -
+- nav_option_vision_detect.width → integer -
+- nav_option_vision_detect.height → integer -
+- nav_option_vision_detect.distance → integer -
+- nav_option_vision_detect.orientation_angle → float -
+- nav_option_vision_detect.camera_source → integer -

data/docs/events_video.md

@@ -0,0 +1,9 @@
+# Events
+
+## start_driver
+
+Starts the driver
+
+## handle_frame
+
+Retrieves frame from video connection and publishes data to update and frame event topics.

data/examples/ardrone_ps3.rb

@@ -0,0 +1,73 @@
+require 'artoo'
+
+connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.1:5556'
+device :drone, :driver => :ardrone, :connection => :ardrone
+
+connection :joystick, :adaptor => :joystick
+device :controller, :driver => :ps3, :connection => :joystick, :interval => 0.01
+
+OFFSETS = {
+  :dx => 32767.0
+}
+@toggle_camera = 0
+
+work do
+  on controller, :button_square => proc { drone.take_off }
+  on controller, :button_triangle => proc { drone.hover }
+  on controller, :button_x => proc { drone.land }
+  on controller, :button_circle => proc { 
+    unless @toggle_camera
+      drone.bottom_camera
+      @toggle_camera = 1
+    else
+      drone.front_camera
+      @toggle_camera = 0
+    end
+  }
+  on controller, :button_home => proc { drone.emergency }
+  on controller, :button_start => proc { drone.start }
+  on controller, :button_select => proc { drone.stop }
+
+  on controller, :joystick_0 => proc { |*value|
+    pair = value[1]
+    if pair[:y] < 0
+      drone.forward(validate_pitch(pair[:y], OFFSETS[:dx]))
+    elsif pair[:y] > 0
+      drone.backward(validate_pitch(pair[:y], OFFSETS[:dx]))
+    else
+      drone.forward(0.0)
+    end
+
+    if pair[:x] > 0
+      drone.right(validate_pitch(pair[:x], OFFSETS[:dx]))
+    elsif pair[:x] < 0
+      drone.left(validate_pitch(pair[:x], OFFSETS[:dx]))
+    else
+      drone.right(0.0)
+    end
+  }
+
+  on controller, :joystick_1 => proc { |*value|
+    pair = value[1]
+    if pair[:y] < 0
+      drone.up(validate_pitch(pair[:y], OFFSETS[:dx]))
+    elsif pair[:y] > 0
+      drone.down(validate_pitch(pair[:y], OFFSETS[:dx]))
+    else
+      drone.up(0.0)
+    end
+
+    if pair[:x] > 0
+      drone.turn_right(validate_pitch(pair[:x], OFFSETS[:dx]))
+    elsif pair[:x] < 0
+      drone.turn_left(validate_pitch(pair[:x], OFFSETS[:dx]))
+    else
+      drone.turn_right(0.0)
+    end
+  }
+end
+
+def validate_pitch(data, offset)
+  value = data.abs / offset
+  value >= 0.1 ? (value <= 1.0 ? value.round(2) : 1.0) : 0.0
+end

data/lib/artoo-ardrone/version.rb

@@ -1,5 +1,5 @@
 module Artoo
   module Ardrone
-    VERSION = '1.3.0'
+    VERSION = '1.4.0'
   end
 end

data/test/drivers/ardrone_navigation_test.rb

@@ -5,7 +5,50 @@ describe Artoo::Drivers::ArdroneNavigation do
   before do
     @device = mock('device')
     @driver = Artoo::Drivers::ArdroneNavigation.new(:parent => @device)
+    @connection = mock('connection')
+    @device.stubs(:connection).returns(@connection)
+    @navdata = mock('navdata')
   end
 
-  it 'must do things'
+  describe 'ArdroneNavigation#start_driver' do
+    it 'starts driver and handles updates' do
+      @device.expects(:interval).returns(0.01)
+      @device.expects(:event_topic_name).with('ready')
+      @driver.start_driver
+    end
+  end
+
+  describe 'ArdroneNavigation#handle_update' do
+    it 'receives data and publishes demo when demo option' do
+      @connection.expects(:receive_data).returns(@navdata)
+      @navdata.stubs(:emergency_landing?)
+      @navdata.expects(:options).returns([::Argus::NavOptionDemo])
+      @navdata.expects(:options=).with(Argus::NavOptionDemo)
+      @device.expects(:event_topic_name).with('update')
+      @device.expects(:event_topic_name).with('navdata') 
+      @driver.handle_update
+    end
+
+    it 'receives data and publishes vision_detect when vision_detect option' do
+      @connection.expects(:receive_data).returns(@navdata)
+      @navdata.stubs(:emergency_landing?)
+      @navdata.expects(:options).returns([::Argus::NavOptionVisionDetect])
+      @navdata.expects(:options=).with(Argus::NavOptionVisionDetect)
+      @device.expects(:event_topic_name).with('update')
+      @device.expects(:event_topic_name).with('navdata') 
+      @driver.handle_update
+    end
+  end
+
+  describe 'ArdroneNavigation#emergency_landing?' do
+    it 'returns emergency_landing value true when true' do
+      @driver.instance_variable_set(:@emergency_landing, true)
+      @driver.emergency_landing?.must_equal true
+    end
+
+    it 'returns emergency_landing value false when false' do
+      @driver.instance_variable_set(:@emergency_landing, false)
+      @driver.emergency_landing?.must_equal false
+    end
+  end
 end

data/test/drivers/ardrone_test.rb

@@ -5,7 +5,53 @@ describe Artoo::Drivers::Ardrone do
   before do
     @device = mock('device')
     @driver = Artoo::Drivers::Ardrone.new(:parent => @device)
+    @connection = mock('connection')
+    @device.stubs(:connection).returns(@connection)
   end
 
-  it 'must do things'
+  describe 'Ardrone#start' do
+    it 'starts without nav when nav is nil' do
+    	@connection.expects(:start).with(false)
+    	@device.expects(:event_topic_name).with("ready")
+    	@driver.start(false)
+    end
+
+    it 'starts with nav when nav is not nil' do
+    	@connection.expects(:start).with(false)
+    	@driver.stubs(:start_with_nav).returns([])
+    	@driver.start(true)
+    end
+  end
+
+  describe 'Ardrone#start_with_nav' do
+    before do
+      @nav = mock('navigation')
+    end
+
+    it 'starts with nav when theres no emergency landing' do
+      @nav.stubs(:emergency_landing?).returns(false)
+      @device.expects(:event_topic_name).with("ready")
+      @driver.start_with_nav(@nav)
+    end
+
+    it 'starts with nav when theres an emergency landing' do
+      @nav.stubs(:emergency_landing?).twice.returns(true)
+      @connection.expects(:disable_emergency)
+      @driver.start_with_nav(@nav)     
+    end
+  end
+
+  describe 'Ardrone#enable_emergency' do
+    it 'enables emergency' do
+      @connection.expects(:enable_emergency)
+      @driver.enable_emergency
+    end
+  end
+
+  describe 'Ardrone#disable_emergency' do
+    it 'disables emergency' do
+      @connection.expects(:disable_emergency)
+      @driver.disable_emergency
+    end
+  end
 end

data/test/drivers/ardrone_video_test.rb

@@ -5,7 +5,25 @@ describe Artoo::Drivers::ArdroneVideo do
   before do
     @device = mock('device')
     @driver = Artoo::Drivers::ArdroneVideo.new(:parent => @device)
+    @connection = mock('connection')
+    @device.stubs(:connection).returns(@connection)
+    @video = mock('video')
   end
 
-  it 'must do things'
+  describe 'ArdroneVideo#start_driver' do
+    it 'starts drives and handles video frame' do
+      @device.expects(:interval).returns(0.01)
+      @driver.start_driver
+    end
+  end
+
+  describe 'ArdroneVideo#handle_frame' do
+    it 'retrieves frame and publishes data' do
+      @connection.expects(:receive_data).returns(@video)
+      @device.expects(:event_topic_name).with('update')
+      @device.expects(:event_topic_name).with('frame')
+      @video.expects(:frame)
+      @driver.handle_frame
+    end
+  end
 end

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: artoo-ardrone
 version: !ruby/object:Gem::Version
-  version: 1.3.0
+  version: 1.4.0
 platform: ruby
 authors:
 - Ron Evans
@@ -12,76 +12,76 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-10-18 00:00:00.000000000 Z
+date: 2014-02-07 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: artoo
   requirement: !ruby/object:Gem::Requirement
     requirements:
-    - - '>='
+    - - ">="
       - !ruby/object:Gem::Version
-        version: 1.4.0
+        version: 1.6.0
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
-    - - '>='
+    - - ">="
       - !ruby/object:Gem::Version
-        version: 1.4.0
+        version: 1.6.0
 - !ruby/object:Gem::Dependency
   name: hybridgroup-argus
   requirement: !ruby/object:Gem::Requirement
     requirements:
-    - - '>='
+    - - ">="
       - !ruby/object:Gem::Version
         version: 0.5.0
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
-    - - '>='
+    - - ">="
       - !ruby/object:Gem::Version
         version: 0.5.0
 - !ruby/object:Gem::Dependency
   name: minitest
   requirement: !ruby/object:Gem::Requirement
     requirements:
-    - - '>='
+    - - ">="
       - !ruby/object:Gem::Version
         version: '5.0'
   type: :development
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
-    - - '>='
+    - - ">="
       - !ruby/object:Gem::Version
         version: '5.0'
 - !ruby/object:Gem::Dependency
   name: minitest-happy
   requirement: !ruby/object:Gem::Requirement
     requirements:
-    - - '>='
+    - - ">="
       - !ruby/object:Gem::Version
         version: '0'
   type: :development
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
-    - - '>='
+    - - ">="
       - !ruby/object:Gem::Version
         version: '0'
 - !ruby/object:Gem::Dependency
   name: mocha
   requirement: !ruby/object:Gem::Requirement
     requirements:
-    - - '>='
+    - - ">="
       - !ruby/object:Gem::Version
         version: 0.14.0
   type: :development
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
-    - - '>='
+    - - ">="
       - !ruby/object:Gem::Version
         version: 0.14.0
 description: Artoo adaptor and driver for Parrot ARDrone 2.0
@@ -91,19 +91,25 @@ executables: []
 extensions: []
 extra_rdoc_files: []
 files:
-- .gitignore
-- .rvmrc.example
-- .travis.yml
+- ".gitignore"
+- ".rvmrc.example"
+- ".travis.yml"
 - Gemfile
 - Gemfile.lock
 - LICENSE
 - README.md
 - Rakefile
 - artoo-ardrone.gemspec
+- docs/commands_flight.md
+- docs/commands_nav.md
+- docs/events_flight.md
+- docs/events_nav.md
+- docs/events_video.md
 - examples/ardrone.rb
 - examples/ardrone_animate.rb
 - examples/ardrone_autoreset.rb
 - examples/ardrone_nav.rb
+- examples/ardrone_ps3.rb
 - examples/ardrone_video.rb
 - lib/artoo-ardrone.rb
 - lib/artoo-ardrone/version.rb
@@ -127,17 +133,17 @@ require_paths:
 - lib
 required_ruby_version: !ruby/object:Gem::Requirement
   requirements:
-  - - '>='
+  - - ">="
     - !ruby/object:Gem::Version
       version: '0'
 required_rubygems_version: !ruby/object:Gem::Requirement
   requirements:
-  - - '>='
+  - - ">="
     - !ruby/object:Gem::Version
       version: '0'
 requirements: []
 rubyforge_project: artoo-ardrone
-rubygems_version: 2.0.3
+rubygems_version: 2.2.1
 signing_key: 
 specification_version: 4
 summary: Artoo adaptor and driver for Parrot ARDrone 2.0