artoo-crazyflie 0.3.0 → 0.4.0

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA1:
-  metadata.gz: a0ebd1773008d97ac9a3740e318683471848e356
-  data.tar.gz: 0efe5b563ba97c1b3fe9329b5b381e586ed2b3c5
+  metadata.gz: 5eada782f3bbf17701752f48f6220667965ae6ca
+  data.tar.gz: 0dc54ca75c1524f430997578b7b2c6215ba7a591
 SHA512:
-  metadata.gz: 6023f5c1c59b52dce95c5223453f9b2cada008ab53de55824d0844779491b4b76bf450de31c4536ef4771fbea1db7abea4b8d2cd2eaacdb99c962e57457ccf00
-  data.tar.gz: 114fce7dbbb70e452baf284b286aa01a9777a5a660d55d43ffc2dd11e24de73568c932b7bf0f847264f81f90bebf725bdab437e0dbaf61e3239c53834e38b521
+  metadata.gz: 4d912e025bd8777841d3a4346db60d4d453313d9b7acba91041e0632e6c4820e71610d36a00f1df3e47bfb3f5d5ce08f1cf77e88ac21495aa9fce7319eee60a5
+  data.tar.gz: 239e2e728795c29b8e15a88362027b191c8f3c80c747f27c52ab0e71de9827fa9ac80c0a31a68905c574466d307a37b19257941021325026ad1c3842a3b96643

data/Gemfile.lock

@@ -1,7 +1,7 @@
 PATH
   remote: .
   specs:
-    artoo-crazyflie (0.3.0)
+    artoo-crazyflie (0.4.0)
       artoo (>= 1.4.0)
       hybridgroup-crubyflie
 
@@ -23,11 +23,9 @@ GEM
       nio4r (>= 0.5.0)
     coderay (1.0.9)
     ffi (1.9.0)
-    ffi (1.9.0-java)
     http (0.5.0)
       http_parser.rb
     http_parser.rb (0.6.0.beta.2)
-    http_parser.rb (0.6.0.beta.2-java)
     hybridgroup-crubyflie (0.1.4)
       libusb
       trollop
@@ -41,16 +39,10 @@ GEM
       metaclass (~> 0.0.1)
     multi_json (1.8.2)
     nio4r (0.5.0)
-    nio4r (0.5.0-java)
     pry (0.9.12.2)
       coderay (~> 1.0.5)
       method_source (~> 0.8)
       slop (~> 3.4)
-    pry (0.9.12.2-java)
-      coderay (~> 1.0.5)
-      method_source (~> 0.8)
-      slop (~> 3.4)
-      spoon (~> 0.0)
     rake (10.1.0)
     reel (0.4.0)
       celluloid (>= 0.15.1)
@@ -59,8 +51,6 @@ GEM
       http_parser.rb (>= 0.6.0.beta.2)
       websocket_parser (>= 0.1.4)
     slop (3.4.6)
-    spoon (0.0.4)
-      ffi
     thor (0.18.1)
     timers (1.1.0)
     trollop (2.0)

data/examples/crazy_nav.rb

@@ -0,0 +1,23 @@
+require 'artoo'
+
+connection :crazyflie, :adaptor => :crazyflie, :supports_hover => true
+#device :commander, :driver => :crazyflie, :connection => :crazyflie
+device :drone, :driver => :crazyflie_nav, :connection => :crazyflie
+
+work do
+  #commander.start
+
+  #puts drone.toc
+  # drone.start_get_value("pid_attitude.pitch_kp")
+  # drone.start_get_value("pid_attitude.pitch_ki")
+  # drone.start_get_value("pid_attitude.pitch_kd")
+  drone.log_value("stabilizer.pitch")  
+  drone.start_logging
+
+  every(1.seconds) {
+    puts drone.log
+    #puts drone.values["pid_attitude.pitch_kp"]
+    #puts drone.values["pid_attitude.pitch_ki"]
+    #puts drone.values["pid_attitude.pitch_kd"]
+  }
+end

data/examples/crazy_pebble.rb

@@ -0,0 +1,44 @@
+require 'artoo'
+
+# connection :crazyflie, :adaptor => :crazyflie, :supports_hover => true
+# device :drone, :driver => :crazyflie, :connection => :crazyflie, :interval => 0.1
+
+connection :pebble, :adaptor => :pebble, :port => '127.0.0.1:4567', :id => "378B"
+device :watch, :driver => :pebble, :connection => :pebble
+
+work do
+  on watch, :media_control => :button_push
+
+  display_watch
+end
+
+def button_push(caller, data)
+  return if data.nil?
+
+  case data.button
+  when :previous
+    drone.take_off
+
+  when :next
+    drone.land
+    drone.stop
+
+  when :playpause
+    if @hovering
+      @hovering = false
+      drone.hover(:stop)
+      drone.land
+      drone.stop
+    else
+      @hovering = true
+      drone.hover(:start)
+    end
+    
+  else
+    puts "WAT"
+  end
+end
+
+def display_watch
+  watch.set_nowplaying_metadata("Takeoff", "Landing", "Hover")
+end

data/lib/artoo-crazyflie.rb

@@ -1,3 +1,4 @@
 require 'lib/artoo/adaptors/crazyflie'
 require 'lib/artoo/drivers/crazyflie'
+require 'lib/artoo/drivers/crazyflie_nav'
 require 'lib/artoo-crazyflie/version'

data/lib/artoo-crazyflie/version.rb

@@ -1,5 +1,5 @@
 module Artoo
   module Crazyflie
-    VERSION = '0.3.0'
+    VERSION = '0.4.0'
   end
 end

data/lib/artoo/drivers/crazyflie_nav.rb

@@ -0,0 +1,53 @@
+require 'artoo/drivers/driver'
+
+module Artoo
+  module Drivers
+    # The crazyflie driver behaviors
+    class CrazyflieNav < Driver
+      COMMANDS = [:start_get_value, :toc, :values, :log].freeze
+
+      attr_reader :values, :log
+
+      # Start driver and any required connections
+      def start_driver
+        begin
+          @values = {}
+          @log = {}
+
+          super
+        rescue Exception => e
+          Logger.error "Error starting Crazyflie nav driver!"
+          Logger.error e.message
+          Logger.error e.backtrace.inspect
+        end
+      end
+
+      def toc
+        connection.param.toc
+      end
+
+      def start_get_value(value)        
+        connection.param.get_value(value) do |val|
+          @values[value] = val
+        end
+      end
+
+      def log_value(value, x=true, y=7, z=7)
+        @log_conf_var = ::Crubyflie::LogConfVariable.new(value, x, y, z)
+      end
+
+      def start_logging
+        # We want to fetch it every 0.1 secs
+        @log_conf = ::Crubyflie::LogConf.new([@log_conf_var], {:period => 10})
+
+        # With the configuration object, register a log_block
+        @block_id = connection.log.create_log_block(@log_conf)
+
+        # Start logging
+        connection.log.start_logging(@block_id) do |data|
+          @log = data
+        end        
+      end
+    end
+  end
+end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: artoo-crazyflie
 version: !ruby/object:Gem::Version
-  version: 0.3.0
+  version: 0.4.0
 platform: ruby
 authors:
 - Adrian Zankich
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-10-18 00:00:00.000000000 Z
+date: 2013-11-27 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: artoo
@@ -98,10 +98,13 @@ files:
 - examples/crazy_hover.rb
 - examples/crazy_joystick.rb
 - examples/crazy_leapmotion.rb
+- examples/crazy_nav.rb
+- examples/crazy_pebble.rb
 - lib/artoo-crazyflie.rb
 - lib/artoo-crazyflie/version.rb
 - lib/artoo/adaptors/crazyflie.rb
 - lib/artoo/drivers/crazyflie.rb
+- lib/artoo/drivers/crazyflie_nav.rb
 - test/adaptors/crazyflie_adaptor_test.rb
 - test/drivers/crazyflie_driver_test.rb
 - test/test_helper.rb