artoo-i2c 0.1.0

checksums.yaml

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data/.travis.yml

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+language: ruby
+rvm:
+  - 2.0.0
+  - 1.9.3
+  - jruby-19mode
+  - rbx-19mode

data/Gemfile

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+source "http://rubygems.org"
+
+# Specify your gem's dependencies in artoo-i2c.gemspec
+gemspec

data/Gemfile.lock

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+PATH
+  remote: .
+  specs:
+    artoo-i2c (0.1.0)
+      artoo (~> 1.1.0)
+
+GEM
+  remote: http://rubygems.org/
+  specs:
+    artoo (1.1.0)
+      celluloid (~> 0.15.0)
+      celluloid-io (~> 0.15.0)
+      multi_json (~> 1.6)
+      pry (~> 0.9)
+      rake (~> 10.0)
+      reel (~> 0.4.0.pre)
+      thor (~> 0.18.1)
+    celluloid (0.15.1)
+      timers (~> 1.1.0)
+    celluloid-io (0.15.0)
+      celluloid (>= 0.15.0)
+      nio4r (>= 0.5.0)
+    coderay (1.0.9)
+    http (0.5.0.pre)
+      http_parser.rb
+    http_parser.rb (0.6.0.beta.2)
+    metaclass (0.0.1)
+    method_source (0.8.2)
+    minitest (5.0.7)
+    minitest-happy (1.0.0)
+    mocha (0.14.0)
+      metaclass (~> 0.0.1)
+    multi_json (1.8.0)
+    nio4r (0.5.0)
+    pry (0.9.12.2)
+      coderay (~> 1.0.5)
+      method_source (~> 0.8)
+      slop (~> 3.4)
+    rake (10.1.0)
+    reel (0.4.0.pre5)
+      celluloid (>= 0.15.0)
+      celluloid-io (>= 0.15.0)
+      http (>= 0.5.0.pre)
+      http_parser.rb (>= 0.6.0.beta.2)
+      websocket_parser (>= 0.1.4)
+    slop (3.4.6)
+    thor (0.18.1)
+    timers (1.1.0)
+    websocket_parser (0.1.4)
+      http
+
+PLATFORMS
+  ruby
+
+DEPENDENCIES
+  artoo-i2c!
+  minitest (~> 5.0)
+  minitest-happy
+  mocha (~> 0.14.0)

data/LICENSE

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+Copyright (c) 2012, 2013 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.
+You may obtain a copy of the License at
+
+   http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.

data/README.md

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+# Artoo Drivers For i2c Devices
+
+This repository contains the Artoo (http://artoo.io/) standard drivers for i2c devices.
+
+Artoo is a open source micro-framework for robotics using Ruby.
+
+For more information abut Artoo, check out our repo at https://github.com/hybridgroup/artoo
+
+[![Code Climate](https://codeclimate.com/github/hybridgroup/artoo-i2c.png)](https://codeclimate.com/github/hybridgroup/artoo-i2c) [![Build Status](https://travis-ci.org/hybridgroup/artoo-i2c.png?branch=master)](https://travis-ci.org/hybridgroup/artoo-i2c)
+
+## Installing
+
+```
+gem install artoo-i2c
+```
+
+## Using
+
+Normally, this gem is automatically included as part of using an Artoo adaptor that can connect to your hardware. For example, artoo-arduino and artoo-raspi both make use of the drivers in this gem. 
+
+```ruby
+require 'artoo'
+
+puts "Example here"
+```
+
+## Devices supported
+
+The following i2c hardware devices have driver support:
+- Wiichuck
+- Wiiclassic
+
+
+## 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

data/Rakefile

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+require 'bundler'
+Bundler::GemHelper.install_tasks
+
+require 'rake/testtask'
+
+Rake::TestTask.new do |t|
+  t.pattern = "test/**/*_test.rb"
+end
+
+task :default => :test

data/artoo-i2c.gemspec

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+# -*- encoding: utf-8 -*-
+$:.push File.expand_path("../lib", __FILE__)
+require "artoo-i2c/version"
+
+Gem::Specification.new do |s|
+  s.name        = "artoo-i2c"
+  s.version     = Artoo::I2c::VERSION
+  s.platform    = Gem::Platform::RUBY
+  s.authors     = ["Ron Evans", "Adrian Zankich",]
+  s.email       = ["artoo@hybridgroup.com"]
+  s.homepage    = "https://github.com/hybridgroup/artoo-i2c"
+  s.summary     = %q{Artoo standard drivers for i2c devices}
+  s.description = %q{Artoo standard drivers for i2c devices}
+  s.license     = 'Apache 2.0'
+
+  s.rubyforge_project = "artoo-i2c"
+
+  s.files         = `git ls-files`.split("\n")
+  s.test_files    = `git ls-files -- {test,spec,features}/*`.split("\n")
+  s.executables   = `git ls-files -- bin/*`.split("\n").map{ |f| File.basename(f) }
+  s.require_paths = ["lib"]
+
+  s.add_runtime_dependency 'artoo', '~> 1.1.0'
+  s.add_development_dependency 'minitest', '~> 5.0'
+  s.add_development_dependency 'minitest-happy'
+  s.add_development_dependency 'mocha', '~> 0.14.0'
+end

data/lib/artoo-i2c.rb

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+require 'lib/artoo/adaptors/i2c'
+require 'lib/artoo/drivers/i2c'
+require 'lib/artoo-i2c/version'

data/lib/artoo-i2c/version.rb

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+module Artoo
+  module I2c
+    VERSION = '0.1.0'
+  end
+end

data/lib/artoo/drivers/wiichuck.rb

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+require 'artoo/drivers/wiidriver'
+
+module Artoo
+  module Drivers
+    # Wiichuck driver behaviors for i2c
+    class Wiichuck < Wiidriver
+
+      # Update button and joystick values
+      # @param [Object] value
+      def update(value)
+        begin
+          super
+
+          adjust_origins
+          update_buttons
+          update_joystick
+
+        rescue Exception => e
+          Logger.error "wiichuck update exception!"
+          Logger.error e.message
+          Logger.error e.backtrace.inspect
+        end
+      end
+
+      # Adjust x, y origin values
+      def adjust_origins
+        set_joystick_default_value(:sy_origin, data[:sy])
+        set_joystick_default_value(:sx_origin, data[:sx])
+      end
+
+      # Publishes events for c and z buttons
+      def update_buttons
+        publish(event_topic_name("c_button")) if data[:c] == true
+        publish(event_topic_name("z_button")) if data[:z] == true
+      end
+
+      # Publishes event for joystick
+      def update_joystick
+        publish(event_topic_name("joystick"), {:x => calculate_joystick_value(:sx, :sx_origin), :y => calculate_joystick_value(:sy, :sy_origin)})
+      end
+
+      private
+
+      def get_defaults
+        {
+          :sy_origin => nil,
+          :sx_origin => nil
+        }
+      end
+
+      def parse(value)
+        return {
+          :sx => decode_value(value, 0),
+          :sy => decode_value(value, 1),
+          :z => generate_bool(decode_value(value, 5) & 0x01),
+          :c => generate_bool(decode_value(value, 5) & 0x02)
+        }
+      end
+    end
+  end
+end

data/lib/artoo/drivers/wiiclassic.rb

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+require 'artoo/drivers/wiidriver'
+
+module Artoo
+  module Drivers
+    # Wiiclassic driver behaviors for i2c
+    class Wiiclassic < Wiidriver
+
+      # Update buttons and joysticks values
+      # @param [Object] value
+      def update(value)
+        begin
+          super
+
+          adjust_origins
+          update_buttons
+          update_left_joystick
+          update_right_joystick
+          update_triggers
+
+        rescue Exception => e
+          Logger.error "wiiclassic update exception!"
+          Logger.error e.message
+          Logger.error e.backtrace.inspect
+        end
+      end
+
+      # Adjust all origins
+      def adjust_origins
+        set_joystick_default_value(:ly_origin, data[:ly])
+        set_joystick_default_value(:lx_origin, data[:lx])
+        set_joystick_default_value(:ry_origin, data[:ry])
+        set_joystick_default_value(:rx_origin, data[:rx])
+        set_joystick_default_value(:rt_origin, data[:rt])
+        set_joystick_default_value(:lt_origin, data[:lt])
+      end
+
+      # Update button values
+      def update_buttons
+        update_button("a_button", :a)
+        update_button("b_button", :b)
+        update_button("x_button", :x)
+        update_button("y_button", :y)
+        update_button("home_button", :h)
+        update_button("start_button", :+)
+        update_button("select_button", :-)
+      end
+
+      # Publish button event
+      def update_button(name, key)
+        publish(event_topic_name(name)) if data[key] == true
+      end
+
+      # Publish left joystick event
+      def update_left_joystick
+        publish(event_topic_name("left_joystick"), {:x => calculate_joystick_value(:lx, :lx_origin), :y => calculate_joystick_value(:ly, :ly_origin)})
+      end
+
+      # Publish right joystick event
+      def update_right_joystick
+        publish(event_topic_name("right_joystick"), {:x => calculate_joystick_value(:rx, :rx_origin), :y => calculate_joystick_value(:ry, :ry_origin)})
+      end
+
+      # Publish triggers events
+      def update_triggers
+        publish(event_topic_name("right_trigger"), calculate_joystick_value(:rt, :rt_origin))
+        publish(event_topic_name("left_trigger"), calculate_joystick_value(:lt, :lt_origin))
+      end
+
+      private
+
+      def get_defaults
+        {
+          :ry_origin => nil,
+          :rx_origin => nil,
+          :ly_origin => nil,
+          :lx_origin => nil,
+          :rt_origin => nil,
+          :lt_origin => nil
+        }
+      end
+
+      def parse(value)
+        return parse_joysticks(value).
+          merge(parse_buttons(value)).
+          merge(parse_triggers(value)).
+          merge(parse_dpad(value)).
+          merge(parse_zbuttons(value))
+      end
+
+      def parse_joysticks(value)
+        {
+          :lx => decode_value(value, 0) & 0x3f,
+          :ly => decode_value(value, 1) & 0x3f,
+          :rx => ((decode_value(value, 0) & 0xC0) >> 3)  | ((decode_value(value, 1) & 0xC0) >> 5) | (decode_value(value, 2)[7]),
+          :ry => decode_value(value, 2) & 0x1f
+        }
+      end
+
+      def parse_buttons(value)
+        {
+          :a => get_bool_decoded_value(value, 5, 4),
+          :b => get_bool_decoded_value(value, 5, 6),
+          :x => get_bool_decoded_value(value, 5, 3),
+          :y => get_bool_decoded_value(value, 5, 5),
+          :+ => get_bool_decoded_value(value, 4, 2),
+          :- => get_bool_decoded_value(value, 4, 4),
+          :h => get_bool_decoded_value(value, 4, 3)
+        }
+      end
+
+      def parse_triggers(value)
+        {
+          :lt => ((decode_value(value, 2) & 0x60) >> 3) | ((decode_value(value, 3) & 0xC0) >> 6),
+          :rt => decode_value(value, 3) & 0x1f
+        }
+      end
+
+      def parse_dpad(value)
+        {
+          :d_up => get_bool_decoded_value(value, 5, 0),
+          :d_down => get_bool_decoded_value(value, 4, 6),
+          :d_left => get_bool_decoded_value(value, 5, 1),
+          :d_right => get_bool_decoded_value(value, 4, 7)
+        }
+      end
+
+      def parse_zbuttons(value)
+        {
+          :zr => get_bool_decoded_value(value, 5, 2),
+          :zl => get_bool_decoded_value(value, 5, 7)
+        }
+      end
+
+      def get_bool_decoded_value(value, offset1, offset2)
+        generate_bool(decode_value(value, offset1)[offset2])
+      end
+    end
+  end
+end

data/lib/artoo/drivers/wiidriver.rb

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+require 'artoo/drivers/driver'
+
+module Artoo
+  module Drivers
+    # Wii-based controller shared driver behaviors for i2c
+    class Wiidriver < Driver
+      attr_reader :joystick, :data
+
+      def address; 0x52; end
+
+      # Create new Wiidriver
+      def initialize(params={})
+        @joystick = get_defaults
+        @data = {}
+        super
+      end
+
+      # Starts drives and required connections
+      def start_driver
+        begin
+          connection.i2c_start(address)
+
+          every(interval) do
+            connection.i2c_write(0x40, 0x00)
+            connection.i2c_write(0x00, 0x00)
+            new_value = connection.i2c_read(6)
+            
+            update(new_value) if !new_value.nil?
+          end
+
+          super
+        rescue Exception => e
+          Logger.error "Error starting wii driver!"
+          Logger.error e.message
+          Logger.error e.backtrace.inspect
+        end
+      end
+
+      # Get and update data
+      def update(value)
+        if encrypted?(value)
+          Logger.error "Encrypted bytes from wii device!"
+          raise "Encrypted bytes from wii device!"
+        end
+
+        @data = parse(value)
+      end
+
+      protected
+
+      def get_defaults
+        {}
+      end
+
+      def parse
+        {}
+      end
+
+      def set_joystick_default_value(joystick_axis, default_value)
+        joystick[joystick_axis] = default_value if joystick[joystick_axis].nil?
+      end
+
+      def calculate_joystick_value(axis, origin)
+        data[axis] - joystick[origin]
+      end
+
+      def encrypted?(value)
+        [[0, 1], [2, 3], [4, 5]].all? {|a| get_value(value, a[0]) == get_value(value, a[1]) }
+      end
+
+      def decode(x)
+        return ( x ^ 0x17 ) + 0x17
+      end
+
+      def decode_value(value, index)
+        decode(get_value(value, index))
+      end
+
+      def get_value(value, index)
+        value[:data][index]
+      end
+
+      def generate_bool(value)
+        value == 0 ? true : false
+      end
+    end
+  end
+end

data/test/drivers/wiichuck_test.rb

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+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/drivers/wiichuck'
+
+describe Artoo::Drivers::Wiichuck do
+  before do
+    @device = mock('device')
+    @driver = Artoo::Drivers::Wiichuck.new(:parent => @device)
+  end
+
+  it 'must do things'
+end

data/test/drivers/wiiclassic_test.rb

@@ -0,0 +1,11 @@
+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/drivers/wiiclassic'
+
+describe Artoo::Drivers::Wiiclassic do
+  before do
+    @device = mock('device')
+    @driver = Artoo::Drivers::Wiiclassic.new(:parent => @device)
+  end
+
+  it 'must do things'
+end

data/test/drivers/wiidriver_test.rb

@@ -0,0 +1,54 @@
+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/drivers/wiidriver'
+
+class Artoo::Drivers::Wiidriver
+  public :set_joystick_default_value, :calculate_joystick_value, :encrypted?,
+         :decode, :get_value, :generate_bool
+end
+
+describe Artoo::Drivers::Wiidriver do
+  before do
+    @device = mock('device')
+    @driver = Artoo::Drivers::Wiidriver.new(:parent => @device)
+  end
+
+  it 'Artoo::Drivers::Wiidriver#set_joystick_default_value' do
+    val = "101"
+    @driver.joystick[:test_axis] = nil
+    @driver.set_joystick_default_value(:test_axis, val)
+    @driver.joystick[:test_axis].must_equal val
+  end
+
+  it 'Artoo::Drivers::Wiidriver#calculate_joystick_value' do
+    @driver.data[:test_axis] = 8
+    @driver.joystick[:test_origin] = 5
+    @driver.calculate_joystick_value(:test_axis, :test_origin).must_equal 3
+  end
+
+  it 'Artoo::Drivers::Wiidriver#encrypted?' do
+    value = {:data => [0, 0, 0, 0, 0, 0]}
+    @driver.encrypted?(value).must_equal true
+  end
+
+  it 'Artoo::Drivers::Wiidriver#encrypted?' do
+    value = {:data => [1, 2, 3, 4, 5, 6]}
+    @driver.encrypted?(value).must_equal false
+  end
+
+  it 'Artoo::Drivers::Wiidriver#decode' do
+    @driver.decode(22).must_equal 24
+    @driver.decode(0).must_equal 46
+    @driver.decode(16).must_equal 30
+  end
+
+  it 'Artoo::Drivers::Wiidriver#get_value' do
+    value = {:data => [1, 2, 3, 4, 5, 6], :other_data => [10, 20, 30, 40, 50, 60]}
+    @driver.get_value(value, 1).must_equal 2
+    @driver.get_value(value, 5).must_equal 6
+  end
+
+  it 'Artoo::Drivers::Wiidriver#generate_bool' do
+    @driver.generate_bool(0).must_equal true
+    @driver.generate_bool(1).must_equal false
+  end
+end

data/test/test_helper.rb

@@ -0,0 +1,10 @@
+require 'minitest/autorun'
+require 'mocha/setup'
+require 'artoo/robot'
+
+Celluloid.logger = nil
+
+MiniTest::Spec.before do
+  Celluloid.shutdown
+  Celluloid.boot
+end

metadata

@@ -0,0 +1,117 @@
+--- !ruby/object:Gem::Specification
+name: artoo-i2c
+version: !ruby/object:Gem::Version
+  version: 0.1.0
+platform: ruby
+authors:
+- Ron Evans
+- Adrian Zankich
+autorequire: 
+bindir: bin
+cert_chain: []
+date: 2013-09-11 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: artoo
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 1.1.0
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 1.1.0
+- !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 standard drivers for i2c devices
+email:
+- artoo@hybridgroup.com
+executables: []
+extensions: []
+extra_rdoc_files: []
+files:
+- .travis.yml
+- Gemfile
+- Gemfile.lock
+- LICENSE
+- README.md
+- Rakefile
+- artoo-i2c.gemspec
+- lib/artoo-i2c.rb
+- lib/artoo-i2c/version.rb
+- lib/artoo/drivers/wiichuck.rb
+- lib/artoo/drivers/wiiclassic.rb
+- lib/artoo/drivers/wiidriver.rb
+- test/drivers/wiichuck_test.rb
+- test/drivers/wiiclassic_test.rb
+- test/drivers/wiidriver_test.rb
+- test/test_helper.rb
+homepage: https://github.com/hybridgroup/artoo-i2c
+licenses:
+- Apache 2.0
+metadata: {}
+post_install_message: 
+rdoc_options: []
+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-i2c
+rubygems_version: 2.0.3
+signing_key: 
+specification_version: 4
+summary: Artoo standard drivers for i2c devices
+test_files: []