artoo-raspi 0.2.1 → 0.4.0

checksums.yaml

@@ -1,7 +1,7 @@
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data/Gemfile.lock

@@ -1,55 +1,54 @@
 PATH
   remote: .
   specs:
-    artoo-raspi (0.2.1)
-      artoo (~> 1.1.0)
-      pi_piper
+    artoo-raspi (0.4.0)
+      artoo (>= 1.3.0)
+      artoo-gpio
+      artoo-i2c
 
 GEM
   remote: http://rubygems.org/
   specs:
-    artoo (1.1.0)
+    artoo (1.3.0)
       celluloid (~> 0.15.0)
       celluloid-io (~> 0.15.0)
       multi_json (~> 1.6)
       pry (~> 0.9)
-      rake (~> 10.0)
-      reel (~> 0.4.0.pre)
+      rake
+      reel (~> 0.4.0)
       thor (~> 0.18.1)
-    celluloid (0.15.0)
+    artoo-gpio (0.2.1)
+      artoo (>= 1.2.2)
+    artoo-i2c (0.2.1)
+      artoo (>= 1.2.2)
+    celluloid (0.15.1)
       timers (~> 1.1.0)
     celluloid-io (0.15.0)
       celluloid (>= 0.15.0)
       nio4r (>= 0.5.0)
-    certified (0.1.1)
     coderay (1.0.9)
-    ffi (1.9.0)
-    http (0.4.0)
-      certified
+    http (0.5.0)
       http_parser.rb
-    http_parser.rb (0.5.3)
+    http_parser.rb (0.6.0.beta.2)
     metaclass (0.0.1)
     method_source (0.8.2)
     minitest (5.0.6)
     minitest-happy (1.0.0)
     mocha (0.14.0)
       metaclass (~> 0.0.1)
-    multi_json (1.7.9)
+    multi_json (1.8.1)
     nio4r (0.5.0)
-    pi_piper (1.3.2)
-      ffi
     pry (0.9.12.2)
       coderay (~> 1.0.5)
       method_source (~> 0.8)
       slop (~> 3.4)
-    rack (1.5.2)
     rake (10.1.0)
-    reel (0.4.0.pre)
-      celluloid-io (>= 0.8.0)
-      http (>= 0.2.0)
-      http_parser.rb (>= 0.5.3)
-      rack (>= 1.4.0)
-      websocket_parser (>= 0.1.2)
+    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)
     thor (0.18.1)
     timers (1.1.0)
@@ -61,6 +60,6 @@ PLATFORMS
 
 DEPENDENCIES
   artoo-raspi!
-  minitest (~> 5.0)
+  minitest (>= 5.0)
   minitest-happy
-  mocha (~> 0.14.0)
+  mocha (>= 0.14.0)

data/README.md

@@ -6,8 +6,6 @@ Artoo is a open source micro-framework for robotics using Ruby.
 
 For more information about Artoo, check out our repo at https://github.com/hybridgroup/artoo
 
-This gem makes extensive us the the pi_piper gem (https://github.com/jwhitehorn/pi_piper) thanks to [@jwhitehorn](https://github.com/jwhitehorn)
-
 [![Code Climate](https://codeclimate.com/github/hybridgroup/artoo-raspi.png)](https://codeclimate.com/github/hybridgroup/artoo-raspi) [![Build Status](https://travis-ci.org/hybridgroup/artoo-raspi.png?branch=master)](https://travis-ci.org/hybridgroup/artoo-raspi)
 
 ## Installing On Raspberry Pi
@@ -29,17 +27,18 @@ sudo gem install artoo-raspi
 ## Using
 
 ```ruby
-require 'artoo'
-
 connection :raspi, :adaptor => :raspi
-device :led, :driver => :raspi_pin, :pin => 17, :direction => :out
+device :board, :driver => :device_info
+device :led, :driver => :led, :pin => 17
 
 work do
+  puts "Firmware name: #{board.firmware_name}"
+  puts "Firmata version: #{board.version}"
+
   every 1.second do
     led.toggle
   end
 end
-
 ```
 
 To run the examples, requires sudo access on the Raspberry Pi:
@@ -48,6 +47,12 @@ To run the examples, requires sudo access on the Raspberry Pi:
 sudo ruby examples/raspi_led.rb
 ```
 
+## Devices supported
+
+The following hardware devices have driver support via the artoo-gpio gem:
+- Button
+- LED
+
 ## Connecting to Raspberry Pi GPIO
 
 This gem only works on a real Raspberry Pi. Do not bother trying on any other kind of computer it will not work. Also note you will need to connect actual circuits to the Raspberry Pi's GPIO pins. Here is an example of wiring the circuits for the GPIO to connect a single LED:
@@ -58,6 +63,27 @@ To add the button used in the example, add a momentary contact switch to the cir
 
 ![GPIO Switch Circuit Example](https://raw.github.com/jwhitehorn/pi_piper/master/examples/simple_switch/circuit.png)
 
+## Enabling the Raspberry Pi i2c on raspbian
+
+You must add these two entries in your `/etc/modules`
+```
+i2c-bcm2708 
+i2c-dev
+```
+You must also ensure that these entries are commented in your `/etc/modprobe.d/raspi-blacklist.conf`
+```
+#blacklist spi-bcm2708
+#blacklist i2c-bcm2708
+```
+Now restart your raspberry pi.
+
+## Enabling PWM output on GPIO pins.
+
+You need to install and have pi-blaster running in the raspberry-pi,
+you can follow the instructions for pi-blaster install on our repo here:
+
+https://github.com/hybridgroup/pi-blaster
+
 ## Contributing
 
 1. Fork it

data/artoo-raspi.gemspec

@@ -6,11 +6,11 @@ Gem::Specification.new do |s|
   s.name        = "artoo-raspi"
   s.version     = Artoo::Raspi::VERSION
   s.platform    = Gem::Platform::RUBY
-  s.authors     = ["Ron Evans"]
+  s.authors     = ["Ron Evans", "Edgar Silva", "Adrian Zankich"]
   s.email       = ["artoo@hybridgroup.com"]
   s.homepage    = "https://github.com/hybridgroup/artoo-raspi"
-  s.summary     = %q{Artoo adaptor and driver for Raspberry Pi}
-  s.description = %q{Artoo adaptor and driver for Raspberry Pi GPIO}
+  s.summary     = %q{Artoo adaptor for Raspberry Pi}
+  s.description = %q{Artoo adaptor for Raspberry Pi}
   s.license     = 'Apache 2.0'
 
   s.rubyforge_project = "artoo-raspi"
@@ -20,9 +20,10 @@ 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', '~> 1.1.0'
-  s.add_runtime_dependency 'pi_piper'
-  s.add_development_dependency 'minitest', '~> 5.0'
+  s.add_runtime_dependency 'artoo', '>= 1.3.0'
+  s.add_runtime_dependency 'artoo-gpio'
+  s.add_runtime_dependency 'artoo-i2c'
+  s.add_development_dependency 'minitest', '>= 5.0'
   s.add_development_dependency 'minitest-happy'
-  s.add_development_dependency 'mocha', '~> 0.14.0'
+  s.add_development_dependency 'mocha', '>= 0.14.0'
 end

data/examples/blink_led.rb

@@ -0,0 +1,14 @@
+require 'artoo'
+
+connection :raspi, :adaptor => :raspi
+device :board, :driver => :device_info
+device :led, :driver => :led, :pin => 11
+
+work do
+  puts "Firmware name: #{board.firmware_name}"
+  puts "Firmata version: #{board.version}"
+
+  every 1.second do
+    led.on? ? led.off : led.on
+  end
+end

data/examples/blink_led_with_toggle.rb

@@ -0,0 +1,14 @@
+require 'artoo'
+
+connection :raspi, :adaptor => :raspi
+device :board, :driver => :device_info
+device :led, :driver => :led, :pin => 11
+
+work do
+  puts "Firmware name: #{board.firmware_name}"
+  puts "Firmata version: #{board.version}"
+
+  every 1.second do
+    led.toggle
+  end
+end

data/examples/button_and_led.rb

@@ -0,0 +1,13 @@
+require 'artoo'
+
+connection :raspi, :adaptor => :raspi
+device :led, :driver => :led, :pin => 11
+device :button, :driver => :button, :pin => 12, :interval => 0.01
+
+work do
+  puts
+  puts "Press the button connected on pin #{button.pin}..."
+
+  on button, :push    => proc { led.on }
+  on button, :release => proc { led.off }
+end

data/examples/led_brightness.rb

@@ -0,0 +1,22 @@
+require 'artoo'
+
+connection :raspi, :adaptor => :raspi
+device :board, :driver => :device_info
+device :led, :driver => :led, :pin => 11
+
+brightness = 0
+fade_amount = 5
+
+
+work do
+  puts "Firmware name: #{board.firmware_name}"
+  puts "Firmata version: #{board.version}"
+
+  every(0.05) do
+    led.brightness(brightness)
+    brightness = brightness + fade_amount
+    if brightness == 0 or brightness == 255
+      fade_amount = -fade_amount
+    end
+  end
+end

data/examples/wiichuck.rb

@@ -0,0 +1,12 @@
+require 'artoo'
+
+connection :raspi, :adaptor => :raspi
+device :wiichuck, :driver => :wiichuck, :connection => :raspi, :interval => 0.01
+
+work do
+  on wiichuck, :c_button => proc { puts "c button pressed!" }
+  on wiichuck, :z_button => proc { puts "z button pressed!" }
+  on wiichuck, :joystick => proc { |*value|
+    puts "joystick x: #{value[1][:x]}, y: #{value[1][:y]}"
+  }
+end

data/lib/artoo-raspi/version.rb

@@ -1,5 +1,5 @@
 module Artoo
   module Raspi
-    VERSION = '0.2.1'
+    VERSION = '0.4.0'
   end
 end

data/lib/artoo/adaptors/raspi.rb

@@ -1,12 +1,35 @@
 require 'artoo/adaptors/adaptor'
+require 'artoo/adaptors/io'
+require 'pwm_pin'
 
 module Artoo
   module Adaptors
     # Connect to a Raspberry Pi GPIO
     # @see device documentation for more information
     class Raspi < Adaptor
+      include Artoo::Adaptors::IO
+
+      PINS = {
+        3 => {:rev1 => 0, :rev2 => 2},
+        5 => {:rev1 => 1, :rev2 => 3},
+        7 => 4,
+        8 => 14,
+        10 => 15,
+        11 => 17,
+        12 => 18,
+        13 => {:rev1 => 21, :rev2 => 27},
+        15 => 22,
+        16 => 23,
+        18 => 24,
+        19 => 10,
+        21 => 9,
+        22 => 25,
+        23 => 11,
+        24 => 8,
+        26 => 7,
+      }
       finalizer :finalize
-      attr_reader :device
+      attr_reader :device, :pins, :pwm_pins, :i2c, :board_version
 
       # Closes connection with device if connected
       # @return [Boolean]
@@ -16,22 +39,113 @@ module Artoo
       # Creates a connection with device
       # @return [Boolean]
       def connect
-        require 'pi_piper' unless defined?(::PiPiper)
-
+        @pins = {} if @pins.nil?
+        @pwm_pins = {} if @pwm_pins.nil?
+        @board_version = `cat /proc/cpuinfo | grep Revision`.split.last.unpack("CCCC").last
         super
       end
 
       # Closes connection with device
       # @return [Boolean]
       def disconnect
+        release_all_pwm_pins
         super
       end
 
+      def firmware_name
+        "Raspberry Pi"
+      end
+
+      def version
+        Artoo::Raspi::VERSION
+      end
+
+      #i2c
+      def i2c_start address
+        if @board_version >= 100
+          i2c_location = "/dev/i2c-1"
+        else
+          i2c_location = "/dev/i2c-0"
+        end
+        @i2c = I2c.new i2c_location, address
+      end
+
+      def i2c_write *data
+        @i2c.write *data
+      end
+
+      def i2c_read len
+        @i2c.read len
+      end
+
+      # GPIO - digital interface
+      def digital_read(pin)
+        release_pwm(pin) if (pwm_used? pin)
+        pin = raspi_pin(pin, "r")
+        pin.digital_read
+      end
+
+      def digital_write(pin, val)
+        release_pwm(pin) if (pwm_used? pin)
+        pin = raspi_pin(pin, "w")
+        pin.digital_write(val)
+      end
+
+      def pwm_write(pin, val)
+        pin = pwm_pin(pin)
+        pin.pwm_write(val)
+      end
+
+      def release_pwm(pin)
+        pin = translate_pin(pin)
+        pwm_pins[pin].release
+        pwm_pins[pin] = nil
+      end
+
+      def release_all_pwm_pins
+        pwm_pins.each_value { |pwm_pin| pwm_pin.release }
+      end
+
       # Uses method missing to call device actions
       # @see device documentation
       def method_missing(method_name, *arguments, &block)
         device.send(method_name, *arguments, &block)
       end
+
+      private
+
+      def pwm_used?(pin)
+        (pwm_pins[translate_pin(pin)].nil?) ? false : true
+      end
+
+      def raspi_pin(pin, mode)
+        pin = translate_pin pin
+        pins[pin] = DigitalPin.new(pin, mode) if pins[pin].nil? || pins[pin].mode != mode
+        pins[pin]
+      end
+
+      def pwm_pin(pin)
+        pin = translate_pin(pin)
+        pwm_pins[pin] = PwmPin.new(pin) if pwm_pins[pin].nil?
+        pwm_pins[pin]
+      end
+
+      def translate_pin pin
+        begin
+          p = PINS.fetch(pin.to_i)
+          if p.class == Hash
+            if @board_version >= 54
+             return p[:rev2]
+            else
+             return p[:rev1]
+            end
+          else
+            return p
+          end
+        rescue Exception => e
+          raise "Not a valid pin"
+        end
+      end
     end
   end
 end

data/lib/pwm_pin.rb

@@ -0,0 +1,40 @@
+class PwmPin
+
+  attr_reader :pin_num, :pwm_file, :value, :pb_val
+
+  PI_BLASTER_PATH = "/dev/pi-blaster"
+
+  def initialize(pin_num)
+    @pin_num = pin_num
+    @pwm_file = File.open("#{ PI_BLASTER_PATH }", "w")
+
+    pwm_write(0)
+  end
+
+  # Writes PWM value to the specified pin
+  # Param value should be integer from 0 to 255
+  def pwm_write(value)
+    @value = value
+
+    # Calculates the pi-blaster required value between 0 and 1 inclusive
+    @pb_val = pi_blaster_val(value)
+
+    @pwm_file.write("#{ pin_num }=#{ @pb_val }\n")
+    @pwm_file.flush
+  end
+
+  def release
+    @pwm_file.write("release #{ pin_num }\n")
+    @pwm_file.flush
+  end
+
+  private
+
+  def pi_blaster_val(value)
+    calc = ((1.0/255.0) * value).round(2)
+    calc = (calc > 1) ? 1 : calc
+    calc = (calc < 0) ? 0 : calc
+    calc
+  end
+
+end

data/test/adaptors/raspi_adaptor_test.rb

@@ -1,4 +1,30 @@
 require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
 require 'artoo/adaptors/raspi'
 
-# TODO: test for your adaptor goes here...
+describe Artoo::Adaptors::Raspi do
+  before do
+    @adaptor = Artoo::Adaptors::Raspi.new
+    #@adaptor.stubs(:joystick).returns("joy")
+  end
+
+  describe "device info interface" do
+    it "#firmware_name" do
+      @adaptor.firmware_name.must_equal "Raspberry Pi"
+    end
+
+    it "#version" do
+      @adaptor.version.must_equal Artoo::Raspi::VERSION
+    end
+  end
+
+  describe "digital GPIO interface" do
+    it "#digital_read"
+    it "#digital_write"
+  end
+
+  describe "i2c interface" do
+    it "#i2c_start"
+    it "#i2c_read"
+    it "#digital_write"
+  end
+end

metadata

@@ -1,31 +1,47 @@
 --- !ruby/object:Gem::Specification
 name: artoo-raspi
 version: !ruby/object:Gem::Version
-  version: 0.2.1
+  version: 0.4.0
 platform: ruby
 authors:
 - Ron Evans
+- Edgar Silva
+- Adrian Zankich
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-09-05 00:00:00.000000000 Z
+date: 2013-10-05 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
+        version: 1.3.0
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
-    - - ~>
+    - - '>='
       - !ruby/object:Gem::Version
-        version: 1.1.0
+        version: 1.3.0
 - !ruby/object:Gem::Dependency
-  name: pi_piper
+  name: artoo-gpio
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: artoo-i2c
   requirement: !ruby/object:Gem::Requirement
     requirements:
     - - '>='
@@ -42,14 +58,14 @@ dependencies:
   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
@@ -70,17 +86,17 @@ dependencies:
   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 Raspberry Pi GPIO
+description: Artoo adaptor for Raspberry Pi
 email:
 - artoo@hybridgroup.com
 executables: []
@@ -94,14 +110,16 @@ files:
 - README.md
 - Rakefile
 - artoo-raspi.gemspec
-- examples/raspi_led.rb
-- examples/raspi_led_and_button.rb
+- examples/blink_led.rb
+- examples/blink_led_with_toggle.rb
+- examples/button_and_led.rb
+- examples/led_brightness.rb
+- examples/wiichuck.rb
 - lib/artoo-raspi.rb
 - lib/artoo-raspi/version.rb
 - lib/artoo/adaptors/raspi.rb
-- lib/artoo/drivers/raspi_pin.rb
+- lib/pwm_pin.rb
 - test/adaptors/raspi_adaptor_test.rb
-- test/drivers/raspi_pin_driver_test.rb
 - test/test_helper.rb
 homepage: https://github.com/hybridgroup/artoo-raspi
 licenses:
@@ -126,5 +144,5 @@ rubyforge_project: artoo-raspi
 rubygems_version: 2.0.3
 signing_key: 
 specification_version: 4
-summary: Artoo adaptor and driver for Raspberry Pi
+summary: Artoo adaptor for Raspberry Pi
 test_files: []

data/examples/raspi_led.rb

@@ -1,10 +0,0 @@
-require 'artoo'
-
-connection :raspi, :adaptor => :raspi
-device :led, :driver => :raspi_pin, :pin => 17, :direction => :out
-
-work do
-  every 1.second do
-    led.toggle
-  end
-end

data/examples/raspi_led_and_button.rb

@@ -1,9 +0,0 @@
-require 'artoo'
-
-connection :raspi, :adaptor => :raspi
-device :led, :driver => :raspi_pin, :pin => 17, :direction => :out
-device :button, :driver => :raspi_pin, :pin => 18, :direction => :in
-
-work do
-  on button, :push => proc {led.toggle}
-end

data/lib/artoo/drivers/raspi_pin.rb

@@ -1,68 +0,0 @@
-require 'artoo/drivers/driver'
-
-module Artoo
-  module Drivers
-    # Raspberry Pi pin driver behaviors
-    class RaspiPin < Driver
-      COMMANDS = [:is_on?, :on, :is_off?, :off, :toggle].freeze
-
-      attr_reader :raspi_pin, :direction, :value
-
-      def initialize(params={})
-        super
-
-        params[:additional_params] ||= {}
-        @direction = params[:additional_params][:direction] || :out
-        @value = false
-
-        @raspi_pin = ::PiPiper::Pin.new(:pin => pin, :direction => direction)
-      end
-
-      # Start driver and any required connections
-      def start_driver
-        begin
-          every(interval) do
-            handle_message_events
-          end
-
-          super
-        rescue Exception => e
-          Logger.error "Error starting Raspberry Pi pin driver!"
-          Logger.error e.message
-          Logger.error e.backtrace.inspect
-        end
-      end
-
-      def handle_message_events
-        return if raspi_pin.nil?
-        raspi_pin.read
-        if raspi_pin.changed?
-          publish(event_topic_name(raspi_pin.value == 0 ? "push" : "release"))
-          publish(event_topic_name("update"), "pin", raspi_pin.value)
-        end
-      end
-
-      def toggle
-        is_off? ? on : off
-      end
-
-      def on
-        @value = true
-        raspi_pin.on
-      end
-
-      def is_on?
-        value == true
-      end
-
-      def off
-        @value = false
-        raspi_pin.off
-      end
-
-      def is_off?
-        !is_on?
-      end
-    end
-  end
-end

data/test/drivers/raspi_pin_driver_test.rb

@@ -1,45 +0,0 @@
-require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
-require 'artoo/drivers/raspi_pin'
-
-describe Artoo::Drivers::RaspiPin do
-  before do
-    @device = mock('device')
-    @pin = 17
-    @device.stubs(:pin).returns(@pin)
-    @connection = mock('connection')
-    @device.stubs(:connection).returns(@connection)
-    @pi_pin = mock('pin')
-    ::PiPiper::Pin.stubs(:new).returns(@pi_pin)
-    @led = Artoo::Drivers::RaspiPin.new(:parent => @device)
-  end
-
-  it 'RaspiPin#is_on?' do
-    @led.is_on?.must_equal false
-  end
-
-  it 'RaspiPin#is_off?' do
-    @led.is_off?.must_equal true
-  end
-
-  it 'RaspiPin#on' do
-    @pi_pin.expects(:on)
-    @led.on
-    @led.is_on?.must_equal true
-  end
-
-  it 'RaspiPin#off' do
-    @pi_pin.expects(:off)
-    @led.off
-    @led.is_off?.must_equal true
-  end
-
-  it 'RaspiPin#toggle' do
-    @pi_pin.expects(:on)
-    @pi_pin.expects(:off)
-    @led.is_off?.must_equal true
-    @led.toggle
-    @led.is_on?.must_equal true
-    @led.toggle
-    @led.is_off?.must_equal true
-  end
-end