artoo-roomba 1.0.0.pre

checksums.yaml

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+---
+SHA1:
+  metadata.gz: 08001779fc2a7bd65d66891a5f818bfc8325920d
+  data.tar.gz: b173c210fa6081aba29f9a6cd637c8a2fa9bcf69
+SHA512:
+  metadata.gz: a4c6039adc339bc3f7173fbeeb274e4db1eea2ab5baa7a0d7e15dc6a4c2231d86f78452a56f381b03b1f6e809d5b07c30246053e213cd8c7607b8024b5c3d017
+  data.tar.gz: f79d2ea1af3a7b99aca4a295498a77536761dd5e555fa8bb42b9b37d7f9db96c49b88c3a2191acfa1f0e90add67744ebad171e6b0b6f226fa5f8ea11ea8442fb

data/.gitignore

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+.rvmrc
+.rbx

data/.rvmrc.example

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+rvm use rbx-2.0.0-rc1@artoo-roomba --create

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-sphero.gemspec
+gemspec

data/Gemfile.lock

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+PATH
+  remote: .
+  specs:
+    artoo-roomba (1.0.0.pre)
+      artoo (~> 1.0.0.pre)
+
+GEM
+  remote: http://rubygems.org/
+  specs:
+    artoo (1.0.0.pre)
+      celluloid (~> 0.14.0)
+      celluloid-io (~> 0.14.0)
+      multi_json (~> 1.6)
+      pry (~> 0.9)
+      rake (~> 10.0)
+      reel (~> 0.4.pre)
+    celluloid (0.14.0)
+      timers (>= 1.0.0)
+    celluloid-io (0.14.0)
+      celluloid (>= 0.13.0)
+      nio4r (>= 0.4.5)
+    certified (0.1.1)
+    coderay (1.0.9)
+    http (0.4.0)
+      certified
+      http_parser.rb
+    http_parser.rb (0.5.3)
+    metaclass (0.0.1)
+    method_source (0.8.1)
+    minitest (5.0.1)
+    minitest-happy (1.0.0)
+    mocha (0.14.0)
+      metaclass (~> 0.0.1)
+    multi_json (1.7.3)
+    nio4r (0.4.5)
+    pry (0.9.12.2)
+      coderay (~> 1.0.5)
+      method_source (~> 0.8)
+      slop (~> 3.4)
+    rack (1.5.2)
+    rake (10.0.4)
+    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)
+    slop (3.4.5)
+    timers (1.1.0)
+    websocket_parser (0.1.4)
+      http
+
+PLATFORMS
+  ruby
+
+DEPENDENCIES
+  artoo-roomba!
+  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 Adaptor For Roomba
+
+This repository contains the Artoo (http://artoo.io/) adaptor for the Roomba robot.
+
+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-roomba.png)](https://codeclimate.com/github/hybridgroup/artoo-roomba) [![Build Status](https://travis-ci.org/hybridgroup/artoo-roomba.png?branch=master)](https://travis-ci.org/hybridgroup/artoo-roomba)
+
+## Installing
+
+```
+gem install artoo-roomba
+```

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-roomba.gemspec

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+# -*- encoding: utf-8 -*-
+$:.push File.expand_path("../lib", __FILE__)
+require "artoo-roomba/version"
+
+Gem::Specification.new do |s|
+  s.name        = "artoo-roomba"
+  s.version     = Artoo::Roomba::VERSION
+  s.platform    = Gem::Platform::RUBY
+  s.authors     = ["Ron Evans", "Adrian Zankich"]
+  s.email       = ["artoo@hybridgroup.com"]
+  s.homepage    = "https://github.com/hybridgroup/artoo-roomba"
+  s.summary     = %q{Artoo adaptor and driver for Roomba robot}
+  s.description = %q{Artoo adaptor and driver for Roomba robot}
+
+  s.rubyforge_project = "artoo-roomba"
+
+  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', '~> 1.0.0.pre'
+  s.add_development_dependency 'minitest', '~> 5.0'
+  s.add_development_dependency 'minitest-happy'
+  s.add_development_dependency 'mocha', '~> 0.14.0'
+end

data/examples/roomba.rb

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+require 'artoo'
+
+connection :roomba, :adaptor => :roomba, :port => '/dev/ttyUSB0'
+device :roomba, :driver => :roomba, :connection => :roomba
+  
+work do
+  roomba.safe_mode
+  roomba.nudge_left
+  roomba.nudge_right
+  roomba.nudge_right
+  roomba.nudge_left
+end

data/lib/artoo/adaptors/roomba.rb

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+require 'artoo/adaptors/adaptor'
+
+module Artoo
+  module Adaptors
+    # Connect to a Roomba
+    # @see http://www.irobot.com/en/us/robots/Educators/Create.aspx Roomba information
+    class Roomba < Adaptor
+      finalizer :finalize
+      attr_reader :sp
+
+      # Closes connection if already connected
+      # @return [Boolean]
+      def finalize
+        if connected?
+          @sp.close
+        end
+      end
+
+      # Creates serial or tcp connection
+      # @return [Boolean]
+      def connect
+        if port.is_serial?
+          @sp = connect_to_serial
+          @sp.dtr = 0
+          @sp.rts = 0
+        else
+          @sp = connect_to_tcp
+        end
+        super
+      end
+
+      # Send bytes to device
+      def send_bytes(bytes)
+        bytes = [bytes] unless bytes.respond_to?(:map)
+        bytes.map!(&:chr)
+        Logger.debug "sending: #{bytes.inspect}"
+        res = []
+        bytes.each{|b| res << @sp.write(b) }
+        Logger.debug "returned: #{res.inspect}"
+      end
+
+      # Closes connection to device
+      # @return [Boolean]
+      def disconnect
+        @sp.close
+        super
+      end
+
+    end
+  end
+end

data/lib/artoo/drivers/roomba.rb

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+require 'artoo/drivers/driver'
+
+module Artoo
+  module Drivers
+    # The Roomba driver behaviors
+    class Roomba < Driver
+
+      COMMANDS = [:start, :safe_mode, :full_mode, :forward, :stop, :fast_forward,
+                  :backwards, :nudge_left, :nudge_right, :turn_left, :turn_right,
+                  :turn_around, :drive, :play, :song, :beep].freeze
+
+      # Sets Direction constant values
+      module Direction
+        STRAIGHT = 32768
+        CLOCKWISE = 65535
+        COUNTERCLOCKWISE = 1
+      end
+
+      # Sets speed constant values
+      module Speed
+        MAX = 500
+        SLOW = 250
+        NEG = (65536 - 250)
+        ZERO = 0
+      end
+
+      # Sets notes constant values
+      module Note
+        B = 95
+        D = 98
+        G = 91
+        C = 96
+        A = 93
+        QUARTER = 16
+        HALF = 57
+        WHOLE = 114
+      end
+
+      # Sets mode constant values
+      module Mode
+        FULL = 132
+        SAFE = 131
+        START = 128
+      end
+
+      # Sets song constant values
+      module Song
+        SONG = 140
+        PLAY = 141
+      end
+
+      # Sends start mode
+      def start
+        send_bytes(Mode::START)
+        sleep 0.2
+      end
+
+      # Sends safe mode
+      def safe_mode
+        start
+        send_bytes(Mode::SAFE)
+        sleep 0.1
+      end
+
+      # Sends full mode
+      def full_mode
+        start
+        send_bytes(Mode::FULL)
+        sleep 0.1
+      end
+
+      # Move forward
+      # @param [Integer] seconds
+      # @param [Constant] velocity
+      # @see Speed
+      def forward(seconds, velocity = Speed::SLOW)
+        drive(velocity, Direction::STRAIGHT, seconds)
+        stop if seconds > 0
+      end
+
+      # Stop movement
+      def stop
+        drive(Speed::ZERO, Direction::STRAIGHT)
+      end
+
+      # Move forward with fast speed
+      # @param [Integer] seconds
+      def fast_forward(seconds)
+        drive(Speed::MAX, Direction::STRAIGHT, seconds)
+        stop if seconds > 0
+      end
+
+      # Move backward
+      # @param [Integer] seconds
+      def backwards(seconds)
+        drive(Speed::NEG, Direction::STRAIGHT, seconds)
+        stop if seconds > 0
+      end
+
+      # Nudge left
+      def nudge_left
+        turn_left(0.25)
+      end
+
+      # Turn left
+      # @param [Integer] seconds
+      def turn_left(seconds = 1)
+        drive(Speed::SLOW, Direction::COUNTERCLOCKWISE, seconds)
+        stop if seconds > 0
+      end
+
+      # Turn right
+      # @param [Integer] seconds
+      def turn_right(seconds = 1)
+        drive(Speed::SLOW, Direction::CLOCKWISE, seconds)
+        stop if seconds > 0
+      end
+
+      # Nudge right
+      def nudge_right
+        turn_right(0.25)
+      end
+
+      # Turn around
+      def turn_around
+        turn_left(1.6)
+      end
+
+      # Drive
+      # @param [Integer] v speed
+      # @param [Integer] r direction
+      # @param [Integer] s seconds (waiting time)
+      # @see Speed
+      # @see Direction
+      def drive(v, r, s = 0)
+        vH,vL = split_bytes(v)
+        rH,rL = split_bytes(r)
+        send_bytes([137, vH, vL, rH, rL])
+        sleep(s) if s > 0
+      end
+
+      # Split bytes (hex)
+      # @param [Integer] num
+      def split_bytes(num)
+        [num >> 8, num & 255]
+      end
+
+      # Play song
+      # @param [Integer] song_number
+      def play(song_number = 0)
+        send_bytes([Song::PLAY, song_number])
+      end
+
+      # Save song
+      # @param [Collection] notes
+      # @param [Integer]    song_number
+      # @see Notes
+      def song(notes, song_number = 0)
+        note_group = notes.flatten.compact
+        l = note_group.length / 2
+        send_bytes([Song::SONG, song_number, l] + note_group)
+      end
+
+      # Play song
+      # @param [Collection] notes
+      # @param [Integer]    song_number
+      # @see Notes
+      def play_song(notes, song_number = 0)
+        song(notes, song_number)
+        play(song_number)
+      end
+
+      # Beeps with a G note
+      def beep
+        play_song([Note::G, Note::WHOLE])
+      end
+    end
+  end
+end

data/lib/artoo-roomba/version.rb

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+module Artoo
+  module Roomba
+    VERSION = '1.0.0.pre'
+  end
+end

data/lib/artoo-roomba.rb

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

data/test/adaptors/roomba_test.rb

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+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/adaptors/roomba'
+
+describe Artoo::Adaptors::Roomba do
+  it 'needs tests'
+end

data/test/drivers/roomba_test.rb

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+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/drivers/roomba'
+
+describe Artoo::Drivers::Roomba do
+  before do
+    @connection = mock('connection')
+    @device = mock('device')
+    @device.stubs(:connection).returns(@connection)
+    @roomba = Artoo::Drivers::Roomba.new(:parent => @device)
+    @roomba.stubs(:sleep)
+    @roomba_proxy = @roomba.wrapped_object
+  end
+
+  it 'Roomba#start' do
+    @connection.expects(:send_bytes).with(Artoo::Drivers::Roomba::Mode::START)
+    @roomba.start
+  end
+
+  it 'Roomba#safe_mode' do
+    @roomba.stubs(:start)
+    @connection.expects(:send_bytes).with(Artoo::Drivers::Roomba::Mode::SAFE)
+    @roomba.safe_mode
+  end
+
+  it 'Roomba#full_mode' do
+    @roomba.stubs(:start)
+    @connection.expects(:send_bytes).with(Artoo::Drivers::Roomba::Mode::FULL)
+    @roomba.full_mode
+  end
+
+  it 'Roomba#forward' do
+    @roomba_proxy.expects(:drive).with(250, Artoo::Drivers::Roomba::Direction::STRAIGHT, 10)
+    @roomba_proxy.expects(:stop)
+    @roomba.forward(10, 250)
+  end
+
+  it 'Roomba#stop' do
+    @roomba_proxy.expects(:drive).with(Artoo::Drivers::Roomba::Speed::ZERO, Artoo::Drivers::Roomba::Direction::STRAIGHT)
+    @roomba.stop
+  end
+
+  it 'Roomba#fast_forward' do
+    @roomba_proxy.expects(:drive).with(Artoo::Drivers::Roomba::Speed::MAX, Artoo::Drivers::Roomba::Direction::STRAIGHT, 10)
+    @roomba_proxy.expects(:stop)
+    @roomba.fast_forward(10)
+  end
+
+  it 'Roomba#backwards' do
+    @roomba_proxy.expects(:drive).with(Artoo::Drivers::Roomba::Speed::NEG, Artoo::Drivers::Roomba::Direction::STRAIGHT, 10)
+    @roomba_proxy.expects(:stop)
+    @roomba.backwards(10)
+  end
+
+  it 'Roomba#turn_left' do
+    @roomba_proxy.expects(:drive).with(Artoo::Drivers::Roomba::Speed::SLOW, Artoo::Drivers::Roomba::Direction::COUNTERCLOCKWISE, 10)
+    @roomba_proxy.expects(:stop)
+    @roomba.turn_left(10)
+  end
+
+  it 'Roomba#nudge_left' do
+    @roomba_proxy.expects(:drive).with(Artoo::Drivers::Roomba::Speed::SLOW, Artoo::Drivers::Roomba::Direction::COUNTERCLOCKWISE, 0.25)
+    @roomba_proxy.expects(:stop)
+    @roomba.nudge_left
+  end
+
+  it 'Roomba#turn_right' do
+    @roomba_proxy.expects(:drive).with(Artoo::Drivers::Roomba::Speed::SLOW, Artoo::Drivers::Roomba::Direction::CLOCKWISE, 10)
+    @roomba_proxy.expects(:stop)
+    @roomba.turn_right(10)
+  end
+
+  it 'Roomba#nudge_right' do
+    @roomba_proxy.expects(:drive).with(Artoo::Drivers::Roomba::Speed::SLOW, Artoo::Drivers::Roomba::Direction::CLOCKWISE, 0.25)
+    @roomba_proxy.expects(:stop)
+    @roomba.nudge_right
+  end
+
+  it 'Roomba#play' do
+    @connection.expects(:send_bytes).with([Artoo::Drivers::Roomba::Song::PLAY, 0])
+    @roomba.play(0)
+  end
+
+  it 'Roomba#song' do
+    @connection.expects(:send_bytes).with([Artoo::Drivers::Roomba::Song::SONG, 0, 3, Artoo::Drivers::Roomba::Note::B, Artoo::Drivers::Roomba::Note::QUARTER, Artoo::Drivers::Roomba::Note::B, Artoo::Drivers::Roomba::Note::QUARTER, Artoo::Drivers::Roomba::Note::B, Artoo::Drivers::Roomba::Note::HALF])
+    @roomba.song([[Artoo::Drivers::Roomba::Note::B, Artoo::Drivers::Roomba::Note::QUARTER], [Artoo::Drivers::Roomba::Note::B, Artoo::Drivers::Roomba::Note::QUARTER], [Artoo::Drivers::Roomba::Note::B, Artoo::Drivers::Roomba::Note::HALF]], 0)
+  end
+end

data/test/test_helper.rb

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+require 'minitest/autorun'
+require 'mocha/setup'
+
+require 'artoo/robot'
+
+Celluloid.logger = nil

metadata

@@ -0,0 +1,117 @@
+--- !ruby/object:Gem::Specification
+name: artoo-roomba
+version: !ruby/object:Gem::Version
+  version: 1.0.0.pre
+platform: ruby
+authors:
+- Ron Evans
+- Adrian Zankich
+autorequire: 
+bindir: bin
+cert_chain: []
+date: 2013-05-24 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: artoo
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 1.0.0.pre
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 1.0.0.pre
+- !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 Roomba robot
+email:
+- artoo@hybridgroup.com
+executables: []
+extensions: []
+extra_rdoc_files: []
+files:
+- .gitignore
+- .rvmrc.example
+- .travis.yml
+- Gemfile
+- Gemfile.lock
+- LICENSE
+- README.md
+- Rakefile
+- artoo-roomba.gemspec
+- examples/roomba.rb
+- lib/artoo-roomba.rb
+- lib/artoo-roomba/version.rb
+- lib/artoo/adaptors/roomba.rb
+- lib/artoo/drivers/roomba.rb
+- test/adaptors/roomba_test.rb
+- test/drivers/roomba_test.rb
+- test/test_helper.rb
+homepage: https://github.com/hybridgroup/artoo-roomba
+licenses: []
+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: 1.3.1
+requirements: []
+rubyforge_project: artoo-roomba
+rubygems_version: 2.0.3
+signing_key: 
+specification_version: 4
+summary: Artoo adaptor and driver for Roomba robot
+test_files: []