artoo-sphero 1.0.0.pre → 1.0.0.rc1

checksums.yaml

@@ -1,7 +1,7 @@
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+  metadata.gz: 86d8416d37cd8b1e93c4f9c4155dd717d508cef0
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data/.gitignore

@@ -1,2 +1,3 @@
 .rvmrc
 .rbx
+pkg

data/Gemfile.lock

@@ -1,24 +1,25 @@
 PATH
   remote: .
   specs:
-    artoo-sphero (1.0.0.pre)
-      artoo (~> 1.0.0.pre)
-      hybridgroup-sphero (~> 1.3.0)
+    artoo-sphero (1.0.0.rc1)
+      artoo (~> 1.0.0.rc)
+      sphero (~> 1.4.1)
 
 GEM
   remote: http://rubygems.org/
   specs:
-    artoo (1.0.0.pre)
-      celluloid (~> 0.14.0)
-      celluloid-io (~> 0.14.0)
+    artoo (1.0.0.rc2)
+      celluloid (~> 0.14.1)
+      celluloid-io (~> 0.14.1)
       multi_json (~> 1.6)
       pry (~> 0.9)
       rake (~> 10.0)
-      reel (~> 0.4.pre)
-    celluloid (0.14.0)
+      reel (~> 0.4.0.pre)
+      thor (~> 0.18.1)
+    celluloid (0.14.1)
       timers (>= 1.0.0)
-    celluloid-io (0.14.0)
-      celluloid (>= 0.13.0)
+    celluloid-io (0.14.1)
+      celluloid (>= 0.14.1)
       nio4r (>= 0.4.5)
     certified (0.1.1)
     coderay (1.0.9)
@@ -26,28 +27,29 @@ GEM
       certified
       http_parser.rb
     http_parser.rb (0.5.3)
-    hybridgroup-sphero (1.3.0)
     metaclass (0.0.1)
     method_source (0.8.1)
-    minitest (5.0.1)
+    minitest (5.0.6)
     minitest-happy (1.0.0)
     mocha (0.14.0)
       metaclass (~> 0.0.1)
-    multi_json (1.7.3)
-    nio4r (0.4.5)
+    multi_json (1.7.7)
+    nio4r (0.4.6)
     pry (0.9.12.2)
       coderay (~> 1.0.5)
       method_source (~> 0.8)
       slop (~> 3.4)
     rack (1.5.2)
-    rake (10.0.4)
+    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)
-    slop (3.4.5)
+    slop (3.4.6)
+    sphero (1.4.1)
+    thor (0.18.1)
     timers (1.1.0)
     websocket_parser (0.1.4)
       http

data/README.md

@@ -14,3 +14,76 @@ For more information abut Artoo, check out our repo at https://github.com/hybrid
 gem install artoo-sphero
 ```
 
+## Using
+
+```ruby
+require 'artoo'
+
+connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4567'
+device :sphero, :driver => :sphero
+  
+work do
+  @rolling = false
+
+  every(3.seconds) do
+    puts "Rolling..."
+    sphero.roll 90, rand(360)
+  end
+end
+```
+## Connecting to Sphero
+
+### OSX
+
+The main steps are:
+- Pair your computer and the Sphero
+- Use a socket to serial connection to map a TCP socket to the local unix port
+- Connect to the device via Artoo
+
+First pair your computer and Sphero. You might be prompted for a passcode, but you do not need to enter it, sinec the Sphero does not check.
+
+Once paired, use the `artoo connect scan` command to find out your connection info:
+
+```
+$ artoo connect scan
+```
+
+Now you are ready to connect to the Sphero using the socket, in this example port 4567:
+
+```
+artoo connect socat 4567 Sphero-WRW
+```
+
+### Ubuntu
+
+The main steps are:
+- Pair your computer and the Sphero
+- Map your device to a unix port
+- Use a socket to serial connection to map a TCP socket to the local unix port
+- Connect to the device via Artoo
+
+First pair your computer and Sphero. You might be prompted for a passcode, but you do not need to enter it, sinec the Sphero does not check.
+
+Once paired, use the `artoo connect scan` command to find out your connection info:
+
+```
+$ artoo connect scan
+Scanning ...
+  00:06:66:4A:14:99 Sphero-WRW
+```
+
+Next, you need to bind the Sphero to the system port. In the above example, /dev/Sphero-WRW. The easiest way to do this is to use the `artoo connect bind` command:
+
+```
+artoo connect bind 00:06:66:4A:14:99 Sphero-WRW
+```
+
+Now you are ready to connect to the Sphero using the socket, in this example port 4567:
+
+```
+artoo connect socat 4567 Sphero-WRW
+```
+
+### Windows
+
+Someone please fill in the blanks here...

data/artoo-sphero.gemspec

@@ -6,7 +6,7 @@ Gem::Specification.new do |s|
   s.name        = "artoo-sphero"
   s.version     = Artoo::Sphero::VERSION
   s.platform    = Gem::Platform::RUBY
-  s.authors     = ["Ron Evans", "Adrian Zankich"]
+  s.authors     = ["Ron Evans", "Adrian Zankich", "Mike Ford"]
   s.email       = ["artoo@hybridgroup.com"]
   s.homepage    = "https://github.com/hybridgroup/artoo-sphero"
   s.summary     = %q{Artoo adaptor and driver for Sphero robot}
@@ -19,8 +19,8 @@ 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', '~> 1.0.0.pre'
-  s.add_runtime_dependency 'hybridgroup-sphero', '~> 1.3.0'
+  s.add_runtime_dependency 'artoo', '~> 1.0.0.rc'
+  s.add_runtime_dependency 'sphero', '~> 1.4.1'
   s.add_development_dependency 'minitest', '~> 5.0'
   s.add_development_dependency 'minitest-happy'
   s.add_development_dependency 'mocha', '~> 0.14.0'

data/examples/sphero.rb

@@ -1,11 +1,19 @@
 require 'artoo'
 
-connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4560'
+connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4567'
 device :sphero, :driver => :sphero
   
 work do
+  @rolling = false
+
   every(3.seconds) do
     puts "Rolling..."
-    sphero.roll 90, rand(360)
+    unless @rolling
+      sphero.roll 90, rand(360)
+      @rolling = true
+    else
+      sphero.stop
+      @rolling = false
+    end
   end
 end

data/lib/artoo/adaptors/sphero.rb

@@ -15,9 +15,7 @@ module Artoo
       # Closes connection with device if connected
       # @return [Boolean]
       def finalize
-        if connected?
-          sphero.close
-        end
+        disconnect if connected?
       end
 
       # Creates a connection with Sphero object with retries
@@ -44,7 +42,8 @@ module Artoo
       # Closes connection with device
       # @return [Boolean]
       def disconnect
-        sphero.close
+        sphero.close if connected?
+
         super
       end
 

data/lib/artoo/drivers/sphero.rb

@@ -11,8 +11,7 @@ module Artoo
       BLUE    = [0,   0,   255]
       WHITE   = [255, 255, 255]
 
-      COMMANDS = [:detect_collisions, :clear_collisions, :collisions,
-                  :power_notifications, :sensor_data, :set_color, :color].freeze
+      COMMANDS = [:roll, :stop, :detect_collisions, :messages, :set_color, :color].freeze
 
       # Starts drives and required connections
       def start_driver
@@ -20,7 +19,7 @@ module Artoo
           detect_collisions
 
           every(interval) do
-            handle_collision_events
+            handle_message_events
           end
 
           super
@@ -31,43 +30,26 @@ module Artoo
         end
       end
 
-      def handle_collision_events
-        while i = find_event(::Sphero::Response::CollisionDetected) do
-          update_collision(messages.slice!(i))
+      def handle_message_events         
+        while not connection.messages.empty? do        
+          evt = connection.messages.pop
+          case 
+          when evt.is_a?(::Sphero::Response::CollisionDetected)
+            handle_collision_detected(evt)
+          when evt.is_a?(::Sphero::Response::PowerNotification)
+            handle_power_notification(evt)
+          when evt.is_a?(::Sphero::Response::SensorData)
+            handle_sensor_data(evt)
+          end
         end
       end
 
-      # Publish collision events
-      def update_collision(data)
-        publish(event_topic_name("collision"), data)
-      end
-
       # Detects collisions
       # @param [Hash] params
       def detect_collisions(params={})
         connection.configure_collision_detection 0x01, 0x20, 0x20, 0x20, 0x20, 0x50
       end
 
-      # Clears collisions
-      def clear_collisions
-        messages.clear if responses = messages
-      end
-
-      # @return [CollisionDetected] collision
-      def collisions
-        matching_response_types messages, ::Sphero::Response::CollisionDetected
-      end
-
-      # @return [PowerNotification] power notification
-      def power_notifications
-        matching_response_types messages, ::Sphero::Response::PowerNotification
-      end
-
-      # @return [SensorData] sensor data
-      def sensor_data
-        matching_response_types messages, ::Sphero::Response::SensorData
-      end
-
       # Set color
       # @param [Collection] colors
       def set_color(*colors)
@@ -89,16 +71,19 @@ module Artoo
 
       private
 
-      def find_event(response_klass)
-        messages.index {|m| m.is_a? response_klass}
+      # Publish collision events
+      def handle_collision_detected(data)
+        publish(event_topic_name("collision"), data)
       end
 
-      def matching_response_types(responses, respone_klass)
-        responses.select { |m| m.is_a? respone_klass } if responses
+      # Publish collision events
+      def handle_power_notification(data)
+        publish(event_topic_name("power"), data)
       end
 
-      def messages
-        connection.async_messages
+      # Publish collision events
+      def handle_sensor_data(data)
+        publish(event_topic_name("sensor"), data)
       end
     end
   end

data/lib/artoo-sphero/version.rb

@@ -1,5 +1,5 @@
 module Artoo
   module Sphero
-    VERSION = '1.0.0.pre'
+    VERSION = '1.0.0.rc1'
   end
 end

data/test/drivers/sphero_test.rb

@@ -6,27 +6,30 @@ describe Artoo::Drivers::Sphero do
     @device = mock('device')
     @driver = Artoo::Drivers::Sphero.new(:parent => @device)
     @connection = mock('connection')
-    @col1 = ::Sphero::Response::CollisionDetected.new("yo", "ho")
-    @col2 = ::Sphero::Response::CollisionDetected.new("yo", "ho")
-    @sen1 = ::Sphero::Response::SensorData.new("yo", "ho")
-    @sen2 = ::Sphero::Response::SensorData.new("lo", "no")
-    @sen3 = ::Sphero::Response::SensorData.new("jo", "jo")
-    @pow1 = ::Sphero::Response::PowerNotification.new("yo", "ho")
-    @pow2 = ::Sphero::Response::PowerNotification.new("yo", "ho")
-    @connection.stubs(:async_messages).returns([@col1, @col2, @sen1, @sen2, @sen3, @pow1, @pow2])
+    @messages = Queue.new
+    @messages << ::Sphero::Response::CollisionDetected.new("yo", "ho")
+    @messages << ::Sphero::Response::CollisionDetected.new("yo", "ho")
+    @messages << ::Sphero::Response::SensorData.new("yo", "ho")
+    @messages << ::Sphero::Response::SensorData.new("lo", "no")
+    @messages << ::Sphero::Response::SensorData.new("jo", "jo")
+    @messages << ::Sphero::Response::PowerNotification.new("yo", "ho")
+    @messages << ::Sphero::Response::PowerNotification.new("yo", "ho")
+    @connection.stubs(:messages).returns(@messages)
     @device.stubs(:connection).returns(@connection)
   end
 
-  it 'Sphero#collisions' do
-    @driver.collisions.size.must_equal 2
-  end
+  it 'Sphero#handle_message_events' do
+    @driver.stubs(:handle_collision_detected)
+    @driver.stubs(:handle_power_notification)
+    @driver.stubs(:handle_sensor_data)
 
-  it 'Sphero#power_notifications' do
-    @driver.power_notifications.size.must_equal 2
-  end
+    @messages.empty?.must_equal false
+    @messages.size.must_equal 7
 
-  it 'Sphero#sensor_data' do
-    @driver.sensor_data.size.must_equal 3
+    @driver.handle_message_events
+    
+    @messages.empty?.must_equal true
+    @messages.size.must_equal 0
   end
 
   describe 'color' do

data/test/test_helper.rb

@@ -1,6 +1,6 @@
+require 'artoo/robot'
+
 require 'minitest/autorun'
 require 'mocha/setup'
 
-require 'artoo/robot'
-
 Celluloid.logger = nil

metadata

@@ -1,15 +1,16 @@
 --- !ruby/object:Gem::Specification
 name: artoo-sphero
 version: !ruby/object:Gem::Version
-  version: 1.0.0.pre
+  version: 1.0.0.rc1
 platform: ruby
 authors:
 - Ron Evans
 - Adrian Zankich
+- Mike Ford
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-05-24 00:00:00.000000000 Z
+date: 2013-07-26 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: artoo
@@ -17,28 +18,28 @@ dependencies:
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: 1.0.0.pre
+        version: 1.0.0.rc
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: 1.0.0.pre
+        version: 1.0.0.rc
 - !ruby/object:Gem::Dependency
-  name: hybridgroup-sphero
+  name: sphero
   requirement: !ruby/object:Gem::Requirement
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: 1.3.0
+        version: 1.4.1
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: 1.3.0
+        version: 1.4.1
 - !ruby/object:Gem::Dependency
   name: minitest
   requirement: !ruby/object:Gem::Requirement
@@ -84,10 +85,7 @@ dependencies:
 description: Artoo adaptor and driver for Sphero robot
 email:
 - artoo@hybridgroup.com
-executables:
-- sphero.sh
-- sphero_linux_bind.sh
-- sphero_linux_socat.sh
+executables: []
 extensions: []
 extra_rdoc_files: []
 files:
@@ -100,9 +98,6 @@ files:
 - README.md
 - Rakefile
 - artoo-sphero.gemspec
-- bin/sphero.sh
-- bin/sphero_linux_bind.sh
-- bin/sphero_linux_socat.sh
 - examples/sphero.rb
 - examples/sphero2.rb
 - examples/sphero_color.rb

data/bin/sphero.sh

@@ -1,8 +0,0 @@
-#!/bin/bash
-
-NEXT_WAIT_TIME=0
-COMMAND="socat PIPE:/dev/tty.Sphero-$1-RN-SPP,nonblock TCP-LISTEN:$2,fork"
-until $COMMAND || [ $NEXT_WAIT_TIME -eq 4 ]; do
-  echo "retry..."
-  sleep $(( NEXT_WAIT_TIME++ ))
-done

data/bin/sphero_linux_bind.sh

@@ -1,25 +0,0 @@
-#!/bin/bash
-#
-# This will create a sphero connection bound to /dev/Sphero-XXX
-#
-# Requires sudo or ran as root
-#
-# $1 = unbound /dev/rfcommXX
-# $2 = sphero hardware address from hcitool scan
-# $3 = sphero three letter color code
-#
-# Optional parameter
-# $4 = bluetooth radio hcix
-# 
-# Example
-#
-# sudo ./sphero_linux_bind.sh 1 00:06:66:4A:43:23 PYG hci1
-#
-#
-if [ -z "$4" ]; then
-  addr="hci0"
-else
-  addr=$4
-fi
-rfcomm -i $addr bind /dev/rfcomm$1 $2 1
-ln -s /dev/rfcomm$1 /dev/Sphero-$3

data/bin/sphero_linux_socat.sh

@@ -1,8 +0,0 @@
-#!/bin/bash
-
-NEXT_WAIT_TIME=0
-COMMAND="socat FILE:/dev/$2,nonblock,raw,b115200,echo=0 TCP-LISTEN:$1,fork"
-until $COMMAND || [ $NEXT_WAIT_TIME -eq 4 ]; do
-  echo "retry..."
-  sleep $(( NEXT_WAIT_TIME++ ))
-done