artoo-sphero 1.0.0.pre

checksums.yaml

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+---
+SHA1:
+  metadata.gz: 494f759984c5ab3cbb7ae3f7554d9d93bc521645
+  data.tar.gz: 12e3f9a754de59708bd43a56d72eed6d959b5576
+SHA512:
+  metadata.gz: ecf4f66c889eccc2b4d90b3350514d4d5c6de44cc0a20cffef0014d94d434c17e1826ef7e153dc3f12e07fb10a2de8931e3b7593ff548fabae55506d5b865024
+  data.tar.gz: 49f47a74d5a628b1a5fa3acf5f448f60b43a34f7fbedec6065e8d180c79755de941899a213a96ab04b0c1228ea55de12b41903f7518f037ca8f3badd4d37066b

data/.gitignore

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+.rvmrc
+.rbx

data/.rvmrc.example

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+rvm use rbx-2.0.0-rc1@artoo-sphero --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-sphero (1.0.0.pre)
+      artoo (~> 1.0.0.pre)
+      hybridgroup-sphero (~> 1.3.0)
+
+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)
+    hybridgroup-sphero (1.3.0)
+    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-sphero!
+  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 Sphero
+
+This repository contains the Artoo (http://artoo.io/) adaptor for the Sphero (http://gosphero.com) 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-sphero.png)](https://codeclimate.com/github/hybridgroup/artoo-sphero) [![Build Status](https://travis-ci.org/hybridgroup/artoo-sphero.png?branch=master)](https://travis-ci.org/hybridgroup/artoo-sphero)
+
+## Installing
+
+```
+gem install artoo-sphero
+```
+

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-sphero.gemspec

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+# -*- encoding: utf-8 -*-
+$:.push File.expand_path("../lib", __FILE__)
+require "artoo-sphero/version"
+
+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.email       = ["artoo@hybridgroup.com"]
+  s.homepage    = "https://github.com/hybridgroup/artoo-sphero"
+  s.summary     = %q{Artoo adaptor and driver for Sphero robot}
+  s.description = %q{Artoo adaptor and driver for Sphero robot}
+
+  s.rubyforge_project = "artoo-sphero"
+
+  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_runtime_dependency 'hybridgroup-sphero', '~> 1.3.0'
+  s.add_development_dependency 'minitest', '~> 5.0'
+  s.add_development_dependency 'minitest-happy'
+  s.add_development_dependency 'mocha', '~> 0.14.0'
+end

data/bin/sphero.sh

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+#!/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

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+#!/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

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+#!/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

data/examples/sphero.rb

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+require 'artoo'
+
+connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4560'
+device :sphero, :driver => :sphero
+  
+work do
+  every(3.seconds) do
+    puts "Rolling..."
+    sphero.roll 90, rand(360)
+  end
+end

data/examples/sphero2.rb

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+require 'artoo/robot'
+           
+class DoubleSpheroRobot < Artoo::Robot
+  connection :sphero, :adaptor => :sphero
+  device :sphero, :driver => :sphero
+  
+  work do
+    @count = 1
+    every(3.seconds) do
+      sphero.set_color(@count % 2 == 0 ? :green : :blue)
+      @count += 1
+      sphero.roll 90, rand(360)
+    end
+  end
+end
+
+SPHEROS = {"127.0.0.1:4560" => "/dev/tty.Sphero-BRG-RN-SPP",
+           "127.0.0.1:4561" => "/dev/tty.Sphero-YBW-RN-SPP"}
+robots = []
+SPHEROS.each_key {|p|
+  robots << DoubleSpheroRobot.new(:connections => 
+                              {:sphero => 
+                                {:port => p}})
+}
+
+DoubleSpheroRobot.work!(robots)

data/examples/sphero_color.rb

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+require 'artoo'
+
+connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4560'
+device :sphero, :driver => :sphero
+  
+work do
+  @count = 1
+  every(3.seconds) do
+    sphero.set_color(@count % 2 == 0 ? :green : :blue)
+    @count += 1
+    sphero.roll 60, rand(360)
+  end
+end

data/examples/sphero_cycle.rb

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+require 'artoo'
+
+connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4560'
+device :sphero, :driver => :sphero
+  
+work do
+  sphero.set_color(0, 0, 0)
+  sphero.set_color(:red)
+  sphero.set_color(:yellow)
+  sphero.set_color(:green)
+  sphero.set_color(0, 255, 255)
+  sphero.set_color(:blue)
+  sphero.set_color(255, 0, 255)
+  sphero.set_color(:white)
+end

data/examples/sphero_messages.rb

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+require 'artoo'
+
+connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4560'
+device :sphero, :driver => :sphero
+
+def contact(*args)
+  @contacts ||= 0
+  @contacts += 1
+  puts "Contact #{@contacts}"
+end
+
+work do
+  on sphero, :collision => :contact
+
+  every(3.seconds) do
+    puts "Rolling..."
+    sphero.roll 90, rand(360)
+  end
+end

data/examples/sphero_multiple.rb

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+require 'artoo/robot'
+           
+class SpheroRobot < Artoo::Robot
+  connection :sphero, :adaptor => :sphero
+  device :sphero, :driver => :sphero
+  
+  #api :host => '127.0.0.1', :port => '8080'
+
+  work do
+    @count = 1
+    
+    every(3.seconds) do
+      sphero.set_color(@count % 2 == 0 ? :white : :blue)
+      @count += 1
+      sphero.roll 90, rand(360)
+    end
+  end
+end
+
+SPHEROS = {"127.0.0.1:4560" => "/dev/tty.Sphero-BRG-RN-SPP",
+           "127.0.0.1:4561" => "/dev/tty.Sphero-YBW-RN-SPP",
+           "127.0.0.1:4562" => "/dev/tty.Sphero-BWY-RN-SPP",
+           "127.0.0.1:4563" => "/dev/tty.Sphero-YRR-RN-SPP",
+           "127.0.0.1:4564" => "/dev/tty.Sphero-OBG-RN-SPP",
+           "127.0.0.1:4565" => "/dev/tty.Sphero-GOB-RN-SPP",
+           "127.0.0.1:4566" => "/dev/tty.Sphero-PYG-RN-SPP"}
+robots = []
+SPHEROS.each_key {|p|
+  robots << SpheroRobot.new(:connections => 
+                              {:sphero => 
+                                {:port => p}})
+}
+
+SpheroRobot.work!(robots)

data/lib/artoo/adaptors/sphero.rb

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+require 'artoo/adaptors/adaptor'
+
+module Artoo
+  module Adaptors
+    # Connect to a Sphero device
+    # @see http://gosphero.com Sphero information
+    # @see http://rubydoc.info/gems/hybridgroup-sphero Sphero gem Documentation
+    class Sphero < Adaptor
+      finalizer :finalize
+      attr_reader :sphero
+
+      # Number of retries when connecting
+      RETRY_COUNT = 5
+
+      # Closes connection with device if connected
+      # @return [Boolean]
+      def finalize
+        if connected?
+          sphero.close
+        end
+      end
+
+      # Creates a connection with Sphero object with retries
+      # @return [Boolean]
+      def connect
+        @retries_left = RETRY_COUNT
+        require 'sphero' unless defined?(::Sphero)
+        begin
+          @sphero = ::Sphero.new(connect_to)
+          super
+          return true
+        rescue Errno::EBUSY => e
+          @retries_left -= 1
+          if @retries_left > 0
+            retry
+          else
+            Logger.error e.message
+            Logger.error e.backtrace.inspect
+            return false
+          end
+        end
+      end
+
+      # Closes connection with device
+      # @return [Boolean]
+      def disconnect
+        sphero.close
+        super
+      end
+
+      # Uses method missing to call sphero actions
+      # @see http://rubydoc.info/gems/hybridgroup-sphero/Sphero Sphero documentation
+      def method_missing(method_name, *arguments, &block)
+        sphero.send(method_name, *arguments, &block)
+      end
+    end
+  end
+end

data/lib/artoo/drivers/sphero.rb

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+require 'artoo/drivers/driver'
+
+module Artoo
+  module Drivers
+    # The Sphero driver behaviors
+    class Sphero < Driver
+
+      RED     = [255, 0,   0]
+      GREEN   = [0,   255, 0]
+      YELLOW  = [255, 255, 0]
+      BLUE    = [0,   0,   255]
+      WHITE   = [255, 255, 255]
+
+      COMMANDS = [:detect_collisions, :clear_collisions, :collisions,
+                  :power_notifications, :sensor_data, :set_color, :color].freeze
+
+      # Starts drives and required connections
+      def start_driver
+        begin
+          detect_collisions
+
+          every(interval) do
+            handle_collision_events
+          end
+
+          super
+        rescue Exception => e
+          Logger.error "Error starting Sphero driver!"
+          Logger.error e.message
+          Logger.error e.backtrace.inspect
+        end
+      end
+
+      def handle_collision_events
+        while i = find_event(::Sphero::Response::CollisionDetected) do
+          update_collision(messages.slice!(i))
+        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)
+        connection.rgb(*color(*colors))
+      end
+
+      # Retrieves color
+      # @param [Collection] colors
+      def color(*colors)
+        case colors.first
+        when :red    then RED
+        when :green  then GREEN
+        when :yellow then YELLOW
+        when :blue   then BLUE
+        when :white  then WHITE
+        else colors
+        end
+      end
+
+      private
+
+      def find_event(response_klass)
+        messages.index {|m| m.is_a? response_klass}
+      end
+
+      def matching_response_types(responses, respone_klass)
+        responses.select { |m| m.is_a? respone_klass } if responses
+      end
+
+      def messages
+        connection.async_messages
+      end
+    end
+  end
+end

data/lib/artoo-sphero/version.rb

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

data/lib/artoo-sphero.rb

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

data/test/adaptors/sphero_test.rb

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+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/adaptors/sphero'
+require 'sphero'
+
+describe Artoo::Adaptors::Sphero do
+  before do
+    @port = Artoo::Port.new('/dev/awesome')
+    @adaptor = Artoo::Adaptors::Sphero.new(:port => @port)
+    @sphero = mock('sphero')
+    Sphero.stubs(:new).returns(@sphero)
+  end
+
+  it 'Artoo::Adaptors::Sphero#connect' do
+    @adaptor.connect.must_equal true
+  end
+
+  it 'Artoo::Adaptors::Sphero#disconnect' do
+    @adaptor.connect
+
+    @sphero.expects(:close)
+    @adaptor.disconnect
+    @adaptor.connected?.must_equal false
+  end
+end

data/test/drivers/sphero_test.rb

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+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/drivers/sphero'
+
+describe Artoo::Drivers::Sphero do
+  before 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])
+    @device.stubs(:connection).returns(@connection)
+  end
+
+  it 'Sphero#collisions' do
+    @driver.collisions.size.must_equal 2
+  end
+
+  it 'Sphero#power_notifications' do
+    @driver.power_notifications.size.must_equal 2
+  end
+
+  it 'Sphero#sensor_data' do
+    @driver.sensor_data.size.must_equal 3
+  end
+
+  describe 'color' do
+    it 'Sphero#color(:red)' do
+      r, g, b = @driver.color(:red)
+      r.must_equal 255
+      g.must_equal 0
+      b.must_equal 0
+    end
+
+    it 'Sphero#color(:green)' do
+      r, g, b = @driver.color(:green)
+      r.must_equal 0
+      g.must_equal 255
+      b.must_equal 0
+    end
+
+    it 'Sphero#color(r, g, b)' do
+      r, g, b = @driver.color(2, 4, 6)
+      r.must_equal 2
+      g.must_equal 4
+      b.must_equal 6
+    end
+  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 +1,142 @@
+--- !ruby/object:Gem::Specification
+name: artoo-sphero
+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: hybridgroup-sphero
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 1.3.0
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 1.3.0
+- !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 adaptor and driver for Sphero robot
+email:
+- artoo@hybridgroup.com
+executables:
+- sphero.sh
+- sphero_linux_bind.sh
+- sphero_linux_socat.sh
+extensions: []
+extra_rdoc_files: []
+files:
+- .gitignore
+- .rvmrc.example
+- .travis.yml
+- Gemfile
+- Gemfile.lock
+- LICENSE
+- 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
+- examples/sphero_cycle.rb
+- examples/sphero_messages.rb
+- examples/sphero_multiple.rb
+- lib/artoo-sphero.rb
+- lib/artoo-sphero/version.rb
+- lib/artoo/adaptors/sphero.rb
+- lib/artoo/drivers/sphero.rb
+- test/adaptors/sphero_test.rb
+- test/drivers/sphero_test.rb
+- test/test_helper.rb
+homepage: https://github.com/hybridgroup/artoo-sphero
+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-sphero
+rubygems_version: 2.0.3
+signing_key: 
+specification_version: 4
+summary: Artoo adaptor and driver for Sphero robot
+test_files: []