artoo-wandboard 0.0.1
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- checksums.yaml +7 -0
- data/.gitignore +18 -0
- data/.rspec +3 -0
- data/.yardopts +1 -0
- data/Gemfile +4 -0
- data/README.md +32 -0
- data/Rakefile +13 -0
- data/UNLICENSE +24 -0
- data/artoo-wandboard.gemspec +29 -0
- data/lib/artoo-wandboard.rb +3 -0
- data/lib/artoo-wandboard/version.rb +5 -0
- data/lib/artoo/adaptors/wandboard.rb +118 -0
- data/lib/artoo/drivers/wandboard.rb +28 -0
- data/spec/adaptors/wandboard_adaptor_spec.rb +130 -0
- data/spec/drivers/wandboard_driver_spec.rb +12 -0
- data/spec/spec_helper.rb +20 -0
- metadata +144 -0
checksums.yaml
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data.tar.gz: 8acdbc16b60589ba7a35de74925c9bda58237687aa218f768822efd7c8ed5e688e3c5598fb39182922ee500290d7099fcfc88594196f3c225daa0f2ab197c3b5
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data/.gitignore
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data/.rspec
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data/.yardopts
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--markup markdown
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data/Gemfile
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data/README.md
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# Artoo Adaptor For Wandboard
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This repository contains the [Artoo](http://artoo.io/) adaptor for [Wandboard](http://wandboard.org/).
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Artoo is a open source micro-framework for robotics using Ruby.
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For more information about Artoo, check out repo at https://github.com/hybridgroup/artoo
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## Installing
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```
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gem install artoo-wandboard
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```
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## Using
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```ruby
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require 'artoo'
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connection :wandboard, :adaptor => :wandboard
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device :led, :driver => :led, :pin => :JP4_4
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work do
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every 1.second do
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led.on? ? led.off : led.on
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end
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end
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```
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## Connecting
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Run this Gem on Wandboard device itself.
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data/Rakefile
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require 'bundler/gem_tasks'
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require 'rspec/core/rake_task'
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require 'yard'
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desc 'Default: run specs.'
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task :default => :spec
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desc 'Run specs'
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RSpec::Core::RakeTask.new(:spec) do |t|
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end
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YARD::Rake::YardocTask.new(:doc) do |t|
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end
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data/UNLICENSE
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This is free and unencumbered software released into the public domain.
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Anyone is free to copy, modify, publish, use, compile, sell, or
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distribute this software, either in source code form or as a compiled
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binary, for any purpose, commercial or non-commercial, and by any
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means.
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In jurisdictions that recognize copyright laws, the author or authors
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of this software dedicate any and all copyright interest in the
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software to the public domain. We make this dedication for the benefit
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of the public at large and to the detriment of our heirs and
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successors. We intend this dedication to be an overt act of
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relinquishment in perpetuity of all present and future rights to this
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software under copyright law.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
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IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
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OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
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ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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OTHER DEALINGS IN THE SOFTWARE.
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For more information, please refer to <http://unlicense.org/>
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# -*- encoding: utf-8 -*-
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$:.push File.expand_path('../lib', __FILE__)
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require 'artoo-wandboard/version'
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Gem::Specification.new do |s|
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s.name = 'artoo-wandboard'
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s.version = Artoo::Wandboard::VERSION
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s.platform = Gem::Platform::RUBY
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s.authors = ['Dāvis']
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s.email = ['davispuh@gmail.com']
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s.homepage = 'https://github.com/davispuh/artoo-wandboard'
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s.license = 'UNLICENSE'
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s.summary = %q{Artoo adaptor and driver for Wandboard}
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s.description = %q{Artoo adaptor and driver for Wandboard}
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s.rubyforge_project = 'artoo-wandboard'
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s.files = `git ls-files`.split("\n")
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s.test_files = `git ls-files -- {test,spec,features}/*`.split("\n")
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s.executables = `git ls-files -- bin/*`.split("\n").map{ |f| File.basename(f) }
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s.require_paths = ["lib"]
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s.add_runtime_dependency 'artoo', '>= 1.8.0'
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s.add_development_dependency 'bundler'
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s.add_development_dependency 'rake'
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s.add_development_dependency 'rspec'
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s.add_development_dependency 'yard'
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s.add_development_dependency 'simplecov'
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end
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require 'artoo/adaptors/adaptor'
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require 'artoo/adaptors/io'
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module Artoo
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module Adaptors
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# Connect to a wandboard device
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# @see device documentation for more information
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class Wandboard < Adaptor
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attr_reader :device, :pins, :camera, :uart, :spdif, :i2c1, :i2c2, :ttl, :lvds, :spi
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I2C0 = '/dev/i2c-0'
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I2C1 = '/dev/i2c-1'
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def self.gpio(bank, number)
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(bank - 1) * 32 + number
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end
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include Artoo::Adaptors::IO
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PINS = {
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:JP4_4 => gpio(3, 11), # 75
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:JP4_6 => gpio(3, 27), # 91
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:JP4_8 => gpio(6, 31), # 191
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:JP4_10 => gpio(1, 24), # 24
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:JP4_12 => gpio(7, 8), # 200
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:JP4_14 => gpio(3, 26), # 90
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:JP4_16 => gpio(3, 8), # 72
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:JP4_18 => gpio(4, 5), # 101
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}
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# Creates a connection with device
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# @return [Boolean]
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def connect
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@pins ||= {}
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super
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end
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# Closes connection with device
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# @return [Boolean]
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def disconnect
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@pins.each { |n, p| p.close } if @pins
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@pins = {}
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super
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end
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# Name of device
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# @return [String]
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def name
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'wandboard'
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end
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# Version of device
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# @return [String]
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def version
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Artoo::Wandboard::VERSION
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end
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def digital_write(pin, val)
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pin = wandboard_pin(pin, 'w')
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pin.digital_write(val)
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end
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def digital_read(pin)
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pin = wandboard_pin(pin, 'r')
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pin.digital_read
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end
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def i2c1_start(address)
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@i2c1 = I2c.new(I2C0, address)
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end
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def i2c1_write(*data)
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raise 'Not started' unless @i2c1
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@i2c1.write(*data)
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end
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def i2c1_read(len)
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raise 'Not started' unless @i2c1
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@i2c1.read(len)
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end
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def i2c2_start(address)
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@i2c2 = I2c.new(I2C1, address)
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end
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def i2c2_write(*data)
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raise 'Not started' unless @i2c2
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@i2c2.write(*data)
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end
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def i2c2_read(len)
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raise 'Not started' unless @i2c2
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@i2c2.read(len)
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end
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# Uses method missing to call device actions
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# @see device documentation
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def method_missing(method_name, *arguments, &block)
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device.send(method_name, *arguments, &block)
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end
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private
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def translate_pin(pin)
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PINS.fetch(pin)
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rescue KeyError
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raise 'Not a valid pin'
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end
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def wandboard_pin(pin, mode)
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raise 'Not connected' unless connected?
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pin = translate_pin(pin)
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@pins[pin] = DigitalPin.new(pin, mode) if @pins[pin].nil? or @pins[pin].mode != mode
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@pins[pin]
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end
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end
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end
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end
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require 'artoo/drivers/driver'
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module Artoo
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module Drivers
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# The wandboard driver behaviors
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class Wandboard < Driver
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# Start driver and any required connections
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def start_driver
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begin
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every(interval) do
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handle_message_events
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end
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super
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rescue Exception => e
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Logger.error "Error starting Wandboard driver!"
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Logger.error e.message
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Logger.error e.backtrace.inspect
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end
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end
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def handle_message_events
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end
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end
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end
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end
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# encoding: UTF-8
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require_relative '../spec_helper'
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describe Artoo::Adaptors::Wandboard do
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let(:adaptor) { Artoo::Adaptors::Wandboard.new }
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let(:pin) { double('DigitalPin') }
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let(:i2c) { double('I2C') }
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describe 'device info interface' do
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describe '#name' do
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it 'should return Wandboard name' do
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expect(adaptor.name).to eq('wandboard')
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end
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end
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describe '#version' do
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it 'should return Wandboard adapter version' do
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expect(adaptor.version).to eq(Artoo::Wandboard::VERSION)
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end
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end
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end
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describe 'digital GPIO interface' do
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describe '#connect' do
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it 'should connect to Wandboard hardware' do
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expect(adaptor.connect).to be true
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end
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end
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describe '#disconnect' do
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it 'should disconnect from Wandboard hardware' do
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adaptor.connect
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allow(Artoo::Adaptors::IO::DigitalPin).to receive(:new).with(200, 'r') { pin }
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allow(pin).to receive(:digital_read) { 1 }
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expect(pin).to receive(:close)
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adaptor.digital_read(:JP4_12)
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expect(adaptor.disconnect).to be true
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end
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end
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describe '#digital_read' do
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it 'should read from :JP4_12 pin' do
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adaptor.connect
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expect(Artoo::Adaptors::IO::DigitalPin).to receive(:new).with(200, 'r') { pin }
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allow(pin).to receive(:mode) { 'r' }
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expect(pin).to receive(:digital_read) { 1 }
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expect(adaptor.digital_read(:JP4_12)).to eq(1)
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end
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it 'should raise exception if not connected' do
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expect { adaptor.digital_read(:JP4_8) }.to raise_error('Not connected')
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end
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it 'should raise exception if invalid pin' do
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adaptor.connect
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expect { adaptor.digital_read(:JP4_80) }.to raise_error('Not a valid pin')
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end
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end
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describe '#digital_write' do
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it 'should write to :JP4_8 pin' do
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adaptor.connect
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expect(Artoo::Adaptors::IO::DigitalPin).to receive(:new).with(191, 'w') { pin }
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allow(pin).to receive(:mode) { 'w' }
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expect(pin).to receive(:digital_write).with(1)
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expect(pin).to receive(:digital_write).with(0)
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adaptor.digital_write(:JP4_8, 1)
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adaptor.digital_write(:JP4_8, 0)
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end
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it 'should raise exception if not connected' do
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expect { adaptor.digital_write(:JP4_12, 1) }.to raise_error('Not connected')
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end
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end
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end
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describe 'i2c interface' do
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describe '#i2c1_start' do
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it 'should start /dev/i2c-0 at address 0x50' do
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expect(Artoo::Adaptors::IO::I2c).to receive(:new).with('/dev/i2c-0', 0x50) { i2c }
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expect(adaptor.i2c1_start(0x50)).to be i2c
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end
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end
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describe '#i2c1_read' do
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it 'should read i2c-1' do
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allow(Artoo::Adaptors::IO::I2c).to receive(:new) { i2c }
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adaptor.i2c1_start(0x50)
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expect(i2c).to receive(:read).with(3) { [0x00, 0x01, 0x02] }
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expect(adaptor.i2c1_read(3)).to eq([0x00, 0x01, 0x02])
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end
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end
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|
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describe '#i2c1_write' do
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it 'should write i2c-1' do
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allow(Artoo::Adaptors::IO::I2c).to receive(:new) { i2c }
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adaptor.i2c1_start(0x50)
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expect(i2c).to receive(:write).with(0x00, 0x01, 0x02) { true }
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|
+
expect(adaptor.i2c1_write(0x00, 0x01, 0x02)).to be true
|
101
|
+
end
|
102
|
+
end
|
103
|
+
|
104
|
+
describe '#i2c2_start' do
|
105
|
+
it 'should start /dev/i2c-1 at address 0x50' do
|
106
|
+
expect(Artoo::Adaptors::IO::I2c).to receive(:new).with('/dev/i2c-1', 0x50) { i2c }
|
107
|
+
expect(adaptor.i2c2_start(0x50)).to be i2c
|
108
|
+
end
|
109
|
+
end
|
110
|
+
|
111
|
+
describe '#i2c2_read' do
|
112
|
+
it 'should read i2c-2' do
|
113
|
+
allow(Artoo::Adaptors::IO::I2c).to receive(:new) { i2c }
|
114
|
+
adaptor.i2c2_start(0x50)
|
115
|
+
expect(i2c).to receive(:read).with(3) { [0x00, 0x01, 0x02] }
|
116
|
+
expect(adaptor.i2c2_read(3)).to eq([0x00, 0x01, 0x02])
|
117
|
+
end
|
118
|
+
end
|
119
|
+
|
120
|
+
describe '#i2c2_write' do
|
121
|
+
it 'should write i2c-2' do
|
122
|
+
allow(Artoo::Adaptors::IO::I2c).to receive(:new) { i2c }
|
123
|
+
adaptor.i2c2_start(0x50)
|
124
|
+
expect(i2c).to receive(:write).with(0x00, 0x01, 0x02) { true }
|
125
|
+
expect(adaptor.i2c2_write(0x00, 0x01, 0x02)).to be true
|
126
|
+
end
|
127
|
+
end
|
128
|
+
end
|
129
|
+
|
130
|
+
end
|
data/spec/spec_helper.rb
ADDED
@@ -0,0 +1,20 @@
|
|
1
|
+
# encoding: UTF-8
|
2
|
+
require 'simplecov'
|
3
|
+
require 'artoo/robot'
|
4
|
+
|
5
|
+
Celluloid.logger = nil
|
6
|
+
Celluloid.shutdown
|
7
|
+
Celluloid.boot
|
8
|
+
|
9
|
+
RSpec.configure do |config|
|
10
|
+
config.expect_with :rspec do |c|
|
11
|
+
c.syntax = :expect
|
12
|
+
end
|
13
|
+
config.mock_with :rspec do |mocks|
|
14
|
+
mocks.verify_partial_doubles = true
|
15
|
+
end
|
16
|
+
end
|
17
|
+
|
18
|
+
SimpleCov.start
|
19
|
+
|
20
|
+
require 'artoo-wandboard'
|
metadata
ADDED
@@ -0,0 +1,144 @@
|
|
1
|
+
--- !ruby/object:Gem::Specification
|
2
|
+
name: artoo-wandboard
|
3
|
+
version: !ruby/object:Gem::Version
|
4
|
+
version: 0.0.1
|
5
|
+
platform: ruby
|
6
|
+
authors:
|
7
|
+
- Dāvis
|
8
|
+
autorequire:
|
9
|
+
bindir: bin
|
10
|
+
cert_chain: []
|
11
|
+
date: 2014-11-22 00:00:00.000000000 Z
|
12
|
+
dependencies:
|
13
|
+
- !ruby/object:Gem::Dependency
|
14
|
+
name: artoo
|
15
|
+
requirement: !ruby/object:Gem::Requirement
|
16
|
+
requirements:
|
17
|
+
- - ">="
|
18
|
+
- !ruby/object:Gem::Version
|
19
|
+
version: 1.8.0
|
20
|
+
type: :runtime
|
21
|
+
prerelease: false
|
22
|
+
version_requirements: !ruby/object:Gem::Requirement
|
23
|
+
requirements:
|
24
|
+
- - ">="
|
25
|
+
- !ruby/object:Gem::Version
|
26
|
+
version: 1.8.0
|
27
|
+
- !ruby/object:Gem::Dependency
|
28
|
+
name: bundler
|
29
|
+
requirement: !ruby/object:Gem::Requirement
|
30
|
+
requirements:
|
31
|
+
- - ">="
|
32
|
+
- !ruby/object:Gem::Version
|
33
|
+
version: '0'
|
34
|
+
type: :development
|
35
|
+
prerelease: false
|
36
|
+
version_requirements: !ruby/object:Gem::Requirement
|
37
|
+
requirements:
|
38
|
+
- - ">="
|
39
|
+
- !ruby/object:Gem::Version
|
40
|
+
version: '0'
|
41
|
+
- !ruby/object:Gem::Dependency
|
42
|
+
name: rake
|
43
|
+
requirement: !ruby/object:Gem::Requirement
|
44
|
+
requirements:
|
45
|
+
- - ">="
|
46
|
+
- !ruby/object:Gem::Version
|
47
|
+
version: '0'
|
48
|
+
type: :development
|
49
|
+
prerelease: false
|
50
|
+
version_requirements: !ruby/object:Gem::Requirement
|
51
|
+
requirements:
|
52
|
+
- - ">="
|
53
|
+
- !ruby/object:Gem::Version
|
54
|
+
version: '0'
|
55
|
+
- !ruby/object:Gem::Dependency
|
56
|
+
name: rspec
|
57
|
+
requirement: !ruby/object:Gem::Requirement
|
58
|
+
requirements:
|
59
|
+
- - ">="
|
60
|
+
- !ruby/object:Gem::Version
|
61
|
+
version: '0'
|
62
|
+
type: :development
|
63
|
+
prerelease: false
|
64
|
+
version_requirements: !ruby/object:Gem::Requirement
|
65
|
+
requirements:
|
66
|
+
- - ">="
|
67
|
+
- !ruby/object:Gem::Version
|
68
|
+
version: '0'
|
69
|
+
- !ruby/object:Gem::Dependency
|
70
|
+
name: yard
|
71
|
+
requirement: !ruby/object:Gem::Requirement
|
72
|
+
requirements:
|
73
|
+
- - ">="
|
74
|
+
- !ruby/object:Gem::Version
|
75
|
+
version: '0'
|
76
|
+
type: :development
|
77
|
+
prerelease: false
|
78
|
+
version_requirements: !ruby/object:Gem::Requirement
|
79
|
+
requirements:
|
80
|
+
- - ">="
|
81
|
+
- !ruby/object:Gem::Version
|
82
|
+
version: '0'
|
83
|
+
- !ruby/object:Gem::Dependency
|
84
|
+
name: simplecov
|
85
|
+
requirement: !ruby/object:Gem::Requirement
|
86
|
+
requirements:
|
87
|
+
- - ">="
|
88
|
+
- !ruby/object:Gem::Version
|
89
|
+
version: '0'
|
90
|
+
type: :development
|
91
|
+
prerelease: false
|
92
|
+
version_requirements: !ruby/object:Gem::Requirement
|
93
|
+
requirements:
|
94
|
+
- - ">="
|
95
|
+
- !ruby/object:Gem::Version
|
96
|
+
version: '0'
|
97
|
+
description: Artoo adaptor and driver for Wandboard
|
98
|
+
email:
|
99
|
+
- davispuh@gmail.com
|
100
|
+
executables: []
|
101
|
+
extensions: []
|
102
|
+
extra_rdoc_files: []
|
103
|
+
files:
|
104
|
+
- ".gitignore"
|
105
|
+
- ".rspec"
|
106
|
+
- ".yardopts"
|
107
|
+
- Gemfile
|
108
|
+
- README.md
|
109
|
+
- Rakefile
|
110
|
+
- UNLICENSE
|
111
|
+
- artoo-wandboard.gemspec
|
112
|
+
- lib/artoo-wandboard.rb
|
113
|
+
- lib/artoo-wandboard/version.rb
|
114
|
+
- lib/artoo/adaptors/wandboard.rb
|
115
|
+
- lib/artoo/drivers/wandboard.rb
|
116
|
+
- spec/adaptors/wandboard_adaptor_spec.rb
|
117
|
+
- spec/drivers/wandboard_driver_spec.rb
|
118
|
+
- spec/spec_helper.rb
|
119
|
+
homepage: https://github.com/davispuh/artoo-wandboard
|
120
|
+
licenses:
|
121
|
+
- UNLICENSE
|
122
|
+
metadata: {}
|
123
|
+
post_install_message:
|
124
|
+
rdoc_options: []
|
125
|
+
require_paths:
|
126
|
+
- lib
|
127
|
+
required_ruby_version: !ruby/object:Gem::Requirement
|
128
|
+
requirements:
|
129
|
+
- - ">="
|
130
|
+
- !ruby/object:Gem::Version
|
131
|
+
version: '0'
|
132
|
+
required_rubygems_version: !ruby/object:Gem::Requirement
|
133
|
+
requirements:
|
134
|
+
- - ">="
|
135
|
+
- !ruby/object:Gem::Version
|
136
|
+
version: '0'
|
137
|
+
requirements: []
|
138
|
+
rubyforge_project: artoo-wandboard
|
139
|
+
rubygems_version: 2.4.2
|
140
|
+
signing_key:
|
141
|
+
specification_version: 4
|
142
|
+
summary: Artoo adaptor and driver for Wandboard
|
143
|
+
test_files: []
|
144
|
+
has_rdoc:
|