artoo 0.1.3 → 0.2.0

data/lib/artoo/events.rb

@@ -0,0 +1,34 @@
+module Artoo
+  module Events
+    # Subscribe to an event from a device
+    def on(device, events={})
+      events.each do |k, v|
+        subscribe("#{safe_name}_#{device.name}_#{k}", create_proxy_method(k, v))
+      end
+    end
+
+    # Create an anonymous subscription method so we can wrap the
+    # subscription method fire into a valid method regardless
+    # of where it is defined
+    def create_proxy_method(k, v)
+      proxy_method_name(k).tap do |name|
+        self.class.send :define_method, name do |*args|
+          case v
+          when Symbol
+            self.send v.to_sym, *args
+          when Proc
+            v.call(*args)
+          end
+        end
+      end
+    end
+
+    # A simple loop to create a 'fake' anonymous method
+    def proxy_method_name(k)
+      begin
+        meth = "#{k}_#{Random.rand(999)}"
+      end while respond_to?(meth)
+      meth
+    end
+  end
+end

data/lib/artoo/robot.rb

@@ -1,8 +1,10 @@
 require 'celluloid/io'
 require 'multi_json'
 
+require 'artoo/basic'
 require 'artoo/connection'
 require 'artoo/device'
+require 'artoo/events'
 require 'artoo/api'
 require 'artoo/master'
 require 'artoo/port'
@@ -14,7 +16,9 @@ module Artoo
   class Robot
     include Celluloid
     include Celluloid::Notifications
+    extend Artoo::Basic
     include Artoo::Utility
+    include Artoo::Events
 
     attr_reader :connections, :devices, :name
 
@@ -25,15 +29,18 @@ module Artoo
     end
     
     class << self
-      attr_accessor :connection_types, :device_types, :working_code,
+      attr_accessor :device_types, :working_code,
                     :use_api, :api_host, :api_port
       
+      def connection_types
+        @@connection_types ||= []
+      end
+
       # connection to some hardware that has one or more devices via some specific protocol
       # Example:
       #   connection :arduino, :adaptor => :firmata, :port => '/dev/tty.usbmodemxxxxx'
       def connection(name, params = {})
         Celluloid::Logger.info "Registering connection '#{name}'..."
-        self.connection_types ||= []
         self.connection_types << {:name => name}.merge(params)
       end
 
@@ -92,81 +99,6 @@ module Artoo
       def test?
         ENV["ARTOO_TEST"] == 'true'
       end
-
-      # Taken from Sinatra codebase
-      # Sets an option to the given value.  If the value is a proc,
-      # the proc will be called every time the option is accessed.
-      def set(option, value = (not_set = true), ignore_setter = false, &block)
-        raise ArgumentError if block and !not_set
-        value, not_set = block, false if block
-
-        if not_set
-          raise ArgumentError unless option.respond_to?(:each)
-          option.each { |k,v| set(k, v) }
-          return self
-        end
-
-        if respond_to?("#{option}=") and not ignore_setter
-          return __send__("#{option}=", value)
-        end
-
-        setter = proc { |val| set option, val, true }
-        getter = proc { value }
-
-        case value
-        when Proc
-          getter = value
-        when Symbol, Fixnum, FalseClass, TrueClass, NilClass
-          getter = value.inspect
-        when Hash
-          setter = proc do |val|
-            val = value.merge val if Hash === val
-            set option, val, true
-          end
-        end
-
-        define_singleton_method("#{option}=", setter) if setter
-        define_singleton_method(option, getter) if getter
-        define_singleton_method("#{option}?", "!!#{option}") unless method_defined? "#{option}?"
-        self
-      end
-
-      # Taken from Sinatra codebase
-      CALLERS_TO_IGNORE = [ # :nodoc:
-        /lib\/artoo.*\.rb$/,                                # artoo code
-        /^\(.*\)$/,                                         # generated code
-        /rubygems\/(custom|core_ext\/kernel)_require\.rb$/, # rubygems require hacks
-        /active_support/,                                   # active_support require hacks
-        /bundler(\/runtime)?\.rb/,                          # bundler require hacks
-        /<internal:/,                                       # internal in ruby >= 1.9.2
-        /src\/kernel\/bootstrap\/[A-Z]/                     # maglev kernel files
-      ]
-
-      # Taken from Sinatra codebase
-      # Like Kernel#caller but excluding certain magic entries and without
-      # line / method information; the resulting array contains filenames only.
-      def caller_files
-        cleaned_caller(1).flatten
-      end
-
-      private
-
-      # Taken from Sinatra codebase
-      def define_singleton_method(name, content = Proc.new)
-      # replace with call to singleton_class once we're 1.9 only
-        (class << self; self; end).class_eval do
-          undef_method(name) if method_defined? name
-          String === content ? class_eval("def #{name}() #{content}; end") : define_method(name, &content)
-        end
-      end
-
-      # Taken from Sinatra codebase
-      # Like Kernel#caller but excluding certain magic entries
-      def cleaned_caller(keep = 3)
-        caller(1).
-          map    { |line| line.split(/:(?=\d|in )/, 3)[0,keep] }.
-          reject { |file, *_| CALLERS_TO_IGNORE.any? { |pattern| file =~ pattern } }
-      end
     end
 
     def safe_name
@@ -184,30 +116,9 @@ module Artoo
     # start doing the work
     def work
       Logger.info "Starting work..."
-      make_connections
-      start_devices
-      current_instance.instance_eval(&working_code)
-    rescue Exception => e
-      Logger.error e.message
-      Logger.error e.backtrace.inspect
-    end
-
-    def make_connections
-      result = false
-      future_connections = []
-      # block until all connections done
-      connections.each {|k, c| future_connections << c.future.connect}
-      future_connections.each {|v| result = v.value}
-      result
-    end
-
-    def start_devices
-      result = false
-      future_devices = []
-      # block until all devices done
-      devices.each {|k, d| future_devices << d.future.start_device}
-      future_devices.each {|v| result = v.value}
-      result
+      execute_startup(connections) {|c| c.future.connect}
+      execute_startup(devices) {|d| d.future.start_device}
+      execute_working_code
     end
 
     def disconnect
@@ -219,7 +130,6 @@ module Artoo
     end
 
     def connection_types
-      current_class.connection_types ||= []
       current_class.connection_types
     end
 
@@ -232,37 +142,6 @@ module Artoo
       current_class.working_code ||= proc {puts "No work defined."}
     end
     
-    # Subscribe to an event from a device
-    def on(device, events={})
-      events.each do |k, v|
-        subscribe("#{safe_name}_#{device.name}_#{k}", create_proxy_method(k, v))
-      end
-    end
-
-    # Create an anonymous subscription method so we can wrap the
-    # subscription method fire into a valid method regardless
-    # of where it is defined
-    def create_proxy_method(k, v)
-      proxy_method_name(k).tap do |name|
-        self.class.send :define_method, name do |*args|
-          case v
-          when Symbol
-            self.send v.to_sym, *args
-          when Proc
-            v.call(*args)
-          end
-        end
-      end
-    end
-
-    # A simple loop to create a 'fake' anonymous method
-    def proxy_method_name(k)
-      begin
-        meth = "#{k}_#{Random.rand(999)}"
-      end while respond_to?(meth)
-      meth
-    end
-    
     def to_hash
       {:name => name,
        :connections => connections.each_value.collect {|c|c.to_hash},
@@ -295,5 +174,17 @@ module Artoo
         @devices[d.name.intern] = d
       }
     end
+
+    def execute_startup(things, &block)
+      future_things = things.each_value.collect {|t| yield(t)}
+      future_things.each {|v| result = v.value}
+    end
+
+    def execute_working_code
+      current_instance.instance_eval(&working_code)
+    rescue Exception => e
+      Logger.error e.message
+      Logger.error e.backtrace.inspect
+    end
   end
-end
+end

data/lib/artoo/version.rb

@@ -1,5 +1,5 @@
 module Artoo
   unless const_defined?('VERSION')
-    VERSION = "0.1.3"
+    VERSION = "0.2.0"
   end
 end

data/test/drivers/motor_test.rb

@@ -0,0 +1,40 @@
+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/drivers/motor'
+
+describe Artoo::Drivers::Motor do
+  before do
+    @device = mock('device')
+    @device.stubs(:pin).returns([2, 3, 4])
+    @motor = Artoo::Drivers::Motor.new(:parent => @device)
+
+    @connection = mock('connection')
+    @connection.stubs(:set_pin_mode)
+    @connection.stubs(:analog_write)
+    @connection.stubs(:digital_write)
+    @device.stubs(:connection).returns(@connection)
+  end
+
+  it 'Motor#speed must be valid' do
+    invalid_speed = lambda { @motor2 = Artoo::Drivers::Motor.new(:parent => @device); @motor2.speed("ads") }
+    invalid_speed.must_raise RuntimeError
+    error = invalid_speed.call rescue $!
+    error.message.must_equal 'Motor speed must be an integer between 0-255'
+  end
+
+  it 'Motor#forward' do
+    @motor.wrapped_object.expects(:set_legs)
+    @motor.forward(100)
+    @motor.current_speed.must_equal 100
+  end
+
+  it 'Motor#backward' do
+    @motor.wrapped_object.expects(:set_legs)
+    @motor.backward(100)
+    @motor.current_speed.must_equal 100
+  end
+
+  it 'Motor#stop' do
+    @motor.stop
+    @motor.current_speed.must_equal 0
+  end
+end

data/test/drivers/servo_test.rb

@@ -0,0 +1,45 @@
+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/drivers/servo'
+
+describe Artoo::Drivers::Servo do
+  before do
+    @device = mock('device')
+    @device.stubs(:pin).returns(3)
+    @servo = Artoo::Drivers::Servo.new(:parent => @device)
+
+    @connection = mock('connection')
+    @connection.stubs(:set_pin_mode)
+    @connection.stubs(:analog_write)
+    # @connection.stubs(:digital_write)
+    @device.stubs(:connection).returns(@connection)
+  end
+
+  it "Servo#angle_to_span" do
+    @servo.angle_to_span(0).must_equal 0
+    @servo.angle_to_span(30).must_equal 42
+    @servo.angle_to_span(90).must_equal 127
+    @servo.angle_to_span(180).must_equal 255
+  end
+
+  it 'Servo#move must be valid' do
+    invalid_angle = lambda { @servo2 = Artoo::Drivers::Servo.new(:parent => @device); @servo2.move(360) }
+    invalid_angle.must_raise RuntimeError
+    error = invalid_angle.call rescue $!
+    error.message.must_equal 'Servo angle must be an integer between 0-180'
+  end
+
+  it 'Servo#min' do
+    @servo.min
+    @servo.current_angle.must_equal 0
+  end
+
+  it 'Servo#center' do
+    @servo.center
+    @servo.current_angle.must_equal 90
+  end
+
+  it 'Servo#max' do
+    @servo.max
+    @servo.current_angle.must_equal 180
+  end
+end

data/test/drivers/wiiclassic_test.rb

@@ -7,5 +7,10 @@ describe Artoo::Drivers::Wiiclassic do
     @driver = Artoo::Drivers::Wiiclassic.new(:parent => @device)
   end
 
-  it 'must do things'
+  it 'must Artoo::Drivers::Wiiclassic#set_joystick_default_value' do
+    val = "101"
+    @driver.joystick[:test_axis] = nil
+    @driver.set_joystick_default_value(:test_axis, val)
+    @driver.joystick[:test_axis].must_equal val
+  end
 end

metadata

@@ -1,8 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: artoo
 version: !ruby/object:Gem::Version
-  version: 0.1.3
-  prerelease: 
+  version: 0.2.0
 platform: ruby
 authors:
 - Ron Evans
@@ -13,8 +12,106 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-02-26 00:00:00.000000000 Z
-dependencies: []
+date: 2013-03-08 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: celluloid-io
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '0.12'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '0.12'
+- !ruby/object:Gem::Dependency
+  name: reel
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '0.3'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '0.3'
+- !ruby/object:Gem::Dependency
+  name: multi_json
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '1.6'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '1.6'
+- !ruby/object:Gem::Dependency
+  name: active_support
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '3.0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '3.0'
+- !ruby/object:Gem::Dependency
+  name: rake
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '10.0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '10.0'
+- !ruby/object:Gem::Dependency
+  name: minitest
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '4.6'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '4.6'
+- !ruby/object:Gem::Dependency
+  name: mocha
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '0.13'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '0.13'
 description: Ruby-based microframework for robotics
 email:
 - artoo@hybridgroup.com
@@ -25,6 +122,7 @@ extensions: []
 extra_rdoc_files: []
 files:
 - .gitignore
+- .travis.yml
 - Gemfile
 - Gemfile.lock
 - Guardfile
@@ -70,6 +168,7 @@ files:
 - examples/ardrone_nav_wiiclassic.rb
 - examples/ardrone_video.rb
 - examples/ardrone_wiiclassic.rb
+- examples/christmas_roomba.rb
 - examples/conway_sphero.rb
 - examples/firmata.rb
 - examples/firmata_button.rb
@@ -85,6 +184,8 @@ files:
 - examples/sphero_firmata.rb
 - examples/sphero_messages.rb
 - examples/sphero_multiple.rb
+- examples/sphero_wiichuck.rb
+- examples/wiichuck.rb
 - lib/artoo.rb
 - lib/artoo/adaptors/adaptor.rb
 - lib/artoo/adaptors/ardrone.rb
@@ -92,9 +193,11 @@ files:
 - lib/artoo/adaptors/ardrone_video.rb
 - lib/artoo/adaptors/firmata.rb
 - lib/artoo/adaptors/loopback.rb
+- lib/artoo/adaptors/roomba.rb
 - lib/artoo/adaptors/sphero.rb
 - lib/artoo/api.rb
 - lib/artoo/api_route_helpers.rb
+- lib/artoo/basic.rb
 - lib/artoo/connection.rb
 - lib/artoo/delegator.rb
 - lib/artoo/device.rb
@@ -105,12 +208,16 @@ files:
 - lib/artoo/drivers/button.rb
 - lib/artoo/drivers/driver.rb
 - lib/artoo/drivers/led.rb
+- lib/artoo/drivers/motor.rb
 - lib/artoo/drivers/passthru.rb
 - lib/artoo/drivers/pinger.rb
 - lib/artoo/drivers/pinger2.rb
+- lib/artoo/drivers/roomba.rb
+- lib/artoo/drivers/servo.rb
 - lib/artoo/drivers/sphero.rb
 - lib/artoo/drivers/wiichuck.rb
 - lib/artoo/drivers/wiiclassic.rb
+- lib/artoo/events.rb
 - lib/artoo/main.rb
 - lib/artoo/master.rb
 - lib/artoo/port.rb
@@ -132,6 +239,8 @@ files:
 - test/drivers/ardrone_video_test.rb
 - test/drivers/driver_test.rb
 - test/drivers/led_test.rb
+- test/drivers/motor_test.rb
+- test/drivers/servo_test.rb
 - test/drivers/sphero_test.rb
 - test/drivers/wiichuck_test.rb
 - test/drivers/wiiclassic_test.rb
@@ -141,33 +250,26 @@ files:
 - test/utility_test.rb
 homepage: https://github.com/hybridgroup/artoo
 licenses: []
+metadata: {}
 post_install_message: 
 rdoc_options: []
 require_paths:
 - lib
 required_ruby_version: !ruby/object:Gem::Requirement
-  none: false
   requirements:
-  - - ! '>='
+  - - '>='
     - !ruby/object:Gem::Version
       version: '0'
-      segments:
-      - 0
-      hash: -4461140220613461358
 required_rubygems_version: !ruby/object:Gem::Requirement
-  none: false
   requirements:
-  - - ! '>='
+  - - '>='
     - !ruby/object:Gem::Version
       version: '0'
-      segments:
-      - 0
-      hash: -4461140220613461358
 requirements: []
 rubyforge_project: artoo
-rubygems_version: 1.8.25
+rubygems_version: 2.0.0
 signing_key: 
-specification_version: 3
+specification_version: 4
 summary: Ruby-based microframework for robotics
 test_files:
 - test/adaptors/adaptor_test.rb
@@ -185,6 +287,8 @@ test_files:
 - test/drivers/ardrone_video_test.rb
 - test/drivers/driver_test.rb
 - test/drivers/led_test.rb
+- test/drivers/motor_test.rb
+- test/drivers/servo_test.rb
 - test/drivers/sphero_test.rb
 - test/drivers/wiichuck_test.rb
 - test/drivers/wiiclassic_test.rb