artoo 0.2.0 → 0.3.0

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA1:
-  metadata.gz: ed97e1d66baccca21165b0960b2ed18212b2a1d4
-  data.tar.gz: 77e070f5faa53a75532d5c73f87c2016d9e0f23a
+  metadata.gz: c7ec92eb682584d629792c9e30321ec075c44ccc
+  data.tar.gz: 469f3321dd5bf852382c66ecf475ad272d0913bd
 SHA512:
-  metadata.gz: 6566a8f925b396b38e0641e64548f42787d0611852733077697efad840b972281cc0ac8d218801476593a590c52287802a6bdd8bb25758c19430eaa4c20c4e67
-  data.tar.gz: 4107fcfa598cc71a9d3a5e11f26b1885336e0b5c64ae264fc13150162db6fe4055d54db3984007c46886a3c74306c92fc3dadb66392d1b41b820888b34662af0
+  metadata.gz: 34faae07ab1729b9ef5dc82549ccb6e140d6452db47dc8eb2c451b12a45b645f22a7e1c47f0ca9624b20ffdcb58c2224d9cc2802590adcad76268bb05b3f9739
+  data.tar.gz: 0b97958c5708ecd774c3de2aa1b2c0cdc3905573f5296781cb92d29622caeb2dea6baef8c78a2a17382ddf760ecfb2d36aaca412de69d133436a8360b705cf24

data/Gemfile.lock

@@ -1,10 +1,11 @@
 PATH
   remote: .
   specs:
-    artoo (0.2.0)
+    artoo (0.3.0)
       active_support (~> 3.0)
-      celluloid-io (~> 0.12)
+      celluloid-io (~> 0.13)
       multi_json (~> 1.6)
+      pry (~> 0.9)
       rake (~> 10.0)
       reel (~> 0.3)
 
@@ -16,11 +17,10 @@ GEM
     activesupport (3.0.0)
     bootstrap-sass (2.2.2.0)
       sass (~> 3.2)
-    celluloid (0.12.4)
-      facter (>= 1.6.12)
+    celluloid (0.13.0)
       timers (>= 1.0.0)
-    celluloid-io (0.12.1)
-      celluloid (~> 0.12.0)
+    celluloid-io (0.13.1)
+      celluloid (>= 0.13.0)
       nio4r (>= 0.4.0)
     certified (0.1.1)
     chunky_png (1.2.7)
@@ -41,7 +41,6 @@ GEM
     eventmachine (1.0.0-java)
     execjs (1.4.0)
       multi_json (~> 1.0)
-    facter (1.6.17)
     fssm (0.2.10)
     guard (1.6.2)
       listen (>= 0.6.0)
@@ -79,6 +78,7 @@ GEM
       metaclass (~> 0.0.1)
     multi_json (1.6.1)
     nio4r (0.4.3)
+    nio4r (0.4.3-java)
     pry (0.9.12)
       coderay (~> 1.0.5)
       method_source (~> 0.8)
@@ -89,7 +89,7 @@ GEM
       slop (~> 3.4)
       spoon (~> 0.0)
     rack (1.5.2)
-    rake (10.0.3)
+    rake (10.0.4)
     reel (0.3.0)
       celluloid-io (>= 0.8.0)
       http (>= 0.2.0)
@@ -108,7 +108,7 @@ GEM
     thor (0.17.0)
     tilt (1.3.3)
     timers (1.1.0)
-    websocket_parser (0.1.1)
+    websocket_parser (0.1.2)
       http
 
 PLATFORMS

data/README.md

@@ -71,7 +71,7 @@ SPHEROS.each {|p|
 SpheroRobot.work!(robots)
 ```
 
-Ruby versions supported: Ruby 2.0, 1.9.3, JRuby 1.7.2, and Rubinius 2.0
+Ruby versions supported: Ruby 2.0, Ruby 1.9.3, JRuby 1.7.2, and Rubinius 2.0-rc1
 
 
 Artoo is conceptualy influenced by Sinatra (https://github.com/sinatra/sinatra) as well as borrowing some code from it.
@@ -100,6 +100,23 @@ end
 
 Once the robot or group is working, you can view the main API page at the host and port specified.
 
+## CLI:
+
+Artoo includes Robi, a Command Line Interface (CLI) based on Pry (http://pryrepl.org/) to allow you to interactively control your robot.
+
+```
+robi ./examples/hello.rb
+I, [2013-03-16T18:14:22.281462 #61513]  INFO -- : Registering connection 'loop'...
+I, [2013-03-16T18:14:22.283027 #61513]  INFO -- : Preparing work...
+[1] pry(main)> start
+I, [2013-03-16T18:14:23.836523 #61513]  INFO -- : Initializing connection loop...
+I, [2013-03-16T18:14:23.842265 #61513]  INFO -- : Starting work...
+I, [2013-03-16T18:14:23.842879 #61513]  INFO -- : Connecting to 'loop' on port '#<Artoo::Port:0xe3c0>'...
+[2] pry(main)> list
+#<Artoo::MainRobot:0xe5e4>
+[3] pry(main)> exit
+```
+
 ## Installing:
 
 ```ruby

data/Rakefile

@@ -1,5 +1,6 @@
 require 'bundler'
 Bundler::GemHelper.install_tasks
+require 'pry'
 
 require 'rake/testtask'
 
@@ -9,3 +10,10 @@ Rake::TestTask.new do |t|
 end
 
 task :default => :test
+
+desc "Start an interactive session with robot(s) loaded."
+task :console, :file do |t, args|
+  robot_file = args[:file]
+  exec "bundle exec robi #{robot_file}"
+end
+

data/artoo.gemspec

@@ -19,11 +19,12 @@ 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 'celluloid-io', '~> 0.12'
+  s.add_runtime_dependency 'celluloid-io', '~> 0.13'
   s.add_runtime_dependency 'reel', '~> 0.3'
   s.add_runtime_dependency 'multi_json', '~> 1.6'
   s.add_runtime_dependency 'active_support', '~> 3.0'
   s.add_runtime_dependency 'rake', '~> 10.0'
+  s.add_runtime_dependency 'pry', '~> 0.9'
   s.add_development_dependency 'minitest', '~> 4.6'
   s.add_development_dependency 'mocha', '~> 0.13'
 end

data/bin/robi

@@ -0,0 +1,42 @@
+#!/usr/bin/env ruby
+require 'pry'
+
+Pry.config.prompt = proc { "robi> " }
+
+command_set = Pry::CommandSet.new do
+  block_command "start", "Start all robots working" do
+    if defined?(Artoo::MainRobot)
+      output.puts "Starting main robot..."
+      Artoo::MainRobot.work! unless Artoo::MainRobot.is_running?
+    else
+      output.puts "Starting robots..."
+    end
+
+    Celluloid::Actor[:master].start_work
+  end
+
+  block_command "pause", "Pause all robots" do
+    output.puts "Pausing robots..."
+    Celluloid::Actor[:master].pause_work
+  end
+
+  block_command "continue", "Continue all robots" do
+    output.puts "Continuing robots..."
+    Celluloid::Actor[:master].continue_work
+  end
+
+  block_command "stop", "Stop all robots" do
+    output.puts "Not yet implemented..."
+    Celluloid::Actor[:master].stop_work
+  end
+
+  block_command "list", "List all robots" do
+    output.puts Celluloid::Actor[:master].robots
+  end
+end
+
+Pry::Commands.import command_set
+
+ENV["ARTOO_CLI"] = 'true'
+require ARGV[0]
+Pry.start

data/examples/ardrone_wiiclassic.rb

@@ -66,8 +66,6 @@ work do
   on classic, :left_trigger => proc { |*value|
     if value[1] > 0
       drone.turn_left(validate_pitch(value[1], @offsets[:lt]))
-    else
-      drone.turn_left(0.0)
     end
   }
 end

data/examples/conway_sphero.rb

@@ -1,6 +1,6 @@
 require 'artoo/robot'
 
-class SpheroRobot < Artoo::Robot
+class ConwaySpheroRobot < Artoo::Robot
   connection :sphero, :adaptor => :sphero
   device :sphero, :driver => :sphero
   
@@ -59,9 +59,9 @@ SPHEROS = {"127.0.0.1:4560" => "/dev/tty.Sphero-BRG-RN-SPP",
            "127.0.0.1:4566" => "/dev/tty.Sphero-PYG-RN-SPP"}
 robots = []
 SPHEROS.each_key {|p|
-  robots << SpheroRobot.new(:connections => 
+  robots << ConwaySpheroRobot.new(:connections => 
                               {:sphero => 
                                 {:port => p}})
 }
 
-SpheroRobot.work!(robots)
+ConwaySpheroRobot.work!(robots)

data/examples/hello_multiple.rb

@@ -5,7 +5,7 @@ class HelloRobot < Artoo::Robot
   
 	work do
 	  every(3.seconds) do
-	     puts "Hello from #{name}"
+	    puts "Hello from #{name}"
 	  end
 	  after(10.seconds) do
 	  	puts "#{name} is alive!" if name == 'Number 5'
@@ -19,4 +19,3 @@ robots = []
 end
 
 HelloRobot.work!(robots)
-sleep

data/examples/sphero2.rb

@@ -1,6 +1,6 @@
 require 'artoo/robot'
            
-class SpheroRobot < Artoo::Robot
+class DoubleSpheroRobot < Artoo::Robot
   connection :sphero, :adaptor => :sphero
   device :sphero, :driver => :sphero
   
@@ -18,9 +18,9 @@ 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 << SpheroRobot.new(:connections => 
+  robots << DoubleSpheroRobot.new(:connections => 
                               {:sphero => 
                                 {:port => p}})
 }
 
-SpheroRobot.work!(robots)
+DoubleSpheroRobot.work!(robots)

data/examples/wiiclassic.rb

@@ -0,0 +1,26 @@
+require 'artoo'
+
+connection :arduino, :adaptor => :firmata, :port => "8023"
+device :classic, :driver => :wiiclassic, :connection => :arduino, :interval => 0.1
+
+work do
+  on classic, :a_button => proc { puts "a button pressed!" }
+  on classic, :b_button => proc { puts "b button pressed!" }
+  on classic, :x_button => proc { puts "x button pressed!" }
+  on classic, :y_button => proc { puts "y button pressed!" }
+  on classic, :home_button => proc { puts "home button pressed!" }
+  on classic, :start_button => proc { puts "start button pressed!" }
+  on classic, :select_button => proc { puts "select button pressed!" }
+  on classic, :left_joystick => proc { |*value|
+    puts "left joystick x: #{value[1][:x]}, y: #{value[1][:y]}" unless (value[1][:x] == 0 && value[1][:y] == 0)
+  }
+  on classic, :right_joystick => proc { |*value|
+    puts "right joystick x: #{value[1][:x]}, y: #{value[1][:y]}" unless (value[1][:x] == 0 && value[1][:y] == 0)
+  }
+  on classic, :right_trigger => proc { |*value|
+    puts "right trigger: #{value[1]}" unless (value[1]== 0)
+  }
+  on classic, :left_trigger => proc { |*value|
+    puts "left trigger: #{value[1]}" unless (value[1]== 0)
+  }
+end

data/lib/artoo/adaptors/ardrone.rb

@@ -4,6 +4,7 @@ module Artoo
   module Adaptors
     # Connect to a ARDrone 2.0 (http://ardrone2.parrot.com/)
     class Ardrone < Adaptor
+      finalizer :finalize
       attr_reader :ardrone
 
       def finalize

data/lib/artoo/adaptors/roomba.rb

@@ -4,7 +4,7 @@ module Artoo
   module Adaptors
     # Connect to a Roomba (http://www.irobot.com/en/us/robots/Educators/Create.aspx)
     class Roomba < Adaptor
-      
+      finalizer :finalize
       attr_reader :sp
 
       def finalize

data/lib/artoo/adaptors/sphero.rb

@@ -4,6 +4,7 @@ module Artoo
   module Adaptors
     # Connect to a Sphero (http://gosphero.com)
     class Sphero < Adaptor
+      finalizer :finalize
       RETRY_COUNT = 5
       attr_reader :sphero
 

data/lib/artoo/api.rb

@@ -17,32 +17,42 @@ module Artoo
     end
 
     get '/robots' do
-      MultiJson.dump(Actor[:master].robots.collect {|r|r.to_hash})
+      MultiJson.dump(master.robots.collect {|r|r.to_hash})
     end
 
     get '/robots/:robotid' do
-      Actor[:master].get_robot_by_name(@params['robotid']).as_json
+      master.get_robot(@params['robotid']).as_json
     end
 
     get '/robots/:robotid/devices' do
-      MultiJson.dump(Actor[:master].get_robot_by_name(@params['robotid']).devices.each_value.collect {|d| d.to_hash})
+      MultiJson.dump(master.get_robot_devices(@params['robotid']).each_value.collect {|d| d.to_hash})
     end
 
     get '/robots/:robotid/devices/:deviceid' do
-      Actor[:master].get_robot_by_name(@params['robotid']).devices[@params['deviceid'].intern].as_json
+      device(@params['robotid'], @params['deviceid']).as_json
     end
 
     get_ws '/robots/:robotid/devices/:deviceid/events' do
-      DeviceEventClient.new(@req, Actor[:master].get_robot_by_name(@params['robotid']).devices[@params['deviceid'].intern].event_topic_name('update'))
+      DeviceEventClient.new(@req, device(@params['robotid'], @params['deviceid']).event_topic_name('update'))
       return nil
     end
 
     get '/robots/:robotid/connections' do
-      MultiJson.dump(Actor[:master].get_robot_by_name(@params['robotid']).connections.each_value.collect {|c| c.to_hash})
+      MultiJson.dump(master.get_robot_connections(@params['robotid']).each_value.collect {|c| c.to_hash})
     end
 
     get '/robots/:robotid/connections/:connectionid' do
-      Actor[:master].get_robot_by_name(@params['robotid']).connections[@params['connectionid'].intern].as_json
+      master.get_robot_connection(@params['robotid'], @params['connectionid']).as_json
+    end
+
+    protected
+
+    def master
+      Actor[:master]
+    end
+
+    def device(robot_id, device_id)
+      master.get_robot_device(robot_id, device_id)
     end
   end
 end

data/lib/artoo/connection.rb

@@ -47,6 +47,14 @@ module Artoo
       MultiJson.dump(to_hash)
     end
 
+    def to_s
+      "#{self.class}:0x#{self.object_id}"
+    end
+
+    def inspect
+      "#<#{to_s}>"
+    end
+
     def method_missing(method_name, *arguments, &block)
       unless adaptor.connected?
         Logger.warn "Cannot call unconnected adaptor '#{name}', attempting to reconnect..."

data/lib/artoo/device.rb

@@ -51,6 +51,10 @@ module Artoo
       driver.send(method_name, *arguments, &block)
     end
 
+    def inspect
+      "#<Device @id=#{object_id}, @name='name', @driver='driver'>"
+    end
+
     private
 
     def require_driver(d)

data/lib/artoo/drivers/wiichuck.rb

@@ -1,60 +1,16 @@
-require 'artoo/drivers/driver'
+require 'artoo/drivers/wiidriver'
 
 module Artoo
   module Drivers
     # Wiichuck driver behaviors for Firmata
-    class Wiichuck < Driver
-      attr_reader :joystick
-
-      def address; 0x52; end
-
-      INITIAL_DEFAULTS = {
-          :sy_origin => nil,
-          :sx_origin => nil
-        }
-
-      def initialize(params={})
-        @joystick = INITIAL_DEFAULTS
-        super
-      end
-
-      def start_driver
-        begin
-        listener = ->(value) { update(value) }
-        connection.on("i2c_reply", listener)
-
-        connection.i2c_config(0)
-        every(interval) do
-          connection.i2c_write_request(address, 0x40, 0x00)
-          p
-          connection.i2c_write_request(address, 0x00, 0x00)
-          p
-          connection.i2c_read_request(address, 6)
-          p
-          connection.read_and_process
-        end
-        
-        super
-        rescue Exception => e
-          p "start driver"
-          p e.message
-          p e.backtrace.inspect
-        end
-
-      end
-
+    class Wiichuck < Wiidriver
       def update(value)
         begin
-          if encrypted?(value)
-            Logger.error "Encrypted bytes from wiichuck!"
-            return
-          end
+          super
 
-          data = parse_wiichuck(value)
-          
-          adjust_origins(data)
-          update_buttons(data)
-          update_joystick(data)
+          adjust_origins
+          update_buttons
+          update_joystick
 
         rescue Exception => e
           Logger.error "wiichuck update exception!"
@@ -63,44 +19,35 @@ module Artoo
         end
       end
 
-      def adjust_origins(data)
+      def adjust_origins
         set_joystick_default_value(:sy_origin, data[:sy])
         set_joystick_default_value(:sx_origin, data[:sx])
       end
 
-      def set_joystick_default_value(joystick_axis, default_value)     
-        joystick[joystick_axis] = default_value if joystick[joystick_axis].nil?
-      end
-
-      def update_buttons(data)
+      def update_buttons
         publish(event_topic_name("c_button")) if data[:c] == true
         publish(event_topic_name("z_button")) if data[:z] == true
       end
 
-      def update_joystick(data)
-        publish(event_topic_name("joystick"), {:x => data[:sx] - @joystick[:sx_origin], :y => data[:sy] - @joystick[:sy_origin]})
+      def update_joystick
+        publish(event_topic_name("joystick"), {:x => calculate_joystick_value(:sx, :sx_origin), :y => calculate_joystick_value(:sy, :sy_origin)})
       end
 
       private 
 
-      def encrypted?(value)
-        value[:data][0] == value[:data][1] && value[:data][2] == value[:data][3] && value[:data][4] == value[:data][5]
-      end
-
-      def decode( x )
-        return ( x ^ 0x17 ) + 0x17
-      end
-
-      def get_value(value, index)
-        decode(value[:data][index])
+      def get_defaults
+        {
+          :sy_origin => nil,
+          :sx_origin => nil
+        }
       end
 
-      def parse_wiichuck(value)
+      def parse(value)
         return {
-          :sx => get_value(value, 0),
-          :sy => get_value(value, 1),
-          :z => (get_value(value, 5) & 0x01 == 0 ? true : false ),
-          :c => (get_value(value, 5) & 0x02 == 0 ? true : false )
+          :sx => decode_value(value, 0),
+          :sy => decode_value(value, 1),
+          :z => generate_bool(decode_value(value, 5) & 0x01),
+          :c => generate_bool(decode_value(value, 5) & 0x02)
         }
       end
     end

data/lib/artoo/drivers/wiiclassic.rb

@@ -1,66 +1,18 @@
-require 'artoo/drivers/driver'
+require 'artoo/drivers/wiidriver'
 
 module Artoo
   module Drivers
     # Wiiclassic driver behaviors for Firmata
-    class Wiiclassic < Driver
-      attr_reader :joystick
-
-      def address; 0x52; end
-
-      INITIAL_DEFAULTS = {
-        :ry_origin => nil,
-        :rx_origin => nil,
-        :ly_origin => nil,
-        :lx_origin => nil,
-        :rt_origin => nil,
-        :lt_origin => nil
-      }  
-
-      def initialize(params={})
-        @joystick = INITIAL_DEFAULTS
-        super
-      end
-
-      def start_driver
-        begin
-        listener = ->(value) { update(value) }
-        connection.on("i2c_reply", listener)
-
-        connection.i2c_config(0)
-        every(interval) do
-          connection.i2c_write_request(address, 0x40, 0x00)
-          p
-          connection.i2c_write_request(address, 0x00, 0x00)
-          p
-          connection.i2c_read_request(address, 6)
-          p
-          connection.read_and_process
-        end
-        
-        super
-        rescue Exception => e
-          p "start driver"
-          p e.message
-          p e.backtrace.inspect
-        end
-
-      end
-
+    class Wiiclassic < Wiidriver      
       def update(value)
         begin
-          if encrypted?(value)
-            Logger.error "Encrypted bytes from wiiclassic!"
-            return
-          end
-
-          data = parse_wiiclassic(value)
+          super
           
-          adjust_origins(data)
-          update_buttons(data)
-          update_left_joystick(data)
-          update_right_joystick(data)
-          update_triggers(data)
+          adjust_origins
+          update_buttons
+          update_left_joystick
+          update_right_joystick
+          update_triggers
 
         rescue Exception => e
           Logger.error "wiiclassic update exception!"
@@ -69,7 +21,7 @@ module Artoo
         end
       end
 
-      def adjust_origins(data)
+      def adjust_origins
         set_joystick_default_value(:ly_origin, data[:ly])
         set_joystick_default_value(:lx_origin, data[:lx])
         set_joystick_default_value(:ry_origin, data[:ry])
@@ -78,73 +30,100 @@ module Artoo
         set_joystick_default_value(:lt_origin, data[:lt])
       end
 
-      def set_joystick_default_value(joystick_axis, default_value)     
-        joystick[joystick_axis] = default_value if joystick[joystick_axis].nil?
+      def update_buttons
+        update_button("a_button", :a)
+        update_button("b_button", :b)
+        update_button("x_button", :x)
+        update_button("y_button", :y)
+        update_button("home_button", :h)
+        update_button("start_button", :+)
+        update_button("select_button", :-)
+      end
+
+      def update_button(name, key)
+        publish(event_topic_name(name)) if data[key] == true
       end
 
-      def update_buttons(data)
-        publish(event_topic_name("a_button")) if data[:a] == true
-        publish(event_topic_name("b_button")) if data[:b] == true
-        publish(event_topic_name("x_button")) if data[:x] == true
-        publish(event_topic_name("y_button")) if data[:y] == true
-        publish(event_topic_name("home_button")) if data[:h] == true
-        publish(event_topic_name("start_button")) if data[:+] == true
-        publish(event_topic_name("select_button")) if data[:-] == true
+      def update_left_joystick
+        publish(event_topic_name("left_joystick"), {:x => calculate_joystick_value(:lx, :lx_origin), :y => calculate_joystick_value(:ly, :ly_origin)})
       end
 
-      def update_left_joystick(data)
-        publish(event_topic_name("left_joystick"), {:x => data[:lx] - @joystick[:lx_origin], :y => data[:ly] - @joystick[:ly_origin]}) 
+      def update_right_joystick
+        publish(event_topic_name("right_joystick"), {:x => calculate_joystick_value(:rx, :rx_origin), :y => calculate_joystick_value(:ry, :ry_origin)})
       end
 
-      def update_right_joystick(data)
-        publish(event_topic_name("right_joystick"), {:x => data[:rx] - @joystick[:rx_origin], :y => data[:ry] - @joystick[:ry_origin]}) 
+      def update_triggers
+        publish(event_topic_name("right_trigger"), calculate_joystick_value(:rt, :rt_origin))
+        publish(event_topic_name("left_trigger"), calculate_joystick_value(:lt, :lt_origin))
       end
 
-      def update_triggers(data)
-        publish(event_topic_name("right_trigger"), data[:rt] - @joystick[:rt_origin])
-        publish(event_topic_name("left_trigger"), data[:lt] - @joystick[:lt_origin])
+      private
+      
+      def get_defaults
+        {
+          :ry_origin => nil,
+          :rx_origin => nil,
+          :ly_origin => nil,
+          :lx_origin => nil,
+          :rt_origin => nil,
+          :lt_origin => nil
+        }  
+      end      
+
+      def parse(value)
+        return parse_joysticks(value).
+          merge(parse_buttons(value)).
+          merge(parse_triggers(value)).
+          merge(parse_dpad(value)).
+          merge(parse_zbuttons(value))
       end
 
-      private 
+      def parse_joysticks(value)
+        {
+          :lx => decode_value(value, 0) & 0x3f,
+          :ly => decode_value(value, 1) & 0x3f,
+          :rx => ((decode_value(value, 0) & 0xC0) >> 2)  | ((decode_value(value, 1) & 0xC0) >> 4) | (decode_value(value, 2)[7]),
+          :ry => decode_value(value, 2) & 0x1f
+        }
+      end
 
-      def encrypted?(value)
-        value[:data][0] == value[:data][1] && value[:data][2] == value[:data][3] && value[:data][4] == value[:data][5]
+      def parse_buttons(value)
+        {
+          :a => get_bool_decoded_value(value, 5, 4),
+          :b => get_bool_decoded_value(value, 5, 6),
+          :x => get_bool_decoded_value(value, 5, 3),
+          :y => get_bool_decoded_value(value, 5, 5),
+          :+ => get_bool_decoded_value(value, 4, 2),
+          :- => get_bool_decoded_value(value, 4, 4),
+          :h => get_bool_decoded_value(value, 4, 3)
+        }
       end
 
-      def decode( x )
-        return ( x ^ 0x17 ) + 0x17
+      def parse_triggers(value)
+        {
+          :lt => ((decode_value(value, 2) & 0x60) >> 3) | ((decode_value(value, 3) & 0xC0) >> 6),
+          :rt => decode_value(value, 3) & 0x1f
+        }
       end
 
-      def get_value(value, index)
-        decode(value[:data][index])
+      def parse_dpad(value)
+        {
+          :d_up => get_bool_decoded_value(value, 5, 0),
+          :d_down => get_bool_decoded_value(value, 4, 6),
+          :d_left => get_bool_decoded_value(value, 5, 1),
+          :d_right => get_bool_decoded_value(value, 4, 7)
+        }
       end
 
-      def parse_wiiclassic(value)
-        return {
-          :lx => get_value(value, 0) & 0x3f,
-          :ly => get_value(value, 1) & 0x3f,
-          :rx => ((get_value(value, 0) & 0xC0) >> 2)  | ((get_value(value, 1) & 0xC0) >> 4) | (get_value(value, 2)[7]),
-          :ry => get_value(value, 2) & 0x1f,
-          :lt => ((get_value(value, 2) & 0x60) >> 3) | ((get_value(value, 3) & 0xC0) >> 6),
-          :rt => get_value(value, 3) & 0x1f,
-          :d_up => generate_bool(get_value(value, 5)[0]),
-          :d_down => generate_bool(get_value(value, 4)[6]),
-          :d_left => generate_bool(get_value(value, 5)[1]),
-          :d_right => generate_bool(get_value(value, 4)[7]),
-          :zr => generate_bool(get_value(value, 5)[2]),
-          :zl => generate_bool(get_value(value, 5)[7]),
-          :a => generate_bool(get_value(value, 5)[4]),
-          :b => generate_bool(get_value(value, 5)[6]),
-          :x => generate_bool(get_value(value, 5)[3]),
-          :y => generate_bool(get_value(value, 5)[5]),
-          :+ => generate_bool(get_value(value, 4)[2]),
-          :- => generate_bool(get_value(value, 4)[4]),
-          :h => generate_bool(get_value(value, 4)[3]),
+      def parse_zbuttons(value)
+        {
+          :zr => get_bool_decoded_value(value, 5, 2),
+          :zl => get_bool_decoded_value(value, 5, 7)
         }
       end
 
-      def generate_bool(value)
-        value == 0 ? true : false
+      def get_bool_decoded_value(value, offset1, offset2)
+        generate_bool(decode_value(value, offset1)[offset2])
       end
     end
   end

data/lib/artoo/drivers/wiidriver.rb

@@ -0,0 +1,89 @@
+require 'artoo/drivers/driver'
+
+module Artoo
+  module Drivers
+    # Wii-based controller shared driver behaviors for Firmata
+    class Wiidriver < Driver
+      attr_reader :joystick, :data
+
+      def address; 0x52; end
+
+      def initialize(params={})
+        @joystick = get_defaults
+        @data = {}
+        super
+      end
+
+      def start_driver
+        begin
+          listener = ->(value) { update(value) }
+          connection.on("i2c_reply", listener)
+
+          connection.i2c_config(0)
+          every(interval) do
+            connection.i2c_write_request(address, 0x40, 0x00)
+            p
+            connection.i2c_write_request(address, 0x00, 0x00)
+            p
+            connection.i2c_read_request(address, 6)
+            p
+            connection.read_and_process
+          end
+
+          super
+        rescue Exception => e
+          p "start driver"
+          p e.message
+          p e.backtrace.inspect
+        end
+      end
+
+      def update(value)
+        if encrypted?(value)
+          Logger.error "Encrypted bytes from wii device!"
+          raise "Encrypted bytes from wii device!"
+        end
+
+        @data = parse(value)
+      end
+
+      protected 
+
+      def get_defaults
+        {}
+      end
+
+      def parse
+        {}
+      end
+
+      def set_joystick_default_value(joystick_axis, default_value)
+        joystick[joystick_axis] = default_value if joystick[joystick_axis].nil?
+      end
+
+      def calculate_joystick_value(axis, origin)
+        data[axis] - joystick[origin]
+      end
+
+      def encrypted?(value)
+        [[0, 1], [2, 3], [4, 5]].all? {|a| get_value(value, a[0]) == get_value(value, a[1]) }
+      end
+
+      def decode(x)
+        return ( x ^ 0x17 ) + 0x17
+      end
+
+      def decode_value(value, index)
+        decode(get_value(value, index))
+      end
+
+      def get_value(value, index)
+        value[:data][index]
+      end
+
+      def generate_bool(value)
+        value == 0 ? true : false
+      end
+    end
+  end
+end

data/lib/artoo/ext/actor.rb

@@ -0,0 +1,18 @@
+# monkeypatches for Celluloid Actor class
+module Celluloid
+  def timers
+    Actor.timers
+  end
+
+  class Actor
+    attr_accessor :timers
+
+    class << self
+      def timers
+        actor = Thread.current[:celluloid_actor]
+        raise NotActorError, "not in actor scope" unless actor
+        actor.timers
+      end
+    end
+  end
+end

data/lib/artoo/ext/timers.rb

@@ -0,0 +1,41 @@
+# monkeypatches for Timers & Timer classes used by Celluloid
+class Timers
+  def initialize
+    @timers = SortedSet.new
+    @paused_timers = SortedSet.new
+  end
+
+  def pause(timer = nil)
+    return pause_all if timer.nil?
+    raise TypeError, "not a Timers::Timer" unless timer.is_a? Timers::Timer
+    @timers.delete timer
+    @paused_timers.add timer
+  end
+
+  def pause_all
+    @timers.each {|timer| timer.pause}
+  end
+
+  def continue(timer = nil)
+    return continue_all if timer.nil?
+    raise TypeError, "not a Timers::Timer" unless timer.is_a? Timers::Timer
+    @paused_timers.delete timer
+    @timers.add timer
+  end
+
+  def continue_all
+    @paused_timers.each {|timer| timer.continue}
+  end
+
+  class Timer
+    # Pause this timer
+    def pause
+      @timers.pause self
+    end
+
+    # Continue this timer
+    def continue
+      @timers.continue self
+    end
+  end
+end

data/lib/artoo/master.rb

@@ -9,8 +9,43 @@ module Artoo
       @robots = bots
     end
 
-    def get_robot_by_name(name)
-    	robots.find_all {|r| r.name == name}.first
+    def robot(name)
+      robots.find {|r| r.name == name}
+    end
+
+    def robot_devices(name)
+      robot(name).devices
+    end
+
+    def robot_device(name, device_id)
+      robot_devices(name)[device_id.intern]
+    end
+
+    def robot_connections(name)
+      robot(name).connections
+    end
+
+    def robot_connection(robot_id, connection_id)
+      robot_connections(robot_id)[connection_id.intern]
+    end
+
+    def start_work
+      robots.each {|r| r.async.work} unless Artoo::Robot.is_running?
+    end
+
+    def pause_work
+      robots.each {|r|
+        Logger.info "pausing #{r.name}"
+        r.async.pause_work
+      }
+    end
+
+    def continue_work
+      robots.each {|r| r.async.continue_work}
+    end
+
+    def stop_work
+      #robots.each {|r| r.async.stop_work} unless !Artoo::Robot.is_running?
     end
   end
 end

data/lib/artoo/robot.rb

@@ -1,5 +1,8 @@
+require 'celluloid/autostart'
 require 'celluloid/io'
 require 'multi_json'
+require 'artoo/ext/timers'
+require 'artoo/ext/actor'
 
 require 'artoo/basic'
 require 'artoo/connection'
@@ -10,6 +13,7 @@ require 'artoo/master'
 require 'artoo/port'
 require 'artoo/utility'
 
+
 module Artoo
   # The most important class used by Artoo is Robot. This represents the primary
   # interface for interacting with a collection of physical computing capabilities.
@@ -29,7 +33,7 @@ module Artoo
     end
     
     class << self
-      attr_accessor :device_types, :working_code,
+      attr_accessor :device_types, :working_code, :running,
                     :use_api, :api_host, :api_port
       
       def connection_types
@@ -80,6 +84,18 @@ module Artoo
       #  an array of existing instances
       #  or, a new instance can be created
       def work!(robot=nil)
+        return if !test? && is_running?
+        prepare_robots(robot)
+
+        unless cli?
+          Celluloid::Actor[:api] = Api.new(self.api_host, self.api_port) if self.use_api
+          Celluloid::Actor[:master].start_work
+          self.running = true
+          sleep # sleep main thread, and let the work commence!
+        end
+      end
+
+      def prepare_robots(robot=nil)
         if robot.respond_to?(:work)
           robots = [robot]
         elsif robot.kind_of?(Array)
@@ -88,17 +104,21 @@ module Artoo
           robots = [self.new]
         end
 
-        robots.each {|r| r.async.work}
-
         Celluloid::Actor[:master] = Master.new(robots)
-        Celluloid::Actor[:api] = Api.new(self.api_host, self.api_port) if self.use_api
-
-        sleep # sleep main thread, and let the work commence!
       end
 
       def test?
         ENV["ARTOO_TEST"] == 'true'
       end
+
+      def cli?
+        ENV["ARTOO_CLI"] == 'true'
+      end
+
+      def is_running?
+        self.running ||= false
+        self.running == true
+      end
     end
 
     def safe_name
@@ -121,12 +141,22 @@ module Artoo
       execute_working_code
     end
 
+    def pause_work
+      Logger.info "Pausing work..."
+      current_instance.timers.pause
+    end
+
+    def continue_work
+      Logger.info "Continuing work..."
+      current_instance.timers.continue
+    end
+
     def disconnect
       connections.each {|k, c| c.async.disconnect}
     end
 
     def default_connection
-      connections[connections.keys.first]
+      connections.values.first
     end
 
     def connection_types
@@ -153,6 +183,10 @@ module Artoo
       MultiJson.dump(to_hash)
     end
 
+    def inspect
+      "#<Robot #{object_id}>"
+    end
+
     private
 
     def initialize_connections(params={})

data/lib/artoo/version.rb

@@ -1,5 +1,5 @@
 module Artoo
   unless const_defined?('VERSION')
-    VERSION = "0.2.0"
+    VERSION = "0.3.0"
   end
 end

data/test/drivers/wiiclassic_test.rb

@@ -7,10 +7,5 @@ describe Artoo::Drivers::Wiiclassic do
     @driver = Artoo::Drivers::Wiiclassic.new(:parent => @device)
   end
 
-  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
+  it 'must do things'
 end

data/test/drivers/wiidriver_test.rb

@@ -0,0 +1,54 @@
+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/drivers/wiidriver'
+
+class Artoo::Drivers::Wiidriver
+  public :set_joystick_default_value, :calculate_joystick_value, :encrypted?,
+         :decode, :get_value, :generate_bool
+end
+
+describe Artoo::Drivers::Wiidriver do
+  before do
+    @device = mock('device')
+    @driver = Artoo::Drivers::Wiidriver.new(:parent => @device)
+  end
+
+  it 'Artoo::Drivers::Wiidriver#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
+
+  it 'Artoo::Drivers::Wiidriver#calculate_joystick_value' do
+    @driver.data[:test_axis] = 8
+    @driver.joystick[:test_origin] = 5
+    @driver.calculate_joystick_value(:test_axis, :test_origin).must_equal 3
+  end
+
+  it 'Artoo::Drivers::Wiidriver#encrypted?' do
+    value = {:data => [0, 0, 0, 0, 0, 0]}
+    @driver.encrypted?(value).must_equal true
+  end
+
+  it 'Artoo::Drivers::Wiidriver#encrypted?' do
+    value = {:data => [1, 2, 3, 4, 5, 6]}
+    @driver.encrypted?(value).must_equal false
+  end
+
+  it 'Artoo::Drivers::Wiidriver#decode' do
+    @driver.decode(22).must_equal 24
+    @driver.decode(0).must_equal 46
+    @driver.decode(16).must_equal 30
+  end
+
+  it 'Artoo::Drivers::Wiidriver#get_value' do
+    value = {:data => [1, 2, 3, 4, 5, 6], :other_data => [10, 20, 30, 40, 50, 60]}
+    @driver.get_value(value, 1).must_equal 2
+    @driver.get_value(value, 5).must_equal 6
+  end
+
+  it 'Artoo::Drivers::Wiidriver#generate_bool' do
+    @driver.generate_bool(0).must_equal true
+    @driver.generate_bool(1).must_equal false
+  end
+end

data/test/master_test.rb

@@ -0,0 +1,45 @@
+require File.expand_path(File.dirname(__FILE__) + "/test_helper")
+
+class MockRobot
+  attr_reader :name
+
+  def initialize(name)
+    @name = name
+  end
+
+  def devices
+    ["#{name}-device1", "#{name}-device2", "#{name}-device3"]
+  end
+
+  def connections
+    ["#{name}-connection1", "#{name}-connection2", "#{name}-connection3"]
+  end
+end
+
+describe Artoo::Master do
+  before do
+    @robots = []
+
+    @robot1 = MockRobot.new("robot1")
+    @robot2 = MockRobot.new("robot2")
+    @robot3 = MockRobot.new("robot3")
+    
+    @robots << @robot1
+    @robots << @robot2
+    @robots << @robot3
+
+    @master = Artoo::Master.new(@robots)
+  end
+
+  it 'Artoo::Master#robot' do
+    @master.robot("robot2").must_equal @robot2
+  end
+
+  it 'Artoo::Master#robot_devices' do
+    @master.robot_devices("robot2").first.must_equal "robot2-device1"
+  end
+
+  it 'Artoo::Master#robot_connections' do
+    @master.robot_connections("robot2").last.must_equal "robot2-connection3"
+  end
+end

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: artoo
 version: !ruby/object:Gem::Version
-  version: 0.2.0
+  version: 0.3.0
 platform: ruby
 authors:
 - Ron Evans
@@ -12,7 +12,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-03-08 00:00:00.000000000 Z
+date: 2013-04-09 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: celluloid-io
@@ -20,14 +20,14 @@ dependencies:
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: '0.12'
+        version: '0.13'
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: '0.12'
+        version: '0.13'
 - !ruby/object:Gem::Dependency
   name: reel
   requirement: !ruby/object:Gem::Requirement
@@ -84,6 +84,20 @@ dependencies:
     - - ~>
       - !ruby/object:Gem::Version
         version: '10.0'
+- !ruby/object:Gem::Dependency
+  name: pry
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '0.9'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '0.9'
 - !ruby/object:Gem::Dependency
   name: minitest
   requirement: !ruby/object:Gem::Requirement
@@ -117,6 +131,7 @@ email:
 - artoo@hybridgroup.com
 executables:
 - retry.sh
+- robi
 - sphero.sh
 extensions: []
 extra_rdoc_files: []
@@ -160,6 +175,7 @@ files:
 - api/public/partials/robot-index.html
 - artoo.gemspec
 - bin/retry.sh
+- bin/robi
 - bin/sphero.sh
 - examples/ardrone.rb
 - examples/ardrone_nav.rb
@@ -186,6 +202,7 @@ files:
 - examples/sphero_multiple.rb
 - examples/sphero_wiichuck.rb
 - examples/wiichuck.rb
+- examples/wiiclassic.rb
 - lib/artoo.rb
 - lib/artoo/adaptors/adaptor.rb
 - lib/artoo/adaptors/ardrone.rb
@@ -217,7 +234,10 @@ files:
 - lib/artoo/drivers/sphero.rb
 - lib/artoo/drivers/wiichuck.rb
 - lib/artoo/drivers/wiiclassic.rb
+- lib/artoo/drivers/wiidriver.rb
 - lib/artoo/events.rb
+- lib/artoo/ext/actor.rb
+- lib/artoo/ext/timers.rb
 - lib/artoo/main.rb
 - lib/artoo/master.rb
 - lib/artoo/port.rb
@@ -244,6 +264,8 @@ files:
 - test/drivers/sphero_test.rb
 - test/drivers/wiichuck_test.rb
 - test/drivers/wiiclassic_test.rb
+- test/drivers/wiidriver_test.rb
+- test/master_test.rb
 - test/port_test.rb
 - test/robot_test.rb
 - test/test_helper.rb
@@ -267,32 +289,8 @@ required_rubygems_version: !ruby/object:Gem::Requirement
       version: '0'
 requirements: []
 rubyforge_project: artoo
-rubygems_version: 2.0.0
+rubygems_version: 2.0.3
 signing_key: 
 specification_version: 4
 summary: Ruby-based microframework for robotics
-test_files:
-- test/adaptors/adaptor_test.rb
-- test/adaptors/ardrone_test.rb
-- test/adaptors/firmata_test.rb
-- test/adaptors/loopback_test.rb
-- test/adaptors/sphero_test.rb
-- test/api_test.rb
-- test/artoo_test.rb
-- test/connection_test.rb
-- test/delegator_test.rb
-- test/device_test.rb
-- test/drivers/ardrone_navigation_test.rb
-- test/drivers/ardrone_test.rb
-- 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
-- test/port_test.rb
-- test/robot_test.rb
-- test/test_helper.rb
-- test/utility_test.rb
+test_files: []