artoo 0.3.0 → 0.4.0

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA1:
-  metadata.gz: c7ec92eb682584d629792c9e30321ec075c44ccc
-  data.tar.gz: 469f3321dd5bf852382c66ecf475ad272d0913bd
+  metadata.gz: 18102ca867dce3a87d0d7a37e9a3815b7b3be8a2
+  data.tar.gz: 5410f7319fbee6fa07c76808e0cb766b7883cd84
 SHA512:
-  metadata.gz: 34faae07ab1729b9ef5dc82549ccb6e140d6452db47dc8eb2c451b12a45b645f22a7e1c47f0ca9624b20ffdcb58c2224d9cc2802590adcad76268bb05b3f9739
-  data.tar.gz: 0b97958c5708ecd774c3de2aa1b2c0cdc3905573f5296781cb92d29622caeb2dea6baef8c78a2a17382ddf760ecfb2d36aaca412de69d133436a8360b705cf24
+  metadata.gz: 26e56150e35df75a79560888fa419f4e768b9e8634e7824f2c60e1df6bd2c7f3c136599f893547b23cb090ebab7c5f07c37665b0aca23353e10d1a13b8727a4e
+  data.tar.gz: 3b22a157db5e7826021dc74872b7bab951e32c9c1e0204476e5809d7639347d2bc3ef37c64739ec6bc269b8ae46e5992aa26d43df3f471b9caa760c7253bbd4d

data/.travis.yml

@@ -2,5 +2,5 @@ language: ruby
 rvm:
   - 2.0.0
   - 1.9.3
-  - jruby-19mode # JRuby in 1.9 mode
+  #- jruby-19mode # JRuby in 1.9 mode commented until JRuby/Celluloid issues corrected
   - rbx-19mode

data/Gemfile.lock

@@ -1,13 +1,14 @@
 PATH
   remote: .
   specs:
-    artoo (0.3.0)
+    artoo (0.4.0)
       active_support (~> 3.0)
-      celluloid-io (~> 0.13)
+      celluloid (~> 0.14.0)
+      celluloid-io (~> 0.14.0)
       multi_json (~> 1.6)
       pry (~> 0.9)
       rake (~> 10.0)
-      reel (~> 0.3)
+      reel (~> 0.4.pre)
 
 GEM
   remote: http://rubygems.org/
@@ -17,11 +18,11 @@ GEM
     activesupport (3.0.0)
     bootstrap-sass (2.2.2.0)
       sass (~> 3.2)
-    celluloid (0.13.0)
+    celluloid (0.14.0)
       timers (>= 1.0.0)
-    celluloid-io (0.13.1)
+    celluloid-io (0.14.0)
       celluloid (>= 0.13.0)
-      nio4r (>= 0.4.0)
+      nio4r (>= 0.4.5)
     certified (0.1.1)
     chunky_png (1.2.7)
     coderay (1.0.9)
@@ -77,8 +78,7 @@ GEM
     mocha (0.13.2)
       metaclass (~> 0.0.1)
     multi_json (1.6.1)
-    nio4r (0.4.3)
-    nio4r (0.4.3-java)
+    nio4r (0.4.5)
     pry (0.9.12)
       coderay (~> 1.0.5)
       method_source (~> 0.8)
@@ -90,12 +90,12 @@ GEM
       spoon (~> 0.0)
     rack (1.5.2)
     rake (10.0.4)
-    reel (0.3.0)
+    reel (0.4.0.pre)
       celluloid-io (>= 0.8.0)
       http (>= 0.2.0)
       http_parser.rb (>= 0.5.3)
       rack (>= 1.4.0)
-      websocket_parser (>= 0.1.0)
+      websocket_parser (>= 0.1.2)
     sass (3.2.5)
     slop (3.4.3)
     spoon (0.0.1)

data/README.md

@@ -137,3 +137,6 @@ gem install hybridgroup-sphero
 ruby myrobot.rb
 ```
 
+## Wiki
+
+Check out our [wiki](https://github.com/hybridgroup/artoo/wiki) for more docs

data/artoo.gemspec

@@ -19,8 +19,9 @@ 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', '~> 0.13'
-  s.add_runtime_dependency 'reel', '~> 0.3'
+  s.add_runtime_dependency 'celluloid', '~> 0.14.0'
+  s.add_runtime_dependency 'celluloid-io', '~> 0.14.0'
+  s.add_runtime_dependency 'reel', '~> 0.4.pre'
   s.add_runtime_dependency 'multi_json', '~> 1.6'
   s.add_runtime_dependency 'active_support', '~> 3.0'
   s.add_runtime_dependency 'rake', '~> 10.0'

data/bin/sphero_linux_socat.sh

@@ -0,0 +1,8 @@
+#!/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/christmas_roomba.rb

@@ -1,11 +1,7 @@
-begin
-  require 'artoo'
-rescue LoadError
-  $LOAD_PATH.unshift(File.expand_path(File.join(File.dirname(__FILE__),'..', 'lib')))
-  require "artoo"
-end
+require 'artoo'
+require 'artoo/drivers/roomba'
 
-connection :roomba, :adaptor => :roomba, :port => '/dev/tty.usbserial-A2001yzl'
+connection :roomba, :adaptor => :roomba, :port => '/dev/ttyUSB0'
 device :roomba, :driver => :roomba, :connection => :roomba
   
 work do
@@ -14,5 +10,54 @@ work do
   roomba.nudge_right
   roomba.nudge_right
   roomba.nudge_left
-  roomba.sing_jingle_bells
-end
+  play_jingle_bells
+end
+
+def play_jingle_bells
+  roomba.song(JingleBells.song0, 0)
+  roomba.song(JingleBells.song1, 1)
+  roomba.song(JingleBells.song2, 2)
+  roomba.song(JingleBells.song3, 3)
+
+  roomba.play(0)
+  sleep(7)
+  roomba.play(1)
+  sleep(7)
+  roomba.play(2)
+  sleep(7)
+  roomba.play(3)
+end
+
+class JingleBells
+  extend Artoo::Drivers::Roomba::Note
+
+  class << self
+    def song0
+      [[B, QUARTER], [B, QUARTER], [B, HALF],
+       [B, QUARTER], [B, QUARTER], [B, HALF],
+       [B, QUARTER], [D, QUARTER], [G, QUARTER], [A, QUARTER],
+       [B, WHOLE]]
+    end
+
+    def song1
+      [[C, QUARTER], [C, QUARTER], [C, QUARTER], [C, QUARTER],
+       [C, QUARTER], [B, QUARTER], [B, HALF],
+       [B, QUARTER], [A, QUARTER], [A, QUARTER], [B, QUARTER],
+       [A, HALF], [D, HALF]]
+    end
+
+    def song2
+      [[B, QUARTER], [B, QUARTER], [B, HALF],
+       [B, QUARTER], [B, QUARTER], [B, HALF],
+       [B, QUARTER], [D, QUARTER], [G, QUARTER], [A, QUARTER],
+       [B, WHOLE]]
+    end
+
+    def song3
+      [[C, QUARTER], [C, QUARTER], [C, QUARTER], [C, QUARTER],
+       [C, QUARTER], [B, QUARTER], [B, QUARTER], [B, QUARTER],
+       [D, QUARTER], [D, QUARTER], [C, QUARTER], [A, QUARTER],
+       [G, WHOLE]]
+    end
+  end
+end

data/examples/conway_sphero.rb

@@ -29,10 +29,10 @@ class ConwaySpheroRobot < Artoo::Robot
 
   def death
     puts "Death."
+    pause_work
     @alive = false
     sphero.set_color :red
     sphero.stop
-    terminate
   end
 
   def birthday

data/examples/roomba.rb

@@ -0,0 +1,12 @@
+require 'artoo'
+
+connection :roomba, :adaptor => :roomba, :port => '/dev/ttyUSB0'
+device :roomba, :driver => :roomba, :connection => :roomba
+  
+work do
+  roomba.safe_mode
+  roomba.nudge_left
+  roomba.nudge_right
+  roomba.nudge_right
+  roomba.nudge_left
+end

data/examples/roomba_wiichuck.rb

@@ -0,0 +1,56 @@
+require 'artoo'
+
+connection :roomba, :adaptor => :roomba, :port => '8023'
+device :roomba, :driver => :roomba, :connection => :roomba
+
+connection :arduino, :adaptor => :firmata, :port => '8024'
+device :wiichuck, :driver => :wiichuck, :connection => :arduino, :interval => 0.1
+  
+work do
+  roomba.safe_mode
+  on wiichuck, :z_button => proc { 
+    C1 = 66
+    D1 = 74
+    E1 = 83
+    F1 = 88
+    A2 = 100
+    QUARTER = 16
+    HALF = 57
+    la_cucaracha = []
+    la_cucaracha << [C1, QUARTER] 
+    la_cucaracha << [C1, QUARTER]
+    la_cucaracha << [C1, QUARTER] 
+    la_cucaracha << [F1, HALF] 
+    la_cucaracha << [A2, QUARTER] 
+    la_cucaracha << [C1, QUARTER]
+    la_cucaracha << [C1, QUARTER]
+    la_cucaracha << [C1, QUARTER] 
+    la_cucaracha << [F1, HALF] 
+    la_cucaracha << [A2, QUARTER] 
+    la_cucaracha << [F1, QUARTER] 
+    la_cucaracha << [F1, QUARTER] 
+    la_cucaracha << [E1, QUARTER] 
+    la_cucaracha << [E1, QUARTER] 
+    la_cucaracha << [D1, QUARTER] 
+    la_cucaracha << [D1, QUARTER] 
+    la_cucaracha << [C1, QUARTER] 
+    roomba.play_song(la_cucaracha)
+  }
+  on wiichuck, :joystick => proc { |*value|
+
+    pair = value[1]
+
+    if pair[:y] > 10
+      roomba.forward(1)
+    elsif pair[:y] < -10
+      roomba.backwards(1)
+    end
+
+    if pair[:x] > 10
+      roomba.turn_right
+    elsif pair[:x] < -10
+      roomba.turn_left
+    end
+
+  }
+end

data/examples/sphero_cycle.rb

@@ -0,0 +1,15 @@
+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/lib/artoo/adaptors/adaptor.rb

@@ -50,9 +50,10 @@ module Artoo
         @udp_socket ||= UDPSocket.new
       end
 
-      def connect_to_serial(speed=57600, data_bits=8, stop_bits=1, parity=SerialPort::NONE)
+      def connect_to_serial(speed=57600, data_bits=8, stop_bits=1, parity=nil)
         require 'serialport'
-        @sp = SerialPort.new(port.port, speed, data_bits, stop_bits, parity)
+        parity = ::SerialPort::NONE unless parity
+        @sp = ::SerialPort.new(port.port, speed, data_bits, stop_bits, parity)
       rescue LoadError
         Logger.error "Please 'gem install hybridgroup-serialport' for serial port support."
       end

data/lib/artoo/connection.rb

@@ -7,10 +7,12 @@ module Artoo
   class Connection
     include Celluloid
     include Artoo::Utility
+    include Comparable
 
-    attr_reader :parent, :name, :port, :adaptor
+    attr_reader :parent, :name, :port, :adaptor, :connection_id
 
     def initialize(params={})
+      @connection_id = rand(10000)
       @name = params[:name].to_s
       @port = Port.new(params[:port])
       @parent = params[:parent]
@@ -35,10 +37,15 @@ module Artoo
       adaptor.connected?
     end
 
+    def adaptor_name
+      adaptor.class.name
+    end
+
     def to_hash
       {:name => name,
+       :connection_id => connection_id,
        :port => port.to_s,
-       :adaptor => adaptor.class.name.demodulize,
+       :adaptor => adaptor_name.demodulize,
        :connected => connected?
       }
     end
@@ -47,12 +54,8 @@ module Artoo
       MultiJson.dump(to_hash)
     end
 
-    def to_s
-      "#{self.class}:0x#{self.object_id}"
-    end
-
     def inspect
-      "#<#{to_s}>"
+      "#<Connection @id=#{object_id}, @name='#{name}', @adaptor=#{adaptor_name}>"
     end
 
     def method_missing(method_name, *arguments, &block)

data/lib/artoo/delegator.rb

@@ -30,7 +30,7 @@ module Artoo
       end
     end
 
-    delegate :connection, :device, :work, :api, :set, :test?
+    delegate :connection, :device, :work, :api, :set, :test?, :cli?
 
     class << self
       attr_accessor :target

data/lib/artoo/drivers/roomba.rb

@@ -4,63 +4,74 @@ module Artoo
   module Drivers
     # The Roomba driver behaviors
     class Roomba < Driver
-      
-      STRAIGHT = 32768
-      CLOCKWISE = 65535
-      COUNTERCLOCKWISE = 1
-      MAX = 500
-      SLOW = 250
-      NEG = (65536 - 250)
-      ZERO = 0
-  
-      B = 95
-      D = 98
-      G = 91
-      C = 96
-      A = 93
-      QUART = 16
-      HALF = 57
-      WHOLE = 114
-      START = 128
-      
-      module Modes
+      module Direction
+        STRAIGHT = 32768
+        CLOCKWISE = 65535
+        COUNTERCLOCKWISE = 1
+      end
+
+      module Speed
+        MAX = 500
+        SLOW = 250
+        NEG = (65536 - 250)
+        ZERO = 0
+      end
+
+      module Note
+        B = 95
+        D = 98
+        G = 91
+        C = 96
+        A = 93
+        QUARTER = 16
+        HALF = 57
+        WHOLE = 114
+      end
+
+      module Mode
         FULL = 132
         SAFE = 131
+        START = 128
       end
       
+      module Song
+        SONG = 140
+        PLAY = 141
+      end
+
       def start
-        send_bytes(START)
+        send_bytes(Mode::START)
         sleep 0.2
       end
       
       def safe_mode
         start
-        send_bytes(Modes::SAFE)
+        send_bytes(Mode::SAFE)
         sleep 0.1
       end
       
       def full_mode
         start
-        send_bytes(Modes::FULL)
+        send_bytes(Mode::FULL)
         sleep 0.1
       end
       
-      def forward(seconds, velocity = SLOW)
-        drive(velocity,STRAIGHT,seconds)
+      def forward(seconds, velocity = Speed::SLOW)
+        drive(velocity, Direction::STRAIGHT, seconds)
         stop if seconds > 0
       end
   
       def stop
-        drive(ZERO,STRAIGHT)
+        drive(Speed::ZERO, Direction::STRAIGHT)
       end
   
       def fast_forward(seconds)
-        drive(MAX,STRAIGHT,seconds)
+        drive(Speed::MAX, Direction::STRAIGHT, seconds)
         stop if seconds > 0
       end
   
       def backwards(seconds)
-        drive(NEG,STRAIGHT,seconds)
+        drive(Speed::NEG, Direction::STRAIGHT, seconds)
         stop if seconds > 0
       end
   
@@ -69,12 +80,12 @@ module Artoo
       end
   
       def turn_left(seconds = 1)
-        drive(SLOW,COUNTERCLOCKWISE,seconds)
+        drive(Speed::SLOW, Direction::COUNTERCLOCKWISE, seconds)
         stop if seconds > 0
       end
   
       def turn_right(seconds = 1)
-        drive(SLOW,CLOCKWISE,seconds)
+        drive(Speed::SLOW, Direction::CLOCKWISE, seconds)
         stop if seconds > 0
       end
   
@@ -85,71 +96,36 @@ module Artoo
       def turn_around
         turn_left(1.6)
       end
-  
-      def beep
-        notes = [140,0,1,G,WHOLE]
-        connection.send_bytes(notes)
-        connection.send_bytes([141,0])
-      end
-  
-      def sing_jingle_bells
-        song0 = [[B,QUART],[B,QUART],[B,HALF],
-                [B,QUART],[B,QUART],[B,HALF],
-                [B,QUART],[D,QUART],[G,QUART],[A,QUART],
-                [B,WHOLE]]
-        song1 = [[C,QUART],[C,QUART],[C,QUART],[C,QUART],
-                [C,QUART],[B,QUART],[B,HALF],
-                [B,QUART],[A,QUART],[A,QUART],[B,QUART],
-                [A,HALF],[D,HALF]]
-        song2 = [[B,QUART],[B,QUART],[B,HALF],
-                [B,QUART],[B,QUART],[B,HALF],
-                [B,QUART],[D,QUART],[G,QUART],[A,QUART],
-                [B,WHOLE]]
-        song3 = [[C,QUART],[C,QUART],[C,QUART],[C,QUART],
-                [C,QUART],[B,QUART],[B,QUART],[B,QUART],
-                [D,QUART],[D,QUART],[C,QUART],[A,QUART],
-                [G,WHOLE]]
-            
-        note_group = song0.flatten.compact
-        l = note_group.length / 2
-        notes = [140,0,l] + note_group
-        connection.send_bytes(notes)
-    
-        note_group = song1.flatten.compact
-        l = note_group.length / 2
-        notes = [140,1,l] + note_group
-        connection.send_bytes(notes)
-    
-        note_group = song2.flatten.compact
-        l = note_group.length / 2
-        notes = [140,2,l] + note_group
-        connection.send_bytes(notes)
-    
-        note_group = song3.flatten.compact
-        l = note_group.length / 2
-        notes = [140,3,l] + note_group
-        connection.send_bytes(notes)
-    
-        connection.send_bytes([141,0])
-        sleep(7)
-        connection.send_bytes([141,1])
-        sleep(7)
-        connection.send_bytes([141,2])
-        sleep(7)
-        connection.send_bytes([141,3])
-      end
-      
-      def drive(v,r,s = 0)
+
+      def drive(v, r, s = 0)
         vH,vL = split_bytes(v)
         rH,rL = split_bytes(r)
-        connection.send_bytes([137,vH,vL,rH,rL])
+        send_bytes([137, vH, vL, rH, rL])
         sleep(s) if s > 0
       end
       
       def split_bytes(num)
         [num >> 8, num & 255]
       end
+  
+      def play(song_number = 0)
+        send_bytes([Song::PLAY, song_number])
+      end
+
+      def song(notes, song_number = 0)
+        note_group = notes.flatten.compact
+        l = note_group.length / 2
+        send_bytes([Song::SONG, song_number, l] + note_group)
+      end
       
+      def play_song(notes, song_number = 0)
+        song(notes, song_number)
+        play(song_number)
+      end
+
+      def beep
+        play_song([Note::G, Note::WHOLE])
+      end      
     end
   end
 end

data/lib/artoo/drivers/sphero.rb

@@ -15,7 +15,7 @@ module Artoo
       end
 
       def clear_collisions
-        responses.clear if responses = messages
+        messages.clear if responses = messages
       end
 
       def collisions
@@ -31,7 +31,7 @@ module Artoo
       end
 
       def set_color(*colors)
-        connection.rgb(*color(colors))
+        connection.rgb(*color(*colors))
       end
 
       def color(*colors)

data/lib/artoo/robot.rb

@@ -89,7 +89,7 @@ module Artoo
 
         unless cli?
           Celluloid::Actor[:api] = Api.new(self.api_host, self.api_port) if self.use_api
-          Celluloid::Actor[:master].start_work
+          master.start_work
           self.running = true
           sleep # sleep main thread, and let the work commence!
         end
@@ -107,6 +107,10 @@ module Artoo
         Celluloid::Actor[:master] = Master.new(robots)
       end
 
+      def master
+        Celluloid::Actor[:master]
+      end
+
       def test?
         ENV["ARTOO_TEST"] == 'true'
       end

data/lib/artoo/version.rb

@@ -1,5 +1,5 @@
 module Artoo
   unless const_defined?('VERSION')
-    VERSION = "0.3.0"
+    VERSION = "0.4.0"
   end
 end

data/test/device_test.rb

@@ -19,14 +19,14 @@ describe Artoo::Device do
   end
 
   it 'Artoo::Device#default_connection' do
-    @robot.devices[:test_device_1].default_connection.must_equal @robot.default_connection
-    @robot.devices[:test_device_2].default_connection.must_equal @robot.default_connection
+    @robot.devices[:test_device_1].default_connection.wrapped_object.must_equal @robot.default_connection.wrapped_object
+    @robot.devices[:test_device_2].default_connection.wrapped_object.must_equal @robot.default_connection.wrapped_object
   end
 
   it 'Artoo::Device#connect' do
     @robot2 = MultipleDeviceConnectionTestRobot.new
-    @robot2.devices[:test_device_1].connection.must_equal @robot2.connections[:test_connection]
-    @robot2.devices[:test_device_2].connection.must_equal @robot2.connections[:test_connection2]
+    @robot2.devices[:test_device_1].connection.wrapped_object.must_equal @robot2.connections[:test_connection].wrapped_object
+    @robot2.devices[:test_device_2].connection.wrapped_object.must_equal @robot2.connections[:test_connection2].wrapped_object
   end
 
   it 'Artoo::Device#event_topic_name' do

data/test/drivers/roomba_test.rb

@@ -0,0 +1,87 @@
+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/drivers/roomba'
+
+describe Artoo::Drivers::Roomba do
+  before do
+    @connection = mock('connection')
+    @device = mock('device')
+    @device.stubs(:connection).returns(@connection)
+    @roomba = Artoo::Drivers::Roomba.new(:parent => @device)
+    @roomba.stubs(:sleep)
+    @roomba_proxy = @roomba.wrapped_object
+  end
+
+  it 'Roomba#start' do
+    @connection.expects(:send_bytes).with(Artoo::Drivers::Roomba::Mode::START)
+    @roomba.start
+  end
+
+  it 'Roomba#safe_mode' do
+    @roomba.stubs(:start)
+    @connection.expects(:send_bytes).with(Artoo::Drivers::Roomba::Mode::SAFE)
+    @roomba.safe_mode
+  end
+
+  it 'Roomba#full_mode' do
+    @roomba.stubs(:start)
+    @connection.expects(:send_bytes).with(Artoo::Drivers::Roomba::Mode::FULL)
+    @roomba.full_mode
+  end
+
+  it 'Roomba#forward' do
+    @roomba_proxy.expects(:drive).with(250, Artoo::Drivers::Roomba::Direction::STRAIGHT, 10)
+    @roomba_proxy.expects(:stop)
+    @roomba.forward(10, 250)
+  end
+
+  it 'Roomba#stop' do
+    @roomba_proxy.expects(:drive).with(Artoo::Drivers::Roomba::Speed::ZERO, Artoo::Drivers::Roomba::Direction::STRAIGHT)
+    @roomba.stop
+  end
+
+  it 'Roomba#fast_forward' do
+    @roomba_proxy.expects(:drive).with(Artoo::Drivers::Roomba::Speed::MAX, Artoo::Drivers::Roomba::Direction::STRAIGHT, 10)
+    @roomba_proxy.expects(:stop)
+    @roomba.fast_forward(10)
+  end
+
+  it 'Roomba#backwards' do
+    @roomba_proxy.expects(:drive).with(Artoo::Drivers::Roomba::Speed::NEG, Artoo::Drivers::Roomba::Direction::STRAIGHT, 10)
+    @roomba_proxy.expects(:stop)
+    @roomba.backwards(10)
+  end
+
+  it 'Roomba#turn_left' do
+    @roomba_proxy.expects(:drive).with(Artoo::Drivers::Roomba::Speed::SLOW, Artoo::Drivers::Roomba::Direction::COUNTERCLOCKWISE, 10)
+    @roomba_proxy.expects(:stop)
+    @roomba.turn_left(10)
+  end
+
+  it 'Roomba#nudge_left' do
+    @roomba_proxy.expects(:drive).with(Artoo::Drivers::Roomba::Speed::SLOW, Artoo::Drivers::Roomba::Direction::COUNTERCLOCKWISE, 0.25)
+    @roomba_proxy.expects(:stop)
+    @roomba.nudge_left
+  end
+
+  it 'Roomba#turn_right' do
+    @roomba_proxy.expects(:drive).with(Artoo::Drivers::Roomba::Speed::SLOW, Artoo::Drivers::Roomba::Direction::CLOCKWISE, 10)
+    @roomba_proxy.expects(:stop)
+    @roomba.turn_right(10)
+  end
+
+  it 'Roomba#nudge_right' do
+    @roomba_proxy.expects(:drive).with(Artoo::Drivers::Roomba::Speed::SLOW, Artoo::Drivers::Roomba::Direction::CLOCKWISE, 0.25)
+    @roomba_proxy.expects(:stop)
+    @roomba.nudge_right
+  end
+
+  it 'Roomba#play' do
+    @connection.expects(:send_bytes).with([Artoo::Drivers::Roomba::Song::PLAY, 0])
+    @roomba.play(0)
+  end
+
+  it 'Roomba#song' do
+    @connection.expects(:send_bytes).with([Artoo::Drivers::Roomba::Song::SONG, 0, 3, Artoo::Drivers::Roomba::Note::B, Artoo::Drivers::Roomba::Note::QUARTER, Artoo::Drivers::Roomba::Note::B, Artoo::Drivers::Roomba::Note::QUARTER, Artoo::Drivers::Roomba::Note::B, Artoo::Drivers::Roomba::Note::HALF])
+    @roomba.song([[Artoo::Drivers::Roomba::Note::B, Artoo::Drivers::Roomba::Note::QUARTER], [Artoo::Drivers::Roomba::Note::B, Artoo::Drivers::Roomba::Note::QUARTER], [Artoo::Drivers::Roomba::Note::B, Artoo::Drivers::Roomba::Note::HALF]], 0)
+  end
+end

data/test/robot_test.rb

@@ -60,37 +60,29 @@ describe Artoo::Robot do
     @robot.default_connection.adaptor.must_be_kind_of Artoo::Adaptors::Loopback
   end
 
-  it 'Artoo::Robot.work! with single object' do
-    TestRobot.stubs(:sleep)
-
-    @asm = mock("async_method")
-    @asm.expects(:work)
-    @robot.expects(:async).returns(@asm)
-    TestRobot.work!(@robot)
+  it 'Artoo::Robot#as_json' do
+    MultiJson.load(@robot.as_json, :symbolize_keys => true)[:name].must_equal "testme"
   end
 
-  it 'Artoo::Robot.work! with array of objects' do
-    @robot2 = TestRobot.new(:name => "too", :connections => {:test_connection => {:port => '1234'}})
-    TestRobot.stubs(:sleep)
-
-    @asm = mock("async_method")
-    @asm.expects(:work).times(2)
-    @robot.expects(:async).returns(@asm)
-    @robot2.expects(:async).returns(@asm)
-    TestRobot.work!([@robot, @robot2])
-  end
+  describe 'work' do
+    before do
+      TestRobot.stubs(:sleep)
+      @master = mock('master')
+      TestRobot.stubs(:master).returns(@master)
+      @master.expects(:start_work)
+    end
 
-  it 'Artoo::Robot.work! without object' do
-    TestRobot.stubs(:sleep)
+    it 'Artoo::Robot.work! with single object' do
+      TestRobot.work!(@robot)
+    end
 
-    @asm = mock("async_method")
-    @asm.expects(:work).at_least_once
-    TestRobot.expects(:new).returns(@robot)
-    @robot.expects(:async).returns(@asm)
-    TestRobot.work!
-  end
+    it 'Artoo::Robot.work! with array of objects' do
+      @robot2 = TestRobot.new(:name => "too", :connections => {:test_connection => {:port => '1234'}})
+      TestRobot.work!([@robot, @robot2])
+    end
 
-  it 'Artoo::Robot#as_json' do
-    MultiJson.load(@robot.as_json, :symbolize_keys => true)[:name].must_equal "testme"
+    it 'Artoo::Robot.work! without object' do
+      TestRobot.work!
+    end
   end
 end

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: artoo
 version: !ruby/object:Gem::Version
-  version: 0.3.0
+  version: 0.4.0
 platform: ruby
 authors:
 - Ron Evans
@@ -12,36 +12,50 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-04-09 00:00:00.000000000 Z
+date: 2013-05-08 00:00:00.000000000 Z
 dependencies:
+- !ruby/object:Gem::Dependency
+  name: celluloid
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 0.14.0
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 0.14.0
 - !ruby/object:Gem::Dependency
   name: celluloid-io
   requirement: !ruby/object:Gem::Requirement
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: '0.13'
+        version: 0.14.0
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: '0.13'
+        version: 0.14.0
 - !ruby/object:Gem::Dependency
   name: reel
   requirement: !ruby/object:Gem::Requirement
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: '0.3'
+        version: 0.4.pre
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: '0.3'
+        version: 0.4.pre
 - !ruby/object:Gem::Dependency
   name: multi_json
   requirement: !ruby/object:Gem::Requirement
@@ -133,6 +147,7 @@ executables:
 - retry.sh
 - robi
 - sphero.sh
+- sphero_linux_socat.sh
 extensions: []
 extra_rdoc_files: []
 files:
@@ -177,6 +192,7 @@ files:
 - bin/retry.sh
 - bin/robi
 - bin/sphero.sh
+- bin/sphero_linux_socat.sh
 - examples/ardrone.rb
 - examples/ardrone_nav.rb
 - examples/ardrone_nav_video.rb
@@ -194,9 +210,12 @@ files:
 - examples/hello_modular.rb
 - examples/hello_multiple.rb
 - examples/notifications.rb
+- examples/roomba.rb
+- examples/roomba_wiichuck.rb
 - examples/sphero.rb
 - examples/sphero2.rb
 - examples/sphero_color.rb
+- examples/sphero_cycle.rb
 - examples/sphero_firmata.rb
 - examples/sphero_messages.rb
 - examples/sphero_multiple.rb
@@ -260,6 +279,7 @@ files:
 - test/drivers/driver_test.rb
 - test/drivers/led_test.rb
 - test/drivers/motor_test.rb
+- test/drivers/roomba_test.rb
 - test/drivers/servo_test.rb
 - test/drivers/sphero_test.rb
 - test/drivers/wiichuck_test.rb