artoo 0.4.1 → 0.5.0

data/api/public/core.js

@@ -234,6 +234,17 @@ ngChange:rd,required:dc,ngRequired:dc,ngValue:ud}).directive(lb).directive(ec);a
         return device.console();
       });
     };
+    $scope.executeCommand = function(deviceId, command) {
+      var params, post_params;
+      params = $("#appendedDropdownButton").val();
+      post_params = {};
+      if (params !== "") {
+        post_params = "{\"params\": [" + params + "]}";
+      }
+      return $http.post('/robots/' + $scope.robot.name + "/devices/" + deviceId + "/commands/" + command, post_params).success(function(data) {
+        return true;
+      });
+    };
     $scope.driverHasOutput = function(driverId) {
       if ($.inArray(driverId, window.driversWithOutput) !== -1) {
         return true;

data/api/public/partials/robot-detail.html

@@ -25,7 +25,7 @@
 			<div class="span2">
 				<b><span class="name">{{deviceDetail.name}}</span></b>
 			</div>
-			<div class="span10">
+			<div class="span5 pull-right">
 				<b>
 					<dl class="controls">
 						<span ng-show='deviceDetail.pin'>
@@ -42,9 +42,23 @@
 						</span>
 						<span ng-show='deviceDetail.connection'>
 							<dt><i class="icon-circle" ng-class="isConnected(deviceDetail.connection)"></i> </dt>
-								<dd ng-show="deviceDetail.connection.name">{{deviceDetail.connection.name}}</dd>
+							<dd ng-show="deviceDetail.connection.name">{{deviceDetail.connection.name}}</dd>
 						</span>
 					</dl>
+					<div class="input-prepend">
+						<div class="commands btn-group" >
+							<a class="btn dropdown-toggle btn-mini" data-toggle="dropdown" href="#">
+								Commands
+								<span class="caret"></span>
+							</a>
+							<ul class="dropdown-menu">
+								<div ng-repeat="command in deviceDetail.commands">
+									<li><a ng-click="executeCommand(deviceDetail.name, command)">{{command }}</a></li>
+								</div>
+							</ul>
+						</div>
+						<input id="appendedDropdownButton" type="text">
+					</div>
 				</b>
 			</div>
 		</div>

data/artoo.gemspec

@@ -25,6 +25,7 @@ Gem::Specification.new do |s|
   s.add_runtime_dependency 'multi_json', '~> 1.6'
   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'
+  s.add_development_dependency 'minitest', '~> 5.0'
+  s.add_development_dependency 'minitest-happy'
+  s.add_development_dependency 'mocha', '~> 0.14.0.alpha'
 end

data/bin/sphero_linux_bind.sh

@@ -0,0 +1,25 @@
+#!/bin/bash
+#
+# This will create a sphero connection bound to /dev/Sphero-XXX
+#
+# Requires sudo or ran as root
+#
+# $1 = unbound /dev/rfcommXX
+# $2 = sphero hardware address from hcitool scan
+# $3 = sphero three letter color code
+#
+# Optional parameter
+# $4 = bluetooth radio hcix
+# 
+# Example
+#
+# sudo ./sphero_linux_bind.sh 1 00:06:66:4A:43:23 PYG hci1
+#
+#
+if [ -z "$4" ]; then
+  addr="hci0"
+else
+  addr=$4
+fi
+rfcomm -i $addr bind /dev/rfcomm$1 $2 1
+ln -s /dev/rfcomm$1 /dev/Sphero-$3

data/examples/ardrone_wiiclassic.rb

@@ -6,14 +6,21 @@ device :drone, :driver => :ardrone, :connection => :ardrone
 connection :arduino, :adaptor => :firmata, :port => "8023"
 device :classic, :driver => :wiiclassic, :connection => :arduino, :interval => 0.1
 
-work do
-  init_settings
+OFFSETS = {
+  :ry => 12.0,
+  :ly => 27.0,
+  :lx => 27.0,
+  :rt => 27.0,
+  :lt => 12.0
+}
+@toggle_camera = 0
 
+work do
   on classic, :a_button => proc { drone.take_off }
   on classic, :b_button => proc { drone.hover }
   on classic, :x_button => proc { drone.land }
   on classic, :y_button => proc { 
-    if @toggle_camera == 0
+    unless @toggle_camera
       drone.bottom_camera
       @toggle_camera = 1
     else
@@ -28,17 +35,17 @@ work do
   on classic, :left_joystick => proc { |*value|
     pair = value[1]
     if pair[:y] > 0
-      drone.forward(validate_pitch(pair[:y], @offsets[:ly]))
+      drone.forward(validate_pitch(pair[:y], OFFSETS[:ly]))
     elsif pair[:y] < 0
-      drone.backward(validate_pitch(pair[:y], @offsets[:ly]))
+      drone.backward(validate_pitch(pair[:y], OFFSETS[:ly]))
     else
       drone.forward(0.0)
     end
 
     if pair[:x] > 0
-      drone.right(validate_pitch(pair[:x], @offsets[:lx]))
+      drone.right(validate_pitch(pair[:x], OFFSETS[:lx]))
     elsif pair[:x] < 0
-      drone.left(validate_pitch(pair[:x], @offsets[:lx]))
+      drone.left(validate_pitch(pair[:x], OFFSETS[:lx]))
     else
       drone.right(0.0)
     end
@@ -47,9 +54,9 @@ work do
   on classic, :right_joystick => proc { |*value|
     pair = value[1]
     if pair[:y] > 0
-      drone.up(validate_pitch(pair[:y], @offsets[:ry]))
+      drone.up(validate_pitch(pair[:y], OFFSETS[:ry]))
     elsif pair[:y] < 0
-      drone.down(validate_pitch(pair[:y], @offsets[:ry]))
+      drone.down(validate_pitch(pair[:y], OFFSETS[:ry]))
     else
       drone.up(0.0)
     end
@@ -57,7 +64,7 @@ work do
 
   on classic, :right_trigger => proc { |*value|
     if value[1] > 0
-      drone.turn_right(validate_pitch(value[1], @offsets[:rt]))
+      drone.turn_right(validate_pitch(value[1], OFFSETS[:rt]))
     else
       drone.turn_right(0.0)
     end
@@ -65,22 +72,11 @@ work do
 
   on classic, :left_trigger => proc { |*value|
     if value[1] > 0
-      drone.turn_left(validate_pitch(value[1], @offsets[:lt]))
+      drone.turn_left(validate_pitch(value[1], OFFSETS[:lt]))
     end
   }
 end
 
-def init_settings
-  @toggle_camera = 0
-  @offsets = {
-    :ry => 12.0,
-    :ly => 27.0,
-    :lx => 27.0,
-    :rt => 27.0,
-    :lt => 12.0
-  }
-end
-
 def validate_pitch(data, offset)
   value = data.abs / offset
   value >= 0.1 ? (value <= 1.0 ? value.round(2) : 1.0) : 0.0

data/examples/conway_sphero.procfile

@@ -0,0 +1,7 @@
+Sphero-BWY: bash ../bin/sphero_linux_socat.sh 4560 Sphero-BWY
+Sphero-GOB: bash ../bin/sphero_linux_socat.sh 4561 Sphero-GOB
+Sphero-PGB: bash ../bin/sphero_linux_socat.sh 4562 Sphero-PGB
+Sphero-PYG: bash ../bin/sphero_linux_socat.sh 4563 Sphero-PYG
+Sphero-WRW: bash ../bin/sphero_linux_socat.sh 4564 Sphero-WRW
+Sphero-WWW: bash ../bin/sphero_linux_socat.sh 4565 Sphero-WWW
+Sphero-YBW: bash ../bin/sphero_linux_socat.sh 4566 Sphero-YBW

data/examples/conway_sphero.rb

@@ -9,14 +9,18 @@ class ConwaySpheroRobot < Artoo::Robot
   work do
     birth
 
+    on sphero, :collision => proc { contact }
+
     every(3.seconds) { movement if alive? }
     every(10.seconds) { birthday if alive? }
   end
 
   def alive?; (@alive == true); end
+  def reset_contacts; @contacts = 0; end
+  def contact; @contacts += 1; end
 
   def birth
-    sphero.detect_collisions
+    reset_contacts
     @age = 0
     life
     movement
@@ -37,12 +41,11 @@ class ConwaySpheroRobot < Artoo::Robot
 
   def birthday
     @age += 1
-    contacts = sphero.collisions.size
-    sphero.clear_collisions
     
-    puts "Happy birthday, #{name}, you are #{@age} and had #{contacts} contacts."
+    puts "Happy birthday, #{name}, you are #{@age} and had #{@contacts} contacts."
     #return if @age <= 3
-    death unless contacts >= 3 && contacts < 5
+    death unless @contacts >= 3 && @contacts < 5
+    reset_contacts
   end
 
   def movement

data/examples/sphero_messages.rb

@@ -4,19 +4,10 @@ connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4560'
 device :sphero, :driver => :sphero
   
 work do
-  puts "Configuring..."
-  sphero.detect_collisions
+  on sphero, :collision => proc { puts "Collision!" }
 
   every(3.seconds) do
     puts "Rolling..."
     sphero.roll 90, rand(360)
-    unless sphero.collisions.empty?
-      puts "----------"
-      sphero.collisions.each do |c|
-        puts c
-      end
-      puts "=========="
-      sphero.async_messages.clear
-    end
   end
 end

data/lib/artoo/api.rb

@@ -53,7 +53,7 @@ module Artoo
       MultiJson.dump(device(@params['robotid'], @params['deviceid']).commands)
     end
 
-    # Retrieve robot command
+    # Execute robot command
     # @return [JSON] command
     post '/robots/:robotid/devices/:deviceid/commands/:commandid' do
       result = device(@params['robotid'], @params['deviceid']).command(@params['commandid'], command_params)
@@ -91,8 +91,8 @@ module Artoo
 
     def command_params
       data = MultiJson.load(@req.body, :symbolize_keys => true)
-      if data
-        data[:params]
+      if data && params = data[:params]
+        params.size == 1 ? params.first : params
       else
         nil
       end

data/lib/artoo/drivers/ardrone.rb

@@ -5,6 +5,8 @@ module Artoo
     # Ardrone driver behaviors
     # @see https://github.com/hybridgroup/argus/blob/master/lib/argus/drone.rb Argus::Drone docs for supported actions
     class Ardrone < Driver
+      COMMANDS = [:start, :stop, :hover, :land, :take_off, :emergency, :front_camera, :bottom_camera, :up, :down, :left, :right, :forward, :backward, :turn_left, :turn_right].freeze
+
       def start
         connection.start(false) # send false, so Argus does not use NavMonitor
       end

data/lib/artoo/drivers/button.rb

@@ -17,18 +17,31 @@ module Artoo
       # Sets values to read and write from button
       # and starts driver
       def start_driver
-        listener = ->(value) { update(value) }
-        connection.on("digital-read-#{pin}", listener)
         connection.set_pin_mode(pin, Firmata::Board::INPUT)
         connection.toggle_pin_reporting(pin)
 
         every(interval) do
           connection.read_and_process
+          handle_events
         end
 
         super
       end
 
+      def handle_events
+        while i = find_event("digital-read-#{pin}") do
+          update(events.slice!(i).data.first)
+        end
+      end
+
+      def find_event(name)
+        events.index {|e| e.name == name}
+      end
+
+      def events
+        connection.async_events
+      end
+
       # Publishes events according to the button feedback
       def update(value)
         if value == DOWN

data/lib/artoo/drivers/led.rb

@@ -5,7 +5,7 @@ module Artoo
     # The LED driver behaviors
     class Led < Driver
 
-      COMMANDS = [:is_on?, :is_off?, :on, :off, :toggle, :brightness].freeze
+      COMMANDS = [:on, :off, :toggle, :brightness].freeze
 
       # @return [Boolean] True if on
       def is_on?

data/lib/artoo/drivers/sphero.rb

@@ -14,6 +14,34 @@ module Artoo
       COMMANDS = [:detect_collisions, :clear_collisions, :collisions,
                   :power_notifications, :sensor_data, :set_color, :color].freeze
 
+      # Starts drives and required connections
+      def start_driver
+        begin
+          detect_collisions
+
+          every(interval) do
+            handle_collision_events
+          end
+
+          super
+        rescue Exception => e
+          Logger.error "Error starting Sphero driver!"
+          Logger.error e.message
+          Logger.error e.backtrace.inspect
+        end
+      end
+
+      def handle_collision_events
+        while i = find_event(::Sphero::Response::CollisionDetected) do
+          update_collision(messages.slice!(i))
+        end
+      end
+
+      # Publish collision events
+      def update_collision(data)
+        publish(event_topic_name("collision"), data)
+      end
+
       # Detects collisions
       # @param [Hash] params
       def detect_collisions(params={})
@@ -61,6 +89,10 @@ module Artoo
 
       private
 
+      def find_event(response_klass)
+        messages.index {|m| m.is_a? response_klass}
+      end
+
       def matching_response_types(responses, respone_klass)
         responses.select { |m| m.is_a? respone_klass } if responses
       end

data/lib/artoo/drivers/wiidriver.rb

@@ -18,25 +18,21 @@ module Artoo
       # Starts drives and required connections
       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
+            handle_events
           end
 
           super
         rescue Exception => e
-          p "start driver"
-          p e.message
-          p e.backtrace.inspect
+          Logger.error "Error starting wii driver!"
+          Logger.error e.message
+          Logger.error e.backtrace.inspect
         end
       end
 
@@ -50,8 +46,22 @@ module Artoo
         @data = parse(value)
       end
 
+      def handle_events
+        while i = find_event("i2c_reply") do
+          update(events.slice!(i).data.first)
+        end
+      end
+
       protected
 
+      def find_event(name)
+        events.index {|e| e.name == name}
+      end
+
+      def events
+        connection.async_events
+      end
+
       def get_defaults
         {}
       end

data/lib/artoo/version.rb

@@ -1,5 +1,5 @@
 module Artoo
   unless const_defined?('VERSION')
-    VERSION = "0.4.1"
+    VERSION = "0.5.0"
   end
 end

data/test/connection_test.rb

@@ -12,7 +12,7 @@ describe Artoo::Connection do
 
   it 'Artoo::Connection#connect' do
     @connection.connect
-    @connection.adaptor.must_be_kind_of Artoo::Adaptors::Loopback
+    @connection.adaptor.class.must_equal Artoo::Adaptors::Loopback
   end
 
   it 'Artoo::Connection#disconnect' do

data/test/delegator_test.rb

@@ -1,6 +1,6 @@
 require File.expand_path(File.dirname(__FILE__) + "/test_helper")
 
-class DelegatorTest < MiniTest::Unit::TestCase
+class DelegatorTest < Minitest::Test
   class Mirror
     attr_reader :last_call
     def method_missing(*a, &b)