artoo 0.5.0 → 1.0.0.pre

data/lib/artoo/adaptors/ardrone_video.rb

@@ -1,35 +0,0 @@
-require 'artoo/adaptors/adaptor'
-
-module Artoo
-  module Adaptors
-    # Connect to a ARDrone 2.0  video data stream
-    # @see http://rubydoc.info/gems/hybridgroup-argus/0.2.0/Argus/TcpVideoStreamer TCP Video Streamer Documentation
-    # @see http://rubydoc.info/gems/hybridgroup-argus/0.2.0/Argus/PaVEParser PaVEParser Documentation
-    class ArdroneVideo < Adaptor
-      attr_reader :ardrone, :video_parser
-
-      # Creates connection to Argus TCP Video Streamer and
-      # Argus PaVE Parser starting a stream with ardrone device
-      # @return [Boolean]
-      def connect
-        require 'argus' unless defined?(::Argus)
-        @ardrone = Argus::VideoStreamer.new(connect_to_tcp, port.host, port.port)
-        @ardrone.start(connect_to_udp)
-        super
-      end
-
-      # Closes ardrone connection
-      # @return [Boolean]
-      def disconnect
-        ardrone.close
-        super
-      end
-
-      # Calls ardrone actions using method missing
-      # @see https://github.com/hybridgroup/argus/blob/master/lib/argus/drone.rb hybridgroup-argus Drone
-      def method_missing(method_name, *arguments, &block)
-        ardrone.send(method_name, *arguments, &block)
-      end
-    end
-  end
-end

data/lib/artoo/adaptors/firmata.rb

@@ -1,33 +0,0 @@
-require 'artoo/adaptors/adaptor'
-
-module Artoo
-  module Adaptors
-    # Connect to Arduino using Firmata
-    # @see http://rubydoc.info/gems/hybridgroup-firmata/0.3.0/Firmata/Board HybridGroup Firmata Documentation
-    class Firmata < Adaptor
-      attr_reader :firmata
-
-      # Creates connection with firmata board
-      # @return [Boolean]
-      def connect
-        require 'firmata' unless defined?(::Firmata)
-        @firmata = ::Firmata::Board.new(connect_to)
-        @firmata.connect
-        super
-        return true
-      end
-
-      # Closes connection with firmata board
-      # @return [Boolean]
-      def disconnect
-        super
-      end
-
-      # Uses method missing to call Firmata Board methods
-      # @see http://rubydoc.info/gems/hybridgroup-firmata/0.3.0/Firmata/Board Firmata Board Documentation
-      def method_missing(method_name, *arguments, &block)
-        firmata.send(method_name, *arguments, &block)
-      end
-    end
-  end
-end

data/lib/artoo/adaptors/roomba.rb

@@ -1,51 +0,0 @@
-require 'artoo/adaptors/adaptor'
-
-module Artoo
-  module Adaptors
-    # Connect to a Roomba
-    # @see http://www.irobot.com/en/us/robots/Educators/Create.aspx Roomba information
-    class Roomba < Adaptor
-      finalizer :finalize
-      attr_reader :sp
-
-      # Closes connection if already connected
-      # @return [Boolean]
-      def finalize
-        if connected?
-          @sp.close
-        end
-      end
-
-      # Creates serial or tcp connection
-      # @return [Boolean]
-      def connect
-        if port.is_serial?
-          @sp = connect_to_serial
-          @sp.dtr = 0
-          @sp.rts = 0
-        else
-          @sp = connect_to_tcp
-        end
-        super
-      end
-
-      # Send bytes to device
-      def send_bytes(bytes)
-        bytes = [bytes] unless bytes.respond_to?(:map)
-        bytes.map!(&:chr)
-        Logger.debug "sending: #{bytes.inspect}"
-        res = []
-        bytes.each{|b| res << @sp.write(b) }
-        Logger.debug "returned: #{res.inspect}"
-      end
-
-      # Closes connection to device
-      # @return [Boolean]
-      def disconnect
-        @sp.close
-        super
-      end
-
-    end
-  end
-end

data/lib/artoo/adaptors/sphero.rb

@@ -1,58 +0,0 @@
-require 'artoo/adaptors/adaptor'
-
-module Artoo
-  module Adaptors
-    # Connect to a Sphero device
-    # @see http://gosphero.com Sphero information
-    # @see http://rubydoc.info/gems/hybridgroup-sphero HybridGroup Sphero Documentation
-    class Sphero < Adaptor
-      finalizer :finalize
-      attr_reader :sphero
-
-      # Number of retries when connecting
-      RETRY_COUNT = 5
-
-      # Closes connection with device if connected
-      # @return [Boolean]
-      def finalize
-        if connected?
-          sphero.close
-        end
-      end
-
-      # Creates a connection with Sphero object with retries
-      # @return [Boolean]
-      def connect
-        @retries_left = RETRY_COUNT
-        require 'sphero' unless defined?(::Sphero)
-        begin
-          @sphero = ::Sphero.new(connect_to)
-          super
-          return true
-        rescue Errno::EBUSY => e
-          @retries_left -= 1
-          if @retries_left > 0
-            retry
-          else
-            Logger.error e.message
-            Logger.error e.backtrace.inspect
-            return false
-          end
-        end
-      end
-
-      # Closes connection with device
-      # @return [Boolean]
-      def disconnect
-        sphero.close
-        super
-      end
-
-      # Uses method missing to call sphero actions
-      # @see http://rubydoc.info/gems/hybridgroup-sphero/Sphero Sphero documentation
-      def method_missing(method_name, *arguments, &block)
-        sphero.send(method_name, *arguments, &block)
-      end
-    end
-  end
-end

data/lib/artoo/drivers/ardrone.rb

@@ -1,15 +0,0 @@
-require 'artoo/drivers/driver'
-
-module Artoo
-  module Drivers
-    # 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
-    end
-  end
-end

data/lib/artoo/drivers/ardrone_navigation.rb

@@ -1,25 +0,0 @@
-require 'artoo/drivers/driver'
-
-module Artoo
-  module Drivers
-    # Ardrone navigation driver behaviors
-    class ArdroneNavigation < Driver
-
-      # Starts driver and handle updates from device
-      def start_driver
-        every(interval) do
-          handle_update
-        end
-
-        super
-      end
-
-      # Receives data from navigation and publishes
-      # and event in update topic for it
-      def handle_update
-        navdata = connection.receive_data
-        publish(event_topic_name("update"), navdata)
-      end
-    end
-  end
-end

data/lib/artoo/drivers/ardrone_video.rb

@@ -1,27 +0,0 @@
-require 'artoo/drivers/driver'
-
-module Artoo
-  module Drivers
-    # Ardrone video driver behaviors
-    class ArdroneVideo < Driver
-
-      # Starts drives and handles video frame
-      def start_driver
-        every(interval) do
-          handle_frame
-        end
-
-        super
-      end
-
-      # Retrieves frame from video connection
-      # and publishes data to update and frame
-      # event topics
-      def handle_frame(*params)
-        video = connection.receive_data
-        publish(event_topic_name("update"), "video", video)
-        publish(event_topic_name("frame"), video.frame)
-      end
-    end
-  end
-end

data/lib/artoo/drivers/button.rb

@@ -1,59 +0,0 @@
-require 'artoo/drivers/driver'
-
-module Artoo
-  module Drivers
-    # Button driver behaviors for Firmata
-    class Button < Driver
-      COMMANDS = [:is_pressed?].freeze
-
-      DOWN = 1
-      UP = 0
-
-      # @return [Boolean] True if pressed
-      def is_pressed?
-        (@is_pressed ||= false) == true
-      end
-
-      # Sets values to read and write from button
-      # and starts driver
-      def start_driver
-        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
-          @is_pressed = true
-          publish(event_topic_name("update"), "push", value)
-          publish(event_topic_name("push"), value)
-        else
-          @is_pressed = false
-          publish(event_topic_name("update"), "release", value)
-          publish(event_topic_name("release"), value)
-        end
-      end
-    end
-  end
-end

data/lib/artoo/drivers/led.rb

@@ -1,48 +0,0 @@
-require 'artoo/drivers/driver'
-
-module Artoo
-  module Drivers
-    # The LED driver behaviors
-    class Led < Driver
-
-      COMMANDS = [:on, :off, :toggle, :brightness].freeze
-
-      # @return [Boolean] True if on
-      def is_on?
-        (@is_on ||= false) == true
-      end
-
-      # @return [Boolean] True if off
-      def is_off?
-        (@is_on ||= false) == false
-      end
-
-      # Sets led to on status
-      def on
-        @is_on = true
-        connection.set_pin_mode(pin, Firmata::Board::OUTPUT)
-        connection.digital_write(pin, Firmata::Board::HIGH)
-      end
-
-      # Sets led to off status
-      def off
-        @is_on = false
-        connection.set_pin_mode(pin, Firmata::Board::OUTPUT)
-        connection.digital_write(pin, Firmata::Board::LOW)
-      end
-
-      # Toggle status
-      # @example on > off, off > on
-      def toggle
-        is_off? ? on : off
-      end
-
-      # Change brightness level
-      # @param [Integer] level
-      def brightness(level=0)
-        connection.set_pin_mode(pin, Firmata::Board::PWM)
-        connection.analog_write(pin, level)
-      end
-    end
-  end
-end

data/lib/artoo/drivers/motor.rb

@@ -1,69 +0,0 @@
-require 'artoo/drivers/driver'
-
-module Artoo
-  module Drivers
-    # L293 or other H-bridge style motor driver behaviors for Firmata
-    class Motor < Driver
-      COMMANDS = [:forward, :backward, :stop, :speed, :current_speed].freeze
-
-      attr_reader :leg1_pin, :leg2_pin, :speed_pin, :current_speed
-
-      # Create new Motor
-      def initialize(params={})
-        super
-
-        raise "Invalid pins, please pass an array in format [leg1, leg2, speed]" unless (pin && pin.is_a?(Array) && pin.size == 3)
-        @leg1_pin = pin[0]
-        @leg2_pin = pin[1]
-        @speed_pin = pin[2]
-        @current_speed = 0
-      end
-
-      # Starts connection to read and process and driver
-      def start_driver
-        every(interval) do
-          connection.read_and_process
-        end
-
-        super
-      end
-
-      # Sets movement forward
-      # @param [Integer] s speed
-      def forward(s)
-        set_legs(Firmata::Board::LOW, Firmata::Board::HIGH)
-        speed(s)
-      end
-
-      # Sets movement backward
-      # @param [Integer] s speed
-      def backward(s)
-        set_legs(Firmata::Board::HIGH, Firmata::Board::LOW)
-        speed(s)
-      end
-
-      # Stops
-      def stop
-        speed(0)
-      end
-
-      # Set motor speed
-      # @param [Integer] s speed (must be an integer between 0-255)
-      def speed(s)
-        raise "Motor speed must be an integer between 0-255" unless (s.is_a?(Numeric) && s >= 0 && s <= 255)
-        @current_speed = s
-        connection.set_pin_mode(speed_pin, Firmata::Board::PWM)
-        connection.analog_write(speed_pin, s)
-      end
-
-      private
-
-      def set_legs(l1, l2)
-        connection.set_pin_mode(leg1_pin, Firmata::Board::OUTPUT)
-        connection.digital_write(leg1_pin, l1)
-        connection.set_pin_mode(leg2_pin, Firmata::Board::OUTPUT)
-        connection.digital_write(leg2_pin, l2)
-      end
-    end
-  end
-end

data/lib/artoo/drivers/pinger2.rb

@@ -1,27 +0,0 @@
-require 'artoo/drivers/driver'
-
-module Artoo
-  module Drivers
-    # Pings itself
-    class Pinger2 < Driver
-
-      COMMANDS = [:ping].freeze
-
-      # Publishes events to update and alive event topics
-      # with random number
-      def start_driver
-        every(interval) do
-          @count = rand(100000)
-          publish(event_topic_name("update"), "alive", @count)
-          publish(event_topic_name("alive"), @count)
-        end
-
-        super
-      end
-
-      def ping
-        "pong"
-      end
-    end
-  end
-end