artoo 0.5.0 → 1.0.0.pre

data/lib/artoo/drivers/wiidriver.rb

@@ -1,102 +0,0 @@
-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
-
-      # Create new Wiidriver
-      def initialize(params={})
-        @joystick = get_defaults
-        @data = {}
-        super
-      end
-
-      # Starts drives and required connections
-      def start_driver
-        begin
-          connection.i2c_config(0)
-          every(interval) do
-            connection.i2c_write_request(address, 0x40, 0x00)
-            connection.i2c_write_request(address, 0x00, 0x00)
-            connection.i2c_read_request(address, 6)
-            
-            connection.read_and_process
-            handle_events
-          end
-
-          super
-        rescue Exception => e
-          Logger.error "Error starting wii driver!"
-          Logger.error e.message
-          Logger.error e.backtrace.inspect
-        end
-      end
-
-      # Get and update data
-      def update(value)
-        if encrypted?(value)
-          Logger.error "Encrypted bytes from wii device!"
-          raise "Encrypted bytes from wii device!"
-        end
-
-        @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
-
-      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/test/adaptors/ardrone_test.rb

@@ -1,24 +0,0 @@
-require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
-require 'artoo/adaptors/ardrone'
-require 'argus'
-
-describe Artoo::Adaptors::Ardrone do
-  before do
-    @port = Artoo::Port.new('/dev/awesome')
-    @adaptor = Artoo::Adaptors::Ardrone.new(:port => @port)
-    @ardrone = mock('ardrone')
-    Argus::Drone.stubs(:new).returns(@ardrone)
-  end
-
-  it 'Artoo::Adaptors::Ardrone#connect' do
-    @adaptor.connect.must_equal true
-  end
-
-  it 'Artoo::Adaptors::Ardrone#disconnect' do
-    @adaptor.connect
-
-    @ardrone.expects(:stop)
-    @adaptor.disconnect
-    @adaptor.connected?.must_equal false
-  end
-end

data/test/adaptors/firmata_test.rb

@@ -1,25 +0,0 @@
-require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
-require 'artoo/adaptors/firmata'
-require 'firmata'
-
-describe Artoo::Adaptors::Firmata do
-  before do
-    @port = Artoo::Port.new('/dev/awesome')
-    @adaptor = Artoo::Adaptors::Firmata.new(:port => @port)
-    @firmata = mock('firmata')
-    Firmata::Board.stubs(:new).returns(@firmata)
-  end
-
-  it 'Artoo::Adaptors::Firmata#connect' do
-    @firmata.expects(:connect)
-    @adaptor.connect.must_equal true
-  end
-
-  it 'Artoo::Adaptors::Firmata#disconnect' do
-    @firmata.stubs(:connect)
-    @adaptor.connect
-    @adaptor.disconnect
-
-    @adaptor.connected?.must_equal false
-  end
-end

data/test/adaptors/sphero_test.rb

@@ -1,24 +0,0 @@
-require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
-require 'artoo/adaptors/sphero'
-require 'sphero'
-
-describe Artoo::Adaptors::Sphero do
-  before do
-    @port = Artoo::Port.new('/dev/awesome')
-    @adaptor = Artoo::Adaptors::Sphero.new(:port => @port)
-    @sphero = mock('sphero')
-    Sphero.stubs(:new).returns(@sphero)
-  end
-
-  it 'Artoo::Adaptors::Sphero#connect' do
-    @adaptor.connect.must_equal true
-  end
-
-  it 'Artoo::Adaptors::Sphero#disconnect' do
-    @adaptor.connect
-
-    @sphero.expects(:close)
-    @adaptor.disconnect
-    @adaptor.connected?.must_equal false
-  end
-end

data/test/drivers/ardrone_navigation_test.rb

@@ -1,11 +0,0 @@
-require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
-require 'artoo/drivers/ardrone_navigation'
-
-describe Artoo::Drivers::ArdroneNavigation do
-  before do
-    @device = mock('device')
-    @driver = Artoo::Drivers::ArdroneNavigation.new(:parent => @device)
-  end
-
-  it 'must do things'
-end

data/test/drivers/ardrone_test.rb

@@ -1,11 +0,0 @@
-require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
-require 'artoo/drivers/ardrone'
-
-describe Artoo::Drivers::Ardrone do
-  before do
-    @device = mock('device')
-    @driver = Artoo::Drivers::Ardrone.new(:parent => @device)
-  end
-
-  it 'must do things'
-end

data/test/drivers/ardrone_video_test.rb

@@ -1,11 +0,0 @@
-require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
-require 'artoo/drivers/ardrone_video'
-
-describe Artoo::Drivers::ArdroneVideo do
-  before do
-    @device = mock('device')
-    @driver = Artoo::Drivers::ArdroneVideo.new(:parent => @device)
-  end
-
-  it 'must do things'
-end

data/test/drivers/led_test.rb

@@ -1,56 +0,0 @@
-require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
-require 'artoo/drivers/led'
-
-describe Artoo::Drivers::Led do
-  before do
-    @device = mock('device')
-    @pin = 13
-    @device.stubs(:pin).returns(@pin)
-    @led = Artoo::Drivers::Led.new(:parent => @device)
-    @connection = mock('connection')
-    @device.stubs(:connection).returns(@connection)
-  end
-
-  it 'Led#is_on? default' do
-    @led.is_on?.must_equal false
-  end
-
-  it 'Led#is_off? default' do
-    @led.is_off?.must_equal true
-  end
-
-  it 'Led#on' do
-    @connection.expects(:set_pin_mode).with(@pin, Firmata::Board::OUTPUT)
-    @connection.expects(:digital_write).with(@pin, Firmata::Board::HIGH)
-    @led.on
-    @led.is_on?.must_equal true
-  end
-
-  it 'Led#off' do
-    @connection.expects(:set_pin_mode).with(@pin, Firmata::Board::OUTPUT)
-    @connection.expects(:digital_write).with(@pin, Firmata::Board::LOW)
-    @led.off
-    @led.is_off?.must_equal true
-  end
-
-  it 'Led#toggle' do
-    @connection.stubs(:set_pin_mode)
-    @connection.stubs(:digital_write)
-    @led.is_off?.must_equal true
-    @led.toggle
-    @led.is_on?.must_equal true
-    @led.toggle
-    @led.is_off?.must_equal true
-  end
-
-  it 'Led#brightness' do
-    val = 100
-    @connection.expects(:set_pin_mode).with(@pin, Firmata::Board::PWM)
-    @connection.expects(:analog_write).with(@pin, val)
-    @led.brightness(val)
-  end
-
-  it 'Led#commands' do
-    @led.commands.must_include :toggle
-  end
-end

data/test/drivers/motor_test.rb

@@ -1,40 +0,0 @@
-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/roomba_test.rb

@@ -1,87 +0,0 @@
-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/drivers/servo_test.rb

@@ -1,45 +0,0 @@
-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