artoo 0.1.2 → 0.1.3

data/Gemfile.lock

@@ -1,7 +1,7 @@
 PATH
   remote: .
   specs:
-    artoo (0.1.1)
+    artoo (0.1.3)
 
 GEM
   remote: http://rubygems.org/
@@ -64,7 +64,7 @@ GEM
     hybridgroup-argus (0.2.0)
     hybridgroup-firmata (0.3.0)
       event_spitter
-    hybridgroup-sphero (1.1.6)
+    hybridgroup-sphero (1.2.0)
     listen (0.7.2)
     lumberjack (1.0.2)
     metaclass (0.0.1)

data/README.md

@@ -75,6 +75,26 @@ Artoo is conceptualy influenced by Sinatra (https://github.com/sinatra/sinatra)
 
 Artoo provides a robust actor-based messaging architecture, that can support fully multi-threaded operation and high-concurrency, as long as it is supported by the Ruby version in which it is executing. To a large extent, this is due to being built on top of Celluloid (https://github.com/celluloid/celluloid) and Celluloid::IO (https://github.com/celluloid/celluloid-io).
 
+## API:
+
+Artoo includes a RESTful API to query the status of any robot running within a group, including the connection and device status, and device streaming data via websockets.
+
+To activate the API, use the `api` command like this:
+
+```ruby
+require 'artoo'
+
+connection :loop
+device :passthru
+api :host => '127.0.0.1', :port => '4321'
+
+work do
+  puts "Hello from the API running at #{api_host}:#{api_port}..."
+end
+```
+
+Once the robot or group is working, you can view the main API page at the host and port specified.
+
 ## Installing:
 
 ```ruby

data/api/assets/javascripts/artoo/controllers/robot.js.coffee

@@ -1,3 +1,5 @@
+window.driversWithOutput = ["Pinger", "Pinger2", "ardrone_navigation", "wiiclassic"]
+
 @RobotIndexCtrl = ($scope, $http, $location, $route) ->
   $http.get('/robots').success (data)->
     $scope.robots = data
@@ -13,6 +15,9 @@
       $scope.deviceDetail = data
       device.console()
 
+  $scope.driverHasOutput = (driverId)->
+    true if $.inArray(driverId, window.driversWithOutput) != -1
+
   device = console: ->
     window.ws.close() if window.ws
     window.ws = new WebSocket("ws://localhost:4321/robots/" + $scope.robot.name + "/devices/" + $scope.deviceDetail.name + "/events")
@@ -20,7 +25,6 @@
     ws.onmessage = (evt)->
       $(".console code").prepend(evt.data + "\n")
 
-
   $scope.isConnected = (connection) ->
     "connected" if  connection && connection.connected
 

data/api/public/core.js

@@ -212,6 +212,8 @@ ngChange:rd,required:dc,ngRequired:dc,ngValue:ud}).directive(lb).directive(ec);a
 }).call(this);
 (function() {
 
+  window.driversWithOutput = ["Pinger", "Pinger2", "ardrone_navigation", "wiiclassic"];
+
   this.RobotIndexCtrl = function($scope, $http, $location, $route) {
     $http.get('/robots').success(function(data) {
       return $scope.robots = data;
@@ -232,6 +234,11 @@ ngChange:rd,required:dc,ngRequired:dc,ngValue:ud}).directive(lb).directive(ec);a
         return device.console();
       });
     };
+    $scope.driverHasOutput = function(driverId) {
+      if ($.inArray(driverId, window.driversWithOutput) !== -1) {
+        return true;
+      }
+    };
     device = {
       console: function() {
         if (window.ws) {

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

@@ -22,22 +22,22 @@
 
 	<div class="container device details" ng-show='deviceDetail'>
 		<div class="row-fluid">
-			<div class="span12">
-				<!--<div class="display">Pending</div>-->
+			<div class="span2">
+				<b><span class="name">{{deviceDetail.name}}</span></b>
+			</div>
+			<div class="span10">
 				<b>
-					<span class="name">{{deviceDetail.name}}</span>
-					{{device}}
 					<dl class="controls">
 						<span ng-show='deviceDetail.pin'>
 							<dt><i class="icon-fighter-jet"></i> </dt>
 								<dd>{{ deviceDetail.pin }}</dd>
 						</span>
 						<span ng-show='deviceDetail.driver'>
-							<dt><i class="icon-exchange"></i></dt>
+							<dt><i class="icon-hdd"></i></dt>
 								<dd>{{ deviceDetail.driver }}</dd>
 						</span>
 						<span ng-show='deviceDetail.adaptor'>
-							<dt><i class="icon-exchange"></i></dt>
+							<dt><i class="icon-resize-horizontal"></i></dt>
 								<dd>{{ deviceDetail.adaptor }}</dd>
 						</span>
 						<span ng-show='deviceDetail.connection'>
@@ -48,7 +48,7 @@
 				</b>
 			</div>
 		</div>
-		<div class="row-fluid content">
+		<div class="row-fluid content" ng-show="driverHasOutput( deviceDetail.driver )" >
 			<div class="console">
 				<code></code>
 			</div>

data/examples/ardrone.rb

@@ -1,8 +1,8 @@
 require 'artoo'
 
-connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.1:5556'
+connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.43:5556'
 device :drone, :driver => :ardrone, :connection => :ardrone
-  
+
 work do
   drone.start
   drone.take_off

data/examples/ardrone_nav.rb

@@ -1,9 +1,9 @@
 require 'artoo'
 
-connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.1:5556'
+connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.43:5556'
 device :drone, :driver => :ardrone, :connection => :ardrone
 
-connection :navigation, :adaptor => :ardrone_navigation, :port => '192.168.1.1:5554'
+connection :navigation, :adaptor => :ardrone_navigation, :port => '192.168.1.43:5554'
 device :nav, :driver => :ardrone_navigation, :connection => :navigation
 
 work do

data/examples/ardrone_nav_video_wii.rb

@@ -0,0 +1,64 @@
+require 'artoo'
+
+connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.43:5556'
+device :drone, :driver => :ardrone, :connection => :ardrone
+
+connection :navigation, :adaptor => :ardrone_navigation, :port => '192.168.1.43:5554'
+device :nav, :driver => :ardrone_navigation, :connection => :navigation
+
+connection :videodrone, :adaptor => :ardrone_video, :port => '192.168.1.43:5555'
+device :video, :driver => :ardrone_video, :connection => :videodrone
+
+connection :arduino, :adaptor => :firmata, :port => "8023"
+device :classic, :driver => :wiiclassic, :connection => :arduino, :interval => 0.1
+
+api :host => '127.0.0.1', :port => '8080'
+
+work do
+  init_settings
+
+  on nav, :update => :nav_update
+
+  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
+      drone.bottom_camera
+      @toggle_camera = 1
+    else
+      drone.front_camera
+      @toggle_camera = 0
+    end
+  }
+  on classic, :home_button => proc { drone.emergency }
+  on classic, :start_button => proc { drone.start }
+  on classic, :select_button => proc { drone.stop }
+  on classic, :ry_up => proc { drone.up(@altitude_pitch) }
+  on classic, :ry_down => proc { drone.down(@altitude_pitch) }
+  on classic, :ly_up => proc { drone.forward(@fly_pitch) }
+  on classic, :ly_down => proc { drone.backward(@fly_pitch) }
+  on classic, :lx_right => proc { drone.right(@fly_pitch) }
+  on classic, :lx_left => proc { drone.left(@fly_pitch) }
+  on classic, :reset_pitch_roll => proc {
+    drone.left(0.0)
+    drone.forward(0.0)
+  }
+  on classic, :rotate_left => proc { drone.turn_left(@rotate_pitch) }
+  on classic, :rotate_right => proc { drone.turn_right(@rotate_pitch) }
+  on classic, :reset_rotate => proc { drone.turn_left(0.0) }
+  on classic, :reset_altitude => proc { drone.up(0.0) } 
+end
+
+def init_settings
+  @rotate_pitch = 0.5
+  @fly_pitch = 0.7
+  @altitude_pitch = 1
+  @toggle_camera = 0
+end
+
+def nav_update(*data)
+  data[1].drone_state.each do |name, val|
+    p "#{name}: #{val}"
+  end
+end

data/examples/ardrone_nav_wiiclassic.rb

@@ -0,0 +1,61 @@
+require 'artoo'
+
+connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.43:5556'
+device :drone, :driver => :ardrone, :connection => :ardrone
+
+connection :navigation, :adaptor => :ardrone_navigation, :port => '192.168.1.43:5554'
+device :nav, :driver => :ardrone_navigation, :connection => :navigation
+
+connection :arduino, :adaptor => :firmata, :port => "8023"
+device :classic, :driver => :wiiclassic, :connection => :arduino, :interval => 0.1
+
+api :host => 'localhost', :port => '8080'
+
+work do
+  init_settings
+
+  on nav, :update => :nav_update
+
+  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
+      drone.bottom_camera
+      @toggle_camera = 1
+    else
+      drone.front_camera
+      @toggle_camera = 0
+    end
+  }
+  on classic, :home_button => proc { drone.emergency }
+  on classic, :start_button => proc { drone.start }
+  on classic, :select_button => proc { drone.stop }
+  on classic, :ry_up => proc { drone.up(@altitude_pitch) }
+  on classic, :ry_down => proc { drone.down(@altitude_pitch) }
+  on classic, :ly_up => proc { drone.forward(@fly_pitch) }
+  on classic, :ly_down => proc { drone.backward(@fly_pitch) }
+  on classic, :lx_right => proc { drone.right(@fly_pitch) }
+  on classic, :lx_left => proc { drone.left(@fly_pitch) }
+  on classic, :reset_pitch_roll => proc {
+    drone.left(0.0)
+    drone.forward(0.0)
+  }
+  on classic, :rotate_left => proc { drone.turn_left(@rotate_pitch) }
+  on classic, :rotate_right => proc { drone.turn_right(@rotate_pitch) }
+  on classic, :reset_rotate => proc { drone.turn_left(0.0) }
+  on classic, :reset_altitude => proc { drone.up(0.0) } 
+end
+
+def init_settings
+  @rotate_pitch = 0.5
+  @fly_pitch = 0.7
+  @altitude_pitch = 1
+  @toggle_camera = 0
+end
+
+def nav_update(*data)
+  data[1].drone_state.each do |name, val|
+    p "#{name}: #{val}"
+  end
+end

data/examples/ardrone_wiiclassic.rb

@@ -0,0 +1,48 @@
+require 'artoo'
+
+connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.1:5556'
+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
+
+  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
+      drone.bottom_camera
+      @toggle_camera = 1
+    else
+      drone.front_camera
+      @toggle_camera = 0
+    end
+  }
+  on classic, :home_button => proc { drone.emergency }
+  on classic, :start_button => proc { drone.start }
+  on classic, :select_button => proc { drone.stop }
+  on classic, :ry_up => proc { drone.up(@altitude_pitch) }
+  on classic, :ry_down => proc { drone.down(@altitude_pitch) }
+  on classic, :ly_up => proc { drone.forward(@fly_pitch) }
+  on classic, :ly_down => proc { drone.backward(@fly_pitch) }
+  on classic, :lx_right => proc { drone.right(@fly_pitch) }
+  on classic, :lx_left => proc { drone.left(@fly_pitch) }
+  on classic, :reset_pitch_roll => proc {
+    drone.left(0.0)
+    drone.forward(0.0)
+  }
+  on classic, :rotate_left => proc { drone.turn_left(@rotate_pitch) }
+  on classic, :rotate_right => proc { drone.turn_right(@rotate_pitch) }
+  on classic, :reset_rotate => proc { drone.turn_left(0.0) }
+  on classic, :reset_altitude => proc { drone.up(0.0) } 
+end
+
+def init_settings
+  @rotate_pitch = 0.5
+  @fly_pitch = 0.7
+  @altitude_pitch = 1
+  @toggle_camera = 0
+end

data/examples/conway_sphero.rb

@@ -4,6 +4,8 @@ class SpheroRobot < Artoo::Robot
   connection :sphero, :adaptor => :sphero
   device :sphero, :driver => :sphero
   
+  #api :host => '127.0.0.1', :port => '8080'
+
   work do
     birth
 
@@ -48,13 +50,13 @@ class SpheroRobot < Artoo::Robot
   end
 end
 
-SPHEROS = {"4560" => "/dev/tty.Sphero-BRG-RN-SPP",
-           "4561" => "/dev/tty.Sphero-YBW-RN-SPP",
-           "4562" => "/dev/tty.Sphero-BWY-RN-SPP",
-           "4563" => "/dev/tty.Sphero-YRR-RN-SPP",
-           "4564" => "/dev/tty.Sphero-OBG-RN-SPP",
-           "4565" => "/dev/tty.Sphero-GOB-RN-SPP",
-           "4566" => "/dev/tty.Sphero-PYG-RN-SPP"}
+SPHEROS = {"127.0.0.1:4560" => "/dev/tty.Sphero-BRG-RN-SPP",
+           "127.0.0.1:4561" => "/dev/tty.Sphero-YBW-RN-SPP",
+           "127.0.0.1:4562" => "/dev/tty.Sphero-BWY-RN-SPP",
+           "127.0.0.1:4563" => "/dev/tty.Sphero-YRR-RN-SPP",
+           "127.0.0.1:4564" => "/dev/tty.Sphero-OBG-RN-SPP",
+           "127.0.0.1:4565" => "/dev/tty.Sphero-GOB-RN-SPP",
+           "127.0.0.1:4566" => "/dev/tty.Sphero-PYG-RN-SPP"}
 robots = []
 SPHEROS.each_key {|p|
   robots << SpheroRobot.new(:connections => 

data/examples/firmata.rb

@@ -1,6 +1,6 @@
 require 'artoo'
 
-connection :firmata, :adaptor => :firmata, :port => '4567'
+connection :firmata, :adaptor => :firmata, :port => '127.0.0.1:8023'
 device :board
 device :led, :driver => :led, :pin => 13
 

data/examples/firmata_button.rb

@@ -1,6 +1,6 @@
 require 'artoo'
 
-connection :arduino, :adaptor => :firmata, :port => '4567'
+connection :arduino, :adaptor => :firmata, :port => '127.0.0.1:8023'
 device :led, :driver => :led, :pin => 13
 device :button, :driver => :button, :pin => 2
 

data/examples/sphero.rb

@@ -1,11 +1,11 @@
 require 'artoo'
 
-connection :sphero, :adaptor => :sphero, :port => '4560'
+connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4560'
 device :sphero, :driver => :sphero
   
 work do
   every(3.seconds) do
   	puts "Rolling..."
-    sphero.roll 60, rand(360)
+    sphero.roll 90, rand(360)
   end
 end

data/examples/sphero2.rb

@@ -0,0 +1,26 @@
+require 'artoo/robot'
+           
+class SpheroRobot < Artoo::Robot
+  connection :sphero, :adaptor => :sphero
+  device :sphero, :driver => :sphero
+  
+  work do
+    @count = 1
+    every(3.seconds) do
+      sphero.set_color(@count % 2 == 0 ? :green : :blue)
+      @count += 1
+      sphero.roll 90, rand(360)
+    end
+  end
+end
+
+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 => 
+                              {:sphero => 
+                                {:port => p}})
+}
+
+SpheroRobot.work!(robots)

data/examples/sphero_color.rb

@@ -1,6 +1,6 @@
 require 'artoo'
 
-connection :sphero, :adaptor => :sphero, :port => '4560'
+connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4560'
 device :sphero, :driver => :sphero
   
 work do

data/examples/sphero_messages.rb

@@ -1,6 +1,6 @@
 require 'artoo'
 
-connection :sphero, :adaptor => :sphero, :port => '4560'
+connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4560'
 device :sphero, :driver => :sphero
   
 work do
@@ -9,7 +9,7 @@ work do
 
   every(3.seconds) do
     puts "Rolling..."
-    sphero.roll 60, rand(360)
+    sphero.roll 90, rand(360)
     unless sphero.collisions.empty?
       puts "----------"
       sphero.collisions.each do |c|

data/examples/sphero_multiple.rb

@@ -4,31 +4,26 @@ class SpheroRobot < Artoo::Robot
   connection :sphero, :adaptor => :sphero
   device :sphero, :driver => :sphero
   
+  #api :host => '127.0.0.1', :port => '8080'
+
   work do
     @count = 1
     
-    every(1.second) do
+    every(3.seconds) do
       sphero.set_color(@count % 2 == 0 ? :white : :blue)
       @count += 1
-    end
-
-    every(3.seconds) do
       sphero.roll 90, rand(360)
     end
-
-    after(60.seconds) do
-      sphero.stop
-    end
   end
 end
 
-SPHEROS = {"4560" => "/dev/tty.Sphero-BRG-RN-SPP",
-           "4561" => "/dev/tty.Sphero-YBW-RN-SPP",
-           "4562" => "/dev/tty.Sphero-BWY-RN-SPP",
-           "4563" => "/dev/tty.Sphero-YRR-RN-SPP",
-           "4564" => "/dev/tty.Sphero-OBG-RN-SPP",
-           "4565" => "/dev/tty.Sphero-GOB-RN-SPP",
-           "4566" => "/dev/tty.Sphero-PYG-RN-SPP"}
+SPHEROS = {"127.0.0.1:4560" => "/dev/tty.Sphero-BRG-RN-SPP",
+           "127.0.0.1:4561" => "/dev/tty.Sphero-YBW-RN-SPP",
+           "127.0.0.1:4562" => "/dev/tty.Sphero-BWY-RN-SPP",
+           "127.0.0.1:4563" => "/dev/tty.Sphero-YRR-RN-SPP",
+           "127.0.0.1:4564" => "/dev/tty.Sphero-OBG-RN-SPP",
+           "127.0.0.1:4565" => "/dev/tty.Sphero-GOB-RN-SPP",
+           "127.0.0.1:4566" => "/dev/tty.Sphero-PYG-RN-SPP"}
 robots = []
 SPHEROS.each_key {|p|
   robots << SpheroRobot.new(:connections => 

data/lib/artoo/drivers/sphero.rb

@@ -4,54 +4,56 @@ module Artoo
   module Drivers
     # The Sphero driver behaviors
     class Sphero < Driver
+      RED = [255, 0, 0]
+      GREEN = [0, 255, 0]
+      YELLOW = [255, 255, 0]
+      BLUE = [0, 0, 255]
+      WHITE = [255, 255, 255]
+
       def detect_collisions(params={})
         connection.configure_collision_detection 0x01, 0x20, 0x20, 0x20, 0x20, 0x50
       end
 
       def clear_collisions
-        messages = connection.async_messages
-        messages.clear if messages
+        responses.clear if responses = messages
       end
 
       def collisions
-        messages = connection.async_messages
-        return nil unless messages
-        messages.select {|m| m.is_a?(::Sphero::Response::CollisionDetected)}
+        matching_response_types messages, ::Sphero::Response::CollisionDetected
       end
 
       def power_notifications
-        messages = connection.async_messages
-        return nil unless messages
-        messages.select {|m| m.is_a?(::Sphero::Response::PowerNotification)}
+        matching_response_types messages, ::Sphero::Response::PowerNotification
       end
 
       def sensor_data
-        messages = connection.async_messages
-        return nil unless messages
-        messages.select {|m| m.is_a?(::Sphero::Response::SensorData)}
-      end
-
-      def set_color(r, g=nil, b=nil)
-        r, g, b = color(r, g, b)
-        connection.rgb(r, g, b)
-      end
-
-      def color(r, g=nil, b=nil)
-        case r
-        when :red
-          return 255, 0, 0
-        when :green
-          return 0, 255, 0
-        when :yellow
-          return 255, 255, 0
-        when :blue
-          return 0, 0, 255
-        when :white
-          return 255, 255, 255
-        else
-          return r, g, b
+        matching_response_types messages, ::Sphero::Response::SensorData
+      end
+
+      def set_color(*colors)
+        connection.rgb(*color(colors))
+      end
+
+      def color(*colors)
+        case colors.first
+        when :red    then RED
+        when :green  then GREEN
+        when :yellow then YELLOW
+        when :blue   then BLUE
+        when :white  then WHITE
+        else colors
         end
       end
+
+      private
+
+      def matching_response_types(responses, respone_klass)
+        responses.select { |m| m.is_a? respone_klass } if responses
+      end
+
+      def messages
+        connection.async_messages
+      end
     end
   end
-end
+end

data/lib/artoo/drivers/wiiclassic.rb

@@ -6,9 +6,7 @@ module Artoo
     class Wiiclassic < Driver
       def address; 0x52; end
 
-      def start_driver
-        begin
-        @joystick = {
+      INITIAL_DEFAULTS = {
           :ry_offset => 8,
           :ry_origin => nil,
           :ly_offset => 20,
@@ -20,6 +18,10 @@ module Artoo
           :rt_offset => 5,
           :lt_offset => 5
         }
+
+      def start_driver
+        begin
+        @joystick = INITIAL_DEFAULTS
         listener = ->(value) { update(value) }
         connection.on("i2c_reply", listener)
 
@@ -45,13 +47,13 @@ module Artoo
 
       def update(value)
         begin
-          #Logger.info "value[:data] #{value[:data].inspect}"
           if value[:data][0] == value[:data][1] && value[:data][2] == value[:data][3] && value[:data][4] == value[:data][5]
-          #  Logger.error "Encrypted bytes from wiiclassic"
-            break
+            Logger.error "Encrypted bytes from wiiclassic!"
+            return
           end
+
           data = parse_wiiclassic(value)
-          #publish(event_topic_name("_a_button") if data[:a] == 0
+          
           publish(event_topic_name("a_button")) if data[:a] == 0
           publish(event_topic_name("b_button")) if data[:b] == 0
           publish(event_topic_name("x_button")) if data[:x] == 0
@@ -68,17 +70,7 @@ module Artoo
           @joystick[:rt_origin] = data[:rt] if @joystick[:rt_origin].nil?
           @joystick[:lt_origin] = data[:lt] if @joystick[:lt_origin].nil?
 
-          if data[:ly] > (@joystick[:ly_origin] + @joystick[:ly_offset])
-            publish(event_topic_name("ly_up"))
-          elsif data[:ly] < (@joystick[:ly_origin] - @joystick[:ly_offset])
-            publish(event_topic_name("ly_down"))
-          elsif data[:lx] > (@joystick[:lx_origin] + @joystick[:lx_offset])
-            publish(event_topic_name("lx_right"))
-          elsif data[:lx] < (@joystick[:lx_origin] - @joystick[:lx_offset])
-            publish(event_topic_name("lx_left"))
-          else
-            publish(event_topic_name("reset_pitch_roll"))
-          end
+          update_left_joystick
 
           if data[:ry] > (@joystick[:ry_origin] + @joystick[:ry_offset])
             publish(event_topic_name("ry_up"))
@@ -103,33 +95,51 @@ module Artoo
         end
       end
 
+      def update_left_joystick
+        if data[:ly] > (@joystick[:ly_origin] + @joystick[:ly_offset])
+          publish(event_topic_name("ly_up"))
+        elsif data[:ly] < (@joystick[:ly_origin] - @joystick[:ly_offset])
+          publish(event_topic_name("ly_down"))
+        elsif data[:lx] > (@joystick[:lx_origin] + @joystick[:lx_offset])
+          publish(event_topic_name("lx_right"))
+        elsif data[:lx] < (@joystick[:lx_origin] - @joystick[:lx_offset])
+          publish(event_topic_name("lx_left"))
+        else
+          publish(event_topic_name("reset_pitch_roll")) # TODO: rename something not so drone specfic
+        end
+      end
+
       private 
 
       def decode( x )
         return ( x ^ 0x17 ) + 0x17
       end
 
+      def get_value(value, index)
+        decode(value[:data][index])
+      end
+
       def parse_wiiclassic(value)
         return {
-          :lx => decode(value[:data][0]) & 0x3f,
-          :ly => decode(value[:data][1]) & 0x3f,
-          :rx => ((decode(value[:data][0]) & 0xC0) >> 2)  | ((decode(value[:data][1]) & 0xC0) >> 4) | (decode(value[:data][2])[7]),
-          :ry => decode(value[:data][2]) & 0x1f,
-          :lt => ((decode(value[:data][2]) & 0x60) >> 3) | ((decode(value[:data][3]) & 0xE0) >> 6),
-          :rt => decode(value[:data][3]) & 0x1f,
-          :d_up => decode(value[:data][5])[0],
-          :d_down => decode(value[:data][4])[6],
-          :D_left => decode(value[:data][5])[1],
-          :D_right => decode(value[:data][4])[7],
-          :zr => decode(value[:data][5])[2],
-          :zl => decode(value[:data][5])[7],
-          :a => decode(value[:data][5])[4],
-          :b => decode(value[:data][5])[6],
-          :x => decode(value[:data][5])[3],
-          :y => decode(value[:data][5])[5],
-          :+ => decode(value[:data][4])[2],
-          :- => decode(value[:data][4])[4],
-          :h => decode(value[:data][4])[3],
+          :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) & 0xE0) >> 6),
+          :rt => get_value(value, 3) & 0x1f,
+          :d_up => get_value(value, 5)[0],
+          :d_down => get_value(value, 4)[6],
+          :D_left => get_value(value, 5)[1],
+          :D_right => get_value(value, 4)[7],
+          :zr => get_value(value, 5)[2],
+          :zl => get_value(value, 5)[7],
+          :a => get_value(value, 5)[4],
+          :b => get_value(value, 5)[6],
+          :x => get_value(value, 5)[3],
+          :y => get_value(value, 5)[5],
+          :+ => get_value(value, 4)[2],
+          :- => get_value(value, 4)[4],
+          :h => get_value(value, 4)[3],
         }
       end
     end

data/lib/artoo/robot.rb

@@ -133,13 +133,13 @@ module Artoo
 
       # Taken from Sinatra codebase
       CALLERS_TO_IGNORE = [ # :nodoc:
-        /lib\/artoo.*\.rb$/,                             # artoo code
-        /^\(.*\)$/,                                      # generated code
-        /rubygems\/custom_require\.rb$/,                 # rubygems require hacks
-        /active_support/,                                # active_support require hacks
-        /bundler(\/runtime)?\.rb/,                       # bundler require hacks
-        /<internal:/,                                    # internal in ruby >= 1.9.2
-        /src\/kernel\/bootstrap\/[A-Z]/                  # maglev kernel files
+        /lib\/artoo.*\.rb$/,                                # artoo code
+        /^\(.*\)$/,                                         # generated code
+        /rubygems\/(custom|core_ext\/kernel)_require\.rb$/, # rubygems require hacks
+        /active_support/,                                   # active_support require hacks
+        /bundler(\/runtime)?\.rb/,                          # bundler require hacks
+        /<internal:/,                                       # internal in ruby >= 1.9.2
+        /src\/kernel\/bootstrap\/[A-Z]/                     # maglev kernel files
       ]
 
       # Taken from Sinatra codebase

data/lib/artoo/version.rb

@@ -1,5 +1,5 @@
 module Artoo
   unless const_defined?('VERSION')
-    VERSION = "0.1.2"
+    VERSION = "0.1.3"
   end
 end

data/test/drivers/wiiclassic_test.rb

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

metadata

@@ -1,8 +1,8 @@
 --- !ruby/object:Gem::Specification
 name: artoo
 version: !ruby/object:Gem::Version
-  prerelease:
-  version: 0.1.2
+  version: 0.1.3
+  prerelease: 
 platform: ruby
 authors:
 - Ron Evans
@@ -10,10 +10,10 @@ authors:
 - Ari Lerner
 - Mario Ricalde
 - Daniel Fischer
-autorequire:
+autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-02-23 00:00:00.000000000 Z
+date: 2013-02-26 00:00:00.000000000 Z
 dependencies: []
 description: Ruby-based microframework for robotics
 email:
@@ -24,7 +24,7 @@ executables:
 extensions: []
 extra_rdoc_files: []
 files:
-- ".gitignore"
+- .gitignore
 - Gemfile
 - Gemfile.lock
 - Guardfile
@@ -66,7 +66,10 @@ files:
 - examples/ardrone.rb
 - examples/ardrone_nav.rb
 - examples/ardrone_nav_video.rb
+- examples/ardrone_nav_video_wii.rb
+- examples/ardrone_nav_wiiclassic.rb
 - examples/ardrone_video.rb
+- examples/ardrone_wiiclassic.rb
 - examples/conway_sphero.rb
 - examples/firmata.rb
 - examples/firmata_button.rb
@@ -77,6 +80,7 @@ files:
 - examples/hello_multiple.rb
 - examples/notifications.rb
 - examples/sphero.rb
+- examples/sphero2.rb
 - examples/sphero_color.rb
 - examples/sphero_firmata.rb
 - examples/sphero_messages.rb
@@ -130,34 +134,39 @@ files:
 - test/drivers/led_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
 homepage: https://github.com/hybridgroup/artoo
 licenses: []
-post_install_message:
+post_install_message: 
 rdoc_options: []
 require_paths:
 - lib
 required_ruby_version: !ruby/object:Gem::Requirement
+  none: false
   requirements:
-  - - ">="
+  - - ! '>='
     - !ruby/object:Gem::Version
-      version: !binary |-
-        MA==
-  none: false
+      version: '0'
+      segments:
+      - 0
+      hash: -4461140220613461358
 required_rubygems_version: !ruby/object:Gem::Requirement
+  none: false
   requirements:
-  - - ">="
+  - - ! '>='
     - !ruby/object:Gem::Version
-      version: !binary |-
-        MA==
-  none: false
+      version: '0'
+      segments:
+      - 0
+      hash: -4461140220613461358
 requirements: []
 rubyforge_project: artoo
-rubygems_version: 1.8.24
-signing_key:
+rubygems_version: 1.8.25
+signing_key: 
 specification_version: 3
 summary: Ruby-based microframework for robotics
 test_files:
@@ -178,6 +187,7 @@ test_files:
 - test/drivers/led_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