artoo 0.1.3 → 0.2.0

checksums.yaml

@@ -0,0 +1,7 @@
+---
+SHA1:
+  metadata.gz: ed97e1d66baccca21165b0960b2ed18212b2a1d4
+  data.tar.gz: 77e070f5faa53a75532d5c73f87c2016d9e0f23a
+SHA512:
+  metadata.gz: 6566a8f925b396b38e0641e64548f42787d0611852733077697efad840b972281cc0ac8d218801476593a590c52287802a6bdd8bb25758c19430eaa4c20c4e67
+  data.tar.gz: 4107fcfa598cc71a9d3a5e11f26b1885336e0b5c64ae264fc13150162db6fe4055d54db3984007c46886a3c74306c92fc3dadb66392d1b41b820888b34662af0

data/.gitignore

@@ -23,3 +23,6 @@ doc/
 
 # Sass
 .sass-cache
+
+# rubinius
+.rbx

data/.travis.yml

@@ -0,0 +1,6 @@
+language: ruby
+rvm:
+  - 2.0.0
+  - 1.9.3
+  - jruby-19mode # JRuby in 1.9 mode
+  - rbx-19mode

data/Gemfile

@@ -3,29 +3,18 @@ source "http://rubygems.org"
 # Specify your gem's dependencies in artoo.gemspec
 gemspec
 
-gem 'rake'
-gem 'celluloid-io'
-gem 'reel'
-gem 'active_support'
-gem 'multi_json'
+# these are for specific hardware, they have to be here for tests
+gem 'hybridgroup-firmata'
+gem 'hybridgroup-sphero'
+gem 'hybridgroup-argus'
 
-group :development, :test do
-  gem 'minitest'
-  gem 'mocha'
-
-  # these are for specific hardware, they have to be here for tests
-  gem 'hybridgroup-firmata'
-  gem 'hybridgroup-sphero'
-  gem 'hybridgroup-argus'
-
-  # For Front-End
-  gem 'sass'
-  gem 'coffee-script'
-  gem 'sprockets'
-  gem 'compass'
-  gem 'bootstrap-sass'
-  gem 'guard'
-  gem 'guard-livereload'
-  gem 'guard-sprockets'
-  gem 'guard-compass'
-end
+# For the front end web application
+gem 'sass'
+gem 'coffee-script'
+gem 'sprockets'
+gem 'compass'
+gem 'bootstrap-sass'
+gem 'guard'
+gem 'guard-livereload'
+gem 'guard-sprockets'
+gem 'guard-compass'

data/Gemfile.lock

@@ -1,7 +1,12 @@
 PATH
   remote: .
   specs:
-    artoo (0.1.3)
+    artoo (0.2.0)
+      active_support (~> 3.0)
+      celluloid-io (~> 0.12)
+      multi_json (~> 1.6)
+      rake (~> 10.0)
+      reel (~> 0.3)
 
 GEM
   remote: http://rubygems.org/
@@ -69,12 +74,11 @@ GEM
     lumberjack (1.0.2)
     metaclass (0.0.1)
     method_source (0.8.1)
-    minitest (4.5.0)
+    minitest (4.6.2)
     mocha (0.13.2)
       metaclass (~> 0.0.1)
     multi_json (1.6.1)
     nio4r (0.4.3)
-    nio4r (0.4.3-java)
     pry (0.9.12)
       coderay (~> 1.0.5)
       method_source (~> 0.8)
@@ -112,10 +116,8 @@ PLATFORMS
   ruby
 
 DEPENDENCIES
-  active_support
   artoo!
   bootstrap-sass
-  celluloid-io
   coffee-script
   compass
   guard
@@ -125,10 +127,7 @@ DEPENDENCIES
   hybridgroup-argus
   hybridgroup-firmata
   hybridgroup-sphero
-  minitest
-  mocha
-  multi_json
-  rake
-  reel
+  minitest (~> 4.6)
+  mocha (~> 0.13)
   sass
   sprockets

data/README.md

@@ -6,7 +6,7 @@ Artoo is a micro-framework for robotics using Ruby.
 
 Artoo provides a simple, yet powerful domain-specific language (DSL) for robotics and physical computing.
 
-[![Code Climate](https://codeclimate.com/github/hybridgroup/artoo.png)](https://codeclimate.com/github/hybridgroup/artoo)
+[![Code Climate](https://codeclimate.com/github/hybridgroup/artoo.png)](https://codeclimate.com/github/hybridgroup/artoo) [![Build Status](https://travis-ci.org/hybridgroup/artoo.png?branch=master)](https://travis-ci.org/hybridgroup/artoo)
 
 ## Examples:
 
@@ -71,9 +71,14 @@ SPHEROS.each {|p|
 SpheroRobot.work!(robots)
 ```
 
+Ruby versions supported: Ruby 2.0, 1.9.3, JRuby 1.7.2, and Rubinius 2.0
+
+
 Artoo is conceptualy influenced by Sinatra (https://github.com/sinatra/sinatra) as well as borrowing some code from it.
 
-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).
+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. This means you will need to use JRuby or Rubinius for maximum concurrency. 
+
+To a large extent, this is due to being built on top of Celluloid (https://github.com/celluloid/celluloid), Celluloid::IO (https://github.com/celluloid/celluloid-io), and Reel (https://github.com/celluloid/reel).
 
 ## API:
 

data/artoo.gemspec

@@ -18,4 +18,12 @@ Gem::Specification.new do |s|
   s.test_files    = `git ls-files -- {test,spec,features}/*`.split("\n")
   s.executables   = `git ls-files -- bin/*`.split("\n").map{ |f| File.basename(f) }
   s.require_paths = ["lib"]
+
+  s.add_runtime_dependency 'celluloid-io', '~> 0.12'
+  s.add_runtime_dependency 'reel', '~> 0.3'
+  s.add_runtime_dependency 'multi_json', '~> 1.6'
+  s.add_runtime_dependency 'active_support', '~> 3.0'
+  s.add_runtime_dependency 'rake', '~> 10.0'
+  s.add_development_dependency 'minitest', '~> 4.6'
+  s.add_development_dependency 'mocha', '~> 0.13'
 end

data/examples/ardrone.rb

@@ -1,6 +1,6 @@
 require 'artoo'
 
-connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.43:5556'
+connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.1:5556'
 device :drone, :driver => :ardrone, :connection => :ardrone
 
 work do
@@ -9,4 +9,4 @@ work do
   
   after(25.seconds) { drone.hover.land }
   after(30.seconds) { drone.stop }
-end
+end

data/examples/ardrone_nav.rb

@@ -1,9 +1,9 @@
 require 'artoo'
 
-connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.43:5556'
+connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.1:5556'
 device :drone, :driver => :ardrone, :connection => :ardrone
 
-connection :navigation, :adaptor => :ardrone_navigation, :port => '192.168.1.43:5554'
+connection :navigation, :adaptor => :ardrone_navigation, :port => '192.168.1.1:5554'
 device :nav, :driver => :ardrone_navigation, :connection => :navigation
 
 work do
@@ -19,4 +19,4 @@ def nav_update(*data)
   data[1].drone_state.each do |name, val|
     p "#{name}: #{val}"
   end
-end
+end

data/examples/ardrone_nav_video_wii.rb

@@ -1,12 +1,12 @@
 require 'artoo'
 
-connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.43:5556'
+connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.1:5556'
 device :drone, :driver => :ardrone, :connection => :ardrone
 
-connection :navigation, :adaptor => :ardrone_navigation, :port => '192.168.1.43:5554'
+connection :navigation, :adaptor => :ardrone_navigation, :port => '192.168.1.1:5554'
 device :nav, :driver => :ardrone_navigation, :connection => :navigation
 
-connection :videodrone, :adaptor => :ardrone_video, :port => '192.168.1.43:5555'
+connection :videodrone, :adaptor => :ardrone_video, :port => '192.168.1.1:5555'
 device :video, :driver => :ardrone_video, :connection => :videodrone
 
 connection :arduino, :adaptor => :firmata, :port => "8023"

data/examples/ardrone_nav_wiiclassic.rb

@@ -1,9 +1,9 @@
 require 'artoo'
 
-connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.43:5556'
+connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.1:5556'
 device :drone, :driver => :ardrone, :connection => :ardrone
 
-connection :navigation, :adaptor => :ardrone_navigation, :port => '192.168.1.43:5554'
+connection :navigation, :adaptor => :ardrone_navigation, :port => '192.168.1.1:5554'
 device :nav, :driver => :ardrone_navigation, :connection => :navigation
 
 connection :arduino, :adaptor => :firmata, :port => "8023"

data/examples/ardrone_wiiclassic.rb

@@ -24,25 +24,66 @@ work do
   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, :left_joystick => proc { |*value|
+    pair = value[1]
+    if pair[:y] > 0
+      drone.forward(validate_pitch(pair[:y], @offsets[:ly]))
+    elsif pair[:y] < 0
+      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]))
+    elsif pair[:x] < 0
+      drone.left(validate_pitch(pair[:x], @offsets[:lx]))
+    else
+      drone.right(0.0)
+    end
+  }
+
+  on classic, :right_joystick => proc { |*value|
+    pair = value[1]
+    if pair[:y] > 0
+      drone.up(validate_pitch(pair[:y], @offsets[:ry]))
+    elsif pair[:y] < 0
+      drone.down(validate_pitch(pair[:y], @offsets[:ry]))
+    else
+      drone.up(0.0)
+    end
+  }
+
+  on classic, :right_trigger => proc { |*value|
+    if value[1] > 0
+      drone.turn_right(validate_pitch(value[1], @offsets[:rt]))
+    else
+      drone.turn_right(0.0)
+    end
+  }
+
+  on classic, :left_trigger => proc { |*value|
+    if value[1] > 0
+      drone.turn_left(validate_pitch(value[1], @offsets[:lt]))
+    else
+      drone.turn_left(0.0)
+    end
   }
-  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
+  @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
 end

data/examples/christmas_roomba.rb

@@ -0,0 +1,18 @@
+begin
+  require 'artoo'
+rescue LoadError
+  $LOAD_PATH.unshift(File.expand_path(File.join(File.dirname(__FILE__),'..', 'lib')))
+  require "artoo"
+end
+
+connection :roomba, :adaptor => :roomba, :port => '/dev/tty.usbserial-A2001yzl'
+device :roomba, :driver => :roomba, :connection => :roomba
+  
+work do
+  roomba.safe_mode
+  roomba.nudge_left
+  roomba.nudge_right
+  roomba.nudge_right
+  roomba.nudge_left
+  roomba.sing_jingle_bells
+end

data/examples/sphero_wiichuck.rb

@@ -0,0 +1,28 @@
+require 'artoo'
+
+connection :sphero, :adaptor => :sphero, :port => '127.0.0.1:4560'
+device :sphero, :driver => :sphero
+
+connection :arduino, :adaptor => :firmata, :port => "8023"
+device :wiichuck, :driver => :wiichuck, :connection => :arduino, :interval => 0.1
+  
+work do
+  init_settings
+  on wiichuck, :c_button => proc {}
+  on wiichuck, :z_button => proc {}
+  on wiichuck, :joystick => proc { |*value|
+    @heading = heading(value[1])
+  }
+  every(1.seconds) do
+  	puts "Rolling..."
+    sphero.roll 20, @heading
+  end
+end
+
+def init_settings
+  @heading = 0
+end
+
+def heading(value)
+  (180.0 - (Math.atan2(value[:y],value[:x]) * (180.0 / Math::PI))).round
+end

data/examples/wiichuck.rb

@@ -0,0 +1,12 @@
+require 'artoo'
+
+connection :arduino, :adaptor => :firmata, :port => "8023"
+device :wiichuck, :driver => :wiichuck, :connection => :arduino, :interval => 0.1
+
+work do
+  on wiichuck, :c_button => proc { puts "c button pressed!" }
+  on wiichuck, :z_button => proc { puts "z button pressed!" }
+  on wiichuck, :joystick => proc { |*value|
+    puts "joystick x: #{value[1][:x]}, y: #{value[1][:y]}"
+  }
+end

data/lib/artoo/adaptors/adaptor.rb

@@ -49,6 +49,13 @@ module Artoo
       def connect_to_udp
         @udp_socket ||= UDPSocket.new
       end
+
+      def connect_to_serial(speed=57600, data_bits=8, stop_bits=1, parity=SerialPort::NONE)
+        require 'serialport'
+        @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
     end
   end
 end

data/lib/artoo/adaptors/roomba.rb

@@ -0,0 +1,43 @@
+require 'artoo/adaptors/adaptor'
+
+module Artoo
+  module Adaptors
+    # Connect to a Roomba (http://www.irobot.com/en/us/robots/Educators/Create.aspx)
+    class Roomba < Adaptor
+      
+      attr_reader :sp
+
+      def finalize
+        if connected?
+          @sp.close
+        end
+      end
+
+      def connect
+        if port.is_serial?
+          @sp = connect_to_serial
+          @sp.dtr = 0
+          @sp.rts = 0
+        else
+          @sp = connect_to_tcp
+        end
+        super
+      end
+      
+      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
+
+      def disconnect
+        @sp.close
+        super
+      end
+      
+    end
+  end
+end

data/lib/artoo/basic.rb

@@ -0,0 +1,79 @@
+
+module Artoo
+  module Basic
+    # Taken from Sinatra codebase
+    # Sets an option to the given value.  If the value is a proc,
+    # the proc will be called every time the option is accessed.
+    def set(option, value = (not_set = true), ignore_setter = false, &block)
+      raise ArgumentError if block and !not_set
+      value, not_set = block, false if block
+
+      if not_set
+        raise ArgumentError unless option.respond_to?(:each)
+        option.each { |k,v| set(k, v) }
+        return self
+      end
+
+      if respond_to?("#{option}=") and not ignore_setter
+        return __send__("#{option}=", value)
+      end
+
+      setter = proc { |val| set option, val, true }
+      getter = proc { value }
+
+      case value
+      when Proc
+        getter = value
+      when Symbol, Fixnum, FalseClass, TrueClass, NilClass
+        getter = value.inspect
+      when Hash
+        setter = proc do |val|
+          val = value.merge val if Hash === val
+          set option, val, true
+        end
+      end
+
+      define_singleton_method("#{option}=", setter) if setter
+      define_singleton_method(option, getter) if getter
+      define_singleton_method("#{option}?", "!!#{option}") unless method_defined? "#{option}?"
+      self
+    end
+
+    # Taken from Sinatra codebase
+    CALLERS_TO_IGNORE = [ # :nodoc:
+      /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
+    # Like Kernel#caller but excluding certain magic entries and without
+    # line / method information; the resulting array contains filenames only.
+    def caller_files
+      cleaned_caller(1).flatten
+    end
+
+    private
+
+    # Taken from Sinatra codebase
+    def define_singleton_method(name, content = Proc.new)
+    # replace with call to singleton_class once we're 1.9 only
+      (class << self; self; end).class_eval do
+        undef_method(name) if method_defined? name
+        String === content ? class_eval("def #{name}() #{content}; end") : define_method(name, &content)
+      end
+    end
+
+    # Taken from Sinatra codebase
+    # Like Kernel#caller but excluding certain magic entries
+    def cleaned_caller(keep = 3)
+      caller(1).
+        map    { |line| line.split(/:(?=\d|in )/, 3)[0,keep] }.
+        reject { |file, *_| CALLERS_TO_IGNORE.any? { |pattern| file =~ pattern } }
+    end
+  end
+end