birdbrain 0.2.1

data/lib/birdbrain/birdbrain_finch_input.rb

@@ -0,0 +1,115 @@
+#-----------------------------------------------------------------------------------------------------------------------------------
+# Copyright (c) 2021 Base2 Incorporated--All Rights Reserved.
+#-----------------------------------------------------------------------------------------------------------------------------------
+class BirdbrainFinchInput < BirdbrainRequest
+  DEFAULT_FACTOR = 1.0
+  DEFAULT_MIN_RESPONSE = 0
+  DEFAULT_MAX_RESPONSE = 100
+  DEFAULT_TYPE_METHOD = 'to_i'
+  DEFAULT_UNLIMITED_MIN_RESPONSE = -1000000
+  DEFAULT_UNLIMITED_MAX_RESPONSE = 1000000
+  ORIENTATIONS = ['Beak%20Up', 'Beak%20Down', 'Tilt%20Left', 'Tilt%20Right', 'Level', 'Upside%20Down']
+  ORIENTATION_RESULTS = ['Beak up', 'Beak down', 'Tilt left', 'Tilt right', 'Level', 'Upside down']
+  ORIENTATION_IN_BETWEEN = 'In between'
+
+  def self.finch?(device)
+    request_status(response_body('hummingbird', 'in', 'isHummingbird', 'static', device))
+  end
+
+  def self.moving?(device)
+    request_status(response_body('hummingbird', 'in', 'finchIsMoving', 'static', device))
+  end
+
+  def self.light(device, direction)
+    sensor(device, 'Light', calculate_left_or_right(direction))
+  end
+
+  def self.distance(device)
+    distance_options = {}
+    distance_options[:factor] = 0.0919
+    distance_options[:min_response] = DEFAULT_UNLIMITED_MIN_RESPONSE
+    distance_options[:max_response] = DEFAULT_UNLIMITED_MAX_RESPONSE
+
+    sensor(device, 'Distance', 'static', distance_options)
+  end
+
+  def self.line(device, direction)
+    sensor(device, 'Line', calculate_left_or_right(direction))
+  end
+
+  def self.encoder(device, direction)
+    encoder_options = {}
+    encoder_options[:min_response] = DEFAULT_UNLIMITED_MIN_RESPONSE
+    encoder_options[:max_response] = DEFAULT_UNLIMITED_MAX_RESPONSE
+    encoder_options[:type_method] = 'to_f'
+
+    sensor(device, 'Encoder', calculate_left_or_right(direction), encoder_options)
+  end
+
+  def self.accelerometer(device)
+    xyz_response(device, 'finchAccel')
+  end
+
+  def self.compass(device)
+    (response = response_body('hummingbird', 'in', 'finchCompass', 'static', device)).nil? ? response : response.to_i
+  end
+
+  def self.magnetometer(device)
+    xyz_response(device, 'finchMag')
+  end
+
+  def self.orientation(device)
+    ORIENTATIONS.each_with_index do |orientation, index|
+      return nil if (response = response_body('hummingbird', 'in', 'finchOrientation', orientation, device)).nil?
+
+      return ORIENTATION_RESULTS[index] if request_status(response)
+    end
+
+    ORIENTATION_IN_BETWEEN
+  end
+
+  def self.orientation_beak_up?(device)
+    orientation_check(device, 0)
+  end
+
+  def self.orientation_beak_down?(device)
+    orientation_check(device, 1)
+  end
+
+  def self.orientation_tilt_left?(device)
+    orientation_check(device, 2)
+  end
+
+  def self.orientation_tilt_right?(device)
+    orientation_check(device, 3)
+  end
+
+  def self.orientation_level?(device)
+    orientation_check(device, 4)
+  end
+
+  def self.orientation_upside_down?(device)
+    orientation_check(device, 5)
+  end
+
+  def self.orientation_check(device, index)
+    request_status(response_body('hummingbird', 'in', 'finchOrientation', ORIENTATIONS[index], device))
+  end
+
+  def self.sensor(device, sensor, other = nil, options = {})
+    return false if other == false # for invalid directions
+
+    factor = options.key?(:factor) ? options[:factor] : DEFAULT_FACTOR
+    min_response = options.key?(:min_response) ? options[:min_response] : DEFAULT_MIN_RESPONSE
+    max_response = options.key?(:max_response) ? options[:max_response] : DEFAULT_MAX_RESPONSE
+    type_method = options.key?(:type_method) ? options[:type_method] : DEFAULT_TYPE_METHOD
+
+    request = ['hummingbird', 'in', sensor]
+    request << other unless other.nil?
+    request << device
+
+    response = response_body(request)
+
+    (response.nil? ? nil : bounds((response.to_f * factor).send(type_method), min_response, max_response))
+  end
+end

data/lib/birdbrain/birdbrain_finch_output.rb

@@ -0,0 +1,36 @@
+#-----------------------------------------------------------------------------------------------------------------------------------
+# Copyright (c) 2021 Base2 Incorporated--All Rights Reserved.
+#-----------------------------------------------------------------------------------------------------------------------------------
+class BirdbrainFinchOutput < BirdbrainRequest
+  def self.move(device, direction, distance, speed)
+    calc_direction = 'Forward' if direction == BirdbrainFinch::FORWARD
+    calc_direction = 'Backward' if direction == BirdbrainFinch::BACKWARD
+    calc_distance = bounds(distance, -10000, 10000)
+    calc_speed = bounds(speed, 0, 100)
+
+    request_status(response_body('hummingbird', 'out', 'move', device, calc_direction, calc_distance, calc_speed))
+  end
+
+  def self.turn(device, direction, angle, speed)
+    calc_direction = calculate_left_or_right(direction)
+    calc_angle = bounds(angle, 0, 360)
+    calc_speed = bounds(speed, 0, 100)
+
+    request_status(response_body('hummingbird', 'out', 'turn', device, calc_direction, calc_angle, calc_speed))
+  end
+
+  def self.motors(device, left_speed, right_speed)
+    calc_left_speed = bounds(left_speed, -100, 100)
+    calc_right_speed = bounds(right_speed, -100, 100)
+
+    request_status(response_body('hummingbird', 'out', 'wheels', device, calc_left_speed, calc_right_speed))
+  end
+
+  def self.stop(device)
+    request_status(response_body('hummingbird', 'out', 'stopFinch', device))
+  end
+
+  def self.reset_encoders(device)
+    request_status(response_body('hummingbird', 'out', 'resetEncoders', device))
+  end
+end

data/lib/birdbrain/birdbrain_hummingbird.rb

@@ -0,0 +1,75 @@
+#-----------------------------------------------------------------------------------------------------------------------------------
+# Copyright (c) 2021 Base2 Incorporated--All Rights Reserved.
+#-----------------------------------------------------------------------------------------------------------------------------------
+class BirdbrainHummingbird < BirdbrainMicrobit
+  LEFT = BirdbrainDevice::LEFT
+  RIGHT = BirdbrainDevice::RIGHT
+  VALID_LED_PORTS = '123'
+  VALID_TRILED_PORTS = '12'
+  VALID_SENSOR_PORTS = '123'
+  VALID_SERVO_PORTS = '1234'
+
+  def light(port)
+    BirdbrainHummingbirdInput.light(device, port) if connected_and_valid?(port, VALID_SENSOR_PORTS)
+  end
+
+  def sound(port)
+    BirdbrainHummingbirdInput.sound(device, port) if connected_and_valid?(port, VALID_SENSOR_PORTS)
+  end
+
+  def distance(port)
+    BirdbrainHummingbirdInput.distance(device, port) if connected_and_valid?(port, VALID_SENSOR_PORTS)
+  end
+
+  def dial(port)
+    BirdbrainHummingbirdInput.dial(device, port) if connected_and_valid?(port, VALID_SENSOR_PORTS)
+  end
+
+  def voltage(port)
+    BirdbrainHummingbirdInput.voltage(device, port) if connected_and_valid?(port, VALID_SENSOR_PORTS)
+  end
+
+  def position_servo(port, angle)
+    BirdbrainHummingbirdOutput.position_servo(device, port, angle) if connected_and_valid?(port, VALID_SERVO_PORTS)
+  end
+
+  def rotation_servo(port, speed)
+    BirdbrainHummingbirdOutput.rotation_servo(device, port, speed) if connected_and_valid?(port, VALID_SERVO_PORTS)
+  end
+
+  def led(port, intensity)
+    BirdbrainHummingbirdOutput.led(device, port, intensity) if connected_and_valid?(port, VALID_LED_PORTS)
+  end
+
+  def tri_led(port, r_intensity, g_intensity, b_intensity)
+    BirdbrainHummingbirdOutput.tri_led(device, port, r_intensity, g_intensity, b_intensity) if connected_and_valid?(port, VALID_TRILED_PORTS)
+  end
+
+  def play_note(note, beats)
+    BirdbrainHummingbirdOutput.play_note(device, note, beats) if connected?
+  end
+
+  def orientation_screen_up?
+    BirdbrainMicrobitInput.orientation_screen_up?(device) if connected?
+  end
+
+  def orientation_screen_down?
+    BirdbrainMicrobitInput.orientation_screen_down?(device) if connected?
+  end
+
+  def orientation_tilt_left?
+    BirdbrainMicrobitInput.orientation_tilt_left?(device) if connected?
+  end
+
+  def orientation_tilt_right?
+    BirdbrainMicrobitInput.orientation_tilt_right?(device) if connected?
+  end
+
+  def orientation_logo_up?
+    BirdbrainMicrobitInput.orientation_logo_up?(device) if connected?
+  end
+
+  def orientation_logo_down?
+    BirdbrainMicrobitInput.orientation_logo_down?(device) if connected?
+  end
+end

data/lib/birdbrain/birdbrain_hummingbird_input.rb

@@ -0,0 +1,34 @@
+#-----------------------------------------------------------------------------------------------------------------------------------
+# Copyright (c) 2021 Base2 Incorporated--All Rights Reserved.
+#-----------------------------------------------------------------------------------------------------------------------------------
+class BirdbrainHummingbirdInput < BirdbrainRequest
+  def self.hummingbird?(device)
+    request_status(response_body('hummingbird', 'in', 'isHummingbird', 'static', device))
+  end
+
+  def self.light(device, port)
+    sensor(device, port, 0.39215686274509803) # factor=100/255
+  end
+
+  def self.sound(device, port)
+    sensor(device, port, 0.7843137254901961) # factor=200/255
+  end
+
+  def self.distance(device, port)
+    sensor(device, port, 1.17) # factor=117/100
+  end
+
+  def self.dial(device, port)
+    sensor(device, port, 0.43478260869565216) # factor=100/230
+  end
+
+  def self.voltage(device, port)
+    sensor(device, port, 0.012941176470588235) # factor=3.3/255
+  end
+
+  def self.sensor(device, port, factor)
+    response = response_body('hummingbird', 'in', 'sensor', port, device)
+
+    (response.nil? ? nil : bounds((response.to_f * factor).to_i, 0, 100))
+  end
+end

data/lib/birdbrain/birdbrain_hummingbird_output.rb

@@ -0,0 +1,33 @@
+#-----------------------------------------------------------------------------------------------------------------------------------
+# Copyright (c) 2021 Base2 Incorporated--All Rights Reserved.
+#-----------------------------------------------------------------------------------------------------------------------------------
+class BirdbrainHummingbirdOutput < BirdbrainRequest
+  def self.led(device, port, intensity)
+    request_status(response_body('hummingbird', 'out', 'led', port.to_s, bounds(calculate_intensity(intensity), 0, 255), device))
+  end
+
+  def self.tri_led(device, port, r_intensity, g_intensity, b_intensity)
+    calc_r = bounds(calculate_intensity(r_intensity), 0, 255)
+    calc_g = bounds(calculate_intensity(g_intensity), 0, 255)
+    calc_b = bounds(calculate_intensity(b_intensity), 0, 255)
+
+    request_status(response_body('hummingbird', 'out', 'triled', port.to_s, calc_r, calc_g, calc_b, device))
+  end
+
+  def self.position_servo(device, port, angle)
+    # QUESTION: 254 max (255 is ignored)
+    request_status(response_body('hummingbird', 'out', 'servo', port.to_s, bounds(calculate_angle(angle), 0, 254), device))
+  end
+
+  def self.rotation_servo(device, port, speed)
+    # QUESTION: why this range...255 means stop
+    request_status(response_body('hummingbird', 'out', 'rotation', port.to_s, bounds(calculate_speed(speed), 99, 145, 255), device))
+  end
+
+  def self.play_note(device, note, beats)
+    calc_note = bounds(note, 32, 135)
+    calc_beats = bounds(beats, 0, 16) * 1000  # 100=(60000 / TEMPO) where TEMPO=60
+
+    request_status(response_body('hummingbird', 'out', 'playnote', calc_note, calc_beats, device))
+  end
+end

data/lib/birdbrain/birdbrain_microbit.rb

@@ -0,0 +1,46 @@
+#-----------------------------------------------------------------------------------------------------------------------------------
+# Copyright (c) 2021 Base2 Incorporated--All Rights Reserved.
+#-----------------------------------------------------------------------------------------------------------------------------------
+class BirdbrainMicrobit < BirdbrainDevice
+  VALID_BUTTONS = 'AB'
+
+  def microbit_accelerometer
+    BirdbrainMicrobitInput.microbit_accelerometer(device) if connected?
+  end
+
+  def microbit_compass
+    BirdbrainMicrobitInput.microbit_compass(device) if connected?
+  end
+
+  def microbit_magnetometer
+    BirdbrainMicrobitInput.microbit_magnetometer(device) if connected?
+  end
+
+  def microbit_button?(button)
+    BirdbrainMicrobitInput.microbit_button?(device, button) if connected_and_valid?(button, VALID_BUTTONS)
+  end
+
+  def microbit_shaking?
+    BirdbrainMicrobitInput.microbit_shaking?(device) if connected?
+  end
+
+  def microbit_orientation
+    BirdbrainMicrobitInput.microbit_orientation(device) if connected?
+  end
+
+  def microbit_display(led_list)
+    BirdbrainMicrobitOutput.microbit_display(state, device, led_list) if connected?
+  end
+
+  def microbit_clear_display
+    BirdbrainMicrobitOutput.microbit_clear_display(state, device) if connected?
+  end
+
+  def microbit_point(x, y, value)
+    BirdbrainMicrobitOutput.microbit_point(state, device, x, y, value) if connected?
+  end
+
+  def microbit_print(message)
+    BirdbrainMicrobitOutput.microbit_print(device, message) if connected?
+  end
+end

data/lib/birdbrain/birdbrain_microbit_input.rb

@@ -0,0 +1,70 @@
+#-----------------------------------------------------------------------------------------------------------------------------------
+# Copyright (c) 2021 Base2 Incorporated--All Rights Reserved.
+#-----------------------------------------------------------------------------------------------------------------------------------
+class BirdbrainMicrobitInput < BirdbrainRequest
+  ORIENTATIONS = ['Screen%20Up', 'Screen%20Down', 'Tilt%20Left', 'Tilt%20Right', 'Logo%20Up', 'Logo%20Down']
+  ORIENTATION_RESULTS = ['Screen up', 'Screen down', 'Tilt left', 'Tilt right', 'Logo up', 'Logo down']
+  ORIENTATION_IN_BETWEEN = 'In between'
+
+  def self.microbit?(device)
+    request_status(response_body('hummingbird', 'in', 'isHummingbird', 'static', device))
+  end
+
+  def self.microbit_accelerometer(device)
+    xyz_response(device, 'Accelerometer')
+  end
+
+  def self.microbit_compass(device)
+    (response = response_body('hummingbird', 'in', 'Compass', device)).nil? ? response : response.to_i
+  end
+
+  def self.microbit_magnetometer(device)
+    xyz_response(device, 'Magnetometer')
+  end
+
+  def self.microbit_button?(device, button)
+    request_status(response_body('hummingbird', 'in', 'button', button, device))
+  end
+
+  def self.microbit_shaking?(device)
+    request_status(response_body('hummingbird', 'in', 'orientation', 'Shake', device))
+  end
+
+  def self.microbit_orientation(device)
+    ORIENTATIONS.each_with_index do |orientation, index|
+      return nil if (response = response_body('hummingbird', 'in', 'orientation', orientation, device)).nil?
+
+      return ORIENTATION_RESULTS[index] if request_status(response)
+    end
+
+    ORIENTATION_IN_BETWEEN
+  end
+
+  def self.orientation_screen_up?(device)
+    orientation_check(device, 0)
+  end
+
+  def self.orientation_screen_down?(device)
+    orientation_check(device, 1)
+  end
+
+  def self.orientation_tilt_left?(device)
+    orientation_check(device, 2)
+  end
+
+  def self.orientation_tilt_right?(device)
+    orientation_check(device, 3)
+  end
+
+  def self.orientation_logo_up?(device)
+    orientation_check(device, 4)
+  end
+
+  def self.orientation_logo_down?(device)
+    orientation_check(device, 5)
+  end
+
+  def self.orientation_check(device, index)
+    request_status(response_body('hummingbird', 'in', 'orientation', ORIENTATIONS[index], device))
+  end
+end

data/lib/birdbrain/birdbrain_microbit_output.rb

@@ -0,0 +1,28 @@
+#-----------------------------------------------------------------------------------------------------------------------------------
+# Copyright (c) 2021 Base2 Incorporated--All Rights Reserved.
+#-----------------------------------------------------------------------------------------------------------------------------------
+class BirdbrainMicrobitOutput < BirdbrainRequest
+  def self.microbit_display(state, device, led_list)
+    state.microbit_display_map = led_list.collect { |pixel| (((pixel == 1) || pixel.is_a?(TrueClass)) ? 1 : 0) }
+
+    request_status(response_body('hummingbird', 'out', 'symbol', device, state.microbit_display_map_as_strings))
+  end
+
+  def self.microbit_clear_display(state, device)
+    microbit_display(state, device, BirdbrainState.microbit_empty_display_map)
+  end
+
+  def self.microbit_point(state, device, x, y, value)
+    index = ((x * 5) + y - 6)
+
+    state.microbit_display_map[index] = value
+
+    microbit_display(state, device, state.microbit_display_map)
+  end
+
+  def self.microbit_print(device, message)
+    calc_message = message.gsub(' ', '%20')
+
+    request_status(response_body('hummingbird', 'out', 'print', calc_message, device))
+  end
+end

data/lib/birdbrain/birdbrain_request.rb

@@ -0,0 +1,123 @@
+#-----------------------------------------------------------------------------------------------------------------------------------
+# Copyright (c) 2021 Base2 Incorporated--All Rights Reserved.
+#-----------------------------------------------------------------------------------------------------------------------------------
+require 'net/http'
+
+class BirdbrainRequest
+  BIRDBRAIN_TEST = false
+
+  def self.uri(*args)
+    uri = 'http://127.0.0.1:30061'
+    args.flatten.each { |s| uri += "/#{s}" }
+
+    puts "Test: uri is #{uri}" if BIRDBRAIN_TEST
+
+    uri
+  end
+
+  def self.response(*args)
+    return false if (valid_args = args.flatten).include?(false)
+
+    response = Net::HTTP.get_response(URI.parse(uri(valid_args)))
+
+    sleep(0.01) # HACK: prevent http requests from overloading the bluebird connector
+
+    response
+  rescue Errno::ECONNREFUSED
+    nil
+  end
+
+  def self.response_body(*args)
+    response = response(args)
+
+    return false if response == false
+
+    return nil if response.nil?
+    return nil if response.body.downcase == 'not connected'
+
+    puts "Test: response: #{response.body.inspect}" if BIRDBRAIN_TEST
+
+    response.body
+  end
+
+  def self.connected?(device)
+    response = response_body('hummingbird', 'in', 'orientation', 'Shake', device)
+
+    !response.nil?
+  end
+
+  def self.not_connected?(device)
+    !connected?(device)
+  end
+
+  def self.disconnect(device)
+    request_status(response_body('hummingbird', 'out', 'stopall', device))
+  end
+
+  def self.request_status(status)
+    puts "Test: request status is #{status.inspect}" if BIRDBRAIN_TEST
+
+    return nil if status.nil?
+
+    return true if status == 'true'
+    return true if status == 'led set'
+    return true if status == 'triled set'
+    return true if status == 'servo set'
+    return true if status == 'buzzer set'
+    return true if status == 'symbol set'
+    return true if status == 'print set'
+    return true if status == 'all stopped'
+
+    return true if status == 'finch moved'
+    return true if status == 'finch turned'
+    return true if status == 'finch wheels started'
+    return true if status == 'finch wheels stopped'
+    return true if status == 'finch encoders reset'
+
+    return false if status == 'false'
+    return false if status == 'Not Connected'
+    return false if status == 'Invalid orientation'
+
+    nil
+  end
+
+  def self.xyz_response(device, sensor, type_method = 'to_f')
+    return nil if (x = response_body('hummingbird', 'in', sensor, 'X', device)).nil?
+
+    y = response_body('hummingbird', 'in', sensor, 'Y', device)
+    z = response_body('hummingbird', 'in', sensor, 'Z', device)
+
+    [x.send(type_method), y.send(type_method), z.send(type_method)]
+  end
+
+  def self.calculate_angle(intensity)
+    intensity * 255 / 180
+  end
+
+  def self.calculate_intensity(intensity)
+    intensity * 255 / 100
+  end
+
+  def self.calculate_speed(speed)
+    return 255 if speed.between?(-10, 10)
+
+    # QUESTION: why this calculation instead of normal mapping to 0..255 (and 255 means stop)
+    ((speed * 23 / 100) + 122)
+  end
+
+  def self.calculate_left_or_right(direction)
+    return 'Left' if direction == BirdbrainDevice::LEFT
+    return 'Right' if direction == BirdbrainDevice::RIGHT
+
+    false
+  end
+
+  def self.bounds(input, input_min, input_max, pass_through_input = nil)
+    return input if !pass_through_input.nil? && (input == pass_through_input)
+
+    return input_min if input < input_min
+    return input_max if input > input_max
+
+    input
+  end
+end

data/lib/birdbrain/birdbrain_state.rb

@@ -0,0 +1,22 @@
+#-----------------------------------------------------------------------------------------------------------------------------------
+# Copyright (c) 2021 Base2 Incorporated--All Rights Reserved.
+#-----------------------------------------------------------------------------------------------------------------------------------
+class BirdbrainState
+  attr_accessor :microbit_display_map
+
+  def initialize
+    microbit_display_map_clear
+  end
+
+  def microbit_display_map_clear
+    self.microbit_display_map = BirdbrainState.microbit_empty_display_map
+  end
+
+  def microbit_display_map_as_strings
+    microbit_display_map.collect { |pixel| ((pixel == 1) ? 'true' : 'false') }
+  end
+
+  def self.microbit_empty_display_map
+    [0] * 25
+  end
+end

data/lib/birdbrain/version.rb

@@ -0,0 +1,8 @@
+#-----------------------------------------------------------------------------------------------------------------------------------
+# Copyright (c) 2021 Base2 Incorporated--All Rights Reserved.
+#-----------------------------------------------------------------------------------------------------------------------------------
+# frozen_string_literal: true
+
+module Birdbrain
+  VERSION = '0.2.1'
+end

data/lib/birdbrain.rb

@@ -0,0 +1,21 @@
+#-----------------------------------------------------------------------------------------------------------------------------------
+# Copyright (c) 2021 Base2 Incorporated--All Rights Reserved.
+#-----------------------------------------------------------------------------------------------------------------------------------
+module Birdbrain
+  class Error < StandardError; end
+
+  require_relative 'birdbrain/version'
+  require_relative 'birdbrain/birdbrain_device'
+  require_relative 'birdbrain/birdbrain_exception'
+  require_relative 'birdbrain/birdbrain_state'
+  require_relative 'birdbrain/birdbrain_request'
+  require_relative 'birdbrain/birdbrain_microbit_input'
+  require_relative 'birdbrain/birdbrain_microbit_output'
+  require_relative 'birdbrain/birdbrain_microbit'
+  require_relative 'birdbrain/birdbrain_hummingbird_input'
+  require_relative 'birdbrain/birdbrain_hummingbird_output'
+  require_relative 'birdbrain/birdbrain_hummingbird'
+  require_relative 'birdbrain/birdbrain_finch'
+  require_relative 'birdbrain/birdbrain_finch_input'
+  require_relative 'birdbrain/birdbrain_finch_output'
+end