crubyflie 0.1.0 → 0.1.1

checksums.yaml

@@ -1,7 +1,7 @@
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data/.travis.yml

@@ -0,0 +1,8 @@
+language: ruby
+rvm:
+  - 1.9.2
+  - 1.9.3
+  - 2.0.0
+before_install:
+ - sudo apt-get update -qq
+ -  sudo apt-get install -qq libsdl1.2-dev

data/README.md

@@ -1,5 +1,7 @@
-Crubyflie - A Ruby client and libraries for Crazyflie
-=====================================================
+Crubyflie - A Ruby client for Crazyflie
+=======================================
+
+[![Build Status](https://travis-ci.org/hsanjuan/crubyflie.png?branch=master)](https://travis-ci.org/hsanjuan/crubyflie) [![Coverage Status](https://coveralls.io/repos/hsanjuan/crubyflie/badge.png)](https://coveralls.io/r/hsanjuan/crubyflie)
 
 Crubyflie is a Ruby rewrite of the [Crazyflie quadcopter](http://www.bitcraze.se/category/crazyflie/) Python [client libraries](https://bitbucket.org/bitcraze/crazyflie-pc-client), with some customizations.
 

data/crubyflie.gemspec

@@ -47,4 +47,5 @@ EOF
     spec.add_development_dependency "rspec"
     spec.add_development_dependency "yard"
     spec.add_development_dependency "simplecov"
+    spec.add_development_dependency "coveralls"
 end

data/lib/crubyflie/crazyflie/log.rb

@@ -285,7 +285,7 @@ module Crubyflie
                         sleep 0.2
                     else
                         logger.debug("Log on #{packet.channel}. Cannot handle")
-                        ## @in_queue << packet
+                        ## in_queue << packet
                     end
                 end
             end

data/lib/crubyflie/driver/radio_driver.rb

@@ -18,13 +18,43 @@
 
 
 require 'thread'
-require 'uri'
 
 require 'exceptions'
 require 'driver/crtp_packet'
 require 'crazyradio/crazyradio'
 
+
+
 module Crubyflie
+    # Small URI class since Ruby URI < 1.9.3 gives problems parsing
+    # Crazyflie URIs
+    class CrubyflieURI
+        attr_reader :scheme, :dongle, :channel, :rate
+        # Initialize an URI
+        # @param uri_str [String] the URI
+        def initialize(uri_str)
+            @uri_str = uri_str
+            @scheme, @dongle, @channel, @rate = split()
+            if @scheme.nil? || @dongle.nil? || @channel.nil? || @rate.nil? ||
+                    @scheme != 'radio'
+                raise InvalidURIException.new('Bad URI')
+            end
+        end
+
+        # Return URI as string
+        # @return [String] a string representation of the URI
+        def to_s
+            @uri_str
+        end
+
+        # Quick, dirty uri split
+        def split
+            @uri_str.sub(':', '').sub('//','/').split('/')
+        end
+        private :split
+    end
+
+
     # This layer takes care of connecting to the crazyradio and
     # managing the incoming and outgoing queues. This is done
     # by spawing a thread.
@@ -64,7 +94,7 @@ module Crubyflie
         #                    :out_queue_max_size (defaults to 50)
         # @raise [CallbackMissing] when a necessary callback is not provided
         #                          (see CALLBACKS constant values)
-        # @raise [InvalidURIType] when the URI is not a valid radio URI
+        # @raise [InvalidURIException] when the URI is not a valid radio URI
         # @raise [OpenLink] when a link is already open
         def connect(uri_s, callbacks={}, opts={})
             # Check if apparently there is an open link
@@ -76,12 +106,12 @@ module Crubyflie
 
             # Parse URI to initialize Crazyradio
             # @todo: better control input. It defaults to 0
-            @uri = URI(uri_s)
-            dongle_number = @uri.host.to_i
-            channel, rate = @uri.path.split('/')[1..-1] # remove leading /
-            channel = channel.to_i
-            # @todo this should be taken care of in crazyradio
+            @uri = CrubyflieURI.new(uri_s)
+            dongle_number = @uri.dongle.to_i
+            channel = @uri.channel.to_i
+            rate = @uri.rate
 
+            # @todo this should be taken care of in crazyradio
             case rate
             when "250K"
                 rate = CrazyradioConstants::DR_250KPS
@@ -90,7 +120,7 @@ module Crubyflie
             when "2M"
                 rate = CrazyradioConstants::DR_2MPS
             else
-                raise InvalidURIType.new("Bad radio rate")
+                raise InvalidURIException.new("Bad radio rate")
             end
 
             # Fill in the callbacks Hash

data/lib/crubyflie/exceptions.rb

@@ -18,7 +18,7 @@
 
 module Crubyflie
     # Raised when the radio URI is invalid
-    class InvalidURIType < Exception; end
+    class InvalidURIException < Exception; end
     # Raised when an radio link is already open
     class OpenLink < Exception; end
     # Raised when a radio driver callback parameter is missing

data/lib/crubyflie/input/joystick_input_reader.rb

@@ -268,8 +268,8 @@ module Crubyflie
         # @return [Float] the linear-corresponding value in the destination
         #                 range
         def normalize(value, from_range, to_range)
-            from_w = from_range.size.to_f - 1
-            to_w = to_range.size.to_f - 1
+            from_w = from_range.to_a.size.to_f - 1
+            to_w = to_range.to_a.size.to_f - 1
             from_min = from_range.first.to_f
             to_min = to_range.first.to_f
             # puts "#{to_min}+(#{value.to_f}-#{from_min})*(#{to_w}/#{from_w})

data/lib/crubyflie/version.rb

@@ -18,5 +18,5 @@
 
 module Crubyflie
     # Current gem version
-    VERSION = "0.1.0"
+    VERSION = "0.1.1"
 end

data/spec/crazyflie_spec.rb

@@ -38,7 +38,7 @@ describe Crazyflie do
         allow(@link).to receive(:connect)
         allow(@link).to receive(:disconnect)
         allow(@link).to receive(:receive_packet)
-        allow(@link).to receive(:uri).and_return(URI(@uri))
+        allow(@link).to receive(:uri).and_return(CrubyflieURI.new(@uri))
 
         #allow_any_instance_of(CrubyflieLogger).to receive(:info)
 

data/spec/crazyradio_spec.rb

@@ -106,16 +106,18 @@ describe Crazyradio do
 
     describe "#factory" do
         it "should raise an exception if no dongles are found" do
-            do_this = receive(:devices).and_return([])
-            allow_any_instance_of(LIBUSB::Context).to do_this
+            context = double("Context")
+            expect(LIBUSB::Context).to receive(:new).and_return(context)
+            expect(context).to receive(:devices).and_return([])
 
             expect { Crazyradio.factory() }.to raise_error(USBDongleException,
                                                            "No dongles found")
         end
 
         it "should provide a new crazyradio item" do
-            do_this = receive(:devices).and_return([@device])
-            allow_any_instance_of(LIBUSB::Context).to do_this
+            context = double("Context")
+            expect(LIBUSB::Context).to receive(:new).and_return(context)
+            expect(context).to receive(:devices).and_return([@device])
             Crazyradio.factory()
         end
     end

data/spec/crubyflie_spec.rb

@@ -16,5 +16,6 @@
 # You should have received a copy of the GNU General Public License
 # along with Crubyflie.  If not, see <http://www.gnu.org/licenses/>
 
+$: << File.dirname(__FILE__)
 require 'rspec'
-require_relative 'spec_helper'
+require 'spec_helper'

data/spec/spec_helper.rb

@@ -17,6 +17,8 @@
 # along with Crubyflie.  If not, see <http://www.gnu.org/licenses/>
 
 require 'simplecov'
+require 'coveralls'
+SimpleCov.formatter = Coveralls::SimpleCov::Formatter
 SimpleCov.at_exit do
     SimpleCov.minimum_coverage 95
     SimpleCov.result.format!

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: crubyflie
 version: !ruby/object:Gem::Version
-  version: 0.1.0
+  version: 0.1.1
 platform: ruby
 authors:
 - Hector Sanjuan
@@ -122,6 +122,20 @@ dependencies:
     - - '>='
       - !ruby/object:Gem::Version
         version: '0'
+- !ruby/object:Gem::Dependency
+  name: coveralls
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
 description: |
   Client library to control a Crazyflie. This library allows to talk to a
   crazyflie using the USB radio dongle.
@@ -133,6 +147,7 @@ extensions: []
 extra_rdoc_files: []
 files:
 - .gitignore
+- .travis.yml
 - Gemfile
 - LICENSE.txt
 - README.md