ev3dev_ruby 0.1.0

checksums.yaml

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data/.gitignore

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+/.bundle/
+/.yardoc
+/Gemfile.lock
+/_yardoc/
+/coverage/
+/doc/
+/pkg/
+/spec/reports/
+/tmp/

data/Gemfile

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+source 'https://rubygems.org'
+
+# Specify your gem's dependencies in hello_sample.gemspec
+gemspec

data/LICENSE.txt

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+Copyright (c) 2015 quake wang, Yoshiyuki Shibata
+
+The MIT License (MIT)
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

data/README.md

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+# ev3dev ruby binding for LEGO Mindstorms EV3
+
+
+ev3dev_ruby is a gem to controll sensors and motors on EV3 using Ruby.
+
+- [ev3dev](http://www.ev3dev.org) version; ev3dev-jessie-2015-12-30 or later
+
+
+## Install ev3dev_ruby on EV3
+SSH remote access to the EV3 from PC
+
+(default ev3dev user; robot,  password; maker)
+
+```
+$ ssh robot@ev3dev.local
+```
+
+
+
+then
+
+```
+robot@ev3dev:~$ sudo gem install ev3dev
+```
+
+## Run examples
+### 1\. Copy the examples to the **/home/robot** directory in ev3dev from PC.
+
+(for OS X user; )
+```
+$ scp -r /Users/xxx/Downloads/ev3dev_ruby-master/examples robot@ev3dev.local:/home/robot
+```
+
+### 2\. Run the program
+There are two different ways to run the program.
+#### A. Remote access from PC
+
+```
+robot@ev3dev:~$ cd /home/robot/examples
+robot@ev3dev:~$ cd motor
+robot@ev3dev:~$ ruby midiummotor.rb
+```
+
+#### B. File Browser on EV3
+##### 1. Add execute permission
+
+```
+robot@ev3dev:~$ cd /home/robot/examples
+robot@ev3dev:~$ cd motor
+robot@ev3dev:~$ ls -l
+...
+-rw-r--r-- 1 robot robot  474 Jan 18 16:18 midiummotor.rb
+...
+robot@ev3dev:~$ chmod +x midiummotor.rb
+robot@ev3dev:~$ ls -l
+...
+-rwxr-xr-x 1 robot robot  474 Jan 18 16:18 midiummotor.rb
+...
+```
+
+##### 2. File Browser
+Select the program and push the center button on EV3.
+
+
+## irb
+You can also run programs using irb.
+```
+robot@ev3dev:~$ irb
+irb(main):001:0> require 'ev3dev'
+=> true
+irb(main):002:0> mm = Ev3dev::Motor.new 'B'
+=> #<Ev3dev::Motor:0x193890 @device_path="/sys/class/tacho-motor/motor0">
+irb(main):003:0> mm.device_path
+=> "/sys/class/tacho-motor/motor0"
+irb(main):004:0> mm.driver_name
+=> "lego-ev3-l-motor"
+irb(main):005:0> mm.address
+=> "outB"
+irb(main):006:0> mm.commands
+=> "run-forever run-to-abs-pos run-to-rel-pos run-timed run-direct stop reset"
+irb(main):007:0> mm.stop_commands
+=> "coast brake hold"
+irb(main):008:0> mm.duty_cycle_sp 100
+=> #<Ev3dev::Motor:0x193890 @device_path="/sys/class/tacho-motor/motor0">
+irb(main):009:0> mm.command 'run-forever'
+=> #<Ev3dev::Motor:0x193890 @device_path="/sys/class/tacho-motor/motor0">
+irb(main):010:0> sleep 3
+
+=> 3
+irb(main):011:0> mm.command 'stop'
+=> #<Ev3dev::Motor:0x193890 @device_path="/sys/class/tacho-motor/motor0">
+irb(main):012:0>
+```
+
+## ev3dev API
+(Also checkout examples)
+
+### [Motors](http://www.ev3dev.org/docs/motors/)
+- [EV3 Medium Servo Motor](http://www.ev3dev.org/docs/motors/lego-ev3-medium-servo-motor/)
+- [EV3 Large Servo Motor](http://www.ev3dev.org/docs/motors/lego-ev3-large-servo-motor/)
+- [Tacho Motor Class API](http://www.ev3dev.org/docs/drivers/tacho-motor-class/)
+- [Tacho-Motor Class Tutorial](http://www.ev3dev.org/docs/tutorials/tacho-motors/)
+
+### [Sensors](http://www.ev3dev.org/docs/sensors/)
+- [EV3 Touch Sensor](http://www.ev3dev.org/docs/sensors/lego-ev3-touch-sensor/)
+- [EV3 Color Sensor](http://www.ev3dev.org/docs/sensors/lego-ev3-color-sensor/)
+- [EV3 Gyro Sensor](http://www.ev3dev.org/docs/sensors/lego-ev3-gyro-sensor/)
+- [EV3 Ultrasonic Sensor](http://www.ev3dev.org/docs/sensors/lego-ev3-ultrasonic-sensor/)
+- [LEGO Sensor Class API](http://www.ev3dev.org/docs/drivers/lego-sensor-class/)
+
+### EV3 Devices
+
+- [Battery](https://github.com/ev3dev/ev3dev/issues/68)
+- [Sound](https://github.com/ev3dev/ev3dev/wiki/Using-Sound)
+  - [aplay (ALSA sound driver)](http://linux.die.net/man/1/aplay)
+  - [espeak (speech engine)](http://espeak.sourceforge.net/commands.html)
+- [LEDs](https://github.com/ev3dev/ev3dev/wiki/Using-the-LEDs)
+  - [LED Transient Trigger](https://www.kernel.org/doc/Documentation/leds/ledtrig-transient.txt)
+  - Original Led Class APIs are added. Checkout examples.
+- [Buttons](http://www.ev3dev.org/docs/tutorials/using-ev3-buttons/)
+
+#### These EV3 devices below are not supported yet.
+
+- [LCD](http://www.ev3dev.org/docs/tutorials/using-ev3-lcd/)
+- [Bluetooth](https://github.com/ev3dev/ev3dev/wiki/Using-Bluetooth)
+
+
+## More Info
+- [Getting Started with ev3dev - ev3dev.org](http://www.ev3dev.org/docs/getting-started/)

data/Rakefile

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+require "bundler/gem_tasks"
+task :default => :spec

data/ev3dev.gemspec

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+# coding: utf-8
+lib = File.expand_path('../lib', __FILE__)
+$LOAD_PATH.unshift(lib) unless $LOAD_PATH.include?(lib)
+require 'ev3dev/version'
+
+Gem::Specification.new do |spec|
+  spec.name          = "ev3dev_ruby"
+  spec.version       = Ev3dev::VERSION
+  spec.authors       = ["quake wang", "Yoshiyuki Shibata"]
+  spec.email         = ["aqua055@gmail.com"]
+
+  spec.summary       = %q{ev3dev_ruby}
+  spec.description   = %q{ev3dev ruby binding}
+  spec.homepage      = "https://github.com/noanoa07/ev3dev_ruby"
+  spec.license       = "MIT"
+
+  # Prevent pushing this gem to RubyGems.org. To allow pushes either set the 'allowed_push_host'
+  # to allow pushing to a single host or delete this section to allow pushing to any host.
+  #if spec.respond_to?(:metadata)
+  #  spec.metadata['allowed_push_host'] = "TODO: Set to 'http://mygemserver.com'"
+  #else
+  #  raise "RubyGems 2.0 or newer is required to protect against public gem pushes."
+  #end
+
+  spec.files         = `git ls-files -z`.split("\x0").reject { |f| f.match(%r{^(test|spec|features|examples)/}) }
+  spec.require_paths = ["lib"]
+
+  spec.add_development_dependency "bundler", "~> 1.12"
+  spec.add_development_dependency "rake", "~> 10.0"
+end

data/lib/ev3dev.rb

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+require "ev3dev/version"
+
+require 'ev3dev/device'
+require 'ev3dev/motor'
+require 'ev3dev/sensor'
+require 'ev3dev/battery'
+require 'ev3dev/sound'
+require 'ev3dev/led'
+require 'ev3dev/button'
+
+module Ev3dev
+end

data/lib/ev3dev/battery.rb

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+module Ev3dev
+  class Battery < Device
+    PATH = "/sys/class/power_supply"
+
+    def initialize()
+      Dir.glob("#{PATH}/*").each do |path|
+        if File.exist?("#{path}/voltage_now")
+          super path
+          return
+        end
+      end
+      raise "couldn't find battery attributes"
+    end
+  end
+end

data/lib/ev3dev/button.rb

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+# http://www.ev3dev.org/docs/tutorials/using-ev3-buttons/
+
+module Ev3dev
+  class Button
+    # from linux/input.h
+    KEY_UP    = 103
+    KEY_DOWN  = 108
+    KEY_LEFT  = 105
+    KEY_RIGHT = 106
+    KEY_ENTER = 28
+    KEY_BACK  = 14
+
+    KEY_MAX   = 0x2ff
+
+    def EVIOCGKEY(length)
+      2 << (14+8+8) | length << (8+8) | 'E'.ord << 8 | 0x18
+    end
+    # end of stuff from linux/input.h
+
+    BUF_LEN = (KEY_MAX + 7) / 8
+    PATH = "/dev/input/by-path/platform-gpio-keys.0-event"
+
+    def initialize()
+      raise "couldn't find LED attributes" unless File.exist?(PATH)
+      @buttons = {up: KEY_UP, down: KEY_DOWN, left: KEY_LEFT, right: KEY_RIGHT, enter: KEY_ENTER, back: KEY_BACK}
+    end
+
+    def up?
+      buf = get_key_buf
+      key_pressed?(KEY_UP, buf)
+    end
+
+    def down?
+      buf = get_key_buf
+      key_pressed?(KEY_DOWN, buf)
+    end
+
+    def left?
+      buf = get_key_buf
+      key_pressed?(KEY_LEFT, buf)
+    end
+
+    def right?
+      buf = get_key_buf
+      key_pressed?(KEY_RIGHT, buf)
+    end
+
+    def enter?
+      buf = get_key_buf
+      key_pressed?(KEY_ENTER, buf)
+    end
+
+    def back?
+      buf = get_key_buf
+      key_pressed?(KEY_BACK, buf)
+    end
+
+    def pressed
+      pressed_buttons =[]
+      buf = get_key_buf
+      @buttons.each do |button, key_code|
+        pressed_buttons << button.to_s if key_pressed?(key_code, buf)
+      end
+      pressed_buttons
+    end
+
+    private
+    def get_key_buf
+      buf = Array.new(BUF_LEN){ 0 }.pack("C*")
+
+      File.open(PATH, 'r') do |fd|
+        ret = fd.ioctl(EVIOCGKEY(buf.length), buf)
+        raise "couldn't find Button attributes" if ret < 0
+
+        buf = buf.unpack("C*")
+      end
+    end
+
+    def key_pressed?(key_code, buf)
+      test_bit(key_code, buf)
+    end
+
+    def test_bit(bit, bytes)
+      # bit in bytes is 1 when released and 0 when pressed
+      if (bytes[bit / 8] & (1 << (bit % 8))) == 0
+        true   # pressed
+      else
+        false  # released
+      end
+    end
+  end
+end

data/lib/ev3dev/device.rb

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+module Ev3dev
+  class Device
+    attr :device_path
+
+    def initialize(device_path)
+      @device_path = device_path
+    end
+
+    def method_missing(name, *args, &block)
+      raise "no device connected" if @device_path.nil?
+      param = File.join @device_path, name.to_s
+      raise "no such attribute: #{param}" unless File.exist? param
+      if args.first.nil?
+        IO.read(param).strip
+      else
+        IO.write param, args.first.to_s
+        self
+      end
+    end
+  end
+end

data/lib/ev3dev/led.rb

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+module Ev3dev
+  class Led < Device
+    attr :paths
+
+    PATH  = "/sys/class/leds"
+
+    GREEN = [255,   0]
+    RED   = [  0, 255]
+    AMBER = [255, 255]
+
+    MAX_BRIGHTNESS     = 255
+
+    def initialize()
+      raise "couldn't find LED attributes" unless File.exist?(PATH)
+
+      @left_green   = set_led_path("left" , "green")
+      @left_red     = set_led_path("left" , "red"  )
+      @right_green  = set_led_path("right", "green")
+      @right_red    = set_led_path("right", "red"  )
+
+      @default_paths  = [@left_green, @left_red, @right_green, @right_red]
+      @left_paths     = [@left_green, @left_red]
+      @right_paths    = [@right_green, @right_red]
+
+      @paths = @default_paths
+    end
+
+    def left()
+      @paths = @left_paths
+      self
+    end
+
+    def right()
+      @paths = @right_paths
+      self
+    end
+
+    def left_green()
+      @paths = [@left_green]
+      self
+    end
+
+    def left_red()
+      @paths = [@left_red]
+      self
+    end
+
+    def right_green()
+      @paths = [@right_green]
+      self
+    end
+
+    def right_red()
+      @paths = [@right_red]
+      self
+    end
+
+    def on(*args)
+      args = args.flatten
+      args = [MAX_BRIGHTNESS, MAX_BRIGHTNESS] if args.empty?
+      set_each_trigger_brightness(@paths, "none", args)
+
+      @paths = @default_paths
+    end
+
+    def off()
+      self.on(0, 0)
+    end
+
+    def blink(*args)
+      args = args.flatten
+      args = [MAX_BRIGHTNESS, MAX_BRIGHTNESS] if args.empty?
+      set_each_trigger_brightness(@paths, "timer", args)
+
+      if args.size == 3
+        if @paths.size == 1
+          @paths.each do |path|
+            brightness = args[0]
+            next if brightness == 0
+
+            delay_on_time  = args[1]
+            delay_off_time = args[2]
+
+            write_value_with_check(path, "delay_on" , delay_on_time)
+            write_value_with_check(path, "delay_off", delay_off_time)
+          end
+        else
+          raise "ArgumentError: wrong number of arguments (3 for 4)"
+        end
+      end
+
+      if args.size == 4
+        @paths.each_with_index do |path, index|
+          brightness = args[index % 2]
+          next if brightness == 0
+
+          delay_on_time  = args[2]
+          delay_off_time = args[3]
+
+          write_value_with_check(path, "delay_on" , delay_on_time)
+          write_value_with_check(path, "delay_off", delay_off_time)
+        end
+      end
+
+      @paths = @default_paths
+    end
+
+    def set_flash(duration_time = 10)
+      raise "couldn't specify the left/right green/red LED" if @paths.size != 1
+      path = @paths[0]
+      write_value_to_file(path, "brightness", 0)
+      write_value_to_file(path, "trigger"   , "transient")
+      write_value_with_check(path, "duration" , duration_time)
+      write_value_with_check(path, "state"    , 1)
+
+      @paths = @default_paths
+    end
+
+    def flash()
+      raise "couldn't specify the left/right green/red LED" if @paths.size != 1
+      path = @paths[0]
+      write_value_to_file(path, "activate", 1)
+
+      @paths = @default_paths
+    end
+
+    def method_missing(name, *args, &block)
+      raise "couldn't specify the left/right green/red LED" if @paths.size != 1
+      @device_path = @paths[0]
+
+      super
+    end
+
+
+    private
+    def set_led_path(side, color)
+      path_array = Dir.glob(["#{PATH}/*#{side}*#{color}*", "#{PATH}/*#{color}*#{side}*"],
+                             File::FNM_CASEFOLD)
+      if path_array.size == 1
+        path_array.first
+      else
+        raise "no such LED attribute: #{side} #{color}"
+      end
+    end
+
+    def set_each_trigger_brightness(led_paths, trigger_mode, *led_brightness)
+      led_brightness = led_brightness.flatten
+      raise "ArgumentError: no led_brightness" if led_brightness.empty?
+
+      led_paths.each_with_index do |path, index|
+        brightness = led_brightness[index % 2]
+        brightness = MAX_BRIGHTNESS if brightness > MAX_BRIGHTNESS
+
+        write_value_to_file(path, "trigger"   , trigger_mode)
+        write_value_to_file(path, "brightness", brightness)
+      end
+    end
+
+    def write_value_to_file(path, attribute, value)
+      file_path = File.join path, attribute
+      raise "no such LED attribute: #{file_path}" unless File.exist? file_path
+      IO.write file_path, value
+    end
+
+    # sysfs group permissions created too late - Issue #225 - ev3dev/ev3dev
+    # https://github.com/ev3dev/ev3dev/issues/225
+    def write_value_with_check(path, attribute, value)
+      file_path = File.join path, attribute
+      raise "no such LED attribute: #{file_path}" unless File.exist? file_path
+
+      wait_counter = 0
+      until File.writable? file_path
+        sleep 0.05
+        wait_counter += 1
+        raise "writable timeout: #{file_path}" if wait_counter > 20
+      end
+      IO.write file_path, value
+    end
+  end
+end
+
+

data/lib/ev3dev/motor.rb

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+module Ev3dev
+  class Motor < Device
+    PATH = "/sys/class/tacho-motor"
+
+    def initialize(port)
+      Dir.glob("#{PATH}/motor*").each do |path|
+        if IO.read("#{path}/address").strip == "out#{port.to_s.upcase}"
+          super path
+          return
+        end
+      end
+    end
+  end
+end

data/lib/ev3dev/sensor.rb

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+module Ev3dev
+  class Sensor < Device
+    PATH = "/sys/class/lego-sensor"
+
+    def initialize(port)
+      Dir.glob("#{PATH}/sensor*").each do |path|
+        if IO.read("#{path}/address").strip == "in#{port.to_s}"
+          super path
+          return
+        end
+      end
+    end
+  end
+end

data/lib/ev3dev/sound.rb

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+module Ev3dev
+  class Sound < Device
+    PATH = "/sys/devices/platform"
+
+    def initialize()
+      Dir.glob("#{PATH}/*").each do |path|
+        if File.exist?("#{path}/tone")
+          super path
+          return
+        end
+      end
+      raise "couldn't find sound attributes"
+    end
+
+    def tone(*args)
+      raise "couldn't find sound attributes" if @device_path.nil?
+      param = File.join @device_path, "tone"
+      raise "no such attribute: #{param}" unless File.exist? param
+      if args.first.nil?
+        IO.read(param).strip
+      else
+        IO.write param, args.join(" ")
+        self
+      end
+    end
+
+    def beep(*args)
+      `beep #{args.first}`
+    end
+
+    def aplay(*args)
+       `aplay #{args.first}`
+    end
+
+    def espeak(arg)
+      `espeak #{arg} --stdout | aplay`
+    end
+
+    def mpg123(*args)
+      `mpg123 #{args.first}`
+    end
+  end
+end

data/lib/ev3dev/version.rb

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+module Ev3dev
+  VERSION = "0.1.0"
+end

metadata

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+--- !ruby/object:Gem::Specification
+name: ev3dev_ruby
+version: !ruby/object:Gem::Version
+  version: 0.1.0
+platform: ruby
+authors:
+- quake wang
+- Yoshiyuki Shibata
+autorequire: 
+bindir: bin
+cert_chain: []
+date: 2016-06-06 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: bundler
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1.12'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1.12'
+- !ruby/object:Gem::Dependency
+  name: rake
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '10.0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '10.0'
+description: ev3dev ruby binding
+email:
+- aqua055@gmail.com
+executables: []
+extensions: []
+extra_rdoc_files: []
+files:
+- ".gitignore"
+- Gemfile
+- LICENSE.txt
+- README.md
+- Rakefile
+- ev3dev.gemspec
+- lib/ev3dev.rb
+- lib/ev3dev/battery.rb
+- lib/ev3dev/button.rb
+- lib/ev3dev/device.rb
+- lib/ev3dev/led.rb
+- lib/ev3dev/motor.rb
+- lib/ev3dev/sensor.rb
+- lib/ev3dev/sound.rb
+- lib/ev3dev/version.rb
+homepage: https://github.com/noanoa07/ev3dev_ruby
+licenses:
+- MIT
+metadata: {}
+post_install_message: 
+rdoc_options: []
+require_paths:
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: '0'
+required_rubygems_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: '0'
+requirements: []
+rubyforge_project: 
+rubygems_version: 2.2.5
+signing_key: 
+specification_version: 4
+summary: ev3dev_ruby
+test_files: []