farmbot-serial 0.0.1 → 0.0.2

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Files changed (15) hide show
  1. checksums.yaml +4 -4
  2. data/.gitignore +0 -1
  3. data/farmbot-serial.gemspec +2 -2
  4. data/lib/hardware_interface_arduino.rb +62 -163
  5. data/lib/hardware_interface_arduino_values_received.rb +8 -1
  6. data/lib/hardware_interface_write_status.rb +35 -0
  7. metadata +3 -13
  8. data/lib/arduino_default_params.rb +0 -148
  9. data/lib/hardware_interface.rb +0 -210
  10. data/lib/hardware_interface_arduino_write_status.rb +0 -30
  11. data/lib/hardware_interface_param.rb +0 -218
  12. data/lib/status.rb +0 -52
  13. data/spec/lib/ramps_arduino_write_status_spec.rb +0 -27
  14. data/spec/lib/ramps_param_spec.rb +0 -555
  15. data/spec/lib/ramps_spec.rb +0 -289
data/lib/arduino_default_params.rb DELETED
@@ -1,148 +0,0 @@
1
- # Put this in a module.
2
- $arduino_default_params = [
3
- {
4
- :name => 'PARAM_VERSION',
5
- :id => 0,
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- :value => 0
7
- },
8
- {
9
- :name => 'MOVEMENT_TIMEOUT_X',
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- :id => 11,
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- :value => 15
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- },
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- {
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- :name => 'MOVEMENT_TIMEOUT_Y',
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- :id => 12,
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- :value => 15
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- },
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- {
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- :name => 'MOVEMENT_TIMEOUT_Z',
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- :id => 13,
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- :value => 15
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- },
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- {
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- :name => 'MOVEMENT_INVERT_ENDPOINTS_X',
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- :id => 21,
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- :value => 0
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- },
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- {
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- :name => 'MOVEMENT_INVERT_ENDPOINTS_Y',
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- :id => 22,
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- :value => 0
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- },
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- {
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- :name => 'MOVEMENT_INVERT_ENDPOINTS_Z',
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- :id => 23,
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- :value => 0
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- },
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- {
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- :name => 'MOVEMENT_INVERT_MOTOR_X',
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- :id => 31,
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- :value => 0
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- },
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- {
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- :name => 'MOVEMENT_INVERT_MOTOR_Y',
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- :id => 32,
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- :value => 0
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- },
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- {
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- :name => 'MOVEMENT_INVERT_MOTOR_Z',
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- :id => 33,
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- :value => 0
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- },
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- {
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- :name => 'MOVEMENT_STEPS_ACC_DEC_X',
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- :id => 41,
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- :value => 100
57
- },
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- {
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- :name => 'MOVEMENT_STEPS_ACC_DEC_Y',
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- :id => 42,
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- :value => 100
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- },
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- {
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- :name => 'MOVEMENT_STEPS_ACC_DEC_Z',
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- :id => 43,
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- :value => 100
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- },
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- {
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- :name => 'MOVEMENT_HOME_UP_X',
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- :id => 51,
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- :value => 0
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- },
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- {
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- :name => 'MOVEMENT_HOME_UP_Y',
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- :id => 52,
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- :value => 0
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- },
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- {
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- :name => 'MOVEMENT_HOME_UP_Z',
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- :id => 53,
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- :value => 0
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- },
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- {
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- :name => 'MOVEMENT_MIN_SPD_X',
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- :id => 61,
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- :value => 200
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- },
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- {
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- :name => 'MOVEMENT_MIN_SPD_Y',
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- :id => 62,
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- :value => 200
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- },
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- {
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- :name => 'MOVEMENT_MIN_SPD_Z',
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- :id => 63,
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- :value => 200
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- },
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- {
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- :name => 'MOVEMENT_MAX_SPD_X',
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- :id => 71,
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- :value => 1000
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- },
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- {
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- :name => 'MOVEMENT_MAX_SPD_Y',
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- :id => 72,
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- :value => 1000
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- },
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- {
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- :name => 'MOVEMENT_MAX_SPD_Z',
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- :id => 73,
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- :value => 1000
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- },
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- {
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- :name => 'MOVEMENT_LENGTH_X',
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- :id => 101,
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- :value => 1000
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- },
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- {
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- :name => 'MOVEMENT_LENGTH_Y',
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- :id => 102,
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- :value => 1000
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- },
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- {
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- :name => 'MOVEMENT_LENGTH_Z',
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- :id => 103,
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- :value => 1000
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- },
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- {
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- :name => 'MOVEMENT_STEPS_PER_UNIT_X',
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- :id => 111,
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- :value => 5
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- },
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- {
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- :name => 'MOVEMENT_STEPS_PER_UNIT_Y',
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- :id => 112,
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- :value => 5
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- },
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- {
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- :name => 'MOVEMENT_STEPS_PER_UNIT_Z',
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- :id => 113,
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- :value => 5
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- },
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- {
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- :name => 'TESTING',
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- :id => 1,
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- :value => 0
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- }
148
- ]
data/lib/hardware_interface.rb DELETED
@@ -1,210 +0,0 @@
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- ## HARDWARE INTERFACE
2
- ## ******************
3
-
4
- # Communicate with the arduino using a serial interface
5
- # All information is exchanged using a variation of g-code
6
- # Parameters are stored in the database
7
- module Fb
8
- class HardwareInterface
9
- class << self
10
- attr_accessor :current
11
-
12
- def current
13
- @current ||= self.new(true)
14
- end
15
- end
16
-
17
- attr_reader :ramps_param, :ramps_main, :ramps_arduino
18
- attr_accessor :status
19
-
20
- # initialize the interface
21
- #
22
- def initialize(test_mode)
23
- @status = Fb::Status.new
24
- @test_mode = test_mode
25
-
26
- # create the sub processing objects
27
- @ramps_param = Fb::HardwareInterfaceParam.new
28
- @ramps_arduino = Fb::HardwareInterfaceArduino.new(test_mode)
29
-
30
- @ramps_arduino.ramps_param = @ramps_param
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- @ramps_arduino.ramps_main = self
32
- @ramps_param.ramps_arduino = @ramps_arduino
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- @ramps_param.ramps_main = self
34
-
35
- @external_info = ""
36
-
37
- end
38
-
39
- ## INTERFACE FUNCTIONS
40
- ## *******************
41
-
42
- ## control additional I/O (servo, pins, water)
43
-
44
- # move a servo
45
- #
46
- def servo_std_move(pin, value)
47
- @ramps_arduino.execute_command("F61 P#{pin} V#{value}", false, @status_debug_msg)
48
- end
49
-
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- # set standard pin value
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- #
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- def pin_std_set_value(pin, value, mode)
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- @ramps_arduino.execute_command("F41 P#{pin} V#{value} M#{mode}", false, @status_debug_msg)
54
- end
55
-
56
- # read standard pin
57
- #
58
- def pin_std_read_value(pin, mode, external_info)
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- @ramps_arduino.external_info = external_info
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- @ramps_arduino.execute_command("F42 P#{pin} M#{mode}", false, @status_debug_msg)
61
- @external_info = ''
62
- end
63
-
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- # set standard pin mode
65
- #
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- def pin_std_set_mode(pin, mode)
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- @ramps_arduino.execute_command("F43 P#{pin} M#{mode}", false, @status_debug_msg)
68
- end
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-
70
- # set pulse on standard pin
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- #
72
- def pin_std_pulse(pin, value1, value2, time, mode)
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- @ramps_arduino.execute_command("F44 P#{pin} V#{value1} W#{value2} T#{time} M#{mode}", false, @status_debug_msg)
74
- end
75
-
76
- # dose an amount of water (in ml)
77
- #
78
- def dose_water(amount)
79
- @ramps_arduino.execute_command("F01 Q#{amount.to_i}", false, @status_debug_msg)
80
- end
81
-
82
- ## arduino status
83
-
84
- # read end stop status from the device
85
- #
86
- def read_end_stops()
87
- @ramps_arduino.execute_command('F81', false, @status_debug_msg)
88
- end
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-
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- # read current coordinates from the device
91
- #
92
- def read_postition()
93
- @ramps_arduino.execute_command('F82', false, @status_debug_msg)
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- end
95
- # read current software version
96
- #
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- def read_device_version()
98
- @ramps_arduino.execute_command('F83', false, @status_debug_msg)
99
- end
100
-
101
- ## basic movements
102
-
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- # move all axis home
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- #
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- def move_home_all
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- status.info_target_x = 0
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- status.info_target_y = 0
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- status.info_target_z = 0
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- @ramps_arduino.execute_command('G28', true, false)
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- end
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-
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- # move the bot to the home position
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- #
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- def move_home_x
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- status.info_target_x = 0
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- @ramps_arduino.execute_command('F11', true, false)
117
- end
118
-
119
- # move the bot to the home position
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- #
121
- def move_home_y
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- status.info_target_y = 0
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- @ramps_arduino.execute_command('F12', true, false)
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- end
125
-
126
- # move the bot to the home position
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- #
128
- def move_home_z
129
- status.info_target_z = 0
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- @ramps_arduino.execute_command('F13', true, false)
131
- end
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-
133
- # calibrate x axis
134
- #
135
- def calibrate_x
136
- status.info_target_x = 0
137
- @ramps_arduino.execute_command('F14', true, false)
138
- end
139
-
140
- # calibrate y axis
141
- #
142
- def calibrate_y
143
- status.info_target_y = 0
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- @ramps_arduino.execute_command('F15', true, false)
145
- end
146
-
147
- # calibrate z axis
148
- #
149
- def calibrate_z
150
- status.info_target_z = 0
151
- @ramps_arduino.execute_command('F16', true, false)
152
- end
153
-
154
- # move the bot to the give coordinates
155
- #
156
- def move_absolute( coord_x, coord_y, coord_z)
157
-
158
- status.info_target_x = coord_x
159
- status.info_target_y = coord_y
160
- status.info_target_z = coord_z
161
-
162
- # calculate the number of steps for the motors to do
163
-
164
- steps_x = coord_x * @ramps_param.axis_x_steps_per_unit
165
- steps_y = coord_y * @ramps_param.axis_y_steps_per_unit
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- steps_z = coord_z * @ramps_param.axis_z_steps_per_unit
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-
168
- move_to_coord(steps_x, steps_y, steps_z )
169
-
170
- end
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-
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- # move the bot a number of units starting from the current position
173
- #
174
- def move_relative( amount_x, amount_y, amount_z)
175
-
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- # calculate the number of steps for the motors to do
177
-
178
- status.info_target_x = status.info_current_x + amount_x
179
- status.info_target_y = status.info_current_y + amount_y
180
- status.info_target_z = status.info_current_z + amount_z
181
-
182
- steps_x = amount_x * @ramps_param.axis_x_steps_per_unit + status.info_current_x_steps
183
- steps_y = amount_y * @ramps_param.axis_y_steps_per_unit + status.info_current_y_steps
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- steps_z = amount_z * @ramps_param.axis_z_steps_per_unit + status.info_current_z_steps
185
-
186
- move_to_coord( steps_x, steps_y, steps_z )
187
-
188
- end
189
-
190
- # drive the motors so the bot is moved a number of steps
191
- #
192
- def move_steps(steps_x, steps_y, steps_z)
193
- @ramps_arduino.execute_command("G01 X#{steps_x.to_i} Y#{steps_y.to_i} Z#{steps_z.to_i}", true, false)
194
- end
195
-
196
- # drive the motors so the bot is moved to a set location
197
- #
198
- def move_to_coord(steps_x, steps_y, steps_z)
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- @ramps_arduino.execute_command("G00 X#{steps_x.to_i} Y#{steps_y.to_i} Z#{steps_z.to_i}", true, false)
200
- end
201
-
202
- ## parameter hanlding
203
-
204
- def check_parameters
205
- @ramps_param.check_parameters()
206
- end
207
-
208
- end
209
-
210
- end
data/lib/hardware_interface_arduino_write_status.rb DELETED
@@ -1,30 +0,0 @@
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- module Fb
2
- class HardwareInterfaceArduinoWriteStatus
3
-
4
- attr_accessor :done, :code, :received, :start, :log, :onscreen, :text,
5
- :params, :timeout
6
-
7
- def initialize
8
- @done = 0
9
- @code = ''
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- @received = ''
11
- @text = ''
12
- @params = ''
13
- @log = false
14
- @onscreen = false
15
- @start = Time.now
16
- @timeout = 5
17
- end
18
-
19
- def is_busy
20
- Time.now - @start < @timeout and @done == 0
21
- end
22
-
23
- def split_received
24
- # get the parameter and data part
25
- @code = received[0..2].upcase
26
- @params = received[3..-1].to_s.upcase.strip
27
- end
28
-
29
- end
30
- end
data/lib/hardware_interface_param.rb DELETED
@@ -1,218 +0,0 @@
1
- ## HARDWARE INTERFACE
2
- ## ******************
3
-
4
- # Communicate with the arduino using a serial interface
5
- # All information is exchanged using a variation of g-code
6
- # Parameters are stored in the database
7
- module Fb
8
- class HardwareInterfaceParam
9
-
10
- attr_accessor :params, :param_version_db, :param_version_ar, :params_in_sync,
11
- :axis_x_steps_per_unit, :axis_y_steps_per_unit, :axis_z_steps_per_unit,
12
- :ramps_arduino, :ramps_main
13
-
14
-
15
- # initialize the interface
16
- #
17
- def initialize
18
- @params = []
19
- @external_info = ""
20
- @param_version_db = 0
21
- @param_version_ar = 0
22
- @params_in_sync = false
23
-
24
- @axis_x_steps_per_unit = 1
25
- @axis_y_steps_per_unit = 1
26
- @axis_z_steps_per_unit = 1
27
-
28
- load_param_names()
29
-
30
-
31
- load_param_values_non_arduino()
32
-
33
- end
34
-
35
- ## DATABASE AND SETTINGS HANDLING
36
- ## ******************************
37
-
38
- # load non-arduino parameters
39
- #
40
- def load_param_values_non_arduino
41
-
42
- p = get_param_by_name('MOVEMENT_STEPS_PER_UNIT_X')
43
- @axis_x_steps_per_unit = p['value_db']
44
-
45
- p = get_param_by_name('MOVEMENT_STEPS_PER_UNIT_Y')
46
- @axis_y_steps_per_unit = p['value_db']
47
-
48
- p = get_param_by_name('MOVEMENT_STEPS_PER_UNIT_Z')
49
- @axis_z_steps_per_unit = p['value_db']
50
-
51
- end
52
-
53
- # load the id's of the arduino parameters
54
- #
55
- def load_param_names
56
- $arduino_default_params.each do |p|
57
- param_name_add(p[:name], p[:id], p[:value])
58
- end
59
- end
60
-
61
- # add a parameter to the param list
62
- #
63
- def param_name_add(name, id, default)
64
- found = false
65
- @params.each do |p|
66
- if p['name'] == name
67
- found = true
68
- end
69
- end
70
-
71
- if found == false
72
- param = Hash.new
73
- param['name'] = name
74
- param['id'] = id
75
- param['value_db'] = 0
76
- param['value_ar'] = 0
77
- param['default'] = default
78
- @params << param
79
- end
80
- end
81
-
82
- # get the parameter object by name
83
- #
84
- def get_param_by_name(name)
85
- param = nil
86
- @params.each do |p|
87
- if p['name'] == name
88
- param = p
89
- end
90
- end
91
- return param
92
- end
93
-
94
- # get the parameter object by id
95
- #
96
- def get_param_by_id(id)
97
- param = nil
98
- @params.each do |p|
99
- if p['id'] == id
100
- param = p
101
- end
102
- end
103
- return param
104
- end
105
-
106
- # get parameter object by name or id
107
- #
108
- def get_param(name_or_id, by_name_or_id)
109
- param = nil
110
- @params.each do |p|
111
- if (by_name_or_id == :by_id and p['id'] == name_or_id)
112
- param = p
113
- end
114
- if (by_name_or_id == :by_name and p['name'] == name_or_id)
115
- param = p
116
- end
117
- end
118
- return param
119
- end
120
-
121
- # save parameter value to the database
122
- #
123
- def save_param_value(name_or_id, by_name_or_id, from_device_or_db, value)
124
-
125
- param = get_param(name_or_id, by_name_or_id)
126
-
127
- if param != nil and from_device_or_db == :from_device
128
- param['value_ar'] = value
129
- end
130
- if param != nil and from_device_or_db == :from_db
131
- param['value_db'] = value
132
- end
133
- end
134
-
135
- # check to see of parameters in arduino are up to date
136
- #
137
- def check_parameters
138
- update_param_version_ar()
139
- compare_and_write_parameters()
140
- end
141
-
142
- def update_param_version_ar
143
- # read the parameter version in the database and in the device
144
- read_parameter_from_device(0)
145
-
146
- params.each do |p|
147
- if p['id'] == 0
148
- @param_version_ar = p['value_ar']
149
- end
150
- end
151
- end
152
-
153
- def compare_and_write_parameters
154
- # if the parameters in the device is different from the database parameter version
155
- # read and compare each parameter and write to device is different
156
-
157
- if @param_version_db != @param_version_ar
158
-
159
- load_param_values_non_arduino()
160
-
161
- if !parameters_different()
162
- @params_in_sync = true
163
- write_parameter_to_device(0, @param_version_db)
164
- else
165
- @params_in_sync = false
166
- end
167
- else
168
- @params_in_sync = true
169
- end
170
- end
171
-
172
- def parameters_different
173
- differences_found_total = false
174
- params.each do |p|
175
- if p['id'] != 0
176
- difference = check_and_write_parameter(p)
177
- if difference then
178
- @params_in_sync = false
179
- differences_found_total = true
180
- end
181
- end
182
- end
183
- differences_found_total
184
- end
185
-
186
- # synchronise a parameter value
187
- #
188
- def check_and_write_parameter(param)
189
-
190
- # read value from device and database
191
- read_parameter_from_device(param['id'])
192
-
193
- differences_found = false
194
-
195
- # if the parameter value between device and database is different, write value to device
196
- if param['value_db'] != param ['value_ar']
197
- differences_found = true
198
- write_parameter_to_device(param['id'],param['value_db'])
199
- end
200
-
201
- return differences_found
202
-
203
- end
204
-
205
- # read a parameter from arduino
206
- #
207
- def read_parameter_from_device(id)
208
- @ramps_arduino.execute_command("F21 P#{id}", false, false)
209
- end
210
-
211
- # write a parameter value to arduino
212
- #
213
- def write_parameter_to_device(id, value)
214
- @ramps_arduino.execute_command("F22 P#{id} V#{value}", false, false)
215
- end
216
-
217
- end
218
- end