farmbot-serial 0.0.5 → 0.0.6

checksums.yaml

@@ -1,7 +1,7 @@
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+  metadata.gz: 968bffc9904f9b3d733c91107ec83caeb632353a
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data/README.md

@@ -4,17 +4,27 @@ A ruby gem for controlling Farmbot via serial line with EventMachine.
 
 ## Usage
 
+```
+gem install farmbot-serial, '0.0.5'
+```
+
 ```ruby
-bot = FB::Arduino.new # Defaults to '/dev/ttyACM0'
+bot = FB::Arduino.new # Defaults to '/dev/ttyACM0', can be configured.
 
 EM.run do
-  # Register bot with event loop.
   FB::ArduinoEventMachine.connect(bot)
-  # Make the bot flinch every 5 seconds...
-  FB::ArduinoEventMachine.poll(5) { bot.commands.move_relative(1, 1, 1) }
-  # Immediate handling of incoming messages.
-  bot.onmessage { |data| puts "Serial message in: #{data}" }
-  # Stop event loop if connection closes or serial cable is disconnected
-  bot.onclose   { EM.stop }
+
+  # Example 1: Writing to the serial line the "correct way" every 1.5 seconds.
+  command = FB::Gcode.new('G01 X01 Y01 Z01')
+  EventMachine::PeriodicTimer.new(1.5) { bot.commands.move_relative(command) }
+
+  # Example 2: Writing raw strings to serial every 2.5
+  EventMachine::PeriodicTimer.new(2.5) { bot.write("F31 P8") }
+
+  # This will execute after status has been updated / internal code.
+  bot.onmessage { |gcode| puts "SERIAL  IN: #{gcode.name}" }
+
+  # Try pulling the USB cable out to test this one.
+  bot.onclose { EM.stop }
 end
 ```

data/example.rb

@@ -0,0 +1,21 @@
+require_relative 'lib/farmbot-serial'
+require 'pry'
+
+bot = FB::Arduino.new # Defaults to '/dev/ttyACM0', can be configured.
+
+EM.run do
+  FB::ArduinoEventMachine.connect(bot)
+
+  # Example 1: Writing to the serial line the "correct way" every 1.5 seconds.
+  command = FB::Gcode.new('G01 X01 Y01 Z01')
+  EventMachine::PeriodicTimer.new(1.5) { bot.commands.move_relative(command) }
+
+  # Example 2: Writing raw strings to serial every 2.5
+  EventMachine::PeriodicTimer.new(2.5) { bot.write("F31 P8") }
+
+  # This will execute after status has been updated / internal code.
+  bot.onmessage { |gcode| puts "SERIAL  IN: #{gcode.name}" }
+
+  # Try pulling the USB cable out to test this one.
+  bot.onclose { EM.stop }
+end

data/lib/arduino.rb

@@ -1,16 +1,21 @@
+require 'serialport'
+require_relative 'default_serial_port'
+require_relative 'arduino/command_set'
+require_relative 'arduino/event_machine'
+require_relative 'arduino/status'
 # Communicate with the arduino using a serial interface
 module FB
   class Arduino
     class EmergencyStop < StandardError; end # Not yet used.
 
-    attr_reader :serial_port, :logger, :commands, :queue
+    attr_reader :serial_port, :logger, :commands, :queue, :status
 
     # Initial and provide a serial object, as well as an IO object to send
     # log messages to. Default SerialPort is DefaultSerialPort. Default logger
     # is STDOUT
     def initialize(serial_port = DefaultSerialPort.new, logger = STDOUT)
-      @serial_port, @logger, @queue = serial_port, logger, EM::Queue.new
-      @commands = FB::ArduinoCommandSet.new(self)
+      @serial_port, @logger, @queue = serial_port, logger, EM::Channel.new
+      @commands, @status = FB::ArduinoCommandSet.new(self), FB::Status.new(self)
     end
 
     # Log to screen/file/IO stream
@@ -18,12 +23,20 @@ module FB
       logger.puts(message)
     end
 
+    # Highest priority message when processing incoming Gcode. Use for system
+    # level status changes.
+    def parse_incoming(gcode)
+      commands.execute(gcode)
+    end
+
     # Handle incoming text from arduino into pi
     def onmessage(&blk)
       raise 'read() requires a block' unless block_given?
-      @queue.pop do |string|
-        log "RECEIVED #{string}"
-        blk.call(string)
+      @queue.subscribe do |gcodes|
+        gcodes.each do |gcode|
+          parse_incoming(gcode)
+          blk.call(gcode)
+        end
       end
     end
 
@@ -34,7 +47,6 @@ module FB
     # Send outgoing test to arduino from pi
     def write(string)
       serial_port.puts string
-      log "SENT #{string}"
     end
 
     # Handle loss of serial connection
@@ -42,8 +54,5 @@ module FB
       log "Connection to device lost"
       @onclose.call if @onclose
     end
-
-    def reconnect
-    end
   end
 end

data/lib/arduino/command_set.rb

@@ -0,0 +1,39 @@
+module FB
+  # Composes all logic related to controlling a bot into a single object.
+  # Responsible for writing to the serial line.
+  class ArduinoCommandSet
+    attr_reader :bot
+
+    def initialize(bot)
+      @bot = bot
+    end
+
+    def execute(gcode)
+      puts "SERIAL OUT: #{gcode.name}"
+      self.send(gcode.name, gcode)
+    end
+
+    def emergency_stop(*)
+      bot.write("E")
+    end
+
+    def move_relative(gcode)
+    end
+
+    def received(gcode)
+    end
+
+    def reporting_end_stops(gcode)
+    end
+
+    def report_current_position(gcode)
+    end
+
+    def done(gcode)
+    end
+
+    def report_status_value(gcode)
+    end
+  end
+end
+

data/lib/arduino/event_machine.rb

@@ -0,0 +1,61 @@
+require 'eventmachine'
+module FB
+  # Class that is fed into event machine's event loop to handle incoming serial
+  # messages asynchronously via EM.attach(). See: EM.attach
+  class ArduinoEventMachine < EventMachine::Connection
+    class << self
+      attr_accessor :arduino
+    end
+
+    def self.poll(interval, &blk)
+      EventMachine::PeriodicTimer.new(interval.to_f, &blk)
+    end
+
+    def initialize
+      @q, @buffer = self.class.arduino.queue, ''
+    end
+
+    # Gets called when data arrives.
+    def receive_data(data)
+      split_into_chunks(data).each do |chunk|
+        if chunk.end_with?("\r\n")
+          add_to_buffer(chunk)
+          send_buffer
+          clear_buffer
+        else
+          add_to_buffer(chunk)
+        end
+      end
+    end
+
+    # This is a nasty hack that takes incoming strings from the serial line and
+    # splits the data on \r\n. Unlike Ruby's split() method, this method will
+    # preserve the \r\n.
+    def split_into_chunks(data)
+      data.gsub("\r\n", '!@').split('@').map{ |d| d.gsub('!', "\r\n") }
+    end
+
+    def clear_buffer
+      @buffer = ''
+    end
+
+    def add_to_buffer(d)
+      @buffer += d
+    end
+
+    def send_buffer
+      @q << Gcode.parse_lines(@buffer)
+    end
+
+    # Gets called when the connection breaks.
+    def unbind
+      self.class.arduino.disconnect
+      EM.stop
+    end
+
+    def self.connect(arduino)
+      @arduino = arduino
+      EM.attach arduino.serial_port, self
+    end
+  end
+end

data/lib/arduino/status.rb

@@ -0,0 +1,25 @@
+module FB
+  class Status
+    # Map of informational status and default values for status within Arduino.
+    DEFAULT_INFO = {X: 0, Y: 0, Z: 0, S: 10, Q: 0,  T: 0,  C: '', P: 0,  V: 0,
+                    W: 0, L: 0, E: 0, M: 0, XA: 0, XB: 0, YA: 0, YB: 0, ZA: 0,
+                   ZB: 0, busy: 1}
+    # Put it into a struct.
+    Info = Struct.new(*DEFAULT_INFO.keys)
+
+    attr_reader :bot
+
+    def initialize(bot)
+      @bot, @info = bot, Info.new(*DEFAULT_INFO.values)
+    end
+
+    def []=(register, value)
+      # Add event broadcasts here!!!
+      @info[value.upcase.to_sym] = value
+    end
+
+    def [](value)
+      @info[value.upcase.to_sym]
+    end
+  end
+end

data/lib/default_serial_port.rb

@@ -1,7 +1,8 @@
 require 'serialport'
 
-# This object creates a Serial IO with sane default, since most FarmBot setups
-# follow the same serial configuration setup.
+# This object creates a Serial IO with sane defaults, since most FarmBot setups
+# follow the same serial configuration setup. You can build your own SerialPort
+# object also, if that's what you need.
 module FB
   class DefaultSerialPort < SerialPort
     COM_PORT = '/dev/ttyACM0'

data/lib/farmbot-serial.rb

@@ -1,5 +1,2 @@
-require 'serialport'
-require_relative 'default_serial_port'
-require_relative 'arduino_command_set'
-require_relative 'arduino_event_machine'
+require_relative 'gcode'
 require_relative 'arduino'

data/lib/gcode.rb

@@ -0,0 +1,39 @@
+require 'yaml'
+module FB
+  class Gcode
+    GCODE_DICTIONARY = YAML.load_file(File.join(File.dirname(__FILE__), 'gcode.yml'))
+
+    attr_accessor :cmd, :params, :str
+
+    def initialize(str)
+      @str = str
+      @params = str.split(' ').map{|line| GcodeToken.new(line)}
+      @cmd = @params.shift
+    end
+
+    # Turns a string of many gcodes into an array of many gcodes. Used to parse
+    # incoming serial.
+    def self.parse_lines(string)
+      string.gsub("\r", '').split("\n").map { |s| self.new(s) }
+    end
+
+    # Returns a symbolized english version of the gcode's name.
+    def name
+      GCODE_DICTIONARY[cmd.to_sym] || :unknown
+    end
+
+    # A head/tail pair of a single node of GCode. Ex: R01 = [:R, '01']
+    class GcodeToken
+      attr_reader :head, :tail, :name
+
+      def initialize(str)
+        nodes = str.scan(/\d+|\D+/) # ["R", "01"]
+        @head, @tail = nodes.shift.to_sym, nodes.join(" ")
+      end
+
+      def to_sym
+        "#{head}#{tail}".to_sym
+      end
+    end
+  end
+end

data/lib/gcode.yml

@@ -0,0 +1,39 @@
+---
+:G0:  :move_to_location_at_given_speed_for_axis
+:G1:  :move_to_location_on_a_straight_line
+:G28: :move_home_all_axis
+:F1:  :dose_amount_of_water_using_time_in_millisecond
+:F2:  :dose_amount_of_water_using_flow_meter_that_measures_pulses
+:F11: :home_x_axis
+:F12: :home_y_axis
+:F13: :home_z_axis
+:F14: :calibrate_x_axis
+:F15: :calibrate_y_axis
+:F16: :calibrate_z_axis
+:F21: :read_parameter
+:F22: :write_parameter
+:F23: :update_parameter_during_calibration
+:F31: :read_status
+:F32: :write_status
+:F41: :set_a_value_on_an_arduino_pin
+:F42: :read_a_value_from_an_arduino_pin
+:F43: :set_the_mode_of_a_pin_in_arduino
+:F44: :set_the_value_v_on_an_arduino_pin
+:F51: :set_a_value_on_the_tool_mount_with_i2c
+:F52: :read_value_from_the_tool_mount_with_i2c
+:F61: :set_the_servo_on_the_pin_to_the_requested_angle
+:F81: :report_end_stop
+:F82: :report_current_position
+:F83: :report_software_version
+:E:   :emergency_stop
+:R01: :received
+:R02: :done
+:R03: :error
+:R04: :busy
+:R21: :report_parameter_value
+:R31: :report_status_value
+:R41: :report_pin_value
+:R81: :reporting_end_stops
+:R82: :report_current_position
+:R83: :report_software_version
+:R99: :debug_message

data/lib/param.yml

@@ -0,0 +1,21 @@
+# ---
+# X: :x_movement
+# Y: :y_movement
+# Z: :z_movement
+# S: :speed
+# Q: :quanity
+# T: :time
+# C: :comment
+# P: :parameter
+# V: :value_number
+# W: :secondary_value
+# L: :number
+# E: :element
+# M: :pin_mode
+# M: :read_write_mode
+# XA: :end_stop_1_x_axis
+# XB: :end_stop_2_x_axis
+# YA: :end_stop_1_y_axis
+# YB: :end_stop_2_y_axis
+# ZA: :end_stop_1_z_axis
+# ZB: :end_stop_2_z_axis

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: farmbot-serial
 version: !ruby/object:Gem::Version
-  version: 0.0.5
+  version: 0.0.6
 platform: ruby
 authors:
 - Tim Evers
@@ -9,7 +9,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2015-03-25 00:00:00.000000000 Z
+date: 2015-03-27 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler
@@ -120,10 +120,16 @@ files:
 - ".rspec"
 - README.md
 - Rakefile
+- example.rb
 - lib/arduino.rb
-- lib/arduino_event_machine.rb
+- lib/arduino/command_set.rb
+- lib/arduino/event_machine.rb
+- lib/arduino/status.rb
 - lib/default_serial_port.rb
 - lib/farmbot-serial.rb
+- lib/gcode.rb
+- lib/gcode.yml
+- lib/param.yml
 - spec/fixtures/stub_serial_port.rb
 - spec/lib/ramps_arduino_values_received_spec.rb
 - spec/spec_helper.rb
@@ -148,7 +154,7 @@ required_rubygems_version: !ruby/object:Gem::Requirement
       version: '0'
 requirements: []
 rubyforge_project: 
-rubygems_version: 2.4.5
+rubygems_version: 2.4.6
 signing_key: 
 specification_version: 4
 summary: Serial library for Farmbot

data/lib/arduino_event_machine.rb

@@ -1,31 +0,0 @@
-require 'eventmachine'
-module FB
-  # Class that is fed into event machine's event loop to handle incoming serial
-  # messages asynchronously via EM.attach(). See: EM.attach
-  class ArduinoEventMachine < EventMachine::Connection
-    class << self
-      attr_accessor :arduino
-    end
-
-    def self.poll(interval, &blk)
-      raise 'You must pass a block' unless block_given?
-      EventMachine::PeriodicTimer.new(interval.to_f, &blk)
-    end
-
-    # Gets called when data arrives.
-    def receive_data(data)
-      self.class.arduino.queue.push(data)
-    end
-
-    # Gets called when the connection breaks.
-    def unbind
-      self.class.arduino.disconnect
-      EM.stop
-    end
-
-    def self.connect(arduino)
-      @arduino = arduino
-      EM.attach arduino.serial_port, self
-    end
-  end
-end