farmbot-serial 0.0.4 → 0.0.5

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA1:
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-  data.tar.gz: b4ee5f17fc86632387f3bbe853637eed6ee16d60
+  metadata.gz: 76fb34947d7e8701118ad070a874e9ccf7318b84
+  data.tar.gz: 97a79c5b63f4fe02d4532f5efd24193fd9b2902f
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+  data.tar.gz: c48d82dd75b5be870756af8d2b8c4906416305fe9f27a50aa15c79948a99e34fe191de80504f308198bb4fb21c26a5e1c52b4cf974e2d43ecf9b79321002f3fc

data/README.md

@@ -1 +1,20 @@
-Under construction.
+# Farmbot-Serial
+
+A ruby gem for controlling Farmbot via serial line with EventMachine.
+
+## Usage
+
+```ruby
+bot = FB::Arduino.new # Defaults to '/dev/ttyACM0'
+
+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 }
+end
+```

data/lib/arduino.rb

@@ -1,20 +1,16 @@
-## HARDWARE INTERFACE
-## ******************
-
 # Communicate with the arduino using a serial interface
-# All information is exchanged using a variation of g-code
-# Parameters are stored in the database
 module FB
   class Arduino
     class EmergencyStop < StandardError; end # Not yet used.
 
-    attr_reader :serial_port, :logger
+    attr_reader :serial_port, :logger, :commands, :queue
 
     # 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 = serial_port, logger
+      @serial_port, @logger, @queue = serial_port, logger, EM::Queue.new
+      @commands = FB::ArduinoCommandSet.new(self)
     end
 
     # Log to screen/file/IO stream
@@ -23,8 +19,16 @@ module FB
     end
 
     # Handle incoming text from arduino into pi
-    def read(string)
-      log "RECEIVED #{string}"
+    def onmessage(&blk)
+      raise 'read() requires a block' unless block_given?
+      @queue.pop do |string|
+        log "RECEIVED #{string}"
+        blk.call(string)
+      end
+    end
+
+    def onclose(&blk)
+      @onclose = blk
     end
 
     # Send outgoing test to arduino from pi
@@ -36,6 +40,10 @@ module FB
     # Handle loss of serial connection
     def disconnect
       log "Connection to device lost"
+      @onclose.call if @onclose
+    end
+
+    def reconnect
     end
   end
 end

data/lib/arduino_event_machine.rb

@@ -7,8 +7,14 @@ module FB
       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.read(data)
+      self.class.arduino.queue.push(data)
     end
 
     # Gets called when the connection breaks.
@@ -16,5 +22,10 @@ module FB
       self.class.arduino.disconnect
       EM.stop
     end
+
+    def self.connect(arduino)
+      @arduino = arduino
+      EM.attach arduino.serial_port, self
+    end
   end
 end

data/lib/default_serial_port.rb

@@ -2,18 +2,19 @@ require 'serialport'
 
 # This object creates a Serial IO with sane default, since most FarmBot setups
 # follow the same serial configuration setup.
-class DefaultSerialPort < SerialPort
-  COM_PORT = '/dev/ttyACM0'
-  OPTIONS  = { "baud"         => 115200,
-               "data_bits"    => 8,
-               "stop_bits"    => 1,
-               "parity"       => SerialPort::NONE,
-               "flow_control" => SerialPort::SOFT }
+module FB
+  class DefaultSerialPort < SerialPort
+    COM_PORT = '/dev/ttyACM0'
+    OPTIONS  = { "baud"         => 115200,
+                 "data_bits"    => 8,
+                 "stop_bits"    => 1,
+                 "parity"       => SerialPort::NONE,
+                 "flow_control" => SerialPort::SOFT }
 
-  # Why `def self::new()`? it was defined that way in the parent class,
-  # therefore, I can't call super in #initialize().
-  def self::new(com = COM_PORT, conf = OPTIONS)
-    super
+    # Why `def self::new()`? it was defined that way in the parent class,
+    # therefore, I can't call super in #initialize().
+    def self::new(com = COM_PORT, conf = OPTIONS)
+      super
+    end
   end
 end
-

data/lib/farmbot-serial.rb

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

data/spec/fixtures/stub_serial_port.rb

@@ -1,10 +1,8 @@
 ## SERIAL PORT SIMULATION
 ## **********************
-
-# Used for unit tests
-
 module FB
-  class StubSerialPort
+  # Used for unit tests
+  class StubSerialPort # TODO: Inherit from StringIO?
     def initialize(comm_port, parameters)
     end
 

data/spec/lib/ramps_arduino_values_received_spec.rb

@@ -2,19 +2,7 @@ require 'spec_helper'
 describe FB::HardwareInterfaceArduinoValuesReceived do
 
   before do
-
-
-
-
-    FB::HardwareInterface.current.status = FB::Status.new
-
-    @ramps = FB::HardwareInterfaceArduinoValuesReceived.new()
-
-    #@ramps = FB::HardwareInterfaceArduino.new(true)
-
-    #@ramps_param = FB::HardwareInterfaceParam.new
-    #@ramps.ramps_param = @ramps_param
-
+    @ramps = FB::HardwareInterfaceArduinoValuesReceived.new
   end
 
   it "load parameters" do

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: farmbot-serial
 version: !ruby/object:Gem::Version
-  version: 0.0.4
+  version: 0.0.5
 platform: ruby
 authors:
 - Tim Evers
@@ -9,7 +9,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2015-03-24 00:00:00.000000000 Z
+date: 2015-03-25 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler
@@ -124,10 +124,7 @@ files:
 - lib/arduino_event_machine.rb
 - lib/default_serial_port.rb
 - lib/farmbot-serial.rb
-- lib/hardware_interface_arduino_values_received.rb
-- lib/outbound_message.rb
 - spec/fixtures/stub_serial_port.rb
-- spec/lib/ramps_arduino_spec.rb
 - spec/lib/ramps_arduino_values_received_spec.rb
 - spec/spec_helper.rb
 - testcommands.csv
@@ -157,6 +154,5 @@ specification_version: 4
 summary: Serial library for Farmbot
 test_files:
 - spec/fixtures/stub_serial_port.rb
-- spec/lib/ramps_arduino_spec.rb
 - spec/lib/ramps_arduino_values_received_spec.rb
 - spec/spec_helper.rb

data/lib/hardware_interface_arduino_values_received.rb

@@ -1,59 +0,0 @@
-module FB
-  # Rename to StatusIndicator or StatusRegister
-  class HardwareInterfaceArduinoValuesReceived
-
-    attr_accessor :code, :text, :external_info
-
-    # value holders with the name used in the serial
-    # communucation as they are received from arduino
-    attr_accessor :p , :v, :x , :y , :z, :xa, :xb, :ya, :yb, :za, :zb
-
-
-    def initialize
-      @p  = -1
-      @v  = 0
-      @x  = 0
-      @y  = 0
-      @z  = 0
-      @xa = 0
-      @xb = 0
-      @ya = 0
-      @yb = 0
-      @za = 0
-      @zb = 0
-      @text = ''
-      @code = 0
-    end
-    # Change name to []=?
-    def load_parameter(name, value)
-      name = name.upcase.to_sym
-      case name
-        when :P
-          @p  = value
-        when :V
-          @v  = value
-        when :XA
-          @xa = value
-        when :XB
-          @xb = value
-        when :YA
-          @ya = value
-        when :YB
-          @yb = value
-        when :ZA
-          @za = value
-        when :ZB
-          @zb = value
-        when :X
-          @x  = value
-        when :Y
-          @y  = value
-        when :Z
-          @z  = value
-        else
-          raise "Unknown status symbol '#{name}'"
-      end
-    end
-
-  end
-end

data/lib/outbound_message.rb

@@ -1,58 +0,0 @@
-# An outbound (Pi -> Arduino) status message.
-# Originally HardwareInterfaceArduinoWriteStatus
-class OutboundMessage
-
-  attr_accessor :done, :code, :received, :start, :log, :onscreen, :text,
-                :params, :timeout
-
-  def initialize(text)
-    @text     = text
-    @done     = 0
-    @code     = ''
-    @received = ''
-    @text     = ''
-    @params   = ''
-    @log      = false
-    @onscreen = false
-    @start    = Time.now
-    @timeout  = 5
-  end
-
-  def parse_response!
-    # get the parameter and data part
-    @code   = received[0..2].upcase
-    @params = received[3..-1].to_s.upcase.strip
-  end
-
-  # handle the incoming message depending on the first code number
-  #
-  def process_code_and_params
-
-  # process the feedback
-  case self.code
-
-  # command received by arduino
-  when 'R01'
-    self.timeout = 90
-  # command is finished
-  when 'R02'
-    self.done = 1
-    @is_done = true
-  # command is finished with errors
-  when 'R03'
-    self.done = 1
-    @is_done = true
-  # command is still ongoing
-  when 'R04'
-    self.start = Time.now
-    self.timeout = 90
-  # specific feedback that is processes separately
-  else
-    process_value(self.code,self.params)
-  end
-
-  self.received = ''
-
-  end
-
-end

data/spec/lib/ramps_arduino_spec.rb

@@ -1,672 +0,0 @@
-require 'spec_helper'
-describe FB::HardwareInterfaceArduino do
-
-  before do
-    FB::HardwareInterface.current.status = FB::Status.new
-
-    @ramps = FB::HardwareInterfaceArduino.new(true)
-
-    @ramps_param = FB::HardwareInterfaceParam.new
-    @ramps.ramps_param = @ramps_param
-  end
-
-  it "read status" do
-    @ramps.connect_board
-    expect(1).to eq(1)
-  end
-
-  it "execute_command"  do
-    command = "TEST"
-
-    @ramps.serial_port.test_serial_read = "R01\nR02\n"
-    @ramps.execute_command(command, false, false)
-
-    expect(@ramps.serial_port.test_serial_write).to eq("#{command}\n")
-
-  end
-
-  it "execute_command with causing an error"  do
-
-    FB::HardwareInterface.current.status = nil
-
-    @ramps.serial_port.rts = 0
-    @ramps.execute_command(nil,nil,nil)
-
-    FB::HardwareInterface.current.status = FB::Status.new
-
-    expect { @ramps }.to_not raise_error
-
-  end
-
-  it "create write status" do
-
-    text     = rand(9999999).to_s
-    log      = rand(9999999).to_s
-    onscreen = true
-
-    write_status = @ramps.create_write_status(text, log, onscreen)
-
-    expect(write_status.text     ).to eq(text     )
-    expect(write_status.log      ).to eq(log      )
-    expect(write_status.onscreen ).to eq(onscreen )
-  end
-
-  it "handle execution exception" do
-    e = Exception.new
-    @ramps.handle_execution_exception(e)
-    expect(1).to eq(1)
-  end
-
-  it "log result of execution" do
-
-    text     = rand(9999999).to_s
-    log      = rand(9999999).to_s
-    onscreen = true
-
-    write_status = @ramps.create_write_status(text, log, onscreen)
-
-    @ramps.log_result_of_execution(write_status)
-
-    expect(1).to eq(1)
-  end
-
-  it "process feedback" do
-
-    text     = rand(9999999).to_s
-    log      = rand(9999999).to_s
-    onscreen = false
-
-    @ramps.serial_port.test_serial_read = "R02\n"
-
-    write_status = @ramps.create_write_status(text, log, onscreen)
-
-    @ramps.process_feedback(write_status)
-    @ramps.process_feedback(write_status)
-    @ramps.process_feedback(write_status)
-    @ramps.process_feedback(write_status)
-    @ramps.process_feedback(write_status)
-
-    expect(write_status.done).to eq(1)
-
-  end
-
-  it "and and process characters" do
-
-    text     = rand(9999999).to_s
-    log      = rand(9999999).to_s
-    onscreen = false
-
-    write_status = @ramps.create_write_status(text, log, onscreen)
-
-    @ramps.add_and_process_characters(write_status, 'R')
-    @ramps.add_and_process_characters(write_status, '0')
-    @ramps.add_and_process_characters(write_status, '2')
-    @ramps.add_and_process_characters(write_status, "\n")
-
-    expect(write_status.done).to eq(1)
-
-  end
-
-  it "process codes and parameters R01" do
-
-    text     = rand(9999999).to_s
-    log      = rand(9999999).to_s
-    onscreen = false
-
-    write_status = @ramps.create_write_status(text, log, onscreen)
-    write_status.code = "R01"
-    timeout = write_status.timeout
-
-    @ramps.process_code_and_params(write_status)
-
-    expect(write_status.timeout).to be > timeout
-
-  end
-
-  it "process codes and parameters R02" do
-
-    text     = rand(9999999).to_s
-    log      = rand(9999999).to_s
-    onscreen = false
-
-    write_status = @ramps.create_write_status(text, log, onscreen)
-    write_status.code = "R02"
-
-    @ramps.process_code_and_params(write_status)
-
-    expect(write_status.done).to eq(1)
-
-  end
-
-  it "process codes and parameters R03" do
-
-    text     = rand(9999999).to_s
-    log      = rand(9999999).to_s
-    onscreen = false
-
-    write_status = @ramps.create_write_status(text, log, onscreen)
-    write_status.code = "R03"
-
-    @ramps.process_code_and_params(write_status)
-
-    expect(write_status.done).to eq(1)
-  end
-
-  it "process codes and parameters R04" do
-
-    text     = rand(9999999).to_s
-    log      = rand(9999999).to_s
-    onscreen = false
-
-    write_status = @ramps.create_write_status(text, log, onscreen)
-    write_status.code = "R04"
-    timeout = write_status.timeout
-    time = Time.now
-
-    @ramps.process_code_and_params(write_status)
-
-    expect(write_status.timeout).to be > timeout
-    expect(write_status.start).to be > time
-
-  end
-
-  it "process codes and parameters other" do
-
-    text     = rand(9999999).to_s
-    log      = rand(9999999).to_s
-    onscreen = false
-    par      = rand(9999999).to_s
-
-    write_status = @ramps.create_write_status(text, log, onscreen)
-    write_status.code = "R83"
-    write_status.params = par
-
-    @ramps.process_code_and_params(write_status)
-
-    expect(FB::HardwareInterface.current.status.device_version).to eq(write_status.params)
-
-  end
-
-
-  it "prepare serial port" do
-    text     = rand(9999999).to_s
-    log      = rand(9999999).to_s
-    onscreen = false
-
-    write_status = @ramps.create_write_status(text, log, onscreen)
-
-    @ramps.prepare_serial_port(write_status)
-    expect(1).to eq(1)
-  end
-
-  it "clean serial buffer" do
-    @ramps.serial_port.test_serial_read = rand(9999999).to_s
-    @ramps.clean_serial_buffer
-    expect(@ramps.serial_port.test_serial_read).to eq(nil)
-
-  end
-
-  it "serial port write" do
-    text = rand(9999999).to_s
-    @ramps.serial_port_write(text)
-    expect(@ramps.serial_port.test_serial_write).to eq(text)
-  end
-
-  it "emergency stop off" do
-    @ramps.serial_port.test_serial_write = ""
-    FB::HardwareInterface.current.status.emergency_stop = false
-    @ramps.check_emergency_stop
-    expect(@ramps.serial_port.test_serial_write).to eq("")
-  end
-
-  it "emergency stop on" do
-    @ramps.serial_port.test_serial_write = ""
-    FB::HardwareInterface.current.status.emergency_stop = true
-    @ramps.check_emergency_stop
-    expect(@ramps.serial_port.test_serial_write).to eq("E\n")
-  end
-
-  it "log incoming text" do
-    text     = rand(9999999).to_s
-    log      = rand(9999999).to_s
-    onscreen = false
-
-    write_status = @ramps.create_write_status(text, log, onscreen)
-
-    @ramps.log_incoming_text(write_status)
-    expect(1).to eq(1)
-  end
-
-  it "process value split two letters" do
-
-    params = FB::HardwareInterfaceArduinoValuesReceived.new
-    code = "R81"
-    text = "ZA1 ZB2 XA3 XB4 YA5 YB6"
-    @ramps.process_value_split(code, params, text)
-
-    expect(params.za).to eq(1)
-    expect(params.zb).to eq(2)
-    expect(params.xa).to eq(3)
-    expect(params.xb).to eq(4)
-    expect(params.ya).to eq(5)
-    expect(params.yb).to eq(6)
-  end
-
-  it "process value split one letters" do
-
-    params = FB::HardwareInterfaceArduinoValuesReceived.new
-    code = "R99"
-    text = "P1 V2 X3 Y4 Z5"
-    @ramps.process_value_split(code, params, text)
-
-    expect(params.p).to eq(1)
-    expect(params.v).to eq(2)
-    expect(params.x).to eq(3)
-    expect(params.y).to eq(4)
-    expect(params.z).to eq(5)
-
-  end
-
-  it "process value R21" do
-
-    param = 1
-    value = rand(999).to_i
-
-    code = "R21"
-    text = "P#{param} V#{value}"
-
-    params = FB::HardwareInterfaceArduinoValuesReceived.new
-    @ramps.process_value_split(code, params, text)
-    @ramps.process_value_R21(params,code)
-
-    par_obj = @ramps_param.get_param_by_id(param)
-
-    expect(par_obj['value_ar']).to eq(value)
-
-  end
-
-  it "process value R23" do
-
-    param = 1
-    value = rand(999).to_i
-
-    code = "R23"
-    text = "P#{param} V#{value}"
-
-    params = FB::HardwareInterfaceArduinoValuesReceived.new
-    @ramps.process_value_split(code, params, text)
-    @ramps.process_value_R23(params,code)
-
-    par_obj = @ramps_param.get_param_by_id(param)
-
-    expect(par_obj['value_db']).to eq(value)
-
-  end
-
-  it "process value R41" do
-
-    pinnr = rand(9999999).to_i
-    value = rand(9999999).to_i
-    exinf = rand(9999999).to_i
-
-    code = "R41"
-    text = "P#{pinnr} V#{value}"
-
-    @ramps.external_info = exinf
-
-    params = FB::HardwareInterfaceArduinoValuesReceived.new
-    @ramps.process_value_split(code, params, text)
-    @ramps.process_value_R41(params,code)
-
-    pin_value = 0
-
-
-    list.each do |meas|
-      if meas['ext_info'].to_s == exinf.to_s
-        pin_value = meas['value']
-      end
-    end
-
-    expect(pin_value.to_i).to eq(value.to_i)
-
-  end
-
-  it "process value R81 XA" do
-
-    params = FB::HardwareInterfaceArduinoValuesReceived.new
-    code = "R81"
-    text = " XA1 XB0 YA0 YB0 ZA0 ZB0 "
-    @ramps.process_value_split(code, params, text)
-    @ramps.process_value_R81(params,code)
-
-    expect(FB::HardwareInterface.current.status.info_end_stop_x_a).to eq(true)
-    expect(FB::HardwareInterface.current.status.info_end_stop_x_b).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_y_a).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_y_b).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_z_a).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_z_b).to eq(false)
-
-  end
-
-  it "process value R81 XB" do
-
-    params = FB::HardwareInterfaceArduinoValuesReceived.new
-    code = "R81"
-    text = " XA0 XB1 YA0 YB0 ZA0 ZB0 "
-    @ramps.process_value_split(code, params, text)
-    @ramps.process_value_R81(params,code)
-
-    expect(FB::HardwareInterface.current.status.info_end_stop_x_a).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_x_b).to eq(true)
-    expect(FB::HardwareInterface.current.status.info_end_stop_y_a).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_y_b).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_z_a).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_z_b).to eq(false)
-
-  end
-
-  it "process value R81 YA" do
-
-    params = FB::HardwareInterfaceArduinoValuesReceived.new
-    code = "R81"
-    text = " XA0 XB0 YA1 YB0 ZA0 ZB0 "
-    @ramps.process_value_split(code, params, text)
-    @ramps.process_value_R81(params,code)
-
-    expect(FB::HardwareInterface.current.status.info_end_stop_x_a).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_x_b).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_y_a).to eq(true)
-    expect(FB::HardwareInterface.current.status.info_end_stop_y_b).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_z_a).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_z_b).to eq(false)
-
-  end
-
-  it "process value R81 YB" do
-
-    params = FB::HardwareInterfaceArduinoValuesReceived.new
-    code = "R81"
-    text = " XA0 XB0 YA0 YB1 ZA0 ZB0 "
-    @ramps.process_value_split(code, params, text)
-    @ramps.process_value_R81(params,code)
-
-    expect(FB::HardwareInterface.current.status.info_end_stop_x_a).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_x_b).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_y_a).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_y_b).to eq(true)
-    expect(FB::HardwareInterface.current.status.info_end_stop_z_a).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_z_b).to eq(false)
-
-  end
-
-  it "process value R81 ZA" do
-
-    params = FB::HardwareInterfaceArduinoValuesReceived.new
-    code = "R81"
-    text = " XA0 XB0 YA0 YB0 ZA1 ZB0 "
-    @ramps.process_value_split(code, params, text)
-    @ramps.process_value_R81(params,code)
-
-    expect(FB::HardwareInterface.current.status.info_end_stop_x_a).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_x_b).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_y_a).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_y_b).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_z_a).to eq(true)
-    expect(FB::HardwareInterface.current.status.info_end_stop_z_b).to eq(false)
-
-  end
-
-  it "process value R81 ZB" do
-
-    params = FB::HardwareInterfaceArduinoValuesReceived.new
-    code = "R81"
-    text = " XA0 XB0 YA0 YB0 ZA0 ZB1 "
-    @ramps.process_value_split(code, params, text)
-    @ramps.process_value_R81(params,code)
-
-    expect(FB::HardwareInterface.current.status.info_end_stop_x_a).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_x_b).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_y_a).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_y_b).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_z_a).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_z_b).to eq(true)
-
-  end
-
-  it "process value R82" do
-
-    x = rand(9999999).to_i
-    y = rand(9999999).to_i
-    z = rand(9999999).to_i
-
-    params = FB::HardwareInterfaceArduinoValuesReceived.new
-    code = "R82"
-    text = "X#{x} Y#{y} Z#{z}"
-    @ramps.process_value_split(code, params, text)
-    @ramps.process_value_R82(params,code)
-
-    expect(FB::HardwareInterface.current.status.info_current_x_steps).to eq(x)
-    expect(FB::HardwareInterface.current.status.info_current_y_steps).to eq(y)
-    expect(FB::HardwareInterface.current.status.info_current_z_steps).to eq(z)
-
-    expect(FB::HardwareInterface.current.status.info_current_x      ).to eq(x / @ramps_param.axis_x_steps_per_unit)
-    expect(FB::HardwareInterface.current.status.info_current_y      ).to eq(y / @ramps_param.axis_y_steps_per_unit)
-    expect(FB::HardwareInterface.current.status.info_current_z      ).to eq(z / @ramps_param.axis_z_steps_per_unit)
-
-  end
-
-  it "process value R83" do
-    code = "R83"
-    text = rand(9999999).to_s
-
-    @ramps.process_value_process_R83(code, text)
-
-    expect(FB::HardwareInterface.current.status.device_version).to eq(text)
-  end
-
-
-  it "process value R99" do
-
-    code = "R99"
-    text = rand(9999999).to_s
-
-    @ramps.process_value_process_R99(code, text)
-  end
-
-  it "save pin value" do
-
-    pinnr = rand(9999999).to_i
-    value = rand(9999999).to_i
-    exinf = rand(9999999).to_i
-
-    @ramps.external_info = exinf
-    pin_value = 0
-
-
-    list.each do |meas|
-      if meas['ext_info'].to_s == exinf.to_s
-        pin_value = meas['value']
-      end
-    end
-
-    expect(pin_value.to_i).to eq(value.to_i)
-  end
-
-  it "process value process param list 1" do
-
-    # "process value R21"
-
-    param = 1
-    value = rand(999).to_i
-
-    code = "R21"
-    text = "P#{param} V#{value}"
-
-    params = FB::HardwareInterfaceArduinoValuesReceived.new
-    @ramps.process_value_split(code, params, text)
-    @ramps.process_value_process_param_list(params,code)
-
-    par_obj = @ramps_param.get_param_by_id(param)
-
-    expect(par_obj['value_ar']).to eq(value)
-  end
-
-  it "process value process param list 2" do
-
-    # "process value R23"
-
-    param = 1
-    value = rand(999).to_i
-
-    code = "R23"
-    text = "P#{param} V#{value}"
-
-    params = FB::HardwareInterfaceArduinoValuesReceived.new
-    @ramps.process_value_split(code, params, text)
-    @ramps.process_value_process_param_list(params,code)
-
-    par_obj = @ramps_param.get_param_by_id(param)
-
-    expect(par_obj['value_db']).to eq(value)
-
-  end
-
-  it "process value process param list 3" do
-
-    # "process value R41"
-
-    pinnr = rand(9999999).to_i
-    value = rand(9999999).to_i
-    exinf = rand(9999999).to_i
-
-    code = "R41"
-    text = "P#{pinnr} V#{value}"
-
-    @ramps.external_info = exinf
-
-    params = FB::HardwareInterfaceArduinoValuesReceived.new
-    @ramps.process_value_split(code, params, text)
-    @ramps.process_value_process_param_list(params,code)
-
-    pin_value = 0
-
-
-    list.each do |meas|
-      if meas['ext_info'].to_s == exinf.to_s
-        pin_value = meas['value']
-      end
-    end
-
-  end
-
-  it "process value process text 1" do
-
-    # process_value_process_R83
-
-    code = "R83"
-    text = rand(9999999).to_s
-
-    @ramps.process_value_process_R83(code, text)
-
-    expect(FB::HardwareInterface.current.status.device_version).to eq(text)
-
-  end
-
-  it "process value process text 2" do
-
-    # process_value_process_R99
-
-    code = "R99"
-    text = rand(9999999).to_s
-
-    @ramps.process_value_process_R99(code, text)
-
-  end
-
-  it "process value 1" do
-
-    # "process value R21"
-
-    param = 1
-    value = rand(999).to_i
-
-    code = "R21"
-    text = "P#{param} V#{value}"
-
-    @ramps.process_value(code,text)
-
-    par_obj = @ramps_param.get_param_by_id(param)
-
-    expect(par_obj['value_ar']).to eq(value)
-
-  end
-
-  it "process value 2" do
-
-
-    # process_value_process_R99
-
-    code = "R99"
-    text = rand(9999999).to_s
-
-    @ramps.process_value(code,text)
-
-  end
-
-  it "process value 3" do
-
-    params = FB::HardwareInterfaceArduinoValuesReceived.new
-    code = "R81"
-    text = " XA0 XB0 YA0 YB0 ZA0 ZB1 "
-    @ramps.process_value(code,text)
-
-    expect(FB::HardwareInterface.current.status.info_end_stop_x_a).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_x_b).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_y_a).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_y_b).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_z_a).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_z_b).to eq(true)
-
-  end
-
-  it "process value named parameters 1" do
-
-    params = FB::HardwareInterfaceArduinoValuesReceived.new
-    code = "R81"
-    text = " XA0 XB0 YA0 YB0 ZA0 ZB1 "
-    @ramps.process_value_split(code, params, text)
-    @ramps.process_value_process_named_params(params,code)
-
-    expect(FB::HardwareInterface.current.status.info_end_stop_x_a).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_x_b).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_y_a).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_y_b).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_z_a).to eq(false)
-    expect(FB::HardwareInterface.current.status.info_end_stop_z_b).to eq(true)
-
-  end
-
-  it "process value named parameters 2" do
-
-    x = rand(9999999).to_i
-    y = rand(9999999).to_i
-    z = rand(9999999).to_i
-
-    params = FB::HardwareInterfaceArduinoValuesReceived.new
-    code = "R82"
-    text = "X#{x} Y#{y} Z#{z}"
-    @ramps.process_value_split(code, params, text)
-    @ramps.process_value_process_named_params(params,code)
-
-    expect(FB::HardwareInterface.current.status.info_current_x_steps).to eq(x)
-    expect(FB::HardwareInterface.current.status.info_current_y_steps).to eq(y)
-    expect(FB::HardwareInterface.current.status.info_current_z_steps).to eq(z)
-
-    expect(FB::HardwareInterface.current.status.info_current_x      ).to eq(x / @ramps_param.axis_x_steps_per_unit)
-    expect(FB::HardwareInterface.current.status.info_current_y      ).to eq(y / @ramps_param.axis_y_steps_per_unit)
-    expect(FB::HardwareInterface.current.status.info_current_z      ).to eq(z / @ramps_param.axis_z_steps_per_unit)
-
-  end
-
-end
-