farmbot-serial 0.0.9 → 0.1.0

checksums.yaml

@@ -1,7 +1,7 @@
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-  data.tar.gz: bf0a8d8e136cf24a30fc5ce12f562fd0104b500d
+  metadata.gz: 8656fb126d608b73102d0a77ac29d38e5fa60647
+  data.tar.gz: 67f35f21edc7b07e20894ef6e0f8768dd5d41751
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data/README.md

@@ -2,13 +2,34 @@
 
 A ruby gem for controlling Farmbot via serial line with EventMachine.
 
-## Usage
+# Usage
+
+## As an Interactive Console or Debugger
+
+```
+  git clone https://github.com/FarmBot/farmbot-serial.git
+  cd farmbot-serial
+  ruby console.rb
+
+```
+
+From there, you can type commands, such as:
+
+```
+move_relative x: 100
+```
+
+All REPL commands will be executed within the context of `bot.commands`.
+
+## As an Application
 
 ```
 gem install farmbot-serial, '0.0.5'
+
 ```
 
 ```ruby
+require 'eventmachine'
 require 'farmbot-serial'
 
 bot = FB::Arduino.new # Defaults to '/dev/ttyACM0', can be configured.

data/console.rb

@@ -0,0 +1,55 @@
+require_relative 'lib/farmbot-serial'
+require 'pry'
+
+bot = FB::Arduino.new # Defaults to '/dev/ttyACM0', can be configured.
+
+puts """
+FARMBOT SERIAL SANDBOX. WELCOME!
+================================
+
+Example commands:
+
+emergency_stop
+move_relative x: 600, y: 100, z: 4
+move_relative y: -600
+home_x
+home_y
+home_z
+home_all
+read_parameter(8)
+write_parameter('x', 0)
+write_pin(pin: 8, value: 1, mode: 1)
+read_status(8)
+"""
+print "> "
+
+class KeyboardHandler < EM::Connection
+  include EM::Protocols::LineText2
+
+  attr_reader :bot
+
+  def initialize(bot)
+    @bot = bot
+  end
+
+  def receive_line(data)
+    puts (bot.commands.instance_eval(data) || "OK")
+    print "> "
+  rescue Exception => exc
+    exit(0) if data.start_with?('q')
+    puts "#{exc.message} : "
+    print "> "
+  end
+end
+
+EM.run do
+  FB::ArduinoEventMachine.connect(bot)
+  bot.onmessage do |gcode|
+    bot.log "NEW MESSAGE  : #{gcode};" unless gcode.cmd.head == :R
+  end
+  bot.onchange  { |diff|  puts "STATUS CHANGE: #{diff};" }
+  bot.onclose { puts "bye!"; EM.stop } # Unplug the bot and see
+  # EventMachine::PeriodicTimer.new(7) { print '.'; bot.serial_port.puts "F31 P8" }
+  EM.open_keyboard(KeyboardHandler, bot)
+end
+

data/lib/arduino.rb

@@ -8,6 +8,7 @@ require_relative 'arduino/status'
 module FB
   class Arduino
     class EmergencyStop < StandardError; end # Not yet used.
+    Position = Struct.new(:x, :y, :z)
 
     attr_accessor :serial_port, :logger, :commands, :inbound_queue, :status,
       :inputs, :outbound_queue
@@ -23,7 +24,7 @@ module FB
       @logger      = logger
       @commands    = FB::OutgoingHandler.new(self)
       @inputs      = FB::IncomingHandler.new(self)
-      @status      = FB::Status.new(self)
+      @status      = FB::Status.new
 
       start_event_listeners
     end
@@ -58,6 +59,10 @@ module FB
       @onclose.call if @onclose
     end
 
+    def current_position
+      Position.new(status[:X], status[:Y], status[:Z])
+    end
+
     private
 
     # Highest priority message when processing incoming Gcode. Use for system
@@ -69,13 +74,11 @@ module FB
     def execute_command_next_tick
       EM.next_tick do
         if status.ready?
-          diff = (Time.now - (@time || Time.now)).to_i
-          log "Sending queue after #{diff}s delay" if diff > 0
+          log "Exec after #{(Time.now - (@time || Time.now)).to_i}s wait"
           serial_port.puts @outbound_queue.pop
           @time = nil
         else
           @time ||= Time.now
-          serial_port.puts "F31 P8"
           execute_command_next_tick
         end
       end

data/lib/arduino/event_machine.rb

@@ -15,7 +15,7 @@ module FB
     # Gets called when data arrives.
     def receive_data(data)
       split_into_chunks(data).each do |chunk|
-        if chunk.end_with?("\r\n")
+        if chunk.end_with?("\r\n") || chunk.end_with?("R00\n")
           add_to_buffer(chunk)
           send_buffer
           clear_buffer

data/lib/arduino/outgoing_handler.rb

@@ -16,6 +16,10 @@ module FB
     end
 
     def move_relative(x: 0, y: 0, z: 0, s: 100)
+      x += (bot.current_position.x || 0)
+      y += (bot.current_position.y || 0)
+      z += (bot.current_position.z || 0)
+
       write "G00 X#{x} Y#{y} Z#{z}"
     end
 

data/lib/arduino/status.rb

@@ -3,20 +3,20 @@ module FB
     # 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,YR: 0, R: 0, BUSY: 0}
+                   ZB: 0,YR: 0, R: 0, BUSY: 1}
     Info = Struct.new(*DEFAULT_INFO.keys)
 
-    attr_reader :bot
-
-    def initialize(bot)
+    def initialize
       @changes = EM::Channel.new
-      @bot, @info = bot, Info.new(*DEFAULT_INFO.values)
+      @info    = Info.new(*DEFAULT_INFO.values)
     end
 
     def transaction(&blk)
       old = @info.to_h
-      yield
-      emit_updates(old)
+      yield(@info)
+      # Broadcast a diff between the old status and new status
+      diff = (@info.to_h.to_a - old.to_a).to_h
+      @changes << diff unless diff.empty?
     end
 
     def []=(register, value)
@@ -40,11 +40,5 @@ module FB
     def ready?
       self[:BUSY] == 0
     end
-
-    def emit_updates(old)
-      # calculate a diff between the old status and new status
-      diff = (@info.to_h.to_a - old.to_a).to_h
-      @changes << diff unless diff.empty?
-    end
   end
 end

data/lib/gcode.rb

@@ -6,9 +6,9 @@ module FB
     attr_accessor :cmd, :params, :str
 
     def initialize(str)
-      @str = str
-      @params = str.split(' ').map{|line| GcodeToken.new(line)}
-      @cmd = @params.shift || 'NULL'
+      @str    = str
+      @params = str.split(' ').map { |line| GcodeToken.new(line) }
+      @cmd    = @params.shift || 'NULL'
     end
 
     # Turns a string of many gcodes into an array of many gcodes. Used to parse
@@ -23,6 +23,7 @@ module FB
     end
 
     def to_s
+      # self.to_s # => "A12 B23 C45"
       [@cmd, *@params].map(&:to_s).join(" ")
     end
 

data/lib/gcode.yml

@@ -31,6 +31,11 @@
 :R2: :done
 :R3: :error
 :R4: :busy
+:R00: :idle
+:R01: :received
+:R02: :done
+:R03: :error
+:R04: :busy
 :R21: :report_parameter_value
 :R31: :report_status_value
 :R41: :report_pin_value

data/spec/fixtures/stub_logger.rb

@@ -0,0 +1,5 @@
+class StubLogger < StringIO
+  def initialize("")
+    super
+  end
+end

data/spec/lib/arduino/status_spec.rb

@@ -0,0 +1,40 @@
+require 'spec_helper'
+
+describe FB::IncomingHandler do
+
+  let(:status) { FB::Status.new }
+
+  it "capitalizes all incoming status keys" do
+    status[:bUsY] = 345345345
+    expect(status[:BUSY]).to eq(345345345)
+    expect(status[:bUsy]).to eq(345345345)
+    expect(status[:busy]).to eq(345345345)
+  end
+
+  it "symbolizes all incoming status keys" do
+    status['busy'] = 878787
+    expect(status[:bUsy]).to eq(878787)
+  end
+
+  it "indicates BUSY status via #ready?()" do
+    status['busy'] = 1
+    expect(status.ready?).to be_falsey
+    status['busy'] = 0
+    expect(status.ready?).to be_truthy
+  end
+
+  it 'broadcasts status changes' do
+    @diff = {}
+
+    within_event_loop do
+      status.onchange { |diff| @diff = diff }
+      status[:busy] = 1
+      status[:busy] = 0
+      status[:busy] = 1
+    end
+
+    expect(status[:busy]).to eq(1)
+    expect(@diff).to eq(:BUSY => 1)
+  end
+end
+

data/spec/lib/gcode_spec.rb

@@ -37,5 +37,10 @@ describe FB::Gcode do
     expect(codes.last.cmd.head).to eq(:C)
     expect(codes.first.params.first.tail).to eq(34)
   end
+
+  it 'handles parameterless Gcode' do
+    expect(FB::Gcode.new("  ").name).to be(:unknown)
+    expect(FB::Gcode.new("  ").cmd).to  eq("NULL")
+  end
 end
 

data/spec/spec_helper.rb

@@ -8,3 +8,10 @@ require 'farmbot-serial'
 require_relative 'fixtures/stub_serial_port'
 RSpec.configure do |config|
 end
+
+def within_event_loop
+  EM.run do
+    yield
+    EM.next_tick { EM.stop }
+  end
+end

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: farmbot-serial
 version: !ruby/object:Gem::Version
-  version: 0.0.9
+  version: 0.1.0
 platform: ruby
 authors:
 - Tim Evers
@@ -9,7 +9,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2015-04-04 00:00:00.000000000 Z
+date: 2015-04-10 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler
@@ -120,7 +120,7 @@ files:
 - ".rspec"
 - README.md
 - Rakefile
-- example.rb
+- console.rb
 - lib/arduino.rb
 - lib/arduino/event_machine.rb
 - lib/arduino/incoming_handler.rb
@@ -130,7 +130,9 @@ files:
 - lib/farmbot-serial.rb
 - lib/gcode.rb
 - lib/gcode.yml
+- spec/fixtures/stub_logger.rb
 - spec/fixtures/stub_serial_port.rb
+- spec/lib/arduino/status_spec.rb
 - spec/lib/arduino_spec.rb
 - spec/lib/gcode_spec.rb
 - spec/spec_helper.rb
@@ -159,7 +161,9 @@ signing_key:
 specification_version: 4
 summary: Serial library for Farmbot
 test_files:
+- spec/fixtures/stub_logger.rb
 - spec/fixtures/stub_serial_port.rb
+- spec/lib/arduino/status_spec.rb
 - spec/lib/arduino_spec.rb
 - spec/lib/gcode_spec.rb
 - spec/spec_helper.rb

data/example.rb

@@ -1,50 +0,0 @@
-require_relative 'lib/farmbot-serial'
-require 'pry'
-
-bot = FB::Arduino.new # Defaults to '/dev/ttyACM0', can be configured.
-
-puts """
-FARMBOT SERIAL SANDBOX. WELCOME!
-================================"""
-$commands = {
-  "q" => "bot.commands.emergency_stop",
-  "w" => "bot.commands.move_relative(x: 600)",
-  "s" => "bot.commands.move_relative(x: -600)",
-  "e" => "bot.commands.home_x",
-  "r" => "bot.commands.home_y",
-  "t" => "bot.commands.home_z",
-  "y" => "bot.commands.home_all",
-  "u" => "bot.commands.read_parameter(8)",
-  "i" => "bot.commands.write_parameter('x', 0)",
-  "o" => "bot.commands.write_pin(pin: 8, value: 1, mode: 1)",
-  "p" => "bot.commands.read_status(8)",
-}
-
-$commands.each { |k, v| puts "#{k}: #{v}" }
-
-class KeyboardHandler < EM::Connection
-  include EM::Protocols::LineText2
-
-  attr_reader :bot
-
-  def initialize(bot)
-    @bot = bot
-  end
-
-  def receive_line(data)
-    cmd = $commands[data] || ""
-    eval(cmd)
-  end
-end
-
-puts "Starting now."
-
-EM.run do
-  FB::ArduinoEventMachine.connect(bot)
-  bot.onmessage { |gcode| print "#{gcode.name}; " }
-  bot.onchange { |diff| print "#{diff}; " }
-  bot.onclose { puts "bye!"; EM.stop } # Unplug the bot and see
-  # EventMachine::PeriodicTimer.new(2) { bot.serial_port.puts "G82" }
-  EM.open_keyboard(KeyboardHandler, bot)
-end
-