farmbot-serial 0.3.0 → 0.3.1

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA1:
-  metadata.gz: 63d4f03cfdeea5d307b9e4d5b9f3abff6e9c3127
-  data.tar.gz: 8d9afbc6a329232d9119fb792bab37b620025cfc
+  metadata.gz: 7218c2ba0e30dadcc95541989c77a39c7cb45983
+  data.tar.gz: 8cf08101df89cc74f18f0e78ed5fbe9f81a00d13
 SHA512:
-  metadata.gz: 5b9aced9e498a880f65c3a1977f76f2ea7d5c38a03065f6cffebe5a5ad4648a3e9d3967f89cabf8b3651e44962e5af30b5f4beaf9ce40d052bd6842b993dc764
-  data.tar.gz: d6f3071f68e53b750a82af089125700cf6d6e6e2aafe4df1320fe7c9ba948a11200512a10bbb781fe08244add31a3afc8fc6862aaed6bca3bc8aeb444fb30d53
+  metadata.gz: 8c1c83d20b6c46fba884cdc3b39ecd502ef7e6ffe243cd0e214296f120702c98ec29350d980b02daddad9a34f87e8bef1d004b7fc0a659b5ddf0ca49124e0ebc
+  data.tar.gz: c71840a5bac1d79eb389c9b7f772529b4154df7e4a0e60529ab427aca79a75c8de2297b83e79726568dddbba23736f2a71d6702339baae07884aa783e27cbc76

data/lib/arduino.rb

@@ -68,6 +68,10 @@ module FB
       end
     end
 
+    def next_cmd
+      outbound_queue.first
+    end
+
     def pop_gcode_off_queue
       gcode = @outbound_queue.pop
       if gcode.is_a?(FB::Gcode)
@@ -83,7 +87,7 @@ module FB
     def start_event_listeners
       status.onchange { |diff| @onchange.call(diff) if @onchange }
       inbound_queue.subscribe do |gcodes|
-        gcodes.each do |gcode|
+        Array(gcodes).each do |gcode|
           parse_incoming(gcode)
           @onmessage.call(gcode) if @onmessage
         end

data/lib/arduino/outgoing_handler.rb

@@ -17,8 +17,9 @@ module FB
 
     def move_relative(x: 0, y: 0, z: 0, s: 100)
       write do
-        # TODO: At some point, I will need to figure out why this is double
-        # firing. In the meantime, the fix is to use `||=` instead of `=`
+        # REMEBER: YOU NEVER WANT TO MUTATE VARIABLES HERE. If you mutate vars
+        # in a block, it will result in the return value getting incremented
+        # every time the value is read. For this reason, we use ||= and not =.
         x1 ||= [(bot.current_position.x + (x || 0)), 0].max
         y1 ||= [(bot.current_position.y + (y || 0)), 0].max
         z1 ||= [(bot.current_position.z + (z || 0)), 0].max
@@ -28,6 +29,9 @@ module FB
     end
 
     def move_absolute(x: 0, y: 0, z: 0, s: 100)
+      x = [x.to_i, 0].max
+      y = [y.to_i, 0].max
+      z = [z.to_i, 0].max
       write { "G00 X#{x} Y#{y} Z#{z}" }
     end
 

data/lib/arduino/status.rb

@@ -20,11 +20,7 @@ module FB
     def []=(register, value)
       transaction do
         register = register.upcase.to_sym
-        if @info.members.include?(register)
-          @info[register] = value
-        else
-          bot.log "Ignoring attempt to set unknown status value: #{register}"
-        end
+        @info[register] = value if @info.members.include?(register)
       end
     end
 

data/lib/default_serial_port.rb

@@ -14,6 +14,7 @@ module FB
 
     # Why `def self::new()`? it was defined that way in the parent class,
     # therefore, I can't call super in #initialize().
+    #:nocov:
     def self::new(com = COM_PORT, conf = OPTIONS)
       super
     end

data/spec/fakes/fake_arduino.rb

@@ -3,5 +3,6 @@ require_relative "fake_serial_port"
 
 class FakeArduino < FB::Arduino
   def initialize(serial_port: FakeSerialPort.new, logger: FakeLogger.new)
+    super
   end
 end

data/spec/lib/arduino/outgoing_handler_spec.rb

@@ -0,0 +1,76 @@
+require 'spec_helper'
+
+describe FB::ArduinoEventMachine do
+
+  let(:handler) { FB::OutgoingHandler.new(FakeArduino.new) }
+  let(:bot) { handler.bot }
+  it 'initializes' do
+    handler
+    expect(handler.bot).to be_kind_of(FB::Arduino)
+  end
+
+  it 'emergency_stop()s' do
+    10.times { handler.move_relative(x: 1) }
+
+    handler.emergency_stop
+
+    expect(bot.outbound_queue.length).to eq(0)
+    expect(bot.status[:LAST]).to eq(:emergency_stop)
+    expect(bot.serial_port.message).to eq('E')
+  end
+
+  it 'adjusts relative movements to bots position RIGHT NOW' do
+    handler.move_relative(x: 1, y: 2, z: 3)
+    expect(bot.next_cmd.to_s).to eq("G0 X1 Y2 Z3")
+    [:x, :y, :z].each { |pos| bot.status[pos] = 3 }
+    expect(bot.next_cmd.to_s).to eq("G0 X4 Y5 Z6")
+  end
+
+  it 'never goes behind the 0 line' do
+    handler.move_relative(x: -999, y: -999, z: -999)
+    expect(bot.outbound_queue.first.value_of(:x)).to eq(0)
+    expect(bot.outbound_queue.first.value_of(:y)).to eq(0)
+    expect(bot.outbound_queue.first.value_of(:z)).to eq(0)
+  end
+
+  it 'Moves absolute' do
+    [:x, :y, :z].each { |pos| bot.status[pos] = 300 }
+    handler.move_absolute(x: 5, y: 6, z: 7)
+    expect(bot.next_cmd.to_s).to eq("G0 X5 Y6 Z7")
+    handler.move_absolute(x: 7, y: 8, z: 9)
+    expect(bot.next_cmd.to_s).to eq("G0 X7 Y8 Z9")
+  end
+
+  it 'Never goes farther than 0 when moving absolute' do
+    handler.move_absolute(x: -987, y: -654, z: -321)
+    expect(bot.next_cmd.to_s).to eq("G0 X0 Y0 Z0")
+  end
+
+  it 'homes x, y, z, all' do
+    handler.home_x
+    expect(bot.next_cmd.to_s).to eq("F11")
+    handler.home_y
+    expect(bot.next_cmd.to_s).to eq("F12")
+    handler.home_z
+    expect(bot.next_cmd.to_s).to eq("F13")
+    handler.home_all
+    expect(bot.next_cmd.to_s).to eq("G28")
+  end
+
+  it 'reads / writes parameters' do
+    handler.read_parameter(0)
+    expect(bot.next_cmd.to_s).to eq("F21 P0")
+    handler.write_parameter(0, 1)
+    expect(bot.next_cmd.to_s).to eq("F22 P0 V1")
+  end
+
+  it 'reads status' do
+    handler.read_status(0)
+    expect(bot.next_cmd.to_s).to eq("F31 P0")
+  end
+
+  it 'writes to a pin' do
+    handler.pin_write(pin: 0, value: 1, mode: 3)
+    expect(bot.next_cmd.to_s).to eq("F41 P0 V1 M3")
+  end
+end

data/spec/lib/arduino/status_spec.rb

@@ -36,5 +36,20 @@ describe FB::IncomingHandler do
     expect(status[:busy]).to eq(1)
     expect(@diff).to eq(:BUSY => 1)
   end
+
+  it 'Updates status registers directly from GCode' do
+    command = FB::Gcode.new { "A1 X88 Y77 Z66" }
+    status.gcode_update(command)
+    expect(status[:x]).to eq(88)
+    expect(status[:y]).to eq(77)
+    expect(status[:z]).to eq(66)
+  end
+
+  it 'reads known and unknow pin values' do
+    status.set_pin(1, 1)
+    expect(status.pin(1)).to eq(:on)
+    expect(status.pin(2)).to eq(:unknown)
+  end
+
 end
 

data/spec/lib/arduino_spec.rb

@@ -3,18 +3,19 @@ require 'spec_helper'
 describe FB::Arduino do
   let(:logger) { FakeLogger.new }
   let(:serial_port) { FakeSerialPort.new }
+  let(:command) { FB::Gcode.new { 'A1 B2 C3' } }
   let(:bot) do
     FB::Arduino.new(serial_port: serial_port, logger: logger)
   end
 
 
-  it "logs" do
+  it 'logs' do
     bot.log 'Hello, world!'
     expect(logger.message).to eq('Hello, world!')
   end
 
 
-  it "initializes" do
+  it 'initializes' do
     expect(bot).to be_kind_of(FB::Arduino)
     expect(bot.serial_port).to be_kind_of(FakeSerialPort)
     expect(bot.logger).to be_kind_of(StringIO)
@@ -25,17 +26,17 @@ describe FB::Arduino do
   end
 
   it 'prints to the logger object' do
-    bot.log "Hello, World!"
-    expect(logger.message).to eq("Hello, World!")
+    bot.log 'Hello, World!'
+    expect(logger.message).to eq('Hello, World!')
   end
 
   it 'writes to outbound command queue' do
-    bot.write("A1 B2 C3")
-    expect(bot.outbound_queue).to include("A1 B2 C3")
+    bot.write('A1 B2 C3')
+    expect(bot.outbound_queue).to include('A1 B2 C3')
   end
 
-  it "sets change/message/close callbacks" do
-    yowza = ->{ bot.log "QQQ" }
+  it 'sets change/message/close callbacks' do
+    yowza = ->{ bot.log 'QQQ' }
     bot.onmessage(&yowza)
     bot.onclose(&yowza)
     bot.onchange(&yowza)
@@ -44,16 +45,16 @@ describe FB::Arduino do
     expect(bot.instance_variable_get(:@onchange)).to be(yowza)
   end
 
-  it "calls onclose callback via disconnect()" do
+  it 'calls onclose callback via disconnect()' do
     calls = []
-    bot.onclose { calls << "Hey!" }
+    bot.onclose { calls << 'Hey!' }
     bot.disconnect
-    expect(logger.message).to eq("Connection to device lost")
+    expect(logger.message).to eq('Connection to device lost')
     expect(calls.length).to eq(1)
-    expect(calls).to include("Hey!")
+    expect(calls).to include('Hey!')
   end
 
-  it "reports current_position" do
+  it 'reports current_position' do
     bot.status[:x] = 1
     bot.status[:y] = 2
     bot.status[:z] = 3
@@ -62,15 +63,38 @@ describe FB::Arduino do
     expect(bot.current_position.z).to eq(3)
   end
 
-  it "pops gcode off queue" do
-    command = FB::Gcode.new { "A1 B2 C3" }
+  it 'pops gcode off queue' do
     bot.outbound_queue.push(command)
     expect(bot.outbound_queue.length).to eq(1)
     within_event_loop { bot.pop_gcode_off_queue }
     expect(bot.outbound_queue.length).to eq(0)
-    expect(serial_port.message).to eq("A1 B2 C3")
+    expect(serial_port.message).to eq('A1 B2 C3')
     expect(bot.status.ready?).to be_falsey
     expect(bot.status[:last]).to eq(:unknown)
   end
-end
 
+  it 'starts event listeners' do
+    called_onmessage = 0
+    called_onchange  = 0
+    bot.inbound_queue.push(command)
+
+    bot.onmessage do |msg|
+      called_onmessage += 1
+      bot.status[:X] = 33
+    end
+
+    bot.onchange do |diff|
+      called_onchange += 1
+    end
+
+    within_event_loop { bot }
+
+    expect(called_onmessage).to eq(1)
+    expect(called_onchange).to eq(1)
+  end
+
+  it 'Flips out if a message is not a GCode object.' do
+    bot.inbound_queue.push "I don't think so!"
+    expect { bot.pop_gcode_off_queue }.to raise_error(TypeError)
+  end
+end

data/spec/spec_helper.rb

@@ -15,9 +15,9 @@ end
 
 # This is used for testing things that require an event loop. Once run, you can
 # observe / make assertions on side effects.
-def within_event_loop
+def within_event_loop(ticks_remaining = 1)
   EM.run do
+    EventMachine::PeriodicTimer.new(0.1) { EM.stop }
     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: 0.3.0
+  version: 0.3.1
 platform: ruby
 authors:
 - Tim Evers
@@ -9,7 +9,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2015-04-23 00:00:00.000000000 Z
+date: 2015-04-28 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler
@@ -134,6 +134,7 @@ files:
 - spec/fakes/fake_logger.rb
 - spec/fakes/fake_serial_port.rb
 - spec/lib/arduino/event_machine_spec.rb
+- spec/lib/arduino/outgoing_handler_spec.rb
 - spec/lib/arduino/status_spec.rb
 - spec/lib/arduino_spec.rb
 - spec/lib/gcode_spec.rb
@@ -167,7 +168,9 @@ test_files:
 - spec/fakes/fake_logger.rb
 - spec/fakes/fake_serial_port.rb
 - spec/lib/arduino/event_machine_spec.rb
+- spec/lib/arduino/outgoing_handler_spec.rb
 - spec/lib/arduino/status_spec.rb
 - spec/lib/arduino_spec.rb
 - spec/lib/gcode_spec.rb
 - spec/spec_helper.rb
+has_rdoc: