farmbot-serial 0.6.2 → 0.7.0

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA1:
-  metadata.gz: deccbc9e0c3c50ebf83cc8182458dfd403ae96fd
-  data.tar.gz: a2c81cca29087b45e5ed53ad0fd6521ac3b91ab0
+  metadata.gz: caf76751695f80320148ccda60a2b7f5f90d99ce
+  data.tar.gz: df0cb1eed0147a30522799aa64f1ddedb599b773
 SHA512:
-  metadata.gz: e492413633dbb7409125c1ee53490552c6aa90ebd9cab53e346a8024d02159459bec07d6c1d2483c214d99ef65c65b9a5c2c6f4d24089f72dff4d502ab5fdb8b
-  data.tar.gz: 8dd6af1fe1463ee1a55c63c6701fb7059824a1d21b2b61dadb6431dbb425bbc66c1a799187ceadad5bd5b8b7e22fe8ad1442f62736cfd0730a29eca85fb7dfab
+  metadata.gz: 18dffa6b60f61e21f179f770e61d92b75df8a249c7f35afc324a24341571b0b3f82bfcf369579e459315ae88117a71465ca7a8c305cc48701dc76d59ed4c943b
+  data.tar.gz: b77c02b6530fe4aa310149d8ce66591c353165708dbe85ebe194df89ee0e2dc7e8aae70a8c34cc5f39d2b0a93761a4600f37db3aa911f7072930bcf42af102e5

data/lib/arduino/incoming_handler.rb

@@ -8,17 +8,21 @@ module FB
     end
 
     def execute(gcode)
-      self.send(gcode.name, gcode)
-    rescue NoMethodError
-      bot.log "#{gcode.name} is a valid GCode, but no input handler method exists"
+      name = gcode.name
+      if respond_to?(name)
+        self.send(name, gcode)
+      else
+        bot.log "#{gcode.name} is a valid GCode, but no input handler method exists"
+      end
     end
 
     def unknown(gcode)
       bot.log "Don't know how to parse incoming GCode: #{gcode}"
     end
 
+    # Called when the Ardunio is reporting the status of a parameter.
     def report_parameter_value(gcode)
-      bot.status.set_pin(gcode.value_of(:P), gcode.value_of(:V))
+      bot.status.set(gcode.value_of(:P), gcode.value_of(:V))
     end
 
     def reporting_end_stops(gcode)
@@ -31,7 +35,7 @@ module FB
 
     def report_status_value(gcode)
       # TODO: Verfiy the accuracy of this code. CC: @timevww
-      bot.status.set_pin(gcode.value_of(:P), gcode.value_of(:V))
+      bot.status.set(gcode.value_of(:P), gcode.value_of(:V))
     end
 
     def received(gcode)

data/lib/arduino/outgoing_handler.rb

@@ -65,13 +65,65 @@ module FB
 
     def pin_write(pin:, value:, mode:)
       write { "F41 P#{pin} V#{value} M#{mode}" }
-      bot.status.set_pin(pin, value)
+      bot.status.set(pin, value)
+    end
+
+    def set_max_speed(axis, value)
+      set_paramater_value(axis, value, 71, 72, 73)
+    end
+
+    def set_acceleration(axis, value)
+      set_paramater_value(axis, value, 41, 42, 43)
+    end
+
+    def set_timeout(axis, value)
+      set_paramater_value(axis, value, 11, 12, 13)
+    end
+
+    def set_steps_per_mm(axis, value)
+      raise "The Farmbot Arduino does not currently store a value for steps "\
+            "per mm. Keep track of this information at the application level"
+    end
+
+    def set_end_inversion(axis, value)
+      set_paramater_value(axis, bool_to_int(value), 21, 22, 23)
+    end
+
+    def set_motor_inversion(axis, value)
+      set_paramater_value(axis, bool_to_int(value), 31, 32, 33)
+    end
+
+    def set_negative_coordinates(axis, value)
+      raise "Not yet implemented. TODO: This method."
     end
 
   private
 
+    class InvalidAxisEntry < Exception; end
+    class BadBooleanValue < Exception; end
+
+    # The Arduino uses a different parameter number for each axis. Ex:
+    # MOVEMENT_TIMEOUT_X is 11 and MOVEMENT_TIMEOUT_Y is 12. To keep things dry,
+    # this method will lookup the correct paramater numer based on the axis
+    # provided and the three options available (if_x, if_y, if_z)
+    def set_paramater_value(axis, value, if_x, if_y, if_z)
+      param_num = { 'x' => if_x, 'y' => if_y, 'z' => if_z }[axis.to_s.downcase]
+      raise InvalidAxisEntry, "You entered an invalid axis" unless param_num
+      write { "F22 P#{param_num} V#{value.to_s}" }
+    end
+
     def write(&blk)
       bot.write(FB::Gcode.new(&blk))
     end
+
+    def bool_to_int(value)
+      case value
+      when true, 'true', 1, '1'   then 1
+      when false, 'false', 0, '0' then 0
+      else
+        raise BadBooleanValue, "Farmbot expected a boolean value in one of "\
+                               "the following forms: [true, false, 1, 0]"
+      end
+    end
   end
 end

data/lib/arduino/status.rb

@@ -1,12 +1,11 @@
 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, BUSY: 1, LAST: 'none', PINS: {}}
-    Info = Struct.new(*DEFAULT_INFO.keys)
+    DEFAULT_INFO = {X: 0, Y: 0, Z: 0, S: 10, BUSY: 1, LAST: 'none'}
 
     def initialize
       @changes = EM::Channel.new
-      @info    = Info.new(*DEFAULT_INFO.values)
+      @info    = OpenStruct.new(DEFAULT_INFO)
     end
 
     def transaction(&blk)
@@ -18,14 +17,11 @@ module FB
     end
 
     def []=(register, value)
-      transaction do
-        register = register.upcase.to_sym
-        @info[register] = value if @info.members.include?(register)
-      end
+      transaction { @info[register.to_s.upcase] = value }
     end
 
     def [](value)
-      @info[value.upcase.to_sym]
+      @info[value.upcase.to_s]
     end
 
     def to_h
@@ -34,10 +30,7 @@ module FB
 
     def gcode_update(gcode)
       transaction do
-        gcode.params.each do |p|
-          setter = "#{p.head}="
-          @info.send(setter, p.tail) if @info.respond_to?(setter)
-        end
+        gcode.params.each { |p| @info[p.head] = p.tail }
       end
     end
 
@@ -49,13 +42,22 @@ module FB
       self[:BUSY] == 0
     end
 
-    def pin(num)
-      @info[:PINS][num] || :unknown
+    def get(val)
+      @info[val.to_s.upcase] || :unknown
+    end
+
+    def set(key, val)
+      transaction do |info|
+        info[Gcode::PARAMETER_DICTIONARY.fetch(key, key.to_s)] = val
+      end
     end
 
-    def set_pin(num, val)
-      val = [true, 1, '1'].include?(val) ? :on : :off
-      transaction { |info| info.PINS[num] = val }
+    def pin(num)
+      case get(num)
+      when false, 0, :off then :off
+      when true, 1, :on then :on
+      else; :unknown
+      end
     end
   end
 end

data/lib/gcode.rb

@@ -1,7 +1,10 @@
 require 'yaml'
 module FB
   class Gcode
-    GCODE_DICTIONARY = YAML.load_file(File.join(File.dirname(__FILE__), 'gcode.yml'))
+    GCODE_DICTIONARY     = YAML.load_file(File.join(File.dirname(__FILE__),
+                                          'gcode.yml'))
+    PARAMETER_DICTIONARY = YAML.load_file(File.join(File.dirname(__FILE__),
+                                          'parameters.yml'))
 
     attr_accessor :cmd, :params, :block
 

data/lib/gcode.yml

@@ -1,3 +1,5 @@
+# This is a dictionary of all the GCodes. They are used by the Arduino to
+# differentiate commands.
 ---
 :G0:  :move_to_location_at_given_speed_for_axis
 :G1:  :move_to_location_on_a_straight_line

data/lib/parameters.yml

@@ -0,0 +1,25 @@
+# Internally, the arduino uses a number code for each status. Those statuses are
+# defined here.
+---
+0: :PARAM_VERSION
+11: :MOVEMENT_TIMEOUT_X
+12: :MOVEMENT_TIMEOUT_Y
+13: :MOVEMENT_TIMEOUT_Z
+21: :MOVEMENT_INVERT_ENDPOINTS_X
+22: :MOVEMENT_INVERT_ENDPOINTS_Y
+23: :MOVEMENT_INVERT_ENDPOINTS_Z
+31: :MOVEMENT_INVERT_MOTOR_X
+32: :MOVEMENT_INVERT_MOTOR_Y
+33: :MOVEMENT_INVERT_MOTOR_Z
+41: :MOVEMENT_STEPS_ACC_DEC_X
+42: :MOVEMENT_STEPS_ACC_DEC_Y
+43: :MOVEMENT_STEPS_ACC_DEC_Z
+51: :MOVEMENT_HOME_UP_X
+52: :MOVEMENT_HOME_UP_Y
+53: :MOVEMENT_HOME_UP_Z
+61: :MOVEMENT_MIN_SPD_X
+62: :MOVEMENT_MIN_SPD_Y
+63: :MOVEMENT_MIN_SPD_Z
+71: :MOVEMENT_MAX_SPD_X
+72: :MOVEMENT_MAX_SPD_Y
+73: :MOVEMENT_MAX_SPD_Z

data/serial-console.rb

@@ -0,0 +1,45 @@
+require_relative 'lib/farmbot-serial'
+require 'pry'
+
+connection =  FB::DefaultSerialPort.new('/dev/ttyUSB0')
+
+puts """
+THIS IS A SERIAL TERMINAL.
+
+"""
+
+print "> "
+
+class KeyboardHandler < EM::Connection
+  include EM::Protocols::LineText2
+
+  attr_reader :connection
+
+  def initialize(connection)
+    @connection = connection
+  end
+
+  def receive_line(data)
+    connection.puts(data.chomp + "\r\n")
+    puts("Computer: #{data}")
+  end
+
+  def unbind
+    EM.stop
+  end
+end
+
+class SerialHandler < EventMachine::Connection
+  def receive_data(data)
+    puts("Arduino: #{data}")
+  end
+
+  def unbind
+    EM.stop
+  end
+end
+
+EM.run do
+  EM.open_keyboard(KeyboardHandler, connection)
+  EM.attach(connection,)
+end

data/spec/lib/arduino/incoming_handler_spec.rb

@@ -5,16 +5,18 @@ describe FB::IncomingHandler do
   let(:bot) { FakeArduino.new }
   let(:handler) { FB::IncomingHandler.new(bot) }
 
+  it 'gets calibration data' do
+    gcode = FB::Gcode.new { "R21 P71 V7654" }
+    handler.execute(gcode)
+    expect(bot.status.to_h[:MOVEMENT_MAX_SPD_X]).to eq(7654)
+  end
+
   it 'handles unknowns' do
     handler.execute(FakeGcode.new('hello', 'abc'))
     expectation = "hello is a valid GCode, but no input handler method exists"
     expect(bot.logger.message).to eq(expectation)
   end
 
-  # def report_parameter_value(gcode)
-  #   bot.status.set_pin(gcode.value_of(:P), gcode.value_of(:V))
-  # end
-
   it 'reports the value of a parameter' do
     handler.report_parameter_value(FB::Gcode.new { "A1 P1 V0" })
     expect(bot.status.pin(1)).to eq(:off)

data/spec/lib/arduino/outgoing_handler_spec.rb

@@ -73,4 +73,79 @@ describe FB::OutgoingHandler do
     handler.pin_write(pin: 0, value: 1, mode: 3)
     expect(bot.next_cmd.to_s).to eq("F41 P0 V1 M3")
   end
+
+  it 'sets max speed' do
+    handler.set_max_speed(:x, 1000)
+    expect(bot.next_cmd.to_s).to eq("F22 P71 V1000")
+    handler.set_max_speed(:Y, 100)
+    expect(bot.next_cmd.to_s).to eq("F22 P72 V100")
+    handler.set_max_speed('z', 1)
+    expect(bot.next_cmd.to_s).to eq("F22 P73 V1")
+  end
+
+  it 'sets acceleration' do
+    handler.set_acceleration(:x, 123)
+    expect(bot.next_cmd.to_s).to eq("F22 P41 V123")
+    handler.set_acceleration(:y, 123)
+    expect(bot.next_cmd.to_s).to eq("F22 P42 V123")
+    handler.set_acceleration(:z, 123)
+    expect(bot.next_cmd.to_s).to eq("F22 P43 V123")
+  end
+
+  it 'sets a timeout' do
+    handler.set_timeout(:x, 223)
+    expect(bot.next_cmd.to_s).to eq("F22 P11 V223")
+    handler.set_timeout(:y, 223)
+    expect(bot.next_cmd.to_s).to eq("F22 P12 V223")
+    handler.set_timeout(:z, 223)
+    expect(bot.next_cmd.to_s).to eq("F22 P13 V223")
+  end
+
+  it 'sets end stop inversion' do
+    handler.set_end_inversion(:x, true)
+    expect(bot.next_cmd.to_s).to eq("F22 P21 V1")
+    handler.set_end_inversion(:y, '0')
+    expect(bot.next_cmd.to_s).to eq("F22 P22 V0")
+    handler.set_end_inversion(:z, 1)
+    expect(bot.next_cmd.to_s).to eq("F22 P23 V1")
+  end
+
+  it 'sets motor inversion' do
+    handler.set_motor_inversion(:x, false)
+    expect(bot.next_cmd.to_s).to eq("F22 P31 V0")
+    handler.set_motor_inversion(:y, '1')
+    expect(bot.next_cmd.to_s).to eq("F22 P32 V1")
+    handler.set_motor_inversion(:z, 0)
+    expect(bot.next_cmd.to_s).to eq("F22 P33 V0")
+  end
+
+  it 'does NOT set negative coordinates' do
+    expect do
+      handler.set_negative_coordinates(:x, 99)
+    end.to raise_exception
+  end
+
+  it 'does NOT set steps per mm (thats not the Arduinos job)' do
+    expect do
+      handler.set_steps_per_mm(:x, 99)
+    end.to raise_exception
+  end
+
+  it 'sets end inversion' do
+    expect do
+      handler.set_steps_per_mm(:x, 99)
+    end.to raise_exception
+  end
+
+  it 'raises exceptions when given invalid axis names' do
+    expect do
+      handler.set_max_speed('q', 1)
+    end.to raise_exception(FB::OutgoingHandler::InvalidAxisEntry)
+  end
+
+  it 'handles bad inputs when inverting motors / steps' do
+    expect do
+      handler.set_motor_inversion(:x, 4)
+    end.to raise_exception(FB::OutgoingHandler::BadBooleanValue)
+  end
 end

data/spec/lib/arduino/status_spec.rb

@@ -46,7 +46,7 @@ describe FB::Status do
   end
 
   it 'reads known and unknow pin values' do
-    status.set_pin(1, 1)
+    status.set(1, 1)
     expect(status.pin(1)).to eq(:on)
     expect(status.pin(2)).to eq(:unknown)
   end

data/spec/lib/gcode_spec.rb

@@ -44,10 +44,5 @@ describe FB::Gcode do
     expect(FB::Gcode.new{ "  " }.cmd.head).to eq(null_token.head)
     expect(FB::Gcode.new{ "  " }.cmd.tail).to eq(null_token.tail)
   end
-
-  it 'sets dyanmic parameters' do
-    random_gcode = FB::Gcode.new{ "Q#{Time.now.to_f.to_s[-2, 2]}" }
-    expect(random_gcode.cmd.tail).to_not eq(random_gcode.cmd.tail)
-  end
 end
 

data/spec/spec_helper.rb

@@ -12,22 +12,6 @@ require_relative 'fakes/fake_logger'
 require_relative 'fakes/fake_arduino'
 require_relative 'fakes/fake_gcode'
 
-require 'ruby-prof'
-
-RSpec.configure do |config|
-  config.before(:suite) do
-    # Profile the code
-    RubyProf.start
-  end
-
-  config.after(:suite) do
-    result = RubyProf.stop
-    # Print a flat profile to text
-    printer = RubyProf::FlatPrinter.new(result)
-    printer.print(STDOUT)
-  end
-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(ticks_remaining = 1)

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: farmbot-serial
 version: !ruby/object:Gem::Version
-  version: 0.6.2
+  version: 0.7.0
 platform: ruby
 authors:
 - Tim Evers
@@ -9,7 +9,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2015-06-07 00:00:00.000000000 Z
+date: 2015-08-04 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler
@@ -144,6 +144,8 @@ files:
 - lib/farmbot-serial.rb
 - lib/gcode.rb
 - lib/gcode.yml
+- lib/parameters.yml
+- serial-console.rb
 - spec/fakes/fake_arduino.rb
 - spec/fakes/fake_gcode.rb
 - spec/fakes/fake_logger.rb