hybridgroup-crubyflie 0.1.4

data/spec/toc_spec.rb

@@ -0,0 +1,187 @@
+# -*- coding: utf-8 -*-
+# Copyright (C) 2013 Hector Sanjuan
+
+# This file is part of Crubyflie.
+
+# Crubyflie is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+
+# Crubyflie is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+
+# You should have received a copy of the GNU General Public License
+# along with Crubyflie.  If not, see <http://www.gnu.org/licenses/>
+
+require 'crazyflie/toc'
+
+describe TOCElement do
+    describe "#initialize" do
+        it "should assign the variables correctly" do
+            te = TOCElement.new({
+                                    :ident => 1,
+                                    :group => 2,
+                                    :name => 3,
+                                    :ctype => 4,
+                                    :directive => 'C*',
+                                    :access => 6
+                                })
+            te.ident.should == 1
+            te.group.should == 2
+            te.name.should == 3
+            te.ctype.should == 4
+            te.directive.should == 'C*'
+            te.access.should == 6
+        end
+    end
+end
+
+describe TOC do
+    before :each do
+        @cache = double("TOCCache")
+        allow(TOCCache).to receive(:new).and_return(@cache)
+        @toc = TOC.new()
+        @element = TOCElement.new({
+                                    :ident => 1,
+                                    :group => "mygroup",
+                                    :name => "myname",
+                                    :ctype => 4,
+                                    :rtype => 5,
+                                    :access => 6
+                                  })
+        @logger = @toc.logger
+    end
+
+    describe "#initialize" do
+        it "should setup the cache" do
+            expect(TOCCache).to receive(:new).with('abc')
+            toc = TOC.new('abc')
+        end
+    end
+
+    describe "#[]" do
+        it "should find an element by name only" do
+            @toc.insert(@element)
+            @toc["myname",:by_name].should == @element
+            @toc["mygroup.myname",:by_name].should == @element
+            @toc[1,:by_name].should be_nil
+        end
+
+        it "should find an element by id only" do
+            @toc.insert(@element)
+            @toc["myname",:by_id].should be_nil
+            @toc[1,:by_id].should == @element
+        end
+
+        it "should find an element by both name and id" do
+            @toc.insert(@element)
+            @toc["myname"].should == @element
+            @toc[1].should == @element
+        end
+
+        it "should return nil when the element is not found" do
+            @toc.insert(@element)
+            @toc["baa"].should be_nil
+        end
+    end
+
+    describe "#insert" do
+        it "should insert correctly an element" do
+            @toc[1].should be_nil
+            @toc.insert(@element)
+            @toc[1].should == @element
+        end
+    end
+
+    describe "#import/#export" do
+        it "should import and export" do
+            expect(@cache).to receive(:insert).with('abc', @toc.toc)
+            expect(@cache).to receive(:fetch).with('abc').and_return({:a => 3})
+
+            @toc.insert(@element)
+            @toc.export_to_cache('abc')
+            @toc.import_from_cache('abc')
+            @toc.toc.should == {:a => 3}
+        end
+    end
+
+    describe "#fetch_from_crazyflie" do
+        it "should import from cache when the TOC is in it" do
+            cf = double("Crazyflie")
+            queue = Queue.new
+            resp = CRTPPacket.new()
+            resp.modify_header(nil, 0, TOC_CHANNEL)
+            resp.data = [0, 5, 0x01, 0x00, 0x00, 0x00, 0x00]
+            bad_resp = CRTPPacket.new()
+            bad_resp.modify_header(nil, 0, 33)
+
+            allow(@cache).to receive(:fetch).and_return({:abc => "def"}).once
+
+            expect(queue).to receive(:pop).and_return(bad_resp, resp).twice
+            expect(queue).to receive(:<<).with(bad_resp)
+            expect(cf).to receive(:send_packet).with(anything, true).once
+            m = "Got a non-TOC packet. Requeueing..."
+            m2 = "TOC crc #{1}, 5 items"
+            m3 = "TOC found in cache"
+            expect(@logger).to receive(:debug).with(m)
+            expect(@logger).to receive(:debug).with(m2)
+            expect(@logger).to receive(:debug).with(m3)
+
+            @toc.fetch_from_crazyflie(cf, 0, queue)
+        end
+
+        it "should request the elements in the TOC when it is not in cache" do
+            cf = double("Crazyflie")
+            queue = Queue.new
+            resp = CRTPPacket.new()
+            resp.modify_header(nil, 0, TOC_CHANNEL)
+            resp.data = [0, 5, 0x01, 0x00, 0x00, 0x00, 0x00]
+
+            resp_elem = CRTPPacket.new()
+            resp_elem.modify_header(nil, 0, TOC_CHANNEL)
+            resp_elem.data = [0, 0, 0xFF, 0xFF]
+
+            allow(@cache).to receive(:fetch).and_return(nil).once
+
+            do_this = receive(:pop).and_return(resp,
+                                               resp_elem).exactly(6).times
+            expect(queue).to do_this
+            expect(cf).to receive(:send_packet).with(anything,
+                                                     true).exactly(6).times
+
+            mw = "Not in cache"
+            m = "TOC crc 1, 5 items"
+            m0 = "Added 0 to TOC"
+            m1 = "Added 1 to TOC"
+            m2 = "Added 2 to TOC"
+            m3 = "Added 3 to TOC"
+            m4 = "Added 4 to TOC"
+
+            expect(@logger).to receive(:debug).with(mw)
+            expect(@logger).to receive(:debug).with(m)
+            expect(@logger).to receive(:debug).with(m0)
+            expect(@logger).to receive(:debug).with(m1)
+            expect(@logger).to receive(:debug).with(m2)
+            expect(@logger).to receive(:debug).with(m3)
+            expect(@logger).to receive(:debug).with(m4)
+
+            one = { :ident => 0 }
+            two = { :ident => 1 }
+            three = { :ident => 2 }
+            four = { :ident => 3 }
+            five = { :ident => 4 }
+            allow(TOCElement).to receive(:new).and_return(
+                                                          TOCElement.new(one),
+                                                          TOCElement.new(two),
+                                                          TOCElement.new(three),
+                                                          TOCElement.new(four),
+                                                          TOCElement.new(five))
+
+            expect(@cache).to receive(:insert).with("1", anything)
+            @toc.fetch_from_crazyflie(cf, 0, queue)
+        end
+    end
+end

data/tools/sdl-joystick-axis.rb

@@ -0,0 +1,69 @@
+#!/usr/bin/env ruby
+# Copyright (C) 2013 Hector Sanjuan
+
+# This file is part of Crubyflie.
+
+# Crubyflie is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+
+# Crubyflie is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+
+# You should have received a copy of the GNU General Public License
+# along with Crubyflie.  If not, see <http://www.gnu.org/licenses/>
+
+# A simple script to list SDL axis/button numbering and read values
+
+require 'sdl'
+require 'pp'
+
+warn "Welcome to Crubyflie joystick utility. Ctrl-C to exit."
+warn "--"
+Signal.trap("SIGINT") do
+    warn "\n\n"
+    warn "Bye bye!"
+    SDL.quit
+    exit 0
+end
+
+SDL.init(SDL::INIT_JOYSTICK)
+n_joy = SDL::Joystick.num
+if n_joy == 0
+    warn "No joysticks found"
+    exit 1
+end
+
+
+warn "Total number of Joysticks: #{n_joy}"
+n_joy.times do |i|
+    warn "#{i}: #{SDL::Joystick.index_name(i)}"
+end
+warn "--"
+print "Which one should we use (0-#{n_joy-1}): "
+joy_id = gets.to_i
+joy = SDL::Joystick.open(joy_id)
+warn "Opened Joystick #{joy_id}"
+warn "Name: SDL::Joystick.index_name(#{joy_id})"
+warn "Number of Axes: #{joy.num_axes}"
+warn "Number of buttons: #{joy.num_buttons}"
+warn "Here is the reading for axis and buttons:"
+loop {
+    SDL::Joystick.update_all
+    joy.num_axes.times do |i|
+        print "A##{i}: #{joy.axis(i)} | "
+    end
+
+    print " || "
+
+    button_read = []
+    joy.num_buttons.times do |i|
+        print "B##{i}: #{joy.button(i) ? 1 : 0} | "
+    end
+    print "\r"
+    $stdout.flush
+    sleep 0.05
+}

metadata

@@ -0,0 +1,225 @@
+--- !ruby/object:Gem::Specification
+name: hybridgroup-crubyflie
+version: !ruby/object:Gem::Version
+  version: 0.1.4
+platform: ruby
+authors:
+- Hector Sanjuan
+- Adrian Zankich
+autorequire: 
+bindir: bin
+cert_chain: []
+date: 2013-10-03 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: libusb
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: trollop
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: bundler
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '1.3'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '1.3'
+- !ruby/object:Gem::Dependency
+  name: rake
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: rspec
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: yard
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: simplecov
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: coveralls
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+description: |
+  Client library to control a Crazyflie. This library allows to talk to a
+  crazyflie using the USB radio dongle.
+email:
+- hector@convivencial.org
+- adrian@hybridgroup.com
+executables:
+- crubyflie
+extensions: []
+extra_rdoc_files: []
+files:
+- .gitignore
+- .travis.yml
+- Gemfile
+- LICENSE.txt
+- README.md
+- Rakefile
+- bin/crubyflie
+- configs/joystick_default.yaml
+- crubyflie.gemspec
+- examples/params_and_logging.rb
+- lib/crubyflie.rb
+- lib/crubyflie/crazyflie.rb
+- lib/crubyflie/crazyflie/commander.rb
+- lib/crubyflie/crazyflie/console.rb
+- lib/crubyflie/crazyflie/log.rb
+- lib/crubyflie/crazyflie/log_conf.rb
+- lib/crubyflie/crazyflie/param.rb
+- lib/crubyflie/crazyflie/toc.rb
+- lib/crubyflie/crazyflie/toc_cache.rb
+- lib/crubyflie/crazyradio/crazyradio.rb
+- lib/crubyflie/crazyradio/radio_ack.rb
+- lib/crubyflie/crubyflie_logger.rb
+- lib/crubyflie/driver/crtp_packet.rb
+- lib/crubyflie/driver/radio_driver.rb
+- lib/crubyflie/exceptions.rb
+- lib/crubyflie/input/input_reader.rb
+- lib/crubyflie/input/joystick_input_reader.rb
+- lib/crubyflie/version.rb
+- spec/commander_spec.rb
+- spec/console_spec.rb
+- spec/crazyflie_spec.rb
+- spec/crazyradio_spec.rb
+- spec/crtp_packet_spec.rb
+- spec/crubyflie_logger_spec.rb
+- spec/crubyflie_spec.rb
+- spec/input_reader_spec.rb
+- spec/joystick_cfg.yaml
+- spec/joystick_input_reader_spec.rb
+- spec/log_spec.rb
+- spec/param_spec.rb
+- spec/radio_ack_spec.rb
+- spec/radio_driver_spec.rb
+- spec/spec_helper.rb
+- spec/toc_cache_spec.rb
+- spec/toc_spec.rb
+- tools/sdl-joystick-axis.rb
+homepage: https://github.com/hybridgroup/crubyflie
+licenses:
+- GPLv3
+metadata: {}
+post_install_message: 
+rdoc_options: []
+require_paths:
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - '>='
+    - !ruby/object:Gem::Version
+      version: '0'
+required_rubygems_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - '>='
+    - !ruby/object:Gem::Version
+      version: '0'
+requirements: []
+rubyforge_project: 
+rubygems_version: 2.1.5
+signing_key: 
+specification_version: 4
+summary: A Ruby client for the Crazyflie quadcopter
+test_files:
+- spec/commander_spec.rb
+- spec/console_spec.rb
+- spec/crazyflie_spec.rb
+- spec/crazyradio_spec.rb
+- spec/crtp_packet_spec.rb
+- spec/crubyflie_logger_spec.rb
+- spec/crubyflie_spec.rb
+- spec/input_reader_spec.rb
+- spec/joystick_cfg.yaml
+- spec/joystick_input_reader_spec.rb
+- spec/log_spec.rb
+- spec/param_spec.rb
+- spec/radio_ack_spec.rb
+- spec/radio_driver_spec.rb
+- spec/spec_helper.rb
+- spec/toc_cache_spec.rb
+- spec/toc_spec.rb
+has_rdoc: