hybridgroup-sphero 1.3.0 → 1.4.0

data/lib/sphero.rb

@@ -3,7 +3,7 @@ require 'sphero/response'
 require 'thread'
 
 class Sphero
-  VERSION = '1.3.0'
+  VERSION = '1.4.0'
 
   FORWARD = 0
   RIGHT = 90
@@ -12,7 +12,7 @@ class Sphero
 
   DEFAULT_RETRIES = 3
 
-  attr_accessor :connection_types, :async_messages
+  attr_accessor :connection_types, :messages
 
   class << self
     def start(dev, &block)
@@ -46,11 +46,15 @@ class Sphero
     @dev  = 0x00
     @seq  = 0x00
     @lock = Mutex.new
-    @async_messages = []
+    @messages = Queue.new
   end
   
   def close
-    @lock.synchronize do
+    begin
+      stop
+    rescue Exception => e
+      puts e.message
+    ensure
       @sp.close
     end
   end
@@ -145,26 +149,7 @@ class Sphero
   def configure_collision_detection meth, x_t, y_t, x_spd, y_spd, dead
     write Request::ConfigureCollisionDetection.new(@seq, meth, x_t, y_t, x_spd, y_spd, dead)
   end
-
-  # read all outstanding async packets and store in async_responses
-  # would not do well to receive simple responses this way...
-  def read_async_messages
-    header, body = nil
-    new_responses = []
-
-    @lock.synchronize do
-      header, body = read_next_response
-
-      while header && Response.async?(header)
-        new_responses << Response::AsyncResponse.response(header, body)
-        header, body = read_next_response
-      end
-    end
-    
-    async_messages.concat(new_responses) unless new_responses.empty?
-    return !new_responses.empty?
-  end
-
+  
   private
   
   def is_windows?
@@ -191,24 +176,27 @@ class Sphero
   def write packet
     header, body = nil
 
+    IO.select([], [@sp], [], 20)
+
     @lock.synchronize do
-      rs, ws = IO.select([], [@sp], [], 20)
       @sp.write packet.to_str
       @seq += 1
+    end
 
-      header = nil
-      loop do
-        header = read_header(true)
-        break if header
-      end
+    IO.select([@sp], [], [], 20)
+    header = read_header(true)
+    body = read_body(header.last, true) if header
 
-      body = read_body(header.last, true) if header
+    # pick off asynch packets and store, till we get to the message response
+    while header && Response.async?(header)
+      messages << Response::AsyncResponse.response(header, body)
 
-      # pick off asynch packets and store, till we get to the message response
-      while header && Response.async?(header)
-        async_messages << Response::AsyncResponse.response(header, body)
-        header = read_header(true)
-        body = read_body(header.last, true) if header
+      IO.select([@sp], [], [], 20)
+      header = read_header(true)
+      if header
+        body = read_body(header.last, true)
+      else
+        body = nil
       end
     end
 
@@ -222,9 +210,10 @@ class Sphero
   end
 
   def read_header(blocking=false)
+    header = nil
     begin
       data = read_next_chunk(5, blocking)
-      return nil unless data && data.length == 5
+      return nil unless data
       header = data.unpack 'C5'
     rescue Errno::EBUSY
       retry
@@ -238,6 +227,7 @@ class Sphero
   end
 
   def read_body(len, blocking=false)
+    data = nil
     begin
       data = read_next_chunk(len, blocking)
       return nil unless data && data.length == len
@@ -253,12 +243,14 @@ class Sphero
   end
 
   def read_next_chunk(len, blocking=false)
+    data = nil
     begin
-      if blocking || is_windows?
-        data = @sp.read(len)
-        return nil unless data && data.length == len
-      else
-        data = @sp.read_nonblock(len)
+      @lock.synchronize do
+        if blocking || is_windows?
+          data = @sp.read(len)
+        else
+          data = @sp.read_nonblock(len)
+        end
       end
     rescue Errno::EBUSY
       retry

data/lib/sphero/request.rb

@@ -22,7 +22,7 @@ class Sphero
 
     def response header, body
       name = self.class.name.split('::').last
-      klass = if Response.const_defined?(name)
+      if Response.const_defined?(name)
         Response.const_get(name).new header, body
       else
         Response.new header, body

data/test/test_sphero_request.rb

@@ -4,7 +4,8 @@ require 'sphero'
 class TestSpheroRequest < MiniTest::Unit::TestCase
   def test_ping_checksum
     ping = Sphero::Request::Ping.new 0
-    assert_equal "\xFF\xFF\x00\x01\x00\x01\xFD", ping.to_str
+    expected_bytes = "\xFF\xFF\x00\x01\x00\x01\xFD".force_encoding(Encoding::ASCII_8BIT)
+    assert_equal expected_bytes, ping.to_str
   end
 
   def test_sleep_dlen

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: hybridgroup-sphero
 version: !ruby/object:Gem::Version
-  version: 1.3.0
+  version: 1.4.0
   prerelease: 
 platform: ruby
 authors:
@@ -9,7 +9,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-05-10 00:00:00.000000000 Z
+date: 2013-07-25 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: rdoc