lignite 0.1.0
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- checksums.yaml +7 -0
- data/.gitignore +7 -0
- data/COPYING +674 -0
- data/Gemfile +3 -0
- data/README.md +51 -0
- data/Rakefile +6 -0
- data/VERSION +1 -0
- data/bin/ev3tool +70 -0
- data/data/ev3.yml +10103 -0
- data/data/lignite-btaddr +7 -0
- data/data/sysops.yml +290 -0
- data/examples/hello.rb +8 -0
- data/examples/lights.rb +10 -0
- data/examples/motors.rb +19 -0
- data/examples/sound.rb +9 -0
- data/examples/sys_list_files.rb +16 -0
- data/lib/lignite.rb +30 -0
- data/lib/lignite/assembler.rb +49 -0
- data/lib/lignite/body_compiler.rb +42 -0
- data/lib/lignite/bytes.rb +35 -0
- data/lib/lignite/connection.rb +13 -0
- data/lib/lignite/connection/bluetooth.rb +37 -0
- data/lib/lignite/connection/usb.rb +74 -0
- data/lib/lignite/direct_commands.rb +26 -0
- data/lib/lignite/logger.rb +15 -0
- data/lib/lignite/message.rb +100 -0
- data/lib/lignite/message_sender.rb +92 -0
- data/lib/lignite/op_compiler.rb +224 -0
- data/lib/lignite/rbf_object.rb +33 -0
- data/lib/lignite/system_commands.rb +103 -0
- data/lib/lignite/variables.rb +27 -0
- data/lib/lignite/version.rb +4 -0
- data/lignite.gemspec +74 -0
- data/spec/assembler_spec.rb +24 -0
- data/spec/data/HelloWorld-subop.rb +6 -0
- data/spec/data/HelloWorld-subop.rbf +0 -0
- data/spec/data/HelloWorld.lms +7 -0
- data/spec/data/HelloWorld.rb +6 -0
- data/spec/data/HelloWorld.rbf +0 -0
- data/spec/data/VernierReadout.lms +31 -0
- data/spec/data/VernierReadout.rb +27 -0
- data/spec/data/VernierReadout.rbf +0 -0
- data/spec/spec_helper.rb +26 -0
- metadata +158 -0
data/data/lignite-btaddr
ADDED
data/data/sysops.yml
ADDED
@@ -0,0 +1,290 @@
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sysops:
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BEGIN_DOWNLOAD:
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desc: "Begin download (from PC to VM)"
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value: 0x92
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params:
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-
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name: SIZE
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type: U32
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dir: in
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-
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name: FILENAME
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type: ZBYTES
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dir: in
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-
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name: HANDLE
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type: U8
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dir: out
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+
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CONTINUE_DOWNLOAD:
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desc: "Continue download (from PC to VM)"
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value: 0x93
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# EXAMPLE: no reply required (0x81)
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params:
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-
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name: HANDLE
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type: U8
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dir: in
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-
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name: PAYLOAD
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type: BYTES
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dir: in
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-
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name: HANDLE
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type: U8
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dir: out
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BEGIN_UPLOAD:
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desc: "Begin upload (from VM to PC)"
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value: 0x94
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params:
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-
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name: BUF_SIZE
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type: U16
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dir: in
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-
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name: FILENAME
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type: ZBYTES
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dir: in
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-
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name: FILE_SIZE
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type: U32
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dir: out
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-
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name: HANDLE
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type: U8
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dir: out
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-
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name: PAYLOAD
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type: BYTES
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dir: out
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+
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CONTINUE_UPLOAD:
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desc: "Continue upload (from VM to PC)"
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value: 0x95
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params:
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-
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name: HANDLE
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type: U8
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dir: in
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-
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name: BUF_SIZE
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type: U16
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dir: in
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-
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name: HANDLE
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type: U8
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dir: out
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-
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name: PAYLOAD
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type: BYTES
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dir: out
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+
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83
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BEGIN_GETFILE:
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desc: "datalog to PC"
|
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value: 0x96
|
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params:
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-
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88
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+
name: BUF_SIZE
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+
type: U16
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90
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dir: in
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-
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name: FILENAME
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type: ZBYTES
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dir: in
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-
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name: FILE_SIZE
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type: U32
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98
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dir: out
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-
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name: HANDLE
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type: U8
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dir: out
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-
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name: PAYLOAD
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type: BYTES
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dir: out
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+
|
108
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CONTINUE_GETFILE:
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desc: "Continue getting a dafalog file (from VM to PC)"
|
110
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value: 0x97
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params:
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-
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name: HANDLE
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+
type: U8
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dir: in
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-
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name: BUF_SIZE
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type: U16
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dir: in
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-
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name: FILE_SIZE
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type: U32
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dir: out
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-
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name: HANDLE
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type: U8
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dir: out
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-
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name: PAYLOAD
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type: BYTES
|
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dir: out
|
132
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+
|
133
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CLOSE_FILEHANDLE:
|
134
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desc: "Close a file handle"
|
135
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value: 0x98
|
136
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params:
|
137
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-
|
138
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+
name: HANDLE
|
139
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+
type: U8
|
140
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+
dir: in
|
141
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+
-
|
142
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+
name: HASH
|
143
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+
type: BYTES
|
144
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+
desc: "WTF, hash?"
|
145
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+
dir: in
|
146
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+
|
147
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+
LIST_FILES:
|
148
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+
desc: "List files"
|
149
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+
value: 0x99
|
150
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+
params:
|
151
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+
-
|
152
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+
name: BUF_SIZE
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153
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+
type: U16
|
154
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+
dir: in
|
155
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+
-
|
156
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+
name: FILENAME
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157
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+
type: ZBYTES
|
158
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+
dir: in
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159
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+
-
|
160
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+
name: LIST_SIZE
|
161
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+
type: U32
|
162
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+
dir: out
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163
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+
-
|
164
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+
name: HANDLE
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165
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+
type: U8
|
166
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+
dir: out
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167
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+
-
|
168
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+
name: PAYLOAD
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169
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+
type: BYTES
|
170
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+
dir: out
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171
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+
|
172
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CONTINUE_LIST_FILES:
|
173
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+
desc: "Continue listing files"
|
174
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value: 0x9a
|
175
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+
params:
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176
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-
|
177
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name: HANDLE
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+
type: U8
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179
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+
dir: in
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180
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+
-
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name: BUF_SIZE
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+
type: U16
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183
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dir: in
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184
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+
-
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185
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+
name: HANDLE
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186
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type: U8
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187
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dir: out
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188
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+
-
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189
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+
name: PAYLOAD
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type: BYTES
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dir: out
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192
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+
|
193
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+
CREATE_DIR:
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194
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+
desc: "Create a directory"
|
195
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+
value: 0x9b
|
196
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+
params:
|
197
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+
-
|
198
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name: FILENAME
|
199
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+
desc: "Full path"
|
200
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+
type: ZBYTES
|
201
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dir: in
|
202
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+
|
203
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+
DELETE_FILE:
|
204
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+
desc: "Delete a file"
|
205
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value: 0x9c
|
206
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+
params:
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207
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-
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208
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name: FILENAME
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209
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desc: "Full path"
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210
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type: ZBYTES
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211
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dir: in
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212
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+
|
213
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+
LIST_OPEN_HANDLES:
|
214
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desc: "Get a list of open handles"
|
215
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value: 0x9d
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216
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params:
|
217
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-
|
218
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name: HANDLE_BITS
|
219
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desc: "bits indicating whether handles are busy (open) or not."
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220
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type: BYTES
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221
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dir: out
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222
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+
|
223
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+
WRITE_MAILBOX:
|
224
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# NO REPLY
|
225
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+
desc: "Write to a mailbox"
|
226
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+
value: 0x9e
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227
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params:
|
228
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+
-
|
229
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name: NAME_LENGTH
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230
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+
type: U8
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231
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dir: in
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232
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+
-
|
233
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name: NAME
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234
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type: ZBYTES
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235
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dir: in
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236
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-
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237
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name: PAYLOAD_SIZE
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238
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type: U16
|
239
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dir: in
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240
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+
-
|
241
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name: PAYLOAD
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242
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type: BYTES
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243
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dir: in
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244
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+
|
245
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BLUETOOTH_PIN:
|
246
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desc: "Set the Bluetooth PIN code"
|
247
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+
value: 0x9f
|
248
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+
params:
|
249
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+
-
|
250
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name: MAC_LENGTH
|
251
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+
desc: "Length of MAC, not including the NUL terminator"
|
252
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+
type: U8
|
253
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dir: in
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254
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+
-
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255
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name: MAC
|
256
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+
type: BYTES
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257
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dir: in
|
258
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+
-
|
259
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name: PIN_LENGTH
|
260
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+
desc: "Length of PIN, not including the NUL terminator"
|
261
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+
type: U8
|
262
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dir: in
|
263
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+
-
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264
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name: PIN
|
265
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type: BYTES
|
266
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dir: in
|
267
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+
-
|
268
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name: MAC_LENGTH
|
269
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desc: "Length of MAC, not including the NUL terminator"
|
270
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+
type: U8
|
271
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+
dir: out
|
272
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+
-
|
273
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name: MAC
|
274
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+
type: BYTES
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275
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+
dir: out
|
276
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+
-
|
277
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+
name: PIN_LENGTH
|
278
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+
desc: "Length of PIN, not including the NUL terminator"
|
279
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+
type: U8
|
280
|
+
dir: out
|
281
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+
-
|
282
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name: PIN
|
283
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+
type: BYTES
|
284
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+
dir: out
|
285
|
+
|
286
|
+
ENTER_FW_UPDATE:
|
287
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+
# NO REPLY
|
288
|
+
desc: "Enter Firmware update mode"
|
289
|
+
value: 0xa0
|
290
|
+
params: []
|
data/examples/hello.rb
ADDED
data/examples/lights.rb
ADDED
data/examples/motors.rb
ADDED
@@ -0,0 +1,19 @@
|
|
1
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+
#!/usr/bin/ruby
|
2
|
+
require "lignite"
|
3
|
+
|
4
|
+
dc = Lignite::DirectCommands.new
|
5
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+
|
6
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+
layer = 0
|
7
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+
nos = Lignite::PORT_B | Lignite::PORT_C
|
8
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+
speed = 100
|
9
|
+
step_begin = 0
|
10
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+
step_do = 360
|
11
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+
step_end = 0
|
12
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+
brake = Lignite::COAST
|
13
|
+
dc.output_step_speed(layer, nos, speed,
|
14
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+
step_begin, step_do, step_end, brake)
|
15
|
+
dc.output_ready(layer, nos)
|
16
|
+
|
17
|
+
speed = -100
|
18
|
+
dc.output_step_speed(layer, nos, speed,
|
19
|
+
step_begin, step_do, step_end, brake)
|
data/examples/sound.rb
ADDED
@@ -0,0 +1,16 @@
|
|
1
|
+
#!/usr/bin/ruby
|
2
|
+
require "lignite"
|
3
|
+
|
4
|
+
sc = Lignite::SystemCommands.new
|
5
|
+
|
6
|
+
result = ""
|
7
|
+
name = "/home/root/lms2012/prjs/"
|
8
|
+
bufsize = 42 # to demonstrate chunking
|
9
|
+
fsize, handle, data = sc.list_files(bufsize, name)
|
10
|
+
loop do
|
11
|
+
result += data
|
12
|
+
fsize -= data.bytesize
|
13
|
+
break if fsize.zero?
|
14
|
+
handle, data = sc.continue_list_files(handle, bufsize)
|
15
|
+
end
|
16
|
+
puts result
|
data/lib/lignite.rb
ADDED
@@ -0,0 +1,30 @@
|
|
1
|
+
require "lignite/bytes"
|
2
|
+
require "lignite/logger"
|
3
|
+
|
4
|
+
require "lignite/assembler"
|
5
|
+
require "lignite/body_compiler"
|
6
|
+
require "lignite/connection"
|
7
|
+
require "lignite/connection/bluetooth"
|
8
|
+
require "lignite/connection/usb"
|
9
|
+
require "lignite/direct_commands"
|
10
|
+
require "lignite/message"
|
11
|
+
require "lignite/message_sender"
|
12
|
+
require "lignite/op_compiler"
|
13
|
+
require "lignite/rbf_object"
|
14
|
+
require "lignite/system_commands"
|
15
|
+
require "lignite/variables"
|
16
|
+
|
17
|
+
module Lignite
|
18
|
+
PORT_A = 1
|
19
|
+
PORT_B = 2
|
20
|
+
PORT_C = 4
|
21
|
+
PORT_D = 8
|
22
|
+
|
23
|
+
COAST = 0
|
24
|
+
BRAKE = 1
|
25
|
+
|
26
|
+
# A String of bytes (with Encoding::BINARY)
|
27
|
+
class ByteString < String
|
28
|
+
# empty class, just for documentation purposes
|
29
|
+
end
|
30
|
+
end
|
@@ -0,0 +1,49 @@
|
|
1
|
+
module Lignite
|
2
|
+
class Assembler
|
3
|
+
include Bytes
|
4
|
+
include Logger
|
5
|
+
|
6
|
+
SIGNATURE = "LEGO"
|
7
|
+
def image_header(image_size:, version:, object_count:, global_bytes:)
|
8
|
+
SIGNATURE + u32(image_size) + u16(version) + u16(object_count) +
|
9
|
+
u32(global_bytes)
|
10
|
+
end
|
11
|
+
|
12
|
+
def assemble(rb_filename, rbf_filename)
|
13
|
+
rb_text = File.read(rb_filename)
|
14
|
+
@objects = []
|
15
|
+
@global_bytes = 0
|
16
|
+
|
17
|
+
instance_eval(rb_text, rb_filename, 1)
|
18
|
+
|
19
|
+
File.open(rbf_filename, "w") do |f|
|
20
|
+
dummy_header = image_header(image_size:0, version: 0, object_count: 0, global_bytes: 0)
|
21
|
+
f.write(dummy_header)
|
22
|
+
@objects.each do |obj|
|
23
|
+
h = obj.header(f.tell)
|
24
|
+
f.write(h)
|
25
|
+
f.write(obj.body)
|
26
|
+
# align??
|
27
|
+
end
|
28
|
+
size = f.tell
|
29
|
+
f.pos = 0
|
30
|
+
header = image_header(image_size: size,
|
31
|
+
version: 109,
|
32
|
+
object_count: @objects.size,
|
33
|
+
global_bytes: @global_bytes)
|
34
|
+
f.write(header)
|
35
|
+
end
|
36
|
+
end
|
37
|
+
|
38
|
+
def vmthread(id, &body)
|
39
|
+
@locals = Variables.new
|
40
|
+
bodyc = BodyCompiler.new(@locals)
|
41
|
+
bodyc.instance_exec(&body)
|
42
|
+
bodyc.instance_exec { object_end }
|
43
|
+
logger.debug "VMTHREAD #{id}"
|
44
|
+
logger.debug " size #{bodyc.bytes.bytesize}"
|
45
|
+
logger.debug " " + hexdump(bodyc.bytes)
|
46
|
+
@objects << RbfObject.vmthread(body: bodyc.bytes, local_bytes: @locals.bytesize)
|
47
|
+
end
|
48
|
+
end
|
49
|
+
end
|