lignite 0.1.0

data/data/lignite-btaddr

@@ -0,0 +1,7 @@
+# Default Bluetooth address for https://rubygems.org/gems/lignite
+
+# Put this file to ~/.config/lignite-btaddr
+# and edit the address to match your device.
+# You can use `hcitool scan` to find the address.
+
+00:11:22:DD:EE:FF

data/data/sysops.yml

@@ -0,0 +1,290 @@
+sysops:
+  BEGIN_DOWNLOAD:
+    desc: "Begin download (from PC to VM)"
+    value: 0x92
+    params:
+      -
+        name: SIZE
+        type: U32
+        dir: in
+      -
+        name: FILENAME
+        type: ZBYTES
+        dir: in
+      -
+        name: HANDLE
+        type: U8
+        dir: out
+
+  CONTINUE_DOWNLOAD:
+    desc: "Continue download (from PC to VM)"
+    value: 0x93
+    # EXAMPLE: no reply required (0x81)
+    params:
+      -
+        name: HANDLE
+        type: U8
+        dir: in
+      -
+        name: PAYLOAD
+        type: BYTES
+        dir: in
+      -
+        name: HANDLE
+        type: U8
+        dir: out
+
+  BEGIN_UPLOAD:
+    desc: "Begin upload (from VM to PC)"
+    value: 0x94
+    params:
+      -
+        name: BUF_SIZE
+        type: U16
+        dir: in
+      -
+        name: FILENAME
+        type: ZBYTES
+        dir: in
+      -
+        name: FILE_SIZE
+        type: U32
+        dir: out
+      -
+        name: HANDLE
+        type: U8
+        dir: out
+      -
+        name: PAYLOAD
+        type: BYTES
+        dir: out
+
+  CONTINUE_UPLOAD:
+    desc: "Continue upload (from VM to PC)"
+    value: 0x95
+    params:
+      -
+        name: HANDLE
+        type: U8
+        dir: in
+      -
+        name: BUF_SIZE
+        type: U16
+        dir: in
+      -
+        name: HANDLE
+        type: U8
+        dir: out
+      -
+        name: PAYLOAD
+        type: BYTES
+        dir: out
+
+  BEGIN_GETFILE:
+    desc: "datalog to PC"
+    value: 0x96
+    params:
+      -
+        name: BUF_SIZE
+        type: U16
+        dir: in
+      -
+        name: FILENAME
+        type: ZBYTES
+        dir: in
+      -
+        name: FILE_SIZE
+        type: U32
+        dir: out
+      -
+        name: HANDLE
+        type: U8
+        dir: out
+      -
+        name: PAYLOAD
+        type: BYTES
+        dir: out
+
+  CONTINUE_GETFILE:
+    desc: "Continue getting a dafalog file (from VM to PC)"
+    value: 0x97
+    params:
+      -
+        name: HANDLE
+        type: U8
+        dir: in
+      -
+        name: BUF_SIZE
+        type: U16
+        dir: in
+      -
+        name: FILE_SIZE
+        type: U32
+        dir: out
+      -
+        name: HANDLE
+        type: U8
+        dir: out
+      -
+        name: PAYLOAD
+        type: BYTES
+        dir: out
+
+  CLOSE_FILEHANDLE:
+    desc: "Close a file handle"
+    value: 0x98
+    params:        
+      -
+        name: HANDLE
+        type: U8
+        dir: in
+      -
+        name: HASH
+        type: BYTES
+        desc: "WTF, hash?"
+        dir: in
+
+  LIST_FILES:
+    desc: "List files"
+    value: 0x99
+    params:
+      -
+        name: BUF_SIZE
+        type: U16
+        dir: in
+      -
+        name: FILENAME
+        type: ZBYTES
+        dir: in
+      -
+        name: LIST_SIZE
+        type: U32
+        dir: out
+      -
+        name: HANDLE
+        type: U8
+        dir: out
+      -
+        name: PAYLOAD
+        type: BYTES
+        dir: out
+
+  CONTINUE_LIST_FILES:
+    desc: "Continue listing files"
+    value: 0x9a
+    params:
+      -
+        name: HANDLE
+        type: U8
+        dir: in
+      -
+        name: BUF_SIZE
+        type: U16
+        dir: in
+      -
+        name: HANDLE
+        type: U8
+        dir: out
+      -
+        name: PAYLOAD
+        type: BYTES
+        dir: out
+
+  CREATE_DIR:
+    desc: "Create a directory"
+    value: 0x9b
+    params:
+      -
+        name: FILENAME
+        desc: "Full path"
+        type: ZBYTES
+        dir: in
+
+  DELETE_FILE:
+    desc: "Delete a file"
+    value: 0x9c
+    params:
+      -
+        name: FILENAME
+        desc: "Full path"
+        type: ZBYTES
+        dir: in
+
+  LIST_OPEN_HANDLES:
+    desc: "Get a list of open handles"
+    value: 0x9d
+    params:
+      -
+        name: HANDLE_BITS
+        desc: "bits indicating whether handles are busy (open) or not."
+        type: BYTES
+        dir: out
+
+  WRITE_MAILBOX:
+    # NO REPLY
+    desc: "Write to a mailbox"
+    value: 0x9e
+    params:
+      -
+        name: NAME_LENGTH
+        type: U8
+        dir: in
+      -
+        name: NAME
+        type: ZBYTES
+        dir: in
+      -
+        name: PAYLOAD_SIZE
+        type: U16
+        dir: in
+      -
+        name: PAYLOAD
+        type: BYTES
+        dir: in
+      
+  BLUETOOTH_PIN:
+    desc: "Set the Bluetooth PIN code"
+    value: 0x9f
+    params:
+      -
+        name: MAC_LENGTH
+        desc: "Length of MAC, not including the NUL terminator"
+        type: U8
+        dir: in
+      -
+        name: MAC
+        type: BYTES
+        dir: in
+      -
+        name: PIN_LENGTH
+        desc: "Length of PIN, not including the NUL terminator"
+        type: U8
+        dir: in
+      -
+        name: PIN
+        type: BYTES
+        dir: in
+      -
+        name: MAC_LENGTH
+        desc: "Length of MAC, not including the NUL terminator"
+        type: U8
+        dir: out
+      -
+        name: MAC
+        type: BYTES
+        dir: out
+      -
+        name: PIN_LENGTH
+        desc: "Length of PIN, not including the NUL terminator"
+        type: U8
+        dir: out
+      -
+        name: PIN
+        type: BYTES
+        dir: out
+    
+  ENTER_FW_UPDATE:
+    # NO REPLY
+    desc: "Enter Firmware update mode"
+    value: 0xa0
+    params: []

data/examples/hello.rb

@@ -0,0 +1,8 @@
+#!/usr/bin/ruby
+require "lignite"
+
+dc = Lignite::DirectCommands.new
+
+dc.ui_draw_clean
+dc.ui_draw_text(Lignite::FG_COLOR, 20, 40, "Hello, world!")
+dc.ui_draw_update

data/examples/lights.rb

@@ -0,0 +1,10 @@
+#!/usr/bin/ruby
+require "lignite"
+
+dc = Lignite::DirectCommands.new
+
+dc.ui_write_led(Lignite::LED_RED_FLASH)
+sleep 3
+dc.ui_write_led(Lignite::LED_ORANGE_PULSE)
+sleep 3
+dc.ui_write_led(Lignite::LED_GREEN)

data/examples/motors.rb

@@ -0,0 +1,19 @@
+#!/usr/bin/ruby
+require "lignite"
+
+dc = Lignite::DirectCommands.new
+
+layer = 0
+nos = Lignite::PORT_B | Lignite::PORT_C
+speed = 100
+step_begin = 0
+step_do = 360
+step_end = 0
+brake = Lignite::COAST
+dc.output_step_speed(layer, nos, speed,
+                     step_begin, step_do, step_end, brake)
+dc.output_ready(layer, nos)
+
+speed = -100
+dc.output_step_speed(layer, nos, speed,
+                     step_begin, step_do, step_end, brake)

data/examples/sound.rb

@@ -0,0 +1,9 @@
+#!/usr/bin/ruby
+require "lignite"
+
+dc = Lignite::DirectCommands.new
+
+dc.sound_tone(50, 880, 200)
+dc.sound_ready
+dc.sound_tone(50, 1760, 400)
+dc.sound_ready

data/examples/sys_list_files.rb

@@ -0,0 +1,16 @@
+#!/usr/bin/ruby
+require "lignite"
+
+sc = Lignite::SystemCommands.new
+
+result = ""
+name = "/home/root/lms2012/prjs/"
+bufsize = 42 # to demonstrate chunking
+fsize, handle, data = sc.list_files(bufsize, name)
+loop do
+  result += data
+  fsize -= data.bytesize
+  break if fsize.zero?
+  handle, data = sc.continue_list_files(handle, bufsize)
+end
+puts result

data/lib/lignite.rb

@@ -0,0 +1,30 @@
+require "lignite/bytes"
+require "lignite/logger"
+
+require "lignite/assembler"
+require "lignite/body_compiler"
+require "lignite/connection"
+require "lignite/connection/bluetooth"
+require "lignite/connection/usb"
+require "lignite/direct_commands"
+require "lignite/message"
+require "lignite/message_sender"
+require "lignite/op_compiler"
+require "lignite/rbf_object"
+require "lignite/system_commands"
+require "lignite/variables"
+
+module Lignite
+  PORT_A = 1
+  PORT_B = 2
+  PORT_C = 4
+  PORT_D = 8
+
+  COAST = 0
+  BRAKE = 1
+
+  # A String of bytes (with Encoding::BINARY)
+  class ByteString < String
+    # empty class, just for documentation purposes
+  end
+end

data/lib/lignite/assembler.rb

@@ -0,0 +1,49 @@
+module Lignite
+  class Assembler
+    include Bytes
+    include Logger
+
+    SIGNATURE = "LEGO"
+    def image_header(image_size:, version:, object_count:, global_bytes:)
+      SIGNATURE + u32(image_size) + u16(version) + u16(object_count) +
+        u32(global_bytes)
+    end
+
+    def assemble(rb_filename, rbf_filename)
+      rb_text = File.read(rb_filename)
+      @objects = []
+      @global_bytes = 0
+
+      instance_eval(rb_text, rb_filename, 1)
+
+      File.open(rbf_filename, "w") do |f|
+        dummy_header = image_header(image_size:0, version: 0, object_count: 0, global_bytes: 0)
+        f.write(dummy_header)
+        @objects.each do |obj|
+          h = obj.header(f.tell)
+          f.write(h)
+          f.write(obj.body)
+          # align??
+        end
+        size = f.tell
+        f.pos = 0
+        header = image_header(image_size: size,
+                              version: 109,
+                              object_count: @objects.size,
+                              global_bytes: @global_bytes)
+        f.write(header)
+      end
+    end
+
+    def vmthread(id, &body)
+      @locals = Variables.new
+      bodyc = BodyCompiler.new(@locals)
+      bodyc.instance_exec(&body)
+      bodyc.instance_exec { object_end }
+      logger.debug "VMTHREAD #{id}"
+      logger.debug "  size #{bodyc.bytes.bytesize}"
+      logger.debug "  " + hexdump(bodyc.bytes)
+      @objects << RbfObject.vmthread(body: bodyc.bytes, local_bytes: @locals.bytesize)
+    end
+  end
+end