lignite 0.2.0 → 0.3.0

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA1:
-  metadata.gz: 4ffc33346a586d1761204e68f028b383303cc742
-  data.tar.gz: a57b880c420ef54dac5ea3b0023293867f5e9bdf
+  metadata.gz: bf1b7c4214285394b080eee7ac292b74a02583ec
+  data.tar.gz: 2e8eceb5bb0058722da49642ac252c9054f3582b
 SHA512:
-  metadata.gz: 41357f5c2e71a45aef56e9de73a36b2010462417210b18ea9fbd3cd654889a0103ff1aaf82ebb81f29571fa88f0f4bf43020e7dc56ac1f5862147d6b7278dd2e
-  data.tar.gz: 8a278113af2c9a7500d4ca7774dcb5e99a4ce163ad24e2446eb06e0b7ae4baddae676bbd736741b2d33491b3f52c75ec9f6b0bb2e8be05eff4386cf053292535
+  metadata.gz: 7dba38b35d34ffbafce9c5788c792f12d598623d4862dbfa0f3a3ed99c1c31c490495619cef96970047e9622832d0c92ae97cbfc9282a5e3c52a0f2e06992114
+  data.tar.gz: dddf6c17fd11bd751b111d6c03e70c6114a5333a3acd61ee7fe4dd8958195ab7c3b5c44260144b5e2bea2d3945a8b2621b36d278fc55a5b08d969766a81e417a

data/.rspec

@@ -0,0 +1 @@
+--format documentation

data/.rubocop.yml

@@ -0,0 +1,12 @@
+inherit_from: rubocop-suse.yml
+
+AllCops:
+  TargetRubyVersion: 2.1
+
+Naming/FileName:
+  Exclude:
+    - spec/data/*.rb
+
+Layout/IndentHeredoc:
+  Exclude:
+    - lignite.gemspec

data/NEWS.md

@@ -2,7 +2,11 @@
 
 ## unreleased
 
-- (none)
+## 0.3.0, 2018-03-02
+
+- Added Tap and Replay to simulate a real robot with YAML files for tests
+- `ev3tool help` added
+- `ev3tool run` changed to `ev3tool start` (because Thor reserves `run`)
 
 ## 0.2.0, 2018-02-26
 

data/README.md

@@ -41,11 +41,11 @@ section of the
 Running the built-in demo program: Connect the brick with a USB cable. Run
 
 ```sh
-sudo ev3tool run BrkProg_SAVE/Demo.rpf
+sudo ev3tool start BrkProg_SAVE/Demo.rpf
 ```
 
 In the usual case where the folder and the program name are the same, a
-shortcut works: `ev3tool run everstorm` is like `ev3tool run
+shortcut works: `ev3tool start everstorm` is like `ev3tool start
 everstorm/everstorm.rbf`.
 
 > The `sudo` is needed to access the USB device.

data/Rakefile

@@ -1,4 +1,4 @@
-task :default => :test
+task default: :test
 
 desc "Run tests"
 task :test do

data/VERSION

@@ -1 +1 @@
-0.2.0
+0.3.0

data/bin/ev3tool

@@ -1,144 +1,151 @@
 #!/usr/bin/env ruby
 require "lignite"
+require "thor"
 require "fileutils"
 include Lignite::Bytes
 
 # The VM current working directory is /home/root/lms2012/sys
 # which is not very useful. A better default is /home/root/lms2012/prjs
 # which is displayed on the 2nd tab of the brick UI.
-EV3TOOL_HOME = "../prjs"
+EV3TOOL_HOME = "../prjs".freeze
 
 def phandles
-  handles = $sc.list_open_handles
+  handles = sc.list_open_handles
   puts "OPEN HANDLES: ", hexdump(handles)
 end
 
-def upload(local_filename, brick_filename = nil)
-  data = File.read(local_filename, encoding: Encoding::BINARY)
-  unless brick_filename
-    prj = File.basename(local_filename, ".rbf")
-    brick_filename = "#{EV3TOOL_HOME}/#{prj}/#{prj}.rbf"
+class Ev3Tool < Thor
+  desc "upload LOCAL_FILENAME [BRICK_FILENAME]", "upload a program or a file"
+  map "ul" => "upload"
+  def upload(local_filename, brick_filename = nil)
+    data = File.read(local_filename, encoding: Encoding::BINARY)
+    unless brick_filename
+      prj = File.basename(local_filename, ".rbf")
+      brick_filename = "#{EV3TOOL_HOME}/#{prj}/#{prj}.rbf"
+    end
+    handle = sc.begin_download(data.bytesize, brick_filename)
+    sc.continue_download(handle, data)
   end
-  handle = $sc.begin_download(data.bytesize, brick_filename)
-  $sc.continue_download(handle, data)
-end
 
-def download(brick_filename, local_filename = nil)
-  local_filename ||= File.basename(brick_filename)
-  fsize, handle, data = $sc.begin_upload(4096, brick_filename)
-  File.open(local_filename, "w") do |f|
+  desc "download BRICK_FILENAME [LOCAL_FILENAME]", "download a file"
+  map "dl" => "download"
+  def download(brick_filename, local_filename = nil)
+    local_filename ||= File.basename(brick_filename)
+    fsize, handle, data = sc.begin_upload(4096, brick_filename)
+    File.open(local_filename, "w") do |f|
+      loop do
+        f.write(data)
+        fsize -= data.bytesize
+        break if fsize.zero?
+        handle, data = sc.continue_upload(handle, 4096)
+      end
+    end
+  end
+
+  desc "list-files DIRNAME", "list DIRNAME in a long format"
+  map "ls-l" => "list-files"
+  def list_files(name)
+    name ||= EV3TOOL_HOME
+    name = "#{EV3TOOL_HOME}/#{name}" unless name.start_with?("/")
+
+    result = ""
+    fsize, handle, data = sc.list_files(4096, name)
     loop do
-      f.write(data)
+      result += data
       fsize -= data.bytesize
       break if fsize.zero?
-      handle, data = $sc.continue_upload(handle, 4096)
+      handle, data = sc.continue_list_files(handle, 4096)
     end
-  end
-end
-
-def list_files(name)
-  name ||= EV3TOOL_HOME
-  unless name.start_with?("/")
-    name = "#{EV3TOOL_HOME}/#{name}"
+    result
+  rescue Lignite::VMError
+    nil
   end
 
-  result = ""
-  fsize, handle, data = $sc.list_files(4096, name)
-  loop do
-    result += data
-    fsize -= data.bytesize
-    break if fsize.zero?
-    handle, data = $sc.continue_list_files(handle, 4096)
+  desc "ls DIRNAME", "list DIRNAME in a short format"
+  def ls(name)
+    raw = list_files(name)
+    return nil if raw.nil?
+
+    raw.lines.map do |l|
+      l = l.chomp
+      next nil if ["./", "../"].include?(l)
+      next l if l.end_with?("/")
+      # skip checksum + space + size + space
+      l[32 + 1 + 8 + 1..-1]
+    end.compact
   end
-  result
-rescue Lignite::VMError
-  nil
-end
 
-def ls(name)
-  raw = list_files(name)
-  return nil if raw.nil?
-
-  raw.lines.map do |l|
-    l = l.chomp
-    next nil if l == "./" || l == "../"
-    next l if l.end_with?("/")
-    # skip checksum + space + size + space
-    l[32 + 1 + 8 + 1 .. -1]
-  end.compact
-end
-
-def file_exist?(name)
-  dirname = File.dirname(name)
-  filename = File.basename(name)
-  files = ls(dirname) || []
-  files.include?(filename)
-end
+  desc "start NAME", "start a program"
+  def start(name)
+    if name.include?("/")
+      name = "#{EV3TOOL_HOME}/#{name}" unless name.start_with?("/")
+    else
+      name = "#{EV3TOOL_HOME}/#{name}/#{name}.rbf"
+    end
 
-def run(name)
-  if name.include?("/")
-    unless name.start_with?("/")
-      name = "#{EV3TOOL_HOME}/#{name}"
+    unless file_exist?(name)
+      $stderr.puts "File #{name.inspect} not found"
+      exit 1
     end
-  else
-    name = "#{EV3TOOL_HOME}/#{name}/#{name}.rbf"
-  end
 
-  unless file_exist?(name)
-    $stderr.puts "File #{name.inspect} not found"
-    exit 1
+    slot = Lignite::USER_SLOT
+    no_debug = 0
+    dc.block do
+      # these are local variables
+      data32 :size
+      data32 :ip
+      file_load_image(slot, name, :size, :ip)
+      program_start(slot, :size, :ip, no_debug)
+    end
   end
 
-  slot = Lignite::USER_SLOT
-  no_debug = 0
-  $dc.block do
-    # these are local variables
-    data32 :size
-    data32 :ip
-    file_load_image(slot, name, :size, :ip)
-    program_start(slot, :size, :ip, no_debug)
+  desc "stop", "stop a running program"
+  def stop
+    dc.program_stop(Lignite::USER_SLOT)
   end
-end
 
-def stop
-  $dc.program_stop(Lignite::USER_SLOT)
-end
+  no_commands do
+    def file_exist?(name)
+      dirname = File.dirname(name)
+      filename = File.basename(name)
+      files = ls(dirname) || []
+      files.include?(filename)
+    end
 
-def assisted_connection
-  Lignite::Connection.create
-rescue => e
-  fn = Lignite::Connection::Bluetooth.config_filename
-  $stderr.puts <<MSG
+    def assisted_connection
+      Lignite::Connection.create
+    rescue => e
+      fn = Lignite::Connection::Bluetooth.config_filename
+      $stderr.puts <<MSG
 Could not connect to EV3.
 Use a USB cable or configure a Bluetooth address in #{fn.inspect}.
 Details:
   #{e.message}
 MSG
 
-  template = Lignite::Connection::Bluetooth.template_config_filename
-  if !File.exist?(fn) && File.exist?(template)
-    FileUtils.mkdir_p(File.dirname(fn))
-    FileUtils.install(template, fn)
-    $stderr.puts "(A template config file has been copied for your convenience)"
+      template = Lignite::Connection::Bluetooth.template_config_filename
+      if !File.exist?(fn) && File.exist?(template)
+        FileUtils.mkdir_p(File.dirname(fn))
+        FileUtils.install(template, fn)
+        $stderr.puts "(A template config file has been copied for your convenience)"
+      end
+      exit 1
+    end
+
+    def sc
+      return @sc if @sc
+      @sc = Lignite::SystemCommands.new(conn)
+    end
+
+    def dc
+      return @dc if @dc
+      @dc = Lignite::DirectCommands.new(conn)
+    end
+
+    def conn
+      @conn ||= assisted_connection
+    end
   end
-  exit 1
 end
 
-conn = assisted_connection
-$sc = Lignite::SystemCommands.new(conn)
-$dc = Lignite::DirectCommands.new(conn)
-
-case ARGV[0]
-when "upload", "ul"
-  upload(ARGV[1], ARGV[2])
-when "download", "dl"
-  download(ARGV[1], ARGV[2])
-when "list", "ls"
-  puts ls(ARGV[1])
-when "ls-l"
-  puts list_files(ARGV[1])
-when "run"
-  run(ARGV[1])
-when "stop"
-  stop
-end
+Ev3Tool.start(ARGV)

data/examples/bobbee.rb

@@ -1,5 +1,5 @@
 #!/usr/bin/ruby
-# coding: utf-8
+
 # https://www.lego.com/mindstorms/build-a-robot/bobb3e
 # A Bobcat® like two-tracked forklift
 
@@ -7,10 +7,10 @@ require "lignite"
 
 class Bobbee
   # @return [Lignite::Motors]
-  attr :drive
+  attr_reader :drive
   # @return [Lignite::Motors]
-  attr :lift
-  attr :dc
+  attr_reader :lift
+  attr_reader :dc
 
   def initialize(drive: Lignite::PORT_B | Lignite::PORT_C,
                  lift: Lignite::PORT_A,
@@ -49,7 +49,7 @@ class Bobbee
   end
 
   def third_raise(wait: true)
-    lift.step_power(30, 10, LIFT_FULL/3 - 20, 10)
+    lift.step_power(30, 10, LIFT_FULL / 3 - 20, 10)
     lift.ready if wait
 
     beep
@@ -57,7 +57,7 @@ class Bobbee
   end
 
   def lower(wait: true)
-    lift.step_power(-1, 10, LIFT_FULL - 20, 10) #, Lignite::COAST)
+    lift.step_power(-1, 10, LIFT_FULL - 20, 10) # , Lignite::COAST)
     lift.ready if wait
 
     beep
@@ -65,7 +65,7 @@ class Bobbee
   end
 
   def third_lower(wait: true)
-    lift.step_power(-1, 10, LIFT_FULL/3 - 20, 10)
+    lift.step_power(-1, 10, LIFT_FULL / 3 - 20, 10)
     lift.ready if wait
   end
 

data/examples/hello.rb

@@ -6,3 +6,5 @@ dc = Lignite::DirectCommands.new
 dc.ui_draw_clean
 dc.ui_draw_text(Lignite::FG_COLOR, 20, 40, "Hello, world!")
 dc.ui_draw_update
+
+dc.close

data/examples/hello.yml

@@ -0,0 +1,4 @@
+---
+- SEND: 01008000008401
+- SEND: 02008000008405011481288048656c6c6f2c20776f726c642100
+- SEND: 03008000008400

data/examples/light-sensor.rb

@@ -17,3 +17,5 @@ pct = dc.with_reply do
   end
 end
 puts "Light sensor percentage: #{pct}"
+
+dc.close

data/examples/light-sensor.yml

@@ -0,0 +1,3 @@
+---
+- SEND: 0100000400991d000200000160
+- RECV: 0100020000c07f

data/examples/lights.rb

@@ -1,10 +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)
+Lignite::DirectCommands.run do |_dc|
+  ui_write_led(Lignite::LED_RED_FLASH)
+  sleep 3
+  ui_write_led(Lignite::LED_ORANGE_PULSE)
+  sleep 3
+  ui_write_led(Lignite::LED_GREEN)
+end

data/examples/lights.yml

@@ -0,0 +1,4 @@
+---
+- SEND: 0100800000821b05
+- SEND: 0200800000821b09
+- SEND: 0300800000821b01

data/examples/sys_list_files.rb

@@ -4,8 +4,8 @@ require "lignite"
 sc = Lignite::SystemCommands.new
 
 result = ""
-name = "/home/root/lms2012/prjs/"
-bufsize = 42 # to demonstrate chunking
+name = "/home/root/lms2012/prjs/BrkProg_SAVE/"
+bufsize = 20 # to demonstrate chunking
 fsize, handle, data = sc.list_files(bufsize, name)
 loop do
   result += data
@@ -14,3 +14,5 @@ loop do
   handle, data = sc.continue_list_files(handle, bufsize)
 end
 puts result
+
+sc.close

data/examples/sys_list_files.yml

@@ -0,0 +1,9 @@
+---
+- SEND: 0100019914002f686f6d652f726f6f742f6c6d73323031322f70726a732f42726b50726f675f534156452f00
+- RECV: 01000399003f000000004642384444353337303742313432304633413330
+- SEND: 0200019a001400
+- RECV: 0200039a00003234333546453241344230422030303030303941
+- SEND: 0300019a001400
+- RECV: 0300039a0000302044656d6f2e7270660a4356532f0a2e2e2f0a
+- SEND: 0400019a001400
+- RECV: 0400039a08002e2f0a