mi100 0.1.9 → 0.2.0

data/lib/mi100.rb

@@ -1,9 +1,12 @@
 require "mi100/version"
+require 'timeout'
 
 class Mi100
 
   DEFAULT_RETRIES     = 3
   READ_TIMEOUT        = 5000
+  WRITE_TIMEOUT       = 5000
+  SHORT_READ_TIMEOUT  = 1
 
   CMD_PING            = "H"
   CMD_GET_POWER_LEVEL = "H"
@@ -14,6 +17,7 @@ class Mi100
   CMD_SPIN_LEFT       = "L"
   CMD_BLINK_LED       = "D"
   CMD_TONE            = "T"
+  CMD_GET_LIGHT       = "P"
   
   DEFAULT_MOVE_DURATION   = 300
   DEFAULT_SPIN_DURATION   = 140
@@ -38,82 +42,109 @@ class Mi100
   end
   
   def close
-    #stop
     sleep 2
     @sp.close
   end
   
   def ping
-    cmd = CMD_PING
-    sendln cmd
-    acked? cmd
+    send_command_get_response CMD_PING
   end
   
   def power
-    cmd = CMD_GET_POWER_LEVEL
-    sendln cmd
-    str = recieveln
-    strAry = str.chomp.split(",")
-    v = strAry[1].to_i / 1000.0
-    v.round 2
+    response = send_command_get_response CMD_GET_POWER_LEVEL
+    voltage = response[1].to_i / 1000.0
+    voltage.round 2
+  end
+  
+  def light
+    response = send_command_get_response CMD_GET_LIGHT
+    response[1].to_i
   end
   
   def move(direction = DEFAULT_MOVE_DIRECTION, duration = DEFAULT_MOVE_DURATION)
     cmd = direction.upcase == "BACKWARD" ? CMD_MOVE_BACKWARD : CMD_MOVE_FORWARD
-    sendln cmd + "," + duration.to_s
-    acked? cmd
+    send_command_get_response cmd + "," + duration.to_s
   end
   
-  def movef(duration = DEFAULT_MOVE_DURATION)
-    move "FORWARD", duration
+  def spin(direction = DEFAULT_SPIN_DIRECTION, duration = DEFAULT_SPIN_DURATION)
+    cmd = direction.upcase == "LEFT" ? CMD_SPIN_LEFT : CMD_SPIN_RIGHT
+    send_command_get_response cmd + "," + duration.to_s
+  end  
+  
+  def move_forward(duration)
+    send_command_get_response CMD_MOVE_FORWARD + "," + duration.to_s
   end
   
-  def moveb(duration = DEFAULT_MOVE_DURATION)
-    move "BACKWARD", duration
+  def move_backward(duration)
+    send_command_get_response CMD_MOVE_BACKWARD + "," + duration.to_s
   end
   
-  def spin(direction = DEFAULT_SPIN_DIRECTION, duration = DEFAULT_SPIN_DURATION)
-    cmd = direction.upcase == "LEFT" ? CMD_SPIN_LEFT : CMD_SPIN_RIGHT
-    sendln cmd + "," + duration.to_s
-    acked? cmd
+  def spin_right(duration)
+    send_command_get_response CMD_SPIN_RIGHT + "," + duration.to_s
+  end
+  
+  def spin_left(duration)
+    send_command_get_response CMD_SPIN_LEFT + "," + duration.to_s
+  end
+  
+  def movef(duration = DEFAULT_MOVE_DURATION)
+    move_forward duration
+  end
+  
+  def moveb(duration = DEFAULT_MOVE_DURATION)
+    move_backward duration
   end
   
   def spinr(duration = DEFAULT_SPIN_DURATION)
-    spin "RIGHT", duration
+    spin_right duration
   end
   
   def spinl(duration = DEFAULT_SPIN_DURATION)
-    spin "LEFT" , duration
+    spin_left duration
+  end
+  
+  def move_forward!(duration)
+    sendln CMD_MOVE_FORWARD + "," + duration.to_s
+  end
+  
+  def move_backward!(duration)
+    sendln CMD_MOVE_BACKWARD + "," + duration.to_s
+  end
+  
+  def spin_right!(duration)
+    sendln CMD_SPIN_RIGHT + "," + duration.to_s
+  end
+  
+  def spin_left!(duration)
+    sendln CMD_SPIN_LEFT + "," + duration.to_s
   end
   
   def blink(r = 0, g = 0, b = 0, duration = DEFAULT_BLINK_DURATION)
+  
     if r + g + b == 0
       r = rand(100)+1
       g = rand(100)+1
       b = rand(100)+1
     end
+    
     r = r <= 100 ? r : 100
     g = g <= 100 ? g : 100
     b = b <= 100 ? b : 100
     
-    cmd = CMD_BLINK_LED
-    sendln cmd + "," + r.to_s + "," + g.to_s + "," + b.to_s + "," + duration.to_s
-    acked? cmd
+    send_command_get_response CMD_BLINK_LED + "," + r.to_s + "," + g.to_s + "," + b.to_s + "," + duration.to_s
+  end
+
+  def stop
+    send_command_get_response CMD_STOP
   end
   
+  
   def tone(frequency = 0, duration = DEFAULT_TONE_DURATION)
     frequency = rand(4186 - 28) + 28 if frequency < 28
-    cmd = CMD_TONE
-    sendln cmd + "," + frequency.to_s + "," + duration.to_s
-    acked? cmd
-  end
-  
-  def stop
-    cmd = CMD_STOP
-    sendln cmd
-    acked? cmd
+    send_command_get_response CMD_TONE + "," + frequency.to_s + "," + duration.to_s
   end
   
+
   def sound(pitch = nil, duration = DEFAULT_TONE_DURATION)
     pitch ||= FREQUENCY.keys[rand(FREQUENCY.size)].to_s
     tone FREQUENCY[pitch.upcase.to_sym], duration
@@ -142,28 +173,48 @@ class Mi100
     @sp = SerialPort.new dev, 38400, 8, 1, SerialPort::NONE
     if is_windows?
       @sp.read_timeout = READ_TIMEOUT
-      @sp.write_timeout = 0
+      @sp.write_timeout = WRITE_TIMEOUT
+    end
+  end
+  
+  
+  def send_command_get_response(cmd = CMD_PING)
+    empty_receive_buffer
+    sendln cmd
+    received_line = receiveln
+
+    begin
+      timeout(READ_TIMEOUT/1000) do
+        received_line = receiveln until received_line[0] == cmd[0]
+      end
+    rescue
+      return nil
     end
+    received_line.chomp.split(",")
   end
   
   def sendln str
     @sp.write str + "\n"
   end
   
-  def acked?(cmd)
-    str = recieveln
-    str[0] == cmd
+  def empty_receive_buffer
+    @sp.read_timeout = SHORT_READ_TIMEOUT
+    char = @sp.read 1
+    while char.length > 0
+      char = @sp.read 1
+    end
+    @sp.read_timeout = READ_TIMEOUT
   end
   
-  def recieveln
+  def receiveln
     if is_windows?
-      stime = Time.now
+      start_time = Time.now
       str = ""
-      while (Time.now - stime) * 1000.0 < READ_TIMEOUT do
-        c = @sp.read 1
-        if c.length > 0
-          str += c
-          break if c == "\n"
+      while (Time.now - start_time) * 1000.0 < READ_TIMEOUT do
+        char = @sp.read 1
+        if char.length > 0
+          str += char
+          break if char == "\n"
         end
       end
     else

data/lib/mi100/version.rb

@@ -1,3 +1,3 @@
 class Mi100
-  VERSION = "0.1.9"
+  VERSION = "0.2.0"
 end

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: mi100
 version: !ruby/object:Gem::Version
-  version: 0.1.9
+  version: 0.2.0
   prerelease: 
 platform: ruby
 authors:
@@ -9,11 +9,11 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-11-20 00:00:00.000000000Z
+date: 2014-02-04 00:00:00.000000000Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler
-  requirement: &20673168 !ruby/object:Gem::Requirement
+  requirement: &16297968 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ~>
@@ -21,10 +21,10 @@ dependencies:
         version: '1.3'
   type: :development
   prerelease: false
-  version_requirements: *20673168
+  version_requirements: *16297968
 - !ruby/object:Gem::Dependency
   name: rake
-  requirement: &20672916 !ruby/object:Gem::Requirement
+  requirement: &16297716 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -32,10 +32,10 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *20672916
+  version_requirements: *16297716
 - !ruby/object:Gem::Dependency
   name: rspec
-  requirement: &20672640 !ruby/object:Gem::Requirement
+  requirement: &16297440 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -43,7 +43,7 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *20672640
+  version_requirements: *16297440
 description: A ruby gem for controlling MI100 of monoxit through bluetooth virtual
   serial port.
 email: