motorcontrolboard 0.0.1 → 0.0.2

data/lib/motorcontrolboard.rb

@@ -220,7 +220,7 @@ class MotorControlBoard
             readBytes = []
             begin
                 Timeout::timeout(1) do
-                    len.times {readBytes << @spr.getc}
+                    len.times {readBytes << @sp.getbyte}
                     readBytes.reverse!
 
                     @data.select{|data| data['valid']==1}.each do |row| #do we need to revert this??
@@ -236,6 +236,7 @@ class MotorControlBoard
             rescue
                 puts 'Timeout to read with mask ' + mask
                 puts 'Read ' + readBytes.length.to_s + '/' + len.to_s + ' bytes'
+                puts 'READ:' + readBytes.to_s
             end
             return result
         end

data/lib/motorcontrolboard/mcb_connection.rb

@@ -35,7 +35,6 @@ class MotorControlBoard
         parity = SerialPort::NONE
         begin
             @sp = SerialPort.new(@port, @baud_rate, data_bits, stop_bits, parity)
-            @spr = SerialPort.new(@port, @baud_rate, data_bits, stop_bits, parity)
             @open = true
 
         rescue
@@ -56,7 +55,6 @@ class MotorControlBoard
         if @open
             @open = false
             @sp.close
-            @spr.close
         end
     end
 
@@ -88,19 +86,6 @@ class MotorControlBoard
         string.each_char do |char| 
             sendC(char) 
         end
-        # puts 'sent: ' + string
-        # puts 'waiting for return'
-        # rec = ''
-        # string.length.times {rec << @sp.getc}
-        # puts 'received: ' + rec
-        # match = (string.eql? rec.force_encoding('ASCII-8BIT'))
-        # puts 'equal: ' + match.to_s
-        # if !match
-        #     string.length.times.with_index do |i| 
-        #         puts string[i].ord + ' ' + rec[i].force_encoding('ASCII-8BIT').ord + ' ' + (string[i].encode('ASCII-8BIT') == rec[i].force_encoding('ASCII-8BIT')).to_s
-        #     end
-        # end
-
     end
 
     def startByte()

data/lib/motorcontrolboard/version.rb

@@ -1,3 +1,3 @@
 module Motorcontrolboard
-  VERSION = "0.0.1"
+  VERSION = "0.0.2"
 end

data/spec/motorcontrolboard_spec.rb

@@ -0,0 +1,109 @@
+require 'spec_helper'
+
+describe MotorControlBoard do
+before :each do
+    @m = MotorControlBoard.new
+end
+
+describe "#new" do
+    it "takes 0..2 parameters and returns a MotorControlBoard object" do
+        @m.should be_an_instance_of MotorControlBoard
+    end
+end
+
+describe "#dataMask" do
+	it "should return the valid bit as binary mask string" do
+		@m.dataMask.should eql "0b"+'0'*(@m.getMaxPos+1)
+		@m.data[1]['valid']='1'
+		@m.dataMask.should eql "0b"+'0'*(@m.getMaxPos-1)+'10'
+		@m.data[0]['valid']='1'
+		@m.dataMask.should eql "0b"+'0'*(@m.getMaxPos-1)+'11'
+	end
+end
+
+describe "#maskToPos" do
+	it "should extract positions with 1 in the mask" do
+		@m.maskToPos('0b0000').should eql []
+		@m.maskToPos('0b0000').should_not eql [0]
+		@m.maskToPos('0b0001').should eql [0]
+		@m.maskToPos('0b0010').should eql [1]
+		@m.maskToPos('0b0011').should eql [0, 1]
+	end
+end
+
+describe "#invalidateData" do
+	it "should reset the valid bit" do
+		@m.data[0]['valid']='1'
+		@m.data[(@m.getMaxPos())]['valid']='1'
+		@m.data[12]['valid']='1'
+		@m.data[24]['valid']='1'
+		@m.invalidateData
+		@m.dataMask.should eql "0b"+'0'*(@m.getMaxPos+1)
+		@m.data[0]['valid']='1'
+		@m.data[1]['valid']='1'
+		@m.data[2]['valid']='1'
+		@m.data[3]['valid']='1'
+		@m.invalidateData
+		@m.dataMask.should eql "0b"+'0'*(@m.getMaxPos+1)
+	end
+end
+
+describe "#validateData" do
+	it "should reset the valid bit" do
+		@m.data[0]['valid']='1'
+		@m.data[(@m.getMaxPos())]['valid']='1'
+		@m.data[12]['valid']='1'
+		@m.data[24]['valid']='1'
+		@m.validateData
+		@m.dataMask.should eql "0b"+'1'*(@m.getMaxPos+1)
+		@m.data[0]['valid']='1'
+		@m.data[1]['valid']='1'
+		@m.data[2]['valid']='1'
+		@m.data[3]['valid']='1'
+		@m.validateData
+		@m.dataMask.should eql "0b"+'1'*(@m.getMaxPos+1)
+	end
+end
+
+describe "#maskToValid" do
+	it "should transform a mask into valid bits" do
+		[0,1].repeated_permutation(4).each do |mask|
+			mask = '0b' +'0'*(@m.getMaxPos-3) + mask.join
+			@m.invalidateData
+			@m.maskToValid(mask)
+			@m.dataMask.should eql mask
+		end
+		[0,1].repeated_permutation(4).each do |mask|
+			mask = '0b'+ mask.join + '0'*(@m.getMaxPos-3)
+			@m.invalidateData
+			@m.maskToValid(mask)
+			@m.dataMask.should eql mask
+		end
+		[0,1].repeated_permutation(4).each do |mask|
+			mask = '0b' +'0'*11+ mask.join+'0'*(@m.getMaxPos-11-3)
+			@m.invalidateData
+			@m.maskToValid(mask)
+			@m.dataMask.should eql mask
+		end
+	end
+end
+
+describe "#maskFromNames" do
+	it "should create a mask according to the names passed as parameter" do
+		@m.maskFromNames().should eql "0b"+'0'*(@m.getMaxPos+1)
+		@m.maskFromNames(:ctrl_kp).should eql "0b"+'0'*24+'1'
+		@m.maskFromNames(:ctrl_ki).should eql "0b"+'0'*23+'10'
+		@m.maskFromNames(:ctrl_kp, :ctrl_ki).should eql "0b"+'0'*23+'11'
+		@m.maskFromNames(:board_id).should eql "0b"+'1'+'0'*24
+	end
+end
+
+describe "#positionFromName" do
+	it "return the position of the given name" do
+		@m.positionFromName(:ctrl_kp).should eql 0
+		@m.positionFromName(:ctrl_ki).should eql 1
+		@m.positionFromName(:board_id).should eql 24
+	end
+end
+
+end

data/spec/spec_helper.rb

@@ -0,0 +1,3 @@
+require_relative '../lib/motorcontrolboard.rb'
+ 
+require 'yaml'

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: motorcontrolboard
 version: !ruby/object:Gem::Version
-  version: 0.0.1
+  version: 0.0.2
   prerelease: 
 platform: ruby
 authors:
@@ -9,7 +9,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2012-07-18 00:00:00.000000000 Z
+date: 2012-07-19 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: serialport
@@ -44,6 +44,8 @@ files:
 - lib/motorcontrolboard/mcb_data.rb
 - lib/motorcontrolboard/version.rb
 - motorcontrolboard.gemspec
+- spec/motorcontrolboard_spec.rb
+- spec/spec_helper.rb
 homepage: http://irawiki.disco.unimib.it/irawiki/index.php/INFIND2011/12_Motor_control_board
 licenses: []
 post_install_message: 
@@ -68,4 +70,6 @@ rubygems_version: 1.8.24
 signing_key: 
 specification_version: 3
 summary: ''
-test_files: []
+test_files:
+- spec/motorcontrolboard_spec.rb
+- spec/spec_helper.rb