nabaztag_hack_kit 0.0.2

data/.gitignore

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+*.gem
+.bundle
+Gemfile.lock
+pkg/*
+.rvmrc
+*.bin
+*.o

data/.travis.yml

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+rvm:
+  - 1.9.2
+script: "bundle exec rake test"

data/CHANGELOG.md

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+# Changes
+
+## v0.0.2 - 29-01-2012
+
+  * rename to NabaztagHackKit
+  * moved rake task to binaries
+  * fixed tests
+
+## v0.0.1 - 28-01-2012
+
+  * inital release

data/Gemfile

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+source "http://rubygems.org"
+
+# Specify your gem's dependencies in nabaztag_hack_kit.gemspec
+gemspec

data/README.md

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+# Nabaztag Hack Kit
+
+Everything you need to hack the Rabbit: a sinatra server including simple api framework to run custom bytecode on Nabaztag v1/v2. Sources + Compiler included (linux only)
+
+![](http://travis-ci.org/rngtng/NabaztagHackKit.png)
+
+## Getting Started
+
+### Compile & Run
+
+The kit comes with violet sources and binaries to compile custom Nabaztag bytecode. On a linux machine those binaries are compiled on instalation of the gem. Following three binaries are available:
+
+#### mtl_merge
+
+Merges multiple `*.mtl` files into one. Files are included like in C: `#include "<relative path to file>"`. Output is temporary file `.tmp.mtl`.
+
+#### mtl_comp
+
+Compiles a `*.mtl` file. It calls `mtl_merge` before, and fallbacks to remote compiler in case binary is not found and `HOST` is given.
+
+#### mtl_simu
+
+Runs a `*.mtl` file. It calls `mtl_merge` before, and fallbacks to remote simulator in case binary is not found and `HOST` is given.
+
+
+### Understanding the Bytecode
+
+The bytecode is written in a custom language by Sylvain Huet. Its referenced as _Metal_ and files end with `.mtl`. Unfortunately documentation is very poor (and in french). Check directory `ext/bytecode/` which contains a basic overview & documentaion as well as a list of (common) commands. A good reference is the original bytecode, included in the directory as well. Major parts got extracted into seperate files, found in `lib/` directory and ready to be included in your code.
+
+### Testing
+
+The kit includes a simple test framework to test custom bytecode. See `test/bytecode/test.mtl`. A typical test looks like this:
+
+```c
+ let test "<test name>" -> t in
+  (
+    //assertions
+    assert_equalI 0   10 - (2* 5);
+  0);
+```
+
+The framework offers assertions similar to ruby tunit stile. Mind that the variable type has to be given
+explicit. Convertion is:
+
+  * I = interger
+  * S = string
+  * L = list
+  * T = tab
+
+Following assertions are available:
+
+  * assert_equalI I I
+  * assert_equalI S S
+  * assert_nil I
+  * assert_equalIL
+  * assert_equalSL
+  * assert_equalTL
+
+
+## Server
+
+The Server is the communication endpoint for the rabbit. Its two main purposes are:
+
+  1. serving the bytecode on bootup
+  2. receive and respond to HTTP requests in a defined format.
+
+To start the server, run shortcut `rake run` or, as it's based on rack, `rackup -p <portnumer>`.
+
+
+## API
+As example and for my own purposes I implemented a simple API to deal with RFID, LEDS, BUTTON and EARS easily.
+
+### Input Devices
+
+#### RFID
+NabaztagInjector
+
+
+#### BUTTON
+Current Button has very basic functionality: a short press send HTTP Request of type `Log` to server, a long
+press foreces the bunny to restart.
+
+### Output Devices
+Data for all output devices are stored in buffers. Each device has two: one for ontime, imediate playback, another for permanet loops.
+
+#### LEDS
+Buffers 0 - 9, where 0-4 are used for onetime, and 5-9 for loop playback.
+
+#### EARS
+Buffers 10 - 13, where 10 & 11 are used for onetime, and 12 & 13 for loop playback.
+
+
+
+## Disclamer
+
+The server party was heavily inspired by [Trudy.rb](https://github.com/quimarche/trudy/blob/master/trudy.rb), compiler code copied from OpenJabNab.
+Thanks!
+
+
+### Protocol
+A good introduction to understand Nabaztag Protocol:
+
+  * http://www.cs.uta.fi/hci/spi/jnabserver/documentation/index.html
+
+
+### Nabaztag Background
+Read following posting for more backgorund on Nabaztag Hacking (uses google translate:)
+
+  * [Les source bytecode et compilateur](http://translate.googleusercontent.com/translate_c?hl=en&rurl=translate.google.com&sl=fr&tl=en&twu=1&u=http://nabaztag.forumactif.fr/t13241p30-les-sources-bytecode-et-compilateur&usg=ALkJrhjLTbx1GMfSUgwhdjES1LzlE07HZQ#338060)
+  * [Mindscape donne une seconde vie a nabaztag](http://translate.google.com/translate?hl=en&sl=fr&tl=en&u=http%3A%2F%2Fwww.planete-domotique.com%2Fblog%2F2011%2F08%2F07%2Fmindscape-donne-une-seconde-vie-a-nabaztag%2F)
+
+
+### Future
+I'd like to hack the Violet mir:ror too. Some starting points:
+
+  * https://github.com/leh/ruby-mirror
+  * http://reflektor.sourceforge.net/
+
+

data/Rakefile

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+require "bundler/gem_tasks"
+
+require 'rspec/core/rake_task'
+RSpec::Core::RakeTask.new("unit") do |t|
+  t.pattern = "./test/**/*_spec.rb" # don't need this, it's default.
+end
+
+namespace :test do
+  desc "Test bytcode"
+  task :bytecode do
+    puts `bin/mtl_simu test/bytecode/test.mtl`
+  end
+end
+
+task :test => [:unit]
+task :default => :test
+
+desc "start server on port 9090"
+task :run do
+  `rackup -p 9090`
+end

data/bin/mtl_comp

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+#!/usr/bin/env ruby
+
+BIN_NAME    = File.basename(__FILE__)
+BIN_PATH    = File.dirname(__FILE__)
+BIN         = File.join( File.expand_path("../ext/mtl", BIN_PATH), BIN_NAME)
+FILE        = ARGV.first
+
+FILTER      = ENV['FILTER'] || "| grep -v 'bytes' | grep -e'[a-z]'"
+MERGE       = File.join(BIN_PATH, 'mtl_merge')
+TMP         = ENV['TMP'] || '.tmp.mtl'
+OUT         = ENV['OUT'] || "bytecode.bin"
+
+HOST        = ENV['HOST']
+REMOTE_PATH = ENV['REMOTE'] || "~/"
+REMOTE_BIN  = ENV['REMOTE_BIN']
+
+unless FILE
+  puts "usage: #{File.basename(__FILE__)} [filename]"
+  abort
+end
+
+# merge
+`TMP='#{TMP}' #{MERGE} #{FILE}`
+
+# compile
+out = nil
+if File.exists?(BIN)
+  out = `#{BIN} -s #{FILE} #{OUT} 2>&1 #{FILTER}`
+else
+  print "local binary not found"
+end
+
+if HOST
+  puts " - falling back to remote"
+  `scp #{TMP} #{HOST}:#{REMOTE_PATH}#{TMP}`
+  out = `ssh #{HOST} "cd #{REMOTE_PATH} && rm -f #{TMP}.bin && #{REMOTE_BIN}#{BIN_NAME} -s #{TMP} #{TMP}.bin 2>&1 #{FILTER}"`
+  `scp #{HOST}:#{REMOTE_PATH}#{TMP}.bin #{OUT}`
+end
+
+puts out
+`rm #{TMP}`

data/bin/mtl_merge

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+#!/usr/bin/env ruby
+
+# Merge a file with its includes, pass filename as first argument
+
+TMP = ENV['TMP'] || '.tmp.mtl'
+
+unless ARGV.size == 1
+  puts "usage: #{File.basename(__FILE__)} [filename]"
+  abort
+end
+
+file = ARGV.first
+
+dir = File.dirname(file)
+File.open(TMP, 'w') do |out|
+  File.open(file).each_line do |line|
+    if line =~ /#include "([^"]+)"/
+      line = `cat #{dir}/#{$1}.mtl`
+    end
+    out.puts line
+  end
+end

data/bin/mtl_simu

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+#!/usr/bin/env ruby
+
+BIN_NAME    = File.basename(__FILE__)
+BIN_PATH    = File.dirname(__FILE__)
+BIN         = File.join( File.expand_path("../ext/mtl", BIN_PATH), BIN_NAME)
+FILE        = ARGV.first
+
+FILTER      = ENV['FILTER'] || "| grep -v 'bytes' | grep -e'[a-z]'"
+MERGE       = File.join(BIN_PATH, 'mtl_merge')
+TMP         = ENV['TMP'] || '.tmp.mtl'
+OUT         = ENV['OUT'] || "bytecode.bin"
+
+HOST        = ENV['HOST']
+REMOTE_PATH = ENV['REMOTE'] || "~/"
+REMOTE_BIN  = ENV['REMOTE_BIN']
+
+unless FILE
+  puts "usage: #{File.basename(__FILE__)} [filename]"
+  abort
+end
+
+# merge
+`TMP='#{TMP}' #{MERGE} #{FILE}`
+
+# simu
+out = nil
+if File.exists?(BIN)
+  out = `#{BIN} -s #{FILE} #{OUT} 2>&1 #{FILTER}`
+else
+  print "local binary not found"
+end
+
+if HOST
+  puts " - falling back to remote"
+  `scp #{TMP} #{HOST}:#{REMOTE_PATH}#{TMP}`
+  out = `ssh #{HOST} "cd #{REMOTE_PATH} && #{REMOTE_BIN}#{BIN_NAME} --source #{TMP} < #{TMP} 1>&2"`
+end
+
+puts out
+`rm #{TMP}`

data/bytecode/lib/buffer.mtl

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+//###############################################
+//---------------------- Buffer -------------------------------
+
+var buffers;;
+type BUFFER=[valB stepB lenB posB loopB];;
+
+fun buffersInit len=
+  set buffers = tabnew nil len;
+  for index = 0; index < len; index + 1 do
+    set buffers.index = [valB:""]
+;;
+
+fun _bufferFill index step loop val=
+  let strlen val -> len in
+  set buffers.index = [valB:val stepB:step lenB:len posB:0 loopB:loop];
+0;;
+
+fun bufferFill index val=
+  _bufferFill index 1 0 val
+;;
+
+fun bufferFill3 index val=
+  _bufferFill index 3 0 val
+;;
+
+fun loopBufferFill index val=
+  _bufferFill index 1 1 val
+;;
+
+fun loopBufferFill3 index val=
+  _bufferFill index 3 1 val
+;;
+
+fun buffersFill from to val=
+  for index = from; index <= to; index + 1 do
+  bufferFill index val
+;;
+
+fun buffersFill3 from to val=
+  for index = from; index <= to; index + 1 do
+  bufferFill3 index val
+;;
+
+fun bufferRead index=
+  let buffers.index -> buffer in
+  if buffer.posB < buffer.lenB then
+  (
+    set buffer.posB = buffer.posB + buffer.stepB;
+    let buffer.posB - buffer.stepB -> pos in
+    if buffer.stepB == 3 then
+      CtoI3 buffer.valB pos
+    else
+      strget buffer.valB pos
+  ) else if buffer.loopB > 0 && buffer.posB > 0 then (
+    set buffer.posB = 0;
+    bufferRead index
+  )
+  else (
+    nil
+  )
+;;
+
+//-----------------------------------------------------
+var palette = {0 90 130 170 215 255 255 255};;  // 0x00 0x5a 0x82 0xaa 0xd7 0xFF
+
+fun COtoI r g b=
+  r * 36 + g * 6 + b
+;;
+
+fun ItoCO val=
+  if val == nil then set val = 0;
+  if val > 215 then set val = 215;
+  let val / 36 -> r in
+  let (val % 36) / 6 -> g in
+  let (val % 36) % 6 -> b in
+  palette.r << 16 + palette.g << 8 + palette.b
+;;
+
+// returns number of chars before char \255
+fun str_find_end val=
+  strstr val "\255" 0
+;;
+
+//-----------------------------------------------------
+const RESPONSE_HEADER = 0x7f;;
+
+fun parseResponse_ s i res=
+  if (i < strlen s) then
+  (
+    let (strget s i) -> code in
+    let (CtoI3 s i+1) -> len in
+    (
+      if len >= 0 then
+      (
+        let strsub s i+4 len -> data in
+        parseResponse_ s i+4+len [code data]::res
+      )
+    )
+  )
+  else (
+    res
+  )
+;;
+
+// messages will be reveresed!
+fun parseResponse s=
+  if (strget s 0) == RESPONSE_HEADER then
+    parseResponse_ s 1 nil
+;;

data/bytecode/lib/button.mtl

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+//###############################################
+//------------------- Button --------------------
+
+const BUTTON_REBOOT = 30;; //ms MIN 50ms
+var button_pressed  = 0;;
+fun checkButton=
+  if (button2 > 0) then
+  (
+    set button_pressed = button_pressed + 1;
+    if button_pressed == 1 then
+    (
+      httprequest "GET" buttonUrl (itoa time_ms) "" #_cbHttp HTTP_NORMAL;
+      0
+    ) else if button_pressed == BUTTON_REBOOT then
+    (
+      buffersFill 0 4 "\0\255\0\255\0\255\255\255"
+    )
+  )
+  //reboot only when button not pressed, otherwise we get into setup mode
+  else if button_pressed > BUTTON_REBOOT then
+  (
+    exit
+  )
+  else (
+    set button_pressed = 0
+  )
+;;

data/bytecode/lib/data_helper.mtl

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+var logs = "";;
+
+fun log t tab=
+  let "|"::nil -> all in
+  (
+    for i = tablen tab; i > 0 ; i - 1 do
+    (
+      let itoa tab.(i - 1) -> data in
+      set all =  data::","::all
+    );
+  set logs = strcatlist logs::t::","::(itoa time_ms)::","::all
+  )
+;;
+
+fun TLtoS tlist=
+  if tlist == nil then
+    ""
+  else
+    let hd tlist -> [a b] in
+    strcatlist (itoa a)::b::(TLtoS tl tlist)::nil
+;;
+
+//----------- Data Dump
+
+// echo a string list as string
+fun SLecho list=
+  Secho strcatlist list
+;;
+
+fun SLecholn list=
+  SLecho list;
+  Secholn ""
+;;
+
+// echo a integer list as string
+fun ILecho list=
+  Secho listtostr list
+;;
+
+fun ILecholn list=
+  ILecho list;
+  Secholn ""
+;;
+
+fun TLecho tlist=
+  Secho TLtoS tlist
+;;
+
+//----------- Data Transformation
+
+// string to list of hex chars
+fun _webmac key i=
+  if i < strlen key then (ctoh strget key i)::_webmac key i+1;;
+fun webmac key=
+  strcatlist _webmac key 0;;
+
+//convert chars into int (there is a limit!!!)
+fun _StoI val pos len=
+  let strget val pos -> v in
+  if(len >= 0) then
+    v << (8 * len) + _StoI val (pos + 1) (len - 1)
+  else
+    0
+;;
+fun StoI val=
+  _StoI val 0 (strlen val) - 1
+;;
+
+//convert first 3 chars into int (perfect to set led color)
+fun StoI3 val=
+  _StoI val 0 2
+;;
+
+//convert first 2 chars into int (perfect to set led color)
+fun StoI2 val=
+  _StoI val 0 1
+;;
+
+fun CtoI3 s offset=
+  (strget s offset) << 16 + (strget s offset+1) << 8 + strget s offset+2
+;;
+
+// -------------------- other stuff
+
+fun exit=
+  Secholn "\n";
+  reboot 0x0407FE58 0x13fb6754
+;;

data/bytecode/lib/ear.mtl

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+//###############################################
+//------------------- EAR -----------------------
+
+var ears;;
+const EAR_INIT     = nil;;
+const EAR_STOP     = 0;;
+const EAR_FORWARD  = 1;;
+const EAR_BACKWARD = -1;;
+const EAR_TICKS    = 17;;
+
+type EAR=[dir pos shouldPos lastOffset lastTime lastTime2 lastRead];;
+
+fun earNorm norm=
+  (EAR_TICKS + norm) % EAR_TICKS
+;;
+
+fun earBufferRead index=
+  let bufferRead index+10 -> earPos in
+  (
+  if earPos != nil then
+    set earPos = earNorm earPos;
+  earPos
+  )
+;;
+
+fun earRead index=
+  let ears.index -> ear in
+  let time_ms -> currentTime in
+  (
+    let motorget index -> currentOffset in
+    let (currentOffset - ear.lastOffset) -> diff in
+    (
+      if diff > 0 then //ear moved
+      (
+        // update pos
+        if ear.pos != EAR_INIT then
+        let ear.dir -> direction in
+        (
+          if direction == 0 then set direction = 1; //manual moved!!
+          set ear.pos = earNorm ear.pos + direction * diff
+        );
+
+        // check for reset Reset
+        let currentTime - ear.lastTime -> lastDuration in
+        let currentTime - ear.lastTime2 -> totalDuration in
+        if ear.dir != EAR_STOP && lastDuration > 1000 && totalDuration < 1450 then
+        (
+           set ear.pos = earNorm (ear.dir - 1) / 2; // either 0 or 16
+           bufferFill 0 "\100";
+           log "reset" {index lastDuration totalDuration ear.dir ear.pos}
+        );
+        log "moved" {index ear.lastTime ear.lastTime2 ear.lastRead ear.pos ear.shouldPos ear.dir };
+
+        set ear.lastTime2 = ear.lastTime;
+        set ear.lastTime = currentTime
+      );
+      set ear.lastOffset = currentOffset
+    );
+
+    // check  & read new value
+    if (ear.pos != EAR_INIT) && (ear.pos == ear.shouldPos) && (currentTime - ear.lastRead) > 270 then
+    (
+      let earBufferRead index -> earPos in
+      (
+        if earPos == nil then set earPos = earBufferRead index+2;
+        if earPos == nil then set earPos = ear.pos;
+        set ear.shouldPos = earPos;
+        set ear.dir = earNorm ear.shouldPos - ear.pos;
+        if ear.dir > 8 then set ear.dir = -1;
+        if ear.dir > 0 then set ear.dir = 1;
+        motorset index ear.dir;
+
+        set ear.lastRead = currentTime
+
+        // log "ear read" {index time_ms earPos ear.pos ear.shouldPos}
+      )
+    )
+  )
+;;
+
+fun earsInit=
+  let time_ms -> currentT in
+  (
+    set ears = tabnew nil 2;
+    set ears.0 = [dir:EAR_FORWARD pos:EAR_INIT shouldPos:0 lastTime:currentT lastTime2:currentT];
+    set ears.1 = [dir:EAR_FORWARD pos:EAR_INIT shouldPos:0 lastTime:currentT lastTime2:currentT];
+    motorset 0 1;
+    motorset 1 1
+  );
+0;;

data/bytecode/lib/led.mtl

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+//###############################################
+//------------------ LED ----------------------
+
+const LED_CHECK_FQ = 500;; //ms MIN 50ms
+var led_last_check = 0;;
+
+fun ledBufferRead index=
+  let bufferRead index -> color in
+  let buffers.index -> buffer in
+  if color != nil && buffer.stepB == 1 then
+    ItoCO color
+  else
+    color
+;;
+
+fun setLeds=
+   //LED_CHECK_FQ
+  let (button3 + 1) * 3 -> led_check_fq in
+  if ((time_ms - led_last_check) > led_check_fq) then
+  (
+    for index = 0; index < 5; index + 1 do
+    (
+      let ledBufferRead index+5 -> loopColor in
+      let ledBufferRead index -> color in
+      (
+        if color == nil then set color = loopColor;
+        if color == nil then set color = 0;
+        led index color
+      )
+    );
+    set led_last_check = time_ms
+  )
+;;

data/bytecode/lib/rfid.mtl

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+//###############################################
+//--------------- RFID ------------------------
+
+const RFID_CHECK_FQ  = 500;; //ms MIN 50ms
+const RFID_STOP_BYTE = 0xFF;;
+const RFID_ID_START  = "\208\2\26";; // 0xd0 0x02 0x1a
+const RFID_ID_FALSE  = "\0\0\0\0\0\0\0\0\v";;
+const RFID_ID_ERROR  = "\69\114\114\111\114\0\0\0\v";; // 0x45 72 72 6f 72 00 00 00
+
+var rfid_last_check  = 0;;
+var rfid_data        = "";;
+
+fun checkRFID=
+  if ((time_ms - rfid_last_check) > RFID_CHECK_FQ) then
+  (
+    let rfidGet -> rfid in
+    if (rfid != nil) then
+    (
+      if ((strstr rfid RFID_ID_START 0) == 0) then
+      (
+        httprequest "PUT" playerUrl rfid "" #_cbHttp HTTP_NORMAL;
+        0
+      )
+      else if ((strstr rfid RFID_ID_FALSE 0) == 0) then
+      (
+        0
+      )
+      else
+      (
+        let strlen rfid -> len in //usually that's 8
+        for index = 0; index < len; index + 1 do
+        (
+          let strget rfid index -> data_byte in
+          (
+            if (data_byte != RFID_STOP_BYTE) then
+              set rfid_data = strcat rfid_data ctoh data_byte
+            else if ((strlen rfid_data) > 0) then
+            (
+              httprequest "POST" eventUrl rfid_data "" #_cbHttp HTTP_NORMAL;
+              set rfid_data = ""
+            )
+          )
+        );
+        0
+      )
+    );
+    //all done
+    set rfid_last_check = time_ms
+  );
+0;;