nxt 0.2.0

data/README.markdown

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+# NXT
+
+Control a Lego NXT 2.0 brick using Ruby code. This library works by piping
+commands over a serialport connection to the brick, allowing you to write Ruby
+scripts to control your bot. This means you can use both the Bluetooth and USB
+serial ports provided on the brick as interfaces within your code.
+
+This project used to be based on "ruby-nxt", and Tony Buser's subsequent rewrite
+"nxt". It is now a complete rewrite, based heavily in some parts on the
+aforesaid projects internally, but with a brand new external API that should
+prove cleaner and easier to work with.
+
+This code implements direct command, as outlined in "Appendix 2-LEGO MINDSTORMS
+NXT Direct Commands.pdf". Not all functionality is implemented yet!
+
+## Getting Started
+
+### Connect to Your NXT Brick
+
+In order to start coding with your NXT, you'll need to set up either a
+Bluetooth or USB connection to it. Follow one of the below set of steps, and
+make a note of the `/dev/*` address you end up using to point to the NXT.
+
+### Creating a Bluetooth Serialport Connection
+
+For instructions on creating a bluetooth serialport connection:
+
+* Linux: http://tonybuser.com/bluetooth-serial-port-to-nxt-in-linux
+* Max OSX: http://tonybuser.com/bluetooth-serial-port-to-nxt-in-osx
+* Windows: http://tonybuser.com/ruby-serialportnxt-on-windows
+
+### Creating a USB Serialport Connection
+
+TODO
+
+Once you have your NXT Connected
+
+## Documentation and Examples
+
+The NXT project has been heavily documented using nice, clean, human readable
+markdown. YARD is used to generated the docs, and the options have been included
+in our .yardopts file, so simply run a YARD server to read them:
+
+    yard server
+
+This documents the API, both internal and external. For bite-sized chunks of NXT
+code that is much more appropriate for beginners,
+[have a look at the examples](https://github.com/nathankleyn/nxt/tree/master/examples).
+
+In addition to this, you might find the tests quite helpful. There are currently
+only RSpec unit tests, which can be found in the `spec` directory; the plan is
+to add some decent feature tests soon.

data/Rakefile

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+require 'rake'
+require 'rake/clean'
+require 'rdoc/task'
+require 'rspec/core/rake_task'
+
+RDoc::Task.new do |rdoc|
+  files = ['README.markdown', 'lib/**/*.rb']
+  rdoc.rdoc_files.add(files)
+  rdoc.main = 'README.markdown'
+  rdoc.title = 'ruby_events Docs'
+  rdoc.rdoc_dir = 'doc/rdoc'
+  rdoc.options << '--line-numbers'
+end
+
+RSpec::Core::RakeTask.new(:spec)
+
+desc 'NXT related tasks'
+namespace :nxt do
+  desc 'Detect a connected NXT brick within /dev.'
+  task :detect do
+    unless $DEV ||= ENV['NXT'] || ENV['DEV']
+      begin
+        devices = Dir['/dev/*NXT*']
+        if devices.size > 0
+          $DEV = devices[0]
+          puts "Detected a NXT brick at '#{$DEV}'."
+        else
+          puts 'Could not detect any connected NXT bricks.'
+        end
+      rescue
+        # FIXME: The /dev directory isn't there, possibly running on Windows.
+      end
+    end
+  end
+end

data/lib/nxt.rb

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+$:.unshift(File.dirname(__FILE__))
+
+require 'active_support/inflector'
+
+require 'nxt/utils/accessors'
+
+require 'nxt/patches/module'
+
+require 'nxt/exceptions'
+
+require 'nxt/interfaces/base'
+require 'nxt/interfaces/usb'
+require 'nxt/interfaces/serial_port'
+
+require 'nxt/commands/base'
+require 'nxt/commands/input'
+require 'nxt/commands/output'
+require 'nxt/commands/program'
+require 'nxt/commands/sound'
+require 'nxt/commands/tone'
+
+require 'nxt/connectors/input/color'
+require 'nxt/connectors/input/touch'
+require 'nxt/connectors/input/ultrasonic'
+require 'nxt/connectors/output/motor'
+
+require 'nxt/nxt_brick'

data/lib/nxt/commands/base.rb

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+module NXT
+  module Command
+    module Base
+      private
+
+      COMMAND_TYPES = {
+        direct: 0x00,
+        system: 0x01,
+        reply: 0x02
+      }.freeze
+
+      PORTS = {
+        a: 0x00,
+        b: 0x01,
+        c: 0x02,
+        one: 0x00,
+        two: 0x01,
+        three: 0x02,
+        four: 0x03,
+        all: 0xFF
+      }
+
+      def port_as_byte(port)
+        PORTS[port]
+      end
+    end
+  end
+end

data/lib/nxt/commands/output.rb

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+module NXT
+  module Command
+    # An implementation of all the output related NXT commands:
+    #
+    # * setoutputstate
+    # * getoutputstate
+    #
+    # This is used predominantly to interface with the servo-motor connectors
+    # that come prepackaged with NXT kits.
+    #
+    # This class can also be used to talk to other third-party accessories
+    # connected in the output ports on the NXT brick.
+    #
+    # This class does not actually talk to the chosen interface for the NXT
+    # brick. Instead, it outputs messages in byte arrays ready to be serialised
+    # to the brick over the appropriate interface from within the {NXT::Brick}
+    # class.
+    module Output
+      include NXT::Command::Base
+      extend NXT::Utils::Accessors
+
+      @@command_type = COMMAND_TYPES[:direct]
+      @@command_identifier = 0x04
+
+      # The mode enum. This is a list of possible values when setting the mode
+      # byte.
+      #
+      # Reference: Appendix 2, Page 6
+      MODE = {
+        # Motor will rotate freely.
+        # NOTE: This is not documented in the Appendixes.
+        coast: 0x00,
+        # Turn on the specified motor.
+        motor_on: 0x01,
+        # Use run/brake instead of run/float in PWM. This means the voltage is
+        # not allowed to float between PWM pulses, improving accuracy at the
+        # expense of greater power usage.
+        brake: 0x02,
+        # Turns on the regulation. This is required when setting a regulation
+        # mode setting.
+        regulated: 0x04
+      }.freeze
+
+      # The regulation mode enum. This is a list of possible values when
+      # setting the regulation mode byte.
+      #
+      # Reference: Appendix 2, Page 6
+      REGULATION_MODE = {
+        # No regulation will be enabled.
+        idle: 0x00,
+        # Power control will be enabled on specific output.
+        motor_speed: 0x01,
+        # Synchronisation will be enabled. This requires two output ports to
+        # have this enabled before it will work.
+        motor_sync: 0x02
+      }.freeze
+
+      # The run state enum. This is a list of possible values when setting the
+      # run state byte.
+      #
+      # Reference: Appendix 2, Page 6
+      RUN_STATE = {
+        # Output will be idle.
+        idle: 0x00,
+        # Output will ramp-up to the desired speed.
+        ramp_up: 0x10,
+        # Output will be running.
+        running: 0x20,
+        # Output will ramp-down to the desired speed.
+        ramp_down: 0x40
+      }.freeze
+
+      attr_combined_accessor :power, 75
+      attr_combined_accessor :mode, :motor_on
+      attr_combined_accessor :regulation_mode, :idle
+      attr_combined_accessor :run_state, :running
+      attr_combined_accessor :tacho_limit, 0
+
+      attr_setter :power, is: Integer
+      attr_setter :mode, is_key_in: MODE
+      attr_setter :regulation_mode, is_key_in: REGULATION_MODE
+      attr_setter :run_state, is_key_in: RUN_STATE
+      attr_setter :tacho_limit, is: Integer
+
+      def set_output_state(response_required = false)
+        # Pack this value into a 32-bit unsigned little-endian binary string,
+        # then unpack it into 4 8 bit unsigned integer chunks. We are
+        # converting the passed in value to a little endian, unsigned long
+        # value.
+        tacho_limit_as_bytes = [self.tacho_limit].pack('V').unpack('C4')
+
+        @interface.send_and_receive([
+          @@command_type,
+          @@command_identifier,
+          port_as_byte(self.port),
+          self.power,
+          MODE[self.mode],
+          REGULATION_MODE[self.regulation_mode],
+          0, # turn ratio
+          RUN_STATE[self.run_state]
+        ] + tacho_limit_as_bytes, response_required)
+      end
+    end
+  end
+end

data/lib/nxt/connectors/input/color.rb

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+module NXT
+  module Connector
+    module Input
+      class Color
+        def initialize(port)
+          @port = port
+        end
+      end
+    end
+  end
+end

data/lib/nxt/connectors/input/touch.rb

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+module NXT
+  module Connector
+    module Input
+      class Touch
+        def initialize(port)
+          @port = port
+        end
+      end
+    end
+  end
+end

data/lib/nxt/connectors/input/ultrasonic.rb

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+module NXT
+  module Connector
+    module Input
+      class Ultrasonic
+        def initialize(port)
+          @port = port
+        end
+      end
+    end
+  end
+end

data/lib/nxt/connectors/output/motor.rb

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+module NXT
+  module Connector
+    module Output
+      class Motor
+        include NXT::Command::Output
+        extend NXT::Utils::Accessors
+
+        DURATION_TYPE = [:seconds, :degrees, :rotations].freeze
+        DURATION_AFTER = [:coast, :brake].freeze
+        DIRECTION = [:forwards, :backwards].freeze
+
+        attr_accessor :port, :interface
+
+        attr_combined_accessor :duration, 0
+        attr_combined_accessor :duration_type, :seconds
+        attr_combined_accessor :duration_after, :stop
+        attr_combined_accessor :direction, :forwards
+
+        attr_setter :direction, is_key_in: DIRECTION
+
+        def initialize(port, interface)
+          @port = port
+          @interface = interface
+        end
+
+        def duration=(duration, options = {})
+          raise TypeError.new('Expected duration to be a number') unless duration.is_a?(Integer)
+          @duration = duration
+
+          if options.include?(:type)
+            type = options[:type]
+
+            unless DURATION_TYPE.include?(type)
+              raise TypeError.new("Expected duration type to be one of: :#{DURATION_TYPE.join(', :')}")
+            end
+
+            @duration_type = type
+          else
+            @duration_type = :seconds
+          end
+
+          if options.include?(:after)
+            if @duration_type == :seconds
+              after = options[:after]
+
+              unless DURATION_AFTER.include?(after)
+                raise TypeError.new("Expected after option to be one of: :#{DURATION_AFTER.join(', :')}")
+              end
+
+              @duration_after = after
+            else
+              raise TypeError.new('The after option is only available when the unit duration is in seconds.')
+            end
+          else
+            @duration_after = :stop
+          end
+
+          case @duration_type
+          when :rotations
+            self.tacho_limit = @duration * 360
+          when :degrees
+            self.tacho_limit = @duration
+          end
+
+          self
+        end
+
+        def forwards
+          self.direction = :forwards
+          self
+        end
+
+        def backwards
+          self.direction = :backwards
+          self
+        end
+
+        def stop(type = :coast)
+          self.power = 0
+          self.mode = :coast
+
+          self.move
+        end
+
+        # takes block for response, or can return the response instead.
+        def move
+          response_required = false
+
+          if self.duration > 0 && self.duration_type != :seconds
+            response_required = true
+          end
+
+          set_output_state(response_required)
+
+          if self.duration > 0 && self.duration_type == :seconds
+            sleep(self.duration)
+            self.reset
+            self.stop(self.duration_after)
+          else
+            self.reset
+          end
+        end
+
+        def reset
+          self.duration = 0
+          self.direction = :forwards
+          self.power = 75
+          self.mode = :motor_on
+          self.regulation_mode = :idle
+          self.run_state = :running
+          self.tacho_limit = 0
+        end
+      end
+
+      # overrides
+      def set_output_state(response_required=true)
+        original_power = self.power
+        self.power *= -1 if self.direction == :backwards
+
+        super
+
+        self.power = original_power
+      end
+    end
+  end
+end

data/lib/nxt/exceptions.rb

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+module NXT
+  module Exceptions
+    # Raised when a class has not implemented a method from the base class
+    # that is required to be overriden.
+    class InterfaceNotImplemented < NotImplementedError; end
+
+    # Raised when an invalid interface is attempted to be constructed.
+    class InvalidInterfaceError < TypeError; end
+
+    # Raised when a port is attempted to be named when it already has been.
+    class PortTakenError < TypeError; end
+
+    # Raised when an invalid name is attempted to be given to a port.
+    class InvalidIdentifierError < TypeError; end
+
+    # Raised when the device file attempted to be used for communication is
+    # for whatever reason does not exist or is not correct.
+    class InvalidDeviceError < TypeError; end
+
+    # Raised when communication with a Serial Port connection fails.
+    class SerialPortConnectionError < RuntimeError; end
+  end
+end

data/lib/nxt/interfaces/base.rb

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+module NXT
+  module Interface
+    class Base
+      def send_and_receive(msg, response_required = true)
+        if response_required
+          msg[0] = msg[0] | (response_required ? 0x80 : 0x00)
+        end
+
+        self.send(msg)
+
+        if response_required
+          response = self.receive
+          response
+        end
+      end
+
+      def send
+        raise InterfaceNotImplemented.new('The #send method must be implemented.')
+      end
+
+      def receive
+        raise InterfaceNotImplemented.new('The #receive method must be implemented.')
+      end
+
+      def connect
+        raise InterfaceNotImplemented.new('The #connect method must be implemented')
+      end
+
+      def disconnect
+        raise InterfaceNotImplemented.new('The #disconnect method must be implemented')
+      end
+    end
+  end
+end

data/lib/nxt/interfaces/serial_port.rb

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+require 'serialport'
+
+module NXT
+  module Interface
+    class SerialPort < Base
+      include NXT::Exceptions
+
+      attr_reader :dev
+
+      BAUD_RATE = 57600
+      DATA_BITS = 8
+      STOP_BITS = 1
+      PARITY = ::SerialPort::NONE
+      READ_TIMEOUT = 5000
+
+      def initialize(dev)
+        self.dev = (dev)
+      end
+
+      def dev=(dev)
+        raise InvalidDeviceError unless File.exists?(dev)
+        @dev = dev
+      end
+
+      def connect
+        @connection = ::SerialPort.new(@dev, BAUD_RATE, DATA_BITS, STOP_BITS, PARITY)
+
+        if !@connection.nil?
+          @connection.flow_control = ::SerialPort::HARD
+          @connection.read_timeout = READ_TIMEOUT
+        else
+          raise SerialPortConnectionError.new("Could not establish a SerialPort connection to #{dev}")
+        end
+
+        @connection
+      rescue ArgumentError
+        raise SerialPortConnectionError.new("The #{dev} device is not a valid SerialPort")
+      end
+
+      def disconnect
+        @connection.close if @connection && !@connection.closed?
+      end
+
+      def connected?
+        !@connection.closed?
+      end
+
+      def send(msg)
+        # The expected data package structure for NXT Bluetooth communication is:
+        #
+        #     [Length Byte 1, Length Byte 2, Command Type, Command, ...]
+        #
+        # So here we calculate the two leading length bytes, and rely on the
+        # passed in argument to give us the rest of the message to send.
+        #
+        # Note that the length is stored in Little Endian ie. LSB -> MSB
+        #
+        # Reference: Appendix 1, Page 22
+        msg = [(msg.length & 255), (msg.length >> 8)] + msg
+
+        msg.each do |b|
+          @connection.putc(b)
+        end
+      end
+
+      def receive
+        # This gets the length of the received data from the header that was sent
+        # to us. We unpack it, as it's stored as a 16-bit Little Endian number.
+        #
+        # Reference: Appendix 1, Page 22
+        length = @connection.sysread(2)
+        @connection.sysread(length.unpack('v')[0])
+      end
+    end
+  end
+end

data/lib/nxt/interfaces/usb.rb

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+require 'usb'
+
+module NXT
+  module Interface
+    class USB < Base
+    end
+  end
+end

data/lib/nxt/nxt_brick.rb

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+# This class is the entry point for end-users creating their own list of
+# commands to execute remotely on a Lego NXT brick.
+#
+# An instance of this class provides all the endpoints necessary to:
+#
+# * educate the API on the connected input and output devices; and,
+# * access these input and output devices and run commands using them.
+#
+# @example Creating an instance using a block, with one motor output.
+#
+#   NXTBrick.new(interface) do |nxt|
+#     nxt.add_motor_output(:a, :front_left)
+#   end
+#
+# @example Creating an instance without a block, with one motor and one light sensor.
+#
+#   nxt = NXTBrick.new(interface)
+#   nxt.add_motor_output(:a, :front_left)
+#   # ...
+#   nxt.disconnect
+class NXTBrick
+  include NXT::Exceptions
+
+  # An enumeration of possible ports, both input and output, that the NXT brick
+  # can have connectors attached to.
+  PORTS = [:a, :b, :c, :one, :two, :three, :four]
+
+  # Get the instance of the interface that this runner class is using to connect
+  # to the NXT brick.
+  attr_accessor :interface
+
+  # Accessors for output ports on the NXT brick. These will be populated with
+  # the appropriate instances of their respective output connectors.
+  attr_reader :a, :b, :c
+
+  # Accessors for input ports on the NXT brick. These will be populated with the
+  # appropriate instances of their respective input connectors.
+  attr_reader :one, :two, :three, :four
+
+  # We mandate that all added port connections have an identifier associated
+  # with it. This is so that code is not fragile when port swapping needs to
+  # be done.
+  attr_reader :port_identifiers
+
+  def initialize(interface_type, *interface_args)
+    @port_identifiers = {}
+    interface_type = interface_type.to_s.classify
+
+    validate_interface(interface_type)
+    self.interface = NXT::Interface.const_get(interface_type).new(*interface_args)
+
+    if block_given?
+      begin
+        self.connect
+        yield(self)
+      ensure
+        self.disconnect
+      end
+    end
+  end
+
+  # Connect using the given interface to the NXT brick.
+  def connect
+    self.interface.connect
+  end
+
+  # Close the connection to the NXT brick, and dispose of any resources that
+  # this instance of NXTBrick is using. Any commands run against this runner
+  # after calling disconnect will fail.
+  def disconnect
+    self.interface.disconnect
+  end
+
+  # Add a new connector instance, binding a specific identifier to the given
+  # port.
+  #
+  # If the given port already is bound, an exception will be thrown. The
+  # instance given though can be of any class, presuming it talks the
+  # correct language.
+  #
+  # @param Symbol port The port to bind to.
+  # @param Symbol identifier The identifier to associate with this port.
+  # @param Class klass The Class to instantiate as the instance of this
+  #                    port. There is no limitation on what type this can
+  #                    be, though it must be able to hook in correctly
+  #                    with the NXT library.
+  def add(port, identifier, klass)
+    raise TypeError.new('Expected port to be a Symbol') unless port.is_a?(Symbol)
+    raise TypeError.new('Expected identifier to be a Symbol') unless identifier.is_a?(Symbol)
+    raise TypeError.new('Expected klass to be a Class') unless klass.is_a?(Class)
+
+    unless PORTS.include?(port)
+      raise TypeError.new("Expected port to be one of: :#{PORTS.join(', :')}")
+    end
+
+    port_variable = :"@#{port}"
+
+    if !self.respond_to?(identifier)
+      # Makes a new instance of the class and pushes it into our instance variable
+      # for the given port.
+      self.instance_variable_set(port_variable, klass.new(port, self.interface))
+
+      # Given that that succeeded, all that remains is to add the identifier
+      # to our lookup Hash. We'll use this Hash later on within method_missing.
+      @port_identifiers[identifier] = port
+
+      # Define a method on the eigenclass of this instance.
+      (class << self; self; end).send(:define_method, identifier) do
+        self.instance_variable_get(port_variable)
+      end
+    else
+      if !self.instance_variable_get(port_variable).nil?
+        raise PortTakenError.new("Port #{port} is already set, call remove first")
+      else
+        raise InvalidIdentifierError.new("Cannot use identifier #{identifier}, a method on #{self.class} is already using it.")
+      end
+    end
+  end
+
+  # Remove the assigned (if any) connector instance from the given
+  # identifier.
+  #
+  # @param Symbol identifier The identifier to search for and remove.
+  def remove(identifier)
+    raise TypeError.new('Expected identifier to be a Symbol') unless identifier.is_a?(Symbol)
+    !!@port_identifiers.delete(identifier)
+  end
+
+  # This will dynamically add methods like:
+  #
+  # * add_light_input
+  # * add_motor_output
+  # * add_ultrasonic_input
+  #
+  # This means they don't have to provide the class each and every time. For
+  # connectors they have added themselves, it's likely best to use the
+  # {#add} method.
+  NXT::Connector.constants.each do |type_const|
+    NXT::Connector.const_get(type_const).constants.each do |const|
+      # We don't use a splat here for the args, because that way when
+      # people don't pass in the correct number of params, it says helpfully
+      # '1 of 2' args passed (or something similar).
+      define_method("add_#{const.to_s.underscore}_#{type_const.to_s.underscore}") do |port, identifier|
+        self.add(port, identifier, NXT::Connector.const_get(type_const).const_get(const))
+      end
+    end
+  end
+
+  private
+  def validate_interface(interface_type_name_string)
+    unless NXT::Interface.constants.include?(interface_type_name_string.to_sym)
+      raise InvalidInterfaceError.new("There is no interface of type #{interface_type_name_string}.")
+    end
+  end
+end

data/lib/nxt/patches/module.rb

@@ -0,0 +1,22 @@
+class Module
+  # Creates an invariant accessor that allows getting and setting from the same
+  # endpoint. It will operate in getter mode if you don't pass any arguments
+  # when calling it, otherwise it will work in setter mode. Useful when needing
+  # to chain methods (you can't chain standard attr_writer methods because
+  # of the `= something` part).
+  def attr_combined_accessor(sym, default = nil)
+    define_method(sym) do |*args|
+      if args.empty?
+        instance_var = :"@#{sym}"
+        if (value = self.instance_variable_get(instance_var))
+          value
+        else
+          self.instance_variable_set(instance_var, default)
+          default
+        end
+      else
+        send(:"#{sym}=", *args)
+      end
+    end
+  end
+end

data/lib/nxt/patches/string.rb

@@ -0,0 +1,29 @@
+class String
+  # Convert the given string to a hexadecimal representation of the same data.
+  # This method is non-destructive, it will return a new copy of the string
+  # convered to hex.
+  def to_hex_str
+    str = ''
+    self.each_byte {|b| str << '0x%02x ' % b}
+    str
+  end
+
+  #
+  def from_hex_str_two
+    data = self.split(' ')
+    str = ''
+    data.each {|h| eval "str += '%c' % #{h}"}
+    str
+  end
+
+  def from_hex_str
+    data = self.split(' ')
+    str = ''
+
+    data.each do |h|
+      str += '%c' % h
+    end
+
+    str
+  end
+end

data/lib/nxt/utils/accessors.rb

@@ -0,0 +1,20 @@
+module NXT
+  module Utils
+    module Accessors
+      def attr_setter(name, options)
+        define_method("#{name}=") do |value|
+          if options.include?(:is)
+            raise TypeError.new('Expected value to be a number') unless duration.is_a?(options[:is])
+          end
+
+          if options.include?(:is_key_in) && !options[:is_key_in].include?(value)
+            raise TypeError.new("Expected value to be one of: :#{options[:is_key_in].keys.join(', :')}")
+          end
+
+          instance_variable_set("@#{name}", value)
+          self
+        end
+      end
+    end
+  end
+end

data/spec/matchers.rb

@@ -0,0 +1,7 @@
+require 'rspec/expectations'
+
+RSpec::Matchers.define :have_constant do |expected|
+  match do |actual|
+    actual.class.constants.include?(expected)
+  end
+end

data/spec/nxt/interfaces/serial_port_spec.rb

@@ -0,0 +1,73 @@
+require 'spec_helper'
+
+describe NXT::Interface::SerialPort do
+  before do
+    @device = '/dev/zero'
+    @bad_device = 'hello world'
+  end
+
+  subject do
+    NXT::Interface::SerialPort.new(@device)
+  end
+
+  describe 'constants' do
+    it 'should have a BAUD_RATE constant' do
+      should have_constant(:BAUD_RATE)
+      should have_constant(:DATA_BITS)
+      should have_constant(:STOP_BITS)
+      should have_constant(:PARITY)
+      should have_constant(:READ_TIMEOUT)
+    end
+  end
+
+  describe 'accessors' do
+    it 'should have read/write accessor for @dev' do
+      should respond_to(:dev)
+      should respond_to(:dev=)
+    end
+  end
+
+  describe '#initialize' do
+    it 'should set the device to the incomming argument' do
+      subject.dev.should equal(@device)
+    end
+
+    it 'should raise an exception when trying to connect to invalid dev files' do
+      expect do
+        serial_port = subject.class.new(@bad_device)
+      end.to raise_exception(InvalidDeviceError)
+    end
+  end
+
+  describe '#connect' do
+    it 'should raise an exception when the SerialPort connection failed' do
+      expect do
+        subject.connect
+      end.to raise_exception(SerialPortConnectionError, "The #{@device} device is not a valid SerialPort")
+    end
+
+    it 'should raise an exception when the SerialPort connection is nil' do
+      ::SerialPort.should_receive(:new).and_return(nil)
+      expect do
+        subject.connect
+      end.to raise_exception(SerialPortConnectionError, "Could not establish a SerialPort connection to #{@device}")
+    end
+
+    it 'should set the flow control and read timeout when the connection is established' do
+      serial_port_stub = stub()
+      serial_port_stub.should_receive(:flow_control=).with(::SerialPort::HARD).once
+      serial_port_stub.should_receive(:read_timeout=).with(subject.class::READ_TIMEOUT).once
+      ::SerialPort.should_receive(:new).and_return(serial_port_stub)
+
+      subject.connect
+    end
+  end
+
+  describe '#send' do
+
+  end
+
+  describe '#receive' do
+
+  end
+end

data/spec/nxt/nxt_brick_spec.rb

@@ -0,0 +1,199 @@
+require 'spec_helper'
+
+module NXT
+  module Interface
+    class MockInterface < Base
+      def connect; end
+      def disconnect; end
+    end
+  end
+end
+
+describe NXTBrick do
+  before do
+    @interface = :mock_interface
+  end
+
+  subject do
+    NXTBrick.new(@interface)
+  end
+
+  describe 'accessors' do
+    it 'should have read/write accessors for @interface' do
+      should respond_to(:interface)
+      should respond_to(:interface=)
+    end
+
+    it 'should have a read accessor for @a' do
+      should respond_to(:a)
+      should_not respond_to(:a=)
+    end
+
+    it 'should have a read accessor for @b' do
+      should respond_to(:b)
+      should_not respond_to(:b=)
+    end
+
+    it 'should have a read accessor for @c' do
+      should respond_to(:c)
+      should_not respond_to(:c=)
+    end
+
+    it 'should have a read accessor for @one' do
+      should respond_to(:one)
+      should_not respond_to(:one=)
+    end
+
+    it 'should have a read accessor for @two' do
+      should respond_to(:two)
+      should_not respond_to(:two=)
+    end
+
+    it 'should have a read accessor for @three' do
+      should respond_to(:three)
+      should_not respond_to(:three=)
+    end
+
+    it 'should have a read accessor for @four' do
+      should respond_to(:four)
+      should_not respond_to(:four=)
+    end
+
+    it 'should have a read accessor for @port_identifiers' do
+      should respond_to(:port_identifiers)
+      should_not respond_to(:port_identifiers=)
+    end
+  end
+
+  describe '#initialize' do
+    it 'should raise an exception if an invalid type of interface is given' do
+      expect do
+        NXTBrick.new(:foobar_biz_buzz)
+      end.to raise_exception(InvalidInterfaceError)
+    end
+
+    it 'should set the interface to the incomming argument' do
+      subject.interface.class.should equal(NXT::Interface::MockInterface)
+    end
+
+    it 'should call yield if given a block, passing self' do
+      block_called = false
+
+      NXTBrick.new(@interface) do |nxt|
+        block_called = true
+        nxt.should be_an_instance_of(NXTBrick)
+      end
+
+      block_called.should be_true
+    end
+  end
+
+  describe '#add' do
+    it 'should raise an exception if an invalid type of port is given' do
+      expect do
+        subject.add('not a symbol', :symbol, Class)
+      end.to raise_exception(TypeError, 'Expected port to be a Symbol')
+    end
+
+    it 'should raise an exception if an invalid type of identifier is given' do
+      expect do
+        subject.add(:symbol, 'not a symbol', Class)
+      end.to raise_exception(TypeError, 'Expected identifier to be a Symbol')
+    end
+
+    it 'should raise an exception if an invalid type of klass is given' do
+      expect do
+        subject.add(:symbol, :symbol, 'not a class')
+      end.to raise_exception(TypeError, 'Expected klass to be a Class')
+    end
+
+    it 'should raise an exception if an invalid port number or letter is given' do
+      expect do
+        subject.add(:invalid_port, :symbol, Class)
+      end.to raise_exception(TypeError, 'Expected port to be one of: :a, :b, :c, :one, :two, :three, :four')
+    end
+
+    it 'should create a new instance of the passed klass and store it in the attribute for the given port' do
+      port = :a
+      class_stub = Class.new
+      class_return_stub = stub()
+
+      class_stub.should_receive(:new) do
+        class_return_stub
+      end.with(port, anything).once()
+
+      subject.add(port, :hello, class_stub)
+
+      subject.send(port).should equal(class_return_stub)
+    end
+
+    it 'should raise an exception if the port given is already set' do
+      port = :a
+
+      class_stub = Class.new
+      class_stub.stub(:new)
+      subject.stub(:hello)
+      subject.instance_variable_set(:"@#{port}", 'some value already there')
+
+      expect do
+        subject.add(port, :hello, class_stub)
+      end.to raise_error(PortTakenError, "Port #{port} is already set, call remove first")
+    end
+
+    it 'should raise an exception if trying to use an identifier that is the name of a defined methodz' do
+      port = :a
+      identifier = :hello
+
+      class_stub = Class.new
+      class_stub.stub(:new)
+      subject.stub(identifier)
+
+      expect do
+        subject.add(port, :hello, class_stub)
+      end.to raise_error(InvalidIdentifierError, "Cannot use identifier #{identifier}, a method on NXTBrick is already using it.")
+    end
+
+    it 'should set up the port identifiers correctly' do
+      port = :a
+      identifier = :hello_world
+      class_stub = Class.new
+      class_stub.stub(:new)
+
+      subject.add(port, identifier, class_stub)
+
+      subject.port_identifiers[identifier].should equal(port)
+    end
+  end
+
+  describe '#remove' do
+    it 'should raise an exception if an invalid type of identifier is given' do
+      expect do
+        subject.remove('not a symbol')
+      end.to raise_exception(TypeError, 'Expected identifier to be a Symbol')
+    end
+
+    it 'should remove any matching identifiers' do
+      identifier = :hello_world
+      port_identifiers = {}
+      subject.instance_variable_set(:@port_identifiers, port_identifiers)
+
+      port_identifiers.should_receive(:delete).with(identifier).once()
+      subject.remove(identifier)
+    end
+
+    it 'should return a boolean indicating whether it removed anything' do
+      identifier = :hello_world
+      port_identifiers = {}
+      port_identifiers[identifier] = true
+      subject.instance_variable_set(:@port_identifiers, port_identifiers)
+
+      return_value = subject.remove(identifier)
+      return_value.should be_true
+
+      port_identifiers.should_not include(identifier)
+
+      return_value = subject.remove(identifier)
+      return_value.should be_false
+    end
+  end
+end

data/spec/spec_helper.rb

@@ -0,0 +1,4 @@
+require 'matchers'
+require 'nxt'
+
+include NXT::Exceptions

metadata

@@ -0,0 +1,184 @@
+--- !ruby/object:Gem::Specification
+name: nxt
+version: !ruby/object:Gem::Version
+  version: 0.2.0
+  prerelease: 
+platform: ruby
+authors:
+- Tony Heupel
+- Nathan Kleyn <nathan@unfinitydesign.com>
+autorequire: 
+bindir: bin
+cert_chain: []
+date: 2013-03-03 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: serialport
+  requirement: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 1.0.4
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 1.0.4
+- !ruby/object:Gem::Dependency
+  name: activesupport
+  requirement: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 3.2.2
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 3.2.2
+- !ruby/object:Gem::Dependency
+  name: ruby-usb
+  requirement: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 0.2.1
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 0.2.1
+- !ruby/object:Gem::Dependency
+  name: rspec
+  requirement: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 2.8.0
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 2.8.0
+- !ruby/object:Gem::Dependency
+  name: pry
+  requirement: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 0.9.8.4
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 0.9.8.4
+- !ruby/object:Gem::Dependency
+  name: yard
+  requirement: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 0.7.5
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 0.7.5
+- !ruby/object:Gem::Dependency
+  name: redcarpet
+  requirement: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 2.1.0
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 2.1.0
+description: Control an NXT 2.0 See http://github.com/nathankleyn/nxt for more information.
+email: tony@heupel.org
+executables: []
+extensions: []
+extra_rdoc_files:
+- README.markdown
+files:
+- README.markdown
+- Rakefile
+- lib/nxt/commands/base.rb
+- lib/nxt/commands/input.rb
+- lib/nxt/commands/output.rb
+- lib/nxt/commands/program.rb
+- lib/nxt/commands/sound.rb
+- lib/nxt/commands/tone.rb
+- lib/nxt/connectors/input/color.rb
+- lib/nxt/connectors/input/touch.rb
+- lib/nxt/connectors/input/ultrasonic.rb
+- lib/nxt/connectors/output/motor.rb
+- lib/nxt/exceptions.rb
+- lib/nxt/interfaces/base.rb
+- lib/nxt/interfaces/serial_port.rb
+- lib/nxt/interfaces/usb.rb
+- lib/nxt/nxt_brick.rb
+- lib/nxt/patches/module.rb
+- lib/nxt/patches/string.rb
+- lib/nxt/utils/accessors.rb
+- lib/nxt.rb
+- spec/matchers.rb
+- spec/nxt/interfaces/serial_port_spec.rb
+- spec/nxt/nxt_brick_spec.rb
+- spec/spec_helper.rb
+homepage: http://github.com/tchype/nxt
+licenses: []
+post_install_message: 
+rdoc_options: []
+require_paths:
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement
+  none: false
+  requirements:
+  - - ! '>='
+    - !ruby/object:Gem::Version
+      version: '0'
+required_rubygems_version: !ruby/object:Gem::Requirement
+  none: false
+  requirements:
+  - - ! '>='
+    - !ruby/object:Gem::Version
+      version: '0'
+requirements: []
+rubyforge_project: 
+rubygems_version: 1.8.23
+signing_key: 
+specification_version: 3
+summary: Control an NXT 2.0
+test_files: []
+has_rdoc: