nxt 0.3.0 → 0.5.0

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data/README.md

@@ -0,0 +1,45 @@
+# NXT
+A ruby gem for controlling Lego Mindstorms NXT 2.0
+
+## Installation
+Either install it from the command-line:
+
+```shell
+$ gem install nxt
+```
+
+or add to your Gemfile and install it:
+```ruby
+source "https://rubygems.org"
+
+gem 'nxt'
+```
+```shell
+$ bundle install
+```
+
+## Usage
+The most basic usage can be done using the NXT class by connecting your NXT 2.0
+brick over Bluetooth.  In the examples below, the brick is connected at
+``` /dev/tty.NXT-DevB ```:
+
+```ruby
+require 'nxt'
+
+nxt = Nxt.new('/dev/tty.NXT-DevB')
+
+puts "Connecting..."
+nxt.connect
+
+puts "Moving what is typically the right wheel one rotation..."
+state = OutputState.new :port => :c,
+                        :power => 55,
+                        :mode_flags => OutputModeFlags.MOTORON | OutputModeFlags.BRAKE,
+                        :regulation_mode => :motor_speed,
+                        :run_state => :running,
+                        :tacho_limit => 360  # degrees = 1 rotation
+
+nxt.set_output_state state
+nxt.disconnect
+```
+

data/lib/communication/bluetooth_communication.rb

@@ -0,0 +1,85 @@
+require_relative './serial_port_profile'
+
+class BluetoothCommunication
+  def initialize(device, serial_port_profile=nil)
+    raise ArgumentError, "device must be non-nil" if device.nil?
+
+    @profile = serial_port_profile || SerialPortProfile.new(device)
+  end
+
+  def connect
+    @profile.connect
+  end
+
+  def disconnect
+    @profile.disconnect
+  end
+
+  def send_message(message, reply_class=nil, &block)
+    package = create_bluetooth_data_package(message)
+    @profile.send_data_package(package)
+
+    if message.require_response?
+      response = receive_message
+
+      response = reply_class.new(response) unless reply_class.nil?
+
+      if block_given?
+        yield response
+      else
+        response
+      end
+    else
+      nil # return nil when no response is required
+    end
+  end
+
+  def receive_message
+    bluetooth_message = @profile.receive_data_package
+    message_parts = split_message_into_header_and_message(bluetooth_message)
+    convert_raw_received_message_to_bytes(message_parts[:message])
+  end
+
+
+  private
+  def create_bluetooth_data_package(message)
+    bytes = message.as_bytes
+    [calculate_length_lsb(bytes), calculate_length_msb(bytes)].concat(bytes)
+  end
+
+  def calculate_length_lsb(bytes)
+    # Filter to only get the least significant byte's worth (and lose anything higher)
+    bytes.length & 0xff
+    # NOTE: Since the max message length is 64 bytes, the Least Significant Byte
+    #       should always be the actual length since it fits in one byte
+  end
+
+  def calculate_length_msb(bytes)
+    # Bit shift right by a byte, and then filter to only get one byte's worth
+    (bytes.length >> 8) & 0xff
+    # NOTE: Since the max message length is 64 bytes, the Most Significant Byte
+    #       should always be zero since the length fits in one byte (LSB)
+  end
+
+  def split_message_into_header_and_message(raw_message)
+    { :header => raw_message[0..1],
+      :message => raw_message[2..-1]
+    }
+  end
+
+  def get_length_of_received_message_from_bluetooth_header(header)
+    # note - this moves the @profile's current position
+    #
+    # 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
+    header.unpack('v*')[0] # first element only
+  end
+
+  def convert_raw_received_message_to_bytes(raw_message)
+    # 8-bit unsigned characters
+    raw_message.unpack("C*")
+  end
+
+end

data/lib/communication/serial_port_profile.rb

@@ -0,0 +1,71 @@
+require 'serialport' # http://rubydoc.info/gems/serialport/1.1.0/frames 
+
+class SerialPortConnectionError < RuntimeError; end
+
+class SerialPortProfile
+
+  def initialize(device, serial_port_connection_class=SerialPort)
+    raise ArgumentError.new('device must be non-nil') if device.nil?
+
+    @device = device
+    @connection_class = serial_port_connection_class
+    @connection = nil
+  end
+
+  def connect
+    establish_connection if @connection.nil?
+  end
+
+  def disconnect
+    @connection.close unless @connection.nil? || @connection.closed?
+  end
+
+  def send_data_package(package)
+    # No intelligence here, just send the package
+    package.each do |byte|
+      @connection.putc byte
+    end
+  end
+
+  def receive_data_package(max_length=(64+2))
+    # No intelligence here, just read the max length
+    # (default is 64 bytes plus 2 length bytes for bluetooth, but that is leaking abstractions)
+    # As long as there's SOMETHING on the wire, there will be no EOFError
+    @connection.sysread(max_length)
+  end
+
+  def settings
+    {
+      'baud' => 57600,
+      'data_bits' => 8,
+      'stop_bits' => 1,
+      'parity' => ::SerialPort::NONE,
+      'flow_control' => ::SerialPort::HARD,
+      'read_timeout' => 5000
+    }
+
+  end
+
+
+  private
+  def establish_connection
+    @connection = @connection_class.new(
+      @device,
+      settings['baud'],
+      settings['data_bits'],
+      settings['stop_bits'],
+      settings['parity']
+    )
+
+    unless @connection.nil?
+      set_post_connection_controls
+    else
+      raise SerialPortConnectionError, "Could not establish a SerialPortProfile connection to #{@device}"
+    end
+  end
+
+  def set_post_connection_controls
+    @connection.flow_control = settings['flow_control']
+    @connection.read_timeout = settings['read_timeout']
+  end
+end

data/lib/nxt.rb

@@ -1,28 +1,119 @@
-$:.unshift(File.dirname(__FILE__))
+def should_exclude_file(filename, current_directory)
+  filename == File.join(current_directory, __FILE__) ||
+  filename == File.join(current_directory, 'telegrams', 'commands', 'direct', 'output_state.rb')
+end
 
-require 'active_support/inflector'
+current_directory = File.dirname(__FILE__)
+files_to_require = Dir.glob(File.join(current_directory, '**/*.rb'))
 
-require 'nxt/utils/accessors'
+files_to_require.each do |filename|
+  require filename unless should_exclude_file(filename, current_directory)
+end
 
-require 'nxt/patches/module'
 
-require 'nxt/exceptions'
-require 'nxt/errors'
+class NXT
+  attr_reader :device_path, :communication, :wait_for_reply
 
-require 'nxt/interfaces/base'
-require 'nxt/interfaces/usb'
-require 'nxt/interfaces/serial_port'
+  def initialize(device_path, communication=nil)
+    raise ArgumentError, "device_path must be non-nil" if device_path.nil?
 
-require 'nxt/commands/base'
-require 'nxt/commands/input'
-require 'nxt/commands/output'
-require 'nxt/commands/program'
-require 'nxt/commands/sound'
-require 'nxt/commands/tone'
+    @wait_for_reply = true
+    @device_path = device_path
+    @communication = communication || BluetoothCommunication.new(device_path)
+    @async = nil
+  end
 
-require 'nxt/connectors/input/color'
-require 'nxt/connectors/input/touch'
-require 'nxt/connectors/input/ultrasonic'
-require 'nxt/connectors/output/motor'
+  def connect
+    @communication.connect
+    self
+  end
 
-require 'nxt/nxt_brick'
+  def disconnect
+    @communication.disconnect
+    self
+  end
+
+  def async
+    @async = NXTAsync.new(@device_path, @communication) if @async.nil?
+    @async
+  end
+
+  # Direct commands
+  def stop_program
+    send_message(StopProgram.new(wait_for_reply), StopProgramReply)
+  end
+
+  def start_program(program_name)
+    send_message(StartProgram.new(program_name, wait_for_reply), StartProgramReply)
+  end
+
+  def get_current_program_name
+    # always requires a reply, so no constructor argument to allow an override
+    send_message(GetCurrentProgramName.new, GetCurrentProgramNameReply)
+  end
+
+  def stop_sound_playback
+    send_message(StopSoundPlayback.new(wait_for_reply), StopSoundPlaybackReply)
+  end
+
+  def play_sound_file(sound_filename, loop_sound=false)
+    send_message(PlaySoundFile.new(sound_filename, loop_sound, wait_for_reply), PlaySoundFileReply)
+  end
+
+  def play_tone(frequency_hz, duration_ms)
+    send_message(PlayTone.new(frequency_hz, duration_ms, wait_for_reply), PlayToneReply)
+  end
+
+  def set_input_mode(input_port, sensor_type, sensor_mode)
+    send_message(SetInputMode.new(input_port, sensor_type, sensor_mode, wait_for_reply), SetInputModeReply)
+  end
+
+  def set_output_state(output_state)
+    send_message(SetOutputState.new(output_state, wait_for_reply),SetOutputStateReply)
+  end
+
+  def get_battery_level
+    send_message(GetBatteryLevel.new, GetBatteryLevelReply)
+  end
+
+  def reset_motor_position
+    send_message(ResetMotorPosition.new(wait_for_reply), ResetMotorPositionReply)
+  end
+
+  private
+  def yet_to_be_implemented_method
+    raise NotImplementedError, "This method is not yet implemented"
+  end
+
+  public
+  [:get_output_state, :get_input_values, :reset_input_scaled_value,
+       :message_write, :keep_alive,
+       :ls_get_status, :ls_write, :ls_read,
+       :message_read].each do |method|
+         alias_method method, :yet_to_be_implemented_method
+  end
+
+  # System commands
+  def get_device_info
+    # always requires a reply, so no constructor argument to allow an override
+    send_message(GetDeviceInfo.new, GetDeviceInfoReply)
+  end
+
+  # Lowest-level API
+  def send_message(command, reply_type=nil)
+    @communication.send_message(command, reply_type)
+  end
+end
+
+
+
+class NXTAsync < NXT
+  def initialize(device_path, communication=nil)
+    super(device_path, communication)
+    @wait_for_reply = false
+  end
+
+  def async
+    self
+  end
+end

data/lib/ruby-nxt.sublime-project

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