nxt 0.3.0 → 0.5.0

data/spec/telegrams/commands/direct/get_battery_level_spec.rb

@@ -0,0 +1,26 @@
+require './spec/helper'
+require './lib/telegrams/commands/direct/get_battery_level'
+
+describe GetBatteryLevel do
+  describe "when constructing the object" do
+    it "must not accept any parameters" do
+      -> { GetBatteryLevel.new false }.must_raise ArgumentError
+    end
+
+    it "must default to requiring a response since it is asking for one" do
+      GetBatteryLevel.new.require_response?.must_equal true
+    end
+
+    it "must have a command of 0x0B for getbatterylevel" do
+      GetBatteryLevel.new.command.must_equal 0x0B
+    end
+  end
+
+  describe "as_bytes" do
+    it "must have the command as the second byte" do
+      command = GetBatteryLevel.new
+      command.as_bytes[1].must_equal command.command
+    end
+  end
+
+end

data/spec/telegrams/commands/direct/get_current_program_name_spec.rb

@@ -0,0 +1,26 @@
+require './spec/helper'
+
+require './lib/telegrams/commands/direct/get_current_program_name'
+
+describe GetCurrentProgramName do
+  describe "when constructing the object" do
+    it "must not accept any parameters" do
+      -> { GetCurrentProgramName.new false }.must_raise ArgumentError
+    end
+
+    it "must default to requiring a response since it is asking for one" do
+      GetCurrentProgramName.new.require_response?.must_equal true
+    end
+
+    it "must have a command of 0x11 for getcurrentprogramname" do
+      GetCurrentProgramName.new.command.must_equal 0x11
+    end
+  end
+
+  describe "as_bytes" do
+    it "must have the command as the second byte" do
+      command = GetCurrentProgramName.new
+      command.as_bytes[1].must_equal command.command
+    end
+  end
+end

data/spec/telegrams/commands/direct/output_state_spec.rb

@@ -0,0 +1,198 @@
+require './spec/helper'
+require './lib/telegrams/commands/direct/output_state'
+
+describe OutputState do
+  # attr_reader :port, :power, :mode, :regulation_mode, :turn_ratio, :run_state, :tacho_limit
+
+  # this next group can only be read from a GetOutputState call:
+  #   tacho_count # internal count; number of counts since last reset of the motor counter
+  #   block_tacho_count # current position relative to last programmed movement
+  #   rotation_count # current position relative to last reset of the rotation sensor for this motor
+  describe "when constructing the object" do
+    it "must accept hash contructor arguments with defaults of 0" do
+      state = OutputState.new({ :port => :a })
+      state.port.must_equal :a
+      state.mode_flags.must_equal 0
+    end
+  end
+
+  describe "when using the builder structure" do
+    before do
+      @state = OutputState.new
+    end
+
+    it "must accept a 'for_port(port_symbol) message that sets the value and returns the object itself" do
+      @state.for_port(:a).must_equal @state
+      @state.port.must_equal :a
+    end
+
+    it "must accept a 'with_power(power)' message that sets the value and returns the object itself" do
+      @state.with_power(100).must_equal @state
+      @state.power.must_equal 100
+    end
+
+    it "must accept a 'with_mode_flags(mode_flags)' that sets the value and returns the object itself" do
+      @state.with_mode_flags(OutputModeFlags.MOTORON | OutputModeFlags.REGULATED).must_equal @state
+      @state.mode_flags.must_equal OutputModeFlags.MOTORON | OutputModeFlags.REGULATED
+    end
+
+    it "must accept a 'with_regulation_mode(regulation_mode)' that sets the value and returns the object itself" do
+      @state.with_regulation_mode(:motor_speed).must_equal @state
+      @state.regulation_mode.must_equal :motor_speed
+    end
+
+    it "must accept a 'with_turn_ratio(turn_ratio)' message that sets the value and returns the object itself" do
+      @state.with_turn_ratio(100).must_equal @state
+      @state.turn_ratio.must_equal 100
+    end
+
+    it "must accept a 'with_run_state(run_state)' that sets the value and returns the object itself" do
+      @state.with_run_state(:ramp_up).must_equal @state
+      @state.run_state.must_equal :ramp_up
+    end
+
+    it "must accept a 'with_tacho_limit(tacho_limit)' that sets the value and returns the object itself" do
+      @state.with_tacho_limit(325).must_equal @state
+      @state.tacho_limit.must_equal 325
+    end
+  end
+
+  describe "when using the setter methods" do
+    before do
+      @state = OutputState.new
+    end
+
+    it "must validate that the port is :a, :b, :c, or :all" do
+      @state.port = :a
+      @state.port = :b
+      @state.port = :c
+      @state.port = :all
+      -> { @state.port = :d }.must_raise ArgumentError
+    end
+
+    it "must set the port when it is set" do
+      @state.port = :b
+      @state.port.must_equal :b
+    end
+
+    it "must validate that the power is between -100 and 100" do
+      [-100, 0, 100].each do |power|
+        @state.power = power
+        @state.power.must_equal power
+      end
+      -> { @state.power = -101 }.must_raise ArgumentError
+      -> { @state.power = 101 }.must_raise ArgumentError
+    end
+
+    it "must vaidate that the mode_flags is a valid combination of 0 to all flags (0-7 as an integer)" do
+      (0..7).each do |mode|
+        @state.mode_flags = mode
+        @state.mode_flags.must_equal mode
+      end
+
+      -> { @state.mode_flags = 8 }.must_raise ArgumentError
+    end
+
+    it "must validate that the regulation_mode is one of the valid enumerations" do
+      [:idle, :motor_speed, :motor_sync].each do |regulation_mode|
+        @state.regulation_mode = regulation_mode
+        @state.regulation_mode.must_equal regulation_mode
+      end
+
+      -> { @state.regulation_mode = :garbage }.must_raise ArgumentError
+      -> { @state.regulation_mode = 1 }.must_raise ArgumentError
+    end
+
+    it "must validate that the turn_ratio is between -100 and 100" do
+      [-100, 0, 100].each do |turn_ratio|
+        @state.turn_ratio = turn_ratio
+        @state.turn_ratio.must_equal turn_ratio
+      end
+      -> { @state.turn_ratio = -101 }.must_raise ArgumentError
+      -> { @state.turn_ratio = 101 }.must_raise ArgumentError
+    end
+
+    it "must validate that the run_state is one of the valid enumerations" do
+      [:idle, :running, :ramp_up, :ramp_down].each do |run_state|
+        @state.run_state = run_state
+        @state.run_state.must_equal run_state
+      end
+
+      -> { @state.run_state = :garbage }.must_raise ArgumentError
+      -> { @state.run_state = 1 }.must_raise ArgumentError
+    end
+
+    it "must have a constant representing 'run forever' or 'unlimited'" do
+      OutputState.RUN_FOREVER.must_equal 0
+    end
+
+    it "must set the tacho_limit" do
+      @state.tacho_limit = 39123  # it's an unsigned long value, 4 bytes
+      @state.tacho_limit.must_equal 39123
+    end
+  end
+end
+
+describe OutputModeFlags do
+  it "must have MOTORON set to 0x01" do
+    OutputModeFlags.MOTORON.must_equal 0x01
+  end
+
+  it "must have BRAKE set to 0x02" do
+    OutputModeFlags.BRAKE.must_equal 0x02
+  end
+
+  it "must have REGULATED set to 0x04" do
+    OutputModeFlags.REGULATED.must_equal 0x04
+  end
+
+  it "must allow MOTORON and BRAKE to be combined into 0x03" do
+    (OutputModeFlags.MOTORON | OutputModeFlags.BRAKE).must_equal 0x03
+  end
+
+  it "must allow MOTORON and REGULATED to be combined into 0x05" do
+    (OutputModeFlags.MOTORON | OutputModeFlags.REGULATED).must_equal 0x05
+  end
+
+  it "must allow BRAKE and REGULATED to be combined into 0x06" do
+    (OutputModeFlags.BRAKE | OutputModeFlags.REGULATED).must_equal 0x06
+  end
+
+  it "must allow all three to be combined into 0x07" do
+    (OutputModeFlags.MOTORON | OutputModeFlags.BRAKE | OutputModeFlags.REGULATED).must_equal 0x07
+  end
+end
+
+
+describe RegulationMode do
+  it "must have IDLE defined as 0x00" do
+    RegulationMode.IDLE.must_equal 0x00
+  end
+
+  it "must have MOTOR_SPEED defined as 0x01" do
+    RegulationMode.MOTOR_SPEED.must_equal 0x01
+  end
+
+  it "must have MOTOR_SYNC defined as 0x02" do
+    RegulationMode.MOTOR_SYNC.must_equal 0x02
+  end
+end
+
+
+describe RunState do
+  it "must have IDLE defined as 0x00" do
+    RunState.IDLE.must_equal 0x00
+  end
+
+  it "must have RAMPUP defined as 0x10" do
+    RunState.RAMPUP.must_equal 0x10
+  end
+
+  it "must have RUNNING defined as 0x20" do
+    RunState.RUNNING.must_equal 0x20
+  end
+
+  it "must have RAMPDOWN defined as 0x40" do
+    RunState.RAMPDOWN.must_equal 0x40
+  end
+end

data/spec/telegrams/commands/direct/play_sound_file_spec.rb

@@ -0,0 +1,75 @@
+require './spec/helper'
+
+require './lib/telegrams/commands/direct/play_sound_file'
+
+
+describe PlaySoundFile do
+  describe "when creating the play sound file command" do
+    it "must default to requiring a response" do
+      PlaySoundFile.new('name').require_response?.must_equal true
+    end
+
+    it "must set the require_response member to the value passed in" do
+      PlaySoundFile.new('name', true, false).require_response?.must_equal false
+    end
+
+    it "must raise an ArgumentError when the filename is nil" do
+      -> { PlaySoundFile.new(nil) }.must_raise ArgumentError
+    end
+
+    it "must set the command value to 0x02 (startprogram)" do
+      PlaySoundFile.new('name').command.must_equal 0x02
+    end
+
+    it "must set the filename to the value passed in" do
+      PlaySoundFile.new('name.mp3').name.must_equal 'name.mp3'
+    end
+
+    it "must default the loop_sound value to false" do
+      PlaySoundFile.new('name.mp3').loop_sound?.must_equal false
+    end
+
+    it "must set the loop_sound boolean to the value passed in" do
+      PlaySoundFile.new('name.mp3', true).loop_sound?.must_equal true
+    end
+
+    it "must set the loop_sound? value to false unless explicitely set to true" do
+      PlaySoundFile.new('name.mp3', "bizbuzz").loop_sound?.must_equal false
+    end
+
+    it "must try adding '.rso' to the end of the filename if there is no file extension" do
+      name = 'sound'
+      PlaySoundFile.new(name).name.must_equal "#{name}.rso"
+    end
+
+    it "must leave the filename alone if there is a 3 letter extension of any kind" do
+      name = 'sound.foo'
+      PlaySoundFile.new(name).name.must_equal name
+    end
+  end
+
+  describe "when rendering the command using as_bytes" do
+    it "must have the command value as the second byte" do
+      command = PlaySoundFile.new('name')
+      command.as_bytes[1].must_equal command.command
+    end
+
+    it "must have the loop_sound value as the third byte" do
+      PlaySoundFile.new('name.mp3', false).as_bytes[2].must_equal 0x00
+      PlaySoundFile.new('name.mp3', true).as_bytes[2].must_equal 0xff
+    end
+
+    it "must have the program name in ASCIIZ (null terminated ascii) for bytes 4-23" do
+      name = 'sound.mp3'
+      name_as_asciiz = [115, 111, 117, 110, 100, 46, 109, 112, 51, 0,
+                        0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
+
+      command = PlaySoundFile.new(name)
+      bytes = command.as_bytes
+      name_bytes = bytes.slice(3, 20)
+
+      name_bytes.must_equal name_as_asciiz
+    end
+  end
+
+end

data/spec/telegrams/commands/direct/play_tone_spec.rb

@@ -0,0 +1,63 @@
+require './spec/helper'
+require './lib/telegrams/commands/direct/play_tone'
+
+describe PlayTone do
+  describe "when constructing the command" do
+    before do
+      @command = PlayTone.new(200, 100)
+    end
+
+    it "must be a direct command" do
+      @command.type.must_equal DirectCommand.new.type
+    end
+
+    it "must have a command of 0x03" do
+      @command.command.must_equal 0x03
+    end
+
+    it "must require a response by default" do
+      @command.require_response?.must_equal true
+    end
+
+    it "must throw an ArgumentException if the frequency is not passed in" do
+      -> { PlayTone.new }.must_raise ArgumentError
+    end
+
+    it "must throw an ArgumentException if the duration is not passed in" do
+      -> { PlayTone.new(500) }.must_raise ArgumentError
+    end
+
+    it "must set the frequency to what is passed in" do
+      PlayTone.new(500, 100).frequency.must_equal 500
+    end
+
+    it "must set the duration to what is passed in" do
+      PlayTone.new(500, 100).duration.must_equal 100
+    end
+
+    it "must validate that the frequency (in Hz) is between 200 and 14000 Hz (the valid range)" do
+      -> { PlayTone.new(199, 100) }.must_raise ArgumentError
+      -> { PlayTone.new(14001, 100) }.must_raise ArgumentError
+    end
+
+    it "must validate that the duration (in ms) is positive or zero" do
+      -> { PlayTone.new(500, -1) }.must_raise ArgumentError
+      PlayTone.new(500, 0)
+    end
+  end
+
+  describe "when rendering the command as bytes" do
+    it "must set byte 1 to 0x03 as the playtone command" do
+      PlayTone.new(500, 1).as_bytes[1].must_equal 0x03
+    end
+
+    it "must set bytes 2-3 to a UWORD of the frequency to play in reverse order" do
+      PlayTone.new(500, 1).as_bytes[2..3].must_equal [0xf4, 0x01]
+    end
+
+    it "must set bytes 4-5 to a UWORD of the duration to play the tone" do
+      PlayTone.new(500, 2000).as_bytes[4..5].must_equal [0xd0, 0x07]
+    end
+  end
+end
+

data/spec/telegrams/commands/direct/replies/get_battery_level_reply_spec.rb

@@ -0,0 +1,40 @@
+require './spec/helper'
+require './lib/telegrams/commands/direct/replies/get_battery_level_reply'
+
+describe GetBatteryLevelReply do
+  describe "when creating the reply" do
+    before do
+      @millivolts = 4100
+
+      # null pad out to max length and convert to ASCIIZ bytes
+      @millivolts_bytes = [@millivolts.to_s(16).rjust(4, "0")].pack("H*").bytes.to_a.reverse
+      @reply_bytes = [2, 0x0B, 0].concat(@millivolts_bytes)
+    end
+
+    it "must parse the millivolts into the message member" do
+      reply = GetBatteryLevelReply.new(@reply_bytes)
+
+      reply.message.must_equal @millivolts
+    end
+
+    it "must allow access to the message through the millivolts member" do
+      reply = GetBatteryLevelReply.new(@reply_bytes)
+
+      reply.millivolts.must_equal @millivolts
+    end
+
+    it "must convert the millivolts to volts through the volts member" do
+      reply = GetBatteryLevelReply.new(@reply_bytes)
+
+      reply.volts.must_equal @millivolts/1000.0
+    end
+
+    it "must raise an ArgumentError if the reply is not for GetBatteryLevel" do
+      reply_bytes = [2, 0x01, 0].concat(@millivolts_bytes)
+
+      -> { reply = GetBatteryLevelReply.new(reply_bytes) }.must_raise ArgumentError
+    end
+  end
+
+
+end

data/spec/telegrams/commands/direct/replies/get_current_program_name_reply_spec.rb

@@ -0,0 +1,33 @@
+require './spec/helper'
+require './lib/telegrams/commands/direct/replies/get_current_program_name_reply'
+
+describe GetCurrentProgramNameReply do
+  describe "when creating the reply" do
+    before do
+      @filename = "foobar.rxe"
+
+      # null pad out to max length and convert to ASCIIZ bytes
+      @filename_bytes = @filename.ljust(20, "\0").unpack('C*')
+      @reply_bytes = [2, 0x11, 0].concat(@filename_bytes)
+    end
+
+    it "must parse the filename into the message member" do
+      reply = GetCurrentProgramNameReply.new(@reply_bytes)
+
+      reply.message.must_equal @filename
+    end
+
+    it "must allow access to the message through the program_name member" do
+      reply = GetCurrentProgramNameReply.new(@reply_bytes)
+
+      reply.program_name.must_equal @filename
+    end
+
+    it "must raise an ArgumentError if the reply is not for GetCurrentProgramName" do
+      reply_bytes = [2, 0x01, 0].concat(@filename_bytes)
+
+      -> { reply = GetCurrentProgramNameReply.new(reply_bytes) }.must_raise ArgumentError
+    end
+  end
+
+end