nxt 0.3.0 → 0.5.0

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

@@ -0,0 +1,13 @@
+require './spec/helper'
+require './lib/telegrams/commands/direct/replies/play_sound_file_reply'
+
+describe PlaySoundFileReply do
+  it "must have a reply type" do
+    PlaySoundFileReply.new([0x02, 0x02, 0x00]).type.must_equal 0x02
+  end
+
+  it "must raise an ArgumentError when the reply is not for a play_sound_file message" do
+    -> { PlaySoundFileReply.new([0x02, 0x9A, 0x00]) }.must_raise ArgumentError
+  end
+
+end

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

@@ -0,0 +1,14 @@
+require './spec/helper'
+require './lib/telegrams/commands/direct/replies/play_tone_reply.rb'
+
+describe PlayToneReply do
+  it "must support a reply for the PlayTone command" do
+    PlayToneReply.new([0x02, 0x03, 0x00]).success?.must_equal true
+    PlayToneReply.new([0x02, 0x03, 0x01]).success?.must_equal false
+  end
+
+  it "must raise an ArgumentError when the reply is not for the PlayTone command" do
+    -> { PlayToneReply.new([0x02, 0x00, 0x00]) }.must_raise ArgumentError
+  end
+
+end

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

@@ -0,0 +1,13 @@
+require './spec/helper'
+require './lib/telegrams/commands/direct/replies/reset_motor_position_reply'
+
+describe ResetMotorPositionReply do
+  it "must have a reply type" do
+    ResetMotorPositionReply.new([0x02, 0x0A, 0x00]).type.must_equal 0x02
+  end
+
+  it "must raise an ArgumentError when the reply is not for a reset_motor_position message" do
+    -> { ResetMotorPositionReply.new([0x02, 0x9A, 0x00]) }.must_raise ArgumentError
+  end
+
+end

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

@@ -0,0 +1,12 @@
+require './spec/helper'
+require './lib/telegrams/commands/direct/replies/set_input_mode_reply'
+
+describe SetInputModeReply do
+  it "must 5ave a reply type" do
+    SetInputModeReply.new([0x02, 0x05, 0x00]).type.must_equal 0x02
+  end
+
+  it "must raise an ArgumentError when the reply is not for a set_input_mode message" do
+    -> { SetInputModeReply.new([0x02, 0xFF, 0x00]) }.must_raise ArgumentError
+  end
+end

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

@@ -0,0 +1,12 @@
+require './spec/helper'
+require './lib/telegrams/commands/direct/replies/set_output_state_reply'
+
+describe SetOutputStateReply do
+  it "must 5ave a reply type" do
+    SetOutputStateReply.new([0x02, 0x04, 0x00]).type.must_equal 0x02
+  end
+
+  it "must raise an ArgumentError when the reply is not for a set_input_mode message" do
+    -> { SetOutputStateReply.new([0x02, 0xFF, 0x00]) }.must_raise ArgumentError
+  end
+end

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

@@ -0,0 +1,12 @@
+require './spec/helper'
+require './lib/telegrams/commands/direct/replies/start_program_reply'
+
+describe StartProgramReply do
+  it "must have a reply type" do
+    StartProgramReply.new([0x02, 0x00, 0x00]).type.must_equal 0x02
+  end
+
+  it "must raise an ArgumentError when the reply is not for a start_program message" do
+    -> { StartProgramReply.new([0x02, 0x9A, 0x00]) }.must_raise ArgumentError
+  end
+end

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

@@ -0,0 +1,13 @@
+require './spec/helper'
+require './lib/telegrams/commands/direct/replies/stop_program_reply'
+
+describe StopProgramReply do
+  it "must have a reply type" do
+    StopProgramReply.new([0x02, 0x01, 0x00]).type.must_equal 0x02
+  end
+
+  it "must raise an ArgumentError when the reply is not for a stop_program message" do
+    -> { StopProgramReply.new([0x02, 0x9A, 0x00]) }.must_raise ArgumentError
+  end
+
+end

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

@@ -0,0 +1,13 @@
+require './spec/helper'
+require './lib/telegrams/commands/direct/replies/stop_sound_playback_reply'
+
+describe StopSoundPlaybackReply do
+  it "must have a reply type" do
+    StopSoundPlaybackReply.new([0x02, 0x0C, 0x00]).type.must_equal 0x02
+  end
+
+  it "must raise an ArgumentError when the reply is not for a stop_sound_playback message" do
+    -> { StopSoundPlaybackReply.new([0x02, 0x9A, 0x00]) }.must_raise ArgumentError
+  end
+
+end

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

@@ -0,0 +1,31 @@
+require './spec/helper'
+require './lib/telegrams/commands/direct/reset_motor_position'
+
+describe ResetMotorPosition do
+  before do
+    @command = ResetMotorPosition.new
+  end
+
+  it "must be a direct command type" do
+    @command.type.must_equal DirectCommand.new.type
+  end
+
+  it "must have a command of 0x0A" do
+    @command.command.must_equal 0x0A
+  end
+
+  it "must start out with its type at the first byte" do
+    @command.as_bytes[0].must_equal @command.type
+  end
+
+  it "must start out with its command at the second byte" do
+    @command.as_bytes[1].must_equal @command.command
+  end
+
+  describe "when NOT wanting to wait for a reply" do
+    it "must have a first byte of 0x80" do
+      no_wait_command = ResetMotorPosition.new false
+      no_wait_command.as_bytes[0].must_equal 0x80
+    end
+  end
+end

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

@@ -0,0 +1,122 @@
+require './spec/helper'
+require './lib/telegrams/commands/direct/set_input_mode'
+
+describe SetInputMode do
+    describe "when constructing the command" do
+    before do
+      @command = SetInputMode.new(:three, :colornone, :booleanmode)
+    end
+
+    it "must be a direct command" do
+      @command.type.must_equal DirectCommand.new.type
+    end
+
+    it "must have a command of 0x05" do
+      @command.command.must_equal 0x05
+    end
+
+    it "must require a response by default" do
+      @command.require_response?.must_equal true
+    end
+
+    it "must throw an ArgumentException if the input_port is not passed in" do
+      -> { SetInputMode.new }.must_raise ArgumentError
+    end
+
+    it "must throw an ArgumentException if the sensor_type is not passed in" do
+      -> { SetInputMode.new(:one) }.must_raise ArgumentError
+    end
+
+    it "must throw an ArgumentException if the sensor_mode is not passed in" do
+      -> { SetInputMode.new(:one, :colorred) }.must_raise ArgumentError
+    end
+
+    it "must set the input_port to what is passed in" do
+      SetInputMode.new(:one, :colorblue, :booleanmode).input_port.must_equal :one
+    end
+
+    it "must set the sensor_type to what is passed in" do
+      SetInputMode.new(:three, :colorgreen, :booleanmode).sensor_type.must_equal :colorgreen
+    end
+
+    it "must set the sensor_mode to what is passed in" do
+      SetInputMode.new(:three, :colorgreen, :booleanmode).sensor_mode.must_equal :booleanmode
+    end
+
+    it "must validate that the input_port is valid (:one, :two, or :three)" do
+      -> { SetInputMode.new(:five, :colorgreen, :booleanmode) }.must_raise ArgumentError
+      -> { SetInputMode.new(:zero, :colorgreen, :booleanmode) }.must_raise ArgumentError
+      SetInputMode.new(:one, :colorgreen, :booleanmode)
+      SetInputMode.new(:two, :colorgreen, :booleanmode)
+      SetInputMode.new(:three, :colorgreen, :booleanmode)
+    end
+
+    it "must validate the passed in sensor_type is valid" do
+      -> { SetInputMode.new(:one, :foobar, :booleanmode) }.must_raise ArgumentError
+      SetInputMode.new(:one, :colorfull, :booleanmode)
+    end
+
+    it "must validate the passed in sensor_mode is valid" do
+      -> { SetInputMode.new(:one, :colorgreen, :foobarmode) }.must_raise ArgumentError
+      SetInputMode.new(:one, :colorgreen, :booleanmode)
+    end
+  end
+
+  describe "when getting the valid list of input ports" do
+    describe "when accessing the class methods" do
+      it "must return an array of symbols for input_ports" do
+        SetInputMode.input_ports.must_equal [:one, :two, :three, :four]
+      end
+
+      it "must return an array of symbols for sensor_types" do
+        SetInputMode.sensor_types.must_include :sound_db
+      end
+
+      it "must return an array of symbols for sensor_modes" do
+        SetInputMode.sensor_modes.must_include :rawmode
+      end
+
+    end
+
+    describe "when accessing the instance methods" do
+      before do
+        @command = SetInputMode.new(:one, :colornone, :booleanmode)
+      end
+
+      it "must return an array of symbols for input_ports" do
+        @command.input_ports.must_equal [:one, :two, :three, :four]
+      end
+
+      it "must return an array of symbols for sensor_types" do
+        @command.sensor_types.must_include :sound_db
+      end
+
+      it "must return an array of symbols for sensor_modes" do
+        @command.sensor_modes.must_include :rawmode
+      end
+
+    end
+  end
+  describe "when rendering the command as bytes" do
+    before do
+      @command = SetInputMode.new(:three, :colorgreen, :booleanmode)
+    end
+
+    it "must set byte 1 to 0x05 as the SetInputMode command" do
+      @command.as_bytes[1].must_equal 0x05
+    end
+
+    it "must set byte 2 to the input port value" do
+      @command.as_bytes[2].must_equal 0x02
+    end
+
+    it "must set byte 3 to the sensor type value" do
+      @command.as_bytes[3].must_equal 0x0F
+    end
+
+    it "must set byte 4 to the sensor mode value" do
+      @command.as_bytes[4].must_equal 0x20
+    end
+  end
+
+end

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

@@ -0,0 +1,72 @@
+require './spec/helper'
+require './lib/telegrams/commands/direct/set_output_state'
+
+describe SetOutputState do
+  describe 'when constructing the object' do
+    it "must set the command to 0x04 for set_output_state" do
+      SetOutputState.new(OutputState.new).command.must_equal 0x04
+    end
+
+    it "must raise an ArgumentError when the output_state is nil" do
+      -> { SetOutputState.new(nil) }.must_raise ArgumentError
+    end
+
+    it "must set the output_state member to what is passed in" do
+      state = OutputState.new
+      SetOutputState.new(state).instance_eval('output_state').must_equal state
+    end
+  end
+
+  describe "when calling as_bytes" do
+    before do
+      @state = OutputState.new({
+        :port => :b,
+        :power => 50,
+        :mode_flags => OutputModeFlags.MOTORON | OutputModeFlags.REGULATED,
+        :regulation_mode => :motor_sync,
+        :turn_ratio => -25,
+        :run_state => :running,
+        :tacho_limit => 39123
+      })
+
+      @command = SetOutputState.new @state
+      @bytes = @command.as_bytes
+    end
+
+    it "must have the command type as the byte 0" do
+      @bytes[0].must_equal 0x00
+    end
+
+    it "must have the proper command as the byte 1" do
+      @bytes[1].must_equal 0x04
+    end
+
+    it "must have the output port as byte 2" do
+      @bytes[2].must_equal 0x01
+    end
+
+    it "must have the power set point as byte 3" do
+      @bytes[3].must_equal 50
+    end
+
+    it "must have the mode set as byte 4" do
+      @bytes[4].must_equal 0x05 # (motoron and regulated)
+    end
+
+    it "must have the regulation mode set at byte 5" do
+      @bytes[5].must_equal 0x02 # (motor_sync)
+    end
+
+    it "must have the turn ratio set at byte 6" do
+      @bytes[6].must_equal -25
+    end
+
+    it "must have the run state set at byte 7" do
+      @bytes[7].must_equal 0x20
+    end
+
+    it "must have the tacho limit set to bytes 8-12 in little endian" do
+      @bytes[8..12].must_equal [211, 152, 0, 0]
+    end
+  end
+end

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

@@ -0,0 +1,58 @@
+require './spec/helper'
+
+require './lib/telegrams/commands/direct/start_program'
+
+
+describe StartProgram do
+  describe "when creating the start program command" do
+    it "must default to requiring a response" do
+      StartProgram.new('name').require_response?.must_equal true
+    end
+
+    it "must set the require_response member to the value passed in" do
+      StartProgram.new('name', false).require_response?.must_equal false
+    end
+
+    it "must raise an ArgumentError when the program name is nil" do
+      -> { StartProgram.new(nil) }.must_raise ArgumentError
+    end
+
+    it "must set the command value to 0x00 (startprogram)" do
+      StartProgram.new('name').command.must_equal 0x00
+    end
+
+    it "must set the program name to the value passed in" do
+      StartProgram.new('name.rxe').name.must_equal 'name.rxe'
+    end
+
+    it "must try adding '.rxe' to the end of the filename if there is no file extension" do
+      name = 'program'
+      StartProgram.new(name).name.must_equal "#{name}.rxe"
+    end
+
+    it "must leave the filename alone if there is a 3 letter extension of any kind" do
+      name = 'program.foo'
+      StartProgram.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 = StartProgram.new('name')
+      command.as_bytes[1].must_equal command.command
+    end
+
+    it "must have the program name in ASCIIZ (null terminated ascii) for bytes 3-22" do
+      name = 'myrobot.rxe'
+      name_as_asciiz = [109, 121, 114, 111, 98, 111, 116, 46, 114, 120, 101, 0,
+                        0, 0, 0, 0, 0, 0, 0, 0]
+
+      command = StartProgram.new(name)
+      bytes = command.as_bytes
+      name_bytes = bytes.slice(2, 20)
+
+      name_bytes.must_equal name_as_asciiz
+    end
+  end
+
+end

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

@@ -0,0 +1,34 @@
+require './spec/helper'
+
+require './lib/telegrams/commands/direct/stop_sound_playback'
+
+
+describe StopSoundPlayback do
+  before do
+    @command = StopSoundPlayback.new
+  end
+
+  it "must be a direct command type" do
+    @command.type.must_equal DirectCommand.new.type
+  end
+
+  it "must have a command of 0x0C" do
+    @command.command.must_equal 0x0C
+  end
+
+  it "must start out with its type at the first byte" do
+    @command.as_bytes[0].must_equal @command.type
+  end
+
+  it "must start out with its command at the second byte" do
+    @command.as_bytes[1].must_equal @command.command
+  end
+
+  describe "when NOT wanting to wait for a reply" do
+    it "must have a first byte of 0x80" do
+      no_wait_command = StopSoundPlayback.new false
+      no_wait_command.as_bytes[0].must_equal 0x80
+    end
+  end
+end
+

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

@@ -0,0 +1,34 @@
+require './spec/helper'
+
+require './lib/telegrams/commands/direct/stop_program'
+
+
+describe StopProgram do
+  before do
+    @command = StopProgram.new
+  end
+
+  it "must be a direct command type" do
+    @command.type.must_equal StopProgram.new.type
+  end
+
+  it "must have a command of 0x01" do
+    @command.command.must_equal 0x01
+  end
+
+  it "must start out with its type at the first byte" do
+    @command.as_bytes[0].must_equal @command.type
+  end
+
+  it "must start out with its command at the second byte" do
+    @command.as_bytes[1].must_equal @command.command
+  end
+
+  describe "when NOT wanting to wait for a reply" do
+    it "must have a first byte of 0x80" do
+      no_wait_command = StopProgram.new false
+      no_wait_command.as_bytes[0].must_equal 0x80
+    end
+  end
+end
+