nxt 0.3.0 → 0.5.0

data/README.markdown

@@ -1,52 +0,0 @@
-# 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

@@ -1,35 +0,0 @@
-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/commands/base.rb

@@ -1,51 +0,0 @@
-module NXT
-  module Command
-    module Base
-
-      private
-
-      COMMAND_TYPES = {
-        direct: 0x00,
-        system: 0x01,
-        reply: 0x02
-      }.freeze
-
-      COMMANDS = {
-        0x00 => 'startprogram',
-        0x01 => 'stopprogram',
-        0x02 => 'playsoundfile',
-        0x03 => 'playtone',
-        0x04 => 'setoutputstate',
-        0x05 => 'setinputmode',
-        0x06 => 'getoutputstate',
-        0x07 => 'getinputvalues',
-        0x08 => 'resetinputscaledvalue',
-        0x09 => 'messagewrite',
-        0x0a => 'resetmotorposition',
-        0x0b => 'getbatterylevel',
-        0x0c => 'stopsoundplayback',
-        0x0d => 'keepalive',
-        0x0e => 'lsgetstatus',
-        0x0f => 'lswrite',
-        0x10 => 'lsread',
-        0x11 => 'getcurrentprogramname',
-        0x13 => 'messageread',
-      }
-
-      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/input.rb

@@ -1,60 +0,0 @@
-module NXT
-  module Command
-    module Input
-      include NXT::Command::Base
-      extend NXT::Utils::Accessors
-
-      @@command_type = COMMAND_TYPES[:direct]
-      @@command = 0x05
-
-      SENSOR_TYPES = {}
-      [:no_sensor,
-       :switch,
-       :temperature,
-       :reflection,
-       :angle,
-       :light_active,
-       :light_inactive,
-       :sound_db,
-       :sound_dba,
-       :custom,
-       :lowspeed,
-       :lowspeed_9v,
-       :highspeed,
-       :colorfull,
-       :colorred,
-       :colorgreen,
-       :colorblue,
-       :colornone
-      ].each_with_index do |key, index|
-        SENSOR_TYPES[key] = index
-      end
-
-      SENSOR_MODES = {
-        :rawmode => 0x00,
-        :booleanmode => 0x20,
-        :transitioncntmode => 0x40,
-        :periodcountermode => 0x60,
-        :pctfullscalemode => 0x80,
-        :celsiusmode => 0xA0,
-        :fahrenheitmode => 0xC0,
-        :anglestepmode => 0xE0,
-        :slopemask => 0x1F,
-        :modemask => 0xE0
-      }
-
-      def set_input_mode(type, mode)
-        raise "Invalid sensor type: #{type}" if !type.nil? && !SENSOR_TYPES.include?(type)
-
-        @interface.send_and_receive([
-          @@command_type,
-          @@command,
-          port_as_byte(@port),
-          SENSOR_TYPES[type],
-          SENSOR_MODES[mode]
-        ])
-      end
-    end
-  end
-end
-

data/lib/nxt/commands/output.rb

@@ -1,105 +0,0 @@
-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/commands/program.rb

@@ -1,70 +0,0 @@
-module NXT
-  module Command
-    module Output
-      class Program
-        include NXT::Command::Base
-
-        @@command_type = COMMAND_TYPES[:direct]
-        START_PROGRAM = 0x00
-        STOP_PROGRAM = 0x01
-        GET_CURRENT_PROGRAM_NAME = 0x11
-
-        def initialize(interface, name=nil)
-          @interface = interface
-          @name = name
-        end
-
-        def start
-          self.class.start(@interface, @name)
-        end
-
-        def stop
-          self.class.stop(@interface)
-        end
-
-
-        class << self
-
-          def start(interface, name)
-            response = send_command(interface, START_PROGRAM, name)
-
-            unless response[:status] == NXT::Errors::SUCCESS
-              message = "#{response[:message]}; Try using '.rxe' as the filename extension"
-              raise NXT::Exceptions::CommandError.new message
-            end
-
-            response
-          end
-
-          def stop(interface)
-            send_command(interface, STOP_PROGRAM)
-          end
-
-          def get_running_name(interface)
-            response = send_command(interface, GET_CURRENT_PROGRAM_NAME)
-            raise NXT::Exceptions::CommandError.new(response[:message]) if response[:status] != NXT::Errors::SUCCESS
-            convert_data_to_string(response[:data])
-          end
-
-          private
-          def send_command(interface, command, name=nil)
-
-            array = [@@command_type, command]
-            array.concat convert_string_to_data(name) unless name.nil?
-
-            response = interface.send_and_receive(array)
-          end
-
-          def convert_data_to_string(data)
-            data.pack("C*").strip
-          end
-
-          def convert_string_to_data(name, max_length=20)
-            name.ljust(max_length, "\0").unpack("C*")
-          end
-        end
-      end
-    end
-  end
-end
-

data/lib/nxt/connectors/base.rb

@@ -1,35 +0,0 @@
-module NXT
-  module Connector
-    module Base
-      SENSOR_TYPES = {}
-      [:no_sensor,
-       :switch,
-       :temperature,
-       :reflection,
-       :angle,
-       :light_active,
-       :light_inactive,
-       :sound_db,
-       :sound_dba,
-       :custom,
-       :lowspeed,
-       :lowspeed_9v,
-       :highspeed,
-       :colorfull,
-       :colorred,
-       :colorgreen,
-       :colorblue,
-       :colornone
-      ].each_with_index do |key, index|
-        SENSOR_TYPES[key] = index
-      end
-
-      def set_input_mode(interface, type, mode)
-        raise "Invalid sensor type: #{mode}" if !mode.nil? && !SENSOR_TYPES.include?(mode)
-
-
-      end
-    end
-  end
-end
-

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

@@ -1,30 +0,0 @@
-module NXT
-  module Connector
-    module Input
-      class Color
-        include NXT::Command::Input
-
-        attr_accessor :port, :interface
-
-        COLORS = {
-          :off => :colornone,
-          :red => :colorred,
-          :green => :colorgreen,
-          :blue => :colorblue,
-          :all => :colorfull
-        }
-        def initialize(port, interface)
-          @interface = interface
-          @port = port
-        end
-
-        def set_color(color)
-          raise "Invalid color #{color}" unless COLORS.include?(color)
-
-          set_input_mode(COLORS[color], :booleanmode)
-
-        end
-      end
-    end
-  end
-end