rapiro_wrapper 0.1.0

data/spec/rapiro_wrapper/body_spec.rb

@@ -0,0 +1,77 @@
+require 'spec_helper'
+
+RSpec.describe RapiroWrapper::Body do
+  before(:all) do
+    DummyClass = Class.new
+  end
+  let(:commander)     { double(RapiroWrapper::Commander) }
+  let(:sequence)      { double }
+  let(:serial_result) { double }
+  let(:dummy_class)   { DummyClass }
+  let(:dummy_motor)   { double(DummyClass) }
+  before do
+    allow(RapiroWrapper::Commander).to receive(:new) { commander }
+    allow(commander).to receive(:sequences) { sequence }
+    allow(commander).to receive(:write) { serial_result }
+    allow(RapiroWrapper::ServoMotor).to receive(:find_servos) { [dummy_class] }
+    allow(dummy_class).to receive(:new) { dummy_motor }
+  end
+
+  context 'constructor' do
+    context 'instance variables' do
+      context '@commander' do
+        subject { super().instance_variable_get(:@commander) }
+        it 'should be an instance of RapiroWrapper::Commander' do
+          is_expected.to eq commander
+        end
+        after { subject }
+      end
+      context '@servos' do
+        subject { super().instance_variable_get(:@servos) }
+        it { is_expected.to be_instance_of Hash }
+      end
+    end
+  end
+
+  context '#sequences' do
+    subject { super().sequences }
+    it { is_expected.to eq sequence }
+  end
+
+  it 'should respond to dynamic setter' do
+    is_expected.to respond_to :dummy_class=
+  end
+
+  context 'dynamic setter' do
+    let(:motor) { double }
+    subject { super().dummy_class = motor }
+    it 'should eq argument for setter' do
+      is_expected.to eq motor
+    end
+    it "call servo's sub class's constructor with args" do
+      expect(dummy_class).to receive(:new).with(motor)
+      subject
+    end
+    context 'then' do
+      context '@dummy_class' do
+        subject do
+          sub = described_class.new
+          sub.dummy_class = motor
+          sub.instance_variable_get(:@dummy_class)
+        end
+        it { is_expected.to eq dummy_motor }
+      end
+    end
+  end
+
+  it 'should respond to dynamic getter' do
+    is_expected.to respond_to :dummy_class
+  end
+
+  context 'dynamic getter' do
+    subject { super().dummy_class }
+    it "should be respond to instance of servo's sub class" do
+      is_expected.to eq dummy_motor
+    end
+  end
+end

data/spec/rapiro_wrapper/command_spec.rb

@@ -0,0 +1,54 @@
+require 'spec_helper'
+
+RSpec.describe RapiroWrapper::Command do
+  context 'constructor' do
+    context 'without arguments' do
+      subject { described_class.new }
+      it { expect { subject }.to_not raise_error }
+      context '@sequences' do
+        subject { super().instance_variable_get :@sequences }
+        it { is_expected.to eq [] }
+      end
+    end
+    context 'with args' do
+      let(:args) { [double, double, double] }
+      subject { described_class.new(args) }
+      it { expect { subject }.to_not raise_error }
+      context '@sequences' do
+        subject { super().instance_variable_get :@sequences }
+        it 'should eq args' do
+          is_expected.to eq args
+        end
+      end
+    end
+  end
+  context '#to_sequence' do
+    context 'without args, with @sequences = []' do
+      subject { described_class.new.to_sequence }
+      it do
+        is_expected.to eq '#PS00A090S01A090S02A000S03A130S04A090S05A180' \
+             'S06A050S07A090S08A090S09A090S10A090S11A090R000G000B128T010'
+      end
+    end
+    context 'without args, with @sequences = [RapiroWrapper::Head.new(left:' \
+            '10), RapiroWrapper::Waist.new(left:10)]' do
+      subject do
+        described_class.new([
+          RapiroWrapper::Head.new(left: 10),
+          RapiroWrapper::Waist.new(left: 10)
+        ]).to_sequence
+      end
+      it do
+        is_expected.to eq '#PS00A100S01A100S02A000S03A130S04A090S05A180' \
+             'S06A050S07A090S08A090S09A090S10A090S11A090R000G000B128T010'
+      end
+    end
+    context 'with 128, with @sequences = []' do
+      subject { described_class.new.to_sequence(128) }
+      it do
+        is_expected.to eq '#PS00A090S01A090S02A000S03A130S04A090S05A180' \
+             'S06A050S07A090S08A090S09A090S10A090S11A090R000G000B128T128'
+      end
+    end
+  end
+end

data/spec/rapiro_wrapper/commander_spec.rb

@@ -0,0 +1,111 @@
+require 'spec_helper'
+
+RSpec.describe RapiroWrapper::Commander do
+  let(:serial_port) { double }
+  before do
+    allow(SerialPort).to receive_messages(new: serial_port)
+  end
+  context 'constructor' do
+    it { expect { subject }.to_not raise_error }
+    context '@serial' do
+      subject { super().instance_variable_get(:@serial) }
+      it { is_expected.to eq serial_port }
+    end
+    context 'without arguments, ' do
+      context 'SerialPort' do
+        it 'is called with "/dev/ttyAMA0" and 57600' do
+          expect(SerialPort).to receive(:new).with('/dev/ttyAMA0', 57_600)
+          subject
+        end
+      end
+    end
+    context 'with "/dev/tty.usbserial-DA00HMG6"' do
+      context 'SerialPort' do
+        it 'is called with "/dev/tty.usbserial-DA00HMG6" and 57600' do
+          expect(SerialPort).to receive(:new).with('/dev/ttyAMA0', 57_600)
+          subject
+        end
+      end
+    end
+  end
+  context '#execute!' do
+    context 'without arguments' do
+      subject { super().execute! }
+      it { expect { subject }.to raise_error ArgumentError }
+    end
+    context 'with [RapiroWrapper::Waist.new(left:10)] and 100,' do
+      let(:commands) { [RapiroWrapper::Waist.new(left: 10)] }
+      let(:duration) { 100 }
+      let(:commander) do
+        commander = described_class.new
+        commander.instance_variable_set(:@serial, serial)
+        commander
+      end
+      subject { commander.execute!(commands, duration) }
+      let(:result) { double }
+      let(:to_sequence_result) { double }
+      let(:command) { double(to_sequence: to_sequence_result) }
+      let(:serial) { double(write: result) }
+      before do
+        # allow(RapiroWrapper::Command).to receive_messages(new: command)
+        allow(commander).to receive(:sequences) { to_sequence_result }
+      end
+      it 'should eq result for RapiroWrapper::Command.new([RapiroWrapper::' \
+         'Waist.new(left:10)], 100).to_sequence()' do
+        is_expected.to eq result
+      end
+      it '@serial#write is called with result for #sequences' do
+        expect(serial).to receive(:write).with(to_sequence_result)
+        subject
+      end
+      it '@serial#write is called with "#M0" when @serial is raised some ' \
+         'errors' do
+        allow(serial).to(
+          receive(:write).with(to_sequence_result).and_raise(RuntimeError))
+        expect(serial).to receive(:write).with('#M0')
+        subject
+      end
+    end
+
+    context 'with [RapiroWrapper::Head.new(left:10), RapiroWrapper::' \
+            'Waist.new(left:10)],' do
+      let(:commands) do
+        [RapiroWrapper::Head.new(left: 10), RapiroWrapper::Waist.new(left: 10)]
+      end
+      subject do
+        commander = super()
+        commander.instance_variable_set(:@serial, serial)
+        commander.execute!(commands)
+      end
+      let(:result) { double }
+      let(:to_sequence_result) { double }
+      let(:command) { double(to_sequence: to_sequence_result) }
+      let(:serial) { double(write: result) }
+      before do
+        allow(RapiroWrapper::Command).to receive_messages(new: command)
+      end
+      it 'should eq result for RapiroWrapper::Command.new([RapiroWrapper::Hea' \
+         'd.new(left:10), RapiroWrapper::Waist.new(left:10)]).to_sequence()' do
+        is_expected.to eq result
+      end
+      it '@serial#write is called with result for @sequences' do
+        expect(serial).to receive(:write).with(to_sequence_result)
+        subject
+      end
+      it '@serial#write is called with "#M0" when @serial is raised some ' \
+         'errors' do
+        allow(serial).to(
+          receive(:write).with(to_sequence_result).and_raise(RuntimeError))
+        expect(serial).to receive(:write).with('#M0')
+        subject
+      end
+      it '' do
+        expect(RapiroWrapper::Command).to receive(:new).with(commands)
+        subject
+      end
+    end
+  end
+
+  context '#sequences' do
+  end
+end

data/spec/rapiro_wrapper/led/eyes_spec.rb

@@ -0,0 +1,38 @@
+require 'spec_helper'
+
+RSpec.describe RapiroWrapper::Eyes do
+  context 'constructor' do
+    context 'without params' do
+      context '@value' do
+        subject { described_class.new.instance_variable_get :@value }
+        it { is_expected.to eq '#000080' }
+      end
+    end
+    context 'with "#123456"' do
+      context '@value' do
+        subject { described_class.new('#123456').instance_variable_get :@value }
+        it { is_expected.to eq '#123456' }
+      end
+    end
+    context 'with { red: 255, green: 128, blue: 0 }' do
+      context '@value' do
+        subject do
+          described_class.new(red: 255, green: 128, blue: 0)
+            .instance_variable_get :@value
+        end
+        it { is_expected.to eq '#ff8000' }
+      end
+    end
+  end
+
+  context '#to_code' do
+    context 'with @value = "#ff8000"' do
+      subject { described_class.new('#ff8000').to_code }
+      it { is_expected.to eq 'R255G128B000' }
+    end
+    context 'with @value = "#aabbcc"' do
+      subject { described_class.new('#aabbcc').to_code }
+      it { is_expected.to eq 'R170G187B204' }
+    end
+  end
+end

data/spec/rapiro_wrapper/servo_moter/head_spec.rb

@@ -0,0 +1,248 @@
+require 'spec_helper'
+
+RSpec.describe RapiroWrapper::Head do
+  context 'constants' do
+    context 'NO' do
+      subject { described_class.const_get(:NO) }
+      it { is_expected.to eq 0 }
+    end
+    context 'DEFAULT' do
+      subject { described_class.const_get(:DEFAULT) }
+      it { is_expected.to eq 90 }
+    end
+    context 'MIN' do
+      subject { described_class.const_get(:MIN) }
+      it { is_expected.to eq 0 }
+    end
+    context 'MAX' do
+      subject { described_class.const_get(:MAX) }
+      it { is_expected.to eq 180 }
+    end
+  end
+
+  context '.code' do
+    context 'without arguments' do
+      subject { described_class.code }
+      it { is_expected.to eq 'S00A090' }
+    end
+
+    context 'with both right and left' do
+      subject { described_class.code(option) }
+      let(:option) { { right: 0, left: 0 } }
+      it { expect { subject }.to raise_error ArgumentError }
+    end
+
+    context 'with right' do
+      subject { described_class.code(option) }
+
+      context '-180' do
+        let(:option) { { right: -180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+
+      context '-91' do
+        let(:option) { { right: -91 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+
+      context '-90' do
+        let(:option) { { right: -90 } }
+        it { is_expected.to eq 'S00A180' }
+      end
+
+      context '0' do
+        let(:option) { { right: 0 } }
+        it { is_expected.to eq 'S00A090' }
+      end
+
+      context '90' do
+        let(:option) { { right: 90 } }
+        it { is_expected.to eq 'S00A000' }
+      end
+
+      context '91' do
+        let(:option) { { right: 91 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+
+      context '180' do
+        let(:option) { { right: 180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+    end
+
+    context 'with left' do
+      subject { described_class.code(option) }
+
+      context '-180' do
+        let(:option) { { left: -180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+
+      context '-91' do
+        let(:option) { { left: -91 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+
+      context '-90' do
+        let(:option) { { left: -90 } }
+        it { is_expected.to eq 'S00A000' }
+      end
+
+      context '0' do
+        let(:option) { { left: 0 } }
+        it { is_expected.to eq 'S00A090' }
+      end
+
+      context '90' do
+        let(:option) { { left: 90 } }
+        it { is_expected.to eq 'S00A180' }
+      end
+
+      context '91' do
+        let(:option) { { left: 91 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+
+      context '180' do
+        let(:option) { { left: 180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+    end
+  end
+
+  context 'constructor' do
+    context 'without arguments' do
+      subject { described_class.new }
+      it { expect { subject }.to_not raise_error }
+      context '@value' do
+        subject { described_class.new.instance_variable_get(:@value) }
+        it { is_expected.to eq 90 }
+      end
+      context '#to_code' do
+        subject { described_class.new.to_code }
+        it { is_expected.to eq 'S00A090' }
+      end
+    end
+
+    context 'with both right and left' do
+      subject { described_class.new(option).instance_variable_get(:@value) }
+      let(:option) { { right: 0, left: 0 } }
+      it { expect { subject }.to raise_error ArgumentError }
+    end
+
+    context 'with right' do
+      subject { described_class.new(option).instance_variable_get(:@value) }
+
+      context '-180' do
+        let(:option) { { right: -180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+
+      context '-91' do
+        let(:option) { { right: -91 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+
+      context '-90' do
+        let(:option) { { right: -90 } }
+        context '@value' do
+          it { is_expected.to eq 180 }
+        end
+        context '#to_code' do
+          subject { described_class.new(option).to_code }
+          it { is_expected.to eq 'S00A180' }
+        end
+      end
+
+      context '0' do
+        let(:option) { { right: 0 } }
+        context '@value' do
+          it { is_expected.to eq 90 }
+        end
+        context '#to_code' do
+          subject { described_class.new(option).to_code }
+          it { is_expected.to eq 'S00A090' }
+        end
+      end
+
+      context '90' do
+        let(:option) { { right: 90 } }
+        context '@value' do
+          it { is_expected.to eq 0 }
+        end
+        context '#to_code' do
+          subject { described_class.new(option).to_code }
+          it { is_expected.to eq 'S00A000' }
+        end
+      end
+
+      context '91' do
+        let(:option) { { right: 91 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+
+      context '180' do
+        let(:option) { { right: 180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+    end
+
+    context 'with left' do
+      subject { described_class.new(option).instance_variable_get(:@value) }
+
+      context '-180' do
+        let(:option) { { left: -180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+
+      context '-91' do
+        let(:option) { { left: -91 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+
+      context '-90' do
+        let(:option) { { left: -90 } }
+        context '@value' do
+          it { is_expected.to eq 0 }
+        end
+        context '#to_code' do
+          subject { described_class.new(option).to_code }
+          it { is_expected.to eq 'S00A000' }
+        end
+      end
+
+      context '0' do
+        let(:option) { { left: 0 } }
+        context '@value' do
+          it { is_expected.to eq 90 }
+        end
+        context '#to_code' do
+          subject { described_class.new(option).to_code }
+          it { is_expected.to eq 'S00A090' }
+        end
+      end
+
+      context '90' do
+        let(:option) { { left: 90 } }
+        context '@value' do
+          it { is_expected.to eq 180 }
+        end
+        context '#to_code' do
+          subject { described_class.new(option).to_code }
+          it { is_expected.to eq 'S00A180' }
+        end
+      end
+
+      context '91' do
+        let(:option) { { left: 91 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+
+      context '180' do
+        let(:option) { { left: 180 } }
+        it { expect { subject }.to raise_error ArgumentError }
+      end
+    end
+  end
+end