rapiro_wrapper 0.1.0

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data/.gitignore

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+/.bundle/
+/.yardoc
+/Gemfile.lock
+/_yardoc/
+/coverage/
+/doc/
+/pkg/
+/spec/reports/
+/tmp/
+*.bundle
+*.so
+*.o
+*.a
+mkmf.log
+*.swp
+*.gem

data/.rspec

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+--color
+--format documentation

data/.ruby-gemset

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+rapiro_wrapper

data/.ruby-version

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+ruby-2.2.0

data/Gemfile

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+source 'https://rubygems.org'
+
+# Specify your gem's dependencies in rapiro_wrapper.gemspec
+gemspec

data/LICENSE.txt

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+Copyright (c) 2015 Takahiro HAMAGUCHI
+
+MIT License
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

data/README.md

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+# Rapiro Wrapper
+
+A gem providing access to Rapiro with SerialPort.
+
+## Installation
+
+
+```ruby
+gem 'rapiro_wrapper', github: 'tk-hamaguchi/rapiro_wrapper'
+```
+
+And then execute:
+
+    $ bundle
+
+Or install it yourself as:
+
+```
+# git clone -b master --depth 1 https://github.com/tk-hamaguchi/rapiro_wrapper.git
+# cd rapiro_wrapper/
+# gem build rapiro_wrapper.gemspec
+# gem install rapiro_wrapper-*.gem
+```
+
+## Usage1
+
+1. Require gem.
+``` ruby
+require 'rapiro_wrapper'
+```
+
+2. Initialize commander.  (default: '/dev/ttyAMA0')
+``` ruby
+rapiro = RapiroWrapper::Body.new
+```
+2.1. In another case, initialize with serial port path.
+``` ruby
+rapiro = RapiroWrapper::Body.new('/dev/tty.usbserial-DA00HMG6')
+```
+3. Set pose.
+``` ruby
+rapiro.head  = { left:  40 }               ## param is left: 0..90 or right: 0..90
+rapiro.waist = { right: 40 }               ## param is left: 0..90 or right: 0..90
+rapiro.right_sholder_roll  = { up: 120 }   ## param is up: 0..180  (default:0)
+rapiro.right_sholder_pitch = { up: 20  }   ## param is hold: 0..50 or open: 0..50
+rapiro.right_hand_grip     = { open: 10 }  ## param is hold: 0..50 or open: 0..50
+rapiro.left_sholder_roll  = { up: 20 }     ## param is up: 0..180  (default:0)
+rapiro.left_sholder_pitch = { up: 70 }     ## param is up: 0..90  (default:0)
+rapiro.left_hand_grip     = { hold: 0 }    ## param is hold: 0..50 or open: 0..50
+rapiro.right_foot_yaw   = { close: 10 }    ## param is close: 0..60 or open: 0..60
+rapiro.right_foot_pitch = { open:  30 }    ## param is close: 0..40 or open: 0..40
+rapiro.left_foot_yaw   = { open:  0 }      ## param is close: 0..60 or open: 0..60
+rapiro.left_foot_pitch = { close: 0 }      ## param is close: 0..40 or open: 0..40
+rapiro.eyes = '#808000'                    ## param is web color code for example #000000 or hash({red: 255, green: 255, blue: 0})
+```
+4. Execute.  (default: 10)
+``` ruby
+rapiro.execute!
+```
+4.1. In another case, execute with duration.
+``` ruby
+rapiro.execute!(90)  ## param is 0..127
+```
+
+
+## Usage2
+1. Require gem.
+``` ruby
+require 'rapiro_wrapper'
+```
+
+2. Initialize commander with serial port path.  (default: '/dev/ttyAMA0')
+``` ruby
+commander = RapiroWrapper::Commander.new('/dev/tty.usbserial-DA00HMG6')
+```
+
+3. Execute commands
+``` ruby
+## generate command sequences
+sequences = [
+  ## param is left: 0..90 or right: 0..90
+  RapiroWrapper::Head.new( left: 30 ),
+
+  ## param is left: 0..90 or right: 0..90
+  RapiroWrapper::Waist.new( right: 30 ),
+
+  ## param is up: 0..180  (default:0)
+  RapiroWrapper::RightSholderRoll.new( up: 160 ),
+
+  ## param is up: 0..90  (default:0)
+  RapiroWrapper::RightSholderPitch.new( up: 20 ),
+
+  ## param is hold: 0..50 or open: 0..50
+  RapiroWrapper::RightHandGrip.new( hold: 0 ),
+
+  ## param is up: 0..180  (default:0)
+  RapiroWrapper::LeftSholderRoll.new( up: 30 ),
+
+  ## param is up: 0..90  (default:0)
+  RapiroWrapper::LeftSholderPitch.new( up: 20 ),
+
+  ## param is hold: 0..50 or open: 0..50
+  RapiroWrapper::LeftHandGrip.new( open: 0 ),
+
+  ## param is close: 0..60 or open: 0..60
+  RapiroWrapper::RightFootYaw.new( open: 30 ),
+
+  ## param is close: 0..40 or open: 0..40
+  RapiroWrapper::RightFootPitch.new( open: 5 ),
+
+  ## param is close: 0..60 or open: 0..60
+  RapiroWrapper::LeftFootYaw.new( close: 20 ),
+
+  ## param is close: 0..40 or open: 0..40
+  RapiroWrapper::LeftFootPitch.new( close: 0 ),
+
+  ## param is web color code for example #000000 or hash
+  RapiroWrapper::Eyes.new('#00ff00')
+]
+## set duration by milliseconds.  (default:10)
+duration = 10
+## Execute
+commander.execute!(sequences, duration)
+```
+
+
+4. Return to defaults
+``` ruby
+commander.execute!([])
+```
+
+## Contributing
+
+1. Fork it ( https://github.com/tk-hamaguchi/rapiro_wrapper/fork )
+2. Create your feature branch (`git checkout -b my-new-feature`)
+3. Commit your changes (`git commit -am 'Add some feature'`)
+4. Push to the branch (`git push origin my-new-feature`)
+5. Create a new Pull Request

data/Rakefile

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+require 'bundler/gem_tasks'
+require 'rspec/core/rake_task'
+
+RSpec::Core::RakeTask.new(:spec)
+task default: :spec

data/bin/rapiro_wrapper

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+#!/usr/bin/env ruby
+
+require 'rapiro_wrapper'
+
+commander = RapiroWrapper::Commander.new('/dev/tty.usbserial-DA00HMG6')
+
+sleep 20
+
+commander.execute!([])
+
+sleep 5
+
+sequences = [
+  ## param is left: 0..90 or right: 0..90
+  RapiroWrapper::Head.new(left: 30),
+
+  ## param is left: 0..90 or right: 0..90
+  RapiroWrapper::Waist.new(right: 30),
+
+  ## param is up: 0..180  (default:0)
+  RapiroWrapper::RightSholderRoll.new(up: 160),
+
+  ## param is up: 0..90  (default:0)
+  RapiroWrapper::RightSholderPitch.new(up: 20),
+
+  ## param is hold: 0..50 or open: 0..50
+  RapiroWrapper::RightHandGrip.new(hold: 0),
+
+  ## param is up: 0..180  (default:0)
+  RapiroWrapper::LeftSholderRoll.new(up: 30),
+
+  ## param is up: 0..90  (default:0)
+  RapiroWrapper::LeftSholderPitch.new(up: 20),
+
+  ## param is hold: 0..50 or open: 0..50
+  RapiroWrapper::LeftHandGrip.new(open: 0),
+
+  ## param is close: 0..60 or open: 0..60
+  RapiroWrapper::RightFootYaw.new(open: 30),
+
+  ## param is close: 0..40 or open: 0..40
+  RapiroWrapper::RightFootPitch.new(open: 5),
+
+  ## param is close: 0..60 or open: 0..60
+  RapiroWrapper::LeftFootYaw.new(close: 20),
+
+  ## param is close: 0..40 or open: 0..40
+  RapiroWrapper::LeftFootPitch.new(close: 0),
+
+  ## param is web color code for example #000000 or hash
+  RapiroWrapper::Eyes.new('#00ff00')
+]
+
+commander.execute!(sequences)
+
+sleep 5
+
+commander.execute!([])
+
+sleep 5
+
+duration = 5
+
+5.times.each do
+  commander.execute!([
+    RapiroWrapper::Head.new(left: 10),
+    RapiroWrapper::RightSholderRoll.new(up: 160),
+    RapiroWrapper::LeftSholderRoll.new(up: 160),
+    RapiroWrapper::RightSholderPitch.new(up: 5),
+    RapiroWrapper::LeftSholderPitch.new(up: 5),
+    RapiroWrapper::RightFootPitch.new(open: 0),
+    RapiroWrapper::LeftFootPitch.new(close: 0),
+    RapiroWrapper::Eyes.new('#ff0000')
+  ], duration)
+
+  sleep duration * 0.1
+
+  commander.execute!([
+    RapiroWrapper::Head.new(right: 10),
+    RapiroWrapper::RightSholderRoll.new(up: 170),
+    RapiroWrapper::LeftSholderRoll.new(up: 170),
+    RapiroWrapper::RightSholderPitch.new(up: 40),
+    RapiroWrapper::LeftSholderPitch.new(up: 40),
+    RapiroWrapper::RightFootPitch.new(close: 0),
+    RapiroWrapper::LeftFootPitch.new(open: 0),
+    RapiroWrapper::Eyes.new('#330000')
+  ], duration)
+
+  sleep duration * 0.1
+end
+
+commander.execute!([], 10)
+
+sleep 5
+
+commander.execute!([
+  RapiroWrapper::Head.new(left: 40),
+  RapiroWrapper::Waist.new(right: 40),
+  RapiroWrapper::LeftHandGrip.new(hold: 0),
+  RapiroWrapper::RightHandGrip.new(hold: 0),
+  RapiroWrapper::RightSholderRoll.new(up: 90),
+  RapiroWrapper::LeftSholderRoll.new(up: 20),
+  RapiroWrapper::LeftFootYaw.new(open: 30),
+  RapiroWrapper::RightFootYaw.new(open: 20),
+  RapiroWrapper::Eyes.new('#003300')
+], 5)
+
+sleep 1
+
+commander.execute!([
+  RapiroWrapper::Head.new(right: 30),
+  RapiroWrapper::Waist.new(left: 30),
+  RapiroWrapper::LeftHandGrip.new(hold: 0),
+  RapiroWrapper::RightHandGrip.new(hold: 0),
+  RapiroWrapper::RightSholderPitch.new(up: 30),
+  RapiroWrapper::RightSholderRoll.new(up: 90),
+  RapiroWrapper::LeftSholderRoll.new(up: 0),
+  RapiroWrapper::LeftFootYaw.new(open: 30),
+  RapiroWrapper::RightFootYaw.new(open: 20),
+  RapiroWrapper::Eyes.new('#00ff00')
+], 2)
+
+sleep 5
+
+commander.execute!([], 10)
+
+duration = 7
+
+2.times.each do
+  commander.execute!([
+    RapiroWrapper::Head.new(left: 30)
+  ], duration)
+
+  sleep duration * 0.1
+
+  commander.execute!([
+    RapiroWrapper::Head.new(right: 30)
+  ], duration)
+
+  sleep duration * 0.1
+end
+
+commander.execute!([], 10)
+
+sleep 1
+
+commander.execute!(sequences, duration)

data/lib/rapiro_wrapper.rb

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+require 'rapiro_wrapper/version'
+require 'rapiro_wrapper/command'
+require 'rapiro_wrapper/commander'
+require 'rapiro_wrapper/servo_motor'
+require 'rapiro_wrapper/servo_motor/head'
+require 'rapiro_wrapper/servo_motor/waist'
+require 'rapiro_wrapper/servo_motor/right_sholder_roll'
+require 'rapiro_wrapper/servo_motor/right_sholder_pitch'
+require 'rapiro_wrapper/servo_motor/right_hand_grip'
+require 'rapiro_wrapper/servo_motor/left_sholder_roll'
+require 'rapiro_wrapper/servo_motor/left_sholder_pitch'
+require 'rapiro_wrapper/servo_motor/left_hand_grip'
+require 'rapiro_wrapper/servo_motor/right_foot_yaw'
+require 'rapiro_wrapper/servo_motor/left_foot_yaw'
+require 'rapiro_wrapper/servo_motor/right_foot_pitch'
+require 'rapiro_wrapper/servo_motor/left_foot_pitch'
+require 'rapiro_wrapper/led'
+require 'rapiro_wrapper/led/eyes'
+require 'rapiro_wrapper/body'
+
+# RapiroWrapper
+module RapiroWrapper
+end

data/lib/rapiro_wrapper/body.rb

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+module RapiroWrapper
+  # Controll class for RAPIRO
+  class Body
+    def initialize(device = '/dev/ttyAMA0')
+      @commander  = RapiroWrapper::Commander.new(device)
+      servo_class = RapiroWrapper::ServoMotor.find_servos
+
+      @servos = servo_class.inject({}) do |hash, klass|
+        class_name = klass.to_s
+        snake_case = class_name.gsub(/::/, '/')
+                               .gsub(/([A-Z]+)([A-Z][a-z])/, '\1_\2')
+                               .gsub(/([a-z\d])([A-Z])/, '\1_\2')
+                               .tr('-', '_').downcase
+        hash[snake_case.split('/').last] = klass
+        hash
+      end
+      @servos['eyes'] = RapiroWrapper::Eyes
+      @servos.each do |s, k|
+        self.class.class_eval <<-EOF
+          def #{s}=(val)
+            @#{s} = #{k}.new(val)
+          end
+
+          def #{s}
+            @#{s}
+          end
+        EOF
+        instance_variable_set('@'.concat(s).to_sym, k.new)
+      end
+    end
+
+    def sequences(duration = 10)
+      @commander.sequences(
+        @servos.keys.map { |k| instance_variable_get('@'.concat(k).to_sym) },
+        duration
+      )
+    end
+
+    def execute!(duration = 10)
+      @commander.write(sequences(duration))
+    end
+  end
+end

data/lib/rapiro_wrapper/command.rb

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+module RapiroWrapper
+  # Command class for RAPIRO
+  class Command
+    def initialize(sequences = [])
+      @sequences = sequences
+    end
+
+    def to_sequence(duration = 10)
+      targets = RapiroWrapper::ServoMotor.find_servos + [RapiroWrapper::Eyes]
+      seq = targets.inject([]) do |ary, servo|
+        s = @sequences.find { |item| item.instance_of?(servo) }
+        ary << (s ? s : servo.new)
+        ary
+      end
+
+      format("#P#{seq.map(&:to_code).join}T%03d", duration)
+    end
+  end
+end