rplidar 0.1.2
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- checksums.yaml +7 -0
- data/.gitignore +2 -0
- data/.rspec +1 -0
- data/.rubocop.yml +9 -0
- data/Gemfile +6 -0
- data/Gemfile.lock +72 -0
- data/LICENSE.txt +21 -0
- data/README.md +55 -0
- data/Rakefile +6 -0
- data/bin/console +14 -0
- data/bin/setup +8 -0
- data/lib/rplidar.rb +2 -0
- data/lib/rplidar/driver.rb +215 -0
- data/lib/rplidar/version.rb +3 -0
- data/rplidar.gemspec +45 -0
- data/spec/rplidar/driver_spec.rb +447 -0
- data/spec/spec_helper.rb +107 -0
- metadata +145 -0
checksums.yaml
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---
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SHA256:
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metadata.gz: 9c00e8000624de8044d80c1ecdcb65f99d9f806d60d684267b6a067176cf8bf3
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data.tar.gz: c267e4e70b865ce84b0df3767e5c8ec43166a56e8bc678568e4e69c6eb455778
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SHA512:
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metadata.gz: 2b58e8eab346bee4bbea60436e363dd5f534e6ea473564904d7cc130bff9f8582ed4ab2c5eee59ab9450972d5db2bf857237941cbe800232440731bb47bd9313
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data.tar.gz: db1f7b6f72e4baf940ac2b2fe0827d86b749164c59d4e6d4d6d3db89af465b2fdb1d5d5a1ebc8d03802d85a82a4eacc8dc46b896d0f0648d596fcd9074339ca1
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data/.gitignore
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data/.rspec
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--require spec_helper
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data/.rubocop.yml
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data/Gemfile
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data/Gemfile.lock
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PATH
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remote: .
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specs:
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rplidar (0.1.0)
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rubyserial (~> 0.6)
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GEM
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remote: https://rubygems.org/
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specs:
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ast (2.4.0)
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codecov (0.1.10)
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json
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simplecov
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url
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diff-lcs (1.3)
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docile (1.3.0)
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ffi (1.9.25)
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jaro_winkler (1.5.1)
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json (2.1.0)
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parallel (1.12.1)
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parser (2.5.1.2)
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ast (~> 2.4.0)
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powerpack (0.1.2)
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rainbow (3.0.0)
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rake (10.5.0)
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rspec (3.7.0)
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rspec-core (~> 3.7.0)
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rspec-expectations (~> 3.7.0)
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rspec-mocks (~> 3.7.0)
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rspec-core (3.7.1)
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rspec-support (~> 3.7.0)
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rspec-expectations (3.7.0)
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diff-lcs (>= 1.2.0, < 2.0)
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rspec-support (~> 3.7.0)
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rspec-mocks (3.7.0)
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diff-lcs (>= 1.2.0, < 2.0)
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rspec-support (~> 3.7.0)
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rspec-support (3.7.1)
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rubocop (0.58.2)
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jaro_winkler (~> 1.5.1)
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parallel (~> 1.10)
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parser (>= 2.5, != 2.5.1.1)
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powerpack (~> 0.1)
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rainbow (>= 2.2.2, < 4.0)
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ruby-progressbar (~> 1.7)
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unicode-display_width (~> 1.0, >= 1.0.1)
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rubocop-rspec (1.29.0)
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rubocop (>= 0.58.0)
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ruby-progressbar (1.10.0)
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rubyserial (0.6.0)
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ffi (~> 1.9, >= 1.9.3)
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simplecov (0.16.1)
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docile (~> 1.1)
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json (>= 1.8, < 3)
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simplecov-html (~> 0.10.0)
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simplecov-html (0.10.2)
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unicode-display_width (1.4.0)
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url (0.3.2)
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PLATFORMS
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ruby
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DEPENDENCIES
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bundler (~> 1.16)
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codecov
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rake (~> 10.0)
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rplidar!
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rspec (~> 3.0)
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rubocop-rspec
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BUNDLED WITH
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1.16.4
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data/LICENSE.txt
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The MIT License (MIT)
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Copyright (c) 2018 Yury Kotlyarov
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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data/README.md
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# Rplidar
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[![Build Status](https://semaphoreci.com/api/v1/yurykotlyarov/rplidar/branches/master/shields_badge.svg)](https://semaphoreci.com/yurykotlyarov/rplidar) [![codecov](https://codecov.io/gh/yura/rplidar/branch/master/graph/badge.svg)](https://codecov.io/gh/yura/rplidar) [![Maintainability](https://api.codeclimate.com/v1/badges/3e73393095982858c97b/maintainability)](https://codeclimate.com/github/yura/rplidar/maintainability) [![security](https://hakiri.io/github/yura/rplidar/master.svg)](https://hakiri.io/github/yura/rplidar/master)
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Ruby implementation of SLAMTEK RPLIDAR A2M8 lidar.
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## Installation
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Add this line to your application's Gemfile:
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```ruby
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gem 'rplidar'
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```
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And then execute:
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$ bundle
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Or install it yourself as:
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$ gem install rplidar
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## Usage
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Run `bundle exec irb`
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```ruby
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require './lib/rplidar'
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# for Mac OS
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lidar = Rplidar::Driver.new('/dev/tty.SLAB_USBtoUART')
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lidar.current_state
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lidar.start_motor
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lidar.scan
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...
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lidar.stop
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lidar.stop_motor
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lidar.close
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```
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## Development
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After checking out the repo, run `bin/setup` to install dependencies. Then, run `rake spec` to run the tests. You can also run `bin/console` for an interactive prompt that will allow you to experiment.
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To install this gem onto your local machine, run `bundle exec rake install`. To release a new version, update the version number in `version.rb`, and then run `bundle exec rake release`, which will create a git tag for the version, push git commits and tags, and push the `.gem` file to [rubygems.org](https://rubygems.org).
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## Contributing
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Bug reports and pull requests are welcome on GitHub at https://github.com/yura/rplidar. This project is intended to be a safe, welcoming space for collaboration, and contributors are expected to adhere to the [Contributor Covenant](http://contributor-covenant.org) code of conduct.
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## License
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The gem is available as open source under the terms of the [MIT License](https://opensource.org/licenses/MIT).
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data/Rakefile
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data/bin/console
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#!/usr/bin/env ruby
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require 'bundler/setup'
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require 'rplidar'
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# You can add fixtures and/or initialization code here to make experimenting
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# with your gem easier. You can also use a different console, if you like.
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# (If you use this, don't forget to add pry to your Gemfile!)
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# require "pry"
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# Pry.start
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require 'irb'
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IRB.start(__FILE__)
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data/bin/setup
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data/lib/rplidar.rb
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require 'rubyserial'
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module Rplidar
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# Ruby implementation of driver of the SLAMTEC RPLIDAR A2.
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class Driver
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# Lidar states
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STATE_GOOD = 0
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STATE_WARNING = 1
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STATE_ERROR = 2
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# Commands
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COMMAND_GET_HEALTH = 0x52
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COMMAND_MOTOR_PWM = 0xF0
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COMMAND_SCAN = 0x20
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COMMAND_STOP = 0x25
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COMMAND_RESET = 0x40
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COMMANDS_WITH_RESPONSE = [
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COMMAND_GET_HEALTH,
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COMMAND_SCAN
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].freeze
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# Default length of responses
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RESPONSE_DESCRIPTOR_LENGTH = 7
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SCAN_DATA_RESPONSE_LENGTH = 5
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UART_BAUD_RATE = 115_200
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def initialize(port_address)
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@port_address = port_address
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end
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def current_state
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descriptor = command(COMMAND_GET_HEALTH)
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response = data_response(descriptor[:data_response_length])
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case response[0]
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when STATE_GOOD then [:good, []]
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when STATE_WARNING then [:warning, []]
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when STATE_ERROR then [:error, response[1..-1]]
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end
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end
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def start_motor(pwm = 660)
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request_with_payload(COMMAND_MOTOR_PWM, pwm)
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end
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def stop_motor
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request_with_payload(COMMAND_MOTOR_PWM, 0)
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end
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def scan_to_file(filename = 'output.csv', iterations = 1)
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responses = scan(iterations)
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File.open(filename, 'w') do |file|
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file.puts 'start,quality,angle,distance'
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responses.each do |r|
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file.puts "#{r[:start]},#{r[:quality]},#{r[:angle]},#{r[:distance]}"
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end
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end
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end
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def scan(iterations = 1)
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command(COMMAND_SCAN)
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responses = collect_scan_data_responses(iterations)
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stop
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responses
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end
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def collect_scan_data_responses(iterations)
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responses = []
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iteration = -1
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while iteration < iterations
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response = scan_data_response
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iteration += 1 if response[:start]
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responses << response if iteration.between?(0, iterations - 1)
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end
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responses
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end
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def stop
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command(COMMAND_STOP)
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clear_port
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end
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def reset
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command(COMMAND_RESET)
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end
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def port
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@port ||= Serial.new(@port_address, UART_BAUD_RATE, 8, :none, 1)
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end
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def close
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@port.close if @port
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end
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def command(command)
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request(command)
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response_descriptor if COMMANDS_WITH_RESPONSE.include?(command)
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end
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def request(command)
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params = [0xA5, command]
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port.write(ints_to_binary(params))
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sleep 0.5
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end
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def request_with_payload(command, payload)
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payload_string = ints_to_binary(payload, 'S<*')
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payload_size = payload_string.size
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string = ints_to_binary([0xA5, command, payload_size])
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string += payload_string
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string += ints_to_binary(checksum(string))
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+
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port.write(string)
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end
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|
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def checksum(string)
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binary_to_ints(string).reduce(:^)
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end
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123
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|
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# Format of Response Descriptor:
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#
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# Start Flag 1 Start Flag 2 Data Response Length Send Mode Data Type
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#
|
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# 1 byte (0xA5) 1 bytes (0x5A) 30 bits 2 bits 1 byte
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def response_descriptor
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response = data_response(RESPONSE_DESCRIPTOR_LENGTH)
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+
|
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# TODO: check response headers
|
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+
|
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{
|
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data_response_length: (response[4] << 16) +
|
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(response[3] << 8) + response[2],
|
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send_mode: response[5] >> 6,
|
138
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data_type: response[6]
|
139
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}
|
140
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+
end
|
141
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+
|
142
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def data_response(length)
|
143
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start = Time.now
|
144
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response = []
|
145
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while response.size < length
|
146
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byte = port.getbyte
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response << byte if byte
|
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raise 'Timeout while getting byte from the port' if Time.now - start > 2
|
149
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end
|
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response
|
151
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+
end
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152
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|
153
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def scan_data_response
|
154
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response = data_response(SCAN_DATA_RESPONSE_LENGTH)
|
155
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check_data_response_header(response)
|
156
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+
|
157
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{
|
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start: response[0][0] == 1,
|
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quality: quality(response),
|
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angle: angle(response),
|
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distance: distance(response)
|
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}
|
163
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+
end
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164
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+
|
165
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def check_data_response_header(response)
|
166
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+
unless correct_start_bit?(response)
|
167
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raise 'Inversed start bit of the data response ' \
|
168
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'is not inverse of the start bit'
|
169
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+
end
|
170
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+
|
171
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unless correct_check_bit?(response)
|
172
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raise 'Check bit of the data response is not equal ' \
|
173
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'to 1'
|
174
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+
end
|
175
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+
end
|
176
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+
|
177
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def correct_start_bit?(response)
|
178
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# start bit
|
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+
start = response[0][0]
|
180
|
+
# inversed start bit
|
181
|
+
inversed = response[0][1]
|
182
|
+
|
183
|
+
(start == 1 && inversed.zero?) || (start.zero? && inversed == 1)
|
184
|
+
end
|
185
|
+
|
186
|
+
def correct_check_bit?(response)
|
187
|
+
response[1][0] == 1
|
188
|
+
end
|
189
|
+
|
190
|
+
def quality(response)
|
191
|
+
response[0] >> 2
|
192
|
+
end
|
193
|
+
|
194
|
+
def angle(response)
|
195
|
+
((response[2] << 7) + (response[1] >> 1)) / 64.0
|
196
|
+
end
|
197
|
+
|
198
|
+
def distance(response)
|
199
|
+
((response[4] << 8) + response[3]) / 4.0
|
200
|
+
end
|
201
|
+
|
202
|
+
def clear_port
|
203
|
+
while port.getbyte
|
204
|
+
end
|
205
|
+
end
|
206
|
+
|
207
|
+
def ints_to_binary(array, format = 'C*')
|
208
|
+
[array].flatten.pack(format)
|
209
|
+
end
|
210
|
+
|
211
|
+
def binary_to_ints(string, format = 'C*')
|
212
|
+
string.unpack(format)
|
213
|
+
end
|
214
|
+
end
|
215
|
+
end
|
data/rplidar.gemspec
ADDED
@@ -0,0 +1,45 @@
|
|
1
|
+
lib = File.expand_path('lib', __dir__)
|
2
|
+
$LOAD_PATH.unshift(lib) unless $LOAD_PATH.include?(lib)
|
3
|
+
require 'rplidar/version'
|
4
|
+
|
5
|
+
Gem::Specification.new do |spec|
|
6
|
+
spec.name = 'rplidar'
|
7
|
+
spec.version = Rplidar::VERSION
|
8
|
+
spec.authors = ['Yury Kotlyarov']
|
9
|
+
spec.email = ['yura@brainhouse.ru']
|
10
|
+
|
11
|
+
spec.summary = 'Ruby implementation of SLAMTEK RPLIDAR driver.'
|
12
|
+
spec.description = 'Tested on SLAMTEK RPLIDAR A2M8'
|
13
|
+
spec.homepage = 'http://github.com/yura/rplidar'
|
14
|
+
spec.license = 'MIT'
|
15
|
+
|
16
|
+
# Prevent pushing this gem to RubyGems.org. To allow pushes either set the
|
17
|
+
# 'allowed_push_host' to allow pushing to a single host or delete this section
|
18
|
+
# to allow pushing to any host.
|
19
|
+
if spec.respond_to?(:metadata)
|
20
|
+
spec.metadata['allowed_push_host'] = 'https://rubygems.org'
|
21
|
+
else
|
22
|
+
raise 'RubyGems 2.0 or newer is required to protect against ' \
|
23
|
+
'public gem pushes.'
|
24
|
+
end
|
25
|
+
|
26
|
+
# Specify which files should be added to the gem when it is released.
|
27
|
+
# The `git ls-files -z` loads the files in the RubyGem that have been
|
28
|
+
# added into git.
|
29
|
+
spec.files = Dir.chdir(File.expand_path(__dir__)) do
|
30
|
+
`git ls-files -z`
|
31
|
+
.split("\x0")
|
32
|
+
.reject { |f| f.match(%r{^(test|features)/}) }
|
33
|
+
end
|
34
|
+
spec.bindir = 'exe'
|
35
|
+
spec.executables = spec.files.grep(%r{^exe/}) { |f| File.basename(f) }
|
36
|
+
spec.require_paths = ['lib']
|
37
|
+
|
38
|
+
spec.add_dependency 'rubyserial', '~> 0.6'
|
39
|
+
|
40
|
+
spec.add_development_dependency 'bundler', '~> 1.16'
|
41
|
+
spec.add_development_dependency 'codecov'
|
42
|
+
spec.add_development_dependency 'rake', '~> 10.0'
|
43
|
+
spec.add_development_dependency 'rspec', '~> 3.0'
|
44
|
+
spec.add_development_dependency 'rubocop-rspec'
|
45
|
+
end
|
@@ -0,0 +1,447 @@
|
|
1
|
+
# do not convert string to unicode
|
2
|
+
def ascii(string)
|
3
|
+
string.force_encoding('ASCII-8BIT')
|
4
|
+
end
|
5
|
+
|
6
|
+
# Raw response descriptors
|
7
|
+
RAW_RD_GET_HEALTH = ascii("\xA5Z\x03\x00\x00\x00\x06")
|
8
|
+
RAW_RD_SCAN = ascii("\xA5Z\x05\x00\x00@\x81")
|
9
|
+
|
10
|
+
RD_GET_HEALTH = [165, 90, 3, 0, 0, 0, 6].freeze
|
11
|
+
RD_SCAN = [165, 90, 5, 0, 0, 64, 129].freeze
|
12
|
+
|
13
|
+
# Data Responses
|
14
|
+
DR_HEALTH_GOOD = [0, 0, 0].freeze
|
15
|
+
DR_HEALTH_WARNING = [1, 0, 0].freeze
|
16
|
+
DR_HEALTH_ERROR = [2, 3, 5].freeze
|
17
|
+
|
18
|
+
DR_SCAN = [62, 63, 3, 117, 4].freeze
|
19
|
+
|
20
|
+
RSpec.describe Rplidar::Driver do
|
21
|
+
let(:lidar) { described_class.new('/serial') }
|
22
|
+
let(:port) { instance_double('serial port') }
|
23
|
+
|
24
|
+
before do
|
25
|
+
allow(Serial).to receive(:new)
|
26
|
+
.with('/serial', 115_200, 8, :none, 1)
|
27
|
+
.and_return(port)
|
28
|
+
end
|
29
|
+
|
30
|
+
describe '#current_state' do
|
31
|
+
subject(:current_state) { lidar.current_state }
|
32
|
+
|
33
|
+
before do
|
34
|
+
allow(lidar).to receive(:command)
|
35
|
+
.with(0x52)
|
36
|
+
.and_return(data_response_length: 3)
|
37
|
+
allow(lidar).to receive(:data_response)
|
38
|
+
.with(3)
|
39
|
+
.and_return([0, 0, 0])
|
40
|
+
end
|
41
|
+
|
42
|
+
it 'sends GET_HEALTH command' do
|
43
|
+
current_state
|
44
|
+
expect(lidar).to have_received(:command).with(0x52)
|
45
|
+
end
|
46
|
+
|
47
|
+
it 'reads data_response' do
|
48
|
+
current_state
|
49
|
+
expect(lidar).to have_received(:data_response).with(3)
|
50
|
+
end
|
51
|
+
|
52
|
+
it 'returns :good if lidar is in Good (0) state' do
|
53
|
+
allow(lidar).to receive(:data_response)
|
54
|
+
.with(3)
|
55
|
+
.and_return(DR_HEALTH_GOOD)
|
56
|
+
expect(current_state).to eq([:good, []])
|
57
|
+
end
|
58
|
+
|
59
|
+
it 'returns :warning if lidar is in Warning (1) state' do
|
60
|
+
allow(lidar).to receive(:data_response)
|
61
|
+
.with(3)
|
62
|
+
.and_return(DR_HEALTH_WARNING)
|
63
|
+
expect(current_state).to eq([:warning, []])
|
64
|
+
end
|
65
|
+
|
66
|
+
it 'returns :error if lidar is in Error (2) state' do
|
67
|
+
allow(lidar).to receive(:data_response)
|
68
|
+
.with(3)
|
69
|
+
.and_return(DR_HEALTH_ERROR)
|
70
|
+
expect(current_state).to eq([:error, [3, 5]])
|
71
|
+
end
|
72
|
+
|
73
|
+
it 'concatenates error code bytes'
|
74
|
+
end
|
75
|
+
|
76
|
+
describe '#start_motor' do
|
77
|
+
subject(:start_motor) { lidar.start_motor }
|
78
|
+
|
79
|
+
before do
|
80
|
+
allow(lidar).to receive(:request_with_payload).with(0xF0, 660)
|
81
|
+
end
|
82
|
+
|
83
|
+
it 'sends START_MOTOR command' do
|
84
|
+
start_motor
|
85
|
+
expect(lidar).to have_received(:request_with_payload).with(0xF0, 660)
|
86
|
+
end
|
87
|
+
end
|
88
|
+
|
89
|
+
describe '#stop_motor' do
|
90
|
+
subject(:stop_motor) { lidar.stop_motor }
|
91
|
+
|
92
|
+
before do
|
93
|
+
allow(lidar).to receive(:request_with_payload)
|
94
|
+
.with(0xF0, 0).and_return(nil)
|
95
|
+
end
|
96
|
+
|
97
|
+
it 'sends STOP_MOTOR command' do
|
98
|
+
stop_motor
|
99
|
+
expect(lidar).to have_received(:request_with_payload).with(0xF0, 0)
|
100
|
+
end
|
101
|
+
end
|
102
|
+
|
103
|
+
describe '#scan' do
|
104
|
+
subject(:scan) { lidar.scan }
|
105
|
+
|
106
|
+
before do
|
107
|
+
allow(lidar).to receive(:command)
|
108
|
+
.with(0x20).and_return(data_response_length: 5)
|
109
|
+
allow(lidar).to receive(:collect_scan_data_responses)
|
110
|
+
.with(1).and_return([1, 2, 3, 4, 5])
|
111
|
+
allow(lidar).to receive(:stop)
|
112
|
+
end
|
113
|
+
|
114
|
+
it 'sends SCAN request' do
|
115
|
+
scan
|
116
|
+
expect(lidar).to have_received(:command).with(0x20)
|
117
|
+
end
|
118
|
+
|
119
|
+
it 'collects scan data responses' do
|
120
|
+
scan
|
121
|
+
expect(lidar).to have_received(:collect_scan_data_responses).with(1)
|
122
|
+
end
|
123
|
+
|
124
|
+
it 'stops scanning' do
|
125
|
+
scan
|
126
|
+
expect(lidar).to have_received(:stop)
|
127
|
+
end
|
128
|
+
end
|
129
|
+
|
130
|
+
describe '#collect_scan_data_responses' do
|
131
|
+
subject(:collect_scans) { lidar.collect_scan_data_responses(1) }
|
132
|
+
|
133
|
+
before do
|
134
|
+
allow(lidar).to receive(:scan_data_response)
|
135
|
+
.and_return(
|
136
|
+
{ start: true, angle: 110, distance: 220, quality: 10 },
|
137
|
+
{ start: false, angle: 111, distance: 230, quality: 11 },
|
138
|
+
start: true, angle: 112, distance: 240, quality: 12
|
139
|
+
)
|
140
|
+
end
|
141
|
+
|
142
|
+
it 'calls :scan_data_response' do
|
143
|
+
collect_scans
|
144
|
+
expect(lidar).to have_received(:scan_data_response).exactly(3).times
|
145
|
+
end
|
146
|
+
|
147
|
+
it 'returns collected iterations' do
|
148
|
+
expect(collect_scans).to eq([
|
149
|
+
{ start: true, angle: 110, distance: 220, quality: 10 },
|
150
|
+
{ start: false, angle: 111, distance: 230, quality: 11 }
|
151
|
+
])
|
152
|
+
end
|
153
|
+
end
|
154
|
+
|
155
|
+
describe '#stop' do
|
156
|
+
subject(:stop) { lidar.stop }
|
157
|
+
|
158
|
+
before do
|
159
|
+
allow(lidar).to receive(:request).with(0x25)
|
160
|
+
allow(lidar).to receive(:clear_port)
|
161
|
+
end
|
162
|
+
|
163
|
+
it 'sends STOP request' do
|
164
|
+
stop
|
165
|
+
expect(lidar).to have_received(:request).with(0x25)
|
166
|
+
end
|
167
|
+
|
168
|
+
it 'sleeps for at least 1 ms'
|
169
|
+
|
170
|
+
it 'clears port afterwards' do
|
171
|
+
stop
|
172
|
+
expect(lidar).to have_received(:clear_port)
|
173
|
+
end
|
174
|
+
end
|
175
|
+
|
176
|
+
describe '#reset' do
|
177
|
+
subject(:reset) { lidar.reset }
|
178
|
+
|
179
|
+
before do
|
180
|
+
allow(lidar).to receive(:request).with(0x40)
|
181
|
+
end
|
182
|
+
|
183
|
+
it 'sends RESET request' do
|
184
|
+
reset
|
185
|
+
expect(lidar).to have_received(:request).with(0x40)
|
186
|
+
end
|
187
|
+
|
188
|
+
it 'sleeps for at least 2 ms'
|
189
|
+
end
|
190
|
+
|
191
|
+
describe '#request' do
|
192
|
+
subject(:request) { lidar.request(0x20) }
|
193
|
+
|
194
|
+
before do
|
195
|
+
allow(lidar).to receive(:port).and_return(port)
|
196
|
+
allow(port).to receive(:write).with(ascii("\xA5 "))
|
197
|
+
end
|
198
|
+
|
199
|
+
it 'gets serial port' do
|
200
|
+
request
|
201
|
+
expect(lidar).to have_received(:port)
|
202
|
+
end
|
203
|
+
|
204
|
+
it 'writes binary string to the serial port' do
|
205
|
+
request
|
206
|
+
expect(port).to have_received(:write).with(ascii("\xA5 "))
|
207
|
+
end
|
208
|
+
end
|
209
|
+
|
210
|
+
describe '#response_descriptor' do
|
211
|
+
before do
|
212
|
+
allow(lidar).to receive(:data_response)
|
213
|
+
.with(7)
|
214
|
+
.and_return(RD_GET_HEALTH)
|
215
|
+
end
|
216
|
+
|
217
|
+
it 'reads 7 bytes from the port' do
|
218
|
+
lidar.response_descriptor
|
219
|
+
expect(lidar).to have_received(:data_response).with(7)
|
220
|
+
end
|
221
|
+
|
222
|
+
it 'processes GET_HEALTH response descriptor correctly' do
|
223
|
+
allow(lidar).to receive(:data_response)
|
224
|
+
.with(7).and_return(RD_GET_HEALTH)
|
225
|
+
expect(lidar.response_descriptor).to \
|
226
|
+
eq(data_response_length: 3, send_mode: 0, data_type: 6)
|
227
|
+
end
|
228
|
+
|
229
|
+
it 'processes scan response descriptor correctly' do
|
230
|
+
allow(lidar).to receive(:data_response)
|
231
|
+
.with(7).and_return(RD_SCAN)
|
232
|
+
expect(lidar.response_descriptor).to \
|
233
|
+
eq(data_response_length: 5, send_mode: 1, data_type: 129)
|
234
|
+
end
|
235
|
+
end
|
236
|
+
|
237
|
+
describe '#request_with_payload' do
|
238
|
+
subject(:request_with_payload) { lidar.request_with_payload(0xF0, 660) }
|
239
|
+
|
240
|
+
before do
|
241
|
+
allow(port).to receive(:write).with(ascii("\xA5\xF0\x02\x94\x02\xC1"))
|
242
|
+
end
|
243
|
+
|
244
|
+
it 'writes binary string with payload to the serial port' do
|
245
|
+
request_with_payload
|
246
|
+
expect(port).to have_received(:write)
|
247
|
+
.with(ascii("\xA5\xF0\x02\x94\x02\xC1"))
|
248
|
+
end
|
249
|
+
end
|
250
|
+
|
251
|
+
describe '#checksum' do
|
252
|
+
it 'XORs one byte sequence' do
|
253
|
+
expect(lidar.checksum('a')).to eq(97)
|
254
|
+
end
|
255
|
+
|
256
|
+
it 'XORs few bytes' do
|
257
|
+
expect(lidar.checksum("\xA5\xF0")).to eq(0xA5 ^ 0xF0)
|
258
|
+
end
|
259
|
+
end
|
260
|
+
|
261
|
+
describe '#data_response' do
|
262
|
+
subject(:data_response) { lidar.data_response(5) }
|
263
|
+
|
264
|
+
before do
|
265
|
+
allow(port).to receive(:getbyte).and_return(1, 55, 88, 111, 222, 111)
|
266
|
+
end
|
267
|
+
|
268
|
+
it 'reads bytes from the port' do
|
269
|
+
data_response
|
270
|
+
expect(port).to have_received(:getbyte).exactly(5).times
|
271
|
+
end
|
272
|
+
|
273
|
+
it 'returns all read bytes' do
|
274
|
+
expect(data_response).to eq([1, 55, 88, 111, 222])
|
275
|
+
end
|
276
|
+
|
277
|
+
it 'raises timeout exception if read takes more than 2 seconds' do
|
278
|
+
allow(port).to receive(:getbyte).and_return(1, 2, 3, nil)
|
279
|
+
expect do
|
280
|
+
data_response
|
281
|
+
end.to raise_error('Timeout while getting byte from the port')
|
282
|
+
end
|
283
|
+
end
|
284
|
+
|
285
|
+
describe '#scan_data_response' do
|
286
|
+
subject(:scan_data_response) { lidar.scan_data_response }
|
287
|
+
|
288
|
+
before do
|
289
|
+
allow(lidar).to receive(:data_response).with(5).and_return(DR_SCAN)
|
290
|
+
allow(lidar).to receive(:check_data_response_header).with(DR_SCAN)
|
291
|
+
allow(lidar).to receive(:angle).with(DR_SCAN).and_return(111)
|
292
|
+
allow(lidar).to receive(:distance).with(DR_SCAN).and_return(222)
|
293
|
+
allow(lidar).to receive(:quality).with(DR_SCAN).and_return(333)
|
294
|
+
end
|
295
|
+
|
296
|
+
it 'reads data_response' do
|
297
|
+
scan_data_response
|
298
|
+
expect(lidar).to have_received(:data_response).with(5)
|
299
|
+
end
|
300
|
+
|
301
|
+
it 'checks headers' do
|
302
|
+
scan_data_response
|
303
|
+
expect(lidar).to have_received(:check_data_response_header).with(DR_SCAN)
|
304
|
+
end
|
305
|
+
|
306
|
+
it 'returns hash with processed values' do
|
307
|
+
expect(scan_data_response).to eq(
|
308
|
+
start: false, angle: 111, distance: 222, quality: 333
|
309
|
+
)
|
310
|
+
end
|
311
|
+
end
|
312
|
+
|
313
|
+
describe '#check_data_response_header' do
|
314
|
+
it 'raises inversed start flag bit is not inverse of the start flag bit' do
|
315
|
+
[[[1, 1]], [[0, 0]], [[1, -2]], [[0, -1]]].each do |wrong_response|
|
316
|
+
expect { lidar.check_data_response_header(wrong_response) }.to \
|
317
|
+
raise_error('Inversed start bit of the data response ' \
|
318
|
+
'is not inverse of the start bit')
|
319
|
+
end
|
320
|
+
end
|
321
|
+
|
322
|
+
it 'raises an exception if 3rd bit is not equal to 1' do
|
323
|
+
[[[1, 0], [0]], [[0, 1], [2]]].each do |wrong_response|
|
324
|
+
expect { lidar.check_data_response_header(wrong_response) }.to \
|
325
|
+
raise_error('Check bit of the data response is not equal to 1')
|
326
|
+
end
|
327
|
+
end
|
328
|
+
end
|
329
|
+
|
330
|
+
describe '#close' do
|
331
|
+
subject(:close) { lidar.close }
|
332
|
+
|
333
|
+
before do
|
334
|
+
allow(port).to receive(:close)
|
335
|
+
end
|
336
|
+
|
337
|
+
it 'does not close the port if it is not open' do
|
338
|
+
close
|
339
|
+
expect(port).not_to have_received(:close)
|
340
|
+
end
|
341
|
+
|
342
|
+
it 'closes the port if it is exist' do
|
343
|
+
# open create port first
|
344
|
+
lidar.port
|
345
|
+
|
346
|
+
close
|
347
|
+
expect(port).to have_received(:close)
|
348
|
+
end
|
349
|
+
end
|
350
|
+
|
351
|
+
describe '#port' do
|
352
|
+
it 'opens serial port' do
|
353
|
+
lidar.port
|
354
|
+
expect(Serial).to have_received(:new)
|
355
|
+
.with('/serial', 115_200, 8, :none, 1)
|
356
|
+
end
|
357
|
+
|
358
|
+
it 'does not open port if it is already open' do
|
359
|
+
# call it first time
|
360
|
+
lidar.port
|
361
|
+
|
362
|
+
# call it second time
|
363
|
+
lidar.port
|
364
|
+
expect(Serial).to have_received(:new).with(any_args).once
|
365
|
+
end
|
366
|
+
end
|
367
|
+
|
368
|
+
describe '#correct_start_bit?' do
|
369
|
+
it 'raises inversed start flag bit is not inverse of the start flag bit' do
|
370
|
+
[[[1, 1]], [[0, 0]], [[1, -2]], [[0, -1]]].each do |response|
|
371
|
+
expect(lidar.correct_start_bit?(response)).to be_falsy
|
372
|
+
end
|
373
|
+
end
|
374
|
+
end
|
375
|
+
|
376
|
+
describe '#correct_check_bit?' do
|
377
|
+
it 'returns true if first bit of the second byte is equal to 1' do
|
378
|
+
[[0, 1], [0, 3], [0, 5], [0, 255]].each do |response|
|
379
|
+
expect(lidar.correct_check_bit?(response)).to be_truthy
|
380
|
+
end
|
381
|
+
end
|
382
|
+
|
383
|
+
it 'returns false if 1st bit of the 2nd byte is not equal to 1' do
|
384
|
+
[[0, 0], [0, 2], [0, 254]].each do |response|
|
385
|
+
expect(lidar.correct_check_bit?(response)).to be_falsy
|
386
|
+
end
|
387
|
+
end
|
388
|
+
end
|
389
|
+
|
390
|
+
describe '#angle' do
|
391
|
+
it 'processes angle from the 2nd and 3rd bytes' do
|
392
|
+
expect(lidar.angle([62, 155, 2, 112, 4])).to eq(5.203125)
|
393
|
+
end
|
394
|
+
end
|
395
|
+
|
396
|
+
describe '#distance' do
|
397
|
+
it 'processes angle from the 4th and 5th bytes' do
|
398
|
+
expect(lidar.distance([62, 155, 2, 112, 4])).to eq(284)
|
399
|
+
end
|
400
|
+
end
|
401
|
+
|
402
|
+
describe '#quality' do
|
403
|
+
it 'processes quantity from the 1st bit' do
|
404
|
+
expect(lidar.quality([62, 155, 2, 112, 4])).to eq(15)
|
405
|
+
end
|
406
|
+
end
|
407
|
+
|
408
|
+
describe '#clear_port' do
|
409
|
+
subject(:clear_port) { lidar.clear_port }
|
410
|
+
|
411
|
+
before do
|
412
|
+
allow(lidar).to receive(:port).and_return(port)
|
413
|
+
allow(port).to receive(:getbyte).and_return(1, 2, 3, 4, 5, nil)
|
414
|
+
end
|
415
|
+
|
416
|
+
it 'gets port' do
|
417
|
+
clear_port
|
418
|
+
expect(lidar).to have_received(:port).exactly(6).times
|
419
|
+
end
|
420
|
+
|
421
|
+
it 'reads all bytes from the port' do
|
422
|
+
clear_port
|
423
|
+
expect(port).to have_received(:getbyte).exactly(6).times
|
424
|
+
end
|
425
|
+
end
|
426
|
+
|
427
|
+
describe '#binary_to_ints' do
|
428
|
+
it 'converts binary sequence to integer array' do
|
429
|
+
expect(lidar.binary_to_ints(RAW_RD_GET_HEALTH)).to \
|
430
|
+
eq([165, 90, 3, 0, 0, 0, 6])
|
431
|
+
end
|
432
|
+
end
|
433
|
+
|
434
|
+
describe '#ints_to_binary' do
|
435
|
+
it 'coverts integer to the binary sequence' do
|
436
|
+
expect(lidar.ints_to_binary(97)).to eq('a')
|
437
|
+
end
|
438
|
+
|
439
|
+
it 'converts array with one integer to the binary sequence' do
|
440
|
+
expect(lidar.ints_to_binary([97])).to eq('a')
|
441
|
+
end
|
442
|
+
|
443
|
+
it 'converts array of integers to the binary sequence' do
|
444
|
+
expect(lidar.ints_to_binary([0xA5, 0x20])).to eq(ascii("\xA5 "))
|
445
|
+
end
|
446
|
+
end
|
447
|
+
end
|
data/spec/spec_helper.rb
ADDED
@@ -0,0 +1,107 @@
|
|
1
|
+
require 'simplecov'
|
2
|
+
SimpleCov.start
|
3
|
+
|
4
|
+
if ENV['CI']
|
5
|
+
require 'codecov'
|
6
|
+
SimpleCov.formatter = SimpleCov::Formatter::Codecov
|
7
|
+
end
|
8
|
+
|
9
|
+
require 'bundler/setup'
|
10
|
+
require 'rplidar'
|
11
|
+
|
12
|
+
# This file was generated by the `rspec --init` command. Conventionally, all
|
13
|
+
# specs live under a `spec` directory, which RSpec adds to the `$LOAD_PATH`.
|
14
|
+
# The generated `.rspec` file contains `--require spec_helper` which will cause
|
15
|
+
# this file to always be loaded, without a need to explicitly require it in any
|
16
|
+
# files.
|
17
|
+
#
|
18
|
+
# Given that it is always loaded, you are encouraged to keep this file as
|
19
|
+
# light-weight as possible. Requiring heavyweight dependencies from this file
|
20
|
+
# will add to the boot time of your test suite on EVERY test run, even for an
|
21
|
+
# individual file that may not need all of that loaded. Instead, consider making
|
22
|
+
# a separate helper file that requires the additional dependencies and performs
|
23
|
+
# the additional setup, and require it from the spec files that actually need
|
24
|
+
# it.
|
25
|
+
#
|
26
|
+
# See http://rubydoc.info/gems/rspec-core/RSpec/Core/Configuration
|
27
|
+
RSpec.configure do |config|
|
28
|
+
# rspec-expectations config goes here. You can use an alternate
|
29
|
+
# assertion/expectation library such as wrong or the stdlib/minitest
|
30
|
+
# assertions if you prefer.
|
31
|
+
config.expect_with :rspec do |expectations|
|
32
|
+
# This option will default to `true` in RSpec 4. It makes the `description`
|
33
|
+
# and `failure_message` of custom matchers include text for helper methods
|
34
|
+
# defined using `chain`, e.g.:
|
35
|
+
# be_bigger_than(2).and_smaller_than(4).description
|
36
|
+
# # => "be bigger than 2 and smaller than 4"
|
37
|
+
# ...rather than:
|
38
|
+
# # => "be bigger than 2"
|
39
|
+
expectations.include_chain_clauses_in_custom_matcher_descriptions = true
|
40
|
+
end
|
41
|
+
|
42
|
+
# rspec-mocks config goes here. You can use an alternate test double
|
43
|
+
# library (such as bogus or mocha) by changing the `mock_with` option here.
|
44
|
+
config.mock_with :rspec do |mocks|
|
45
|
+
# Prevents you from mocking or stubbing a method that does not exist on
|
46
|
+
# a real object. This is generally recommended, and will default to
|
47
|
+
# `true` in RSpec 4.
|
48
|
+
mocks.verify_partial_doubles = true
|
49
|
+
end
|
50
|
+
|
51
|
+
# This option will default to `:apply_to_host_groups` in RSpec 4 (and will
|
52
|
+
# have no way to turn it off -- the option exists only for backwards
|
53
|
+
# compatibility in RSpec 3). It causes shared context metadata to be
|
54
|
+
# inherited by the metadata hash of host groups and examples, rather than
|
55
|
+
# triggering implicit auto-inclusion in groups with matching metadata.
|
56
|
+
config.shared_context_metadata_behavior = :apply_to_host_groups
|
57
|
+
|
58
|
+
# This allows you to limit a spec run to individual examples or groups
|
59
|
+
# you care about by tagging them with `:focus` metadata. When nothing
|
60
|
+
# is tagged with `:focus`, all examples get run. RSpec also provides
|
61
|
+
# aliases for `it`, `describe`, and `context` that include `:focus`
|
62
|
+
# metadata: `fit`, `fdescribe` and `fcontext`, respectively.
|
63
|
+
config.filter_run_when_matching :focus
|
64
|
+
|
65
|
+
# Allows RSpec to persist some state between runs in order to support
|
66
|
+
# the `--only-failures` and `--next-failure` CLI options. We recommend
|
67
|
+
# you configure your source control system to ignore this file.
|
68
|
+
config.example_status_persistence_file_path = 'spec/examples.txt'
|
69
|
+
|
70
|
+
# Limits the available syntax to the non-monkey patched syntax that is
|
71
|
+
# recommended. For more details, see:
|
72
|
+
# - http://rspec.info/blog/2012/06/rspecs-new-expectation-syntax/
|
73
|
+
# - http://www.teaisaweso.me/blog/2013/05/27/rspecs-new-message-expectation-syntax/
|
74
|
+
# - http://rspec.info/blog/2014/05/notable-changes-in-rspec-3/#zero-monkey-patching-mode
|
75
|
+
config.disable_monkey_patching!
|
76
|
+
|
77
|
+
# This setting enables warnings. It's recommended, but in some cases may
|
78
|
+
# be too noisy due to issues in dependencies.
|
79
|
+
config.warnings = true
|
80
|
+
|
81
|
+
# Many RSpec users commonly either run the entire suite or an individual
|
82
|
+
# file, and it's useful to allow more verbose output when running an
|
83
|
+
# individual spec file.
|
84
|
+
if config.files_to_run.one?
|
85
|
+
# Use the documentation formatter for detailed output,
|
86
|
+
# unless a formatter has already been configured
|
87
|
+
# (e.g. via a command-line flag).
|
88
|
+
config.default_formatter = 'doc'
|
89
|
+
end
|
90
|
+
|
91
|
+
# Print the 10 slowest examples and example groups at the
|
92
|
+
# end of the spec run, to help surface which specs are running
|
93
|
+
# particularly slow.
|
94
|
+
config.profile_examples = 10
|
95
|
+
|
96
|
+
# Run specs in random order to surface order dependencies. If you find an
|
97
|
+
# order dependency and want to debug it, you can fix the order by providing
|
98
|
+
# the seed, which is printed after each run.
|
99
|
+
# --seed 1234
|
100
|
+
config.order = :random
|
101
|
+
|
102
|
+
# Seed global randomization in this process using the `--seed` CLI option.
|
103
|
+
# Setting this allows you to use `--seed` to deterministically reproduce
|
104
|
+
# test failures related to randomization by passing the same `--seed` value
|
105
|
+
# as the one that triggered the failure.
|
106
|
+
Kernel.srand config.seed
|
107
|
+
end
|
metadata
ADDED
@@ -0,0 +1,145 @@
|
|
1
|
+
--- !ruby/object:Gem::Specification
|
2
|
+
name: rplidar
|
3
|
+
version: !ruby/object:Gem::Version
|
4
|
+
version: 0.1.2
|
5
|
+
platform: ruby
|
6
|
+
authors:
|
7
|
+
- Yury Kotlyarov
|
8
|
+
autorequire:
|
9
|
+
bindir: exe
|
10
|
+
cert_chain: []
|
11
|
+
date: 2018-09-13 00:00:00.000000000 Z
|
12
|
+
dependencies:
|
13
|
+
- !ruby/object:Gem::Dependency
|
14
|
+
name: rubyserial
|
15
|
+
requirement: !ruby/object:Gem::Requirement
|
16
|
+
requirements:
|
17
|
+
- - "~>"
|
18
|
+
- !ruby/object:Gem::Version
|
19
|
+
version: '0.6'
|
20
|
+
type: :runtime
|
21
|
+
prerelease: false
|
22
|
+
version_requirements: !ruby/object:Gem::Requirement
|
23
|
+
requirements:
|
24
|
+
- - "~>"
|
25
|
+
- !ruby/object:Gem::Version
|
26
|
+
version: '0.6'
|
27
|
+
- !ruby/object:Gem::Dependency
|
28
|
+
name: bundler
|
29
|
+
requirement: !ruby/object:Gem::Requirement
|
30
|
+
requirements:
|
31
|
+
- - "~>"
|
32
|
+
- !ruby/object:Gem::Version
|
33
|
+
version: '1.16'
|
34
|
+
type: :development
|
35
|
+
prerelease: false
|
36
|
+
version_requirements: !ruby/object:Gem::Requirement
|
37
|
+
requirements:
|
38
|
+
- - "~>"
|
39
|
+
- !ruby/object:Gem::Version
|
40
|
+
version: '1.16'
|
41
|
+
- !ruby/object:Gem::Dependency
|
42
|
+
name: codecov
|
43
|
+
requirement: !ruby/object:Gem::Requirement
|
44
|
+
requirements:
|
45
|
+
- - ">="
|
46
|
+
- !ruby/object:Gem::Version
|
47
|
+
version: '0'
|
48
|
+
type: :development
|
49
|
+
prerelease: false
|
50
|
+
version_requirements: !ruby/object:Gem::Requirement
|
51
|
+
requirements:
|
52
|
+
- - ">="
|
53
|
+
- !ruby/object:Gem::Version
|
54
|
+
version: '0'
|
55
|
+
- !ruby/object:Gem::Dependency
|
56
|
+
name: rake
|
57
|
+
requirement: !ruby/object:Gem::Requirement
|
58
|
+
requirements:
|
59
|
+
- - "~>"
|
60
|
+
- !ruby/object:Gem::Version
|
61
|
+
version: '10.0'
|
62
|
+
type: :development
|
63
|
+
prerelease: false
|
64
|
+
version_requirements: !ruby/object:Gem::Requirement
|
65
|
+
requirements:
|
66
|
+
- - "~>"
|
67
|
+
- !ruby/object:Gem::Version
|
68
|
+
version: '10.0'
|
69
|
+
- !ruby/object:Gem::Dependency
|
70
|
+
name: rspec
|
71
|
+
requirement: !ruby/object:Gem::Requirement
|
72
|
+
requirements:
|
73
|
+
- - "~>"
|
74
|
+
- !ruby/object:Gem::Version
|
75
|
+
version: '3.0'
|
76
|
+
type: :development
|
77
|
+
prerelease: false
|
78
|
+
version_requirements: !ruby/object:Gem::Requirement
|
79
|
+
requirements:
|
80
|
+
- - "~>"
|
81
|
+
- !ruby/object:Gem::Version
|
82
|
+
version: '3.0'
|
83
|
+
- !ruby/object:Gem::Dependency
|
84
|
+
name: rubocop-rspec
|
85
|
+
requirement: !ruby/object:Gem::Requirement
|
86
|
+
requirements:
|
87
|
+
- - ">="
|
88
|
+
- !ruby/object:Gem::Version
|
89
|
+
version: '0'
|
90
|
+
type: :development
|
91
|
+
prerelease: false
|
92
|
+
version_requirements: !ruby/object:Gem::Requirement
|
93
|
+
requirements:
|
94
|
+
- - ">="
|
95
|
+
- !ruby/object:Gem::Version
|
96
|
+
version: '0'
|
97
|
+
description: Tested on SLAMTEK RPLIDAR A2M8
|
98
|
+
email:
|
99
|
+
- yura@brainhouse.ru
|
100
|
+
executables: []
|
101
|
+
extensions: []
|
102
|
+
extra_rdoc_files: []
|
103
|
+
files:
|
104
|
+
- ".gitignore"
|
105
|
+
- ".rspec"
|
106
|
+
- ".rubocop.yml"
|
107
|
+
- Gemfile
|
108
|
+
- Gemfile.lock
|
109
|
+
- LICENSE.txt
|
110
|
+
- README.md
|
111
|
+
- Rakefile
|
112
|
+
- bin/console
|
113
|
+
- bin/setup
|
114
|
+
- lib/rplidar.rb
|
115
|
+
- lib/rplidar/driver.rb
|
116
|
+
- lib/rplidar/version.rb
|
117
|
+
- rplidar.gemspec
|
118
|
+
- spec/rplidar/driver_spec.rb
|
119
|
+
- spec/spec_helper.rb
|
120
|
+
homepage: http://github.com/yura/rplidar
|
121
|
+
licenses:
|
122
|
+
- MIT
|
123
|
+
metadata:
|
124
|
+
allowed_push_host: https://rubygems.org
|
125
|
+
post_install_message:
|
126
|
+
rdoc_options: []
|
127
|
+
require_paths:
|
128
|
+
- lib
|
129
|
+
required_ruby_version: !ruby/object:Gem::Requirement
|
130
|
+
requirements:
|
131
|
+
- - ">="
|
132
|
+
- !ruby/object:Gem::Version
|
133
|
+
version: '0'
|
134
|
+
required_rubygems_version: !ruby/object:Gem::Requirement
|
135
|
+
requirements:
|
136
|
+
- - ">="
|
137
|
+
- !ruby/object:Gem::Version
|
138
|
+
version: '0'
|
139
|
+
requirements: []
|
140
|
+
rubyforge_project:
|
141
|
+
rubygems_version: 2.7.3
|
142
|
+
signing_key:
|
143
|
+
specification_version: 4
|
144
|
+
summary: Ruby implementation of SLAMTEK RPLIDAR driver.
|
145
|
+
test_files: []
|