rplidar 0.1.2

checksums.yaml

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+SHA256:
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+  data.tar.gz: c267e4e70b865ce84b0df3767e5c8ec43166a56e8bc678568e4e69c6eb455778
+SHA512:
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data/.gitignore

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+/coverage
+/spec/examples.txt

data/.rspec

@@ -0,0 +1 @@
+--require spec_helper

data/.rubocop.yml

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+#Metrics/BlockLength:
+#  Exclude:
+#    - 'Rakefile'
+#    - '**/*.rake'
+#    - 'spec/**/*.rb'
+require: rubocop-rspec
+
+Layout/IndentArray:
+  EnforcedStyle: consistent

data/Gemfile

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+source 'https://rubygems.org'
+
+git_source(:github) { |repo_name| "https://github.com/#{repo_name}" }
+
+# Specify your gem's dependencies in rplidar.gemspec
+gemspec

data/Gemfile.lock

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+PATH
+  remote: .
+  specs:
+    rplidar (0.1.0)
+      rubyserial (~> 0.6)
+
+GEM
+  remote: https://rubygems.org/
+  specs:
+    ast (2.4.0)
+    codecov (0.1.10)
+      json
+      simplecov
+      url
+    diff-lcs (1.3)
+    docile (1.3.0)
+    ffi (1.9.25)
+    jaro_winkler (1.5.1)
+    json (2.1.0)
+    parallel (1.12.1)
+    parser (2.5.1.2)
+      ast (~> 2.4.0)
+    powerpack (0.1.2)
+    rainbow (3.0.0)
+    rake (10.5.0)
+    rspec (3.7.0)
+      rspec-core (~> 3.7.0)
+      rspec-expectations (~> 3.7.0)
+      rspec-mocks (~> 3.7.0)
+    rspec-core (3.7.1)
+      rspec-support (~> 3.7.0)
+    rspec-expectations (3.7.0)
+      diff-lcs (>= 1.2.0, < 2.0)
+      rspec-support (~> 3.7.0)
+    rspec-mocks (3.7.0)
+      diff-lcs (>= 1.2.0, < 2.0)
+      rspec-support (~> 3.7.0)
+    rspec-support (3.7.1)
+    rubocop (0.58.2)
+      jaro_winkler (~> 1.5.1)
+      parallel (~> 1.10)
+      parser (>= 2.5, != 2.5.1.1)
+      powerpack (~> 0.1)
+      rainbow (>= 2.2.2, < 4.0)
+      ruby-progressbar (~> 1.7)
+      unicode-display_width (~> 1.0, >= 1.0.1)
+    rubocop-rspec (1.29.0)
+      rubocop (>= 0.58.0)
+    ruby-progressbar (1.10.0)
+    rubyserial (0.6.0)
+      ffi (~> 1.9, >= 1.9.3)
+    simplecov (0.16.1)
+      docile (~> 1.1)
+      json (>= 1.8, < 3)
+      simplecov-html (~> 0.10.0)
+    simplecov-html (0.10.2)
+    unicode-display_width (1.4.0)
+    url (0.3.2)
+
+PLATFORMS
+  ruby
+
+DEPENDENCIES
+  bundler (~> 1.16)
+  codecov
+  rake (~> 10.0)
+  rplidar!
+  rspec (~> 3.0)
+  rubocop-rspec
+
+BUNDLED WITH
+   1.16.4

data/LICENSE.txt

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+The MIT License (MIT)
+
+Copyright (c) 2018 Yury Kotlyarov
+
+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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+# Rplidar
+
+[![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)
+
+Ruby implementation of SLAMTEK RPLIDAR A2M8 lidar.
+
+## Installation
+
+Add this line to your application's Gemfile:
+
+```ruby
+gem 'rplidar'
+```
+
+And then execute:
+
+    $ bundle
+
+Or install it yourself as:
+
+    $ gem install rplidar
+
+## Usage
+
+Run `bundle exec irb`
+
+```ruby
+require './lib/rplidar'
+
+# for Mac OS
+lidar = Rplidar::Driver.new('/dev/tty.SLAB_USBtoUART')
+lidar.current_state
+
+lidar.start_motor
+lidar.scan
+...
+lidar.stop
+lidar.stop_motor
+lidar.close
+```
+
+## Development
+
+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.
+
+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).
+
+## Contributing
+
+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.
+
+## License
+
+The gem is available as open source under the terms of the [MIT License](https://opensource.org/licenses/MIT).
+

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/console

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+#!/usr/bin/env ruby
+
+require 'bundler/setup'
+require 'rplidar'
+
+# You can add fixtures and/or initialization code here to make experimenting
+# with your gem easier. You can also use a different console, if you like.
+
+# (If you use this, don't forget to add pry to your Gemfile!)
+# require "pry"
+# Pry.start
+
+require 'irb'
+IRB.start(__FILE__)

data/bin/setup

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+#!/usr/bin/env bash
+set -euo pipefail
+IFS=$'\n\t'
+set -vx
+
+bundle install
+
+# Do any other automated setup that you need to do here

data/lib/rplidar.rb

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+require 'rplidar/driver'
+require 'rplidar/version'

data/lib/rplidar/driver.rb

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+require 'rubyserial'
+
+module Rplidar
+  # Ruby implementation of driver of the SLAMTEC RPLIDAR A2.
+  class Driver
+    # Lidar states
+    STATE_GOOD    = 0
+    STATE_WARNING = 1
+    STATE_ERROR   = 2
+
+    # Commands
+    COMMAND_GET_HEALTH  = 0x52
+    COMMAND_MOTOR_PWM   = 0xF0
+    COMMAND_SCAN        = 0x20
+    COMMAND_STOP        = 0x25
+    COMMAND_RESET       = 0x40
+
+    COMMANDS_WITH_RESPONSE = [
+      COMMAND_GET_HEALTH,
+      COMMAND_SCAN
+    ].freeze
+
+    # Default length of responses
+    RESPONSE_DESCRIPTOR_LENGTH = 7
+    SCAN_DATA_RESPONSE_LENGTH  = 5
+
+    UART_BAUD_RATE = 115_200
+
+    def initialize(port_address)
+      @port_address = port_address
+    end
+
+    def current_state
+      descriptor = command(COMMAND_GET_HEALTH)
+      response = data_response(descriptor[:data_response_length])
+      case response[0]
+      when STATE_GOOD    then [:good, []]
+      when STATE_WARNING then [:warning, []]
+      when STATE_ERROR   then [:error, response[1..-1]]
+      end
+    end
+
+    def start_motor(pwm = 660)
+      request_with_payload(COMMAND_MOTOR_PWM, pwm)
+    end
+
+    def stop_motor
+      request_with_payload(COMMAND_MOTOR_PWM, 0)
+    end
+
+    def scan_to_file(filename = 'output.csv', iterations = 1)
+      responses = scan(iterations)
+
+      File.open(filename, 'w') do |file|
+        file.puts 'start,quality,angle,distance'
+        responses.each do |r|
+          file.puts "#{r[:start]},#{r[:quality]},#{r[:angle]},#{r[:distance]}"
+        end
+      end
+    end
+
+    def scan(iterations = 1)
+      command(COMMAND_SCAN)
+      responses = collect_scan_data_responses(iterations)
+      stop
+
+      responses
+    end
+
+    def collect_scan_data_responses(iterations)
+      responses = []
+      iteration = -1
+      while iteration < iterations
+        response = scan_data_response
+        iteration += 1 if response[:start]
+        responses << response if iteration.between?(0, iterations - 1)
+      end
+      responses
+    end
+
+    def stop
+      command(COMMAND_STOP)
+      clear_port
+    end
+
+    def reset
+      command(COMMAND_RESET)
+    end
+
+    def port
+      @port ||= Serial.new(@port_address, UART_BAUD_RATE, 8, :none, 1)
+    end
+
+    def close
+      @port.close if @port
+    end
+
+    def command(command)
+      request(command)
+      response_descriptor if COMMANDS_WITH_RESPONSE.include?(command)
+    end
+
+    def request(command)
+      params = [0xA5, command]
+      port.write(ints_to_binary(params))
+      sleep 0.5
+    end
+
+    def request_with_payload(command, payload)
+      payload_string = ints_to_binary(payload, 'S<*')
+      payload_size = payload_string.size
+
+      string = ints_to_binary([0xA5, command, payload_size])
+      string += payload_string
+      string += ints_to_binary(checksum(string))
+
+      port.write(string)
+    end
+
+    def checksum(string)
+      binary_to_ints(string).reduce(:^)
+    end
+
+    # Format of Response Descriptor:
+    #
+    # Start Flag 1   Start Flag 2    Data Response Length  Send Mode  Data Type
+    #
+    # 1 byte (0xA5)  1 bytes (0x5A)  30 bits               2 bits     1 byte
+    def response_descriptor
+      response = data_response(RESPONSE_DESCRIPTOR_LENGTH)
+
+      # TODO: check response headers
+
+      {
+        data_response_length: (response[4] << 16) +
+          (response[3] << 8) + response[2],
+        send_mode: response[5] >> 6,
+        data_type: response[6]
+      }
+    end
+
+    def data_response(length)
+      start = Time.now
+      response = []
+      while response.size < length
+        byte = port.getbyte
+        response << byte if byte
+        raise 'Timeout while getting byte from the port' if Time.now - start > 2
+      end
+      response
+    end
+
+    def scan_data_response
+      response = data_response(SCAN_DATA_RESPONSE_LENGTH)
+      check_data_response_header(response)
+
+      {
+        start: response[0][0] == 1,
+        quality: quality(response),
+        angle: angle(response),
+        distance: distance(response)
+      }
+    end
+
+    def check_data_response_header(response)
+      unless correct_start_bit?(response)
+        raise 'Inversed start bit of the data response ' \
+          'is not inverse of the start bit'
+      end
+
+      unless correct_check_bit?(response)
+        raise 'Check bit of the data response is not equal ' \
+          'to 1'
+      end
+    end
+
+    def correct_start_bit?(response)
+      # start bit
+      start = response[0][0]
+      # inversed start bit
+      inversed = response[0][1]
+
+      (start == 1 && inversed.zero?) || (start.zero? && inversed == 1)
+    end
+
+    def correct_check_bit?(response)
+      response[1][0] == 1
+    end
+
+    def quality(response)
+      response[0] >> 2
+    end
+
+    def angle(response)
+      ((response[2] << 7) + (response[1] >> 1)) / 64.0
+    end
+
+    def distance(response)
+      ((response[4] << 8) + response[3]) / 4.0
+    end
+
+    def clear_port
+      while port.getbyte
+      end
+    end
+
+    def ints_to_binary(array, format = 'C*')
+      [array].flatten.pack(format)
+    end
+
+    def binary_to_ints(string, format = 'C*')
+      string.unpack(format)
+    end
+  end
+end

data/lib/rplidar/version.rb

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+module Rplidar
+  VERSION = '0.1.2'.freeze
+end

data/rplidar.gemspec

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+lib = File.expand_path('lib', __dir__)
+$LOAD_PATH.unshift(lib) unless $LOAD_PATH.include?(lib)
+require 'rplidar/version'
+
+Gem::Specification.new do |spec|
+  spec.name          = 'rplidar'
+  spec.version       = Rplidar::VERSION
+  spec.authors       = ['Yury Kotlyarov']
+  spec.email         = ['yura@brainhouse.ru']
+
+  spec.summary       = 'Ruby implementation of SLAMTEK RPLIDAR driver.'
+  spec.description   = 'Tested on SLAMTEK RPLIDAR A2M8'
+  spec.homepage      = 'http://github.com/yura/rplidar'
+  spec.license       = 'MIT'
+
+  # Prevent pushing this gem to RubyGems.org. To allow pushes either set the
+  # 'allowed_push_host' to allow pushing to a single host or delete this section
+  # to allow pushing to any host.
+  if spec.respond_to?(:metadata)
+    spec.metadata['allowed_push_host'] = 'https://rubygems.org'
+  else
+    raise 'RubyGems 2.0 or newer is required to protect against ' \
+      'public gem pushes.'
+  end
+
+  # Specify which files should be added to the gem when it is released.
+  # The `git ls-files -z` loads the files in the RubyGem that have been
+  # added into git.
+  spec.files = Dir.chdir(File.expand_path(__dir__)) do
+    `git ls-files -z`
+      .split("\x0")
+      .reject { |f| f.match(%r{^(test|features)/}) }
+  end
+  spec.bindir = 'exe'
+  spec.executables = spec.files.grep(%r{^exe/}) { |f| File.basename(f) }
+  spec.require_paths = ['lib']
+
+  spec.add_dependency 'rubyserial', '~> 0.6'
+
+  spec.add_development_dependency 'bundler', '~> 1.16'
+  spec.add_development_dependency 'codecov'
+  spec.add_development_dependency 'rake', '~> 10.0'
+  spec.add_development_dependency 'rspec', '~> 3.0'
+  spec.add_development_dependency 'rubocop-rspec'
+end

data/spec/rplidar/driver_spec.rb

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+# do not convert string to unicode
+def ascii(string)
+  string.force_encoding('ASCII-8BIT')
+end
+
+# Raw response descriptors
+RAW_RD_GET_HEALTH = ascii("\xA5Z\x03\x00\x00\x00\x06")
+RAW_RD_SCAN       = ascii("\xA5Z\x05\x00\x00@\x81")
+
+RD_GET_HEALTH     = [165, 90, 3, 0, 0, 0, 6].freeze
+RD_SCAN           = [165, 90, 5, 0, 0, 64, 129].freeze
+
+# Data Responses
+DR_HEALTH_GOOD    = [0, 0, 0].freeze
+DR_HEALTH_WARNING = [1, 0, 0].freeze
+DR_HEALTH_ERROR   = [2, 3, 5].freeze
+
+DR_SCAN           = [62, 63, 3, 117, 4].freeze
+
+RSpec.describe Rplidar::Driver do
+  let(:lidar) { described_class.new('/serial') }
+  let(:port) { instance_double('serial port') }
+
+  before do
+    allow(Serial).to receive(:new)
+      .with('/serial', 115_200, 8, :none, 1)
+      .and_return(port)
+  end
+
+  describe '#current_state' do
+    subject(:current_state) { lidar.current_state }
+
+    before do
+      allow(lidar).to receive(:command)
+        .with(0x52)
+        .and_return(data_response_length: 3)
+      allow(lidar).to receive(:data_response)
+        .with(3)
+        .and_return([0, 0, 0])
+    end
+
+    it 'sends GET_HEALTH command' do
+      current_state
+      expect(lidar).to have_received(:command).with(0x52)
+    end
+
+    it 'reads data_response' do
+      current_state
+      expect(lidar).to have_received(:data_response).with(3)
+    end
+
+    it 'returns :good if lidar is in Good (0) state' do
+      allow(lidar).to receive(:data_response)
+        .with(3)
+        .and_return(DR_HEALTH_GOOD)
+      expect(current_state).to eq([:good, []])
+    end
+
+    it 'returns :warning if lidar is in Warning (1) state' do
+      allow(lidar).to receive(:data_response)
+        .with(3)
+        .and_return(DR_HEALTH_WARNING)
+      expect(current_state).to eq([:warning, []])
+    end
+
+    it 'returns :error if lidar is in Error (2) state' do
+      allow(lidar).to receive(:data_response)
+        .with(3)
+        .and_return(DR_HEALTH_ERROR)
+      expect(current_state).to eq([:error, [3, 5]])
+    end
+
+    it 'concatenates error code bytes'
+  end
+
+  describe '#start_motor' do
+    subject(:start_motor) { lidar.start_motor }
+
+    before do
+      allow(lidar).to receive(:request_with_payload).with(0xF0, 660)
+    end
+
+    it 'sends START_MOTOR command' do
+      start_motor
+      expect(lidar).to have_received(:request_with_payload).with(0xF0, 660)
+    end
+  end
+
+  describe '#stop_motor' do
+    subject(:stop_motor) { lidar.stop_motor }
+
+    before do
+      allow(lidar).to receive(:request_with_payload)
+        .with(0xF0, 0).and_return(nil)
+    end
+
+    it 'sends STOP_MOTOR command' do
+      stop_motor
+      expect(lidar).to have_received(:request_with_payload).with(0xF0, 0)
+    end
+  end
+
+  describe '#scan' do
+    subject(:scan) { lidar.scan }
+
+    before do
+      allow(lidar).to receive(:command)
+        .with(0x20).and_return(data_response_length: 5)
+      allow(lidar).to receive(:collect_scan_data_responses)
+        .with(1).and_return([1, 2, 3, 4, 5])
+      allow(lidar).to receive(:stop)
+    end
+
+    it 'sends SCAN request' do
+      scan
+      expect(lidar).to have_received(:command).with(0x20)
+    end
+
+    it 'collects scan data responses' do
+      scan
+      expect(lidar).to have_received(:collect_scan_data_responses).with(1)
+    end
+
+    it 'stops scanning' do
+      scan
+      expect(lidar).to have_received(:stop)
+    end
+  end
+
+  describe '#collect_scan_data_responses' do
+    subject(:collect_scans) { lidar.collect_scan_data_responses(1) }
+
+    before do
+      allow(lidar).to receive(:scan_data_response)
+        .and_return(
+          { start: true, angle: 110, distance: 220, quality: 10 },
+          { start: false, angle: 111, distance: 230, quality: 11 },
+          start: true, angle: 112, distance: 240, quality: 12
+        )
+    end
+
+    it 'calls :scan_data_response' do
+      collect_scans
+      expect(lidar).to have_received(:scan_data_response).exactly(3).times
+    end
+
+    it 'returns collected iterations' do
+      expect(collect_scans).to eq([
+        { start: true, angle: 110, distance: 220, quality: 10 },
+        { start: false, angle: 111, distance: 230, quality: 11 }
+      ])
+    end
+  end
+
+  describe '#stop' do
+    subject(:stop) { lidar.stop }
+
+    before do
+      allow(lidar).to receive(:request).with(0x25)
+      allow(lidar).to receive(:clear_port)
+    end
+
+    it 'sends STOP request' do
+      stop
+      expect(lidar).to have_received(:request).with(0x25)
+    end
+
+    it 'sleeps for at least 1 ms'
+
+    it 'clears port afterwards' do
+      stop
+      expect(lidar).to have_received(:clear_port)
+    end
+  end
+
+  describe '#reset' do
+    subject(:reset) { lidar.reset }
+
+    before do
+      allow(lidar).to receive(:request).with(0x40)
+    end
+
+    it 'sends RESET request' do
+      reset
+      expect(lidar).to have_received(:request).with(0x40)
+    end
+
+    it 'sleeps for at least 2 ms'
+  end
+
+  describe '#request' do
+    subject(:request) { lidar.request(0x20) }
+
+    before do
+      allow(lidar).to receive(:port).and_return(port)
+      allow(port).to receive(:write).with(ascii("\xA5 "))
+    end
+
+    it 'gets serial port' do
+      request
+      expect(lidar).to have_received(:port)
+    end
+
+    it 'writes binary string to the serial port' do
+      request
+      expect(port).to have_received(:write).with(ascii("\xA5 "))
+    end
+  end
+
+  describe '#response_descriptor' do
+    before do
+      allow(lidar).to receive(:data_response)
+        .with(7)
+        .and_return(RD_GET_HEALTH)
+    end
+
+    it 'reads 7 bytes from the port' do
+      lidar.response_descriptor
+      expect(lidar).to have_received(:data_response).with(7)
+    end
+
+    it 'processes GET_HEALTH response descriptor correctly' do
+      allow(lidar).to receive(:data_response)
+        .with(7).and_return(RD_GET_HEALTH)
+      expect(lidar.response_descriptor).to \
+        eq(data_response_length: 3, send_mode: 0, data_type: 6)
+    end
+
+    it 'processes scan response descriptor correctly' do
+      allow(lidar).to receive(:data_response)
+        .with(7).and_return(RD_SCAN)
+      expect(lidar.response_descriptor).to \
+        eq(data_response_length: 5, send_mode: 1, data_type: 129)
+    end
+  end
+
+  describe '#request_with_payload' do
+    subject(:request_with_payload) { lidar.request_with_payload(0xF0, 660) }
+
+    before do
+      allow(port).to receive(:write).with(ascii("\xA5\xF0\x02\x94\x02\xC1"))
+    end
+
+    it 'writes binary string with payload to the serial port' do
+      request_with_payload
+      expect(port).to have_received(:write)
+        .with(ascii("\xA5\xF0\x02\x94\x02\xC1"))
+    end
+  end
+
+  describe '#checksum' do
+    it 'XORs one byte sequence' do
+      expect(lidar.checksum('a')).to eq(97)
+    end
+
+    it 'XORs few bytes' do
+      expect(lidar.checksum("\xA5\xF0")).to eq(0xA5 ^ 0xF0)
+    end
+  end
+
+  describe '#data_response' do
+    subject(:data_response) { lidar.data_response(5) }
+
+    before do
+      allow(port).to receive(:getbyte).and_return(1, 55, 88, 111, 222, 111)
+    end
+
+    it 'reads bytes from the port' do
+      data_response
+      expect(port).to have_received(:getbyte).exactly(5).times
+    end
+
+    it 'returns all read bytes' do
+      expect(data_response).to eq([1, 55, 88, 111, 222])
+    end
+
+    it 'raises timeout exception if read takes more than 2 seconds' do
+      allow(port).to receive(:getbyte).and_return(1, 2, 3, nil)
+      expect do
+        data_response
+      end.to raise_error('Timeout while getting byte from the port')
+    end
+  end
+
+  describe '#scan_data_response' do
+    subject(:scan_data_response) { lidar.scan_data_response }
+
+    before do
+      allow(lidar).to receive(:data_response).with(5).and_return(DR_SCAN)
+      allow(lidar).to receive(:check_data_response_header).with(DR_SCAN)
+      allow(lidar).to receive(:angle).with(DR_SCAN).and_return(111)
+      allow(lidar).to receive(:distance).with(DR_SCAN).and_return(222)
+      allow(lidar).to receive(:quality).with(DR_SCAN).and_return(333)
+    end
+
+    it 'reads data_response' do
+      scan_data_response
+      expect(lidar).to have_received(:data_response).with(5)
+    end
+
+    it 'checks headers' do
+      scan_data_response
+      expect(lidar).to have_received(:check_data_response_header).with(DR_SCAN)
+    end
+
+    it 'returns hash with processed values' do
+      expect(scan_data_response).to eq(
+        start: false, angle: 111, distance: 222, quality: 333
+      )
+    end
+  end
+
+  describe '#check_data_response_header' do
+    it 'raises inversed start flag bit is not inverse of the start flag bit' do
+      [[[1, 1]], [[0, 0]], [[1, -2]], [[0, -1]]].each do |wrong_response|
+        expect { lidar.check_data_response_header(wrong_response) }.to \
+          raise_error('Inversed start bit of the data response ' \
+            'is not inverse of the start bit')
+      end
+    end
+
+    it 'raises an exception if 3rd bit is not equal to 1' do
+      [[[1, 0], [0]], [[0, 1], [2]]].each do |wrong_response|
+        expect { lidar.check_data_response_header(wrong_response) }.to \
+          raise_error('Check bit of the data response is not equal to 1')
+      end
+    end
+  end
+
+  describe '#close' do
+    subject(:close) { lidar.close }
+
+    before do
+      allow(port).to receive(:close)
+    end
+
+    it 'does not close the port if it is not open' do
+      close
+      expect(port).not_to have_received(:close)
+    end
+
+    it 'closes the port if it is exist' do
+      # open create port first
+      lidar.port
+
+      close
+      expect(port).to have_received(:close)
+    end
+  end
+
+  describe '#port' do
+    it 'opens serial port' do
+      lidar.port
+      expect(Serial).to have_received(:new)
+        .with('/serial', 115_200, 8, :none, 1)
+    end
+
+    it 'does not open port if it is already open' do
+      # call it first time
+      lidar.port
+
+      # call it second time
+      lidar.port
+      expect(Serial).to have_received(:new).with(any_args).once
+    end
+  end
+
+  describe '#correct_start_bit?' do
+    it 'raises inversed start flag bit is not inverse of the start flag bit' do
+      [[[1, 1]], [[0, 0]], [[1, -2]], [[0, -1]]].each do |response|
+        expect(lidar.correct_start_bit?(response)).to be_falsy
+      end
+    end
+  end
+
+  describe '#correct_check_bit?' do
+    it 'returns true if first bit of the second byte is equal to 1' do
+      [[0, 1], [0, 3], [0, 5], [0, 255]].each do |response|
+        expect(lidar.correct_check_bit?(response)).to be_truthy
+      end
+    end
+
+    it 'returns false if 1st bit of the 2nd byte is not equal to 1' do
+      [[0, 0], [0, 2], [0, 254]].each do |response|
+        expect(lidar.correct_check_bit?(response)).to be_falsy
+      end
+    end
+  end
+
+  describe '#angle' do
+    it 'processes angle from the 2nd and 3rd bytes' do
+      expect(lidar.angle([62, 155, 2, 112, 4])).to eq(5.203125)
+    end
+  end
+
+  describe '#distance' do
+    it 'processes angle from the 4th and 5th bytes' do
+      expect(lidar.distance([62, 155, 2, 112, 4])).to eq(284)
+    end
+  end
+
+  describe '#quality' do
+    it 'processes quantity from the 1st bit' do
+      expect(lidar.quality([62, 155, 2, 112, 4])).to eq(15)
+    end
+  end
+
+  describe '#clear_port' do
+    subject(:clear_port) { lidar.clear_port }
+
+    before do
+      allow(lidar).to receive(:port).and_return(port)
+      allow(port).to receive(:getbyte).and_return(1, 2, 3, 4, 5, nil)
+    end
+
+    it 'gets port' do
+      clear_port
+      expect(lidar).to have_received(:port).exactly(6).times
+    end
+
+    it 'reads all bytes from the port' do
+      clear_port
+      expect(port).to have_received(:getbyte).exactly(6).times
+    end
+  end
+
+  describe '#binary_to_ints' do
+    it 'converts binary sequence to integer array' do
+      expect(lidar.binary_to_ints(RAW_RD_GET_HEALTH)).to \
+        eq([165, 90, 3, 0, 0, 0, 6])
+    end
+  end
+
+  describe '#ints_to_binary' do
+    it 'coverts integer to the binary sequence' do
+      expect(lidar.ints_to_binary(97)).to eq('a')
+    end
+
+    it 'converts array with one integer to the binary sequence' do
+      expect(lidar.ints_to_binary([97])).to eq('a')
+    end
+
+    it 'converts array of integers to the binary sequence' do
+      expect(lidar.ints_to_binary([0xA5, 0x20])).to eq(ascii("\xA5 "))
+    end
+  end
+end

data/spec/spec_helper.rb

@@ -0,0 +1,107 @@
+require 'simplecov'
+SimpleCov.start
+
+if ENV['CI']
+  require 'codecov'
+  SimpleCov.formatter = SimpleCov::Formatter::Codecov
+end
+
+require 'bundler/setup'
+require 'rplidar'
+
+# This file was generated by the `rspec --init` command. Conventionally, all
+# specs live under a `spec` directory, which RSpec adds to the `$LOAD_PATH`.
+# The generated `.rspec` file contains `--require spec_helper` which will cause
+# this file to always be loaded, without a need to explicitly require it in any
+# files.
+#
+# Given that it is always loaded, you are encouraged to keep this file as
+# light-weight as possible. Requiring heavyweight dependencies from this file
+# will add to the boot time of your test suite on EVERY test run, even for an
+# individual file that may not need all of that loaded. Instead, consider making
+# a separate helper file that requires the additional dependencies and performs
+# the additional setup, and require it from the spec files that actually need
+# it.
+#
+# See http://rubydoc.info/gems/rspec-core/RSpec/Core/Configuration
+RSpec.configure do |config|
+  # rspec-expectations config goes here. You can use an alternate
+  # assertion/expectation library such as wrong or the stdlib/minitest
+  # assertions if you prefer.
+  config.expect_with :rspec do |expectations|
+    # This option will default to `true` in RSpec 4. It makes the `description`
+    # and `failure_message` of custom matchers include text for helper methods
+    # defined using `chain`, e.g.:
+    #     be_bigger_than(2).and_smaller_than(4).description
+    #     # => "be bigger than 2 and smaller than 4"
+    # ...rather than:
+    #     # => "be bigger than 2"
+    expectations.include_chain_clauses_in_custom_matcher_descriptions = true
+  end
+
+  # rspec-mocks config goes here. You can use an alternate test double
+  # library (such as bogus or mocha) by changing the `mock_with` option here.
+  config.mock_with :rspec do |mocks|
+    # Prevents you from mocking or stubbing a method that does not exist on
+    # a real object. This is generally recommended, and will default to
+    # `true` in RSpec 4.
+    mocks.verify_partial_doubles = true
+  end
+
+  # This option will default to `:apply_to_host_groups` in RSpec 4 (and will
+  # have no way to turn it off -- the option exists only for backwards
+  # compatibility in RSpec 3). It causes shared context metadata to be
+  # inherited by the metadata hash of host groups and examples, rather than
+  # triggering implicit auto-inclusion in groups with matching metadata.
+  config.shared_context_metadata_behavior = :apply_to_host_groups
+
+  # This allows you to limit a spec run to individual examples or groups
+  # you care about by tagging them with `:focus` metadata. When nothing
+  # is tagged with `:focus`, all examples get run. RSpec also provides
+  # aliases for `it`, `describe`, and `context` that include `:focus`
+  # metadata: `fit`, `fdescribe` and `fcontext`, respectively.
+  config.filter_run_when_matching :focus
+
+  # Allows RSpec to persist some state between runs in order to support
+  # the `--only-failures` and `--next-failure` CLI options. We recommend
+  # you configure your source control system to ignore this file.
+  config.example_status_persistence_file_path = 'spec/examples.txt'
+
+  # Limits the available syntax to the non-monkey patched syntax that is
+  # recommended. For more details, see:
+  #   - http://rspec.info/blog/2012/06/rspecs-new-expectation-syntax/
+  #   - http://www.teaisaweso.me/blog/2013/05/27/rspecs-new-message-expectation-syntax/
+  #   - http://rspec.info/blog/2014/05/notable-changes-in-rspec-3/#zero-monkey-patching-mode
+  config.disable_monkey_patching!
+
+  # This setting enables warnings. It's recommended, but in some cases may
+  # be too noisy due to issues in dependencies.
+  config.warnings = true
+
+  # Many RSpec users commonly either run the entire suite or an individual
+  # file, and it's useful to allow more verbose output when running an
+  # individual spec file.
+  if config.files_to_run.one?
+    # Use the documentation formatter for detailed output,
+    # unless a formatter has already been configured
+    # (e.g. via a command-line flag).
+    config.default_formatter = 'doc'
+  end
+
+  # Print the 10 slowest examples and example groups at the
+  # end of the spec run, to help surface which specs are running
+  # particularly slow.
+  config.profile_examples = 10
+
+  # Run specs in random order to surface order dependencies. If you find an
+  # order dependency and want to debug it, you can fix the order by providing
+  # the seed, which is printed after each run.
+  #     --seed 1234
+  config.order = :random
+
+  # Seed global randomization in this process using the `--seed` CLI option.
+  # Setting this allows you to use `--seed` to deterministically reproduce
+  # test failures related to randomization by passing the same `--seed` value
+  # as the one that triggered the failure.
+  Kernel.srand config.seed
+end

metadata

@@ -0,0 +1,145 @@
+--- !ruby/object:Gem::Specification
+name: rplidar
+version: !ruby/object:Gem::Version
+  version: 0.1.2
+platform: ruby
+authors:
+- Yury Kotlyarov
+autorequire: 
+bindir: exe
+cert_chain: []
+date: 2018-09-13 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: rubyserial
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '0.6'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '0.6'
+- !ruby/object:Gem::Dependency
+  name: bundler
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1.16'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1.16'
+- !ruby/object:Gem::Dependency
+  name: codecov
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: rake
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '10.0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '10.0'
+- !ruby/object:Gem::Dependency
+  name: rspec
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '3.0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '3.0'
+- !ruby/object:Gem::Dependency
+  name: rubocop-rspec
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+description: Tested on SLAMTEK RPLIDAR A2M8
+email:
+- yura@brainhouse.ru
+executables: []
+extensions: []
+extra_rdoc_files: []
+files:
+- ".gitignore"
+- ".rspec"
+- ".rubocop.yml"
+- Gemfile
+- Gemfile.lock
+- LICENSE.txt
+- README.md
+- Rakefile
+- bin/console
+- bin/setup
+- lib/rplidar.rb
+- lib/rplidar/driver.rb
+- lib/rplidar/version.rb
+- rplidar.gemspec
+- spec/rplidar/driver_spec.rb
+- spec/spec_helper.rb
+homepage: http://github.com/yura/rplidar
+licenses:
+- MIT
+metadata:
+  allowed_push_host: https://rubygems.org
+post_install_message: 
+rdoc_options: []
+require_paths:
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: '0'
+required_rubygems_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: '0'
+requirements: []
+rubyforge_project: 
+rubygems_version: 2.7.3
+signing_key: 
+specification_version: 4
+summary: Ruby implementation of SLAMTEK RPLIDAR driver.
+test_files: []