rplidar 0.1.2 → 0.1.3

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA256:
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-  data.tar.gz: c267e4e70b865ce84b0df3767e5c8ec43166a56e8bc678568e4e69c6eb455778
+  metadata.gz: 9e897b58884e73242ae2efa07042f6c5c2d2ff59bf493903690974053d102cfc
+  data.tar.gz: ade82a5c1ffefa00b96eadafa5fbf8ca2c9ab708db71619823d8f7479b93fd07
 SHA512:
-  metadata.gz: 2b58e8eab346bee4bbea60436e363dd5f534e6ea473564904d7cc130bff9f8582ed4ab2c5eee59ab9450972d5db2bf857237941cbe800232440731bb47bd9313
-  data.tar.gz: db1f7b6f72e4baf940ac2b2fe0827d86b749164c59d4e6d4d6d3db89af465b2fdb1d5d5a1ebc8d03802d85a82a4eacc8dc46b896d0f0648d596fcd9074339ca1
+  metadata.gz: f77cb72a0a2d985fcf649d2ec2547ffe8b7220a0b3638a55531629a9f9f3ef0ddb30fbf4cfade728a168056ce878837731d4e982481dd7df2537a7767900f0fa
+  data.tar.gz: 9495f13a140c70827670fe1b2dce6e15eee523e8f887c76382800fd1df75b278b7e0d34c45a921a6e3bc9e93f4468e2ebb7bba980b21e4a165e2617df3d407c4

data/.gitignore

@@ -1,2 +1,12 @@
-/coverage
+/.bundle/
+/.yardoc
+/_yardoc/
+/coverage/
+/doc/
+/pkg/
 /spec/examples.txt
+/spec/reports/
+/tmp/
+
+# rspec failure tracking
+.rspec_status

data/.rubocop.yml

@@ -1,8 +1,10 @@
-#Metrics/BlockLength:
-#  Exclude:
-#    - 'Rakefile'
-#    - '**/*.rake'
-#    - 'spec/**/*.rb'
+Metrics/BlockLength:
+  Exclude:
+    - 'Rakefile'
+    - '**/*.rake'
+    - 'spec/**/*.rb'
+    - '**/*.gemspec'
+
 require: rubocop-rspec
 
 Layout/IndentArray:

data/Gemfile.lock

@@ -1,7 +1,7 @@
 PATH
   remote: .
   specs:
-    rplidar (0.1.0)
+    rplidar (0.1.3)
       rubyserial (~> 0.6)
 
 GEM
@@ -13,7 +13,7 @@ GEM
       simplecov
       url
     diff-lcs (1.3)
-    docile (1.3.0)
+    docile (1.3.1)
     ffi (1.9.25)
     jaro_winkler (1.5.1)
     json (2.1.0)
@@ -23,20 +23,20 @@ GEM
     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)
+    rspec (3.8.0)
+      rspec-core (~> 3.8.0)
+      rspec-expectations (~> 3.8.0)
+      rspec-mocks (~> 3.8.0)
+    rspec-core (3.8.0)
+      rspec-support (~> 3.8.0)
+    rspec-expectations (3.8.1)
       diff-lcs (>= 1.2.0, < 2.0)
-      rspec-support (~> 3.7.0)
-    rspec-mocks (3.7.0)
+      rspec-support (~> 3.8.0)
+    rspec-mocks (3.8.0)
       diff-lcs (>= 1.2.0, < 2.0)
-      rspec-support (~> 3.7.0)
-    rspec-support (3.7.1)
-    rubocop (0.58.2)
+      rspec-support (~> 3.8.0)
+    rspec-support (3.8.0)
+    rubocop (0.59.1)
       jaro_winkler (~> 1.5.1)
       parallel (~> 1.10)
       parser (>= 2.5, != 2.5.1.1)
@@ -44,7 +44,7 @@ GEM
       rainbow (>= 2.2.2, < 4.0)
       ruby-progressbar (~> 1.7)
       unicode-display_width (~> 1.0, >= 1.0.1)
-    rubocop-rspec (1.29.0)
+    rubocop-rspec (1.29.1)
       rubocop (>= 0.58.0)
     ruby-progressbar (1.10.0)
     rubyserial (0.6.0)

data/README.md

@@ -1,6 +1,6 @@
 # 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)
+[![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) [![Gem Version](https://badge.fury.io/rb/rplidar.svg)](https://badge.fury.io/rb/rplidar)
 
 Ruby implementation of SLAMTEK RPLIDAR A2M8 lidar.
 
@@ -25,7 +25,7 @@ Or install it yourself as:
 Run `bundle exec irb`
 
 ```ruby
-require './lib/rplidar'
+require 'rplidar'
 
 # for Mac OS
 lidar = Rplidar::Driver.new('/dev/tty.SLAB_USBtoUART')

data/lib/rplidar.rb

@@ -1,2 +1,15 @@
 require 'rplidar/driver'
+require 'rplidar/response'
+require 'rplidar/response_descriptor'
+require 'rplidar/scan_data_response'
+require 'rplidar/current_state_data_response'
+require 'rplidar/device_info_data_response'
 require 'rplidar/version'
+
+module Rplidar
+  # Lidar states
+  STATE_GOOD    = 0
+  STATE_WARNING = 1
+  STATE_ERROR   = 2
+
+end

data/lib/rplidar/current_state_data_response.rb

@@ -0,0 +1,16 @@
+module Rplidar
+  # Implementation of response to the GET_HEALTH request.
+  class CurrentStateDataResponse < Response
+    def response
+      case raw_response[0]
+      when STATE_GOOD    then { state: :good,    error_code: error_code }
+      when STATE_WARNING then { state: :warning, error_code: error_code }
+      when STATE_ERROR   then { state: :error,   error_code: error_code }
+      end
+    end
+
+    def error_code
+      (raw_response[2] << 8) + raw_response[1]
+    end
+  end
+end

data/lib/rplidar/device_info_data_response.rb

@@ -0,0 +1,40 @@
+module Rplidar
+  class DeviceInfoDataResponse < Response
+    # RPLIDAR model ID.
+    def model
+      raw_response[0]
+    end
+
+    # Firmware version number, the minor value part.
+    def firmware_minor
+      raw_response[1]
+    end
+
+    # Firmware version number, the major value part.
+    def firmware_major
+      raw_response[2]
+    end
+
+    def firmware
+      "#{firmware_major}.#{firmware_minor}"
+    end
+
+    # Hardware version number.
+    def hardware
+      raw_response[3]
+    end
+
+    # 128bit unique serial number. When converting to text in hex,
+    # the Least Significant Byte prints first.
+    def serial_number
+      raw_response[4..-1].pack('c*').unpack('H*').first.upcase
+    end
+
+    def response
+      {
+        model: model, firmware: firmware,
+        hardware: hardware, serial_number: serial_number
+      }
+    end
+  end
+end

data/lib/rplidar/driver.rb

@@ -3,13 +3,9 @@ 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_GET_INFO    = 0x50
     COMMAND_MOTOR_PWM   = 0xF0
     COMMAND_SCAN        = 0x20
     COMMAND_STOP        = 0x25
@@ -17,11 +13,13 @@ module Rplidar
 
     COMMANDS_WITH_RESPONSE = [
       COMMAND_GET_HEALTH,
+      COMMAND_GET_INFO,
       COMMAND_SCAN
     ].freeze
 
     # Default length of responses
     RESPONSE_DESCRIPTOR_LENGTH = 7
+    GET_INFO_RESPONSE_LENGTH   = 20
     SCAN_DATA_RESPONSE_LENGTH  = 5
 
     UART_BAUD_RATE = 115_200
@@ -32,12 +30,14 @@ module Rplidar
 
     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
+      raw_response = read_response(descriptor[:data_response_length])
+      Rplidar::CurrentStateDataResponse.new(raw_response).response
+    end
+
+    def device_info
+      descriptor = command(COMMAND_GET_INFO)
+      raw_response = read_response(descriptor[:data_response_length])
+      Rplidar::DeviceInfoDataResponse.new(raw_response).response
     end
 
     def start_motor(pwm = 660)
@@ -121,84 +121,27 @@ module Rplidar
       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
+      raw_response = read_response(RESPONSE_DESCRIPTOR_LENGTH)
+      Rplidar::ResponseDescriptor.new(raw_response).response
+    end
 
-      {
-        data_response_length: (response[4] << 16) +
-          (response[3] << 8) + response[2],
-        send_mode: response[5] >> 6,
-        data_type: response[6]
-      }
+    def scan_data_response
+      raw_response = read_response(SCAN_DATA_RESPONSE_LENGTH)
+      Rplidar::ScanDataResponse.new(raw_response).response
     end
 
-    def data_response(length)
-      start = Time.now
+    def read_response(length)
+      t = 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
+        raise 'Timeout while reading a byte from the port' if Time.now - t > 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

data/lib/rplidar/response.rb

@@ -0,0 +1,22 @@
+module Rplidar
+  # Generic lidar response class
+  class Response
+    attr_reader :raw_response
+
+    def initialize(raw_response)
+      @raw_response = raw_response
+      check_response
+    end
+
+    def check_response
+      check_header
+      check_payload
+    end
+
+    def check_header; end
+
+    def check_payload; end
+
+    def response; end
+  end
+end

data/lib/rplidar/response_descriptor.rb

@@ -0,0 +1,94 @@
+module Rplidar
+  DATA_TYPE_DEVICE_INFO = 0x4
+
+  # Incapsulates Response Descriptor processing. 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
+  class ResponseDescriptor < Response
+    def check_response
+      check_header
+      check_payload
+    end
+
+    def check_header
+      unless correct_first_byte?
+        raise 'Wrong first byte of the response descriptor: ' \
+          "'#{int_to_hex(raw_response[0])}'"
+      end
+
+      unless correct_second_byte?
+        raise 'Wrong second byte of the response descriptor: ' \
+          "'#{int_to_hex(raw_response[1])}'"
+      end
+    end
+
+    def check_payload
+      unless correct_send_mode?
+        raise 'Wrong send mode value of the response descriptor: ' \
+          "'#{int_to_hex(send_mode)}'"
+      end
+
+      unless correct_data_type?
+        raise 'Wrong data type value of the response descriptor: ' \
+          "'#{int_to_hex(data_type)}'"
+      end
+    end
+
+    def correct_first_byte?
+      raw_response[0] == 0xA5
+    end
+
+    def correct_second_byte?
+      raw_response[1] == 0x5A
+    end
+
+    def correct_send_mode?
+      [0x0, 0x1].include?(send_mode)
+    end
+
+    def correct_data_type?
+      [0x6, 0x81, DATA_TYPE_DEVICE_INFO].include?(data_type)
+    end
+
+    def data_response_length
+      (raw_response[4] << 16) + (raw_response[3] << 8) + raw_response[2]
+    end
+
+    # The 2 bits Send Mode field describes the request/response mode
+    # of the current session. Values:
+    # * 0x0 - Single Request - Single Response mode, RPLIDAR will send
+    #         only one data response packet in the current session.
+    # * 0x1 - Single Request - Multiple Response mode, RPLIDAR will
+    #         continuously send out data response packets with the same format
+    #         in the current session.
+    # * 0x2 and 0x3 are reserved for future use
+    def send_mode
+      raw_response[5] >> 6
+    end
+
+    # The 1byte Data Type describes the type of the incoming
+    # data response packets.
+    def data_type
+      raw_response[6]
+    end
+
+    def response
+      {
+        data_response_length: data_response_length,
+        send_mode: send_mode,
+        data_type: data_type
+      }
+    end
+
+    private
+
+    def int_to_hex(value)
+      if value
+        "0x#{value.to_s(16).upcase}"
+      else
+        value.inspect
+      end
+    end
+  end
+end

data/lib/rplidar/scan_data_response.rb

@@ -0,0 +1,52 @@
+module Rplidar
+  # Data response for one scan measurement
+  class ScanDataResponse < Response
+    def check_header
+      unless correct_start_bit?
+        raise 'Inversed start bit of the data response ' \
+          'is not inverse of the start bit'
+      end
+
+      raise 'Check bit of the data response is not equal to 1' \
+        unless correct_check_bit?
+    end
+
+    def correct_start_bit?
+      # start bit
+      start = raw_response[0][0]
+      # inversed start bit
+      inversed = raw_response[0][1]
+
+      (start == 1 && inversed.zero?) || (start.zero? && inversed == 1)
+    end
+
+    def correct_check_bit?
+      raw_response[1][0] == 1
+    end
+
+    def start?
+      raw_response[0][0] == 1
+    end
+
+    def quality
+      raw_response[0] >> 2
+    end
+
+    def angle
+      ((raw_response[2] << 7) + (raw_response[1] >> 1)) / 64.0
+    end
+
+    def distance
+      ((raw_response[4] << 8) + raw_response[3]) / 4.0
+    end
+
+    def response
+      {
+        start: start?,
+        quality: quality,
+        angle: angle,
+        distance: distance
+      }
+    end
+  end
+end

data/lib/rplidar/version.rb

@@ -1,3 +1,3 @@
 module Rplidar
-  VERSION = '0.1.2'.freeze
+  VERSION = '0.1.3'.freeze
 end

data/spec/rplidar/current_state_data_response_spec.rb

@@ -0,0 +1,27 @@
+# Data Responses
+DR_HEALTH_GOOD = [0, 0, 0].freeze
+DR_HEALTH_WARN = [1, 0, 0].freeze
+DR_HEALTH_ERR  = [2, 3, 5].freeze
+
+RSpec.describe Rplidar::CurrentStateDataResponse do
+  let(:data_response) { described_class.new([0, 0, 0]) }
+
+  describe '#response' do
+    subject(:response) { data_response.response }
+
+    it 'returns :good if lidar is in Good (0) state' do
+      allow(data_response).to receive(:raw_response).and_return(DR_HEALTH_GOOD)
+      expect(response).to eq(state: :good, error_code: 0)
+    end
+
+    it 'returns :warning if lidar is in Warning (1) state' do
+      allow(data_response).to receive(:raw_response).and_return(DR_HEALTH_WARN)
+      expect(response).to eq(state: :warning, error_code: 0)
+    end
+
+    it 'returns :error if lidar is in Error (2) state' do
+      allow(data_response).to receive(:raw_response).and_return(DR_HEALTH_ERR)
+      expect(response).to eq(state: :error, error_code: 1283)
+    end
+  end
+end

data/spec/rplidar/device_info_data_response_spec.rb

@@ -0,0 +1,65 @@
+DR_GET_INFO = [
+  1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20
+].freeze
+
+DR_GET_INFO_REAL = [
+  40, 24, 1, 4, 168, 226, 154, 240, 197, 226,
+  157, 210, 182, 227, 157, 245, 43, 49, 49, 22
+].freeze
+
+RSpec.describe Rplidar::DeviceInfoDataResponse do
+  let(:response) { described_class.new(DR_GET_INFO) }
+
+  describe '#model' do
+    it 'returns model' do
+      expect(response.model).to eq(1)
+    end
+  end
+
+  describe '#firmware_minor' do
+    it 'returns firmware minor' do
+      expect(response.firmware_minor).to eq(2)
+    end
+  end
+
+  describe '#firmware_major' do
+    it 'returns firmware major' do
+      expect(response.firmware_major).to eq(3)
+    end
+  end
+
+  describe '#firmware' do
+    it 'returns firmware version' do
+      expect(response.firmware).to eq('3.2')
+    end
+  end
+
+  describe '#hardware' do
+    it 'returns hardware' do
+      expect(response.hardware).to eq(4)
+    end
+  end
+
+  describe '#serial_number' do
+    it 'returns serial_number' do
+      expect(response.serial_number).to eq('05060708090A0B0C0D0E0F1011121314')
+    end
+  end
+
+  describe '#response' do
+    it 'returns device info' do
+      expect(response.response).to eq(
+        model: 1, firmware: '3.2',
+        hardware: 4, serial_number: '05060708090A0B0C0D0E0F1011121314'
+      )
+    end
+
+    it 'returns real device info' do
+      allow(response).to receive(:raw_response).and_return(DR_GET_INFO_REAL)
+      expect(response.response).to eq(
+        model: 40, firmware: '1.24',
+        hardware: 4, serial_number: 'A8E29AF0C5E29DD2B6E39DF52B313116'
+      )
+    end
+  end
+end

data/spec/rplidar/driver_spec.rb

@@ -10,11 +10,6 @@ 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
@@ -34,7 +29,7 @@ RSpec.describe Rplidar::Driver do
       allow(lidar).to receive(:command)
         .with(0x52)
         .and_return(data_response_length: 3)
-      allow(lidar).to receive(:data_response)
+      allow(lidar).to receive(:read_response)
         .with(3)
         .and_return([0, 0, 0])
     end
@@ -46,31 +41,29 @@ RSpec.describe Rplidar::Driver do
 
     it 'reads data_response' do
       current_state
-      expect(lidar).to have_received(:data_response).with(3)
+      expect(lidar).to have_received(:read_response).with(3)
     end
 
     it 'returns :good if lidar is in Good (0) state' do
-      allow(lidar).to receive(:data_response)
+      allow(lidar).to receive(:read_response)
         .with(3)
-        .and_return(DR_HEALTH_GOOD)
-      expect(current_state).to eq([:good, []])
+        .and_return([0, 0, 0])
+      expect(current_state).to eq(state: :good, error_code: 0)
     end
 
     it 'returns :warning if lidar is in Warning (1) state' do
-      allow(lidar).to receive(:data_response)
+      allow(lidar).to receive(:read_response)
         .with(3)
-        .and_return(DR_HEALTH_WARNING)
-      expect(current_state).to eq([:warning, []])
+        .and_return([1, 0, 0])
+      expect(current_state).to eq(state: :warning, error_code: 0)
     end
 
     it 'returns :error if lidar is in Error (2) state' do
-      allow(lidar).to receive(:data_response)
+      allow(lidar).to receive(:read_response)
         .with(3)
-        .and_return(DR_HEALTH_ERROR)
-      expect(current_state).to eq([:error, [3, 5]])
+        .and_return([2, 3, 5])
+      expect(current_state).to eq(state: :error, error_code: 1283)
     end
-
-    it 'concatenates error code bytes'
   end
 
   describe '#start_motor' do
@@ -209,25 +202,25 @@ RSpec.describe Rplidar::Driver do
 
   describe '#response_descriptor' do
     before do
-      allow(lidar).to receive(:data_response)
+      allow(lidar).to receive(:read_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)
+      expect(lidar).to have_received(:read_response).with(7)
     end
 
     it 'processes GET_HEALTH response descriptor correctly' do
-      allow(lidar).to receive(:data_response)
+      allow(lidar).to receive(:read_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)
+      allow(lidar).to receive(:read_response)
         .with(7).and_return(RD_SCAN)
       expect(lidar.response_descriptor).to \
         eq(data_response_length: 5, send_mode: 1, data_type: 129)
@@ -258,27 +251,27 @@ RSpec.describe Rplidar::Driver do
     end
   end
 
-  describe '#data_response' do
-    subject(:data_response) { lidar.data_response(5) }
+  describe '#read_response' do
+    subject(:read_response) { lidar.read_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
+      read_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])
+      expect(read_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')
+        read_response
+      end.to raise_error('Timeout while reading a byte from the port')
     end
   end
 
@@ -286,47 +279,21 @@ RSpec.describe Rplidar::Driver 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)
+      allow(lidar).to receive(:read_response).with(5).and_return(DR_SCAN)
     end
 
-    it 'checks headers' do
+    it 'reads response' do
       scan_data_response
-      expect(lidar).to have_received(:check_data_response_header).with(DR_SCAN)
+      expect(lidar).to have_received(:read_response).with(5)
     end
 
     it 'returns hash with processed values' do
       expect(scan_data_response).to eq(
-        start: false, angle: 111, distance: 222, quality: 333
+        start: false, angle: 6.484375, distance: 285.25, quality: 15
       )
     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 }
 
@@ -365,46 +332,6 @@ RSpec.describe Rplidar::Driver do
     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 }
 

data/spec/rplidar/response_descriptor_spec.rb

@@ -0,0 +1,88 @@
+RD_GET_HEALTH     = [165, 90, 3, 0, 0, 0, 6].freeze
+RD_SCAN           = [165, 90, 5, 0, 0, 64, 129].freeze
+
+RSpec.describe Rplidar::ResponseDescriptor do
+  let(:descriptor) { described_class.new(RD_SCAN) }
+
+  describe '#check_header' do
+    subject(:check_header) { descriptor.check_header }
+
+    it 'raises "Wrong first byte of the response descriptor" exception' do
+      allow(descriptor).to receive(:raw_response).and_return([90, 0, 0, 0, 0])
+      expect { check_header }.to \
+        raise_error("Wrong first byte of the response descriptor: '0x5A'")
+    end
+
+    it 'raises exception for nils' do
+      allow(descriptor).to receive(:raw_response).and_return([nil, nil, nil])
+      expect { check_header }.to \
+        raise_error("Wrong first byte of the response descriptor: 'nil'")
+    end
+
+    it 'raises "Wrong second byte of the response descriptor" exception' do
+      allow(descriptor).to receive(:raw_response).and_return([165, 165, 0, 0])
+      expect { check_header }.to \
+        raise_error("Wrong second byte of the response descriptor: '0xA5'")
+    end
+  end
+
+  describe '#check_payload' do
+    subject(:check_payload) { descriptor.check_payload }
+
+    it 'raises "Wrong send mode value of the response descriptor" exception' do
+      allow(descriptor).to \
+        receive(:raw_response).and_return([165, 90, 3, 0, 0, 128])
+      expect { check_payload }.to \
+        raise_error("Wrong send mode value of the response descriptor: '0x2'")
+    end
+
+    it 'raises "Wrong data type value of the response descriptor" exception' do
+      allow(descriptor).to \
+        receive(:raw_response).and_return([165, 90, 3, 0, 0, 64, 1])
+      expect { check_payload }.to \
+        raise_error("Wrong data type value of the response descriptor: '0x1'")
+    end
+  end
+
+  describe '#data_response_length' do
+    subject(:data_response_length) { descriptor.data_response_length }
+
+    it 'returns data response length for GET_HEALTH request' do
+      allow(descriptor).to \
+        receive(:raw_response).and_return(RD_GET_HEALTH)
+      expect(data_response_length).to eq(3)
+    end
+
+    it 'returns data response length for SCAN request' do
+      allow(descriptor).to \
+        receive(:raw_response).and_return(RD_SCAN)
+      expect(data_response_length).to eq(5)
+    end
+  end
+
+  describe '#send_mode' do
+    subject(:send_mode) { descriptor.send_mode }
+
+    it 'returns Single Request - Single Response for GET_HEALTH request' do
+      allow(descriptor).to receive(:raw_response).and_return(RD_GET_HEALTH)
+      expect(send_mode).to eq(0x0)
+    end
+
+    it 'returns Single Request - Multiple Response for SCAN request' do
+      allow(descriptor).to receive(:raw_response).and_return(RD_SCAN)
+      expect(send_mode).to eq(0x1)
+    end
+  end
+
+  describe '#response' do
+    subject(:response) { descriptor.response }
+
+    it 'returns processed values for SCAN request' do
+      expect(response).to eq(
+        data_response_length: 5,
+        send_mode: 1,
+        data_type: 0x81
+      )
+    end
+  end
+end

data/spec/rplidar/response_spec.rb

@@ -0,0 +1,38 @@
+require 'spec_helper'
+
+RSpec.describe Rplidar::Response do
+  let(:response) { described_class.new([1, 2, 3, 4, 5]) }
+
+  describe '.new' do
+    before do
+      allow_any_instance_of(described_class).to receive(:check_response)
+    end
+
+    it 'creates new instance of Rplidar::Response' do
+      expect(response.raw_response).to eq([1, 2, 3, 4, 5])
+    end
+
+    it 'checks response' do
+      expect(response).to have_received(:check_response)
+    end
+  end
+
+  describe '#check_response' do
+    subject(:check_response) { response.check_response }
+
+    before do
+      allow(response).to receive(:check_header)
+      allow(response).to receive(:check_payload)
+    end
+
+    it 'calls #check_header' do
+      check_response
+      expect(response).to have_received(:check_header)
+    end
+
+    it 'calls #check_payload' do
+      check_response
+      expect(response).to have_received(:check_payload)
+    end
+  end
+end

data/spec/rplidar/scan_data_response_spec.rb

@@ -0,0 +1,111 @@
+RSpec.describe Rplidar::ScanDataResponse do
+  let(:raw_response) { [62, 155, 2, 112, 4] }
+  let(:response) { described_class.new(raw_response) }
+
+  describe '.new' do
+    it 'checks header' do
+      allow_any_instance_of(described_class).to receive(:check_header)
+      response
+      expect(response).to have_received(:check_header)
+    end
+  end
+
+  describe '#check_header' do
+    subject(:check_header) { response.check_header }
+
+    before do
+      allow(response).to receive(:correct_start_bit?).and_return(true)
+      allow(response).to receive(:correct_check_bit?).and_return(true)
+    end
+
+    it 'does not raise any exception if header bits are correct' do
+      expect { check_header }.not_to raise_error
+    end
+
+    it 'raises inversed start flag bit is not inverse of the start flag bit' do
+      allow(response).to receive(:correct_start_bit?).and_return(false)
+
+      expect { check_header }.to \
+        raise_error('Inversed start bit of the data response ' \
+          'is not inverse of the start bit')
+    end
+
+    it 'raises an exception if 3rd bit is not equal to 1' do
+      allow(response).to receive(:correct_check_bit?).and_return(false)
+
+      expect { response.check_header }.to \
+        raise_error('Check bit of the data response is not equal to 1')
+    end
+  end
+
+  describe '#correct_start_bit?' do
+    it 'returns true if 1st bit of 1st byte is 1 and 2nd bit is 0' do
+      allow(response).to receive(:raw_response).and_return([0b01])
+      expect(response).to be_correct_start_bit
+    end
+
+    it 'returns true if 1st bit of 1st byte is 0 and 2nd bit is 1' do
+      allow(response).to receive(:raw_response).and_return([0b110])
+      expect(response).to be_correct_start_bit
+    end
+
+    it 'returns false if both 1st bit and 2nd one of the 1st byte are 1s' do
+      allow(response).to receive(:raw_response).and_return([0b1011])
+      expect(response).not_to be_correct_start_bit
+    end
+
+    it 'returns false if both 1st bit and 2nd one of the 1st byte are 0s' do
+      allow(response).to receive(:raw_response).and_return([0b10100])
+      expect(response).not_to be_correct_start_bit
+    end
+  end
+
+  describe '#correct_check_bit?' do
+    it 'returns true if 1st bit of the 2nd byte is equal to 1' do
+      allow(response).to receive(:raw_response).and_return([0b10101, 0b101])
+      expect(response).to be_correct_check_bit
+    end
+
+    it 'returns false if 1st bit of the 2nd byte is not equal to 1' do
+      allow(response).to receive(:raw_response).and_return([0b10101, 0b10])
+      expect(response).not_to be_correct_check_bit
+    end
+  end
+
+  describe '#start?' do
+    it 'returns false if 1st bit of the 1st byte is equal to 0' do
+      expect(response).not_to be_start
+    end
+
+    it 'returns true if 1st bit of the 1st byte is equal to 1' do
+      allow(response).to receive(:raw_response).and_return([0b1011])
+      expect(response).to be_start
+    end
+  end
+
+  describe '#angle' do
+    it 'processes angle from the 2nd and 3rd bytes' do
+      expect(response.angle).to eq(5.203125)
+    end
+  end
+
+  describe '#distance' do
+    it 'processes angle from the 4th and 5th bytes' do
+      expect(response.distance).to eq(284)
+    end
+  end
+
+  describe '#quality' do
+    it 'processes quantity from the 1st bit' do
+      expect(response.quality).to eq(15)
+    end
+  end
+
+  describe '#response' do
+    it 'returns a hash with response' do
+      expect(response.response).to eq(
+        start: false, angle: 5.203125, distance: 284, quality: 15
+      )
+    end
+  end
+end

data/spec/rplidar_spec.rb

@@ -0,0 +1,5 @@
+RSpec.describe Rplidar do
+  it 'has a version number' do
+    expect(Rplidar::VERSION).not_to be nil
+  end
+end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: rplidar
 version: !ruby/object:Gem::Version
-  version: 0.1.2
+  version: 0.1.3
 platform: ruby
 authors:
 - Yury Kotlyarov
 autorequire: 
 bindir: exe
 cert_chain: []
-date: 2018-09-13 00:00:00.000000000 Z
+date: 2018-09-18 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: rubyserial
@@ -112,10 +112,21 @@ files:
 - bin/console
 - bin/setup
 - lib/rplidar.rb
+- lib/rplidar/current_state_data_response.rb
+- lib/rplidar/device_info_data_response.rb
 - lib/rplidar/driver.rb
+- lib/rplidar/response.rb
+- lib/rplidar/response_descriptor.rb
+- lib/rplidar/scan_data_response.rb
 - lib/rplidar/version.rb
 - rplidar.gemspec
+- spec/rplidar/current_state_data_response_spec.rb
+- spec/rplidar/device_info_data_response_spec.rb
 - spec/rplidar/driver_spec.rb
+- spec/rplidar/response_descriptor_spec.rb
+- spec/rplidar/response_spec.rb
+- spec/rplidar/scan_data_response_spec.rb
+- spec/rplidar_spec.rb
 - spec/spec_helper.rb
 homepage: http://github.com/yura/rplidar
 licenses: