rplidar 0.1.3 → 0.1.4

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@@ -1,7 +1,7 @@
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data/README.md

@@ -2,7 +2,7 @@
 
 [![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.
+Ruby implementation of SLAMTEK RPLIDAR lidar driver. Tested on A2M8 model.
 
 ## Installation
 

data/lib/rplidar.rb

@@ -11,5 +11,4 @@ module Rplidar
   STATE_GOOD    = 0
   STATE_WARNING = 1
   STATE_ERROR   = 2
-
 end

data/lib/rplidar/csv.rb

@@ -0,0 +1,15 @@
+module Rplidar
+  # Dump measurements to CSV file.
+  module CSV
+    def dump_scans(filename = 'output.csv', iterations = 1)
+      responses = scan(iterations)
+
+      file = File.open(filename, 'w')
+      file.puts 'start,quality,angle,distance'
+      responses.each do |r|
+        file.puts "#{r[:start]},#{r[:quality]},#{r[:angle]},#{r[:distance]}"
+      end
+      file.close
+    end
+  end
+end

data/lib/rplidar/device_info_data_response.rb

@@ -1,4 +1,6 @@
 module Rplidar
+  # RPLIDAR will send out its device information:
+  # model, firmware version, hardware version, serial number.
   class DeviceInfoDataResponse < Response
     # RPLIDAR model ID.
     def model

data/lib/rplidar/driver.rb

@@ -1,8 +1,13 @@
+require 'rplidar/csv'
+require 'rplidar/util'
 require 'rubyserial'
 
 module Rplidar
   # Ruby implementation of driver of the SLAMTEC RPLIDAR A2.
   class Driver
+    include Rplidar::CSV
+    include Rplidar::Util
+
     # Commands
     COMMAND_GET_HEALTH  = 0x52
     COMMAND_GET_INFO    = 0x50
@@ -48,17 +53,6 @@ module Rplidar
       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)
@@ -87,14 +81,6 @@ module Rplidar
       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)
@@ -117,10 +103,6 @@ module Rplidar
       port.write(string)
     end
 
-    def checksum(string)
-      binary_to_ints(string).reduce(:^)
-    end
-
     def response_descriptor
       raw_response = read_response(RESPONSE_DESCRIPTOR_LENGTH)
       Rplidar::ResponseDescriptor.new(raw_response).response
@@ -147,12 +129,12 @@ module Rplidar
       end
     end
 
-    def ints_to_binary(array, format = 'C*')
-      [array].flatten.pack(format)
+    def close
+      @port.close if @port
     end
 
-    def binary_to_ints(string, format = 'C*')
-      string.unpack(format)
+    def port
+      @port ||= Serial.new(@port_address, UART_BAUD_RATE, 8, :none, 1)
     end
   end
 end

data/lib/rplidar/response_descriptor.rb

@@ -1,5 +1,10 @@
 module Rplidar
-  DATA_TYPE_DEVICE_INFO = 0x4
+  DATA_TYPE_DEVICE_INFO   = 0x4
+  DATA_TYPE_CURRENT_STATE = 0x6
+  DATA_TYPE_SCAN          = 0x81
+
+  SEND_MODE_SINGLE_REQUEST_SINGLE_RESPONSE   = 0x0
+  SEND_MODE_SINGLE_REQUEST_MULTIPLE_RESPONSE = 0x1
 
   # Incapsulates Response Descriptor processing. Format of Response Descriptor:
   #
@@ -44,11 +49,16 @@ module Rplidar
     end
 
     def correct_send_mode?
-      [0x0, 0x1].include?(send_mode)
+      [
+        SEND_MODE_SINGLE_REQUEST_SINGLE_RESPONSE,
+        SEND_MODE_SINGLE_REQUEST_MULTIPLE_RESPONSE
+      ].include?(send_mode)
     end
 
     def correct_data_type?
-      [0x6, 0x81, DATA_TYPE_DEVICE_INFO].include?(data_type)
+      [
+        DATA_TYPE_DEVICE_INFO, DATA_TYPE_CURRENT_STATE, DATA_TYPE_SCAN
+      ].include?(data_type)
     end
 
     def data_response_length

data/lib/rplidar/util.rb

@@ -0,0 +1,16 @@
+module Rplidar
+  # Binary encoding, decoding, checksum methods.
+  module Util
+    def checksum(string)
+      binary_to_ints(string).reduce(:^)
+    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

@@ -1,3 +1,3 @@
 module Rplidar
-  VERSION = '0.1.3'.freeze
+  VERSION = '0.1.4'.freeze
 end

data/spec/rplidar/driver_spec.rb

@@ -22,6 +22,78 @@ RSpec.describe Rplidar::Driver do
       .and_return(port)
   end
 
+  describe '#dump_scans' do
+    subject(:dump_scans) { lidar.dump_scans('dump_30.csv', 30) }
+
+    let(:file) { instance_double('file') }
+
+    before do
+      allow(lidar).to receive(:scan).with(30).and_return([
+        { start: true, quality: 2, angle: 3, distance: 4 }
+      ])
+      allow(File).to receive(:open).with('dump_30.csv', 'w').and_return(file)
+      allow(file).to receive(:puts).with('start,quality,angle,distance')
+      allow(file).to receive(:puts).with('true,2,3,4')
+      allow(file).to receive(:close)
+    end
+
+    it 'reads measurements' do
+      dump_scans
+      expect(lidar).to have_received(:scan).with(30)
+    end
+
+    it 'opens a file for writing' do
+      dump_scans
+      expect(File).to have_received(:open).with('dump_30.csv', 'w')
+    end
+
+    it 'writes a CSV header to the file' do
+      dump_scans
+      expect(file).to have_received(:puts).with('start,quality,angle,distance')
+    end
+
+    it 'writes scans' do
+      dump_scans
+      expect(file).to have_received(:puts).with('true,2,3,4')
+    end
+
+    it 'closes the file' do
+      dump_scans
+      expect(file).to have_received(:close)
+    end
+  end
+
+  describe '#device_info' do
+    subject(:device_info) { lidar.device_info }
+
+    before do
+      allow(lidar).to receive(:command)
+        .with(0x50)
+        .and_return(data_response_length: 20)
+      allow(lidar).to receive(:read_response).and_return([
+        40, 24, 1, 4, 168, 226, 154, 240, 197, 226,
+        157, 210, 182, 227, 157, 245, 43, 49, 49, 22
+      ])
+    end
+
+    it 'calls GET_INFO command' do
+      device_info
+      expect(lidar).to have_received(:command).with(0x50)
+    end
+
+    it 'reads device info data response' do
+      device_info
+      expect(lidar).to have_received(:read_response).with(20)
+    end
+
+    it 'returns device info' do
+      expect(device_info).to eq(
+        model: 40, firmware: '1.24',
+        hardware: 4, serial_number: 'A8E29AF0C5E29DD2B6E39DF52B313116'
+      )
+    end
+  end
+
   describe '#current_state' do
     subject(:current_state) { lidar.current_state }
 

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: rplidar
 version: !ruby/object:Gem::Version
-  version: 0.1.3
+  version: 0.1.4
 platform: ruby
 authors:
 - Yury Kotlyarov
 autorequire: 
 bindir: exe
 cert_chain: []
-date: 2018-09-18 00:00:00.000000000 Z
+date: 2018-10-03 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: rubyserial
@@ -112,12 +112,14 @@ files:
 - bin/console
 - bin/setup
 - lib/rplidar.rb
+- lib/rplidar/csv.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/util.rb
 - lib/rplidar/version.rb
 - rplidar.gemspec
 - spec/rplidar/current_state_data_response_spec.rb