ruby-nxt 0.8.1

data/lib/sensors/light_sensor.rb

@@ -0,0 +1,45 @@
+# ruby-nxt Control Mindstorms NXT via Bluetooth Serial Port Connection
+# Copyright (C) 2006 Matt Zukowski <matt@roughest.net>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software Foundation,
+# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+
+require 'yaml'
+
+require File.dirname(File.expand_path(__FILE__))+'/sensor'
+
+class LightSensor < Sensor
+  
+  def initialize(nxt, port = NXTComm::SENSOR_3)
+    super(nxt, port)
+    use_illuminated_mode
+  end
+  
+  # Get the current light level as a float from 0 to 1.0.
+  # 1.0 is maximum, 0 is minimum.
+  def get_light_level
+    # TODO: probably need to calibrate this... light level never really reaches 1023
+    (read_data[:value_scaled]).to_f / 1023.to_f
+  end
+  
+
+  def use_illuminated_mode
+    set_input_mode(NXTComm::LIGHT_ACTIVE, NXTComm::RAWMODE)
+  end
+  
+
+  def use_ambient_mode
+    set_input_mode(NXTComm::LIGHT_INACTIVE, NXTComm::RAWMODE)
+  end
+  
+end

data/lib/sensors/sensor.rb

@@ -0,0 +1,93 @@
+# ruby-nxt Control Mindstorms NXT via Bluetooth Serial Port Connection
+# Copyright (C) 2006 Matt Zukowski <matt@roughest.net>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software Foundation,
+# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+
+require 'yaml'
+
+require File.dirname(File.expand_path(__FILE__))+'/../brick'
+
+# Controls and reads an NXT sensor.
+class Sensor < Brick
+
+  POLL_INTERVAL = 0.25
+  
+  # TODO: internal sensor numbering is 0x00 to 0x03, but sensor ports on the brick are marked 1 to 4...
+  #       need to come up with some way to make sure there isn't confusion (or maybe it's okay, since
+  #       if the user probably never uses the Sensor classes directly, only interacting via the NXT
+  #       class?)
+  
+  
+  def initialize(nxt, port)
+    super(nxt, port)
+    @port = port
+  end
+  
+  def name
+    "#{@port + 1}"
+  end
+
+  def set_input_mode(type, mode)
+    @nxt.set_input_mode(@port, type, mode)
+  end
+  
+  def read_data
+    data = @nxt.get_input_values(@port)
+    
+    debug(data.inspect, :read_data)
+    return data
+  end
+  
+  # Continuously evalutes the given block until it returns at
+  # least the given value (that is, until the block returns a
+  # value equal or greater than the given argument). If no
+  # value is specified, the block will be continuously
+  # evaluated until it returns true. Optionally, a comparison
+  # operator can be specified as the second parameter,
+  # otherwise >= is used (or == if expected value is Boolean).
+  # 
+  # Simple example:
+  # 
+  #   ts = TouchSensor.new(@nxt)
+  #   ts.wait_for_event { ts.is_pressed? }
+  #   
+  # Example with an expected value:
+  # 
+  #   ls = LightSensor.new(@nxt)
+  #   ls.wait_for_event(0.55) do
+  #   	ls.get_light_level
+  #   end
+  #
+  def wait_for_event(expected = true, operator = nil)
+  	if operator
+  		comp = operator
+  	elsif expected.respond_to? '>='.intern
+  		comp = ">="
+  	else
+  		comp = "=="
+  	end
+  	
+  	while true
+  		value = yield
+  		return value if eval("value #{comp} expected")
+  		sleep(POLL_INTERVAL)
+  	end
+  end
+  
+  def off
+    # Turns off the sensor.
+    set_input_mode(NXTComm::NO_SENSOR, NXTComm::RAWMODE)
+  end
+  
+end

data/lib/sensors/sound_sensor.rb

@@ -0,0 +1,48 @@
+# ruby-nxt Control Mindstorms NXT via Bluetooth Serial Port Connection
+# Copyright (C) 2006 Matt Zukowski <matt@roughest.net>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software Foundation,
+# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+
+require 'yaml'
+
+require File.dirname(File.expand_path(__FILE__))+'/sensor'
+
+class SoundSensor < Sensor
+  
+  def initialize(nxt, port = NXTComm::SENSOR_2)
+    super(nxt, port)
+    use_adjusted_mode
+  end
+  
+  # Get the current sound level as a float from 0 to 1.0.
+  # 1.0 is maximum, 0 is minimum.
+  def get_sound_level
+    # TODO: should probably do some basic calibration here...
+    read_data[:value_normal] / 1023.to_f
+  end
+  
+  # Sound level measurement is NOT adjusted to match the psychoacoustic properties
+  # of human hearing. Sounds that may not be loud to the human ear may show up as loud
+  # and vice versa.
+  def use_unadjusted_mode
+    set_input_mode(NXTComm::SOUND_DB, NXTComm::RAWMODE)
+  end
+  
+  # Sound level measurement is adjusted to match the psychoacoustic properties of
+  # human hearing. This is on by default.
+  def use_adjusted_mode
+    set_input_mode(NXTComm::SOUND_DBA, NXTComm::RAWMODE)
+  end
+  
+end

data/lib/sensors/touch_sensor.rb

@@ -0,0 +1,35 @@
+# ruby-nxt Control Mindstorms NXT via Bluetooth Serial Port Connection
+# Copyright (C) 2006 Matt Zukowski <matt@roughest.net>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software Foundation,
+# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+
+require 'yaml'
+
+require File.dirname(File.expand_path(__FILE__))+'/sensor'
+
+class TouchSensor < Sensor
+  
+  def initialize(nxt, port = NXTComm::SENSOR_1)
+    super(nxt, port)
+    set_input_mode(NXTComm::SWITCH, NXTComm::BOOLEANMODE)
+  end
+  
+  # Returns true if the touch sensor is pressed, false otherwise.
+  # (The sensor seems to read as "pressed" when it is pushed in about half way)
+  def is_pressed?
+    read_data[:value_scaled] > 0
+  end
+  alias_method :pressed?, :is_pressed?
+  
+end

data/lib/sensors/ultrasonic_sensor.rb

@@ -0,0 +1,95 @@
+# ruby-nxt Control Mindstorms NXT via Bluetooth Serial Port Connection
+# Copyright (C) 2006 Matt Zukowski <matt@roughest.net>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software Foundation,
+# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+# 
+require File.dirname(File.expand_path(__FILE__))+'/sensor'
+require File.dirname(File.expand_path(__FILE__))+'/../ultrasonic_comm'
+
+class UltrasonicSensor < Sensor
+  
+  INCHES_PER_CM = 0.3937008
+  
+  def initialize(nxt, port = NXTComm::SENSOR_4)
+    super(nxt, port)
+    
+    # The Ultrasonic sensor is digital and unlike the other sensors it
+    # uses the lowspeed communication protocol.
+    set_input_mode(NXTComm::LOWSPEED_9V, NXTComm::RAWMODE)
+    
+    # Read the sensor in case there was some garbage data in the buffer waiting to be read
+    @nxt.ls_read(@port)
+    
+    # Set the sensor to continuously send pings
+    @nxt.ls_write(@port, UltrasonicComm.continuous_measurement_command)
+  end
+  
+  # Return the measured distance in the default units (the default units being centimeters).
+  # A value of 255 is returned when the sensor cannot get an accurate reading (because
+  # the object is out of range, or there is too much interference, etc.)
+  # Note that the sensor's real-world range is at best 175 cm. At larger distances it
+  # will almost certainly just return 255.
+  def get_distance
+    @nxt.ls_write(@port, UltrasonicComm.read_measurement_byte(0))
+    
+    # Keep checking until we have 1 byte of data to read
+    while @nxt.ls_get_status(@port)[0] < 1
+      sleep(0.1)
+      @nxt.ls_write(@port, UltrasonicComm.read_measurement_byte(0))
+      # TODO: implement timeout so we don't get stuck if the expected data never comes
+    end
+    
+    resp = @nxt.ls_read(@port)
+    # TODO: probably need a better error message here...
+  	raise "ls_read returned more than one byte!" if resp[:bytes_read] > 1
+  	raise "ls_read did not return any data!" if resp[:bytes_read] < 1
+ 
+ 		# If the sensor cannot determine the distance, it will return
+ 		# 0xff (255)... this usually means that the object is out of
+ 		# sensor range, but it can also mean that there is too much
+ 		# interference or that the object is too close to the sensor.
+ 		# I considered returning nil or false under such cases, but
+ 		# this makes numeric comparison (i.e. greather than/less than)
+ 		# more difficult
+ 		d = resp[:data][0]
+  end
+  alias_method :get_distance_in_cm, :get_distance
+  
+  # Return the measured distance in inches.
+  def get_distance_in_inches   	
+    get_distance.to_f * INCHES_PER_CM
+  end
+
+	# Same as get_distance, but raises an UnmeasurableDistance
+	# exception when the sensor cannot accurately determine
+	# the distance.
+	def get_distance!
+		d = get_distance
+		if d == 255
+			raise UnmeasurableDistance
+		else
+			return d
+		end
+  end
+  alias_method :get_distance_in_cm!, :get_distance!
+  
+  def get_distance_in_inches!
+  	get_distance!.to_f * INCHES_PER_CM
+  end
+  
+  # Exception thrown by get_distance! and related methods when
+  # the sensor cannot determine the distance.
+  class UnmeasurableDistance < Exception; end
+  
+end

data/lib/ultrasonic_comm.rb

@@ -0,0 +1,102 @@
+# ruby-nxt Control Mindstorms NXT via Bluetooth Serial Port Connection
+# Copyright (C) 2006 Matt Zukowski <matt@roughest.net>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software Foundation,
+# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+
+
+# Low-level interface for communicating with the NXT's Ultrasonic
+# sensor. Unlike the other sensors, the Ultrasonic sensor is digital
+# and uses the low-speed I2C protocol for communication. This is
+# defined in Appendix 7 of the Lego Mindstorms NXT SDK. 
+class UltrasonicComm
+
+  @@i2c_dev = 0x02
+
+  # first value is the i2c address, second value is the expected number of bytes returned
+  @@const_codes = {
+    'read_version'               => [0x00, 8],
+    'read_product_id'            => [0x08, 8],
+    'read_sensor_type'           => [0x10, 8],
+    'read_factory_zero'          => [0x11, 1],
+    'read_factory_scale_factor'  => [0x12, 1],
+    'read_factory_scale_divisor' => [0x13, 1],
+    'read_measurement_units'     => [0x14, 7],
+  }
+  
+  # value is the i2c address (all of these ops always expect to return 1 byte)
+  @@var_codes = {  
+    'read_continuous_measurements_interval' => 0x40,
+    'read_command_state'                    => 0x41,
+    'read_measurement_byte_0'               => 0x42,
+    'read_measurement_byte_1'               => 0x43,
+    'read_measurement_byte_2'               => 0x44,
+    'read_measurement_byte_3'               => 0x45,
+    'read_measurement_byte_4'               => 0x46,
+    'read_measurement_byte_5'               => 0x47,
+    'read_measurement_byte_6'               => 0x48,
+    'read_measurement_byte_7'               => 0x49,
+    'read_actual_zero'                      => 0x50,
+    'read_actual_scale_factor'              => 0x51,
+    'read_actual_scale_divisor'             => 0x52,
+  }
+  
+  # first value is the i2c address, second value is the command
+  @@cmd_codes = {
+    'off_command'                         => [0x41, 0x00],
+    'single_shot_command'                 => [0x41, 0x01],
+    'continuous_measurement_command'      => [0x41, 0x02],
+    'event_capture_command'               => [0x41, 0x03],
+    'request_warm_reset'                  => [0x41, 0x04],
+    'set_continuous_measurement_interval' => [0x40],
+    'set_actual_zero'                     => [0x50],
+    'set_actual_scale_factor'             => [0x51],
+    'set_actual_scale_divisor'            => [0x52]
+  }
+  
+      
+  def self.read_measurement_byte(num)
+    eval "self.read_measurement_byte_#{num}"
+  end
+  
+  def self.method_missing(name, *args)
+    name = name.to_s
+    if @@const_codes.has_key? name
+      type = :const
+      op = @@const_codes[name]
+      addr = op[0]
+      rx_len = op[1]
+    elsif @@var_codes.has_key? name
+      type = :var
+      op = @@var_codes[name]
+      addr = op
+      rx_len = 1
+    elsif @@cmd_codes.has_key? name
+      type = :cmd
+      op = @@cmd_codes[name]
+      addr = op[0]
+      if op[1] then value = op[1]
+      elsif args[0] then value = args[0]
+      else raise "Missing argument for command #{name}" end
+      rx_len = 0
+    else
+      raise "Unknown ultrasonic sensor command: #{name}"
+    end
+
+    data = [@@i2c_dev, addr]
+    data += [value] if type == :cmd
+    
+    [data.size, rx_len] + data
+  end
+
+end

data/test/bt_test.rb

@@ -0,0 +1,10 @@
+#!/usr/bin/env ruby -w
+
+require "nxt_comm"
+
+$DEBUG = true
+
+@nxt = NXTComm.new("/dev/tty.NXT-DevB-1")
+
+@nxt.message_write(1,180)
+@nxt.message_write(1,0)

data/test/interactive/interactive_test_helper.rb

@@ -0,0 +1,89 @@
+# ruby-nxt Control Mindstorms NXT via Bluetooth Serial Port Connection
+# Copyright (C) 2006 Matt Zukowski <matt@roughest.net>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software Foundation,
+# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+
+begin
+	require 'rubygems'
+	require_gem "term-ansicolor"
+	$COLOUR = true
+rescue LoadError
+	$COLOUR = false
+	puts "Please install term-ansicolor gem to get colour output."
+	puts "Colour output will be disabled..."
+	puts
+end
+
+module InteractiveTestHelper
+	def info(msg)
+		msg = Term::ANSIColor.white(msg) if $COLOUR
+		puts "#{msg}"
+	end
+	
+	def notice(msg)
+		msg = Term::ANSIColor.yellow(msg) if $COLOUR
+		puts "#{msg}"
+	end
+	
+	def prompt(msg)
+		msg = Term::ANSIColor.cyan(msg) if $COLOUR
+		puts "#{msg}"
+		return gets
+	end
+	
+	def pass(msg)
+		msg = Term::ANSIColor.green(msg) if $COLOUR
+		msg = Term::ANSIColor.bold(msg) if $COLOUR
+		puts "#{msg}"
+	end
+	
+	def fail(msg)
+		msg = Term::ANSIColor.red(msg) if $COLOUR
+		msg = Term::ANSIColor.red(msg) if $COLOUR
+		puts "#{msg}"
+	end
+
+	def puts_sameline(msg)
+		puts "#{msg}"
+		puts "\e[2A"
+	end
+	
+	def meter(value, label = "Level", threshold = nil, max = 100, min = 0)
+		width = 40
+		if value.nil?
+			bars = "?" * width
+			spaces = ""
+			percent_formatted = " ??? "
+		else
+			if value >= max
+				percent = 1.0
+	    else
+	    	percent = ((value - min) / max.to_f)
+	    end
+			bars = "|" * (percent * width)
+			spaces = " " * ((1 - percent) * width)
+		
+			percent_formatted = "%5.1f" % (percent * 100)
+		end
+		meterbar = bars + spaces
+		
+		if threshold
+			threshold_pos = (((threshold - min) / max.to_f) * 40).to_i
+			meterbar[threshold_pos] = "!"
+		end
+		
+		puts_sameline " #{label}: (#{percent_formatted}%) [#{min}]#{meterbar}[#{max}]"
+	end
+
+end