ruby-player 0.0.1 → 0.1.0

data/spec/ranger_spec.rb

@@ -1,67 +1,158 @@
 require "ruby-player"
 
+include Player
 describe Player::Ranger do
-  before do 
-    @cl = Player::Client.connect("localhost") 
-    @ranger = @cl[:ranger,0]
-    @cl.read
+  before do
+    @client = mock("Client")
+    @client.stub!(:write)
+
+    @ranger = Player::Ranger.new(
+      Player::DevAddr.new(host: 0, robot:0, interface: PLAYER_RANGER_CODE, index: 0),
+      @client,
+      :debug
+    )
+  end
+
+  it 'should have default values' do
+    @ranger.rangers.should eql([])
+    @ranger.intensities.should eql([])
+    @ranger.geom.should eql(px:0.0, py:0.0, pz:0.0, proll:0.0, ppitch:0.0, pyaw:0.0, sw:0.0, sl:0.0, sh:0.0, sensors: [])
+    @ranger.config.should eql(min_angle: 0.0, max_angle: 0.0, angular_res: 0.0, min_range: 0.0, max_range: 0.0, range_res: 0.0, frequecy: 0.0)
   end
 
-  it 'should have ranges' do
-    @ranger.ranges.should eq([3.0, 3.0]) 
+  it 'should query geometry' do
+    should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_GET_GEOM)
+    @ranger.query_geom
   end
 
-  it 'should have intensities' do
-    @ranger.intensities.should eq([0.0, 0.0]) 
+  it 'should set power state' do
+    should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_POWER, [1].pack("N"))
+    @ranger.turn_on!
+
+    should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_POWER, [0].pack("N"))
+    @ranger.turn_off!
   end
 
-  it 'should have bearings' do
-    @ranger.bearings.size.should eql(2)
+  it 'should  enable\disable intensity ' do
+    should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_INTNS, [1].pack("N"))
+    @ranger.intensity_enable!
+
+    should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_INTNS, [0].pack("N"))
+    @ranger.intensity_disable!
   end
 
-  it 'should have element count' do
-    @ranger.element_count.should eq(0)
+  it 'should set config' do
+     config  = { 
+        min_angle:    0.1,
+        max_angle:    0.9,            
+        angular_res:  0.01,            
+        min_range:    2.0,
+        max_range:    4.0,
+        range_res:    1.0,
+        frequecy:     60.0 
+     }
+
+      msg = config.values.pack("G*")
+      should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_SET_CONFIG, msg)
+      @ranger.set_config(config)
+   end
+
+  it 'should query config' do
+    should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_GET_CONFIG)
+    @ranger.query_config
+  end
+
+  it 'should fill rangers data' do
+    rangers = [0.4, 0.3, 0.2, 0.1]
+    @ranger.fill(
+      Player::Header.from_a([0,0,PLAYER_RANGER_CODE,0, PLAYER_MSGTYPE_DATA, PLAYER_RANGER_DATA_RANGE, 0.0, 0, 20]),
+      ([4,0] + rangers).pack("NNG*")
+    )
+    @ranger.rangers.should eql(rangers)
   end
 
-  it 'should have power control' do
-    pending "Don't work with Player/Stage"
-    #@ranger.power_enable = false
-    #@ranger.power_enable = true
+  it 'should fill intensities data' do
+    intns = [0.1, 0.2, 0.3, 0.4]
+    @ranger.fill(
+      Player::Header.from_a([0,0,PLAYER_RANGER_CODE,0, PLAYER_MSGTYPE_DATA, PLAYER_RANGER_DATA_INTNS, 0.0, 0, 20]),
+      ([4,0] + intns).pack("NNG*")
+    )
+   
+    @ranger.intensities.should eql(intns)
   end
 
-  it 'should have intensity control' do
-    pending "Don't work with Player/Stage"
-    #@ranger.intensity_enable = false
-    #@ranger.intensity_enable = true
+  it 'should fill geom data' do
+    geom = [1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 2.0, 2.0, 2.0,
+      2, 0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0,  2.0, 1.0, 1.0, 0.0, 0.0, -1.0,
+      2, 0, 0.5, 0.5, 0.5,  0.5, 0.5, 0.5]
+
+    msg = geom.pack("G9NNG12NNG6")
+    @ranger.fill(
+      Player::Header.from_a([0,0,PLAYER_RANGER_CODE,0, PLAYER_MSGTYPE_DATA, PLAYER_RANGER_DATA_GEOM, 0.0, 0, msg.bytesize]),
+      msg
+    )
+
+    @ranger.geom.should eql(
+      px: 1.0, py: 1.0, pz: 1.0, proll: 0.0, ppitch: 0.0, pyaw: 0.0, sw: 2.0, sl: 2.0, sh: 2.0,
+      sensors: [
+        { px: 1.0, py: 1.0, pz: 1.0, proll: 0.0, ppitch: 0.0, pyaw: 1.0, sw: 0.5, sl: 0.5, sh: 0.5 },
+        { px: 2.0, py: 1.0, pz: 1.0, proll: 0.0, ppitch: 0.0, pyaw: -1.0, sw: 0.5, sl: 0.5, sh: 0.5 }
+      ]
+    )
   end
 
-  it 'should porovide method to configurate' do
-    pending "Don't work with Player/Stage"
-    config = {
-      min_angle: 0.3,
-      max_angle: 1.0,
-      angular_res: 0.1,
-      min_range: 0.3,
-      max_range: 1,
-      range_res: 0.1,
-      frequecy: 2
-    }
+  it 'should get geom by request' do
+   geom = [1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 2.0, 2.0, 2.0,
+      2, 0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0,  2.0, 1.0, 1.0, 0.0, 0.0, -1.0,
+      2, 0, 0.5,
+      0.5, 0.5,  0.5, 0.5, 0.5]
 
+    msg = geom.pack("G9NNG12NNG6")
+    @ranger.handle_response(
+      Player::Header.from_a([0,0,PLAYER_RANGER_CODE,0, PLAYER_MSGTYPE_RESP_ACK, PLAYER_RANGER_REQ_GET_GEOM, 0.0, 0, msg.bytesize]),
+      msg
+    )
 
-    #@ranger.set_config(config)
+    @ranger.geom.should eql(
+      px: 1.0, py: 1.0, pz: 1.0, proll: 0.0, ppitch: 0.0, pyaw: 0.0, sw: 2.0, sl: 2.0, sh: 2.0,
+      sensors: [
+        { px: 1.0, py: 1.0, pz: 1.0, proll: 0.0, ppitch: 0.0, pyaw: 1.0, sw: 0.5, sl: 0.5, sh: 0.5 },
+        { px: 2.0, py: 1.0, pz: 1.0, proll: 0.0, ppitch: 0.0, pyaw: -1.0, sw: 0.5, sl: 0.5, sh: 0.5 }
+      ]
+    )
   end
 
-  it 'should have configuration' do
-    @ranger.config.should eq(
-      :min_range=>0.1, 
-      :max_range=>3.0, 
-      :angular_res=>0.5235987755982988, 
-      :range_res=>0.02, 
-      :frequecy=>10.0
+  it 'should get config  by request' do
+   config  = { 
+    min_angle:    0.1,
+    max_angle:    0.9,            
+    angular_res:  0.01,            
+    min_range:    2.0,
+    max_range:    4.0,
+    range_res:    1.0,
+    frequecy:     60.0 
+   }
+
+    msg = config.values.pack("G*")
+    @ranger.handle_response(
+      Player::Header.from_a([0,0,PLAYER_RANGER_CODE,0, PLAYER_MSGTYPE_RESP_ACK, PLAYER_RANGER_REQ_GET_CONFIG, 0.0, 0, msg.bytesize]),
+      msg
     )
+
+    @ranger.config.should eql(config)
+  end
+
+  it 'should not puts warn message for ACK subtypes 2..4' do  
+    @ranger.should_not_receive(:unexpected_message)
+    (2..4).each do |i|
+      @ranger.handle_response(
+        Player::Header.from_a([0,0,4,0, PLAYER_MSGTYPE_RESP_ACK, i, 0.0, 0, 0]),
+        "")
+    end
   end
 
-  after do 
-    @cl.close unless @cl.closed?
+  def should_send_message(*args)
+    @ranger.should_receive(:send_message)
+      .with(*args)
   end
 end

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: ruby-player
 version: !ruby/object:Gem::Version
-  version: 0.0.1
+  version: 0.1.0
   prerelease: 
 platform: ruby
 authors:
@@ -9,22 +9,22 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2012-01-08 00:00:00.000000000 Z
+date: 2012-02-13 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
-  name: ffi
-  requirement: &20764720 !ruby/object:Gem::Requirement
+  name: isna
+  requirement: &5675900 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: 1.0.0
+        version: 0.0.4
   type: :runtime
   prerelease: false
-  version_requirements: *20764720
+  version_requirements: *5675900
 - !ruby/object:Gem::Dependency
   name: rspec
-  requirement: &20763500 !ruby/object:Gem::Requirement
+  requirement: &5675380 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ~>
@@ -32,10 +32,10 @@ dependencies:
         version: '2.7'
   type: :development
   prerelease: false
-  version_requirements: *20763500
+  version_requirements: *5675380
 - !ruby/object:Gem::Dependency
   name: rake
-  requirement: &20762720 !ruby/object:Gem::Requirement
+  requirement: &5674800 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ~>
@@ -43,10 +43,10 @@ dependencies:
         version: '0.9'
   type: :development
   prerelease: false
-  version_requirements: *20762720
+  version_requirements: *5674800
 - !ruby/object:Gem::Dependency
   name: pry
-  requirement: &20761980 !ruby/object:Gem::Requirement
+  requirement: &5674360 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -54,10 +54,10 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *20761980
+  version_requirements: *5674360
 - !ruby/object:Gem::Dependency
   name: yard
-  requirement: &20760700 !ruby/object:Gem::Requirement
+  requirement: &5673740 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -65,10 +65,10 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *20760700
+  version_requirements: *5673740
 - !ruby/object:Gem::Dependency
   name: redcarpet
-  requirement: &20759960 !ruby/object:Gem::Requirement
+  requirement: &5673080 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -76,7 +76,18 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *20759960
+  version_requirements: *5673080
+- !ruby/object:Gem::Dependency
+  name: guard-rspec
+  requirement: &5672240 !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ! '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: *5672240
 description: Ruby Player - Ruby client library for Player (tools for robots)
 email:
 - atimin@gmail.com
@@ -85,24 +96,23 @@ extensions: []
 extra_rdoc_files: []
 files:
 - .gitignore
+- .travis.yml
 - Gemfile
+- Guardfile
 - LICENSE
 - README.md
 - Rakefile
 - TODO.md
+- examples/simple_example.rb
+- examples/world/test.cfg
+- examples/world/test.world
 - lib/ruby-player.rb
-- lib/ruby-player/c_type.rb
-- lib/ruby-player/c_type/bbox3d_t.rb
-- lib/ruby-player/c_type/client_t.rb
-- lib/ruby-player/c_type/devaddr.rb
-- lib/ruby-player/c_type/device_t.rb
-- lib/ruby-player/c_type/diagnostic.rb
-- lib/ruby-player/c_type/pose3d_t.rb
-- lib/ruby-player/c_type/position2d_t.rb
-- lib/ruby-player/c_type/ranger_t.rb
-- lib/ruby-player/c_type/sockaddr_in_t.rb
 - lib/ruby-player/client.rb
 - lib/ruby-player/common.rb
+- lib/ruby-player/constants.rb
+- lib/ruby-player/dev_addr.rb
+- lib/ruby-player/device.rb
+- lib/ruby-player/header.rb
 - lib/ruby-player/position2d.rb
 - lib/ruby-player/ranger.rb
 - lib/ruby-player/version.rb
@@ -110,8 +120,6 @@ files:
 - spec/client_spec.rb
 - spec/position2d_spec.rb
 - spec/ranger_spec.rb
-- spec/world/test.cfg
-- spec/world/test.world
 homepage: http://www.github.com/flipback/ruby-player
 licenses: []
 post_install_message: 

data/lib/ruby-player/c_type.rb

@@ -1,36 +0,0 @@
-# Ruby Player - Ruby client library for Player (tools for robots) 
-#
-# Copyright (C) 2012  Timin Aleksey
-#
-# 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 3 of the License, or
-# (at your option) any later version.
-#
-# 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.
-require "ffi"
-
-module Player
-  module CType
-    PLAYER_MAX_DRIVER_STRING_LEN = 64
-    # Device access mode: open
-    PLAYER_OPEN_MODE = 1
-    #Device access mode: close
-    PLAYER_CLOSE_MODE = 2
-    #Device access mode: error
-    PLAYER_ERROR_MODE = 3
-  end
-end
-
-#structs
-require File.dirname(__FILE__) + "/c_type/sockaddr_in_t"
-require File.dirname(__FILE__) + "/c_type/devaddr"
-require File.dirname(__FILE__) + "/c_type/device_t"
-require File.dirname(__FILE__) + "/c_type/pose3d_t"
-require File.dirname(__FILE__) + "/c_type/bbox3d_t"
-require File.dirname(__FILE__) + "/c_type/position2d_t"
-require File.dirname(__FILE__) + "/c_type/ranger_t"
-require File.dirname(__FILE__) + "/c_type/client_t"

data/lib/ruby-player/c_type/bbox3d_t.rb

@@ -1,24 +0,0 @@
-# Ruby Player - Ruby client library for Player (tools for robots) 
-#
-# Copyright (C) 2012  Timin Aleksey
-#
-# 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 3 of the License, or
-# (at your option) any later version.
-#
-# 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.
-
-module Player
-  module CType
-    class BBox3dStruct < FFI::Struct
-      layout  :sw, :double,
-              :sl, :double,
-              :sh, :double
-    end
-  end
-end
-

data/lib/ruby-player/c_type/client_t.rb

@@ -1,36 +0,0 @@
-# Ruby Player - Ruby client library for Player (tools for robots) 
-#
-# Copyright (C) 2012  Timin Aleksey
-#
-# 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 3 of the License, or
-# (at your option) any later version.
-#
-# 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.
-
-module Player
-  module CType
-    class ClientStruct < FFI::Struct
-      layout :id, :pointer,
-            :host, :string,
-            :port, :int,
-            :transport, :int,
-            :server, SockaddrInStruct,
-            :connected, :int,
-            :retry_limit, :int,
-            :retry_time, :double,
-            :mode, :uint8,
-            :data_requested, :int,
-            :data_received, :int
-            #TODO Added devinfo, devicem, qitems 
-            #:data, :string,
-            #:write_xdrdata, :string,
-            #:read_xdrdata, :string,
-            #:read_xdrdata_len, :size_t
-    end
-  end
-end