ruby-player 0.0.1

data/README.md

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+Ruby Player - Ruby client library for Player (tools for robots) 
+
+Summary
+-------------------------------------
+Ruby Player provide high level client library to access to Player server. 
+It are using the FFI for binding with playerc C client library. 
+
+API coverage 
+-------------------------------------
+The list of support objects and devices of Player.
+
+* Client object
+* Position2d
+
+Install
+-------------------------------------
+Currently (2012-01-07) the Ruby Player are developing and testing with Player 3.1.0 latest svn version
+and Stage v4.1.0. See them user guides for installation. 
+
+After installation Player/Stage run:
+
+`gem install ruby-player`
+
+For testing library in root dir library:
+
+    player spec/world/test.cfg
+    bundle exec rake spec
+
+Example
+-------------------------------------
+
+    require 'ruby-player'
+    Player::Client.connect("localhost") do |robot|
+      pos2d = robot[:position2d, 0]
+      pos2d.set_vel(1, 0, 0.2)
+      robot.loop do
+        puts "Position: x=#{pos2d.px}, y=#{pos2d.py}, a=#{pos2d.pa}
+      end
+    end
+
+References
+-------------------------------------
+
+[Home page](http://www.github.com/flipback/ruby-player)
+
+[Player project](http://playerstage.sourceforge.net/)
+
+[Stage project](https://github.com/rtv/Stage)
+
+[C API Player](http://playerstage.sourceforge.net/doc/Player-3.0.2/player/group__player__clientlib__libplayerc.html)
+
+Authors
+-------------------------------------
+Aleksey Timin <atimin@gmail.com>

data/Rakefile

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+# encoding: utf-8
+
+require 'rubygems'
+require 'bundler'
+begin
+  Bundler.setup(:default, :development)
+rescue Bundler::BundlerError => e
+  $stderr.puts e.message
+  $stderr.puts "Run `bundle install` to install missing gems"
+  exit e.status_code
+end
+
+
+require 'rspec/core/rake_task'
+
+RSpec::Core::RakeTask.new(:spec)
+
+task :default => :spec
+
+require 'yard'
+YARD::Rake::YardocTask.new

data/TODO.md

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+
+For supported devices
+-------------------------------------
+**ranger** - The ranger proxy provides an interface to ranger sensor devices.
+
+1. Get geometry of device and sensors
+2. Get 3d scan points (x,y,z)
+
+**position2d** - The position2d proxy provides an interface to a mobile robot base, such as the ActiveMedia Pioneer series.
+1. Set speed and heading - wrap C `func playerc_position2d_set_cmd_vel_head`
+2. Move to point - wrap C funcs `playerc_position2d_set_cmd_pose_with_vel` and `playerc_position2d_set_cmd_pose`
+
+Candidates for support
+--------------------------------------
+
+**actarray** - The actarray proxy provides an interface to actuator arrays such as the ActivMedia Pioneer Arm.
+
+**blobfinder** - The blobfinder proxy provides an interface to color blob detectors such as the ACTS vision system.
+
+**graphics2d** - The graphics2d proxy provides an interface to the graphics2d.
+
+**graphics3d** - The graphics3d proxy provides an interface to the graphics3d.
+
+**gripper** - The gripper proxy provides an interface to the gripper.
+
+**simulation** - The simulation proxy is used to interact with objects in a simulation.
+
+Device proxies are not started to develop
+--------------------------------------
+
+**aio** - The aio proxy provides an interface to the analog input/output sensors.
+
+**audio** - The audio proxy provides access to drivers supporting the audio_interface.
+
+**blinkenlight** - The blinkenlight proxy provides an interface to a (possibly colored and/or blinking) indicator light.
+
+**bumper** - The bumper proxy provides an interface to the bumper sensors built into robots such as the RWI B21R.
+
+**camera** - The camera proxy can be used to get images from a camera.
+
+**dio** - The dio proxy provides an interface to the digital input/output sensors.
+
+**fiducial** - The fiducial proxy provides an interface to a fiducial detector.
+
+**health** - The health proxy provides an interface to the HEALTH Module.
+
+**ir** - The ir proxy provides an interface to the ir sensors built into robots such as the RWI B21R.
+
+**joystick** - The joystick proxy can be used to get images from a joystick.
+
+**laser** - The laser proxy provides an interface to scanning laser range finders such as the sicklms200.
+
+**limb** - The limb proxy provides an interface to limbs using forward/inverse kinematics, such as the ActivMedia Pioneer Arm.
+
+**localize** - The localize proxy provides an interface to localization drivers.
+
+**log** - The log proxy provides start/stop control of data logging.
+
+**map** - The map proxy provides an interface to a map.
+
+**vectormap** - The vectormap proxy provides an interface to a map of geometric features.
+
+**opaque** - The opaque proxy provides an interface for generic messages to drivers.
+
+**planner** - The planner proxy provides an interface to a 2D motion planner.
+
+**position1d** - The position1d proxy provides an interface to 1 DOF actuator such as a linear or rotational actuator.
+
+**position3d** - The position3d proxy provides an interface to a mobile robot base, such as the Segway RMP series.
+
+**power** - The power proxy provides an interface through which battery levels can be monitored.
+
+**ptz** - The ptz proxy provides an interface to pan-tilt units such as the Sony PTZ camera.
+
+**sonar** - The sonar proxy provides an interface to the sonar range sensors built into robots such as the ActiveMedia Pioneer series.
+
+**wifi** - The wifi proxy is used to query the state of a wireless network.
+
+**speech** - The speech proxy provides an interface to a speech synthesis system.
+
+**speech recognition** - The speech recognition proxy provides an interface to a speech recognition system.
+
+**rfid** - The rfid proxy provides an interface to a RFID reader.
+
+**pointcloud3d** - The pointcloud3d proxy provides an interface to a pointcloud3d device.
+
+**stereo** - The stereo proxy provides an interface to a stereo device.
+
+**imu** - The imu proxy provides an interface to an Inertial Measurement Unit.
+
+**wsn** - The wsn proxy provides an interface to a Wireless Sensor Network.

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

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+# 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

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+# 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

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

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+# 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 DevAddrStruct < FFI::Struct
+      layout  :host, :uint32,
+              :robot, :uint32,
+              :interf, :uint16,
+              :index, :uint16
+    end
+  end
+end

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

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+# 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 DeviceStruct < FFI::Struct
+      layout  :id, :pointer,
+              :client, :pointer,
+              :addr, DevAddrStruct,
+              :drivername, [:char, PLAYER_MAX_DRIVER_STRING_LEN],
+              :subcribed, :int,
+              :datatime, :double,
+              :lasttime, :double,
+              :fresh, :int,
+              :freshdgeom, :int,
+              :freshconfig, :int,
+              :putmsg, :pointer,
+              :user_data, :pointer,
+              :callback_count, :int,
+              :calback, [:pointer, 4],
+              :calback_data, [:pointer, 4]
+    end
+  end
+end

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

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+# 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 Binding 
+    module Diagnostic
+    end
+  end
+end

data/lib/ruby-player/c_type/pose3d_t.rb

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+# 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 Pose3dStruct < FFI::Struct
+      layout  :px, :double,
+              :py, :double,
+              :pz, :double,
+              :proll, :double,
+              :ppitch, :double,
+              :pyaw, :double
+    end
+  end
+end
+

data/lib/ruby-player/c_type/position2d_t.rb

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+# 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 Position2dStruct < FFI::Struct
+      layout  :info, DeviceStruct,
+              :pose, [:double, 3],
+              :size, [:double, 2],
+
+              :px, :double,
+              :py, :double,
+              :pa, :double,
+
+              :vx, :double,
+              :vy, :double,
+              :va, :double,
+              :stall, :int
+    end
+  end
+end

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

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+# 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 RangerStruct < FFI::Struct
+      layout  :info, DeviceStruct,
+              :element_count, :uint32,
+              :min_angle, :double,
+              :max_angle, :double,
+              :angular_res, :double,
+              :min_range, :double,
+              :max_range, :double,
+              :range_res, :double,
+              :frequecy, :double,
+              :device_pose, Pose3dStruct,
+              :device_size, BBox3dStruct,
+              :element_poses, :pointer,
+              :element_sizes, :pointer,
+              :ranges_count, :uint32,
+              :ranges, :pointer,
+              :intensities_count, :uint32,
+              :intensities, :pointer,
+              :bearings_count, :uint32,
+              :bearings, :pointer,
+              :points_count, :uint32,
+              :points, :pointer
+    end
+  end
+end
+

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

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+# 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 SockaddrInStruct < FFI::Struct
+      layout  :sin_family, :short,
+              :sin_port, :short,
+              :sin_addr, :int32,
+              :sin_zero, [:char, 8]
+    end
+  end
+end

data/lib/ruby-player/c_type.rb

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+# 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/client.rb

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+# 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
+  # The client object manages the connection with the Player server
+  #
+  # @example
+  #
+  #   Player::Client.connect("localhost") do |cl|
+  #     pos2d = cl[:position2d, 0]
+  #     pos2d.set_vel(1, 0, 0.2)
+  #     cl.loop do
+  #       puts "Position: x=#{pos2d.px}, y=#{pos2d.py}, a=#{pos2d.pa}
+  #     end
+  #   end
+  class Client
+    include CType
+    include Common 
+
+    module C
+      extend FFI::Library
+      ffi_lib "playerc"
+
+      attach_function :playerc_client_create, [:pointer, :string, :int], :pointer
+      attach_function :playerc_client_destroy, [:pointer],  :void
+      attach_function :playerc_client_connect, [:pointer], :int
+      attach_function :playerc_client_disconnect, [:pointer],  :int
+
+
+      attach_function :playerc_client_read, [:pointer],  :void
+    end
+
+    # Initialize client
+    # @param [String] host host address
+    # @param port number of port default 6665  
+    def initialize(host, port=6665)
+      @client = ClientStruct.new(C.playerc_client_create(nil, host, port.to_i))
+
+      try_with_error C.playerc_client_connect(@client)
+
+      ObjectSpace.define_finalizer(self, Client.finilazer(@client))
+      if block_given?
+        yield self
+        close
+      else
+        self
+      end
+    end
+
+    class << self
+      alias_method :connect, :new
+    end
+
+    # Read data from server and update all subscribed proxy objects
+    def read
+      C.playerc_client_read(@client) 
+    end
+
+    # Get proxy object
+    #
+    # @example 
+    #   pos2d = client[:position2d, 0]
+    #
+    # @param type type name of proxy object
+    # @param index index of proxy object
+    # @return proxy object
+    def [](type, index)
+      type_name = type.to_s.capitalize
+      (eval type_name).send(:new, @client, index)
+    end
+
+    # Check connection
+    def closed?
+      @client[:connected] == 0
+    end
+
+    # Close connection
+    def close
+      try_with_error C.playerc_client_disconnect(@client)
+    end
+
+    # Loop for control code
+    #
+    # @example
+    #   cl.loop(0.5) do
+    #     #...you control code
+    #   end
+    #
+    # @param period period cicles in seconds
+    def loop(period=1.0)
+      while(true) do
+        read
+        yield
+        sleep(period.to_f)
+      end
+    end
+
+    def Client.finilazer(client)
+      lambda do
+        C.playerc_client_disconnect(client) if client[:connected] > 0
+        C.playerc_client_destroy(client)
+      end
+    end
+  end
+end

data/lib/ruby-player/common.rb

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+# 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 Common
+    module C
+      extend FFI::Library
+      ffi_lib "playerc"
+
+      attach_function :playerc_error_str, [],  :string
+    end
+
+    private
+    def try_with_error(result)
+      raise StandardError.new(C.playerc_error_str) if result != 0
+    end
+  end
+end