ruby-player 0.1.0 → 0.2.0

data/NEWS.md

@@ -0,0 +1,7 @@
+## 2012-02-16 0.2.0
+
+* Added power interface
+
+## 2012-02-13 version 0.1.0
+
+Code is rewrited in pure ruby! 

data/README.md

@@ -2,7 +2,8 @@ Ruby Player - Ruby client library for Player (tools for robots) [![Build Status]
 
 Summary
 -------------------------------------
-Ruby Player provide high level client library to access to Player server in pure Ruby
+Ruby Player provide high level client library to access to Player server in pure Ruby.
+
 Currently (2012-01-07) the Ruby Player are developing and testing with Player 3.1.0 latest svn version
 
 API coverage 
@@ -11,6 +12,8 @@ The list of support objects and devices of Player.
 
 * Client object
 * Position2d
+* Power
+* Ranger
 
 Install
 -------------------------------------

data/TODO.md

@@ -59,8 +59,6 @@ Device proxies are not started to develop
 
 **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.
 
 **wifi** - The wifi proxy is used to query the state of a wireless network.

data/lib/ruby-player.rb

@@ -24,7 +24,7 @@ require "ruby-player/client"
 
 #interfaces
 require "ruby-player/position2d"
+require "ruby-player/power"
 require "ruby-player/ranger"
 
 
-

data/lib/ruby-player/client.rb

@@ -29,6 +29,8 @@ module Player
   class Client < Device
     include Common 
 
+    attr_reader :log_level
+
     # Initialize client
     # @param [String] host host of Player server 
     # @param [Hash] opts client options
@@ -153,7 +155,7 @@ module Player
     
     private
     def make_device(dev)
-      instance_eval(dev.interface_name.capitalize).send(:new, dev, self, @log_level)
+      instance_eval(dev.interface_name.capitalize).send(:new, dev, self)
     end
 
     def read

data/lib/ruby-player/constants.rb

@@ -446,7 +446,7 @@ module Player
   PLAYER_POSITION3D_SPEED_PROF    = 9
 
   PLAYER_POWER_DATA_STATE              = 1
-  PLAYER_POWER_SET_CHARGING_POLICY_REQ = 1
+  PLAYER_POWER_REQ_SET_CHARGING_POLICY = 1
   PLAYER_POWER_MASK_VOLTS              = 1
   PLAYER_POWER_MASK_WATTS              = 2
   PLAYER_POWER_MASK_JOULES             = 4

data/lib/ruby-player/device.rb

@@ -20,16 +20,9 @@ module Player
     # Device address
     attr_reader :addr
 
-    # Device geometry
-    # @return [Hash] geometry { :px, :py. :pz, :proll, :ppitch, :pyaw, :sw, :sl, :sh }
-    attr_reader :geom
- 
-
-    def initialize(addr, client, log_level)
+    def initialize(addr, client)
       @addr, @client =  addr, client
-      @log_level = log_level
-
-      @geom = {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}
+      @log_level = client.log_level
     end
 
     def fill(hdr,msg)
@@ -48,13 +41,5 @@ module Player
           subtype: subtype,
           size: msg.bytesize), msg)
     end
-
-    def read_geom(msg)
-      data = msg.unpack("G*")
-      [:px,:py,:pz, :proll,:ppitch,:pyaw, :sw,:sl,:sh].each_with_index do |k,i|
-        @geom[k] = data[i]
-      end
-      debug("Get geom px=%.2f py=%.2f pz=%.2f; proll=%.2f, ppitch=%.2f, pyaw=%.2f, sw=%.2f, sl=%.2f, sh=%.2f" % @geom.values)
-    end
   end
 end

data/lib/ruby-player/position2d.rb

@@ -31,10 +31,16 @@ module Player
     # Position of robot
     # @return [Hash] hash position {:px, :py, :pa, :vx, :vy, :va, :stall }
     attr_reader :position
+    
+    # Device geometry
+    # @return [Hash] geometry { :px, :py. :pz, :proll, :ppitch, :pyaw, :sw, :sl, :sh }
+    attr_reader :geom
+
 
-    def initialize(addr, client, log_level)
+    def initialize(addr, client)
       super
       @position = {px: 0.0, py: 0.0, pa: 0.0, vx: 0.0, vy: 0.0, va: 0.0, stall: 0}
+      @geom = {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}
     end
 
     # Query robot geometry 
@@ -241,5 +247,14 @@ module Player
       end
       debug("Get position px=%.2f py=%.2f pa=%.2f; vx=%.2f, vy=%.2f, va=%.2f, stall=%d" % position.values)
     end
+
+    def read_geom(msg)
+      data = msg.unpack("G*")
+      [:px,:py,:pz, :proll,:ppitch,:pyaw, :sw,:sl,:sh].each_with_index do |k,i|
+        @geom[k] = data[i]
+      end
+      debug("Get geom px=%.2f py=%.2f pz=%.2f; proll=%.2f, ppitch=%.2f, pyaw=%.2f, sw=%.2f, sl=%.2f, sh=%.2f" % @geom.values)
+    end
+
   end
 end

data/lib/ruby-player/power.rb

@@ -0,0 +1,105 @@
+# 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 power interface provides access to a robot's power subsystem
+  class Power < Device
+    
+    # Power state
+    #
+    # *:valid* status bits. The driver will set the bits to indicate which fields it is using. Bitwise-and with PLAYER_POWER_MASK_X values to see which fields are being set.
+    #
+    # *:volts* Battery voltage [V]. 
+    #
+    # *:percent* Percent of full charge [%].
+    #
+    # *:joules* Energy stored [J]. 
+    #
+    # *:watts* Estimated current energy consumption (negative values) or aquisition (positive values) [W]. 
+    #
+    # *:charging* Charge exchange status: if 1, the device is currently receiving charge from another energy device
+    #
+    # @return [Hash] state
+    attr_reader :state
+
+    def initialize(addr, client)
+      super
+      @state = { valid: 0, volts: 0.0, percent: 0.0, joules: 0.0, watts: 0.0, charging: 0 }
+    end
+    
+    # Request to change the charging policy
+    # @param [Hash] policy
+    # @option policy [Boolean] :enable_input boolean controlling recharging
+    # @option policy [Boolean] :enable_output bolean controlling whether others can recharge from this device
+    def set_charging_policy(policy={})
+      data = [
+        policy[:enable_input] ? 1 : 0,
+        policy[:enable_output] ? 1 : 0
+      ]
+      send_message(PLAYER_MSGTYPE_REQ, PLAYER_POWER_REQ_SET_CHARGING_POLICY, data.pack("NN"))
+    end
+
+    # Check volts valid
+    def volts_valid?
+      state[:valid].to_i & PLAYER_POWER_MASK_VOLTS > 0
+    end
+
+    # Check watts valid
+    def watts_valid?
+      state[:valid].to_i & PLAYER_POWER_MASK_WATTS > 0
+    end
+
+    # Check joules valid
+    def joules_valid?
+      state[:valid].to_i & PLAYER_POWER_MASK_JOULES > 0
+    end
+
+    # Check perecent valid
+    def percent_valid?
+      state[:valid].to_i & PLAYER_POWER_MASK_PERCENT > 0
+    end
+
+    # Check charging valid
+    def charging_valid?
+      state[:valid].to_i & PLAYER_POWER_MASK_CHARGING > 0
+    end
+
+    def fill(hdr, msg)
+      case hdr.subtype
+      when PLAYER_POWER_DATA_STATE
+        read_state(msg)
+      else
+        undexpected_message hdr
+      end
+    end
+
+    def handle_response(hdr, msg)
+      case hdr.subtype
+      when PLAYER_POWER_REQ_SET_CHARGING_POLICY
+        nil
+      else
+        undexpected_message hdr
+      end
+    end
+
+    private
+    def read_state(msg)
+      data = msg.unpack("NggggN")
+      @state.keys.each_with_index do |k,i|
+        @state[k] = data[i]
+      end
+      debug("Get power state valid=%x volts=%.2f, percent=%.2f, joules=%.2f; watts=%.2f,  charging=%d" % @state.values)
+    end
+  end
+end

data/lib/ruby-player/ranger.rb

@@ -33,11 +33,16 @@ module Player
     # @see set_config
     attr_reader :config
 
-    def initialize(addr, client, log_level)
+
+    # Device geometry
+    # @return [Hash] geometry { :px, :py. :pz, :proll, :ppitch, :pyaw, :sw, :sl, :sh, :sensors => [geom of sensors] }
+    attr_reader :geom
+
+    def initialize(addr, client)
       super
       @rangers = []
       @intensities = []
-      @geom[:sensors] = []
+      @geom = {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: []}
       @config = { 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
     
@@ -135,7 +140,12 @@ module Player
 
     private
     def read_geom(msg)
-      super(msg[0,72])
+      data = msg[0,72].unpack("G*")
+      [:px,:py,:pz, :proll,:ppitch,:pyaw, :sw,:sl,:sh].each_with_index do |k,i|
+        @geom[k] = data[i]
+      end
+      debug("Get geom px=%.2f py=%.2f pz=%.2f; proll=%.2f, ppitch=%.2f, pyaw=%.2f, sw=%.2f, sl=%.2f, sh=%.2f" % @geom.values)
+
 
       p_count =  msg[72,8].unpack("NN")
       p_count = p_count[0] + p_count[1] * 256

data/lib/ruby-player/version.rb

@@ -13,5 +13,5 @@
 # GNU General Public License for more details.
 
 module Player
-  VERSION = "0.1.0"
+  VERSION = "0.2.0"
 end

data/spec/client_spec.rb

@@ -133,6 +133,15 @@ describe Player::Client do
       ranger.addr.interface_name.should eql("ranger")
       ranger.addr.index.should eql(1)
     end
+
+    it "should describe to power:2" do
+      mock_subscribe(PLAYER_POWER_CODE, 2)
+
+      power = @cl.subscribe(:power, index: 2)
+      power.addr.interface_name.should eql("power")
+      power.addr.index.should eql(2)
+    end
+
   end
 
   private

data/spec/position2d_spec.rb

@@ -1,16 +1,15 @@
-require "ruby-player"
+require File.dirname(__FILE__) + "/spec_helper"
 
 include Player
 describe Player::Position2d do
   before do
-    @client = mock("Client")
-    @client.stub!(:write)
-
+    client = mock_client
     @pos2d = Player::Position2d.new(
       Player::DevAddr.new(host: 0, robot:0, interface: 4, index: 0),
-      @client,
-      :debug
+      client
     )
+
+    mock_sending_message(@pos2d)
   end
 
   it 'should have default values' do
@@ -139,8 +138,4 @@ describe Player::Position2d do
     end
   end
 
-  def should_send_message(*args)
-    @pos2d.should_receive(:send_message)
-      .with(*args)
-  end
 end

data/spec/power_spec.rb

@@ -0,0 +1,88 @@
+require File.dirname(__FILE__) + "/spec_helper"
+
+include Player
+describe Player::Power do
+  before do
+    client = mock_client
+
+    @power = Player::Power.new(
+      Player::DevAddr.new(host: 0, robot:0, interface: PLAYER_POWER_CODE, index: 0),
+      client
+    )
+
+    mock_sending_message(@power)
+  end
+
+  it 'should have default values' do
+    @power.state.should eql(valid: 0, volts: 0.0, percent: 0.0, joules: 0.0, watts: 0.0, charging: 0)
+  end
+
+  it 'should have volts_valid? attribute' do
+    @power.should_receive(:state).and_return(valid: 1)
+    @power.volts_valid?.should be_true
+
+    @power.should_receive(:state).and_return(valid: 0)
+    @power.volts_valid?.should be_false
+  end
+
+  it 'should have watts_valid? attribute' do
+    @power.should_receive(:state).and_return(valid: 2)
+    @power.watts_valid?.should be_true
+
+    @power.should_receive(:state).and_return(valid: 0)
+    @power.watts_valid?.should be_false
+  end
+
+  it 'should have joules_valid? attribute' do
+    @power.should_receive(:state).and_return(valid: 4)
+    @power.joules_valid?.should be_true
+
+    @power.should_receive(:state).and_return(valid: 0)
+    @power.joules_valid?.should be_false
+  end
+
+  it 'should have percent_valid? attribute' do
+    @power.should_receive(:state).and_return(valid: 8)
+    @power.percent_valid?.should be_true
+
+    @power.should_receive(:state).and_return(valid: 0)
+    @power.percent_valid?.should be_false
+  end
+
+  it 'should have charging_valid? attribute' do
+    @power.should_receive(:state).and_return(valid: 16)
+    @power.charging_valid?.should be_true
+
+    @power.should_receive(:state).and_return(valid: 0)
+    @power.charging_valid?.should be_false
+  end
+
+  it 'should set charging policy' do
+    should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_POWER_REQ_SET_CHARGING_POLICY, [0,1].pack("NN"))
+    @power.set_charging_policy(enable_input: false, enable_output: true)
+    should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_POWER_REQ_SET_CHARGING_POLICY, [1,0].pack("NN"))
+    @power.set_charging_policy(enable_input: true, enable_output: false)
+  end
+
+  it 'should fill power state data' do
+    state = {
+      valid: 1, volts: 1.0, percent: 2.0, 
+      joules: 3.0, watts: 4.0, charging: 1
+    }
+    msg = state.values.pack("NggggN")
+    @power.fill(
+      Player::Header.from_a([0,0,PLAYER_POWER_CODE,0, PLAYER_MSGTYPE_DATA, PLAYER_POWER_DATA_STATE, 0.0, 0, msg.bytesize]),
+      msg
+    )
+    @power.state.should eql(state)
+  end
+
+  it 'should not puts warn message for ACK subtypes 1' do  
+    @power.should_not_receive(:unexpected_message)
+    @power.handle_response(
+        Player::Header.from_a([0,0,PLAYER_POWER_CODE,0, PLAYER_MSGTYPE_RESP_ACK, PLAYER_POWER_REQ_SET_CHARGING_POLICY, 0.0, 0, 0]),
+        "")
+  end
+
+end
+

data/spec/ranger_spec.rb

@@ -1,16 +1,15 @@
-require "ruby-player"
+require File.dirname(__FILE__) + "/spec_helper"
 
 include Player
 describe Player::Ranger do
   before do
-    @client = mock("Client")
-    @client.stub!(:write)
-
+    client = mock_client
     @ranger = Player::Ranger.new(
       Player::DevAddr.new(host: 0, robot:0, interface: PLAYER_RANGER_CODE, index: 0),
-      @client,
-      :debug
+      client
     )
+
+    mock_sending_message(@ranger)
   end
 
   it 'should have default values' do
@@ -150,9 +149,4 @@ describe Player::Ranger do
         "")
     end
   end
-
-  def should_send_message(*args)
-    @ranger.should_receive(:send_message)
-      .with(*args)
-  end
 end

data/spec/spec_helper.rb

@@ -0,0 +1,15 @@
+require 'ruby-player'
+
+def mock_client
+  client = mock("Client")
+  client.stub!(:write)
+  client.stub!(:log_level).and_return :debug
+  client
+end
+
+def mock_sending_message(device)
+  define_singleton_method(:should_send_message) do |*args|
+    device.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: 0.1.0
+  version: 0.2.0
   prerelease: 
 platform: ruby
 authors:
@@ -9,11 +9,11 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2012-02-13 00:00:00.000000000 Z
+date: 2012-02-16 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: isna
-  requirement: &5675900 !ruby/object:Gem::Requirement
+  requirement: &12972860 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ~>
@@ -21,10 +21,10 @@ dependencies:
         version: 0.0.4
   type: :runtime
   prerelease: false
-  version_requirements: *5675900
+  version_requirements: *12972860
 - !ruby/object:Gem::Dependency
   name: rspec
-  requirement: &5675380 !ruby/object:Gem::Requirement
+  requirement: &12972000 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ~>
@@ -32,10 +32,10 @@ dependencies:
         version: '2.7'
   type: :development
   prerelease: false
-  version_requirements: *5675380
+  version_requirements: *12972000
 - !ruby/object:Gem::Dependency
   name: rake
-  requirement: &5674800 !ruby/object:Gem::Requirement
+  requirement: &12971460 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ~>
@@ -43,10 +43,10 @@ dependencies:
         version: '0.9'
   type: :development
   prerelease: false
-  version_requirements: *5674800
+  version_requirements: *12971460
 - !ruby/object:Gem::Dependency
   name: pry
-  requirement: &5674360 !ruby/object:Gem::Requirement
+  requirement: &12970860 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -54,10 +54,10 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *5674360
+  version_requirements: *12970860
 - !ruby/object:Gem::Dependency
   name: yard
-  requirement: &5673740 !ruby/object:Gem::Requirement
+  requirement: &12970220 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -65,10 +65,10 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *5673740
+  version_requirements: *12970220
 - !ruby/object:Gem::Dependency
   name: redcarpet
-  requirement: &5673080 !ruby/object:Gem::Requirement
+  requirement: &12969640 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -76,10 +76,10 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *5673080
+  version_requirements: *12969640
 - !ruby/object:Gem::Dependency
   name: guard-rspec
-  requirement: &5672240 !ruby/object:Gem::Requirement
+  requirement: &12968920 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -87,7 +87,7 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *5672240
+  version_requirements: *12968920
 description: Ruby Player - Ruby client library for Player (tools for robots)
 email:
 - atimin@gmail.com
@@ -100,6 +100,7 @@ files:
 - Gemfile
 - Guardfile
 - LICENSE
+- NEWS.md
 - README.md
 - Rakefile
 - TODO.md
@@ -114,12 +115,15 @@ files:
 - lib/ruby-player/device.rb
 - lib/ruby-player/header.rb
 - lib/ruby-player/position2d.rb
+- lib/ruby-player/power.rb
 - lib/ruby-player/ranger.rb
 - lib/ruby-player/version.rb
 - ruby-player.gemspec
 - spec/client_spec.rb
 - spec/position2d_spec.rb
+- spec/power_spec.rb
 - spec/ranger_spec.rb
+- spec/spec_helper.rb
 homepage: http://www.github.com/flipback/ruby-player
 licenses: []
 post_install_message: