ruby-player 0.3.0 → 0.4.0

data/lib/ruby-player/constants.rb

@@ -1,3 +1,17 @@
+# Ruby Player - Ruby client library for Player (tools for robots) 
+#
+# Copyright (C) 2012  Aleksey Timin
+#
+# 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
   PLAYERXDR_DEVADDR_SIZE  = 16
   PLAYERXDR_MSGHDR_SIZE = PLAYERXDR_DEVADDR_SIZE + 24

data/lib/ruby-player/dev_addr.rb

@@ -1,6 +1,6 @@
 # Ruby Player - Ruby client library for Player (tools for robots) 
 #
-# Copyright (C) 2012  Timin Aleksey
+# Copyright (C) 2012  Aleksey Timin
 #
 # 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

data/lib/ruby-player/device.rb

@@ -1,6 +1,6 @@
 # Ruby Player - Ruby client library for Player (tools for robots) 
 #
-# Copyright (C) 2012  Timin Aleksey
+# Copyright (C) 2012  Aleksey Timin
 #
 # 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
@@ -14,6 +14,7 @@
 require "socket"
 
 module Player
+  # Basic class for all intrefaces
   class Device
     include Common
   
@@ -33,7 +34,6 @@ module Player
       raise_error "Method `handle_response` isn't implemented for `#{self.class}`"
     end
    
-    private
     def send_message(type, subtype, msg="")
       @client.write( Header.new(
           dev_addr: @addr,

data/lib/ruby-player/gripper.rb

@@ -1,6 +1,6 @@
 # Ruby Player - Ruby client library for Player (tools for robots) 
 #
-# Copyright (C) 2012  Timin Aleksey
+# Copyright (C) 2012  Aleksey Timin
 #
 # 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
@@ -149,19 +149,19 @@ module Player
     private
     def read_state(msg)
       fill_hash!(@state, msg.unpack("NNN"))
-      debug("Get gripper state state=%d, beams=%d, stored=%d" % @state.values)
+      debug "Get state: " + hash_to_sft(@state)
     end
 
     def read_geom(msg)
       data = msg.unpack("G12NN")
       fill_hash!(@geom[:pose], data)
-      debug "Get gripper pose: " + pose_to_s(@geom[:pose])
+      debug "Get pose: " + hash_to_sft(@geom[:pose])
 
       fill_hash!(@geom[:outer_size], data)
-      debug "Get gripper outer size: " + size_to_s(@geom[:outer_size])
+      debug "Get outer size: " + hash_to_sft(@geom[:outer_size])
 
       fill_hash!(@geom[:inner_size], data)
-      debug "Get gripper inner size: " + size_to_s(@geom[:inner_size])
+      debug "Get inner size: " + hash_to_sft(@geom[:inner_size])
 
       @geom[:number_beams] = data.shift
       @geom[:capacity] = data.shift

data/lib/ruby-player/header.rb

@@ -1,6 +1,6 @@
 # Ruby Player - Ruby client library for Player (tools for robots) 
 #
-# Copyright (C) 2012  Timin Aleksey
+# Copyright (C) 2012  Aleksey Timin
 #
 # 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
@@ -13,6 +13,7 @@
 # GNU General Public License for more details.
 
 module Player
+  # Header of message
   class Header
     include Common
 

data/lib/ruby-player/position2d.rb

@@ -1,6 +1,6 @@
 # Ruby Player - Ruby client library for Player (tools for robots) 
 #
-# Copyright (C) 2012  Timin Aleksey
+# Copyright (C) 2012  Aleksey Timin
 #
 # 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
@@ -43,7 +43,7 @@ module Player
       @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
 
-    # Depricated alias for data
+    # @deprecated Use {#state}
     def position
       warn "Method `position` is deprecated. Pleas use `data` for access to position"
       state
@@ -58,17 +58,29 @@ module Player
    
     # Turn on motor
     # @return self
-    def turn_on!
+    def power_on!
       send_message(PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_REQ_MOTOR_POWER, [1].pack("N")) 
       self
     end
     
+    # @deprecated Use {#power_on!}
+    def turn_on!
+      warn "Method `turn_on!` is deprecated. Pleas use `power_on!`"
+      power_on!
+    end
+
     # Turn off motor
-    def turn_off!
+    def power_off!
       send_message(PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_REQ_MOTOR_POWER, [0].pack("N")) 
       self
     end
 
+    # @deprecated Use {#power_off!}
+    def turn_off!
+      warn "Method `turn_off!` is deprecated. Pleas use `power_off!`"
+      power_off!
+    end
+
     def direct_speed_control!
       send_message(PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_REQ_VELOCITY_MODE, [0].pack("N"))
       self
@@ -90,10 +102,10 @@ module Player
     end
 
     # Set odometry of robot.
-    # @param [Hash] odometry 
-    # @option odometry :px x position (m)
-    # @option odometry :py y position (m)
-    # @option odometry :pa angle (rad).     
+    # @param [Hash] odom odometry 
+    # @option odom :px x position (m)
+    # @option odom :py y position (m)
+    # @option odom :pa angle (rad).     
     # @return self
     def set_odometry(odom)
       data = [
@@ -248,12 +260,12 @@ module Player
     private
     def read_state(msg)
       fill_hash!(@state, msg.unpack("GGGGGGN"))
-      debug("Get state px=%.2f py=%.2f pa=%.2f; vx=%.2f, vy=%.2f, va=%.2f, stall=%d" % @state.values)
+      debug "Get state: " + hash_to_sft(@state)
     end
 
     def read_geom(msg)
       fill_hash!(@geom, msg.unpack("G*"))
-      debug "Get geom " + geom_to_s(@geom)
+      debug "Get geom: " + hash_to_sft(@geom)
     end
   end
 end

data/lib/ruby-player/power.rb

@@ -1,6 +1,6 @@
 # Ruby Player - Ruby client library for Player (tools for robots) 
 #
-# Copyright (C) 2012  Timin Aleksey
+# Copyright (C) 2012  Aleksey Timin
 #
 # 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
@@ -96,7 +96,7 @@ module Player
     private
     def read_state(msg)
       fill_hash!(@state, msg.unpack("NggggN"))
-      debug("Get power state valid=%x volts=%.2f, percent=%.2f, joules=%.2f; watts=%.2f,  charging=%d" % @state.values)
+      debug "Get state: " + hash_to_sft(@state)
     end
   end
 end

data/lib/ruby-player/ranger.rb

@@ -1,6 +1,6 @@
 # Ruby Player - Ruby client library for Player (tools for robots) 
 #
-# Copyright (C) 2012  Timin Aleksey
+# Copyright (C) 2012  Aleksey Timin
 #
 # 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
@@ -18,19 +18,13 @@ module Player
   #
   # @example
   #   ranger = robot.subscribe(:ranger, index: 0)
-  #   ranger.rangers #=> [0.2, 0.1, 0.2]
+  #   ranger[0].range #=> 0.2
   class Ranger < Device
+    include Enumerable
 
-    # Range data [m]
-    # @return [Array] fot each sensor
-    attr_reader :rangers
-
-    # Intensity data [m]. 
-    # @return [Array] fot each sensor
-    attr_reader :intensities
  
     # Configuration of ranger
-    # @see set_config
+    # @see #set_config
     attr_reader :config
 
 
@@ -40,12 +34,23 @@ module Player
 
     def initialize(addr, client)
       super
-      @rangers = []
-      @intensities = []
-      @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: []}
+      @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 }
       @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
+
+    # @deprecated use `ranger.collect { |r| r.range }
+    def rangers
+      warn "Method `rangers` is deprecated. Pleas use `ranger.collect { |r| r.state[:range] }`"
+      @sensors.collect { |s| s.range }
+    end
     
+    # @deprecated use `ranger.collect { |r| r.intensity }
+    def intensities
+      warn "Method `intensities` is deprecated. Pleas use `ranger.collect { |r| r.state[:intensity] }`"
+      @sensors.collect { |s| s.intensity }
+    end
+
     # Query ranger geometry 
     # @return self
     def query_geom
@@ -55,17 +60,29 @@ module Player
 
     # Turn on ranger
     # @return self
-    def turn_on!
+    def power_on!
       send_message(PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_POWER, [1].pack("N")) 
       self
     end
     
+    # @deprecated Use {#power_on!}
+    def turn_on!
+      warn "Method `turn_on!` is deprecated. Pleas use `power_on!`"
+      power_on!
+    end
+
     # Turn off ranger
-    def turn_off!
+    def power_off!
       send_message(PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_POWER, [0].pack("N")) 
       self
     end
 
+    # @deprecated Use {#power_off!}
+    def turn_off!
+      warn "Method `turn_off!` is deprecated. Pleas use `power_off!`"
+      power_off!
+    end
+
     def intensity_enable!
       send_message(PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_INTNS, [1].pack("N"))
       self
@@ -109,12 +126,18 @@ module Player
       case hdr.subtype
       when PLAYER_RANGER_DATA_RANGE
         data = msg.unpack("NNG*")
-        @rangers = data[2..-1]
-        debug "Get rangers #{@rangers.inspect}"
+        data[2..-1].each_with_index do |r, i|
+          self[i].state[:range] = r
+        end
+
+        debug "Get rangers #{@sensors.collect { |s| s.state[:range] }}"
       when PLAYER_RANGER_DATA_INTNS
         data = msg.unpack("NNG*")
-        @intensities = data[2..-1]
-        debug "Get intensities #{@rangers.inspect}"
+        data[2..-1].each_with_index do |ints, i|
+          self[i].state[:intensity] = ints
+        end
+
+        debug "Get intensities #{@sensors.collect { |s| s.state[:intensity]}}"
       when PLAYER_RANGER_DATA_GEOM
         read_geom(msg)
       else
@@ -135,6 +158,14 @@ module Player
       end
     end
 
+    def [](index)
+      @sensors[index] ||= Sensor.new(index, self)
+    end
+
+    def each
+      @sensors.each { |s| yield s }
+    end
+
     private
     def read_config(msg)
       fill_hash!(@config, msg.unpack("G*"))
@@ -143,7 +174,7 @@ module Player
     def read_geom(msg)
       data = msg[0,72].unpack("G*")
       fill_hash!(@geom, data)
-      debug("Get geom: " + geom_to_s(@geom))
+      debug "Get geom: " + hash_to_sft(@geom)
 
 
       p_count =  msg[72,8].unpack("NN")
@@ -155,21 +186,18 @@ module Player
       sizes = msg[88 + 48*p_count, 24*s_count].unpack("G" +(3* s_count).to_s)
 
       p_count.times do |i|
-        @geom[:sensors][i] ||= {}
-        [:px, :py, :pz, :proll, :ppitch, :pyaw].each_with_index do |k,j|
-          @geom[:sensors][i][k] = poses[6*i + j]
-        end
-        debug("Get poses for ##{i} sensor: px=%.2f, py=%.2f, pz=%.2f, proll=%.2f, ppitch=%.2f, pyaw=%.2f" % @geom[:sensors][i].values[0,6])
+        [:px, :py, :pz, :proll, :ppitch, :pyaw]
+          .each_with_index { |k,j| self[i].geom[k] = poses[6*i + j] }
+        debug("Get poses for ##{i} sensor: px=%.2f, py=%.2f, pz=%.2f, proll=%.2f, ppitch=%.2f, pyaw=%.2f" % @sensors[i].geom.values[0,6])
       end
       
       s_count.times do |i|
-        @geom[:sensors][i] ||= {}
-        [:sw, :sl, :sh].each_with_index do |k,j|
-          @geom[:sensors][i][k] = sizes[3*i + j]
-        end
-        debug("Get sizes for ##{i} sensor: sw=%.2f, sl=%.2f, sh=%.2f" % @geom[:sensors][i].values[6,3])
+        [:sw, :sl, :sh]
+          .each_with_index { |k,j| self[i].geom[k] = sizes[3*i + j] }
+        debug("Get sizes for ##{i} sensor: sw=%.2f, sl=%.2f, sh=%.2f" % @sensors[i].geom.values[6,3])
       end
 
     end
+
   end
 end 

data/lib/ruby-player/sensor.rb

@@ -0,0 +1,43 @@
+# Ruby Player - Ruby client library for Player (tools for robots) 
+#
+# Copyright (C) 2012  Aleksey Timin
+#
+# 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
+  class Sensor
+
+    # State of sensor
+    # @return [Hash] { :range, :intensity }
+    attr_reader :state
+    attr_reader :geom
+
+    def initialize(index, ranger)
+      @index, @ranger = index, ranger
+      @state = { ranger: 0.0, intensity: 0.0 }
+      @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
+    
+    # Range data [m]
+    # @return [Float]
+    def range
+      @state[:range]
+    end
+
+    # Intensity data [m]. 
+    # @return [Float]
+    def intensity
+      @state[:intensity]
+    end
+  end
+end

data/lib/ruby-player/version.rb

@@ -1,6 +1,6 @@
 # Ruby Player - Ruby client library for Player (tools for robots) 
 #
-# Copyright (C) 2012  Timin Aleksey
+# Copyright (C) 2012  Aleksey Timin
 #
 # 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
@@ -13,5 +13,5 @@
 # GNU General Public License for more details.
 
 module Player
-  VERSION = "0.3.0"
+  VERSION = "0.4.0"
 end

data/spec/actarray_spec.rb

@@ -0,0 +1,129 @@
+require File.dirname(__FILE__) + "/spec_helper"
+
+include Player
+describe Player::ActArray do
+  before do
+    client = mock_client
+
+    @actarray = Player::ActArray.new(
+      Player::DevAddr.new(host: 0, robot:0, interface: PLAYER_ACTARRAY_CODE, index: 0),
+      client
+    )
+
+    mock_sending_message(@actarray)
+  end
+
+  it 'should have default state' do
+    @actarray.state.should eql(motor_state: 0)
+    @actarray.geom.should eql(px: 0.0, py: 0.0, pz: 0.0, proll: 0.0, ppitch: 0.0, pyaw: 0.0)
+  end
+
+  it 'should set power state for all actuators' do
+    should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_REQ_POWER, [0].pack("N"))
+    @actarray.power_off!
+
+    should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_REQ_POWER, [1].pack("N"))
+    @actarray.power_on!
+  end
+
+  it 'should set brakes state for all actuators' do
+    should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_REQ_BRAKES, [0].pack("N"))
+    @actarray.brakes_off!
+
+    should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_REQ_BRAKES, [1].pack("N"))
+    @actarray.brakes_on!
+  end
+
+  it 'should query geometry' do
+    should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_REQ_GET_GEOM)
+    @actarray.query_geom
+  end
+
+  
+  it 'should set position for all joints' do
+    data = [3, 1.0, 2.0, 3.0]
+    should_send_message(PLAYER_MSGTYPE_CMD, PLAYER_ACTARRAY_CMD_MULTI_POS, data.pack("Ng*"))
+    @actarray.set_positions(data[1..-1])
+  end
+
+  it 'should set speed for all joints' do
+    data = [2, 2.0, 3.0]
+    should_send_message(PLAYER_MSGTYPE_CMD, PLAYER_ACTARRAY_CMD_MULTI_SPEED, data.pack("Ng*"))
+    @actarray.set_speeds(data[1..-1])
+  end
+
+  it 'should tell all joint go to nome' do
+    should_send_message(PLAYER_MSGTYPE_CMD, PLAYER_ACTARRAY_CMD_HOME, [-1].pack("N"))
+    @actarray.go_home!
+  end
+
+
+  it 'should tell all joints to attempt to move with the given current.' do
+    should_send_message(PLAYER_MSGTYPE_CMD, PLAYER_ACTARRAY_CMD_CURRENT, [-1, 0.3].pack("Ng"))
+    @actarray.set_current_all(0.3)
+  end
+
+  it 'should tell a joint to attempt to move with the given current.' do
+    should_send_message(PLAYER_MSGTYPE_CMD, PLAYER_ACTARRAY_CMD_CURRENT, [0, 0.3].pack("Ng"))
+    @actarray[0].set_current(0.3)
+  end
+  
+  it 'should set current for all joints' do
+    data = [2, 2.0, 3.0]
+    should_send_message(PLAYER_MSGTYPE_CMD, PLAYER_ACTARRAY_CMD_MULTI_CURRENT, data.pack("Ng*"))
+    @actarray.set_currents(data[1..-1])
+  end
+
+  it 'should implement Enumerable' do
+    should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_REQ_ACCEL, [0, 0.3].pack("Ng"))
+    should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_REQ_ACCEL, [1, 0.3].pack("Ng"))
+    @actarray[0].set_accel_config(0.3)
+    @actarray[1].set_accel_config(0.3)
+
+    @actarray.each_with_index { |a,i| a.joint.should eql(i) }
+    @actarray.count.should eql(2)
+  end
+  
+  it 'should fill state data' do
+    state = [2, 0, 1.0, 2.0, 3.0, 4.0, PLAYER_ACTARRAY_ACTSTATE_IDLE, 
+      5.0, 6.0, 7.0, 8.0, PLAYER_ACTARRAY_ACTSTATE_MOVING, 
+      1]
+
+    msg = state.pack("NNg4Ng4NN")
+    @actarray.fill(
+      Player::Header.from_a([0,0,PLAYER_ACTARRAY_CODE,0, PLAYER_MSGTYPE_DATA, PLAYER_ACTARRAY_DATA_STATE, 0.0, 0, msg.bytesize]),
+      msg
+    )
+
+    @actarray[0].state.should eql(position: 1.0, speed: 2.0, acceleration: 3.0, current: 4.0, state: PLAYER_ACTARRAY_ACTSTATE_IDLE)
+    @actarray[1].state.should eql(position: 5.0, speed: 6.0, acceleration: 7.0, current: 8.0, state: PLAYER_ACTARRAY_ACTSTATE_MOVING)
+    @actarray.state[:motor_state].should eql(1)
+  end
+  
+  it 'should get geom by request' do
+   geom = [2, 0,
+     PLAYER_ACTARRAY_TYPE_LINEAR, 2.0, 0.1, 0.2, 0.3, 1.0, 2.0, 3.0, 0.0, 0.5, 1.0, 0.0, 2.0, 0, 
+     PLAYER_ACTARRAY_TYPE_ROTARY, 4.0, 1.1, 1.2, 1.3, 1.1, 2.1, 3.1, 0.0, 0.5, 1.0, 1.0, 1.0, 1,
+     0.5, 0.6, 0.7, 1.5, 1.6, 1.7]
+
+    msg = geom.pack("NNNgG6g5NNgG6g5NG6")
+    @actarray.handle_response(
+      Player::Header.from_a([0,0,PLAYER_ACTARRAY_CODE,0, PLAYER_MSGTYPE_RESP_ACK, PLAYER_ACTARRAY_REQ_GET_GEOM, 0.0, 0, msg.bytesize]),
+      msg
+    )
+
+    @actarray[0].geom.should eql(type: PLAYER_ACTARRAY_TYPE_LINEAR, length: 2.0, 
+                                 proll: 0.1, ppitch: 0.2, pyaw: 0.3,
+                                 px: 1.0, py: 2.0, pz: 3.0, 
+                                 min: 0.0, centre: 0.5, max: 1.0, home: 0.0,
+                                 config_speed: 2.0, hasbreaks: 0)
+
+    @actarray[1].geom.should eql(type: PLAYER_ACTARRAY_TYPE_ROTARY, length: 4.0, 
+                                 proll: 1.1, ppitch: 1.2, pyaw: 1.3,
+                                 px: 1.1, py: 2.1, pz: 3.1, 
+                                 min: 0.0, centre: 0.5, max: 1.0, home: 1.0,
+                                 config_speed: 1.0, hasbreaks: 1)
+
+    @actarray.geom.should eql(px: 0.5, py: 0.6, pz: 0.7, proll: 1.5, ppitch: 1.6, pyaw: 1.7)
+  end
+end