ruby-player 0.3.0 → 0.4.0

data/spec/actuator_spec.rb

@@ -0,0 +1,89 @@
+require File.dirname(__FILE__) + "/spec_helper"
+
+include Player
+describe Player::Actuator 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)
+    @act = @actarray[0]
+  end
+
+  it 'should have joint number' do
+    @act.joint.should eql(0)
+  end
+
+  it 'should have default state' do
+    @act.state.should eql(position: 0.0, speed: 0.0, acceleration: 0.0, current: 0.0, state: 0 )
+    @act.geom.should eql(type: 0, length: 0.0, 
+        proll: 0.0, ppitch: 0.0, pyaw: 0.0, 
+        px: 0.0, py: 0.0, pz: 0.0,
+        min: 0.0, centre: 0.0, max: 0.0, home: 0.0,
+        config_speed: 0.0, hasbreaks: 0
+    )
+  end
+
+  it 'should set speed config ' do
+    should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_REQ_SPEED, [0, 0.2].pack("Ng"))
+    @act.set_speed_config(0.2)
+  end
+
+  it 'should set accel config' do
+    should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_REQ_ACCEL, [0, 0.3].pack("Ng"))
+    @act.set_accel_config(0.3)
+  end
+
+  it 'should set position joint' do
+    should_send_message(PLAYER_MSGTYPE_CMD, PLAYER_ACTARRAY_CMD_POS, [0, 0.4].pack("Ng"))
+    @act.set_position(0.4)
+  end
+
+  it 'should set speed ' do
+    should_send_message(PLAYER_MSGTYPE_CMD, PLAYER_ACTARRAY_CMD_SPEED, [0, 0.5].pack("Ng"))
+    @act.set_speed(0.5)
+  end
+
+  it 'should go to nome' do
+    should_send_message(PLAYER_MSGTYPE_CMD, PLAYER_ACTARRAY_CMD_HOME, [0].pack("N"))
+    @act.go_home!
+  end
+
+  it 'should be idle' do
+    @act.should_receive(:state).and_return(state: 0)
+    @act.idle?.should be_false
+
+    @act.should_receive(:state).and_return(state: PLAYER_ACTARRAY_ACTSTATE_IDLE)
+    @act.idle?.should be_true
+  end
+
+  it 'should be moving' do
+    @act.should_receive(:state).and_return(state: 0)
+    @act.moving?.should be_false
+
+    @act.should_receive(:state).and_return(state: PLAYER_ACTARRAY_ACTSTATE_MOVING)
+    @act.moving?.should be_true
+  end
+
+  it 'should be braked' do
+    @act.should_receive(:state).and_return(state: 0)
+    @act.braked?.should be_false
+
+    @act.should_receive(:state).and_return(state: PLAYER_ACTARRAY_ACTSTATE_BRAKED)
+    @act.braked?.should be_true
+  end
+
+  it 'should be stalled' do
+    @act.should_receive(:state).and_return(state: 0)
+    @act.stalled?.should be_false
+
+    @act.should_receive(:state).and_return(state: PLAYER_ACTARRAY_ACTSTATE_STALLED)
+    @act.stalled?.should be_true
+  end
+
+end
+

data/spec/client_spec.rb

@@ -122,6 +122,7 @@ describe Player::Client do
       mock_subscribe(PLAYER_POSITION2D_CODE)
    
       pos2d = @cl.subscribe("position2d")
+      pos2d.should be_an_instance_of(Player::Position2d)
       pos2d.addr.interface_name.should eql("position2d")
       pos2d.addr.index.should eql(0)
     end
@@ -130,6 +131,7 @@ describe Player::Client do
       mock_subscribe(PLAYER_RANGER_CODE, 1)
 
       ranger = @cl.subscribe(:ranger, index: 1)
+      ranger.should be_an_instance_of(Player::Ranger)
       ranger.addr.interface_name.should eql("ranger")
       ranger.addr.index.should eql(1)
     end
@@ -138,10 +140,28 @@ describe Player::Client do
       mock_subscribe(PLAYER_POWER_CODE, 2)
 
       power = @cl.subscribe(:power, index: 2)
+      power.should be_an_instance_of(Player::Power)
       power.addr.interface_name.should eql("power")
       power.addr.index.should eql(2)
     end
 
+    it "should describe to gripper:3" do
+      mock_subscribe(PLAYER_GRIPPER_CODE, 3)
+
+      gripper = @cl.subscribe(:gripper, index: 3)
+      gripper.should be_an_instance_of(Player::Gripper)
+      gripper.addr.interface_name.should eql("gripper")
+      gripper.addr.index.should eql(3)
+    end
+
+    it "should describe to actarray:4" do
+      mock_subscribe(PLAYER_ACTARRAY_CODE, 4)
+
+      actarray = @cl.subscribe(:actarray, index: 4)
+      actarray.should be_an_instance_of(Player::ActArray)
+      actarray.addr.interface_name.should eql("actarray")
+      actarray.addr.index.should eql(4)
+    end
   end
 
   private

data/spec/position2d_spec.rb

@@ -24,10 +24,10 @@ describe Player::Position2d do
 
   it 'should set motor power state' do
     should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_REQ_MOTOR_POWER, [0].pack("N"))
-    @pos2d.turn_off!
+    @pos2d.power_off!
 
     should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_REQ_MOTOR_POWER, [1].pack("N"))
-    @pos2d.turn_on!
+    @pos2d.power_on!
   end
 
   it 'should set velocity mode' do

data/spec/ranger_spec.rb

@@ -15,7 +15,7 @@ describe Player::Ranger do
   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.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)
     @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
 
@@ -26,10 +26,10 @@ describe Player::Ranger do
 
   it 'should set power state' do
     should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_POWER, [1].pack("N"))
-    @ranger.turn_on!
+    @ranger.power_on!
 
     should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_POWER, [0].pack("N"))
-    @ranger.turn_off!
+    @ranger.power_off!
   end
 
   it 'should  enable\disable intensity ' do
@@ -67,7 +67,7 @@ describe Player::Ranger do
       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)
+    @ranger.collect { |r| r.range }.should eql(rangers)
   end
 
   it 'should fill intensities data' do
@@ -77,7 +77,7 @@ describe Player::Ranger do
       ([4,0] + intns).pack("NNG*")
     )
    
-    @ranger.intensities.should eql(intns)
+    @ranger.collect { |r| r.intensity }.should eql(intns)
   end
 
   it 'should fill geom data' do
@@ -91,13 +91,9 @@ describe Player::Ranger do
       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 }
-      ]
-    )
+    @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)
+    @ranger[0].geom.should eql(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) 
+    @ranger[1].geom.should eql(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 get geom by request' do
@@ -112,13 +108,9 @@ describe Player::Ranger do
       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 }
-      ]
-    )
+    @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)
+    @ranger[0].geom.should eql(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) 
+    @ranger[1].geom.should eql(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 get config  by request' do

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: ruby-player
 version: !ruby/object:Gem::Version
-  version: 0.3.0
+  version: 0.4.0
   prerelease: 
 platform: ruby
 authors:
@@ -9,11 +9,11 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2012-02-16 00:00:00.000000000 Z
+date: 2012-02-21 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: isna
-  requirement: &18940320 !ruby/object:Gem::Requirement
+  requirement: &19658800 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ~>
@@ -21,10 +21,10 @@ dependencies:
         version: 0.0.4
   type: :runtime
   prerelease: false
-  version_requirements: *18940320
+  version_requirements: *19658800
 - !ruby/object:Gem::Dependency
   name: rspec
-  requirement: &18939820 !ruby/object:Gem::Requirement
+  requirement: &19658340 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ~>
@@ -32,10 +32,10 @@ dependencies:
         version: '2.7'
   type: :development
   prerelease: false
-  version_requirements: *18939820
+  version_requirements: *19658340
 - !ruby/object:Gem::Dependency
   name: rake
-  requirement: &18939180 !ruby/object:Gem::Requirement
+  requirement: &19657880 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ~>
@@ -43,10 +43,10 @@ dependencies:
         version: '0.9'
   type: :development
   prerelease: false
-  version_requirements: *18939180
+  version_requirements: *19657880
 - !ruby/object:Gem::Dependency
   name: pry
-  requirement: &18938680 !ruby/object:Gem::Requirement
+  requirement: &19657500 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -54,10 +54,10 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *18938680
+  version_requirements: *19657500
 - !ruby/object:Gem::Dependency
   name: yard
-  requirement: &18938080 !ruby/object:Gem::Requirement
+  requirement: &19657040 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -65,10 +65,10 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *18938080
+  version_requirements: *19657040
 - !ruby/object:Gem::Dependency
   name: redcarpet
-  requirement: &18937400 !ruby/object:Gem::Requirement
+  requirement: &19656620 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -76,10 +76,10 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *18937400
+  version_requirements: *19656620
 - !ruby/object:Gem::Dependency
   name: guard-rspec
-  requirement: &18936740 !ruby/object:Gem::Requirement
+  requirement: &19656200 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -87,7 +87,7 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *18936740
+  version_requirements: *19656200
 description: Ruby Player - Ruby client library for Player (tools for robots)
 email:
 - atimin@gmail.com
@@ -108,6 +108,8 @@ files:
 - examples/world/test.cfg
 - examples/world/test.world
 - lib/ruby-player.rb
+- lib/ruby-player/actarray.rb
+- lib/ruby-player/actuator.rb
 - lib/ruby-player/client.rb
 - lib/ruby-player/common.rb
 - lib/ruby-player/constants.rb
@@ -118,8 +120,11 @@ files:
 - lib/ruby-player/position2d.rb
 - lib/ruby-player/power.rb
 - lib/ruby-player/ranger.rb
+- lib/ruby-player/sensor.rb
 - lib/ruby-player/version.rb
 - ruby-player.gemspec
+- spec/actarray_spec.rb
+- spec/actuator_spec.rb
 - spec/client_spec.rb
 - spec/gripper_spec.rb
 - spec/position2d_spec.rb