ruby-player 0.4.1 → 0.5.0

data/spec/client_spec.rb

@@ -5,7 +5,7 @@ describe Player::Client do
   before do 
     @socket = mock("Socket")
 
-    TCPSocket.stub!(:new).with("localhost", 6665).and_return(@socket) 
+    TCPSocket.should_receive(:new).with("localhost", 6665).and_return(@socket) 
     @socket.stub! :flush
     Time.stub!(:now).and_return(0)
     
@@ -19,10 +19,12 @@ describe Player::Client do
     @cl = Player::Client.new("localhost", log_level: "debug")
   end
 
-#  it "should raise error if connection doesn't success" do
-#    lambda{ Player::Client.new(host: "localhost", post: 6666) }.should raise_error(StandardError, 
-#      "connect call on [localhost:6666] failed with error [111:Connection refused]")
-#  end
+=begin
+  it "should raise error if connection doesn't success" do
+    lambda{ Player::Client.new("localhost", port: 6666) }.should raise_error(StandardError, 
+      "connect call on [localhost:6666] failed with error [111:Connection refused]")
+  end
+=end
 
   it "should have close method" do
     @socket.should_receive(:closed?).and_return(false)
@@ -35,7 +37,8 @@ describe Player::Client do
   end
 
   it "should have block for connection" do
-    @socket.stub!(:read)
+    TCPSocket.should_receive(:new).with("localhost", 6665).and_return(@socket) 
+    @socket.should_receive(:read).with(PLAYER_IDENT_STRLEN).and_return("Mock player for 3.1-svn")
     @socket.stub!(:write)
     @socket.should_receive(:closed?).and_return(false)
     @socket.should_receive(:close)
@@ -45,6 +48,25 @@ describe Player::Client do
     end
   end
 
+  it "should write header to socket" do
+    hdr = Header.new
+    @socket.should_receive(:write).with(hdr.encode)
+    @socket.should_receive(:write).with("")
+
+    @cl.send_message_with_hdr(hdr, "")
+  end
+
+  it "shoul write message with header to socket" do
+    msg = "Hello"
+    hdr = Header.new(size: msg.bytesize)
+
+    @cl.should_receive(:send_header).with(hdr)
+    @socket.should_receive(:write).with(msg)
+    @socket.should_receive(:flush)
+
+    @cl.send_message_with_hdr(hdr, msg)
+  end
+
   describe "Device manage" do
     before do
       #subscribe two position2d
@@ -118,6 +140,15 @@ describe Player::Client do
       should_recive_sync
     end
 
+    it 'should for unique devices' do
+      mock_subscribe(PLAYER_POSITION2D_CODE)
+      @cl.subscribe("position2d")
+
+
+      mock_subscribe(PLAYER_POSITION2D_CODE)
+      @cl.subscribe("position2d").should be_nil
+    end
+
     it "should describe to position2d:0" do
       mock_subscribe(PLAYER_POSITION2D_CODE)
    
@@ -162,6 +193,16 @@ describe Player::Client do
       actarray.addr.interface_name.should eql("actarray")
       actarray.addr.index.should eql(4)
     end
+
+    it "should describe to actarray:5" do
+      mock_subscribe(PLAYER_BLOBFINDER_CODE, 5)
+
+      bf = @cl.subscribe(:blobfinder, index: 5)
+      bf.should be_an_instance_of(Player::BlobFinder)
+      bf.addr.interface_name.should eql("blobfinder")
+      bf.addr.index.should eql(5)
+    end
+
   end
 
   private

data/spec/dev_addr_spec.rb

@@ -0,0 +1,51 @@
+require "ruby-player"
+
+include Player
+
+describe Player::DevAddr do
+  before do
+    @data = [0, 0, PLAYER_PLAYER_CODE, 0]
+    @dev = make_dev_addr
+  end
+
+  it "should have attrs" do
+    @dev.host.should eql(0)
+    @dev.robot.should eql(0)
+    @dev.interface.should eql(PLAYER_PLAYER_CODE)
+    @dev.index.should eql(0)
+  end
+
+  it "should have interface_name" do
+    @dev.interface_name.should eql("player")
+  end
+
+  it "should be compare with other dev addr" do
+    other = DevAddr.new
+    @dev.should_not == other
+
+    other = make_dev_addr
+    @dev.should == other
+  end
+
+  it "should be made from string" do
+    DevAddr.decode(@data.pack("NNNN")).should == @dev
+  end
+
+  it "should encode itself to string for sending" do
+    @dev.encode.should eql(@data.pack("NNNN"))
+  end
+
+  it "should convert to array" do
+    @dev.to_a.should eql(@data)
+  end
+
+  private 
+  def make_dev_addr
+    DevAddr.new(
+      host: @data[0],
+      robot: @data[1],
+      interface: @data[2],
+      index: @data[3]
+    )
+  end
+end

data/spec/device_spec.rb

@@ -0,0 +1,27 @@
+require File.dirname(__FILE__) + "/spec_helper"
+
+include Player
+describe Player::Device do
+  before do
+    @dev_addr = DevAddr.new(interface: PLAYER_POSITION2D_CODE)
+    @client = mock_client
+    @dev = Device.new(@dev_addr, @client)
+  end
+
+  it "should have addr" do
+    @dev.addr.should == @dev_addr
+  end
+
+  it "should send message" do
+    Time.stub!(:now).and_return(0)
+    @client.should_receive(:send_message_with_hdr).with(
+      Header.new(
+        dev_addr: @dev_addr,
+        type: PLAYER_MSGTYPE_REQ,
+        subtype: PLAYER_POSITION2D_REQ_MOTOR_POWER,
+        size: 4
+      ), [0].pack("N")
+    )
+    @dev.send_message(PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_REQ_MOTOR_POWER, "\x0\x0\x0\x0")
+  end
+end

data/spec/gripper_spec.rb

@@ -22,7 +22,7 @@ describe Player::Position2d do
     )
   end
   
-  it 'should have open? attribute' do
+  it 'should have #open? method' do
     @gripper.should_receive(:state).and_return(state: PLAYER_GRIPPER_STATE_OPEN)
     @gripper.open?.should be_true
 
@@ -30,7 +30,7 @@ describe Player::Position2d do
     @gripper.open?.should be_false
   end
   
-  it 'should have closed? attribute' do
+  it 'should have #closed? method' do
     @gripper.should_receive(:state).and_return(state: PLAYER_GRIPPER_STATE_CLOSED)
     @gripper.closed?.should be_true
 
@@ -38,7 +38,7 @@ describe Player::Position2d do
     @gripper.closed?.should be_false
   end
 
-  it 'should have moving? attribute' do
+  it 'should have #moving? method' do
     @gripper.should_receive(:state).and_return(state: PLAYER_GRIPPER_STATE_MOVING)
     @gripper.moving?.should be_true
 
@@ -46,7 +46,7 @@ describe Player::Position2d do
     @gripper.moving?.should be_false
   end
 
-  it 'should have error? attribute' do
+  it 'should have #error? method' do
     @gripper.should_receive(:state).and_return(state: PLAYER_GRIPPER_STATE_ERROR)
     @gripper.error?.should be_true
 
@@ -54,6 +54,16 @@ describe Player::Position2d do
     @gripper.error?.should be_false
   end
 
+  it 'should have #beams attr' do
+    @gripper.should_receive(:state).and_return(beams: 4)
+    @gripper.beams.should eql(4)
+  end
+
+  it 'should have #stored attr' do
+    @gripper.should_receive(:state).and_return(stored: 2)
+    @gripper.stored.should eql(2)
+  end
+
   it 'should open gripper' do
     should_send_message(PLAYER_MSGTYPE_CMD, PLAYER_GRIPPER_CMD_OPEN)
     @gripper.open!

data/spec/header_spec.rb

@@ -0,0 +1,61 @@
+require "ruby-player"
+
+include Player
+
+describe Player::Header do
+  before do
+    @data = [
+      0, 0, PLAYER_PLAYER_CODE, 0,
+      PLAYER_MSGTYPE_REQ, PLAYER_PLAYER_REQ_DEV, 0.1, 0, 10
+    ]
+
+    @hdr = make_header
+  end
+
+  it "should have attrs" do
+    @hdr.dev_addr.should == Player::DevAddr.new(host: 0, robot: 0, interface: PLAYER_PLAYER_CODE, index: 0)
+    @hdr.type.should eql(PLAYER_MSGTYPE_REQ)
+    @hdr.subtype.should eql(PLAYER_PLAYER_REQ_DEV)
+    @hdr.size.should eql(10)
+  end
+
+  it "should have type_name" do
+    @hdr.type_name.should eql("MSGTYPE_REQ")
+  end
+
+  it "should have subtype_name" do
+    @hdr.subtype_name.should eql("PLAYER_REQ_DEV")
+  end
+
+  it "should comapre with other header" do
+    other = Header.new
+    @hdr.should_not == other
+
+    other =  make_header
+    @hdr.should == other
+  end
+
+  it "should decode itself from string " do
+    Header.decode(@data.pack("NNNNNNGNN")).should == @hdr
+  end
+
+  it "should be made form array" do
+    Header.from_a(@data).should == @hdr
+  end
+
+  it "should encode string for sending" do
+    @hdr.encode.should eql(@data.pack("NNNNNNGNN"))
+  end
+
+  private
+  def make_header
+    Player::Header.new(
+      dev_addr: Player::DevAddr.new(host: @data[0], robot: @data[1], interface: @data[2], index: @data[3]),
+      type: @data[4],
+      subtype: @data[5],
+      time: @data[6],
+      seq: @data[7],
+      size: @data[8]
+    )
+  end
+end

data/spec/position2d_spec.rb

@@ -17,6 +17,44 @@ describe Player::Position2d do
     @pos2d.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)
   end
 
+  it 'should have #px attributes' do
+    @pos2d.should_receive(:state).and_return(px: 2.2)
+    @pos2d.px.should eql(2.2)
+  end
+
+  it 'should have #py attributes' do
+    @pos2d.should_receive(:state).and_return(py: 2.9)
+    @pos2d.py.should eql(2.9)
+  end
+
+  it 'should have #pa attributes' do
+    @pos2d.should_receive(:state).and_return(pa: 0.2)
+    @pos2d.pa.should eql(0.2)
+  end
+
+  it 'should have #vx attributes' do
+    @pos2d.should_receive(:state).and_return(vx: 0.1)
+    @pos2d.vx.should eql(0.1)
+  end
+
+  it 'should have #vy attributes' do
+    @pos2d.should_receive(:state).and_return(vy: 0.9)
+    @pos2d.vy.should eql(0.9)
+  end
+
+  it 'should have #va attributes' do
+    @pos2d.should_receive(:state).and_return(va: 4.2)
+    @pos2d.va.should eql(4.2)
+  end
+
+  it 'should have #power? method' do
+    @pos2d.should_receive(:state).and_return(stall: 0)
+    @pos2d.power?.should be_false
+
+    @pos2d.should_receive(:state).and_return(stall: 1)
+    @pos2d.power?.should be_true
+  end
+
   it 'should query geometry' do
     should_send_message(PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_REQ_GET_GEOM)
     @pos2d.query_geom

data/spec/power_spec.rb

@@ -17,6 +17,26 @@ describe Player::Power 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 attr' do
+    @power.should_receive(:state).and_return(volts: 3.3)
+    @power.volts.should eql(3.3)
+  end
+  
+  it 'should have #percent attr' do
+    @power.should_receive(:state).and_return(percent: 90.0)
+    @power.percent.should eql(90.0)
+  end
+  
+  it 'should have #joules attr' do
+    @power.should_receive(:state).and_return(joules: 23.2)
+    @power.joules.should eql(23.2)
+  end
+  
+  it 'should have #watts attr' do
+    @power.should_receive(:state).and_return(watts: 9.4)
+    @power.watts.should eql(9.4)
+  end
+
   it 'should have volts_valid? attribute' do
     @power.should_receive(:state).and_return(valid: 1)
     @power.volts_valid?.should be_true

data/spec/ranger_spec.rb

@@ -13,8 +13,6 @@ describe Player::Ranger do
   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)
     @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

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: ruby-player
 version: !ruby/object:Gem::Version
-  version: 0.4.1
+  version: 0.5.0
   prerelease: 
 platform: ruby
 authors:
@@ -9,11 +9,11 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2012-03-06 00:00:00.000000000 Z
+date: 2012-03-21 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: isna
-  requirement: &10656420 !ruby/object:Gem::Requirement
+  requirement: &9997220 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ~>
@@ -21,10 +21,10 @@ dependencies:
         version: 0.0.4
   type: :runtime
   prerelease: false
-  version_requirements: *10656420
+  version_requirements: *9997220
 - !ruby/object:Gem::Dependency
   name: rspec
-  requirement: &10655940 !ruby/object:Gem::Requirement
+  requirement: &9996380 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ~>
@@ -32,10 +32,10 @@ dependencies:
         version: '2.7'
   type: :development
   prerelease: false
-  version_requirements: *10655940
+  version_requirements: *9996380
 - !ruby/object:Gem::Dependency
   name: rake
-  requirement: &10655440 !ruby/object:Gem::Requirement
+  requirement: &9995860 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ~>
@@ -43,10 +43,10 @@ dependencies:
         version: '0.9'
   type: :development
   prerelease: false
-  version_requirements: *10655440
+  version_requirements: *9995860
 - !ruby/object:Gem::Dependency
   name: pry
-  requirement: &10655040 !ruby/object:Gem::Requirement
+  requirement: &9994940 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -54,10 +54,10 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *10655040
+  version_requirements: *9994940
 - !ruby/object:Gem::Dependency
   name: yard
-  requirement: &10654440 !ruby/object:Gem::Requirement
+  requirement: &9994240 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -65,10 +65,10 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *10654440
+  version_requirements: *9994240
 - !ruby/object:Gem::Dependency
   name: redcarpet
-  requirement: &10653560 !ruby/object:Gem::Requirement
+  requirement: &9993500 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -76,10 +76,10 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *10653560
+  version_requirements: *9993500
 - !ruby/object:Gem::Dependency
   name: guard-rspec
-  requirement: &10652440 !ruby/object:Gem::Requirement
+  requirement: &9993080 !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -87,7 +87,7 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *10652440
+  version_requirements: *9993080
 description: Ruby Player - Ruby client library for Player (tools for robots)
 email:
 - atimin@gmail.com
@@ -110,6 +110,8 @@ files:
 - lib/ruby-player.rb
 - lib/ruby-player/actarray.rb
 - lib/ruby-player/actuator.rb
+- lib/ruby-player/blob.rb
+- lib/ruby-player/blob_finder.rb
 - lib/ruby-player/client.rb
 - lib/ruby-player/common.rb
 - lib/ruby-player/constants.rb
@@ -125,8 +127,13 @@ files:
 - ruby-player.gemspec
 - spec/actarray_spec.rb
 - spec/actuator_spec.rb
+- spec/blob_finder_spec.rb
+- spec/blob_spec.rb
 - spec/client_spec.rb
+- spec/dev_addr_spec.rb
+- spec/device_spec.rb
 - spec/gripper_spec.rb
+- spec/header_spec.rb
 - spec/position2d_spec.rb
 - spec/power_spec.rb
 - spec/ranger_spec.rb
@@ -151,7 +158,7 @@ required_rubygems_version: !ruby/object:Gem::Requirement
       version: '0'
 requirements: []
 rubyforge_project: 
-rubygems_version: 1.8.15
+rubygems_version: 1.8.17
 signing_key: 
 specification_version: 3
 summary: Ruby Player - Ruby client library for Player (tools for robots)