ruby-player 0.5.1 → 0.6.0

data/NEWS.md

@@ -1,3 +1,15 @@
+## 2012-06-17 0.6.0
+
+* Deleted deprecated methods.
+* Added method Position2d#set_pose.
+* Added alternate method for subscribing:
+
+  ```ruby
+    robot.ranger(1) # eql robot.subscribe(:ranger, index: 1)
+  ```
+
+* Added *aio* interface.
+
 ## 2012-04-13 0.5.1
 
 * Fixed bugs in XDR array for ActArray, BlobFinder and Ranger classes.

data/README.md

@@ -1,11 +1,9 @@
-Ruby Player - Ruby client library for Player (tools for robots) [![Build Status](https://secure.travis-ci.org/flipback/ruby-player.png)](http://travis-ci.org/flipback/ruby-player)
+Ruby Player - client library for the Player (operation system for robots) in pure Ruby. [![Build Status](https://secure.travis-ci.org/flipback/ruby-player.png)](http://travis-ci.org/flipback/ruby-player)
 
 Summary
 -------------------------------------
 Ruby Player provide high level client library to access to Player server in pure Ruby.
 
-This project is active developing now! *Please don't use it in serious projects.*
-
 Why?
 -------------------------------------
 The Player project distributes bindings of client libraries for Ruby and Python but I think that this project has several reasons to be:
@@ -22,17 +20,19 @@ Install
 Example
 -------------------------------------
 
+  ```ruby
     require 'ruby-player'
     Player::Client.connect("localhost") do |robot|
-      pos2d = robot.subscribe("position2d", index: 0)
-      ranger = robot.subscribe(:ranger)
+      pos2d = robot.position2d(1)
+      ranger = robot.ranger
       pos2d.set_speed(vx: 1, vy: 0, va: 0.2)
       #main loop
       robot.loop do
         puts "Position: x=%{px}, y=%{py}, a=%{pa}" % pos2d.state
-        puts "Rangers: #{ranger.collect { |r| r.range }}"
+        puts "Rangers: #{ranger.collect(&:range)}"
       end
     end
+  ```
 
 API coverage 
 -------------------------------------
@@ -40,6 +40,7 @@ The list of support objects and devices of Player.
 
 * Client object
 * ActArray
+* AIO
 * BlobFinder
 * Gripper
 * Position2d
@@ -57,13 +58,15 @@ Requirements
 References
 -------------------------------------
 
-[Home page](http://www.github.com/flipback/ruby-player)
+[Home page](http://flipback.github.com/ruby-player/)
+
+[Wiki](https://github.com/flipback/ruby-player/wiki)
 
 [Documentation](http://rubydoc.info/gems/ruby-player/)
 
 [Player project](http://playerstage.sourceforge.net/)
 
-[C API Player](http://playerstage.sourceforge.net/doc/Player-3.0.2/player/group__player__clientlib__libplayerc.html)
+[C API Player](http://playerstage.sourceforge.net/doc/Player-svn/player/group__player__clientlib__libplayerc.html)
 
 Authors
 -------------------------------------

data/TODO.md

@@ -5,10 +5,6 @@ For supported devices
 
 Implement PLAYER_RANGER_DATA_RANGESTAMPED and PLAYER_RANGER_DATA_INTNSTAMPED
 
-**position2d** - The position2d proxy provides an interface to a mobile robot base
-
-Implement PLAYER_POSITION2D_CMD_POS command
-
 Candidates for support
 --------------------------------------
 
@@ -21,8 +17,6 @@ Candidates for support
 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.

data/lib/ruby-player.rb

@@ -25,6 +25,7 @@ require "ruby-player/client"
 #interfaces
 require "ruby-player/actuator"
 require "ruby-player/actarray"
+require "ruby-player/aio"
 require "ruby-player/blob"
 require "ruby-player/blob_finder"
 require "ruby-player/gripper"

data/lib/ruby-player/aio.rb

@@ -0,0 +1,73 @@
+# 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
+  # The aio interface provides access to an analog I/O device.
+  class AIO < Device
+    include Enumerable
+
+    attr_reader :state
+
+    def initialize(dev, client)
+      super
+      @state = { voltages: [] }
+    end
+
+    # The samples [V] 
+    # @retrun [Array]
+    def voltages
+      state[:voltages]
+    end
+
+    # The aio interface allows for the voltage level on one output to be set
+    # @param id [Integer] which I/O output to command.
+    # @param voltage [Float] voltage level to set. 
+    # @return [AIO] self
+    def set_voltage(id, voltage)
+      send_message(PLAYER_MSGTYPE_CMD, PLAYER_AIO_CMD_STATE, [id, voltage].pack("Ng"))
+      self
+    end
+
+    def fill(hdr, msg)
+      case hdr.subtype
+      when PLAYER_AIO_DATA_STATE
+        read_state(msg)
+      else
+        unexpected_message hdr
+      end
+    end
+
+    # Get single sample [V]
+    # @return [Float]
+    def [](id)
+      state[:voltages][id] 
+    end
+
+    # @see #set_voltage
+    def []=(id, voltage)
+      set_voltage(id, voltage) 
+    end
+
+    def each
+      state[:voltages].each { |v| yield v }  
+    end
+
+    private
+    def read_state(msg)
+      data = msg.unpack("NNg*")
+      @state[:voltages] = data[2..-1]
+      debug "Got voltages #{data[2..-1]}"
+    end
+  end
+end

data/lib/ruby-player/client.rb

@@ -137,10 +137,10 @@ module Player
         # read device identifier
         dev_addr = DevAddr.decode(msg[0,PLAYERXDR_DEVADDR_SIZE])
         # read the granted access and driver name
-        data = msg[PLAYERXDR_DEVADDR_SIZE,8].unpack("N*")
+        data = msg[PLAYERXDR_DEVADDR_SIZE,8].unpack("NN")
         access = data[0]
         # read driver name
-        drv_name = msg[-data[1]-2..-1]
+        drv_name = msg[-data[1]-3..-1]
 
         if access == PLAYER_ERROR_MODE
           raise_error "Error subscribing to " + dev_addr.interface_name + ":" + dev_addr.index 
@@ -219,5 +219,13 @@ module Player
       debug "Read #{hdr}"
       hdr
     end
+
+    def method_missing(name, *args)
+      if Player.constants.include?("PLAYER_#{name.to_s.upcase}_CODE".to_sym)
+        subscribe(name, index:args[0], access:args[1])
+      else
+        super
+      end
+    end
   end
 end

data/lib/ruby-player/position2d.rb

@@ -14,7 +14,6 @@
 
 module Player
   # The position2d proxy provides an interface to a mobile robot base
-  # TODO: Implement PLAYER_POSITION2D_CMD_POS command
   #
   # @example
   #   # get proxy object
@@ -86,18 +85,6 @@ module Player
       state[:stall] != 0 
     end
 
-    # @deprecated Use {#power?}
-    def power
-      warn "Method `power` is deprecated. Pleas use `power?`"
-      power?
-    end
-
-    # @deprecated Use {#state}
-    def position
-      warn "Method `position` is deprecated. Pleas use `data` for access to position"
-      state
-    end
-
     # Query robot geometry 
     # @return [Position2d] self
     def query_geom
@@ -112,12 +99,6 @@ module Player
       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
     # @return [Position2d] self
     def power_off!
@@ -125,12 +106,6 @@ module Player
       self
     end
 
-    # @deprecated Use {#power_off!}
-    def turn_off!
-      warn "Method `turn_off!` is deprecated. Pleas use `power_off!`"
-      power_off!
-    end
-
     # @return [Position2d] self
     def direct_speed_control!
       send_message(PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_REQ_VELOCITY_MODE, [0].pack("N"))
@@ -233,7 +208,7 @@ module Player
     # @option speeds :va rotational speed (rad/s).     
     # @option speeds :stall state of motor
     # @return [Position2d] self
-    def set_speed(speeds)
+    def set_speed(speeds={})
       data = [
         speeds[:vx] || @state[:vx],
         speeds[:vy] || @state[:vy],
@@ -249,7 +224,7 @@ module Player
     # @option speeds :vx forward speed (m/s)
     # @option speeds :a turning angle (rad).     
     # @return [Position2d] self
-    def set_car(speeds)
+    def set_car(speeds={})
       data = [ 
         speeds[:vx] || @state[:vx],
         speeds[:a] || 0
@@ -264,15 +239,41 @@ module Player
     # @option speeds :vx forward speed (m/s)
     # @option speeds :a absolutle angle (rad).     
     # @return [Position2d] self
-    def set_speed_head(speeds)
+    def set_speed_head(speeds={})
       data = [ 
         speeds[:vx] || @state[:vx],
-        speeds[:a] || @state[:pa]
+        speeds[:a] || @state[:pa],
       ]
       send_message(PLAYER_MSGTYPE_CMD, PLAYER_POSITION2D_CMD_VEL_HEAD, data.pack("GG"))
       self
     end
 
+    # Set the target pose  with motion vel. (gx, gy, ga) is the target pose in the
+    # odometric coordinate system.
+    # @param [Hash] pose
+    # @option pose :gx x coordinate [m]
+    # @option pose :gy y coordinate [m]
+    # @option pose :ga angle [rad] 
+    # @option pose :vx forward vel [m/s] (default current)
+    # @option pose :vy sideways vel [m/s] (default current)
+    # @option pose :va rotational speed [rad/s] (default current)
+    # @option pose :stall state of motor (default current)
+    # @return [Position2d] self
+    def set_pose(pose={})
+      data = [
+        pose[:gx].to_f,
+        pose[:gy].to_f,
+        pose[:ga].to_f,
+        pose[:vx] || @state[:vx],
+        pose[:vy] || @state[:vy],
+        pose[:va] || @state[:va],
+        pose[:stall] || @state[:stall]
+      ]
+
+      send_message(PLAYER_MSGTYPE_CMD, PLAYER_POSITION2D_CMD_POS, data.pack("GGGGGGN"))
+      self
+    end
+
     # Stop robot set speed to 0
     # @return [Position2d] self
     def stop!

data/lib/ruby-player/ranger.rb

@@ -15,19 +15,17 @@
 module Player
   # The ranger proxy provides an interface to the ranger sensors built into robots
   # TODO Implement PLAYER_RANGER_DATA_RANGESTAMPED and PLAYER_RANGER_DATA_INTNSTAMPED
-  #
+  # TODO Implement state attr => { ranges: [0.0, 0.0], intensity: [0.0, 0.0] }
   # @example
   #   ranger = robot.subscribe(:ranger, index: 0)
   #   ranger[0].range #=> 0.2
   class Ranger < Device
     include Enumerable
 
- 
     # Configuration of ranger
     # @see #set_config
     attr_reader :config
 
-
     # Device geometry
     # @return [Hash] geometry { :px, :py. :pz, :proll, :ppitch, :pyaw, :sw, :sl, :sh, :sensors => [geom of sensors] }
     attr_reader :geom
@@ -39,18 +37,6 @@ module Player
       @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.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.intensity }`"
-      @sensors.collect { |s| s.intensity }
-    end
-
     # Query ranger geometry 
     # @return [Ranger] self
     def query_geom
@@ -65,12 +51,6 @@ module Player
       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
     # @return [Ranger] self
     def power_off!
@@ -78,12 +58,6 @@ module Player
       self
     end
 
-    # @deprecated Use {#power_off!}
-    def turn_off!
-      warn "Method `turn_off!` is deprecated. Pleas use `power_off!`"
-      power_off!
-    end
-
     # @return [Ranger] self
     def intensity_enable!
       send_message(PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_INTNS, [1].pack("N"))
@@ -122,6 +96,7 @@ module Player
     def fill(hdr, msg)
       case hdr.subtype
       when PLAYER_RANGER_DATA_RANGE
+        # TODO: remove to separate method read_range
         data = msg.unpack("NNG*")
         data[2..-1].each_with_index do |r, i|
           self[i].state[:range] = r
@@ -129,6 +104,7 @@ module Player
 
         debug "Got rangers #{@sensors.collect { |s| s.state[:range] }}"
       when PLAYER_RANGER_DATA_INTNS
+        # TODO: remove to separate method read_intns
         data = msg.unpack("NNG*")
         data[2..-1].each_with_index do |ints, i|
           self[i].state[:intensity] = ints
@@ -196,8 +172,6 @@ module Player
           .each_with_index { |k,j| self[i].geom[k] = sizes[3*i + j] }
         debug("Got sizes for ##{i} sensor: sw=%.2f, sl=%.2f, sh=%.2f" % @sensors[i].geom.values[6,3])
       end
-
     end
-
   end
 end 

data/lib/ruby-player/version.rb

@@ -13,5 +13,5 @@
 # GNU General Public License for more details.
 
 module Player
-  VERSION = "0.5.1"
+  VERSION = "0.6.0"
 end

data/ruby-player.gemspec

@@ -7,9 +7,9 @@ Gem::Specification.new do |s|
   s.version     = Player::VERSION
   s.authors     = ["Aleksey Timin"]
   s.email       = ["atimin@gmail.com"]
-  s.homepage    = "http://www.github.com/flipback/ruby-player"
-  s.summary     = %q{Ruby Player - Ruby client library for Player (tools for robots)}
-  s.description = %q{Ruby Player - Ruby client library for Player (tools for robots)}
+  s.homepage    = "http://flipback.github.com/ruby-player/"
+  s.summary     = %q{Ruby player - client library for the Player (operation system for robots) in pure Ruby.}
+  s.description = %q{Ruby Player - client library for the Player (operation system for robots) in pure Ruby.}
 
   s.files         = `git ls-files`.split("\n")
   s.test_files    = `git ls-files -- {test,spec,features}/*`.split("\n")

data/spec/aio_spec.rb

@@ -0,0 +1,48 @@
+require File.dirname(__FILE__) + "/spec_helper"
+
+include Player
+describe AIO do
+  before do
+    client = mock_client
+    @aio = Player::AIO.new(
+      Player::DevAddr.new(host: 0, robot:0, interface: PLAYER_AIO_CODE, index: 0),
+      client
+    )
+
+    mock_sending_message(@aio)
+  end
+
+  it 'should have default values' do
+    @aio.state.should eql(voltages: [])
+  end
+
+  it 'should have #voltages attr' do
+    @aio.should_receive(:state).and_return(voltages: [0.2])
+    @aio.voltages.should eql([0.2])
+  end
+
+  it 'should set output' do
+    should_send_message(PLAYER_MSGTYPE_CMD, PLAYER_AIO_CMD_STATE, [0, 0.5].pack("Ng"))
+    @aio.set_voltage(0, 0.5) 
+  end
+
+  it 'should set output by #[]=' do
+    should_send_message(PLAYER_MSGTYPE_CMD, PLAYER_AIO_CMD_STATE, [0, 0.5].pack("Ng"))
+    @aio[0] = 0.5
+  end
+
+  it 'should fill data' do
+    msg = [ 4, 4, 0.5, 1.0, 2.0, 4.0 ].pack('NNg*')
+    @aio.fill(
+      Player::Header.from_a([0,0,PLAYER_AIO_CODE,0, PLAYER_MSGTYPE_DATA, PLAYER_AIO_DATA_STATE, 0.0, 0, msg.bytesize]),
+      msg
+    ) 
+
+    @aio.state[:voltages].should eql([0.5, 1.0, 2.0, 4.0])
+  end
+
+  it 'should implement Enumerable' do
+    @aio.stub(:state).and_return(voltages: [0.2, 0.4])
+    @aio.each_with_index { |v, i| v.should eql(@aio[i]) }
+  end
+end

data/spec/client_spec.rb

@@ -124,22 +124,33 @@ describe Player::Client do
   end
 
   describe "Subscribe" do
-    def mock_subscribe(code, index=0)
+    def mock_subscribe(code, index=0, mode=PLAYER_OPEN_MODE)
       should_send_message(
         hdr(0, 0, 1, 0, PLAYER_MSGTYPE_REQ, PLAYER_PLAYER_REQ_DEV, 0.0, 0, 28),
-        [0, 0, code, index, PLAYER_OPEN_MODE, 0, 0].pack("N*")
+        [0, 0, code, index, mode, 0, 0].pack("N*")
       )
 
       should_request_data
 
       should_read_message(
         hdr(16777343, 6665, PLAYER_PLAYER_CODE, 0, PLAYER_MSGTYPE_RESP_ACK, PLAYER_PLAYER_REQ_DEV, 0.0, 0, 35),
-        [0, 6665, code, index, PLAYER_OPEN_MODE, 5, 5].pack("N*") + "mock"
+        [0, 6665, code, index, mode, 5, 5].pack("N*") + "mock"
       )
 
       should_recive_sync
     end
 
+    it 'should have alternate method for subscribing' do
+      mock_subscribe(PLAYER_POSITION2D_CODE)
+      @cl.position2d
+
+      mock_subscribe(PLAYER_RANGER_CODE, 1)
+      @cl.ranger(1)
+
+      mock_subscribe(PLAYER_GRIPPER_CODE, 2, PLAYER_CLOSE_MODE)
+      @cl.gripper(2, PLAYER_CLOSE_MODE)
+    end
+
     it 'should for unique devices' do
       mock_subscribe(PLAYER_POSITION2D_CODE)
       @cl.subscribe("position2d")

data/spec/position2d_spec.rb

@@ -162,6 +162,13 @@ describe Player::Position2d do
     @pos2d.set_speed_head(speed)
   end
 
+  it 'should set pose' do
+    pose = { gx: 0.4, gy: 0.5, ga: 0.7, vx: 0.1, vy: 0.2, va: 0.3, stall: 1 }
+    should_send_message(PLAYER_MSGTYPE_CMD, PLAYER_POSITION2D_CMD_POS, pose.values.pack("GGGGGGN"))
+
+    @pos2d.set_pose(pose)
+  end
+
   it 'should have stop' do
     @pos2d.should_receive(:set_speed).with(vx: 0, vy: 0, va: 0)
     @pos2d.stop!

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: ruby-player
 version: !ruby/object:Gem::Version
-  version: 0.5.1
+  version: 0.6.0
   prerelease: 
 platform: ruby
 authors:
@@ -9,11 +9,11 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2012-04-13 00:00:00.000000000 Z
+date: 2012-06-17 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: isna
-  requirement: &20241760 !ruby/object:Gem::Requirement
+  requirement: !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ~>
@@ -21,10 +21,15 @@ dependencies:
         version: 0.0.4
   type: :runtime
   prerelease: false
-  version_requirements: *20241760
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 0.0.4
 - !ruby/object:Gem::Dependency
   name: rspec
-  requirement: &20239840 !ruby/object:Gem::Requirement
+  requirement: !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ~>
@@ -32,10 +37,15 @@ dependencies:
         version: '2.7'
   type: :development
   prerelease: false
-  version_requirements: *20239840
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '2.7'
 - !ruby/object:Gem::Dependency
   name: rake
-  requirement: &20238180 !ruby/object:Gem::Requirement
+  requirement: !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ~>
@@ -43,10 +53,15 @@ dependencies:
         version: '0.9'
   type: :development
   prerelease: false
-  version_requirements: *20238180
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '0.9'
 - !ruby/object:Gem::Dependency
   name: pry
-  requirement: &20237480 !ruby/object:Gem::Requirement
+  requirement: !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -54,10 +69,15 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *20237480
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ! '>='
+      - !ruby/object:Gem::Version
+        version: '0'
 - !ruby/object:Gem::Dependency
   name: yard
-  requirement: &20236500 !ruby/object:Gem::Requirement
+  requirement: !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -65,10 +85,15 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *20236500
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ! '>='
+      - !ruby/object:Gem::Version
+        version: '0'
 - !ruby/object:Gem::Dependency
   name: redcarpet
-  requirement: &20235180 !ruby/object:Gem::Requirement
+  requirement: !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -76,10 +101,15 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *20235180
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ! '>='
+      - !ruby/object:Gem::Version
+        version: '0'
 - !ruby/object:Gem::Dependency
   name: guard-rspec
-  requirement: &20233600 !ruby/object:Gem::Requirement
+  requirement: !ruby/object:Gem::Requirement
     none: false
     requirements:
     - - ! '>='
@@ -87,8 +117,14 @@ dependencies:
         version: '0'
   type: :development
   prerelease: false
-  version_requirements: *20233600
-description: Ruby Player - Ruby client library for Player (tools for robots)
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ! '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+description: Ruby Player - client library for the Player (operation system for robots)
+  in pure Ruby.
 email:
 - atimin@gmail.com
 executables: []
@@ -110,6 +146,7 @@ files:
 - lib/ruby-player.rb
 - lib/ruby-player/actarray.rb
 - lib/ruby-player/actuator.rb
+- lib/ruby-player/aio.rb
 - lib/ruby-player/blob.rb
 - lib/ruby-player/blob_finder.rb
 - lib/ruby-player/client.rb
@@ -127,6 +164,7 @@ files:
 - ruby-player.gemspec
 - spec/actarray_spec.rb
 - spec/actuator_spec.rb
+- spec/aio_spec.rb
 - spec/blob_finder_spec.rb
 - spec/blob_spec.rb
 - spec/client_spec.rb
@@ -138,7 +176,7 @@ files:
 - spec/power_spec.rb
 - spec/ranger_spec.rb
 - spec/spec_helper.rb
-homepage: http://www.github.com/flipback/ruby-player
+homepage: http://flipback.github.com/ruby-player/
 licenses: []
 post_install_message: 
 rdoc_options: []
@@ -158,9 +196,10 @@ required_rubygems_version: !ruby/object:Gem::Requirement
       version: '0'
 requirements: []
 rubyforge_project: 
-rubygems_version: 1.8.15
+rubygems_version: 1.8.23
 signing_key: 
 specification_version: 3
-summary: Ruby Player - Ruby client library for Player (tools for robots)
+summary: Ruby player - client library for the Player (operation system for robots)
+  in pure Ruby.
 test_files: []
 has_rdoc: