rubysphero 0.0.1

checksums.yaml

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+---
+SHA1:
+  metadata.gz: 95f29ec095f65e8310c4c3e235f4e6e852f70588
+  data.tar.gz: ac486753bb8b6997d813a631e707929c2aa0a689
+SHA512:
+  metadata.gz: cdc28a6a59f6adf1c16de55a3284da3bf40db9a48d3d79d928057cabe34ea5ca59721d1afd81ff0ab2206c69c8e476e9b9818c24a2a196e497db819967912003
+  data.tar.gz: 39111cb9d6ab71c0564cf66d04cbae6b8535fe9849a9b4a51bf4592ed12126a74c34698dbb1fa4f07d9ac1aa14161f0513249771c9a553a5f6f458a82bce4b5e

data/lib/rubysphero.rb

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+require 'rubyserial'
+require 'date'
+
+module SpheroUtilities
+
+
+	def print_format_bytes(bytes)
+		return_str=""
+		bytes.each do |rsp_array|
+			return_str += rsp_array.to_s(16)
+			return_str +=  " "
+		end # each
+		return return_str
+	end # def 
+
+
+	def do_checksum(bytes)
+		total=0
+		bytes.each do | a_byte |
+			total+=a_byte
+		end # each
+		logd "Checksum of these bytes: #{print_format_bytes(bytes)}"
+		chk1= (total%256)
+		chk2=  (chk1 ^ 0b11111111)
+		logd "Checksum calculated: #{chk2.to_s(16)}"
+		return chk2
+		
+	end # def 
+
+	def add_checksum(full_bytes)
+		to_chk_bytes = full_bytes.drop(2)
+		full_bytes.push do_checksum(to_chk_bytes)
+		return full_bytes
+	end # def
+	
+	def logd(log_str="")
+		puts DateTime.now.strftime("%Y-%m-%d %H:%M:%S.%L") + " " + log_str
+	end # def 
+
+end # mod 
+class SpheroClient
+
+	include SpheroUtilities
+
+		COLOURS = { 	:blue 	=> 	[0x00,0x00,0xFF],
+							:green 	=> 	[0x00,0xFF,0x00],
+							:red	=>	[0xFF,0x00,0x00],
+							:orange	=>	[0xFF,0x8C,0x00],
+							:yellow	=>	[0xFF,0xFF,0x00],
+							:white	=>	[0xFF,0xFF,0xFF],
+							:black	=>	[0x00,0x00,0x00],
+							:pink	=>	[0xFF,0x00,0xFF],
+							:grey	=>	[0x80,0x80,0x80]}
+	
+	def ping
+		logd()
+		logd "Building request: ping"
+		request=SpheroRequest.new()
+
+		request.sop1=0xFF	
+		request.sop2=0xFF
+
+		request.did=0x00 
+		request.cid=0x01 # Ping
+		request.seq=0x52
+		request.dlen=0x01
+		send_data(request.build_packet)
+		
+		read_data
+	end # def 
+
+	def send_data(data)
+		logd("Wire send next.")
+		@connection.write data
+
+	end # def 
+
+	def read_data
+		bytes=@connection.read(7).unpack("C*")
+		logd("Wire read finished.")
+		response = SpheroResponse.new( bytes)
+
+		return response
+		
+	end	# def
+	
+	def orientation
+			
+		set_back_led_output(255)
+		set_colour(:black)
+		1.step(720,5) do | heading | 	
+			roll(heading , 0)
+			
+			inputted_text=gets.chomp
+			
+			if inputted_text =="" then
+				# spin
+			elsif inputted_text==" "			
+				set_back_led_output(0)
+				set_heading(heading)
+				set_colour(:white)
+				break
+			else 
+				sleep 1	
+			end # if 
+		end # upto 	
+	
+	end # def 
+	
+	
+	def set_back_led_output(brightness)
+		logd()
+		logd "Building request: set back led output b"
+		
+		request=SpheroRequest.new()
+
+		request.sop1=0xFF	
+		request.sop2=0xFF
+
+		request.did=0x02 
+		request.cid=0x21 
+		request.seq=0x53
+		request.dlen=0x02
+		request.push_data brightness 
+		
+		send_data(request.build_packet)
+		read_data	
+	
+	end # def 
+	
+	def set_heading(heading_raw) 
+		logd
+		logd( "Building request: Set Heading")
+
+		request=SpheroRequest.new()
+		heading = heading_raw%359
+		logd( "Heading: #{heading}")
+		
+		request.sop1=0xFF	
+		request.sop2=0xFF
+
+		request.did=0x02 
+		request.cid=0x01
+		request.seq=0x55
+		request.dlen=0x03
+		
+		request.push_data(heading , :a16bit)
+		
+		send_data(request.build_packet)
+		read_data	
+	
+	
+	end # def 
+
+	def set_colour(chosen_colour) 
+		logd
+		logd("Locating RGB values for: #{chosen_colour}")
+		set_colour_rgb(COLOURS[chosen_colour][0],COLOURS[chosen_colour][1],COLOURS[chosen_colour][2])
+	end # def 
+	
+	
+	def set_colour_rgb(red_value,green_value,blue_value)
+		logd
+		logd "Building request: colour"
+		
+		request=SpheroRequest.new()
+
+		request.sop1=0xFF	
+		request.sop2=0xFF
+
+		request.did=0x02 
+		request.cid=0x20 # Set RGB Output
+		request.seq=0x53
+		request.dlen=0x05
+		request.push_data red_value 
+		request.push_data green_value
+		request.push_data blue_value  
+		flag=0x01
+		request.push_data flag 
+		
+		send_data(request.build_packet)
+		read_data
+	end # def 
+
+	def roll(heading_raw=0, speed=0xFF)
+		logd()
+		logd( "Building request: roll")
+
+		request=SpheroRequest.new()
+		heading = heading_raw%359
+		logd( "Heading: #{heading}")
+		
+		request.sop1=0xFF	
+		request.sop2=0xFF
+
+		request.did=0x02 
+		request.cid=0x30 # Roll
+		request.seq=0x54
+		request.dlen=0x05
+
+		state=0x01
+		
+		request.push_data speed
+		request.push_data(heading , :a16bit)
+		request.push_data state
+		
+		send_data(request.build_packet)
+		read_data	
+
+	end #def 
+
+	def initialize(bluetooth_address)
+		return open(bluetooth_address)
+	end # class
+
+	def open(bluetooth_address)
+		begin
+			@connection   = Serial.new bluetooth_address, 115200 ,8
+		rescue RubySerial::Exception
+			open bluetooth_address
+		end
+		return @connection
+	end # def 
+
+	def close
+		@connection.close
+	end # def 
+
+end # class 
+
+class SpheroResponse      
+	
+	include SpheroUtilities
+	
+	attr_accessor :calculated_checksum
+	attr_accessor :raw_checksum
+
+	attr_accessor :raw_data
+	attr_accessor :data
+	attr_accessor :valid
+
+
+	def initialize(raw_data)
+		@valid=false
+		@data=process_data(raw_data)
+	end # def
+	
+	def process_data(bytes)
+		if bytes.length == 0  
+			logd "Response: None received"
+		elsif bytes==nil
+			logd "Response: Was nil"
+		else 
+			logd "Response data raw: #{print_format_bytes(bytes)}"
+			bytes.shift
+			bytes.shift
+			@raw_checksum=bytes.pop
+
+			@calculated_checksum=do_checksum( bytes )
+			logd "Response checksum: #{@calculated_checksum.to_s(16)}"
+			if @raw_checksum == @calculated_checksum then
+				logd("Response Checksum is good")
+				@valid=true
+				@data=bytes
+			end # if 
+			
+		end # else 
+		
+	end	# def
+end # class
+
+class SpheroRequest
+	include SpheroUtilities
+	
+	attr_accessor :sop1
+	attr_accessor :sop2
+	attr_accessor :did
+	attr_accessor :cid
+	attr_accessor :dlen
+	attr_accessor :seq
+	attr_accessor :checksum
+	#attr_accessor :payload_data
+
+	
+	def initialize
+		@packet_data=Array.new
+		@payload_data=Array.new
+	end # def 
+	
+	def build_packet
+		packet_no_checksum=[@sop1, @sop2, @did, @cid, @seq, @dlen]
+
+		packet_no_checksum.concat @payload_data
+		packet_with_checksum=add_checksum(packet_no_checksum)
+		packet_packed=packet_with_checksum.pack("C*")	
+		logd(print_format_bytes(packet_with_checksum))
+		@packet_data=packet_packed
+		return @packet_data
+	end # def
+	
+	def push_data(data_input, length=:a8bit)
+		# 8bit and 16bit numbers
+		if data_input > 0xFF then
+			logd("Greater than 255, splitting into MSB and LSB)}")
+			logd("Masked: #{(data_input & 0b0000000100000000 ).to_s(2)}")
+			data_input_msb = 	 (data_input & 0b0000000100000000) >> 8
+			data_input_lsb = 	data_input & 0b0000000011111111
+			
+			logd("data_input MSB #{data_input_msb.to_s(2)}")
+			logd("data_input LSB #{data_input_lsb.to_s(2)}")		
+			@payload_data.push data_input_msb
+			@payload_data.push data_input_lsb
+		
+		else 
+			if length==:a16bit
+				@payload_data.push 0x00
+			end #if 
+			@payload_data.push data_input
+		end # else 
+	end # def
+	
+end # class 

metadata

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+--- !ruby/object:Gem::Specification
+name: rubysphero
+version: !ruby/object:Gem::Version
+  version: 0.0.1
+platform: ruby
+authors:
+- Pete Houghton
+autorequire: 
+bindir: bin
+cert_chain: []
+date: 2016-04-04 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: rubyserial
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '0.2'
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: 0.2.4
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '0.2'
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: 0.2.4
+description: A simple Sphero client library to control your Orbotic Sphero 2.0
+email: pete@investigatingsoftware.co.uk
+executables: []
+extensions: []
+extra_rdoc_files: []
+files:
+- lib/rubysphero.rb
+homepage: https://github.com/phoughton/rubysphero
+licenses:
+- MIT
+metadata: {}
+post_install_message: 
+rdoc_options: []
+require_paths:
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: '0'
+required_rubygems_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: '0'
+requirements: []
+rubyforge_project: 
+rubygems_version: 2.4.5.1
+signing_key: 
+specification_version: 4
+summary: A simple Sphero client library.
+test_files: []