rubysphero 0.0.1
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- checksums.yaml +7 -0
- data/lib/rubysphero.rb +322 -0
- metadata +64 -0
checksums.yaml
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---
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SHA1:
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metadata.gz: 95f29ec095f65e8310c4c3e235f4e6e852f70588
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data.tar.gz: ac486753bb8b6997d813a631e707929c2aa0a689
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SHA512:
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metadata.gz: cdc28a6a59f6adf1c16de55a3284da3bf40db9a48d3d79d928057cabe34ea5ca59721d1afd81ff0ab2206c69c8e476e9b9818c24a2a196e497db819967912003
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data.tar.gz: 39111cb9d6ab71c0564cf66d04cbae6b8535fe9849a9b4a51bf4592ed12126a74c34698dbb1fa4f07d9ac1aa14161f0513249771c9a553a5f6f458a82bce4b5e
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data/lib/rubysphero.rb
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require 'rubyserial'
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require 'date'
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module SpheroUtilities
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def print_format_bytes(bytes)
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return_str=""
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bytes.each do |rsp_array|
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return_str += rsp_array.to_s(16)
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return_str += " "
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end # each
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return return_str
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end # def
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def do_checksum(bytes)
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total=0
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bytes.each do | a_byte |
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total+=a_byte
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end # each
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logd "Checksum of these bytes: #{print_format_bytes(bytes)}"
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chk1= (total%256)
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chk2= (chk1 ^ 0b11111111)
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logd "Checksum calculated: #{chk2.to_s(16)}"
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return chk2
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end # def
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def add_checksum(full_bytes)
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to_chk_bytes = full_bytes.drop(2)
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full_bytes.push do_checksum(to_chk_bytes)
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return full_bytes
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end # def
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def logd(log_str="")
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puts DateTime.now.strftime("%Y-%m-%d %H:%M:%S.%L") + " " + log_str
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end # def
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end # mod
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class SpheroClient
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include SpheroUtilities
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COLOURS = { :blue => [0x00,0x00,0xFF],
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:green => [0x00,0xFF,0x00],
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:red => [0xFF,0x00,0x00],
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:orange => [0xFF,0x8C,0x00],
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:yellow => [0xFF,0xFF,0x00],
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:white => [0xFF,0xFF,0xFF],
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:black => [0x00,0x00,0x00],
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:pink => [0xFF,0x00,0xFF],
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:grey => [0x80,0x80,0x80]}
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def ping
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logd()
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logd "Building request: ping"
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request=SpheroRequest.new()
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request.sop1=0xFF
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request.sop2=0xFF
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request.did=0x00
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request.cid=0x01 # Ping
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request.seq=0x52
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request.dlen=0x01
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send_data(request.build_packet)
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read_data
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end # def
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def send_data(data)
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logd("Wire send next.")
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@connection.write data
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end # def
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def read_data
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bytes=@connection.read(7).unpack("C*")
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logd("Wire read finished.")
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response = SpheroResponse.new( bytes)
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return response
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end # def
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def orientation
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set_back_led_output(255)
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set_colour(:black)
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1.step(720,5) do | heading |
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roll(heading , 0)
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inputted_text=gets.chomp
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if inputted_text =="" then
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# spin
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elsif inputted_text==" "
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set_back_led_output(0)
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set_heading(heading)
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set_colour(:white)
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break
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else
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sleep 1
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end # if
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end # upto
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end # def
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def set_back_led_output(brightness)
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logd()
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logd "Building request: set back led output b"
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request=SpheroRequest.new()
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request.sop1=0xFF
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request.sop2=0xFF
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request.did=0x02
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request.cid=0x21
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request.seq=0x53
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request.dlen=0x02
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request.push_data brightness
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send_data(request.build_packet)
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read_data
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end # def
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def set_heading(heading_raw)
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logd
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logd( "Building request: Set Heading")
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request=SpheroRequest.new()
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heading = heading_raw%359
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logd( "Heading: #{heading}")
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request.sop1=0xFF
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request.sop2=0xFF
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request.did=0x02
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request.cid=0x01
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request.seq=0x55
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request.dlen=0x03
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request.push_data(heading , :a16bit)
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send_data(request.build_packet)
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read_data
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end # def
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def set_colour(chosen_colour)
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logd
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logd("Locating RGB values for: #{chosen_colour}")
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set_colour_rgb(COLOURS[chosen_colour][0],COLOURS[chosen_colour][1],COLOURS[chosen_colour][2])
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end # def
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def set_colour_rgb(red_value,green_value,blue_value)
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logd
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logd "Building request: colour"
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request=SpheroRequest.new()
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request.sop1=0xFF
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request.sop2=0xFF
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request.did=0x02
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request.cid=0x20 # Set RGB Output
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request.seq=0x53
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request.dlen=0x05
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request.push_data red_value
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request.push_data green_value
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request.push_data blue_value
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flag=0x01
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request.push_data flag
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send_data(request.build_packet)
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read_data
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end # def
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def roll(heading_raw=0, speed=0xFF)
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logd()
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logd( "Building request: roll")
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request=SpheroRequest.new()
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heading = heading_raw%359
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logd( "Heading: #{heading}")
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request.sop1=0xFF
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request.sop2=0xFF
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request.did=0x02
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request.cid=0x30 # Roll
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request.seq=0x54
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request.dlen=0x05
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state=0x01
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request.push_data speed
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request.push_data(heading , :a16bit)
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request.push_data state
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send_data(request.build_packet)
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read_data
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end #def
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def initialize(bluetooth_address)
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return open(bluetooth_address)
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end # class
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def open(bluetooth_address)
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begin
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@connection = Serial.new bluetooth_address, 115200 ,8
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rescue RubySerial::Exception
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open bluetooth_address
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end
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return @connection
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end # def
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def close
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@connection.close
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end # def
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end # class
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class SpheroResponse
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include SpheroUtilities
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attr_accessor :calculated_checksum
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attr_accessor :raw_checksum
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attr_accessor :raw_data
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attr_accessor :data
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attr_accessor :valid
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def initialize(raw_data)
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@valid=false
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@data=process_data(raw_data)
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end # def
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def process_data(bytes)
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if bytes.length == 0
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logd "Response: None received"
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elsif bytes==nil
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logd "Response: Was nil"
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else
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logd "Response data raw: #{print_format_bytes(bytes)}"
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bytes.shift
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bytes.shift
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@raw_checksum=bytes.pop
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@calculated_checksum=do_checksum( bytes )
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logd "Response checksum: #{@calculated_checksum.to_s(16)}"
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if @raw_checksum == @calculated_checksum then
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logd("Response Checksum is good")
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@valid=true
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@data=bytes
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end # if
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end # else
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end # def
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end # class
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class SpheroRequest
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include SpheroUtilities
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attr_accessor :sop1
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attr_accessor :sop2
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attr_accessor :did
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attr_accessor :cid
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attr_accessor :dlen
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attr_accessor :seq
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attr_accessor :checksum
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#attr_accessor :payload_data
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def initialize
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@packet_data=Array.new
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@payload_data=Array.new
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end # def
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def build_packet
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packet_no_checksum=[@sop1, @sop2, @did, @cid, @seq, @dlen]
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packet_no_checksum.concat @payload_data
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packet_with_checksum=add_checksum(packet_no_checksum)
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packet_packed=packet_with_checksum.pack("C*")
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logd(print_format_bytes(packet_with_checksum))
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@packet_data=packet_packed
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return @packet_data
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end # def
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def push_data(data_input, length=:a8bit)
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# 8bit and 16bit numbers
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if data_input > 0xFF then
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logd("Greater than 255, splitting into MSB and LSB)}")
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logd("Masked: #{(data_input & 0b0000000100000000 ).to_s(2)}")
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data_input_msb = (data_input & 0b0000000100000000) >> 8
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data_input_lsb = data_input & 0b0000000011111111
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308
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309
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logd("data_input MSB #{data_input_msb.to_s(2)}")
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logd("data_input LSB #{data_input_lsb.to_s(2)}")
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@payload_data.push data_input_msb
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@payload_data.push data_input_lsb
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|
314
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else
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if length==:a16bit
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@payload_data.push 0x00
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end #if
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318
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@payload_data.push data_input
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319
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end # else
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320
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end # def
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322
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end # class
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metadata
ADDED
@@ -0,0 +1,64 @@
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|
1
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--- !ruby/object:Gem::Specification
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2
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name: rubysphero
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3
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version: !ruby/object:Gem::Version
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4
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version: 0.0.1
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5
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platform: ruby
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6
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authors:
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7
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- Pete Houghton
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8
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autorequire:
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bindir: bin
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10
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cert_chain: []
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11
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date: 2016-04-04 00:00:00.000000000 Z
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12
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dependencies:
|
13
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- !ruby/object:Gem::Dependency
|
14
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name: rubyserial
|
15
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requirement: !ruby/object:Gem::Requirement
|
16
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requirements:
|
17
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- - "~>"
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18
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- !ruby/object:Gem::Version
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19
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version: '0.2'
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20
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- - ">="
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21
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- !ruby/object:Gem::Version
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22
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version: 0.2.4
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23
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type: :runtime
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24
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prerelease: false
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25
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version_requirements: !ruby/object:Gem::Requirement
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26
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requirements:
|
27
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- - "~>"
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28
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- !ruby/object:Gem::Version
|
29
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version: '0.2'
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30
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- - ">="
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31
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- !ruby/object:Gem::Version
|
32
|
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version: 0.2.4
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33
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description: A simple Sphero client library to control your Orbotic Sphero 2.0
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34
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email: pete@investigatingsoftware.co.uk
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35
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executables: []
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36
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extensions: []
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37
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extra_rdoc_files: []
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38
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files:
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39
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- lib/rubysphero.rb
|
40
|
+
homepage: https://github.com/phoughton/rubysphero
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41
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licenses:
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42
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- MIT
|
43
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metadata: {}
|
44
|
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post_install_message:
|
45
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rdoc_options: []
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46
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require_paths:
|
47
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- lib
|
48
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required_ruby_version: !ruby/object:Gem::Requirement
|
49
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requirements:
|
50
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+
- - ">="
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51
|
+
- !ruby/object:Gem::Version
|
52
|
+
version: '0'
|
53
|
+
required_rubygems_version: !ruby/object:Gem::Requirement
|
54
|
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requirements:
|
55
|
+
- - ">="
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56
|
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- !ruby/object:Gem::Version
|
57
|
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version: '0'
|
58
|
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requirements: []
|
59
|
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rubyforge_project:
|
60
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rubygems_version: 2.4.5.1
|
61
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signing_key:
|
62
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specification_version: 4
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63
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summary: A simple Sphero client library.
|
64
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test_files: []
|