rubysphero 0.0.2 → 0.1.0

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA1:
-  metadata.gz: 634d5c52ce52dece3c540e662dbfef7f7aa50fb9
-  data.tar.gz: 721f4e07381929fd20fc64c2a381d6a5e17a7a46
+  metadata.gz: fb0c823e70621ca1e5f9db16cd92117a224a9b74
+  data.tar.gz: f495e0bb123f9d8a9c38f304b72833ab748b1e5b
 SHA512:
-  metadata.gz: 914745898bccac50217daab9c34d1768d9eb98fefb724f5a5e4e84d3271af9243818a3e5a4a3efdba27b9db9752451e6ba5c3e871a2729f6ee4f226244285173
-  data.tar.gz: d16fca27c0aaed518fb6657f4c00212f57f009fc022e814b4bbb1bc0b0b1d5e3a21e576294b37396bf64006ee59329b9185d571376fff328446722d0f12e380f
+  metadata.gz: 02e5cb6513c19cca8535b2321556350250d72c04dd265cb5910f4d9a2a42adc067afcefa719dea1e487f0e4bf118241f2f3e4fd74456fc63ea418add6ec06545
+  data.tar.gz: 725362545376ee7b56c99eadc82bd16a8c41699f3f54b502d1f1505d49a3a8184b464c880841973130cf2c4c7d4836b4ab4fc5c8978bc9ca7dffe068800166a5

data/lib/rubysphero.rb

@@ -1,8 +1,12 @@
 require 'rubyserial'
 require 'date'
+require 'thread'
 
-module SpheroUtilities
+MIN_LENGTH_OF_PACKET=6
+RESPONSE_TIMEOUT_SECONDS=2
+BAUD_RATE=115200
 
+module SpheroUtilities
 
 	def print_format_bytes(bytes)
 		return_str=""
@@ -33,16 +37,30 @@ module SpheroUtilities
 		return full_bytes
 	end # def
 	
+
+
+end # mod 
+
+class SpheroBase 	
+
+	attr_accessor :debug
+
 	def logd(log_str="")
-		puts DateTime.now.strftime("%Y-%m-%d %H:%M:%S.%L") + " " + log_str
+		if @debug==nil then
+			# chill.
+		elsif @debug==true then
+			puts DateTime.now.strftime("%Y-%m-%d %H:%M:%S.%L") + " " + log_str
+		end # elsif 
 	end # def 
 
-end # mod 
+end # class
 
-class SpheroClient
+
+class SpheroClient < SpheroBase
 
 	include SpheroUtilities
 	COMMS_RETRY=5
+	@read_thread
 	
 		COLOURS = { 	:blue 	=> 	[0x00,0x00,0xFF],
 							:green 	=> 	[0x00,0xFF,0x00],
@@ -54,44 +72,185 @@ class SpheroClient
 							:pink	=>	[0xFF,0x00,0xFF],
 							:grey	=>	[0x80,0x80,0x80]}
 	
+	def collision_detection(status=true)
+		logd()
+		logd "Building request: Collision detection"
+		if status == true
+			meth=0x01
+		else
+			meth=0x00
+		end #  else
+		
+		request=SpheroRequest.new(:synchronous, self.debug)
+
+		request.did=0x02 
+		request.cid=0x12 # Collision Detection
+		request.seq=get_sequence
+		request.dlen=0x07
+		
+		request.push_data meth
+		request.push_data 0x7F # xt
+		request.push_data 0x40 # xspd
+		request.push_data 0x7F # yt
+		request.push_data 0x40 # yspd		
+		request.push_data 0x40 # dead		
+		
+		if send_and_check(request) then
+			return true
+		else
+			return false
+		end #  else 
+	end # def 	
+	
+	
+	
 	def ping
 		logd()
 		logd "Building request: ping"
-		request=SpheroRequest.new(:synchronous)
+		request=SpheroRequest.new(:synchronous, self.debug)
 
 		request.did=0x00 
 		request.cid=0x01 # Ping
 		request.seq=get_sequence
 		request.dlen=0x01
 		
-		return send_and_check(request)
+		if send_and_check(request) then
+			logd("PING RESPONSE RECEIVED!!!")
+			return true
+		else
+			return false
+		end #  else 
 	end # def 
 
+	def define_event_handling_for(event_type, &actions)
+		if event_type==:collision then
+			@collision_actions.push actions
+		end # if 
+	end # def 
+	
+	def handle_collision_event(the_event_response )
+		logd("Handling collision event!")
+		Thread.new do
+			if @collision_actions != nil then 
+				logd "Collision action was NOT nil"
+				
+				@collision_actions.each do |collision_action_item| 
+					collision_action_item.call the_event_response
+				end # each
+				
+			else
+				logd "Collision action was nil"
+			end # if 
+		end # thread 
+	end # 
+	
 	def send_and_check(request)
+		queue_a_request(request)
+
 		send_data(request.build_packet)
 
-		COMMS_RETRY.times do
-			response = read_data(request.length)
-			if request.seq == response.echoed_seq then
-				logd("Sent and received Sequences MATCH.")	
-				return true
+		responded =nil
+		start_time=Time.now.getutc.to_i
+		logd("Start time: #{start_time}")
+		begin
+			
+			if @responses.has_key? request.seq
+				logd("Response Queue has matching sequence")
+				forget_a_request request
+				return @responses[request.seq]
+			end # if
+			
+			sleep 0
+			
+			if Time.now.getutc.to_i > (start_time+RESPONSE_TIMEOUT_SECONDS)
+				logd("Timing out waiting for a response.")
+				forget_a_request request
+				return false
 			end # if 
-			logd("Sequences do not match. Sent:#{request.seq} Rec:#{response.echoed_seq} ")
-		end # times
-		return false
+
+		end while !responded
+		
+		return response.valid
+		
 	end # data 
 	
 	def send_data(data)
-		logd("Wire send next.")
 		@connection.write data
 	end # def 
 
-	def read_data(length)
-		bytes=@connection.read(length).unpack("C*")
-		logd("Wire read finished.")
-		response = SpheroResponse.new( bytes)
+	def listen_to_sphero
+		while true do
+			logd("Listening...")
 
-		return response
+			response=read_data
+			@responses[response.echoed_seq] =response 
+			sleep 0 
+		end # while 
+	
+	end # def 
+	
+	def read_data()
+		bytes=[]
+
+		logd("Reading...")
+		
+		while @connection !=nil do  
+			byte_maybe=@connection.getbyte
+
+			if byte_maybe
+			
+				bytes.push byte_maybe
+				
+				logd("Received a byte: #{byte_maybe}")
+		
+				# Check response is long enough to bother with.
+				if bytes.length >= MIN_LENGTH_OF_PACKET then
+				
+					if (bytes[0] == 0xFF) && (bytes[1] == 0xFE)
+					
+						logd("First 2 bytes indicate it is an Asyschronous Packet")
+					
+					elsif (bytes[0] == 0xFF) && (bytes[1] == 0xFF)
+					
+						logd("First 2 bytes indicate it is a Syschronous Packet")			
+			
+					else
+					
+						logd("Odd response starts with: #{bytes}, will try removing first byte.")		
+						bytes.shift
+					
+					end # else 
+		
+					response = SpheroResponse.new(bytes.dup, self.debug)
+
+					if response.valid
+						
+						# Handle Asynchronous Collision detection responses.
+						if (response.synchronicity? == :asynchronous) && (bytes[2] == 0x07) then
+							handle_collision_event(response )
+						end # else
+						
+						return response
+						
+					else
+					
+						logd("Response not valid yet, keep reading.")
+					
+					end # else  
+
+					
+				end # if bytes > length					
+				
+			else
+				# No Bytes to read
+				sleep 0
+			end # else 
+			
+		end # while conn not nil
+		
+		logd("Connection must have nbeen lost")
+		
+		return false
 	end	# def
 	
 	def orientation
@@ -122,7 +281,7 @@ class SpheroClient
 		logd()
 		logd "Building request: set back led output b"
 		
-		request=SpheroRequest.new(:synchronous)
+		request=SpheroRequest.new(:synchronous, self.debug)
 
 		request.did=0x02 
 		request.cid=0x21 
@@ -164,7 +323,7 @@ class SpheroClient
 		logd
 		logd "Building request: colour"
 		
-		request=SpheroRequest.new(:synchronous)
+		request=SpheroRequest.new(:synchronous, self.debug)
 
 
 		request.did=0x02 
@@ -185,7 +344,7 @@ class SpheroClient
 		logd()
 		logd( "Building request: roll")
 
-		request=SpheroRequest.new(:synchronous)
+		request=SpheroRequest.new(:synchronous, self.debug)
 		heading = heading_raw%359
 		logd( "Heading: #{heading}")
 
@@ -204,24 +363,58 @@ class SpheroClient
 
 	end #def 
 
+	def queued_requests
+		return @queued_requests
+	end # def
+	
+	def queue_a_request(request)
+		@queued_requests.push request
+	end # def 
+	
+	def forget_a_request(request)
+		@queued_requests.delete request
+	end # def 
+	
 	def get_sequence
 		@sequence_val+=1
 		if @sequence_val > 255
 			@sequence_val=0 
 		end # if
 		logd("Getting seq: #{@sequence_val}")
+		
 		return @sequence_val
 	end # def 
 	
-	def initialize(bluetooth_address)
+	def initialize(bluetooth_address, debugval=false)
 		@sequence_val=0 
-		return open(bluetooth_address)
+		@responses=Hash.new
+		@collision_actions=[]
+
+		@debug=debugval
+		
+		@queued_requests=[]
+		logd("Calling open connnection next. Using: #{bluetooth_address}")
+		
+		conn = open(bluetooth_address)
+		
+		@read_thread = Thread.new {
+			logd("Listen thread started...")
+			listen_to_sphero
+			logd("Listen thread ending...")
+		} # thread 
+		
+		return conn
+
 	end # class
 
 	def open(bluetooth_address)
 		begin
-			@connection   = Serial.new bluetooth_address, 115200 ,8
+			logd("About to open Connection")
+			@connection   = Serial.new bluetooth_address, BAUD_RATE ,8
+			logd("Connection:#{@connection.to_s}")
 		rescue RubySerial::Exception
+			logd("Connection failed, about to retry...")
+			sleep 1
 			open bluetooth_address
 		end
 		return @connection
@@ -233,7 +426,7 @@ class SpheroClient
 
 end # class 
 
-class SpheroResponse      
+class SpheroResponse < SpheroBase
 	
 	include SpheroUtilities
 	
@@ -243,13 +436,40 @@ class SpheroResponse
 	attr_accessor :raw_data
 	attr_accessor :data
 	attr_accessor :valid
+	attr_accessor :sop1
+	attr_accessor :sop2
 
 
-	def initialize(raw_data)
+	def initialize(raw_data, debugval)
+		@debug=debugval
 		@valid=false
+		@raw_data=raw_data.dup
 		@data=process_data(raw_data)
 	end # def
 	
+	def synchronicity?
+		logd("Synchronicity?")
+		logd("#{@sop1}")
+		logd("#{@sop2}")
+
+		if (@sop1==0xFF) && (@sop2==0xFE) then
+			return :asynchronous
+		elsif (@sop1==0xFF) && (@sop2==0xFF)
+			return :synchronous
+		else 
+			return nil 
+		end # else 
+		
+	end # def 
+	
+	def raw_length
+		if @data==nil
+			return 0
+		else
+			@raw_data.length
+		end # else
+	end # def
+	
 	def process_data(bytes)
 		if bytes.length == 0  
 			logd "Response: None received"
@@ -257,26 +477,28 @@ class SpheroResponse
 			logd "Response: Was nil"
 		else 
 			logd "Response data raw: #{print_format_bytes(bytes)}"
-			bytes.shift
-			bytes.shift
+			@sop1 = bytes.shift
+			@sop2 = 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")
+				logd("Response Checksum is Valid")
 				@valid=true
 				logd("Response data:#{bytes}")
 				@echoed_seq=bytes[1]
 				@data=bytes
-			end # if 
+			else
+				logd("Response Checksum is BAD")				
+			end # else
 			
 		end # else 
 		
 	end	# def
 end # class
 
-class SpheroRequest
+class SpheroRequest < SpheroBase
 	include SpheroUtilities
 	
 	attr_accessor :sop1
@@ -289,12 +511,12 @@ class SpheroRequest
 	attr_accessor :sequence
 
 	
-	def initialize(type=:synchronous)
+	def initialize(type=:synchronous, debugval)
 		if type==:synchronous
 			@sop1=0xFF
 			@sop2=0xFF 
 		end # if
-		
+		@debug=debugval
 		@packet_data=Array.new
 		@payload_data=Array.new
 	end # def 

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: rubysphero
 version: !ruby/object:Gem::Version
-  version: 0.0.2
+  version: 0.1.0
 platform: ruby
 authors:
 - Pete Houghton
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2016-04-04 00:00:00.000000000 Z
+date: 2016-12-05 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: rubyserial
@@ -30,7 +30,7 @@ dependencies:
     - - ">="
       - !ruby/object:Gem::Version
         version: 0.2.4
-description: A simple Sphero client library to control your Orbotic Sphero 2.0
+description: A Sphero client library to control your Orbotic Sphero 2.0
 email: pete@investigatingsoftware.co.uk
 executables: []
 extensions: []
@@ -60,5 +60,5 @@ rubyforge_project:
 rubygems_version: 2.4.5.1
 signing_key: 
 specification_version: 4
-summary: A simple Sphero client library.
+summary: An easy to use Sphero client library.
 test_files: []