rumba 0.2.0 → 0.2.5
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- checksums.yaml +4 -4
- data/README.md +99 -0
- data/lib/rumba/constants.rb +54 -0
- data/lib/rumba/dsl.rb +72 -0
- data/lib/rumba/sensors.rb +296 -0
- data/lib/rumba.rb +26 -225
- metadata +5 -2
- data/lib/sensors.rb +0 -128
checksums.yaml
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data.tar.gz: 5fd8ed4266bbe4b72ccac8a2ee5ead83217857ac
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metadata.gz: fe9715009338618cd7357377b666b95243eb4261abc356ed2d208b6f9ce18c96bdafac2c6e3bee85df21c9e81775b85dd464ffd9d4d38a284353e8125b1d08b8
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data.tar.gz: e85b669ef50bf3faf18fbe0fe41650e7a156fe4c83ccf8a09b1debe0daa00681905b1717be630b7ecfc99b5a624a5d476528b657787a65382afd6dbc502d7e32
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data/README.md
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# Rumba
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A Ruby wrapper for the Roomba Serial Command Interface
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[](http://badge.fury.io/rb/rumba)
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- - -
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This is a no-frills, lightweight, and cross-platform implementation of the iRobot Roomba Serial Command Interface. You can use it to control your Roomba from your computer :D
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Practically all of the interesting parts of the SCI have been implemented. There's also an optional DSL that only supports movements currently (but is under active development!).
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Originally used as part of my senior design project in school, but now gem-ified for the handful of other people who think robots and Ruby are a good combination :)
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For more serious robot hacking in Ruby, check out [Artoo](http://artoo.io/)! It's really neat, but possibly a little overkill for small hacks.
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I welcome pull requests and feedback!
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Happy hacking!
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### Dependencies
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* [serialport](http://ruby-serialport.rubyforge.org/)
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### Usage
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Here's an example program:
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(using the experimental DSL)
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```ruby
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require 'rumba'
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Roomba.new('/dev/tty.usbserial') do
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safe_mode
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forward meter(1)
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rotate :left
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rotate -90 # degrees
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rotate :right
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rotate 90
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backward meter(1)
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# access to any methods in the Roomba class here!
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end
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```
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(the old-fashioned way!)
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```ruby
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require 'rumba'
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r = Roomba.new('/dev/tty.SerialIO1-SPP')
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r.full_mode # Change to full mode (unrestricted access)
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r.straight(300) # Move forwards at 300 mm/s
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sleep(2)
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r.straight(-300) # Move backwards at 300 mm/s
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sleep(2)
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r.spin_left(500) # Spin to the left at 500 mm/s
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sleep(2)
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r.spin_right(500) # Spin to the right at 500 mm/s
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r.halt # Stop moving
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```
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### Roadmap
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* Create an optional DSL (IN PROGRESS!)
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* REAL documentation!
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* ???
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* idk
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### More Information
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The complete Roomba SCI specification can be found [here](http://www.irobot.com/images/consumer/hacker/roomba_sci_spec_manual.pdf)
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### License
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```
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Copyright (c) 2014, Eric Wood
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the author nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL ERIC WOOD BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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```
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# This library has a TON of annoying constants...
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# we have quarantined them here to save your eyes
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class Rumba
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module Constants
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# These opcodes require no arguments
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OPCODES = {
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start: 128,
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control: 130,
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power: 133,
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spot: 134,
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clean: 135,
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max: 136,
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dock: 143,
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play_script: 153,
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show_script: 154
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}
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# Create a method for each opcode that writes its data.
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# This allows us to simply call roomba.code,
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# and it's a cool excuse to do some metaprogramming :)
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OPCODES.each do |name,val|
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send :define_method, name do
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write_chars([val])
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end
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end
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SAFE_MODE = 131
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FULL_MODE = 132
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# These opcodes require arguments
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DRIVE = 137
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MOTORS = 138
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LEDS = 139
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SONG = 140
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PLAY_SONG = 141
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SENSORS = 142
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QUERY_LIST = 149
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DRIVE_DIRECT = 145
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# Used for making the Roomba sing!
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# Note that nil is simply a rest
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NOTES = {
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'A' => 69, 'A#' => 70, 'B' => 71, 'C' => 72, 'C#' => 73, 'D' => 74,
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'D#' => 75, 'E' => 76, 'F' => 77, 'F#' => 78, 'G' => 79, 'G#' => 80,
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nil => 0
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}
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MOTORS_MASK_SIDE_BRUSH = 0x1
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MOTORS_MASK_VACUUM = 0x2
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MOTORS_MASK_MAIN_BRUSH = 0x4
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end
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end
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data/lib/rumba/dsl.rb
ADDED
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# Define the Rumba "DSL"
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# Lots of easy to use methods for basic tasks
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class Rumba
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module Dsl
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# Remember, Roomba speeds are defined in mm/s (max is 200)
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DEFAULT_SPEED = 200
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# Radius of an average Roomba, used for calculating rotation
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RADIUS = 165.1 # 6.5 inches
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# distance is in mm!
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def forward(distance, speed: DEFAULT_SPEED)
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duration = distance / speed
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straight(speed)
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sleep(duration)
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halt
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end
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# distance is in mm!
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def backward(distance, speed: DEFAULT_SPEED)
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duration = distance / speed
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straight(-speed)
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sleep(duration)
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halt
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end
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# Direction can either be a Fixnum for number of degrees,
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# or a symbol for the direction (:left, :right)
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def rotate(direction, speed: DEFAULT_SPEED)
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# handle symbols...
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case direction
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when :left
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direction = -90
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when :right
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direction = 90
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end
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circumfrence = 2 * Math::PI * RADIUS
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# based on the angle, this is how far we need to turn
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distance = ((circumfrence / 360) * direction).abs
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direction < 0 ? spin_left(speed) : spin_right(speed)
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duration = (distance / speed).abs
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sleep(duration)
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halt
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end
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# MEASUREMENT HELPERS
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# TODO: break these out into separate helpers file?
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def inches(num)
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25.4 * num
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end
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alias_method :inch, :inches
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def feet(num)
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inches(num) * 12
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end
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alias_method :foot, :feet
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def meters(num)
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num * 1000
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end
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alias_method :meter, :meters
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# eh, why not?
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alias_method :forwards, :forward
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alias_method :backwards, :backward
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alias_method :turn, :rotate
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end
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end
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# Sensor-related code is all here!
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class Rumba
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module Sensor
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class Boolean
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def self.convert(v)
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v == 1 ? true : false
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end
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end
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class ChargingState
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def self.convert(v)
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case v
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when 0
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:not_charging
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when 1
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:reconditioning_charging
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when 2
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:full_charging
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when 3
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:trickle_charging
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when 4
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:waiting
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when 5
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:charging_fault_condition
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end
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end
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end
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class OIMode
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def self.convert(v)
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case v
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when 0
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:off
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when 1
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:passive
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when 2
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:safe
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when 3
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:full
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end
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end
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end
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class ChargingSourceAvailable
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def self.convert(v)
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h = {}
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h[:internal_charger] = v & 0b1 > 0 ? true : false
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h[:home_base] = v & 0b10 > 0 ? true : false
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h
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end
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end
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class LightBumper
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def self.convert(v)
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h = {}
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h[:light_bumper_left] = v & 0b1 > 0 ? true : false
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h[:light_bumper_front_left] = v & 0b10 > 0 ? true : false
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h[:light_bumper_center_left] = v & 0b100 > 0 ? true : false
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h[:light_bumper_center_right] = v & 0b1000 > 0 ? true : false
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h[:light_bumper_front_right] = v & 0b10000 > 0 ? true : false
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h[:light_bumper_right] = v & 0b100000 > 0 ? true : false
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h
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end
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65
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end
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66
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67
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class WheelOvercurrents
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|
68
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def self.convert(v)
|
|
69
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h = {}
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70
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h[:side_brush] = v & 0b1 > 0 ? true : false
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h[:main_brush] = v & 0b100 > 0 ? true : false
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h[:right_wheel] = v & 0b1000 > 0 ? true : false
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h[:left_wheel] = v & 0b10000 > 0 ? true : false
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h
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end
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end
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77
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+
|
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78
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class BumpsAndWheelDrops
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|
79
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def self.convert(v)
|
|
80
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h = {}
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|
81
|
+
h[:bump_right] = v & 0b1 > 0 ? true : false
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+
h[:bump_left] = v & 0b10 > 0 ? true : false
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83
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h[:wheel_drop_right] = v & 0b100 > 0 ? true : false
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|
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h[:wheel_drop_left] = v & 0b1000 > 0 ? true : false
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|
85
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+
h
|
|
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+
end
|
|
87
|
+
|
|
88
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end
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|
89
|
+
|
|
90
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INFRARED_CHARACTER = {
|
|
91
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129 => :left,
|
|
92
|
+
130 => :forward,
|
|
93
|
+
131 => :right,
|
|
94
|
+
132 => :spot,
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|
95
|
+
133 => :max,
|
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96
|
+
134 => :small,
|
|
97
|
+
135 => :medium,
|
|
98
|
+
136 => :large,
|
|
99
|
+
137 => :stop,
|
|
100
|
+
138 => :power,
|
|
101
|
+
139 => :arc_left,
|
|
102
|
+
140 => :arc_right,
|
|
103
|
+
141 => :stop,
|
|
104
|
+
142 => :download,
|
|
105
|
+
143 => :seek_dock,
|
|
106
|
+
160 => :reserved,
|
|
107
|
+
161 => :force_field,
|
|
108
|
+
164 => :green_buoy,
|
|
109
|
+
165 => :green_buoy_and_force_field,
|
|
110
|
+
168 => :red_buoy,
|
|
111
|
+
169 => :red_buoy_and_force_field,
|
|
112
|
+
172 => :red_and_green_buoy,
|
|
113
|
+
173 => :red_and_green_buoy_and_force_field,
|
|
114
|
+
240 => :reserved,
|
|
115
|
+
248 => :red_buoy,
|
|
116
|
+
244 => :green_buoy,
|
|
117
|
+
242 => :force_field,
|
|
118
|
+
252 => :red_and_green_buoy,
|
|
119
|
+
250 => :red_buoy_and_force_field,
|
|
120
|
+
246 => :green_buoy_and_force_field,
|
|
121
|
+
254 => :red_and_green_buoy_and_force_field,
|
|
122
|
+
162 => :virtual_wall
|
|
123
|
+
}
|
|
124
|
+
|
|
125
|
+
class InfraredCharacter
|
|
126
|
+
def self.convert(v)
|
|
127
|
+
INFRARED_CHARACTER[v]
|
|
128
|
+
end
|
|
129
|
+
end
|
|
130
|
+
|
|
131
|
+
SENSORS_PACKETS_SIZE = [
|
|
132
|
+
0, # 0
|
|
133
|
+
0,0,0,0,0,0, # 1-6
|
|
134
|
+
1,1,1,1,1,1,1,1,1,1,1,1, # 7-18
|
|
135
|
+
2,2, # 19-20
|
|
136
|
+
1, # 21
|
|
137
|
+
2,2, # 22-23
|
|
138
|
+
1, # 24
|
|
139
|
+
2,2,2,2,2,2,2, # 25-31
|
|
140
|
+
1, # 32
|
|
141
|
+
2, # 33
|
|
142
|
+
1,1,1,1,1, # 34-38
|
|
143
|
+
2,2,2,2,2,2, # 39-44
|
|
144
|
+
1, # 45
|
|
145
|
+
2,2,2,2,2,2, # 46-51
|
|
146
|
+
1,1, # 52-53
|
|
147
|
+
2,2,2,2, # 54-57
|
|
148
|
+
1 # 58
|
|
149
|
+
]
|
|
150
|
+
|
|
151
|
+
SENSORS_PACKETS_SIGNEDNESS = [
|
|
152
|
+
:na, # 0
|
|
153
|
+
:na,:na,:na,:na,:na,:na, # 1-6
|
|
154
|
+
:unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned, # 7-14
|
|
155
|
+
:signed,:signed,:unsigned,:unsigned, # 15-18
|
|
156
|
+
:signed,:signed, # 19-20
|
|
157
|
+
:unsigned, # 21
|
|
158
|
+
:unsigned,:signed, # 22-23
|
|
159
|
+
:signed, # 24
|
|
160
|
+
:unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned, # 25-31
|
|
161
|
+
:unsigned, # 32
|
|
162
|
+
:unsigned, # 33
|
|
163
|
+
:unsigned,:unsigned,:unsigned,:unsigned,:unsigned, # 34-38
|
|
164
|
+
:signed,:signed,:signed,:signed,:unsigned,:unsigned, # 39-44
|
|
165
|
+
:unsigned, # 45
|
|
166
|
+
:unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned, # 46-51
|
|
167
|
+
:unsigned,:unsigned, # 52-53
|
|
168
|
+
:signed,:signed,:signed,:signed, # 54-57
|
|
169
|
+
:unsigned # 58
|
|
170
|
+
]
|
|
171
|
+
|
|
172
|
+
# Human readable packets name
|
|
173
|
+
SENSORS_PACKETS_SYMBOL = [
|
|
174
|
+
:ignore, # 0
|
|
175
|
+
:ignore,:ignore,:ignore,:ignore,:ignore,:ignore, # 1-6
|
|
176
|
+
:bumps_and_wheel_drops,:wall,:cliff_left,:cliff_front_left,:cliff_front_right,:cliff_right,:virtual_wall,:wheel_overcurrents, # 7-14
|
|
177
|
+
:dirt_detect,:ignore,:infrared_character_omni,:buttons,# 15-18
|
|
178
|
+
:distance,:angle, # 19-20
|
|
179
|
+
:charging_state, # 21
|
|
180
|
+
:voltage,:current, # 22-23
|
|
181
|
+
:temperature, # 24
|
|
182
|
+
:battery_charge,:battery_capacity,:wall_signal,:cliff_left_signal,:cliff_front_left_signal,:cliff_front_right_signal,:cliff_right_signal, # 25-31
|
|
183
|
+
:ignore, # 32
|
|
184
|
+
:ignore, # 33
|
|
185
|
+
:charging_sources_available,:oi_mode,:song_number,:song_playing,:number_of_stream_packets, # 34-38
|
|
186
|
+
:requested_velocity,:requested_radius,:requested_right_velocity,:requested_left_velocity,:right_encoder_count,:left_encoder_count, # 39-44
|
|
187
|
+
:light_bumper, # 45
|
|
188
|
+
:light_bump_left_signal,:light_bump_front_left_signal,:light_bump_center_left_signal,:light_bump_center_right_signal,:light_bump_front_right_signal,:light_bump_right_signal, # 46-51
|
|
189
|
+
:infrared_character_left,:infrared_character_right, # 52-53
|
|
190
|
+
:left_motor_current,:right_motor_current,:main_brush_motor_current,:side_brush_motor_current, # 54-57
|
|
191
|
+
:stasis # 58
|
|
192
|
+
]
|
|
193
|
+
|
|
194
|
+
# Sensors mapper
|
|
195
|
+
SENSORS_PACKETS_VALUE = {
|
|
196
|
+
wall: Boolean,
|
|
197
|
+
cliff_left: Boolean,
|
|
198
|
+
cliff_front_left: Boolean,
|
|
199
|
+
cliff_front_right: Boolean,
|
|
200
|
+
cliff_right: Boolean,
|
|
201
|
+
virtual_wall: Boolean,
|
|
202
|
+
song_playing: Boolean,
|
|
203
|
+
stasis: Boolean,
|
|
204
|
+
|
|
205
|
+
charging_state: ChargingState,
|
|
206
|
+
oi_mode: OIMode,
|
|
207
|
+
charging_sources_available: ChargingSourceAvailable,
|
|
208
|
+
light_bumper: LightBumper,
|
|
209
|
+
wheel_overcurrents: WheelOvercurrents,
|
|
210
|
+
bumps_and_wheel_drops: BumpsAndWheelDrops,
|
|
211
|
+
infrared_character_omni: InfraredCharacter,
|
|
212
|
+
infrared_character_left: InfraredCharacter,
|
|
213
|
+
infrared_character_right: InfraredCharacter
|
|
214
|
+
}
|
|
215
|
+
|
|
216
|
+
# Sensors groups
|
|
217
|
+
SENSORS_GROUP_PACKETS = {
|
|
218
|
+
0 => 7..26,
|
|
219
|
+
1 => 7..16,
|
|
220
|
+
2 => 17..20,
|
|
221
|
+
3 => 21..26,
|
|
222
|
+
4 => 27..34,
|
|
223
|
+
5 => 35..42,
|
|
224
|
+
6 => 7..42,
|
|
225
|
+
100 => 7..58,
|
|
226
|
+
101 => 43..58,
|
|
227
|
+
106 => 40..51,
|
|
228
|
+
107 => 54..58
|
|
229
|
+
}
|
|
230
|
+
|
|
231
|
+
# Convert sensors bytes to packets hash
|
|
232
|
+
def sensors_bytes_to_packets(bytes,packets)
|
|
233
|
+
packets_h = {}
|
|
234
|
+
pack = ""
|
|
235
|
+
packets.each do |packet|
|
|
236
|
+
size = SENSORS_PACKETS_SIZE[packet]
|
|
237
|
+
signedness = SENSORS_PACKETS_SIGNEDNESS[packet]
|
|
238
|
+
case size
|
|
239
|
+
when 1
|
|
240
|
+
case signedness
|
|
241
|
+
when :signed
|
|
242
|
+
pack += "c"
|
|
243
|
+
when :unsigned
|
|
244
|
+
pack += "C"
|
|
245
|
+
end
|
|
246
|
+
when 2
|
|
247
|
+
case signedness
|
|
248
|
+
when :signed
|
|
249
|
+
pack += "s>"
|
|
250
|
+
when :unsigned
|
|
251
|
+
pack += "S>"
|
|
252
|
+
end
|
|
253
|
+
end
|
|
254
|
+
end
|
|
255
|
+
|
|
256
|
+
nums = bytes.unpack(pack)
|
|
257
|
+
|
|
258
|
+
cur_packet = 0
|
|
259
|
+
packets.each do |packet|
|
|
260
|
+
pname = SENSORS_PACKETS_SYMBOL[packet]
|
|
261
|
+
unless pname == :ignore
|
|
262
|
+
value = nums[cur_packet]
|
|
263
|
+
conv = SENSORS_PACKETS_VALUE[pname]
|
|
264
|
+
if conv
|
|
265
|
+
value = conv.convert(value)
|
|
266
|
+
end
|
|
267
|
+
packets_h[pname] = value
|
|
268
|
+
end
|
|
269
|
+
|
|
270
|
+
cur_packet += 1
|
|
271
|
+
end
|
|
272
|
+
|
|
273
|
+
packets_h
|
|
274
|
+
end
|
|
275
|
+
|
|
276
|
+
# Get sensors by group
|
|
277
|
+
# Default group 100 = all packets
|
|
278
|
+
def get_sensors(group=100)
|
|
279
|
+
sensors_bytes_to_packets(write_chars_with_read([SENSORS,group]),SENSORS_GROUP_PACKETS[group])
|
|
280
|
+
end
|
|
281
|
+
|
|
282
|
+
# Get sensors by list
|
|
283
|
+
# Array entry can be packet ID or symbol
|
|
284
|
+
def get_sensors_list(list)
|
|
285
|
+
ids_list=(list.map do |l|
|
|
286
|
+
if l.class == Symbol
|
|
287
|
+
SENSORS_PACKETS_SYMBOL.find_index(l)
|
|
288
|
+
else
|
|
289
|
+
l
|
|
290
|
+
end
|
|
291
|
+
end)
|
|
292
|
+
|
|
293
|
+
sensors_bytes_to_packets(write_chars_with_read([QUERY_LIST,ids_list.length]+ids_list),ids_list)
|
|
294
|
+
end
|
|
295
|
+
end
|
|
296
|
+
end
|
data/lib/rumba.rb
CHANGED
|
@@ -1,157 +1,16 @@
|
|
|
1
1
|
require 'rubygems'
|
|
2
2
|
require 'serialport'
|
|
3
3
|
require 'timeout'
|
|
4
|
-
|
|
4
|
+
require 'rumba/constants'
|
|
5
|
+
require 'rumba/sensors'
|
|
6
|
+
require 'rumba/dsl'
|
|
5
7
|
|
|
6
|
-
class
|
|
7
|
-
|
|
8
|
-
|
|
9
|
-
|
|
10
|
-
OPCODES = {
|
|
11
|
-
start: 128,
|
|
12
|
-
control: 130,
|
|
13
|
-
power: 133,
|
|
14
|
-
spot: 134,
|
|
15
|
-
clean: 135,
|
|
16
|
-
max: 136,
|
|
17
|
-
dock: 143,
|
|
18
|
-
play_script: 153,
|
|
19
|
-
show_script: 154
|
|
20
|
-
}
|
|
21
|
-
|
|
22
|
-
# Create a method for each opcode that writes its data.
|
|
23
|
-
# This allows us to simply call roomba.code,
|
|
24
|
-
# and it's a cool excuse to do some metaprogramming :)
|
|
25
|
-
OPCODES.each do |name,val|
|
|
26
|
-
send :define_method, name do
|
|
27
|
-
write_chars([val])
|
|
28
|
-
end
|
|
29
|
-
end
|
|
30
|
-
|
|
31
|
-
SAFE_MODE = 131
|
|
32
|
-
FULL_MODE = 132
|
|
33
|
-
|
|
34
|
-
# These opcodes require arguments
|
|
35
|
-
DRIVE = 137
|
|
36
|
-
MOTORS = 138
|
|
37
|
-
LEDS = 139
|
|
38
|
-
SONG = 140
|
|
39
|
-
PLAY_SONG = 141
|
|
40
|
-
SENSORS = 142
|
|
41
|
-
QUERY_LIST = 149
|
|
42
|
-
DRIVE_DIRECT = 145
|
|
43
|
-
|
|
44
|
-
# Used for making the Roomba sing!
|
|
45
|
-
# Note that nil is simply a rest
|
|
46
|
-
NOTES = {
|
|
47
|
-
'A' => 69, 'A#' => 70, 'B' => 71, 'C' => 72, 'C#' => 73, 'D' => 74,
|
|
48
|
-
'D#' => 75, 'E' => 76, 'F' => 77, 'F#' => 78, 'G' => 79, 'G#' => 80,
|
|
49
|
-
nil => 0
|
|
50
|
-
}
|
|
8
|
+
class Rumba
|
|
9
|
+
include Constants
|
|
10
|
+
include Sensor
|
|
11
|
+
include Dsl
|
|
51
12
|
|
|
52
|
-
|
|
53
|
-
MOTORS_MASK_VACUUM = 0x2
|
|
54
|
-
MOTORS_MASK_MAIN_BRUSH = 0x4
|
|
55
|
-
|
|
56
|
-
SENSORS_PACKETS_SIZE = [
|
|
57
|
-
0, # 0
|
|
58
|
-
0,0,0,0,0,0, # 1-6
|
|
59
|
-
1,1,1,1,1,1,1,1,1,1,1,1, # 7-18
|
|
60
|
-
2,2, # 19-20
|
|
61
|
-
1, # 21
|
|
62
|
-
2,2, # 22-23
|
|
63
|
-
1, # 24
|
|
64
|
-
2,2,2,2,2,2,2, # 25-31
|
|
65
|
-
1, # 32
|
|
66
|
-
2, # 33
|
|
67
|
-
1,1,1,1,1, # 34-38
|
|
68
|
-
2,2,2,2,2,2, # 39-44
|
|
69
|
-
1, # 45
|
|
70
|
-
2,2,2,2,2,2, # 46-51
|
|
71
|
-
1,1, # 52-53
|
|
72
|
-
2,2,2,2, # 54-57
|
|
73
|
-
1 # 58
|
|
74
|
-
]
|
|
75
|
-
|
|
76
|
-
SENSORS_PACKETS_SIGNEDNESS = [
|
|
77
|
-
:na, # 0
|
|
78
|
-
:na,:na,:na,:na,:na,:na, # 1-6
|
|
79
|
-
:unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned, # 7-14
|
|
80
|
-
:signed,:signed,:unsigned,:unsigned, # 15-18
|
|
81
|
-
:signed,:signed, # 19-20
|
|
82
|
-
:unsigned, # 21
|
|
83
|
-
:unsigned,:signed, # 22-23
|
|
84
|
-
:signed, # 24
|
|
85
|
-
:unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned, # 25-31
|
|
86
|
-
:unsigned, # 32
|
|
87
|
-
:unsigned, # 33
|
|
88
|
-
:unsigned,:unsigned,:unsigned,:unsigned,:unsigned, # 34-38
|
|
89
|
-
:signed,:signed,:signed,:signed,:unsigned,:unsigned, # 39-44
|
|
90
|
-
:unsigned, # 45
|
|
91
|
-
:unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned, # 46-51
|
|
92
|
-
:unsigned,:unsigned, # 52-53
|
|
93
|
-
:signed,:signed,:signed,:signed, # 54-57
|
|
94
|
-
:unsigned # 58
|
|
95
|
-
]
|
|
96
|
-
|
|
97
|
-
# Human readable packets name
|
|
98
|
-
SENSORS_PACKETS_SYMBOL = [
|
|
99
|
-
:ignore, # 0
|
|
100
|
-
:ignore,:ignore,:ignore,:ignore,:ignore,:ignore, # 1-6
|
|
101
|
-
:bumps_and_wheel_drops,:wall,:cliff_left,:cliff_front_left,:cliff_front_right,:cliff_right,:virtual_wall,:wheel_overcurrents, # 7-14
|
|
102
|
-
:dirt_detect,:ignore,:infrared_character_omni,:buttons,# 15-18
|
|
103
|
-
:distance,:angle, # 19-20
|
|
104
|
-
:charging_state, # 21
|
|
105
|
-
:voltage,:current, # 22-23
|
|
106
|
-
:temperature, # 24
|
|
107
|
-
:battery_charge,:battery_capacity,:wall_signal,:cliff_left_signal,:cliff_front_left_signal,:cliff_front_right_signal,:cliff_right_signal, # 25-31
|
|
108
|
-
:ignore, # 32
|
|
109
|
-
:ignore, # 33
|
|
110
|
-
:charging_sources_available,:oi_mode,:song_number,:song_playing,:number_of_stream_packets, # 34-38
|
|
111
|
-
:requested_velocity,:requested_radius,:requested_right_velocity,:requested_left_velocity,:right_encoder_count,:left_encoder_count, # 39-44
|
|
112
|
-
:light_bumper, # 45
|
|
113
|
-
:light_bump_left_signal,:light_bump_front_left_signal,:light_bump_center_left_signal,:light_bump_center_right_signal,:light_bump_front_right_signal,:light_bump_right_signal, # 46-51
|
|
114
|
-
:infrared_character_left,:infrared_character_right, # 52-53
|
|
115
|
-
:left_motor_current,:right_motor_current,:main_brush_motor_current,:side_brush_motor_current, # 54-57
|
|
116
|
-
:stasis # 58
|
|
117
|
-
]
|
|
118
|
-
|
|
119
|
-
# Sensors mapper
|
|
120
|
-
SENSORS_PACKETS_VALUE = {
|
|
121
|
-
:wall=>RoombaSensor::Boolean,
|
|
122
|
-
:cliff_left=>RoombaSensor::Boolean,
|
|
123
|
-
:cliff_front_left=>RoombaSensor::Boolean,
|
|
124
|
-
:cliff_front_right=>RoombaSensor::Boolean,
|
|
125
|
-
:cliff_right=>RoombaSensor::Boolean,
|
|
126
|
-
:virtual_wall=>RoombaSensor::Boolean,
|
|
127
|
-
:song_playing=>RoombaSensor::Boolean,
|
|
128
|
-
:stasis=>RoombaSensor::Boolean,
|
|
129
|
-
|
|
130
|
-
:charging_state=>RoombaSensor::ChargingState,
|
|
131
|
-
:oi_mode=>RoombaSensor::OIMode,
|
|
132
|
-
:charging_sources_available=>RoombaSensor::ChargingSourceAvailable,
|
|
133
|
-
:light_bumper=>RoombaSensor::LightBumper,
|
|
134
|
-
:wheel_overcurrents=>RoombaSensor::WheelOvercurrents,
|
|
135
|
-
:bumps_and_wheel_drops=>RoombaSensor::BumpsAndWheelDrops,
|
|
136
|
-
:infrared_character_omni=>RoombaSensor::InfraredCharacter,
|
|
137
|
-
:infrared_character_left=>RoombaSensor::InfraredCharacter,
|
|
138
|
-
:infrared_character_right=>RoombaSensor::InfraredCharacter
|
|
139
|
-
}
|
|
140
|
-
|
|
141
|
-
# Sensors groups
|
|
142
|
-
SENSORS_GROUP_PACKETS = {
|
|
143
|
-
0 => 7..26,
|
|
144
|
-
1 => 7..16,
|
|
145
|
-
2 => 17..20,
|
|
146
|
-
3 => 21..26,
|
|
147
|
-
4 => 27..34,
|
|
148
|
-
5 => 35..42,
|
|
149
|
-
6 => 7..42,
|
|
150
|
-
100 => 7..58,
|
|
151
|
-
101 => 43..58,
|
|
152
|
-
106 => 40..51,
|
|
153
|
-
107 => 54..58
|
|
154
|
-
}
|
|
13
|
+
attr_accessor :serial
|
|
155
14
|
|
|
156
15
|
#############################################################################
|
|
157
16
|
# HELPERS #
|
|
@@ -194,56 +53,11 @@ class Roomba
|
|
|
194
53
|
sleep(0.1)
|
|
195
54
|
data=""
|
|
196
55
|
while(data.length==0)
|
|
197
|
-
data
|
|
56
|
+
data += @serial.read
|
|
198
57
|
end
|
|
199
58
|
data
|
|
200
59
|
end
|
|
201
60
|
|
|
202
|
-
# Convert sensors bytes to packets hash
|
|
203
|
-
def sensors_bytes_to_packets(bytes,packets)
|
|
204
|
-
packets_h = {}
|
|
205
|
-
pack = ""
|
|
206
|
-
packets.each do |packet|
|
|
207
|
-
size = SENSORS_PACKETS_SIZE[packet]
|
|
208
|
-
signedness = SENSORS_PACKETS_SIGNEDNESS[packet]
|
|
209
|
-
case size
|
|
210
|
-
when 1
|
|
211
|
-
case signedness
|
|
212
|
-
when :signed
|
|
213
|
-
pack += "c"
|
|
214
|
-
when :unsigned
|
|
215
|
-
pack += "C"
|
|
216
|
-
end
|
|
217
|
-
when 2
|
|
218
|
-
case signedness
|
|
219
|
-
when :signed
|
|
220
|
-
pack += "s>"
|
|
221
|
-
when :unsigned
|
|
222
|
-
pack += "S>"
|
|
223
|
-
end
|
|
224
|
-
end
|
|
225
|
-
end
|
|
226
|
-
|
|
227
|
-
nums = bytes.unpack(pack)
|
|
228
|
-
|
|
229
|
-
cur_packet = 0
|
|
230
|
-
packets.each do |packet|
|
|
231
|
-
pname = SENSORS_PACKETS_SYMBOL[packet]
|
|
232
|
-
unless pname == :ignore
|
|
233
|
-
value = nums[cur_packet]
|
|
234
|
-
conv = SENSORS_PACKETS_VALUE[pname]
|
|
235
|
-
if conv
|
|
236
|
-
value = conv.convert(value)
|
|
237
|
-
end
|
|
238
|
-
packets_h[pname] = value
|
|
239
|
-
end
|
|
240
|
-
|
|
241
|
-
cur_packet+=1
|
|
242
|
-
end
|
|
243
|
-
|
|
244
|
-
packets_h
|
|
245
|
-
end
|
|
246
|
-
|
|
247
61
|
# Convert integer to two's complement signed 16 bit integer.
|
|
248
62
|
# Note that the Roomba is big-endian...I need to fix this
|
|
249
63
|
# code to make it portable across different architectures.
|
|
@@ -324,26 +138,6 @@ class Roomba
|
|
|
324
138
|
write_chars([PLAY_SONG,song_number])
|
|
325
139
|
end
|
|
326
140
|
|
|
327
|
-
# Get sensors by group
|
|
328
|
-
# Default group 100 = all packets
|
|
329
|
-
def get_sensors(group=100)
|
|
330
|
-
sensors_bytes_to_packets(write_chars_with_read([SENSORS,group]),SENSORS_GROUP_PACKETS[group])
|
|
331
|
-
end
|
|
332
|
-
|
|
333
|
-
# Get sensors by list
|
|
334
|
-
# Array entry can be packet ID or symbol
|
|
335
|
-
def get_sensors_list(list)
|
|
336
|
-
ids_list=(list.map do |l|
|
|
337
|
-
if l.class == Symbol
|
|
338
|
-
Roomba::SENSORS_PACKETS_SYMBOL.find_index(l)
|
|
339
|
-
else
|
|
340
|
-
l
|
|
341
|
-
end
|
|
342
|
-
end)
|
|
343
|
-
|
|
344
|
-
sensors_bytes_to_packets(write_chars_with_read([QUERY_LIST,ids_list.length]+ids_list),ids_list)
|
|
345
|
-
end
|
|
346
|
-
|
|
347
141
|
#############################################################################
|
|
348
142
|
# Convenience methods #
|
|
349
143
|
#############################################################################
|
|
@@ -376,7 +170,7 @@ class Roomba
|
|
|
376
170
|
end
|
|
377
171
|
|
|
378
172
|
def battery_percentage
|
|
379
|
-
sensors=get_sensors(3)
|
|
173
|
+
sensors = get_sensors(3)
|
|
380
174
|
((sensors[:battery_charge].to_f / sensors[:battery_capacity].to_f) * 100).to_i
|
|
381
175
|
end
|
|
382
176
|
|
|
@@ -400,7 +194,7 @@ class Roomba
|
|
|
400
194
|
write_chars([MOTORS,MOTORS_MASK_MAIN_BRUSH])
|
|
401
195
|
end
|
|
402
196
|
|
|
403
|
-
def initialize(port,
|
|
197
|
+
def initialize(port, baud=57600, &block)
|
|
404
198
|
@leds = {
|
|
405
199
|
advance: false,
|
|
406
200
|
play: false,
|
|
@@ -408,15 +202,22 @@ class Roomba
|
|
|
408
202
|
intensity: 0
|
|
409
203
|
}
|
|
410
204
|
|
|
411
|
-
|
|
412
|
-
|
|
413
|
-
|
|
414
|
-
|
|
415
|
-
|
|
416
|
-
|
|
417
|
-
|
|
418
|
-
|
|
205
|
+
# Initialize the serialport
|
|
206
|
+
# 115200 for Roomba 5xx
|
|
207
|
+
# 57600 for older models (and iRobot Create)
|
|
208
|
+
@serial = SerialPort.new(port, baud)
|
|
209
|
+
@serial.read_timeout = 15
|
|
210
|
+
self.start
|
|
211
|
+
|
|
212
|
+
# initialize the "DSL" here!
|
|
213
|
+
if block_given?
|
|
214
|
+
instance_eval(&block)
|
|
215
|
+
|
|
216
|
+
# clean up after ourselves (this is a Roomba, after all!)
|
|
217
|
+
self.power_off
|
|
419
218
|
end
|
|
420
219
|
end
|
|
421
220
|
end
|
|
422
221
|
|
|
222
|
+
# Alias for backwards-compatibility
|
|
223
|
+
Roomba = Rumba
|
metadata
CHANGED
|
@@ -1,7 +1,7 @@
|
|
|
1
1
|
--- !ruby/object:Gem::Specification
|
|
2
2
|
name: rumba
|
|
3
3
|
version: !ruby/object:Gem::Version
|
|
4
|
-
version: 0.2.
|
|
4
|
+
version: 0.2.5
|
|
5
5
|
platform: ruby
|
|
6
6
|
authors:
|
|
7
7
|
- Eric Wood
|
|
@@ -30,8 +30,11 @@ executables: []
|
|
|
30
30
|
extensions: []
|
|
31
31
|
extra_rdoc_files: []
|
|
32
32
|
files:
|
|
33
|
+
- README.md
|
|
33
34
|
- lib/rumba.rb
|
|
34
|
-
- lib/
|
|
35
|
+
- lib/rumba/constants.rb
|
|
36
|
+
- lib/rumba/dsl.rb
|
|
37
|
+
- lib/rumba/sensors.rb
|
|
35
38
|
homepage: http://github.com/eric-wood/roomba
|
|
36
39
|
licenses:
|
|
37
40
|
- BSD
|
data/lib/sensors.rb
DELETED
|
@@ -1,128 +0,0 @@
|
|
|
1
|
-
module RoombaSensor
|
|
2
|
-
class Boolean
|
|
3
|
-
def self.convert(v)
|
|
4
|
-
v == 1 ? true : false
|
|
5
|
-
end
|
|
6
|
-
end
|
|
7
|
-
|
|
8
|
-
class ChargingState
|
|
9
|
-
def self.convert(v)
|
|
10
|
-
case v
|
|
11
|
-
when 0
|
|
12
|
-
:not_charging
|
|
13
|
-
when 1
|
|
14
|
-
:reconditioning_charging
|
|
15
|
-
when 2
|
|
16
|
-
:full_charging
|
|
17
|
-
when 3
|
|
18
|
-
:trickle_charging
|
|
19
|
-
when 4
|
|
20
|
-
:waiting
|
|
21
|
-
when 5
|
|
22
|
-
:charging_fault_condition
|
|
23
|
-
end
|
|
24
|
-
end
|
|
25
|
-
end
|
|
26
|
-
|
|
27
|
-
class OIMode
|
|
28
|
-
def self.convert(v)
|
|
29
|
-
case v
|
|
30
|
-
when 0
|
|
31
|
-
:off
|
|
32
|
-
when 1
|
|
33
|
-
:passive
|
|
34
|
-
when 2
|
|
35
|
-
:safe
|
|
36
|
-
when 3
|
|
37
|
-
:full
|
|
38
|
-
end
|
|
39
|
-
end
|
|
40
|
-
end
|
|
41
|
-
|
|
42
|
-
class ChargingSourceAvailable
|
|
43
|
-
def self.convert(v)
|
|
44
|
-
h = {}
|
|
45
|
-
h[:internal_charger] = v & 0b1 > 0 ? true : false
|
|
46
|
-
h[:home_base] = v & 0b10 > 0 ? true : false
|
|
47
|
-
h
|
|
48
|
-
end
|
|
49
|
-
end
|
|
50
|
-
|
|
51
|
-
class LightBumper
|
|
52
|
-
def self.convert(v)
|
|
53
|
-
h = {}
|
|
54
|
-
h[:light_bumper_left] = v & 0b1 > 0 ? true : false
|
|
55
|
-
h[:light_bumper_front_left] = v & 0b10 > 0 ? true : false
|
|
56
|
-
h[:light_bumper_center_left] = v & 0b100 > 0 ? true : false
|
|
57
|
-
h[:light_bumper_center_right] = v & 0b1000 > 0 ? true : false
|
|
58
|
-
h[:light_bumper_front_right] = v & 0b10000 > 0 ? true : false
|
|
59
|
-
h[:light_bumper_right] = v & 0b100000 > 0 ? true : false
|
|
60
|
-
h
|
|
61
|
-
end
|
|
62
|
-
end
|
|
63
|
-
|
|
64
|
-
class WheelOvercurrents
|
|
65
|
-
def self.convert(v)
|
|
66
|
-
h = {}
|
|
67
|
-
h[:side_brush] = v & 0b1 > 0 ? true : false
|
|
68
|
-
h[:main_brush] = v & 0b100 > 0 ? true : false
|
|
69
|
-
h[:right_wheel] = v & 0b1000 > 0 ? true : false
|
|
70
|
-
h[:left_wheel] = v & 0b10000 > 0 ? true : false
|
|
71
|
-
h
|
|
72
|
-
end
|
|
73
|
-
end
|
|
74
|
-
|
|
75
|
-
class BumpsAndWheelDrops
|
|
76
|
-
def self.convert(v)
|
|
77
|
-
h = {}
|
|
78
|
-
h[:bump_right] = v & 0b1 > 0 ? true : false
|
|
79
|
-
h[:bump_left] = v & 0b10 > 0 ? true : false
|
|
80
|
-
h[:wheel_drop_right] = v & 0b100 > 0 ? true : false
|
|
81
|
-
h[:wheel_drop_left] = v & 0b1000 > 0 ? true : false
|
|
82
|
-
h
|
|
83
|
-
end
|
|
84
|
-
|
|
85
|
-
end
|
|
86
|
-
|
|
87
|
-
INFRARED_CHARACTER = {
|
|
88
|
-
129 => :left,
|
|
89
|
-
130 => :forward,
|
|
90
|
-
131 => :right,
|
|
91
|
-
132 => :spot,
|
|
92
|
-
133 => :max,
|
|
93
|
-
134 => :small,
|
|
94
|
-
135 => :medium,
|
|
95
|
-
136 => :large,
|
|
96
|
-
137 => :stop,
|
|
97
|
-
138 => :power,
|
|
98
|
-
139 => :arc_left,
|
|
99
|
-
140 => :arc_right,
|
|
100
|
-
141 => :stop,
|
|
101
|
-
142 => :download,
|
|
102
|
-
143 => :seek_dock,
|
|
103
|
-
160 => :reserved,
|
|
104
|
-
161 => :force_field,
|
|
105
|
-
164 => :green_buoy,
|
|
106
|
-
165 => :green_buoy_and_force_field,
|
|
107
|
-
168 => :red_buoy,
|
|
108
|
-
169 => :red_buoy_and_force_field,
|
|
109
|
-
172 => :red_and_green_buoy,
|
|
110
|
-
173 => :red_and_green_buoy_and_force_field,
|
|
111
|
-
240 => :reserved,
|
|
112
|
-
248 => :red_buoy,
|
|
113
|
-
244 => :green_buoy,
|
|
114
|
-
242 => :force_field,
|
|
115
|
-
252 => :red_and_green_buoy,
|
|
116
|
-
250 => :red_buoy_and_force_field,
|
|
117
|
-
246 => :green_buoy_and_force_field,
|
|
118
|
-
254 => :red_and_green_buoy_and_force_field,
|
|
119
|
-
162 => :virtual_wall
|
|
120
|
-
}
|
|
121
|
-
|
|
122
|
-
class InfraredCharacter
|
|
123
|
-
def self.convert(v)
|
|
124
|
-
INFRARED_CHARACTER[v]
|
|
125
|
-
end
|
|
126
|
-
end
|
|
127
|
-
end
|
|
128
|
-
|