rumba 0.1.0 → 0.2.0

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA1:
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-  data.tar.gz: ba6345f5aaaf814e2c4a10aa55b2493c26cd7e4d
+  metadata.gz: b1d712a0e9b5806c625ea88f90a7ac66d326cde2
+  data.tar.gz: 8119e32a631feffedfdced0645e5cfbf3aefe958
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data/lib/rumba.rb

@@ -1,15 +1,22 @@
 require 'rubygems'
 require 'serialport'
 require 'timeout'
+require_relative 'sensors.rb'
 
 class Roomba
+  attr_accessor :serial
+
   # These opcodes require no arguments
   OPCODES = {
-    start:       128,
-    control:     130,
-    dock:        143,
-    play_script: 153,
-    show_script: 154
+    start:        128,
+    control:      130,
+    power:        133,
+    spot:         134,
+    clean:        135,
+    max:          136,
+    dock:         143,
+    play_script:  153,
+    show_script:  154
   }
   
   # Create a method for each opcode that writes its data.
@@ -26,9 +33,12 @@ class Roomba
   
   # These opcodes require arguments
   DRIVE        = 137
+  MOTORS       = 138
   LEDS         = 139
   SONG         = 140
   PLAY_SONG    = 141
+  SENSORS      = 142
+  QUERY_LIST      = 149
   DRIVE_DIRECT = 145
   
   # Used for making the Roomba sing!
@@ -38,14 +48,118 @@ class Roomba
     'D#' => 75, 'E'  => 76, 'F'  => 77, 'F#' => 78, 'G'  => 79, 'G#' => 80,
     nil => 0
   }
-  
+
+  MOTORS_MASK_SIDE_BRUSH = 0x1
+  MOTORS_MASK_VACUUM     = 0x2
+  MOTORS_MASK_MAIN_BRUSH = 0x4
+
+  SENSORS_PACKETS_SIZE = [
+    0, # 0
+    0,0,0,0,0,0, # 1-6
+    1,1,1,1,1,1,1,1,1,1,1,1, # 7-18
+    2,2, # 19-20
+    1, # 21
+    2,2, # 22-23
+    1, # 24
+    2,2,2,2,2,2,2, # 25-31
+    1, # 32
+    2, # 33
+    1,1,1,1,1, # 34-38
+    2,2,2,2,2,2, # 39-44
+    1, # 45
+    2,2,2,2,2,2, # 46-51
+    1,1, # 52-53
+    2,2,2,2, # 54-57
+    1 # 58
+  ]
+
+  SENSORS_PACKETS_SIGNEDNESS = [
+    :na, # 0
+    :na,:na,:na,:na,:na,:na, # 1-6
+    :unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned, # 7-14
+    :signed,:signed,:unsigned,:unsigned, # 15-18
+    :signed,:signed, # 19-20
+    :unsigned, # 21
+    :unsigned,:signed, # 22-23
+    :signed, # 24
+    :unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned, # 25-31
+    :unsigned, # 32
+    :unsigned, # 33
+    :unsigned,:unsigned,:unsigned,:unsigned,:unsigned, # 34-38
+    :signed,:signed,:signed,:signed,:unsigned,:unsigned, # 39-44
+    :unsigned, # 45
+    :unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned, # 46-51
+    :unsigned,:unsigned, # 52-53
+    :signed,:signed,:signed,:signed, # 54-57
+    :unsigned # 58
+  ]
+
+  # Human readable packets name
+  SENSORS_PACKETS_SYMBOL = [
+    :ignore, # 0
+    :ignore,:ignore,:ignore,:ignore,:ignore,:ignore, # 1-6
+    :bumps_and_wheel_drops,:wall,:cliff_left,:cliff_front_left,:cliff_front_right,:cliff_right,:virtual_wall,:wheel_overcurrents, # 7-14
+    :dirt_detect,:ignore,:infrared_character_omni,:buttons,# 15-18
+    :distance,:angle, # 19-20
+    :charging_state, # 21
+    :voltage,:current, # 22-23
+    :temperature, # 24
+    :battery_charge,:battery_capacity,:wall_signal,:cliff_left_signal,:cliff_front_left_signal,:cliff_front_right_signal,:cliff_right_signal, # 25-31
+    :ignore, # 32
+    :ignore, # 33
+    :charging_sources_available,:oi_mode,:song_number,:song_playing,:number_of_stream_packets, # 34-38
+    :requested_velocity,:requested_radius,:requested_right_velocity,:requested_left_velocity,:right_encoder_count,:left_encoder_count, # 39-44
+    :light_bumper, # 45
+    :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
+    :infrared_character_left,:infrared_character_right, # 52-53
+    :left_motor_current,:right_motor_current,:main_brush_motor_current,:side_brush_motor_current, # 54-57
+    :stasis # 58
+  ]
+
+      # Sensors mapper
+  SENSORS_PACKETS_VALUE = {
+    :wall=>RoombaSensor::Boolean,
+    :cliff_left=>RoombaSensor::Boolean,
+    :cliff_front_left=>RoombaSensor::Boolean,
+    :cliff_front_right=>RoombaSensor::Boolean,
+    :cliff_right=>RoombaSensor::Boolean,
+    :virtual_wall=>RoombaSensor::Boolean,
+    :song_playing=>RoombaSensor::Boolean,
+    :stasis=>RoombaSensor::Boolean,
+
+    :charging_state=>RoombaSensor::ChargingState,
+    :oi_mode=>RoombaSensor::OIMode,
+    :charging_sources_available=>RoombaSensor::ChargingSourceAvailable,
+    :light_bumper=>RoombaSensor::LightBumper,
+    :wheel_overcurrents=>RoombaSensor::WheelOvercurrents,
+    :bumps_and_wheel_drops=>RoombaSensor::BumpsAndWheelDrops,
+    :infrared_character_omni=>RoombaSensor::InfraredCharacter,
+    :infrared_character_left=>RoombaSensor::InfraredCharacter,
+    :infrared_character_right=>RoombaSensor::InfraredCharacter
+  }
+
+  # Sensors groups
+  SENSORS_GROUP_PACKETS = {
+    0   => 7..26,
+    1   => 7..16,
+    2   => 17..20,
+    3   => 21..26,
+    4   => 27..34,
+    5   => 35..42,
+    6   => 7..42,
+    100 => 7..58,
+    101 => 43..58,
+    106 => 40..51,
+    107 => 54..58
+  }
+
   #############################################################################
   # HELPERS                                                                   # 
   #############################################################################
   
   # Converts input data (an array) into bytes before
   # sending it over the serial connection.
-  def write_chars(data);
+  def write_chars(data)
     data.map! do |c|
       if c.class == String
         result = c.bytes.to_a.map { |b| [b].pack("C") }
@@ -61,7 +175,75 @@ class Roomba
     @serial.write(data)
     @serial.flush
   end
-  
+
+  # Write data then read response
+  def write_chars_with_read(data)
+    data.map! do |c|
+      if c.class == String
+        result = c.bytes.to_a.map { |b| [b].pack("C") }
+      else
+        result = [c].pack("C")
+      end
+      
+      result
+    end
+    
+    data = data.flatten.join
+    
+    @serial.write(data)
+    sleep(0.1)
+    data=""
+    while(data.length==0)
+      data+=@serial.read
+    end
+    data
+  end
+
+  # Convert sensors bytes to packets hash
+  def sensors_bytes_to_packets(bytes,packets)
+    packets_h = {}
+    pack = ""
+    packets.each do |packet|
+      size = SENSORS_PACKETS_SIZE[packet]
+      signedness = SENSORS_PACKETS_SIGNEDNESS[packet]
+      case size
+        when 1
+          case signedness
+            when :signed
+              pack += "c"
+            when :unsigned
+              pack += "C"
+          end
+        when 2
+          case signedness
+            when :signed
+              pack += "s>"
+            when :unsigned
+              pack += "S>"
+          end
+      end
+    end
+
+    nums = bytes.unpack(pack)
+
+    cur_packet = 0
+    packets.each do |packet|
+      pname = SENSORS_PACKETS_SYMBOL[packet]
+      unless pname == :ignore
+        value = nums[cur_packet]
+        conv = SENSORS_PACKETS_VALUE[pname]
+        if conv
+          value = conv.convert(value)
+        end
+        packets_h[pname] = value
+      end
+
+      cur_packet+=1
+    end
+
+    packets_h
+  end
+
   # Convert integer to two's complement signed 16 bit integer.
   # Note that the Roomba is big-endian...I need to fix this
   # code to make it portable across different architectures.
@@ -141,7 +323,27 @@ class Roomba
     raise RangeError if song_number < 0 || song_number > 15
     write_chars([PLAY_SONG,song_number])
   end
-  
+
+  # Get sensors by group
+  # Default group 100 = all packets
+  def get_sensors(group=100)
+    sensors_bytes_to_packets(write_chars_with_read([SENSORS,group]),SENSORS_GROUP_PACKETS[group])
+  end
+
+  # Get sensors by list
+  # Array entry can be packet ID or symbol
+  def get_sensors_list(list)
+    ids_list=(list.map do |l|
+      if l.class == Symbol
+        Roomba::SENSORS_PACKETS_SYMBOL.find_index(l)
+      else
+        l
+      end
+    end)
+
+    sensors_bytes_to_packets(write_chars_with_read([QUERY_LIST,ids_list.length]+ids_list),ids_list)
+  end
+
   #############################################################################
   # Convenience methods                                                       #
   #############################################################################
@@ -173,6 +375,31 @@ class Roomba
     @serial.close
   end
   
+  def battery_percentage
+    sensors=get_sensors(3)
+    ((sensors[:battery_charge].to_f / sensors[:battery_capacity].to_f) * 100).to_i
+  end
+
+  def stop_all_motors
+    write_chars([MOTORS,0])
+  end
+
+  def start_all_motors
+    write_chars([MOTORS,MOTORS_MASK_SIDE_BRUSH|MOTORS_MASK_VACUUM|MOTORS_MASK_MAIN_BRUSH])
+  end
+
+  def start_side_brush_motor
+    write_chars([MOTORS,MOTORS_MASK_SIDE_BRUSH])
+  end
+
+  def start_vacumm_motor
+    write_chars([MOTORS,MOTORS_MASK_VACUUM])
+  end
+
+  def start_main_brush_motor
+    write_chars([MOTORS,MOTORS_MASK_MAIN_BRUSH])
+  end
+
   def initialize(port, timeout=10)
     @leds = {
       advance:   false,
@@ -184,8 +411,10 @@ class Roomba
     @timeout = timeout
     Timeout::timeout(@timeout) do
       # Initialize the serialport
-      @serial = SerialPort.new(port, 57600)
-      @serial.read_timeout = 1000
+      # 115200 for Roomba 5xx
+      # 57600 for older models ?
+      @serial = SerialPort.new(port, 115200)
+      @serial.read_timeout = 15
       self.start
     end
   end

data/lib/sensors.rb

@@ -0,0 +1,128 @@
+module RoombaSensor
+  class Boolean
+    def self.convert(v)
+      v == 1 ? true : false
+    end
+  end
+
+  class ChargingState
+    def self.convert(v)
+      case v
+        when 0
+          :not_charging
+        when 1
+          :reconditioning_charging
+        when 2
+          :full_charging
+        when 3
+          :trickle_charging
+        when 4
+          :waiting
+        when 5
+          :charging_fault_condition
+      end
+    end
+  end
+
+  class OIMode
+    def self.convert(v)
+      case v
+        when 0
+          :off
+        when 1
+          :passive
+        when 2
+          :safe
+        when 3
+          :full
+      end
+    end
+  end
+
+  class ChargingSourceAvailable
+    def self.convert(v)
+      h = {}
+      h[:internal_charger] = v & 0b1 > 0  ? true : false
+      h[:home_base]        = v & 0b10 > 0 ? true : false
+      h
+    end
+  end
+
+  class LightBumper
+    def self.convert(v)
+      h = {}
+      h[:light_bumper_left]         = v & 0b1 > 0      ? true : false
+      h[:light_bumper_front_left]   = v & 0b10 > 0     ? true : false
+      h[:light_bumper_center_left]  = v & 0b100 > 0    ? true : false
+      h[:light_bumper_center_right] = v & 0b1000 > 0   ? true : false
+      h[:light_bumper_front_right]  = v & 0b10000 > 0  ? true : false
+      h[:light_bumper_right]        = v & 0b100000 > 0 ? true : false
+      h
+    end
+  end
+
+  class WheelOvercurrents
+    def self.convert(v)
+      h = {}
+      h[:side_brush]  = v & 0b1     > 0 ? true : false
+      h[:main_brush]  = v & 0b100   > 0 ? true : false
+      h[:right_wheel] = v & 0b1000  > 0 ? true : false
+      h[:left_wheel]  = v & 0b10000 > 0 ? true : false
+      h
+    end
+  end
+
+  class BumpsAndWheelDrops
+    def self.convert(v)
+      h = {}
+      h[:bump_right]       = v & 0b1 > 0    ? true : false
+      h[:bump_left]        = v & 0b10 > 0   ? true : false
+      h[:wheel_drop_right] = v & 0b100 > 0  ? true : false
+      h[:wheel_drop_left]  = v & 0b1000 > 0 ? true : false
+      h
+    end
+
+  end
+
+  INFRARED_CHARACTER = {
+    129 => :left,
+    130 => :forward,
+    131 => :right,
+    132 => :spot,
+    133 => :max,
+    134 => :small,
+    135 => :medium,
+    136 => :large,
+    137 => :stop,
+    138 => :power,
+    139 => :arc_left,
+    140 => :arc_right,
+    141 => :stop,
+    142 => :download,
+    143 => :seek_dock,
+    160 => :reserved,
+    161 => :force_field,
+    164 => :green_buoy,
+    165 => :green_buoy_and_force_field,
+    168 => :red_buoy,
+    169 => :red_buoy_and_force_field,
+    172 => :red_and_green_buoy,
+    173 => :red_and_green_buoy_and_force_field,
+    240 => :reserved,
+    248 => :red_buoy,
+    244 => :green_buoy,
+    242 => :force_field,
+    252 => :red_and_green_buoy,
+    250 => :red_buoy_and_force_field,
+    246 => :green_buoy_and_force_field,
+    254 => :red_and_green_buoy_and_force_field,
+    162 => :virtual_wall
+  }
+
+  class InfraredCharacter
+    def self.convert(v)
+      INFRARED_CHARACTER[v]
+    end
+  end
+end
+

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: rumba
 version: !ruby/object:Gem::Version
-  version: 0.1.0
+  version: 0.2.0
 platform: ruby
 authors:
 - Eric Wood
@@ -31,6 +31,7 @@ extensions: []
 extra_rdoc_files: []
 files:
 - lib/rumba.rb
+- lib/sensors.rb
 homepage: http://github.com/eric-wood/roomba
 licenses:
 - BSD