sphero 1.0.0

data/.autotest

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+# -*- ruby -*-
+
+require 'autotest/restart'
+
+Autotest.add_hook :initialize do |at|
+  at.testlib          = 'minitest/autorun'
+  at.find_directories = ARGV unless ARGV.empty?
+end

data/CHANGELOG.rdoc

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+=== 1.0.0 / 2012-07-20
+
+* 1 major enhancement
+
+  * Birthday!
+

data/Manifest.txt

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+.autotest
+CHANGELOG.rdoc
+Manifest.txt
+README.markdown
+Rakefile
+bin/sphero
+lib/sphero.rb
+lib/sphero/request.rb
+lib/sphero/response.rb
+test/test_sphero.rb

data/README.markdown

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+# sphero
+
+* http://github.com/tenderlove/sphero
+
+## DESCRIPTION:
+
+A ruby gem for controlling your Sphero ball.  Sends commands over the TTY
+provided by the bluetooth connection.
+
+## FEATURES/PROBLEMS:
+
+* You need a Sphero
+
+## SYNOPSIS:
+
+```ruby
+s = Sphero.new "/dev/tty.Sphero-PRG-RN-SPP"
+s.ping
+
+# Roll 0 degrees, speed 125
+s.roll(125, 0)
+
+# Turn 360 degrees, 30 degrees at a time
+0.step(360, 30) { |h|
+  h = 0 if h == 360
+
+  # Set the heading to h degrees
+  s.heading = h
+  sleep 1
+}
+sleep 1
+s.stop
+```
+
+## REQUIREMENTS:
+
+* A Sphero ball connected to your computer
+
+## INSTALL:
+
+* gem install sphero
+
+## LICENSE:
+
+(The MIT License)
+
+Copyright (c) 2012 Aaron Patterson
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+'Software'), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED 'AS IS', WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

data/Rakefile

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+# -*- ruby -*-
+
+require 'rubygems'
+require 'hoe'
+
+Hoe.plugins.delete :rubyforge
+Hoe.plugin :minitest
+Hoe.plugin :gemspec # `gem install hoe-gemspec`
+Hoe.plugin :git     # `gem install hoe-git`
+
+Hoe.spec 'sphero' do
+  developer('Aaron Patterson', 'aaron@tenderlovemaking.com')
+  self.readme_file   = 'README.markdown'
+  self.history_file  = 'CHANGELOG.rdoc'
+  self.extra_rdoc_files  = FileList['*.{rdoc,markdown}']
+  self.extra_deps << ['serialport']
+
+  self.spec_extras = {
+    :required_ruby_version => '>= 1.9.3'
+  }
+end
+
+# vim: syntax=ruby

data/bin/sphero

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+#!/usr/bin/env ruby
+
+abort "you need to write me"

data/lib/sphero.rb

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+require 'serialport'
+require 'sphero/request'
+require 'sphero/response'
+require 'thread'
+
+class Sphero
+  VERSION = '1.0.0'
+
+  def initialize dev
+    @sp   = SerialPort.new dev, 115200, 8, 1, SerialPort::NONE
+    @dev  = 0x00
+    @seq  = 0x00
+    @lock = Mutex.new
+  end
+
+  def ping
+    write Request::Ping.new(@seq)
+  end
+
+  def version
+    write Request::GetVersioning.new(@seq)
+  end
+
+  def bluetooth_info
+    write Request::GetBluetoothInfo.new(@seq)
+  end
+
+  def auto_reconnect= time_s
+    write Request::SetAutoReconnect.new(@seq, time_s)
+  end
+
+  def auto_reconnect
+    write(Request::GetAutoReconnect.new(@seq)).time
+  end
+
+  def disable_auto_reconnect
+    write Request::SetAutoReconnect.new(@seq, 0, 0x00)
+  end
+
+  def power_state
+    write Request::GetPowerState.new(@seq)
+  end
+
+  def sleep wakeup = 0, macro = 0
+    write Request::Sleep.new(@seq, wakeup, macro)
+  end
+
+  def roll speed, heading, state = true
+    write Request::Roll.new(@seq, speed, heading, state ? 0x01 : 0x00)
+  end
+
+  def stop
+    roll 0, 0
+  end
+
+  def heading= h
+    write Request::Heading.new(@seq, h)
+  end
+
+  def rgb r, g, b, persistant = false
+    write Request::SetRGB.new(@seq, r, g, b, persistant ? 0x01 : 0x00)
+  end
+
+  # This retrieves the "user LED color" which is stored in the config block
+  # (which may or may not be actively driven to the RGB LED).
+  def user_led
+    write Request::GetRGB.new(@seq)
+  end
+
+  # Brightness 0x00 - 0xFF
+  def back_led_output= h
+    write Request::SetBackLEDOutput.new(@seq, h)
+  end
+
+  # Rotation Rate 0x00 - 0xFF
+  def rotation_rate= h
+    write Request::SetRotationRate.new(@seq, h)
+  end
+
+  private
+
+  def write packet
+    header = nil
+    body   = nil
+
+    @lock.synchronize do
+      @sp.write packet.to_str
+      @seq += 1
+
+      header   = @sp.read(5).unpack 'C5'
+      body     = @sp.read header.last
+    end
+
+    response = packet.response header, body
+
+    if response.success?
+      response
+    else
+      raise response
+    end
+  end
+end
+
+if $0 == __FILE__
+  begin
+    s = Sphero.new "/dev/tty.Sphero-BRR-RN-SPP"
+  rescue Errno::EBUSY
+    retry
+  end
+
+  10.times {
+    p s.ping
+  }
+
+  trap(:INT) {
+    s.stop
+  }
+
+  s.roll 100, 0
+
+  loop do
+    [0, 180].each do |dir|
+      s.heading = dir
+    end
+  end
+
+  #36.times {
+  #  i = 10
+  #  p :step => i
+  #  s.heading = i
+  #  sleep 0.5
+  #}
+end

data/lib/sphero/request.rb

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+class Sphero
+  class Request
+    SOP1 = 0xFF
+    SOP2 = 0xFF
+
+    def initialize seq, data = []
+      @seq    = seq
+      @data   = data
+      @did    = 0x00
+    end
+
+    def header
+      [SOP1, SOP2, @did, @cid, @seq, dlen]
+    end
+
+    # The data to write to the socket
+    def to_str
+      bytes
+    end
+
+    def response header, body
+      Response.new header, body
+    end
+
+    def packet_header
+      header.pack 'CCCCCC'
+    end
+
+    def packet_body
+      @data.pack 'C*'
+    end
+
+    def checksum
+      ~((packet_header + packet_body).unpack('C*').drop(2).reduce(:+) % 256) & 0xFF
+    end
+
+    def bytes
+      packet_header + packet_body + checksum.chr
+    end
+
+    def dlen
+      packet_body.bytesize + 1
+    end
+
+    class Sphero < Request
+      def initialize seq, data = []
+        super
+        @did = 0x02
+      end
+    end
+
+    class Heading < Sphero
+      def initialize seq, heading
+        super(seq, [heading])
+        @cid  = 0x01
+      end
+
+      private
+      def packet_body
+        @data.pack 'n'
+      end
+    end
+
+    class SetBackLEDOutput < Sphero
+      def initialize seq, brightness
+        super(seq, [brightness])
+        @cid = 0x21
+      end
+    end
+
+    class SetRotationRate < Sphero
+      def initialize seq, rate
+        super(seq, [rate])
+        @cid = 0x03
+      end
+    end
+
+    class SetRGB < Sphero
+      def initialize seq, r, g, b, persistant
+        super(seq, [r, g, b, persistant])
+        @cid = 0x20
+      end
+    end
+
+    class GetRGB < Sphero
+      def initialize seq
+        super(seq, [])
+        @cid = 0x22
+      end
+
+      def response header, body
+        Response::GetRGB.new header, body
+      end
+    end
+
+    class Roll < Sphero
+      def initialize seq, speed, heading, delay
+        super(seq, [speed, heading, delay])
+        @cid = 0x30
+      end
+
+      private
+      def packet_body
+        @data.pack 'CnC'
+      end
+    end
+
+    class Ping < Request
+      def initialize seq
+        super(seq, [])
+        @cid  = 0x01
+      end
+    end
+
+    class GetVersioning < Request
+      def initialize seq
+        super(seq, [])
+        @cid  = 0x02
+      end
+    end
+
+    class GetBluetoothInfo < Request
+      def initialize seq
+        super(seq, [])
+        @cid  = 0x11
+      end
+
+      def response header, body
+        Response::GetBluetoothInfo.new header, body
+      end
+    end
+
+    class SetAutoReconnect < Request
+      def initialize seq, time = 7, enabled = 0x01
+        super(seq, [enabled, time])
+        @cid = 0x12
+      end
+    end
+
+    class GetAutoReconnect < Request
+      def initialize seq
+        super(seq, [])
+        @cid = 0x13
+      end
+
+      def response header, body
+        Response::GetAutoReconnect.new header, body
+      end
+    end
+
+    class GetPowerState < Request
+      def initialize seq
+        super(seq, [])
+        @cid = 0x20
+      end
+
+      def response header, body
+        Response::GetPowerState.new header, body
+      end
+    end
+
+    class Sleep < Request
+      def initialize seq, wakeup, macro
+        super(seq, [wakeup, macro])
+        @cid    = 0x22
+      end
+
+      private
+
+      def packet_body
+        @data.pack 'nC'
+      end
+    end
+  end
+end

data/lib/sphero/response.rb

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+class Sphero
+  class Response
+    SOP1 = 0
+    SOP2 = 1
+    MRSP = 2
+    SEQ  = 3
+    DLEN = 4
+
+    CODE_OK = 0
+
+    def initialize header, body
+      @header = header
+      @body   = body
+    end
+
+    def empty?
+      @header[DLEN] == 1
+    end
+
+    def success?
+      @header[MRSP] == CODE_OK
+    end
+
+    def seq
+      @header[SEQ]
+    end
+
+    def body
+      @body.unpack 'C*'
+    end
+
+    class GetAutoReconnect < Response
+      def time
+        body[1]
+      end
+    end
+
+    class GetPowerState < Response
+      # constants for power_state
+      CHARGING = 0x01
+      OK       = 0x02
+      LOW      = 0x03
+      CRITICAL = 0x04
+
+      def body
+        @body.unpack 'CCnnnC'
+      end
+
+      def rec_ver
+        body[0]
+      end
+
+      def power_state
+        body[1]
+      end
+
+      # Voltage * 100
+      def batt_voltage
+        body[2]
+      end
+
+      def num_charges
+        body[3]
+      end
+
+      # Time since awakened in seconds
+      def time_since_charge
+        body[4]
+      end
+    end
+
+    class GetBluetoothInfo < Response
+      def name
+        body.take(16).slice_before(0x00).first.pack 'C*'
+      end
+
+      def bta
+        body.drop(16).slice_before(0x00).first.pack 'C*'
+      end
+    end
+
+    class GetRGB < Response
+      def r; body[0]; end
+      def g; body[1]; end
+      def b; body[2]; end
+    end
+  end
+end

data/test/test_sphero.rb

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+require 'minitest/autorun'
+require 'sphero'
+
+class TestSphero < MiniTest::Unit::TestCase
+  def test_ping_checksum
+    ping = Sphero::Request::Ping.new 0
+    assert_equal "\xFF\xFF\x00\x01\x00\x01\xFD", ping.to_str
+  end
+
+  def test_sleep_dlen
+    sleep = Sphero::Request::Sleep.new 0, 0, 0
+    assert_equal 0x04, sleep.dlen
+  end
+end

metadata

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+--- !ruby/object:Gem::Specification
+name: sphero
+version: !ruby/object:Gem::Version
+  version: 1.0.0
+  prerelease: 
+platform: ruby
+authors:
+- Aaron Patterson
+autorequire: 
+bindir: bin
+cert_chain: []
+date: 2012-07-25 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: serialport
+  requirement: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ! '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ! '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: minitest
+  requirement: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '3.2'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '3.2'
+- !ruby/object:Gem::Dependency
+  name: rdoc
+  requirement: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '3.10'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '3.10'
+- !ruby/object:Gem::Dependency
+  name: hoe
+  requirement: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '3.0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '3.0'
+description: ! 'A ruby gem for controlling your Sphero ball.  Sends commands over
+  the TTY
+
+  provided by the bluetooth connection.'
+email:
+- aaron@tenderlovemaking.com
+executables:
+- sphero
+extensions: []
+extra_rdoc_files:
+- CHANGELOG.rdoc
+- Manifest.txt
+- README.markdown
+files:
+- .autotest
+- CHANGELOG.rdoc
+- Manifest.txt
+- README.markdown
+- Rakefile
+- bin/sphero
+- lib/sphero.rb
+- lib/sphero/request.rb
+- lib/sphero/response.rb
+- test/test_sphero.rb
+- .gemtest
+homepage: http://github.com/tenderlove/sphero
+licenses: []
+post_install_message: 
+rdoc_options:
+- --main
+- README.markdown
+require_paths:
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement
+  none: false
+  requirements:
+  - - ! '>='
+    - !ruby/object:Gem::Version
+      version: 1.9.3
+required_rubygems_version: !ruby/object:Gem::Requirement
+  none: false
+  requirements:
+  - - ! '>='
+    - !ruby/object:Gem::Version
+      version: '0'
+requirements: []
+rubyforge_project: sphero
+rubygems_version: 1.8.23
+signing_key: 
+specification_version: 3
+summary: A ruby gem for controlling your Sphero ball
+test_files:
+- test/test_sphero.rb