sphero 1.0.0 → 1.4.1

data/CHANGELOG.rdoc

@@ -4,3 +4,36 @@
 
   * Birthday!
 
+=== 1.0.1 / 2012-10-28
+
+* 3 minor fixes/enhancements
+
+  * Works with Ruby 1.9.2 for us regular folks
+  * Sphero.start method to endlessly retry when connecting
+  * I think heading might work again, not too sure
+
+=== 1.1.0 / 2013-01-04
+
+* 3 enhancements
+
+  * Pass a block to Sphero.start for DSL-awesomeness
+  * Use Sphero#keep_going as a nicer alias for Ruby's sleep command
+  * Add some additional test coverage
+
+=== 1.1.2 / 2013-01-07
+
+* 1 bugfix
+
+  * Correct Sphero#keep_going to call Kernel sleep method correctly
+
+=== 1.1.3 / 2013-01-07
+
+* 1 enhancement/bugfix depending on how you look at it
+
+  * Change Sphero#sleep to Sphero#sphero_sleep to distingish naive call to Kernel sleep
+
+=== 1.1.4 / 2013-01-10
+
+* 1 enhancement
+
+  * Add constants FORWARD, BACKWARD, RIGHT, & LEFT for quick directionality

data/Manifest.txt

@@ -8,3 +8,4 @@ lib/sphero.rb
 lib/sphero/request.rb
 lib/sphero/response.rb
 test/test_sphero.rb
+test/test_sphero_request.rb

data/README.markdown

@@ -1,6 +1,6 @@
 # sphero
 
-* http://github.com/tenderlove/sphero
+* http://github.com/hybridgroup/sphero
 
 ## DESCRIPTION:
 
@@ -13,6 +13,51 @@ provided by the bluetooth connection.
 
 ## SYNOPSIS:
 
+You can easily start your Sphero and send it commands like this:
+
+```ruby
+Sphero.start '/dev/tty.Sphero-YBW-RN-SPP' do
+	roll 60, FORWARD
+	keep_going 3
+
+	roll 60, RIGHT
+	keep_going 3
+
+	roll 60, BACKWARD
+	keep_going 3
+
+	roll 60, LEFT
+	keep_going 3
+
+	stop
+end
+```
+
+Here is another example:
+
+```ruby
+Sphero.start "/dev/tty.Sphero-PRG-RN-SPP" do
+	ping
+
+	# Roll 0 degrees, speed 125
+	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
+ 		heading = h
+ 		keep_going 1
+	}
+
+	keep_going 1
+	stop
+end
+```
+
+Here is a another way to do the same thing as the previos example, via just normal method calls instead of the DSL:
+
 ```ruby
 s = Sphero.new "/dev/tty.Sphero-PRG-RN-SPP"
 s.ping
@@ -32,19 +77,38 @@ sleep 1
 s.stop
 ```
 
+## Pairing sphero with ubuntu
+Add your user to the `dialout` group
+```
+$ sudo usermod -a -G dialout <user>
+```
+Then logout or restart your computer. Once your user is logged back in, pair the sphero with the ubuntu bluetooth manager.
+
+Once paired, you may now bind your sphero to a rfcomm port
+```
+$ sudo hcitool scan 
+Scanning ...
+<address>		Sphero
+$ sudo rfcomm bind /dev/rfcomm0 <address> 1
+```
+
+You may now access the sphero from `/dev/rfcomm0`
+
 ## REQUIREMENTS:
 
 * A Sphero ball connected to your computer
+* Supports MRI 1.9.2/1.9.3 and Rubinius 2.0rc1 for sure...
 
 ## INSTALL:
 
-* gem install sphero
+* gem install hybridgroup-sphero
 
 ## LICENSE:
 
 (The MIT License)
 
 Copyright (c) 2012 Aaron Patterson
+Copyright (c) 2012-2013 The Hybrid Group
 
 Permission is hereby granted, free of charge, to any person obtaining
 a copy of this software and associated documentation files (the

data/Rakefile

@@ -4,19 +4,19 @@ require 'rubygems'
 require 'hoe'
 
 Hoe.plugins.delete :rubyforge
+Hoe.plugins.delete :flog
 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')
+  developer('Hybrid Group', 'sphero@hybridgroup.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'
+    :required_ruby_version => '>= 1.9.2'
   }
 end
 

data/lib/sphero.rb

@@ -1,16 +1,62 @@
-require 'serialport'
 require 'sphero/request'
 require 'sphero/response'
 require 'thread'
 
 class Sphero
-  VERSION = '1.0.0'
+  VERSION = '1.4.1'
+
+  FORWARD = 0
+  RIGHT = 90
+  BACKWARD = 180
+  LEFT = 270
+
+  DEFAULT_RETRIES = 3
+
+  attr_accessor :connection_types, :messages
+
+  class << self
+    def start(dev, &block)
+      retries_left = DEFAULT_RETRIES
+      begin
+        sphero = self.new dev
+        if (block_given?)
+          begin
+             sphero.instance_eval(&block)
+          ensure
+             sphero.close
+          end
+          return nil
+        end
+        return sphero      
+      rescue Errno::EBUSY
+        puts retries_left
+        retries_left = retries_left - 1
+        retry unless retries_left < 0
+      end
+    end
+  end
 
   def initialize dev
-    @sp   = SerialPort.new dev, 115200, 8, 1, SerialPort::NONE
+    if dev.is_a?(String)
+      initialize_serialport dev
+    else
+      @sp = dev
+    end
+
     @dev  = 0x00
     @seq  = 0x00
     @lock = Mutex.new
+    @messages = Queue.new
+  end
+  
+  def close
+    begin
+      stop
+    rescue Exception => e
+      puts e.message
+    ensure
+      @sp.close
+    end
   end
 
   def ping
@@ -41,7 +87,7 @@ class Sphero
     write Request::GetPowerState.new(@seq)
   end
 
-  def sleep wakeup = 0, macro = 0
+  def sphero_sleep wakeup = 0, macro = 0
     write Request::Sleep.new(@seq, wakeup, macro)
   end
 
@@ -57,6 +103,11 @@ class Sphero
     write Request::Heading.new(@seq, h)
   end
 
+  def color colorname, persistant = false
+    color = COLORS[colorname]
+    rgb color[:r], color[:g], color[:b], persistant
+  end
+
   def rgb r, g, b, persistant = false
     write Request::SetRGB.new(@seq, r, g, b, persistant ? 0x01 : 0x00)
   end
@@ -77,18 +128,76 @@ class Sphero
     write Request::SetRotationRate.new(@seq, h)
   end
 
+  # just a nicer alias for Ruby's own sleep
+  def keep_going(duration)
+    Kernel::sleep duration
+  end
+
+  ## async messages
+
+  # configure power notification messages
+  def set_power_notification enable=true
+    write Request::SetPowerNotification.new(@seq, enable ? 0x01 : 0x00)
+  end
+
+  # configure data streaming notification messages
+  def set_data_streaming n, m, mask, pcnt, mask2
+    write Request::SetDataStreaming.new(@seq, n, m, mask, pcnt, mask2)
+  end
+
+  # configure collision detection messages
+  def configure_collision_detection meth, x_t, y_t, x_spd, y_spd, dead
+    write Request::ConfigureCollisionDetection.new(@seq, meth, x_t, y_t, x_spd, y_spd, dead)
+  end
+  
   private
+  
+  def is_windows?
+    os = RUBY_PLATFORM.split("-")[1]
+    if (os == 'mswin' or os == 'bccwin' or os == 'mingw' or os == 'mingw32')
+      true
+    else
+      false
+    end
+  end
+
+  def initialize_serialport dev
+    require 'serialport'
+    @sp = SerialPort.new dev, 115200, 8, 1, SerialPort::NONE
+    if is_windows?
+      @sp.read_timeout=1000
+      @sp.write_timeout=0
+      @sp.initial_byte_offset=5
+    end
+  rescue LoadError
+    puts "Please 'gem install hybridgroup-serialport' for serial port support."
+  end
 
   def write packet
-    header = nil
-    body   = nil
+    header, body = nil
+
+    IO.select([], [@sp], [], 20)
 
     @lock.synchronize do
       @sp.write packet.to_str
       @seq += 1
+    end
+
+    IO.select([@sp], [], [], 20)
+    header = read_header(true)
+    body = read_body(header.last, true) if header
 
-      header   = @sp.read(5).unpack 'C5'
-      body     = @sp.read header.last
+    # pick off asynch packets and store, till we get to the message response
+    while header && Response.async?(header)
+      messages << Response::AsyncResponse.response(header, body)
+
+      IO.select([@sp], [], [], 20)
+      header = read_header(true)
+      if header
+        body = read_body(header.last, true)
+      else
+        body = nil
+      end
     end
 
     response = packet.response header, body
@@ -96,38 +205,203 @@ class Sphero
     if response.success?
       response
     else
-      raise response
+      raise "Unable to write to Sphero!"
     end
   end
-end
 
-if $0 == __FILE__
-  begin
-    s = Sphero.new "/dev/tty.Sphero-BRR-RN-SPP"
-  rescue Errno::EBUSY
-    retry
-  end
+  def read_header(blocking=false)
+    header = nil
+    begin
+      data = read_next_chunk(5, blocking)
+      return nil unless data
+      header = data.unpack 'C5'
+    rescue Errno::EBUSY
+      retry
+    rescue Exception => e
+      puts e.message
+      puts e.backtrace.inspect
+      retry
+    end
 
-  10.times {
-    p s.ping
-  }
+    header
+  end
 
-  trap(:INT) {
-    s.stop
-  }
+  def read_body(len, blocking=false)
+    data = nil
+    begin
+      data = read_next_chunk(len, blocking)
+      return nil unless data && data.length == len
+    rescue Errno::EBUSY
+      retry
+    rescue Exception => e
+      puts e.message
+      puts e.backtrace.inspect
+      retry
+    end
 
-  s.roll 100, 0
+    data
+  end
 
-  loop do
-    [0, 180].each do |dir|
-      s.heading = dir
+  def read_next_chunk(len, blocking=false)
+    data = nil
+    begin
+      @lock.synchronize do
+        if blocking || is_windows?
+          data = @sp.read(len)
+        else
+          data = @sp.read_nonblock(len)
+        end
+      end
+    rescue Errno::EBUSY
+      retry
+    rescue Exception => e
+      puts e.message
+      puts e.backtrace.inspect
+      return nil
     end
-  end
+    data
+  end  
 
-  #36.times {
-  #  i = 10
-  #  p :step => i
-  #  s.heading = i
-  #  sleep 0.5
-  #}
+  COLORS = {
+    'aliceblue'            => {:r => 240, :g => 248, :b => 255},
+    'antiquewhite'         => {:r => 250, :g => 235, :b => 215},
+    'aqua'                 => {:r => 0, :g => 255, :b => 255},
+    'aquamarine'           => {:r => 127, :g => 255, :b => 212},
+    'azure'                => {:r => 240, :g => 255, :b => 255},
+    'beige'                => {:r => 245, :g => 245, :b => 220},
+    'bisque'               => {:r => 255, :g => 228, :b => 196},
+    'black'                => {:r => 0, :g => 0, :b => 0},
+    'blanchedalmond'       => {:r =>  255, :g => 235, :b => 205},
+    'blue'                 => {:r => 0, :g => 0, :b => 255},
+    'blueviolet'           => {:r => 138, :g => 43, :b => 226},
+    'brown'                => {:r => 165, :g => 42, :b => 42},
+    'burlywood'            => {:r => 222, :g => 184, :b => 135},
+    'cadetblue'            => {:r => 95, :g => 158, :b => 160},
+    'chartreuse'           => {:r => 127, :g => 255, :b => 0},
+    'chocolate'            => {:r => 210, :g => 105, :b => 30},
+    'coral'                => {:r => 255, :g => 127, :b => 80},
+    'cornflowerblue'       => {:r => 100, :g => 149, :b => 237},
+    'cornsilk'             => {:r => 255, :g => 248, :b => 220},
+    'crimson'              => {:r => 220, :g => 20, :b => 60},
+    'cyan'                 => {:r => 0, :g => 255, :b => 255},
+    'darkblue'             => {:r => 0, :g => 0, :b => 139},
+    'darkcyan'             => {:r => 0, :g => 139, :b => 139},
+    'darkgoldenrod'        => {:r => 184, :g => 134, :b => 11},
+    'darkgray'             => {:r => 169, :g => 169, :b => 169},
+    'darkgreen'            => {:r => 0, :g => 100, :b => 0},
+    'darkkhaki'            => {:r => 189, :g => 183, :b => 107},
+    'darkmagenta'          => {:r => 139, :g => 0, :b => 139},
+    'darkolivegreen'       => {:r => 85, :g => 107, :b => 47},
+    'darkorange'           => {:r => 255, :g => 140, :b => 0},
+    'darkorchid'           => {:r => 153, :g => 50, :b => 204},
+    'darkred'              => {:r => 139, :g => 0, :b => 0},
+    'darksalmon'           => {:r => 233, :g => 150, :b => 122},
+    'darkseagreen'         => {:r => 143, :g => 188, :b => 143},
+    'darkslateblue'        => {:r => 72, :g => 61, :b => 139},
+    'darkslategray'        => {:r => 47, :g => 79, :b => 79},
+    'darkturquoise'        => {:r => 0, :g => 206, :b => 209},
+    'darkviolet'           => {:r => 148, :g => 0, :b => 211},
+    'deeppink'             => {:r => 255, :g => 20, :b => 147},
+    'deepskyblue'          => {:r => 0, :g => 191, :b => 255},
+    'dimgray'              => {:r => 105, :g => 105, :b => 105},
+    'dodgerblue'           => {:r => 30, :g => 144, :b => 255},
+    'firebrick'            => {:r => 178, :g => 34, :b => 34},
+    'floralwhite'          => {:r => 255, :g => 250, :b => 240},
+    'forestgreen'          => {:r => 34, :g => 139, :b => 34},
+    'fuchsia'              => {:r => 255, :g => 0, :b => 255},
+    'gainsboro'            => {:r => 220, :g => 220, :b => 220},
+    'ghostwhite'           => {:r => 248, :g => 248, :b => 255},
+    'gold'                 => {:r => 255, :g => 215, :b => 0},
+    'goldenrod'            => {:r => 218, :g => 165, :b => 32},
+    'gray'                 => {:r => 128, :g => 128, :b => 128},
+    'green'                => {:r => 0, :g => 128, :b => 0},
+    'greenyellow'          => {:r => 173, :g => 255, :b => 47},
+    'honeydew'             => {:r => 240, :g => 255, :b => 240},
+    'hotpink'              => {:r => 255, :g => 105, :b => 180},
+    'indianred'            => {:r => 205, :g => 92, :b => 92},
+    'indigo'               => {:r => 75, :g => 0, :b => 130},
+    'ivory'                => {:r => 255, :g => 255, :b => 240},
+    'khaki'                => {:r => 240, :g => 230, :b => 140},
+    'lavender'             => {:r => 230, :g => 230, :b => 250},
+    'lavenderblush'        => {:r => 255, :g => 240, :b => 245},
+    'lawngreen'            => {:r => 124, :g => 252, :b => 0},
+    'lemonchiffon'         => {:r => 255, :g => 250, :b => 205},
+    'lightblue'            => {:r => 173, :g => 216, :b => 230},
+    'lightcoral'           => {:r => 240, :g => 128, :b => 128},
+    'lightcyan'            => {:r => 224, :g => 255, :b => 255},
+    'lightgoldenrodyellow' => {:r => 250, :g => 250, :b => 210},
+    'lightgreen'           => {:r => 144, :g => 238, :b => 144},
+    'lightgrey'            => {:r => 211, :g => 211, :b => 211},
+    'lightpink'            => {:r => 255, :g => 182, :b => 193},
+    'lightsalmon'          => {:r => 255, :g => 160, :b => 122},
+    'lightseagreen'        => {:r => 32, :g => 178, :b => 170},
+    'lightskyblue'         => {:r => 135, :g => 206, :b => 250},
+    'lightslategray'       => {:r => 119, :g => 136, :b => 153},
+    'lightsteelblue'       => {:r => 176, :g => 196, :b => 222},
+    'lightyellow'          => {:r => 255, :g => 255, :b => 224},
+    'lime'                 => {:r => 0, :g => 255, :b => 0},
+    'limegreen'            => {:r => 50, :g => 205, :b => 50},
+    'linen'                => {:r => 250, :g => 240, :b => 230},
+    'magenta'              => {:r => 255, :g => 0, :b => 255},
+    'maroon'               => {:r => 128, :g => 0, :b => 0},
+    'mediumaquamarine'     => {:r => 102, :g => 205, :b => 170},
+    'mediumblue'           => {:r => 0, :g => 0, :b => 205},
+    'mediumorchid'         => {:r => 186, :g => 85, :b => 211},
+    'mediumpurple'         => {:r => 147, :g => 112, :b => 219},
+    'mediumseagreen'       => {:r => 60, :g => 179, :b => 113},
+    'mediumslateblue'      => {:r => 123, :g => 104, :b => 238},
+    'mediumspringgreen'    => {:r => 0, :g => 250, :b => 154},
+    'mediumturquoise'      => {:r => 72, :g => 209, :b => 204},
+    'mediumvioletred'      => {:r => 199, :g => 21, :b => 133},
+    'midnightblue'         => {:r => 25, :g => 25, :b => 112},
+    'mintcream'            => {:r => 245, :g => 255, :b => 250},
+    'mistyrose'            => {:r => 255, :g => 228, :b => 225},
+    'moccasin'             => {:r => 255, :g => 228, :b => 181},
+    'navajowhite'          => {:r => 255, :g => 222, :b => 173},
+    'navy'                 => {:r => 0, :g => 0, :b => 128},
+    'oldlace'              => {:r => 253, :g => 245, :b => 230},
+    'olive'                => {:r => 128, :g => 128, :b => 0},
+    'olivedrab'            => {:r => 107, :g => 142, :b => 35},
+    'orange'               => {:r => 255, :g => 165, :b => 0},
+    'orangered'            => {:r => 255, :g => 69, :b => 0},
+    'orchid'               => {:r => 218, :g => 112, :b => 214},
+    'palegoldenrod'        => {:r => 238, :g => 232, :b => 170},
+    'palegreen'            => {:r => 152, :g => 251, :b => 152},
+    'paleturquoise'        => {:r => 175, :g => 238, :b => 238},
+    'palevioletred'        => {:r => 219, :g => 112, :b => 147},
+    'papayawhip'           => {:r => 255, :g => 239, :b => 213},
+    'peachpuff'            => {:r => 255, :g => 218, :b => 185},
+    'peru'                 => {:r => 205, :g => 133, :b => 63},
+    'pink'                 => {:r => 255, :g => 192, :b => 203},
+    'plum'                 => {:r => 221, :g => 160, :b => 221},
+    'powderblue'           => {:r => 176, :g => 224, :b => 230},
+    'purple'               => {:r => 128, :g => 0, :b => 128},
+    'red'                  => {:r => 255, :g => 0, :b => 0},
+    'rosybrown'            => {:r => 188, :g => 143, :b => 143},
+    'royalblue'            => {:r => 65, :g => 105, :b => 225},
+    'saddlebrown'          => {:r => 139, :g => 69, :b => 19},
+    'salmon'               => {:r => 250, :g => 128, :b => 114},
+    'sandybrown'           => {:r => 244, :g => 164, :b => 96},
+    'seagreen'             => {:r => 46, :g => 139, :b => 87},
+    'seashell'             => {:r => 255, :g => 245, :b => 238},
+    'sienna'               => {:r => 160, :g => 82, :b => 45},
+    'silver'               => {:r => 192, :g => 192, :b => 192},
+    'skyblue'              => {:r => 135, :g => 206, :b => 235},
+    'slateblue'            => {:r => 106, :g => 90, :b => 205},
+    'slategray'            => {:r => 112, :g => 128, :b => 144},
+    'snow'                 => {:r => 255, :g => 250, :b => 250},
+    'springgreen'          => {:r => 0, :g => 255, :b => 127},
+    'steelblue'            => {:r => 70, :g => 130, :b => 180},
+    'tan'                  => {:r => 210, :g => 180, :b => 140},
+    'teal'                 => {:r => 0, :g => 128, :b => 128},
+    'thistle'              => {:r => 216, :g => 191, :b => 216},
+    'tomato'               => {:r => 255, :g => 99, :b => 71},
+    'turquoise'            => {:r => 64, :g => 224, :b => 208},
+    'violet'               => {:r => 238, :g => 130, :b => 238},
+    'wheat'                => {:r => 245, :g => 222, :b => 179},
+    'white'                => {:r => 255, :g => 255, :b => 255},
+    'whitesmoke'           => {:r => 245, :g => 245, :b => 245},
+    'yellow'               => {:r => 255, :g => 255, :b => 0},
+    'yellowgreen'          => {:r => 154, :g => 205, :b => 50}
+  }
 end

data/lib/sphero/request.rb

@@ -3,6 +3,8 @@ class Sphero
     SOP1 = 0xFF
     SOP2 = 0xFF
 
+    attr_reader :data
+
     def initialize seq, data = []
       @seq    = seq
       @data   = data
@@ -19,7 +21,12 @@ class Sphero
     end
 
     def response header, body
-      Response.new header, body
+      name = self.class.name.split('::').last
+      if Response.const_defined?(name)
+        Response.const_get(name).new header, body
+      else
+        Response.new header, body
+      end
     end
 
     def packet_header
@@ -49,49 +56,26 @@ class Sphero
       end
     end
 
-    class Heading < Sphero
-      def initialize seq, heading
-        super(seq, [heading])
-        @cid  = 0x01
-      end
-
-      private
-      def packet_body
-        @data.pack 'n'
-      end
+    def self.make_command klass, cid, &block
+      Class.new(klass) {
+        define_method(:initialize) do |seq, *args|
+          super(seq, args)
+          @cid = cid
+        end
+      }
     end
 
-    class SetBackLEDOutput < Sphero
-      def initialize seq, brightness
-        super(seq, [brightness])
-        @cid = 0x21
-      end
-    end
+    SetBackLEDOutput = make_command Sphero, 0x21
+    SetRotationRate  = make_command Sphero, 0x03
+    SetRGB           = make_command Sphero, 0x20
+    GetRGB           = make_command Sphero, 0x22
 
-    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
+    Ping             = make_command Request, 0x01
+    GetVersioning    = make_command Request, 0x02
+    GetBluetoothInfo = make_command Request, 0x11
+    SetAutoReconnect = make_command Request, 0x12
+    GetAutoReconnect = make_command Request, 0x13
+    GetPowerState    = make_command Request, 0x20
 
     class Roll < Sphero
       def initialize seq, speed, heading, delay
@@ -105,70 +89,96 @@ class Sphero
       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
+    class Heading < Request
+      def initialize seq, heading
+        super(seq, [heading])
+        @cid = 0x01
       end
 
-      def response header, body
-        Response::GetBluetoothInfo.new header, body
+      private
+      def packet_body
+        @data.pack 'n'
       end
     end
 
-    class SetAutoReconnect < Request
-      def initialize seq, time = 7, enabled = 0x01
-        super(seq, [enabled, time])
-        @cid = 0x12
+    class Sleep < Request
+      def initialize seq, wakeup, macro
+        super(seq, [wakeup, macro])
+        @cid    = 0x22
       end
-    end
 
-    class GetAutoReconnect < Request
-      def initialize seq
-        super(seq, [])
-        @cid = 0x13
-      end
+      private
 
-      def response header, body
-        Response::GetAutoReconnect.new header, body
+      def packet_body
+        @data.pack 'nC'
       end
     end
 
-    class GetPowerState < Request
-      def initialize seq
-        super(seq, [])
-        @cid = 0x20
-      end
-
-      def response header, body
-        Response::GetPowerState.new header, body
+    class SetPowerNotification < Sphero
+      def initialize seq, enable
+        super(seq, [enable])
+        @cid = 0x21
       end
     end
 
-    class Sleep < Request
-      def initialize seq, wakeup, macro
-        super(seq, [wakeup, macro])
-        @cid    = 0x22
+    GYRO_AXIS_H_FILTERED = 0x0000_0001
+    GYRO_AXIS_M_FILTERED = 0x0000_0002
+    GYRO_AXIS_L_FILTERED = 0x0000_0004 
+    LEFT_MOTOR_BACK_EMF_FILTERED = 0x0000_0020
+    RIGHT_MOTOR_BACK_EMF_FILTERED = 0x0000_0040 
+    MAGNETOMETER_AXIS_Z_FILTERED = 0x0000_0080
+    MAGNETOMETER_AXIS_Y_FILTERED = 0x0000_0100
+    MAGNETOMETER_AXIS_X_FILTERED = 0x0000_0200
+    GYRO_AXIS_Z_FILTERED = 0x0000_0400
+    GYRO_AXIS_Y_FILTERED = 0x0000_0800
+    GYRO_AXIS_X_FILTERED = 0x0000_1000
+    ACCELEROMETER_AXIS_Z_FILTERED = 0x0000_2000
+    ACCELEROMETER_AXIS_Y_FILTERED = 0x0000_4000
+    ACCELEROMETER_AXIS_X_FILTERED = 0x0000_8000
+    IMU_YAW_ANGLE_FILTERED = 0x0001_0000
+    IMU_ROLL_ANGLE_FILTERED = 0x0002_0000
+    IMU_PITCH_ANGLE_FILTERED = 0x0004_0000
+    LEFT_MOTOR_BACK_EMF_RAW = 0x0020_0000
+    RIGHT_MOTOR_BACK_EMF_RAW = 0x0040_0000
+    MAGNETOMETER_AXIS_Z_RAW = 0x0080_0000
+    MAGNETOMETER_AXIS_Y_RAW = 0x0100_0000
+    MAGNETOMETER_AXIS_X_RAW = 0x0200_0000
+    GYRO_AXIS_Z_RAW = 0x0400_0000
+    GYRO_AXIS_Y_RAW = 0x0800_0000
+    GYRO_AXIS_X_RAW = 0x1000_0000
+    ACCELEROMETER_AXIS_Z_RAW = 0x2000_0000
+    ACCELEROMETER_AXIS_Y_RAW = 0x4000_0000
+    ACCELEROMETER_AXIS_X_RAW = 0x8000_0000
+
+    QUATERNION_Q0 = 0x0000_0001
+    QUATERNION_Q1 = 0x0000_0002
+    QUATERNION_Q2 = 0x0000_0004
+    QUATERNION_Q3 = 0x0000_0008
+    ODOMETER_X = 0x0000_0010
+    ODOMETER_Y = 0x0000_0020
+    ACCELONE = 0x0000_0040
+    VELOCITY_X = 0x0000_0080
+    VELOCITY_Y = 0x0000_0100
+
+    class SetDataStreaming < Sphero
+      def initialize seq, n, m, mask, pcnt, mask2
+        super(seq, [n, m, mask, pcnt, mask2])
+        @cid = 0x12
+        @mask = mask
+        @mask2 = mask2
       end
 
       private
 
       def packet_body
-        @data.pack 'nC'
+        @data.pack 'nnNCN'
+      end
+    end
+
+    class ConfigureCollisionDetection < Sphero
+      def initialize seq, meth, x_t, y_t, x_spd, y_spd, dead
+        super(seq, [meth, x_t, y_t, x_spd, y_spd, dead])
+        @cid = 0x12
       end
     end
   end

data/lib/sphero/response.rb

@@ -7,22 +7,36 @@ class Sphero
     DLEN = 4
 
     CODE_OK = 0
+    SIMPLE_RESPONSE = 0xFF
+    ASYNC_RESPONSE = 0xFE
+
+    def self.simple?(header)
+      header[SOP2] == SIMPLE_RESPONSE
+    end
+
+    def self.async?(header)
+      header[SOP2] == ASYNC_RESPONSE
+    end
 
     def initialize header, body
       @header = header
       @body   = body
     end
 
+    def valid?
+      @header && @body  
+    end
+
     def empty?
-      @header[DLEN] == 1
+      valid? && @header[DLEN] == 1
     end
 
     def success?
-      @header[MRSP] == CODE_OK
+      valid? && @header[MRSP] == CODE_OK
     end
 
     def seq
-      @header[SEQ]
+      valid? && @header[SEQ]
     end
 
     def body
@@ -84,5 +98,106 @@ class Sphero
       def g; body[1]; end
       def b; body[2]; end
     end
+
+    class AsyncResponse < Response
+      ID_CODE = 2
+      DLEN_MSB = 3
+      DLEN_LSB = 4
+
+      POWER_NOTIFICATION = 0x01
+      LEVEL_1_DIAGNOSTIC = 0x02
+      SENSOR_DATA = 0x03
+      CONFIG_BLOCK = 0x04
+      PRESLEEP_WARNING = 0x05
+      MACRO_MARKERS = 0x06
+      COLLISION_DETECTED = 0x07
+
+      VALID_REPONSES = {POWER_NOTIFICATION => 'Sphero::Response::PowerNotification',
+                        #LEVEL_1_DIAGNOSTIC => 'AsyncResponse',
+                        SENSOR_DATA => 'Sphero::Response::SensorData',
+                        #CONFIG_BLOCK => 'AsyncResponse',
+                        #PRESLEEP_WARNING => 'AsyncResponse',
+                        #MACRO_MARKERS => 'AsyncResponse',
+                        COLLISION_DETECTED => 'Sphero::Response::CollisionDetected'}
+
+      def self.valid?(header)
+        VALID_REPONSES.keys.include?(header[ID_CODE])
+      end
+
+      def self.response header, body
+        raise "no good" unless self.valid?(header)
+        constantize(VALID_REPONSES[header[ID_CODE]]).new(header, body)
+      end
+
+      def self.constantize(camel_cased_word)
+        names = camel_cased_word.split('::')
+        names.shift if names.empty? || names.first.empty?
+
+        constant = Object
+        names.each do |name|
+          constant = constant.const_defined?(name) ? constant.const_get(name) : constant.const_missing(name)
+        end
+        constant
+      end
+
+      def empty?
+        @header[DLEN_LSB] == 1
+      end
+
+      def success?
+        AsyncResponse.valid?(@header)
+      end
+
+      def seq
+        1
+      end
+    end
+
+    class PowerNotification < GetPowerState
+    end
+
+    class SensorData < AsyncResponse
+      def body
+        @body.unpack 's*'
+      end
+    end
+
+    class CollisionDetected < AsyncResponse
+      def body
+        @body.unpack 'nnnCnnCN'
+      end
+
+      def x
+        body[0]
+      end
+
+      def y
+        body[1]
+      end
+
+      def z
+        body[2]
+      end
+
+      def axis
+        body[3]
+      end
+
+      def x_magnitude
+        body[4]
+      end
+
+      def y_magnitude
+        body[5]
+      end
+
+      def speed
+        body[6]
+      end
+
+      def timestamp
+        body[7]
+      end
+    end
   end
 end

data/test/test_sphero.rb

@@ -1,14 +1,105 @@
 require 'minitest/autorun'
 require 'sphero'
+require 'mocha/setup'
 
 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
+  def setup
+    Sphero.any_instance.stubs(:initialize_serialport)
+    Sphero.any_instance.stubs(:initialize_socket)
+    @sphero = Sphero.new 'port123'
+    @seq = 0x00
   end
 
-  def test_sleep_dlen
-    sleep = Sphero::Request::Sleep.new 0, 0, 0
-    assert_equal 0x04, sleep.dlen
+  def test_start_returns_new_sphero
+    assert_kind_of Sphero, Sphero.start('someport')
+  end
+
+  def test_start_sphero_executes_block
+    Sphero.any_instance.expects(:ping)
+    Sphero.any_instance.expects(:close)
+    Sphero.start('someport') do
+      ping
+    end
+  end
+
+  def test_ping
+    Sphero::Request::Ping.expects(:new).with(@seq)
+    @sphero.expects(:write)
+    @sphero.ping
+  end
+
+  def test_version
+    Sphero::Request::GetVersioning.expects(:new).with(@seq)
+    @sphero.expects(:write)
+    @sphero.version
+  end
+
+  def test_bluetooth_info
+    Sphero::Request::GetBluetoothInfo.expects(:new).with(@seq)
+    @sphero.expects(:write)
+    @sphero.bluetooth_info
+  end
+
+  def test_auto_reconnect=
+    @time_s = "10"
+    Sphero::Request::SetAutoReconnect.expects(:new).with(@seq, @time_s)
+    @sphero.expects(:write)
+    @sphero.auto_reconnect = @time_s
+  end
+
+  def test_auto_reconnect
+    @time_s = "10"
+    packet = mock 'packet'
+    packet.stubs(:time).returns(@time_s)
+ 
+    Sphero::Request::GetAutoReconnect.expects(:new).with(@seq)
+    @sphero.expects(:write).returns(packet)
+    assert_equal @sphero.auto_reconnect, @time_s
+  end
+
+  def test_disable_auto_reconnect
+    Sphero::Request::SetAutoReconnect.expects(:new).with(@seq, 0, 0x00)
+    @sphero.expects(:write)
+    @sphero.disable_auto_reconnect
+  end
+
+  def test_power_state
+    Sphero::Request::GetPowerState.expects(:new).with(@seq)
+    @sphero.expects(:write)
+    @sphero.power_state
+  end
+  
+  def test_sphero_sleep
+    wakeup = 1
+    macro = 2
+    Sphero::Request::Sleep.expects(:new).with(@seq, wakeup, macro)
+    @sphero.expects(:write)
+    @sphero.sphero_sleep wakeup, macro
+  end
+
+  def test_roll
+    speed = 1
+    heading = 2
+    state = 1
+    Sphero::Request::Roll.expects(:new).with(@seq, speed, heading, state)
+    @sphero.expects(:write)
+    @sphero.roll speed, heading, true
+  end
+
+  def test_stop
+    @sphero.expects(:roll).with(0, 0)
+    @sphero.stop
+  end
+
+  def test_keepgoing
+    Kernel.expects(:sleep).with(3)
+    @sphero.keep_going 3
+  end
+
+  def test_directions
+    assert_equal 0, Sphero::FORWARD
+    assert_equal 90, Sphero::RIGHT
+    assert_equal 180, Sphero::BACKWARD
+    assert_equal 270, Sphero::LEFT
   end
 end

data/test/test_sphero_request.rb

@@ -0,0 +1,15 @@
+require 'minitest/autorun'
+require 'sphero'
+
+class TestSpheroRequest < MiniTest::Unit::TestCase
+  def test_ping_checksum
+    ping = Sphero::Request::Ping.new 0
+    expected_bytes = "\xFF\xFF\x00\x01\x00\x01\xFD".force_encoding(Encoding::ASCII_8BIT)
+    assert_equal expected_bytes, ping.to_str
+  end
+
+  def test_sleep_dlen
+    sleep = Sphero::Request::Sleep.new 0, 0, 0
+    assert_equal 0x04, sleep.dlen
+  end
+end

metadata

@@ -1,48 +1,16 @@
 --- !ruby/object:Gem::Specification
 name: sphero
 version: !ruby/object:Gem::Version
-  version: 1.0.0
+  version: 1.4.1
   prerelease: 
 platform: ruby
 authors:
-- Aaron Patterson
+- Hybrid Group
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2012-07-25 00:00:00.000000000 Z
+date: 2013-07-25 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
@@ -50,7 +18,7 @@ dependencies:
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: '3.10'
+        version: '4.0'
   type: :development
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
@@ -58,7 +26,7 @@ dependencies:
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: '3.10'
+        version: '4.0'
 - !ruby/object:Gem::Dependency
   name: hoe
   requirement: !ruby/object:Gem::Requirement
@@ -66,7 +34,7 @@ dependencies:
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: '3.0'
+        version: '3.6'
   type: :development
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
@@ -74,13 +42,13 @@ dependencies:
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: '3.0'
+        version: '3.6'
 description: ! 'A ruby gem for controlling your Sphero ball.  Sends commands over
   the TTY
 
   provided by the bluetooth connection.'
 email:
-- aaron@tenderlovemaking.com
+- sphero@hybridgroup.com
 executables:
 - sphero
 extensions: []
@@ -99,8 +67,9 @@ files:
 - lib/sphero/request.rb
 - lib/sphero/response.rb
 - test/test_sphero.rb
+- test/test_sphero_request.rb
 - .gemtest
-homepage: http://github.com/tenderlove/sphero
+homepage: http://github.com/hybridgroup/sphero
 licenses: []
 post_install_message: 
 rdoc_options:
@@ -113,7 +82,7 @@ required_ruby_version: !ruby/object:Gem::Requirement
   requirements:
   - - ! '>='
     - !ruby/object:Gem::Version
-      version: 1.9.3
+      version: 1.9.2
 required_rubygems_version: !ruby/object:Gem::Requirement
   none: false
   requirements:
@@ -122,9 +91,10 @@ required_rubygems_version: !ruby/object:Gem::Requirement
       version: '0'
 requirements: []
 rubyforge_project: sphero
-rubygems_version: 1.8.23
+rubygems_version: 1.8.24
 signing_key: 
 specification_version: 3
 summary: A ruby gem for controlling your Sphero ball
 test_files:
 - test/test_sphero.rb
+- test/test_sphero_request.rb