sphero 1.4.1 → 1.5.0

checksums.yaml

@@ -0,0 +1,7 @@
+---
+SHA1:
+  metadata.gz: 5499fdac118804bb652308ee12b8660d8e08d4bf
+  data.tar.gz: 1fd2ef026bcefc25ca15de2b712b4a78a595e2db
+SHA512:
+  metadata.gz: e148d39135d1c173e20eca97869e8342e02731a07d3ef4f9b0b928797ec1b675a9b6517e3cf11e90a75fe5ce942879eacaf0b3dbd4e928346694a7e174301e23
+  data.tar.gz: 6f24b58cbd89d6c0b3465486ba4051cd7a3917e6ad58cba38377795fedf53379f1db91e1bf83d6d07e9925fafa3c271b4db768394cfaa44586802cb34e925947

data/CHANGELOG.rdoc

@@ -37,3 +37,9 @@
 * 1 enhancement
 
   * Add constants FORWARD, BACKWARD, RIGHT, & LEFT for quick directionality
+
+=== 1.5.0 / 2014-02-06
+
+* Many enhancements and bugfixes
+
+  * Been too long since our last changelog entry. Many bugfixes and enhancements.

data/README.markdown

@@ -2,6 +2,8 @@
 
 * http://github.com/hybridgroup/sphero
 
+[![Build Status](https://travis-ci.org/hybridgroup/sphero.png?branch=master)](https://travis-ci.org/hybridgroup/sphero)
+
 ## DESCRIPTION:
 
 A ruby gem for controlling your Sphero ball.  Sends commands over the TTY
@@ -101,7 +103,7 @@ You may now access the sphero from `/dev/rfcomm0`
 
 ## INSTALL:
 
-* gem install hybridgroup-sphero
+* gem install sphero
 
 ## LICENSE:
 

data/lib/sphero.rb

@@ -3,7 +3,7 @@ require 'sphero/response'
 require 'thread'
 
 class Sphero
-  VERSION = '1.4.1'
+  VERSION = '1.5.0'
 
   FORWARD = 0
   RIGHT = 90
@@ -12,7 +12,7 @@ class Sphero
 
   DEFAULT_RETRIES = 3
 
-  attr_accessor :connection_types, :messages
+  attr_accessor :connection_types, :messages, :packets, :response_queue, :responses
 
   class << self
     def start(dev, &block)
@@ -47,9 +47,23 @@ class Sphero
     @seq  = 0x00
     @lock = Mutex.new
     @messages = Queue.new
+    @packets = Queue.new
+    @response_queue = Queue.new
+    @responses = []
+    Thread.new {
+      loop do
+        write @packets.pop
+      end
+    }
+    Thread.new {
+      loop do
+        @responses << @response_queue.pop
+      end
+    }
   end
   
   def close
+    return if @sp.nil? || @sp.closed?
     begin
       stop
     rescue Exception => e
@@ -60,39 +74,53 @@ class Sphero
   end
 
   def ping
-    write Request::Ping.new(@seq)
+    packet = Request::Ping.new(@seq)
+    queue_packet packet
+    return sync_response packet.seq
   end
 
   def version
-    write Request::GetVersioning.new(@seq)
+    packet = Request::GetVersioning.new(@seq)
+    queue_packet packet
+    return sync_response packet.seq
   end
 
   def bluetooth_info
-    write Request::GetBluetoothInfo.new(@seq)
+    packet = Request::GetBluetoothInfo.new(@seq)
+    queue_packet packet
+    return sync_response packet.seq
+  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
+    packet = Request::GetRGB.new(@seq)
+    queue_packet packet
+    return sync_response packet.seq
   end
 
   def auto_reconnect= time_s
-    write Request::SetAutoReconnect.new(@seq, time_s)
+    queue_packet Request::SetAutoReconnect.new(@seq, limit1(time_s) )
   end
 
   def auto_reconnect
-    write(Request::GetAutoReconnect.new(@seq)).time
+    queue_packet(Request::GetAutoReconnect.new(@seq)).time
   end
 
   def disable_auto_reconnect
-    write Request::SetAutoReconnect.new(@seq, 0, 0x00)
+    queue_packet Request::SetAutoReconnect.new(@seq, 0, flag(false) )
   end
 
   def power_state
-    write Request::GetPowerState.new(@seq)
+    queue_packet Request::GetPowerState.new(@seq)
   end
 
   def sphero_sleep wakeup = 0, macro = 0
-    write Request::Sleep.new(@seq, wakeup, macro)
+    queue_packet Request::Sleep.new(@seq, limit2(wakeup), limit1(macro) )
   end
 
   def roll speed, heading, state = true
-    write Request::Roll.new(@seq, speed, heading, state ? 0x01 : 0x00)
+    queue_packet Request::Roll.new(@seq, limit1(speed), degrees(heading), flag(state) )
   end
 
   def stop
@@ -100,7 +128,11 @@ class Sphero
   end
 
   def heading= h
-    write Request::Heading.new(@seq, h)
+    queue_packet Request::Heading.new(@seq, degrees(h) )
+  end
+
+  def stabilization= on
+    queue_packet Request::Stabilization.new(@seq, on)
   end
 
   def color colorname, persistant = false
@@ -109,23 +141,18 @@ class Sphero
   end
 
   def rgb r, g, b, persistant = false
-    write Request::SetRGB.new(@seq, r, g, b, persistant ? 0x01 : 0x00)
+    queue_packet Request::SetRGB.new(@seq, limit1(r), limit1(g), limit1(b), flag(persistant) )
   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)
+    queue_packet Request::SetBackLEDOutput.new(@seq, limit1(h) )
   end
 
   # Rotation Rate 0x00 - 0xFF
   def rotation_rate= h
-    write Request::SetRotationRate.new(@seq, h)
+    queue_packet Request::SetRotationRate.new(@seq, limit1(h))
   end
 
   # just a nicer alias for Ruby's own sleep
@@ -137,21 +164,82 @@ class Sphero
 
   # configure power notification messages
   def set_power_notification enable=true
-    write Request::SetPowerNotification.new(@seq, enable ? 0x01 : 0x00)
+    queue_packet Request::SetPowerNotification.new(@seq, flag(enable) )
   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)
+    queue_packet Request::SetDataStreaming.new(@seq, limit2(n), limit2(m),
+                                              limit4(mask), limit1(pcnt), limit4(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)
+    queue_packet Request::ConfigureCollisionDetection.new(@seq, limit1(meth),
+                                                         limit1(x_t),   limit1(y_t),
+                                                         limit1(x_spd), limit1(y_spd),
+                                                         limit1(dead) )
   end
-  
+
   private
-  
+
+  def sync_response seq
+    100.times do
+      @responses.each do |response|
+        if response.seq == seq
+          @responses.delete(response)
+          return response
+        end
+      end
+      sleep 0.001
+    end
+    return nil
+  end
+
+  def limit(value, max)
+    return nil if value.nil?
+
+    value = value.to_i
+    if value < 0
+      0
+    elsif value > max
+      max
+    else
+      value
+    end
+  end
+
+  def wrap(value, max)
+    value && (value.to_i % max)
+  end
+
+  def degrees(value)
+    wrap value, 360
+  end
+
+  def limit1(value)
+    limit value, 0xFF
+  end
+
+  def limit2(value)
+    limit value, 0xFFFF
+  end
+
+  def limit4(value)
+    limit value, 0xFFFFFFFF
+  end
+
+  def flag(value)
+    case value
+      when true
+        0x01
+      when false
+        0x00
+      else
+        value
+    end
+  end
+
   def is_windows?
     os = RUBY_PLATFORM.split("-")[1]
     if (os == 'mswin' or os == 'bccwin' or os == 'mingw' or os == 'mingw32')
@@ -173,25 +261,26 @@ class Sphero
     puts "Please 'gem install hybridgroup-serialport' for serial port support."
   end
 
+  def queue_packet packet
+    @packets << packet
+  end
+
   def write packet
     header, body = nil
 
-    IO.select([], [@sp], [], 20)
-
+    IO.select([], [@sp], [], 1)
     @lock.synchronize do
       @sp.write packet.to_str
       @seq += 1
     end
-
-    IO.select([@sp], [], [], 20)
+    IO.select([@sp], [], [], 1)
     header = read_header(true)
     body = read_body(header.last, true) if header
-
     # 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)
+      IO.select([@sp], [], [], 1)
       header = read_header(true)
       if header
         body = read_body(header.last, true)
@@ -203,7 +292,7 @@ class Sphero
     response = packet.response header, body
 
     if response.success?
-      response
+      @response_queue << response
     else
       raise "Unable to write to Sphero!"
     end

data/lib/sphero/request.rb

@@ -3,7 +3,7 @@ class Sphero
     SOP1 = 0xFF
     SOP2 = 0xFF
 
-    attr_reader :data
+    attr_reader :data, :seq
 
     def initialize seq, data = []
       @seq    = seq
@@ -89,7 +89,7 @@ class Sphero
       end
     end
 
-    class Heading < Request
+    class Heading < Sphero
       def initialize seq, heading
         super(seq, [heading])
         @cid = 0x01
@@ -101,6 +101,18 @@ class Sphero
       end
     end
 
+    class Stabilization < Sphero
+      def initialize seq, on
+        super(seq, [on ? 1 : 0])
+        @cid = 0x02
+      end
+
+      private
+      def packet_body
+        @data.pack 'C'
+      end
+    end
+
     class Sleep < Request
       def initialize seq, wakeup, macro
         super(seq, [wakeup, macro])
@@ -114,7 +126,7 @@ class Sphero
       end
     end
 
-    class SetPowerNotification < Sphero
+    class SetPowerNotification < Request
       def initialize seq, enable
         super(seq, [enable])
         @cid = 0x21

data/test/test_sphero.rb

@@ -23,49 +23,55 @@ class TestSphero < MiniTest::Unit::TestCase
   end
 
   def test_ping
-    Sphero::Request::Ping.expects(:new).with(@seq)
-    @sphero.expects(:write)
+    packet = mock 'packet'
+    packet.stubs(:seq).returns(@seq)
+    Sphero::Request::Ping.expects(:new).with(@seq).returns(packet)
+    @sphero.expects(:queue_packet).returns(packet)
     @sphero.ping
   end
 
   def test_version
-    Sphero::Request::GetVersioning.expects(:new).with(@seq)
-    @sphero.expects(:write)
+    packet = mock 'packet'
+    packet.stubs(:seq).returns(@seq)
+    Sphero::Request::GetVersioning.expects(:new).with(@seq).returns(packet)
+    @sphero.expects(:queue_packet).returns(packet)
     @sphero.version
   end
 
   def test_bluetooth_info
-    Sphero::Request::GetBluetoothInfo.expects(:new).with(@seq)
-    @sphero.expects(:write)
+    packet = mock 'packet'
+    packet.stubs(:seq).returns(@seq)
+    Sphero::Request::GetBluetoothInfo.expects(:new).with(@seq).returns(packet)
+    @sphero.expects(:queue_packet).returns(packet)
     @sphero.bluetooth_info
   end
 
   def test_auto_reconnect=
-    @time_s = "10"
+    @time_s = 10
     Sphero::Request::SetAutoReconnect.expects(:new).with(@seq, @time_s)
-    @sphero.expects(:write)
+    @sphero.expects(:queue_packet)
     @sphero.auto_reconnect = @time_s
   end
 
   def test_auto_reconnect
-    @time_s = "10"
+    @time_s = 10
     packet = mock 'packet'
     packet.stubs(:time).returns(@time_s)
  
     Sphero::Request::GetAutoReconnect.expects(:new).with(@seq)
-    @sphero.expects(:write).returns(packet)
+    @sphero.expects(:queue_packet).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.expects(:queue_packet)
     @sphero.disable_auto_reconnect
   end
 
   def test_power_state
     Sphero::Request::GetPowerState.expects(:new).with(@seq)
-    @sphero.expects(:write)
+    @sphero.expects(:queue_packet)
     @sphero.power_state
   end
   
@@ -73,19 +79,73 @@ class TestSphero < MiniTest::Unit::TestCase
     wakeup = 1
     macro = 2
     Sphero::Request::Sleep.expects(:new).with(@seq, wakeup, macro)
-    @sphero.expects(:write)
+    @sphero.expects(:queue_packet)
     @sphero.sphero_sleep wakeup, macro
   end
 
+  def test_stabilization
+    Sphero::Request::Stabilization.expects(:new).with(@seq, true)
+    @sphero.expects(:queue_packet)
+    @sphero.stabilization = true
+  end
+
   def test_roll
     speed = 1
     heading = 2
     state = 1
     Sphero::Request::Roll.expects(:new).with(@seq, speed, heading, state)
-    @sphero.expects(:write)
+    @sphero.expects(:queue_packet)
     @sphero.roll speed, heading, true
   end
 
+  def test_roll_upper_limit
+    heading = 2
+    state = 1
+    Sphero::Request::Roll.expects(:new).with(@seq, 255, heading, state)
+    @sphero.expects(:queue_packet)
+    @sphero.roll 300, heading, true
+  end
+
+  def test_roll_lower_limit
+    heading = 2
+    state = 1
+    Sphero::Request::Roll.expects(:new).with(@seq, 0, heading, state)
+    @sphero.expects(:queue_packet)
+    @sphero.roll( -10, heading, true )
+  end
+
+  def test_roll_limit_conversion
+    heading = 2
+    state = 1
+    Sphero::Request::Roll.expects(:new).with(@seq, 123, heading, state)
+    @sphero.expects(:queue_packet)
+    @sphero.roll 123.4, heading, true
+  end
+
+  def test_roll_upper_wrap
+    speed = 3
+    state = 1
+    Sphero::Request::Roll.expects(:new).with(@seq, speed, 1, state)
+    @sphero.expects(:queue_packet)
+    @sphero.roll speed, 361, true
+  end
+
+  def test_roll_lower_wrap
+    speed = 3
+    state = 1
+    Sphero::Request::Roll.expects(:new).with(@seq, speed, 359, state)
+    @sphero.expects(:queue_packet)
+    @sphero.roll( speed, -1, true )
+  end
+
+  def test_roll_limit_wrap
+    speed = 3
+    state = 1
+    Sphero::Request::Roll.expects(:new).with(@seq, speed, 123, state)
+    @sphero.expects(:queue_packet)
+    @sphero.roll speed, 123.4, true
+  end
+
   def test_stop
     @sphero.expects(:roll).with(0, 0)
     @sphero.stop

metadata

@@ -1,20 +1,32 @@
 --- !ruby/object:Gem::Specification
 name: sphero
 version: !ruby/object:Gem::Version
-  version: 1.4.1
-  prerelease: 
+  version: 1.5.0
 platform: ruby
 authors:
 - Hybrid Group
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-07-25 00:00:00.000000000 Z
+date: 2014-02-06 00:00:00.000000000 Z
 dependencies:
+- !ruby/object:Gem::Dependency
+  name: minitest
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '5.0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '5.0'
 - !ruby/object:Gem::Dependency
   name: rdoc
   requirement: !ruby/object:Gem::Requirement
-    none: false
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
@@ -22,7 +34,6 @@ dependencies:
   type: :development
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
-    none: false
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
@@ -30,7 +41,6 @@ dependencies:
 - !ruby/object:Gem::Dependency
   name: hoe
   requirement: !ruby/object:Gem::Requirement
-    none: false
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
@@ -38,15 +48,13 @@ dependencies:
   type: :development
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
-    none: false
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
         version: '3.6'
-description: ! 'A ruby gem for controlling your Sphero ball.  Sends commands over
-  the TTY
-
-  provided by the bluetooth connection.'
+description: |-
+  A ruby gem for controlling your Sphero ball.  Sends commands over the TTY
+  provided by the bluetooth connection.
 email:
 - sphero@hybridgroup.com
 executables:
@@ -58,6 +66,7 @@ extra_rdoc_files:
 - README.markdown
 files:
 - .autotest
+- .gemtest
 - CHANGELOG.rdoc
 - Manifest.txt
 - README.markdown
@@ -68,9 +77,9 @@ files:
 - lib/sphero/response.rb
 - test/test_sphero.rb
 - test/test_sphero_request.rb
-- .gemtest
 homepage: http://github.com/hybridgroup/sphero
 licenses: []
+metadata: {}
 post_install_message: 
 rdoc_options:
 - --main
@@ -78,23 +87,21 @@ rdoc_options:
 require_paths:
 - lib
 required_ruby_version: !ruby/object:Gem::Requirement
-  none: false
   requirements:
-  - - ! '>='
+  - - '>='
     - !ruby/object:Gem::Version
       version: 1.9.2
 required_rubygems_version: !ruby/object:Gem::Requirement
-  none: false
   requirements:
-  - - ! '>='
+  - - '>='
     - !ruby/object:Gem::Version
       version: '0'
 requirements: []
 rubyforge_project: sphero
-rubygems_version: 1.8.24
+rubygems_version: 2.2.1
 signing_key: 
-specification_version: 3
+specification_version: 4
 summary: A ruby gem for controlling your Sphero ball
 test_files:
-- test/test_sphero.rb
 - test/test_sphero_request.rb
+- test/test_sphero.rb