Class: Sphero::Request

Inherits:
Object
  • Object
show all
Defined in:
lib/sphero/request.rb

Direct Known Subclasses

SetPowerNotification, Sleep, Sphero

Defined Under Namespace

Classes: ConfigureCollisionDetection, Heading, Roll, SetDataStreaming, SetPowerNotification, Sleep, Sphero, Stabilization

Constant Summary collapse

SOP1 = 
0xFF
SOP2 = 
0xFF
SetBackLEDOutput = 
make_command Sphero, 0x21
SetRotationRate = 
make_command Sphero, 0x03
SetRGB = 
make_command Sphero, 0x20
GetRGB = 
make_command Sphero, 0x22
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
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

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(seq, data = []) ⇒ Request

Returns a new instance of Request.



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# File 'lib/sphero/request.rb', line 8

def initialize seq, data = []
  @seq    = seq
  @data   = data
  @did    = 0x00
end

Instance Attribute Details

#data ⇒ Object (readonly)

Returns the value of attribute data.



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# File 'lib/sphero/request.rb', line 6

def data
  @data
end

#seq ⇒ Object (readonly)

Returns the value of attribute seq.



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# File 'lib/sphero/request.rb', line 6

def seq
  @seq
end

Class Method Details

.make_command(klass, cid, &block) ⇒ Object 



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# File 'lib/sphero/request.rb', line 59

def self.make_command klass, cid, &block
  Class.new(klass) {
    define_method(:initialize) do |seq, *args|
      super(seq, args)
      @cid = cid
    end
  }
end

Instance Method Details

#bytes ⇒ Object 



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# File 'lib/sphero/request.rb', line 44

def bytes
  packet_header + packet_body + checksum.chr
end

#checksum ⇒ Object 



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# File 'lib/sphero/request.rb', line 40

def checksum
  ~((packet_header + packet_body).unpack('C*').drop(2).reduce(:+) % 256) & 0xFF
end

#dlen ⇒ Object 



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# File 'lib/sphero/request.rb', line 48

def dlen
  packet_body.bytesize + 1
end

#header ⇒ Object 



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# File 'lib/sphero/request.rb', line 14

def header
  [SOP1, SOP2, @did, @cid, @seq, dlen]
end

#packet_body ⇒ Object 



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# File 'lib/sphero/request.rb', line 36

def packet_body
  @data.pack 'C*'
end

#packet_header ⇒ Object 



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# File 'lib/sphero/request.rb', line 32

def packet_header
  header.pack 'CCCCCC'
end

#response(header, body) ⇒ Object 



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# File 'lib/sphero/request.rb', line 23

def response 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

#to_str ⇒ Object

The data to write to the socket



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# File 'lib/sphero/request.rb', line 19

def to_str
  bytes
end