Class: FB::Arduino

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

Overview

Software abstraction layer for the Arduino’s serial interface. Translates Ruby method calls into serial commands.

Defined Under Namespace

Classes: Position

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(serial_port: DefaultSerialPort.new, logger: STDOUT) ⇒ Arduino

Initialize and provide a serial object, as well as an IO object to send log messages to. Default SerialPort is DefaultSerialPort. Default logger is STDOUT



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# File 'lib/arduino.rb', line 19

def initialize(serial_port: DefaultSerialPort.new, logger: STDOUT)
  @outbound_queue = [] # Pi -> Arduino Gcode
  @inbound_queue  = EM::Channel.new # Pi <- Arduino

  @serial_port = serial_port
  @logger      = logger
  @commands    = FB::OutgoingHandler.new(self)
  @inputs      = FB::IncomingHandler.new(self)
  @status      = FB::Status.new

  start_event_listeners
end

Instance Attribute Details

#commands ⇒ Object

Returns the value of attribute commands.



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# File 'lib/arduino.rb', line 13

def commands
  @commands
end

#inbound_queue ⇒ Object

Returns the value of attribute inbound_queue.



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# File 'lib/arduino.rb', line 13

def inbound_queue
  @inbound_queue
end

#inputs ⇒ Object

Returns the value of attribute inputs.



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# File 'lib/arduino.rb', line 13

def inputs
  @inputs
end

#logger ⇒ Object

Returns the value of attribute logger.



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# File 'lib/arduino.rb', line 13

def logger
  @logger
end

#outbound_queue ⇒ Object

Returns the value of attribute outbound_queue.



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# File 'lib/arduino.rb', line 13

def outbound_queue
  @outbound_queue
end

#serial_port ⇒ Object

Returns the value of attribute serial_port.



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# File 'lib/arduino.rb', line 13

def serial_port
  @serial_port
end

#status ⇒ Object

Returns the value of attribute status.



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# File 'lib/arduino.rb', line 13

def status
  @status
end

Instance Method Details

#can_execute? ⇒ Boolean

If the device is ready and commands are in the queue

Returns:

  • (Boolean) 


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# File 'lib/arduino.rb', line 76

def can_execute? # If the device is ready and commands are in the queue
  @outbound_queue.any? && status.ready?
end

#current_position ⇒ Object 



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# File 'lib/arduino.rb', line 61

def current_position
  Position.new(status[:X], status[:Y], status[:Z])
end

#disconnect ⇒ Object

Handle loss of serial connection



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# File 'lib/arduino.rb', line 56

def disconnect
  log "Connection to device lost"
  @onclose.call if @onclose
end

#execute_now(gcode) ⇒ Object 



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# File 'lib/arduino.rb', line 80

def execute_now(gcode)
  log "RPI MSG: #{gcode}"
  serial_port.puts gcode
  status[:last] = gcode.name
  status[:BUSY] = 1 # If not, pi will race arduino and "talk too fast"
end

#log(message) ⇒ Object

Log to screen/file/IO stream



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# File 'lib/arduino.rb', line 33

def log(message)
  logger.puts(message)
end

#maybe_execute_command ⇒ Object

This method smells procedural. Refactor?



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# File 'lib/arduino.rb', line 69

def maybe_execute_command # This method smells procedural. Refactor?
  sleep 0.08 # Throttle CPU
  return unless can_execute?
  gcode = @outbound_queue.pop
  gcode.is_a?(FB::Gcode) ? execute_now(gcode) : reject_gcode(gcode)
end

#next_cmd ⇒ Object 



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# File 'lib/arduino.rb', line 65

def next_cmd
  outbound_queue.first
end

#onchange(&blk) ⇒ Object 



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# File 'lib/arduino.rb', line 42

def onchange(&blk)
  @onchange = blk
end

#onclose(&blk) ⇒ Object 



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# File 'lib/arduino.rb', line 51

def onclose(&blk)
  @onclose = blk
end

#onmessage(&blk) ⇒ Object

Handle incoming text from arduino into pi



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# File 'lib/arduino.rb', line 47

def onmessage(&blk)
  @onmessage = blk
end

#reject_gcode(gcode) ⇒ Object 



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# File 'lib/arduino.rb', line 87

def reject_gcode(gcode)
  log "Outbound messages must be GCode objects. Use of "\
      "#{gcode.class}:#{gcode.inspect} is not permitted."
end

#start_event_listeners ⇒ Object 



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# File 'lib/arduino.rb', line 92

def start_event_listeners
  EM.tick_loop { maybe_execute_command }
  status.onchange { |diff| @onchange.call(diff) if @onchange }
  inbound_queue.subscribe do |gcodes|
    Array(gcodes).each do |gcode|
      parse_incoming(gcode)
      @onmessage.call(gcode) if @onmessage
    end
  end
end

#write(gcode) ⇒ Object

Send outgoing test to arduino from pi



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# File 'lib/arduino.rb', line 38

def write(gcode)
  @outbound_queue.unshift gcode
end