Class: LegoEv3::Brick

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

Instance Method Summary collapse

Constructor Details

#initialize(connection) ⇒ Brick

Returns a new instance of Brick.



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# File 'lib/brick.rb', line 3

def initialize(connection)
  @connection = connection
  @ports = []
  @devices = []
  @motors = []
  @sensors = []

  refresh!
  motors.each{ |m| m.reset }
end

Instance Method Details

#info ⇒ Object 



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# File 'lib/brick.rb', line 88

def info
  {
    ports: @ports,
    motors: @motors.map(&:info),
    sensors: @sensors.map(&:info)
  }
end

#motors ⇒ Object 



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# File 'lib/brick.rb', line 14

def motors
  @motors
end

#refresh! ⇒ Object 



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# File 'lib/brick.rb', line 22

def refresh!
  @ports = LegoEv3::Commands::LegoPort.list!(@connection).map do |port|
    { id: port }
  end

  # Retrieve name and status in batch.
  @ports.each do |port|
    LegoEv3::Commands::LegoPort.get_port_name(@connection, port[:id]) do |name|
      port[:name] = name
    end

    LegoEv3::Commands::LegoPort.get_status(@connection, port[:id]) do |status|
      port[:status] = status
    end
  end

  # Retrieve Port name -> Tacho motor in batch.
  tacho_motors = {}
  LegoEv3::Commands::TachoMotor.list!(@connection).each do |motor|
    LegoEv3::Commands::TachoMotor.get_port_name(@connection, motor) do |port_name|
      tacho_motors[port_name] = motor
    end
  end

  # Retrieve Port name -> Lego sensor in batch.
  lego_sensors = {}
  LegoEv3::Commands::LegoSensor.list!(@connection).each do |sensor|
    LegoEv3::Commands::LegoSensor.get_port_name(@connection, sensor) do |port_name|
      lego_sensors[port_name] = sensor
    end
  end

  @connection.flush

  # Assemble port info.
  @ports.each do |port|
    status = port.delete(:status)
    connected =
      status != 'no-sensor' &&
      status != 'no-motor' &&
      status != 'error'

    port[:type] = port[:name].start_with?('in') ? :sensor : :motor
    port[:connected] = connected
    port[:error] = status == 'error'
    port[:driver] = connected ? status : nil
  end

  @motors = @ports
    .select{ |p| p[:type] == :motor && p[:connected] }
    .map{ |p| LegoEv3::TachoMotor.new(@connection, tacho_motors[p[:name]], p) }

  @sensors = @ports
    .select{ |p| p[:type] == :sensor && p[:connected] }
    .map do |p|
      id = lego_sensors[p[:name]]
      driver_name = LegoEv3::Commands::LegoSensor.get_driver_name!(@connection, id)

      if driver_name == 'lego-ev3-touch'
        LegoEv3::TouchSensor.new(@connection, id, p)
      else
        nil
      end
    end.compact
end

#sensors ⇒ Object 



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# File 'lib/brick.rb', line 18

def sensors
  @sensors
end