Class: SpheroClient

Inherits:
SpheroBase show all
Includes:
SpheroUtilities
Defined in:
lib/rubysphero.rb

Constant Summary collapse

COMMS_RETRY = 
5
COLOURS = 
{ 	:blue 	=> 	[0x00,0x00,0xFF],
:green 	=> 	[0x00,0xFF,0x00],
:red	=>	[0xFF,0x00,0x00],
:orange	=>	[0xFF,0x8C,0x00],
:yellow	=>	[0xFF,0xFF,0x00],
:white	=>	[0xFF,0xFF,0xFF],
:black	=>	[0x00,0x00,0x00],
:pink	=>	[0xFF,0x00,0xFF],
:grey	=>	[0x80,0x80,0x80]}

Instance Attribute Summary

Attributes inherited from SpheroBase

#debug

Instance Method Summary collapse

Methods included from SpheroUtilities

#add_checksum, #do_checksum, #print_format_bytes

Methods inherited from SpheroBase

#logd

Constructor Details

#initialize(bluetooth_address, debugval = false) ⇒ SpheroClient

def



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# File 'lib/rubysphero.rb', line 388

def initialize(bluetooth_address, debugval=false)
	@sequence_val=0 
	@responses=Hash.new
	@collision_actions=[]

	@debug=debugval
	
	@queued_requests=[]
	logd("Calling open connnection next. Using: #{bluetooth_address}")
	
	conn = open(bluetooth_address)
	
	@read_thread = Thread.new {
		logd("Listen thread started...")
		listen_to_sphero
		logd("Listen thread ending...")
	} # thread 
	
	return conn

end

Instance Method Details

#close ⇒ Object

def



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# File 'lib/rubysphero.rb', line 423

def close
	@connection.close
end

#collision_detection(status = true) ⇒ Object 



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# File 'lib/rubysphero.rb', line 75

def collision_detection(status=true)
	logd()
	logd "Building request: Collision detection"
	if status == true
		meth=0x01
	else
		meth=0x00
	end #  else
	
	request=SpheroRequest.new(:synchronous, self.debug)

	request.did=0x02 
	request.cid=0x12 # Collision Detection
	request.seq=get_sequence
	request.dlen=0x07
	
	request.push_data meth
	request.push_data 0x7F # xt
	request.push_data 0x40 # xspd
	request.push_data 0x7F # yt
	request.push_data 0x40 # yspd		
	request.push_data 0x40 # dead		
	
	if send_and_check(request) then
		return true
	else
		return false
	end #  else 
end

#define_event_handling_for(event_type, &actions) ⇒ Object

def



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# File 'lib/rubysphero.rb', line 125

def define_event_handling_for(event_type, &actions)
	if event_type==:collision then
		@collision_actions.push actions
	end # if 
end

#forget_a_request(request) ⇒ Object

def



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# File 'lib/rubysphero.rb', line 374

def forget_a_request(request)
	@queued_requests.delete request
end

#get_sequence ⇒ Object

def



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# File 'lib/rubysphero.rb', line 378

def get_sequence
	@sequence_val+=1
	if @sequence_val > 255
		@sequence_val=0 
	end # if
	logd("Getting seq: #{@sequence_val}")
	
	return @sequence_val
end

#handle_collision_event(the_event_response) ⇒ Object

def 



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# File 'lib/rubysphero.rb', line 131

def handle_collision_event(the_event_response )
	logd("Handling collision event!")
	Thread.new do
		if @collision_actions != nil then 
			logd "Collision action was NOT nil"
			
			@collision_actions.each do |collision_action_item| 
				collision_action_item.call the_event_response
			end # each
			
		else
			logd "Collision action was nil"
		end # if 
	end # thread 
end

#listen_to_sphero ⇒ Object

def



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# File 'lib/rubysphero.rb', line 181

def listen_to_sphero
	while true do
		logd("Listening...")

		response=read_data
		@responses[response.echoed_seq] =response 
		sleep 0 
	end # while 

end

#open(bluetooth_address) ⇒ Object

class



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# File 'lib/rubysphero.rb', line 410

def open(bluetooth_address)
	begin
		logd("About to open Connection")
		@connection   = Serial.new bluetooth_address, BAUD_RATE ,8
		logd("Connection:#{@connection.to_s}")
	rescue RubySerial::Exception
		logd("Connection failed, about to retry...")
		sleep 1
		open bluetooth_address
	end
	return @connection
end

#orientation ⇒ Object

def



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# File 'lib/rubysphero.rb', line 256

def orientation
		
	set_back_led_output(255)
	set_colour(:black)
	1.step(720,5) do | heading | 	
		roll(heading , 0)
		
		inputted_text=gets.chomp
		
		if inputted_text =="" then
			# spin
		elsif inputted_text==" "			
			set_back_led_output(0)
			set_heading(heading)
			set_colour(:white)
			return true
		else 
			sleep 1	
		end # if 
	end # upto 	
	return false
end

#ping ⇒ Object 



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# File 'lib/rubysphero.rb', line 107

def ping
	logd()
	logd "Building request: ping"
	request=SpheroRequest.new(:synchronous, self.debug)

	request.did=0x00 
	request.cid=0x01 # Ping
	request.seq=get_sequence
	request.dlen=0x01
	
	if send_and_check(request) then
		logd("PING RESPONSE RECEIVED!!!")
		return true
	else
		return false
	end #  else 
end

#queue_a_request(request) ⇒ Object

def



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# File 'lib/rubysphero.rb', line 370

def queue_a_request(request)
	@queued_requests.push request
end

#queued_requests ⇒ Object

def



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# File 'lib/rubysphero.rb', line 366

def queued_requests
	return @queued_requests
end

#read_data ⇒ Object

def



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# File 'lib/rubysphero.rb', line 192

def read_data()
	bytes=[]

	logd("Reading...")
	
	while @connection !=nil do  
		byte_maybe=@connection.getbyte

		if byte_maybe
		
			bytes.push byte_maybe
			
			logd("Received a byte: #{byte_maybe}")
	
			# Check response is long enough to bother with.
			if bytes.length >= MIN_LENGTH_OF_PACKET then
			
				if (bytes[0] == 0xFF) && (bytes[1] == 0xFE)
				
					logd("First 2 bytes indicate it is an Asyschronous Packet")
				
				elsif (bytes[0] == 0xFF) && (bytes[1] == 0xFF)
				
					logd("First 2 bytes indicate it is a Syschronous Packet")			
		
				else
				
					logd("Odd response starts with: #{bytes}, will try removing first byte.")		
					bytes.shift
				
				end # else 
	
				response = SpheroResponse.new(bytes.dup, self.debug)

				if response.valid
					
					# Handle Asynchronous Collision detection responses.
					if (response.synchronicity? == :asynchronous) && (bytes[2] == 0x07) then
						handle_collision_event(response )
					end # else
					
					return response
					
				else
				
					logd("Response not valid yet, keep reading.")
				
				end # else  

				
			end # if bytes > length					
			
		else
			# No Bytes to read
			sleep 0
		end # else 
		
	end # while conn not nil
	
	logd("Connection must have nbeen lost")
	
	return false
end

#roll(heading_raw = 0, speed = 0xFF) ⇒ Object

def



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# File 'lib/rubysphero.rb', line 343

def roll(heading_raw=0, speed=0xFF)
	logd()
	logd( "Building request: roll")

	request=SpheroRequest.new(:synchronous, self.debug)
	heading = heading_raw%359
	logd( "Heading: #{heading}")

	request.did=0x02 
	request.cid=0x30 # Roll
	request.seq=get_sequence
	request.dlen=0x05

	state=0x01
	
	request.push_data speed
	request.push_data(heading , :a16bit)
	request.push_data state
	
	return send_and_check(request)	

end

#send_and_check(request) ⇒ Object

 



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# File 'lib/rubysphero.rb', line 147

def send_and_check(request)
	queue_a_request(request)

	send_data(request.build_packet)

	responded =nil
	start_time=Time.now.getutc.to_i
	logd("Start time: #{start_time}")
	begin
		
		if @responses.has_key? request.seq
			logd("Response Queue has matching sequence")
			forget_a_request request
			return @responses[request.seq]
		end # if
		
		sleep 0
		
		if Time.now.getutc.to_i > (start_time+RESPONSE_TIMEOUT_SECONDS)
			logd("Timing out waiting for a response.")
			forget_a_request request
			return false
		end # if 

	end while !responded
	
	return response.valid
	
end

#send_data(data) ⇒ Object

data



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# File 'lib/rubysphero.rb', line 177

def send_data(data)
	@connection.write data
end

#set_back_led_output(brightness) ⇒ Object 



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# File 'lib/rubysphero.rb', line 280

def set_back_led_output(brightness)
	logd()
	logd "Building request: set back led output b"
	
	request=SpheroRequest.new(:synchronous, self.debug)

	request.did=0x02 
	request.cid=0x21 
	request.seq=get_sequence
	request.dlen=0x02
	request.push_data brightness 
	
	return send_and_check(request)	

end

#set_colour(chosen_colour) ⇒ Object

def



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# File 'lib/rubysphero.rb', line 315

def set_colour(chosen_colour) 
	logd
	logd("Locating RGB values for: #{chosen_colour}")
	return set_colour_rgb(COLOURS[chosen_colour][0],COLOURS[chosen_colour][1],COLOURS[chosen_colour][2])
end

#set_colour_rgb(red_value, green_value, blue_value) ⇒ Object 



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# File 'lib/rubysphero.rb', line 322

def set_colour_rgb(red_value,green_value,blue_value)
	logd
	logd "Building request: colour"
	
	request=SpheroRequest.new(:synchronous, self.debug)


	request.did=0x02 
	request.cid=0x20 # Set RGB Output
	request.seq=get_sequence
	request.dlen=0x05
	request.push_data red_value 
	request.push_data green_value
	request.push_data blue_value  
	flag=0x01
	request.push_data flag 
	
	return send_and_check(request)

end

#set_heading(heading_raw) ⇒ Object

def



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# File 'lib/rubysphero.rb', line 296

def set_heading(heading_raw) 
	logd
	logd( "Building request: Set Heading")

	request=SpheroRequest.new(:synchronous)
	heading = heading_raw%359
	logd( "Heading: #{heading}")

	request.did=0x02 
	request.cid=0x01
	request.seq=get_sequence
	request.dlen=0x03
	
	request.push_data(heading , :a16bit)
	
	return send_and_check(request)	

end