Module: Rumba::Sensor

Included in:
Rumba
Defined in:
lib/rumba/sensors.rb

Defined Under Namespace

Classes: Boolean, BumpsAndWheelDrops, ChargingSourceAvailable, ChargingState, InfraredCharacter, LightBumper, OIMode, WheelOvercurrents

Constant Summary collapse

INFRARED_CHARACTER = 
{
  129 => :left,
  130 => :forward,
  131 => :right,
  132 => :spot,
  133 => :max,
  134 => :small,
  135 => :medium,
  136 => :large,
  137 => :stop,
  138 => :power,
  139 => :arc_left,
  140 => :arc_right,
  141 => :stop,
  142 => :download,
  143 => :seek_dock,
  160 => :reserved,
  161 => :force_field,
  164 => :green_buoy,
  165 => :green_buoy_and_force_field,
  168 => :red_buoy,
  169 => :red_buoy_and_force_field,
  172 => :red_and_green_buoy,
  173 => :red_and_green_buoy_and_force_field,
  240 => :reserved,
  248 => :red_buoy,
  244 => :green_buoy,
  242 => :force_field,
  252 => :red_and_green_buoy,
  250 => :red_buoy_and_force_field,
  246 => :green_buoy_and_force_field,
  254 => :red_and_green_buoy_and_force_field,
  162 => :virtual_wall
}
SENSORS_PACKETS_SIZE = 
[
  0, # 0
  0,0,0,0,0,0, # 1-6
  1,1,1,1,1,1,1,1,1,1,1,1, # 7-18
  2,2, # 19-20
  1, # 21
  2,2, # 22-23
  1, # 24
  2,2,2,2,2,2,2, # 25-31
  1, # 32
  2, # 33
  1,1,1,1,1, # 34-38
  2,2,2,2,2,2, # 39-44
  1, # 45
  2,2,2,2,2,2, # 46-51
  1,1, # 52-53
  2,2,2,2, # 54-57
  1 # 58
]
SENSORS_PACKETS_SIGNEDNESS = 
[
  :na, # 0
  :na,:na,:na,:na,:na,:na, # 1-6
  :unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned, # 7-14
  :signed,:signed,:unsigned,:unsigned, # 15-18
  :signed,:signed, # 19-20
  :unsigned, # 21
  :unsigned,:signed, # 22-23
  :signed, # 24
  :unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned, # 25-31
  :unsigned, # 32
  :unsigned, # 33
  :unsigned,:unsigned,:unsigned,:unsigned,:unsigned, # 34-38
  :signed,:signed,:signed,:signed,:unsigned,:unsigned, # 39-44
  :unsigned, # 45
  :unsigned,:unsigned,:unsigned,:unsigned,:unsigned,:unsigned, # 46-51
  :unsigned,:unsigned, # 52-53
  :signed,:signed,:signed,:signed, # 54-57
  :unsigned # 58
]
SENSORS_PACKETS_SYMBOL =

Human readable packets name

[
  :ignore, # 0
  :ignore,:ignore,:ignore,:ignore,:ignore,:ignore, # 1-6
  :bumps_and_wheel_drops,:wall,:cliff_left,:cliff_front_left,:cliff_front_right,:cliff_right,:virtual_wall,:wheel_overcurrents, # 7-14
  :dirt_detect,:ignore,:infrared_character_omni,:buttons,# 15-18
  :distance,:angle, # 19-20
  :charging_state, # 21
  :voltage,:current, # 22-23
  :temperature, # 24
  :battery_charge,:battery_capacity,:wall_signal,:cliff_left_signal,:cliff_front_left_signal,:cliff_front_right_signal,:cliff_right_signal, # 25-31
  :ignore, # 32
  :ignore, # 33
  :charging_sources_available,:oi_mode,:song_number,:song_playing,:number_of_stream_packets, # 34-38
  :requested_velocity,:requested_radius,:requested_right_velocity,:requested_left_velocity,:right_encoder_count,:left_encoder_count, # 39-44
  :light_bumper, # 45
  :light_bump_left_signal,:light_bump_front_left_signal,:light_bump_center_left_signal,:light_bump_center_right_signal,:light_bump_front_right_signal,:light_bump_right_signal, # 46-51
  :infrared_character_left,:infrared_character_right, # 52-53
  :left_motor_current,:right_motor_current,:main_brush_motor_current,:side_brush_motor_current, # 54-57
  :stasis # 58
]
SENSORS_PACKETS_VALUE =

Sensors mapper

{
  wall:                       Boolean,
  cliff_left:                 Boolean,
  cliff_front_left:           Boolean,
  cliff_front_right:          Boolean,
  cliff_right:                Boolean,
  virtual_wall:               Boolean,
  song_playing:               Boolean,
  stasis:                     Boolean,

  charging_state:             ChargingState,
  oi_mode:                    OIMode,
  charging_sources_available: ChargingSourceAvailable,
  light_bumper:               LightBumper,
  wheel_overcurrents:         WheelOvercurrents,
  bumps_and_wheel_drops:      BumpsAndWheelDrops,
  infrared_character_omni:    InfraredCharacter,
  infrared_character_left:    InfraredCharacter,
  infrared_character_right:   InfraredCharacter
}
SENSORS_GROUP_PACKETS =

Sensors groups

{
  0   => 7..26,
  1   => 7..16,
  2   => 17..20,
  3   => 21..26,
  4   => 27..34,
  5   => 35..42,
  6   => 7..42,
  100 => 7..58,
  101 => 43..58,
  106 => 40..51,
  107 => 54..58
}

Instance Method Summary collapse

Instance Method Details

#get_sensor(sensor) ⇒ Object

convenience method for grabbing a single sensor



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# File 'lib/rumba/sensors.rb', line 297

def get_sensor(sensor)
  get_sensors_list([sensor])[sensor]
end

#get_sensors(group = 100) ⇒ Object

Get sensors by group Default group 100 = all packets



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# File 'lib/rumba/sensors.rb', line 278

def get_sensors(group=100)
  sensors_bytes_to_packets(write_chars_with_read([SENSORS,group]),SENSORS_GROUP_PACKETS[group])
end

#get_sensors_list(list) ⇒ Object

Get sensors by list Array entry can be packet ID or symbol



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# File 'lib/rumba/sensors.rb', line 284

def get_sensors_list(list)
  ids_list = list.map { |l|
    if l.class == Symbol
      SENSORS_PACKETS_SYMBOL.find_index(l)
    else
      l
    end
  }

  sensors_bytes_to_packets(write_chars_with_read([Constants::QUERY_LIST,ids_list.length]+ids_list),ids_list)
end

#sensors_bytes_to_packets(bytes, packets) ⇒ Object

Convert sensors bytes to packets hash



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# File 'lib/rumba/sensors.rb', line 232

def sensors_bytes_to_packets(bytes,packets)
  packets_h = {}
  pack = ""
  packets.each do |packet|
    size = SENSORS_PACKETS_SIZE[packet]
    signedness = SENSORS_PACKETS_SIGNEDNESS[packet]
    case size
    when 1
      case signedness
      when :signed
        pack += "c"
      when :unsigned
        pack += "C"
      end
    when 2
      case signedness
      when :signed
        pack += "s>"
      when :unsigned
        pack += "S>"
      end
    end
  end

  nums = bytes.unpack(pack)

  cur_packet = 0
  packets.each do |packet|
    pname = SENSORS_PACKETS_SYMBOL[packet]
    unless pname == :ignore
      value = nums[cur_packet]
      conv = SENSORS_PACKETS_VALUE[pname]
      if conv
        value = conv.convert(value)
      end
      packets_h[pname] = value
    end

    cur_packet += 1
  end

  packets_h
end