Class: Sphero

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

Defined Under Namespace

Classes: Request, Response

Constant Summary collapse

FORWARD = 
0
RIGHT = 
90
BACKWARD = 
180
LEFT = 
270
DEFAULT_RETRIES = 
3

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(dev) ⇒ Sphero

Returns a new instance of Sphero.



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

def initialize dev
  if dev.is_a?(String)
    initialize_serialport dev
  else
    @sp = dev
  end

  @dev  = 0x00
  @seq  = 0x00
  @lock = Mutex.new
  @messages = Queue.new
  @packets = Queue.new
  @response_queue = Queue.new
  @responses = []
  Thread.new {
    loop do
      write @packets.pop
    end
  }
  Thread.new {
    loop do
      @responses << @response_queue.pop
    end
  }
end

Instance Attribute Details

#connection_types ⇒ Object

Returns the value of attribute connection_types.



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

def connection_types
  @connection_types
end

#messages ⇒ Object

Returns the value of attribute messages.



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

def messages
  @messages
end

#packets ⇒ Object

Returns the value of attribute packets.



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

def packets
  @packets
end

#response_queue ⇒ Object

Returns the value of attribute response_queue.



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

def response_queue
  @response_queue
end

#responses ⇒ Object

Returns the value of attribute responses.



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

def responses
  @responses
end

Class Method Details

.start(dev, &block) ⇒ Object 



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# File 'lib/sphero.rb', line 17

def start(dev, &block)
  retries_left = DEFAULT_RETRIES
  begin
    sphero = self.new dev
    if (block_given?)
      begin
        sphero.instance_eval(&block)
      ensure
        sphero.close
      end
      return nil
    end
    return sphero
  rescue RubySerial::Exception => e
    if e.message == 'EBUSY'
      puts retries_left
      retries_left = retries_left - 1
      retry unless retries_left < 0
    end
  end
end

Instance Method Details

#auto_reconnect ⇒ Object 



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

def auto_reconnect
  queue_packet(Request::GetAutoReconnect.new(@seq)).time
end

#auto_reconnect=(time_s) ⇒ Object 



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# File 'lib/sphero.rb', line 103

def auto_reconnect= time_s
  queue_packet Request::SetAutoReconnect.new(@seq, limit1(time_s) )
end

#back_led_output=(h) ⇒ Object

Brightness 0x00 - 0xFF



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# File 'lib/sphero.rb', line 150

def back_led_output= h
  queue_packet Request::SetBackLEDOutput.new(@seq, limit1(h) )
end

#bluetooth_info ⇒ Object 



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# File 'lib/sphero.rb', line 89

def bluetooth_info
  packet = Request::GetBluetoothInfo.new(@seq)
  queue_packet packet
  return sync_response packet.seq
end

#close ⇒ Object 



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# File 'lib/sphero.rb', line 66

def close
  return if @sp.nil? || @sp.closed?
  begin
    stop
  rescue Exception => e
    puts e.message
  ensure
    @sp.close
  end
end

#color(colorname, persistant = false) ⇒ Object 



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# File 'lib/sphero.rb', line 139

def color colorname, persistant = false
  color = COLORS[colorname]
  rgb color[:r], color[:g], color[:b], persistant
end

#configure_collision_detection(meth, x_t, y_t, x_spd, y_spd, dead) ⇒ Object

configure collision detection messages



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# File 'lib/sphero.rb', line 178

def configure_collision_detection meth, x_t, y_t, x_spd, y_spd, dead
  queue_packet Request::ConfigureCollisionDetection.new(@seq, limit1(meth),
                                                        limit1(x_t),   limit1(y_t),
                                                        limit1(x_spd), limit1(y_spd),
                                                        limit1(dead) )
end

#disable_auto_reconnect ⇒ Object 



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# File 'lib/sphero.rb', line 111

def disable_auto_reconnect
  queue_packet Request::SetAutoReconnect.new(@seq, 0, flag(false) )
end

#heading=(h) ⇒ Object 



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

def heading= h
  queue_packet Request::Heading.new(@seq, degrees(h) )
end

#keep_going(duration) ⇒ Object

just a nicer alias for Ruby’s own sleep



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# File 'lib/sphero.rb', line 160

def keep_going(duration)
  Kernel::sleep duration
end

#ping ⇒ Object 



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# File 'lib/sphero.rb', line 77

def ping
  packet = Request::Ping.new(@seq)
  queue_packet packet
  return sync_response packet.seq
end

#power_state ⇒ Object 



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# File 'lib/sphero.rb', line 115

def power_state
  queue_packet Request::GetPowerState.new(@seq)
end

#rgb(r, g, b, persistant = false) ⇒ Object 



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# File 'lib/sphero.rb', line 144

def rgb r, g, b, persistant = false
  queue_packet Request::SetRGB.new(@seq, limit1(r), limit1(g), limit1(b), flag(persistant) )
end

#roll(speed, heading, state = true) ⇒ Object 



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# File 'lib/sphero.rb', line 123

def roll speed, heading, state = true
  queue_packet Request::Roll.new(@seq, limit1(speed), degrees(heading), flag(state) )
end

#rotation_rate=(h) ⇒ Object

Rotation Rate 0x00 - 0xFF



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# File 'lib/sphero.rb', line 155

def rotation_rate= h
  queue_packet Request::SetRotationRate.new(@seq, limit1(h))
end

#set_data_streaming(n, m, mask, pcnt, mask2) ⇒ Object

configure data streaming notification messages



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# File 'lib/sphero.rb', line 172

def set_data_streaming n, m, mask, pcnt, mask2
  queue_packet Request::SetDataStreaming.new(@seq, limit2(n), limit2(m),
                                             limit4(mask), limit1(pcnt), limit4(mask2) )
end

#set_power_notification(enable = true) ⇒ Object

configure power notification messages



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# File 'lib/sphero.rb', line 167

def set_power_notification enable=true
  queue_packet Request::SetPowerNotification.new(@seq, flag(enable) )
end

#sphero_sleep(wakeup = 0, macro = 0) ⇒ Object 



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# File 'lib/sphero.rb', line 119

def sphero_sleep wakeup = 0, macro = 0
  queue_packet Request::Sleep.new(@seq, limit2(wakeup), limit1(macro) )
end

#stabilization=(on) ⇒ Object 



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# File 'lib/sphero.rb', line 135

def stabilization= on
  queue_packet Request::Stabilization.new(@seq, on)
end

#stop ⇒ Object 



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# File 'lib/sphero.rb', line 127

def stop
  roll 0, 0
end

#user_led ⇒ Object

This retrieves the “user LED color” which is stored in the config block (which may or may not be actively driven to the RGB LED).



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# File 'lib/sphero.rb', line 97

def user_led
  packet = Request::GetRGB.new(@seq)
  queue_packet packet
  return sync_response packet.seq
end

#version ⇒ Object 



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# File 'lib/sphero.rb', line 83

def version
  packet = Request::GetVersioning.new(@seq)
  queue_packet packet
  return sync_response packet.seq
end