EV3 Bluetooth connection and tone working

.gitignore

@@ -10,6 +10,7 @@ _yardoc
 coverage
 doc/
 lib/bundler/man
+local_helpers
 pkg
 rdoc
 spec/reports

README.md

@@ -1,4 +1,4 @@
-# Ruby::Ev3
+# Ruby::EV3
 
 TODO: Write a gem description
 
@@ -22,7 +22,7 @@ TODO: Write usage instructions here
 
 ## Contributing
 
-1. Fork it ( http://github.com/<my-github-username>/ruby-ev3/fork )
+1. Fork it (http://github.com/jcnnghm/ruby-ev3/fork)
 2. Create your feature branch (`git checkout -b my-new-feature`)
 3. Commit your changes (`git commit -am 'Add some feature'`)
 4. Push to the branch (`git push origin my-new-feature`)

Rakefile

@@ -1 +1,10 @@
 require "bundler/gem_tasks"
+
+desc "Open an irb session preloaded with this library"
+task :console do
+  sh "irb -rubygems -I lib -r ev3.rb"
+end
+
+Dir["tasks/**/*.rake"].each do |file|
+  load(file)
+end

lib/ev3.rb

@@ -0,0 +1,36 @@
+require "ev3/brick"
+require "ev3/commands"
+require "ev3/constants"
+require "ev3/version"
+
+module EV3
+   # Helper to reload the gem in dev.
+  def self.reload!
+    $".grep(/lib\/ev3/).each{ |f| load(f) if File.exists?(f) }
+  end
+end
+
+class Integer
+  # Convert to EV3 variable data
+  def to_ev3_data
+    [0b1000_0011] + self.to_little_endian_byte_array(4)
+  end
+
+  # Convert the number to an array of little endian bytes
+  #
+  # @param [Integer] number_of_bytes that should represent the integer
+  def to_little_endian_byte_array(number_of_bytes = 4)
+    raise NotImplementedError if self < 0
+    bytes = []
+    tmp_number = self
+    while tmp_number.abs > 0
+      bytes << (tmp_number & 0xFF)
+      tmp_number = tmp_number >> 8
+    end
+    bytes = bytes[0..(number_of_bytes - 1)]
+    until bytes.size == number_of_bytes
+      bytes << 0
+    end
+    bytes
+  end
+end

lib/ev3/brick.rb

@@ -0,0 +1,35 @@
+module EV3
+  class Brick
+    attr_reader :connection
+
+    # Create a new brick connection
+    #
+    # @param [instance subclassing Connections::Base] connection to the brick
+    def initialize(connection)
+      @connection = connection
+    end
+
+    # Connect to the EV3
+    def connect
+      self.connection.connect
+    end
+
+    # Play a short beep on the EV3
+    def beep
+      self.execute(Commands::SoundTone.new)
+    end
+
+    # Play a tone on the EV3 using the specified options
+    def play_tone(volume, frequency, duration)
+      command = Commands::SoundTone.new(volume, frequency, duration)
+      self.execute(command)
+    end
+
+    # Execute the command
+    #
+    # @param [instance subclassing Commands::Base] command to execute
+    def execute(command)
+      self.connection.write(command)
+    end
+  end
+end

lib/ev3/commands.rb

@@ -0,0 +1,3 @@
+require 'ev3/commands/base'
+
+require 'ev3/commands/sound_tone'

lib/ev3/commands/base.rb

@@ -0,0 +1,62 @@
+module EV3
+  module Commands
+    class Base
+      attr_accessor :sequence_number
+
+      def initialize(local_variables = 0, global_variables = 0)
+        @local_variables = local_variables
+        @global_variables = global_variables
+
+        # Sequence number is currently unused, so I am setting it to zero
+        self.sequence_number = 0
+        @bytes = []
+      end
+
+      # Converts the command to an array of bytes to send to the EV3
+      def to_bytes
+        message = self.sequence_number.to_little_endian_byte_array(2) + variable_size_bytes + @bytes.clone
+
+        # The message is proceeded by the message length
+        message.size.to_little_endian_byte_array(2) + message
+      end
+
+      # Append a byte or multiple bytes to the command
+      #
+      # @param [Integer, Array<Integer>] byte_or_bytes to append to the command
+      def <<(byte_or_bytes)
+        bytes = byte_or_bytes.is_a?(Array) ? byte_or_bytes : [byte_or_bytes]
+        bytes.each { |byte| @bytes << byte }
+      end
+
+      # String representation of the command
+      def to_s
+        "#{self.class.name}: #{self.to_bytes.map{|byte| byte.to_s(16)}.join(', ')}"
+      end
+
+      # Raises an exception if the value isn't found in the range
+      #
+      # @param [Integer] value to check against the range
+      # @param [String] name of the variable, for the exception message
+      # @param [Range(Integer)] range the value should be in
+      def validate_range!(value, variable_name, range)
+        raise(ArgumentError, "#{variable_name} should be between #{range.min} and #{range.max}") unless range.include?(value)
+      end
+
+      private
+
+      def variable_size_bytes
+        #   Byte 6    Byte 5
+        #  76543210  76543210
+        #  --------  --------
+        #  llllllgg  gggggggg
+        #
+        #        gg  gggggggg  Global variables [0..MAX_COMMAND_GLOBALS]
+        #  llllll              Local variables  [0..MAX_COMMAND_LOCALS]
+        [
+          (@global_variables & 0xFF),
+          (((@local_variables << 2) & 0b1111_1100) | (((@global_variables >> 8) & 0b0000_0011)))
+        ]
+      end
+    end
+  end
+end

lib/ev3/commands/sound_tone.rb

@@ -0,0 +1,25 @@
+module EV3
+  module Commands
+    class SoundTone < Base
+      # Creates a new sound tone command
+      #
+      # @param [Integer] Volume of the sound [0..100]
+      # @param [Integer] Frequency in Hertz [0..50,000]
+      # @param [Integer] Duration in miliseconds [0..1 Year]
+      def initialize(volume = 50, frequency = 1000, duration = 500)
+        super()
+
+        validate_range!(volume, 'volume', 0..100)
+        validate_range!(frequency, 'frequency', 0..50_000) # 0 - 50,000 Hz
+        validate_range!(duration, 'duration', 0..(1000 * 60 * 60 * 24 * 365)) # Up to a year
+
+        self << CommandType::DIRECT_COMMAND_NO_REPLY
+        self << ByteCodes::SOUND
+        self << SoundSubCodes::TONE
+        self << volume.to_ev3_data
+        self << frequency.to_ev3_data
+        self << duration.to_ev3_data
+      end
+    end
+  end
+end

lib/ev3/connections/base.rb

@@ -0,0 +1,14 @@
+module EV3
+  module Connections
+    class Base
+
+      def connect
+        raise NotImplementedError
+      end
+
+      def write(command)
+        raise NotImplementedError
+      end
+    end
+  end
+end

lib/ev3/connections/bluetooth.rb

@@ -0,0 +1,37 @@
+require 'ev3/connections/base'
+require 'serialport'
+
+module EV3
+  module Connections
+
+    class Bluetooth < Base
+      attr_reader :device
+
+      # Create a new bluetooth device
+      #
+      # @param [String] device on the Mac, a dev device, and on windows a com port
+      def initialize(device = '/dev/tty.EV3-SerialPort')
+        @device = device
+        @commands_sent = 0
+      end
+
+      def connect
+        @serial_port = ::SerialPort.new(@device, 57600, 8, 1, SerialPort::NONE)
+        @serial_port.flow_control = ::SerialPort::HARD
+        @serial_port.read_timeout = 5000
+      end
+
+      # Set the sequence number on the command and write it to the bluetooth connection
+      #
+      # @param [instance subclassing Commands::Base] command to execute
+      def write(command)
+        command.sequence_number = @commands_sent
+        command.to_bytes.each do |b|
+          @serial_port.putc b
+        end
+        @commands_sent += 1
+      end
+    end
+
+  end
+end