Class: BirdbrainRequest

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

Constant Summary collapse

BIRDBRAIN_TEST = 
false

Class Method Summary collapse

Class Method Details

.bounds(input, input_min, input_max, pass_through_input = nil) ⇒ Object 



115
116
117
118
119
120
121
122
 
# File 'lib/birdbrain/birdbrain_request.rb', line 115

def self.bounds(input, input_min, input_max, pass_through_input = nil)
  return input if !pass_through_input.nil? && (input == pass_through_input)

  return input_min if input < input_min
  return input_max if input > input_max

  input
end

.calculate_angle(intensity) ⇒ Object 



93
94
95
 
# File 'lib/birdbrain/birdbrain_request.rb', line 93

def self.calculate_angle(intensity)
  intensity * 255 / 180
end

.calculate_intensity(intensity) ⇒ Object 



97
98
99
 
# File 'lib/birdbrain/birdbrain_request.rb', line 97

def self.calculate_intensity(intensity)
  intensity * 255 / 100
end

.calculate_left_or_right(direction) ⇒ Object 



108
109
110
111
112
113
 
# File 'lib/birdbrain/birdbrain_request.rb', line 108

def self.calculate_left_or_right(direction)
  return 'Left' if direction == BirdbrainDevice::LEFT
  return 'Right' if direction == BirdbrainDevice::RIGHT

  false
end

.calculate_speed(speed) ⇒ Object 



101
102
103
104
105
106
 
# File 'lib/birdbrain/birdbrain_request.rb', line 101

def self.calculate_speed(speed)
  return 255 if speed.between?(-10, 10)

  # QUESTION: why this calculation instead of normal mapping to 0..255 (and 255 means stop)
  ((speed * 23 / 100) + 122)
end

.connected?(device) ⇒ Boolean

Returns:

  • (Boolean) 


43
44
45
46
47
 
# File 'lib/birdbrain/birdbrain_request.rb', line 43

def self.connected?(device)
  response = response_body('hummingbird', 'in', 'orientation', 'Shake', device)

  !response.nil?
end

.disconnect(device) ⇒ Object 



53
54
55
 
# File 'lib/birdbrain/birdbrain_request.rb', line 53

def self.disconnect(device)
  request_status(response_body('hummingbird', 'out', 'stopall', device))
end

.not_connected?(device) ⇒ Boolean

Returns:

  • (Boolean) 


49
50
51
 
# File 'lib/birdbrain/birdbrain_request.rb', line 49

def self.not_connected?(device)
  !connected?(device)
end

.request_status(status) ⇒ Object 



57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
 
# File 'lib/birdbrain/birdbrain_request.rb', line 57

def self.request_status(status)
  puts "Test: request status is #{status.inspect}" if BIRDBRAIN_TEST

  return nil if status.nil?

  return true if status == 'true'
  return true if status == 'led set'
  return true if status == 'triled set'
  return true if status == 'servo set'
  return true if status == 'buzzer set'
  return true if status == 'symbol set'
  return true if status == 'print set'
  return true if status == 'all stopped'

  return true if status == 'finch moved'
  return true if status == 'finch turned'
  return true if status == 'finch wheels started'
  return true if status == 'finch wheels stopped'
  return true if status == 'finch encoders reset'

  return false if status == 'false'
  return false if status == 'Not Connected'
  return false if status == 'Invalid orientation'

  nil
end

.response(*args) ⇒ Object 



18
19
20
21
22
23
24
25
26
27
28
 
# File 'lib/birdbrain/birdbrain_request.rb', line 18

def self.response(*args)
  return false if (valid_args = args.flatten).include?(false)

  response = Net::HTTP.get_response(URI.parse(uri(valid_args)))

  sleep(0.01) # HACK: prevent http requests from overloading the bluebird connector

  response
rescue Errno::ECONNREFUSED
  nil
end

.response_body(*args) ⇒ Object 



30
31
32
33
34
35
36
37
38
39
40
41
 
# File 'lib/birdbrain/birdbrain_request.rb', line 30

def self.response_body(*args)
  response = response(args)

  return false if response == false

  return nil if response.nil?
  return nil if response.body.downcase == 'not connected'

  puts "Test: response: #{response.body.inspect}" if BIRDBRAIN_TEST

  response.body
end

.uri(*args) ⇒ Object 



9
10
11
12
13
14
15
16
 
# File 'lib/birdbrain/birdbrain_request.rb', line 9

def self.uri(*args)
  uri = 'http://127.0.0.1:30061'
  args.flatten.each { |s| uri += "/#{s}" }

  puts "Test: uri is #{uri}" if BIRDBRAIN_TEST

  uri
end

.xyz_response(device, sensor, type_method = 'to_f') ⇒ Object 



84
85
86
87
88
89
90
91
 
# File 'lib/birdbrain/birdbrain_request.rb', line 84

def self.xyz_response(device, sensor, type_method = 'to_f')
  return nil if (x = response_body('hummingbird', 'in', sensor, 'X', device)).nil?

  y = response_body('hummingbird', 'in', sensor, 'Y', device)
  z = response_body('hummingbird', 'in', sensor, 'Z', device)

  [x.send(type_method), y.send(type_method), z.send(type_method)]
end