class BirdbrainRequest
Constants
- BIRDBRAIN_TEST
Public Class Methods
bounds(input, input_min, input_max, pass_through_input = nil)
click to toggle source
# 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)
click to toggle source
# File lib/birdbrain/birdbrain_request.rb, line 93 def self.calculate_angle(intensity) intensity * 255 / 180 end
calculate_intensity(intensity)
click to toggle source
# File lib/birdbrain/birdbrain_request.rb, line 97 def self.calculate_intensity(intensity) intensity * 255 / 100 end
calculate_left_or_right(direction)
click to toggle source
# 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)
click to toggle source
# 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)
click to toggle source
# 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)
click to toggle source
# File lib/birdbrain/birdbrain_request.rb, line 53 def self.disconnect(device) request_status(response_body('hummingbird', 'out', 'stopall', device)) end
not_connected?(device)
click to toggle source
# File lib/birdbrain/birdbrain_request.rb, line 49 def self.not_connected?(device) !connected?(device) end
request_status(status)
click to toggle source
# 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)
click to toggle source
# 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)
click to toggle source
# 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)
click to toggle source
# 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')
click to toggle source
# 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