adding request objects

README.markdown

@@ -15,26 +15,19 @@ provided by the bluetooth connection.
 
 ```ruby
 s = Sphero.new "/dev/tty.Sphero-PRG-RN-SPP"
-p s.ping
+s.ping
 
 # Roll 0 degrees, speed 125
-p s.roll(125, 0)
+s.roll(125, 0)
 
-trap(:INT) {
-  s.stop # Stop the ball
-  exit!
-}
-
-sleep 1
-loop do
+# Turn 360 degrees, 30 degrees at a time
 0.step(360, 30) { |h|
   h = 0 if h == 360
 
   # Set the heading to h degrees
   s.heading = h
   sleep 1
 }
-end
 sleep 1
 s.stop
 ```

lib/sphero.rb

@@ -1,66 +1,38 @@
 require 'serialport'
+require 'sphero/request'
+require 'sphero/response'
 
 class Sphero
   VERSION = '1.0.0'
 
-  class Response
-    SOP1 = 0
-    SOP2 = 1
-    MRSP = 2
-    SEQ  = 3
-    DLEN = 4
-
-    CODE_OK = 0
-
-    attr_reader :body
-
-    def initialize header, body
-      @header = header
-      @body   = body
-    end
-
-    def empty?
-      @header[DLEN] == 1
-    end
-
-    def success?
-      @header[MRSP] == CODE_OK
-    end
-
-    def seq
-      @header[SEQ]
-    end
-  end
-
   def initialize dev
     @sp = SerialPort.new dev, 115200, 8, 1, SerialPort::NONE
     @dev = 0x00
     @seq = 0x00
   end
 
   def ping
-    write 0x01
+    write_packet Request::Ping.new(@seq)
   end
 
   def version
-    write 0x02
+    write_packet Request::GetVersioning.new(@seq)
   end
 
   def bluetooth_info
-    resp = write 0x11
-    [resp.body.take(15).pack('C*'), resp.body.drop(15).pack('C*')]
+    write_packet Request::GetBluetoothInfo.new(@seq)
   end
 
   def auto_reconnect= time_s
-    write 0x12, [0x01, time_s]
+    write_packet Request::SetAutoReconnect.new(@seq, time_s)
   end
 
   def auto_reconnect
-    write(0x13).body[1]
+    write_packet(Request::GetAutoReconnect.new(@seq)).time
   end
 
   def disable_auto_reconnect
-    write 0x12, [0x00, 0x05]
+    write_packet Request::SetAutoReconnect.new(@seq, 0, false)
   end
 
   def roll speed, heading, delay = 0x01
@@ -78,6 +50,21 @@ def heading= h
 
   private
 
+  def write_packet packet
+    @sp.write packet.to_str
+    @seq += 1
+
+    header   = @sp.read(5).unpack 'C5'
+    body     = @sp.read header.last
+    response = packet.response header, body
+
+    if response.success?
+      response
+    else
+      raise response
+    end
+  end
+
   def write cmd, data = [], did = @dev
     data_len = data.length + 1
 
@@ -103,29 +90,23 @@ def write cmd, data = [], did = @dev
 
 if $0 == __FILE__
   begin
-    s = Sphero.new "/dev/tty.Sphero-PRG-RN-SPP"
+    s = Sphero.new "/dev/tty.Sphero-BRR-RN-SPP"
   rescue Errno::EBUSY
     p :wtf
     retry
   end
 
-  p s.ping
-  p s.roll(125, 0)
-
-  trap(:INT) {
-    s.stop
-    exit!
+  10.times {
+    p s.ping
   }
 
-  sleep 1
-  loop do
-  0.step(360, 30) { |h|
-    h = 0 if h == 360
-
-    s.heading = h
-    sleep 1
-  }
-  end
-  sleep 1
-  s.stop
+  obj = s.bluetooth_info
+  p obj
+  p obj.name
+  p obj.bta
+  p s.auto_reconnect
+  s.auto_reconnect = 3
+  p s.auto_reconnect
+  s.auto_reconnect = 0
+  p s.auto_reconnect
 end

lib/sphero/request.rb

@@ -0,0 +1,85 @@
+class Sphero
+  class Request
+    SOP1 = 0xFF
+    SOP2 = 0xFF
+
+    def initialize seq, data = []
+      @seq    = seq
+      @data   = data
+      @did    = 0x00
+      @dlen   = @data.length + 1
+      @format = 'C*'
+    end
+
+    def data_bytes
+      [SOP1, SOP2, @did, @cid, @seq, @dlen] + @data
+    end
+
+    def checksum
+      ~(data_bytes.drop(2).reduce(:+) % 256) & 0xFF
+    end
+
+    def bytes
+      data_bytes << checksum
+    end
+
+    # The data to write to the socket
+    def to_str
+      bytes.pack @format
+    end
+
+    def response header, body
+      Response.new header, body
+    end
+
+    class Ping < Request
+      def initialize seq
+        super(seq, [])
+        @cid  = 0x01
+      end
+    end
+
+    class GetVersioning < Request
+      def initialize seq
+        super(seq, [])
+        @cid  = 0x02
+      end
+    end
+
+    class GetBluetoothInfo < Request
+      def initialize seq
+        super(seq, [])
+        @cid  = 0x11
+      end
+
+      def response header, body
+        Response::GetBluetoothInfo.new header, body
+      end
+    end
+
+    class SetAutoReconnect < Request
+      def initialize seq, time = 7, enabled = true
+        super(seq, [enabled ? 0x01 : 0x00, time])
+        @cid = 0x12
+      end
+    end
+
+    class GetAutoReconnect < Request
+      def initialize seq
+        super(seq, [])
+        @cid = 0x13
+      end
+
+      def response header, body
+        Response::GetAutoReconnect.new header, body
+      end
+    end
+
+    class GetPowerState < Request
+      def initialize seq
+        super(seq, [])
+        @cid = 0x20
+      end
+    end
+  end
+end

lib/sphero/response.rb

@@ -0,0 +1,48 @@
+class Sphero
+  class Response
+    SOP1 = 0
+    SOP2 = 1
+    MRSP = 2
+    SEQ  = 3
+    DLEN = 4
+
+    CODE_OK = 0
+
+    def initialize header, body
+      @header = header
+      @body   = body
+    end
+
+    def empty?
+      @header[DLEN] == 1
+    end
+
+    def success?
+      @header[MRSP] == CODE_OK
+    end
+
+    def seq
+      @header[SEQ]
+    end
+
+    def body
+      @body.unpack 'C*'
+    end
+
+    class GetAutoReconnect < Response
+      def time
+        body[1]
+      end
+    end
+
+    class GetBluetoothInfo < Response
+      def name
+        body.take(16).slice_before(0x00).first.pack 'C*'
+      end
+
+      def bta
+        body.drop(16).slice_before(0x00).first.pack 'C*'
+      end
+    end
+  end
+end

test/test_sphero.rb

@@ -2,7 +2,8 @@
 require 'sphero'
 
 class TestSphero < MiniTest::Unit::TestCase
-  def test_sanity
-    flunk "write tests or I will kneecap you"
+  def test_ping_checksum
+    ping = Sphero::Request::Ping.new 1
+    assert_equal 1, ping.checksum
   end
 end