Class: IRobotCreate::SensorCommand

Inherits:
Command
  • Object
show all
Defined in:
lib/irobotcreate/command/sensor.rb

Constant Summary collapse

@@sensor_commands = 
{}

Instance Attribute Summary collapse

Attributes inherited from Command

#argument_options, #code

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(sensor_code, response_size, response_type, response_options = nil) ⇒ SensorCommand

Returns a new instance of SensorCommand.



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# File 'lib/irobotcreate/command/sensor.rb', line 20

def initialize(sensor_code, response_size, response_type, response_options = nil)
  super(142, 1)
  @sensor_code = sensor_code
  @response_size = response_size
  @response_type = response_type
  @response_options = response_options
end

Instance Attribute Details

#response_options ⇒ Object (readonly)

Returns the value of attribute response_options.



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# File 'lib/irobotcreate/command/sensor.rb', line 4

def response_options
  @response_options
end

#response_size ⇒ Object (readonly)

Returns the value of attribute response_size.



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# File 'lib/irobotcreate/command/sensor.rb', line 4

def response_size
  @response_size
end

#response_type ⇒ Object (readonly)

Returns the value of attribute response_type.



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# File 'lib/irobotcreate/command/sensor.rb', line 4

def response_type
  @response_type
end

#sensor_code ⇒ Object (readonly)

Returns the value of attribute sensor_code.



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# File 'lib/irobotcreate/command/sensor.rb', line 4

def sensor_code
  @sensor_code
end

Class Method Details

.[](name) ⇒ Object 



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# File 'lib/irobotcreate/command/sensor.rb', line 14

def [](name)
  @@sensor_commands[name.to_sym]
end

.register(name, *args) ⇒ Object 



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# File 'lib/irobotcreate/command/sensor.rb', line 10

def register(name, *args)
  @@sensor_commands[name] = new(*args)
end

Instance Method Details

#run(robot) ⇒ Object 



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# File 'lib/irobotcreate/command/sensor.rb', line 28

def run(robot)
  super(robot, sensor_code)

  response = robot.read_response(response_size)

  case response_type
  when :boolean
    response.first == 1
  when :integer, :signed_integer
    integer = 0
    response_size.times do |i|
      integer += response[i] * (256 ** ((response_size - 1) - i))
    end

    if response_type == :signed_integer
      max = 256 ** response_size
      if integer > max / 2
        integer -= max
      end
    end

    integer
  when :map
    response_options[response.first]
  when :compound
    hash = {}
    options_size = response_options.size
    options_size.times do |i|
      item = response_options[i]
      next unless item
      hash[item] = response.first & 2**((options_size - 1) - i) != 0
    end
    hash
  else
    response
  end
end