Class: IRobotCreate::Command

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

Direct Known Subclasses

SensorCommand

Constant Summary collapse

@@commands = 
{}

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(code, argument_options = []) ⇒ Command

Returns a new instance of Command.



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# File 'lib/irobotcreate/command.rb', line 21

def initialize(code, argument_options = [])
  @code = code

  if argument_options != :inf
    case argument_options
    when Integer
      argument_options = [{ :type => :integer }] * argument_options
    when Symbol
      argument_options = [{ :type => argument_options }]
    when Array
      argument_options.map!{|ao| ao.is_a?(Hash) ? ao : { :type => ao } }
    when Hash
      argument_options = [argument_options]
    else
      raise "Can't handle argument options: #{argument_options}"
    end
  end

  @argument_options = argument_options
end

Instance Attribute Details

#argument_options ⇒ Object (readonly)

Returns the value of attribute argument_options.



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# File 'lib/irobotcreate/command.rb', line 5

def argument_options
  @argument_options
end

#code ⇒ Object (readonly)

Returns the value of attribute code.



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# File 'lib/irobotcreate/command.rb', line 5

def code
  @code
end

Class Method Details

.[](name) ⇒ Object 



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# File 'lib/irobotcreate/command.rb', line 15

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

.register(name, *args) ⇒ Object 



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# File 'lib/irobotcreate/command.rb', line 11

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

Instance Method Details

#run(robot, *args) ⇒ Object 



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# File 'lib/irobotcreate/command.rb', line 42

def run(robot, *args)
  if argument_options == :inf
    array = args
  else
    if IRobotCreate::DEBUG
      puts "args: #{args.inspect}"
      puts "argument_options: #{argument_options.inspect}"
    end
    if args.size != argument_options.size
      raise ArgumentError, "Requires #{argument_options.size} arguments"
    end

    array = []
    args.each_with_index do |arg, i|
      opts = argument_options[i]

      value = arg
      puts "starting value: #{value.inspect}" if IRobotCreate::DEBUG

      size = opts[:size] || 1

      if opts[:inverse_map]
        opts[:map] = opts[:inverse_map]
        for k,v in opts[:inverse_map]
          opts[:map]["not_#{k}".to_sym] = 256**size - v
        end
        puts "inverse_map: #{opts[:map.inspect]}" if IRobotCreate::DEBUG
      end

      if opts[:map]
        value = opts[:map][value]
        puts "mapped: #{value}" if IRobotCreate::DEBUG
        raise "Couldn't map value" if value.nil?
      end

      if opts[:compound]
        raise "Compound size must be 1!" unless size == 1

        value_array = value.is_a?(Array) ? value : [value]
        value = 0

        compound_size = opts[:compound].size
        compound_size.times do |j|
          compound_value = opts[:compound][j]
          puts "checking for #{compound_value}" if IRobotCreate::DEBUG
          if compound_value && value_array.include?(compound_value)
            bit = (compound_size - 1) - j
            puts "Adding bit: #{bit}" if IRobotCreate::DEBUG
            value += 2 ** bit
          end
        end
      elsif opts[:type] == :boolean
        value = value ? 1 : 0
      end

      puts "preprocessed value: #{value.inspect}" if IRobotCreate::DEBUG

      if value < 0
        value += 256 ** size
        puts "converted negative: #{value.inspect}" if IRobotCreate::DEBUG
      end

      size.times do |j|
        base = 256 ** ((size - 1) - j)
        current = value / base
        value %= base
        array << current
      end

      puts "array: #{array.inspect}" if IRobotCreate::DEBUG
    end
  end

  puts "final array: #{array.inspect}" if IRobotCreate::DEBUG

  robot.send([code] + array)
end