Class: Request::Choregraphy

Inherits:
Base::Event show all
Defined in:
lib/violet/request.rb

Overview

Choregraphy

Choregraphy in the Violet API looks like binary CSV code. It isn’t really “user-friendly”. We use a DSL (Domain Specific Language) to describe Choregraphy more easily, and then translate it in with this class. This allows us to create a more powerful language, making easy (for examples) to set all leds in one sentence, instead of five 90% redundant lines :

‘set all to green’ will we translated into ‘chor=10,0,led,0,0,255,0,0,led,1,0,255,0,0,led,2,0,255,0,0,led,3,0,255,0,0,led,4,0,255,0’

Moreover, if you think that a Choregraphy is a Set of Events (that are either an ear command either a led command), then we can use logic operations such as ==, +, -, | and & on Choregraphy (code taken from test file test_request_chor.rb):

one     = Choregraphy.new { move left ear forward of degrees 42 }
two     = Choregraphy.new { move right ear forward of degrees 42 }
onetwo  = Choregraphy.new { move both ears forward of degrees 42 }

assert_equal one | two, one + two
assert_equal one & two, Choregraphy.new
assert_equal one - two, one
assert_equal two - one, two
assert_equal onetwo, one + two
assert_equal onetwo & two, two
assert_equal onetwo & one, one
assert_equal onetwo - two, one
assert_equal onetwo - one, two
assert_equal onetwo | two, onetwo
assert_equal onetwo | one, onetwo

Choregraphy Creation

see new

Choregraphy DSL description

Here is the syntax description: [] are alternation with | or range with - and <> are optionals.

at time 1.2 <do>
    move [right|left|both] <ear|ears> [backward|forward] <of> degrees [0-180]
    set [bottom|left|middle|right|top|all] <led|leds> to [off|red|green|blue|yellow|magenta|cyan|white|rgb([0-255],[0-255],[0-255])]
<end>

Examples

for examples, please see the test file (namely test_request_chor.rb), because there are a lot of possible chor description and I don’t want to duplicate too much code :)

Defined Under Namespace

Modules: Ears, Leds Classes: BadChorDesc, EarCommandStruct, LedCommandStruct

Class Method Summary collapse

Instance Method Summary collapse

Methods inherited from Base::Event

#+, #streamed?

Constructor Details

#initialize(h = Hash.new, &block) ⇒ Choregraphy

Take some Choregraphy DSL code and translate it into a Choregraphy description of Violet API.

Arguments

(optionals) an Hash in argument with keys:

name

the chortitle

code

an array of String/Proc or a String/Proc that describe the Choregraphy in our DSL.

(optionals) a block of code that describe the Choregraphy.

Raise

raise a Choregraphy::BadChorDesc if not happy.

Examples (all results are equals)

Request::Choregraphy.new { set all off; move right ear forward of degrees 180 } #   => #<Request::Choregraphy:0x2b07a05f8ca0 @chor=["0,led,0,0,0,0", "0,led,1,0,0,0", "0,led,2,0,0,0", "0,led,3,0,0,0", "0,led,4,0,0,0", "0,motor,0,180,0,0"], @code=[#<Proc:0x00002b07a05f8d40@(irb):3>], @time=0>
Request::Choregraphy.new :code => 'set all off; move right ear forward of degrees 180' #   => #<Request::Choregraphy:0x2b07a05e84b8 @chor=["0,led,0,0,0,0", "0,led,1,0,0,0", "0,led,2,0,0,0", "0,led,3,0,0,0", "0,led,4,0,0,0", "0,motor,0,180,0,0"], @code=["set all off; move right ear forward of degrees 180"], @time=0>
Request::Choregraphy.new :code => [ 'set all off', 'move right ear forward of degrees 180' ] #   => #<Request::Choregraphy:0x2b07a05dae30 @chor=["0,led,0,0,0,0", "0,led,1,0,0,0", "0,led,2,0,0,0", "0,led,3,0,0,0", "0,led,4,0,0,0", "0,motor,0,180,0,0"], @code=["set all off", "move right ear forward of degrees 180"], @time=0>



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# File 'lib/violet/request.rb', line 363

def initialize(h=Hash.new, &block)
  @name = h[:name] if h[:name]
  @code = if block_given? then block else h[:code] end
  __choreval__
  @chor.sort! unless @chor.nil?
end

Class Method Details

.bubble(*methods) ⇒ Object

define dummy methods for DSL



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# File 'lib/violet/request.rb', line 380

def self.bubble(*methods)
  methods.each do |m|
    define_method(m) { |args| args }
    private(m.to_sym)
  end
end

Instance Method Details

#==(other) ⇒ Object 



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# File 'lib/violet/request.rb', line 400

def == other
  self.chor == other.chor
end

#move(command) ⇒ Object

Raises:



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# File 'lib/violet/request.rb', line 438

def move command
  raise BadChorDesc.new('wrong Choregraphy description')    unless command.is_a?(EarCommandStruct)
  raise BadChorDesc.new('need a time')                      unless command.time
  raise BadChorDesc.new('time must be >= zero')             unless command.time.to_i >= 0
  raise BadChorDesc.new('need an angle')                    unless command.angle
  raise BadChorDesc.new('angle must be between 0 and 180')  unless (0..180).include?(command.angle)
  raise BadChorDesc.new('need a direction')                 unless command.direction
  raise BadChorDesc.new('wrong direction')                  unless command.direction.between?(Ears::Directions::FORWARD,Ears::Directions::BACKWARD)
  raise BadChorDesc.new('need an element')                  unless command.element
  raise BadChorDesc.new('wrong element')                    unless command.element == :both or command.element.between?(Ears::Positions::RIGHT,Ears::Positions::LEFT)

  template = '%s,motor,%s,%s,0,%s'

  if command.element == :both
    # we don't know, maybe your rabbit has more than two ears :)
    (Ears::Positions.constants - ['BOTH']).each do |cste_name|
      cste = Helpers.constantize "#{self.class}::Ears::Positions::#{cste_name}"
      @chor << template % [ command.time.to_i, cste,  command.angle, command.direction ]
    end
  else
    @chor << template % [ command.time.to_i,  command.element, command.angle, command.direction ]
  end
end

#set(command) ⇒ Object

Raises:



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# File 'lib/violet/request.rb', line 404

def set command
  raise BadChorDesc.new('wrong Choregraphy description')    unless command.is_a?(LedCommandStruct)
  raise BadChorDesc.new('need an element')                  unless command.elements
  command.elements.each do |e|
    raise BadChorDesc.new('wrong element')                  unless e == :all or e.between?(Leds::Positions::BOTTOM,Leds::Positions::TOP)
  end
  raise BadChorDesc.new('need a time')                      unless command.time
  raise BadChorDesc.new('time must be >= than zero')        unless command.time.to_i >= 0
  raise BadChorDesc.new('need a color')                     unless command.color
  raise BadChorDesc.new('wrong size for rgb color array')   unless command.color.size == 3
  command.color.collect! do |c|
    raise BadChorDesc.new('color code must be betwen 0 and 255') unless c.to_i.between?(0,255)
    c.to_i
  end

  template = '%s,led,%s,%s'
  command.color = command.color.join(',')

  # remove trailling element if all is set
  command.elements.uniq!
  command.elements = [:all] if command.elements.include?(:all)

  command.elements.each do |e|
    if e == :all
      (Leds::Positions.constants - ['ALL']).each do |cste_name|
        cste = Helpers.constantize "#{self.class}::Leds::Positions::#{cste_name}"
        @chor << template % [ command.time.to_i, cste, command.color ]
      end
    else
        @chor << template % [ command.time.to_i,  e, command.color ]
    end
  end
end

#to_url ⇒ Object

Raises:



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# File 'lib/violet/request.rb', line 370

def to_url
  raise BadChorDesc.new('no choregraphy given') unless @chor

  url = Array.new
  url << "chor=10," + @chor.join(',') unless @chor.nil?
  url << "chortitle=#{@name}" unless @name.nil?
  url
end