93 lines
1.8 KiB
Ruby
93 lines
1.8 KiB
Ruby
|
require 'json'
|
||
|
|
require 'rest-client'
|
||
|
|
require 'parallel'
|
||
|
|
|
||
|
|
require './motor'
|
||
|
|
|
||
|
|
class Poppy
|
||
|
|
|
||
|
|
attr_reader :ip, :port, :url, :motors
|
||
|
|
|
||
|
|
def initialize ip
|
||
|
|
@host = ip
|
||
|
|
@port = "8080"
|
||
|
|
@url = "http://" + @host + ":" + @port
|
||
|
|
|
||
|
|
init_motors;
|
||
|
|
end
|
||
|
|
|
||
|
|
def init_motors
|
||
|
|
@motors = Hash.new
|
||
|
|
motor_list.each do |motor_name|
|
||
|
|
@motors[motor_name] = Motor.new(self, motor_name)
|
||
|
|
end
|
||
|
|
end
|
||
|
|
|
||
|
|
|
||
|
|
def motor_list_text
|
||
|
|
RestClient.get @url + '/motor/list.json'
|
||
|
|
end
|
||
|
|
|
||
|
|
def motor_list
|
||
|
|
JSON.parse(motor_list_text).values[0]
|
||
|
|
end
|
||
|
|
|
||
|
|
def to_s
|
||
|
|
"Poppy :]"
|
||
|
|
end
|
||
|
|
|
||
|
|
def update_motor_registers
|
||
|
|
each_motor do |motor|
|
||
|
|
motor.update_registers
|
||
|
|
end
|
||
|
|
end
|
||
|
|
|
||
|
|
def each_motor
|
||
|
|
@motors.each_value do |motor|
|
||
|
|
yield motor
|
||
|
|
end
|
||
|
|
end
|
||
|
|
|
||
|
|
def set_compliant (is_compliant)
|
||
|
|
each_motor do |motor|
|
||
|
|
motor.compliant = is_compliant
|
||
|
|
end
|
||
|
|
end
|
||
|
|
|
||
|
|
def set_default_motor_positions
|
||
|
|
each_motor do |motor|
|
||
|
|
motor.compliant = "false"
|
||
|
|
motor.goal_speed = 0
|
||
|
|
motor.goal_position = 0
|
||
|
|
end
|
||
|
|
|
||
|
|
end
|
||
|
|
|
||
|
|
def set_default_motor_positions_parallel
|
||
|
|
Parallel.each(@motors.values) do |motor|
|
||
|
|
motor.compliant = "false"
|
||
|
|
motor.goal_speed = 10
|
||
|
|
motor.goal_position = 0
|
||
|
|
end
|
||
|
|
end
|
||
|
|
|
||
|
|
## Low level for motors ...
|
||
|
|
|
||
|
|
def motor_values (name)
|
||
|
|
RestClient.get @url + '/motor/' + name + '/register/list.json' , {:accept => :json}
|
||
|
|
end
|
||
|
|
|
||
|
|
def motor_register_get (motor, register)
|
||
|
|
RestClient.get @url + '/motor/' + motor.name + '/register/' + register , {:accept => :json}
|
||
|
|
end
|
||
|
|
|
||
|
|
def motor_register_list (motor)
|
||
|
|
RestClient.get @url + '/motor/' + motor.name + '/register/list.json' , {:accept => :json}
|
||
|
|
end
|
||
|
|
|
||
|
|
def send_motor_register (motor, register, value)
|
||
|
|
RestClient.post @url + '/motor/' + motor.name + '/register/' + register + '/value.json', value, :content_type => :json
|
||
|
|
end
|
||
|
|
|
||
|
|
end
|