class Mi100

# File lib/mi100.rb, line 72
def initialize(dev)
  retries_left = DEFAULT_RETRIES
  begin
    initialize_serialport dev
  rescue Errno::ENOENT
    puts "Retry Bluetooth connection: #{retries_left.to_s}"
    retries_left -= 1
    retry unless retries_left < 0
    puts "Bluetooth connection failed."
    raise
  end

  initialize_robo
end

# File lib/mi100.rb, line 273
def bad
  duration = 400.0
  freq = 100
  tone freq, duration
  sleep duration / 1000.0
end

# File lib/mi100.rb, line 218
def blink(r = nil, g = nil, b = nil, duration = DEFAULT_BLINK_DURATION)
  r ||= rand(100)+1
  g ||= rand(100)+1
  b ||= rand(100)+1
  r = 100 if r > 100
  g = 100 if g > 100
  b = 100 if b > 100
  send_command_get_response "#{CMD_BLINK_LED},#{r.to_s},#{g.to_s},#{b.to_s},#{duration.to_s}"
end

# File lib/mi100.rb, line 87
def close
  sleep 2
  @sp.close
end

# File lib/mi100.rb, line 157
def drive(right_speed, left_speed, duration = @drive_duration)
  send_command_get_response "#{CMD_DRIVE},#{right_speed.to_s},#{left_speed.to_s},#{duration.to_s}"
end

# File lib/mi100.rb, line 193
def drive!(right_speed, left_speed, duration = @drive_duration)
  sendln "#{CMD_DRIVE},#{right_speed.to_s},#{left_speed.to_s},#{duration.to_s}"
end

# File lib/mi100.rb, line 210
def drive_duration(duration = DEFAULT_DRIVE_DURATION)
  @drive_duration = duration
end

# File lib/mi100.rb, line 165
def drive_left(turn_speed, speed = @speed, duration = @drive_duration)
  send_command_get_response "#{CMD_DRIVE},#{(speed + turn_speed).to_s},#{speed.to_s},#{duration.to_s}"
end

# File lib/mi100.rb, line 201
def drive_left!(turn_speed, speed = @speed, duration = @drive_duration)
  sendln "#{CMD_DRIVE},#{(speed + turn_speed).to_s},#{speed.to_s},#{duration.to_s}"
end

# File lib/mi100.rb, line 161
def drive_right(turn_speed, speed = @speed, duration = @drive_duration)
  send_command_get_response "#{CMD_DRIVE},#{speed.to_s},#{(speed + turn_speed).to_s},#{duration.to_s}"
end

# File lib/mi100.rb, line 197
def drive_right!(turn_speed, speed = @speed, duration = @drive_duration)
  sendln "#{CMD_DRIVE},#{speed.to_s},#{(speed + turn_speed).to_s},#{duration.to_s}"
end

# File lib/mi100.rb, line 214
def free_ram
  send_command_get_response "#{CMD_FREE_RAM}"
end

# File lib/mi100.rb, line 264
def good
  freqs = [440,880,1760]
  duration = 100.0
  freqs.each do |freq|
    tone freq, duration
    sleep duration / 1000.0
  end
end

# File lib/mi100.rb, line 236
def led_off
  turn_led(0,0,0)
end

# File lib/mi100.rb, line 232
def led_on
  turn_led(100,100,100)
end

# File lib/mi100.rb, line 102
def light
  response = send_command_get_response CMD_GET_LIGHT
  response[1].to_i
end

# File lib/mi100.rb, line 285
def morse_frequency
  Morsecoder.default_frequency
end

# File lib/mi100.rb, line 289
def morse_frequency=(frequency)
  Morsecoder.default_frequency = frequency
end

# File lib/mi100.rb, line 293
def morse_unit
  Morsecoder.default_unit
end

# File lib/mi100.rb, line 297
def morse_unit=(millisec)
  Morsecoder.default_unit = millisec
end

# File lib/mi100.rb, line 107
def move(direction = DEFAULT_MOVE_DIRECTION, duration = DEFAULT_MOVE_DURATION)
  cmd = direction.upcase == "BACKWARD" ? CMD_MOVE_BACKWARD : CMD_MOVE_FORWARD
  send_command_get_response "#{cmd},#{duration.to_s}"
end

# File lib/mi100.rb, line 121
def move_backward(duration)
  send_command_get_response "#{CMD_MOVE_BACKWARD},#{duration.to_s}"
end

# File lib/mi100.rb, line 173
def move_backward!(duration)
  sendln "#{CMD_MOVE_BACKWARD},#{duration.to_s}"
end

# File lib/mi100.rb, line 117
def move_forward(duration)
  send_command_get_response "#{CMD_MOVE_FORWARD},#{duration.to_s}"
end

# File lib/mi100.rb, line 169
def move_forward!(duration)
  sendln "#{CMD_MOVE_FORWARD},#{duration.to_s}"
end

# File lib/mi100.rb, line 145
def moveb(duration = DEFAULT_MOVE_DURATION)
  move_backward duration
end

# File lib/mi100.rb, line 141
def movef(duration = DEFAULT_MOVE_DURATION)
  move_forward duration
end

# File lib/mi100.rb, line 92
def ping
  send_command_get_response CMD_PING
end

# File lib/mi100.rb, line 96
def power
  response = send_command_get_response CMD_GET_POWER_LEVEL
  voltage = response[1].to_i / 1000.0
  voltage.round 2
end

# File lib/mi100.rb, line 251
def sound(pitch = "?", duration = DEFAULT_TONE_DURATION)

  if pitch.instance_of?(String)
    pitch = FREQUENCY.keys[rand(FREQUENCY.size)].to_s if pitch == "?"
    frequency = FREQUENCY[pitch.upcase.to_sym]
  else
    frequency = pitch
  end

  tone frequency, duration if frequency
  sleep duration.to_f / 1000.0
end

# File lib/mi100.rb, line 205
def speed(pwm_value = DEFAULT_SPEED)
  @speed = pwm_value
  send_command_get_response "#{CMD_SET_SPEED},#{pwm_value.to_s}"
end

# File lib/mi100.rb, line 112
def spin(direction = DEFAULT_SPIN_DIRECTION, duration = DEFAULT_SPIN_DURATION)
  cmd = direction.upcase == "LEFT" ? CMD_SPIN_LEFT : CMD_SPIN_RIGHT
  send_command_get_response "#{cmd},#{duration.to_s}"
end

# File lib/mi100.rb, line 129
def spin_left(duration)
  send_command_get_response "#{CMD_SPIN_LEFT},#{duration.to_s}"
end

# File lib/mi100.rb, line 181
def spin_left!(duration)
  sendln "#{CMD_SPIN_LEFT},#{duration.to_s}"
end

# File lib/mi100.rb, line 125
def spin_right(duration)
  send_command_get_response "#{CMD_SPIN_RIGHT},#{duration.to_s}"
end

# File lib/mi100.rb, line 177
def spin_right!(duration)
  sendln "#{CMD_SPIN_RIGHT},#{duration.to_s}"
end

# File lib/mi100.rb, line 153
def spinl(duration = DEFAULT_SPIN_DURATION)
  spin_left duration
end

# File lib/mi100.rb, line 149
def spinr(duration = DEFAULT_SPIN_DURATION)
  spin_right duration
end

# File lib/mi100.rb, line 240
def stop
  send_command_get_response CMD_STOP
end

# File lib/mi100.rb, line 280
def talk(str)
  morsecoder = Morsecoder.new str
  morsecoder.each {|frequency, duration| sound(frequency,duration)}
end

# File lib/mi100.rb, line 244
def tone(frequency = nil, duration = DEFAULT_TONE_DURATION)
  frequency ||= rand(4186 - 28) + 28
  frequency = 4186 if frequency > 4186
  frequency = 28 if frequency < 28
  send_command_get_response "#{CMD_TONE},#{frequency.to_s},#{duration.to_s}"
end

# File lib/mi100.rb, line 228
def turn_led(r = 0, g = 0, b = 0)
  send_command_get_response "#{CMD_TURN_LED_RGB},#{r.to_s},#{g.to_s},#{b.to_s}"
end

# File lib/mi100.rb, line 137
def turn_left(duration)
  send_command_get_response "#{CMD_TURN_LEFT},#{duration.to_s}"
end

# File lib/mi100.rb, line 189
def turn_left!(duration)
  sendln "#{CMD_TURN_LEFT},#{duration.to_s}"
end

# File lib/mi100.rb, line 133
def turn_right(duration)
  send_command_get_response "#{CMD_TURN_RIGHT},#{duration.to_s}"
end

# File lib/mi100.rb, line 185
def turn_right!(duration)
  sendln "#{CMD_TURN_RIGHT},#{duration.to_s}"
end

# File lib/mi100.rb, line 334
def empty_receive_buffer
  begin
    char = @sp.getbyte
  end while char && char.length > 0
end

# File lib/mi100.rb, line 309
def initialize_robo
  self.speed DEFAULT_SPEED
  self.drive_duration DEFAULT_DRIVE_DURATION
  self.turn_led 0,0,0
end

# File lib/mi100.rb, line 304
def initialize_serialport(dev)
  require 'rubyserial'
  @sp = Serial.new dev, 9600
end

# File lib/mi100.rb, line 340
def receiveln
  @sp.gets
end

# File lib/mi100.rb, line 315
def send_command_get_response(cmd = CMD_PING)
  empty_receive_buffer
  sendln cmd
  received_line = receiveln

  begin
    timeout(READ_TIMEOUT/1000) do
      received_line = receiveln until received_line[0] == cmd[0]
    end
  rescue
    return nil
  end
  received_line.chomp.split(",")
end

# File lib/mi100.rb, line 330
def sendln str
  @sp.write str + "\n"
end