├── README.md
├── examples
    ├── accelerometer_reading.rb
    ├── inspect.rb
    ├── led_colors.rb
    └── motor_control.rb
└── lib
    ├── rinect.rb
    └── rinect
        ├── device.rb
        └── devices
            ├── accelerometer.rb
            ├── led.rb
            └── motor.rb


/README.md:
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 1 | <h1>Rinect</h1>
 2 | Rinect aims to be a <b>pure ruby</b> implementation (libusb requirement only) of a Microsoft Kinect driver. It will let you control and access all aspects of the Kinect via a Ruby interface.
 3 | 
 4 | Functionality is very limited right now since this project is so new, but full control is the final goal.
 5 | 
 6 | <h1>Requirements</h1>
 7 | * ruby-usb (https://github.com/akr/ruby-usb)
 8 | 
 9 | If you're running Mac OSX, this guide may help you get ruby-usb working: http://www.jedi.be/blog/2009/11/11/ruby-usb-libusb/
10 | 
11 | <h1>Current status</h1>
12 | What we can do:
13 | * Support for multiple devices
14 | * Control the motor
15 | * Control the LED
16 | * Read the accelerometer
17 | 
18 | What we can not do yet:
19 | 
20 | * Read an RGB image
21 | * Read a depth image
22 | 


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/examples/accelerometer_reading.rb:
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 1 | require '../lib/rinect'
 2 | 
 3 | motor = Rinect::Motor.new(0).connect
 4 | accel = Rinect::Accelerometer.new(0).connect
 5 | 
 6 | motor.set(0)
 7 | p motor.to_s
 8 | accel.get
 9 | p accel.to_s
10 | sleep 3
11 | 
12 | motor.set(-10)
13 | sleep 3
14 | p motor.to_s
15 | accel.get
16 | p accel.to_s
17 | sleep 3
18 | 
19 | motor.set(10)
20 | sleep 3
21 | p motor.to_s
22 | accel.get
23 | p accel.to_s
24 | sleep 3
25 | 
26 | motor.set(0)


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/examples/inspect.rb:
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1 | require '../lib/rinect'
2 | 
3 | motor = Rinect::Motor.new
4 | 
5 | puts motor.inspect


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/examples/led_colors.rb:
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 1 | require '../lib/rinect'
 2 | 
 3 | led = Rinect::LED.new(0).connect
 4 | 
 5 | led.set(:red)
 6 | puts led.to_s
 7 | 
 8 | sleep 2
 9 | 
10 | led.set(:green)
11 | puts led.to_s
12 | 
13 | sleep 2
14 | 
15 | led.set(:blink_red_yellow)
16 | puts led.to_s
17 | 
18 | sleep 2
19 | 
20 | led.set(:green)
21 | 


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/examples/motor_control.rb:
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 1 | require '../lib/rinect'
 2 | 
 3 | #prints devices serials
 4 | Rinect::Device.get_serials()
 5 | 
 6 | #access first kinect device available
 7 | motor = Rinect::Motor.new(0).connect
 8 | motor.set(0)
 9 | puts motor.to_s
10 | sleep 2
11 | 
12 | #access specified device serial
13 | motor = Rinect::Motor.new({:devID=>'A00364A16016051A'}).connect
14 | 
15 | #access n-th device
16 | motor = Rinect::Motor.new(0).connect
17 | 
18 | motor.set(0)
19 | puts motor.to_s
20 | 
21 | sleep 2
22 | 
23 | motor1 = Rinect::Motor.new(1).connect
24 | 
25 | motor1.set(10)
26 | puts motor1.to_s
27 | 
28 | sleep 2
29 | #puts motor.read_accelerometer.inspect
30 | 


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/lib/rinect.rb:
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 1 | module Rinect; end
 2 | 
 3 | # Helper for Rails < 1.9.x
 4 | def require_local(path)
 5 |   require(File.expand_path(File.join(File.dirname(__FILE__), path)))
 6 | end
 7 | 
 8 | # Include standard libraries
 9 | require 'rubygems'
10 | require 'usb'
11 | 
12 | # Include Rinect files
13 | require_local 'rinect/device'
14 | require_local 'rinect/devices/led'
15 | require_local 'rinect/devices/motor'
16 | require_local 'rinect/devices/accelerometer'
17 | 
18 | 


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/lib/rinect/device.rb:
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 1 | module Rinect
 2 |   module Device
 3 |     attr_accessor :set
 4 |     attr_reader   :connect, :get
 5 |     
 6 |     DEVICES = {
 7 |       'Rinect::LED' => 0x02b0,
 8 |       'Rinect::Motor' => 0x02b0,
 9 |       'Rinect::Accelerometer' => 0x02b0
10 |     }
11 |     
12 |     def self.get_serials()
13 |       USB.devices.each do |d|
14 |         puts 'device'
15 |         if(d.idVendor == 0x045e && d.idProduct==0x02b0) then
16 |             puts d.serial_number()
17 |         end
18 |       end
19 |     end
20 |     
21 |     def initialize(args={})
22 |       if args.class != Fixnum && args.length == 0 then
23 |         @device ||= USB.devices.select {|d| d.idVendor == 0x045e && d.idProduct == DEVICES[self.class.to_s] }.first
24 |       else 
25 |         if args.class != Fixnum && args[:devID] != nil then
26 |           @device ||= USB.devices.select {|d| d.serial_number() == args[:devID] }.first
27 |         else
28 |           @device ||= USB.devices.select {|d| d.idVendor == 0x045e && d.idProduct == DEVICES[self.class.to_s]}[args]
29 |         end
30 |       end 
31 |       @handle = nil
32 |       @state = :off
33 |     end
34 |     
35 |     #def initialize(devID)
36 |     #  @device ||= USB.devices.select {|d| d.idVendor == 0x045e && d.idProduct == DEVICES[self.class.to_s] }[devID]
37 |     #  
38 |     #  @handle = nil
39 |     #  @state = :off
40 |     #end
41 |     
42 |     def inspect
43 |       @device.inspect
44 |     end
45 |     
46 |     def connect
47 |       raise IOError, "Kinect not found/not connected." if @device.nil?
48 | 
49 |       @handle ||= @device.usb_open        
50 |       self
51 |     end
52 |   end
53 | end
54 | 


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/lib/rinect/devices/accelerometer.rb:
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 1 | module Rinect
 2 |   class Accelerometer
 3 |     #see http://fivedots.coe.psu.ac.th/~ad/jg/nui16/motorControl.pdf [page 11]
 4 |     
 5 |     include Rinect::Device
 6 |     
 7 |     GRAVITY = 9.80665
 8 |     COUNTS_PER_G = 819.0
 9 |     JOINT_STATES = {
10 |       0 => :stopped,
11 |       1 => :at_limit,
12 |       4 => :moving
13 |     }
14 |     
15 |     def get   
16 |       data = "\0" * 10
17 |       ret = @handle.usb_control_msg 0xC0, 0x32, 0x0000, 0x0000, data, 10
18 |       raise "read wrong number of bytes"+ret.to_s if ret != 10
19 |       @state = {:x            => ((data[2].unpack('c').first << 8 ) | data[3].unpack('c').first).to_f / COUNTS_PER_G * GRAVITY,
20 |                 :y            => ((data[4].unpack('c').first << 8 ) | data[5].unpack('c').first).to_f / COUNTS_PER_G * GRAVITY,
21 |                 :z            => ((data[6].unpack('c').first << 8 ) | data[7].unpack('c').first).to_f / COUNTS_PER_G * GRAVITY,
22 |                 :tilt_angle   => data[8].unpack('c').first,
23 |                 :tilt_status  => JOINT_STATES[data[9].unpack('C').first]}
24 |     end
25 |     
26 |     def to_s
27 |       "Current accelerometer state: #{@state.to_a.collect{|e| "#{e[0]}=#{e[1]}"}.join(', ')}"
28 |     end
29 |   end
30 | end
31 | 
32 | 


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/lib/rinect/devices/led.rb:
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 1 | module Rinect
 2 |   class LED
 3 |     include Rinect::Device
 4 |     
 5 |     LED_STATES = {
 6 |       :off => 0,
 7 |       :green => 1,
 8 |       :red => 2,
 9 |       :yellow => 3,
10 |       :blink_yellow => 4,
11 |       :blink_green => 5,
12 |       :blink_red_yellow => 6,
13 |       :blink_red_green => 7
14 |     }
15 |     
16 |     def set(state)
17 |       throw ArgumentError, "Invalid LED state given" unless LED_STATES.has_key? state
18 |       
19 |       @state = state
20 |       @handle.usb_control_msg 0x40, 0x06, LED_STATES[state], 0x0000, '', 0
21 |     end
22 |     
23 |     def get
24 |       @state
25 |     end
26 |     
27 |     def to_s
28 |       "Current LED state: #{@state.to_s}"
29 |     end
30 |   end
31 | end


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/lib/rinect/devices/motor.rb:
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 1 | module Rinect
 2 |   class Motor
 3 |     include Rinect::Device
 4 |     
 5 |     def set(pitch)      
 6 |       pitch = -35  if pitch < -35
 7 |       pitch = 55   if pitch > 55
 8 |       
 9 |       @handle.usb_control_msg 0x40, 0x31, pitch, 0x0000, '', 0
10 |       
11 |       @state = pitch
12 |     end
13 |     
14 |     def get
15 |       @state
16 |     end
17 |     
18 |     def to_s
19 |       "Current pitch: #{@state.to_s}"
20 |     end
21 |   end
22 | end


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