MINT-core 1.0.1 → 2.0.0

data/lib/MINT-core/model/ir/body/fingertip.scxml

@@ -0,0 +1,43 @@
+<scxml initial="disconnected" name="Fingertip" version="0.9" xmlns="http://www.w3.org/2005/07/scxml"><!--   node-size-and-position x=0.0 y=0.0 w=870.0 h=660.0  -->
+ <state id="disconnected"><!--   node-size-and-position x=280.0 y=60.0 w=100.0 h=50.0  -->
+  <onentry>
+   <log expr="consume(name)"></log>
+  </onentry>
+  <transition event="connect" target="connected"></transition>
+ </state>
+ <state id="connected"><!--   node-size-and-position x=70.0 y=190.0 w=760.0 h=410.0  -->
+  <onentry>
+   <script>
+
+@d = consume(&quot;data&quot;)
+   </script>
+  </onentry>
+  <transition event="disconnect" target="disconnected"><!--   edge-path [disconnected]  x=400.0 y=160.0  --></transition>
+  <parallel id="finger"><!--   node-size-and-position x=40.0 y=50.0 w=610.0 h=290.0  -->
+   <state id="touch_handling" initial="waiting"><!--   node-size-and-position x=20.0 y=40.0 w=290.0 h=170.0  -->
+    <state id="waiting"><!--   node-size-and-position x=30.0 y=40.0 w=100.0 h=40.0  -->
+     <transition event="press" target="touching"></transition>
+    </state>
+    <state id="touching"><!--   node-size-and-position x=30.0 y=120.0 w=100.0 h=30.0  -->
+     <transition event="release" target="touched"></transition>
+    </state>
+    <state id="touched"><!--   node-size-and-position x=170.0 y=60.0 w=90.0 h=30.0  -->
+     <onentry>
+      <script>
+ start_one_time_tick(0.3,:tick)
+   </script>
+     </onentry>
+     <transition event="tick" target="waiting"></transition>
+    </state>
+   </state>
+   <state id="movement" initial="stopped"><!--   node-size-and-position x=340.0 y=40.0 w=150.0 h=190.0  -->
+    <state id="stopped"><!--   node-size-and-position x=20.0 y=40.0 w=100.0 h=40.0  -->
+     <transition event="move" target="moving"><!--   edge-path [moving]  x=20.0 y=100.0 pointx=0.0 pointy=-14.0 offsetx=-8.0 offsety=6.0  --></transition>
+    </state>
+    <state id="moving"><!--   node-size-and-position x=20.0 y=120.0 w=100.0 h=40.0  -->
+     <transition event="stop" target="stopped"></transition>
+    </state>
+   </state>
+  </parallel>
+ </state>
+</scxml>

data/lib/MINT-core/model/ir/body/hand.rb

@@ -0,0 +1,5 @@
+module MINT
+  class Hand < Body
+
+  end
+end

data/lib/MINT-core/model/ir/body/head.rb

@@ -0,0 +1,102 @@
+
+module MINT
+  class Head < Body
+    attr_accessor :connection
+    property :head_angle, Float, :default  => Math::PI/2
+    property :head_angle_threshold, Float, :default  => 0.2
+    property :nose_x, Float, :default  => 0
+    property :nose_x_threshold, Float, :default  => 0.05
+    property :nose_y, Float, :default  => 0
+    property :nose_y_threshold, Float, :default  => 0.05
+
+    def getSCXML
+      "#{File.dirname(__FILE__)}/head.scxml"
+    end
+
+    def initialize(attributes = nil)
+      super(attributes)
+    end
+
+    def start(host ="0.0.0.0", port=4242)
+      EventMachine::start_server host, port, StatefulProtocol do |conn|
+        @connection = conn
+
+        conn.head = self
+        puts "connection..."
+        self.process_event :connect
+      end
+      puts "Started head control server on #{host}:#{port}"
+    end
+
+    def consume_nose_movement(consume = true)
+      @connection.consume_nose_movement = consume
+    end
+
+    def consume_head_movement(consume = true)
+      @connection.consume_head_movement = consume
+      [@head_x,@head_y, @head_scale, @hand_angle]
+    end
+
+    class StatefulProtocol < EventMachine::Connection
+      include EM::Protocols::LineText2
+      attr_accessor :head
+      attr_accessor :consume_head_movement, :consume_nose_movement
+      # attr_accessor :speed
+
+      def initialize
+        super()
+        @consume_head_movement = false
+        @consume_nose_movement = false
+
+      end
+
+      def receive_line(data)
+        begin
+          d = data.split('/')
+
+          case d[0]
+            when "Move", "HeadMove"
+              if   @consume_head_movement
+                head_x = d[1].gsub(',',".").to_f
+                head_y = d[2].gsub(',',".").to_f
+                head_scale =  d[3].gsub(',',".").to_f
+                @head_angle = d[4].gsub(',',".").to_f
+
+                if (@head.head_angle-@head_angle).abs > @head.head_angle_threshold
+                  @head.process_event "head_move"
+                  @head.attribute_set(:head_angle,@head_angle)
+                  @channel_name =  @head.create_attribute_channel_name("head_angle")
+                  RedisConnector.redis.publish @channel_name,MultiJson.encode({:name=>@head.name,:head_angle => @head_angle})
+                end
+              end
+            when "FaceMove"
+              if   @consume_nose_movement
+                @nose_x = d[1].gsub(',',".").to_f
+                @nose_y = d[2].gsub(',',".").to_f
+
+                if (@head.nose_x-@nose_x).abs > @head.nose_x_threshold or (@head.nose_y-@nose_y).abs > @head.nose_y_threshold
+                  @head.process_event "face_move"
+                  @head.attribute_set(:nose_x,@nose_x)
+                  @head.attribute_set(:nose_y,@nose_y)
+                  @channel_name =  @head.create_attribute_channel_name("nose")
+                  RedisConnector.redis.publish @channel_name,MultiJson.encode({:name=>@head.name,:x => @nose_x,:y =>@nose_y})
+                  RedisConnector.redis.publish("out_channel:#{@head.create_channel_w_name}:testuser",MultiJson.encode({:name=>@head.name,:x => @nose_x,:y =>@nose_y}))
+                end
+              end
+            when 'Leave'
+              @head.process_event :face_lost
+            when 'Enter'
+              @head.process_event :face_found
+            else
+              p "ERROR\r\nReceived Unknown data:#{data}\r\n "
+          end
+        end
+      rescue Statemachine::TransitionMissingException => bang
+        puts "ERROR\n#{bang}"
+      end
+    end
+
+
+
+  end
+end

data/lib/MINT-core/model/ir/body/head.scxml

@@ -0,0 +1,92 @@
+<scxml initial="disconnected" name="disconnect" version="0.9" xmlns="http://www.w3.org/2005/07/scxml"><!--   node-size-and-position x=0.0 y=0.0 w=1190.0 h=580.0  -->
+ <state id="disconnected"><!--   node-size-and-position x=220.0 y=30.0 w=100.0 h=50.0  -->
+  <transition event="connect" target="connected"></transition>
+ </state>
+ <state id="connected" initial="face_detected"><!--   node-size-and-position x=40.0 y=110.0 w=1140.0 h=460.0  -->
+  <transition event="disconnect" target="disconnected"><!--   edge-path [disconnected]  x=400.0 y=120.0  --></transition>
+  <state id="face_detected" initial="tilting_detection"><!--   node-size-and-position x=20.0 y=100.0 w=1100.0 h=340.0  -->
+   <transition event="face_lost" target="face_lost"><!--   edge-path [face_lost]  x=300.0 y=80.0  --></transition>
+   <state id="tilting_detection" initial="centered"><!--   node-size-and-position x=20.0 y=40.0 w=520.0 h=120.0  -->
+    <onentry>
+     <script>
+
+consume_head_movement(true);
+     </script>
+    </onentry>
+    <onexit>
+     <script>
+
+consume_head_movement(false);
+     </script>
+    </onexit>
+    <transition event="turn_mode" target="turning_detection"><!--   edge-path [turning_detection]  x=190.0 y=180.0  --></transition>
+    <transition event="nodd_mode" target="nodding_detection"><!--   edge-path [nodding_detection]  x=600.0 y=100.0  --></transition>
+    <state id="centered"><!--   node-size-and-position x=210.0 y=40.0 w=100.0 h=40.0  -->
+     <transition cond="@head_angle &gt; ((Math::PI/2)+0.4)" event="head_move" target="tilting_right"></transition>
+     <transition cond="@head_angle &lt; ((Math::PI/2)-0.4)" event="head_move" target="tilting_left"></transition>
+    </state>
+    <state id="tilting_right"><!--   node-size-and-position x=400.0 y=40.0 w=90.0 h=40.0  -->
+     <transition cond="@head_angle &lt; ((Math::PI/2)+0.4)" event="head_move" target="centered"><!--   edge-path [centered]  x=360.0 y=90.0  --></transition>
+    </state>
+    <state id="tilting_left"><!--   node-size-and-position x=20.0 y=40.0 w=100.0 h=40.0  -->
+     <transition cond="@head_angle &gt; ((Math::PI/2)-0.4)" event="head_move" target="centered"><!--   edge-path [centered]  x=170.0 y=80.0 pointx=0.0 pointy=-20.0 offsetx=9.0 offsety=1.0  --></transition>
+    </state>
+   </state>
+   <state id="turning_detection" initial="looking_straight"><!--   node-size-and-position x=30.0 y=210.0 w=520.0 h=120.0  -->
+    <onentry>
+     <script>
+
+consume_nose_movement(true);
+     </script>
+    </onentry>
+    <onexit>
+     <script>
+
+consume_nose_movement(false);
+     </script>
+    </onexit>
+    <transition event="tilt_mode" target="tilting_detection"></transition>
+    <transition event="nodd_mode" target="nodding_detection"></transition>
+    <state id="looking_straight"><!--   node-size-and-position x=210.0 y=40.0 w=100.0 h=40.0  -->
+     <transition cond="@nose_x &gt; 0.8" event="face_move" target="looking_right"></transition>
+     <transition cond="@nose_x &lt; -0.8" event="face_move" target="looking_left"></transition>
+    </state>
+    <state id="looking_right"><!--   node-size-and-position x=400.0 y=40.0 w=90.0 h=40.0  -->
+     <transition cond="-0.5 &lt; @nose_x and @nose_x &lt; 0.5" event="face_move" target="looking_straight"><!--   edge-path [looking_straight]  x=360.0 y=90.0  --></transition>
+    </state>
+    <state id="looking_left"><!--   node-size-and-position x=20.0 y=40.0 w=100.0 h=40.0  -->
+     <transition cond="-0.5 &lt; @nose_x  and @nose_x &lt; 0.5" event="face_move" target="looking_straight"><!--   edge-path [looking_straight]  x=170.0 y=80.0 pointx=0.0 pointy=-20.0 offsetx=9.0 offsety=1.0  --></transition>
+    </state>
+   </state>
+   <state id="nodding_detection" initial="neutral"><!--   node-size-and-position x=680.0 y=110.0 w=380.0 h=170.0  -->
+    <onentry>
+     <script>
+
+consume_nose_movement(true);
+     </script>
+    </onentry>
+    <onexit>
+     <script>
+
+consume_nose_movement(false);
+     </script>
+    </onexit>
+    <transition event="tilt_mode" target="tilting_detection"></transition>
+    <transition event="turn_mode" target="turning_detection"><!--   edge-path [turning_detection]  x=610.0 y=260.0  --></transition>
+    <state id="looking_down"><!--   node-size-and-position x=280.0 y=40.0 w=90.0 h=50.0  -->
+     <transition cond="0.5&gt; @nose_y  and @nose_y &gt; -0.5" event="face_move" target="nodded"></transition>
+     <transition cond="0.5&lt; @nose_y or @nose_y &lt; -0.5" event="face_move" target="neutral"><!--   edge-path [neutral]  x=210.0 y=40.0  --></transition>
+    </state>
+    <state id="neutral"><!--   node-size-and-position x=30.0 y=40.0 w=80.0 h=50.0  -->
+     <transition cond="@nose_y&lt;=0.2 and 0.5&gt;@nose_x  and @nose_x &gt;-0.5" event="face_move" target="looking_down"></transition>
+    </state>
+    <state id="nodded"><!--   node-size-and-position x=150.0 y=100.0 w=90.0 h=50.0  -->
+     <transition target="neutral"></transition>
+    </state>
+   </state>
+  </state>
+  <state id="face_lost"><!--   node-size-and-position x=360.0 y=30.0 w=100.0 h=40.0  -->
+   <transition event="face_found" target="face_detected"></transition>
+  </state>
+ </state>
+</scxml>

data/lib/MINT-core/model/ir/body/onehandposenavigation.scxml

@@ -0,0 +1,53 @@
+<scxml initial="disconnected" name="OneHandNav_Final" version="0.9" xmlns="http://www.w3.org/2005/07/scxml"><!--   node-size-and-position x=0.0 y=0.0 w=670.0 h=760.0  -->
+ <state id="connected" initial="NoHands"><!--   node-size-and-position x=20.0 y=110.0 w=640.0 h=640.0  -->
+  <transition event="disconnect" target="disconnected"><!--   edge-path [disconnected]  x=360.0 y=60.0 pointx=0.0 pointy=12.0 offsetx=-24.0 offsety=-1.0  --></transition>
+  <state id="OneHand"><!--   node-size-and-position x=20.0 y=120.0 w=620.0 h=500.0  -->
+   <transition event="no_hands" target="NoHands"><!--   edge-path [NoHands]  x=270.0 y=100.0 pointx=0.0 pointy=-30.0 offsetx=20.0 offsety=29.0  --></transition>
+   <state id="Navigation" initial="stopped"><!--   node-size-and-position x=20.0 y=40.0 w=600.0 h=440.0  -->
+    <state id="Command"><!--   node-size-and-position x=140.0 y=330.0 w=300.0 h=110.0  -->
+     <transition event="next_pose" target="next"><!--   edge-path [next]  x=110.0 y=290.0 pointx=0.0 pointy=-49.0 offsetx=-7.0 offsety=37.0  --></transition>
+     <transition event="previous_pose" target="previous"><!--   edge-path [previous]  x=410.0 y=300.0 pointx=-1.0 pointy=-14.0 offsetx=77.0 offsety=-52.0  --></transition>
+     <state id="confirmed"><!--   node-size-and-position x=30.0 y=40.0 w=80.0 h=40.0  -->
+      <transition event="select_pose" target="selected"><!--   edge-path [selected]  pointx=0.0 pointy=-10.0 offsetx=5.0 offsety=0.0  --></transition>
+     </state>
+     <state id="selected"><!--   node-size-and-position x=200.0 y=40.0 w=80.0 h=40.0  -->
+      <transition event="confirm_pose" target="confirmed"><!--   edge-path [confirmed]  x=160.0 y=40.0 pointx=0.0 pointy=-10.0 offsetx=5.0 offsety=0.0  --></transition>
+     </state>
+    </state>
+    <state id="stopped"><!--   node-size-and-position x=230.0 y=200.0 w=100.0 h=40.0  -->
+     <transition event="next_pose" target="next"><!--   edge-path [next]  x=150.0 y=220.0 pointx=0.0 pointy=-30.0 offsetx=0.0 offsety=-15.0  --></transition>
+     <transition event="previous_pose" target="previous"><!--   edge-path [previous]  x=380.0 y=220.0  --></transition>
+     <transition event="confirm_pose" target="confirmed"></transition>
+    </state>
+    <state id="next"><!--   node-size-and-position x=100.0 y=130.0 w=80.0 h=50.0  -->
+     <onentry>
+      <script>start_ticker(800)</script>
+     </onentry>
+     <onexit>
+      <script>stop_ticker</script>
+     </onexit>
+     <transition event="previous_pose" target="previous"><!--   edge-path [previous]  x=250.0 y=140.0 pointx=0.0 pointy=15.0 offsetx=-5.0 offsety=0.0  --></transition>
+     <transition event="select_pose" target="stopped"></transition>
+     <transition event="tick" target="next"><!--   edge-path [next]  pointx=0.0 pointy=-25.0 offsetx=-5.0 offsety=0.0  --></transition>
+    </state>
+    <state id="previous"><!--   node-size-and-position x=310.0 y=130.0 w=100.0 h=50.0  -->
+     <onentry>
+      <script>start_ticker(800)</script>
+     </onentry>
+     <onexit>
+      <script>stop_ticker</script>
+     </onexit>
+     <transition event="next_pose" target="next"><!--   edge-path [next]  x=249.0 y=157.0 pointx=0.0 pointy=13.0 offsetx=5.0 offsety=0.0  --></transition>
+     <transition event="tick" target="previous"></transition>
+     <transition event="select_pose" target="stopped"></transition>
+    </state>
+   </state>
+  </state>
+  <state id="NoHands"><!--   node-size-and-position x=160.0 y=40.0 w=100.0 h=40.0  -->
+   <transition event="one_hand" target="OneHand"><!--   edge-path [OneHand]  x=170.0 y=100.0  --></transition>
+  </state>
+ </state>
+ <state id="disconnected"><!--   node-size-and-position x=170.0 y=40.0 w=100.0 h=30.0  -->
+  <transition event="connect" target="connected"><!--   edge-path [connected]  x=130.0 y=50.0 pointx=-1.0 pointy=19.0 offsetx=-41.0 offsety=2.0  --></transition>
+ </state>
+</scxml>

data/lib/MINT-core/model/ir/body/pose.rb

@@ -0,0 +1,99 @@
+module MINT
+  class Pose < Hand
+    attr_accessor :buffer
+
+    LEFT_HAND_POSE = 0
+    RIGHT_HAND_POSE = 5
+
+    PROCESS_RESOLUTION = 0.1
+
+    def initialize(attributes = nil)
+      super(attributes)
+      @buffer = ""
+      start
+    end
+
+    def start_ticker(ms)
+      @ticker = EM::PeriodicTimer.new(0.8) {
+        p "tick"
+        self.process_event :tick
+      }
+    end
+
+    def stop_ticker
+      @ticker.cancel if @ticker
+    end
+
+
+    def start(host ="0.0.0.0", port=5000)
+      EventMachine::start_server host, port, StatefulProtocol do |conn|
+        @connection = conn
+
+        conn.pose = self
+        puts "connection..."
+        self.process_event :connect
+      end
+      puts "Started pose control server on #{host}:#{port}"
+
+      EventMachine::add_periodic_timer( PROCESS_RESOLUTION ) { process_data }
+
+    end
+
+    def is_new_data?(data)
+      return false if data == nil or data.eql? @old_data
+      @old_data = data
+      true
+    end
+
+    def inform_hand_appearance
+      if @no_hand
+        self.process_event :one_hand
+        @no_hand = false
+      end
+    end
+
+    def process_data
+      # -;;;;;prev;599;1877;138;74
+      data = @buffer.dup # real copy
+      d = data.split(';')
+
+      return if not is_new_data? d[RIGHT_HAND_POSE]
+
+      inform_hand_appearance
+
+      case d[RIGHT_HAND_POSE]
+        when 'prev'
+          self.process_event :previous_pose
+        when 'next'
+          self.process_event :next_pose
+        when 'select'
+          self.process_event :select_pose
+        when 'confirm'
+          self.process_event :confirm_pose
+        when '-'
+          self.process_event :no_hands
+          @no_hand = true
+      end
+    end
+
+    class StatefulProtocol < EventMachine::Connection
+      include EM::Protocols::LineText2
+      attr_accessor :pose
+
+      def initialize
+        super()
+
+      end
+
+      def receive_line(data)
+        pose.buffer = data
+      end
+
+      def unbind
+        pose.process_event :disconnect
+      end
+
+    end
+
+  end
+end

data/lib/MINT-core/model/ir/browserscreen.rb

@@ -0,0 +1,27 @@
+module MINT
+
+  class BrowserScreen < Screen
+    def getSCXML
+      "#{File.dirname(__FILE__)}/browserscreen.scxml"
+    end
+
+    def subscribe_for_refresh
+      return if @subscribed
+
+      redis = RedisConnector.redis
+
+      fiber = Fiber.current
+
+      redis.pubsub.psubscribe('in_channel:Interactor.BrowserScreen.reload*') { |key,message|
+        if message
+          process_event :reload
+        end
+
+      }.callback {  @subscribed = true; fiber.resume}
+      Fiber.yield
+
+
+    end
+
+  end
+end

data/lib/MINT-core/model/ir/browserscreen.scxml

@@ -0,0 +1,14 @@
+<scxml initial="displaying" name="BrowserScreen" version="0.9" xmlns="http://www.w3.org/2005/07/scxml"><!--   node-size-and-position x=0.0 y=0.0 w=662.0 h=580.0  -->
+ <state id="displaying"><!--   node-size-and-position x=100.0 y=200.0 w=100.0 h=100.0  -->
+  <onentry>
+   <script>
+
+subscribe_for_refresh
+   </script>
+  </onentry>
+  <transition event="reload" target="reloaded"></transition>
+ </state>
+ <state id="reloaded"><!--   node-size-and-position x=370.0 y=200.0 w=100.0 h=100.0  -->
+  <transition target="displaying"><!--   edge-path [displaying]  x=290.0 y=190.0  --></transition>
+ </state>
+</scxml>

data/lib/MINT-core/model/{device → ir}/button.rb

@@ -1,6 +1,6 @@
 module MINT
 
-    class HWButton < Element
+    class HWButton < Interactor
 
       def initialize_statemachine
         if @statemachine.blank?