@robotical/webapp-types 1.0.6 → 1.0.7

package/dist-types/src/application/RAFTs/Cog/Cog.js

@@ -51,7 +51,7 @@ var __generator = (this && this.__generator) || function (thisArg, body) {
 };
 import RAFT from "../RAFT";
 import { RaftTypeE } from "../../../types/raft";
-import { RaftConnEvent, RaftPublishEvent } from "@robdobsn/raftjs";
+import { deviceAttrGetLatestFormatted, RaftConnEvent, RaftPublishEvent } from "@robdobsn/raftjs";
 import { RaftInfoEvents } from "../../../types/events/raft-info";
 import PublishedDataAnalyser from "./PublishedDataAnalyser";
 var Cog = /** @class */ (function (_super) {
@@ -91,8 +91,23 @@ var Cog = /** @class */ (function (_super) {
      * Gets the battery strength of the RAFT
      */
     Cog.prototype.getBatteryStrength = function () {
-        var _a;
-        return ((_a = this.raftStateInfo) === null || _a === void 0 ? void 0 : _a.Power.battV) ? Math.round(this.raftStateInfo.Power.battV * 100) : 0;
+        var _a, _b, _c, _d;
+        /* check if usb is connected */
+        var usbAttr = (_b = (_a = this.raftStateInfo) === null || _a === void 0 ? void 0 : _a.deviceManager.getDeviceState('RoboCogPowerV1_00')) === null || _b === void 0 ? void 0 : _b.deviceAttributes['USB'];
+        if (!usbAttr)
+            return 0.1;
+        var usb = deviceAttrGetLatestFormatted(usbAttr);
+        if (usb === 'yes')
+            return 0; // 0 indicates USB is connected
+        /* if usb is not connected, check battery voltage */
+        var battVAttr = (_d = (_c = this.raftStateInfo) === null || _c === void 0 ? void 0 : _c.deviceManager.getDeviceState('RoboCogPowerV1_00')) === null || _d === void 0 ? void 0 : _d.deviceAttributes['battV'];
+        if (!battVAttr)
+            return 0.1;
+        var battV = deviceAttrGetLatestFormatted(battVAttr);
+        if (!isNaN(+battV)) {
+            return Math.round(+battV * 100);
+        }
+        return 0;
     };
     /**
    * This methods handles RAFT events coming from the RICConnector of the wrapper
@@ -121,7 +136,7 @@ var Cog = /** @class */ (function (_super) {
             return __generator(this, function (_a) {
                 switch (eventEnum) {
                     case RaftConnEvent.CONN_DISCONNECTED:
-                        this.publishedDataAnalyser.unsubscribeFromPublishedData();
+                        // this.publishedDataAnalyser.unsubscribeFromPublishedData();
                         break;
                     default:
                         break;

package/dist-types/src/application/RAFTs/Cog/PublishedDataAnalyser.d.ts

@@ -1,5 +1,6 @@
 import { CogStateInfo } from "@robotical/roboticaljs";
 import RAFT from "../RAFT";
+import PublishedDataGetter from "./PublishedDataGetter";
 interface CogState {
     tilt: boolean | "forward" | "backward" | "left" | "right";
     movementType: boolean | "shake" | "move";
@@ -13,16 +14,27 @@ declare class PublishedDataAnalyser {
     private cog;
     cogState: CogState;
     private pubSub;
+    TiltDetection: typeof TiltDetection;
+    PublishedDataGetter: typeof PublishedDataGetter;
     constructor(cog: RAFT);
     subscribeToPublishedData(): void;
     unsubscribeFromPublishedData(): void;
     analyse(data: CogStateInfo): void;
-    detectTilt(data: CogStateInfo, isMoving: boolean): void;
-    detectMovement(data: CogStateInfo): boolean;
-    detectRotation(data: CogStateInfo, isMoving: boolean): void;
-    detectButtonClick(data: CogStateInfo): void;
-    detectObjectSense(data: CogStateInfo): void;
-    detectLightSense(data: CogStateInfo): void;
+    detectMovement(ax: number, ay: number, az: number): boolean;
+    detectTilt(ax: number, ay: number, az: number, isMoving: boolean): void;
+    detectRotation(gz: number, isMoving: boolean): void;
+    detectButtonClick(buttonLightValue: number): void;
+    detectObjectSense(leftIRValue: number, rightIRValue: number): void;
+    detectLightSense(ambientLightValue: number): void;
     detectIRMessage(data: CogStateInfo): void;
 }
+declare class TiltDetection {
+    distance(a: number, b: number): number;
+    static rotateAccelData(x: number, y: number, z: number, degrees: number): {
+        x: number;
+        y: number;
+        z: number;
+    };
+    detectTilt(ax: number, ay: number, az: number, isMoving: boolean | undefined, cogState: CogState, cogVersion: string): void;
+}
 export default PublishedDataAnalyser;

package/dist-types/src/application/RAFTs/Cog/PublishedDataAnalyser.js

@@ -1,8 +1,11 @@
 import { raftPubSubscriptionHelper } from "../raft-subscription-helpers";
 import { isVersionGreater_errorCatching } from "../../../utils/helpers/compare-version";
+import PublishedDataGetter from "./PublishedDataGetter";
 var PublishedDataAnalyser = /** @class */ (function () {
     function PublishedDataAnalyser(cog) {
         this.cog = cog;
+        this.TiltDetection = TiltDetection;
+        this.PublishedDataGetter = PublishedDataGetter;
         this.cog = cog;
         this.cogState = {
             tilt: false,
@@ -28,33 +31,37 @@ var PublishedDataAnalyser = /** @class */ (function () {
         (_a = this.pubSub) === null || _a === void 0 ? void 0 : _a.unsubscribe();
     };
     PublishedDataAnalyser.prototype.analyse = function (data) {
-        var isMoving = this.detectMovement(data);
-        this.detectTilt(data, isMoving);
-        this.detectRotation(data, isMoving);
-        this.detectButtonClick(data);
-        this.detectObjectSense(data);
-        this.detectLightSense(data);
-        this.detectIRMessage(data);
+        var accelData = PublishedDataGetter.getAccelerometerData(data.deviceManager);
+        var gyroData = PublishedDataGetter.getGyroscopeData(data.deviceManager);
+        var lightData = PublishedDataGetter.getLightData(data.deviceManager);
+        var isMoving;
+        if (accelData)
+            isMoving = this.detectMovement(accelData.ax, accelData.ay, accelData.az);
+        accelData && this.detectTilt(accelData.ax, accelData.ay, accelData.az, !!isMoving);
+        gyroData && this.detectRotation(gyroData.gz, !!isMoving);
+        lightData && this.detectButtonClick(lightData === null || lightData === void 0 ? void 0 : lightData.ir2);
+        lightData && this.detectObjectSense(lightData.ir0, lightData.ir1);
+        lightData && this.detectLightSense(lightData.amb0);
+        //     this.detectIRMessage(data);
     };
-    PublishedDataAnalyser.prototype.detectTilt = function (data, isMoving) {
-        tiltDetection.detectTilt(data, isMoving, this.cogState, this.cog.getRaftVersion());
+    PublishedDataAnalyser.prototype.detectMovement = function (ax, ay, az) {
+        return shakeDetector.detectShake(ax, ay, az, Date.now(), this.cogState);
     };
-    PublishedDataAnalyser.prototype.detectMovement = function (data) {
-        return shakeDetector.detectShake(data.LSM6DS.ax, data.LSM6DS.ay, data.LSM6DS.az, Date.now(), this.cogState);
+    PublishedDataAnalyser.prototype.detectTilt = function (ax, ay, az, isMoving) {
+        tiltDetection.detectTilt(ax, ay, az, isMoving, this.cogState, this.cog.getRaftVersion());
     };
-    PublishedDataAnalyser.prototype.detectRotation = function (data, isMoving) {
-        rotationDetection.detectRotation(data, isMoving, this.cogState);
+    PublishedDataAnalyser.prototype.detectRotation = function (gz, isMoving) {
+        rotationDetection.detectRotation(gz, isMoving, this.cogState);
     };
-    PublishedDataAnalyser.prototype.detectButtonClick = function (data) {
-        buttonClickDetection.detectButtonClick(data.Light.irVals[2], this.cogState, this.cog.getRaftVersion());
+    PublishedDataAnalyser.prototype.detectButtonClick = function (buttonLightValue) {
+        buttonClickDetection.detectButtonClick(buttonLightValue, this.cogState, this.cog.getRaftVersion());
     };
-    PublishedDataAnalyser.prototype.detectObjectSense = function (data) {
-        var objectSenseValueArray = data.Light.irVals;
+    PublishedDataAnalyser.prototype.detectObjectSense = function (leftIRValue, rightIRValue) {
+        var objectSenseValueArray = [leftIRValue, rightIRValue];
         objectSenseDetection.detectObjectSense(objectSenseValueArray, this.cogState);
     };
-    PublishedDataAnalyser.prototype.detectLightSense = function (data) {
-        var lightSenseValue = data.Light.ambientVals[0];
-        lightSenseDetection.detectLightSense(lightSenseValue, this.cogState);
+    PublishedDataAnalyser.prototype.detectLightSense = function (ambientLightValue) {
+        lightSenseDetection.detectLightSense(ambientLightValue, this.cogState);
     };
     PublishedDataAnalyser.prototype.detectIRMessage = function (data) {
         var irMessageData = data;
@@ -83,7 +90,7 @@ var TiltDetection = /** @class */ (function () {
         rotatedZ = rotatedZ; // z remains unchanged as the rotation is around the z-axis
         return { x: rotatedX, y: rotatedY, z: rotatedZ };
     };
-    TiltDetection.prototype.detectTilt = function (data, isMoving, cogState, cogVersion) {
+    TiltDetection.prototype.detectTilt = function (ax, ay, az, isMoving, cogState, cogVersion) {
         if (isMoving === void 0) { isMoving = false; }
         if (isMoving)
             return;
@@ -94,7 +101,7 @@ var TiltDetection = /** @class */ (function () {
         if (isVersionGreater_errorCatching(cogVersion, correctionCutOffVersion)) {
             tiltCorrection = tiltCorrectionForNewerCog;
         }
-        var _a = TiltDetection.rotateAccelData(data.LSM6DS.ax, data.LSM6DS.ay, data.LSM6DS.az, tiltCorrection), x = _a.x, y = _a.y, z = _a.z;
+        var _a = TiltDetection.rotateAccelData(ax, ay, az, tiltCorrection), x = _a.x, y = _a.y, z = _a.z;
         var pitch = Math.atan2(x, this.distance(y, z));
         var roll = Math.atan2(y, this.distance(x, z));
         var yaw = Math.atan2(z, this.distance(x, y));
@@ -139,13 +146,13 @@ var RotationDetection = /** @class */ (function () {
             this.dataBuffer.shift();
         }
     };
-    RotationDetection.prototype.detectRotation = function (data, isMoving, cogState) {
+    RotationDetection.prototype.detectRotation = function (gz, isMoving, cogState) {
         if (isMoving === void 0) { isMoving = false; }
         this.bufferSize = this.bufferSize;
         this.DELAY_FOR_ROTATION = this.DELAY_FOR_ROTATION;
         this.ROTATION_THRESHOLD = this.ROTATION_THRESHOLD;
         var currentTime = Date.now();
-        this.addToBuffer(data.LSM6DS.gz);
+        this.addToBuffer(gz);
         if (this.dataBuffer.length < this.bufferSize) {
             return; // Wait until buffer is full
         }

package/dist-types/src/application/RAFTs/Cog/PublishedDataGetter.d.ts

@@ -0,0 +1,23 @@
+import { DeviceManager } from "@robdobsn/raftjs/dist/web/RaftDeviceManager";
+export default class PublishedDataGetter {
+    static getPowerData(deviceManager: DeviceManager): {
+        battV: number;
+        usb: "yes" | "no";
+    } | undefined;
+    static getAccelerometerData(deviceManager: DeviceManager): {
+        ax: number;
+        ay: number;
+        az: number;
+    } | undefined;
+    static getGyroscopeData(deviceManager: DeviceManager): {
+        gx: number;
+        gy: number;
+        gz: number;
+    } | undefined;
+    static getLightData(deviceManager: DeviceManager): {
+        amb0: number;
+        ir0: number;
+        ir1: number;
+        ir2: number;
+    } | undefined;
+}

package/dist-types/src/application/RAFTs/Cog/PublishedDataGetter.js

@@ -0,0 +1,65 @@
+import { deviceAttrGetLatestFormatted } from "@robdobsn/raftjs";
+/* LIGHT ATTRIBUTES */
+var COG_LIGHT_ATTR_KEY = 'RoboCogLightV1_0';
+var AMB0_KEY = 'amb0';
+var IR0_KEY = 'ir0';
+var IR1_KEY = 'ir1';
+var IR2_KEY = 'ir2';
+/* POWER ATTRIBUTES */
+var COG_POWER_ATTR_KEY = 'RoboCogPowerV1_00';
+var BATTV_KEY = 'battV';
+var USB_KEY = 'UST';
+/* I2CA ATTRIBUTES */
+var COG_I2CA_ATTR_KEY = 'I2CA_6a';
+var AX_KEY = 'ax';
+var AY_KEY = 'ay';
+var AZ_KEY = 'az';
+var GX_KEY = 'gx';
+var GY_KEY = 'gy';
+var GZ_KEY = 'gz';
+var PublishedDataGetter = /** @class */ (function () {
+    function PublishedDataGetter() {
+    }
+    PublishedDataGetter.getPowerData = function (deviceManager) {
+        var powerAttr = deviceManager.getDeviceState(COG_POWER_ATTR_KEY);
+        var battV = deviceAttrGetLatestFormatted(powerAttr === null || powerAttr === void 0 ? void 0 : powerAttr.deviceAttributes[BATTV_KEY]);
+        var usb = deviceAttrGetLatestFormatted(powerAttr === null || powerAttr === void 0 ? void 0 : powerAttr.deviceAttributes[USB_KEY]);
+        return { battV: convertStringToNumber(battV), usb: usb };
+    };
+    PublishedDataGetter.getAccelerometerData = function (deviceManager) {
+        var i2caAttr = deviceManager.getDeviceState(COG_I2CA_ATTR_KEY);
+        if (!i2caAttr)
+            return;
+        var i2ca = i2caAttr.deviceAttributes;
+        var ax = deviceAttrGetLatestFormatted(i2ca[AX_KEY]);
+        var ay = deviceAttrGetLatestFormatted(i2ca[AY_KEY]);
+        var az = deviceAttrGetLatestFormatted(i2ca[AZ_KEY]);
+        return { ax: convertStringToNumber(ax), ay: convertStringToNumber(ay), az: convertStringToNumber(az) };
+    };
+    PublishedDataGetter.getGyroscopeData = function (deviceManager) {
+        var i2caAttr = deviceManager.getDeviceState(COG_I2CA_ATTR_KEY);
+        if (!i2caAttr)
+            return;
+        var i2ca = i2caAttr.deviceAttributes;
+        var gx = deviceAttrGetLatestFormatted(i2ca[GX_KEY]);
+        var gy = deviceAttrGetLatestFormatted(i2ca[GY_KEY]);
+        var gz = deviceAttrGetLatestFormatted(i2ca[GZ_KEY]);
+        return { gx: convertStringToNumber(gx), gy: convertStringToNumber(gy), gz: convertStringToNumber(gz) };
+    };
+    PublishedDataGetter.getLightData = function (deviceManager) {
+        var lightAttr = deviceManager.getDeviceState(COG_LIGHT_ATTR_KEY);
+        if (!lightAttr)
+            return;
+        var light = lightAttr.deviceAttributes;
+        var amb0 = deviceAttrGetLatestFormatted(light[AMB0_KEY]);
+        var ir0 = deviceAttrGetLatestFormatted(light[IR0_KEY]);
+        var ir1 = deviceAttrGetLatestFormatted(light[IR1_KEY]);
+        var ir2 = deviceAttrGetLatestFormatted(light[IR2_KEY]);
+        return { amb0: convertStringToNumber(amb0), ir0: convertStringToNumber(ir0), ir1: convertStringToNumber(ir1), ir2: convertStringToNumber(ir2) };
+    };
+    return PublishedDataGetter;
+}());
+export default PublishedDataGetter;
+var convertStringToNumber = function (str) {
+    return isNaN(+str) ? 0 : +str;
+};

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@robotical/webapp-types",
-  "version": "1.0.6",
+  "version": "1.0.7",
   "description": "Type definitions for the Application Manager",
   "main": "dist/application-manager.d.ts",
   "types": "dist/application-manager.d.ts",