@robotical/webapp-types 1.0.7 → 1.0.8

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Files changed (3) hide show
  1. package/dist-types/src/application/RAFTs/Cog/PublishedDataAnalyser.d.ts +36 -16
  2. package/dist-types/src/application/RAFTs/Cog/PublishedDataAnalyser.js +130 -88
  3. package/package.json +1 -1
package/dist-types/src/application/RAFTs/Cog/PublishedDataAnalyser.d.ts CHANGED
@@ -1,32 +1,52 @@
1
+ /// <reference types="node" />
1
2
  import { CogStateInfo } from "@robotical/roboticaljs";
2
3
  import RAFT from "../RAFT";
3
4
  import PublishedDataGetter from "./PublishedDataGetter";
5
+ import EventEmitter from "events";
4
6
  interface CogState {
5
- tilt: boolean | "forward" | "backward" | "left" | "right";
6
- movementType: boolean | "shake" | "move";
7
- rotation: boolean | "clockwise" | "counter-clockwise";
8
- buttonClick: boolean;
9
- objectSense: boolean | "left" | "right";
10
- lightSense: boolean | "left" | "right";
11
- irMessage: boolean | "left" | "right";
7
+ tilt: "none" | "forward" | "backward" | "left" | "right";
8
+ movementType: "none" | "shake" | "move";
9
+ rotation: "none" | "clockwise" | "counterClockwise";
10
+ buttonClick: "none" | "click" | "release";
11
+ objectSense: "none" | "left" | "right";
12
+ lightSense: "none" | "high" | "mid" | "low";
12
13
  }
13
- declare class PublishedDataAnalyser {
14
+ declare class PublishedDataAnalyser extends EventEmitter {
14
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  private cog;
15
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  cogState: CogState;
16
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  private pubSub;
18
+ eventsMap: {
19
+ tilt: {
20
+ [key in CogState["tilt"]]: string;
21
+ };
22
+ movementType: {
23
+ [key in CogState["movementType"]]: string;
24
+ };
25
+ rotation: {
26
+ [key in CogState["rotation"]]: string;
27
+ };
28
+ buttonClick: {
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+ [key in CogState["buttonClick"]]: string;
30
+ };
31
+ objectSense: {
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+ [key in CogState["objectSense"]]: string;
33
+ };
34
+ lightSense: {
35
+ [key in CogState["lightSense"]]: string;
36
+ };
37
+ };
17
38
  TiltDetection: typeof TiltDetection;
18
39
  PublishedDataGetter: typeof PublishedDataGetter;
19
40
  constructor(cog: RAFT);
20
41
  subscribeToPublishedData(): void;
21
42
  unsubscribeFromPublishedData(): void;
22
43
  analyse(data: CogStateInfo): void;
23
- detectMovement(ax: number, ay: number, az: number): boolean;
24
- detectTilt(ax: number, ay: number, az: number, isMoving: boolean): void;
25
- detectRotation(gz: number, isMoving: boolean): void;
26
- detectButtonClick(buttonLightValue: number): void;
27
- detectObjectSense(leftIRValue: number, rightIRValue: number): void;
28
- detectLightSense(ambientLightValue: number): void;
29
- detectIRMessage(data: CogStateInfo): void;
44
+ setTilt(tilt: CogState["tilt"]): void;
45
+ setMovementType(movementType: CogState["movementType"]): void;
46
+ setRotation(rotation: CogState["rotation"]): void;
47
+ setButtonClick(buttonClick: CogState["buttonClick"]): void;
48
+ setObjectSense(objectSense: CogState["objectSense"]): void;
49
+ setLightSense(lightSense: CogState["lightSense"]): void;
30
50
  }
31
51
  declare class TiltDetection {
32
52
  distance(a: number, b: number): number;
@@ -35,6 +55,6 @@ declare class TiltDetection {
35
55
  y: number;
36
56
  z: number;
37
57
  };
38
- detectTilt(ax: number, ay: number, az: number, isMoving: boolean | undefined, cogState: CogState, cogVersion: string): void;
58
+ detectTilt(ax: number, ay: number, az: number, isMoving: boolean | undefined, analyser: PublishedDataAnalyser, cogVersion: string): void;
39
59
  }
40
60
  export default PublishedDataAnalyser;
package/dist-types/src/application/RAFTs/Cog/PublishedDataAnalyser.js CHANGED
@@ -1,23 +1,76 @@
1
+ var __extends = (this && this.__extends) || (function () {
2
+ var extendStatics = function (d, b) {
3
+ extendStatics = Object.setPrototypeOf ||
4
+ ({ __proto__: [] } instanceof Array && function (d, b) { d.__proto__ = b; }) ||
5
+ function (d, b) { for (var p in b) if (Object.prototype.hasOwnProperty.call(b, p)) d[p] = b[p]; };
6
+ return extendStatics(d, b);
7
+ };
8
+ return function (d, b) {
9
+ if (typeof b !== "function" && b !== null)
10
+ throw new TypeError("Class extends value " + String(b) + " is not a constructor or null");
11
+ extendStatics(d, b);
12
+ function __() { this.constructor = d; }
13
+ d.prototype = b === null ? Object.create(b) : (__.prototype = b.prototype, new __());
14
+ };
15
+ })();
1
16
  import { raftPubSubscriptionHelper } from "../raft-subscription-helpers";
2
17
  import { isVersionGreater_errorCatching } from "../../../utils/helpers/compare-version";
3
18
  import PublishedDataGetter from "./PublishedDataGetter";
4
- var PublishedDataAnalyser = /** @class */ (function () {
19
+ import EventEmitter from "events";
20
+ var PublishedDataAnalyser = /** @class */ (function (_super) {
21
+ __extends(PublishedDataAnalyser, _super);
5
22
  function PublishedDataAnalyser(cog) {
6
- this.cog = cog;
7
- this.TiltDetection = TiltDetection;
8
- this.PublishedDataGetter = PublishedDataGetter;
9
- this.cog = cog;
10
- this.cogState = {
11
- tilt: false,
12
- movementType: false,
13
- rotation: false,
14
- buttonClick: false,
15
- objectSense: false,
16
- lightSense: false,
17
- irMessage: false
23
+ var _this = _super.call(this) || this;
24
+ _this.cog = cog;
25
+ _this.eventsMap = {
26
+ tilt: {
27
+ forward: "tiltForward",
28
+ backward: "tiltBackward",
29
+ left: "tiltLeft",
30
+ right: "tiltRight",
31
+ none: "noTilt"
32
+ },
33
+ movementType: {
34
+ shake: "shake",
35
+ move: "move",
36
+ none: "noMovement"
37
+ },
38
+ rotation: {
39
+ clockwise: "rotationClockwise",
40
+ counterClockwise: "rotationCounterClockwise",
41
+ none: "noRotation"
42
+ },
43
+ buttonClick: {
44
+ click: "buttonClick",
45
+ release: "buttonRelease",
46
+ none: "noButtonClick"
47
+ },
48
+ objectSense: {
49
+ left: "objectSenseLeft",
50
+ right: "objectSenseRight",
51
+ none: "noObjectSense"
52
+ },
53
+ lightSense: {
54
+ high: "highLightSense",
55
+ mid: "midLightSense",
56
+ low: "lowLightSense",
57
+ none: "noLightSense"
58
+ },
59
+ };
60
+ _this.TiltDetection = TiltDetection;
61
+ _this.PublishedDataGetter = PublishedDataGetter;
62
+ _this.cog = cog;
63
+ _this.cogState = {
64
+ tilt: "none",
65
+ movementType: "none",
66
+ rotation: "none",
67
+ buttonClick: "none",
68
+ objectSense: "none",
69
+ lightSense: "none",
18
70
  };
19
- this.pubSub = null;
20
- this.subscribeToPublishedData();
71
+ _this.pubSub = null;
72
+ _this.subscribeToPublishedData();
73
+ return _this;
21
74
  }
22
75
  PublishedDataAnalyser.prototype.subscribeToPublishedData = function () {
23
76
  var _this = this;
@@ -31,44 +84,47 @@ var PublishedDataAnalyser = /** @class */ (function () {
31
84
  (_a = this.pubSub) === null || _a === void 0 ? void 0 : _a.unsubscribe();
32
85
  };
33
86
  PublishedDataAnalyser.prototype.analyse = function (data) {
87
+ //@ts-ignore
34
88
  var accelData = PublishedDataGetter.getAccelerometerData(data.deviceManager);
89
+ //@ts-ignore
35
90
  var gyroData = PublishedDataGetter.getGyroscopeData(data.deviceManager);
91
+ //@ts-ignore
36
92
  var lightData = PublishedDataGetter.getLightData(data.deviceManager);
37
93
  var isMoving;
38
94
  if (accelData)
39
- isMoving = this.detectMovement(accelData.ax, accelData.ay, accelData.az);
40
- accelData && this.detectTilt(accelData.ax, accelData.ay, accelData.az, !!isMoving);
41
- gyroData && this.detectRotation(gyroData.gz, !!isMoving);
42
- lightData && this.detectButtonClick(lightData === null || lightData === void 0 ? void 0 : lightData.ir2);
43
- lightData && this.detectObjectSense(lightData.ir0, lightData.ir1);
44
- lightData && this.detectLightSense(lightData.amb0);
45
- // this.detectIRMessage(data);
95
+ isMoving = shakeDetector.detectShake(accelData.ax, accelData.ay, accelData.az, Date.now(), this);
96
+ accelData && tiltDetection.detectTilt(accelData.ax, accelData.ay, accelData.az, isMoving, this, this.cog.getRaftVersion());
97
+ gyroData && rotationDetection.detectRotation(gyroData.gz, isMoving, this);
98
+ lightData && buttonClickDetection.detectButtonClick(lightData.ir2, this, this.cog.getRaftVersion());
99
+ lightData && objectSenseDetection.detectObjectSense([lightData.ir0, lightData.ir1], this);
100
+ lightData && lightSenseDetection.detectLightSense(lightData.amb0, this);
46
101
  };
47
- PublishedDataAnalyser.prototype.detectMovement = function (ax, ay, az) {
48
- return shakeDetector.detectShake(ax, ay, az, Date.now(), this.cogState);
102
+ PublishedDataAnalyser.prototype.setTilt = function (tilt) {
103
+ this.cogState.tilt = tilt;
104
+ this.emit(this.eventsMap.tilt[tilt]);
49
105
  };
50
- PublishedDataAnalyser.prototype.detectTilt = function (ax, ay, az, isMoving) {
51
- tiltDetection.detectTilt(ax, ay, az, isMoving, this.cogState, this.cog.getRaftVersion());
106
+ PublishedDataAnalyser.prototype.setMovementType = function (movementType) {
107
+ this.cogState.movementType = movementType;
108
+ this.emit(this.eventsMap.movementType[movementType]);
52
109
  };
53
- PublishedDataAnalyser.prototype.detectRotation = function (gz, isMoving) {
54
- rotationDetection.detectRotation(gz, isMoving, this.cogState);
110
+ PublishedDataAnalyser.prototype.setRotation = function (rotation) {
111
+ this.cogState.rotation = rotation;
112
+ this.emit(this.eventsMap.rotation[rotation]);
55
113
  };
56
- PublishedDataAnalyser.prototype.detectButtonClick = function (buttonLightValue) {
57
- buttonClickDetection.detectButtonClick(buttonLightValue, this.cogState, this.cog.getRaftVersion());
114
+ PublishedDataAnalyser.prototype.setButtonClick = function (buttonClick) {
115
+ this.cogState.buttonClick = buttonClick;
116
+ this.emit(this.eventsMap.buttonClick[buttonClick]);
58
117
  };
59
- PublishedDataAnalyser.prototype.detectObjectSense = function (leftIRValue, rightIRValue) {
60
- var objectSenseValueArray = [leftIRValue, rightIRValue];
61
- objectSenseDetection.detectObjectSense(objectSenseValueArray, this.cogState);
118
+ PublishedDataAnalyser.prototype.setObjectSense = function (objectSense) {
119
+ this.cogState.objectSense = objectSense;
120
+ this.emit(this.eventsMap.objectSense[objectSense]);
62
121
  };
63
- PublishedDataAnalyser.prototype.detectLightSense = function (ambientLightValue) {
64
- lightSenseDetection.detectLightSense(ambientLightValue, this.cogState);
65
- };
66
- PublishedDataAnalyser.prototype.detectIRMessage = function (data) {
67
- var irMessageData = data;
68
- // irMessageDetection.detectIRMessage(data, this.cogState);
122
+ PublishedDataAnalyser.prototype.setLightSense = function (lightSense) {
123
+ this.cogState.lightSense = lightSense;
124
+ this.emit(this.eventsMap.lightSense[lightSense]);
69
125
  };
70
126
  return PublishedDataAnalyser;
71
- }());
127
+ }(EventEmitter));
72
128
  var TiltDetection = /** @class */ (function () {
73
129
  function TiltDetection() {
74
130
  }
@@ -90,7 +146,7 @@ var TiltDetection = /** @class */ (function () {
90
146
  rotatedZ = rotatedZ; // z remains unchanged as the rotation is around the z-axis
91
147
  return { x: rotatedX, y: rotatedY, z: rotatedZ };
92
148
  };
93
- TiltDetection.prototype.detectTilt = function (ax, ay, az, isMoving, cogState, cogVersion) {
149
+ TiltDetection.prototype.detectTilt = function (ax, ay, az, isMoving, analyser, cogVersion) {
94
150
  if (isMoving === void 0) { isMoving = false; }
95
151
  if (isMoving)
96
152
  return;
@@ -113,7 +169,7 @@ var TiltDetection = /** @class */ (function () {
113
169
  var forwardBackwardThreshold = 20 * (Math.PI / 180); // threshold for forward and backward tilt
114
170
  var leftRightThreshold = 20 * (Math.PI / 180); // threshold for left and right tilt
115
171
  var upDownThreshold = 0.5; // threshold for up and down tilt
116
- var tiltDirection = false;
172
+ var tiltDirection = "none";
117
173
  if (pitch < -forwardBackwardThreshold) { // && Math.abs(yaw) < upDownThreshold) {
118
174
  tiltDirection = "forward";
119
175
  }
@@ -126,7 +182,7 @@ var TiltDetection = /** @class */ (function () {
126
182
  if (roll > leftRightThreshold) { // && Math.abs(yaw) < upDownThreshold) {
127
183
  tiltDirection = "right";
128
184
  }
129
- cogState.tilt = tiltDirection;
185
+ analyser.setTilt(tiltDirection);
130
186
  };
131
187
  return TiltDetection;
132
188
  }());
@@ -146,11 +202,8 @@ var RotationDetection = /** @class */ (function () {
146
202
  this.dataBuffer.shift();
147
203
  }
148
204
  };
149
- RotationDetection.prototype.detectRotation = function (gz, isMoving, cogState) {
205
+ RotationDetection.prototype.detectRotation = function (gz, isMoving, analyser) {
150
206
  if (isMoving === void 0) { isMoving = false; }
151
- this.bufferSize = this.bufferSize;
152
- this.DELAY_FOR_ROTATION = this.DELAY_FOR_ROTATION;
153
- this.ROTATION_THRESHOLD = this.ROTATION_THRESHOLD;
154
207
  var currentTime = Date.now();
155
208
  this.addToBuffer(gz);
156
209
  if (this.dataBuffer.length < this.bufferSize) {
@@ -165,17 +218,18 @@ var RotationDetection = /** @class */ (function () {
165
218
  if (metric > this.ROTATION_THRESHOLD || metric < -this.ROTATION_THRESHOLD) {
166
219
  this.lastRotationDetectionTime = currentTime;
167
220
  this.dataBuffer = [];
221
+ console.log("Rotation detected. Rotation: ", metric > this.ROTATION_THRESHOLD ? "clockwise" : "counter-clockwise");
168
222
  if (metric > this.ROTATION_THRESHOLD) {
169
223
  // console.log("Clockwise rotation detected:", metric);
170
- cogState.rotation = "clockwise";
224
+ analyser.setRotation("clockwise");
171
225
  }
172
226
  else if (metric < -this.ROTATION_THRESHOLD) {
173
227
  // console.log("Counter-clockwise rotation detected:", metric);
174
- cogState.rotation = "counter-clockwise";
228
+ analyser.setRotation("counterClockwise");
175
229
  }
176
230
  }
177
231
  else {
178
- cogState.rotation = false;
232
+ analyser.setRotation("none");
179
233
  }
180
234
  };
181
235
  RotationDetection.prototype.calculateMetric = function () {
@@ -208,7 +262,7 @@ var ShakeDetector = /** @class */ (function () {
208
262
  this.shakeInProgress = false;
209
263
  this.moveInProgress = false;
210
264
  }
211
- ShakeDetector.prototype.detectShake = function (xAcc, yAcc, zAcc, timestamp, cogState) {
265
+ ShakeDetector.prototype.detectShake = function (xAcc, yAcc, zAcc, timestamp, analyser) {
212
266
  this.thresholdAcceleration = this.thresholdAcceleration;
213
267
  this.thresholdAccelerationMove = this.thresholdAccelerationMove;
214
268
  this.thresholdShakeNumber = this.thresholdShakeNumber;
@@ -221,11 +275,11 @@ var ShakeDetector = /** @class */ (function () {
221
275
  this.gravityVector = [xAcc, yAcc, zAcc];
222
276
  if (this.moveInProgress) {
223
277
  // console.log("move detected");
224
- cogState.movementType = "move";
278
+ analyser.setMovementType("move");
225
279
  }
226
280
  else {
227
281
  // console.log("no move detected");
228
- cogState.movementType = false;
282
+ analyser.setMovementType("none");
229
283
  }
230
284
  this.moveInProgress = false;
231
285
  this.shakeInProgress = false;
@@ -256,7 +310,7 @@ var ShakeDetector = /** @class */ (function () {
256
310
  // console.log("Shake detected!");
257
311
  this.sensorBundles = [];
258
312
  this.shakeInProgress = false;
259
- cogState.movementType = "shake";
313
+ analyser.setMovementType("shake");
260
314
  }
261
315
  }
262
316
  // this.noMoveCallback();
@@ -267,7 +321,7 @@ var ShakeDetector = /** @class */ (function () {
267
321
  this.sensorBundles = [];
268
322
  // console.log("resetting shake detector. Move detected");
269
323
  // fire move detector
270
- cogState.movementType = "move";
324
+ analyser.setMovementType("move");
271
325
  }
272
326
  }
273
327
  }
@@ -285,7 +339,7 @@ var ShakeDetector = /** @class */ (function () {
285
339
  */
286
340
  }
287
341
  };
288
- ShakeDetector.prototype.performCheck = function (cogState) {
342
+ ShakeDetector.prototype.performCheck = function (analyser) {
289
343
  var _this = this;
290
344
  var matrix = [
291
345
  [0, 0],
@@ -308,7 +362,7 @@ var ShakeDetector = /** @class */ (function () {
308
362
  }
309
363
  this.lastTimeShakeDetected = Date.now();
310
364
  // console.log("Shake detected!", JSON.stringify(matrix));
311
- cogState.movementType = "shake";
365
+ analyser.setMovementType("shake");
312
366
  this.sensorBundles = [];
313
367
  }
314
368
  };
@@ -337,7 +391,7 @@ var ButtonClickDetection = /** @class */ (function () {
337
391
  this.lastTime = 0;
338
392
  this.buttonClicked = false;
339
393
  }
340
- ButtonClickDetection.prototype.detectButtonClick = function (buttonValue, cogState, cogVersion) {
394
+ ButtonClickDetection.prototype.detectButtonClick = function (buttonValue, analyser, cogVersion) {
341
395
  var correctionCutOffVersion = "1.2.0";
342
396
  var clickThreshold = 1600;
343
397
  if (isVersionGreater_errorCatching(cogVersion, correctionCutOffVersion)) {
@@ -354,12 +408,12 @@ var ButtonClickDetection = /** @class */ (function () {
354
408
  // console.log("Button clicked", buttonValue);
355
409
  this.buttonClicked = true;
356
410
  this.lastTime = currentTime;
357
- cogState.buttonClick = true;
411
+ analyser.setButtonClick("click");
358
412
  }
359
413
  else if (buttonValue < this.releaseThreshold && this.buttonClicked) {
360
414
  // console.log("Button released", buttonValue);
361
415
  this.buttonClicked = false;
362
- cogState.buttonClick = false;
416
+ analyser.setButtonClick("release");
363
417
  }
364
418
  // } else {
365
419
  // this.buttonClicked = false;
@@ -374,51 +428,40 @@ var ObjectSenseDetection = /** @class */ (function () {
374
428
  this.objectSensed1Threshold = 2500; // right of the arrow
375
429
  this.objectSensed2Threshold = 1500; // button
376
430
  }
377
- ObjectSenseDetection.prototype.detectObjectSense = function (objectSenseValue, cogState) {
431
+ ObjectSenseDetection.prototype.detectObjectSense = function (objectSenseValue, analyser) {
378
432
  if (objectSenseValue[0] > this.objectSensed0Threshold) {
379
- cogState.objectSense = "left";
433
+ analyser.setObjectSense("left");
380
434
  }
381
435
  else if (objectSenseValue[1] > this.objectSensed1Threshold) {
382
- cogState.objectSense = "right";
436
+ analyser.setObjectSense("right");
383
437
  }
384
438
  else {
385
- cogState.objectSense = false;
439
+ analyser.setObjectSense("none");
386
440
  }
387
441
  };
388
442
  return ObjectSenseDetection;
389
443
  }());
390
444
  var LightSenseDetection = /** @class */ (function () {
391
445
  function LightSenseDetection() {
392
- this.lightSenseThreshold = 450;
446
+ this.lowLightThreshold = 5;
447
+ this.midLightThreshold = 250;
448
+ this.highLightThreshold = 450;
393
449
  }
394
- LightSenseDetection.prototype.detectLightSense = function (lightSenseValue, cogState) {
395
- if (lightSenseValue > this.lightSenseThreshold) {
396
- cogState.lightSense = true;
397
- }
398
- else {
399
- cogState.lightSense = false;
450
+ LightSenseDetection.prototype.detectLightSense = function (lightSenseValue, analyser) {
451
+ if (lightSenseValue > this.highLightThreshold) {
452
+ analyser.setLightSense("high");
400
453
  }
401
- };
402
- return LightSenseDetection;
403
- }());
404
- var IRMessageDetection = /** @class */ (function () {
405
- function IRMessageDetection() {
406
- this.irMessage0Threshold = 0;
407
- this.irMessage1Threshold = 0;
408
- }
409
- IRMessageDetection.prototype.detectIRMessage = function (irMessageValue, cogState) {
410
- // placeholder for now
411
- if (irMessageValue[0] > this.irMessage0Threshold) {
412
- cogState.irMessage = "left";
454
+ else if (lightSenseValue > this.midLightThreshold) {
455
+ analyser.setLightSense("mid");
413
456
  }
414
- else if (irMessageValue[1] > this.irMessage1Threshold) {
415
- cogState.irMessage = "right";
457
+ else if (lightSenseValue > this.lowLightThreshold) {
458
+ analyser.setLightSense("low");
416
459
  }
417
460
  else {
418
- cogState.irMessage = false;
461
+ analyser.setLightSense("none");
419
462
  }
420
463
  };
421
- return IRMessageDetection;
464
+ return LightSenseDetection;
422
465
  }());
423
466
  var rotationDetection = new RotationDetection();
424
467
  var shakeDetector = new ShakeDetector();
@@ -426,5 +469,4 @@ var buttonClickDetection = new ButtonClickDetection();
426
469
  var tiltDetection = new TiltDetection();
427
470
  var objectSenseDetection = new ObjectSenseDetection();
428
471
  var lightSenseDetection = new LightSenseDetection();
429
- var irMessageDetection = new IRMessageDetection();
430
472
  export default PublishedDataAnalyser;
package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "@robotical/webapp-types",
3
- "version": "1.0.7",
3
+ "version": "1.0.8",
4
4
  "description": "Type definitions for the Application Manager",
5
5
  "main": "dist/application-manager.d.ts",
6
6
  "types": "dist/application-manager.d.ts",