@robotical/webapp-types 3.13.9 → 3.14.0

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

@@ -10,6 +10,7 @@ interface CogState {
     buttonClick: "none" | "click" | "release";
     objectSense: "none" | "left" | "right" | "both";
     lightSense: "none" | "high" | "mid" | "low";
+    steering: "none" | "left" | "right";
 }
 declare class PublishedDataAnalyser extends EventEmitter {
     private cog;
@@ -21,6 +22,7 @@ declare class PublishedDataAnalyser extends EventEmitter {
     tiltDetection: TiltDetection;
     objectSenseDetection: ObjectSenseDetection;
     lightSenseDetection: LightSenseDetection;
+    steeringDetection: SteeringDetection;
     eventsMap: {
         tilt: {
             [key in CogState["tilt"]]: string;
@@ -40,6 +42,9 @@ declare class PublishedDataAnalyser extends EventEmitter {
         lightSense: {
             [key in CogState["lightSense"]]: string;
         };
+        steering: {
+            [key in CogState["steering"]]: string;
+        };
     };
     TiltDetection: typeof TiltDetection;
     constructor(cog: RAFT);
@@ -52,6 +57,28 @@ declare class PublishedDataAnalyser extends EventEmitter {
     setButtonClick(buttonClick: CogState["buttonClick"]): void;
     setObjectSense(objectSense: CogState["objectSense"]): void;
     setLightSense(lightSense: CogState["lightSense"]): void;
+    setSteering(steering: CogState["steering"]): void;
+}
+declare class SteeringDetection {
+    private DELAY_FOR_NEXT_STEERING;
+    private STEER_LEFT_THRESHOLD;
+    private STEER_RIGHT_THRESHOLD;
+    private lastSteeringDetectionTime;
+    private steeringWheelAlpha;
+    private steeringWheelThreshold;
+    isHeldAsSteeringWheelProp: boolean;
+    gravity: {
+        x: number;
+        y: number;
+        z: number;
+    };
+    constructor();
+    /**
+    * Returns true if the device-plane is vertical (like a steering wheel).
+    */
+    isHeldAsSteeringWheel(acc: SimplifiedCogStateInfo["accelerometer"]): boolean;
+    detectSteering(acc: SimplifiedCogStateInfo["accelerometer"], analyser: PublishedDataAnalyser): void;
+    calculateMetric(acc: SimplifiedCogStateInfo["accelerometer"]): number;
 }
 declare class TiltDetection {
     distance(a: number, b: number): number;
@@ -67,9 +94,7 @@ declare class RotationDetection {
     private bufferSize;
     private DELAY_FOR_ROTATION;
     private ROTATION_THRESHOLD;
-    private rotationDetected;
     private lastRotationDetectionTime;
-    private rotationTimer;
     constructor();
     addToBuffer(data: number): void;
     detectRotation(gz: number, isMoving: boolean | undefined, analyser: PublishedDataAnalyser): void;

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

@@ -66,6 +66,7 @@ var PublishedDataAnalyser = /** @class */ (function (_super) {
         _this.tiltDetection = new TiltDetection();
         _this.objectSenseDetection = new ObjectSenseDetection();
         _this.lightSenseDetection = new LightSenseDetection();
+        _this.steeringDetection = new SteeringDetection();
         _this.eventsMap = {
             tilt: {
                 forward: "tiltForward",
@@ -101,6 +102,11 @@ var PublishedDataAnalyser = /** @class */ (function (_super) {
                 low: "lowLightSense",
                 none: "noLightSense"
             },
+            steering: {
+                left: "steeringLeft",
+                right: "steeringRight",
+                none: "noSteering"
+            }
         };
         _this.TiltDetection = TiltDetection;
         _this.cog = cog;
@@ -111,6 +117,7 @@ var PublishedDataAnalyser = /** @class */ (function (_super) {
             buttonClick: "none",
             objectSense: "none",
             lightSense: "none",
+            steering: "none"
         };
         _this.pubSub = null;
         _this.subscribeToPublishedData();
@@ -141,6 +148,7 @@ var PublishedDataAnalyser = /** @class */ (function (_super) {
         lightData && this.buttonClickDetection.detectButtonClick(lightData.ir2, this, this.cog.getRaftVersion());
         lightData && this.objectSenseDetection.detectObjectSense([lightData.ir0, lightData.ir1], this);
         lightData && this.lightSenseDetection.detectLightSense(lightData.amb0, this);
+        accelData && this.steeringDetection.detectSteering(accelData, this);
     };
     PublishedDataAnalyser.prototype.setTilt = function (tilt) {
         this.cogState.tilt = tilt;
@@ -166,8 +174,75 @@ var PublishedDataAnalyser = /** @class */ (function (_super) {
         this.cogState.lightSense = lightSense;
         this.emit(this.eventsMap.lightSense[lightSense]);
     };
+    PublishedDataAnalyser.prototype.setSteering = function (steering) {
+        this.cogState.steering = steering;
+        this.emit(this.eventsMap.steering[steering]);
+    };
     return PublishedDataAnalyser;
 }(EventEmitter));
+var SteeringDetection = /** @class */ (function () {
+    function SteeringDetection() {
+        this.DELAY_FOR_NEXT_STEERING = 800; // delay between steering detection
+        this.STEER_LEFT_THRESHOLD = -0.5; // threshold for steering left
+        this.STEER_RIGHT_THRESHOLD = 0.5; // threshold for steering right
+        this.lastSteeringDetectionTime = 0;
+        this.steeringWheelAlpha = 0.8; // smoothing factor for steering wheel detection
+        this.steeringWheelThreshold = 0.6; // threshold for steering wheel detection
+        this.isHeldAsSteeringWheelProp = false;
+        this.gravity = { x: 0, y: 0, z: 0 };
+    }
+    /**
+    * Returns true if the device-plane is vertical (like a steering wheel).
+    */
+    SteeringDetection.prototype.isHeldAsSteeringWheel = function (acc) {
+        this.gravity.x = this.steeringWheelAlpha * this.gravity.x + (1 - this.steeringWheelAlpha) * acc.ax;
+        this.gravity.y = this.steeringWheelAlpha * this.gravity.y + (1 - this.steeringWheelAlpha) * acc.ay;
+        this.gravity.z = this.steeringWheelAlpha * this.gravity.z + (1 - this.steeringWheelAlpha) * acc.az;
+        var _a = this.gravity, gx = _a.x, gy = _a.y, gz = _a.z;
+        var gNorm = Math.hypot(gx, gy, gz);
+        if (gNorm === 0)
+            return false; // not yet initialized
+        // ratio of gravity on z axis
+        var zRatio = Math.abs(gz) / gNorm;
+        // if zRatio is small, the z-axis is nearly horizontal → plane is vertical
+        this.isHeldAsSteeringWheelProp = zRatio < this.steeringWheelThreshold;
+        return this.isHeldAsSteeringWheelProp;
+    };
+    SteeringDetection.prototype.detectSteering = function (acc, analyser) {
+        var currentTime = Date.now();
+        var heldAsSteeringWheel = this.isHeldAsSteeringWheel(acc);
+        if (!heldAsSteeringWheel) {
+            analyser.setSteering("none");
+            // this.dataBuffer = [];
+            return; // Not held as a steering wheel, no need to detect steering
+        }
+        if (currentTime - this.lastSteeringDetectionTime < this.DELAY_FOR_NEXT_STEERING) {
+            return; // Delay not elapsed, skip this detection
+        }
+        var metric = this.calculateMetric(acc);
+        // Check if the magnitude of the rate of change is above the threshold
+        if (metric > this.STEER_RIGHT_THRESHOLD || metric < this.STEER_LEFT_THRESHOLD) {
+            this.lastSteeringDetectionTime = currentTime;
+            console.log("Steering detected. Steering: ", metric > this.STEER_RIGHT_THRESHOLD ? "right" : "left");
+            if (metric > this.STEER_RIGHT_THRESHOLD) {
+                // console.log("Clockwise rotation detected:", metric);
+                analyser.setSteering("right");
+            }
+            else if (metric < this.STEER_LEFT_THRESHOLD) {
+                // console.log("Counter-clockwise rotation detected:", metric);
+                analyser.setSteering("left");
+            }
+        }
+        else {
+            analyser.setSteering("none");
+        }
+    };
+    SteeringDetection.prototype.calculateMetric = function (acc) {
+        var raw = Math.atan2(acc.ay, -acc.ax); // radians, zero=right, CCW+
+        return raw - Math.PI / 2;
+    };
+    return SteeringDetection;
+}());
 var TiltDetection = /** @class */ (function () {
     function TiltDetection() {
     }
@@ -235,9 +310,7 @@ var RotationDetection = /** @class */ (function () {
         this.bufferSize = 20; // buffer size for rotation detection
         this.DELAY_FOR_ROTATION = 500; // delay between rotation detection
         this.ROTATION_THRESHOLD = 8; // threshold for rotation detection
-        this.rotationDetected = false;
         this.lastRotationDetectionTime = 0;
-        this.rotationTimer = null;
     }
     RotationDetection.prototype.addToBuffer = function (data) {
         this.dataBuffer.push(data);
@@ -261,7 +334,7 @@ var RotationDetection = /** @class */ (function () {
         if (metric > this.ROTATION_THRESHOLD || metric < -this.ROTATION_THRESHOLD) {
             this.lastRotationDetectionTime = currentTime;
             this.dataBuffer = [];
-            console.log("Rotation detected. Rotation: ", metric > this.ROTATION_THRESHOLD ? "clockwise" : "counter-clockwise");
+            // console.log("Rotation detected. Rotation: ", metric > this.ROTATION_THRESHOLD ? "clockwise" : "counter-clockwise");
             if (metric > this.ROTATION_THRESHOLD) {
                 // console.log("Clockwise rotation detected:", metric);
                 analyser.setRotation("clockwise");

package/dist-types/src/i18n.js

@@ -161,7 +161,9 @@ var resources = {
                 "jumping_game_title": "Jumping Game",
                 "maze_title": "Maze",
                 "robofly_game_title": "RoboFly Game",
-                "skiing_game_title": "Skiing Game"
+                "skiing_game_title": "Skiing Game",
+                "space_shooter_title": "Space Shooter",
+                "cog_shooter_title": "Cog Shooter",
             },
             "hello": "Hello, World!",
             "help": {
@@ -441,7 +443,9 @@ var resources = {
                 "jumping_game_title": "Παιχνίδι Άλματος",
                 "maze_title": "Λαβύρινθος",
                 "robofly_game_title": "Παιχνίδι RoboFly",
-                "skiing_game_title": "Παιχνίδι Σκι"
+                "skiing_game_title": "Παιχνίδι Σκι",
+                "space_shooter_title": "Παιχνίδι Space Shooter",
+                "cog_shooter_title": "Παιχνίδι Cog Shooter",
             },
             "hello": "Γειά σου, Κόσμε!",
             "help": {
@@ -721,7 +725,9 @@ var resources = {
                 "jumping_game_title": "Springen Spel",
                 "maze_title": "Doolhof",
                 "robofly_game_title": "RoboFly-spel",
-                "skiing_game_title": "Skiën Spel"
+                "skiing_game_title": "Skiën Spel",
+                "space_shooter_title": "Ruimte Shooter Spel",
+                "cog_shooter_title": "Cog Shooter Spel"
             },
             "hello": "Hallo mensen!",
             "help": {

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@robotical/webapp-types",
-  "version": "3.13.9",
+  "version": "3.14.0",
   "description": "Type definitions for the Application Manager",
   "main": "dist/application-manager.d.ts",
   "types": "dist/application-manager.d.ts",