Class: MINT::Pose

Inherits:
Hand show all
Defined in:
lib/MINT-core/model/ir/body/pose.rb

Direct Known Subclasses

OneHandPoseNavigation

Defined Under Namespace

Classes: StatefulProtocol

Constant Summary collapse

LEFT_HAND_POSE = 
0
RIGHT_HAND_POSE = 
5
PROCESS_RESOLUTION = 
0.1

Constants inherited from Interactor

Interactor::PUBLISH_ATTRIBUTES

Instance Attribute Summary collapse

Instance Method Summary collapse

Methods inherited from Interactor

class_from_channel_name, #create_attribute_channel_name, create_channel_name, #create_channel_w_name, get, getModel, #getSCXML, get_dm, #init_statemachine, #is_in?, #new_states, notify, #process_event, #process_event!, #process_event_vars, #publish_update, #states, #states=, #sync_event, #sync_states, #to_dot, wait

Methods included from InteractorHelpers

#restart_timeout, #start_timeout, #stop_timeout

Constructor Details

#initialize(attributes = nil) ⇒ Pose 



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# File 'lib/MINT-core/model/ir/body/pose.rb', line 10

def initialize(attributes = nil)
  super(attributes)
  @buffer = ""
  start
end

Instance Attribute Details

#buffer ⇒ Object

Returns the value of attribute buffer.



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# File 'lib/MINT-core/model/ir/body/pose.rb', line 3

def buffer
  @buffer
end

Instance Method Details

#inform_hand_appearance ⇒ Object 



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# File 'lib/MINT-core/model/ir/body/pose.rb', line 48

def inform_hand_appearance
  if @no_hand
    self.process_event :one_hand
    @no_hand = false
  end
end

#is_new_data?(data) ⇒ Boolean 



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# File 'lib/MINT-core/model/ir/body/pose.rb', line 42

def is_new_data?(data)
  return false if data == nil or data.eql? @old_data
  @old_data = data
  true
end

#process_data ⇒ Object 



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# File 'lib/MINT-core/model/ir/body/pose.rb', line 55

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

#start(host = "0.0.0.0", port = 5000) ⇒ Object 



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# File 'lib/MINT-core/model/ir/body/pose.rb', line 28

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

#start_ticker(ms) ⇒ Object 



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# File 'lib/MINT-core/model/ir/body/pose.rb', line 16

def start_ticker(ms)
  @ticker = EM::PeriodicTimer.new(0.8) {
    p "tick"
    self.process_event :tick
  }
end

#stop_ticker ⇒ Object 



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# File 'lib/MINT-core/model/ir/body/pose.rb', line 23

def stop_ticker
  @ticker.cancel if @ticker
end