From cd00d37b5c0cf6194b6b2c78d777ade6a5c417a1 Mon Sep 17 00:00:00 2001
From: bav6096 <benedikt.deike@informatik.uni-hamburg.de>
Date: Thu, 23 Dec 2021 06:04:53 +0100
Subject: [PATCH] more refactoring
---
CMakeLists.txt | 2 +-
launch/visualiser.launch | 35 ++++--
...ild_still_ensemble.py => build_emotion.py} | 13 +-
scripts/write.py | 2 +-
src/visualising/communication/arduino.py | 51 +++++---
.../communication/channel/connection.py | 39 +++---
.../communication/channel/message.py | 83 ------------
.../channel/message/__init__.py} | 0
.../communication/channel/message/message.py | 9 ++
.../channel/message/msg_frame.py | 37 ++++++
.../channel/message/msg_instr.py | 58 +++++++++
.../communication/channel/message/response.py | 50 ++++++++
.../communication/illustration/animation.py | 40 ++++--
.../illustration/color/__init__.py | 0
.../communication/illustration/color/color.py | 29 +++++
.../communication/illustration/color/rgb.py | 47 +++++++
.../communication/illustration/ensemble.py | 24 +++-
.../communication/illustration/frame.py | 50 ++++----
.../communication/illustration/pixel.py | 24 ++--
.../expression/{artificial.py => abstract.py} | 2 +-
src/visualising/expression/emotion.py | 106 +++++++++++++---
src/visualising/expression/expression.py | 14 +++
.../expression/library/{ => alphabet}/A.txt | 0
.../expression/library/{ => alphabet}/B.txt | 0
.../expression/library/{ => alphabet}/C.txt | 0
.../expression/library/{ => alphabet}/D.txt | 0
.../expression/library/{ => alphabet}/E.txt | 0
.../expression/library/{ => alphabet}/G.txt | 0
.../expression/library/{ => alphabet}/H.txt | 0
.../expression/library/{ => alphabet}/I.txt | 0
.../expression/library/{ => alphabet}/J.txt | 0
.../expression/library/{ => alphabet}/L.txt | 0
.../expression/library/alphabet/M.txt | 2 +
.../expression/library/alphabet/N.txt | 2 +
.../expression/library/{ => alphabet}/O.txt | 0
.../expression/library/alphabet/R.txt | 2 +
.../expression/library/alphabet/S.txt | 2 +
.../expression/library/alphabet/T.txt | 2 +
.../expression/library/alphabet/__init__.py | 0
.../expression/library/emotion/__init__.py | 0
.../library/emotion/expression_angry.txt | 2 +
.../{ => emotion}/expression_clean.txt | 0
.../library/emotion/expression_happy.txt | 2 +
.../library/emotion/expression_ok.txt | 2 +
.../expression/library/expression_angry.txt | 2 -
.../expression/library/expression_happy.txt | 2 -
src/visualising/expression/library/test.txt | 2 +
src/visualising/expression/tool.py | 118 +++++-------------
src/visualising/monitoring/watchdog.py | 1 +
src/visualising/visualiser.py | 6 +-
50 files changed, 568 insertions(+), 294 deletions(-)
rename scripts/{build_still_ensemble.py => build_emotion.py} (72%)
delete mode 100755 src/visualising/communication/channel/message.py
rename src/visualising/{expression/library/expression_ok.txt => communication/channel/message/__init__.py} (100%)
create mode 100755 src/visualising/communication/channel/message/message.py
create mode 100644 src/visualising/communication/channel/message/msg_frame.py
create mode 100644 src/visualising/communication/channel/message/msg_instr.py
create mode 100644 src/visualising/communication/channel/message/response.py
create mode 100644 src/visualising/communication/illustration/color/__init__.py
create mode 100644 src/visualising/communication/illustration/color/color.py
create mode 100644 src/visualising/communication/illustration/color/rgb.py
rename src/visualising/expression/{artificial.py => abstract.py} (95%)
create mode 100644 src/visualising/expression/expression.py
rename src/visualising/expression/library/{ => alphabet}/A.txt (100%)
rename src/visualising/expression/library/{ => alphabet}/B.txt (100%)
rename src/visualising/expression/library/{ => alphabet}/C.txt (100%)
rename src/visualising/expression/library/{ => alphabet}/D.txt (100%)
rename src/visualising/expression/library/{ => alphabet}/E.txt (100%)
rename src/visualising/expression/library/{ => alphabet}/G.txt (100%)
rename src/visualising/expression/library/{ => alphabet}/H.txt (100%)
rename src/visualising/expression/library/{ => alphabet}/I.txt (100%)
rename src/visualising/expression/library/{ => alphabet}/J.txt (100%)
rename src/visualising/expression/library/{ => alphabet}/L.txt (100%)
create mode 100644 src/visualising/expression/library/alphabet/M.txt
create mode 100644 src/visualising/expression/library/alphabet/N.txt
rename src/visualising/expression/library/{ => alphabet}/O.txt (100%)
create mode 100644 src/visualising/expression/library/alphabet/R.txt
create mode 100644 src/visualising/expression/library/alphabet/S.txt
create mode 100644 src/visualising/expression/library/alphabet/T.txt
create mode 100644 src/visualising/expression/library/alphabet/__init__.py
create mode 100644 src/visualising/expression/library/emotion/__init__.py
create mode 100644 src/visualising/expression/library/emotion/expression_angry.txt
rename src/visualising/expression/library/{ => emotion}/expression_clean.txt (100%)
create mode 100644 src/visualising/expression/library/emotion/expression_happy.txt
create mode 100644 src/visualising/expression/library/emotion/expression_ok.txt
delete mode 100644 src/visualising/expression/library/expression_angry.txt
delete mode 100644 src/visualising/expression/library/expression_happy.txt
create mode 100644 src/visualising/expression/library/test.txt
diff --git a/CMakeLists.txt b/CMakeLists.txt
index a9d3016..d486f68 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -162,7 +162,7 @@ catkin_install_python(PROGRAMS
nodes/visualiser
scripts/play_animation.py
scripts/reset_display.py
- scripts/build_still_ensemble.py
+ scripts/build_emotion.py
scripts/build_state_cycle.py
scripts/write.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
diff --git a/launch/visualiser.launch b/launch/visualiser.launch
index eed1fb9..d0e9d06 100644
--- a/launch/visualiser.launch
+++ b/launch/visualiser.launch
@@ -1,22 +1,39 @@
<launch>
<node pkg="visualising" type="visualiser" name="visualiser">
- <param name="/wdg_freq" value="2.0" type="double" />
- <param name="/vis_freq" value="2.0" type="double" />
+ <!-- frequency at which the watchdog aggregates metrics and domains -->
+ <param name="/wdg_freq" value="0.2" type="double" />
+ <!--
+ frequency at which the visualisation of the robot state is updated,
+ must be lesser than 0.2 and only is relevant for the emotion
+ visualisation
+ -->
+ <param name="/vis_freq" value="0.2" type="double" />
- <param name="/arduino_port" value="/ttyUSB0" type="str" />
+ <param name="/arduino_port" value="/dev/ttyUSB0" type="str" />
<param name="/arduino_baud" value="57600" type="int" />
<!-- set visualisation strategy -->
+ <!-- 1: emotion -->
+ <!-- 2: abstract -->
<param name="/visualisation_strategy" value="1" type="int" />
- <!-- example of how to set an aggregation strategy for a metric -->
+ <!-- example of how to set an aggregation strategy for a metric -->
+ <!-- strategy 1 : Take the highest error level of any metric in a domain. -->
+ <!-- strategy 2 : Take the lowest error level of any metric in a domain. -->
+ <!-- strategy 0 | default strategy : Take the average error level of every metric in a domain. -->
<rosparam param="aggregation_strategy_metrics">
- example_1: 10
- example_2: 10
- test_domain_1: 0
- test_domain_2: 0
+ <!-- metric name: metric aggregation strategy -->
+
+ example_1: 0 <!-- default -->
+ example_2: 0 <!-- default -->
+ test_domain_1: 0 <!-- default -->
+ test_domain_2: 0 <!-- default -->
+ test_domain_3: 0 <!-- default -->
</rosparam>
<!-- set the aggregation strategy for domains -->
- <param name="aggregation_strategy_domains" value="0" type="int" />
+ <!-- strategy 1 : Take the highest error level of any domain. -->
+ <!-- strategy 2 : Take the lowes error level of any domain. -->
+ <!-- strategy 0 | default strategy : Take the average error level of every domain. -->
+ <param name="aggregation_strategy_domains" value="2" type="int" />
</node>
</launch>
diff --git a/scripts/build_still_ensemble.py b/scripts/build_emotion.py
similarity index 72%
rename from scripts/build_still_ensemble.py
rename to scripts/build_emotion.py
index 620282a..9c9ead4 100755
--- a/scripts/build_still_ensemble.py
+++ b/scripts/build_emotion.py
@@ -3,8 +3,10 @@
import argparse
from visualising.expression.tool import Tool
+from visualising.expression.emotion import Emotion
from visualising.communication.arduino import Arduino
from visualising.communication.channel.connection import Connection
+from visualising.communication.illustration.color.rgb import RGB
parser = argparse.ArgumentParser(description="script to play an animation")
parser.add_argument("-p", "--port", help="port to which the Arduino is connected", type=str, default="/dev/ttyUSB0")
@@ -18,11 +20,16 @@ baud = args["baud"]
file = args["file"]
time = args["time"]
-color = [10, 10, 10]
+# 50, 10, 10
+
+color = RGB(10, 0, 0)
+print(color.r)
+print(color.g)
+print(color.b)
arduino = Arduino(Connection(port, baud))
-ensembles = Tool.create_ensembles(file)
+ensembles = Tool.create_ensembles(file, "emotion")
-arduino.stream_animation(Tool.build_still_ensemble_parallel(ensembles[0], time, color))
+arduino.stream_animation(Emotion.build_emotion_parallel(ensembles[0], time, color))
diff --git a/scripts/write.py b/scripts/write.py
index ec35159..447c9b8 100755
--- a/scripts/write.py
+++ b/scripts/write.py
@@ -19,6 +19,6 @@ time = args["time"]
arduino = Arduino(Connection(port, baud))
-animation = Tool.write("HALLO")
+animation = Tool.write("HALLONORMAN")
arduino.stream_animation(Animation(animation, time, 1))
diff --git a/src/visualising/communication/arduino.py b/src/visualising/communication/arduino.py
index 0bfaf9b..c79a4d3 100755
--- a/src/visualising/communication/arduino.py
+++ b/src/visualising/communication/arduino.py
@@ -2,55 +2,70 @@
import time
-from visualising.communication.channel.connection import FrameMsg
-from visualising.communication.channel.connection import InstrMsg
-from visualising.communication.channel.connection import ArduinoMsg
+from visualising.communication.channel.connection import Connection
+from visualising.communication.channel.message.msg_frame import MsgFrame
+from visualising.communication.channel.message.msg_instr import MsgInstr
+from visualising.communication.channel.message.response import Response
from visualising.communication.illustration.animation import Animation
class Arduino:
def __init__(self, connection):
- self.connection = connection
+ self._connection = connection
+
+ @property
+ def connection(self):
+ return self._connection
+
+ @connection.setter
+ def connection(self, connection):
+ if not isinstance(connection, Connection):
+ raise TypeError("The parameter connection must be an object of the Connection class!")
+ self._connection = connection
# Creates instruction message and sends it to the Arduino,
# to play a loaded animation.
def start_playback(self):
- self.connection.confirm_msg(InstrMsg('B'), [ArduinoMsg(b'\x1f')], 5)
+ self._connection.confirm_msg(MsgInstr('B'), [Response(b'\x1f')], 5)
# Creates instruction message and sends it to the Arduino,
# to pause a playing animation.
def pause_playback(self):
- self.connection.confirm_msg(InstrMsg('C'), [ArduinoMsg(b'\x5f')], 5)
+ self._connection.confirm_msg(MsgInstr('C'), [Response(b'\x5f')], 5)
# Creates instruction message and sends it to the Arduino,
# to resume playback of a loaded animation.
def resume_playback(self):
- self.connection.confirm_msg(InstrMsg('D'), [ArduinoMsg(b'\x6f')], 5)
+ self._connection.confirm_msg(MsgInstr('D'), [Response(b'\x6f')], 5)
# Creates instruction message and sends it to the Arduino,
# to clear the NeoPixel rings.
def reset_display(self):
- self.connection.confirm_msg(InstrMsg('E'), [ArduinoMsg(b'\x7f')], 5)
+ self._connection.confirm_msg(MsgInstr('E'), [Response(b'\x7f')], 5)
# Creates one instruction messages and multiple frame messages to load an animation
# onto the Arduino.
def load_animation(self, animation):
- if len(animation.ensembles) > 16:
- raise ValueError("Animation has to many ensembles!")
+ if not isinstance(animation, Animation) or len(animation.ensembles) > 16:
+ raise ValueError("The animation parameter must be an object of the Animation class, which may contain a "
+ "maximum of 16 ensembles!")
- self.connection.confirm_msg(InstrMsg('A', animation), [ArduinoMsg(b'\x0f')], 5)
+ self._connection.confirm_msg(MsgInstr('A', animation), [Response(b'\x0f')], 5)
for ensemble in animation.ensembles:
l_frame = ensemble.l_frame
r_frame = ensemble.r_frame
- self.connection.confirm_msg(FrameMsg(l_frame), [ArduinoMsg(b'\x2f'), ArduinoMsg(b'\x3f')], 10)
- self.connection.confirm_msg(FrameMsg(r_frame), [ArduinoMsg(b'\x2f'), ArduinoMsg(b'\x3f')], 10)
+ self._connection.confirm_msg(MsgFrame(l_frame), [Response(b'\x2f'), Response(b'\x3f')], 10)
+ self._connection.confirm_msg(MsgFrame(r_frame), [Response(b'\x2f'), Response(b'\x3f')], 10)
# First, an animation is loaded onto the Arduino. The playback of this
# animation is then started. In addition, it is checked whether the
# animation was played successfully.
def play_animation(self, animation):
+ if not isinstance(animation, Animation):
+ raise TypeError("The parameter animation must be an object of the Animation class!")
+
self.load_animation(animation)
self.start_playback()
@@ -59,7 +74,7 @@ class Arduino:
# Current time in seconds.
curr_time = time.time()
- while not ArduinoMsg(b'\x4f').compare(self.connection.receive_msg()):
+ while not Response(b'\x4f').compare(self._connection.receive_msg()):
# Wait 10 times the estimated animation playback time for a response.
if time.time() > curr_time + playback_time * 10:
raise ArduinoException("Successful playback of animation can't be confirmed!")
@@ -69,11 +84,9 @@ class Arduino:
# the received ensemble and then confirms the playback, whereupon a new
# ensemble is sent.
def stream_animation(self, animation):
+ if not isinstance(animation, Animation):
+ raise TypeError("The parameter animation must be an object of the Animation class!")
+
for _ in range(animation.num_iter):
for ensemble in animation.ensembles:
self.play_animation(Animation([ensemble], animation.ensemble_time, 1))
-
- # Streams consecutively animations to the Arduino.
- def stream_multiple_animations(self, animation_list):
- for animation in animation_list:
- self.stream_animation(animation)
diff --git a/src/visualising/communication/channel/connection.py b/src/visualising/communication/channel/connection.py
index 0f76509..c6fb34c 100755
--- a/src/visualising/communication/channel/connection.py
+++ b/src/visualising/communication/channel/connection.py
@@ -3,9 +3,10 @@
import time
import serial
-from visualising.communication.channel.message import FrameMsg
-from visualising.communication.channel.message import InstrMsg
-from visualising.communication.channel.message import ArduinoMsg
+from visualising.communication.channel.message.message import Message
+from visualising.communication.channel.message.response import Response
+from visualising.communication.channel.message.msg_frame import MsgFrame
+from visualising.communication.channel.message.msg_instr import MsgInstr
class ArduinoException(Exception):
@@ -26,7 +27,10 @@ class Connection:
# Send a message to the Arduino.
def send_msg(self, msg):
- for byte in msg.content:
+ if not isinstance(msg, Message):
+ raise TypeError("The parameter msg must be an object of the Message class!")
+
+ for byte in msg.export_message():
self.connection.write(byte)
self.connection.reset_output_buffer() # Clear serial output buffer.
@@ -36,35 +40,40 @@ class Connection:
try:
# Since the timeout is set to one second, there is a waiting period of
# exactly one second to read a byte from the serial buffer. If no byte
- # is read in this one second period, an exception is thrown.
+ # is read in this time period, an exception is thrown.
byte = self.connection.read(1)
except SerialException: # Arduino has not responded in time.
byte = b'\xff'
self.connection.reset_input_buffer() # Clear serial input buffer.
- return ArduinoMsg(byte)
+ return Response(byte)
# Send a message and confirm that the response is as expected.
# If the response is not as expected, try again as often as
# specified. In case any response wasn't even once one of the
# expected responses raise an exception.
- def confirm_msg(self, msg, responses, resends):
+ def confirm_msg(self, msg, expectations, resends):
+ if not isinstance(msg, Message):
+ raise TypeError("The parameter msg must be an object of the Message class!")
+ if not isinstance(expectations, list) or not all(isinstance(expectation, Response) for expectation in
+ expectations):
+ raise TypeError("The parameter responses must be a list of objects of the Response class!")
+ if not isinstance(resends, int) or not resends > 0:
+ raise ValueError("The parameter resends must be an integer greater 0!")
+
def evaluate():
bool = resends > 0
- for exp_resp in responses:
- bool = bool and not resp.compare(exp_resp)
+ for expectation in expectations:
+ bool = bool and not response.compare(expectation)
return bool
- if not resends > 0:
- raise ValueError("Number of resends must be greater than zero!")
-
while True:
self.send_msg(msg)
- resp = self.receive_msg()
+ response = self.receive_msg()
if not evaluate():
break
- resends -= 1
+ resends = resends - 1
if not resends > 0:
- raise ArduinoException(resp.desc)
+ raise ArduinoException(response.desc)
diff --git a/src/visualising/communication/channel/message.py b/src/visualising/communication/channel/message.py
deleted file mode 100755
index 5150bef..0000000
--- a/src/visualising/communication/channel/message.py
+++ /dev/null
@@ -1,83 +0,0 @@
-#!/usr/bin/env python
-
-class FrameMsg:
- # Creates a 50-bit frame message. The first and last bit are intended for authentication
- # as a frame message. The remaining 48 bits store exactly one frame.
- def __init__(self, frame):
- self.content = [bytes('{', 'ascii')]
-
- for pixel in frame.pixels:
- r = pixel.r
- g = pixel.g
- b = pixel.b
-
- self.content.append(r.to_bytes(1, byteorder='big'))
- self.content.append(g.to_bytes(1, byteorder='big'))
- self.content.append(b.to_bytes(1, byteorder='big'))
-
- self.content.append(bytes('}', 'ascii'))
-
-
-class InstrMsg:
- # Creates a 50-bit instruction message. Since only 7 bits at most are required for the
- # actual message, most of the message consists only of zeros. The first and last bit
- # are intended for authentication as an instruction message.
- def __init__(self, instr, animation=None):
- self.content = [bytes('[', 'ascii'), bytes(instr, 'ascii')]
-
- if animation is not None:
- num_frames = len(animation.ensembles) * 2
- self.content.append(num_frames.to_bytes(1, byteorder='big'))
-
- ensemble_time_bytes = animation.ensemble_time.to_bytes(4, byteorder='big')
- self.content.append((ensemble_time_bytes[0]).to_bytes(1, byteorder='big'))
- self.content.append((ensemble_time_bytes[1]).to_bytes(1, byteorder='big'))
- self.content.append((ensemble_time_bytes[2]).to_bytes(1, byteorder='big'))
- self.content.append((ensemble_time_bytes[3]).to_bytes(1, byteorder='big'))
-
- self.content.append(animation.num_iter.to_bytes(1, byteorder='big'))
-
- for _ in range(41):
- self.content.append((0).to_bytes(1, byteorder='big'))
- else:
- for _ in range(47):
- self.content.append((0).to_bytes(1, byteorder='big'))
-
- self.content.append(bytes(']', 'ascii'))
-
-
-class ArduinoMsg:
- # Generates an Arduino message, which is composed of a message byte from the Arduino
- # and a translation of the message byte.
- def __init__(self, byte):
- self.content = byte
-
- translation = {
- 240: "Animation has to many frame ensembles!", # 0xF0
- 241: "No entities is loaded!", # 0xF1
- 242: "Instruction was not recognized!", # 0xF2
- 243: "No entities message expected!", # 0xF3
- 244: "Message has wrong format!", # 0xF4
- 245: "Animation is playing!", # 0xF5
- 246: "Animation has no iteration!", # 0xF6
- 247: "Unequal number of frames_library for the left and right NeoPixel ring!", # 0xF7
- 248: "Animation has no frame ensemble!", # 0xF8
- 255: "Timeout!", # 0xFF
- 0: "No response!", # 0x00
- 15: "Waiting for frames_library to be send!", # 0x0F
- 31: "Animation playback has been started!", # 0x1F
- 47: "Frame successfully received!", # 0x2F
- 63: "Last frame successfully received!", # 0x3F
- 79: "Animation successfully played!", # 0x4F
- 95: "Animation playback has been paused!", # 0x5F
- 111: "Animation playback has been resumed!", # 0x6F
- 127: "Displays have been cleared!", # 0x7F
- }
-
- try:
- self.desc = translation[int.from_bytes(byte, byteorder='big')]
- except KeyError:
- self.desc = "Unknown response!"
-
- def compare(self, msg):
- return bytes(self.content) == bytes(msg.content)
diff --git a/src/visualising/expression/library/expression_ok.txt b/src/visualising/communication/channel/message/__init__.py
similarity index 100%
rename from src/visualising/expression/library/expression_ok.txt
rename to src/visualising/communication/channel/message/__init__.py
diff --git a/src/visualising/communication/channel/message/message.py b/src/visualising/communication/channel/message/message.py
new file mode 100755
index 0000000..06617b8
--- /dev/null
+++ b/src/visualising/communication/channel/message/message.py
@@ -0,0 +1,9 @@
+#!/usr/bin/env python
+
+from abc import ABC, abstractmethod
+
+
+class Message(ABC):
+ @abstractmethod
+ def export_message(self):
+ pass
diff --git a/src/visualising/communication/channel/message/msg_frame.py b/src/visualising/communication/channel/message/msg_frame.py
new file mode 100644
index 0000000..6403697
--- /dev/null
+++ b/src/visualising/communication/channel/message/msg_frame.py
@@ -0,0 +1,37 @@
+#!/usr/bin/env python
+
+from visualising.communication.channel.message.message import Message
+from visualising.communication.illustration.frame import Frame
+
+
+class MsgFrame(Message):
+ def __init__(self, frame):
+ self._frame = frame
+
+ @property
+ def frame(self):
+ return self._frame
+
+ @frame.setter
+ def frame(self, frame):
+ if not isinstance(frame, Frame):
+ raise TypeError("The parameter frame must be an object of the Frame class!")
+ self._frame = frame
+
+ # Creates a 50-bit frame message. The first and last bit are intended for authentication
+ # as a frame message. The remaining 48 bits store exactly one frame.
+ def export_message(self):
+ message = [bytes('{', 'ascii')]
+
+ for pixel in self._frame.pixels:
+ r = pixel.color.r
+ g = pixel.color.g
+ b = pixel.color.b
+
+ message.append(r.to_bytes(1, byteorder='big'))
+ message.append(g.to_bytes(1, byteorder='big'))
+ message.append(b.to_bytes(1, byteorder='big'))
+
+ message.append(bytes('}', 'ascii'))
+
+ return message
diff --git a/src/visualising/communication/channel/message/msg_instr.py b/src/visualising/communication/channel/message/msg_instr.py
new file mode 100644
index 0000000..9b927ed
--- /dev/null
+++ b/src/visualising/communication/channel/message/msg_instr.py
@@ -0,0 +1,58 @@
+#!/usr/bin/env python
+
+from visualising.communication.channel.message.message import Message
+from visualising.communication.illustration.animation import Animation
+
+
+class MsgInstr(Message):
+ def __init__(self, instr, animation=None):
+ self._instr = instr
+ self._animation = animation
+
+ @property
+ def instr(self):
+ return self._instr
+
+ @instr.setter
+ def instr(self, instr):
+ if instr != "A" and instr != "B" and instr != "C" and instr != "D" and instr != "E":
+ raise ValueError("Unknown instruction!")
+ self._instr = instr
+
+ @property
+ def animation(self):
+ return self._animation
+
+ @animation.setter
+ def animation(self, animation):
+ if not isinstance(animation, Animation):
+ raise TypeError("The parameter animation must be an object of the Animation class!")
+ self._animation = animation
+
+ # Creates a 50-bit instruction message. Since only 7 bits at most are required for the
+ # actual message, most of the message consists only of zeros. The first and last bit
+ # are intended for authentication as an instruction message.
+ def export_message(self):
+ message = [bytes('[', 'ascii'), bytes(self._instr, 'ascii')]
+
+ if self._animation is not None:
+ num_frames = len(self._animation.ensembles) * 2
+ message.append(num_frames.to_bytes(1, byteorder='big'))
+
+ ensemble_time_bytes = self._animation.ensemble_time.to_bytes(4, byteorder='big')
+ message.append((ensemble_time_bytes[0]).to_bytes(1, byteorder='big'))
+ message.append((ensemble_time_bytes[1]).to_bytes(1, byteorder='big'))
+ message.append((ensemble_time_bytes[2]).to_bytes(1, byteorder='big'))
+ message.append((ensemble_time_bytes[3]).to_bytes(1, byteorder='big'))
+
+ message.append(self._animation.num_iter.to_bytes(1, byteorder='big'))
+
+ for _ in range(41):
+ message.append((0).to_bytes(1, byteorder='big'))
+ else:
+ for _ in range(47):
+ message.append((0).to_bytes(1, byteorder='big'))
+
+ message.append(bytes(']', 'ascii'))
+
+ return message
diff --git a/src/visualising/communication/channel/message/response.py b/src/visualising/communication/channel/message/response.py
new file mode 100644
index 0000000..30c439a
--- /dev/null
+++ b/src/visualising/communication/channel/message/response.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python
+
+class Response:
+ # Generates an Arduino message, which is composed of a message byte from the Arduino
+ # and a translation of the message byte.
+ def __init__(self, byte):
+ self._byte = byte
+
+ @property
+ def byte(self):
+ return self._byte
+
+ @byte.setter
+ def byte(self, byte):
+ if not isinstance(byte, bytes):
+ raise TypeError("The parameter byte must be an object of the byte class!")
+ self._byte = byte
+
+ def translate(self):
+ translation = {
+ 240: "Animation has to many frame ensembles!", # 0xF0
+ 241: "No entities is loaded!", # 0xF1
+ 242: "Instruction was not recognized!", # 0xF2
+ 243: "No entities message expected!", # 0xF3
+ 244: "Message has wrong format!", # 0xF4
+ 245: "Animation is playing!", # 0xF5
+ 246: "Animation has no iteration!", # 0xF6
+ 247: "Unequal number of frames_library for the left and right NeoPixel ring!", # 0xF7
+ 248: "Animation has no frame ensemble!", # 0xF8
+ 255: "Timeout!", # 0xFF
+ 0: "No response!", # 0x00
+ 15: "Waiting for frames_library to be send!", # 0x0F
+ 31: "Animation playback has been started!", # 0x1F
+ 47: "Frame successfully received!", # 0x2F
+ 63: "Last frame successfully received!", # 0x3F
+ 79: "Animation successfully played!", # 0x4F
+ 95: "Animation playback has been paused!", # 0x5F
+ 111: "Animation playback has been resumed!", # 0x6F
+ 127: "Displays have been cleared!", # 0x7F
+ }
+
+ try:
+ return translation[int.from_bytes(self._byte, byteorder='big')]
+ except KeyError:
+ return "Unknown response!"
+
+ def compare(self, response):
+ if not isinstance(response, Response):
+ raise TypeError("The parameter response must be an object of the Response class!")
+ return bytes(self._byte) == bytes(response.byte)
diff --git a/src/visualising/communication/illustration/animation.py b/src/visualising/communication/illustration/animation.py
index f6d4ed5..e622d90 100755
--- a/src/visualising/communication/illustration/animation.py
+++ b/src/visualising/communication/illustration/animation.py
@@ -5,19 +5,37 @@ from visualising.communication.illustration.ensemble import Ensemble
class Animation:
def __init__(self, ensembles, ensemble_time=0, num_iter=1):
- self.ensembles = ensembles
+ self._ensembles = ensembles
+ self._ensemble_time = ensemble_time
+ self._num_iter = num_iter
- if ensemble_time < 0:
- raise ValueError("Ensemble time must be positive!")
- if ensemble_time > 4294967295:
- raise ValueError("Ensemble time is to high!")
+ @property
+ def ensembles(self):
+ return self._ensembles
+ @ensembles.setter
+ def ensembles(self, ensembles):
+ if not isinstance(ensembles, Ensemble):
+ raise TypeError("The parameter ensembles must be an object of the Ensemble class!")
+ self._ensembles = ensembles
+
+ @property
+ def ensemble_time(self):
+ return self._ensemble_time
+
+ @ensemble_time.setter
+ def ensemble_time(self, ensemble_time):
+ if not isinstance(ensemble_time, int) or not 0 <= ensemble_time <= 4294967295:
+ raise ValueError("The parameter ensemble_time must be an integer between 0 an 4294967295!")
# The ensemble time is given in milliseconds.
- self.ensemble_time = ensemble_time
+ self._ensemble_time = ensemble_time
- if num_iter > 255:
- raise ValueError("Animation has to many iterations!")
- if num_iter <= 0:
- raise ValueError("Animation must have at least one iteration!")
+ @property
+ def num_iter(self):
+ return self._num_iter
- self.num_iter = num_iter
+ @num_iter.setter
+ def num_iter(self, num_iter):
+ if not isinstance(num_iter, int) or not 1 <= num_iter <= 255:
+ raise ValueError("The parameter num_iter must be an integer between 1 an 255!")
+ self._num_iter = num_iter
diff --git a/src/visualising/communication/illustration/color/__init__.py b/src/visualising/communication/illustration/color/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/visualising/communication/illustration/color/color.py b/src/visualising/communication/illustration/color/color.py
new file mode 100644
index 0000000..de6edd4
--- /dev/null
+++ b/src/visualising/communication/illustration/color/color.py
@@ -0,0 +1,29 @@
+#!/usr/bin/env python
+
+from abc import ABC, abstractmethod
+
+
+class Color(ABC):
+ @property
+ @abstractmethod
+ def r(self):
+ pass
+
+ @property
+ @abstractmethod
+ def g(self):
+ pass
+
+ @property
+ @abstractmethod
+ def b(self):
+ pass
+
+ @property
+ @abstractmethod
+ def illuminated(self):
+ pass
+
+ @abstractmethod
+ def export_color(self):
+ pass
diff --git a/src/visualising/communication/illustration/color/rgb.py b/src/visualising/communication/illustration/color/rgb.py
new file mode 100644
index 0000000..c874cd1
--- /dev/null
+++ b/src/visualising/communication/illustration/color/rgb.py
@@ -0,0 +1,47 @@
+#!/usr/bin/env python
+
+from visualising.communication.illustration.color.color import Color
+
+
+class RGB(Color):
+ def __init__(self, r, g, b):
+ self._r = r
+ self._g = g
+ self._b = b
+
+ @property
+ def r(self):
+ return self._r
+
+ @r.setter
+ def r(self, r):
+ if not isinstance(r, int) or not 0 <= r <= 255:
+ raise ValueError("The parameter r must be an integer between 0 and 255!")
+ self._r = r
+
+ @property
+ def g(self):
+ return self._g
+
+ @g.setter
+ def g(self, g):
+ if not isinstance(g, int) or not 0 <= g <= 255:
+ raise ValueError("The parameter g must be an integer between 0 and 255!")
+ self._g = g
+
+ @property
+ def b(self):
+ return self._b
+
+ @b.setter
+ def b(self, b):
+ if not isinstance(b, int) or not 0 <= b <= 255:
+ raise ValueError("The parameter b must be an integer between 0 and 255!")
+ self._b = b
+
+ @property
+ def illuminated(self):
+ return self._r + self._g + self._b != 0
+
+ def export_color(self):
+ return [self._r, self._g, self._b]
\ No newline at end of file
diff --git a/src/visualising/communication/illustration/ensemble.py b/src/visualising/communication/illustration/ensemble.py
index 6a6ca87..3e17571 100644
--- a/src/visualising/communication/illustration/ensemble.py
+++ b/src/visualising/communication/illustration/ensemble.py
@@ -5,5 +5,25 @@ from visualising.communication.illustration.frame import Frame
class Ensemble:
def __init__(self, l_frame, r_frame):
- self.l_frame = l_frame
- self.r_frame = r_frame
+ self._l_frame = l_frame
+ self._r_frame = r_frame
+
+ @property
+ def l_frame(self):
+ return self._l_frame
+
+ @l_frame.setter
+ def l_frame(self, l_frame):
+ if not isinstance(l_frame, Frame):
+ raise TypeError("The parameter left must be an object of the Frame class!")
+ self._l_frame = l_frame
+
+ @property
+ def r_frame(self):
+ return self._r_frame
+
+ @r_frame.setter
+ def r_frame(self, r_frame):
+ if not isinstance(r_frame, Frame):
+ raise TypeError("The parameter right must be an object of the Frame class!")
+ self._r_frame = r_frame
diff --git a/src/visualising/communication/illustration/frame.py b/src/visualising/communication/illustration/frame.py
index 16f36f1..bab4750 100644
--- a/src/visualising/communication/illustration/frame.py
+++ b/src/visualising/communication/illustration/frame.py
@@ -1,33 +1,31 @@
#!/usr/bin/env python
from visualising.communication.illustration.pixel import Pixel
+from visualising.communication.illustration.color.color import Color
class Frame:
def __init__(self, pixels):
- if len(pixels) != 16:
- raise ValueError("Frames must have exactly 16 pixels!")
-
- self.pixels = pixels
-
- def is_colored(self, pixel):
- if not 0 <= pixel <= 15:
- raise ValueError("Pixel index must be an integer between 0 and 15!")
-
- return self.pixels[pixel].r + self.pixels[pixel].g + self.pixels[pixel].b != 0
-
- def adjust_brightness(self, pixel, factor):
- if not 0 <= pixel <= 15:
- raise ValueError("Pixel index must be an integer between 0 and 15!")
-
- r = min(max(self.frame[pixel].r * factor, 0), 255)
- g = min(max(self.frame[pixel].g * factor, 0), 255)
- b = min(max(self.frame[pixel].b * factor, 0), 255)
-
- self.pixels[pixel] = Pixel(r, g, b)
-
- def adjust_color(self, pixel, r, g, b):
- if not 0 <= pixel <= 15:
- raise ValueError("Pixel index must be an integer between 0 and 15!")
-
- self.pixels[pixel] = Pixel(r, g, b)
+ self._pixels = pixels
+
+ @property
+ def pixels(self):
+ return self._pixels
+
+ @pixels.setter
+ def pixels(self, pixels):
+ if not isinstance(pixels, list) or not all(isinstance(pixel, Pixel) for pixel in pixels) or len(pixels) != 16:
+ raise ValueError("The parameter pixels must be a list of exactly 16 objects of the Pixel class!")
+ self._pixels = pixels
+
+ def illuminated(self, index):
+ if not isinstance(index, int) or not 0 <= index <= 15:
+ raise ValueError("The parameter index must be an integer between 0 and 15!")
+ return self._pixels[index].color.illuminated
+
+ def replace_pixel(self, index, pixel):
+ if not isinstance(index, int) or not 0 <= index <= 15:
+ raise ValueError("The parameter index must be an integer between 0 and 15!")
+ if not isinstance(pixel, Pixel):
+ raise TypeError("The parameter pixel must be an object of the Pixel class!")
+ self._pixels[index] = pixel
diff --git a/src/visualising/communication/illustration/pixel.py b/src/visualising/communication/illustration/pixel.py
index 8bf68ce..2e2c975 100644
--- a/src/visualising/communication/illustration/pixel.py
+++ b/src/visualising/communication/illustration/pixel.py
@@ -1,13 +1,19 @@
#!/usr/bin/env python
+from visualising.communication.illustration.color.color import Color
+
+
class Pixel:
- def __init__(self, r, g, b):
- if r < 0 or g < 0 or b < 0:
- raise ValueError("All pixel color values must be positive!")
- if r > 255 or g > 255 or b > 255:
- raise ValueError("All pixel color values must be smaller than 256!")
-
- self.r = int(r)
- self.g = int(g)
- self.b = int(b)
+ def __init__(self, color):
+ self._color = color
+
+ @property
+ def color(self):
+ return self._color
+
+ @color.setter
+ def color(self, color):
+ if not isinstance(color, Color):
+ raise TypeError("The parameter color must be an object of the Color class!")
+ self._color = color
diff --git a/src/visualising/expression/artificial.py b/src/visualising/expression/abstract.py
similarity index 95%
rename from src/visualising/expression/artificial.py
rename to src/visualising/expression/abstract.py
index bc73772..a352fa1 100644
--- a/src/visualising/expression/artificial.py
+++ b/src/visualising/expression/abstract.py
@@ -4,7 +4,7 @@ import numpy as np
from visualising.expression.tool import Tool
-class State:
+class Abstract:
def __init__(self, arduino):
self.arduino = arduino
self.playback_start = 0
diff --git a/src/visualising/expression/emotion.py b/src/visualising/expression/emotion.py
index bb37410..b514670 100644
--- a/src/visualising/expression/emotion.py
+++ b/src/visualising/expression/emotion.py
@@ -1,37 +1,105 @@
import time
+from visualising.communication.arduino import Arduino
+from visualising.communication.illustration.animation import Animation
+from visualising.communication.illustration.color.rgb import RGB
+from visualising.expression.expression import Expression
from visualising.expression.tool import Tool
-class Emotion:
+class Emotion(Expression):
def __init__(self, arduino):
- self.arduino = arduino
+ self._arduino = arduino
self.playback_start = 0
+ self.refresh = 5
- def react(self, state):
- if time().time - playback_start > 5:
+ self.happy = "expression_happy.txt"
+ self.ok = "expression_ok.txt"
+ self.angry = "expression_angry.txt"
+
+ @property
+ def arduino(self):
+ return self._arduino
- color = Tool.state_to_color(state[0], [25, 25, 25], [25, 0, 0])
+ @arduino.setter
+ def arduino(self, arduino):
+ if not isinstance(arduino, Arduino):
+ raise TypeError("The parameter arduino must be an object of the Arduino class!")
+ self._arduino = arduino
+ def react(self, state):
+ if time.time() - self.playback_start > self.refresh:
+ color = Tool.state_to_color(state[0], RGB(25, 25, 25), RGB(25, 0, 0))
if state[0] > 0.7:
- self.happy(color)
+ self.visualise(self.angry, color)
else:
if state[0] > 0.3:
- self.ok(color)
+ self.visualise(self.ok, color)
else:
- self.angry(color)
+ self.visualise(self.happy, color)
- def happy(self, color):
- ensembles = Tool.create_ensembles("expression_happy.txt")
- self.arduino.stream_animation(Tool.build_still_ensemble_parallel(ensembles[0], 50, color))
+ def visualise(self, filepath, color):
+ ensembles = Tool.create_ensembles(filepath, "emotion")
+ self.arduino.stream_animation(Emotion.build_emotion_parallel(ensembles[0], 50, color))
self.playback_start = time.time()
- def ok(self, color):
- ensembles = Tool.create_ensembles("expression_ok.txt")
- self.arduino.stream_animation(Tool.build_still_ensemble_parallel(ensembles[0], 50, color))
- self.playback_start = time.time()
+ @staticmethod
+ def build_emotion(blueprint, time, color):
+ ensembles = []
+ for i in range(32):
+ ensemble = Tool.create_empty_ensemble()
+ for j in range(i + 1):
+ if j < 16:
+ illuminated = blueprint.l_frame.illuminated(j)
+ else:
+ illuminated = bluepring.r_frame.illuminated(j % 16)
+
+ if illuminated or j == i:
+ ensemble = Tool.set_pixel_color(ensemble, j, color)
+
+ ensembles.append(ensemble)
+
+ ensemble = Tool.create_empty_ensemble()
+ for k in range(32):
+ if k < 16:
+ illuminated = blueprint.l_frame.illuminated(k)
+ else:
+ illuminated = blueprint.r_frame.illuminated(k % 16)
+
+ if illuminated:
+ ensemble = Tool.set_pixel_color(ensemble, k, color)
+
+ ensembles.append(ensemble)
+
+ return Animation(ensembles, time, 1)
+
+ @staticmethod
+ def build_emotion_parallel(blueprint, time, color):
+ ensembles = []
+ for i in range(16):
+ ensemble = Tool.create_empty_ensemble()
+ for j in range(i + 1):
+ if blueprint.l_frame.illuminated(j):
+ ensemble = Tool.set_pixel_color(ensemble, j, color)
+ if blueprint.r_frame.illuminated(j):
+ ensemble = Tool.set_pixel_color(ensemble, 16 + j, color)
+ if j == i:
+ ensemble = Tool.set_pixel_color(ensemble, j, color)
+ ensemble = Tool.set_pixel_color(ensemble, 16 + j, color)
+
+ ensembles.append(ensemble)
+
+ ensemble = Tool.create_empty_ensemble()
+ for k in range(32):
+ if k < 16:
+ illuminated = blueprint.l_frame.illuminated(k)
+ else:
+ illuminated = blueprint.r_frame.illuminated(k % 16)
+
+ if illuminated:
+ ensemble = Tool.set_pixel_color(ensemble, k, color)
+
+ ensembles.append(ensemble)
+
+ return Animation(ensembles, time, 1)
- def angry(self, color):
- ensembles = Tool.create_ensembles("expression_angry.txt")
- self.arduino.stream_animation(Tool.build_still_ensemble_parallel(ensembles[0], 50, color))
- self.playback_start = time.time()
diff --git a/src/visualising/expression/expression.py b/src/visualising/expression/expression.py
new file mode 100644
index 0000000..2aa033f
--- /dev/null
+++ b/src/visualising/expression/expression.py
@@ -0,0 +1,14 @@
+#!/usr/bin/env python
+
+from abc import ABC, abstractmethod
+
+
+class Expression(ABC):
+ @property
+ @abstractmethod
+ def arduino(self):
+ pass
+
+ @abstractmethod
+ def react(self, state):
+ pass
diff --git a/src/visualising/expression/library/A.txt b/src/visualising/expression/library/alphabet/A.txt
similarity index 100%
rename from src/visualising/expression/library/A.txt
rename to src/visualising/expression/library/alphabet/A.txt
diff --git a/src/visualising/expression/library/B.txt b/src/visualising/expression/library/alphabet/B.txt
similarity index 100%
rename from src/visualising/expression/library/B.txt
rename to src/visualising/expression/library/alphabet/B.txt
diff --git a/src/visualising/expression/library/C.txt b/src/visualising/expression/library/alphabet/C.txt
similarity index 100%
rename from src/visualising/expression/library/C.txt
rename to src/visualising/expression/library/alphabet/C.txt
diff --git a/src/visualising/expression/library/D.txt b/src/visualising/expression/library/alphabet/D.txt
similarity index 100%
rename from src/visualising/expression/library/D.txt
rename to src/visualising/expression/library/alphabet/D.txt
diff --git a/src/visualising/expression/library/E.txt b/src/visualising/expression/library/alphabet/E.txt
similarity index 100%
rename from src/visualising/expression/library/E.txt
rename to src/visualising/expression/library/alphabet/E.txt
diff --git a/src/visualising/expression/library/G.txt b/src/visualising/expression/library/alphabet/G.txt
similarity index 100%
rename from src/visualising/expression/library/G.txt
rename to src/visualising/expression/library/alphabet/G.txt
diff --git a/src/visualising/expression/library/H.txt b/src/visualising/expression/library/alphabet/H.txt
similarity index 100%
rename from src/visualising/expression/library/H.txt
rename to src/visualising/expression/library/alphabet/H.txt
diff --git a/src/visualising/expression/library/I.txt b/src/visualising/expression/library/alphabet/I.txt
similarity index 100%
rename from src/visualising/expression/library/I.txt
rename to src/visualising/expression/library/alphabet/I.txt
diff --git a/src/visualising/expression/library/J.txt b/src/visualising/expression/library/alphabet/J.txt
similarity index 100%
rename from src/visualising/expression/library/J.txt
rename to src/visualising/expression/library/alphabet/J.txt
diff --git a/src/visualising/expression/library/L.txt b/src/visualising/expression/library/alphabet/L.txt
similarity index 100%
rename from src/visualising/expression/library/L.txt
rename to src/visualising/expression/library/alphabet/L.txt
diff --git a/src/visualising/expression/library/alphabet/M.txt b/src/visualising/expression/library/alphabet/M.txt
new file mode 100644
index 0000000..614e924
--- /dev/null
+++ b/src/visualising/expression/library/alphabet/M.txt
@@ -0,0 +1,2 @@
+0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+0,0,0,0,0,0,10,0,0,10,10,10,10,10,10,10,10,10,10,10,10,0,0,0,0,0,0,0,0,0,0,0,0,10,10,10,10,10,10,10,10,10,10,10,10,10,0,0
\ No newline at end of file
diff --git a/src/visualising/expression/library/alphabet/N.txt b/src/visualising/expression/library/alphabet/N.txt
new file mode 100644
index 0000000..c222d6c
--- /dev/null
+++ b/src/visualising/expression/library/alphabet/N.txt
@@ -0,0 +1,2 @@
+0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+0,0,0,0,0,0,10,0,0,10,10,10,10,10,10,10,10,10,10,10,10,0,0,0,0,0,0,0,0,0,10,0,0,10,10,10,10,10,10,10,10,10,10,10,10,0,0,0
\ No newline at end of file
diff --git a/src/visualising/expression/library/O.txt b/src/visualising/expression/library/alphabet/O.txt
similarity index 100%
rename from src/visualising/expression/library/O.txt
rename to src/visualising/expression/library/alphabet/O.txt
diff --git a/src/visualising/expression/library/alphabet/R.txt b/src/visualising/expression/library/alphabet/R.txt
new file mode 100644
index 0000000..6d8ccd6
--- /dev/null
+++ b/src/visualising/expression/library/alphabet/R.txt
@@ -0,0 +1,2 @@
+0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,0,0,0,0,0,0,0,0,0,10,0,0,0,0,0,0,0,0,10,0,0,10,10,10,10,10,10
\ No newline at end of file
diff --git a/src/visualising/expression/library/alphabet/S.txt b/src/visualising/expression/library/alphabet/S.txt
new file mode 100644
index 0000000..22ce48b
--- /dev/null
+++ b/src/visualising/expression/library/alphabet/S.txt
@@ -0,0 +1,2 @@
+0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+10,10,10,10,10,10,10,10,10,10,10,10,10,0,0,0,0,0,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,0,0,0,0,0,10,10,10,10,10,10,10,10,10
\ No newline at end of file
diff --git a/src/visualising/expression/library/alphabet/T.txt b/src/visualising/expression/library/alphabet/T.txt
new file mode 100644
index 0000000..79be5a6
--- /dev/null
+++ b/src/visualising/expression/library/alphabet/T.txt
@@ -0,0 +1,2 @@
+0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+10,0,0,10,10,10,10,10,10,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,10,10,10,10,10,10
\ No newline at end of file
diff --git a/src/visualising/expression/library/alphabet/__init__.py b/src/visualising/expression/library/alphabet/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/visualising/expression/library/emotion/__init__.py b/src/visualising/expression/library/emotion/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/visualising/expression/library/emotion/expression_angry.txt b/src/visualising/expression/library/emotion/expression_angry.txt
new file mode 100644
index 0000000..48e2b7f
--- /dev/null
+++ b/src/visualising/expression/library/emotion/expression_angry.txt
@@ -0,0 +1,2 @@
+50,0,0,50,0,0,0,0,0,0,0,0,50,0,0,50,0,0,0,0,0,0,0,0,50,0,0,50,0,0,0,0,0,0,0,0,50,0,0,50,0,0,0,0,0,0,0,0
+50,0,0,50,0,0,0,0,0,0,0,0,50,0,0,50,0,0,0,0,0,0,0,0,50,0,0,50,0,0,0,0,0,0,0,0,50,0,0,50,0,0,0,0,0,0,0,0
\ No newline at end of file
diff --git a/src/visualising/expression/library/expression_clean.txt b/src/visualising/expression/library/emotion/expression_clean.txt
similarity index 100%
rename from src/visualising/expression/library/expression_clean.txt
rename to src/visualising/expression/library/emotion/expression_clean.txt
diff --git a/src/visualising/expression/library/emotion/expression_happy.txt b/src/visualising/expression/library/emotion/expression_happy.txt
new file mode 100644
index 0000000..213cbe6
--- /dev/null
+++ b/src/visualising/expression/library/emotion/expression_happy.txt
@@ -0,0 +1,2 @@
+50,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50
+50,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50
diff --git a/src/visualising/expression/library/emotion/expression_ok.txt b/src/visualising/expression/library/emotion/expression_ok.txt
new file mode 100644
index 0000000..a989e0d
--- /dev/null
+++ b/src/visualising/expression/library/emotion/expression_ok.txt
@@ -0,0 +1,2 @@
+50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50
+50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50
diff --git a/src/visualising/expression/library/expression_angry.txt b/src/visualising/expression/library/expression_angry.txt
deleted file mode 100644
index bfb8ee5..0000000
--- a/src/visualising/expression/library/expression_angry.txt
+++ /dev/null
@@ -1,2 +0,0 @@
-50,50,50,50,50,50,0,0,0,0,0,0,50,50,50,50,50,50,0,0,0,0,0,0,50,50,50,50,50,50,0,0,0,0,0,0,50,50,50,50,50,50,0,0,0,0,0,0
-50,50,50,50,50,50,0,0,0,0,0,0,50,50,50,50,50,50,0,0,0,0,0,0,50,50,50,50,50,50,0,0,0,0,0,0,50,50,50,50,50,50,0,0,0,0,0,0
\ No newline at end of file
diff --git a/src/visualising/expression/library/expression_happy.txt b/src/visualising/expression/library/expression_happy.txt
deleted file mode 100644
index 12b6349..0000000
--- a/src/visualising/expression/library/expression_happy.txt
+++ /dev/null
@@ -1,2 +0,0 @@
-50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50
-50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50
diff --git a/src/visualising/expression/library/test.txt b/src/visualising/expression/library/test.txt
new file mode 100644
index 0000000..a2d8125
--- /dev/null
+++ b/src/visualising/expression/library/test.txt
@@ -0,0 +1,2 @@
+0,0,0,0,0,0,0,0,0,0,0,0,10,0,0,10,0,0,10,0,0,10,0,0,10,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+10,0,0,10,0,0,10,0,0,10,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
diff --git a/src/visualising/expression/tool.py b/src/visualising/expression/tool.py
index b635235..de188c9 100644
--- a/src/visualising/expression/tool.py
+++ b/src/visualising/expression/tool.py
@@ -8,7 +8,9 @@ from visualising.communication.illustration.animation import Animation
from visualising.communication.illustration.ensemble import Ensemble
from visualising.communication.illustration.frame import Frame
from visualising.communication.illustration.pixel import Pixel
-from visualising.expression import library
+from visualising.communication.illustration.color.rgb import RGB
+from visualising.expression.library import alphabet
+from visualising.expression.library import emotion
class Tool:
@@ -16,7 +18,7 @@ class Tool:
pass
@staticmethod
- def read_raw_ensembles(filename):
+ def read_raw_ensembles(filename, directory):
def read_raw_frame(line):
raw_frame = []
for value in line.split(","):
@@ -25,7 +27,12 @@ class Tool:
)
return raw_frame
- file = importlib.resources.open_text(library, filename)
+ if directory == "emotion":
+ file = importlib.resources.open_text(emotion, filename)
+ elif directory == "alphabet":
+ file = importlib.resources.open_text(alphabet, filename)
+ else:
+ raise ValueError("The parameter directory describes a unknown directory!")
raw_ensembles = []
while True:
@@ -45,7 +52,7 @@ class Tool:
return raw_ensembles
@staticmethod
- def create_ensembles(filename):
+ def create_ensembles(filename, directory):
def create_frame(raw_pixels):
if len(raw_pixels) != 48:
raise ValueError("Frame must have exactly 48 values!")
@@ -58,12 +65,12 @@ class Tool:
g = raw_pixels[i + 1]
b = raw_pixels[i + 2]
- pixels.append(Pixel(r, g, b))
+ pixels.append(Pixel(RGB(r, g, b)))
i = i + 3
return Frame(pixels)
- raw_ensembles = Tool.read_raw_ensembles(filename)
+ raw_ensembles = Tool.read_raw_ensembles(filename, directory)
ensembles = []
for raw_ensemble in raw_ensembles:
@@ -78,8 +85,8 @@ class Tool:
return ensembles
@staticmethod
- def create_animation(filename, ensemble_time, iterations):
- ensembles = Tool.create_ensembles(filename)
+ def create_animation(filename, directory, ensemble_time, iterations):
+ ensembles = Tool.create_ensembles(filename, directory)
return Animation(ensembles, ensemble_time, iterations)
@staticmethod
@@ -87,105 +94,40 @@ class Tool:
l_pixels = []
r_pixels = []
for _ in range(16):
- l_pixels.append(Pixel(0, 0, 0))
- r_pixels.append(Pixel(0, 0, 0))
+ l_pixels.append(Pixel(RGB(0, 0, 0)))
+ r_pixels.append(Pixel(RGB(0, 0, 0)))
return Ensemble(Frame(l_pixels), Frame(r_pixels))
@staticmethod
- def set_pixel_color(ensemble, pixel, r, g, b):
- if not 0 <= pixel <= 31:
- raise ValueError("Pixel index must be an integer between 0 and 31!")
+ def set_pixel_color(ensemble, index, color):
+ if not isinstance(index, int) or not 0 <= index <= 31:
+ raise ValueError("The parameter index must be an integer between 0 and 31!")
- if pixel < 16:
- ensemble.l_frame.adjust_color(pixel, r, g, b)
+ if index < 16:
+ ensemble.l_frame.replace_pixel(index, Pixel(color))
else:
- pixel = pixel - 16
- ensemble.r_frame.adjust_color(pixel, r, g, b)
+ index = index - 16
+ ensemble.r_frame.replace_pixel(index, Pixel(color))
return ensemble
@staticmethod
def state_to_color(state, start_color, end_color):
if not 0 <= state <= 1:
- raise ValueError("State must be a value between 0 and 1!")
-
- return (1 - state) * np.array(start_color) + state * np.array(end_color)
-
- @staticmethod
- def build_still_ensemble(still_ensemble, ensemble_time, color):
- r = color[0]
- g = color[1]
- b = color[2]
-
- ensembles = []
- for i in range(32):
- ensemble = Tool.create_empty_ensemble()
- for j in range(i + 1):
- if j < 16:
- is_colored = still_ensemble.l_frame.is_colored(j)
- else:
- is_colored = still_ensemble.r_frame.is_colored(j % 16)
-
- if is_colored or j == i:
- ensemble = Tool.set_pixel_color(ensemble, j, r, g, b)
-
- ensembles.append(ensemble)
-
- ensemble = Tool.create_empty_ensemble()
- for k in range(32):
- if k < 16:
- is_colored = still_ensemble.l_frame.is_colored(k)
- else:
- is_colored = still_ensemble.r_frame.is_colored(k % 16)
-
- if is_colored:
- ensemble = Tool.set_pixel_color(ensemble, k, r, g, b)
-
- ensembles.append(ensemble)
-
- return Animation(ensembles, ensemble_time, 1)
-
- @staticmethod
- def build_still_ensemble_parallel(still_ensemble, ensemble_time, color):
- r = color[0]
- g = color[1]
- b = color[2]
-
- ensembles = []
- for i in range(16):
- ensemble = Tool.create_empty_ensemble()
- for j in range(i + 1):
- if still_ensemble.l_frame.is_colored(j):
- ensemble = Tool.set_pixel_color(ensemble, j, r, g, b)
- if still_ensemble.r_frame.is_colored(j):
- ensemble = Tool.set_pixel_color(ensemble, 16 + j, r, g, b)
- if j == i:
- ensemble = Tool.set_pixel_color(ensemble, j, r, g, b)
- ensemble = Tool.set_pixel_color(ensemble, 16 + j, r, g, b)
-
- ensembles.append(ensemble)
-
- ensemble = Tool.create_empty_ensemble()
- for k in range(32):
- if k < 16:
- is_colored = still_ensemble.l_frame.is_colored(k)
- else:
- is_colored = still_ensemble.r_frame.is_colored(k % 16)
-
- if is_colored:
- ensemble = Tool.set_pixel_color(ensemble, k, r, g, b)
+ raise ValueError("The parameter state must be a floating point number between 0 and 1!")
- ensembles.append(ensemble)
+ color = (1 - state) * np.array(start_color.export_color()) + state * np.array(end_color.export_color())
+ color = color.tolist()
- return Animation(ensembles, ensemble_time, 1)
+ return RGB(int(color[0]), int(color[1]), int(color[2]))
@staticmethod
def build_state_cycle(state_vector):
ensemble = Tool.create_empty_ensemble()
pixel = 0
for state in state_vector:
- color = Tool.state_to_color(state, [0, 50, 0], [50, 0, 0])
+ color = Tool.state_to_color(state, [0, 50, 0], [50, 0, 0])
ensemble = Tool.set_pixel_color(ensemble, pixel, color[0], color[1], color[2])
pixel = pixel + 1
@@ -219,7 +161,7 @@ class Tool:
ensembles.append(Tool.create_empty_ensemble())
- return Animation(ensembles, 500, 1)
+ return Animation(ensembles, 1000, 1)
@staticmethod
def write(text):
diff --git a/src/visualising/monitoring/watchdog.py b/src/visualising/monitoring/watchdog.py
index 0b9428d..2c1eb8c 100755
--- a/src/visualising/monitoring/watchdog.py
+++ b/src/visualising/monitoring/watchdog.py
@@ -59,6 +59,7 @@ class Watchdog:
def update_condition(self, event):
self.aggregate_metrics()
self.aggregate_domains()
+ rospy.logwarn(self.aggregated_domains)
# TODO: Add more modes!
def aggregate_metrics(self):
diff --git a/src/visualising/visualiser.py b/src/visualising/visualiser.py
index fcffc42..f1db8e6 100644
--- a/src/visualising/visualiser.py
+++ b/src/visualising/visualiser.py
@@ -3,7 +3,7 @@
import rospy
from visualising.monitoring.watchdog import Watchdog
-from visualising.expression.expression import Emotion
+from visualising.expression.emotion import Emotion
from visualising.communication.arduino import Arduino
from visualising.communication.channel.connection import Connection
@@ -14,11 +14,11 @@ class Visualiser:
baud = rospy.get_param("/visualiser/arduino_baud")
freq = rospy.get_param("/visualiser/vis_freq")
- self.arduino = Arduino(Connection(port, baud))
+ arduino = Arduino(Connection(port, baud))
self.watchdog = Watchdog()
if rospy.get_param("/visualiser/visualisation_strategy") == 1:
- self.expression = Emotion(self.arduino)
+ self.expression = Emotion(arduino)
else:
self.expression = None
--
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