>): Array {
- if (points.length <= 1)
- return points.slice();
-
- // Andrew's monotone chain algorithm. Positive y coordinates correspond to "up"
- // as per the mathematical convention, instead of "down" as per the computer
- // graphics convention. This doesn't affect the correctness of the result.
-
- let upperHull: Array
= [];
- for (let i = 0; i < points.length; i++) {
- const p: P = points[i];
- while (upperHull.length >= 2) {
- const q: P = upperHull[upperHull.length - 1];
- const r: P = upperHull[upperHull.length - 2];
- if ((q.x - r.x) * (p.y - r.y) >= (q.y - r.y) * (p.x - r.x))
- upperHull.pop();
- else
- break;
- }
- upperHull.push(p);
- }
- upperHull.pop();
-
- let lowerHull: Array
= [];
- for (let i = points.length - 1; i >= 0; i--) {
- const p: P = points[i];
- while (lowerHull.length >= 2) {
- const q: P = lowerHull[lowerHull.length - 1];
- const r: P = lowerHull[lowerHull.length - 2];
- if ((q.x - r.x) * (p.y - r.y) >= (q.y - r.y) * (p.x - r.x))
- lowerHull.pop();
- else
- break;
- }
- lowerHull.push(p);
- }
- lowerHull.pop();
-
- if (upperHull.length == 1 && lowerHull.length == 1 && upperHull[0].x == lowerHull[0].x && upperHull[0].y == lowerHull[0].y)
- return upperHull;
- else
- return upperHull.concat(lowerHull);
- }
-
-
- export function POINT_COMPARATOR(a: Point, b: Point): number {
- if (a.x < b.x)
- return -1;
- else if (a.x > b.x)
- return +1;
- else if (a.y < b.y)
- return -1;
- else if (a.y > b.y)
- return +1;
- else
- return 0;
- }
-
-}
-
-export { convexhull }
-export { Point }
diff --git a/src/hAPI/hapi-utils.ts b/src/hAPI/hapi-utils.ts
deleted file mode 100644
index c5216f95..00000000
--- a/src/hAPI/hapi-utils.ts
+++ /dev/null
@@ -1,417 +0,0 @@
-import { canvasCircle } from "../types/canvas-circle";
-import { canvasRectangle } from "../types/canvas-rectangle";
-import { ImageRendering } from "../types/response.schema";
-import { Vector } from "../types/vector";
-
-import * as infoUtils from '../info/info-utils';
-import * as worker from './worker';
-
-
-import browser from "webextension-polyfill";
-import { BreakKey } from "./worker";
-import { getAllStorageSyncData } from "../utils";
-
-// canvas dimensions for haptic rendering
-const canvasWidth = 800;
-const canvasHeight = 500;
-
-const pixelsPerMeter = 6000;
-
-/**
- * Updates the canvas at each timeframe.
- * @param posEE The 2DIY workspace position.
- * @param endEffector Virtual avatar position.
- * @param deviceOrigin Starting coordinates of the 2DIY.
- * @param border Canvas border.
- * @param drawingInfo Info for segment/object to draw.
- * @param segments List of segments to draw.
- * @param objects List of objects to draw.
- * @param ctx Canvas context.
- */
-function updateAnimation(posEE: Vector,
- endEffector: canvasCircle,
- deviceOrigin: Vector,
- border: canvasRectangle,
- drawingInfo: { haplyType: worker.Type, segIndex: number, subSegIndex: number },
- segments: worker.SubSegment[][], objects: worker.SubSegment[][],
- ctx: CanvasRenderingContext2D) {
-
- // drawing bounding boxes and centroids
- drawBoundaries(drawingInfo, segments, objects, ctx);
- border.draw();
-
- //scaling end effector position to canvas
- let xE = pixelsPerMeter * (-posEE.x + 0.014);
- let yE = pixelsPerMeter * ((posEE.y / 0.805) - 0.0311);
-
- // set position of virtual avatar in canvas
- endEffector.x = deviceOrigin.x + xE - 100;
- endEffector.y = deviceOrigin.y + yE - 167;
- endEffector.draw();
-}
-
-/**
- * Draw segment/object boundaries.
- * @param drawingInfo Info for segment/object to draw.
- * @param segments List of segments to draw.
- * @param objects List of objects to draw.
- * @param ctx
- */
-function drawBoundaries(drawingInfo: { haplyType: worker.Type, segIndex: number, subSegIndex: number },
- segments: worker.SubSegment[][], objects: worker.SubSegment[][],
- ctx: CanvasRenderingContext2D) {
- if (drawingInfo != undefined) {
-
- // subsegment and segment index
- const [i, j] = [drawingInfo['segIndex'], drawingInfo['subSegIndex']];
- ctx.lineWidth = 4;
-
- // segments
- if (drawingInfo['haplyType'] == 0) {
- ctx.strokeStyle = "blue";
- if (segments[i][j] != undefined) {
- segments[i][j].coordinates.forEach(coord => {
- const pX = coord.x;
- const pY = coord.y;
- let [pointX, pointY] = imgToWorldFrame(pX, pY);
- ctx.strokeRect(pointX, pointY, 1, 1);
- })
- }
- }
-
- // objects
- else if (drawingInfo['haplyType'] == 1) {
- ctx.strokeStyle = "orange";
- if (objects[i][j] != undefined) {
- objects[i][j].coordinates.forEach(coord => {
- const pX = coord.x;
- const pY = coord.y;
- let [pointX, pointY] = imgToWorldFrame(pX, pY);
-
- // bigger size for single point objects
- const size = objects[i][j].coordinates.length == 1 ? 20 : 1
- ctx.strokeRect(pointX, pointY, size, size);
- })
- }
- }
- }
-
-}
-
-/**
- * Converts 2DIY coordinates to Canvas frame of reference coords.
- * @param x1 x position in the normalized 0 -> 1 coordinate system
- * @param y1 y position in the normalized 0 -> 1 coordinate system
- * @returns Tuple containing the [x, y] position for the canvas
- */
-function imgToWorldFrame(x1: number, y1: number): [number, number] {
- const x = x1 * canvasWidth;
- const y = y1 * canvasHeight;
- return [x, y]
-}
-
-/**
- * Returns a HTML canvas of specified properties.
- * @param contentDiv container for canvas.
- * @returns Canvas with context.
- */
- function createCanvas(contentDiv: HTMLElement, width: number, height: number) {
- const canvas: HTMLCanvasElement = document.createElement('canvas');
- canvas.id = "main";
- canvas.width = width;
- canvas.height = height;
- canvas.style.zIndex = "8";
- canvas.style.position = "relative";
- canvas.style.border = "1px solid";
- contentDiv.append(document.createElement("br"));
- contentDiv.append(canvas);
-
- return canvas;
-}
-
-export async function processHapticsRendering(rendering: ImageRendering, graphic_url: string, container: HTMLElement, contentId : string){
- let endEffector: canvasCircle;
- let border: canvasRectangle;
- // end effector x/y coordinates
- let posEE: Vector;
- let deviceOrigin: Vector;
-
- // virtual end effector avatar offset
- let firstCall: boolean = true;
-
- const data = rendering["data"]["info"] as any;
-
- const audioCtx = new window.AudioContext();
-
- const audioBuffer = await fetch(data["audioFile"] as string).then(resp => {
-
- return resp.arrayBuffer();
- }).then(buffer => {
- return audioCtx.decodeAudioData(buffer);
- }).catch(e => { console.error(e); throw e; });
-
-
- let div = document.createElement("div");
- div.classList.add("row");
- container.append(div);
- let contentDiv = document.createElement("div");
- contentDiv.classList.add("collapse");
- contentDiv.classList.add("rendering-content");
-
- contentDiv.id = contentId;
- div.append(contentDiv);
-
- // adding buttons
- let btn = infoUtils.createButton(contentDiv, "btn", "Connect to Haply");
- let btnStart = infoUtils.createButton(contentDiv, "btnStart", "Start");
- let btnEscape = infoUtils.createButton(contentDiv, "btnEscape", "Stop");
- let btnNext = infoUtils.createButton(contentDiv, "btnNext", "Next");
- let btnPrev = infoUtils.createButton(contentDiv, "btnPrev", "Previous");
-
- // creating canvas
- const canvas = createCanvas(contentDiv, canvasWidth, canvasHeight);
-
- if (rendering["metadata"] && rendering["metadata"]["homepage"]) {
- infoUtils.addRenderingExplanation(contentDiv, rendering["metadata"]["homepage"])
- }
- const res = canvas.getContext('2d');
- if (!res || !(res instanceof CanvasRenderingContext2D)) {
- throw new Error('Failed to get 2D context');
- }
- const ctx: CanvasRenderingContext2D = res;
-
- const img = new Image();
- img.src = graphic_url;
-
- // world resolution properties
- const worldPixelWidth = 800;
-
- posEE = {
- x: 0,
- y: 0
- };
-
- // initial position of end effector avatar
- deviceOrigin = {
- x: worldPixelWidth / 2,
- y: 0
- };
-
- border = {
- draw: function () {
- ctx.strokeRect(0, 0, canvas.width, canvas.height);
- }
- };
-
- // draw end effector
- endEffector = {
- x: canvas.width / 2,
- y: 0,
- vx: 5,
- vy: 2,
- radius: 8,
- color: 'brown',
- draw: function () {
- ctx.beginPath();
- ctx.arc(this.x, this.y, this.radius, 0, Math.PI * 2, true);
- ctx.closePath();
- ctx.fillStyle = this.color;
- ctx.fill();
- }
- };
-
- function draw() {
- ctx.clearRect(0, 0, canvas.width, canvas.height);
- ctx.drawImage(img, 0, 0, canvas.width, canvas.height);
- updateAnimation(posEE, endEffector, deviceOrigin, border, drawingInfo, segments, objects, ctx);
- window.requestAnimationFrame(draw);
- }
-
- // define segments and objects
- let segments: worker.SubSegment[][];
- let objects: worker.SubSegment[][];
- let drawingInfo: { haplyType: worker.Type, segIndex: number, subSegIndex: number };
- // when haply needs to move to a next segment
- let waitForInput: boolean = false;
- // when user presses a key to break out of the current haply segment
- let breakKey: null | BreakKey;
-
- // Audio Modes
- const enum AudioMode {
- Play,
- Finished,
- Idle,
- }
-
- // Keep track of the mode and entity index so we know which file to play
- let audioData: { entityIndex: number, mode: null | AudioMode } = {
- entityIndex: 0,
- mode: null
- };
-
- // time to wait before audio segment is considered finished
- let tAudioBegin: number;
- // true when playing an audio segment
- let playingAudio = false;
-
- const worker = new Worker(browser.runtime.getURL("./hAPI/worker.js"), { type: "module"});
-
- // Play an audio segment with a given offset and duration.
- let sourceNode: AudioBufferSourceNode;
- function playAudioSeg(audioBuffer: any, offset: number, duration: number) {
- sourceNode = audioCtx.createBufferSource();
- sourceNode.buffer = audioBuffer;
- sourceNode.connect(audioCtx.destination);
- sourceNode.start(0, offset, duration);
- }
-
- // Start
- btnStart.addEventListener("click", async _ => {
- let items = await getAllStorageSyncData();
- worker.postMessage({
- start: true,
- haply2diy2gen: items["haply2diy2gen"]
- });
- })
-
- // Stop
- btnEscape.addEventListener("click", _ => {
- sourceNode.stop();
- breakKey = BreakKey.Escape;
- worker.postMessage({
- waitForInput: waitForInput,
- breakKey: breakKey,
- tKeyPressTime: Date.now()
- });
- })
-
- // Next
- btnNext.addEventListener("click", _ => {
- if (audioData.mode == AudioMode.Play) {
- stopAudioNode();
- breakKey = BreakKey.NextFromAudio;
- }
- else {
- breakKey = BreakKey.NextHaptic;
- }
- worker.postMessage({
- waitForInput: waitForInput,
- breakKey: breakKey,
- tKeyPressTime: Date.now()
- });
-
- });
-
- // Prev
- btnPrev.addEventListener("click", _ => {
- if (audioData.mode == AudioMode.Play) {
- stopAudioNode();
- breakKey = BreakKey.PreviousFromAudio;
- }
- else {
- breakKey = BreakKey.PreviousHaptic;
- }
- worker.postMessage({
- waitForInput: waitForInput,
- breakKey: breakKey,
- tKeyPressTime: Date.now()
- });
- });
-
- // event listener for serial comm button
- btn.addEventListener("click", async _ => {
- // const worker = new Worker(browser.runtime.getURL("./info/worker.js"), { type: "module" });
-
- // only show the Arduino Zero
- const filters = [
- { usbVendorId: 0x2341, usbProductId: 0x804D }
- ];
-
- let hapticPort = await navigator.serial.requestPort({filters});
-
- // send all the rendering info
- worker.postMessage({
- renderingData: data
- });
-
-
- worker.addEventListener("message", function (msg) {
- // we've selected the COM port
- btn.style.visibility = 'hidden';
-
- const msgdata = msg.data;
-
- // return end-effector x/y positions and objectData for updating the canvas
-
- posEE.x = msgdata.positions.x;
- posEE.y = msgdata.positions.y;
-
- waitForInput = msgdata.waitForInput;
-
- // grab segment data if available
- if (msgdata.segmentData != undefined)
- segments = msgdata.segmentData;
-
- // grab object data if available
- if (msgdata.objectData != undefined)
- objects = msgdata.objectData;
-
- // grab drawing info if available
- if (msgdata.drawingInfo != undefined)
- drawingInfo = msgdata.drawingInfo;
-
- // only request to run draw() once
- if (firstCall) {
- if (msgdata.segmentData != undefined ||
- msgdata.objectData != undefined) {
- window.requestAnimationFrame(draw);
- firstCall = false;
- }
- }
-
- // see if the worker wants us to play any audio
- if (msgdata.audioInfo != undefined && msgdata.audioInfo.sendAudioSignal) {
- audioData.entityIndex = msgdata.audioInfo.entityIndex;
- audioData.mode = AudioMode.Play;
- worker.postMessage({
- receivedAudioSignal: true
- })
- }
-
- switch (audioData.mode) {
- case AudioMode.Play: {
- // prevent audio from playing multiple times
- if (!playingAudio) {
- playingAudio = true;
- playAudioSeg(audioBuffer,
- data["entities"][audioData.entityIndex]["offset"],
- data["entities"][audioData.entityIndex]["duration"]);
- tAudioBegin = Date.now();
- }
-
- // wait for the audio segment to finish
- if (Date.now() - tAudioBegin > 1000 * (0.5 + data["entities"][audioData.entityIndex]["duration"])) {
- audioData.mode = AudioMode.Finished;
- }
- break;
- }
- // we've finished playing the audio segment
- case AudioMode.Finished: {
- playingAudio = false;
- worker.postMessage({
- doneWithAudio: true
- });
- audioData.mode = AudioMode.Idle;
- }
- case AudioMode.Idle:
- break;
- }
- });
- });
-
- // Stop the current audio segment from progressing.
- function stopAudioNode() {
- sourceNode.stop();
- audioData.mode = AudioMode.Finished;
- }
-}
diff --git a/src/hAPI/images/browser_arch.png b/src/hAPI/images/browser_arch.png
deleted file mode 100644
index 7ea67ac7..00000000
Binary files a/src/hAPI/images/browser_arch.png and /dev/null differ
diff --git a/src/hAPI/images/haptics_state_machine.png b/src/hAPI/images/haptics_state_machine.png
deleted file mode 100644
index c489d434..00000000
Binary files a/src/hAPI/images/haptics_state_machine.png and /dev/null differ
diff --git a/src/hAPI/images/object_segments.png b/src/hAPI/images/object_segments.png
deleted file mode 100644
index 6db35680..00000000
Binary files a/src/hAPI/images/object_segments.png and /dev/null differ
diff --git a/src/hAPI/libraries/Actuator.ts b/src/hAPI/libraries/Actuator.ts
deleted file mode 100644
index 0d83bada..00000000
--- a/src/hAPI/libraries/Actuator.ts
+++ /dev/null
@@ -1,58 +0,0 @@
-/*
- * Copyright (c) 2021 IMAGE Project, Shared Reality Lab, McGill University
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as
- * published by the Free Software Foundation, either version 3 of the
- * License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- * You should have received a copy of the GNU General Public License
- * and our Additional Terms along with this program.
- * If not, see .
- *
- * This is based on the hAPI library by Haply Robotics .
- */
-class Actuator {
-
- actuator: number;
- direction: number;
- actuatorPort: number;
- torque: number = 0;
-
- constructor(actuator?: number, direction?: number, port?: number) {
- this.actuator = actuator || 0;
- this.direction = direction || 0;
- this.actuatorPort = port || 0;
- }
-
- set_actuator(actuator: number) {
- this.actuator = actuator;
- }
- set_direction(direction: number) {
- this.direction = direction;
- }
- set_port(port: number) {
- this.actuatorPort = port;
- }
- set_torque(torque: number) {
- this.torque = torque;
- }
- get_actuator() {
- return this.actuator;
- }
- get_direction() {
- return this.direction;
- }
- get_port() {
- return this.actuatorPort;
- }
- get_torque() {
- return this.torque;
- }
-}
-
-export { Actuator }
diff --git a/src/hAPI/libraries/Board.ts b/src/hAPI/libraries/Board.ts
deleted file mode 100644
index f9580ed0..00000000
--- a/src/hAPI/libraries/Board.ts
+++ /dev/null
@@ -1,176 +0,0 @@
-/*
- * Copyright (c) 2021 IMAGE Project, Shared Reality Lab, McGill University
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as
- * published by the Free Software Foundation, either version 3 of the
- * License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- * You should have received a copy of the GNU General Public License
- * and our Additional Terms along with this program.
- * If not, see .
- *
- * This is based on the hAPI library by Haply Robotics .
- */
-class Board {
- port: any;
- reader: any;
- writer: any;
- encoder: any;
- decoder: any;
-
- // prev_data;
-
- constructor() {
- this.encoder = new TextEncoder();
- this.decoder = new TextDecoder("utf-8");
- }
- async init() {
- if ('serial' in navigator as any) {
- try {
- this.port = (await navigator.serial.getPorts())[0];
- await this.port.open({ baudRate: 57600 }); // `baudRate` was `baudrate` in previous versions.
-
- this.writer = this.port.writable.getWriter();
- this.reader = this.port.readable.getReader();
-
- const signals = await this.port.getSignals();
- console.log(signals);
- } catch (err) {
- console.error('There was an error opening the serial port:', err);
- }
- } else {
- console.error('Web serial doesn\'t seem to be enabled in your browser. Try enabling it by visiting:')
- console.error('chrome://flags/#enable-experimental-web-platform-features');
- console.error('opera://flags/#enable-experimental-web-platform-features');
- console.error('edge://flags/#enable-experimental-web-platform-features');
- }
- }
-
- async transmit(communicationType: number, deviceID: number, bData: Uint8Array, fData: Float32Array) {
- //bData length is 8, fData length is 4
- let outData: Uint8Array = new Uint8Array(2 + bData.length + 4 * fData.length);
- let segments: Uint8Array = new Uint8Array(4);
-
- outData[0] = communicationType;
- outData[1] = deviceID;
-
- this.arraycopy(bData, 0, outData, 2, bData.length);
-
- let j = 2 + bData.length;
- for (let i = 0; i < fData.length; i++) {
- segments = this.FloatToBytes(fData[i]);
- this.arraycopy(segments, 0, outData, j, 4);
- j = j + 4;
- }
-
- this.writer.write(outData);
- return;
- }
-
- async receive(communicationType: number, deviceID: number, expected: number) {
-
- let segments = new Uint8Array(4);
-
- let inData = new Uint8Array(1 + 4 * expected);
- let data: Float32Array = new Float32Array(expected);
-
- try {
- const readerData = await this.reader.read();
- inData = readerData.value;
-
- if (inData[0] != deviceID) {
- return data;
- }
- else if (inData.length != 9) {
- return data;
- }
-
- let j = 1;
-
- for (var i = 0; i < expected; i++) {
- this.arraycopy(inData, j, segments, 0, 4);
- data[i] = this.BytesToFloat(segments);
- j = j + 4;
- }
-
- return data;
-
- } catch (err) {
- const errorMessage = `error reading data: ${err}`;
- console.error(errorMessage);
- return data;
- }
- }
-
- data_available() {
- let available = false;
-
- if (this.port.readable) {
- available = true;
- }
- return available;
- }
-
- reset_board() {
- let communicationType = 0;
- let deviceID = 0;
- let bData = new Uint8Array(0);
- let fData: Float32Array = new Float32Array(0);
- this.transmit(communicationType, deviceID, bData, fData);
- }
-
- FloatToBytes(val: number) {
- let segments: Uint8Array = new Uint8Array(4);
- let temp = this.floatToRawIntBits(val);
- segments[3] = ((temp >> 24) & 0xff);
- segments[2] = ((temp >> 16) & 0xff);
- segments[1] = ((temp >> 8) & 0xff);
- segments[0] = ((temp) & 0xff);
- return segments;
- }
-
-
- BytesToFloat(segment: Uint8Array) {
-
- let temp = 0;
-
- temp = (temp | (segment[3] & 0xff)) << 8;
- temp = (temp | (segment[2] & 0xff)) << 8;
- temp = (temp | (segment[1] & 0xff)) << 8;
- temp = (temp | (segment[0] & 0xff));
-
- let val = this.intBitsToFloat(temp);
-
- return val;
- }
-
- floatToRawIntBits(f: number) {
- var buf = new ArrayBuffer(4);
- (new Float32Array(buf))[0] = f;
- return (new Uint32Array(buf))[0];
- }
-
- //JS version of intBitsToFloat
- intBitsToFloat(f: number) {
- var int8 = new Int8Array(4);
- var int32 = new Int32Array(int8.buffer, 0, 1);
- int32[0] = f;
- var float32 = new Float32Array(int8.buffer, 0, 1);
- return float32[0];
- }
-
- arraycopy(src: Uint8Array, srcPos: number, dst: Uint8Array, dstPos: number, length: number) {
- while (length--) dst[dstPos++] = src[srcPos++]; return dst;
- }
- serverConnected() {
- console.log("Connected to server");
- }
-
-}
-
-export { Board }
diff --git a/src/hAPI/libraries/Device.ts b/src/hAPI/libraries/Device.ts
deleted file mode 100644
index 24c4b295..00000000
--- a/src/hAPI/libraries/Device.ts
+++ /dev/null
@@ -1,487 +0,0 @@
-/*
- * Copyright (c) 2021 IMAGE Project, Shared Reality Lab, McGill University
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as
- * published by the Free Software Foundation, either version 3 of the
- * License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- * You should have received a copy of the GNU General Public License
- * and our Additional Terms along with this program.
- * If not, see .
- *
- * This is based on the hAPI library by Haply Robotics .
- */
-import { Pwm } from "./Pwm";
-import { Actuator } from "./Actuator";
-import { Sensor } from "./Sensor";
-import { Board } from "./Board";
-import { Pantograph } from "./Pantograph";
-
-class Device {
-
- deviceLink: Board;
-
- deviceID: number;
- mechanism: any;
-
- communicationType: number | undefined;
-
- actuatorsActive = 0;
- motors: Array = [];
-
- encodersActive = 0;
- encoders: Array = [];
-
- sensorsActive: number = 0;
- sensors: Array = [];
-
- pwmsActive: number = 0;
- pwms: Array = [];
-
- actuatorPositions: Array = [0, 0, 0, 0];
- encoderPositions: Array = [0, 0, 0, 0];
-
- constructor(deviceID: number, deviceLink: Board) {
- this.deviceID = deviceID;
- this.deviceLink = deviceLink;
-
- }
-
- add_actuator(actuator: number, rotation: number, port: number) {
- let error = false;
-
- if (port < 1 || port > 4) {
- console.log("error: encoder port index out of bounds");
- error = true;
- }
-
- if (actuator < 1 || actuator > 4) {
- console.log("error: encoder index out of bound!");
- error = true;
- }
-
- let j = 0;
- for (let i = 0; i < this.actuatorsActive; i++) {
- if (this.motors[i].get_actuator() < actuator) {
- j++;
- }
-
- if (this.motors[i].get_actuator() == actuator) {
- console.log("error: actuator " + actuator + " has already been set");
- error = true;
- }
- }
-
- if (!error) {
-
- let temp = [];
- for (var i = 0; i < this.actuatorsActive + 1; i++) {
- temp[i] = this.motors[i];
- }
-
- temp[this.actuatorsActive] = new Actuator(actuator, rotation, port);
- this.actuator_assignment(actuator, port);
-
- this.motors = temp;
- this.actuatorsActive++;
- }
- }
-
- add_encoder(encoder: number, rotation: number, offset: number, resolution: number, port: number) {
- let error = false;
-
- if (port < 1 || port > 4) {
- console.log("error: encoder port index out of bounds");
- error = true;
- }
-
- if (encoder < 1 || encoder > 4) {
- console.log("error: encoder index out of bound!");
- error = true;
- }
-
- // determine index for copying
- let j = 0;
- for (let i = 0; i < this.encodersActive; i++) {
- if (this.encoders[i].get_encoder() < encoder) {
- j++;
- }
-
- if (this.encoders[i].get_encoder() == encoder) {
- console.log("error: encoder " + encoder + " has already been set");
- error = true;
- }
- }
-
- if (!error) {
-
- let temp = [];
- for (var i = 0; i < this.encodersActive + 1; i++) {
- temp[i] = this.encoders[i];
- }
-
- temp[this.encodersActive] = new Sensor(encoder, rotation, offset, resolution, port);
- this.encoder_assignment(encoder, port);
-
- this.encoders = temp;
- this.encodersActive++;
- }
- }
-
- add_analog_sensor(pin: string) {
- // set sensor to be size zero
- let error = false;
-
- let port = pin.charAt(0);
- let number = pin.substring(1);
-
- let value = parseInt(number);
- value = value + 54;
-
- for (let i = 0; i < this.sensorsActive; i++) {
- if (value == this.sensors[i].get_port()) {
- console.log("error: Analog pin: A" + (value - 54) + " has already been set");
- error = true;
- }
- }
-
- if (port != 'A' || value < 54 || value > 65) {
- console.log("error: outside analog pin range");
- error = true;
- }
-
- if (!error) {
- let temp = this.sensors;
- temp[this.sensorsActive] = new Sensor();
- temp[this.sensorsActive].set_port(value);
- this.sensors = temp;
- this.sensorsActive++;
- }
- }
-
- add_pwm_pin(pin: number) {
-
- let error = false;
-
- for (let i = 0; i < this.pwmsActive; i++) {
- if (pin == this.pwms[i].get_pin()) {
- console.log("error: pwm pin: " + pin + " has already been set");
- error = true;
- }
- }
-
- if (pin < 0 || pin > 13) {
- console.log("error: outside pwn pin range");
- error = true;
- }
-
- if (pin == 0 || pin == 1) {
- console.log("warning: 0 and 1 are not pwm pins on Haply M3 or Haply original");
- }
-
-
- if (!error) {
- const temp = this.pwms;
- temp[this.pwmsActive] = new Pwm();
- temp[this.pwmsActive].set_pin(pin);
- this.pwms = temp;
- this.pwmsActive++;
- }
- }
-
- set_mechanism(mechanism: any) {
- this.mechanism = mechanism;
- }
-
- device_set_parameters() {
-
- this.communicationType = 1;
-
- let control;
-
- let encoderParameters = new Float32Array();
-
- let encoderParams: Uint8Array;
- let motorParams: Uint8Array = new Uint8Array();
- let sensorParams: Uint8Array;
- let pwmParams: Uint8Array;
-
- if (this.encodersActive > 0) {
- encoderParams = new Uint8Array(this.encodersActive + 1);
- control = 0;
-
- for (let i = 0; i < this.encoders.length; i++) {
- if (this.encoders[i].get_encoder() != (i + 1)) {
- console.log("warning, improper encoder indexing");
- this.encoders[i].set_encoder(i + 1);
- this.encoderPositions[this.encoders[i].get_port() - 1] = this.encoders[i].get_encoder();
- }
- }
-
- for (let i = 0; i < this.encoderPositions.length; i++) {
- control = control >> 1;
-
- if (this.encoderPositions[i] > 0) {
- control = control | 0x0008;
- }
- }
-
- encoderParams[0] = control;
-
- encoderParameters = new Float32Array(2 * this.encodersActive);
-
- let j = 0;
- for (let i = 0; i < this.encoderPositions.length; i++) {
- if (this.encoderPositions[i] > 0) {
- encoderParameters[2 * j] = this.encoders[this.encoderPositions[i] - 1].get_offset();
- encoderParameters[2 * j + 1] = this.encoders[this.encoderPositions[i] - 1].get_resolution();
- j++;
- encoderParams[j] = this.encoders[this.encoderPositions[i] - 1].get_direction();
- }
- }
- }
- else {
- encoderParams = new Uint8Array(1);
- encoderParams[0] = 0;
- encoderParameters = new Float32Array(0);
- }
-
-
- if (this.actuatorsActive > 0) {
- motorParams = new Uint8Array(this.actuatorsActive + 1);
- control = 0;
-
- for (let i = 0; i < this.motors.length; i++) {
- if (this.motors[i].get_actuator() != (i + 1)) {
- console.log("warning, improper actuator indexing");
- this.motors[i].set_actuator(i + 1);
- this.actuatorPositions[this.motors[i].get_port() - 1] = this.motors[i].get_actuator();
- }
- }
-
- for (let i = 0; i < this.actuatorPositions.length; i++) {
- control = control >> 1;
-
- if (this.actuatorPositions[i] > 0) {
- control = control | 0x0008;
- }
- }
-
- motorParams[0] = control;
-
- let j = 1;
- for (let i = 0; i < this.actuatorPositions.length; i++) {
- if (this.actuatorPositions[i] > 0) {
- motorParams[j] = this.motors[this.actuatorPositions[i] - 1].get_direction();
- j++;
- }
- }
- } else {
- const motorParams = new Uint8Array(1);
- motorParams[0] = 0;
- }
-
- if (this.sensorsActive > 0) {
- sensorParams = new Uint8Array(this.sensorsActive + 1);
- sensorParams[0] = this.sensorsActive;
-
- for (let i = 0; i < this.sensorsActive; i++) {
- sensorParams[i + 1] = this.sensors[i].get_port();
- }
-
- sensorParams = sensorParams.sort();
-
- for (let i = 0; i < this.sensorsActive; i++) {
- this.sensors[i].set_port(sensorParams[i + 1]);
- }
-
- } else {
- sensorParams = new Uint8Array(1);
- sensorParams[0] = 0;
- }
-
- if (this.pwmsActive > 0) {
- let temp = new Uint8Array(this.pwmsActive);
-
- pwmParams = new Uint8Array(this.pwmsActive + 1);
- pwmParams[0] = this.pwmsActive;
-
-
- for (let i = 0; i < this.pwmsActive; i++) {
- temp[i] = this.pwms[i].get_pin();
- }
-
- temp = temp.sort();
-
- for (let i = 0; i < this.pwmsActive; i++) {
- this.pwms[i].set_pin(temp[i]);
- pwmParams[i + 1] = this.pwms[i].get_pin();
- }
-
- } else {
- pwmParams = new Uint8Array(1);//byte[1];
- pwmParams[0] = 0;
- }
-
- const encMtrSenPwm = new Uint8Array(motorParams.length + encoderParams.length + sensorParams.length + pwmParams.length);
- this.arraycopy(motorParams, 0, encMtrSenPwm, 0, motorParams.length);
- this.arraycopy(encoderParams, 0, encMtrSenPwm, motorParams.length, encoderParams.length);
- this.arraycopy(sensorParams, 0, encMtrSenPwm, motorParams.length + encoderParams.length, sensorParams.length);
- this.arraycopy(pwmParams, 0, encMtrSenPwm, motorParams.length + encoderParams.length + sensorParams.length, pwmParams.length);
- this.deviceLink.transmit(this.communicationType, this.deviceID, encMtrSenPwm, encoderParameters);
- }
-
- actuator_assignment(actuator: number, port: number) {
- if (this.actuatorPositions[port - 1] > 0) {
- console.log("warning, double check actuator port usage");
- }
-
- this.actuatorPositions[port - 1] = actuator;
- }
-
-
- arraycopy(src: Uint8Array, srcPos: number, dst: Uint8Array, dstPos: number, length: number) {
- while (length--) dst[dstPos++] = src[srcPos++]; return dst;
- }
-
- /**
- * assigns encoder positions based on actuator port
- */
- encoder_assignment(encoder: number, port: number) {
- if (this.encoderPositions[port - 1] > 0) {
- console.log("warning, double check encoder port usage");
- }
-
- this.encoderPositions[port - 1] = encoder;
- }
-
- async device_read_data() {
- let communicationType = 2;
- let dataCount = 0;
-
- const device_data = await this.deviceLink.receive(communicationType, this.deviceID, this.sensorsActive + this.encodersActive);
-
- //do not process garbled data from the serial comms
- if (device_data[0] == 0 && device_data[1] == 0)
- return;
-
- for (let i = 0; i < this.sensorsActive; i++) {
- this.sensors[i].set_value(device_data[dataCount]);
- dataCount++;
- }
-
- for (let i = 0; i < this.encoderPositions.length; i++) {
- if (this.encoderPositions[i] > 0) {
- this.encoders[this.encoderPositions[i] - 1].set_value(device_data[dataCount]);
- dataCount++;
- }
- }
- }
-
- device_read_request() {
- let communicationType = 2;
- const pulses = new Uint8Array(this.pwmsActive);
- const encoderRequest = new Float32Array(this.actuatorsActive);
-
- for (let i = 0; i < this.pwms.length; i++) {
- pulses[i] = this.pwms[i].get_value();
- }
-
- let j = 0;
- for (let i = 0; i < this.actuatorPositions.length; i++) {
- if (this.actuatorPositions[i] > 0) {
- encoderRequest[j] = 0;
- j++;
- }
- }
-
- this.deviceLink.transmit(communicationType, this.deviceID, pulses, encoderRequest);
- }
-
- device_write_torques() {
- let communicationType = 2;
- const pulses = new Uint8Array(this.pwmsActive);
- const deviceTorques = new Float32Array(this.actuatorsActive);
-
- for (let i = 0; i < this.pwms.length; i++) {
- pulses[i] = this.pwms[i].get_value();
- }
-
- let j = 0;
- for (let i = 0; i < this.actuatorPositions.length; i++) {
- if (this.actuatorPositions[i] > 0) {
- deviceTorques[j] = this.motors[this.actuatorPositions[i] - 1].get_torque();
- j++;
- }
- }
-
- this.deviceLink.transmit(communicationType, this.deviceID, pulses, deviceTorques);
- }
-
- set_pwm_pulse(pin: number, pulse: number) {
-
- for (let i = 0; i < this.pwms.length; i++) {
- if (this.pwms[i].get_pin() == pin) {
- this.pwms[i].set_pulse(pulse);
- }
- }
- }
-
- get_pwm_pulse(pin: number) {
-
- let pulse = 0;
-
- for (let i = 0; i < this.pwms.length; i++) {
- if (this.pwms[i].get_pin() == pin) {
- pulse = this.pwms[i].get_pulse();
- }
- }
-
- return pulse;
- }
-
- get_device_angles() {
- const angles = new Float32Array(this.encodersActive);
-
- for (let i = 0; i < this.encodersActive; i++) {
- angles[i] = this.encoders[i].get_value();
- }
- return angles;
- }
-
- get_sensor_data() {
- const data = new Float32Array(this.sensorsActive);
-
- let j = 0;
- for (let i = 0; i < this.sensorsActive; i++) {
- data[i] = this.sensors[i].get_value();
- }
-
- return data;
- }
-
- get_device_position(angles: Float32Array) {
- this.mechanism.forwardKinematics(angles);
- var endEffectorPosition = this.mechanism.get_coordinate();
-
- return endEffectorPosition;
- }
-
- set_device_torques(forces: Float32Array) {
- this.mechanism.torqueCalculation(forces);
- var torques = this.mechanism.get_torque();
-
- for (let i = 0; i < this.actuatorsActive; i++) {
- this.motors[i].set_torque(torques[i]);
- }
-
- return torques;
- }
-}
-
-export { Device }
\ No newline at end of file
diff --git a/src/hAPI/libraries/Pantograph.ts b/src/hAPI/libraries/Pantograph.ts
deleted file mode 100644
index a035d65b..00000000
--- a/src/hAPI/libraries/Pantograph.ts
+++ /dev/null
@@ -1,192 +0,0 @@
-/*
- * Copyright (c) 2021 IMAGE Project, Shared Reality Lab, McGill University
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as
- * published by the Free Software Foundation, either version 3 of the
- * License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- * You should have received a copy of the GNU General Public License
- * and our Additional Terms along with this program.
- * If not, see .
- *
- * This is based on the hAPI library by Haply Robotics .
- */
-
-class Pantograph {
- l: number;
- L: number;
- d: number;
- th1: number;
- th2: number;
- tau1: number;
- tau2: number;
- f_x: number;
- f_y: number;
- x_E: number;
- y_E: number;
- pi: number;
- JT11: number;
- JT12: number;
- JT21: number;
- JT22: number;
- gain: number;
-
- constructor() {
- this.l = 0.07;
- this.L = 0.09;
- this.d = 0.00;
-
- this.th1 = 0;
- this.th2 = 0;
- this.tau1 = 0;
- this.tau2 = 0;
- this.f_x = 0;
- this.f_y = 0;
- this.x_E = 0;
- this.y_E = 0;
-
- this.pi = 3.14159265359;
- this.JT11 = 0;
- this.JT12 = 0;
- this.JT21 = 0;
- this.JT22 = 0;
- this.gain = 1.0;
- }
-
- torqueCalculation(force: Float32Array) {
- this.f_x = force[0];
- this.f_y = force[1];
-
- this.tau1 = this.JT11 * this.f_x + this.JT12 * this.f_y;
- this.tau2 = this.JT21 * this.f_x + this.JT22 * this.f_y;
-
- this.tau1 = this.tau1 * this.gain;
- this.tau2 = this.tau2 * this.gain;
- }
-
- forwardKinematics(angles: Float32Array) {
-
- let l1 = this.l;
- let l2 = this.l;
- let L1 = this.L;
- let L2 = this.L;
-
- this.th1 = (this.pi / 180) * angles[0];
- this.th2 = (this.pi / 180) * angles[1];
-
- // Forward Kinematics
- let c1 = Math.cos(this.th1);
- let c2 = Math.cos(this.th2);
- let s1 = Math.sin(this.th1);
- let s2 = Math.sin(this.th2);
-
- let xA = l1 * c1;
- let yA = l1 * s1;
- let xB = this.d + l2 * c2;
-
- let yB = l2 * s2;
- let hx = xB - xA;
- let hy = yB - yA;
-
- let hh2 = Math.pow(hx, 2) + Math.pow(hy, 2);
- let hh = (hx * hx) + (hy * hy);
-
- let hm = (Math.sqrt(hh));
-
- let cB;
- let h1x;
- let h1y;
-
- if (hm == 0) {
- cB = 0;
- h1x = 0;
- h1y = 0;
- } else {
- cB = -1 * (((Math.pow(L2, 2) - (Math.pow(L1, 2)) - hh)) / (2 * L1 * hm));
- h1x = L1 * cB * hx / hm;
- h1y = L1 * cB * hy / hm;
- }
-
-
- let h1h1 = Math.pow(h1x, 2) + Math.pow(h1y, 2);
- let h1m = Math.sqrt(h1h1);
- let sB = Math.sqrt(1 - Math.pow(cB, 2));
-
- let lx;
- let ly;
-
- if (h1m == 0) {
- lx = 0;
- ly = 0;
- } else {
- lx = -L1 * sB * h1y / h1m;
- ly = L1 * sB * h1x / h1m;
- }
-
- let x_P = xA + h1x + lx;
- let y_P = yA + h1y + ly;
-
- let phi1 = Math.acos((x_P - l1 * c1) / L1);
- let phi2 = Math.acos((x_P - this.d - l2 * c2) / L2);
-
- let c11 = Math.cos(phi1);
- let s11 = Math.sin(phi1);
- let c22 = Math.cos(phi2);
- let s22 = Math.sin(phi2);
-
- let dn = L1 * (c11 * s22 - c22 * s11);
-
- let eta;
- let nu;
-
- if (dn == 0) {
- eta = 0;
- nu = 0;
- } else {
- eta = (-L1 * c11 * s22 + L1 * c22 * s11 - c1 * l1 * s22 + c22 * l1 * s1) / dn;
- nu = l2 * (c2 * s22 - c22 * s2) / dn;
- }
-
- this.JT11 = -L1 * eta * s11 - L1 * s11 - l1 * s1;
- this.JT12 = L1 * c11 * eta + L1 * c11 + c1 * l1;
- this.JT21 = -L1 * s11 * nu;
- this.JT22 = L1 * c11 * nu;
-
- this.x_E = x_P;
- this.y_E = y_P;
-
- }
-
- set_mechanism_parameters(parameters: Float32Array) {
- this.l = parameters[0];
- this.L = parameters[1];
- this.d = parameters[2];
- }
-
-
- set_sensor_data(data: Float32Array) {
- }
-
- get_coordinate() {
- let temp = [this.x_E, this.y_E];
- return temp;
- }
-
-
- get_torque() {
- let temp = [this.tau1, this.tau2];
- return temp;
- }
-
- get_angle() {
- let temp = [this.th1, this.th2];
- return temp;
- }
-}
-
-export { Pantograph }
diff --git a/src/hAPI/libraries/PantographV3.ts b/src/hAPI/libraries/PantographV3.ts
deleted file mode 100644
index a5cc19e1..00000000
--- a/src/hAPI/libraries/PantographV3.ts
+++ /dev/null
@@ -1,192 +0,0 @@
-/*
- * Copyright (c) 2021 IMAGE Project, Shared Reality Lab, McGill University
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as
- * published by the Free Software Foundation, either version 3 of the
- * License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- * You should have received a copy of the GNU General Public License
- * and our Additional Terms along with this program.
- * If not, see .
- *
- * This is based on the hAPI library by Haply Robotics .
- */
-
-class PantographV3 {
- l: number;
- L: number;
- d: number;
- th1: number;
- th2: number;
- tau1: number;
- tau2: number;
- f_x: number;
- f_y: number;
- x_E: number;
- y_E: number;
- pi: number;
- JT11: number;
- JT12: number;
- JT21: number;
- JT22: number;
- gain: number;
-
- constructor() {
- this.l = 0.07;
- this.L = 0.09;
- this.d = 0.038;
-
- this.th1 = 0;
- this.th2 = 0;
- this.tau1 = 0;
- this.tau2 = 0;
- this.f_x = 0;
- this.f_y = 0;
- this.x_E = 0;
- this.y_E = 0;
-
- this.pi = 3.14159265359;
- this.JT11 = 0;
- this.JT12 = 0;
- this.JT21 = 0;
- this.JT22 = 0;
- this.gain = 1.0;
- }
-
- torqueCalculation(force: Float32Array) {
- this.f_x = force[0];
- this.f_y = force[1];
-
- this.tau1 = this.JT11 * this.f_x + this.JT12 * this.f_y;
- this.tau2 = this.JT21 * this.f_x + this.JT22 * this.f_y;
-
- this.tau1 = this.tau1 * this.gain;
- this.tau2 = this.tau2 * this.gain;
- }
-
- forwardKinematics(angles: Float32Array) {
-
- let l1 = this.l;
- let l2 = this.l;
- let L1 = this.L;
- let L2 = this.L;
-
- this.th1 = (this.pi / 180) * angles[0];
- this.th2 = (this.pi / 180) * angles[1];
-
- // Forward Kinematics
- let c1 = Math.cos(this.th1);
- let c2 = Math.cos(this.th2);
- let s1 = Math.sin(this.th1);
- let s2 = Math.sin(this.th2);
-
- let xA = l1 * c1;
- let yA = l1 * s1;
- let xB = this.d + l2 * c2;
-
- let yB = l2 * s2;
- let hx = xB - xA;
- let hy = yB - yA;
-
- let hh2 = Math.pow(hx, 2) + Math.pow(hy, 2);
- let hh = (hx * hx) + (hy * hy);
-
- let hm = (Math.sqrt(hh));
-
- let cB;
- let h1x;
- let h1y;
-
- if (hm == 0) {
- cB = 0;
- h1x = 0;
- h1y = 0;
- } else {
- cB = -1 * (((Math.pow(L2, 2) - (Math.pow(L1, 2)) - hh)) / (2 * L1 * hm));
- h1x = L1 * cB * hx / hm;
- h1y = L1 * cB * hy / hm;
- }
-
-
- let h1h1 = Math.pow(h1x, 2) + Math.pow(h1y, 2);
- let h1m = Math.sqrt(h1h1);
- let sB = Math.sqrt(1 - Math.pow(cB, 2));
-
- let lx;
- let ly;
-
- if (h1m == 0) {
- lx = 0;
- ly = 0;
- } else {
- lx = -L1 * sB * h1y / h1m;
- ly = L1 * sB * h1x / h1m;
- }
-
- let x_P = xA + h1x + lx;
- let y_P = yA + h1y + ly;
-
- let phi1 = Math.acos((x_P - l1 * c1) / L1);
- let phi2 = Math.acos((x_P - this.d - l2 * c2) / L2);
-
- let c11 = Math.cos(phi1);
- let s11 = Math.sin(phi1);
- let c22 = Math.cos(phi2);
- let s22 = Math.sin(phi2);
-
- let dn = L1 * (c11 * s22 - c22 * s11);
-
- let eta;
- let nu;
-
- if (dn == 0) {
- eta = 0;
- nu = 0;
- } else {
- eta = (-L1 * c11 * s22 + L1 * c22 * s11 - c1 * l1 * s22 + c22 * l1 * s1) / dn;
- nu = l2 * (c2 * s22 - c22 * s2) / dn;
- }
-
- this.JT11 = -L1 * eta * s11 - L1 * s11 - l1 * s1;
- this.JT12 = L1 * c11 * eta + L1 * c11 + c1 * l1;
- this.JT21 = -L1 * s11 * nu;
- this.JT22 = L1 * c11 * nu;
-
- this.x_E = x_P;
- this.y_E = y_P;
-
- }
-
- set_mechanism_parameters(parameters: Float32Array) {
- this.l = parameters[0];
- this.L = parameters[1];
- this.d = parameters[2];
- }
-
-
- set_sensor_data(data: Float32Array) {
- }
-
- get_coordinate() {
- let temp = [this.x_E, this.y_E];
- return temp;
- }
-
-
- get_torque() {
- let temp = [this.tau1, this.tau2];
- return temp;
- }
-
- get_angle() {
- let temp = [this.th1, this.th2];
- return temp;
- }
-}
-
-export { PantographV3 }
diff --git a/src/hAPI/libraries/Pwm.ts b/src/hAPI/libraries/Pwm.ts
deleted file mode 100644
index 26640e21..00000000
--- a/src/hAPI/libraries/Pwm.ts
+++ /dev/null
@@ -1,64 +0,0 @@
-/*
- * Copyright (c) 2021 IMAGE Project, Shared Reality Lab, McGill University
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as
- * published by the Free Software Foundation, either version 3 of the
- * License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- * You should have received a copy of the GNU General Public License
- * and our Additional Terms along with this program.
- * If not, see .
- *
- * This is based on the hAPI library by Haply Robotics .
- */
-class Pwm {
- pin: number;
- value: number;
-
- constructor(pin?: number, pulseWidth?: number) {
- this.pin = pin || 0;
- if (pulseWidth || 0 > 100.0) {
- this.value = 255;
- } else {
- this.value = (pulseWidth || 0 * 255 / 100);
- }
- }
-
- set_pin(pin: number) {
- this.pin = pin;
- }
- set_pulse(percent: number) {
- if (percent > 100.0) {
- this.value = 255;
- } else {
- if (percent < 0) {
- this.value = 0;
- } else {
- this.value = (percent * 255 / 100);
- }
- }
- }
-
- get_pin() {
- return this.pin;
- }
-
- get_value() {
- return this.value;
- }
-
- get_pulse() {
- if (this.value != undefined) {
- let percent = this.value * 100 / 255;
- return percent;
- } else
- return -1;
- }
-}
-
-export { Pwm }
diff --git a/src/hAPI/libraries/Sensor.ts b/src/hAPI/libraries/Sensor.ts
deleted file mode 100644
index 43a678f6..00000000
--- a/src/hAPI/libraries/Sensor.ts
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
- * Copyright (c) 2021 IMAGE Project, Shared Reality Lab, McGill University
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as
- * published by the Free Software Foundation, either version 3 of the
- * License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- * You should have received a copy of the GNU General Public License
- * and our Additional Terms along with this program.
- * If not, see .
- *
- * This is based on the hAPI library by Haply Robotics .
- */
-class Sensor {
- encoder: number;
- direction: number;
- encoder_resolution: number;
- encoder_offset: number;
- value: number;
- port: number;
-
- constructor(encoder?: number, direction?: number, offset?: number, resolution?: number, port?: number) {
- this.encoder = encoder || 0;
- this.direction = direction || 0;
- this.encoder_offset = offset || 0;
- this.encoder_resolution = resolution || 0;
- this.value = 0;
- this.port = port || 0;
- }
-
- set_encoder(encoder: number) {
- this.encoder = encoder;
- }
- set_direction(direction: number) {
- this.direction = direction;
- }
- set_offset(offset: number) {
- this.encoder_offset = offset;
- }
- set_resolution(resolution: number) {
- this.encoder_resolution = resolution;
- }
- set_port(port: number) {
- this.port = port;
- }
- set_value(value: number) {
- this.value = value;
- }
- get_encoder() {
- return this.encoder;
- }
- get_direction() {
- return this.direction;
- }
- get_offset() {
- return this.encoder_offset;
- }
- get_resolution() {
- return this.encoder_resolution;
- }
- get_port() {
- return this.port;
- }
- get_value() {
- return this.value;
- }
-}
-
-export { Sensor }
diff --git a/src/hAPI/libraries/Vector.ts b/src/hAPI/libraries/Vector.ts
deleted file mode 100644
index f589a9ca..00000000
--- a/src/hAPI/libraries/Vector.ts
+++ /dev/null
@@ -1,114 +0,0 @@
-class Vector {
- x: number = 0;
- y: number = 0;
-
- constructor(x: number, y: number) {
- this.x = x;
- this.y = y;
-
- }
- negative() {
- return new Vector(-this.x, -this.y);
- }
- add(v: any) {
- if (v instanceof Vector) return new Vector(this.x + v.x, this.y + v.y);
- else return new Vector(this.x + v, this.y + v);
- }
-
- subtract(v: any) {
- if (v instanceof Vector) return new Vector(this.x - v.x, this.y - v.y);
- else return new Vector(this.x - v, this.y - v);
- }
-
- multiply(v: any) {
- if (v instanceof Vector) return new Vector(this.x * v.x, this.y * v.y);
- else return new Vector(this.x * v, this.y * v);
- }
-
- divide(v: any) {
- if (v instanceof Vector) return new Vector(this.x / v.x, this.y / v.y);
- else return new Vector(this.x / v, this.y / v);
- }
- equals(v: Vector) {
- return this.x == v.x && this.y == v.y;
- }
- dot(v: Vector) {
- return this.x * v.x + this.y * v.y;
- }
-
- // cross(v:Vector) {
- // return new Vector(
- // this.y * v.z - this.z * v.y,
- // this.z * v.x - this.x * v.z,
- // this.x * v.y - this.y * v.x
- // );
- // }
-
- length() {
- return Math.sqrt(this.dot(this));
- }
- unit() {
- return this.divide(this.length());
- }
- min() {
- return Math.min(this.x, this.y);
- }
- max() {
- return Math.max(this.x, this.y);
- }
- dist(v: Vector) {
- return Math.sqrt(Math.pow(this.x - v.x, 2) + Math.pow(this.y - v.y, 2));
- }
- normalize() {
- let len = this.mag();
-
- if (len !== 0) {
- this.x = this.x / len;
- this.y = this.y / len;
-
- }
-
- return this;
- }
- // toAngles() {
- // return {
- // // theta: Math.atan2(this.z, this.x),
- // phi: Math.asin(this.y / this.length())
- // };
- // }
- // angleTo(a:number) {
- // return Math.acos(this.dot(a) / (this.length() * a.length()));
- // }
- toArray(n?: number) {
- return [this.x, this.y].slice(0, n || 3);
- }
- clone() {
- return new Vector(this.x, this.y);
- }
- mag() {
- return Math.sqrt(this.x * this.x + this.y * this.y);
- }
- set(x: any, y?: number) {
- if (x instanceof Vector) {
- this.x = x.x || 0;
- this.y = x.y || 0;
- return this;
- }
- if (x instanceof Array) {
- this.x = x[0] || 0;
- this.y = x[1] || 0;
- return this;
- }
- this.x = x || 0;
- this.y = y || 0;
- return this;
- }
- init(x: number, y: number) {
- this.x = x; this.y = y;
- return this;
- }
-
-}
-
-export { Vector }
-
diff --git a/src/hAPI/worker.ts b/src/hAPI/worker.ts
deleted file mode 100644
index ae20def5..00000000
--- a/src/hAPI/worker.ts
+++ /dev/null
@@ -1,1059 +0,0 @@
-/*
- * Copyright (c) 2021 IMAGE Project, Shared Reality Lab, McGill University
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as
- * published by the Free Software Foundation, either version 3 of the
- * License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- * You should have received a copy of the GNU General Public License
- * and our Additional Terms along with this program.
- * If not, see .
- */
-
-import { Vector } from "./libraries/Vector";
-import { Board } from "./libraries/Board";
-import { Device } from "./libraries/Device";
-import { PantographV3 } from './libraries/PantographV3';
-import { Pantograph } from "./libraries/Pantograph";
-import { convexhull } from './convex-hull';
-
-// TODO: set object types
-
-// set to false if using old 2DIY
-let usePantographV3 = true;
-
-// declaration of haply specific variables
-const widgetOneID = 5;
-let widgetOne: any;
-let pantograph;
-let haplyBoard;
-
-// store required handler json
-let baseObjectData: Array = [];
-let objectData: Array = []
-let segmentData: Array = [];
-let baseSegmentData: Array = [];
-let audioData: Array = [];
-
-// store the angles and positions of the end effector, which are sent back to info.ts
-let angles = new Vector(0, 0);
-let positions = new Vector(0, 0);
-
-
-// end-effector x/y coords
-let posEE = new Vector(0, 0);
-let prevPosEE = new Vector(0.5, 0);
-
-// transformed end-effector coordinates
-let convPosEE = new Vector(0, 0);
-
-// get force needed for torques
-let force = new Vector(0, 0);
-
-// the force applied to the end effector
-let fEE = new Vector(0, 0);
-let fEEPrev5 = new Vector(0, 0);
-let fEEPrev4 = new Vector(0, 0);
-let fEEPrev3 = new Vector(0, 0);
-let fEEPrev2 = new Vector(0, 0);
-let fEEPrev = new Vector(0, 0);
-// keeps track of many times a message has been received in the worker
-let messageCount: number = 0;
-
-// Index for where objects begin.
-let objHeaderIndex: number = 0;
-
-// Bool to let us know when to start guidance.
-let guidance: boolean = false;
-
-// Home position of end-effector
-let xHome = new Vector(-0.00001291268703669304, 0.022095726821870526);
-
-enum Transition {
- GetPoints,
- Move,
- Rest
-}
-
-// for transition between segments
-let transition: Transition = Transition.GetPoints;
-let idx: number = 0;
-let prevIdx: number = 0;
-let finishTransition: boolean = false;
-let upSampled: Vector[] = [];
-const tWaitTime: number = 8;
-let tHoldTimeSegToSeg: number;
-
-// distance threshold for stopping segment to segment guidance
-const threshold: number = 0.008;
-
-/**
- * Defines a subsegment.
- * Contains an array of vectors
- * But also can contain rectangular bounds (for objects)
- */
-export type SubSegment = {
- coordinates: Vector[],
- bounds?: [number, number, number, number]
-}
-
-let segments: SubSegment[][] = [];
-let objects: SubSegment[][] = [];
-
-export const enum Mode {
- InitializeAudio,
- StartAudio,
- PlayAudio,
- DoneAudio,
- StartHaply,
- WaitHaply,
- MoveHaply,
- Reset
-}
-
-let mode = Mode.InitializeAudio;
-
-// Type of segment to trace.
-export const enum Type {
- SEGMENT,
- OBJECT,
- IDLE
-}
-
-let haplyType = Type.IDLE;
-
-function device_to_graphics(deviceFrame: Vector) {
- return new Vector(-deviceFrame.x, deviceFrame.y);
-}
-
-function graphics_to_device(graphicsFrame: any) {
- return graphicsFrame.set(-graphicsFrame.x, graphicsFrame.y);
-}
-
-self.addEventListener("message", async function (event) {
- // get image data from the main script
- if (event) {
-
- if(event.data.haply2diy2gen){
- usePantographV3 = false;
- }
-
- if (event.data.doneWithAudio != undefined) {
- doneWithAudio = event.data.doneWithAudio;
- }
-
- // handshake
- if (event.data.receivedAudioSignal != undefined
- && sendAudioSignal == true) {
- sendAudioSignal = !event.data.receivedAudioSignal;
- }
-
- // if the user presses a key to move back and forth
- if (event.data.breakKey != undefined) {
- breakKey = event.data.breakKey;
- }
-
- if (event.data.start != undefined) {
- guidance = true;
- haplyType = Type.SEGMENT;
- }
-
- if (curSegmentDone) {
- tLastChangeSegment = event.data.tKeyPressTime;
- }
-
- // Read object, segment, and audio data.
- if (event.data.renderingData != undefined) {
-
- let rendering = event.data.renderingData.entities;
- // index marking object start location
- objHeaderIndex = rendering.findIndex((x: { entityType: string }) => x.entityType == "object")
-
- for (let i = 0; i < rendering.length; i++) {
-
- // find objects
- // keep the base object data for sending to main script for renderign
- // but also keep object data for 2DIY
- if (rendering[i].entityType == "object") {
- const name = rendering[i].name;
- const centroid = rendering[i].centroid.map((x: any) => transformToVector(x));
- const coords = rendering[i].contours;
- const tCentroid = rendering[i].centroid.map((x: any) => transformPtToWorkspace(x))
-
- let baseObj = {
- name: name,
- centroid: centroid,
- coords: coords
- }
-
- let tObj = {
- name: name,
- centroid: tCentroid,
- coords: coords
- }
-
- baseObjectData.push(baseObj);
- objectData.push(tObj);
- }
-
- // find segments and map them to 2DIY workspace
- if (rendering[i].entityType == "segment") {
- const coords = rendering[i].contours.map((y: any) => y.map((x: any) => mapCoordsToVec(x.coordinates)));
- const tCoords = rendering[i].contours.map((y: any) => y.map((x: any) => mapCoords(x.coordinates)));
- let baseSeg = { coords: coords }
- let tSeg = { coords: tCoords }
- baseSegmentData.push(baseSeg);
- segmentData.push(tSeg);
- }
-
- // find audio files
- let audio = {
- name: rendering[i].name,
- offset: rendering[i].offset,
- duration: rendering[i].duration,
- entityType: rendering[i].entityType,
- isStaticSegment: rendering[i].entityType.includes("static") ? true : false
- }
- audioData.push(audio);
- }
-
- objects = createObjs(objectData);
- segments = createSegs(segmentData);
-
- this.self.postMessage({
- positions: { x: positions.x, y: positions.y },
- objectData: createObjs(baseObjectData),
- segmentData: createSegs(baseSegmentData),
- });
- }
- }
-
-
- /**
- * Transforms base ML coordinate data for segments into array of segments.
- * @param segmentInfo Array containing objects that contain segment coordinate data.
- * @returns Array of segments.
- */
- function createSegs(segmentInfo: any): SubSegment[][] {
- let data: SubSegment[][] = [];
- for (const segs of segmentInfo) {
- const segment: Array = [];
- const segmentCoords = segs.coords[0];
- for (let i = 0; i < segmentCoords.length; i++) {
- let coordinates = segmentCoords[i];
- segment[i] = { coordinates };
- }
- data.push(segment);
- }
- return data;
- }
-
- /**
- * Returns an array of objects in transformed 2DIY plane.
- * @param objectData Array containing objects that contain object coordinate data.
- * @returns Array of objects.
- */
- function createObjs(objectData: any): SubSegment[][] {
- let data: SubSegment[][] = [];
-
- // loop through each object entity
- for (const obj of objectData) {
- const object: Array = [];
-
- // if ungrouped, just add the object directly
- if (obj.centroid && obj.centroid.length == 1) {
- for (let i = 0; i < obj.centroid.length; i++) {
- let coordinates = [obj.centroid[i]];
- let bounds = obj.coords[i];
- object[i] = { coordinates, bounds };
- }
- }
- // if we have more than 1 point, i.e., grouped object
- // then we'll make a convex hull
- else {
- // make hull from the obj centroids and then upsample
- const objCoords: Vector[] = obj.centroid;
- const hull: Vector[] = convexhull.makeHull(objCoords);
- const coordinates: Vector[] = upsample(hull, 5000);
- object[0] = { coordinates };
- }
- data.push(object);
- }
- return data;
- }
-
- /**
- * Maps coordinates from anormalized 0 -> 1 coordinate system into the 2DIY frame of reference.
- * @param coordinates Array of 2D coordinate data.
- * @returns Vector array of {x, y} data.
- */
- function mapCoords(coordinates: [number, number][]): Vector[] {
-
- return coordinates.map(x => transformPtToWorkspace(x));
- }
-
- function mapCoordsToVec(coordinates: [number, number][]): Vector[] {
- return coordinates.map(x => transformToVector(x));
- }
-
- /**
- * Transforms a tuple into a vector.
- * @param coords Tuple containing the coordinate data.
- * @returns Vector containing the x and y positions.
- */
- function transformToVector(coords: [number, number]): Vector {
- const x = (coords[0]);
- const y = (coords[1]);
- return new Vector(x, y);
- }
-
- /************ BEGIN SETUP CODE *****************/
- if (messageCount < 1) {
- messageCount++;
- haplyBoard = new Board();
- await haplyBoard.init();
-
- widgetOne = new Device(widgetOneID, haplyBoard);
- if (usePantographV3) {
-
- pantograph = new PantographV3();
- widgetOne.set_mechanism(pantograph);
-
- widgetOne.add_actuator(1, 1, 2); //CCW
- widgetOne.add_actuator(2, 1, 1); //CCW
-
- widgetOne.add_encoder(1, 1, 97.23, 2048 * 2.5 * 1.0194 * 1.0154, 2); //right in theory
- widgetOne.add_encoder(2, 1, 82.77, 2048 * 2.5 * 1.0194, 1); //left in theory
- } else {
-
- pantograph = new Pantograph();
- widgetOne.set_mechanism(pantograph);
-
- // Haply v1 config
- widgetOne.add_actuator(1, 1, 2); //CCW
- widgetOne.add_actuator(2, 0, 1); //CW
-
- widgetOne.add_encoder(1, 1, 241, 10752, 2);
- widgetOne.add_encoder(2, 0, -61, 10752, 1);
- }
-
- widgetOne.device_set_parameters();
- fEE.set(0, 0);
- }
-
- /************************ END SETUP CODE ************************* */
-
- /********** BEGIN CONTROL LOOP CODE *********************/
-
- while (true) {
-
- // find position and angle data
- widgetOne.device_read_data();
- angles = widgetOne.get_device_angles();
-
- positions = transformToVector(widgetOne.get_device_position(angles));
-
- posEE.set(device_to_graphics(positions));
- convPosEE = posEE.clone();
-
-
- if (guidance) {
- posEE.set(device_to_graphics(posEE));
-
- // depending on the type of entity to trace
- switch (haplyType) {
- case Type.SEGMENT: {
- if (segments.length != 0) {
- audioHapticContours(segments, 3000, 3000, 5); // prev: 15
- }
- break;
- }
- case Type.OBJECT: {
- if (objects.length != 0) {
- audioHapticContours(objects, 2000, 2000, 20);
- }
- break;
- }
- case Type.IDLE:
- break;
- }
- }
- prevPosEE.set(convPosEE.clone());
-
- // send required data back
- /**
- * positions: x/y position in 2DIY frame of reference
- * waitForInput: if we need to request input from the user
- * entityIndex: index of the entity needed to play audio
- * sendAudioSignal: signal to let main script know we're ready to play audio
- * haplyType: segment or object for drawing
- * segIndex: index of the current segment or object
- * subSegIndex: index of the current subsegment or object in a group
- */
- const data = {
- positions:
- { x: positions.x, y: positions.y },
- waitForInput: waitForInput,
- audioInfo: {
- entityIndex: entityIndex,
- sendAudioSignal: sendAudioSignal
- },
- drawingInfo: {
- haplyType: haplyType,
- segIndex: currentSegmentIndex,
- subSegIndex: currentSubSegmentIndex
- }
- }
-
- // // sending end effector position back to info.ts to update visuals
- this.self.postMessage(data);
-
- // calculate and set torques
- widgetOne.set_device_torques(fEE.toArray());
- widgetOne.device_write_torques();
-
- await new Promise(r => setTimeout(r, 1));
- }
-
- /********** END CONTROL LOOP CODE *********************/
-});
-
-// Index for audio information.
-let entityIndex: number = 0;
-
-// Indicates whether we are done tracing the current segment.
-let curSegmentDone: boolean = false;
-
-// Indicates whether we are done tracing the current subsegment.
-let curSubSegmentDone: boolean = false;
-
-// Indicates the current index of segments being traced.
-let currentSegmentIndex: number = 0;
-
-// Indicates the current index of the sub-segment being traced.
-let currentSubSegmentIndex: number = 0;
-
-// Indicates the current index (point) in the current segment
-let currentSubSegmentPointIndex: number = 0;
-
-// Wait for current user input.
-let waitForInput: boolean = false;
-
-// Spring constant.
-let springConst = 200;
-
-// Mode when controlled by the user.
-export const enum BreakKey {
- None,
- PreviousHaptic,
- NextHaptic,
- PreviousFromAudio,
- NextFromAudio,
- Escape
-}
-
-let breakKey: BreakKey;
-let tLastChangePoint: number = Number.NEGATIVE_INFINITY;
-let tLastChangeSegment: number = Number.NEGATIVE_INFINITY;
-let tLastChangeSubSegment: number = Number.NEGATIVE_INFINITY;
-let tHoldTime: number = Number.NEGATIVE_INFINITY;
-
-// Let's us know if that the main script is done playing audio.
-let doneWithAudio = false;
-
-// To let main script know it's time to play audio.
-let sendAudioSignal = false;
-
-// TODO: rewrite all of this within a class
-function audioHapticContours(segments: SubSegment[][], tSegDuration: number,
- tSubSegDuration: number, tSubSegPointDuration: number) {
-
- const t0 = tSegDuration;
- const t1 = tSubSegDuration;
- const t2 = tSubSegPointDuration;
-
- switch (mode) {
-
- case Mode.InitializeAudio: {
- // called when starting a segment or object experience
- // depending on the type, the starting audio index may vary
- // objHeaderIndex contains the index of the first object returned in the entities list
- entityIndex = haplyType == Type.SEGMENT ? 0 : objHeaderIndex - 1;
- mode = Mode.StartAudio;
- }
-
- case Mode.StartAudio: {
- // make sure we don't go beyond the max index
- if (entityIndex > audioData.length) {
- mode = Mode.Reset;
- }
- else {
- // tell main script we need audio played
- sendAudioSignal = true;
- mode = Mode.PlayAudio;
- }
- break;
- }
- case Mode.PlayAudio: {
- // wait for a response from main script to see if we're done
- if (doneWithAudio) {
- mode = Mode.DoneAudio;
- }
- break;
- }
- case Mode.DoneAudio: {
-
- // reset flag
- doneWithAudio = false;
-
- // in case we need to play another audio segment right after one is finished
- // typically after static segments
- // otherwise get ready for the 2DIY
- let audioSeg = audioData[entityIndex];
- if (audioSeg.isStaticSegment) {
- mode = Mode.StartAudio;
- }
- else {
- mode = Mode.StartHaply;
- }
-
- // since we've finished an audio chunk, move on to the next one
- entityIndex++;
- break;
- }
-
- // grace 1.5s buffer before we actually begin
- case Mode.StartHaply: {
- tHoldTime = Date.now();
- mode = Mode.WaitHaply;
- break;
- }
-
- case Mode.WaitHaply: {
- if (Date.now() - tHoldTime > 1000) {
- mode = Mode.MoveHaply;
- tLastChangePoint = Date.now();
- }
- break;
- }
- case Mode.MoveHaply: {
- activeGuidance(segments, t0, t1, t2);
- break;
- }
- case Mode.Reset: {
- mode = Mode.InitializeAudio;
- return;
- }
- }
-}
-
-/**
- * Moves the Haply 2DIY in ascending order of segments/objects.
- * @param segments list of objects or segments to trace as SubSegments[]
- * @param tSegmentDuration Buffer time when moving from one segment to the next.
- * @param tSubSegmentDuration Buffer time when moving from one subsegment to the next.
- * @param tSubSegmentPointDuration Buffer time when moving from one point to the next in a subsegment.
- */
-function activeGuidance(segments: SubSegment[][], tSegmentDuration: number,
- tSubSegmentDuration: number, tSubSegmentPointDuration: number) {
-
- // first check for breakout conditions by user
- if (breakKey != BreakKey.None) {
- fEE.set(0, 0); // reset forces
-
- // escape means we want to cancel any tracing
- if (breakKey == BreakKey.Escape) {
- finishTracing();
- haplyType = Type.IDLE;
- mode = Mode.Reset;
- }
-
- // the user skipped forward while on a haptic segment
- if (breakKey == BreakKey.NextHaptic) {
- finishSubSegment();
- }
-
- // the user skipped forward while on an audio segment
- if (breakKey == BreakKey.NextFromAudio) {
- // the only difference with audio is that we don't
- // increment the subsegment index
- // because this will be a fresh segment
- changeSubSegment();
- }
- // the user wants to go back
- if (breakKey == BreakKey.PreviousHaptic) {
- prevSubSegment();
- }
-
- if (breakKey == BreakKey.PreviousFromAudio) {
-
- // note our pattern is A.A.H.A.H.A since the first seg is static
- // TODO: rewrite
- if (currentSegmentIndex == 0 && entityIndex <= 2) {
- entityIndex = 0;
- mode = Mode.StartAudio;
- }
- else {
- // go back one index
- currentSegmentIndex = currentSegmentIndex == 0 ? 0 : currentSegmentIndex - 1;
-
- // this will always be equivalent to the last subsegment to trace when coming from an audio segment
- currentSubSegmentIndex = segments[currentSegmentIndex].length - 1;
- entityIndex--;
- changeSubSegment();
- }
- }
- // reset after we've finished
- breakKey = BreakKey.None;
- }
-
- else {
-
- // if we have traced every index, then we are done with the current mode
- if (currentSegmentIndex == segments.length) {
- finishTracing();
- switchMode();
- return;
- }
-
- let currentSegment: SubSegment[] = segments[currentSegmentIndex];
- let currentSubSegment: SubSegment = currentSegment[currentSubSegmentIndex];
-
- //TODO: further abstract some of these into functions
- // if we are done with the current segment...
- if (curSegmentDone) {
-
- // check if the buffer time is over, then play audio
- if (Date.now() - tLastChangeSegment > tSegmentDuration) {
- mode = Mode.StartAudio;
- startNewSegment();
- }
-
- // if we are done with a subsegment ...
- } else if (curSubSegmentDone) {
-
- // check to see if this is the last subsegment in the list
- if (currentSubSegmentIndex != currentSegment.length) {
- // if not, move on to next subsegment
- // but make sure we're not waiting for input
- if (waitForInput) {
- guidance = false;
- }
- // we'll only start a new subsegment once the buffer time is over
- else {
- if (Date.now() - tLastChangeSubSegment > tSubSegmentDuration) {
- startNewSubSegment();
- }
- }
- }
-
- else {
- finishSegment();
- }
- }
-
- // we're not done with the current subsegment
- else {
-
- // get the distance from where we currently are
- const coord = currentSubSegment.coordinates[currentSubSegmentPointIndex];
- const setPoint = new Vector(coord.x, coord.y);
- const diff = setPoint.subtract(convPosEE.clone());
-
- // don't set the time-based guidance until we have reached the first position
- // set dist threshold
- if (currentSubSegmentPointIndex == 0 && diff.mag() >= threshold) {
- tSubSegmentPointDuration = Number.POSITIVE_INFINITY;
- }
- else {
- // set back original point duration and reset variables
- tSubSegmentPointDuration = tSubSegmentPointDuration;
- idx = 0;
- finishTransition = true;
- transition = Transition.GetPoints;
- }
- // check if we have to move to the next point in the subsegment
- if (Date.now() - tLastChangePoint > tSubSegmentPointDuration) {
- currentSubSegmentPointIndex++;
-
- // if we are done tracing each point in this subsegment, end it
- if (currentSubSegmentPointIndex >= currentSubSegment.coordinates.length) {
- finishSubSegment();
- }
- tLastChangePoint = Date.now();
- } else {
-
- // move to the point
- // to avoid setting a large force at once
- // when moving from the end of one segment to the beginning of another
- // we linear interpolate the # of points
- // to avoid setting large forces
- // except in the case of setting the force from home pos
- // which needs a larger force to compensate
- if (currentSubSegmentPointIndex == 0 && !atHomePos()) {
-
- // case where we need to transition from segment to segment
- switch (transition) {
- case Transition.GetPoints: {
- // interpolate point data
- const vEndEffector = new Vector(convPosEE.x, convPosEE.y);
- upSampled = upsample([vEndEffector, coord], 6500);
- tHoldTimeSegToSeg = Date.now();
- transition = Transition.Move;
- break;
- }
- case Transition.Move: {
- // if we are done then end
- if (idx >= upSampled.length - 1) {
- //finishTransition = true;
- transition = Transition.Rest;
- idx = 0;
- break;
- }
- if (diff.mag() < 0.01) {
- finishTransition = true;
- }
- else {
- // force reduction as we approach the threshold
- let k = 3;
- let coeff = 1;
- if (diff.mag() < 0.025) {
- let unit = diff.unit();
- const multiplier = 1 / (diff.mag() + 0.9);
- coeff = Math.min(1, 1 - ((unit.x * unit.y) * multiplier * multiplier));
- }
- // move to new point with the WaitTime refresh rate
- if (Date.now() - tHoldTimeSegToSeg > tWaitTime) {
- moveToPos(upSampled[idx], k);
- prevIdx = idx;
- idx++;
- tHoldTimeSegToSeg = Date.now();
- }
- }
- break;
- }
- case Transition.Rest: {
- force.set(0, 0);
- fEE.set(graphics_to_device(force));
- break;
- }
- }
- }
- // case where we need to transition from point to point in a segment
- else {
- moveToPos(coord);
- }
- }
- }
- }
-}
-
-
-
-function atHomePos() {
- if (haplyType == Type.SEGMENT &&
- currentSegmentIndex == 0 &&
- currentSubSegmentIndex == 0)
- return true;
- return false;
-}
-/**
- * Called when we are done tracing all entities or want to cancel.
- */
-function finishTracing() {
- currentSegmentIndex = 0;
- currentSubSegmentIndex = 0;
- curSegmentDone = false;
- mode = Mode.Reset;
-}
-
-/**
- * Switch between guidance modes.
- */
-function switchMode() {
-
- switch (haplyType) {
- case Type.SEGMENT: {
- haplyType = Type.OBJECT;
- break;
- }
- case Type.OBJECT: {
- haplyType = Type.IDLE;
- break;
- }
- }
-}
-
-/**
- * Called when moving to the previous subsegment.
- */
-function prevSubSegment() {
- // check if this is the first subsegment
- // if so we'll have to change back to audio mode
- if (currentSubSegmentIndex == 0) {
- entityIndex--;
- mode = Mode.StartAudio;
- }
- else {
- currentSubSegmentIndex--;
- changeSubSegment();
- }
-}
-/**
- * Called when starting a new segment.
- */
-function startNewSegment() {
- curSegmentDone = false;
- waitForInput = false;
-}
-
-/**
- * Called when starting a new subsegment.
- */
-function startNewSubSegment() {
- curSubSegmentDone = false;
- waitForInput = false;
- // reset the point to point time buffer
- tLastChangePoint = Date.now();
-}
-
-/**
- * Called as soon as we are done tracing a full segment.
- */
-function finishSegment() {
- currentSegmentIndex++;
- currentSubSegmentIndex = 0;
- currentSubSegmentPointIndex = 0;
- curSegmentDone = true;
- curSubSegmentDone = false;
- waitForInput = true;
- fEE.set(0, 0);
-}
-
-/**
- * Called when we are done tracing a subsegment.
- */
-function finishSubSegment() {
- currentSubSegmentIndex++;
- changeSubSegment();
-}
-
-/**
- * Called by either prevSubSegment() or nextSubSegment().
- * Change the subsegment index before calling this.
- */
-function changeSubSegment() {
- currentSubSegmentPointIndex = 0;
- curSubSegmentDone = true;
- tLastChangeSubSegment = Date.now();
- fEE.set(0, 0);
-}
-
-/**
- * Moves the end-effector to the specified vector position.
- * @param vector Vector containing {x,y} position of the Haply coordinates.
- */
-function moveToPos(vector: Vector,
- springConstMultiplier = 2,
- ki = 0.5,
- kd = 1.2) {
-
- if (vector == undefined)
- return;
-
- // find the distance between our current position and target
- const targetPos = new Vector(vector.x, vector.y);
- const xDiff = targetPos.subtract(convPosEE.clone());
- const kx = xDiff.multiply(springConst).multiply(springConstMultiplier);
-
-
- // allow for higher tolerance when moving from the home position
- // apparently needs more force to move from there
- const constrainedMax = atHomePos() ? 6 : 3
-
- // D controller
- const dx = (convPosEE.clone()).subtract(prevPosEE);
- const dt = 1 / 1000;
- const c = 1.8;
- const cdxdt = (dx.divide(dt)).multiply(kd);
-
- // I controller
- const cumError = dx.add(dx.multiply(dt));
-
- // set forces
- let fx = constrain(kx.x + cdxdt.x + ki * cumError.x, -1 * constrainedMax, constrainedMax);
- let fy = constrain(kx.y + cdxdt.y + ki * cumError.y, -1 * constrainedMax, constrainedMax);
- const forceMag = new Vector(fx, fy).mag();
- const maxMag = new Vector(constrainedMax, constrainedMax).mag();
-
- // if outside of the initial movement from the home position the force is too high, ignore it
- if (!atHomePos() && forceMag >= maxMag) {
- force.set(0, 0);
- }
- else {
- if (!atHomePos()) {
-
- // this will break if we have less than 10 points in a subsegment
- //console.log(finishTransition);
- if (finishTransition) {
- const w = 21;
- const i = 6;
-
- const x1 = (i / w) * fx;
- const x2 = ((i - 1) / w) * fEEPrev.x;
- const x3 = ((i - 2) / w) * fEEPrev2.x;
- const x4 = ((i - 3) / w) * fEEPrev3.x;
- const x5 = ((i - 4) / w) * fEEPrev4.x;
- const x6 = ((i - 5) / w) * fEEPrev5.x;
-
- const y1 = (i / w) * fy;
- const y2 = ((i - 1) / w) * fEEPrev.y;
- const y3 = ((i - 2) / w) * fEEPrev2.y;
- const y4 = ((i - 3) / w) * fEEPrev3.y;
- const y5 = ((i - 4) / w) * fEEPrev4.y;
- const y6 = ((i - 5) / w) * fEEPrev5.y;
-
- fx = x1 + x2 + x3 + x4 + x5 + x6;
- fy = y1 + y2 + y3 + y4 + y5 + y6;
- const stdX = getStd([x1, x2, x3, x4, x5, x6])
- const stdY = getStd([y1, y2, y3, y4, y5, y6]);
-
- if (stdX < 0.2 && stdY < 0.2) {
- finishTransition = false;
- }
- }
- else {
- fx = (1 / 2 * fEEPrev.x + fx);
- fy = (1 / 2 * fEEPrev.y + fy);
- }
-
- if (!isFinite(fx))
- fx = 0;
- if (!isFinite(fy))
- fy = 0;
-
- fx = constrain(fx, -constrainedMax, constrainedMax);
- fy = constrain(fy, -constrainedMax, constrainedMax);
- }
- }
-
- force.set(fx, fy);
-
- fEEPrev5 = fEEPrev4.clone();
- fEEPrev4 = fEEPrev3.clone();
- fEEPrev3 = fEEPrev2.clone();
- fEEPrev2 = fEEPrev.clone();
- fEEPrev = force.clone();
-
- console.log(idx, currentSubSegmentPointIndex, force, finishTransition);
- fEE.set(graphics_to_device(force));
-}
-
-/**
- * Calculate the standard deviation of an array of numbers.
- * @param numArray Array of numbers from which to calculate the standard deviation.
- * @returns Standard deviation.
- */
-function getStd(numArray: number[]) {
- const mean = numArray.reduce((s: number, n: number) => s + n) / numArray.length;
- const variance = numArray.reduce((s: number, n: number) => s + (n - mean) ** 2, 0) / (numArray.length - 1);
- return Math.sqrt(variance);
-}
-
-/**
- *
- * @param val Value to constrain.
- * @param min Minimum constrained value.
- * @param max Maximum constrained value.
- * @returns
- */
-function constrain(val: number, min: number, max: number) {
- return val > max ? max : val < min ? min : val;
-}
-/**
- * Linearly upsamples an array of points.
- * @param pointArray Array containing the {x, y} positions in the 2DIY frame of reference.
- * @param k Constant that determines the sampling resolution.
- * @returns Upsampled array of {x, y} points.
- */
-function upsample(pointArray: Vector[], k = 2000) {
- let upsampledSeg = [];
-
- // for each point (except the last one)...
- for (let n = 0; n < pointArray.length - 1; n++) {
-
- let upsampleSubSeg: Array = [];
-
- // get the location of both points
- const currentPoint = new Vector(pointArray[n].x, pointArray[n].y);
- const nextPoint = new Vector(pointArray[n + 1].x, pointArray[n + 1].y);
-
- const x1 = currentPoint.x;
- const y1 = currentPoint.y;
- const x2 = nextPoint.x;
- const y2 = nextPoint.y;
-
- // find vars for equation
- const m = (y2 - y1) / (x2 - x1);
- const c = m == Number.POSITIVE_INFINITY ? 0 : y2 - (m * x2);
-
- // let the # of sample points be a function of the distance
- const euclidean1 = currentPoint.dist(nextPoint);
- const samplePoints = Math.round(k * euclidean1);
-
- // get distance between the two points
- const sampleDistX = Math.abs(x2 - x1);
- const sampleDistY = Math.abs(y2 - y1);
-
- for (let v = 0; v < samplePoints; v++) {
- // find the location of each interpolated point
- const distX = (sampleDistX / (samplePoints - 1)) * v;
- const distY = (sampleDistY / (samplePoints - 1)) * v;
-
- let xLocation = 0;
- let yLocation = 0;
-
- // case where the x values are the same
- if (x1 == x2) {
- xLocation = x1;
- yLocation = y2;
- }
-
- // case where y values are the same
- else if (y1 == y2) {
- xLocation = x2;
- yLocation = y1;
- }
-
- // standard case
- else {
- xLocation = x2 > x1 ? x1 + distX : x1 - distX;
- yLocation = m * xLocation + c;
- }
-
- // add new interpolated point to vector array for these two points
- const p = new Vector(xLocation, yLocation);
- upsampleSubSeg.push(p);
- }
- upsampledSeg.push(...upsampleSubSeg);
- }
- return [...upsampledSeg];
-}
-
-/**
-
-/**
- *
- * @param coords 2D array containing normalized x/y positions
- * @returns Vector of {x,y} corresponding to position on Haply 2DIY workspace.
- */
-export function transformPtToWorkspace(coords: [number, number]): Vector {
- const x = (coords[0] * 0.1333) - 0.064;
- const y = (coords[1] * 0.0547) + 0.0589;
- return new Vector(x, y);
-}
diff --git a/src/info/info.ts b/src/info/info.ts
index c888762e..32bb0a0d 100644
--- a/src/info/info.ts
+++ b/src/info/info.ts
@@ -25,7 +25,6 @@ import { IMAGEResponse } from "../types/response.schema";
import { IMAGERequest } from "../types/request.schema";
import * as utils from "./info-utils";
-import * as hapiUtils from '../hAPI/hapi-utils';
import { RENDERERS } from '../config';
import { createSVG } from './info-utils';
import { getAllStorageSyncData, getContext } from '../utils';
@@ -197,10 +196,6 @@ port.onMessage.addListener(async (message) => {
}
}
- if (rendering["type_id"] === RENDERERS.photoAudioHaptics) {
- hapiUtils.processHapticsRendering(rendering, graphic_url, container, contentId)
- }
-
if (rendering["type_id"] === RENDERERS.svgLayers) {
let contentDiv = utils.addRenderingContent(container, contentId);
const imgContainer = document.createElement("div");
diff --git a/src/manifest.json b/src/manifest.json
index 7124c4db..1702b7be 100644
--- a/src/manifest.json
+++ b/src/manifest.json
@@ -56,7 +56,6 @@
"launchpad/*",
"firstLaunch/*",
"maps/*",
- "hAPI/*.js",
"errors/*",
"progressBar/progressBar.html",
"audio/*",
diff --git a/src/utils.ts b/src/utils.ts
index e0450b36..bf88f753 100644
--- a/src/utils.ts
+++ b/src/utils.ts
@@ -18,9 +18,6 @@ export function getAllStorageSyncData() {
mcgillServer: true,
developerMode: false,
previousToggleState: false,
- noHaptics: true,
- haply2diy2gen: false,
- haply2diy3gen: false,
audio: true,
text: true,
processItem: "",
@@ -49,10 +46,6 @@ export async function getRenderers(): Promise {
if (items["text"]) {
renderers.push(RENDERERS.text);
}
- if (items["haply2diy2gen"] || items["haply2diy3gen"]) {
- renderers.push(RENDERERS.simpleHaptics);
- renderers.push(RENDERERS.photoAudioHaptics);
- }
if (items['developerMode']) {
renderers.push(RENDERERS.svgLayers);
}
diff --git a/webpack.config.ts b/webpack.config.ts
index 8f99745b..8ff5c263 100644
--- a/webpack.config.ts
+++ b/webpack.config.ts
@@ -25,8 +25,6 @@ const config: webpack.Configuration = {
'feedback/feedback': './src/feedback/feedback.ts',
'launchpad/launchpad': './src/launchpad/launchpad.ts',
'progressBar/progressBar': './src/progressBar/progressBar.ts',
- 'hAPI/hapi-utils': './src/hAPI/hapi-utils.ts',
- 'hAPI/worker': './src/hAPI/worker.ts',
'monarch/utils': './src/monarch/utils.ts',
'monarch/types': './src/monarch/types.ts'
},