From 8fa7c649906dcfeff8b60423548760d1e7f1a6f9 Mon Sep 17 00:00:00 2001 From: Dominik Date: Mon, 26 Dec 2022 11:18:21 +0100 Subject: [PATCH 01/20] Updated Bluetooth filtering. --- ble.js | 29 ++++++++++++++++++++--------- 1 file changed, 20 insertions(+), 9 deletions(-) diff --git a/ble.js b/ble.js index ec2eb0b..ba36fa7 100644 --- a/ble.js +++ b/ble.js @@ -1,8 +1,16 @@ 'use strict'; -const bleNusServiceUUID = '6e400001-b5a3-f393-e0a9-e50e24dcca9e'; -const bleNusCharRXUUID = '6e400002-b5a3-f393-e0a9-e50e24dcca9e'; -const bleNusCharTXUUID = '6e400003-b5a3-f393-e0a9-e50e24dcca9e'; +/** Pybricks service UUID. */ +const pybricksServiceUUID = 'c5f50001-8280-46da-89f4-6d8051e4aeef'; +/** Device Information service UUID. */ +const deviceInformationServiceUUID = 0x180a; +/** nRF UART Service UUID. */ +const nordicUartServiceUUID = '6e400001-b5a3-f393-e0a9-e50e24dcca9e'; +/** nRF UART RX Characteristic UUID. Supports Write or Write without response. */ +const nordicUartRxCharUUID = '6e400002-b5a3-f393-e0a9-e50e24dcca9e'; +/** nRF UART TX Characteristic UUID. Supports Notifications. */ +const nordicUartTxCharUUID = '6e400003-b5a3-f393-e0a9-e50e24dcca9e'; + const MTU = 20; const State = { @@ -40,9 +48,12 @@ function connect() { } console.log('Requesting Bluetooth Device...'); navigator.bluetooth.requestDevice({ - //filters: [{services: []}] - optionalServices: [bleNusServiceUUID], - acceptAllDevices: true + filters: [{ services: [pybricksServiceUUID] }], + optionalServices: [ + pybricksServiceUUID, + deviceInformationServiceUUID, + nordicUartServiceUUID, + ], }) .then(device => { bleDevice = device; @@ -53,14 +64,14 @@ function connect() { }) .then(server => { console.log('Locate NUS service'); - return server.getPrimaryService(bleNusServiceUUID); + return server.getPrimaryService(nordicUartServiceUUID); }).then(service => { nusService = service; console.log('Found NUS service: ' + service.uuid); }) .then(() => { console.log('Locate RX characteristic'); - return nusService.getCharacteristic(bleNusCharRXUUID); + return nusService.getCharacteristic(nordicUartRxCharUUID); }) .then(characteristic => { rxCharacteristic = characteristic; @@ -68,7 +79,7 @@ function connect() { }) .then(() => { console.log('Locate TX characteristic'); - return nusService.getCharacteristic(bleNusCharTXUUID); + return nusService.getCharacteristic(nordicUartTxCharUUID); }) .then(characteristic => { txCharacteristic = characteristic; From 8065d7b7849a35c493e5ce8325a8db433a4773f9 Mon Sep 17 00:00:00 2001 From: Dominik Date: Mon, 26 Dec 2022 11:55:34 +0100 Subject: [PATCH 02/20] Extended description and adaptation of website size. --- README.md | 13 +++++++++++-- index.html | 1 + 2 files changed, 12 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 1457285..05dec49 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,16 @@ # Lego AI -Simple project for controlling Lego Bluetooth Hubs using Artificial Inteligence algorithms on smarthone. +Simple project for controlling Lego Bluetooth Hubs using Artificial Inteligence algorithms. * Processing is performed in web browser using [TensorFlow.js](https://www.tensorflow.org/js) and [speech-commands.js](https://github.com/tensorflow/tfjs-models/tree/master/speech-commands) library for speech recognition. * Communication with Lego Bluetooth Hubs uses [WebBluetoothAPI](https://developer.mozilla.org/en-US/docs/Web/API/Web_Bluetooth_API) to establish Nordic UART connection (code based on [web-device-cli](https://github.com/makerdiary/web-device-cli) * Communication processing on Lego Hub was implemented in [Pybrick](https://pybricks.com/) - \ No newline at end of file + +## Running + +Code was tested on Mindstorms Robot Builder Hub and Tricky model. + +1. Install [Pybrick firmware](https://code.pybricks.com/). +2. Paste code from [tricky_audio_control.py](https://raw.githubusercontent.com/repkovsky/lego-ai/main/tricky_audio_control.py) into Pybricks code editor, connect to hub and run code. +3. Open https://repkovsky.github.io/lego-ai in browser (works in Chrome) and allow access to microphone. Displayed bars correspond to words which can be detected by default model `18w` of `speech-commands.js` library. The length of bar corresponds to estimated probability of each word. If the probability exceeds `0.75`, the word will be sent to hub over Bluetooth Nordic UART interface. The script in the Hub will send it back to browser to show that communation is working properly (you can observe it by pressing F12 and going to Console tab). +4. Click 'Connect to hub', choose the proper Lego hub and click 'Pair'. +5. In the console of Pybricks code you should see appearing words recognized by algorithm running in browser. If the word is 'left', 'right', 'go' or 'stop', the corresponding move should be executed. diff --git a/index.html b/index.html index 00deb18..5e0d8f2 100644 --- a/index.html +++ b/index.html @@ -94,6 +94,7 @@ } Pybricks AI command recognition +
From 442745d3323034a567846c35001b34455d757331 Mon Sep 17 00:00:00 2001 From: Dominik Date: Tue, 27 Dec 2022 11:59:33 +0100 Subject: [PATCH 03/20] Tensorflow version update. --- index.html | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/index.html b/index.html index 5e0d8f2..3cf15a2 100644 --- a/index.html +++ b/index.html @@ -1,7 +1,7 @@ - - + + - Pybricks AI command recognition + + + AI-Brick
- +
AI-Brick
+
+ +
+
-
\ No newline at end of file From 90108523b60716952ef720ba896a3a92de696812 Mon Sep 17 00:00:00 2001 From: Dominik Date: Sun, 15 Jan 2023 22:04:08 +0100 Subject: [PATCH 06/20] Support for both types of models. --- ble.js | 40 ++-------- connection.js | 63 ++++++++++++++++ index.html | 197 ++++++++------------------------------------------ interface.js | 35 +++++++++ models.js | 136 ++++++++++++++++++++++++++++++++++ 5 files changed, 269 insertions(+), 202 deletions(-) create mode 100644 connection.js create mode 100644 interface.js create mode 100644 models.js diff --git a/ble.js b/ble.js index 80e7013..2e9020b 100644 --- a/ble.js +++ b/ble.js @@ -13,38 +13,14 @@ const nordicUartTxCharUUID = '6e400003-b5a3-f393-e0a9-e50e24dcca9e'; const MTU = 20; -const State = { - BLE_connected: 'Disconnect hub', - BLE_model_setup: 'Setting up model...', - BLE_disconnected: 'Connect to hub' -}; - -const MODEL = 'model:' - var bleDevice; var bleServer; var nusService; var rxCharacteristic; var txCharacteristic; -var bleOnConnected = null -var bleOnMsgReceived = null -var bleOnDisconnected = null - -var state = State.BLE_disconnected; - -function toggleConnection(){ - if (state == State.BLE_disconnected){ - connect(); - } else { - disconnect(); - } -} - -// Sets button to either Connect or Disconnect -function setConnButtonState(new_state) { - console.log(new_state) - document.getElementById("clientConnectButton").innerHTML = new_state; -} +var bleOnConnected = null; +var bleOnMsgReceived = null; +var bleOnDisconnected = null; function connect() { if (!navigator.bluetooth) { @@ -65,7 +41,7 @@ function connect() { bleDevice = device; console.log('Found ' + device.name); console.log('Connecting to GATT Server...'); - bleDevice.addEventListener('gattserverdisconnected', onDisconnected); + bleDevice.addEventListener('gattserverdisconnected', onDisconnectedHandler); return device.gatt.connect(); }) .then(server => { @@ -99,8 +75,6 @@ function connect() { console.log('Notifications started'); txCharacteristic.addEventListener('characteristicvaluechanged', handleNotifications); - state = State.BLE_connected; - setConnButtonState(state); console.log(bleDevice.name + ' Connected.'); if (bleOnConnected){ bleOnConnected(); @@ -130,14 +104,10 @@ function disconnect() { } } -function onDisconnected() { - state = State.BLE_disconnected; +function onDisconnectedHandler() { console.log(bleDevice.name + ' Disconnected.'); - setConnButtonState(state); if (bleOnDisconnected){ bleOnDisconnected(); - } else { - console.log(bleOnDisconnected) } } diff --git a/connection.js b/connection.js new file mode 100644 index 0000000..3c56967 --- /dev/null +++ b/connection.js @@ -0,0 +1,63 @@ + + +const State = { + BLE_connected: 'Disconnect hub', + BLE_model_setup: 'Setting up model...', + BLE_disconnected: 'Connect to hub' +}; + +var state = State.BLE_disconnected; + +function connectionInit(){ + bleOnConnected = onConnected; + bleOnMsgReceived = onMsgReceived; + bleOnDisconnected = onDisconnected; +} + +function toggleConnection(){ + if (state == State.BLE_disconnected){ + connect(); + } else { + disconnect(); + } +} + +function setConnButtonState(new_state) { + console.log(new_state) + document.getElementById("clientConnectButton").innerHTML = new_state; +} + +function onConnected(){ + state = State.BLE_connected; + setConnButtonState(state); + nusSendString('model?\n'); + setTimeout(() => { + console.log('Model loading timeout.'); + if (!model_loaded){ + modelInit('') + } + }, 1000); +} + +function onDisconnected(){ + state = State.BLE_disconnected; + setConnButtonState(state); +} + +const MODEL = 'model:' +function onMsgReceived(str){ + if (str.startsWith(MODEL) && !model_loaded){ + state = State.BLE_model_setup + setConnButtonState(state) + model_url = str.slice(MODEL.length) + } else if (state == State.BLE_model_setup){ + if (str.endsWith('\n')){ + model_url += str.trim() + state = State.BLE_connected + setConnButtonState(state) + modelInit(model_url); + } else { + model_url += str + } + } +} \ No newline at end of file diff --git a/index.html b/index.html index 3351b40..24ab8c0 100644 --- a/index.html +++ b/index.html @@ -2,181 +2,44 @@ + - + + + - AI-Brick -
-
AI-Brick
-
- +
+
AI-Brick
+
+ +
+ +
+ +
+
+ + + + + +
+
+ About the project +
+ \ No newline at end of file diff --git a/interface.js b/interface.js new file mode 100644 index 0000000..fe709f8 --- /dev/null +++ b/interface.js @@ -0,0 +1,35 @@ +const colors = ['#0072bd', '#d95319', '#edb120', '#7e2f8e', '#77ac30', '#4dbeee', '#a2142f']; +const bg_colors = ['#e6f5ff', '#fceee8', '#fdf7e7', '#f7ecf9', '#f3f9eb', '#e8f6fd', '#fce8ec'] + +function createPredictionBars(classLabels){ + const labelContainer = document.getElementById("label-container"); + labelContainer.replaceChildren(); + for (let i = 0; i < classLabels.length; i++) { + var output = document.createElement("div"); + output.className = "output"; + var label = document.createElement("div"); + label.className = "label"; + label.style.color = colors[i % 7] + label.innerHTML = classLabels[i]; + var progress = document.createElement("div"); + progress.className = "progress"; + progress.style.backgroundColor = bg_colors[i % 7] + var bar = document.createElement("div"); + bar.id = "__" + classLabels[i]; + bar.className = "bar"; + bar.style.backgroundColor = colors[i % 7] + output.appendChild(label); + output.appendChild(progress); + progress.appendChild(bar); + labelContainer.appendChild(output); + } +} + +function updatePredictionBars(classLabels, scores){ + for (let i = 0; i < classLabels.length; i++) { + const classPrediction = Math.round(scores[i]*100) + "%"; + bar = document.getElementById("__" + classLabels[i]); + bar.innerHTML = " " + classPrediction + " "; + bar.style.width = classPrediction; + } +} \ No newline at end of file diff --git a/models.js b/models.js new file mode 100644 index 0000000..d9d2e66 --- /dev/null +++ b/models.js @@ -0,0 +1,136 @@ +var best_label = ";" +var model_url = ""; +var model_loaded = false; + +async function modelType(url){ + if (url){ + const metadata = await (await fetch(url + "metadata.json")).json(); + if (metadata.hasOwnProperty('tfjsSpeechCommandsVersion')){ + return 'audio'; + } else if (metadata.hasOwnProperty('tmVersion')){ + return 'image'; + } else { + return undefined; + } + } else { + return 'audio'; + } +} + +async function modelInit(url) { + const model_type = await modelType(url); + switch (model_type) { + case "audio": + audioInit(url); + const audio_visualizer = document.getElementById("audio-visualizer"); + audio_visualizer.style.display = "block"; + break; + case "image": + imageInit(url); + const webcam_overlay = document.getElementById("webcam-container"); + webcam_overlay.style.display = "block"; + break; + } + model_url = url; +} + +function sendOnPrediction(classLabels, scores){ + // send label over BLE only when it is above the threshold and different then previous sent + for (let i = 0; i < classLabels.length; i++) { + if (scores[i] > 0.5 && classLabels[i] != best_label){ + best_label = classLabels[i]; + nusSendString(best_label + '\n'); + break; + } + } +} + +async function audioModel(url=""){ + if (url){ + const checkpointURL = url + "model.json"; // model topology + const metadataURL = url + "metadata.json"; // model metadata + var recognizer = speechCommands.create( + "BROWSER_FFT", + undefined, + checkpointURL, + metadataURL); + } else { + var recognizer = speechCommands.create("BROWSER_FFT"); + } + + // check that model and metadata are loaded via HTTPS requests. + await recognizer.ensureModelLoaded(); + model_loaded = true; + + return recognizer; +} + +async function audioInit(url) { + const recognizer = await audioModel(url); + const classLabels = recognizer.wordLabels(); + createPredictionBars(classLabels); + + recognizer.listen(result => { + const scores = result.scores; + const classLabels = recognizer.wordLabels(); + updatePredictionBars(classLabels, scores); + sendOnPredictionThreshold(classLabels, scores); + }, { + includeSpectrogram: false, // in case listen should return result.spectrogram + probabilityThreshold: 0.0, + invokeCallbackOnNoiseAndUnknown: true, + overlapFactor: 0.75 // probably want between 0.5 and 0.75. More info in README + }); +} + + +let model, webcam, flip; + +// Load the image model and setup the webcam +async function imageInit(url) { + const modelURL = url + "model.json"; + const metadataURL = url + "metadata.json"; + + // load the model and metadata + // Refer to tmImage.loadFromFiles() in the API to support files from a file picker + // or files from your local hard drive + // Note: the pose library adds "tmImage" object to your window (window.tmImage) + model = await tmImage.load(modelURL, metadataURL); + model_loaded = true; + createPredictionBars(model.getClassLabels()); + webcamInit(true); +} + +async function webcamInit(new_flip){ + flip = new_flip; + const webcam_container = document.getElementById("webcam-container"); + webcam_container.innerHTML = "Setting up camera..."; + webcam = new tmImage.Webcam(200, 200, flip); // width, height, flip + await webcam.setup(); // request access to the webcam + await webcam.play(); + window.requestAnimationFrame(imageLoop); + + // append elements to the DOM + webcam.canvas.id = "webcam-canvas"; + webcam_container.innerHTML = ""; + webcam_container.appendChild(webcam.canvas); + rotate_button = document.getElementById("rotate") + rotate_button.style.visibility = "visible"; +} + +async function imageLoop() { + webcam.update(); // update the webcam frame + const prediction = await model.predict(webcam.canvas); + var classLabels = []; + var scores = []; + for (let i = 0; i < model.getTotalClasses(); i++){ + classLabels.push(prediction[i].className); + scores.push(prediction[i].probability); + } + updatePredictionBars(classLabels, scores); + window.requestAnimationFrame(imageLoop); +} + +function toggleWebcam(){ + webcamInit(!flip); +} \ No newline at end of file From 78f768fa0d63b6212b3a19cbefc165dd4c34ea71 Mon Sep 17 00:00:00 2001 From: Dominik Date: Sat, 21 Jan 2023 10:49:51 +0100 Subject: [PATCH 07/20] State-based communication --- aibrick_teachablemachine.py | 74 +++++++++++++++++++++++++ ble.js | 8 ++- connection.js | 107 ++++++++++++++++++++++++------------ index.html | 6 +- models.js | 33 +++++------ 5 files changed, 171 insertions(+), 57 deletions(-) create mode 100644 aibrick_teachablemachine.py diff --git a/aibrick_teachablemachine.py b/aibrick_teachablemachine.py new file mode 100644 index 0000000..03a2044 --- /dev/null +++ b/aibrick_teachablemachine.py @@ -0,0 +1,74 @@ +from pybricks.hubs import PrimeHub +from pybricks.parameters import Color +from usys import stdin +from uselect import poll + +class AIBrickState: + SETUP = 1 + LABELS = 2 + NOTIFICATION = 3 + PROBABILITY = 4 + +class AIBrickTeachableMachine: + def __init__(self, model='', onnotification=lambda x: None): + self.model = model + self.onnotification = onnotification + self.buffer = '' + self.nuart = poll() + self.nuart.register(stdin) + self.state = AIBrickState.SETUP + + def _send(self, message): + print(message + '\n') + + def setup(): + while self.state in (AIBrickState.SETUP, AIBrickState.LABELS): + self.poll() + + def get_probabilities(): + self.poll() + self._send('prob?') + self.state = AIBrickState.PROBABILITY + while self.state == AIBrickState.PROBABILITY: + self.poll() + return self.probabilities + + def _process(self, message): + if self.state == AIBrickState.SETUP and message == 'setup?': + self._send('model=' + self.model) + self.labels = [] + self.state = AIBrickState.LABELS + elif self.state == AIBrickState.LABELS: + if message != '': + self.labels.append(message) + self._send("ack") + else: + self.state = AIBrickState.NOTIFICATION + elif self.state == AIBrickState.NOTIFICATION: + self.onnotification(message) + elif self.state == AIBrickState.PROBABILITY: + self.probabilities = {label: (byte - '_')/100 + for label, byte in zip(self._labels, message)} + self.state = AIBrickState.NOTIFICATION + + def poll(self): + while self.nuart.poll(0): + char = stdin.read(1) + if char == '\n': + self._process(self.buffer) + self.buffer = '' + break + else: + self.buffer += char + + +def OnNotification(command): + print(command) + +hub = PrimeHub() +MODEL = '' +aibrick = AIBrickTeachableMachine(MODEL, OnNotification) +hub.light.on(Color.WHITE) + +while True: + aibrick.poll() \ No newline at end of file diff --git a/ble.js b/ble.js index 2e9020b..79d7b72 100644 --- a/ble.js +++ b/ble.js @@ -144,8 +144,12 @@ function sendNextChunk(a) { rxCharacteristic.writeValue(chunk) .catch(async () => { console.log("DOMException: GATT operation already in progress.") - await Promise.resolve(resolve => setTimeout(resolve, 100)); - rxCharacteristic.writeValue(chunk); + Promise.resolve() + .then(() => new Promise(resolve => setTimeout(resolve, 300))) + .then(() => { + console.log('Delayed.'); + rxCharacteristic.writeValue(chunk); + }); }) .then(function() { if (a.length > MTU) { diff --git a/connection.js b/connection.js index 3c56967..17f8c4f 100644 --- a/connection.js +++ b/connection.js @@ -1,63 +1,98 @@ const State = { - BLE_connected: 'Disconnect hub', - BLE_model_setup: 'Setting up model...', - BLE_disconnected: 'Connect to hub' + NOT_CONNECTED: 'NOT_CONNECTED', + SETUP: 'SETUP', + LABELS: 'LABELS', + NOTIFICATION: 'NOTIFICATION' }; -var state = State.BLE_disconnected; +var state = State.NOT_CONNECTED; +var label_counter = 0; function connectionInit(){ bleOnConnected = onConnected; bleOnMsgReceived = onMsgReceived; bleOnDisconnected = onDisconnected; -} - -function toggleConnection(){ - if (state == State.BLE_disconnected){ - connect(); - } else { - disconnect(); - } + connect(); } function setConnButtonState(new_state) { - console.log(new_state) + // console.log(new_state) document.getElementById("clientConnectButton").innerHTML = new_state; } +function sendMessage(msg){ + nusSendString(msg + '\n'); +} + +function sendLabelsToHub(){ + console.log('sendLabelsToHub') + state = State.LABELS; + label_counter = 0; + sendMessage(model_labels[label_counter++]); +} + +function sendNotificationToHub(label){ + if (state == State.NOTIFICATION){ + sendMessage(label); + } +} + + function onConnected(){ - state = State.BLE_connected; + state = State.SETUP; setConnButtonState(state); - nusSendString('model?\n'); + sendMessage('setup?'); setTimeout(() => { console.log('Model loading timeout.'); if (!model_loaded){ - modelInit('') + onMsgReceived('\n'); + } + }, 5000); +} + +var buffer = ''; +function onMsgReceived(msg){ + console.log(msg) + buffer += msg; + if (buffer.endsWith('\n')){ + msg = buffer.trim(); + buffer = ''; + switch (state){ + case State.SETUP: + const MODEL = 'model='; + if (msg.startsWith(MODEL)){ + modelInit(msg.slice(MODEL)); + setConnButtonState(state); + } + break; + case State.LABELS: + if (msg == 'ack'){ + if (label_counter < model_labels.length) { + sendMessage(model_labels[label_counter++]) + } else { + sendMessage(''); + // communication = Communication.COM_active; + state = State.NOTIFICATION; + } + } + break; + case State.NOTIFICATION: + if (msg == 'prob?'){ + prob = ''; + for (let i = 0; i < model_scores.length; i++){ + prob += String.fromCharCode(Math.round(100*model_scores[i]) + ' '.charCodeAt(0)) + } + sendMessage(prob); + } + break; } - }, 1000); + console.log(state) + } } function onDisconnected(){ - state = State.BLE_disconnected; + // state = State.BLE_disconnected; setConnButtonState(state); } - -const MODEL = 'model:' -function onMsgReceived(str){ - if (str.startsWith(MODEL) && !model_loaded){ - state = State.BLE_model_setup - setConnButtonState(state) - model_url = str.slice(MODEL.length) - } else if (state == State.BLE_model_setup){ - if (str.endsWith('\n')){ - model_url += str.trim() - state = State.BLE_connected - setConnButtonState(state) - modelInit(model_url); - } else { - model_url += str - } - } -} \ No newline at end of file diff --git a/index.html b/index.html index 24ab8c0..007df79 100644 --- a/index.html +++ b/index.html @@ -13,9 +13,9 @@
-
AI-Brick
+
aiBrick
- +
@@ -38,7 +38,7 @@
diff --git a/models.js b/models.js index d9d2e66..b07baa8 100644 --- a/models.js +++ b/models.js @@ -1,6 +1,8 @@ -var best_label = ";" +var best_label = ""; var model_url = ""; var model_loaded = false; +var model_labels = []; +var model_scores = []; async function modelType(url){ if (url){ @@ -31,15 +33,14 @@ async function modelInit(url) { webcam_overlay.style.display = "block"; break; } - model_url = url; } function sendOnPrediction(classLabels, scores){ - // send label over BLE only when it is above the threshold and different then previous sent + // send label over BLE only when its score exceeds 0.5 and it is different from previous sent for (let i = 0; i < classLabels.length; i++) { if (scores[i] > 0.5 && classLabels[i] != best_label){ best_label = classLabels[i]; - nusSendString(best_label + '\n'); + sendNotificationToHub(best_label); break; } } @@ -67,14 +68,14 @@ async function audioModel(url=""){ async function audioInit(url) { const recognizer = await audioModel(url); - const classLabels = recognizer.wordLabels(); - createPredictionBars(classLabels); + model_labels = recognizer.wordLabels(); + sendLabelsToHub(); + createPredictionBars(model_labels); recognizer.listen(result => { - const scores = result.scores; - const classLabels = recognizer.wordLabels(); - updatePredictionBars(classLabels, scores); - sendOnPredictionThreshold(classLabels, scores); + model_scores = result.scores; + updatePredictionBars(model_labels, model_scores); + sendOnPrediction(model_labels, model_scores); }, { includeSpectrogram: false, // in case listen should return result.spectrogram probabilityThreshold: 0.0, @@ -97,7 +98,9 @@ async function imageInit(url) { // Note: the pose library adds "tmImage" object to your window (window.tmImage) model = await tmImage.load(modelURL, metadataURL); model_loaded = true; - createPredictionBars(model.getClassLabels()); + model_labels = model.getClassLabels(); + model_scores = Array(model.getTotalClasses()).fill(0); + createPredictionBars(model_labels); webcamInit(true); } @@ -121,13 +124,11 @@ async function webcamInit(new_flip){ async function imageLoop() { webcam.update(); // update the webcam frame const prediction = await model.predict(webcam.canvas); - var classLabels = []; - var scores = []; for (let i = 0; i < model.getTotalClasses(); i++){ - classLabels.push(prediction[i].className); - scores.push(prediction[i].probability); + model_scores[model_labels.indexOf(prediction[i].className)] = prediction[i].probability; } - updatePredictionBars(classLabels, scores); + updatePredictionBars(model_labels, model_scores); + sendOnPrediction(model_labels, model_scores); window.requestAnimationFrame(imageLoop); } From dab395676215fa1cdf4af899f9b34e3ed77ab789 Mon Sep 17 00:00:00 2001 From: Dominik Date: Sun, 29 Jan 2023 19:03:30 +0100 Subject: [PATCH 08/20] Request-command communication model. --- aibrick_teachablemachine.py | 61 +++++++++++++---------------- ble.js | 39 +++++++++++++++++++ connection.js | 77 ++++++++++++++++++++++--------------- 3 files changed, 112 insertions(+), 65 deletions(-) diff --git a/aibrick_teachablemachine.py b/aibrick_teachablemachine.py index 03a2044..65f3072 100644 --- a/aibrick_teachablemachine.py +++ b/aibrick_teachablemachine.py @@ -3,63 +3,54 @@ from usys import stdin from uselect import poll -class AIBrickState: - SETUP = 1 - LABELS = 2 - NOTIFICATION = 3 - PROBABILITY = 4 class AIBrickTeachableMachine: - def __init__(self, model='', onnotification=lambda x: None): + def __init__(self, model='', onnotification=None): self.model = model self.onnotification = onnotification self.buffer = '' self.nuart = poll() self.nuart.register(stdin) - self.state = AIBrickState.SETUP + self._labels = [] def _send(self, message): print(message + '\n') - def setup(): - while self.state in (AIBrickState.SETUP, AIBrickState.LABELS): - self.poll() + def _request(self, message): + self.poll() + self._send(message) + response = None + while response is None: + response = self._receive() + return response def get_probabilities(): - self.poll() - self._send('prob?') - self.state = AIBrickState.PROBABILITY - while self.state == AIBrickState.PROBABILITY: - self.poll() - return self.probabilities + return {label: (byte - '_')/100 for label, byte in zip(self._labels, self._request('?P'))} def _process(self, message): - if self.state == AIBrickState.SETUP and message == 'setup?': - self._send('model=' + self.model) - self.labels = [] - self.state = AIBrickState.LABELS - elif self.state == AIBrickState.LABELS: - if message != '': - self.labels.append(message) - self._send("ack") - else: - self.state = AIBrickState.NOTIFICATION - elif self.state == AIBrickState.NOTIFICATION: + if message == '?setup': + self._send('!model=' + self.model) + elif message.startswith('!labels'): + self._labels = message.split('=')[1].split('\t') + self._send('!notify=' + str(callable(self.onnotification)).lower()) + else: self.onnotification(message) - elif self.state == AIBrickState.PROBABILITY: - self.probabilities = {label: (byte - '_')/100 - for label, byte in zip(self._labels, message)} - self.state = AIBrickState.NOTIFICATION - def poll(self): + def _receive(self): while self.nuart.poll(0): char = stdin.read(1) if char == '\n': - self._process(self.buffer) - self.buffer = '' - break + result, self.buffer = self.buffer, '' + return result else: self.buffer += char + return None + + def poll(self): + result = self._receive() + if result is not None: + self._process(result) + def OnNotification(command): diff --git a/ble.js b/ble.js index 79d7b72..5126573 100644 --- a/ble.js +++ b/ble.js @@ -157,3 +157,42 @@ function sendNextChunk(a) { } }); } + +class BufferedNUS { + + constructor(bleDevice, rxCharacteristic) { + this.bleDevice = bleDevice; + this.rxCharacteristic = rxCharacteristic; + this.buffer = new Array(0); + this.busy = false; + } + + pushString(s) { + if(this.bleDevice && this.bleDevice.gatt.connected) { + console.log("push: " + s); + for (let i = 0; i < s.length; i++) { + this.buffer.push(s[i].charCodeAt(0)); + } + if (!this.busy){ + this.sendBuffer(); + } + } + } + + sendBuffer() { + this.busy = true; + let chunk = new Uint8Array(this.buffer.slice(0, MTU)); + this.buffer = this.buffer.slice(MTU); + this.rxCharacteristic.writeValue(chunk) + .catch(async () => { + console.log("DOMException: GATT operation already in progress.") + }) + .then(function() { + if (this.buffer.length > 0) { + this.sendBuffer(); + } else { + this.busy = false; + } + }); + } +} diff --git a/connection.js b/connection.js index 17f8c4f..c784d78 100644 --- a/connection.js +++ b/connection.js @@ -8,7 +8,7 @@ const State = { }; var state = State.NOT_CONNECTED; -var label_counter = 0; +var notifications = false; function connectionInit(){ bleOnConnected = onConnected; @@ -28,13 +28,13 @@ function sendMessage(msg){ function sendLabelsToHub(){ console.log('sendLabelsToHub') - state = State.LABELS; - label_counter = 0; - sendMessage(model_labels[label_counter++]); + msg = '!labels=' + model_labels.join('\t') + console.log(msg); + sendMessage(msg); } function sendNotificationToHub(label){ - if (state == State.NOTIFICATION){ + if (notifications){ sendMessage(label); } } @@ -43,7 +43,7 @@ function sendNotificationToHub(label){ function onConnected(){ state = State.SETUP; setConnButtonState(state); - sendMessage('setup?'); + sendMessage('?setup'); setTimeout(() => { console.log('Model loading timeout.'); if (!model_loaded){ @@ -52,6 +52,13 @@ function onConnected(){ }, 5000); } +const Command = { + MODEL: 'model', + NOTIFY: 'notify', + LABELS: 'labels', + PROBABILITY: 'P' +}; + var buffer = ''; function onMsgReceived(msg){ console.log(msg) @@ -59,32 +66,42 @@ function onMsgReceived(msg){ if (buffer.endsWith('\n')){ msg = buffer.trim(); buffer = ''; - switch (state){ - case State.SETUP: - const MODEL = 'model='; - if (msg.startsWith(MODEL)){ - modelInit(msg.slice(MODEL)); - setConnButtonState(state); - } - break; - case State.LABELS: - if (msg == 'ack'){ - if (label_counter < model_labels.length) { - sendMessage(model_labels[label_counter++]) - } else { - sendMessage(''); - // communication = Communication.COM_active; - state = State.NOTIFICATION; - } + msg_type = msg[0]; + msg = msg.slice(1); + switch (msg_type){ + case '!': + idx = msg.indexOf("="); + const command = msg.slice(0, idx); + const value = msg.slice(idx+1); + console.log('command=' + command) + console.log('value=' + value) + switch (command){ + case Command.MODEL: + modelInit(value); + setConnButtonState(state); + break; + case Command.NOTIFY: + notifications = (value === 'true') + break; } break; - case State.NOTIFICATION: - if (msg == 'prob?'){ - prob = ''; - for (let i = 0; i < model_scores.length; i++){ - prob += String.fromCharCode(Math.round(100*model_scores[i]) + ' '.charCodeAt(0)) - } - sendMessage(prob); + case '?': + switch (msg){ + // case Command.LABELS: + // if (label_counter < model_labels.length) { + // sendMessage(model_labels[label_counter++]) + // } else { + // label_counter = 0; + // sendMessage(''); + // } + // break; + case Command.PROBABILITY: + let response = ''; + for (let i = 0; i < model_scores.length; i++) { + response += String.fromCharCode(Math.round(100*model_scores[i]) + ' '.charCodeAt(0)) + } + sendMessage(response); + break; } break; } From b9632966d2f5ec7e2affcccd0ddf642f09dbb9ce Mon Sep 17 00:00:00 2001 From: Dominik Date: Tue, 14 Feb 2023 12:53:09 +0100 Subject: [PATCH 09/20] Connection class. --- aibrick_teachablemachine.py | 103 +++++++++++++++++++---------- ble.js | 72 ++++++++++---------- connection.js | 128 ++++++++++++++++++++++++++++++------ 3 files changed, 215 insertions(+), 88 deletions(-) diff --git a/aibrick_teachablemachine.py b/aibrick_teachablemachine.py index 65f3072..76a6f5f 100644 --- a/aibrick_teachablemachine.py +++ b/aibrick_teachablemachine.py @@ -4,52 +4,87 @@ from uselect import poll +# class AIBrick: +# def __init__(self): +# self.buffer = '' +# self.nuart = poll() +# self.nuart.register(stdin) + +# def _send(self, cmd, value): + # print(cmd, '\t', value, '\n', sep=None) + +# def _process(self, message): +# pass + +# def receive(self): +# while self.nuart.poll(0): +# char = stdin.read(1) +# if char == '\n': +# message, self.buffer = self.buffer, '' +# self._process(message) +# else: +# self.buffer += char + + +# class AIBrickTeachableMachine(AIBrick): +# def __init__(self, model='', ondetection=None, use_probabilities=False): +# super().__init__() +# self.model = model +# self.ondetection = ondetection +# self.use_probabilities = use_probabilities +# self._labels = [] +# self.probability = dict() + +# def _process(self, message): +# if '\t' in message: +# cmd, value = message.split('\t') +# if cmd == 'setup': +# self._send('model', self.model) +# elif cmd == 'labels': +# self._labels = value.split(' ') +# self._send('notify', str(callable(self.ondetection)).lower()) +# elif cmd == 'P': +# self.probability = {label: (encoded_byte - '_')/100 +# for label, encoded_byte in zip(self._labels, value)} +# else: +# self.ondetection(message) + + class AIBrickTeachableMachine: - def __init__(self, model='', onnotification=None): + def __init__(self, model='', ondetection=None, use_probabilities=False): self.model = model - self.onnotification = onnotification + self.ondetection = ondetection + self.use_probabilities = use_probabilities self.buffer = '' self.nuart = poll() self.nuart.register(stdin) - self._labels = [] - - def _send(self, message): - print(message + '\n') + self.labels = [] - def _request(self, message): - self.poll() - self._send(message) - response = None - while response is None: - response = self._receive() - return response + def _send(self, command, message): + print(command, '\t', message, '\n', sep=None) - def get_probabilities(): - return {label: (byte - '_')/100 for label, byte in zip(self._labels, self._request('?P'))} - - def _process(self, message): - if message == '?setup': - self._send('!model=' + self.model) - elif message.startswith('!labels'): - self._labels = message.split('=')[1].split('\t') - self._send('!notify=' + str(callable(self.onnotification)).lower()) - else: - self.onnotification(message) + def _process(self, command, message): + if cmd == '': + self.ondetection(message) + elif cmd == 'setup': + self._send('setup', f'{{"type": "teachablemachine", "model": "{self.model}", "probability": {self.use_probabilities}}}') + elif cmd == 'labels': + self.labels = value.split('"')[1::2] + elif cmd == 'P' and self.use_probabilities: + for label, encoded_byte in zip(self.labels, message): + self.probability[label] = (encoded_byte - 32)/100 - def _receive(self): + def receive(self): while self.nuart.poll(0): char = stdin.read(1) if char == '\n': - result, self.buffer = self.buffer, '' - return result + received, self.buffer = self.buffer, '' + command, message = received.split('\t', 1) if '\t' in received else '', received + #message = message.replace('\\n', '\n').replace('\\r', '\r').replace('\\t', '\t') + self._process(command, message) + return received else: self.buffer += char - return None - - def poll(self): - result = self._receive() - if result is not None: - self._process(result) @@ -62,4 +97,4 @@ def OnNotification(command): hub.light.on(Color.WHITE) while True: - aibrick.poll() \ No newline at end of file + aibrick.receive() \ No newline at end of file diff --git a/ble.js b/ble.js index 5126573..1e22fec 100644 --- a/ble.js +++ b/ble.js @@ -18,11 +18,15 @@ var bleServer; var nusService; var rxCharacteristic; var txCharacteristic; -var bleOnConnected = null; -var bleOnMsgReceived = null; -var bleOnDisconnected = null; +// var bleOnConnected = null; +// var bleOnMsgReceived = null; +// var bleOnDisconnected = null; -function connect() { +// bleOnConnected = connection.onConnected; +// bleOnMsgReceived = this.onMsgReceived; +// bleOnDisconnected = this.onDisconnected; + +function connect(connection) { if (!navigator.bluetooth) { console.log('WebBluetooth API is not available.\r\n' + 'Please make sure the Web Bluetooth flag is enabled.'); @@ -41,7 +45,7 @@ function connect() { bleDevice = device; console.log('Found ' + device.name); console.log('Connecting to GATT Server...'); - bleDevice.addEventListener('gattserverdisconnected', onDisconnectedHandler); + bleDevice.addEventListener('gattserverdisconnected', connection.onDisconnected); return device.gatt.connect(); }) .then(server => { @@ -57,6 +61,7 @@ function connect() { }) .then(characteristic => { rxCharacteristic = characteristic; + connection.setTxBuffer(bleDevice, rxCharacteristic); console.log('Found RX characteristic'); }) .then(() => { @@ -73,14 +78,14 @@ function connect() { }) .then(() => { console.log('Notifications started'); + // txCharacteristic.addEventListener('characteristicvaluechanged', + // handleNotifications); txCharacteristic.addEventListener('characteristicvaluechanged', - handleNotifications); + connection.onMsgReceived); + + console.log(bleDevice.name + ' Connected.'); - if (bleOnConnected){ - bleOnConnected(); - } else { - console.log(bleOnConnected) - } + connection.onConnected() }) .catch(error => { console.log('' + error); @@ -104,26 +109,26 @@ function disconnect() { } } -function onDisconnectedHandler() { - console.log(bleDevice.name + ' Disconnected.'); - if (bleOnDisconnected){ - bleOnDisconnected(); - } -} +// function onDisconnectedHandler() { +// console.log(bleDevice.name + ' Disconnected.'); +// if (bleOnDisconnected){ +// bleOnDisconnected(); +// } +// } -async function handleNotifications(event) { - let value = event.target.value; - // Convert raw data bytes to character values and use these to - // construct a string. - let str = ""; - for (let i = 0; i < value.byteLength; i++) { - str += String.fromCharCode(value.getUint8(i)); - } - console.log('notification: ' + str); - if (bleOnMsgReceived){ - bleOnMsgReceived(str); - } -} +// async function handleNotifications(event) { +// let value = event.target.value; +// // Convert raw data bytes to character values and use these to +// // construct a string. +// let str = ""; +// for (let i = 0; i < value.byteLength; i++) { +// str += String.fromCharCode(value.getUint8(i)); +// } +// console.log('notification: ' + str); +// if (bleOnMsgReceived){ +// bleOnMsgReceived(str); +// } +// } function nusSendString(s) { if(bleDevice && bleDevice.gatt.connected) { @@ -165,6 +170,7 @@ class BufferedNUS { this.rxCharacteristic = rxCharacteristic; this.buffer = new Array(0); this.busy = false; + console.log("BufferedNUS ready") } pushString(s) { @@ -182,12 +188,12 @@ class BufferedNUS { sendBuffer() { this.busy = true; let chunk = new Uint8Array(this.buffer.slice(0, MTU)); - this.buffer = this.buffer.slice(MTU); + this.buffer.splice(0, MTU); this.rxCharacteristic.writeValue(chunk) - .catch(async () => { + .catch(async () => { console.log("DOMException: GATT operation already in progress.") }) - .then(function() { + .then(() => { if (this.buffer.length > 0) { this.sendBuffer(); } else { diff --git a/connection.js b/connection.js index c784d78..97dcd2d 100644 --- a/connection.js +++ b/connection.js @@ -1,25 +1,116 @@ -const State = { - NOT_CONNECTED: 'NOT_CONNECTED', - SETUP: 'SETUP', - LABELS: 'LABELS', - NOTIFICATION: 'NOTIFICATION' -}; +function setConnButtonState(new_state) { + // console.log(new_state) + document.getElementById("clientConnectButton").innerHTML = new_state; +} -var state = State.NOT_CONNECTED; -var notifications = false; +class Connection { + constructor() { + this.rx_buffer = ""; + console.log("connect!" + this.tx_buffer); + } + + setTxBuffer(bleDevice, rxCharacteristic){ + this.tx_buffer = new BufferedNUS(bleDevice, rxCharacteristic); + } + + sendCommand(command, value) { + console.log("sendCommand"); + this.tx_buffer.pushString(command + '=' + value + '\n'); + } + + sendText(text) { + //.replace('\t', '\\t').replace('\n', '\\n').replace('\r', '\\r') + this.tx_buffer.pushString(text + '\n'); + } + + onConnected(){ + console.log("onConnected"); + setConnButtonState("setup"); + this.sendCommand('setup', '?'); + setTimeout(() => { + console.log('Model loading timeout.'); + if (!model_loaded){ + modelInit(value); + setConnButtonState("connected"); + } + }, 5000); + } + + onMsgReceived(event){ + let payload = event.target.value; + console.log("onMsgReceived"); + let s = ""; + for (let i = 0; i < payload.byteLength; i++) { + s += String.fromCharCode(payload.getUint8(i)); + } + console.log(s); + this.rx_buffer += s; + if (this.rx_buffer.includes('\n')) { + let command, value; + let message = this.rx_buffer.slice(0, this.rx_buffer.indexOf('\n')); + if (message.includes('=')) { + const parts = message.split('=', 2); + command = parts[0]; + value = parts[1]; + } else { + command = ''; + value = message; + } + console.log("command:" + command); + console.log("value:" + value); + this.rx_buffer = this.rx_buffer.slice(this.rx_buffer.indexOf('\n')+1); + if (command == 'setup'){ + console.log(JSON.parse(value)) + modelInit(JSON.parse(value)); + setConnButtonState("connected"); + } else { + console.log(message) + } + // else if (command in this.channels){ + // this.channels[command] = value.toLowerCase() == 'true'; + // } + // console.log(state) + } + } + + onDisconnected(){ + // state = State.BLE_disconnected; + setConnButtonState("BLE_disconnected"); + } + + /* + sendNotificationToHub(text) { + if (this.channels.has('notify')){ + this.sendText(text); + } + } + + sendLabelsToHub(model_labels){ + console.log('sendLabelsToHub') + this.sendCommand('ready', JSON.stringify(model_labels)) + } + + sendProbility(model_scores){ + let response = ''; + for (let i = 0; i < model_scores.length; i++) { + response += String.fromCharCode(Math.round(100*model_scores[i]) + ' '.charCodeAt(0)) + } + this.sendCommand('P', response) + } + */ -function connectionInit(){ - bleOnConnected = onConnected; - bleOnMsgReceived = onMsgReceived; - bleOnDisconnected = onDisconnected; - connect(); } -function setConnButtonState(new_state) { - // console.log(new_state) - document.getElementById("clientConnectButton").innerHTML = new_state; +let connection; +function connectionInit(){ + // bleOnConnected = onConnected; + // bleOnMsgReceived = onMsgReceived; + // bleOnDisconnected = onDisconnected; + // connect(); + connection = new Connection() + connect(connection); } function sendMessage(msg){ @@ -108,8 +199,3 @@ function onMsgReceived(msg){ console.log(state) } } - -function onDisconnected(){ - // state = State.BLE_disconnected; - setConnButtonState(state); -} From 7ef8b1efb758755afe372060b3f8baadd711a9f0 Mon Sep 17 00:00:00 2001 From: Dominik Date: Tue, 14 Feb 2023 14:12:11 +0100 Subject: [PATCH 10/20] Missing files added. --- ai-brick.png | Bin 0 -> 1310 bytes styles.css | 188 ++++++++++++++++++++++++++++++++++++++++ tricky_audio_control.py | 55 ------------ 3 files changed, 188 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center; + align-items: center; + margin-bottom: 10px; +} + +button { + width: 200px; + background-color: #f8f9fa; + border: 1px solid lightblue; + border-radius: 4px; + color: #3c4043; + cursor: pointer; + font-family: arial,sans-serif; + font-size: 14px; + height: 36px; + min-width: 54px; + padding: 0 16px; + text-align: center; + user-select: none; + -webkit-user-select: none; + touch-action: manipulation; + white-space: pre; + display: block; + } + +button:hover { + border-color: #dadce0; + box-shadow: rgba(0, 0, 0, .1) 0 1px 1px; + color: #202124; +} + +button:focus { + border-color: #4285f4; + outline: none; +} +.button-container { + display: flex; + justify-content: center; + align-items: center; + padding-bottom: 10px; + border-bottom: 1px solid #aaa; + margin-bottom: 10px; +} + +/*#webcam-overlay { + display: none; +}*/ + +#audio-visualizer { + display: none; + margin: 30px 150px 0px 150px; + padding-bottom: 20px; +} + +#webcam-container, #webcam-canvas { + display: none; + border-radius: 10px; + width: 300px; + height: 300px; + margin: auto; + text-align: center; + line-height: 300px; + background-color: #eee; +} + +#rotate { + position: relative; + z-index: 100; + top: 30px; + left: 45px; + visibility: hidden; +} + +#label-container { + margin-top: 10px; + border-top: 1px solid #aaa; + padding: 10px; +} + +.output { + height: 15px; + display: flex; + justify-content: center; + align-items: center; + margin-bottom: 10px; +} + +.label { + font-size: 12px; + font-weight: bold; + text-align: right; + width: 20%; + display: inline-block; + overflow: hidden; + padding: 2px; + margin-right: 10px; +} + +.progress { + width: 70%; + border-radius: 5px; + display: inline-block; +} + +.bar { + font-size: 10px; + font-weight: bold; + text-align: right; + color: #fff; + border-radius: inherit; + width: 0%; +} + +.footnote { + border-top: 1px solid #aaa; + padding-top: 10px; + text-align: center; +} + +a { + color: #888; + font-size: 10px; +} + +span { + display: block; + border-radius: 3px; + bottom: 0px; + width: 5px; + height: 5px; + background: #1967D2; + position: absolute; + animation: audio-wave 1.5s infinite; + } + + span:nth-child(2) { + left: 11px; + animation-delay: 0.2s; + } + + span:nth-child(3) { + left: 22px; + animation-delay: 0.4s; + } + + span:nth-child(4) { + left: 33px; + animation-delay: 0.6s; + } + + span:nth-child(5) { + left: 44px; + animation-delay: 0.8s; + } + + @keyframes audio-wave { + 10% {height:20px;transform:translateY(0px);} + 25% {height:40px;transform:translateY(20px);} + 80% {height:5px;transform:translateY(0px);} + 100% {height:5px;transform:translateY(0px);} + } \ No newline at end of file diff --git a/tricky_audio_control.py b/tricky_audio_control.py deleted file mode 100644 index a46285c..0000000 --- a/tricky_audio_control.py +++ /dev/null @@ -1,55 +0,0 @@ -from pybricks.pupdevices import Motor, UltrasonicSensor -from pybricks.parameters import Direction, Port, Stop -from pybricks.robotics import DriveBase -from usys import stdin -from uselect import poll - - -class BluetoothCommunication: - def __init__(self, callback, model=''): - self.buffer = '' - self.callback = callback - self.nuart = poll() - self.nuart.register(stdin) - self.model = model - - def _callback(self, command): - print(command) - if command == 'provide_model' and self.model: - print("model:" + self.model + '\n') - else: - self.callback(command) - - def poll(self): - if self.nuart.poll(0): - char = stdin.read(1) - if char == '\n': - self._callback(self.buffer) - self.buffer = '' - else: - self.buffer += char - - -def execute(command): - if command == "left": - drive_base.turn(-90, then=Stop.BRAKE, wait=False) - elif command == "right": - drive_base.turn(90, then=Stop.BRAKE, wait=False) - elif command == "go": - drive_base.drive(200, 0) - elif command == "stop": - drive_base.stop() - -drive_base = DriveBase(left_motor=Motor(Port.A, Direction.COUNTERCLOCKWISE), - right_motor=Motor(Port.B), - wheel_diameter=44, - axle_track=88) - -distance_sensor = UltrasonicSensor(Port.D) -MODEL = '' -ble_communication = BluetoothCommunication(execute, MODEL) - -while True: - ble_communication.poll() - if distance_sensor.distance() < 100: - drive_base.straight(-10, Stop.COAST_SMART) From 1b10ad720686e8fa90902ca8ffcc16ee511b86f0 Mon Sep 17 00:00:00 2001 From: domrze Date: Tue, 14 Feb 2023 17:52:16 +0100 Subject: [PATCH 11/20] Work in progress. --- ble.js | 32 +++++++---- connection.js | 147 +++++++------------------------------------------- models.js | 60 +++++++++++++-------- 3 files changed, 77 insertions(+), 162 deletions(-) diff --git a/ble.js b/ble.js index 1e22fec..9fdf266 100644 --- a/ble.js +++ b/ble.js @@ -78,12 +78,8 @@ function connect(connection) { }) .then(() => { console.log('Notifications started'); - // txCharacteristic.addEventListener('characteristicvaluechanged', - // handleNotifications); - txCharacteristic.addEventListener('characteristicvaluechanged', - connection.onMsgReceived); - - + const onMsgReceived = connection.onMsgReceived.bind(connection); + txCharacteristic.addEventListener('characteristicvaluechanged', onMsgReceived); console.log(bleDevice.name + ' Connected.'); connection.onConnected() }) @@ -174,11 +170,22 @@ class BufferedNUS { } pushString(s) { - if(this.bleDevice && this.bleDevice.gatt.connected) { + if (this.bleDevice && this.bleDevice.gatt.connected) { console.log("push: " + s); for (let i = 0; i < s.length; i++) { this.buffer.push(s[i].charCodeAt(0)); } + + // switch (typeof(s)){ + // case "string": + // for (let i = 0; i < s.length; i++) { + // this.buffer.push(s[i].charCodeAt(0)); + // } + // case "object": + // for (let i = 0; i < s.length; i++) { + // this.buffer.push(s[i]); + // } + // } if (!this.busy){ this.sendBuffer(); } @@ -189,15 +196,18 @@ class BufferedNUS { this.busy = true; let chunk = new Uint8Array(this.buffer.slice(0, MTU)); this.buffer.splice(0, MTU); + // console.log("this.buffer.slice(0, MTU)" + this.buffer.slice(0, MTU)); + // console.log("chunk" + chunk); + let self = this; this.rxCharacteristic.writeValue(chunk) .catch(async () => { console.log("DOMException: GATT operation already in progress.") }) - .then(() => { - if (this.buffer.length > 0) { - this.sendBuffer(); + .then(function() { + if (self.buffer.length > 0) { + self.sendBuffer(); } else { - this.busy = false; + self.busy = false; } }); } diff --git a/connection.js b/connection.js index 97dcd2d..4ccb5a2 100644 --- a/connection.js +++ b/connection.js @@ -8,16 +8,18 @@ function setConnButtonState(new_state) { class Connection { constructor() { this.rx_buffer = ""; - console.log("connect!" + this.tx_buffer); } setTxBuffer(bleDevice, rxCharacteristic){ this.tx_buffer = new BufferedNUS(bleDevice, rxCharacteristic); } - sendCommand(command, value) { - console.log("sendCommand"); + sendMessage(command, value) { + console.log("sendMessage"); this.tx_buffer.pushString(command + '=' + value + '\n'); + // this.tx_buffer.pushString(command + '=') + // this.tx_buffer.pushString(value); + // this.tx_buffer.pushString('\n'); } sendText(text) { @@ -28,14 +30,14 @@ class Connection { onConnected(){ console.log("onConnected"); setConnButtonState("setup"); - this.sendCommand('setup', '?'); - setTimeout(() => { - console.log('Model loading timeout.'); - if (!model_loaded){ - modelInit(value); - setConnButtonState("connected"); - } - }, 5000); + this.sendMessage('setup', '?'); + // setTimeout(() => { + // console.log('Model loading timeout.'); + // if (!model_loaded){ + // modelInit(this, value); + // setConnButtonState("connected"); + // } + // }, 5000); } onMsgReceived(event){ @@ -58,12 +60,12 @@ class Connection { command = ''; value = message; } - console.log("command:" + command); - console.log("value:" + value); + // console.log("command:" + command); + // console.log("value:" + value); this.rx_buffer = this.rx_buffer.slice(this.rx_buffer.indexOf('\n')+1); if (command == 'setup'){ console.log(JSON.parse(value)) - modelInit(JSON.parse(value)); + modelInit(this, JSON.parse(value)); setConnButtonState("connected"); } else { console.log(message) @@ -79,123 +81,10 @@ class Connection { // state = State.BLE_disconnected; setConnButtonState("BLE_disconnected"); } - - /* - sendNotificationToHub(text) { - if (this.channels.has('notify')){ - this.sendText(text); - } - } - - sendLabelsToHub(model_labels){ - console.log('sendLabelsToHub') - this.sendCommand('ready', JSON.stringify(model_labels)) - } - - sendProbility(model_scores){ - let response = ''; - for (let i = 0; i < model_scores.length; i++) { - response += String.fromCharCode(Math.round(100*model_scores[i]) + ' '.charCodeAt(0)) - } - this.sendCommand('P', response) - } - */ - } let connection; function connectionInit(){ - // bleOnConnected = onConnected; - // bleOnMsgReceived = onMsgReceived; - // bleOnDisconnected = onDisconnected; - // connect(); - connection = new Connection() + connection = new Connection(); connect(connection); -} - -function sendMessage(msg){ - nusSendString(msg + '\n'); -} - -function sendLabelsToHub(){ - console.log('sendLabelsToHub') - msg = '!labels=' + model_labels.join('\t') - console.log(msg); - sendMessage(msg); -} - -function sendNotificationToHub(label){ - if (notifications){ - sendMessage(label); - } -} - - -function onConnected(){ - state = State.SETUP; - setConnButtonState(state); - sendMessage('?setup'); - setTimeout(() => { - console.log('Model loading timeout.'); - if (!model_loaded){ - onMsgReceived('\n'); - } - }, 5000); -} - -const Command = { - MODEL: 'model', - NOTIFY: 'notify', - LABELS: 'labels', - PROBABILITY: 'P' -}; - -var buffer = ''; -function onMsgReceived(msg){ - console.log(msg) - buffer += msg; - if (buffer.endsWith('\n')){ - msg = buffer.trim(); - buffer = ''; - msg_type = msg[0]; - msg = msg.slice(1); - switch (msg_type){ - case '!': - idx = msg.indexOf("="); - const command = msg.slice(0, idx); - const value = msg.slice(idx+1); - console.log('command=' + command) - console.log('value=' + value) - switch (command){ - case Command.MODEL: - modelInit(value); - setConnButtonState(state); - break; - case Command.NOTIFY: - notifications = (value === 'true') - break; - } - break; - case '?': - switch (msg){ - // case Command.LABELS: - // if (label_counter < model_labels.length) { - // sendMessage(model_labels[label_counter++]) - // } else { - // label_counter = 0; - // sendMessage(''); - // } - // break; - case Command.PROBABILITY: - let response = ''; - for (let i = 0; i < model_scores.length; i++) { - response += String.fromCharCode(Math.round(100*model_scores[i]) + ' '.charCodeAt(0)) - } - sendMessage(response); - break; - } - break; - } - console.log(state) - } -} +} \ No newline at end of file diff --git a/models.js b/models.js index b07baa8..d3e2622 100644 --- a/models.js +++ b/models.js @@ -19,31 +19,44 @@ async function modelType(url){ } } -async function modelInit(url) { - const model_type = await modelType(url); - switch (model_type) { - case "audio": - audioInit(url); - const audio_visualizer = document.getElementById("audio-visualizer"); - audio_visualizer.style.display = "block"; - break; - case "image": - imageInit(url); - const webcam_overlay = document.getElementById("webcam-container"); - webcam_overlay.style.display = "block"; - break; +async function modelInit(connection, config) { + if (config['type'] == 'teachablemachine'){ + const model_type = await modelType(config['model']); + switch (model_type) { + case "audio": + audioInit(connection, config['model']); + const audio_visualizer = document.getElementById("audio-visualizer"); + audio_visualizer.style.display = "block"; + break; + case "image": + imageInit(connection, config['model']); + const webcam_overlay = document.getElementById("webcam-container"); + webcam_overlay.style.display = "block"; + break; + } } } -function sendOnPrediction(classLabels, scores){ +function sendOnPrediction(connection, classLabels, scores, send_probability){ // send label over BLE only when its score exceeds 0.5 and it is different from previous sent + let prob = Array(); for (let i = 0; i < classLabels.length; i++) { + prob.push(Math.round(scores*100)+32) if (scores[i] > 0.5 && classLabels[i] != best_label){ best_label = classLabels[i]; - sendNotificationToHub(best_label); - break; + connection.sendText(best_label); + // break; } } + console.log('send_probability' + send_probability) + if (send_probability){ + connection.sendMessage('p', prob); + } +} + +function sendLabelsToHub(connection, model_labels){ + console.log('sendLabelsToHub') + connection.sendMessage('labels', JSON.stringify(model_labels)); } async function audioModel(url=""){ @@ -61,21 +74,24 @@ async function audioModel(url=""){ // check that model and metadata are loaded via HTTPS requests. await recognizer.ensureModelLoaded(); - model_loaded = true; + //model_loaded = true; return recognizer; } -async function audioInit(url) { - const recognizer = await audioModel(url); +async function audioInit(connection, config) { + const recognizer = await audioModel(config['model']); model_labels = recognizer.wordLabels(); - sendLabelsToHub(); + sendLabelsToHub(connection, model_labels); createPredictionBars(model_labels); + console.log(config) + console.log(config['probability']) + recognizer.listen(result => { model_scores = result.scores; updatePredictionBars(model_labels, model_scores); - sendOnPrediction(model_labels, model_scores); + sendOnPrediction(connection, model_labels, model_scores, config['probability']); }, { includeSpectrogram: false, // in case listen should return result.spectrogram probabilityThreshold: 0.0, @@ -97,7 +113,7 @@ async function imageInit(url) { // or files from your local hard drive // Note: the pose library adds "tmImage" object to your window (window.tmImage) model = await tmImage.load(modelURL, metadataURL); - model_loaded = true; + //model_loaded = true; model_labels = model.getClassLabels(); model_scores = Array(model.getTotalClasses()).fill(0); createPredictionBars(model_labels); From 13a63bd8238eb7319cffbd4104038e60c0165578 Mon Sep 17 00:00:00 2001 From: domrze Date: Wed, 15 Feb 2023 17:46:26 +0100 Subject: [PATCH 12/20] Functional protocol and audio model. --- aibrick_teachablemachine.py | 117 ++++++++++++++++++++++-------------- ble.js | 41 +------------ connection.js | 44 ++++---------- index.html | 2 +- models.js | 66 ++++++++++---------- styles.css | 9 ++- 6 files changed, 125 insertions(+), 154 deletions(-) diff --git a/aibrick_teachablemachine.py b/aibrick_teachablemachine.py index 76a6f5f..f042a57 100644 --- a/aibrick_teachablemachine.py +++ b/aibrick_teachablemachine.py @@ -3,6 +3,7 @@ from usys import stdin from uselect import poll +SEP = '·' # class AIBrick: # def __init__(self): @@ -10,8 +11,8 @@ # self.nuart = poll() # self.nuart.register(stdin) -# def _send(self, cmd, value): - # print(cmd, '\t', value, '\n', sep=None) +# def _send(self, command, message): +# print(command, SEP, message, '\n', sep='') # def _process(self, message): # pass @@ -20,81 +21,107 @@ # while self.nuart.poll(0): # char = stdin.read(1) # if char == '\n': -# message, self.buffer = self.buffer, '' -# self._process(message) +# received, self.buffer = self.buffer, '' +# if SEP in received: +# cmd, message = received.split(SEP, 1) +# else: +# cmd, message = '', received +# self._process(cmd, message) +# return cmd # else: # self.buffer += char # class AIBrickTeachableMachine(AIBrick): -# def __init__(self, model='', ondetection=None, use_probabilities=False): +# def __init__(self, model='', detection=True, probability=False): # super().__init__() # self.model = model -# self.ondetection = ondetection -# self.use_probabilities = use_probabilities -# self._labels = [] -# self.probability = dict() +# self.send_detection = detection +# self.send_probability = probability +# self.labels = [] -# def _process(self, message): -# if '\t' in message: -# cmd, value = message.split('\t') -# if cmd == 'setup': -# self._send('model', self.model) -# elif cmd == 'labels': -# self._labels = value.split(' ') -# self._send('notify', str(callable(self.ondetection)).lower()) -# elif cmd == 'P': -# self.probability = {label: (encoded_byte - '_')/100 -# for label, encoded_byte in zip(self._labels, value)} +# def _process(self, cmd, message): +# if cmd == 'setup': +# self._send('setup', '{' + \ +# '"type": "teachablemachine",' + \ +# f'"model": "{self.model}",' + \ +# f'"detection": {int(self.send_detection)},' + \ +# f'"probability": {int(self.send_probability)}' + \ +# '}') +# elif cmd == 'labels': +# self.labels = message.split('"')[1::2] +# if cmd == 'd': +# self.detection = message +# elif cmd == 'p' and self.send_probability: +# probabilities = message.split(',') +# if all([p.isdigit() for p in probabilities]): +# self.probability = {label: int(p) for label, p in +# zip(self.labels, probabilities)} +# elif message.endswith('setup' + SEP + '?'): +# self._process('setup', '?') # else: -# self.ondetection(message) +# print("cmd", cmd, len(cmd), "message", message) class AIBrickTeachableMachine: - def __init__(self, model='', ondetection=None, use_probabilities=False): + def __init__(self, model='', detection=True, probability=False): self.model = model - self.ondetection = ondetection - self.use_probabilities = use_probabilities + self.send_detection = detection + self.send_probability = probability + self.labels = [] self.buffer = '' self.nuart = poll() self.nuart.register(stdin) - self.labels = [] def _send(self, command, message): - print(command, '\t', message, '\n', sep=None) + print(command, SEP, message, '\n', sep='') - def _process(self, command, message): - if cmd == '': - self.ondetection(message) - elif cmd == 'setup': - self._send('setup', f'{{"type": "teachablemachine", "model": "{self.model}", "probability": {self.use_probabilities}}}') + def _process(self, cmd, message): + print(SEP + cmd + SEP + message) + if cmd == 'setup': + self._send('setup', '{' + \ + '"type": "teachablemachine",' + \ + f'"model": "{self.model}",' + \ + f'"detection": {int(self.send_detection)},' + \ + f'"probability": {int(self.send_probability)}' + \ + '}') elif cmd == 'labels': - self.labels = value.split('"')[1::2] - elif cmd == 'P' and self.use_probabilities: - for label, encoded_byte in zip(self.labels, message): - self.probability[label] = (encoded_byte - 32)/100 + self.labels = message.split('"')[1::2] + if cmd == 'd': + self.detection = message + elif cmd == 'p' and self.send_probability: + probabilities = message.split(',') + if all([p.isdigit() for p in probabilities]): + self.probability = {label: int(p) for label, p in + zip(self.labels, probabilities)} + elif message.endswith('setup' + SEP + '?'): + self._process('setup', '?') + else: + print("cmd", cmd, len(cmd), "message", message) def receive(self): while self.nuart.poll(0): char = stdin.read(1) if char == '\n': received, self.buffer = self.buffer, '' - command, message = received.split('\t', 1) if '\t' in received else '', received - #message = message.replace('\\n', '\n').replace('\\r', '\r').replace('\\t', '\t') - self._process(command, message) - return received + if SEP in received: + cmd, message = received.split(SEP, 1) + else: + cmd, message = '', received + self._process(cmd, message) + return cmd else: self.buffer += char - -def OnNotification(command): - print(command) - hub = PrimeHub() MODEL = '' -aibrick = AIBrickTeachableMachine(MODEL, OnNotification) +aibrick = AIBrickTeachableMachine(MODEL, detection=False, probability=True) hub.light.on(Color.WHITE) while True: - aibrick.receive() \ No newline at end of file + result = aibrick.receive() + if (result == 'detection'): + print(aibrick.detection) + elif (result == 'probability'): + print(aibrick.probability) diff --git a/ble.js b/ble.js index 9fdf266..723dc8c 100644 --- a/ble.js +++ b/ble.js @@ -18,13 +18,6 @@ var bleServer; var nusService; var rxCharacteristic; var txCharacteristic; -// var bleOnConnected = null; -// var bleOnMsgReceived = null; -// var bleOnDisconnected = null; - -// bleOnConnected = connection.onConnected; -// bleOnMsgReceived = this.onMsgReceived; -// bleOnDisconnected = this.onDisconnected; function connect(connection) { if (!navigator.bluetooth) { @@ -105,27 +98,6 @@ function disconnect() { } } -// function onDisconnectedHandler() { -// console.log(bleDevice.name + ' Disconnected.'); -// if (bleOnDisconnected){ -// bleOnDisconnected(); -// } -// } - -// async function handleNotifications(event) { -// let value = event.target.value; -// // Convert raw data bytes to character values and use these to -// // construct a string. -// let str = ""; -// for (let i = 0; i < value.byteLength; i++) { -// str += String.fromCharCode(value.getUint8(i)); -// } -// console.log('notification: ' + str); -// if (bleOnMsgReceived){ -// bleOnMsgReceived(str); -// } -// } - function nusSendString(s) { if(bleDevice && bleDevice.gatt.connected) { console.log("send: " + s); @@ -173,19 +145,8 @@ class BufferedNUS { if (this.bleDevice && this.bleDevice.gatt.connected) { console.log("push: " + s); for (let i = 0; i < s.length; i++) { - this.buffer.push(s[i].charCodeAt(0)); + this.buffer.push(s.charCodeAt(i)); } - - // switch (typeof(s)){ - // case "string": - // for (let i = 0; i < s.length; i++) { - // this.buffer.push(s[i].charCodeAt(0)); - // } - // case "object": - // for (let i = 0; i < s.length; i++) { - // this.buffer.push(s[i]); - // } - // } if (!this.busy){ this.sendBuffer(); } diff --git a/connection.js b/connection.js index 4ccb5a2..f5ce013 100644 --- a/connection.js +++ b/connection.js @@ -1,4 +1,4 @@ - +const SEP = "·"; function setConnButtonState(new_state) { // console.log(new_state) @@ -16,14 +16,10 @@ class Connection { sendMessage(command, value) { console.log("sendMessage"); - this.tx_buffer.pushString(command + '=' + value + '\n'); - // this.tx_buffer.pushString(command + '=') - // this.tx_buffer.pushString(value); - // this.tx_buffer.pushString('\n'); + this.tx_buffer.pushString(command + SEP + value + '\n'); } sendText(text) { - //.replace('\t', '\\t').replace('\n', '\\n').replace('\r', '\\r') this.tx_buffer.pushString(text + '\n'); } @@ -31,49 +27,35 @@ class Connection { console.log("onConnected"); setConnButtonState("setup"); this.sendMessage('setup', '?'); - // setTimeout(() => { - // console.log('Model loading timeout.'); - // if (!model_loaded){ - // modelInit(this, value); - // setConnButtonState("connected"); - // } - // }, 5000); } onMsgReceived(event){ let payload = event.target.value; console.log("onMsgReceived"); - let s = ""; for (let i = 0; i < payload.byteLength; i++) { - s += String.fromCharCode(payload.getUint8(i)); + this.rx_buffer += String.fromCharCode(payload.getUint8(i)); } - console.log(s); - this.rx_buffer += s; if (this.rx_buffer.includes('\n')) { - let command, value; - let message = this.rx_buffer.slice(0, this.rx_buffer.indexOf('\n')); - if (message.includes('=')) { - const parts = message.split('=', 2); + let command, message; + let received = this.rx_buffer.slice(0, this.rx_buffer.indexOf('\n')); + if (received.includes(SEP)) { + const parts = received.split(SEP, 2); command = parts[0]; - value = parts[1]; + message = parts[1]; } else { command = ''; - value = message; + message = received; } // console.log("command:" + command); - // console.log("value:" + value); + // console.log("value:" + message); this.rx_buffer = this.rx_buffer.slice(this.rx_buffer.indexOf('\n')+1); if (command == 'setup'){ - console.log(JSON.parse(value)) - modelInit(this, JSON.parse(value)); + console.log(JSON.parse(message)) + modelInit(this, JSON.parse(message)); setConnButtonState("connected"); } else { - console.log(message) + console.log(received) } - // else if (command in this.channels){ - // this.channels[command] = value.toLowerCase() == 'true'; - // } - // console.log(state) } } diff --git a/index.html b/index.html index 007df79..a5dd307 100644 --- a/index.html +++ b/index.html @@ -13,7 +13,7 @@
-
aiBrick
+
ai
brick
diff --git a/models.js b/models.js index d3e2622..9122270 100644 --- a/models.js +++ b/models.js @@ -1,8 +1,6 @@ -var best_label = ""; -var model_url = ""; -var model_loaded = false; -var model_labels = []; -var model_scores = []; +let best_label = ""; +let model_config = {}; +let model_connection = null; async function modelType(url){ if (url){ @@ -20,16 +18,18 @@ async function modelType(url){ } async function modelInit(connection, config) { + model_config = config; + model_connection = connection; if (config['type'] == 'teachablemachine'){ const model_type = await modelType(config['model']); switch (model_type) { case "audio": - audioInit(connection, config['model']); + audioInit(); const audio_visualizer = document.getElementById("audio-visualizer"); audio_visualizer.style.display = "block"; break; case "image": - imageInit(connection, config['model']); + imageInit(); const webcam_overlay = document.getElementById("webcam-container"); webcam_overlay.style.display = "block"; break; @@ -37,26 +37,26 @@ async function modelInit(connection, config) { } } -function sendOnPrediction(connection, classLabels, scores, send_probability){ - // send label over BLE only when its score exceeds 0.5 and it is different from previous sent - let prob = Array(); +function sendOnPrediction(classLabels, scores){ + let probabilities = Array(classLabels.length); for (let i = 0; i < classLabels.length; i++) { - prob.push(Math.round(scores*100)+32) + probabilities[i] = Math.round(scores[i]*100) if (scores[i] > 0.5 && classLabels[i] != best_label){ + // label which score exceeds 0.5 and it is different from previous best label best_label = classLabels[i]; - connection.sendText(best_label); - // break; } } - console.log('send_probability' + send_probability) - if (send_probability){ - connection.sendMessage('p', prob); + if (model_config['probability']){ + model_connection.sendMessage('p', probabilities.join()); + } + if (model_config['detection']){ + model_connection.sendMessage('d', best_label); } } -function sendLabelsToHub(connection, model_labels){ +function sendLabelsToHub(model_labels){ console.log('sendLabelsToHub') - connection.sendMessage('labels', JSON.stringify(model_labels)); + model_connection.sendMessage('labels', JSON.stringify(model_labels)); } async function audioModel(url=""){ @@ -74,24 +74,19 @@ async function audioModel(url=""){ // check that model and metadata are loaded via HTTPS requests. await recognizer.ensureModelLoaded(); - //model_loaded = true; - return recognizer; } -async function audioInit(connection, config) { - const recognizer = await audioModel(config['model']); - model_labels = recognizer.wordLabels(); - sendLabelsToHub(connection, model_labels); - createPredictionBars(model_labels); - console.log(config) - console.log(config['probability']) - +async function audioInit() { + const recognizer = await audioModel(model_config['model']); + let model_labels = recognizer.wordLabels(); + sendLabelsToHub(model_labels); + createPredictionBars(model_labels); recognizer.listen(result => { - model_scores = result.scores; + let model_scores = result.scores; updatePredictionBars(model_labels, model_scores); - sendOnPrediction(connection, model_labels, model_scores, config['probability']); + sendOnPrediction(model_labels, model_scores); }, { includeSpectrogram: false, // in case listen should return result.spectrogram probabilityThreshold: 0.0, @@ -104,9 +99,9 @@ async function audioInit(connection, config) { let model, webcam, flip; // Load the image model and setup the webcam -async function imageInit(url) { - const modelURL = url + "model.json"; - const metadataURL = url + "metadata.json"; +async function imageInit() { + const modelURL = model_config['model'] + "model.json"; + const metadataURL = model_config['model'] + "metadata.json"; // load the model and metadata // Refer to tmImage.loadFromFiles() in the API to support files from a file picker @@ -114,8 +109,8 @@ async function imageInit(url) { // Note: the pose library adds "tmImage" object to your window (window.tmImage) model = await tmImage.load(modelURL, metadataURL); //model_loaded = true; - model_labels = model.getClassLabels(); - model_scores = Array(model.getTotalClasses()).fill(0); + let model_labels = model.getClassLabels(); + sendLabelsToHub(model_labels); createPredictionBars(model_labels); webcamInit(true); } @@ -140,6 +135,7 @@ async function webcamInit(new_flip){ async function imageLoop() { webcam.update(); // update the webcam frame const prediction = await model.predict(webcam.canvas); + let model_scores = Array(model.getTotalClasses()); for (let i = 0; i < model.getTotalClasses(); i++){ model_scores[model_labels.indexOf(prediction[i].className)] = prediction[i].probability; } diff --git a/styles.css b/styles.css index c0012e1..1762ade 100644 --- a/styles.css +++ b/styles.css @@ -1,6 +1,6 @@ body { - font-family: "Segoe UI","Helvetica Neue","Lucida Grande",Arial,sans-serif; + font-family: "Gill Sans", "Segoe UI","Helvetica Neue","Lucida Grande",Helvetica,Arial,sans-serif; background-color: #e8eaed; } @@ -16,12 +16,16 @@ body { #app-name { font-size: 24px; line-height: 28px; - font-weight: 500; + font-weight: bold; color: #1967D2; margin: 5px; text-shadow: 1px 1px 2px #aaa; display: inline; } +#app-name-ai { + color: limegreen; + display: inline; +} .title { display: flex; @@ -136,6 +140,7 @@ button:focus { color: #fff; border-radius: inherit; width: 0%; + transition: 150ms ease-out; } .footnote { From 17bafcc977e604be2416e3ff212e24e14d3c2b5a Mon Sep 17 00:00:00 2001 From: Dominik Date: Sun, 26 Feb 2023 08:57:42 +0100 Subject: [PATCH 13/20] Message dropping, interface development. --- ai-brick.png | Bin 1310 -> 0 bytes ble.js | 36 +- connection.js | 15 +- font-awesome/css/font-awesome.css | 2337 +++++++++++++++ font-awesome/css/font-awesome.min.css | 4 + font-awesome/fonts/FontAwesome.otf | Bin 0 -> 134808 bytes font-awesome/fonts/fontawesome-webfont.eot | Bin 0 -> 165742 bytes font-awesome/fonts/fontawesome-webfont.svg | 2671 ++++++++++++++++++ font-awesome/fonts/fontawesome-webfont.ttf | Bin 0 -> 165548 bytes font-awesome/fonts/fontawesome-webfont.woff | Bin 0 -> 98024 bytes font-awesome/fonts/fontawesome-webfont.woff2 | Bin 0 -> 77160 bytes index.html | 20 +- interface.js | 19 + models.js | 23 +- styles.css | 41 +- 15 files changed, 5083 insertions(+), 83 deletions(-) delete mode 100644 ai-brick.png create mode 100644 font-awesome/css/font-awesome.css create mode 100644 font-awesome/css/font-awesome.min.css create mode 100644 font-awesome/fonts/FontAwesome.otf create mode 100644 font-awesome/fonts/fontawesome-webfont.eot create mode 100644 font-awesome/fonts/fontawesome-webfont.svg create mode 100644 font-awesome/fonts/fontawesome-webfont.ttf create mode 100644 font-awesome/fonts/fontawesome-webfont.woff create mode 100644 font-awesome/fonts/fontawesome-webfont.woff2 diff --git a/ai-brick.png b/ai-brick.png deleted file mode 100644 index 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zoGDiD-lG4;E|{H^bK|C;h4ZsfQdI`J!gB?HvAMiR4~`WYn8#-{+%5#J0V{yHz(r3@ z|Ccf{x{lBQATIcSU$<(4oXHDcOj~{RY)Sq2sFmJ(H^LN``nCwKU-_M_g*Q&q< z0Vg8{r0`UChNV#5(u#n$)eI!7snl25PeMJ#Us^~Ud##9!bcn#cF4WY@$w&eI1$zP` U{z&UA$N&HU07*qoM6N<$g1Mw_OaK4? diff --git a/ble.js b/ble.js index 723dc8c..63a1c65 100644 --- a/ble.js +++ b/ble.js @@ -98,38 +98,6 @@ function disconnect() { } } -function nusSendString(s) { - if(bleDevice && bleDevice.gatt.connected) { - console.log("send: " + s); - let val_arr = new Uint8Array(s.length) - for (let i = 0; i < s.length; i++) { - let val = s[i].charCodeAt(0); - val_arr[i] = val; - } - sendNextChunk(val_arr); - } else { - console.log('Not connected to a device yet.'); - } -} - -function sendNextChunk(a) { - let chunk = a.slice(0, MTU); - rxCharacteristic.writeValue(chunk) - .catch(async () => { - console.log("DOMException: GATT operation already in progress.") - Promise.resolve() - .then(() => new Promise(resolve => setTimeout(resolve, 300))) - .then(() => { - console.log('Delayed.'); - rxCharacteristic.writeValue(chunk); - }); - }) - .then(function() { - if (a.length > MTU) { - sendNextChunk(a.slice(MTU)); - } - }); -} class BufferedNUS { @@ -141,8 +109,8 @@ class BufferedNUS { console.log("BufferedNUS ready") } - pushString(s) { - if (this.bleDevice && this.bleDevice.gatt.connected) { + pushString(s, priority=false) { + if (this.bleDevice && this.bleDevice.gatt.connected && (priority || !this.busy)) { console.log("push: " + s); for (let i = 0; i < s.length; i++) { this.buffer.push(s.charCodeAt(i)); diff --git a/connection.js b/connection.js index f5ce013..7597dff 100644 --- a/connection.js +++ b/connection.js @@ -1,10 +1,5 @@ const SEP = "·"; -function setConnButtonState(new_state) { - // console.log(new_state) - document.getElementById("clientConnectButton").innerHTML = new_state; -} - class Connection { constructor() { this.rx_buffer = ""; @@ -14,19 +9,19 @@ class Connection { this.tx_buffer = new BufferedNUS(bleDevice, rxCharacteristic); } - sendMessage(command, value) { + sendMessage(command, value, priority=False) { console.log("sendMessage"); - this.tx_buffer.pushString(command + SEP + value + '\n'); + this.tx_buffer.pushString(command + SEP + value + '\n', priority); } sendText(text) { - this.tx_buffer.pushString(text + '\n'); + this.tx_buffer.pushString(text + '\n', true); } onConnected(){ console.log("onConnected"); setConnButtonState("setup"); - this.sendMessage('setup', '?'); + this.sendMessage('setup', '?', true); } onMsgReceived(event){ @@ -61,7 +56,7 @@ class Connection { onDisconnected(){ // state = State.BLE_disconnected; - setConnButtonState("BLE_disconnected"); + setConnButtonState("disconnected"); } } diff --git a/font-awesome/css/font-awesome.css b/font-awesome/css/font-awesome.css new file mode 100644 index 0000000..ee906a8 --- /dev/null +++ b/font-awesome/css/font-awesome.css @@ -0,0 +1,2337 @@ +/*! + * Font Awesome 4.7.0 by @davegandy - http://fontawesome.io - @fontawesome + * License - http://fontawesome.io/license (Font: SIL OFL 1.1, CSS: MIT License) + */ +/* FONT PATH + * -------------------------- */ +@font-face { + font-family: 'FontAwesome'; + src: url('../fonts/fontawesome-webfont.eot?v=4.7.0'); + src: url('../fonts/fontawesome-webfont.eot?#iefix&v=4.7.0') format('embedded-opentype'), url('../fonts/fontawesome-webfont.woff2?v=4.7.0') format('woff2'), url('../fonts/fontawesome-webfont.woff?v=4.7.0') format('woff'), url('../fonts/fontawesome-webfont.ttf?v=4.7.0') format('truetype'), url('../fonts/fontawesome-webfont.svg?v=4.7.0#fontawesomeregular') format('svg'); + font-weight: normal; + font-style: normal; +} +.fa { + display: inline-block; + font: normal normal normal 14px/1 FontAwesome; + font-size: inherit; + text-rendering: auto; + -webkit-font-smoothing: antialiased; + -moz-osx-font-smoothing: grayscale; +} +/* makes the font 33% larger relative to the icon container */ +.fa-lg { + font-size: 1.33333333em; + line-height: 0.75em; + vertical-align: -15%; +} +.fa-2x { + font-size: 2em; +} +.fa-3x { + font-size: 3em; +} +.fa-4x { + font-size: 4em; +} +.fa-5x { + font-size: 5em; +} +.fa-fw { + width: 1.28571429em; + text-align: center; +} +.fa-ul { + padding-left: 0; + margin-left: 2.14285714em; + list-style-type: none; +} +.fa-ul > li { + position: relative; +} +.fa-li { + position: absolute; + left: -2.14285714em; + width: 2.14285714em; + top: 0.14285714em; + text-align: center; +} +.fa-li.fa-lg { + left: -1.85714286em; +} +.fa-border { + padding: .2em .25em .15em; + border: solid 0.08em #eeeeee; + border-radius: .1em; +} +.fa-pull-left { + float: left; +} +.fa-pull-right { + float: right; +} +.fa.fa-pull-left { + margin-right: .3em; +} +.fa.fa-pull-right { + margin-left: .3em; +} +/* Deprecated as of 4.4.0 */ +.pull-right { + float: right; +} +.pull-left { + float: left; +} +.fa.pull-left { + margin-right: .3em; +} +.fa.pull-right { + margin-left: .3em; +} +.fa-spin { + -webkit-animation: fa-spin 2s infinite linear; + animation: fa-spin 2s infinite linear; +} +.fa-pulse { + -webkit-animation: fa-spin 1s infinite steps(8); + animation: fa-spin 1s infinite steps(8); +} +@-webkit-keyframes fa-spin { + 0% { + -webkit-transform: rotate(0deg); + transform: rotate(0deg); + } + 100% { + -webkit-transform: rotate(359deg); + transform: rotate(359deg); + } +} +@keyframes fa-spin { + 0% { + -webkit-transform: rotate(0deg); + transform: rotate(0deg); + } + 100% { + -webkit-transform: rotate(359deg); + transform: rotate(359deg); + } +} +.fa-rotate-90 { + -ms-filter: "progid:DXImageTransform.Microsoft.BasicImage(rotation=1)"; + -webkit-transform: rotate(90deg); + -ms-transform: rotate(90deg); + transform: rotate(90deg); +} +.fa-rotate-180 { + -ms-filter: "progid:DXImageTransform.Microsoft.BasicImage(rotation=2)"; + -webkit-transform: rotate(180deg); + -ms-transform: rotate(180deg); + transform: rotate(180deg); +} +.fa-rotate-270 { + -ms-filter: "progid:DXImageTransform.Microsoft.BasicImage(rotation=3)"; + -webkit-transform: rotate(270deg); + -ms-transform: rotate(270deg); + transform: rotate(270deg); +} +.fa-flip-horizontal { + -ms-filter: "progid:DXImageTransform.Microsoft.BasicImage(rotation=0, mirror=1)"; + -webkit-transform: scale(-1, 1); + -ms-transform: scale(-1, 1); + transform: scale(-1, 1); +} +.fa-flip-vertical { + -ms-filter: "progid:DXImageTransform.Microsoft.BasicImage(rotation=2, mirror=1)"; + -webkit-transform: scale(1, -1); + -ms-transform: scale(1, -1); + transform: scale(1, -1); +} +:root .fa-rotate-90, +:root .fa-rotate-180, +:root .fa-rotate-270, +:root .fa-flip-horizontal, +:root .fa-flip-vertical { + filter: none; +} +.fa-stack { + position: relative; + display: inline-block; + width: 2em; + height: 2em; + line-height: 2em; + vertical-align: middle; +} +.fa-stack-1x, +.fa-stack-2x { + position: absolute; + left: 0; + width: 100%; + text-align: center; +} +.fa-stack-1x { + line-height: inherit; +} +.fa-stack-2x { + font-size: 2em; +} +.fa-inverse { + color: #ffffff; +} +/* Font Awesome uses the Unicode Private Use Area (PUA) to ensure screen + readers do not read off random characters that represent icons */ +.fa-glass:before { + content: "\f000"; +} +.fa-music:before { + content: "\f001"; +} +.fa-search:before { + content: "\f002"; +} +.fa-envelope-o:before { + content: "\f003"; +} +.fa-heart:before { + content: "\f004"; +} +.fa-star:before { + content: "\f005"; +} +.fa-star-o:before { + content: "\f006"; +} +.fa-user:before { + content: "\f007"; +} +.fa-film:before { + content: "\f008"; +} +.fa-th-large:before { + content: "\f009"; +} +.fa-th:before { + content: "\f00a"; +} +.fa-th-list:before { + content: "\f00b"; +} +.fa-check:before { + content: "\f00c"; +} +.fa-remove:before, +.fa-close:before, +.fa-times:before { + content: "\f00d"; +} +.fa-search-plus:before { + content: "\f00e"; +} +.fa-search-minus:before { + content: "\f010"; +} +.fa-power-off:before { + content: "\f011"; +} +.fa-signal:before { + content: "\f012"; +} +.fa-gear:before, +.fa-cog:before { + content: "\f013"; +} +.fa-trash-o:before { + content: "\f014"; +} +.fa-home:before { + content: "\f015"; +} +.fa-file-o:before { + content: "\f016"; +} +.fa-clock-o:before { + content: "\f017"; +} +.fa-road:before { + content: "\f018"; +} +.fa-download:before { + content: "\f019"; +} +.fa-arrow-circle-o-down:before { + content: "\f01a"; +} +.fa-arrow-circle-o-up:before { + content: "\f01b"; +} +.fa-inbox:before { + content: "\f01c"; +} +.fa-play-circle-o:before { + content: "\f01d"; +} +.fa-rotate-right:before, +.fa-repeat:before { + content: "\f01e"; +} +.fa-refresh:before { + content: "\f021"; +} +.fa-list-alt:before { + content: "\f022"; +} +.fa-lock:before { + content: "\f023"; +} +.fa-flag:before { + content: "\f024"; +} +.fa-headphones:before { + content: "\f025"; +} +.fa-volume-off:before { + content: "\f026"; +} +.fa-volume-down:before { + content: "\f027"; +} +.fa-volume-up:before { + content: "\f028"; +} +.fa-qrcode:before { + content: "\f029"; +} +.fa-barcode:before { + content: "\f02a"; +} +.fa-tag:before { + content: "\f02b"; +} +.fa-tags:before { + content: "\f02c"; +} +.fa-book:before { + content: "\f02d"; +} +.fa-bookmark:before { + content: "\f02e"; +} +.fa-print:before { + content: "\f02f"; +} +.fa-camera:before { + content: "\f030"; +} +.fa-font:before { + content: "\f031"; +} +.fa-bold:before { + content: "\f032"; +} +.fa-italic:before { + content: "\f033"; +} +.fa-text-height:before { + content: "\f034"; +} +.fa-text-width:before { + content: "\f035"; +} +.fa-align-left:before { + content: "\f036"; +} +.fa-align-center:before { + content: "\f037"; +} +.fa-align-right:before { + content: "\f038"; +} +.fa-align-justify:before { + content: "\f039"; +} +.fa-list:before { + content: "\f03a"; +} +.fa-dedent:before, +.fa-outdent:before { + content: "\f03b"; +} +.fa-indent:before { + content: "\f03c"; +} +.fa-video-camera:before { + content: "\f03d"; +} +.fa-photo:before, +.fa-image:before, +.fa-picture-o:before { + content: "\f03e"; +} +.fa-pencil:before { + content: "\f040"; +} +.fa-map-marker:before { + content: "\f041"; +} +.fa-adjust:before { + content: "\f042"; +} +.fa-tint:before { + content: "\f043"; +} +.fa-edit:before, +.fa-pencil-square-o:before { + content: "\f044"; +} +.fa-share-square-o:before { + content: "\f045"; +} +.fa-check-square-o:before { + content: "\f046"; +} +.fa-arrows:before { + content: "\f047"; +} +.fa-step-backward:before { + content: "\f048"; +} +.fa-fast-backward:before { + content: "\f049"; +} +.fa-backward:before { + content: "\f04a"; +} +.fa-play:before { + content: "\f04b"; +} +.fa-pause:before { + content: "\f04c"; +} +.fa-stop:before { + content: "\f04d"; +} +.fa-forward:before { + content: "\f04e"; +} +.fa-fast-forward:before { + content: "\f050"; +} +.fa-step-forward:before { + content: "\f051"; +} +.fa-eject:before { + content: "\f052"; +} +.fa-chevron-left:before { + content: "\f053"; +} +.fa-chevron-right:before { + content: "\f054"; +} +.fa-plus-circle:before { + content: "\f055"; +} +.fa-minus-circle:before { + content: "\f056"; +} +.fa-times-circle:before { + content: "\f057"; +} +.fa-check-circle:before { + content: "\f058"; +} +.fa-question-circle:before { + content: "\f059"; +} +.fa-info-circle:before { + content: "\f05a"; +} +.fa-crosshairs:before { + content: "\f05b"; +} +.fa-times-circle-o:before { + content: "\f05c"; +} +.fa-check-circle-o:before { + content: "\f05d"; +} +.fa-ban:before { + content: "\f05e"; +} +.fa-arrow-left:before { + content: "\f060"; +} +.fa-arrow-right:before { + content: "\f061"; +} +.fa-arrow-up:before { + content: "\f062"; +} +.fa-arrow-down:before { + content: "\f063"; +} +.fa-mail-forward:before, +.fa-share:before { + content: "\f064"; +} +.fa-expand:before { + content: "\f065"; +} +.fa-compress:before { + content: "\f066"; +} +.fa-plus:before { + content: "\f067"; +} +.fa-minus:before { + content: "\f068"; +} +.fa-asterisk:before { + content: "\f069"; +} +.fa-exclamation-circle:before { + content: "\f06a"; +} +.fa-gift:before { + content: "\f06b"; +} +.fa-leaf:before { + content: "\f06c"; +} +.fa-fire:before { + content: "\f06d"; +} +.fa-eye:before { + content: "\f06e"; +} +.fa-eye-slash:before { + content: "\f070"; +} +.fa-warning:before, +.fa-exclamation-triangle:before { + content: "\f071"; +} +.fa-plane:before { + content: "\f072"; +} +.fa-calendar:before { + content: "\f073"; +} +.fa-random:before { + content: "\f074"; +} +.fa-comment:before { + content: "\f075"; +} +.fa-magnet:before { + content: "\f076"; +} +.fa-chevron-up:before { + content: "\f077"; +} +.fa-chevron-down:before { + content: "\f078"; +} +.fa-retweet:before { + content: "\f079"; +} +.fa-shopping-cart:before { + content: "\f07a"; +} +.fa-folder:before { + content: "\f07b"; +} +.fa-folder-open:before { + content: "\f07c"; +} +.fa-arrows-v:before { + content: "\f07d"; +} +.fa-arrows-h:before { + content: "\f07e"; +} +.fa-bar-chart-o:before, +.fa-bar-chart:before { + content: "\f080"; +} +.fa-twitter-square:before { + content: "\f081"; +} +.fa-facebook-square:before { + content: "\f082"; +} +.fa-camera-retro:before { + content: "\f083"; +} +.fa-key:before { + content: "\f084"; +} +.fa-gears:before, +.fa-cogs:before { + content: "\f085"; +} +.fa-comments:before { + content: "\f086"; +} +.fa-thumbs-o-up:before { + content: "\f087"; +} +.fa-thumbs-o-down:before { + content: "\f088"; +} +.fa-star-half:before { + content: "\f089"; +} +.fa-heart-o:before { + content: "\f08a"; +} +.fa-sign-out:before { + content: "\f08b"; +} +.fa-linkedin-square:before { + content: "\f08c"; +} +.fa-thumb-tack:before { + content: "\f08d"; +} +.fa-external-link:before { + content: "\f08e"; +} +.fa-sign-in:before { + content: "\f090"; +} +.fa-trophy:before { + content: "\f091"; +} +.fa-github-square:before { + content: "\f092"; +} +.fa-upload:before { + content: "\f093"; +} +.fa-lemon-o:before { + content: "\f094"; +} +.fa-phone:before { + content: "\f095"; +} +.fa-square-o:before { + content: "\f096"; +} +.fa-bookmark-o:before { + content: "\f097"; +} +.fa-phone-square:before { + content: "\f098"; +} +.fa-twitter:before { + content: "\f099"; +} +.fa-facebook-f:before, +.fa-facebook:before { + content: "\f09a"; +} +.fa-github:before { + content: "\f09b"; +} +.fa-unlock:before { + content: "\f09c"; +} +.fa-credit-card:before { + content: "\f09d"; +} +.fa-feed:before, +.fa-rss:before { + content: "\f09e"; +} +.fa-hdd-o:before { + content: "\f0a0"; +} +.fa-bullhorn:before { + content: "\f0a1"; +} +.fa-bell:before { + content: "\f0f3"; +} +.fa-certificate:before { + content: "\f0a3"; +} +.fa-hand-o-right:before { + content: "\f0a4"; +} +.fa-hand-o-left:before { + content: "\f0a5"; +} +.fa-hand-o-up:before { + content: "\f0a6"; +} +.fa-hand-o-down:before { + content: "\f0a7"; +} +.fa-arrow-circle-left:before { + content: "\f0a8"; +} +.fa-arrow-circle-right:before { + content: "\f0a9"; +} +.fa-arrow-circle-up:before { + content: "\f0aa"; +} +.fa-arrow-circle-down:before { + content: "\f0ab"; +} +.fa-globe:before { + content: "\f0ac"; +} +.fa-wrench:before { + content: "\f0ad"; +} +.fa-tasks:before { + content: "\f0ae"; +} +.fa-filter:before { + content: "\f0b0"; +} +.fa-briefcase:before { + content: "\f0b1"; +} +.fa-arrows-alt:before { + content: "\f0b2"; +} +.fa-group:before, +.fa-users:before { + content: "\f0c0"; +} +.fa-chain:before, +.fa-link:before { + content: "\f0c1"; +} +.fa-cloud:before { + content: "\f0c2"; +} +.fa-flask:before { + content: "\f0c3"; +} +.fa-cut:before, +.fa-scissors:before { + content: "\f0c4"; +} +.fa-copy:before, +.fa-files-o:before { + content: "\f0c5"; +} +.fa-paperclip:before { + content: "\f0c6"; +} +.fa-save:before, +.fa-floppy-o:before { + content: "\f0c7"; +} +.fa-square:before { + content: "\f0c8"; +} +.fa-navicon:before, +.fa-reorder:before, +.fa-bars:before { + content: "\f0c9"; +} +.fa-list-ul:before { + content: "\f0ca"; +} +.fa-list-ol:before { + content: "\f0cb"; +} +.fa-strikethrough:before { + content: "\f0cc"; +} +.fa-underline:before { + content: "\f0cd"; +} +.fa-table:before { + content: "\f0ce"; +} +.fa-magic:before { + content: "\f0d0"; +} +.fa-truck:before { + content: "\f0d1"; +} +.fa-pinterest:before { + content: "\f0d2"; +} +.fa-pinterest-square:before { + content: "\f0d3"; +} +.fa-google-plus-square:before { + content: "\f0d4"; +} +.fa-google-plus:before { + content: "\f0d5"; +} +.fa-money:before { + content: "\f0d6"; +} +.fa-caret-down:before { + content: "\f0d7"; +} +.fa-caret-up:before { + content: "\f0d8"; +} +.fa-caret-left:before { + content: "\f0d9"; +} +.fa-caret-right:before { + content: "\f0da"; +} +.fa-columns:before { + content: "\f0db"; +} +.fa-unsorted:before, +.fa-sort:before { + content: "\f0dc"; +} +.fa-sort-down:before, +.fa-sort-desc:before { + content: "\f0dd"; +} +.fa-sort-up:before, +.fa-sort-asc:before { + content: "\f0de"; +} +.fa-envelope:before { + content: "\f0e0"; +} +.fa-linkedin:before { + content: "\f0e1"; +} +.fa-rotate-left:before, +.fa-undo:before { + content: "\f0e2"; +} +.fa-legal:before, +.fa-gavel:before { + content: "\f0e3"; +} +.fa-dashboard:before, +.fa-tachometer:before { + content: "\f0e4"; +} +.fa-comment-o:before { + content: "\f0e5"; +} +.fa-comments-o:before { + content: "\f0e6"; +} +.fa-flash:before, +.fa-bolt:before { + content: "\f0e7"; +} +.fa-sitemap:before { + content: "\f0e8"; +} +.fa-umbrella:before { + content: "\f0e9"; +} +.fa-paste:before, +.fa-clipboard:before { + content: "\f0ea"; +} +.fa-lightbulb-o:before { + content: "\f0eb"; +} +.fa-exchange:before { + content: "\f0ec"; +} +.fa-cloud-download:before { + content: "\f0ed"; +} +.fa-cloud-upload:before { + content: "\f0ee"; +} +.fa-user-md:before { + content: "\f0f0"; +} +.fa-stethoscope:before { + content: "\f0f1"; +} +.fa-suitcase:before { + content: "\f0f2"; +} +.fa-bell-o:before { + content: "\f0a2"; +} +.fa-coffee:before { + content: "\f0f4"; +} +.fa-cutlery:before { + content: "\f0f5"; +} +.fa-file-text-o:before { + content: "\f0f6"; +} +.fa-building-o:before { + content: "\f0f7"; +} +.fa-hospital-o:before { + content: "\f0f8"; +} +.fa-ambulance:before { + content: "\f0f9"; +} +.fa-medkit:before { + content: "\f0fa"; +} +.fa-fighter-jet:before { + content: "\f0fb"; +} +.fa-beer:before { + content: "\f0fc"; +} +.fa-h-square:before { + content: "\f0fd"; +} +.fa-plus-square:before { + content: "\f0fe"; +} +.fa-angle-double-left:before { + content: "\f100"; +} +.fa-angle-double-right:before { + content: "\f101"; +} +.fa-angle-double-up:before { + content: "\f102"; +} +.fa-angle-double-down:before { + content: "\f103"; +} +.fa-angle-left:before { + content: "\f104"; +} +.fa-angle-right:before { + content: "\f105"; +} +.fa-angle-up:before { + content: "\f106"; +} +.fa-angle-down:before { + content: "\f107"; +} +.fa-desktop:before { + content: "\f108"; +} +.fa-laptop:before { + content: "\f109"; +} +.fa-tablet:before { + content: "\f10a"; +} +.fa-mobile-phone:before, +.fa-mobile:before { + content: "\f10b"; +} +.fa-circle-o:before { + content: "\f10c"; +} +.fa-quote-left:before { + content: "\f10d"; +} +.fa-quote-right:before { + content: "\f10e"; +} +.fa-spinner:before { + content: "\f110"; +} +.fa-circle:before { + content: "\f111"; +} +.fa-mail-reply:before, +.fa-reply:before { + content: "\f112"; +} +.fa-github-alt:before { + content: "\f113"; +} +.fa-folder-o:before { + content: "\f114"; +} +.fa-folder-open-o:before { + content: "\f115"; +} +.fa-smile-o:before { + content: "\f118"; +} +.fa-frown-o:before { + content: "\f119"; +} +.fa-meh-o:before { + content: "\f11a"; +} +.fa-gamepad:before { + content: "\f11b"; +} +.fa-keyboard-o:before { + content: "\f11c"; +} +.fa-flag-o:before { + content: "\f11d"; +} +.fa-flag-checkered:before { + content: "\f11e"; +} +.fa-terminal:before { + content: "\f120"; +} +.fa-code:before { + content: "\f121"; +} +.fa-mail-reply-all:before, +.fa-reply-all:before { + content: "\f122"; +} +.fa-star-half-empty:before, +.fa-star-half-full:before, +.fa-star-half-o:before { + content: "\f123"; +} +.fa-location-arrow:before { + content: "\f124"; +} +.fa-crop:before { + content: "\f125"; +} +.fa-code-fork:before { + content: "\f126"; +} +.fa-unlink:before, +.fa-chain-broken:before { + content: "\f127"; +} +.fa-question:before { + content: "\f128"; +} +.fa-info:before { + content: "\f129"; +} +.fa-exclamation:before { + content: "\f12a"; +} +.fa-superscript:before { + content: "\f12b"; +} +.fa-subscript:before { + content: "\f12c"; +} +.fa-eraser:before { + content: "\f12d"; +} +.fa-puzzle-piece:before { + content: "\f12e"; +} +.fa-microphone:before { + content: "\f130"; +} +.fa-microphone-slash:before { + content: "\f131"; +} +.fa-shield:before { + content: "\f132"; +} +.fa-calendar-o:before { + content: "\f133"; +} +.fa-fire-extinguisher:before { + content: "\f134"; +} +.fa-rocket:before { + content: "\f135"; +} +.fa-maxcdn:before { + content: "\f136"; +} +.fa-chevron-circle-left:before { + content: "\f137"; +} +.fa-chevron-circle-right:before { + content: "\f138"; +} +.fa-chevron-circle-up:before { + content: "\f139"; +} +.fa-chevron-circle-down:before { + content: "\f13a"; +} +.fa-html5:before { + content: "\f13b"; +} +.fa-css3:before { + content: "\f13c"; +} +.fa-anchor:before { + content: "\f13d"; +} +.fa-unlock-alt:before { + content: "\f13e"; +} +.fa-bullseye:before { + content: "\f140"; +} +.fa-ellipsis-h:before { + content: "\f141"; +} +.fa-ellipsis-v:before { + content: "\f142"; +} +.fa-rss-square:before { + content: "\f143"; +} +.fa-play-circle:before { + content: "\f144"; +} +.fa-ticket:before { + content: "\f145"; +} +.fa-minus-square:before { + content: "\f146"; +} +.fa-minus-square-o:before { + content: "\f147"; +} +.fa-level-up:before { + content: "\f148"; +} +.fa-level-down:before { + content: "\f149"; +} +.fa-check-square:before { + content: "\f14a"; +} +.fa-pencil-square:before { + content: "\f14b"; +} +.fa-external-link-square:before { + content: "\f14c"; +} +.fa-share-square:before { + content: "\f14d"; +} +.fa-compass:before { + content: "\f14e"; +} +.fa-toggle-down:before, +.fa-caret-square-o-down:before { + content: "\f150"; +} +.fa-toggle-up:before, +.fa-caret-square-o-up:before { + content: "\f151"; +} +.fa-toggle-right:before, +.fa-caret-square-o-right:before { + content: "\f152"; +} +.fa-euro:before, +.fa-eur:before { + content: "\f153"; +} +.fa-gbp:before { + content: "\f154"; +} +.fa-dollar:before, +.fa-usd:before { + content: "\f155"; +} +.fa-rupee:before, +.fa-inr:before { + content: "\f156"; +} +.fa-cny:before, +.fa-rmb:before, +.fa-yen:before, +.fa-jpy:before { + content: "\f157"; +} +.fa-ruble:before, +.fa-rouble:before, +.fa-rub:before { + content: "\f158"; +} +.fa-won:before, +.fa-krw:before { + content: "\f159"; +} +.fa-bitcoin:before, +.fa-btc:before { + content: "\f15a"; +} +.fa-file:before { + content: "\f15b"; +} +.fa-file-text:before { + content: "\f15c"; +} +.fa-sort-alpha-asc:before { + content: "\f15d"; +} +.fa-sort-alpha-desc:before { + content: "\f15e"; +} +.fa-sort-amount-asc:before { + content: "\f160"; +} +.fa-sort-amount-desc:before { + content: "\f161"; +} +.fa-sort-numeric-asc:before { + content: "\f162"; +} +.fa-sort-numeric-desc:before { + content: "\f163"; +} +.fa-thumbs-up:before { + content: "\f164"; +} +.fa-thumbs-down:before { + content: "\f165"; +} +.fa-youtube-square:before { + content: "\f166"; +} +.fa-youtube:before { + content: "\f167"; +} +.fa-xing:before { + content: "\f168"; +} +.fa-xing-square:before { + content: "\f169"; +} +.fa-youtube-play:before { + content: "\f16a"; +} +.fa-dropbox:before { + content: "\f16b"; +} +.fa-stack-overflow:before { + content: "\f16c"; +} +.fa-instagram:before { + content: "\f16d"; +} +.fa-flickr:before { + content: "\f16e"; +} +.fa-adn:before { + content: "\f170"; +} +.fa-bitbucket:before { + content: "\f171"; +} +.fa-bitbucket-square:before { + content: "\f172"; +} +.fa-tumblr:before { + content: "\f173"; +} +.fa-tumblr-square:before { + content: "\f174"; +} +.fa-long-arrow-down:before { + content: "\f175"; +} +.fa-long-arrow-up:before { + content: "\f176"; +} +.fa-long-arrow-left:before { + content: "\f177"; +} +.fa-long-arrow-right:before { + content: "\f178"; +} +.fa-apple:before { + content: "\f179"; +} +.fa-windows:before { + content: "\f17a"; +} +.fa-android:before { + content: "\f17b"; +} +.fa-linux:before { + content: "\f17c"; +} +.fa-dribbble:before { + content: "\f17d"; +} +.fa-skype:before { + content: "\f17e"; +} +.fa-foursquare:before { + content: "\f180"; +} +.fa-trello:before { + content: "\f181"; +} +.fa-female:before { + content: "\f182"; +} +.fa-male:before { + content: "\f183"; +} +.fa-gittip:before, +.fa-gratipay:before { + content: "\f184"; +} +.fa-sun-o:before { + content: "\f185"; +} +.fa-moon-o:before { + content: "\f186"; +} +.fa-archive:before { + content: "\f187"; +} +.fa-bug:before { + content: "\f188"; +} +.fa-vk:before { + content: "\f189"; +} +.fa-weibo:before { + content: "\f18a"; +} +.fa-renren:before { + content: "\f18b"; +} +.fa-pagelines:before { + content: "\f18c"; +} +.fa-stack-exchange:before { + content: "\f18d"; +} +.fa-arrow-circle-o-right:before { + content: "\f18e"; +} +.fa-arrow-circle-o-left:before { + content: "\f190"; +} +.fa-toggle-left:before, +.fa-caret-square-o-left:before { + content: "\f191"; +} +.fa-dot-circle-o:before { + content: "\f192"; +} +.fa-wheelchair:before { + content: "\f193"; +} +.fa-vimeo-square:before { + content: "\f194"; +} +.fa-turkish-lira:before, +.fa-try:before { + content: "\f195"; +} +.fa-plus-square-o:before { + content: "\f196"; +} +.fa-space-shuttle:before { + content: "\f197"; +} +.fa-slack:before { + content: "\f198"; +} +.fa-envelope-square:before { + content: "\f199"; +} +.fa-wordpress:before { + content: "\f19a"; +} +.fa-openid:before { + content: "\f19b"; +} +.fa-institution:before, +.fa-bank:before, +.fa-university:before { + content: "\f19c"; +} +.fa-mortar-board:before, +.fa-graduation-cap:before { + content: "\f19d"; +} +.fa-yahoo:before { + content: "\f19e"; +} +.fa-google:before { + content: "\f1a0"; +} +.fa-reddit:before { + content: "\f1a1"; +} +.fa-reddit-square:before { + content: "\f1a2"; +} +.fa-stumbleupon-circle:before { + content: "\f1a3"; +} +.fa-stumbleupon:before { + content: "\f1a4"; +} +.fa-delicious:before { + content: "\f1a5"; +} +.fa-digg:before { + content: "\f1a6"; +} +.fa-pied-piper-pp:before { + content: "\f1a7"; +} +.fa-pied-piper-alt:before { + content: "\f1a8"; +} +.fa-drupal:before { + content: "\f1a9"; +} +.fa-joomla:before { + content: "\f1aa"; +} +.fa-language:before { + content: "\f1ab"; +} +.fa-fax:before { + content: "\f1ac"; +} +.fa-building:before { + content: "\f1ad"; +} +.fa-child:before { + content: "\f1ae"; +} +.fa-paw:before { + content: "\f1b0"; +} +.fa-spoon:before { + content: "\f1b1"; +} +.fa-cube:before { + content: "\f1b2"; +} +.fa-cubes:before { + content: "\f1b3"; +} +.fa-behance:before { + content: "\f1b4"; +} +.fa-behance-square:before { + content: "\f1b5"; +} +.fa-steam:before { + content: "\f1b6"; +} +.fa-steam-square:before { + content: "\f1b7"; +} +.fa-recycle:before { + content: "\f1b8"; +} +.fa-automobile:before, +.fa-car:before { + content: "\f1b9"; +} +.fa-cab:before, +.fa-taxi:before { + content: "\f1ba"; +} +.fa-tree:before { + content: "\f1bb"; +} +.fa-spotify:before { + content: "\f1bc"; +} +.fa-deviantart:before { + content: "\f1bd"; +} +.fa-soundcloud:before { + content: "\f1be"; +} +.fa-database:before { + content: "\f1c0"; +} +.fa-file-pdf-o:before { + content: "\f1c1"; +} +.fa-file-word-o:before { + content: "\f1c2"; +} +.fa-file-excel-o:before { + content: "\f1c3"; +} +.fa-file-powerpoint-o:before { + content: "\f1c4"; +} +.fa-file-photo-o:before, +.fa-file-picture-o:before, +.fa-file-image-o:before { + content: "\f1c5"; +} +.fa-file-zip-o:before, +.fa-file-archive-o:before { + content: "\f1c6"; +} +.fa-file-sound-o:before, +.fa-file-audio-o:before { + content: "\f1c7"; +} +.fa-file-movie-o:before, +.fa-file-video-o:before { + content: "\f1c8"; +} +.fa-file-code-o:before { + content: "\f1c9"; +} +.fa-vine:before { + content: "\f1ca"; +} +.fa-codepen:before { + content: "\f1cb"; +} +.fa-jsfiddle:before { + content: "\f1cc"; +} +.fa-life-bouy:before, +.fa-life-buoy:before, +.fa-life-saver:before, +.fa-support:before, +.fa-life-ring:before { + content: "\f1cd"; +} +.fa-circle-o-notch:before { + content: "\f1ce"; +} +.fa-ra:before, +.fa-resistance:before, +.fa-rebel:before { + content: "\f1d0"; +} +.fa-ge:before, +.fa-empire:before { + content: "\f1d1"; +} +.fa-git-square:before { + content: "\f1d2"; +} +.fa-git:before { + content: "\f1d3"; +} +.fa-y-combinator-square:before, +.fa-yc-square:before, +.fa-hacker-news:before { + content: "\f1d4"; +} +.fa-tencent-weibo:before { + content: "\f1d5"; +} +.fa-qq:before { + content: "\f1d6"; +} +.fa-wechat:before, +.fa-weixin:before { + content: "\f1d7"; +} +.fa-send:before, +.fa-paper-plane:before { + content: "\f1d8"; +} +.fa-send-o:before, +.fa-paper-plane-o:before { + content: "\f1d9"; +} +.fa-history:before { + content: "\f1da"; +} +.fa-circle-thin:before { + content: "\f1db"; +} +.fa-header:before { + content: "\f1dc"; +} +.fa-paragraph:before { + content: "\f1dd"; +} +.fa-sliders:before { + content: "\f1de"; +} +.fa-share-alt:before { + content: "\f1e0"; +} +.fa-share-alt-square:before { + content: "\f1e1"; +} +.fa-bomb:before { + content: "\f1e2"; +} +.fa-soccer-ball-o:before, +.fa-futbol-o:before { + content: "\f1e3"; +} +.fa-tty:before { + content: "\f1e4"; +} +.fa-binoculars:before { + content: "\f1e5"; +} +.fa-plug:before { + content: "\f1e6"; +} +.fa-slideshare:before { + content: "\f1e7"; +} +.fa-twitch:before { + content: "\f1e8"; +} +.fa-yelp:before { + content: "\f1e9"; +} +.fa-newspaper-o:before { + content: "\f1ea"; +} +.fa-wifi:before { + content: "\f1eb"; +} +.fa-calculator:before { + content: "\f1ec"; +} +.fa-paypal:before { + content: "\f1ed"; +} +.fa-google-wallet:before { + content: "\f1ee"; +} +.fa-cc-visa:before { + content: "\f1f0"; +} +.fa-cc-mastercard:before { + content: "\f1f1"; +} +.fa-cc-discover:before { + content: "\f1f2"; +} +.fa-cc-amex:before { + content: "\f1f3"; +} +.fa-cc-paypal:before { + content: "\f1f4"; +} +.fa-cc-stripe:before { + content: "\f1f5"; +} +.fa-bell-slash:before { + content: "\f1f6"; +} +.fa-bell-slash-o:before { + content: "\f1f7"; +} +.fa-trash:before { + content: "\f1f8"; +} +.fa-copyright:before { + content: "\f1f9"; +} +.fa-at:before { + content: "\f1fa"; +} +.fa-eyedropper:before { + content: "\f1fb"; +} +.fa-paint-brush:before { + content: "\f1fc"; +} +.fa-birthday-cake:before { + content: "\f1fd"; +} +.fa-area-chart:before { + content: "\f1fe"; +} +.fa-pie-chart:before { + content: "\f200"; +} +.fa-line-chart:before { + content: "\f201"; +} +.fa-lastfm:before { + content: "\f202"; +} +.fa-lastfm-square:before { + content: "\f203"; +} +.fa-toggle-off:before { + content: "\f204"; +} +.fa-toggle-on:before { + content: "\f205"; +} +.fa-bicycle:before { + content: "\f206"; +} +.fa-bus:before { + content: "\f207"; +} +.fa-ioxhost:before { + content: "\f208"; +} +.fa-angellist:before { + content: "\f209"; +} +.fa-cc:before { + content: "\f20a"; +} +.fa-shekel:before, +.fa-sheqel:before, +.fa-ils:before { + content: "\f20b"; +} +.fa-meanpath:before { + content: "\f20c"; +} +.fa-buysellads:before { + content: "\f20d"; +} +.fa-connectdevelop:before { + content: "\f20e"; +} +.fa-dashcube:before { + content: "\f210"; +} +.fa-forumbee:before { + content: "\f211"; +} +.fa-leanpub:before { + content: "\f212"; +} +.fa-sellsy:before { + content: "\f213"; +} +.fa-shirtsinbulk:before { + content: "\f214"; +} +.fa-simplybuilt:before { + content: "\f215"; +} +.fa-skyatlas:before { + content: "\f216"; +} +.fa-cart-plus:before { + content: "\f217"; +} +.fa-cart-arrow-down:before { + content: "\f218"; +} +.fa-diamond:before { + content: "\f219"; +} +.fa-ship:before { + content: "\f21a"; +} +.fa-user-secret:before { + content: "\f21b"; +} +.fa-motorcycle:before { + content: "\f21c"; +} +.fa-street-view:before { + content: "\f21d"; +} +.fa-heartbeat:before { + content: "\f21e"; +} +.fa-venus:before { + content: "\f221"; +} +.fa-mars:before { + content: "\f222"; +} +.fa-mercury:before { + content: "\f223"; +} +.fa-intersex:before, +.fa-transgender:before { + content: "\f224"; +} +.fa-transgender-alt:before { + content: "\f225"; +} +.fa-venus-double:before { + content: "\f226"; +} +.fa-mars-double:before { + content: "\f227"; +} +.fa-venus-mars:before { + content: "\f228"; +} +.fa-mars-stroke:before { + content: "\f229"; +} +.fa-mars-stroke-v:before { + content: "\f22a"; +} +.fa-mars-stroke-h:before { + content: "\f22b"; +} +.fa-neuter:before { + content: "\f22c"; +} +.fa-genderless:before { + content: "\f22d"; +} +.fa-facebook-official:before { + content: "\f230"; +} +.fa-pinterest-p:before { + content: "\f231"; +} +.fa-whatsapp:before { + content: "\f232"; +} +.fa-server:before { + content: "\f233"; +} +.fa-user-plus:before { + content: "\f234"; +} +.fa-user-times:before { + content: "\f235"; +} +.fa-hotel:before, +.fa-bed:before { + content: "\f236"; +} +.fa-viacoin:before { + content: "\f237"; +} +.fa-train:before { + content: "\f238"; +} +.fa-subway:before { + content: "\f239"; +} +.fa-medium:before { + content: "\f23a"; +} +.fa-yc:before, +.fa-y-combinator:before { + content: "\f23b"; +} +.fa-optin-monster:before { + content: "\f23c"; +} +.fa-opencart:before { + content: "\f23d"; +} +.fa-expeditedssl:before { + content: "\f23e"; +} +.fa-battery-4:before, +.fa-battery:before, +.fa-battery-full:before { + content: "\f240"; +} +.fa-battery-3:before, +.fa-battery-three-quarters:before { + content: "\f241"; +} +.fa-battery-2:before, +.fa-battery-half:before { + content: "\f242"; +} +.fa-battery-1:before, +.fa-battery-quarter:before { + content: "\f243"; +} +.fa-battery-0:before, 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content: "\f256"; +} +.fa-hand-scissors-o:before { + content: "\f257"; +} +.fa-hand-lizard-o:before { + content: "\f258"; +} +.fa-hand-spock-o:before { + content: "\f259"; +} +.fa-hand-pointer-o:before { + content: "\f25a"; +} +.fa-hand-peace-o:before { + content: "\f25b"; +} +.fa-trademark:before { + content: "\f25c"; +} +.fa-registered:before { + content: "\f25d"; +} +.fa-creative-commons:before { + content: "\f25e"; +} +.fa-gg:before { + content: "\f260"; +} +.fa-gg-circle:before { + content: "\f261"; +} +.fa-tripadvisor:before { + content: "\f262"; +} +.fa-odnoklassniki:before { + content: "\f263"; +} +.fa-odnoklassniki-square:before { + content: "\f264"; +} +.fa-get-pocket:before { + content: "\f265"; +} +.fa-wikipedia-w:before { + content: "\f266"; +} +.fa-safari:before { + content: "\f267"; +} +.fa-chrome:before { + content: "\f268"; +} +.fa-firefox:before { + content: "\f269"; +} +.fa-opera:before { + content: "\f26a"; +} +.fa-internet-explorer:before { + content: "\f26b"; +} 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+} +.fa-credit-card-alt:before { + content: "\f283"; +} +.fa-codiepie:before { + content: "\f284"; +} +.fa-modx:before { + content: "\f285"; +} +.fa-fort-awesome:before { + content: "\f286"; +} +.fa-usb:before { + content: "\f287"; +} +.fa-product-hunt:before { + content: "\f288"; +} +.fa-mixcloud:before { + content: "\f289"; +} +.fa-scribd:before { + content: "\f28a"; +} +.fa-pause-circle:before { + content: "\f28b"; +} +.fa-pause-circle-o:before { + content: "\f28c"; +} +.fa-stop-circle:before { + content: "\f28d"; +} +.fa-stop-circle-o:before { + content: "\f28e"; +} +.fa-shopping-bag:before { + content: "\f290"; +} +.fa-shopping-basket:before { + content: "\f291"; +} +.fa-hashtag:before { + content: "\f292"; +} +.fa-bluetooth:before { + content: "\f293"; +} +.fa-bluetooth-b:before { + content: "\f294"; +} +.fa-percent:before { + content: "\f295"; +} +.fa-gitlab:before { + content: "\f296"; +} +.fa-wpbeginner:before { + content: "\f297"; +} +.fa-wpforms:before { + content: "\f298"; 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-
ai
brick
+
ai
Brick
@@ -23,23 +25,13 @@
-->
-
- - - - - -
+
+
About the project
- \ No newline at end of file diff --git a/interface.js b/interface.js index fe709f8..89d60b4 100644 --- a/interface.js +++ b/interface.js @@ -32,4 +32,23 @@ function updatePredictionBars(classLabels, scores){ bar.innerHTML = " " + classPrediction + " "; bar.style.width = classPrediction; } +} + +function setConnButtonState(state, type=''){ + console.log("setConnButtonState", state) + switch (state){ + case "connected": + document.getElementById("clientConnectButton").style.width = "36px"; + document.getElementById("clientConnectButton").style.background = "url(bt_ok.png) no-repeat center"; + document.getElementById("clientConnectButton").innerHTML = ""; + document.getElementById("clientConnectButton").onclick = function() { location.reload(); }; + break; + case "disconnected": + document.getElementById("clientConnectButton").style.borderColor = "red"; + document.getElementById("clientConnectButton").innerHTML = "Connection failed."; + case "setup": + document.getElementById("clientConnectButton").innerHTML = "Initializing..."; + break; + } + } \ No newline at end of file diff --git a/models.js b/models.js index 9122270..387ba6a 100644 --- a/models.js +++ b/models.js @@ -39,24 +39,31 @@ async function modelInit(connection, config) { function sendOnPrediction(classLabels, scores){ let probabilities = Array(classLabels.length); + let detection = false; for (let i = 0; i < classLabels.length; i++) { - probabilities[i] = Math.round(scores[i]*100) + let probability = Math.round(scores[i]*100); + if (probability > 0){ + probabilities[i] = Math.round(scores[i]*100); + } else { + probabilities[i] = ''; + } if (scores[i] > 0.5 && classLabels[i] != best_label){ // label which score exceeds 0.5 and it is different from previous best label best_label = classLabels[i]; + detection = true; } } if (model_config['probability']){ - model_connection.sendMessage('p', probabilities.join()); + model_connection.sendMessage('p', probabilities.join(), false); } - if (model_config['detection']){ - model_connection.sendMessage('d', best_label); + if (detection && model_config['detection']){ + model_connection.sendMessage('d', best_label, true); } } function sendLabelsToHub(model_labels){ console.log('sendLabelsToHub') - model_connection.sendMessage('labels', JSON.stringify(model_labels)); + model_connection.sendMessage('labels', JSON.stringify(model_labels), true); } async function audioModel(url=""){ @@ -108,7 +115,6 @@ async function imageInit() { // or files from your local hard drive // Note: the pose library adds "tmImage" object to your window (window.tmImage) model = await tmImage.load(modelURL, metadataURL); - //model_loaded = true; let model_labels = model.getClassLabels(); sendLabelsToHub(model_labels); createPredictionBars(model_labels); @@ -128,14 +134,15 @@ async function webcamInit(new_flip){ webcam.canvas.id = "webcam-canvas"; webcam_container.innerHTML = ""; webcam_container.appendChild(webcam.canvas); - rotate_button = document.getElementById("rotate") - rotate_button.style.visibility = "visible"; + // rotate_button = document.getElementById("rotate") + // rotate_button.style.visibility = "visible"; } async function imageLoop() { webcam.update(); // update the webcam frame const prediction = await model.predict(webcam.canvas); let model_scores = Array(model.getTotalClasses()); + let model_labels = model.getClassLabels(); for (let i = 0; i < model.getTotalClasses(); i++){ model_scores[model_labels.indexOf(prediction[i].className)] = prediction[i].probability; } diff --git a/styles.css b/styles.css index 1762ade..959f133 100644 --- a/styles.css +++ b/styles.css @@ -1,6 +1,6 @@ body { - font-family: "Gill Sans", "Segoe UI","Helvetica Neue","Lucida Grande",Helvetica,Arial,sans-serif; + font-family: "Segoe UI","Helvetica Neue","Lucida Grande",Helvetica,Arial,sans-serif; background-color: #e8eaed; } @@ -13,17 +13,18 @@ body { box-shadow: 0px 5px 5px -2px gray; } +@font-face { font-family: OpenSans; src: url('OpenSans-Medium.ttf'); } #app-name { - font-size: 24px; + font-size: 32px; + font-family: OpenSans; line-height: 28px; - font-weight: bold; - color: #1967D2; + font-weight: 500; + color: #425066; margin: 5px; - text-shadow: 1px 1px 2px #aaa; display: inline; } #app-name-ai { - color: limegreen; + color: #FD8917; display: inline; } @@ -35,7 +36,7 @@ body { } button { - width: 200px; + width: 100%; background-color: #f8f9fa; border: 1px solid lightblue; border-radius: 4px; @@ -44,7 +45,6 @@ button { font-family: arial,sans-serif; font-size: 14px; height: 36px; - min-width: 54px; padding: 0 16px; text-align: center; user-select: none; @@ -52,6 +52,7 @@ button { touch-action: manipulation; white-space: pre; display: block; + transition: 150ms ease-out; } button:hover { @@ -60,16 +61,17 @@ button:hover { color: #202124; } -button:focus { +/* button:focus { border-color: #4285f4; outline: none; -} +} */ + .button-container { display: flex; - justify-content: center; + justify-content: right; align-items: center; padding-bottom: 10px; - border-bottom: 1px solid #aaa; + /* border-bottom: 1px solid #aaa; */ margin-bottom: 10px; } @@ -79,11 +81,9 @@ button:focus { #audio-visualizer { display: none; - margin: 30px 150px 0px 150px; - padding-bottom: 20px; } -#webcam-container, #webcam-canvas { +#webcam-container { display: none; border-radius: 10px; width: 300px; @@ -94,6 +94,13 @@ button:focus { background-color: #eee; } +#webcam-canvas { + border-radius: 10px; + width: 100%; + height: 100%; +} + + #rotate { position: relative; z-index: 100; @@ -104,7 +111,7 @@ button:focus { #label-container { margin-top: 10px; - border-top: 1px solid #aaa; + /* border-top: 1px solid #aaa; */ padding: 10px; } @@ -144,7 +151,7 @@ button:focus { } .footnote { - border-top: 1px solid #aaa; + /* border-top: 1px solid #aaa; */ padding-top: 10px; text-align: center; } From 638b7a8dc2ecc0156f88100b9eea82c96d8b4833 Mon Sep 17 00:00:00 2001 From: Dominik Date: Sun, 26 Feb 2023 22:36:01 +0100 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-
ai
Brick
+
+ + aiBrick +
- + +
+ -
-
-
+
+
diff --git a/interface.js b/interface.js index 89d60b4..e9f657f 100644 --- a/interface.js +++ b/interface.js @@ -1,20 +1,32 @@ + +function showAudioContainer(){ + const audio_visualizer = document.getElementById("audio-container"); + audio_visualizer.style.display = "block"; +} + +function showWebcamContainer(){ + const webcam_overlay = document.getElementById("webcam-container"); + webcam_overlay.style.display = "block"; +} + const colors = ['#0072bd', '#d95319', '#edb120', '#7e2f8e', '#77ac30', '#4dbeee', '#a2142f']; const bg_colors = ['#e6f5ff', '#fceee8', '#fdf7e7', '#f7ecf9', '#f3f9eb', '#e8f6fd', '#fce8ec'] function createPredictionBars(classLabels){ const labelContainer = document.getElementById("label-container"); + labelContainer.style.display = "block"; labelContainer.replaceChildren(); for (let i = 0; i < classLabels.length; i++) { - var output = document.createElement("div"); + const output = document.createElement("div"); output.className = "output"; - var label = document.createElement("div"); + const label = document.createElement("div"); label.className = "label"; label.style.color = colors[i % 7] label.innerHTML = classLabels[i]; - var progress = document.createElement("div"); + const progress = document.createElement("div"); progress.className = "progress"; progress.style.backgroundColor = bg_colors[i % 7] - var bar = document.createElement("div"); + const bar = document.createElement("div"); bar.id = "__" + classLabels[i]; bar.className = "bar"; bar.style.backgroundColor = colors[i % 7] @@ -34,20 +46,17 @@ function updatePredictionBars(classLabels, scores){ } } -function setConnButtonState(state, type=''){ +function setConnButtonState(state){ console.log("setConnButtonState", state) switch (state){ case "connected": - document.getElementById("clientConnectButton").style.width = "36px"; - document.getElementById("clientConnectButton").style.background = "url(bt_ok.png) no-repeat center"; - document.getElementById("clientConnectButton").innerHTML = ""; - document.getElementById("clientConnectButton").onclick = function() { location.reload(); }; + document.getElementById("connect-button").style.display = "none"; break; case "disconnected": - document.getElementById("clientConnectButton").style.borderColor = "red"; - document.getElementById("clientConnectButton").innerHTML = "Connection failed."; + document.getElementById("error-console").style.display = "block"; + break; case "setup": - document.getElementById("clientConnectButton").innerHTML = "Initializing..."; + document.getElementById("connect-button-caption").innerHTML = "Initializing..."; break; } diff --git a/mic.css b/mic.css new file mode 100644 index 0000000..3695a34 --- /dev/null +++ b/mic.css @@ -0,0 +1,55 @@ +:root { + --mic-color: #425066; + --mic-size: 35px; +} + +#audio-container { + width: 100%; + height: var(--mic-size); + position: relative; +} + +.fa { + padding-top: 9px; +} + +.mic { + color: #fff; + text-align: center; + font-size: 18px; + white-space: nowrap; + border: none; + padding: 0; + border-radius: 100%; + width: var(--mic-size); + height: var(--mic-size); + position: absolute; + top: 0; + left: 0; + right: 0; + background: var(--mic-color); + margin-left: auto; + margin-right: auto; +} + +.mic-overlay { + z-index: 9; + width: var(--mic-size); + height: var(--mic-size); + border: 2px solid var(--mic-color); + border-radius: 100%; + top: -2px; + background: transparent; + animation: pulsate infinite 1.5s; +} + +@-webkit-keyframes pulsate { + 0% { + -webkit-transform: scale(1, 1); + opacity: 1; + } + 100% { + -webkit-transform: scale(1.3, 1.3); + opacity: 0; + } +} \ No newline at end of file diff --git a/models.js b/models.js index 387ba6a..0183ff5 100644 --- a/models.js +++ b/models.js @@ -25,13 +25,9 @@ async function modelInit(connection, config) { switch (model_type) { case "audio": audioInit(); - const audio_visualizer = document.getElementById("audio-visualizer"); - audio_visualizer.style.display = "block"; break; case "image": imageInit(); - const webcam_overlay = document.getElementById("webcam-container"); - webcam_overlay.style.display = "block"; break; } } @@ -86,12 +82,13 @@ async function audioModel(url=""){ async function audioInit() { const recognizer = await audioModel(model_config['model']); - let model_labels = recognizer.wordLabels(); + showAudioContainer(); + const model_labels = recognizer.wordLabels(); sendLabelsToHub(model_labels); createPredictionBars(model_labels); recognizer.listen(result => { - let model_scores = result.scores; + const model_scores = result.scores; updatePredictionBars(model_labels, model_scores); sendOnPrediction(model_labels, model_scores); }, { @@ -115,6 +112,7 @@ async function imageInit() { // or files from your local hard drive // Note: the pose library adds "tmImage" object to your window (window.tmImage) model = await tmImage.load(modelURL, metadataURL); + showWebcamContainer(); let model_labels = model.getClassLabels(); sendLabelsToHub(model_labels); createPredictionBars(model_labels); diff --git a/styles.css b/styles.css index 959f133..21a373e 100644 --- a/styles.css +++ b/styles.css @@ -1,85 +1,91 @@ +:root { + --text-color: #425066; +} +@font-face { font-family: OpenSans; src: url('OpenSans-Medium.ttf'); } body { - font-family: "Segoe UI","Helvetica Neue","Lucida Grande",Helvetica,Arial,sans-serif; + font-family: OpenSans,"Segoe UI","Helvetica Neue","Lucida Grande",Helvetica,Arial,sans-serif; + color: var(--text-color); background-color: #e8eaed; + font-weight: 600; } .app { margin: auto; width: 375px; - padding: 10px; border-radius: 10px; background-color: white; box-shadow: 0px 5px 5px -2px gray; } -@font-face { font-family: OpenSans; src: url('OpenSans-Medium.ttf'); } +.title-container { + display: flex; + justify-content: center; + align-items: center; + padding: 10px; + border-bottom: 1px solid #aaa; +} + +#app-logo { + padding-top: 5px; + padding-right: 5px; +} + #app-name { - font-size: 32px; font-family: OpenSans; + font-size: 32px; line-height: 28px; - font-weight: 500; - color: #425066; - margin: 5px; - display: inline; + font-weight: 600; } + #app-name-ai { color: #FD8917; - display: inline; } -.title { +.button-container { display: flex; justify-content: center; align-items: center; - margin-bottom: 10px; + padding: 10px; + transition: 150ms ease-out; } -button { - width: 100%; - background-color: #f8f9fa; - border: 1px solid lightblue; - border-radius: 4px; - color: #3c4043; - cursor: pointer; - font-family: arial,sans-serif; +#connect-button { + font-family: OpenSans; font-size: 14px; - height: 36px; - padding: 0 16px; + font-weight: 600; text-align: center; + background: url(bt_connect.png) no-repeat 50% 30%, #eff7ff; + border: 1px solid lightblue; + border-radius: 20px; + cursor: pointer; + height: 150px; + width: 150px; user-select: none; -webkit-user-select: none; touch-action: manipulation; - white-space: pre; display: block; - transition: 150ms ease-out; } -button:hover { +#connect-button:hover { border-color: #dadce0; box-shadow: rgba(0, 0, 0, .1) 0 1px 1px; color: #202124; } - -/* button:focus { - border-color: #4285f4; - outline: none; -} */ -.button-container { - display: flex; - justify-content: right; - align-items: center; - padding-bottom: 10px; - /* border-bottom: 1px solid #aaa; */ - margin-bottom: 10px; -} +#connect-button-caption { + position: relative; + top: 30%; + color: steelblue; + } -/*#webcam-overlay { + #error-container { display: none; -}*/ + text-align: center; + color:darkred; +} -#audio-visualizer { +#audio-container { display: none; } @@ -88,9 +94,10 @@ button:hover { border-radius: 10px; width: 300px; height: 300px; + line-height: 300px; margin: auto; text-align: center; - line-height: 300px; + font-size: 14px; background-color: #eee; } @@ -100,18 +107,20 @@ button:hover { height: 100%; } - +/*#webcam-overlay { + display: none; +} #rotate { position: relative; z-index: 100; top: 30px; left: 45px; visibility: hidden; -} +}*/ #label-container { + display: none; margin-top: 10px; - /* border-top: 1px solid #aaa; */ padding: 10px; } @@ -124,8 +133,9 @@ button:hover { } .label { + font-family: OpenSans; font-size: 12px; - font-weight: bold; + font-weight: 600; text-align: right; width: 20%; display: inline-block; @@ -141,8 +151,9 @@ button:hover { } .bar { + font-family: OpenSans; font-size: 10px; - font-weight: bold; + font-weight: 600; text-align: right; color: #fff; border-radius: inherit; @@ -151,50 +162,17 @@ button:hover { } .footnote { - /* border-top: 1px solid #aaa; */ - padding-top: 10px; + border-top: 1px solid #aaa; + padding: 10px; text-align: center; } a { - color: #888; - font-size: 10px; + color: var(--text-color); + font-size: 12px; + text-decoration: none; } -span { - display: block; - border-radius: 3px; - bottom: 0px; - width: 5px; - height: 5px; - background: #1967D2; - position: absolute; - animation: audio-wave 1.5s infinite; - } - - span:nth-child(2) { - left: 11px; - animation-delay: 0.2s; - } - - span:nth-child(3) { - left: 22px; - animation-delay: 0.4s; - } - - span:nth-child(4) { - left: 33px; - animation-delay: 0.6s; - } - - span:nth-child(5) { - left: 44px; - animation-delay: 0.8s; - } - - @keyframes audio-wave { - 10% {height:20px;transform:translateY(0px);} - 25% {height:40px;transform:translateY(20px);} - 80% {height:5px;transform:translateY(0px);} - 100% {height:5px;transform:translateY(0px);} - } \ No newline at end of file +a:hover { + text-decoration: underline; +} \ No newline at end of file From a53039fd833a387fea3a39f39fef0e1b8245e940 Mon Sep 17 00:00:00 2001 From: Dominik Date: Wed, 1 Mar 2023 23:21:20 +0100 Subject: [PATCH 15/20] Error display; FPS limit; aibrick.py as package; interface enhancements. --- aibrick.py | 62 ++++++++++++++++ aibrick_teachablemachine.py | 136 ------------------------------------ index.html | 11 +-- interface.js | 17 +++-- mic.css | 10 +-- models.js | 44 ++++++++---- rotate.png | Bin 0 -> 626 bytes styles.css | 24 +++---- 8 files changed, 128 insertions(+), 176 deletions(-) create mode 100644 aibrick.py delete mode 100644 aibrick_teachablemachine.py create mode 100644 rotate.png diff --git a/aibrick.py b/aibrick.py new file mode 100644 index 0000000..9c73c7d --- /dev/null +++ b/aibrick.py @@ -0,0 +1,62 @@ +from usys import stdin +from uselect import poll + +SEP = '·' + +class AIBrick: + frames = {} + + def __init__(self): + self.buffer = '' + self.nuart = poll() + self.nuart.register(stdin) + while self.nuart.poll(0): + stdin.read(1) + + def _send(self, command, message): + print(command, SEP, message, '\n', sep='') + + def _process(self, message): + pass + + def receive(self): + while self.nuart.poll(0): + char = stdin.read(1) + if char == '\n': + received, self.buffer = self.buffer, '' + if SEP in received: + cmd, message = received.split(SEP, 1) + else: + cmd, message = '', received + self._process(cmd, message) + return self.frames.get(cmd, cmd) + else: + self.buffer += char + + +class AIBrickTeachableMachine(AIBrick): + frames = {"d": "detection", "p": "probability"} + + def __init__(self, model='', detection=True, probability=False): + super().__init__() + self.model = model + self.send_detection = detection + self.send_probability = probability + self.labels = [] + + def _process(self, cmd, message): + if cmd == 'setup': + self._send('setup', '{' + \ + '"type": "teachablemachine",' + \ + f'"model": "{self.model}",' + \ + f'"detection": {int(self.send_detection)},' + \ + f'"probability": {int(self.send_probability)}' + \ + '}') + elif cmd == 'labels': + self.labels = message.split('"')[1::2] + if cmd == 'd' and self.send_detection: + self.detection = message + elif cmd == 'p' and self.send_probability: + probabilities = message.split(',') + self.probability = {label: int(p) if p.isdigit() else 0 + for label, p in zip(self.labels, probabilities)} diff --git a/aibrick_teachablemachine.py b/aibrick_teachablemachine.py deleted file mode 100644 index a0ece16..0000000 --- a/aibrick_teachablemachine.py +++ /dev/null @@ -1,136 +0,0 @@ -from pybricks.hubs import PrimeHub -from pybricks.parameters import Color -from usys import stdin -from uselect import poll -from pybricks.tools import StopWatch - -SEP = '·' - -class AIBrick: - frames = {} - - def __init__(self): - self.buffer = '' - self.nuart = poll() - self.nuart.register(stdin) - while self.nuart.poll(0): - stdin.read(1) - - def _send(self, command, message): - print(command, SEP, message, '\n', sep='') - - def _process(self, message): - pass - - def receive(self): - while self.nuart.poll(0): - char = stdin.read(1) - if char == '\n': - received, self.buffer = self.buffer, '' - if SEP in received: - cmd, message = received.split(SEP, 1) - else: - cmd, message = '', received - self._process(cmd, message) - return self.frames.get(cmd, cmd) - else: - self.buffer += char - - -class AIBrickTeachableMachine(AIBrick): - frames = {"d": "detection", "p": "probability"} - - def __init__(self, model='', detection=True, probability=False): - super().__init__() - self.model = model - self.send_detection = detection - self.send_probability = probability - self.labels = [] - - def _process(self, cmd, message): - if cmd == 'setup': - self._send('setup', '{' + \ - '"type": "teachablemachine",' + \ - f'"model": "{self.model}",' + \ - f'"detection": {int(self.send_detection)},' + \ - f'"probability": {int(self.send_probability)}' + \ - '}') - elif cmd == 'labels': - self.labels = message.split('"')[1::2] - if cmd == 'd' and self.send_detection: - self.detection = message - elif cmd == 'p' and self.send_probability: - probabilities = message.split(',') - self.probability = {label: int(p) if p.isdigit() else 0 - for label, p in zip(self.labels, probabilities)} - else: - print("cmd", cmd, len(cmd), "message", message) - - -class AIBrickTeachableMachine: - frames = {"d": "detection", "p": "probability"} - - def __init__(self, model='', detection=True, probability=False): - self.model = model - self.send_detection = detection - self.send_probability = probability - self.labels = [] - self.buffer = '' - self.nuart = poll() - self.nuart.register(stdin) - while self.nuart.poll(0): - stdin.read(1) - - def _send(self, command, message): - print(command, SEP, message, '\n', sep='') - - def _process(self, cmd, message): - print(SEP + cmd + SEP + message) - if cmd == 'setup': - self._send('setup', '{' + \ - '"type": "teachablemachine",' + \ - f'"model": "{self.model}",' + \ - f'"detection": {int(self.send_detection)},' + \ - f'"probability": {int(self.send_probability)}' + \ - '}') - elif cmd == 'labels': - self.labels = message.split('"')[1::2] - if cmd == 'd': - self.detection = message - elif cmd == 'p' and self.send_probability: - probabilities = message.split(',') - self.probability = {label: int(p) if p.isdigit() else 0 - for label, p in zip(self.labels, probabilities)} - else: - print("cmd", cmd, len(cmd), "message", message) - - def receive(self): - while self.nuart.poll(0): - char = stdin.read(1) - if char == '\n': - received, self.buffer = self.buffer, '' - if SEP in received: - cmd, message = received.split(SEP, 1) - else: - cmd, message = '', received - self._process(cmd, message) - return self.frames.get(cmd, cmd) - else: - self.buffer += char - - -hub = PrimeHub() -MODEL = 'https://storage.googleapis.com/tm-model/w6XfqRk9P/' -MODEL = '' -aibrick = AIBrickTeachableMachine(MODEL, detection=True, probability=True) -hub.light.on(Color.WHITE) -watch = StopWatch() -time = watch.time() -while True: - result = aibrick.receive() - if (result == 'detection'): - print(aibrick.detection) - elif (result == 'probability'): - time_new = watch.time() - print(1000/(time_new - time)) - time = time_new diff --git a/index.html b/index.html index e37e5ec..d24e0d7 100644 --- a/index.html +++ b/index.html @@ -19,18 +19,19 @@ aiBrick
-
+
- Hub disconnected, click to reload. +
+ Click to reload.
-
- +
diff --git a/interface.js b/interface.js index e9f657f..fd4d389 100644 --- a/interface.js +++ b/interface.js @@ -1,12 +1,12 @@ function showAudioContainer(){ - const audio_visualizer = document.getElementById("audio-container"); - audio_visualizer.style.display = "block"; + document.getElementById("audio-container").style.display = "block"; } function showWebcamContainer(){ - const webcam_overlay = document.getElementById("webcam-container"); - webcam_overlay.style.display = "block"; + document.getElementById("webcam-container").style.display = "block"; + document.getElementById("rotate").style.visibility = "visible"; + } const colors = ['#0072bd', '#d95319', '#edb120', '#7e2f8e', '#77ac30', '#4dbeee', '#a2142f']; @@ -50,14 +50,19 @@ function setConnButtonState(state){ console.log("setConnButtonState", state) switch (state){ case "connected": - document.getElementById("connect-button").style.display = "none"; + document.getElementById("button-container").style.display = "none"; break; case "disconnected": - document.getElementById("error-console").style.display = "block"; + displayError('Hub disconnected.') break; case "setup": document.getElementById("connect-button-caption").innerHTML = "Initializing..."; break; } +} + +function displayError(message){ + document.getElementById("error-container").style.display = "block"; + document.getElementById("error-message").innerHTML = message; } \ No newline at end of file diff --git a/mic.css b/mic.css index 3695a34..90e12fa 100644 --- a/mic.css +++ b/mic.css @@ -10,7 +10,9 @@ } .fa { - padding-top: 9px; + position: relative; + top: 50%; + transform: translateY(-50%); } .mic { @@ -43,13 +45,13 @@ animation: pulsate infinite 1.5s; } -@-webkit-keyframes pulsate { +@keyframes pulsate { 0% { - -webkit-transform: scale(1, 1); + transform: scale(0.9, 0.9); opacity: 1; } 100% { - -webkit-transform: scale(1.3, 1.3); + transform: scale(1.2, 1.2); opacity: 0; } } \ No newline at end of file diff --git a/models.js b/models.js index 0183ff5..4968c8a 100644 --- a/models.js +++ b/models.js @@ -1,14 +1,20 @@ -let best_label = ""; +let best_label = ''; let model_config = {}; let model_connection = null; +let frame_timer = 0; +let frame_period = 200; async function modelType(url){ if (url){ const metadata = await (await fetch(url + "metadata.json")).json(); if (metadata.hasOwnProperty('tfjsSpeechCommandsVersion')){ return 'audio'; - } else if (metadata.hasOwnProperty('tmVersion')){ - return 'image'; + } else if (metadata.hasOwnProperty('packageName')){ + if (metadata['packageName'] == '@teachablemachine/image') { + return 'image'; + } else if (metadata['packageName'] == '@teachablemachine/pose') { + return 'pose'; + } } else { return undefined; } @@ -20,6 +26,9 @@ async function modelType(url){ async function modelInit(connection, config) { model_config = config; model_connection = connection; + if ('fps_limit' in config){ + frame_period = 1000/config['fps_limit']; + } if (config['type'] == 'teachablemachine'){ const model_type = await modelType(config['model']); switch (model_type) { @@ -29,7 +38,12 @@ async function modelInit(connection, config) { case "image": imageInit(); break; + default: + displayError('Unsupported Teachable Machine configuration ("' + model_type + '").'); + break; } + } else { + displayError('Unsupported model type (' + config['type'] + ').'); } } @@ -121,31 +135,35 @@ async function imageInit() { async function webcamInit(new_flip){ flip = new_flip; - const webcam_container = document.getElementById("webcam-container"); + const webcam_container = document.getElementById("webcam-canvas-container"); webcam_container.innerHTML = "Setting up camera..."; webcam = new tmImage.Webcam(200, 200, flip); // width, height, flip await webcam.setup(); // request access to the webcam await webcam.play(); + frame_timer = performance.now(); window.requestAnimationFrame(imageLoop); // append elements to the DOM webcam.canvas.id = "webcam-canvas"; webcam_container.innerHTML = ""; webcam_container.appendChild(webcam.canvas); - // rotate_button = document.getElementById("rotate") - // rotate_button.style.visibility = "visible"; + rotate_button = document.getElementById("rotate") + rotate_button.style.visibility = "visible"; } async function imageLoop() { webcam.update(); // update the webcam frame - const prediction = await model.predict(webcam.canvas); - let model_scores = Array(model.getTotalClasses()); - let model_labels = model.getClassLabels(); - for (let i = 0; i < model.getTotalClasses(); i++){ - model_scores[model_labels.indexOf(prediction[i].className)] = prediction[i].probability; + if (performance.now() - frame_timer > frame_period){ + frame_timer = performance.now(); + const prediction = await model.predict(webcam.canvas); + let model_scores = Array(model.getTotalClasses()); + let model_labels = model.getClassLabels(); + for (let i = 0; i < model.getTotalClasses(); i++){ + model_scores[model_labels.indexOf(prediction[i].className)] = prediction[i].probability; + } + updatePredictionBars(model_labels, model_scores); + sendOnPrediction(model_labels, model_scores); } - updatePredictionBars(model_labels, model_scores); - sendOnPrediction(model_labels, model_scores); window.requestAnimationFrame(imageLoop); } diff --git a/rotate.png b/rotate.png new file mode 100644 index 0000000000000000000000000000000000000000..66d119e4f05f7ca637ee9a8afb1661b9997757b9 GIT binary patch literal 626 zcmV-&0*(ENP)X1^@s6F&7Tg00009a7bBm0017s z0017s0dCNBJ^%m!8FWQhbW?9;ba!ELWdL_~cP?peYja~^aAhuUa%Y?FJQ@H10sl!v zK~y-6t(CiL6j2n1zca1~g7^YOjgbT+CJF`xQBjb9Sc+DHkAFZBQNhB>N-QDn>CWu zjOu{uMfJVCvY3ijRrtw38^-_6Az0e{r?h^Wk1p}H5i1uOyt-X=h; z&H%j;QBkj`-G!y9`_(b^vwA_DPR0ubx+f1?r;e&0)t0oku_j(PWwk>c zR-dZ@Q}3`BSO)Ytcad@5|EMiEg~4*??)AwZ^f0mp!w5ivL$qyYLFXjNaRof&YF z$pPGG7FMI5KsRtI1A2hLYO8ZmL<|8hfu0i34m_DhbyZygvJ$X@$&%-*L7$r ztL^Fluqz_IRo&(+Fb4EB(t6bo)m6X)po{dSWU1s4;3%*b7*G$+0NV+|R9?v#l59ub#; zHNf#)cpNALqrej2ME-oyol*slle7Pb=m)l>s+Sg>n-(~m(gW-C4}PjStCPjFfB*mh M07*qoM6N<$f}D;Kk^lez literal 0 HcmV?d00001 diff --git a/styles.css b/styles.css index 21a373e..a0aeefc 100644 --- a/styles.css +++ b/styles.css @@ -42,7 +42,7 @@ body { color: #FD8917; } -.button-container { +#button-container { display: flex; justify-content: center; align-items: center; @@ -79,10 +79,12 @@ body { color: steelblue; } - #error-container { +#error-container { display: none; - text-align: center; - color:darkred; + text-align: left; + font-size: 12px; + color:red; + padding: 10px; } #audio-container { @@ -91,6 +93,7 @@ body { #webcam-container { display: none; + position: relative; border-radius: 10px; width: 300px; height: 300px; @@ -107,16 +110,13 @@ body { height: 100%; } -/*#webcam-overlay { - display: none; -} #rotate { - position: relative; - z-index: 100; - top: 30px; - left: 45px; visibility: hidden; -}*/ + position: absolute; + z-index: 100; + top: 10px; + left: 10px; +} #label-container { display: none; From 8987ed0e5925b60c921ee35abe94560c1e00902b Mon Sep 17 00:00:00 2001 From: Dominik Date: Fri, 17 Mar 2023 00:11:24 +0100 Subject: [PATCH 16/20] Detection as index; improved interface; documentation. --- README.md | 33 +++++++++-------- aibrick.py | 63 ++++++++++++++++++++++---------- aibrick_teachablemachine.py | 71 +++++++++++++++++++++++++++++++++++++ connection.js | 9 +++-- interface.js | 4 ++- models.js | 8 ++--- styles.css | 3 +- 7 files changed, 149 insertions(+), 42 deletions(-) create mode 100644 aibrick_teachablemachine.py diff --git a/README.md b/README.md index b04bb68..e1a100b 100644 --- a/README.md +++ b/README.md @@ -1,23 +1,26 @@ -# Lego AI +# aiBrick -Simple project for controlling Lego Bluetooth Hubs using Artificial Inteligence algorithms. -* Processing is performed in web browser using [TensorFlow.js](https://www.tensorflow.org/js) and [speech-commands.js](https://github.com/tensorflow/tfjs-models/tree/master/speech-commands) library for speech recognition. -* Communication with Lego Bluetooth Hubs uses [WebBluetoothAPI](https://developer.mozilla.org/en-US/docs/Web/API/Web_Bluetooth_API) to establish Nordic UART connection (code based on [web-device-cli](https://github.com/makerdiary/web-device-cli). -* Communication processing on Lego Hub was implemented in [Pybrick](https://pybricks.com/). +aiBrick is browser application which enables using machine learning and artificial intelligence algorithms with Lego Mindstorms/Spike/Technic hubs programmed in [Pybrick](https://pybricks.com/). Processing of camera/microphone input is performed in web browser using [TensorFlow.js](https://www.tensorflow.org/js) and results are sent to hub over [WebBluetoothAPI](https://developer.mozilla.org/en-US/docs/Web/API/Web_Bluetooth_API). Transmission on the hub's side is handled by `aibrick.py` module. Currently supported AI/ML models are: +* [TeachableMachine Audio](https://teachablemachine.withgoogle.com/train/audio) +* [TeachableMachine Image](https://teachablemachine.withgoogle.com/train/image) -## Running +## Running TeachableMachine models -Code was tested on Mindstorms Robot Builder Hub and Tricky model. +1. Teach your AI/ML model on [TeachableMachine](https://teachablemachine.withgoogle.com/). After gathering samples and training, click "Export Model" and in the tab "Tensorflow.js" choose option "Upload (shareable link)" and click "Upload my model". Below you will find the shareable link with you audio/image recognition model, which will be used to configure aiBrick. -1. Install [Pybrick firmware](https://code.pybricks.com/). -2. Paste code from [tricky_audio_control.py](https://raw.githubusercontent.com/repkovsky/lego-ai/main/tricky_audio_control.py) into Pybricks code editor, connect to hub and run code. -3. Open https://repkovsky.github.io/lego-ai in browser (works in Chrome) and allow access to microphone. Displayed bars correspond to words which can be detected by default model `18w` of `speech-commands.js` library. The length of bar corresponds to estimated probability of each word. If the probability exceeds `0.75`, the word will be sent to hub over Bluetooth Nordic UART interface. The script in the Hub will send it back to browser to show that communation is working properly (you can observe it by pressing F12 and going to Console tab). -4. Click 'Connect to hub', choose the proper Lego hub and click 'Pair'. -5. In the console of Pybricks code you should see appearing words recognized by algorithm running in browser. If the word is 'left', 'right', 'go' or 'stop', the corresponding move should be executed. +2. Install [Pybricks firmware](https://code.pybricks.com/) (v3.2.2 or higher) if you don't have it already on your hub. Download [aibrick.py](aibrick.py) module and upload it into [Pybricks code editor](https://code.pybricks.com/) using option "Import a file". -## Custom AI model +3. Create new file in Pybricks code editor (next to `aibrick.py`) and develop your code - see examples: +* [aibrick_image.py](aibrick_image.py) +* [aibrick_audio.py](aibrick.py) -You can prepared and use your own speech recognition model with https://teachablemachine.withgoogle.com/train/audio. After recording audio samples and training, click "Export Model" and in the tab "Tensorflow.js" choose option "Upload (shareable link)" and click "Upload my model". Below you will find the shareable link woth you speech recognition model. To use it with Lego hub, initialize `BluetoothCommunication` class +4. Run program, depending on setup - for hub running program +* with connection to Pybricks code editor: open the [aiBrick website](https://github.com/repkovksy/aibrick) at the same device in Chrome Browser, where the code editor is running. Start program in code editor first, then connect Bluetooth in aiBrick. Connecting two Bluetooth devices (e.g. PC with Pybricks code editor and smartphone with aiBrick) seems to be unstable. +* without connection to Pybricks code editor: open the [aiBrick website](https://github.com/repkovksy/aibrick) on any device with Chrome Browser. Press and hold hub's button to run hub, and then press the button again to run the program. Next, connect Bluetooth in aiBrick. - enables +## How does it work? +* aiBrick JS application and Lego hub running Pybricks with `AiBrickteachableMachine` class communicate over Bluetooth using simple named messages. +* aiBrick sends `setup` message to hub, hub responds with `setup` message with JSON-formatted configuration of AI/ML model to be loaded in aiBrick. +* aiBrick loads requested model and sends `labels` message to hub with list of classes, which can be recognized by the AI model. +* aiBrick starts to process audio/image. Depending on the configuration it will send `p` (_probability_) frame containing probabilities of each class (after each processing of input chunk) and/or `d` (_detected_) frame, notyfing about class whose probability just exceeded 0.5, so it is considered to be detected. diff --git a/aibrick.py b/aibrick.py index 9c73c7d..2a41b9d 100644 --- a/aibrick.py +++ b/aibrick.py @@ -3,7 +3,10 @@ SEP = '·' -class AIBrick: +class AiBrick: + """ + Base class for AiBrick communication. + """ frames = {} def __init__(self): @@ -13,11 +16,11 @@ def __init__(self): while self.nuart.poll(0): stdin.read(1) - def _send(self, command, message): - print(command, SEP, message, '\n', sep='') + def _send(self, cmd, message): + print(cmd, SEP, message, '\n', sep='') - def _process(self, message): - pass + def _process(self, cmd, message): + ... def receive(self): while self.nuart.poll(0): @@ -34,29 +37,53 @@ def receive(self): self.buffer += char -class AIBrickTeachableMachine(AIBrick): +class AiBrickTeachableMachine(AiBrick): frames = {"d": "detection", "p": "probability"} def __init__(self, model='', detection=True, probability=False): super().__init__() - self.model = model - self.send_detection = detection - self.send_probability = probability + self.config = { + "type": "teachablemachine", + "model": model, + "detection": detection, + "probability": probability + } self.labels = [] + self.detection = "" + self.probability = {} def _process(self, cmd, message): if cmd == 'setup': - self._send('setup', '{' + \ - '"type": "teachablemachine",' + \ - f'"model": "{self.model}",' + \ - f'"detection": {int(self.send_detection)},' + \ - f'"probability": {int(self.send_probability)}' + \ - '}') + self._send('setup', json_dumps(self.config)) elif cmd == 'labels': self.labels = message.split('"')[1::2] - if cmd == 'd' and self.send_detection: - self.detection = message - elif cmd == 'p' and self.send_probability: + if cmd == 'd' and self.config['detection']: + self.detection = self.labels[int(message)] + elif cmd == 'p' and self.config['probability']: probabilities = message.split(',') self.probability = {label: int(p) if p.isdigit() else 0 for label, p in zip(self.labels, probabilities)} + else: + print("cmd", cmd, len(cmd), "message", message) + +def json_dumps(dictionary): + def json_format(value): + if type(value) is dict: + return '{%s}' % ','.join(['"%s":%s' % (str(key), json_format(val)) + for key, val in value.items()]) + elif type(value) in [list, tuple]: + return '[%s]' % ','.join([json_format(elem) for elem in value]) + elif type(value) in [int, float]: + return str(value) + elif type(value) is str: + for char, escaped in [('\\', '\\'), ('"', '"'), ('\n', 'n'), + ('\r', 'r'), ('\t', 't')]: + value = value.replace(char, '\\' + escaped) + return '"%s"' % value + elif type(value) is bool: + return str(value).lower() + elif value is None: + return 'null' + + assert type(dictionary) is dict + return json_format(dictionary) \ No newline at end of file diff --git a/aibrick_teachablemachine.py b/aibrick_teachablemachine.py new file mode 100644 index 0000000..5b926ba --- /dev/null +++ b/aibrick_teachablemachine.py @@ -0,0 +1,71 @@ +from pybricks.hubs import PrimeHub +from pybricks.parameters import Color, Icon +from pybricks.geometry import Matrix +from aibrick import AiBrickTeachableMachine + +# Initialize the hub. +hub = PrimeHub() + +# Initialize the aiBrick +MODEL = 'https://teachablemachine.withgoogle.com/models/ztCFxnUmJ/' +aibrick = AiBrickTeachableMachine(MODEL, detection=True, probability=True) + +BRICK_ICONS = { + "3": Matrix([ + [0, 0, 0, 0, 0], + [0, 0, 0, 0, 0], + [0, 1, 1, 1, 0], + [0, 0, 0, 0, 0], + [0, 0, 0, 0, 0] + ]), + "5": Matrix([ + [0, 0, 0, 0, 0], + [0, 0, 0, 0, 0], + [1, 1, 1, 1, 1], + [0, 0, 0, 0, 0], + [0, 0, 0, 0, 0] + ]), + "4L": Matrix([ + [0, 0, 0, 0, 0], + [0, 0, 0, 1, 0], + [1, 1, 1, 1, 0], + [0, 0, 0, 0, 0], + [0, 0, 0, 0, 0] + ]), + "5L": Matrix([ + [0, 0, 0, 0, 1], + [0, 0, 0, 0, 1], + [1, 1, 1, 1, 1], + [0, 0, 0, 0, 0], + [0, 0, 0, 0, 0] + ]), + "T": Matrix([ + [0, 0, 1, 0, 0], + [0, 0, 1, 0, 0], + [0, 1, 1, 1, 0], + [0, 0, 0, 0, 0], + [0, 0, 0, 0, 0] + ]) +} + +while True: + received = aibrick.receive() + # handle all types of received commands + if received == 'setup': + # aiBrick app requested for setup + hub.light.on(Color.ORANGE) + elif received == 'labels': + # the setup of aiBrick app is finished + hub.light.on(Color.WHITE) + elif received in ['detection', 'probability']: + # display detected brick shape + if aibrick.detection in BRICK_ICONS: + hub.display.icon(BRICK_ICONS[aibrick.detection]*100) + else: + hub.display.icon(Icon.EMPTY) + # display probabilities as brightness of last row + col = 0 + for class_label, class_probability in aibrick.probability.items(): + if class_label in BRICK_ICONS: + hub.display.pixel(4, col, brightness=class_probability) + col += 1 diff --git a/connection.js b/connection.js index 7597dff..8d6ce1f 100644 --- a/connection.js +++ b/connection.js @@ -10,6 +10,12 @@ class Connection { } sendMessage(command, value, priority=False) { + /** + * Sends string-based command. + * @param {String} command Frame name, must not contain "·" nor '\n' characters + * @param {String} value Frame payload, must not contain "·" nor '\n' characters + * @param {Boolean} priority Queues frame in the TX buffer, even if it is not empty. Otherwise frame is ignored. + */ console.log("sendMessage"); this.tx_buffer.pushString(command + SEP + value + '\n', priority); } @@ -41,8 +47,6 @@ class Connection { command = ''; message = received; } - // console.log("command:" + command); - // console.log("value:" + message); this.rx_buffer = this.rx_buffer.slice(this.rx_buffer.indexOf('\n')+1); if (command == 'setup'){ console.log(JSON.parse(message)) @@ -55,7 +59,6 @@ class Connection { } onDisconnected(){ - // state = State.BLE_disconnected; setConnButtonState("disconnected"); } } diff --git a/interface.js b/interface.js index fd4d389..c9beb56 100644 --- a/interface.js +++ b/interface.js @@ -1,9 +1,11 @@ function showAudioContainer(){ + setConnButtonState("processing"); document.getElementById("audio-container").style.display = "block"; } function showWebcamContainer(){ + setConnButtonState("processing"); document.getElementById("webcam-container").style.display = "block"; document.getElementById("rotate").style.visibility = "visible"; @@ -49,7 +51,7 @@ function updatePredictionBars(classLabels, scores){ function setConnButtonState(state){ console.log("setConnButtonState", state) switch (state){ - case "connected": + case "processing": document.getElementById("button-container").style.display = "none"; break; case "disconnected": diff --git a/models.js b/models.js index 4968c8a..7e1b6b7 100644 --- a/models.js +++ b/models.js @@ -1,4 +1,4 @@ -let best_label = ''; +let best_label_idx = -1; let model_config = {}; let model_connection = null; let frame_timer = 0; @@ -57,9 +57,9 @@ function sendOnPrediction(classLabels, scores){ } else { probabilities[i] = ''; } - if (scores[i] > 0.5 && classLabels[i] != best_label){ + if (scores[i] > 0.5 && i != best_label_idx){ // label which score exceeds 0.5 and it is different from previous best label - best_label = classLabels[i]; + best_label_idx = i; detection = true; } } @@ -67,7 +67,7 @@ function sendOnPrediction(classLabels, scores){ model_connection.sendMessage('p', probabilities.join(), false); } if (detection && model_config['detection']){ - model_connection.sendMessage('d', best_label, true); + model_connection.sendMessage('d', best_label_idx.toString(), true); } } diff --git a/styles.css b/styles.css index a0aeefc..90794bc 100644 --- a/styles.css +++ b/styles.css @@ -81,7 +81,7 @@ body { #error-container { display: none; - text-align: left; + text-align: center; font-size: 12px; color:red; padding: 10px; @@ -102,6 +102,7 @@ body { text-align: center; font-size: 14px; background-color: #eee; + margin-top: 10px; } #webcam-canvas { From 887c3cff3fb1f32a87b0f8961005892069779ca4 Mon Sep 17 00:00:00 2001 From: Dominik Date: Sat, 18 Mar 2023 22:50:17 +0100 Subject: [PATCH 17/20] Documentation, example of use. --- LICENSE | 21 +++++++++++ README.md | 19 +++++----- aibrick.py | 36 ++++++++++++++----- ...emachine.py => aibrick_brick_classifier.py | 32 ++++++++++++----- 4 files changed, 83 insertions(+), 25 deletions(-) create mode 100644 LICENSE rename aibrick_teachablemachine.py => aibrick_brick_classifier.py (66%) diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..71d5ba2 --- /dev/null +++ b/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2023 Dominik Rzepka + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/README.md b/README.md index e1a100b..60add0d 100644 --- a/README.md +++ b/README.md @@ -10,17 +10,18 @@ aiBrick is browser application which enables using machine learning and artifici 2. Install [Pybricks firmware](https://code.pybricks.com/) (v3.2.2 or higher) if you don't have it already on your hub. Download [aibrick.py](aibrick.py) module and upload it into [Pybricks code editor](https://code.pybricks.com/) using option "Import a file". -3. Create new file in Pybricks code editor (next to `aibrick.py`) and develop your code - see examples: -* [aibrick_image.py](aibrick_image.py) -* [aibrick_audio.py](aibrick.py) +3. Create new file in Pybricks code editor (next to `aibrick.py`) and develop your code (see example of implementation in [aibrick_brick_classifier.py](aibrick_brick_classifier.py)) 4. Run program, depending on setup - for hub running program -* with connection to Pybricks code editor: open the [aiBrick website](https://github.com/repkovksy/aibrick) at the same device in Chrome Browser, where the code editor is running. Start program in code editor first, then connect Bluetooth in aiBrick. Connecting two Bluetooth devices (e.g. PC with Pybricks code editor and smartphone with aiBrick) seems to be unstable. -* without connection to Pybricks code editor: open the [aiBrick website](https://github.com/repkovksy/aibrick) on any device with Chrome Browser. Press and hold hub's button to run hub, and then press the button again to run the program. Next, connect Bluetooth in aiBrick. +* with connection to Pybricks code editor: open the [aiBrick website](https://github.com/repkovsky/aibrick) at the same device in Chrome Browser, where the code editor is running. Start program in code editor first, then connect Bluetooth in aiBrick. Connecting two Bluetooth devices (e.g. PC with Pybricks code editor and smartphone with aiBrick) seems to be unstable. +* without connection to Pybricks code editor: open the [aiBrick website](https://github.com/repkovsky/aibrick) on any device with Chrome Browser. Press and hold hub's button to run hub, and then press the button again to run the program. Next, connect Bluetooth in aiBrick. ## How does it work? -* aiBrick JS application and Lego hub running Pybricks with `AiBrickteachableMachine` class communicate over Bluetooth using simple named messages. -* aiBrick sends `setup` message to hub, hub responds with `setup` message with JSON-formatted configuration of AI/ML model to be loaded in aiBrick. -* aiBrick loads requested model and sends `labels` message to hub with list of classes, which can be recognized by the AI model. -* aiBrick starts to process audio/image. Depending on the configuration it will send `p` (_probability_) frame containing probabilities of each class (after each processing of input chunk) and/or `d` (_detected_) frame, notyfing about class whose probability just exceeded 0.5, so it is considered to be detected. +* aiBrick web application and Lego hub running Pybricks with `AiBrickteachableMachine` class communicate over Bluetooth using simple named messages. +* aiBrick web application sends `setup` message to hub, hub responds with `setup` message with JSON-formatted configuration of AI/ML model to be loaded in aiBrick. +* aiBrick web application loads requested model downloading it from the provided address and sends `labels` message to hub with list of classes, which can be recognized by the AI model. +* aiBrick web application starts to process audio/image. Depending on the configuration it will send two types of frames to Lego hub: + * `p` (_probability_) frame containing probabilities of each class (after each processing of input chunk), with frequency about 10Hz + * `d` (_detected_) frame, notyfing about class whose probability just exceeded 0.5, so it is considered to be detected. +* No audio/image is recorded, stored or send over network - all processing is performed locally, on the device running web application. Network connection is necessary only for downloading AI/ML model from Google storage, after that step you can safely disable network connection at all, if you wish. diff --git a/aibrick.py b/aibrick.py index 2a41b9d..2d4a5ca 100644 --- a/aibrick.py +++ b/aibrick.py @@ -2,30 +2,40 @@ from uselect import poll SEP = '·' +EOF = '\n' class AiBrick: - """ - Base class for AiBrick communication. - """ + """Base class for AiBrick communication.""" frames = {} def __init__(self): self.buffer = '' self.nuart = poll() self.nuart.register(stdin) + self._flush() + + def _flush(self): while self.nuart.poll(0): stdin.read(1) - def _send(self, cmd, message): + def _send(self, cmd: str, message: str): + """Sends the frame with given command's name and message.""" print(cmd, SEP, message, '\n', sep='') - def _process(self, cmd, message): + def _process(self, cmd: str, message: str): + """This method should be implemented in the drived class.""" ... def receive(self): + """ + Listens to Blueooth transmission and pushes the received bytes into + buffer until and of frame (EOF) byte is received. Then calls _process() + to interpret contents of the frame and returns frame's name (command). + If EOF was not yet received, None is returned. + """ while self.nuart.poll(0): char = stdin.read(1) - if char == '\n': + if char == EOF: received, self.buffer = self.buffer, '' if SEP in received: cmd, message = received.split(SEP, 1) @@ -35,9 +45,13 @@ def receive(self): return self.frames.get(cmd, cmd) else: self.buffer += char + return None class AiBrickTeachableMachine(AiBrick): + """ + Implements communication with aiBrick web application, running TeachableMachine AI/ML model. + """ frames = {"d": "detection", "p": "probability"} def __init__(self, model='', detection=True, probability=False): @@ -52,7 +66,11 @@ def __init__(self, model='', detection=True, probability=False): self.detection = "" self.probability = {} - def _process(self, cmd, message): + def _process(self, cmd: str, message: str): + """ + Processes the frame content to respond with setup configuration + or assign `labels`, `detection` or `probability` properties. + """ if cmd == 'setup': self._send('setup', json_dumps(self.config)) elif cmd == 'labels': @@ -64,9 +82,11 @@ def _process(self, cmd, message): self.probability = {label: int(p) if p.isdigit() else 0 for label, p in zip(self.labels, probabilities)} else: + # for debug purposes print("cmd", cmd, len(cmd), "message", message) -def json_dumps(dictionary): +def json_dumps(dictionary: dict) -> str: + """Serializes dict to a JSON formatted str.""" def json_format(value): if type(value) is dict: return '{%s}' % ','.join(['"%s":%s' % (str(key), json_format(val)) diff --git a/aibrick_teachablemachine.py b/aibrick_brick_classifier.py similarity index 66% rename from aibrick_teachablemachine.py rename to aibrick_brick_classifier.py index 5b926ba..a8f255d 100644 --- a/aibrick_teachablemachine.py +++ b/aibrick_brick_classifier.py @@ -3,13 +3,19 @@ from pybricks.geometry import Matrix from aibrick import AiBrickTeachableMachine -# Initialize the hub. -hub = PrimeHub() - -# Initialize the aiBrick -MODEL = 'https://teachablemachine.withgoogle.com/models/ztCFxnUmJ/' -aibrick = AiBrickTeachableMachine(MODEL, detection=True, probability=True) +""" +This is Pybricks code for classification of bricks using aiBrick, +TeachableMachine AI/ML model and camera in PC/Laptop/Smartphone. +6 classes are recognized: +* Technic Beam 1 x 3 Thick +* Technic Beam 1 x 5 Thick +* Technic Beam 2 x 4 L-Shape Thick +* Technic Beam 3 x 5 L-Shape Thick +* Technic Beam 3 x 3 T-Shape Thick +* No brick +""" +# define images corresponding to detection of bricks BRICK_ICONS = { "3": Matrix([ [0, 0, 0, 0, 0], @@ -48,9 +54,19 @@ ]) } +# Initialize the hub. +hub = PrimeHub() + +# Initialize the aiBrick +MODEL = 'https://teachablemachine.withgoogle.com/models/ztCFxnUmJ/' +aibrick = AiBrickTeachableMachine(MODEL, # provide link to TeachableMachine model + detection=True, # enable notification on detection + probability=True) # enable updates about each class' probability + +# continuous listening to Bluetooth connection and processing received frames while True: received = aibrick.receive() - # handle all types of received commands + # handle all types of received frames if received == 'setup': # aiBrick app requested for setup hub.light.on(Color.ORANGE) @@ -63,7 +79,7 @@ hub.display.icon(BRICK_ICONS[aibrick.detection]*100) else: hub.display.icon(Icon.EMPTY) - # display probabilities as brightness of last row + # display probabilities of each class as brightness of last row ('no brick' class probability is not included) col = 0 for class_label, class_probability in aibrick.probability.items(): if class_label in BRICK_ICONS: From b90351844ded4a3b9514c8d1aae9bb324882e604 Mon Sep 17 00:00:00 2001 From: Dominik Date: Sat, 18 Mar 2023 23:28:50 +0100 Subject: [PATCH 18/20] Separator defined without unicode; rear camera used in smartphone. --- README.md | 4 ++-- aibrick.py | 2 +- connection.js | 3 +-- models.js | 2 +- styles.css | 2 +- 5 files changed, 6 insertions(+), 7 deletions(-) diff --git a/README.md b/README.md index 60add0d..27562fa 100644 --- a/README.md +++ b/README.md @@ -13,8 +13,8 @@ aiBrick is browser application which enables using machine learning and artifici 3. Create new file in Pybricks code editor (next to `aibrick.py`) and develop your code (see example of implementation in [aibrick_brick_classifier.py](aibrick_brick_classifier.py)) 4. Run program, depending on setup - for hub running program -* with connection to Pybricks code editor: open the [aiBrick website](https://github.com/repkovsky/aibrick) at the same device in Chrome Browser, where the code editor is running. Start program in code editor first, then connect Bluetooth in aiBrick. Connecting two Bluetooth devices (e.g. PC with Pybricks code editor and smartphone with aiBrick) seems to be unstable. -* without connection to Pybricks code editor: open the [aiBrick website](https://github.com/repkovsky/aibrick) on any device with Chrome Browser. Press and hold hub's button to run hub, and then press the button again to run the program. Next, connect Bluetooth in aiBrick. +* with connection to Pybricks code editor: open the [aiBrick website](https://repkovsky.github.io/aibrick) at the same device in Chrome Browser, where the code editor is running. Start program in code editor first, then connect Bluetooth in aiBrick. Connecting two Bluetooth devices (e.g. PC with Pybricks code editor and smartphone with aiBrick) seems to be unstable. +* without connection to Pybricks code editor: open the [aiBrick website](https://repkovsky.github.io/aibrick) on any device with Chrome Browser. Press and hold hub's button to run hub, and then press the button again to run the program. Next, connect Bluetooth in aiBrick. ## How does it work? diff --git a/aibrick.py b/aibrick.py index 2d4a5ca..b883c23 100644 --- a/aibrick.py +++ b/aibrick.py @@ -1,7 +1,7 @@ from usys import stdin from uselect import poll -SEP = '·' +SEP = chr(183) EOF = '\n' class AiBrick: diff --git a/connection.js b/connection.js index 8d6ce1f..6571218 100644 --- a/connection.js +++ b/connection.js @@ -1,4 +1,4 @@ -const SEP = "·"; +const SEP = String.fromCharCode(183); class Connection { constructor() { @@ -51,7 +51,6 @@ class Connection { if (command == 'setup'){ console.log(JSON.parse(message)) modelInit(this, JSON.parse(message)); - setConnButtonState("connected"); } else { console.log(received) } diff --git a/models.js b/models.js index 7e1b6b7..89b805b 100644 --- a/models.js +++ b/models.js @@ -138,7 +138,7 @@ async function webcamInit(new_flip){ const webcam_container = document.getElementById("webcam-canvas-container"); webcam_container.innerHTML = "Setting up camera..."; webcam = new tmImage.Webcam(200, 200, flip); // width, height, flip - await webcam.setup(); // request access to the webcam + await webcam.setup({ facingMode: "environment" }); // request access to the webcam await webcam.play(); frame_timer = performance.now(); window.requestAnimationFrame(imageLoop); diff --git a/styles.css b/styles.css index 90794bc..3a0d2a2 100644 --- a/styles.css +++ b/styles.css @@ -15,7 +15,7 @@ body { width: 375px; border-radius: 10px; background-color: white; - box-shadow: 0px 5px 5px -2px gray; + /* box-shadow: 0px 5px 5px -2px gray; */ } .title-container { From fa0c021dad7a9cf8f76d1af1a7f6ded478a7b717 Mon Sep 17 00:00:00 2001 From: Dominik Date: Wed, 22 Mar 2023 21:45:35 +0100 Subject: [PATCH 19/20] Repeating setup message; automated detection of mobile device and Chrome browser; vertical scroll bar removed. --- README.md | 22 ++++++++++++++++------ connection.js | 4 ++++ index.html | 6 +++--- interface.js | 37 +++++++++++++++++++++++++++++++++++-- models.js | 8 ++++++-- styles.css | 3 ++- 6 files changed, 66 insertions(+), 14 deletions(-) diff --git a/README.md b/README.md index 27562fa..9a1e319 100644 --- a/README.md +++ b/README.md @@ -6,22 +6,32 @@ aiBrick is browser application which enables using machine learning and artifici ## Running TeachableMachine models +### Creating AI/ML model and development of the Python program + 1. Teach your AI/ML model on [TeachableMachine](https://teachablemachine.withgoogle.com/). After gathering samples and training, click "Export Model" and in the tab "Tensorflow.js" choose option "Upload (shareable link)" and click "Upload my model". Below you will find the shareable link with you audio/image recognition model, which will be used to configure aiBrick. 2. Install [Pybricks firmware](https://code.pybricks.com/) (v3.2.2 or higher) if you don't have it already on your hub. Download [aibrick.py](aibrick.py) module and upload it into [Pybricks code editor](https://code.pybricks.com/) using option "Import a file". -3. Create new file in Pybricks code editor (next to `aibrick.py`) and develop your code (see example of implementation in [aibrick_brick_classifier.py](aibrick_brick_classifier.py)) +3. Create new file in Pybricks code editor (next to `aibrick.py`) and develop your code (see example of implementation in [aibrick_brick_classifier.py](aibrick_brick_classifier.py)). + +4. Turn on the hub and connect Bluetooth in [Pybricks code editor](https://code.pybricks.com/). Run the program (it is going to be present in hub also when the Pybricks code editor is disconnected). + +5. Open the [aiBrick website](https://repkovsky.github.io/aibrick) at the same device in Chrome Browser, where the code editor is running. Press the Bluetooth button in aiBrick, find hub on the list of available devices and connect. + +### Running aiBrick with programmed hub + +1. Turn on the hub. + +2. Open the [aiBrick website](https://repkovsky.github.io/aibrick) in Chrome Browser on smartphone, tablet or PC. Press the Bluetooth button in aiBrick, find hub on the list of available devices and connect. -4. Run program, depending on setup - for hub running program -* with connection to Pybricks code editor: open the [aiBrick website](https://repkovsky.github.io/aibrick) at the same device in Chrome Browser, where the code editor is running. Start program in code editor first, then connect Bluetooth in aiBrick. Connecting two Bluetooth devices (e.g. PC with Pybricks code editor and smartphone with aiBrick) seems to be unstable. -* without connection to Pybricks code editor: open the [aiBrick website](https://repkovsky.github.io/aibrick) on any device with Chrome Browser. Press and hold hub's button to run hub, and then press the button again to run the program. Next, connect Bluetooth in aiBrick. +3. Push the button on hub to start the program. ## How does it work? * aiBrick web application and Lego hub running Pybricks with `AiBrickteachableMachine` class communicate over Bluetooth using simple named messages. -* aiBrick web application sends `setup` message to hub, hub responds with `setup` message with JSON-formatted configuration of AI/ML model to be loaded in aiBrick. +* aiBrick web application sends `setup` messages to hub until hub responds with `setup` message with JSON-formatted configuration of AI/ML model to be loaded in aiBrick. * aiBrick web application loads requested model downloading it from the provided address and sends `labels` message to hub with list of classes, which can be recognized by the AI model. * aiBrick web application starts to process audio/image. Depending on the configuration it will send two types of frames to Lego hub: - * `p` (_probability_) frame containing probabilities of each class (after each processing of input chunk), with frequency about 10Hz + * `p` (_probability_) frame containing probabilities of each class (after each processing of input chunk), with frequency limited to 10Hz * `d` (_detected_) frame, notyfing about class whose probability just exceeded 0.5, so it is considered to be detected. * No audio/image is recorded, stored or send over network - all processing is performed locally, on the device running web application. Network connection is necessary only for downloading AI/ML model from Google storage, after that step you can safely disable network connection at all, if you wish. diff --git a/connection.js b/connection.js index 6571218..cfdfb4c 100644 --- a/connection.js +++ b/connection.js @@ -28,6 +28,9 @@ class Connection { console.log("onConnected"); setConnButtonState("setup"); this.sendMessage('setup', '?', true); + this.setup_request = setInterval(function() { + this.sendMessage('setup', '?', true); + }.bind(this), 1000); } onMsgReceived(event){ @@ -49,6 +52,7 @@ class Connection { } this.rx_buffer = this.rx_buffer.slice(this.rx_buffer.indexOf('\n')+1); if (command == 'setup'){ + clearInterval(this.setup_request); console.log(JSON.parse(message)) modelInit(this, JSON.parse(message)); } else { diff --git a/index.html b/index.html index d24e0d7..7c302ae 100644 --- a/index.html +++ b/index.html @@ -11,9 +11,9 @@ aiBrick - + - +
@@ -26,7 +26,7 @@

- Click to reload. + Click to reload.
diff --git a/interface.js b/interface.js index c9beb56..0e6ed83 100644 --- a/interface.js +++ b/interface.js @@ -1,4 +1,3 @@ - function showAudioContainer(){ setConnButtonState("processing"); document.getElementById("audio-container").style.display = "block"; @@ -59,6 +58,11 @@ function setConnButtonState(state){ break; case "setup": document.getElementById("connect-button-caption").innerHTML = "Initializing..."; + document.getElementById("connect-button-caption").innerHTML = "Awaiting hub's response..."; + break; + case "unsupported_browser": + document.getElementById("button-container").style.display = "none"; + displayError('Only Chrome browser is supported.') break; } @@ -67,4 +71,33 @@ function setConnButtonState(state){ function displayError(message){ document.getElementById("error-container").style.display = "block"; document.getElementById("error-message").innerHTML = message; -} \ No newline at end of file +} + +function isChrome(){ + var isChromium = window.chrome; + var winNav = window.navigator; + var vendorName = winNav.vendor; + var isOpera = typeof window.opr !== "undefined"; + var isIEedge = winNav.userAgent.indexOf("Edg") > -1; + var isIOSChrome = winNav.userAgent.match("CriOS"); + + if (isIOSChrome) { + return true; + } else if( + isChromium !== null && + typeof isChromium !== "undefined" && + vendorName === "Google Inc." && + isOpera === false && + isIEedge === false + ) { + return true; + } else { + return false; + } +} + +function isMobile(){ + let check = false; + (function(a){if(/(android|bb\d+|meego).+mobile|avantgo|bada\/|blackberry|blazer|compal|elaine|fennec|hiptop|iemobile|ip(hone|od)|iris|kindle|lge |maemo|midp|mmp|mobile.+firefox|netfront|opera m(ob|in)i|palm( os)?|phone|p(ixi|re)\/|plucker|pocket|psp|series(4|6)0|symbian|treo|up\.(browser|link)|vodafone|wap|windows ce|xda|xiino|android|ipad|playbook|silk/i.test(a)||/1207|6310|6590|3gso|4thp|50[1-6]i|770s|802s|a wa|abac|ac(er|oo|s\-)|ai(ko|rn)|al(av|ca|co)|amoi|an(ex|ny|yw)|aptu|ar(ch|go)|as(te|us)|attw|au(di|\-m|r |s )|avan|be(ck|ll|nq)|bi(lb|rd)|bl(ac|az)|br(e|v)w|bumb|bw\-(n|u)|c55\/|capi|ccwa|cdm\-|cell|chtm|cldc|cmd\-|co(mp|nd)|craw|da(it|ll|ng)|dbte|dc\-s|devi|dica|dmob|do(c|p)o|ds(12|\-d)|el(49|ai)|em(l2|ul)|er(ic|k0)|esl8|ez([4-7]0|os|wa|ze)|fetc|fly(\-|_)|g1 u|g560|gene|gf\-5|g\-mo|go(\.w|od)|gr(ad|un)|haie|hcit|hd\-(m|p|t)|hei\-|hi(pt|ta)|hp( i|ip)|hs\-c|ht(c(\-| |_|a|g|p|s|t)|tp)|hu(aw|tc)|i\-(20|go|ma)|i230|iac( |\-|\/)|ibro|idea|ig01|ikom|im1k|inno|ipaq|iris|ja(t|v)a|jbro|jemu|jigs|kddi|keji|kgt( |\/)|klon|kpt |kwc\-|kyo(c|k)|le(no|xi)|lg( g|\/(k|l|u)|50|54|\-[a-w])|libw|lynx|m1\-w|m3ga|m50\/|ma(te|ui|xo)|mc(01|21|ca)|m\-cr|me(rc|ri)|mi(o8|oa|ts)|mmef|mo(01|02|bi|de|do|t(\-| |o|v)|zz)|mt(50|p1|v )|mwbp|mywa|n10[0-2]|n20[2-3]|n30(0|2)|n50(0|2|5)|n7(0(0|1)|10)|ne((c|m)\-|on|tf|wf|wg|wt)|nok(6|i)|nzph|o2im|op(ti|wv)|oran|owg1|p800|pan(a|d|t)|pdxg|pg(13|\-([1-8]|c))|phil|pire|pl(ay|uc)|pn\-2|po(ck|rt|se)|prox|psio|pt\-g|qa\-a|qc(07|12|21|32|60|\-[2-7]|i\-)|qtek|r380|r600|raks|rim9|ro(ve|zo)|s55\/|sa(ge|ma|mm|ms|ny|va)|sc(01|h\-|oo|p\-)|sdk\/|se(c(\-|0|1)|47|mc|nd|ri)|sgh\-|shar|sie(\-|m)|sk\-0|sl(45|id)|sm(al|ar|b3|it|t5)|so(ft|ny)|sp(01|h\-|v\-|v )|sy(01|mb)|t2(18|50)|t6(00|10|18)|ta(gt|lk)|tcl\-|tdg\-|tel(i|m)|tim\-|t\-mo|to(pl|sh)|ts(70|m\-|m3|m5)|tx\-9|up(\.b|g1|si)|utst|v400|v750|veri|vi(rg|te)|vk(40|5[0-3]|\-v)|vm40|voda|vulc|vx(52|53|60|61|70|80|81|83|85|98)|w3c(\-| )|webc|whit|wi(g |nc|nw)|wmlb|wonu|x700|yas\-|your|zeto|zte\-/i.test(a.substr(0,4))) check = true;})(navigator.userAgent||navigator.vendor||window.opera); + return check; +} diff --git a/models.js b/models.js index 89b805b..53a5125 100644 --- a/models.js +++ b/models.js @@ -130,7 +130,7 @@ async function imageInit() { let model_labels = model.getClassLabels(); sendLabelsToHub(model_labels); createPredictionBars(model_labels); - webcamInit(true); + webcamInit(!isMobile()); } async function webcamInit(new_flip){ @@ -138,7 +138,11 @@ async function webcamInit(new_flip){ const webcam_container = document.getElementById("webcam-canvas-container"); webcam_container.innerHTML = "Setting up camera..."; webcam = new tmImage.Webcam(200, 200, flip); // width, height, flip - await webcam.setup({ facingMode: "environment" }); // request access to the webcam + if (flip) { + await webcam.setup(); + } else { + await webcam.setup({ facingMode: "environment" }); + } await webcam.play(); frame_timer = performance.now(); window.requestAnimationFrame(imageLoop); diff --git a/styles.css b/styles.css index 3a0d2a2..3bc4d4f 100644 --- a/styles.css +++ b/styles.css @@ -8,6 +8,7 @@ body { color: var(--text-color); background-color: #e8eaed; font-weight: 600; + overflow-x: hidden; } .app { @@ -15,7 +16,7 @@ body { width: 375px; border-radius: 10px; background-color: white; - /* box-shadow: 0px 5px 5px -2px gray; */ + box-shadow: 0px 5px 5px -2px gray; } .title-container { From 133af67cce00d9256fd5272aba7fb42df84ffb05 Mon Sep 17 00:00:00 2001 From: Dominik Date: Wed, 22 Mar 2023 23:05:54 +0100 Subject: [PATCH 20/20] Release 1.0.0 --- CHANGELOG.md | 9 +++++++++ README.md | 5 +++-- 2 files changed, 12 insertions(+), 2 deletions(-) create mode 100644 CHANGELOG.md diff --git a/CHANGELOG.md b/CHANGELOG.md new file mode 100644 index 0000000..b14651a --- /dev/null +++ b/CHANGELOG.md @@ -0,0 +1,9 @@ +# Changelog +All notable changes to this project will be documented in this file. + +The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html). + +## [1.0.0] - 2023-03-22 +### Added +* Functional application with support for TeachableMachine Audio/Image. diff --git a/README.md b/README.md index 9a1e319..1a7c987 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,6 @@ -# aiBrick +# ![](ai-brick-ic.png) aiBrick -aiBrick is browser application which enables using machine learning and artificial intelligence algorithms with Lego Mindstorms/Spike/Technic hubs programmed in [Pybrick](https://pybricks.com/). Processing of camera/microphone input is performed in web browser using [TensorFlow.js](https://www.tensorflow.org/js) and results are sent to hub over [WebBluetoothAPI](https://developer.mozilla.org/en-US/docs/Web/API/Web_Bluetooth_API). Transmission on the hub's side is handled by `aibrick.py` module. Currently supported AI/ML models are: +aiBrick is [browser application](https://repkovsky.github.io/aibrick) which enables using machine learning and artificial intelligence algorithms with Lego Mindstorms/Spike/Technic hubs programmed in [Pybricks](https://pybricks.com/). Processing of camera/microphone input is performed in web browser using [TensorFlow.js](https://www.tensorflow.org/js) and results are sent to hub over [WebBluetoothAPI](https://developer.mozilla.org/en-US/docs/Web/API/Web_Bluetooth_API). Transmission on the hub's side is handled by `aibrick.py` module. Currently supported AI/ML models are: * [TeachableMachine Audio](https://teachablemachine.withgoogle.com/train/audio) * [TeachableMachine Image](https://teachablemachine.withgoogle.com/train/image) @@ -28,6 +28,7 @@ aiBrick is browser application which enables using machine learning and artifici ## How does it work? +Currently supported AI/ML models are based on neural networks - you can find [nice introduction on 3Blue1Brown])https://www.youtube.com/watch?v=aircAruvnKk) YouTube channel. Some nice answers can be also found in [TeachableMachine FAQ](https://teachablemachine.withgoogle.com/faq). Here is short description how aiBrick works: * aiBrick web application and Lego hub running Pybricks with `AiBrickteachableMachine` class communicate over Bluetooth using simple named messages. * aiBrick web application sends `setup` messages to hub until hub responds with `setup` message with JSON-formatted configuration of AI/ML model to be loaded in aiBrick. * aiBrick web application loads requested model downloading it from the provided address and sends `labels` message to hub with list of classes, which can be recognized by the AI model.