class WebsocketHandler(websocket.WebSocketHandler):
def initialize(self, uni):
"""docstring for __init__"""
self.arduino = Arduino()
self.arduino.start()
self.client = MongoClient('localhost', 27017)
self.uni = uni
self.mongo_gestures = self.client.affordance.gestures
self.mongo_envelopes = self.client.affordance.envelopes
self.mongo_users = self.client.affordance.users
self.mongo_tracking = self.client.affordance.tracking
self.mongo_studies = self.client.affordance.studies
self.list_obj = []
self.current_study_participant = None
self.data_fetcher = DataFetcher(self.client.affordance)
self.zap_speed = 1500
self.zap_strength = {"ems1": self.arduino.channels['ems1']['min_max'][0], "ems2": self.arduino.channels['ems2']['min_max'][0]}
self.zap_gestures = {"squeeze": False, "shake": False, "repel": False, "tap": False, "rotate": False, "ems1": False, "ems2": False, "ems3": False, "ems4": False}
#self.data_fetcher = DataFetcher(self.mongo_tracking, False) # Recorded data!
self.hand = Hand(self.data_fetcher, self.client.affordance, self.arduino)
self.uni.hand = self.hand
#screw_driver = AffordanceObjects(self.data_fetcher, self.uni, self.arduino, ["screwdriver_trackable"], "screwdriver", "Screwdriver")
#screw_brick = AffordanceObjects(self.data_fetcher, self.uni, self.arduino, ["screw_brick_trackable"], "screw_brick", "Screw brick")
#teapot = AffordanceObjects(self.data_fetcher, self.uni, self.arduino, ["teapot_trackable"], "teapot", "Teapot")
#spray_can = AffordanceObjects(self.data_fetcher, self.uni, self.arduino, ["spray_can_trackable"], "spray_can", "Spray Can")
#lamp = AffordanceObjects(self.data_fetcher, self.uni, self.arduino, ["hot_cup_trackable"], "hot_cup", "hot_cup")
#paint_brush = AffordanceObjects(self.data_fetcher, self.uni, self.arduino, ["paint_trackable"], "paint_brush", "Paint brush")
self.hand.start()
self.data_fetcher.register_trackers()
#def ar_callback(self, data):
# self.write_message("channel_data" + ";".join(map(lambda x: x[:-1][1:], data.split("#")))[1:])
def collider_cb(self, list_obj):
"""Callback that sends the list of colliders to the web interface"""
self.list_obj = list_obj
self.write_message("colliders_init,True")
def open(self):
print("WebSocket opened")
self.write_message("init," + json.dumps(self.arduino.channels).replace(",", "§") + "," + bson.json_util.dumps(self.mongo_users.find({})).replace(",", "§"))
self.uni.ask_for_colliders(self.collider_cb)
def on_message(self, msg):
message = msg.split(",")
if message[0] == "run":
if message[1] == "true":
self.arduino.stop = False
self.data_fetcher.stop = False
self.arduino.open_all_channels()
print("run")
else:
self.data_fetcher.stop = True
self.arduino.stop = True
self.arduino.close_all_channels()
print("stop")
elif message[0] == "teapot":
if message[1] == "1":
self.hand.current_state = "none"
elif message[1] == "2":
self.hand.current_state = "hot"
elif message[0] == "muscle_control":
if message[2] == "true":
if message[1] == "ems1":
self.arduino.send_ems_strength({"ems1": self.zap_strength["ems1"]})
self.arduino.change_relay_state("ems1", True)
elif message[1] == "ems2":
self.arduino.send_ems_strength({"ems2": self.zap_strength["ems2"]})
self.arduino.change_relay_state("ems2", True)
elif message[1] == "ems3":
self.arduino.send_ems_strength({"ems3": self.zap_strength["ems1"]})
self.arduino.change_relay_state("ems3", True)
elif message[1] == "ems4":
self.arduino.send_value("h")
elif message[1] == "0":
if self.zap_strength["ems1"] > 4:
self.zap_strength["ems1"] -= 5
self.write_message("ems_strength,ems1," + str(self.zap_strength["ems1"]))
elif message[1] == "-":
self.zap_strength["ems1"] = 0
self.write_message("ems_strength,ems1," + str(self.zap_strength["ems1"]))
elif message[1] == "+":
if self.zap_strength["ems1"] < 96:
self.zap_strength["ems1"] += 5
self.write_message("ems_strength,ems1," + str(self.zap_strength["ems1"]))
elif message[1] == "p":
if self.zap_strength["ems2"] > 4:
self.zap_strength["ems2"] -= 5
self.write_message("ems_strength,ems2," + str(self.zap_strength["ems2"]))
elif message[1] == "[":
self.zap_strength["ems2"] = 0
self.write_message("ems_strength,ems2," + str(self.zap_strength["ems2"]))
elif message[1] == "]":
if self.zap_strength["ems2"] < 96:
self.zap_strength["ems2"] += 5
self.write_message("ems_strength,ems2," + str(self.zap_strength["ems2"]))
else:
if message[1] == "ems1":
self.arduino.change_relay_state("ems1", False)
elif message[1] == "ems2":
self.arduino.change_relay_state("ems2", False)
elif message[1] == "ems3":
self.arduino.change_relay_state("ems3", False)
elif message[1] == "ems4":
self.arduino.send_value("i")
elif message[0] == "colliders_init_cb":
user_id = {"user_id": ObjectId(message[1])}
gestures = bson.json_util.dumps(list(self.mongo_gestures.find(user_id, {"name": True}))).replace(",", "§")
envelopes = []
if len(self.list_obj) > 0:
for envelope in self.list_obj.split(","):
envelope_obj = self.mongo_envelopes.find({"user_id": ObjectId(message[1]), "name": envelope})
if envelope_obj.count() == 0:
self.mongo_envelopes.insert({
"name": envelope,
"gesture": "",
"gesture duration": 1000,
"allpoints": [],
"individual_points": [],
"user_id": ObjectId(message[1])
})
envelopes = self.mongo_envelopes.find({"user_id": ObjectId(message[1])})
envelopes = bson.json_util.dumps(envelopes).replace(",", "§")
self.write_message("colliders," + gestures + "," + envelopes)
elif message[0] == "study_start_trial":
self.mongo_studies.update({"_id": self.current_study_participant}, {
"$set": {
"trials." + message[1] + ".type": message[2],
"trials." + message[1] + ".optitrack_data": [],
"trials." + message[1] + ".touch_data": [],
"trials." + message[1] + ".timestamp": time.time()
}
})
self.data_fetcher.get_data_for_study(self.current_study_participant, message[1])
self.hand.get_data_for_study(self.current_study_participant, message[1])
if message[2][-6:] == "-noems":
self.arduino.study_no_ems = True
self.start_time = time.time()
elif message[0] == "study_end_trial":
fat_var = self.data_fetcher.done_with_study_data()
self.mongo_studies.update({"_id": self.current_study_participant}, {
"$set": {
"trials." + message[1] + ".time": time.time() - self.start_time,
"trials." + message[1] + ".optitrack_data": fat_var
}
})
self.hand.done_with_study_data()
self.arduino.study_no_ems = False
elif message[0] == "calibrate":
self.arduino.calibration(message)
elif message[0] == "load_study":
data = self.mongo_studies.find_one({"participant_id": message[1]})
self.current_study_participant = data["_id"]
self.mongo_studies.update({"_id": self.current_study_participant}, {"$set": {"name": message[2], "trials": {}}})
self.write_message("study_data," + json.dumps(data['order']).replace(",", "§"))
elif message[0] == "save_channels":
self.mongo_users.update({"_id": ObjectId(message[1])}, {"$set": {
"channels." + message[2]: {
"min": message[3],
"max": message[4]
}
}})
elif message[0] == "door":
if message[1] == "e":
self.hand.door_mode = "enter"
elif message[1] == "k":
self.hand.door_mode = "knock"
elif message[0] == "load_user":
self.hand.user = message[2]
gestures = list(self.mongo_gestures.find({"user_id": ObjectId(message[2])}, {"name": True}))
if not message[1] == message[2]:
user_gestures = list(self.mongo_gestures.find({"user_id": ObjectId(message[1])}, {"name": True}))
new_gestures = []
for gesture in gestures:
for gest in user_gestures:
if gest['name'] == gesture['name']:
gest['name'] = gest['name'] + " (modified)"
gesture = gest
new_gestures.append(gesture)
gestures = new_gestures
the_user = self.mongo_users.find_one({"_id": ObjectId(message[1])})
if the_user is not None:
for channel, val in the_user['channels'].items():
if channel in self.arduino.channels.keys():
self.arduino.channels[channel]['min_max'] = [int(val['min']), int(val['max'])]
users = bson.json_util.dumps(the_user).replace(",", "§")
gestures = bson.json_util.dumps(gestures).replace(",", "§")
self.write_message("user_info," + users + "," + gestures)
elif message[0] == "add_user":
user_id = self.mongo_users.insert({
"name": message[1],
"channels": {}
})
self.write_message("newly_added_user_id," + bson.json_util.dumps(self.mongo_users.find_one({"_id": ObjectId(user_id)})).replace(",", "§"))
elif message[0] == "envelope":
if message[1] == "save":
already_exists = 0
if message[8] == "true":
already_exists = self.mongo_envelopes.find({"_id": ObjectId(message[3]), "user_id": ObjectId(message[2])}).limit(1).count()
if already_exists == 1:
self.mongo_envelopes.update({"_id": ObjectId(message[3])}, {"$set": {
"gesture": ObjectId(message[4]),
"gesture duration": message[5],
"allpoints": json.loads(message[6].replace("§", ",")),
"individual_points": json.loads(message[7].replace("§", ",")),
}})
else:
if message[8] == "true":
name = self.mongo_envelopes.find({"_id": ObjectId(message[3])}).limit(0)[0]['name']
else:
name = message[3]
self.mongo_envelopes.insert({
"name": name,
"gesture": ObjectId(message[4]),
"gesture duration": message[5],
"allpoints": json.loads(message[6].replace("§", ",")),
"individual_points": json.loads(message[7].replace("§", ",")),
"user_id": ObjectId(message[2])
})
elif message[0] == "gesture":
if message[1] == "save":
already_exists = self.mongo_gestures.find({"_id": ObjectId(message[3]), "user_id": ObjectId(message[2])}).limit(1).count()
if already_exists == 1:
self.mongo_gestures.update({"_id": ObjectId(message[3])}, {"$set": {
"allpoints": json.loads(message[4].replace("§", ", ")),
"line_segments": json.loads(message[5].replace("§", ", "))
}})
else:
old_thing = self.mongo_gestures.find({"_id": ObjectId(message[3])}).limit(0)[0]
self.mongo_gestures.insert({
"name": old_thing['name'],
"allpoints": json.loads(message[4].replace("§", ", ")),
"line_segments": json.loads(message[5].replace("§", ", ")),
"user_id": ObjectId(message[2])
})
gestures = list(self.mongo_gestures.find({"user_id": ObjectId(message[2])}, {"name": True}))
self.write_message("reload_gestures," + bson.json_util.dumps(gestures).replace(",", "§"))
elif message[1] == "save_new":
self.mongo_gestures.insert({
"name": message[3],
"allpoints": json.loads(message[4].replace("§", ", ")),
"line_segments": json.loads(message[5].replace("§", ", ")),
"user_id": ObjectId(message[2])
})
gestures = list(self.mongo_gestures.find({"user_id": ObjectId(message[2])}, {"name": True}))
self.write_message("reload_gestures," + bson.json_util.dumps(gestures).replace(",", "§"))
elif message[1] == "get":
gesture = bson.json_util.dumps(list(self.mongo_gestures.find({"_id": ObjectId(message[2])}))[0]).replace(",", "§")
self.write_message("gesture_info," + gesture)
elif message[1] == "test":
duration = 1000
if message[3] and message[3].isdigit():
duration = int(message[3])
self.arduino.perform_gesture(json.loads(message[2].replace("§", ", ")), duration)
def on_close(self):
print("WebSocket closed")
