def handle_message(self, mxmsg):
if mxmsg.type == types.ETR_CALIBRATION_RESULTS:
res = variables_pb2.Sample()
res.ParseFromString(mxmsg.message)
data = res.channels
self.logger.debug("GOT ETR CALIBRATION RESULTS: " + str(data))
self.handle_calibration_mesage(data)
elif mxmsg.type == types.ETR_SIGNAL_MESSAGE:
l_msg = variables_pb2.Sample2D()
l_msg.ParseFromString(mxmsg.message)
self.logger.debug("GOT MESSAGE: " + str(l_msg))
dec, ugm = self.handle_etr_message(l_msg)
if dec >= 0:
self.logger.debug("Sending dec message...")
self.conn.send_message(message=str(dec),
type=types.DECISION_MESSAGE,
flush=True)
elif ugm is not None:
self.logger.debug("Sending ugm message...")
ugm_helper.send_config(self.conn, ugm, 1)
else:
self.logger.info("Got notihing from manager...")
self.no_response()
def handle_message(self, mxmsg):
if mxmsg.type == types.ETR_SIGNAL_MESSAGE:
l_msg = variables_pb2.Sample2D()
l_msg.ParseFromString(mxmsg.message)
self._data_proxy.data_received(l_msg.x)
self._data_proxy.data_received(l_msg.y)
self.no_response()
def handle_message(self, mxmsg):
#~ self.logger.info("EtrAnalysis\n")
if mxmsg.type == types.ETR_CALIBRATION_RESULTS:
#### What to do when receive ETR_MATRIX information
res = variables_pb2.Sample()
res.ParseFromString(mxmsg.message)
self.logger.debug("GOT ETR CALIBRATION RESULTS: "+str(res.channels))
#process blinks only when hold_time passed
if self._last_dec_time > 0:
t = time.time() - self._last_dec_time
if t > self.hold_after_dec:
self._last_dec_time = 0
else:
self.no_response()
return
# What to do after everything is done...
if mxmsg.type == types.DECISION_MESSAGE:
self._last_dec_time = time.time()
if mxmsg.type == types.ETR_SIGNAL_MESSAGE:
#### What to do when receive ETR_SIGNAL information
msg = variables_pb2.Sample2D()
msg.ParseFromString(mxmsg.message)
self.logger.debug("GOT MESSAGE: "+str(msg))
# Save positions
x, y = msg.x, msg.y
self._update_buffor(np.array([[x],[y]]))
# Turn position into heatmap
m = self._calc_metric(x,y)
self._update_heatmap(m)
ugm = self.ugm_mgr.get_ugm_updates(self.feeds, msg)
ugm_helper.send_config(self.conn, ugm, 1)
self.nCount += 1
if self.nCount % self.nRefresh == 0:
# Calc heatmap as probabilty density
pdf = self._calc_pdf()
# Send results to decision modul
self._send_results()
#~ elif mxmsg.type == types.BLINK_MESSAGE:
#### What to do when receive BLINK_NO information
#~ blink = variables_pb2.Blink()
#~ blink.ParseFromString(mxmsg.message)
#~ self.logger.debug("GOT BLINK: "+str(blink.index)+" / "+str(blink.timestamp))
self.no_response()
def get_msg(self, s):
msg = variables_pb2.Sample2D()
data = np.array([[s.channels[self.l_x_ind], s.channels[self.l_y_ind]],
[s.channels[self.r_x_ind], s.channels[self.r_y_ind]]
]) * self.track
data = np.sum(data, axis=0)
if np.sum(self.track) == 4:
data /= 2
msg.x = 1 - data[0]
msg.y = data[1]
msg.timestamp = s.timestamp
return msg
def run(self):
while True:
time.sleep(self._sleep_s)
l_msg = variables_pb2.Sample2D()
if self._mode == "const":
l_msg.x = self._mode_value
l_msg.y = self._mode_value
elif self._mode == "rand":
l_msg.x = random.random()
l_msg.y = random.random()
l_msg.timestamp = time.time()
self.process_message(l_msg)
def handle_message(self, mxmsg):
if mxmsg.type == self.in_mx_signal_type:
v = variables_pb2.SampleVector()
v.ParseFromString(mxmsg.message)
for s in v.samples:
msg = variables_pb2.Sample2D()
msg.x = s.channels[self.x_ind]
msg.y = s.channels[self.y_ind]
msg.timestamp = s.timestamp
self.conn.send_message(
message=msg.SerializeToString(),
type=self.out_mx_signal_type, flush=True)
self.no_response()
def handle_message(self, mxmsg):
if mxmsg.type == self.in_mx_signal_type:
v = variables_pb2.SampleVector()
v.ParseFromString(mxmsg.message)
for s in v.samples:
msg = variables_pb2.Sample2D()
x, y = wii_utils.get_x_y(s.channels[0], s.channels[1],
s.channels[2], s.channels[3])
msg.x = 0.5 - x * 0.5
msg.y = 0.5 - y * 0.5
msg.timestamp = s.timestamp
self.conn.send_message(message=msg.SerializeToString(),
type=self.out_mx_signal_type,
flush=True)
self.no_response()
def handle_message(self, mxmsg):
LOGGER.info("EtrAnalysis\n")
if mxmsg.type == types.ETR_CALIBRATION_RESULTS:
#### What to do when receive ETR_MATRIX information
res = variables_pb2.Sample()
res.ParseFromString(mxmsg.message)
LOGGER.debug("GOT ETR CALIBRATION RESULTS: " + str(res.channels))
elif mxmsg.type == types.ETR_SIGNAL_MESSAGE:
#### What to do when receive ETR_SIGNAL information
l_msg = variables_pb2.Sample2D()
l_msg.ParseFromString(mxmsg.message)
LOGGER.debug("GOT MESSAGE: " + str(l_msg))
# Change shape of data
x, y = l_msg.x, l_msg.y
xy = np.array([[x], [y]])
self._update_buffor(xy)
# Caunt metric
m = self.metric(xy)
self._update_heatmap(m)
# Calc heatmap as probabilty density
pdf = self._calc_pdf()
##self.conn.send_message(message = str(dec), type = types.DECISION_MESSAGE, flush=True)
l_msg.ParseFromString(mxmsg.message)
LOGGER.debug("GOT MESSAGE: " + str(l_msg))
#zrob cos z sygnalem
elif mxmsg.type == types.BLINK_MESSAGE:
#### What to do when receive BLINK_NO information
blink = variables_pb2.Blink()
blink.ParseFromString(mxmsg.message)
LOGGER.debug("GOT BLINK: " + str(blink.index) + " / " +
str(blink.timestamp))
self.no_response()
def _get_mx_message_from_etr(self, p_data):
l_msg = variables_pb2.Sample2D()
lst = p_data.split()
if (len(lst) != 4):
self.logger.info(
"WARNING! Received data length != 4. Message ommited.")
return None
if lst[0] == 'x':
try:
l_msg.x = float(str(lst[1]).replace(",", "."))
except:
self.logger.info(
"WARNING! Error while unpacking x message. Message ommited."
)
return None
else:
self.logger.info(
"WARNING! received key different from x. Meesage ommited.")
return None
if lst[2] == 'y':
try:
l_msg.y = float(str(lst[3]).replace(",", "."))
except:
self.logger.info(
"WARNING! Error while unpacking y message. Message ommited."
)
return None
else:
self.logger.info(
"WARNING! received key different from y. Meesage ommited.")
return None
l_msg.timestamp = time.time()
return l_msg
