def move_list(data):
move_list = []
curr_move = Move()
curr_frame = Frame()
last_frameid = None
for row in range(0, len(data)):
if (data[row]):
#Each row represents a finger in a frame
curr_finger = Finger(data[row])
#Handle the first entry
if (row == 0):
curr_frame.id = curr_finger.frame
curr_frame.Fingers.append(curr_finger)
curr_frame.numFingers += 1
else:
#A new frame has begun
if (curr_frame.id != curr_finger.frame):
#Check if the old frame was still or stopped (i.e. fingers lifted off)
#and if so, end the last move and add it to the list of moves.
if (curr_frame.is_still()) or (curr_frame.is_stopped()):
#We don't care about collecting still-frame data so just disregard it
#but end the move accordingly.
#We know the current move has ended so added it to the list of moves
#but only if there are frames in it, this is to mitigate the fact that
#WHENEVER there is a still frame a new Move obj is created, but
#we don't care about these.
if (curr_move.Framelist):
curr_move.endAngle = curr_frame.Fingers[
0].angle #Only looks at one finger
curr_move.endXVel = curr_frame.Fingers[
0].xvel #Only looks at one finger
move_list.append(curr_move)
curr_move = Move()
#The last frame was neither still nor stopped, but we need to add it
#to the current move.
else:
if (not curr_move.Framelist):
curr_move.startAngle = curr_frame.Fingers[
0].angle #Not actually accurate e.g. it only looks at one finger
curr_move.startXVel = curr_frame.Fingers[
0].xvel #Not accurate, see above.
curr_move.Framelist.append(curr_frame)
if (curr_frame.numFingers > curr_move.maxFingers):
curr_move.maxFingers = curr_frame.numFingers
if (curr_frame.numFingers < curr_move.minFingers):
curr_move.minFingers = curr_frame.numFingers
#Update the current frame
curr_frame = Frame()
curr_frame.id = curr_finger.frame
curr_frame.Fingers.append(curr_finger)
curr_frame.numFingers += 1
#A new frame has not begun but there are more fingers to add to it.
else:
curr_frame.Fingers.append(curr_finger)
curr_frame.numFingers += 1
if (curr_move.Framelist):
curr_move.endAngle = curr_frame.Fingers[
0].angle #Only looks at one finger
curr_move.endXVel = curr_frame.Fingers[
0].xvel #Only looks at one finger
move_list.append(curr_move)
return move_list
#print "Puerto serie: {0}".format(serial_name)
#-- Open the serial port
#--------------------------------------------------------
#-- Abrir el puerto serie. Si hay algun error se termina
#--------------------------------------------------------
try:
s = serial.Serial(serial_name, 115200)
#-- Timeout: 100 ms
s.timeout = 0.1
except serial.SerialException:
#-- Error al abrir el puerto serie
sys.stderr.write("Error opening the port {0}".format(serial_name))
sys.exit(1)
#-- Mostrar el nombre del dispositivo
print "Puerto serie abierto: {0}\n".format(s.name)
#-- Create the servos to use
#s1 = Servo(s, 2)
#s2 = Servo(s, 4)
f1 = Finger(s, 2, up=68, down=76)
f2 = Finger(s, 4, up=65, down=74)
#-- Put the fingers in the up position
f1.up()
f2.up()
