def main(self):
""" Main loop """
while 1:
if self.dataReady("control"):
msg = self.recv("control")
if (isinstance(msg, producerFinished)
or isinstance(cmsg, shutdownMicroprocess)):
self.send(msg, "signal")
break
if self.dataReady("inbox"):
data = self.recv("inbox")
if self.index is None:
decoded = OSC.decodeOSC(data)
# Send decoded data as (address, [arguments], timetag) tuple
self.send((decoded[2][0], decoded[2][2:], decoded[1]),
"outbox")
else:
decoded = OSC.decodeOSC(data[self.index])
data = list(data)
data[self.index] = (decoded[2][0], decoded[2][2:],
decoded[1])
self.send(data, "outbox")
if not self.anyReady():
self.pause()
yield 1
def main(self):
""" Main loop """
while 1:
if self.dataReady("control"):
msg = self.recv("control")
if (isinstance(msg, producerFinished) or
isinstance(cmsg, shutdownMicroprocess)):
self.send(msg, "signal")
break
if self.dataReady("inbox"):
data = self.recv("inbox")
if self.index is None:
decoded = OSC.decodeOSC(data)
# Send decoded data as (address, [arguments], timetag) tuple
self.send((decoded[2][0], decoded[2][2:], decoded[1]),
"outbox")
else:
decoded = OSC.decodeOSC(data[self.index])
data = list(data)
data[self.index] = (decoded[2][0], decoded[2][2:],
decoded[1])
self.send(data, "outbox")
if not self.anyReady():
self.pause()
yield 1
def read_from_port(ser, q):
while True:
reading = ser.readline()
try:
halfd = driver.receive(reading)
str = ''.join(halfd)
if halfd != []:
print OSC.decodeOSC(str)
q.put(OSC.decodeOSC(str))
except:
print "malformed OSC packet"
print reading
def chew_data(host, port):
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
s.settimeout(0.05) # prevent blender from getting stuck if socket hangs
s.bind((host, port))
raw,addr = s.recvfrom(1024)
o = OSC.decodeOSC(raw)
return o
def heartbeat(add, tags, stuff, source):
global sw1
cpu = psutil.cpu_percent()
if sw1 == 1:
# print "HEARTBEAT RECIEVED!"
decoded = OSC.decodeOSC(stuff[0])
# supercollider CPU usage and UGens printout
cprint("CPU %/Number of Sounds: " + str(cpu) + "/" + str(decoded[3]), "red", attrs=["dark"])
# scaling CPU values
cpufloat = float(cpu)
# print decoded[7]
# ready the osc message
oscmsg = OSC.OSCMessage()
# determine which heartbeat to send
if cpufloat < 2.0:
oscmsg.setAddress("/heartbeat/faint")
elif cpufloat < 6.0:
oscmsg.setAddress("/heartbeat/weak")
elif cpufloat < 10.0:
oscmsg.setAddress("/heartbeat/medium")
elif cpufloat < 20.0:
oscmsg.setAddress("/heartbeat/strong")
elif cpufloat < 30.0:
oscmsg.setAddress("/heartbeat/heavy")
else:
oscmsg.setAddress("/heartbeat/intense")
# adding the CPU usage value to the message, this can be mapped later.
oscmsg.append(cpufloat)
qlcclient.send(oscmsg)
# sending CPU information back to SuperCollider
oscmsg = OSC.OSCMessage()
oscmsg.setAddress("/cpuinfo")
oscmsg.append(cpufloat)
scclient.send(oscmsg)
def heartbeat(add, tags, stuff, source):
global sw1
if sw1 == 1:
# print "HEARTBEAT RECIEVED!"
decoded = OSC.decodeOSC(stuff[0])
#supercollider CPU usage and UGens printout
print "Sound CPU/Synths heartbeat: "+str(round(decoded[7],4))+"/"+str(decoded[3])
# scaling CPU values
scaled = int(interp(decoded[7],[0.0,40.0],[20,255]))
#print decoded[7]
# ready the osc message
oscmsg = OSC.OSCMessage()
#determine which heartbeat to send
if float(decoded[7]) < 2.0:
oscmsg.setAddress("/heartbeat/faint")
elif decoded[7] < 6.0:
oscmsg.setAddress("/heartbeat/weak")
elif decoded[7] < 10.0:
oscmsg.setAddress("/heartbeat/medium")
elif decoded[7] < 20.0:
oscmsg.setAddress("/heartbeat/strong")
elif decoded[7] < 30.0:
oscmsg.setAddress("/heartbeat/heavy")
else:
oscmsg.setAddress("/heartbeat/intense")
# adding the CPU usage value to the message, this can be mapped later.
oscmsg.append(scaled)
qlcclient.send(oscmsg)
def heartbeat(add, tags, stuff, source):
global sw1
cpu = psutil.cpu_percent()
if sw1 == 1:
# print "HEARTBEAT RECIEVED!"
decoded = OSC.decodeOSC(stuff[0])
#supercollider CPU usage and UGens printout
print "CPU %/Number of Sounds: " + str(cpu) + "/" + str(decoded[3])
# scaling CPU values
cpufloat = float(cpu)
#print decoded[7]
# ready the osc message
oscmsg = OSC.OSCMessage()
#determine which heartbeat to send
if cpufloat < 2.0:
oscmsg.setAddress("/heartbeat/faint")
elif cpufloat < 6.0:
oscmsg.setAddress("/heartbeat/weak")
elif cpufloat < 10.0:
oscmsg.setAddress("/heartbeat/medium")
elif cpufloat < 20.0:
oscmsg.setAddress("/heartbeat/strong")
elif cpufloat < 30.0:
oscmsg.setAddress("/heartbeat/heavy")
else:
oscmsg.setAddress("/heartbeat/intense")
# adding the CPU usage value to the message, this can be mapped later.
oscmsg.append(cpufloat)
qlcclient.send(oscmsg)
def inductionmics(add, tags, stuff, source):
global sw1
global sw2
global inductioniter
# check if the switch is on, this is the same switch that controls the inducton light/sound
if sw2 == 1:
# this should only be displayed if the 'information' switch (switch 1) is on
if sw1 == 1:
# decoded OSC message, this needs to be done to the whole message and then
# the goodies need to be parsed out because OSC and arrays don't mix well
# indices 5, 6 and 7 of the 'stuff' contains hi/mid/low figures
decoded = OSC.decodeOSC(stuff[0])
# TODO: Sort this out. Print this every ten times this function is run
if inductioniter % 30 == 0:
cprint(
"Induction Power: Low - "
+ str(round(decoded[4], 3))
+ " Mid - "
+ str(round(decoded[5], 3))
+ " Hi - "
+ str(round(decoded[6], 3)),
"cyan",
attrs=["dark"],
)
inductioniter = inductioniter + 1
def heartbeat(add, tags, stuff, source):
# print "HEARTBEAT RECIEVED!"
decoded = OSC.decodeOSC(stuff[0])
#supercollider CPU usage and UGens printout
print "SuperCollider CPU usage: "+str(decoded[7])+" Number of synths: "+str(decoded[3])
# scaling CPU values
scaled = int(interp(decoded[7],[0.0,40.0],[20,255]))
#print decoded[7]
# ready the osc message
oscmsg = OSC.OSCMessage()
#determine which heartbeat to send
if float(decoded[7]) < 2.0:
oscmsg.setAddress("/heartbeat/faint")
print "faint"
elif decoded[7] < 6.0:
oscmsg.setAddress("/heartbeat/weak")
print "weak"
elif decoded[7] < 10.0:
oscmsg.setAddress("/heartbeat/medium")
print "medium"
elif decoded[7] < 20.0:
oscmsg.setAddress("/heartbeat/strong")
print "strong"
elif decoded[7] < 30.0:
oscmsg.setAddress("/heartbeat/heavy")
print "heavy"
else:
oscmsg.setAddress("/heartbeat/intense")
print "intense"
# adding the CPU usage value to the message, this can be mapped later.
oscmsg.append(scaled)
c.send(oscmsg)
def process_metatone_message(self, handler, time, packet):
"""
Function to decode an OSC formatted string and then process it
according to its address. Sends processed messages directly
to the metatone_classifier module's message handling functions.
"""
message = OSC.decodeOSC(packet)
try:
if "/metatone/touch/ended" in message[0]:
self.classifier.handle_client_message(message[0], message[1][1:], message[2:], FAKE_OSC_SOURCE)
elif "/metatone/touch" in message[0]:
self.classifier.handle_client_message(message[0], message[1][1:], message[2:], FAKE_OSC_SOURCE)
elif "/metatone/switch" in message[0]:
self.classifier.handle_client_message(message[0], message[1][1:], message[2:], FAKE_OSC_SOURCE)
elif "/metatone/online" in message[0]:
self.classifier.handle_client_message(message[0], message[1][1:], message[2:], FAKE_OSC_SOURCE)
handler.send_osc("/metatone/classifier/hello", [])
handler.deviceID = message[2]
handler.app = message[3]
elif "/metatone/offline" in message[0]:
self.classifier.handle_client_message(message[0], message[1][1:], message[2:], FAKE_OSC_SOURCE)
elif "/metatone/acceleration" in message[0]:
self.classifier.handle_client_message(message[0], message[1][1:], message[2:], FAKE_OSC_SOURCE)
elif "/metatone/app" in message[0]:
self.classifier.handle_client_message(message[0], message[1][1:], message[2:], FAKE_OSC_SOURCE)
elif "/metatone/targetgesture" in message[0]:
self.classifier.handle_client_message(message[0], message[1][1:], message[2:], FAKE_OSC_SOURCE)
else:
print("Got an unknown message! Address was: " + message[0])
print("Time was: " + str(time))
print(u'Raw Message Data: {}'.format(packet))
except():
print("Message did not decode to a non-empty list.")
def heartbeat(add, tags, stuff, source):
global sw1
if sw1 == 1:
# print "HEARTBEAT RECIEVED!"
decoded = OSC.decodeOSC(stuff[0])
#supercollider CPU usage and UGens printout
print "Sound CPU/Synths heartbeat: " + str(round(
decoded[7], 4)) + "/" + str(decoded[3])
# scaling CPU values
scaled = int(interp(decoded[7], [0.0, 40.0], [20, 255]))
#print decoded[7]
# ready the osc message
oscmsg = OSC.OSCMessage()
#determine which heartbeat to send
if float(decoded[7]) < 2.0:
oscmsg.setAddress("/heartbeat/faint")
elif decoded[7] < 6.0:
oscmsg.setAddress("/heartbeat/weak")
elif decoded[7] < 10.0:
oscmsg.setAddress("/heartbeat/medium")
elif decoded[7] < 20.0:
oscmsg.setAddress("/heartbeat/strong")
elif decoded[7] < 30.0:
oscmsg.setAddress("/heartbeat/heavy")
else:
oscmsg.setAddress("/heartbeat/intense")
# adding the CPU usage value to the message, this can be mapped later.
oscmsg.append(scaled)
c.send(oscmsg)
def read_from_port(ser):
# while not connected:
#serin = ser.read()
# connected = True
while True:
# print("test")
reading = ser.readline()
# print OSC.decodeOSC(driver.receive(reading))
try:
halfd = driver.receive(reading)
str = ''.join(halfd)
if halfd != []:
print OSC.decodeOSC(str)
except:
print "malformed OSC packet"
def receiveOSC(controller): try: raw_data = gl.socket.recv(BUFFER_SIZE) data = OSC.decodeOSC(raw_data) print(data) except socket.timeout: pass
def inductionmics(add,tags,stuff,source): global sw2 if sw2 == 1: # decoded OSC message, this needs to be done to the whole message and then # the goodies need to be parsed out because OSC and arrays don't mix well decoded = OSC.decodeOSC(stuff[0]) #TODO: Sort this out. Print this every ten times this function is run print "Induction Power: Low - "+str(round(decoded[4],3))+" Mid - "+str(round(decoded[5],3))+" Hi - "+str(round(decoded[6],3))
def inductionmics(add, tags, stuff, source):
global sw2
if sw2 == 1:
# decoded OSC message, this needs to be done to the whole message and then
# the goodies need to be parsed out because OSC and arrays don't mix well
decoded = OSC.decodeOSC(stuff[0])
#TODO: Sort this out. Print this every ten times this function is run
print "Induction Power: Low - " + str(round(
decoded[4], 3)) + " Mid - " + str(round(
decoded[5], 3)) + " Hi - " + str(round(decoded[6], 3))
def listen(self):
"Listens to incoming messages synchronously and \
returns a sequence of the decoded OSC packet fields. \
Note: index 1 of the resulting sequence contains the \
packet types string."
data, (ip, port) = self.fSocket.recvfrom(4096)
if len(data) > 4: # discriminate incorrect and termination packets
return OSC.decodeOSC(data)
return []
def main():
# Set init
ip = '127.0.0.1' ### escucha a routerOSC.pd
port = 8888
data = 0
# Get controller and owner
controller = GameLogic.getCurrentController()
owner = controller.owner
# Connect Blender only one time
if not owner['connected']:
owner['connected'] = True
print ("Blender Connected Ori")
GameLogic.socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
GameLogic.socket.bind((ip, port))
GameLogic.socket.setblocking(0)
GameLogic.socket.settimeout(0.02)
# If Blender connected, get osc
else:
# Get hand wii osc from pd
data = receive_osc(data, port)
if data != 0:
d = OSC.decodeOSC(data)
print(d)
'''if d[2][8] == "/ori":
ori,ox,oz =d[2][9], d[2][10], d[2][11]
scn = bge.logic.getCurrentScene()
player = scn.objects["player"]
player['ori'] = ori
if d[2][12] == "/norte":
nx,ny =d[2][13],d[2][14]
scn = bge.logic.getCurrentScene()
player = scn.objects["player"]
player['tracker_n'] = nx,ny
# solo si hay 2 kinects!!!!!!
if d[2][15] == "/sur":
sx,sy =d[2][16],d[2][17]
scn = bge.logic.getCurrentScene()
player = scn.objects["player"]
player['tracker_s'] = sx,sy '''
if d[0] == "/norte":
nx,ny =d[2],d[3]
print(nx,ny)
scn = bge.logic.getCurrentScene()
player = scn.objects["player"]
player['tracker_n'] = nx,ny
def inductionmics(add,tags,stuff,source): global sw1 global sw2 # check if the switch is on, this is the same switch that controls the inducton light/sound if sw2 == 1: # this should only be displayed if the 'information' switch (switch 1) is on if sw1 == 1: # decoded OSC message, this needs to be done to the whole message and then # the goodies need to be parsed out because OSC and arrays don't mix well decoded = OSC.decodeOSC(stuff[0]) #TODO: Sort this out. Print this every ten times this function is run print "Induction Power: Low - "+str(round(decoded[4],3))+" Mid - "+str(round(decoded[5],3))+" Hi - "+str(round(decoded[6],3))
def inductionmics(add,tags,stuff,source): global sw1 global sw2 # check if the switch is on, this is the same switch that controls the inducton light/sound if sw2 == 1: # this should only be displayed if the 'information' switch (switch 1) is on if sw1 == 1: # decoded OSC message, this needs to be done to the whole message and then # the goodies need to be parsed out because OSC and arrays don't mix well decoded = OSC.decodeOSC(stuff[0]) #TODO: Sort this out. Print this every ten times this function is run print "Induction Power: Low - "+str(round(decoded[4],3))+" Mid - "+str(round(decoded[5],3))+" Hi - "+str(round(decoded[6],3))
def heartbeat(add, tags, stuff, source):
# print "HEARTBEAT RECIEVED!"
decoded = OSC.decodeOSC(stuff[0])
#supercollider CPU usage and UGens printout
print "SuperCollider CPU usage: "+str(decoded[7])+" Number of synths: "+str(decoded[3])
# scaling CPU values
scaled = int(interp(decoded[7],[0.0,40.0],[20,255]))
print scaled
# sending heartbeat tick to QLC
oscmsg = OSC.OSCMessage()
oscmsg.setAddress("/heartbeat/on")
# adding the CPU usage value to the message, this can be mapped later.
oscmsg.append(scaled)
c.send(oscmsg)
def heartbeat(add, tags, stuff, source):
# print "HEARTBEAT RECIEVED!"
decoded = OSC.decodeOSC(stuff[0])
#supercollider CPU usage and UGens printout
print "SuperCollider CPU usage: " + str(
decoded[7]) + " Number of synths: " + str(decoded[3])
# scaling CPU values
scaled = int(interp(decoded[7], [0.0, 40.0], [20, 255]))
print scaled
# sending heartbeat tick to QLC
oscmsg = OSC.OSCMessage()
oscmsg.setAddress("/heartbeat/on")
# adding the CPU usage value to the message, this can be mapped later.
oscmsg.append(scaled)
c.send(oscmsg)
def inductionmics(add,tags,stuff,source):
global sw1
global sw2
global inductioniter
# check if the switch is on, this is the same switch that controls the inducton light/sound
if sw2 == 1:
# this should only be displayed if the 'information' switch (switch 1) is on
if sw1 == 1:
# decoded OSC message, this needs to be done to the whole message and then
# the goodies need to be parsed out because OSC and arrays don't mix well
# indices 5, 6 and 7 of the 'stuff' contains hi/mid/low figures
decoded = OSC.decodeOSC(stuff[0])
#TODO: Sort this out. Print this every ten times this function is run
if inductioniter % 30 == 0:
cprint("Induction Power: Low - "+str(round(decoded[4],3))+" Mid - "+str(round(decoded[5],3))+" Hi - "+str(round(decoded[6],3)),'cyan',attrs=['dark'])
inductioniter = inductioniter + 1
def decode(data):
"""Converts a typetagged OSC message to a Python list.
modified for supercollider-specific messages.
"""
table = { "i":OSC.readInt,
"f":OSC.readFloat,
"s":OSC.readString,
"b":OSC.readBlob,
"d":OSC.readDouble}
decoded = []
address, rest = OSC.readString(data)
typetags = ""
if address == "#bundle":
time, rest = OSC.readLong(rest)
decoded.append(address)
decoded.append(time)
while len(rest)>0:
length, rest = OSC.readInt(rest)
decoded.append(OSC.decodeOSC(rest[:length]))
rest = rest[length:]
elif len(rest) > 0:
typetags, rest = OSC.readString(rest)
decoded.append(address)
decoded.append(typetags)
if(typetags[0] == ","):
for tag in typetags[1:]:
try:
value, rest = table[tag](rest)
decoded.append(value)
except:
print "%s probably not in tags list" %tag
print "check scOSCMessage.py - def decodeSCOSC():"
else:
print "Oops, typetag lacks the magic ,"
try:
returnList = [decoded[0]]
except IndexError:
returnList = []
try:
oldRtnList = returnList
returnList.extend(decoded[2:])
except IndexError:
returnList = oldRtnList
return returnList
def main():
# Get controller and owner
controller = GameLogic.getCurrentController()
owner = controller.owner
# Set init
ip = '127.0.0.1' ### escucha router
port = 8886
'''if owner.name == "control_init":
port = 8887
else:
port = 8886'''
data = 0
# Connect Blender only one time
if not owner['connected']:
owner['connected'] = True
print ("Blender Connected user_presence ", owner.name)
print(port)
GameLogic.socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
GameLogic.socket.bind((ip, port))
GameLogic.socket.setblocking(0)
GameLogic.socket.settimeout(0.02)
# If Blender connected, get osc
else:
# Get hand wii osc from pd
data = receive_osc(data, port)
#print(data)
if data != 0:
d = OSC.decodeOSC(data)
#print("decoded: ",d)
if d[0] == "/game/user-presence":
#print(d[2])
if d[2] == 2:
Game.user_presence = True
#print('player detected')
if d[2] == 1:
Game.user_presence = False
def main():
# Get controller and owner
controller = GameLogic.getCurrentController()
owner = controller.owner
# Set init
ip = '127.0.0.1' ### escucha router
port = 8889
data = 0
# Connect Blender only one time
if not owner['connected']:
owner['connected'] = True
print ("Blender Connected game_start ", owner.name)
print(port)
GameLogic.socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
GameLogic.socket.bind((ip, port))
GameLogic.socket.setblocking(0)
GameLogic.socket.settimeout(0.02)
# If Blender connected, get osc
else:
# Get hand wii osc from pd
data = receive_osc(data, port)
#print(data)
if data != 0:
d = OSC.decodeOSC(data)
#print("decoded: ",d)
if d[0] == "/game/start":
#print ("start",d[2])
if d[2] == 1:
Game.start = True
if d[2] == 0:
Game.start = False
def OSCdecode(string):
if string != []:
str = ''.join(string) #byte array to actual string
return OSC.decodeOSC(str)
else:
return 0
def processingprint(add,tags,stuff,source): # if information switch is on if sw1 == 1: print(OSC.decodeOSC(stuff[0]))
# Init OSC Client
client = OSC.OSCClient()
outPort = 9002
client.connect(("192.168.4.1", outPort))
print client
msg = OSC.OSCMessage()
msg.setAddress("/play")
# Message format=> 0:objectID, 1:state, 2:preset 3:param1, 4:param2, n:paramN ...
# If connected
while True:
try:
raw_data = my_socket.recv(buffer_size)
data = OSC.decodeOSC(raw_data)
# print(data)
if "plateau" in data[0]:
k = 0
for i in range(2, 6):
objectOnBoard[k] = data[i]
k += 1
print(objectOnBoard)
elif "params" in data[0]:
objId = int(data[0][8])
msg.append(objId)
msg.append(soundObject[objId]["active"])
msg.append(soundObject[objId]["currentPreset"])
for i in range(2, len(data)):
def receiveOsc(self):
raw_data = self.my_socket.recv(self.buffer_size)
return OSC.decodeOSC(raw_data)
def baxter_teleop():
left = baxter_interface.Limb('left')
right = baxter_interface.Limb('right')
neck = [0, 0, 0]
clavicle = [0, 0, 0]
shoulderLeft = [0, 0, 0]
shoulderRight = [0, 0, 0]
elbowLeft = [0, 0, 0]
elbowRight = [0, 0, 0]
wristLeft = [0, 0, 0]
wristRight = [0, 0, 0]
fingerLeft = [0, 0, 0]
fingerRight = [0, 0, 0]
a1 = deque([0] * 100000)
ctr = 1
fig = plt.figure()
ax = plt.axes(xlim=(0,2000), ylim=(-180,180))
plt.hold(True)
def nx():
neck[0] = x[2];
def ny():
neck[1] = x[2];
def nz():
neck[2] = x[2];
def scx():
clavicle[0] = x[2];
def scy():
clavicle[1] = x[2];
def scz():
clavicle[2] = x[2];
def slx():
shoulderLeft[0] = x[2];
def sly():
shoulderLeft[1] = x[2];
def slz():
shoulderLeft[2] = x[2];
def srx():
shoulderRight[0] = x[2];
def sry():
shoulderRight[1] = x[2];
def srz():
shoulderRight[2] = x[2];
def elx():
elbowLeft[0] = x[2];
def ely():
elbowLeft[1] = x[2];
def elz():
elbowLeft[2] = x[2];
def erx():
elbowRight[0] = x[2];
def ery():
elbowRight[1] = x[2];
def erz():
elbowRight[2] = x[2];
def wlx():
wristLeft[0] = x[2];
def wly():
wristLeft[1] = x[2];
def wlz():
wristLeft[2] = x[2];
def wrx():
wristRight[0] = x[2];
def wry():
wristRight[1] = x[2];
def wrz():
wristRight[2] = x[2];
def hlx():
fingerLeft[0] = x[2];
def hly():
fingerLeft[1] = x[2];
def hlz():
fingerLeft[2] = x[2];
def hrx():
fingerRight[0] = x[2];
def hry():
fingerRight[1] = x[2];
def hrz():
fingerRight[2] = x[2];
options = { '/neck:tx': nx,
'/neck:ty': ny,
'/neck:tz': nz,
'/shoulder_c:tx': scx,
'/shoulder_c:ty': scy,
'/shoulder_c:tz': scz,
'/shoulder_l:tx': slx,
'/shoulder_l:ty': sly,
'/shoulder_l:tz': slz,
'/shoulder_r:tx': srx,
'/shoulder_r:ty': sry,
'/shoulder_r:tz': srz,
'/elbow_l:tx': elx,
'/elbow_l:ty': ely,
'/elbow_l:tz': elz,
'/elbow_r:tx': erx,
'/elbow_r:ty': ery,
'/elbow_r:tz': erz,
'/wrist_l:tx': wlx,
'/wrist_l:ty': wly,
'/wrist_l:tz': wlz,
'/wrist_r:tx': wrx,
'/wrist_r:ty': wry,
'/wrist_r:tz': wrz,
'/handtip_l:tx': hlx,
'/handtip_l:ty': hly,
'/handtip_l:tz': hlz,
'/handtip_r:tx': hrx,
'/handtip_r:ty': hry,
'/handtip_r:tz': hrz }
plt.ion()
plt.ylim([-180,180])
plt.show()
while not rospy.is_shutdown():
data, addr = socket_comm_recv.recvfrom(16384)
#print "Data received is "+ data
completeList = OSC.decodeOSC(data)
for x in OSC.decodeOSC(data):
if isinstance(x, (list, tuple)):
func = options[x[0]]
func()
neck = numpy.array(neck)
clavicle = numpy.array(clavicle)
shoulderLeft = numpy.array(shoulderLeft)
shoulderRight = numpy.array(shoulderRight)
elbowLeft = numpy.array(elbowLeft)
elbowRight = numpy.array(elbowRight)
wristLeft = numpy.array(wristLeft)
wristRight = numpy.array(wristRight)
fingerLeft = numpy.array(fingerLeft)
fingerRight = numpy.array(fingerRight)
bodyVectorRight = shoulderLeft - shoulderRight;
bodyVectorLeft = -1 * bodyVectorRight;
bodyVectorLong = clavicle - neck;
humerusLeft = elbowLeft - shoulderLeft;
humerusRight = elbowRight - shoulderRight;
#print humerusLeft
forearmLeft = wristLeft - elbowLeft;
forearmRight = wristRight - elbowRight;
handLeft = fingerLeft - wristLeft;
handRight = fingerRight - wristRight;
shoulderNormalLeft = numpy.cross(bodyVectorLeft, humerusLeft);
elbowNormalLeft = numpy.cross(humerusLeft, forearmLeft);
wristNormalLeft = numpy.cross(forearmLeft, handLeft);
#print shoulderNormalLeft
#print elbowNormalLeft
#print wristNormalLeft
dotProduct1 = numpy.dot(shoulderNormalLeft, elbowNormalLeft);
dotProduct2 = numpy.dot(elbowNormalLeft, wristNormalLeft);
dotProduct3 = numpy.dot(bodyVectorLong, humerusRight);
dotProduct4 = numpy.dot(bodyVectorLong, humerusLeft)
shoulderLeftPitch = numpy.arccos((dotProduct4) / (numpy.linalg.norm(bodyVectorLong) * numpy.linalg.norm(humerusLeft)));
shoulderLeftYaw = numpy.arccos((numpy.dot(bodyVectorLeft, humerusLeft)) / (numpy.linalg.norm(bodyVectorLeft)*numpy.linalg.norm(humerusLeft)));
shoulderLeftRoll = numpy.arccos(dotProduct1 / (numpy.linalg.norm(shoulderNormalLeft) * numpy.linalg.norm(elbowNormalLeft)));
elbowLeftPitch = numpy.arccos(numpy.dot(humerusLeft, forearmLeft) / (numpy.linalg.norm(humerusLeft) * numpy.linalg.norm(forearmLeft)));
elbowLeftRoll = numpy.arccos(dotProduct2 / (numpy.linalg.norm(elbowNormalLeft) * numpy.linalg.norm(wristNormalLeft)));
wristLeftPitch = numpy.arccos(numpy.dot(forearmLeft, handLeft) / (numpy.linalg.norm(forearmLeft) * numpy.linalg.norm(handLeft)));
shoulderNormalRight = numpy.cross(bodyVectorRight, humerusRight);
elbowNormalRight = numpy.cross(humerusRight, forearmRight);
wristNormalRight = numpy.cross(forearmRight, handRight);
dotProduct1 = numpy.dot(shoulderNormalRight, elbowNormalRight);
dotProduct2 = numpy.dot(elbowNormalRight, wristNormalRight);
shoulderRightPitch = numpy.arccos((dotProduct3) / (numpy.linalg.norm(bodyVectorLong) * numpy.linalg.norm(humerusRight)));
shoulderRightYaw = numpy.arccos((numpy.dot(bodyVectorRight, humerusRight)) / (numpy.linalg.norm(bodyVectorRight)*numpy.linalg.norm(humerusRight)));
shoulderRightRoll = numpy.arccos(dotProduct1 / (numpy.linalg.norm(shoulderNormalRight) * numpy.linalg.norm(elbowNormalRight)));
elbowRightPitch = numpy.arccos(numpy.dot(humerusRight, forearmRight) / (numpy.linalg.norm(humerusRight) * numpy.linalg.norm(forearmRight)));
elbowRightRoll = numpy.arccos(dotProduct2 / (numpy.linalg.norm(elbowNormalRight) * numpy.linalg.norm(wristNormalRight)));
wristRightPitch = numpy.arccos(numpy.dot(forearmRight, handRight) / (numpy.linalg.norm(forearmRight) * numpy.linalg.norm(handRight)));
print "Left shoulder roll angle is %f"%(shoulderLeftRoll*180/3.1415)
print "Right shoulder roll angle is %f"%(shoulderRightRoll*180/3.1415)
print "Left elbow roll angle: %f"%(elbowLeftRoll*180/3.1415)
print "Right elbow roll angle: %f"%(elbowRightRoll*180/3.1415)
print "Left wrist pitch angle: %f"%(wristLeftPitch*180/3.1415)
print "Right wrist pitch angle: %f"%(wristRightPitch*180/3.1415)
anglesLeft = [abs(shoulderLeftYaw) - 2.35, 1.57 - abs(shoulderLeftPitch), abs(shoulderLeftRoll) - 4.71, abs(elbowLeftPitch) - 0.4, elbowLeftRoll, 2.5*wristLeftPitch]
anglesRight = [2.35 - abs(shoulderRightYaw), 1.57 - abs(shoulderRightPitch), 4.71 - abs(shoulderRightRoll), abs(elbowRightPitch) - 0.4, elbowRightRoll - (shoulderRightRoll), 2.5*wristRightPitch]
if anglesLeft[0] < -1.0:
anglesLeft[0] = -1.0
if anglesLeft[0] > 1.0:
anglesLeft[0] = 1.0
if anglesRight[0] > 1.0:
anglesRight[0] = 1.0
if anglesRight[0] < -1.0:
anglesRight[0] = -1.0
if anglesLeft[1] > 1.5:
anglesLeft[1] = 1.5
if anglesLeft[1] < -1.5:
anglesLeft[1] = -1.5
if anglesRight[1] < -1.5:
anglesRight[1] = -1.5
if anglesRight[1] > 1.5:
anglesRight[1] = 1.5
if anglesRight[3] > 3.1:
anglesRight[3] = 3.1
if anglesLeft[3] < 0.1:
anglesLeft[3] = 0.1
if anglesLeft[4] > 3.1:
anglesLeft[4] = 3.1
#a1.append(anglesRight[2]*180/3.1415)
#datatoplot = a1.pop()
#ax.scatter(ctr, wristLeftPitch*180/3.1415)
#ax.scatter(ctr, elbowLeftRoll*180/3.1415)
#ax.scatter(ctr, shoulderLeftRoll*180/3.1415)
#plt.draw()
#ctr += 1
#time.sleep(0.1)
#plt.pause(0.001)
print "Angles for the left arm are"
print ["%0.2f" % i for i in anglesLeft]
#a script to convert a static message from TCPdump to a human-readable OSC message
# sample message 17:22:53.483179 IP localhost.58799 > localhost.57120: UDP, length 20
#E..0Z.@.@.............. ...//testing....,f..?X9.
import OSC
import binascii
samplemessage = 'E..0Z.@.@.................//testing....,f..?X9.'
# strip out full stops to aid in
stripped = samplemessage.replace(".","")
edited = '/testing,f?X9'
blob = OSC.OSCMessage()
blob.append("","b")
blob.append("b","b")
blob.append("bl","b")
blob.append("blo","b")
blob.append("blob","b")
blob.append("blobs","b")
blob.append(42)
oscmsg = OSC.OSCMessage()
oscmsg.append(edited)
print OSC.decodeOSC(oscmsg.getBinary())
def processingprint(add, tags, stuff, source):
# if information switch is on
if sw1 == 1:
print(OSC.decodeOSC(stuff[0]))
MAXMSP_PORT = 44102
BUF_SIZE = 1024
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # UDP
sock.bind((MAXMSP_IP, MAXMSP_PORT))
def eye_start():
print "start the eyetracker here"
def eye_stop():
print "stop the eyetracker"
def experiment_end():
sock.close()
os._exit(0)
# map the integer values received from Max/MSP into method calls
dispatch = {1: eye_start, 2: eye_stop, 99: experiment_end}
while True:
data, addr = sock.recvfrom(BUF_SIZE)
datatype, abbrev, value = OSC.decodeOSC(data)
if value in dispatch:
dispatch[value]()
else:
print "unrecognized message: ", value
vals = {'time':-1, 'y':-1, 'p':-1,'r':-1, 'batt':-1,'side':-1, 'packet':-1}
out = []
buff = 256 #number of vals to collect before store
old_time = 0
# write header
today = strftime("%d-%m-%y-%s")
output_file = open('datarecord_{0}_{1}_{2}_r{3}g{4}b{5}.csv'
.format(today, endpoint[1:-1], args.update, args.red, args.green, args.blue) , 'wb')
dict_writer = csv.DictWriter(output_file, vals.keys())
dict_writer.writeheader()
try:
while 1:
data, addr = sock.recvfrom(2048)
data = OSC.decodeOSC(data)[2:] #get rid of header
vals['time'] = data[0][2]
vals['y'] = data[1][2]
vals['p'] = data[1][3]
vals['r'] = data[1][4]
vals['batt'] = data[2][2]
vals['side'] = data[3][2]
vals['packet'] = data[4][2]
print('recieved\tmess: {0}\ttime diff:{1}'.format(len(out),(vals['time']-old_time)))
old_time = vals['time']
out.append(copy.copy(vals))
vals = dict.fromkeys(vals, -1) #clear dict
#!/usr/bin/python
import serial
import sliplib
import OSC
from time import sleep
def serial_data(port, baudrate):
ser = serial.Serial(port, baudrate)
while True:
# ser.write([192,47,103,101,116,107,110,111,98,115,0,0,0,44,0,0,0,192]) #/getknobs OSC/slipenc
bytesToRead=ser.inWaiting()
if bytesToRead != 0:
yield ser.read(bytesToRead)
ser.close()
driver=sliplib.Driver()
for line in serial_data('/dev/ttyS1', 115200):
# half=driver.receive(line)
print OSC.decodeOSC(''.join(driver.receive(line)))
sleep(.1)
#!/usr/bin/python
import socket
import OSC
localhost = "127.0.0.1"
listenport = 4001
sock = socket.socket(
socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
sock.bind((localhost, listenport))
while True:
data, addr = sock.recvfrom(1024) # buffer size is 1024 bytes
print OSC.decodeOSC(data.strip("\n").strip(";"))
def _handleInput(self):
message = OSC.decodeOSC(self._inBuffer) #decode the message and make an array of it
if len(message) != 0: #if the message is present
print str(message[2]) #print our temperature
self._inBuffer = '' #wipe the serial buffer
