def to_fb(self, builder: flatbuffers.Builder):
led_vectors = []
for led in (self.left, self.front, self.middle, self.back, self.right):
CozmoAnim.BackpackLights.BackpackLightsStartLeftVector(builder, 4)
builder.PrependFloat32(led.ir)
builder.PrependFloat32(led.blue)
builder.PrependFloat32(led.green)
builder.PrependFloat32(led.red)
led_vectors.append(builder.EndVector(4))
CozmoAnim.BackpackLights.BackpackLightsStart(builder)
CozmoAnim.BackpackLights.BackpackLightsAddTriggerTimeMs(
builder, self.trigger_time_ms)
CozmoAnim.BackpackLights.BackpackLightsAddDurationTimeMs(
builder, self.duration_ms)
CozmoAnim.BackpackLights.BackpackLightsAddLeft(builder, led_vectors[0])
CozmoAnim.BackpackLights.BackpackLightsAddFront(
builder, led_vectors[1])
CozmoAnim.BackpackLights.BackpackLightsAddMiddle(
builder, led_vectors[2])
CozmoAnim.BackpackLights.BackpackLightsAddBack(builder, led_vectors[3])
CozmoAnim.BackpackLights.BackpackLightsAddRight(
builder, led_vectors[4])
fbkf = CozmoAnim.BackpackLights.BackpackLightsEnd(builder)
return fbkf
def to_fb(self, builder: flatbuffers.Builder):
eye_vectors = []
for eye in (self.left_eye, self.right_eye):
CozmoAnim.ProceduralFace.ProceduralFaceStartLeftEyeVector(
builder, 19)
for i in reversed(range(19)):
builder.PrependFloat32(eye[i])
eye_vectors.append(builder.EndVector(19))
CozmoAnim.ProceduralFace.ProceduralFaceStart(builder)
CozmoAnim.ProceduralFace.ProceduralFaceAddTriggerTimeMs(
builder, self.trigger_time_ms)
CozmoAnim.ProceduralFace.ProceduralFaceAddFaceAngle(
builder, self.angle)
CozmoAnim.ProceduralFace.ProceduralFaceAddFaceCenterX(
builder, self.center_x)
CozmoAnim.ProceduralFace.ProceduralFaceAddFaceCenterY(
builder, self.center_y)
CozmoAnim.ProceduralFace.ProceduralFaceAddFaceScaleX(
builder, self.scale_x)
CozmoAnim.ProceduralFace.ProceduralFaceAddFaceScaleY(
builder, self.scale_y)
CozmoAnim.ProceduralFace.ProceduralFaceAddLeftEye(
builder, eye_vectors[0])
CozmoAnim.ProceduralFace.ProceduralFaceAddRightEye(
builder, eye_vectors[1])
fbkf = CozmoAnim.ProceduralFace.ProceduralFaceEnd(builder)
return fbkf
def to_fb(self, builder: flatbuffers.Builder):
CozmoAnim.RobotAudio.RobotAudioStartAudioEventIdVector(
builder, len(self.audio_event_ids))
for i in reversed(range(len(self.audio_event_ids))):
builder.PrependInt64(self.audio_event_ids[i])
audio_event_id_vector = builder.EndVector(len(self.audio_event_ids))
CozmoAnim.RobotAudio.RobotAudioStartProbabilityVector(
builder, len(self.probabilities))
for i in reversed(range(len(self.probabilities))):
builder.PrependFloat32(self.probabilities[i])
probability_vector = builder.EndVector(len(self.probabilities))
CozmoAnim.RobotAudio.RobotAudioStart(builder)
CozmoAnim.RobotAudio.RobotAudioAddTriggerTimeMs(
builder, self.trigger_time_ms)
CozmoAnim.RobotAudio.RobotAudioAddAudioEventId(builder,
audio_event_id_vector)
CozmoAnim.RobotAudio.RobotAudioAddVolume(builder, self.volume)
CozmoAnim.RobotAudio.RobotAudioAddProbability(builder,
probability_vector)
CozmoAnim.RobotAudio.RobotAudioAddHasAlts(builder, self.has_alts)
fbkf = CozmoAnim.RobotAudio.RobotAudioEnd(builder)
return fbkf
def _serialise_floatarray(builder: flatbuffers.Builder, data: np.ndarray,
source: int):
ArrayFloatStartValueVector(builder, len(data))
for single_value in reversed(data):
builder.PrependFloat32(single_value)
array_offset = builder.EndVector(len(data))
ArrayFloatStart(builder)
ArrayFloatAddValue(builder, array_offset)
value_position = ArrayFloatEnd(builder)
LogData.LogDataStart(builder)
LogData.LogDataAddSourceName(builder, source)
LogData.LogDataAddValue(builder, value_position)
LogData.LogDataAddValueType(builder, Value.ArrayFloat)
