From ff2bf42cba4430fe89245913d94d9bba1edd1b69 Mon Sep 17 00:00:00 2001 From: gepebdevelopers <46838513+gepebdevelopers@users.noreply.github.com> Date: Sun, 12 Jan 2020 22:03:37 +0200 Subject: [PATCH] New files for web gui and fix bugs in rasberry and arduino files --- Advanced_I2C/Advanced_I2C.ino | 101 +- iot/Helper.js | 83 + iot/api/getData.php | 31 + iot/api/insert.php | 65 + iot/data/11_1_2020.sql | 401 + iot/data/b.json | 36 + iot/data/b2.json | 5 + iot/data/custom_line.sql | 680 + iot/data/results.txt | 142 + iot/data/results2.txt | 185 + iot/data/test2.txt | 358 + iot/data/train-corrected.obj | 20299 +++++++++++++++++++++++++++ iot/index.html | 64 + iot/p5.min.js | 3 + iot/sketch-test2D.js | 254 + raspberry_pi/bluetooth_read.py | 36 +- raspberry_pi/bluetooth_read_old.py | 19 + results/test4.txt | 424 + 18 files changed, 23113 insertions(+), 73 deletions(-) create mode 100644 iot/Helper.js create mode 100644 iot/api/getData.php create mode 100644 iot/api/insert.php create mode 100644 iot/data/11_1_2020.sql create mode 100644 iot/data/b.json create mode 100644 iot/data/b2.json create mode 100644 iot/data/custom_line.sql create mode 100644 iot/data/results.txt create mode 100644 iot/data/results2.txt create mode 100644 iot/data/test2.txt create mode 100644 iot/data/train-corrected.obj create mode 100644 iot/index.html create mode 100644 iot/p5.min.js create mode 100644 iot/sketch-test2D.js create mode 100644 raspberry_pi/bluetooth_read_old.py create mode 100644 results/test4.txt diff --git a/Advanced_I2C/Advanced_I2C.ino b/Advanced_I2C/Advanced_I2C.ino index 441ed01..3f65d73 100644 --- a/Advanced_I2C/Advanced_I2C.ino +++ b/Advanced_I2C/Advanced_I2C.ino @@ -7,12 +7,6 @@ // an MPU9250 object with the MPU-9250 sensor on I2C bus 0 with address 0x68 MPU9250 IMU(Wire,0x68); int status; -float aX, aY, aZ, gX, gY, gZ, mX, mY, mZ; -String magnometer; -String accelarator; -String gyroscope; -String sensorID; - void setup() { // serial to display data Serial.begin(9600); @@ -20,14 +14,7 @@ void setup() { // start communication with IMU status = IMU.begin(); - if (status < 0) { - Serial.println("IMU initialization unsuccessful"); - Serial.println("Check IMU wiring or try cycling power"); - Serial.print("Status: "); - Serial.println(status); - while(1) {} - } - // setting the accelerometer full scale range to +/-8G + IMU.setAccelRange(MPU9250::ACCEL_RANGE_8G); // setting the gyroscope full scale range to +/-500 deg/s IMU.setGyroRange(MPU9250::GYRO_RANGE_500DPS); @@ -39,63 +26,45 @@ void setup() { void loop() { - StaticJsonDocument<200> accelarator; - StaticJsonDocument<200> gyroscope; - StaticJsonDocument<200> magnometer; + // dilosi metablitwn typoy json gia tin apostoli dedomenwn + StaticJsonDocument<50> accelarator; + StaticJsonDocument<50> gyroscope; + StaticJsonDocument<50> magnometer; + StaticJsonDocument<200> data; + // read the sensor IMU.readSensor(); - // display the data - -// Serial.print("Accel X "); Serial.print(IMU.getAccelX_mss()); -// Serial.print("\t"); -// Serial.print("Accel Y "); Serial.print(IMU.getAccelY_mss()); -// Serial.print("\t"); -// Serial.print("Accel Z "); Serial.print(IMU.getAccelZ_mss()); -// Serial.print("\t"); + // ta tria eisagogika mpainoun gia na diabazontai os eniaio string apo to rasbery kai na apothikeuontai sthn db + Serial.write("\"\"\""); + // anathesi timon apo ton sensora sthn metabliti typoy accelarator + accelarator["X"] = IMU.getAccelX_mss(); + accelarator["Y"] = IMU.getAccelY_mss(); + accelarator["Z"] = IMU.getAccelZ_mss(); + // eisagogi toy accelator se ena eniaio json data pou tha perilambanei olous tous aisthitires + data["A"] = accelarator; - aX = IMU.getAccelX_mss(); - aY = IMU.getAccelY_mss(); - aZ = IMU.getAccelZ_mss(); - accelarator["sensor"] = "accelarator"; - accelarator["X"] = aX; - accelarator["Y"] = aY; - accelarator["Z"] = aZ; - serializeJson(accelarator, Serial); - -// Serial.print("Gyro X "); Serial.print(IMU.getGyroX_rads()); -// Serial.print("\t"); -// Serial.print("Gyro Y "); Serial.print(IMU.getGyroY_rads()); -// Serial.print("\t"); -// Serial.print("Gyro Z "); Serial.print(IMU.getGyroZ_rads()); -// Serial.print("\t"); -// Serial.print("Direction "); Serial.print(atan2(IMU.getMagX_uT(), IMU.getMagY_uT()) * 180 / PI); + // anathesi timon apo ton sensora sthn metabliti typoy gyroscope + gyroscope["X"] = IMU.getGyroX_rads(); + gyroscope["Y"] = IMU.getGyroY_rads(); + gyroscope["Z"] = IMU.getGyroZ_rads(); + + // eisagogi toy gyroscope se ena eniaio json data pou tha perilambanei olous tous aisthitires + data["G"] = gyroscope; - gX = IMU.getGyroX_rads(); - gY = IMU.getGyroY_rads(); - gZ = IMU.getGyroZ_rads(); - gyroscope["sensor"] = "gyroscope"; - gyroscope["X"] = gX; - gyroscope["Y"] = gY; - gyroscope["Z"] = gZ; - serializeJson(gyroscope, Serial); - -// Serial.print("Magno X "); Serial.print(IMU.getMagX_uT(),6); -// Serial.print("\t"); -// Serial.print("Magno Y "); Serial.print(IMU.getMagY_uT(),6); -// Serial.print("\t"); -// Serial.print("Magno Z "); Serial.print(IMU.getMagZ_uT(),6); -// Serial.println("\t"); + // anathesi timon apo ton sensora sthn metabliti typoy magnometer + magnometer["X"] = IMU.getMagX_uT(); + magnometer["Y"] = IMU.getMagY_uT(); + magnometer["Z"] = IMU.getMagZ_uT(); + + // eisagogi toy magnometer se ena eniaio json data pou tha perilambanei olous tous aisthitires + data["M"] = magnometer; - mX = IMU.getMagX_uT(); - mY = IMU.getMagY_uT(); - mZ = IMU.getMagZ_uT(); - magnometer["sensor"] = "magnometer"; - magnometer["X"] = gX; - magnometer["Y"] = gY; - magnometer["Z"] = gZ; - serializeJson(magnometer, Serial); - Serial.write("\n"); - //Serial.println(IMU.getTemperature_C(),6); + // apostoli tou eniaiou json data meso bluetooth (seriakh porta) + serializeJson(data, Serial); + // kleisimo twn triwn eisagogikwn kai a;lagi grammhs + Serial.write("\"\"\"\n"); + // kathysterhsh 100 msec kai katharismos mnhmhs flush prin thn epanalipsi tou loop delay(100); + Serial.flush(); } diff --git a/iot/Helper.js b/iot/Helper.js new file mode 100644 index 0000000..56cbaa3 --- /dev/null +++ b/iot/Helper.js @@ -0,0 +1,83 @@ +var Helper = { + "data" : "", + "fixedData": new Array(), + fetchData: function(testName){ + let el = document.getElementById('message'); + el.innerHTML = ''; + el.style.display = "none"; + + $.post("http://localhost/iot/api/getData.php", {name: testName},function (data, status) { + Helper.fixedData = new Array(); + Helper.data = data; + Helper.data.splice(0, 1); + Helper.data.splice(Helper.data.length - 1, 1) + var arrayLength = Helper.data.length; + for (var i = 0; i < arrayLength; i++) { + let objStr = Helper.data[i]; + let obj = objStr.slice(0, -4); + obj = obj.slice(3); + try{ + tranformeredObj = JSON.parse(obj); + if (Helper.validateObj(tranformeredObj)){ + Helper.fixedData.push(tranformeredObj); + } + } + catch(error){ + console.log("Record "+ i + " can't be converted.."); + } + } + if (Helper.fixedData.length > 0){ + el.innerHTML = 'Data for test: ' + testName +' loaded!'; + el.style.display = "inline-block"; + el.style.color = "#20d420"; + } + else if (testName && testName.length > 0){ + el.innerHTML = 'Could not load data for test: ' + testName; + el.style.display = "inline-block"; + el.style.color = "red"; + } + }).fail(function (status) { + el.innerHTML='Could not load data for test: '+testName; + el.style.display = "inline-block"; + el.style.color = "red"; + }); + }, + + validateObj: function(obj){ + if (typeof obj.A.X === 'undefined' || isNaN(obj.A.X)){ + return false; + } + if (typeof obj.A.Y === 'undefined' || isNaN(obj.A.Y)){ + return false; + } + if (typeof obj.A.Z === 'undefined' || isNaN(obj.A.Z)){ + return false; + } + if (typeof obj.M.X === 'undefined' || isNaN(obj.M.X)){ + return false; + } + if (typeof obj.M.Y === 'undefined' || isNaN(obj.M.Y)){ + return false; + } + if (typeof obj.M.Z === 'undefined' || isNaN(obj.M.Z)){ + return false; + } + if (typeof obj.G.X === 'undefined' || isNaN(obj.G.X)){ + return false; + } + if (typeof obj.G.Y === 'undefined' || isNaN(obj.G.Y)){ + return false; + } + if (typeof obj.G.Z === 'undefined' || isNaN(obj.G.Z)){ + return false; + } + return true; + }, + + startSimulation: function(){ + if(Helper.fixedData.length > 0){ + setup(); + start = true; + } + } +} \ No newline at end of file diff --git a/iot/api/getData.php b/iot/api/getData.php new file mode 100644 index 0000000..674192f --- /dev/null +++ b/iot/api/getData.php @@ -0,0 +1,31 @@ +connect_error) { + die("Connection failed: " . $conn->connect_error); + } + $sql = "SELECT * FROM " .$tableName. " WHERE test_name = '".$testName."'"; + $result = $conn->query($sql); + + if ($result->num_rows > 0) { + while ($row = $result->fetch_assoc()) { + array_push($response, $row["data"]); + } + } + $conn->close(); + } +} +header('Content-type:application/json;charset=utf-8'); +echo json_encode($response); + diff --git a/iot/api/insert.php b/iot/api/insert.php new file mode 100644 index 0000000..48893c7 --- /dev/null +++ b/iot/api/insert.php @@ -0,0 +1,65 @@ +connect_error) { + die("Connection failed: " . $conn->connect_error); +} + + + + +// $fn = fopen("myfile.txt", "r"); +// $result = fgets($fn); +// echo $result; +// fclose($fn); + +$handle = fopen($dataFileName, "r"); +if ($handle) { + $text=""; + $counter = 0; + while (($line = fgets($handle)) !== false) { + // process the line read. + if (substr($line, 0, 1) === '[') { //Remove the first '[' + $line = substr($line, 1); + } + if (substr($line, -1, 1) === ']') { //Remove the last ']' + $line = substr($line, 0, -1); + } + if (substr($line, -3, 1) === ',') { //Remove the ',\n' + $line = substr($line, 0, -3); + } + + //insert record in database + $sql = "INSERT INTO " . $tableName . " (data, test_name) VALUES ('".$line."', 'TEST_1')"; + if ($conn->query($sql) === TRUE) { + $text = $text."Line ".$counter."added\n"; + } else { + $text = $text . "Line " . $counter . "NOT added\n"; + } + $counter++; + } + + fclose($handle); + + echo $text; +} else { + echo "Error opening file"; +} + + + +// if ($conn->query($sql) === TRUE) { +// echo "New record created successfully"; +// } else { +// echo "Error: " . $sql . "
" . $conn->error; +// } + +$conn->close(); \ No newline at end of file diff --git a/iot/data/11_1_2020.sql b/iot/data/11_1_2020.sql new file mode 100644 index 0000000..fb3c8d3 --- /dev/null +++ b/iot/data/11_1_2020.sql @@ -0,0 +1,401 @@ +-- phpMyAdmin SQL Dump +-- version 4.6.6deb5 +-- https://www.phpmyadmin.net/ +-- +-- Host: localhost:3306 +-- Generation Time: Jan 11, 2020 at 10:21 AM +-- Server version: 10.3.17-MariaDB-0+deb10u1 +-- PHP Version: 7.3.11-1~deb10u1 + +SET SQL_MODE = "NO_AUTO_VALUE_ON_ZERO"; +SET time_zone = "+00:00"; + + +/*!40101 SET @OLD_CHARACTER_SET_CLIENT=@@CHARACTER_SET_CLIENT */; +/*!40101 SET @OLD_CHARACTER_SET_RESULTS=@@CHARACTER_SET_RESULTS */; +/*!40101 SET @OLD_COLLATION_CONNECTION=@@COLLATION_CONNECTION */; +/*!40101 SET NAMES utf8mb4 */; + +-- +-- Database: `tracking_2d` +-- + +-- -------------------------------------------------------- + +-- +-- Table structure for table `records` +-- + +CREATE TABLE `records` ( + `id` smallint(5) UNSIGNED NOT NULL, + `data` varchar(500) DEFAULT NULL, + `test_name` varchar(50) DEFAULT NULL +) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4 ROW_FORMAT=COMPACT; + +-- +-- Dumping data for table `records` +-- + +INSERT INTO `records` (`id`, `data`, `test_name`) VALUES +(1381, '\":-0.000262},\"M\":{\"X\":0.00016,\"Y\":-0.000314,\"Z\":-0.000262}}\"\"\"\n', 'test2'), +(1382, '\"\"\"{\"A\":{\"X\":0.148448,\"Y\":0.469287,\"Z\":-9.776024},\"G\":{\"X\":-0.000905,\"Y\":0.000485,\"Z\":-0.000262},\"M\":{\"X\":-0.000905,\"Y\":0.000485,\"Z\":-0.000262}}\"\"\"\n', 'test2'), +(1383, '\"\"\"{\"A\":{\"X\":0.155631,\"Y\":0.486048,\"Z\":-9.752081},\"G\":{\"X\":0.000426,\"Y\":-0.000847,\"Z\":-0.000529},\"M\":{\"X\":0.000426,\"Y\":-0.000847,\"Z\":-0.000529}}\"\"\"\n', 'test2'), +(1384, '\"\"\"{\"A\":{\"X\":0.138871,\"Y\":0.464499,\"Z\":-9.744898},\"G\":{\"X\":0.000426,\"Y\":-0.000581,\"Z\":3.994908e-6},\"M\":{\"X\":0.000426,\"Y\":-0.000581,\"Z\":3.994908e-6}}\"\"\"\n', 'test2'), +(1385, '\"\"\"{\"A\":{\"X\":0.146054,\"Y\":0.466893,\"Z\":-9.759263},\"G\":{\"X\":0.000426,\"Y\":0.000218,\"Z\":-0.000529},\"M\":{\"X\":0.000426,\"Y\":0.000218,\"Z\":-0.000529}}\"\"\"\n', 'test2'), +(1386, '\"\"\"{\"A\":{\"X\":0.146054,\"Y\":0.474076,\"Z\":-9.752081},\"G\":{\"X\":-0.000107,\"Y\":-0.000048,\"Z\":-0.000262},\"M\":{\"X\":-0.000107,\"Y\":-0.000048,\"Z\":-0.000262}}\"\"\"\n', 'test2'), +(1387, '\"\"\"{\"A\":{\"X\":0.150842,\"Y\":0.483653,\"Z\":-9.73532},\"G\":{\"X\":-0.000639,\"Y\":0.000218,\"Z\":-0.000529},\"M\":{\"X\":-0.000639,\"Y\":0.000218,\"Z\":-0.000529}}\"\"\"\n', 'test2'), +(1388, '\"\"\"{\"A\":{\"X\":0.155631,\"Y\":0.483653,\"Z\":-9.764052},\"G\":{\"X\":0.00016,\"Y\":0.000218,\"Z\":-0.000262},\"M\":{\"X\":0.00016,\"Y\":0.000218,\"Z\":-0.000262}}\"\"\"\n', 'test2'), +(1389, '\"\"\"{\"A\":{\"X\":0.155631,\"Y\":0.478865,\"Z\":-9.725743},\"G\":{\"X\":0.000426,\"Y\":-0.000581,\"Z\":3.994908e-6},\"M\":{\"X\":0.000426,\"Y\":-0.000581,\"Z\":3.994908e-6}}\"\"\"\n', 'test2'), 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CHARACTER_SET_RESULTS=@OLD_CHARACTER_SET_RESULTS */; +/*!40101 SET COLLATION_CONNECTION=@OLD_COLLATION_CONNECTION */; diff --git a/iot/data/b.json b/iot/data/b.json new file mode 100644 index 0000000..0d0c319 --- /dev/null +++ b/iot/data/b.json @@ -0,0 +1,36 @@ +{ + "bubbles": [ + { + "position": { + "x": 160, + "y": 103 + }, + "diameter": 43.19838, + "label": "Happy" + }, + { + "position": { + "x": 372, + "y": 137 + }, + "diameter": 52.42526, + "label": "Sad" + }, + { + "position": { + "x": 273, + "y": 235 + }, + "diameter": 61.14072, + "label": "Joyous" + }, + { + "position": { + "x": 121, + "y": 179 + }, + "diameter": 44.758068, + "label": "Melancholy" + } + ] +} diff --git a/iot/data/b2.json b/iot/data/b2.json new file mode 100644 index 0000000..e10830c --- /dev/null +++ b/iot/data/b2.json @@ -0,0 +1,5 @@ +{ + "bubbles": [ + + ] +} diff --git a/iot/data/custom_line.sql b/iot/data/custom_line.sql new file mode 100644 index 0000000..0501341 --- /dev/null +++ b/iot/data/custom_line.sql @@ -0,0 +1,680 @@ +-- phpMyAdmin SQL Dump +-- version 4.8.5 +-- https://www.phpmyadmin.net/ +-- +-- Host: 127.0.0.1:3306 +-- Generation Time: Jan 11, 2020 at 04:42 PM +-- Server version: 5.7.26 +-- PHP Version: 7.3.5 + +SET SQL_MODE = "NO_AUTO_VALUE_ON_ZERO"; +SET AUTOCOMMIT = 0; +START TRANSACTION; +SET time_zone = "+00:00"; + + +/*!40101 SET @OLD_CHARACTER_SET_CLIENT=@@CHARACTER_SET_CLIENT */; +/*!40101 SET @OLD_CHARACTER_SET_RESULTS=@@CHARACTER_SET_RESULTS */; +/*!40101 SET @OLD_COLLATION_CONNECTION=@@COLLATION_CONNECTION */; +/*!40101 SET NAMES utf8mb4 */; + +-- +-- Database: `tracking_2d` +-- + +-- -------------------------------------------------------- + +-- +-- Table structure for table `records` +-- + +DROP TABLE IF EXISTS `records`; +CREATE TABLE IF NOT EXISTS `records` ( + `id` smallint(5) UNSIGNED NOT NULL AUTO_INCREMENT, + `data` varchar(500) DEFAULT NULL, + `test_name` varchar(50) DEFAULT NULL, + PRIMARY KEY (`id`) +) ENGINE=InnoDB AUTO_INCREMENT=2642 DEFAULT CHARSET=utf8mb4 ROW_FORMAT=COMPACT; + +-- +-- Dumping data for table `records` +-- + +INSERT INTO `records` (`id`, `data`, `test_name`) VALUES +(2012, '\"\"\"{\"A\":{\"X\":0.16042,\"Y\":0.471682,\"Z\":-9.737715},\"G\":{\"X\":0.000692,\"Y\":-0.000048,\"Z\":0.00027},\"M\":{\"X\":0.000692,\"Y\":-0.000048,\"Z\":0.00027}}\"\"\"\n', 'test2'), +(2013, '\"\"\"{\"A\":{\"X\":0.146054,\"Y\":0.47647,\"Z\":-9.752081},\"G\":{\"X\":0.00016,\"Y\":-0.000847,\"Z\":3.994908e-6},\"M\":{\"X\":0.00016,\"Y\":-0.000847,\"Z\":3.994908e-6}}\"\"\"\n', 'test2'), +(2014, '\"\"\"{\"A\":{\"X\":0.155631,\"Y\":0.481259,\"Z\":-9.780812},\"G\":{\"X\":0.00016,\"Y\":-0.000048,\"Z\":0.00027},\"M\":{\"X\":0.00016,\"Y\":-0.000048,\"Z\":0.00027}}\"\"\"\n', 'test2'), +(2015, '\"\"\"{\"A\":{\"X\":0.148448,\"Y\":0.466893,\"Z\":-9.759263},\"G\":{\"X\":0.000692,\"Y\":-0.001113,\"Z\":-0.000529},\"M\":{\"X\":0.000692,\"Y\":-0.001113,\"Z\":-0.000529}}\"\"\"\n', 'test2'), +(2016, 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e*e+t*t+r*r},s.default.Vector.prototype.dot=function(e,t,r){return e instanceof s.default.Vector?this.dot(e.x,e.y,e.z):this.x*(e||0)+this.y*(t||0)+this.z*(r||0)},s.default.Vector.prototype.cross=function(e){var t=this.y*e.z-this.z*e.y,r=this.z*e.x-this.x*e.z,i=this.x*e.y-this.y*e.x;return this.p5?new s.default.Vector(this.p5,[t,r,i]):new s.default.Vector(t,r,i)},s.default.Vector.prototype.dist=function(e){return e.copy().sub(this).mag()},s.default.Vector.prototype.normalize=function(){var e=this.mag();return 0!==e&&this.mult(1/e),this},s.default.Vector.prototype.limit=function(e){var t=this.magSq();return e*e>>0},a.default.prototype.randomSeed=function(e){this._lcgSetSeed(n,e),this._gaussian_previous=!1},a.default.prototype.random=function(e,t){var r;if(a.default._validateParameters("random",arguments),r=null!=this[n]?this._lcg(n):Math.random(),void 0===e)return r;if(void 0===t)return e instanceof Array?e[Math.floor(r*e.length)]:r*e;if(tc){var 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T.default.Vector(.5,.5,0)),this.uvs.push([.5,.5]));for(var e=0;e<=h;e++){var t=e/h*(l-s)+s,r=.5+Math.cos(t)/2,i=.5+Math.sin(t)/2;this.vertices.push(new T.default.Vector(r,i,0)),this.uvs.push([r,i]),e>5&31)/31,(y>>10&31)/31):(r=o,i=s,l)}for(var _=1;_<=3;_++){var b=p+12*_,x=new S.default.Vector(u.getFloat32(b,!0),u.getFloat32(b+8,!0),u.getFloat32(b+4,!0));e.vertices.push(x),d&&n.push(r,i,a)}var w=new S.default.Vector(m,v,g);e.vertexNormals.push(w,w,w),e.faces.push([3*f,3*f+1,3*f+2]),e.uvs.push([0,0],[0,0],[0,0])}}(e,t);else{var r=new DataView(t);if(!("TextDecoder"in window))return console.warn("Sorry, ASCII STL loading only works in browsers that support TextDecoder (https://caniuse.com/#feat=textencoder)");var i=new TextDecoder("utf-8"),a=i.decode(r),n=a.split("\n");!function(e,t){for(var r,i,a="",n=[],o=0;oMath.PI?l=Math.PI:l<=0&&(l=.001);var u=Math.sin(l)*o*Math.sin(s),h=Math.cos(l)*o,d=Math.sin(l)*o*Math.cos(s);this.camera(u+this.centerX,h+this.centerY,d+this.centerZ,this.centerX,this.centerY,this.centerZ,0,1,0)},m.default.Camera.prototype._isActive=function(){return this===this._renderer._curCamera},m.default.prototype.setCamera=function(e){this._renderer._curCamera=e,this._renderer.uPMatrix.set(e.projMatrix.mat4[0],e.projMatrix.mat4[1],e.projMatrix.mat4[2],e.projMatrix.mat4[3],e.projMatrix.mat4[4],e.projMatrix.mat4[5],e.projMatrix.mat4[6],e.projMatrix.mat4[7],e.projMatrix.mat4[8],e.projMatrix.mat4[9],e.projMatrix.mat4[10],e.projMatrix.mat4[11],e.projMatrix.mat4[12],e.projMatrix.mat4[13],e.projMatrix.mat4[14],e.projMatrix.mat4[15])};var a=m.default.Camera;r.default=a},{"../core/main":26}],75:[function(e,t,r){"use strict";Object.defineProperty(r,"__esModule",{value:!0}),r.default=void 0;var i,h=(i=e("../core/main"))&&i.__esModule?i:{default:i};h.default.Geometry=function(e,t,r){return this.vertices=[],this.lineVertices=[],this.lineNormals=[],this.vertexNormals=[],this.faces=[],this.uvs=[],this.edges=[],this.detailX=void 0!==e?e:1,this.detailY=void 0!==t?t:1,this.dirtyFlags={},r instanceof Function&&r.call(this),this},h.default.Geometry.prototype.reset=function(){this.lineVertices.length=0,this.lineNormals.length=0,this.vertices.length=0,this.edges.length=0,this.vertexColors.length=0,this.vertexNormals.length=0,this.uvs.length=0,this.dirtyFlags={}},h.default.Geometry.prototype.computeFaces=function(){this.faces.length=0;for(var e,t,r,i,a=this.detailX+1,n=0;nthis.vertices.length-1-this.detailX;i--)e.add(this.vertexNormals[i]);e=h.default.Vector.div(e,this.detailX);for(var a=this.vertices.length-1;a>this.vertices.length-1-this.detailX;a--)this.vertexNormals[a]=e;return this},h.default.Geometry.prototype._makeTriangleEdges=function(){if(this.edges.length=0,Array.isArray(this.strokeIndices))for(var e=0,t=this.strokeIndices.length;e vTexCoord.y;\n bool y1 = p1.y > vTexCoord.y;\n bool y2 = p2.y > vTexCoord.y;\n\n // could web be under the curve (after t1)?\n if (y1 ? !y2 : y0) {\n // add the coverage for t1\n coverage.x += saturate(C1.x + 0.5);\n // calculate the anti-aliasing for t1\n weight.x = min(weight.x, abs(C1.x));\n }\n\n // are we outside the curve (after t2)?\n if (y1 ? !y0 : y2) {\n // subtract the coverage for t2\n coverage.x -= saturate(C2.x + 0.5);\n // calculate the anti-aliasing for t2\n weight.x = min(weight.x, abs(C2.x));\n }\n}\n\n// this is essentially the same as coverageX, but with the axes swapped\nvoid coverageY(vec2 p0, vec2 p1, vec2 p2) {\n\n vec2 C1, C2;\n calulateCrossings(p0, p1, p2, C1, C2);\n\n bool x0 = p0.x > vTexCoord.x;\n bool x1 = p1.x > vTexCoord.x;\n bool x2 = p2.x > vTexCoord.x;\n\n if (x1 ? !x2 : x0) {\n coverage.y -= saturate(C1.y + 0.5);\n weight.y = min(weight.y, abs(C1.y));\n }\n\n if (x1 ? !x0 : x2) {\n coverage.y += saturate(C2.y + 0.5);\n weight.y = min(weight.y, abs(C2.y));\n }\n}\n\nvoid main() {\n\n // calculate the pixel scale based on screen-coordinates\n pixelScale = hardness / fwidth(vTexCoord);\n\n // which grid cell is this pixel in?\n ivec2 gridCoord = ifloor(vTexCoord * vec2(uGridSize));\n\n // intersect curves in this row\n {\n // the index into the row info bitmap\n int rowIndex = gridCoord.y + uGridOffset.y;\n // fetch the info texel\n vec4 rowInfo = getTexel(uSamplerRows, rowIndex, uGridImageSize);\n // unpack the rowInfo\n int rowStrokeIndex = getInt16(rowInfo.xy);\n int rowStrokeCount = getInt16(rowInfo.zw);\n\n for (int iRowStroke = INT(0); iRowStroke < N; iRowStroke++) {\n if (iRowStroke >= rowStrokeCount)\n break;\n\n // each stroke is made up of 3 points: the start and control point\n // and the start of the next curve.\n // fetch the indices of this pair of strokes:\n vec4 strokeIndices = getTexel(uSamplerRowStrokes, rowStrokeIndex++, uCellsImageSize);\n\n // unpack the stroke index\n int strokePos = getInt16(strokeIndices.xy);\n\n // fetch the two strokes\n vec4 stroke0 = getTexel(uSamplerStrokes, strokePos + INT(0), uStrokeImageSize);\n vec4 stroke1 = getTexel(uSamplerStrokes, strokePos + INT(1), uStrokeImageSize);\n\n // calculate the coverage\n coverageX(stroke0.xy, stroke0.zw, stroke1.xy);\n }\n }\n\n // intersect curves in this column\n {\n int colIndex = gridCoord.x + uGridOffset.x;\n vec4 colInfo = getTexel(uSamplerCols, colIndex, uGridImageSize);\n int colStrokeIndex = getInt16(colInfo.xy);\n int colStrokeCount = getInt16(colInfo.zw);\n \n for (int iColStroke = INT(0); iColStroke < N; iColStroke++) {\n if (iColStroke >= colStrokeCount)\n break;\n\n vec4 strokeIndices = getTexel(uSamplerColStrokes, colStrokeIndex++, uCellsImageSize);\n\n int strokePos = getInt16(strokeIndices.xy);\n vec4 stroke0 = getTexel(uSamplerStrokes, strokePos + INT(0), uStrokeImageSize);\n vec4 stroke1 = getTexel(uSamplerStrokes, strokePos + INT(1), uStrokeImageSize);\n coverageY(stroke0.xy, stroke0.zw, stroke1.xy);\n }\n }\n\n weight = saturate(1.0 - weight * 2.0);\n float distance = max(weight.x + weight.y, minDistance); // manhattan approx.\n float antialias = abs(dot(coverage, weight) / distance);\n float cover = min(abs(coverage.x), abs(coverage.y));\n gl_FragColor = uMaterialColor;\n gl_FragColor.a *= saturate(max(antialias, cover));\n}",lineVert:"/*\n Part of the Processing project - http://processing.org\n Copyright (c) 2012-15 The Processing Foundation\n Copyright (c) 2004-12 Ben Fry and Casey Reas\n Copyright (c) 2001-04 Massachusetts Institute of Technology\n This library is free software; you can redistribute it and/or\n modify it under the terms of the GNU Lesser General Public\n License as published by the Free Software Foundation, version 2.1.\n This library is distributed in the hope that it will be useful,\n but WITHOUT ANY WARRANTY; without even the implied warranty of\n MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU\n Lesser General Public License for more details.\n You should have received a copy of the GNU Lesser General\n Public License along with this library; if not, write to the\n Free Software Foundation, Inc., 59 Temple Place, Suite 330,\n Boston, MA 02111-1307 USA\n*/\n\n#define PROCESSING_LINE_SHADER\n\nuniform mat4 uModelViewMatrix;\nuniform mat4 uProjectionMatrix;\nuniform float uStrokeWeight;\n\nuniform vec4 uViewport;\nuniform int uPerspective;\n\nattribute vec4 aPosition;\nattribute vec4 aDirection;\n \nvoid main() {\n // using a scale <1 moves the lines towards the camera\n // in order to prevent popping effects due to half of\n // the line disappearing behind the geometry faces.\n vec3 scale = vec3(0.9995);\n\n vec4 posp = uModelViewMatrix * aPosition;\n vec4 posq = uModelViewMatrix * (aPosition + vec4(aDirection.xyz, 0));\n\n // Moving vertices slightly toward the camera\n // to avoid depth-fighting with the fill triangles.\n // Discussed here:\n // http://www.opengl.org/discussion_boards/ubbthreads.php?ubb=showflat&Number=252848 \n posp.xyz = posp.xyz * scale;\n posq.xyz = posq.xyz * scale;\n\n vec4 p = uProjectionMatrix * posp;\n vec4 q = uProjectionMatrix * posq;\n\n // formula to convert from clip space (range -1..1) to screen space (range 0..[width or height])\n // screen_p = (p.xy/p.w + <1,1>) * 0.5 * uViewport.zw\n\n // prevent division by W by transforming the tangent formula (div by 0 causes\n // the line to disappear, see https://github.com/processing/processing/issues/5183)\n // t = screen_q - screen_p\n //\n // tangent is normalized and we don't care which aDirection it points to (+-)\n // t = +- normalize( screen_q - screen_p )\n // t = +- normalize( (q.xy/q.w+<1,1>)*0.5*uViewport.zw - (p.xy/p.w+<1,1>)*0.5*uViewport.zw )\n //\n // extract common factor, <1,1> - <1,1> cancels out\n // t = +- normalize( (q.xy/q.w - p.xy/p.w) * 0.5 * uViewport.zw )\n //\n // convert to common divisor\n // t = +- normalize( ((q.xy*p.w - p.xy*q.w) / (p.w*q.w)) * 0.5 * uViewport.zw )\n //\n // remove the common scalar divisor/factor, not needed due to normalize and +-\n // (keep uViewport - can't remove because it has different components for x and y\n // and corrects for aspect ratio, see https://github.com/processing/processing/issues/5181)\n // t = +- normalize( (q.xy*p.w - p.xy*q.w) * uViewport.zw )\n\n vec2 tangent = normalize((q.xy*p.w - p.xy*q.w) * uViewport.zw);\n\n // flip tangent to normal (it's already normalized)\n vec2 normal = vec2(-tangent.y, tangent.x);\n\n float thickness = aDirection.w * uStrokeWeight;\n vec2 offset = normal * thickness / 2.0;\n\n vec2 curPerspScale;\n\n if(uPerspective == 1) {\n // Perspective ---\n // convert from world to clip by multiplying with projection scaling factor\n // to get the right thickness (see https://github.com/processing/processing/issues/5182)\n // invert Y, projections in Processing invert Y\n curPerspScale = (uProjectionMatrix * vec4(1, -1, 0, 0)).xy;\n } else {\n // No Perspective ---\n // multiply by W (to cancel out division by W later in the pipeline) and\n // convert from screen to clip (derived from clip to screen above)\n curPerspScale = p.w / (0.5 * uViewport.zw);\n }\n\n gl_Position.xy = p.xy + offset.xy * curPerspScale;\n gl_Position.zw = p.zw;\n}\n",lineFrag:"precision mediump float;\nprecision mediump int;\n\nuniform vec4 uMaterialColor;\n\nvoid main() {\n gl_FragColor = uMaterialColor;\n}",pointVert:"attribute vec3 aPosition;\nuniform float uPointSize;\nvarying float vStrokeWeight;\nuniform mat4 uModelViewMatrix;\nuniform mat4 uProjectionMatrix;\nvoid main() {\n\tvec4 positionVec4 = vec4(aPosition, 1.0);\n\tgl_Position = uProjectionMatrix * uModelViewMatrix * positionVec4;\n\tgl_PointSize = uPointSize;\n\tvStrokeWeight = uPointSize;\n}",pointFrag:"precision mediump float;\nprecision mediump int;\nuniform vec4 uMaterialColor;\nvarying float vStrokeWeight;\n\nvoid main(){\n\tfloat mask = 0.0;\n\n\t// make a circular mask using the gl_PointCoord (goes from 0 - 1 on a point)\n // might be able to get a nicer edge on big strokeweights with smoothstep but slightly less performant\n\n\tmask = step(0.98, length(gl_PointCoord * 2.0 - 1.0));\n\n\t// if strokeWeight is 1 or less lets just draw a square\n\t// this prevents weird artifacting from carving circles when our points are really small\n\t// if strokeWeight is larger than 1, we just use it as is\n\n\tmask = mix(0.0, mask, clamp(floor(vStrokeWeight - 0.5),0.0,1.0));\n\n\t// throw away the borders of the mask\n // otherwise we get weird alpha blending issues\n\n\tif(mask > 0.98){\n discard;\n \t}\n\n \tgl_FragColor = vec4(uMaterialColor.rgb * (1.0 - mask), uMaterialColor.a) ;\n}"};u.default.RendererGL=function(e,t,r,i){return u.default.Renderer.call(this,e,t,r),this._setAttributeDefaults(t),this._initContext(),this.isP3D=!0,this.GL=this.drawingContext,this._isErasing=!1,this._enableLighting=!1,this.ambientLightColors=[],this.specularColors=[1,1,1],this.directionalLightDirections=[],this.directionalLightDiffuseColors=[],this.directionalLightSpecularColors=[],this.pointLightPositions=[],this.pointLightDiffuseColors=[],this.pointLightSpecularColors=[],this.spotLightPositions=[],this.spotLightDirections=[],this.spotLightDiffuseColors=[],this.spotLightSpecularColors=[],this.spotLightAngle=[],this.spotLightConc=[],this.drawMode=n.FILL,this.curFillColor=this._cachedFillStyle=[1,1,1,1],this.curStrokeColor=this._cachedStrokeStyle=[0,0,0,1],this.curBlendMode=this._cachedBlendMode=n.BLEND,this.blendExt=this.GL.getExtension("EXT_blend_minmax"),this._useSpecularMaterial=!1,this._useEmissiveMaterial=!1,this._useNormalMaterial=!1,this._useShininess=1,this._tint=[255,255,255,255],this.constantAttenuation=1,this.linearAttenuation=0,this.quadraticAttenuation=0,this.uMVMatrix=new u.default.Matrix,this.uPMatrix=new u.default.Matrix,this.uNMatrix=new u.default.Matrix("mat3"),this._curCamera=new u.default.Camera(this),this._curCamera._computeCameraDefaultSettings(),this._curCamera._setDefaultCamera(),this.gHash={},this._defaultLightShader=void 0,this._defaultImmediateModeShader=void 0,this._defaultNormalShader=void 0,this._defaultColorShader=void 0,this._defaultPointShader=void 0,this._pointVertexBuffer=this.GL.createBuffer(),this.userFillShader=void 0,this.userStrokeShader=void 0,this.userPointShader=void 0,this.isImmediateDrawing=!1,this.immediateMode={},this.pointSize=5,this.curStrokeWeight=1,this.textures=[],this.textureMode=n.IMAGE,this.textureWrapX=n.CLAMP,this.textureWrapY=n.CLAMP,this._tex=null,this._curveTightness=6,this._lookUpTableBezier=[],this._lookUpTableQuadratic=[],this._lutBezierDetail=0,this._lutQuadraticDetail=0,this._tessy=this._initTessy(),this.fontInfos={},this},u.default.RendererGL.prototype=Object.create(u.default.Renderer.prototype),u.default.RendererGL.prototype._setAttributeDefaults=function(e){var t={alpha:!0,depth:!0,stencil:!0,antialias:!1,premultipliedAlpha:!1,preserveDrawingBuffer:!0,perPixelLighting:!1};null===e._glAttributes?e._glAttributes=t:e._glAttributes=Object.assign(t,e._glAttributes)},u.default.RendererGL.prototype._initContext=function(){try{if(this.drawingContext=this.canvas.getContext("webgl",this._pInst._glAttributes)||this.canvas.getContext("experimental-webgl",this._pInst._glAttributes),null===this.drawingContext)throw new Error("Error creating webgl context");var e=this.drawingContext;e.enable(e.DEPTH_TEST),e.depthFunc(e.LEQUAL),e.viewport(0,0,e.drawingBufferWidth,e.drawingBufferHeight),this._viewport=this.drawingContext.getParameter(this.drawingContext.VIEWPORT)}catch(e){throw e}},u.default.RendererGL.prototype._resetContext=function(e,t){var r=this.width,i=this.height,a=this.canvas.id,n=this._pInst instanceof u.default.Graphics;if(n){var o=this._pInst;o.canvas.parentNode.removeChild(o.canvas),o.canvas=document.createElement("canvas"),(o._pInst._userNode||document.body).appendChild(o.canvas),u.default.Element.call(o,o.canvas,o._pInst),o.width=r,o.height=i}else{var s=this.canvas;s&&s.parentNode.removeChild(s),(s=document.createElement("canvas")).id=a,this._pInst._userNode?this._pInst._userNode.appendChild(s):document.body.appendChild(s),this._pInst.canvas=s}var l=new u.default.RendererGL(this._pInst.canvas,this._pInst,!n);this._pInst._setProperty("_renderer",l),l.resize(r,i),l._applyDefaults(),n||this._pInst._elements.push(l),"function"==typeof t&&setTimeout(function(){t.apply(window._renderer,e)},0)},u.default.prototype.setAttributes=function(e,t){if(void 0!==this._glAttributes){var r=!0;if(void 0!==t?(null===this._glAttributes&&(this._glAttributes={}),this._glAttributes[e]!==t&&(this._glAttributes[e]=t,r=!1)):e instanceof Object&&this._glAttributes!==e&&(this._glAttributes=e,r=!1),this._renderer.isP3D&&!r){if(!this._setupDone)for(var i in this._renderer.gHash)if(this._renderer.gHash.hasOwnProperty(i))return void console.error("Sorry, Could not set the attributes, you need to call setAttributes() before calling the other drawing methods in setup()");this.push(),this._renderer._resetContext(),this.pop(),this._renderer._curCamera&&(this._renderer._curCamera._renderer=this._renderer)}}else console.log("You are trying to use setAttributes on a p5.Graphics object that does not use a WEBGL renderer.")},u.default.RendererGL.prototype._update=function(){this.uMVMatrix.set(this._curCamera.cameraMatrix.mat4[0],this._curCamera.cameraMatrix.mat4[1],this._curCamera.cameraMatrix.mat4[2],this._curCamera.cameraMatrix.mat4[3],this._curCamera.cameraMatrix.mat4[4],this._curCamera.cameraMatrix.mat4[5],this._curCamera.cameraMatrix.mat4[6],this._curCamera.cameraMatrix.mat4[7],this._curCamera.cameraMatrix.mat4[8],this._curCamera.cameraMatrix.mat4[9],this._curCamera.cameraMatrix.mat4[10],this._curCamera.cameraMatrix.mat4[11],this._curCamera.cameraMatrix.mat4[12],this._curCamera.cameraMatrix.mat4[13],this._curCamera.cameraMatrix.mat4[14],this._curCamera.cameraMatrix.mat4[15]),this.ambientLightColors.length=0,this.specularColors=[1,1,1],this.directionalLightDirections.length=0,this.directionalLightDiffuseColors.length=0,this.directionalLightSpecularColors.length=0,this.pointLightPositions.length=0,this.pointLightDiffuseColors.length=0,this.pointLightSpecularColors.length=0,this.spotLightPositions.length=0,this.spotLightDirections.length=0,this.spotLightDiffuseColors.length=0,this.spotLightSpecularColors.length=0,this.spotLightAngle.length=0,this.spotLightConc.length=0,this._enableLighting=!1,this._tint=[255,255,255,255],this.GL.clear(this.GL.DEPTH_BUFFER_BIT)},u.default.RendererGL.prototype.background=function(){var e,t=(e=this._pInst).color.apply(e,arguments),r=t.levels[0]/255,i=t.levels[1]/255,a=t.levels[2]/255,n=t.levels[3]/255;this.GL.clearColor(r,i,a,n),this.GL.depthMask(!0),this.GL.clear(this.GL.COLOR_BUFFER_BIT|this.GL.DEPTH_BUFFER_BIT)},u.default.RendererGL.prototype.fill=function(e,t,r,i){var a=u.default.prototype.color.apply(this._pInst,arguments);this.curFillColor=a._array,this.drawMode=n.FILL,this._useNormalMaterial=!1,this._tex=null},u.default.RendererGL.prototype.stroke=function(e,t,r,i){i=255;var a=u.default.prototype.color.apply(this._pInst,arguments);this.curStrokeColor=a._array},u.default.RendererGL.prototype.strokeCap=function(e){console.error("Sorry, strokeCap() is not yet implemented in WEBGL mode")},u.default.RendererGL.prototype.strokeJoin=function(e){console.error("Sorry, strokeJoin() is not yet implemented in WEBGL mode")},u.default.RendererGL.prototype.blendMode=function(e){e===n.DARKEST||e===n.LIGHTEST||e===n.ADD||e===n.BLEND||e===n.SUBTRACT||e===n.SCREEN||e===n.EXCLUSION||e===n.REPLACE||e===n.MULTIPLY||e===n.REMOVE?this.curBlendMode=e:e!==n.BURN&&e!==n.OVERLAY&&e!==n.HARD_LIGHT&&e!==n.SOFT_LIGHT&&e!==n.DODGE||console.warn("BURN, OVERLAY, HARD_LIGHT, SOFT_LIGHT, and DODGE only work for blendMode in 2D mode.")},u.default.RendererGL.prototype.erase=function(e,t){this._isErasing||(this._cachedBlendMode=this.curBlendMode,this.blendMode(n.REMOVE),this._cachedFillStyle=this.curFillColor.slice(),this.curFillColor=[1,1,1,e/255],this._cachedStrokeStyle=this.curStrokeColor.slice(),this.curStrokeColor=[1,1,1,t/255],this._isErasing=!0)},u.default.RendererGL.prototype.noErase=function(){this._isErasing&&(this.curFillColor=this._cachedFillStyle.slice(),this.curStrokeColor=this._cachedStrokeStyle.slice(),this.blendMode(this._cachedBlendMode),this._isErasing=!1)},u.default.RendererGL.prototype.strokeWeight=function(e){this.curStrokeWeight!==e&&(this.pointSize=e,this.curStrokeWeight=e)},u.default.RendererGL.prototype._getPixel=function(e,t){var r;return r=new Uint8Array(4),this.drawingContext.readPixels(e,t,1,1,this.drawingContext.RGBA,this.drawingContext.UNSIGNED_BYTE,r),[r[0],r[1],r[2],r[3]]},u.default.RendererGL.prototype.loadPixels=function(){var e=this._pixelsState;if(!0===this._pInst._glAttributes.preserveDrawingBuffer){var t=e.pixels,r=this.GL.drawingBufferWidth*this.GL.drawingBufferHeight*4;t instanceof Uint8Array&&t.length===r||(t=new Uint8Array(r),this._pixelsState._setProperty("pixels",t));var i=this._pInst._pixelDensity;this.GL.readPixels(0,0,this.width*i,this.height*i,this.GL.RGBA,this.GL.UNSIGNED_BYTE,t)}else console.log("loadPixels only works in WebGL when preserveDrawingBuffer is true.")},u.default.RendererGL.prototype.geometryInHash=function(e){return void 0!==this.gHash[e]},u.default.RendererGL.prototype.resize=function(e,t){u.default.Renderer.prototype.resize.call(this,e,t),this.GL.viewport(0,0,this.GL.drawingBufferWidth,this.GL.drawingBufferHeight),this._viewport=this.GL.getParameter(this.GL.VIEWPORT),this._curCamera._resize();var r=this._pixelsState;void 0!==r.pixels&&r._setProperty("pixels",new Uint8Array(this.GL.drawingBufferWidth*this.GL.drawingBufferHeight*4))},u.default.RendererGL.prototype.clear=function(){var e=(arguments.length<=0?void 0:arguments[0])||0,t=(arguments.length<=1?void 0:arguments[1])||0,r=(arguments.length<=2?void 0:arguments[2])||0,i=(arguments.length<=3?void 0:arguments[3])||0;this.GL.clearColor(e,t,r,i),this.GL.clear(this.GL.COLOR_BUFFER_BIT|this.GL.DEPTH_BUFFER_BIT)},u.default.RendererGL.prototype.applyMatrix=function(e,t,r,i,a,n){16===arguments.length?u.default.Matrix.prototype.apply.apply(this.uMVMatrix,arguments):this.uMVMatrix.apply([e,t,0,0,r,i,0,0,0,0,1,0,a,n,0,1])},u.default.RendererGL.prototype.translate=function(e,t,r){return e instanceof u.default.Vector&&(r=e.z,t=e.y,e=e.x),this.uMVMatrix.translate([e,t,r]),this},u.default.RendererGL.prototype.scale=function(e,t,r){return this.uMVMatrix.scale(e,t,r),this},u.default.RendererGL.prototype.rotate=function(e,t){return void 0===t?this.rotateZ(e):(u.default.Matrix.prototype.rotate.apply(this.uMVMatrix,arguments),this)},u.default.RendererGL.prototype.rotateX=function(e){return this.rotate(e,1,0,0),this},u.default.RendererGL.prototype.rotateY=function(e){return this.rotate(e,0,1,0),this},u.default.RendererGL.prototype.rotateZ=function(e){return this.rotate(e,0,0,1),this},u.default.RendererGL.prototype.push=function(){var e=u.default.Renderer.prototype.push.apply(this),t=e.properties;return t.uMVMatrix=this.uMVMatrix.copy(),t.uPMatrix=this.uPMatrix.copy(),t._curCamera=this._curCamera,this._curCamera=this._curCamera.copy(),t.ambientLightColors=this.ambientLightColors.slice(),t.specularColors=this.specularColors.slice(),t.directionalLightDirections=this.directionalLightDirections.slice(),t.directionalLightDiffuseColors=this.directionalLightDiffuseColors.slice(),t.directionalLightSpecularColors=this.directionalLightSpecularColors.slice(),t.pointLightPositions=this.pointLightPositions.slice(),t.pointLightDiffuseColors=this.pointLightDiffuseColors.slice(),t.pointLightSpecularColors=this.pointLightSpecularColors.slice(),t.spotLightPositions=this.spotLightPositions.slice(),t.spotLightDirections=this.spotLightDirections.slice(),t.spotLightDiffuseColors=this.spotLightDiffuseColors.slice(),t.spotLightSpecularColors=this.spotLightSpecularColors.slice(),t.spotLightAngle=this.spotLightAngle.slice(),t.spotLightConc=this.spotLightConc.slice(),t.userFillShader=this.userFillShader,t.userStrokeShader=this.userStrokeShader,t.userPointShader=this.userPointShader,t.pointSize=this.pointSize,t.curStrokeWeight=this.curStrokeWeight,t.curStrokeColor=this.curStrokeColor,t.curFillColor=this.curFillColor,t._useSpecularMaterial=this._useSpecularMaterial,t._useEmissiveMaterial=this._useEmissiveMaterial,t._useShininess=this._useShininess,t.constantAttenuation=this.constantAttenuation,t.linearAttenuation=this.linearAttenuation,t.quadraticAttenuation=this.quadraticAttenuation,t._enableLighting=this._enableLighting,t._useNormalMaterial=this._useNormalMaterial,t._tex=this._tex,t.drawMode=this.drawMode,e},u.default.RendererGL.prototype.resetMatrix=function(){return this.uMVMatrix=u.default.Matrix.identity(this._pInst),this},u.default.RendererGL.prototype._getImmediateStrokeShader=function(){var e=this.userStrokeShader;return e&&e.isStrokeShader()?e:this._getLineShader()},u.default.RendererGL.prototype._getRetainedStrokeShader=u.default.RendererGL.prototype._getImmediateStrokeShader,u.default.RendererGL.prototype._getImmediateFillShader=function(){if(this._useNormalMaterial)return console.log("Sorry, normalMaterial() does not currently work with custom WebGL geometry created with beginShape(). Falling back to standard fill material."),this._getImmediateModeShader();var e=this.userFillShader;if(this._enableLighting){if(!e||!e.isLightShader())return this._getLightShader()}else if(this._tex){if(!e||!e.isTextureShader())return this._getLightShader()}else if(!e)return this._getImmediateModeShader();return e},u.default.RendererGL.prototype._getRetainedFillShader=function(){if(this._useNormalMaterial)return this._getNormalShader();var e=this.userFillShader;if(this._enableLighting){if(!e||!e.isLightShader())return this._getLightShader()}else if(this._tex){if(!e||!e.isTextureShader())return this._getLightShader()}else if(!e)return this._getColorShader();return e},u.default.RendererGL.prototype._getImmediatePointShader=function(){var e=this.userPointShader;return e&&e.isPointShader()?e:this._getPointShader()},u.default.RendererGL.prototype._getRetainedLineShader=u.default.RendererGL.prototype._getImmediateLineShader,u.default.RendererGL.prototype._getLightShader=function(){return this._defaultLightShader||(this._pInst._glAttributes.perPixelLighting?this._defaultLightShader=new u.default.Shader(this,l.phongVert,l.phongFrag):this._defaultLightShader=new u.default.Shader(this,l.lightVert,l.lightTextureFrag)),this._defaultLightShader},u.default.RendererGL.prototype._getImmediateModeShader=function(){return this._defaultImmediateModeShader||(this._defaultImmediateModeShader=new u.default.Shader(this,l.immediateVert,l.vertexColorFrag)),this._defaultImmediateModeShader},u.default.RendererGL.prototype._getNormalShader=function(){return this._defaultNormalShader||(this._defaultNormalShader=new u.default.Shader(this,l.normalVert,l.normalFrag)),this._defaultNormalShader},u.default.RendererGL.prototype._getColorShader=function(){return this._defaultColorShader||(this._defaultColorShader=new u.default.Shader(this,l.normalVert,l.basicFrag)),this._defaultColorShader},u.default.RendererGL.prototype._getPointShader=function(){return this._defaultPointShader||(this._defaultPointShader=new u.default.Shader(this,l.pointVert,l.pointFrag)),this._defaultPointShader},u.default.RendererGL.prototype._getLineShader=function(){return this._defaultLineShader||(this._defaultLineShader=new u.default.Shader(this,l.lineVert,l.lineFrag)),this._defaultLineShader},u.default.RendererGL.prototype._getFontShader=function(){return this._defaultFontShader||(this.GL.getExtension("OES_standard_derivatives"),this._defaultFontShader=new u.default.Shader(this,l.fontVert,l.fontFrag)),this._defaultFontShader},u.default.RendererGL.prototype._getEmptyTexture=function(){if(!this._emptyTexture){var e=new u.default.Image(1,1);e.set(0,0,255),this._emptyTexture=new u.default.Texture(this,e)}return this._emptyTexture},u.default.RendererGL.prototype.getTexture=function(e){var t=this.textures,r=!0,i=!1,a=void 0;try{for(var n,o=t[Symbol.iterator]();!(r=(n=o.next()).done);r=!0){var s=n.value;if(s.src===e)return s}}catch(e){i=!0,a=e}finally{try{r||null==o.return||o.return()}finally{if(i)throw a}}var l=new u.default.Texture(this,e);return t.push(l),l},u.default.RendererGL.prototype._setStrokeUniforms=function(e){e.bindShader(),e.setUniform("uMaterialColor",this.curStrokeColor),e.setUniform("uStrokeWeight",this.curStrokeWeight)},u.default.RendererGL.prototype._setFillUniforms=function(e){e.bindShader(),e.setUniform("uMaterialColor",this.curFillColor),e.setUniform("isTexture",!!this._tex),this._tex&&e.setUniform("uSampler",this._tex),e.setUniform("uTint",this._tint),e.setUniform("uSpecular",this._useSpecularMaterial),e.setUniform("uEmissive",this._useEmissiveMaterial),e.setUniform("uShininess",this._useShininess),e.setUniform("uUseLighting",this._enableLighting);var t=this.pointLightDiffuseColors.length/3;e.setUniform("uPointLightCount",t),e.setUniform("uPointLightLocation",this.pointLightPositions),e.setUniform("uPointLightDiffuseColors",this.pointLightDiffuseColors),e.setUniform("uPointLightSpecularColors",this.pointLightSpecularColors);var r=this.directionalLightDiffuseColors.length/3;e.setUniform("uDirectionalLightCount",r),e.setUniform("uLightingDirection",this.directionalLightDirections),e.setUniform("uDirectionalDiffuseColors",this.directionalLightDiffuseColors),e.setUniform("uDirectionalSpecularColors",this.directionalLightSpecularColors);var i=this.ambientLightColors.length/3;e.setUniform("uAmbientLightCount",i),e.setUniform("uAmbientColor",this.ambientLightColors);var a=this.spotLightDiffuseColors.length/3;e.setUniform("uSpotLightCount",a),e.setUniform("uSpotLightAngle",this.spotLightAngle),e.setUniform("uSpotLightConc",this.spotLightConc),e.setUniform("uSpotLightDiffuseColors",this.spotLightDiffuseColors),e.setUniform("uSpotLightSpecularColors",this.spotLightSpecularColors),e.setUniform("uSpotLightLocation",this.spotLightPositions),e.setUniform("uSpotLightDirection",this.spotLightDirections),e.setUniform("uConstantAttenuation",this.constantAttenuation),e.setUniform("uLinearAttenuation",this.linearAttenuation),e.setUniform("uQuadraticAttenuation",this.quadraticAttenuation),e.bindTextures()},u.default.RendererGL.prototype._setPointUniforms=function(e){e.bindShader(),e.setUniform("uMaterialColor",this.curStrokeColor),e.setUniform("uPointSize",this.pointSize)},u.default.RendererGL.prototype._bindBuffer=function(e,t,r,i,a){if(t||(t=this.GL.ARRAY_BUFFER),this.GL.bindBuffer(t,e),void 0!==r){var n=new(i||Float32Array)(r);this.GL.bufferData(t,n,a||this.GL.STATIC_DRAW)}},u.default.RendererGL.prototype._flatten=function(e){if(0===e.length)return[];if(2e4>7,127&c,d>>7,127&d);for(var f=0;f>7,127&p,0,0)}}return{cellImageInfo:l,dimOffset:n,dimImageInfo:a}}return(t=this.glyphInfos[e.index]={glyph:e,uGlyphRect:[i.x1,-i.y1,i.x2,-i.y2],strokeImageInfo:U,strokes:f,colInfo:G(m,this.colDimImageInfos,this.colCellImageInfos),rowInfo:G(p,this.rowDimImageInfos,this.rowCellImageInfos)}).uGridOffset=[t.colInfo.dimOffset,t.rowInfo.dimOffset],t}};j.default.RendererGL.prototype._renderText=function(e,t,r,i,a){if(this._textFont&&"string"!=typeof this._textFont){if(!(a<=i)&&this._doFill){if(!this._isOpenType())return console.log("WEBGL: only Opentype (.otf) and Truetype (.ttf) fonts are supported"),e;e.push();var n=this._doStroke,o=this.drawMode;this._doStroke=!1,this.drawMode=P.TEXTURE;var s=this._textFont.font,l=this._textFont._fontInfo;l||(l=this._textFont._fontInfo=new L(s));var u=this._textFont._handleAlignment(this,t,r,i),h=this._textSize/s.unitsPerEm;this.translate(u.x,u.y,0),this.scale(h,h,1);var d=this.GL,c=!this._defaultFontShader,f=this._getFontShader();f.init(),f.bindShader(),c&&(f.setUniform("uGridImageSize",[64,64]),f.setUniform("uCellsImageSize",[64,64]),f.setUniform("uStrokeImageSize",[64,64]),f.setUniform("uGridSize",[9,9])),this._applyColorBlend(this.curFillColor);var p=this.gHash.glyph;if(!p){var m=this._textGeom=new j.default.Geometry(1,1,function(){for(var e=0;e<=1;e++)for(var t=0;t<=1;t++)this.vertices.push(new j.default.Vector(t,e,0)),this.uvs.push(t,e)});m.computeFaces().computeNormals(),p=this.createBuffers("glyph",m)}this._prepareBuffers(p,f,j.default.RendererGL._textBuffers),this._bindBuffer(p.indexBuffer,d.ELEMENT_ARRAY_BUFFER),f.setUniform("uMaterialColor",this.curFillColor);try{var v=0,g=null,y=s.stringToGlyphs(t),_=!0,b=!1,x=void 0;try{for(var w,S=y[Symbol.iterator]();!(_=(w=S.next()).done);_=!0){var M=w.value;g&&(v+=s.getKerningValue(g,M));var E=l.getGlyphInfo(M);if(E.uGlyphRect){var T=E.rowInfo,C=E.colInfo;f.setUniform("uSamplerStrokes",E.strokeImageInfo.imageData),f.setUniform("uSamplerRowStrokes",T.cellImageInfo.imageData),f.setUniform("uSamplerRows",T.dimImageInfo.imageData),f.setUniform("uSamplerColStrokes",C.cellImageInfo.imageData),f.setUniform("uSamplerCols",C.dimImageInfo.imageData),f.setUniform("uGridOffset",E.uGridOffset),f.setUniform("uGlyphRect",E.uGlyphRect),f.setUniform("uGlyphOffset",v),f.bindTextures(),d.drawElements(d.TRIANGLES,6,this.GL.UNSIGNED_SHORT,0)}v+=M.advanceWidth,g=M}}catch(e){b=!0,x=e}finally{try{_||null==S.return||S.return()}finally{if(b)throw x}}}finally{f.unbindShader(),this._doStroke=n,this.drawMode=o,e.pop()}return e}}else console.log("WEBGL: you must load and set a font before drawing text. See `loadFont` and `textFont` for more details.")}},{"../core/constants":20,"../core/main":26,"./p5.RendererGL.Retained":78,"./p5.Shader":80}]},{},[15])(15)}); \ No newline at end of file diff --git a/iot/sketch-test2D.js b/iot/sketch-test2D.js new file mode 100644 index 0000000..c427b94 --- /dev/null +++ b/iot/sketch-test2D.js @@ -0,0 +1,254 @@ +/* + * rootApostolos + * P5js example + * IMU 2D + * + * + * + */ +var dataObjects = []; +var objectIndex = 0; +var debugFlag = true; + +var bubbles = []; // Global array to hold all bubble objects +var currentBubble; + +var anglesX =0; // rotation X +var anglesY =0; // rotation Y +var anglesZ =0; // rotation Z + +var G = 9.82; // g in greece https://en.wikipedia.org/wiki/Gravitational_acceleration + +var dt = 0.05; // miliseconds -> second read in sketch Arduino + +var canvasX = 900; //px +var canvasY = 600; //px + +var AX, AY, BX, BY, CX, CY; // accelarator data after calculation + +AX = canvasX/2; // start position X (center) +AY = canvasY/2; // start position Y (center) + +var i = 0; +var start = false; +var xTranform = 0; +var yTranform = 0; +var coordinatesTranformationStep = 300; +var endFlagMessage = true; +// Put any asynchronous data loading in preload to complete before "setup" is run +function preload() { + // data = loadJSON(file); +} + +function setup() { + dataObjects = []; + objectIndex = 0; + bubbles = []; + currentBubble = null; + anglesX = 0; + anglesY = 0; + anglesZ = 0; + AX = canvasX / 2; + AY = 2*canvasY; + xTranform = 0; + yTranform = 0; + i = 0; + start = false; + endFlagMessage = true; + transformJsonDataToObject(); + createCanvas(canvasX, canvasY); + + // createCanvas(canvasX, canvasY, WEBGL); + // camera(450, 300, 0); + frameRate(10); //This must the same as collect data frequency +} + +function draw() { + if(start){ + // move(); + move2(); + + background(100, 100, 100); + + + if (bubbles[bubbles.length - 1].x > canvasX){ + xTranform -= coordinatesTranformationStep; + for (var i = 0; i < bubbles.length; i++) { + // bubbles[i].x += xTranform; + bubbles[i].x -= coordinatesTranformationStep; + } + } + + if (bubbles[bubbles.length - 1].x < 0){ + xTranform += coordinatesTranformationStep; + for (var i = 0; i < bubbles.length; i++) { + // bubbles[i].x += xTranform; + bubbles[i].x += coordinatesTranformationStep; + } + } + + if (bubbles[bubbles.length - 1].y > canvasY){ + yTranform -= coordinatesTranformationStep; + for (var i = 0; i < bubbles.length; i++) { + bubbles[i].y -= coordinatesTranformationStep; + } + } + + if (bubbles[bubbles.length - 1].y < 0){ + yTranform += coordinatesTranformationStep; + for (var i = 0; i < bubbles.length; i++) { + bubbles[i].y += coordinatesTranformationStep; + } + } + + for (var i = 0; i < bubbles.length; i++) { + if(i == (bubbles.length - 1) ){ + bubbles[i].display(0); + } + else{ + bubbles[i].display(255); + } + + } + + //============= 2 END ================== + + } +} + + + + +// Bubble class +class Bubble { + constructor(x, y, diameter) { + this.x = x; + this.y = y; + this.diameter = diameter; + this.radius = diameter / 2; + + // Display the Bubble + this.display = function (color) { + fill(color); + stroke(0); + strokeWeight(0.8); + var v = createVector(0, 1); + v.setMag(100); + var xx1 = canvasX/2; + var yy1 = canvasY/2; + var xx2 = xx1 + v.x; + var yy2 = yy1 + v.y; + line(xx1, yy1, xx2, yy2); + xx1 = xx2; + yy1 = yy2; + //https://el.wikipedia.org/wiki/%CE%91%CE%BA%CF%84%CE%AF%CE%BD%CE%B9%CE%BF_(%CE%BC%CE%BF%CE%BD%CE%AC%CE%B4%CE%B1_%CE%BC%CE%AD%CF%84%CF%81%CE%B7%CF%83%CE%B7%CF%82) + // https://stackoverflow.com/questions/12959237/get-point-coordinates-based-on-direction-and-distance-vector + // ihttps://en.wikipedia.org/wiki/Euler_angles#Geometrical_definition + //angleMode(DEGREES); + angleMode(RADIANS); + v.rotate(Math.PI - anglesX); + //v.rotate(XXX); + stroke(255, 0, 0); + line(xx1, yy1, xx1 + v.x, yy1 + v.y); + ellipse(this.x, this.y, this.diameter, this.diameter); + }; + } +} + +function move2(){ + + if(objectIndex < dataObjects.length){ + + var diameter = 5; + + //calculate DX, DY and DZ + let aX = dataObjects[objectIndex].accelerator.X * G; + let aY = dataObjects[objectIndex].accelerator.Y * G; + let aZ = dataObjects[objectIndex].accelerator.Z * G; + + AX=AX+aX*dt; // new position X + AY=AY+aY*dt; // new position Y + + let gX = dataObjects[objectIndex].gyroscope.X * dt; + let gY = dataObjects[objectIndex].gyroscope.Y * dt; + let gZ = dataObjects[objectIndex].gyroscope.Z * dt; + + anglesZ = Math.acos((-gY)/(Math.pow(1-Math.pow(gZ,2),0.5))); + //peristrofi ston x axona mikos + anglesX=acos(gZ); + //peristrofi ston y axona + anglesY=acos(gX/(Math.pow(1-pow(gZ,2),0.5))); + + //========================== WHAT IS THAT??? ====================== + // // {"sensor":"magnometer","X":-0.000647,"Y":-0.000583,"Z":0.000652} + // var iii=i+2 + // mX = dataObjects[objectIndex].magnometer.X; + // mY = dataObjects[objectIndex].magnometer.Y; + // mZ = dataObjects[objectIndex].magnometer.Z; + // sensor = data[iii].sensor; + + + // var anglesXX = anglesX * 180 / Math.PI; + + + // BX=BX+aX*3; + // BY=BY+aY*3; + + // CX=CX+aX*3; + // CY=CY+aY*3; + //================================================================= + + + currentBubble = new Bubble(AX + xTranform, AY + yTranform, diameter); + bubbles.push(currentBubble); + objectIndex++; + // debug('ADD POINT: '+objectIndex); + } + else{ + if (endFlagMessage){ + debug('END!!!'); + endFlagMessage = false; + } + } +} + +function transformJsonDataToObject(){ + + let index = 0; + + while (index < Helper.fixedData.length){ + dataObjects.push(new DataObj( + Helper.fixedData[index].A.X, Helper.fixedData[index].A.Y, Helper.fixedData[index].A.Z, + Helper.fixedData[index].G.X, Helper.fixedData[index].G.Y, Helper.fixedData[index].G.Z, + Helper.fixedData[index].M.X, Helper.fixedData[index].M.Y, Helper.fixedData[index].M.Z + )); + + index += 1; + } +} + +class DataObj { + constructor(ax, ay, az, gx, gy, gz, mx, my, mz) { + this.accelerator = new SensorData(ax, ay, az); + this.gyroscope = new SensorData(gx, gy, gz); + this.magnometer = new SensorData(mx, my, mz); + } +} + +class SensorData{ + constructor(X, Y, Z){ + this.X=X; + this.Y=Y; + this.Z=Z; + } +} + +function moveWindowRight(xMove){ + for (var i = 0; i < bubbles.length; i++) { + bubbles[i].x = bubbles[i].x - xMove; + } +} +function debug(msg){ + console.log("============ DEBUG ==============="); + console.log(msg); +} diff --git a/raspberry_pi/bluetooth_read.py b/raspberry_pi/bluetooth_read.py index 816df82..a6d4851 100644 --- a/raspberry_pi/bluetooth_read.py +++ b/raspberry_pi/bluetooth_read.py @@ -1,19 +1,41 @@ import time import serial import json +import mysql.connector +#dilosi ths trexousas metrisis +test_name="test4" +# dilosi twn parametrwn gia thn anagnosi apo thn seiriakh porta +# rfcomm0 h kati allo einai h dilosi ths porta me thn opoia sindeete to rasbery me to arduino ser = serial.Serial( - port='/dev/rfcomm1', - baudrate = 115200, + port='/dev/rfcomm0', + baudrate = 9600, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS, timeout=1 ) +# loop sto opoio diabazoume apo thn seiriaki porta while 1: if(ser.isOpen): + #diabasma apo thn seiriaki kai apothikeusi se metabliti line line = ser.readline() - print(line) - b = open("/home/pi/Desktop/test.txt", "a") - b.write(str(line, 'utf-8')) - b.close() - \ No newline at end of file + # me thn bohtheia ths str metasximatizoume ta dedomena ths line pou einai byte se string typou utf-8 + data = str(line, 'utf-8') + # ektyposi twn data + print(data) + # sindesi me thn bash dedomenwn tou rasbery kai apostoli twn dedomenwn + connection = mysql.connector.connect(user='root', password='password',host='127.0.0.1',database='tracking_2d') + cursor = connection.cursor() + mysql_insert = """INSERT INTO records (data, test_name) VALUES (%s, %s)""" + recordTuple = (data, test_name) + cursor.execute(mysql_insert,recordTuple) + connection.commit() + # kleisimo ths sindesis + if(connection.is_connected()): + cursor.close() + connection.close() + # se periptosi pou theloume na apothikeusoume ta data se arxeio + #b = open("/home/pi/Desktop/results.txt", "a") + #b.write(str(line,'utf-8')) + #b.close() + \ No newline at end of file diff --git a/raspberry_pi/bluetooth_read_old.py b/raspberry_pi/bluetooth_read_old.py new file mode 100644 index 0000000..816df82 --- /dev/null +++ b/raspberry_pi/bluetooth_read_old.py @@ -0,0 +1,19 @@ +import time +import serial +import json +ser = serial.Serial( + port='/dev/rfcomm1', + baudrate = 115200, + parity=serial.PARITY_NONE, + stopbits=serial.STOPBITS_ONE, + bytesize=serial.EIGHTBITS, + timeout=1 + ) +while 1: + if(ser.isOpen): + line = ser.readline() + print(line) + b = open("/home/pi/Desktop/test.txt", "a") + b.write(str(line, 'utf-8')) + b.close() + \ No newline at end of file diff --git a/results/test4.txt b/results/test4.txt new file mode 100644 index 0000000..e2dac0e --- /dev/null +++ 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'test4'), +(2267, '\"\"\"{\"A\":{\"X\":-10.25489,\"Y\":1.6449,\"Z\":0.220278},\"G\":{\"X\":-0.396219,\"Y\":-0.117761,\"Z\":0.069584},\"M\":{\"X\":49.30415,\"Y\":-20.78997,\"Z\":-50.62548}}\"\"\"\n', 'test4'), +(2268, '\"\"\"{\"A\":{\"X\":-10.26686,\"Y\":1.003222,\"Z\":-0.263376},\"G\":{\"X\":0.093277,\"Y\":-0.723107,\"Z\":0.080503},\"M\":{\"X\":46.2673,\"Y\":-20.9692,\"Z\":-53.5528}}\"\"\"\n', 'test4'); +(2269, '\"\"\"{\"A\":{\"X\":-10.26686,\"Y\":-0.572243,\"Z\":-0.46236,\"Y\":0.030313,\"Z\":0.294358},\"M\":{\"X\":44.48091,\"Y\":-21.68609,\"Z\":-54.58598}}\"\"\"\n', 'test4'), +(2270, '\"\"\"{\"A\":{\"X\":-9.792784,\"Y\":0.320839,\"Z\":-0.114928},\"G\":{\"X\":0.134557,\"Y\":0.159212,\"Z\":0.089824},\"M\":{\"X\":45.55274,\"Y\":-22.76143,\"Z\":-55.61915}}\"', 'test4'); \ No newline at end of file