Class: Session::Recorder

Inherits:
Object
  • Object
show all
Defined in:
lib/robotic-arm.rb

Instance Method Summary collapse

Constructor Details

#initialize(obj) ⇒ Recorder

Returns a new instance of Recorder.



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# File 'lib/robotic-arm.rb', line 15

def initialize(obj)
  @log = []
  @recording = false
  @obj = obj
end

Instance Method Details

#playback ⇒ Object 



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# File 'lib/robotic-arm.rb', line 133

def playback()      play @log          end

#record(classname, methodname) ⇒ Object 



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# File 'lib/robotic-arm.rb', line 123

def record(classname, methodname)
              
  @log << {
        time: Time.now, 
        class: classname.to_sym, 
        method: methodname.to_sym
  }
end

#recording? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/robotic-arm.rb', line 132

def recording?()    @recording         end

#reverse_play ⇒ Object 



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# File 'lib/robotic-arm.rb', line 134

def reverse_play()  play @rlog.reverse end

#start ⇒ Object 



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# File 'lib/robotic-arm.rb', line 21

def start
  @log = [{:time => Time.now, :method => :stop}]
  @recording = true
end

#stop ⇒ Object 



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# File 'lib/robotic-arm.rb', line 26

def stop
  
  return unless @recording == true
  @log << {time: Time.now, class: nil, :method => :stop}
  
  @recording = false

  # convert the time to elapsed time in seconds

  @log.first[:time] = @log[1][:time]
  t1 = @log.first[:time]
  @log.first[:sleep] = 0
  @log[1..-2].each_with_index do |record,i|
    t2 = record[:time]
    @log[i][:sleep] = (t2 - t1).round(2)
    t1 = t2
  end
  


  matched = []
  @rlog = @log.map{|x| x.clone}      
  
  @rlog.reverse[0..-2].each_with_index do |record,i |

    next if matched.include? i

    j = @rlog.reverse[(i+1)..-1].map{|x| x[:class]}.index(record[:class])                 

    if j then

      tmp = record.clone
      record[:method] = @rlog.reverse[i+j+1][:method]
      record[:sleep] = @rlog.reverse[i+j+1][:sleep]
      @rlog.reverse[i+j+1][:method] = tmp[:method]
      @rlog.reverse[i+j+1][:sleep] = tmp[:sleep]
      matched << i+j+1
    end
          
  end
  
  @rlog.first[:sleep] = 0
=begin      
 # The following code includes factors for adjusting the duration of 
   robotic arm movements, as I had observed the distance travelled by
   the arm n a downward motion != distance travelled in a upward motion
   for a fixed duration.
   A more accurate approach would be to add offset times for an actual
   recorded session.

  @rlog.each do |record|
    
    if record[:sleep] then

      record[:method] = swap_state record[:method] 
      
      if record[:method] == :stop then
        #record[:sleep] = (record[:sleep] - 0.03).round(2) 
      elsif record[:class] == :shoulder and record[:method] == :up then
        record[:sleep] = (record[:sleep] * 1.14).round(2)
      elsif record[:class] == :elbow and record[:method] == :up then
        record[:sleep] = (record[:sleep] * 1.14).round(2)            
      elsif record[:class] == :shoulder and record[:method] == :down then
        record[:sleep] = (record[:sleep] / 1.14).round(2)
      elsif record[:class] == :elbow and record[:method] == :down then
        record[:sleep] = (record[:sleep] / 1.14).round(2)            

      elsif record[:class] == :gripper and record[:method] == :open then
        record[:sleep] = (record[:sleep] / 1.14).round(2)
      elsif record[:class] == :gripper and record[:method] == :close then
        record[:sleep] = (record[:sleep] * 1.14).round(2)                       

      end

    end                        
  end
  
  @log.each do |record|
    
    if record[:sleep] then
      
      if record[:method] == :stop then
        #record[:sleep] = (record[:sleep] - 0.03).round(2) 
      elsif record[:class] == :shoulder and record[:method] == :up then
        record[:sleep] = (record[:sleep] * 1.24).round(2)
      elsif record[:class] == :shoulder and record[:method] == :down then
        record[:sleep] = (record[:sleep] / 1.05).round(2)
      elsif record[:class] == :elbow and record[:method] == :down then
        record[:sleep] = (record[:sleep] / 1.05).round(2)            
      end

    end
  end
=end      
  @log
end