feat: send offsets to server

package.json

@@ -13,11 +13,13 @@
     "@tensorflow-models/coco-ssd": "^2.2.1",
     "@tensorflow/tfjs": "^2.8.2",
     "express": "^4.17.1",
-    "socket.io": "^3.1.0"
+    "socket.io": "^3.1.0",
+    "socket.io-client": "^3.1.0"
   },
   "devDependencies": {
     "@types/express": "^4.17.11",
     "@types/socket.io": "^2.1.12",
+    "@types/socket.io-client": "^1.4.35",
     "ts-loader": "^8.0.13",
     "typescript": "^4.1.3",
     "webpack": "^5.11.1",

src/Server/Server.ts

@@ -50,16 +50,17 @@ class Server {
   }
 
   openSockets = (socketService: any) => {
-    socketService.on('connection', () => {
+    socketService.on('connection', (socket: Socket) => {
       console.log('client connected')
+
+      socket.on('offsets', (offsets: any) => {
+        this.onReceiveOffsets(offsets)
+      })
     })
 
-    socketService.on('message', (message: any) => {
-      console.log(message)
-    })
   }
 
-  public onReceiveOffsets = (offsets: any[]) => {
+  onReceiveOffsets = (offsets: any[]) => {
     this.eventManager.emit('onReceiveOffsets', offsets)
 
   }

src/Vision/Interfaces/IRoboticsCommunicator.ts

@@ -0,0 +1,7 @@
+import IOffset from "./IOffset";
+
+interface IRoboticsCommunicator {
+  sendOffsets(offsets: IOffset[]): void
+}
+
+export default IRoboticsCommunicator

src/Vision/UseCases/Factories/makeObjectDetector.ts

@@ -3,7 +3,7 @@ import ObjectDetector from "../ObjectDetector"
 
 const defaultPredictions = [
   (prediction: DetectedObject) => prediction.score > 0.6,
-  (prediction: DetectedObject) => prediction.class === 'person',
+  (prediction: DetectedObject) => prediction.class === 'cat',
 ]
 
 function makeObjectDetector (filterPredicates?: Function[]): ObjectDetector {

src/Vision/UseCases/Factories/mkaeRoboticsCommunicator.ts

@@ -0,0 +1,8 @@
+import RoboticsCommunicator from "../RoboticsCommunicator"
+
+
+function makeRoboticsCommunicator () {
+  return new RoboticsCommunicator()
+}
+
+export default makeRoboticsCommunicator

src/Vision/UseCases/RoboticsCommunicator.ts

@@ -0,0 +1,16 @@
+import * as io from 'socket.io-client'
+import IOffset from '../Interfaces/IOffset'
+
+class RoboticsCommunicator {
+  socket: SocketIOClient.Socket
+
+  constructor () {
+    this.socket = io.connect()
+  }
+
+  sendOffsets = (offsets: IOffset[]) => {
+    this.socket.emit('offsets', offsets)
+  }
+}
+
+export default RoboticsCommunicator

src/Vision/main.ts

@@ -1,6 +1,7 @@
 import IObjectDetector from './Interfaces/IObjectDetector'
 import IObjectLocator from './Interfaces/IObjectLocator'
 import IOffset from './Interfaces/IOffset'
+import IRoboticsCommunicator from './Interfaces/IRoboticsCommunicator'
 import IUiRenderer from './Interfaces/IUiRenderer'
 import IVideoCapturer from "./Interfaces/IVideoCapturer"
 
@@ -8,17 +9,20 @@ import makeObjectDetector from './UseCases/Factories/makeObjectDetector'
 import makeObjectLocator from './UseCases/Factories/makeObjectLocator'
 import makeUiRenderer from './UseCases/Factories/makeUiRenderer'
 import makeVideoCapturer from './UseCases/Factories/makeVideoCatpurer'
+import makeRoboticsCommunicator from './UseCases/Factories/mkaeRoboticsCommunicator'
 
 class App {
   private objectDetector: IObjectDetector
   private objectLocator: IObjectLocator
   private videoCapturer: IVideoCapturer
+  private roboticsCommunicator: IRoboticsCommunicator
   private uiRenderer: IUiRenderer
 
   constructor () {
     this.videoCapturer = makeVideoCapturer()
     this.objectDetector = makeObjectDetector()
     this.objectLocator = makeObjectLocator()
+    this.roboticsCommunicator = makeRoboticsCommunicator()
     this.uiRenderer = makeUiRenderer()
 
     const eventTarget = new EventTarget()
@@ -36,6 +40,7 @@ class App {
 
     const predictedObjects = await this.objectDetector.getPredictionsFromImageData(imageData)
     const offsets: IOffset[] = predictedObjects.map(obj => this.objectLocator.getOffsetsFromPredictions(obj))
+    this.roboticsCommunicator.sendOffsets(offsets)
     this.uiRenderer.render({ imageData, predictedObjects, offsets })
 
     window.requestAnimationFrame(this.predictImage)