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import TextDecoder from 'text/decoder'
/**
* @brief face tracking mod with UnitV2
* @param {*} robot
*/
function onRobotCreated(robot, device) {
const decoder = new TextDecoder()
const target = {
x: 0.8,
y: 0,
z: 0,
}
const client = new device.network.http.io({
...device.network.http,
host: 'unitv2.local',
port: 80,
})
const _request = client.request({
method: 'POST',
path: '/func/result',
onReadable(count) {
let result
try {
const text = decoder.decode(this.read(count))
result = JSON.parse(text.split('|')[0])
} catch (_e) {
trace('parse failed.\n')
return
}
const face = result.face?.[0]
if (face == null) {
trace('no face detected.\n')
return
}
const centerX = face.x + face.w / 2
const centerY = face.y + face.h / 2
target.y = 0.8 * ((320 - centerX) / 320)
target.z = centerY / 480
robot.lookAt([target.x, target.y, target.z])
},
})
}
export default {
onRobotCreated,
}