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<scxml
datamodel="ecmascript"
xmlns="http://www.w3.org/2005/07/scxml"
xmlns:scenegraph="http://uscxml.tk.informatik.tu-darmstadt.de/scenegraph.xsd">
<datamodel>
<data id="localCam" />
<data id="foo" />
</datamodel>
<state id="start">
<!-- setup all invokers -->
<!-- 20ms heartbeat -->
<invoke type="heartbeat" id="heartbeat.20ms">
<param name="interval" expr="'20ms'" />
</invoke>
<!-- receive files -->
<invoke type="umundo" id="umundo.files">
<param name="domain" expr="''" />
<param name="channel" expr="'umundo.files'" />
<param name="types" expr="'../proto/3DViewer'" />
</invoke>
<!-- publish / subscribe to remote pose -->
<invoke type="umundo" id="umundo.pose">
<param name="domain" expr="''" />
<param name="channel" expr="'umundo.pose'" />
<param name="types" expr="'../proto/3DViewer'" />
</invoke>
<!-- 3D viewer
This is only a template for nodes inserted per javascript
-->
<invoke type="scenegraph">
<content>
<scenegraph:display id="localDisplay" width="50%" height="50%">
<scenegraph:viewport>
<scenegraph:camera id="localCam">
</scenegraph:camera>
<scenegraph:translation>
<scenegraph:rotation>
<scenegraph:scale>
<scenegraph:node />
</scenegraph:scale>
</scenegraph:rotation>
</scenegraph:translation>
</scenegraph:viewport>
</scenegraph:display>
</content>
</invoke>
<state id="sendPose">
<transition target="sendPose" event="heartbeat.20ms" />
<onentry>
<script>
localCam = document.evaluate("//scenegraph:display[@id='localDisplay']").asNodeSet();
print(localCam[0].getAttribute("pitch"));
</script>
<send target="#_umundo.pose" event="umundo.pose">
<param name="type" expr="'SceneSetup'" />
<content>
({
'camPose': {
'euler': {
'pitch': localCam.getAttribute("pitch"),
'roll': localCam.getAttribute("roll"),
'yaw': localCam.getAttribute("yaw"),
}
},
'modelPose': {
'euler': {
'pitch': localCam.getAttribute("pitch"),
'roll': localCam.getAttribute("roll"),
'yaw': localCam.getAttribute("yaw"),
}
},
'modelName': "foo",
'bandName': "foo"
})
</content>
</send>
</onentry>
</state>
</state>
</scxml>
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