def __setupVizParams__(self):
#Just playing here#
#viz.setMultiSample(8)
#viz.fov(120)
#Check monitor refresh rate and set stereo mode accordingly#
monitor_RefreshRate = viz.getOption('viz.monitor.refresh_rate', type=int)
#if(119 <= monitor_RefreshRate):
#Turn on the physics engine
viz.phys.enable()
viz.window.setFullscreenMonitor(2)
viz.setMultiSample(8)
viz.go(viz.FULLSCREEN | viz.QUAD_BUFFER)
print "here"
def on_release(e):
"""
Callback-Funktion, die bem Loslassen eines Bauteils
aufgerufen wird.
Args:
e: Event, wird nicht verwendet
"""
global robot, robot_parts, part_index
# Position des Bauteils mit der des Templates vergleichen
part = robot_parts[part_index]
pos_1 = np.array(part.getPosition(viz.ABS_GLOBAL), dtype=np.float32)
pos_2 = np.array(robot.get_position(part_index), dtype=np.float32)
dist = np.linalg.norm(pos_1 - pos_2)
# Falls sich das Bauteil nahe genug an der korrekten Position befindet
# TODO: Orientierung ueberpruefen
if dist <= max_dist:
# Bauteil positionieren und Physik fuer dieses
# Bauteil ausschalten
part.disable(viz.DYNAMICS)
part.collideMesh()
part.setPosition(robot.get_position(part_index), viz.ABS_GLOBAL)
part.setAxisAngle(robot.get_orientation(part_index), viz.ABS_GLOBAL)
# Falls noch Bauteile uebrig geblieben sind, das
# naechste Bauteil fuer den grabber freischalten
if part != robot_parts[-1]:
part_index += 1
grabber.setItems(robot_parts[part_index:part_index + 1])
# Ansonsten den Ball fuer den Grabber freischalten und
# den Roboter dem Ball folgen lassen.
else:
# Template sichtbar machen
robot.visible(True)
# Neu gebauten Roboter unsichtbar machen
for p in robot_parts:
p.visible(False)
# Ball freischalten
grabber.setItems([ball])
# Roboter folgt dem Ball
vizact.ontimer(1. / float(viz.getOption('viz.max_frame_rate')),
robot_follows_marker, robot, ball)
def getPublishedPath(filename):
publishPath = viz.getOption('viz.publish.path','')
if publishPath:
return '/'.join([publishPath,filename])
return filename
def runtrials():
global trialtype, trialtype_signed, groundplane, radiiPool, out
#yield viztask.waitTime(5.0) #allow me to get into the seat.
setStage() # texture setting. #likely to have to be expanded.
driver.reset() # initialization of driver
[leftbends, rightbends] = BendMaker(radiiPool)
viz.MainScene.visible(viz.ON, viz.WORLD)
#add text to denote conditons.
txtCondt = viz.addText("Condition", parent=viz.SCREEN)
txtCondt.setPosition(.7, .2)
txtCondt.fontSize(36)
out = ""
def updatePositionLabel():
global driver, trialtype_signed, trialtype
##WHAT DO I NEED TO SAVE?
# get head position(x, y, z)
pos = viz.get(viz.HEAD_POS)
pos[1] = 0.0 # (x, 0, z)
# get body orientation
ori = viz.get(viz.BODY_ORI)
steeringWheel = driver.getPos()
#what data do we want? RoadVisibility Flag. SWA. Time, TrialType. x,z of that trial These can be reset in processing by subtracting the initial position and reorienting.
SaveData(pos[0], pos[2], ori, steeringWheel) ##.
vizact.ontimer((1.0 / 60.0), updatePositionLabel)
for j in range(0, TotalN):
#import vizjoy
trialtype = abs(TRIALSEQ_signed[j])
trialtype_signed = TRIALSEQ_signed[j]
txtDir = ""
# Define a function that saves data
def SaveData(pos_x, pos_z, ori, steer):
global out
#what data do we want? RoadVisibility Flag. SWA. Time, TrialType. x,z of that trial These can be reset in processing by subtracting the initial position and reorienting.
if out != '-1':
# Create the output string
currTime = viz.tick()
out = out + str(float(
(currTime))) + '\t' + str(trialtype_signed) + '\t' + str(
pos_x) + '\t' + str(pos_z) + '\t' + str(
ori) + '\t' + str(steer) + '\t' + str(
radius) + '\t' + str(occlusion) + '\t' + str(
int(trialbend.getVisible())) + '\n'
radiipick = 1
occlpick = 1
L = len(radiiPool)
L2 = L * 2
print trialtype, L, L2
if trialtype > L and trialtype <= L2:
print 'here'
radiipick = trialtype - L #reset trialtype and occl index
occlpick = 2
elif trialtype > L2:
print 'here too'
radiipick = trialtype - L2
occlpick = 3
print radiipick
#pick correct object
if trialtype_signed > 0: #right bend
trialbend = rightbends[radiipick - 1]
txtDir = "R"
else:
trialbend = leftbends[radiipick - 1]
txtDir = "L"
radius = radiiPool[radiipick - 1]
occlusion = occlPool[occlpick - 1]
if radius > 0:
msg = "Radius: " + str(radius) + txtDir + '_' + str(occlusion)
else:
msg = "Radius: Straight" + txtDir + '_' + str(occlusion)
txtCondt.message(msg)
#translate bend to driver position.
driverpos = viz.MainView.getPosition()
print driverpos
trialbend.setPosition(driverpos[0], 0, driverpos[2])
#now need to set orientation
driverEuler = viz.MainView.getEuler()
trialbend.setEuler(driverEuler, viz.ABS_GLOBAL)
#will need to save initial vertex for line origin, and Euler. Is there a nifty way to save the relative position to the road?
driver.setSWA_invisible()
yield viztask.waitTime(occlusion) #wait an occlusion period
trialbend.visible(1)
yield viztask.waitTime(
2.5 - occlusion
) #after the occlusion add the road again. 2.5s to avoid ceiling effects.
trialbend.visible(0)
#driver.setSWA_visible()
def checkCentred():
centred = False
while not centred:
x = driver.getPos()
if abs(x) < .5:
centred = True
break
# centred = False
# while not centred:
# x = driver.getPos()
# print x
##wait a while
print "waiting"
yield viztask.waitDirector(checkCentred)
print "waited"
driver.setSWA_visible()
yield viztask.waitTime(2) #wait for input .
else:
#print file after looped through all trials.
fileproper = ('Pilot_CDM.dat')
# Opens nominated file in write mode
path = viz.getOption('viz.publish.path/')
file = open(path + fileproper, 'w')
file.write(out)
# Makes sure the file data is really written to the harddrive
file.flush()
#print out
file.close()
#exit vizard
viz.quit() ##otherwise keeps writting data onto last file untill ESC
#world_axes = vizshape.addAxes()
#X = viz.addText3D('X',pos=[1.1,0,0],color=viz.RED,scale=[0.3,0.3,0.3],parent=world_axes)
#Y = viz.addText3D('Y',pos=[0,1.1,0],color=viz.GREEN,scale=[0.3,0.3,0.3],align=viz.ALIGN_CENTER_BASE,parent=world_axes)
#Z = viz.addText3D('Z',pos=[0,0,1.1],color=viz.BLUE,scale=[0.3,0.3,0.3],align=viz.ALIGN_CENTER_BASE,parent=world_axes)
# add a stencil buffer for the outline highlight
if __name__ == "__main__":
viz.setOption('viz.display.stencil', 8)
#vizconnect.go('./vizconnect_config.py')
vizconnect.go('./xylo_vizconnect_config2017.py')
for tracker in vizconnect.ConfigurationManager.get().getDict('tracker'):
print(tracker)
# get the quality setting of the demo if specified
DEMO_QUALITY_SETTING = max(
0, viz.getOption('DEMO_QUALITY_SETTING', default=4, type=int))
viz.setMultiSample(DEMO_QUALITY_SETTING * 2)
# disable the head lamps since we're doing lighting ourselves
for window in viz.getWindowList():
window.getView().getHeadLight().disable()
else:
vizconnect.go('./multiscript_vizconnect_config.py')
# Add the local events (events specific to this demo)
#vizconnect.go('vizconnect_config_local_events.py')
# Load the vizconnect configuration. File: base_vizconnect_config2016.py
vizfx.addDirectionalLight(euler=(0, 90, 0))
# Add a viewpoint so the user starts at [0,0,0].
vp = vizconnect.addViewpoint(pos=[0, 0, 0],
import os
import viz
import math
import ctypes
# Module is only supported with Vizard 5.1
cv = viz.compareVersion('5.1')
if cv < 0:
raise EnvironmentError('SMI module is incompatible with Vizard {}. Please contact [email protected] for latest version.'.format(viz.version()))
elif cv > 0:
raise EnvironmentError('SMI module requires Vizard 5.1')
# Ensure we are not 64-bit
if viz.getOption('platform.bit','32') != '32':
raise EnvironmentError('SMI module does not support 64-bit versions of Vizard')
# Callback result structure
class _CallbackDataStruct(ctypes.Structure):
_fields_ = [ ("type", ctypes.c_uint)
,("result", ctypes.c_void_p)
]
_CallbackDataStructPointer = ctypes.POINTER(_CallbackDataStruct)
# Callback type
_smiCallback = ctypes.WINFUNCTYPE(None, _CallbackDataStructPointer)
# EyeDataHMDStruct
class _EyeDataHMDStruct(ctypes.Structure):
_fields_ = [ ("gazePoint_x", ctypes.c_double)
,("gazePoint_y", ctypes.c_double)
import os
import viz
import math
import ctypes
# Module is only supported with Vizard 5.1
#cv = viz.compareVersion('5.1')
#if cv < 0:
# raise EnvironmentError('SMI module is incompatible with Vizard {}. Please contact [email protected] for latest version.'.format(viz.version()))
#elif cv > 0:
# raise EnvironmentError('SMI module requires Vizard 5.1')
# Ensure we are not 64-bit
if viz.getOption('platform.bit', '32') != '32':
raise EnvironmentError(
'SMI module does not support 64-bit versions of Vizard')
# Callback result structure
class _CallbackDataStruct(ctypes.Structure):
_fields_ = [("type", ctypes.c_uint), ("result", ctypes.c_void_p)]
_CallbackDataStructPointer = ctypes.POINTER(_CallbackDataStruct)
# Callback type
_smiCallback = ctypes.WINFUNCTYPE(None, _CallbackDataStructPointer)
# EyeDataHMDStruct
class _EyeDataHMDStruct(ctypes.Structure):
