#Oculus assisted leg reaching task, to be performed before and throughout the split belt paradigm

#

#Subjects see a static display which give cues about which target to reach for.

#V1 is a familiarization task which shows full feedback with target cues

#

#William Anderton 4/4/2016

#V2P_DK2_R1

import viz

import vizshape

import time

import vizinfo

import random

import itertools

import socket

import sys

import io

import re

import threading

import Queue

import time

#import json

import csv

import vizact

import struct

import array

import math

import subprocess

import win32gui

import numpy as np

import oculus

import vizfx.postprocess

global cpps

cpps = subprocess.Popen('"C:/Users/Gelsey Torres-Oviedo/Documents/Visual Studio 2013/Projects/Vicon2Python_DK2_rev1/x64/Release/Vicon2Python_DK2_rev1.exe"')

time.sleep(3)

viz.splashScreen('C:\Users\Gelsey Torres-Oviedo\Desktop\VizardFolderVRServer\Logo_final_DK2.jpg')

viz.go(

#viz.FULLSCREEN #run world in full screen

)

monoWindow = viz.addWindow(size=(1,1), pos=(0,1), scene=viz.addScene())

monoQuad = viz.addTexQuad(parent=viz.ORTHO, scene=monoWindow)

monoQuad.setBoxTransform(viz.BOX_ENABLED)

monoQuad.setTexQuadDisplayMode(viz.TEXQUAD_FILL)

texture = vizfx.postprocess.getEffectManager().getColorTexture()

def UpdateTexture():

monoQuad.texture(texture)

vizact.onupdate(0, UpdateTexture)

global targettol

targettol = 0.02

global target

target = 0.20375

global transcale

transcale = 0.1/target

global LEG

LEG = 0 #0 for right leg, 1 for left

#declare the total number of steps to attempt each target

global STEPNUM

STEPNUM =50

global hmd

view = viz.addView

hmd = oculus.Rift()

hmd.getSensor

profile = hmd.getProfile()

hmd.setIPD(profile.ipd)

viz.MainView.setPosition(0, 0.1, -0.47)

viz.MainView.setEuler(0,0,0)

global sagt

sagt = vizshape.addBox(size=[0.04,0.02,0.01])

sagt.setPosition(0,0.1,0)

#sagt.color(0,0.7,1)

sagt.color(viz.GRAY)

sagt.disable(viz.LIGHTING)

global origin

#origin = vizshape.addSphere(0.01,20,20)

origin = viz.add('box3.obj',scale = [0.02,0.02,0.001],cache=viz.CACHE_NONE)

#origin.color(20,20,20)

origin.color(viz.GRAY)

origin.disable(viz.LIGHTING)

origin.setPosition(0,-0.01,0)

global latt

latt = vizshape.addBox(size=[0.02,0.04,0.01])

if (LEG==0):

latt.setPosition(0.1,0,0)

else:

latt.setPosition(-0.1,0,0)

#latt.color(0,0.7,1)

latt.color(viz.GRAY)

latt.disable(viz.LIGHTING)

global histzR

histzR = 0

global histzL

histzL = 0

global cursor

cursor = viz.add('box3.obj',scale=[0.005,0.005,0.005],cache=viz.CACHE_NONE)

#cursor.color(0,155,50)

cursor.color(viz.RED)

cursor.disable(viz.LIGHTING)

cursor.setPosition(0,0,-0.02)

global RTOEX

RTOEX = 0

global RTOEY

RTOEY = 0

global LTOEX

LTOEX = 0

global LTOEY

LTOEY = 0

global xoff

xoff = 0

global yoff

yoff = 0

global RHS #definition of HS is altered, it indicates when a force is present for a certain length of time.

RHS = 0

global LHS

LHS = 0

global rtouchx

rtouchx = 0

global ltouchx

ltouchx = 0

global rtouchy

rtouchy = 0

global ltouchy

ltouchy = 0

global touchdown

touchdown = 0

#make array of test order:

highlight = [1,3]*2*STEPNUM

print(highlight)

global stepind

stepind = 0

#highlight the current target

#if (highlight[stepind] == 1):

# sagt.color(0,0.7,1)

# origin.color(viz.GRAY)

# latt.color(viz.GRAY)

#elif (highlight[stepind] == 2):

# sagt.color(viz.GRAY)

# origin.color(0,0.7,1)

# latt.color(viz.GRAY)

#elif (highlight[stepind] == 3):

# sagt.color(viz.GRAY)

# origin.color(viz.GRAY)

# latt.color(0,0.7,1)

#else:

# print('error when attempting to highlight target...')

#setup array of randomly picked steps

#global randy

#randy = []

#order = [1,2] * (2*STEPNUM)

#while len(randy) < 20:#optimistically sample the solution space for test orders, reduced from 100 on 11/3/2015 to reduce calculation time for high stepnum

# random.shuffle(order)

# if order in randy:

# continue

# if all(len(list(group)) < 4 for _, group in itertools.groupby(order)):

# randy.append(order[:])

#randy = random.choice(randy)#order of tests, pseudo random. No more than 3 same sided tests in a row

#print(randy)

global phase

phase = 500

global textwin

textwin = viz.addText('',pos=[0,0,-0.02],scale=[0.015,0.015,0.015])

def UpdateViz(root,q,savestring,q3):

cpps.kill()

def ParseRoot(root):#the purpose of this function is to make sure that marker data is used correctly since they can arrive in different order, depending on the order the models are listed in Nexus

return data

def runclient(root,q):

s.close()

def savedata(savestring,q3):

file.close()

def SetOrigin(biggle):

phase = 0

# return(xoff,yoff)

endflag = threading.Event()#an event to raise when we are ready to stop recording

def raisestop(sign):

viz.quit()

root = ''#empty string

savestring = ''

q = Queue.Queue()#initialize the queue

q3 = Queue.Queue()#intialize another queue for saving data

t1 = threading.Thread(target=runclient,args=(root,q))

t2 = threading.Thread(target=UpdateViz,args=(root,q,savestring,q3))

#t3 = threading.Thread(target=sendtreadmillcommand,args=(speedlist,qq))

t4 = threading.Thread(target=savedata,args=(savestring,q3))

t1.daemon = True

t2.daemon = True

#t3.daemon = True

t4.daemon = True

#start the threads

t1.start()

t2.start()

#t3.start()

t4.start()

print("\n")

print("press 'q' to stop")

vizact.onkeydown('q',raisestop,'biggle')#biggle is meaningless, just need to pass something into the raisestop callback

#vizact.onkeydown('65461',SetOrigin,'biggle')# 65461 is #5 on the wireless keypad

vizact.onkeydown('r',SetOrigin,'biggle')#biggle is meaningless, just need to pass something into the raisestop callback