def __del__(self):
print viz.getFrameNumber()
# Remove physical component
self.phys_node.remove()
# Stop updating visNode
if self.update_action:
self.update_action.remove()
# Remove visual component
self.vis_node.remove()
def __del__(self):
print viz.getFrameNumber()
# Remove physical component
self.physNode.remove()
# Stop updating visNode
if( self.updateAction ):
self.updateAction.remove()
# Remove visual component
self.visNode.remove()
def handle_request(self, request):
"""@args vizhtml.VizardHTTPRequestHandler()"""
#viz.clearcolor(viz.SKYBLUE)
#viz.addChild('ground_grass.osgb')
#viz.MainView.setPosition([0,1.8,-10])
#carousel = viz.addChild('carousel.wrl')
#carousel.addAction(vizact.spin(0,1,0,20))
print request.log_request
# If request is for a resource (e.g. image), then let vizhtml handle it
if request.resource_path:
return
# If form was submitted, put message back into page
if request.form_event:
message = cgi.escape(request.form_event.message, True)
if message == 'doorBath':
doorbath()
else:
message = ''
# Send html code with dynamic content
# Envía el código HTML especificado en el navegador.
request.send_html_code(
code.format(frame=viz.getFrameNumber(), message=message))
def _resetEventFlag(self): #This should run before timers, eyeTrackingCal. Called using <vizact>.onupdate if( self.lastFrameUpdated == viz.getFrameNumber() ): print 'Did not reset! Status already set to ' + str(self.status) else: self.status = 0; # 0 Means nothing is happening
def setStatus(self,status,overWriteBool = False): if( self.lastFrameUpdated != viz.getFrameNumber() ): #print 'Setting status to' + str(status) self.status = status self.lastFrameUpdated = viz.getFrameNumber() elif( overWriteBool is True and self.lastFrameUpdated == viz.getFrameNumber() ): #print 'Overwrite from status ' + str(self.status) + ' to ' + str(status) self.status = status self.lastFrameUpdated = viz.getFrameNumber() elif( self.lastFrameUpdated == viz.getFrameNumber() ): #print 'Stopped attempt to overwrite status of ' + str(self.status) + ' with ' + str(status) + ' [overWriteBool=False]' pass
def __init__(self): ################################################################ ## Eventflag # 1 ball launched # 2 * not used * # 3 ball has hit floor # 4 ball has hit paddle # 5 ball has hit back wall # 6 trial end # 7 block end viz.EventClass.__init__(self) self.status = 0 self.lastFrameUpdated = viz.getFrameNumber() self.currentValue = 0 # On every frame, self.eventFlag should be set to 0 # This should happen first, before any timer object has the chance to overwrite it! vizact.onupdate(viz.PRIORITY_FIRST_UPDATE,self._resetEventFlag)
def UpdateView(self, YR_input=None):
#elapsedTime = viz.elapsed()
elapsedTime = viz.getFrameElapsed()
if elapsedTime > .02:
print("viz.tick: ", viz.tick())
print("frame number: ", viz.getFrameNumber())
print("elapsedTime:", elapsedTime)
yawrate = 0.0
turnangle = 0.0
distance = 0.0
dt = elapsedTime
#dt = 1.0/60.0 #not sure why but it's perceptually smoother with a constant. This shouldn't be the case.
#Get steering wheel and gas position
data = joy.getPosition()
SteeringWheelValue = data[0] # on scale from -1 to 1.
gas = data[1]
#keep heading up to date.
ori = self.__view.getEuler()
self.__heading = ori[0]
if viz.key.isDown(viz.KEY_UP):
gas = -5
elif viz.key.isDown(viz.KEY_DOWN):
gas = 5
if viz.key.isDown(viz.KEY_LEFT
): #rudimentary control with the left/right arrows.
data[0] = -1
elif viz.key.isDown(viz.KEY_RIGHT):
data[0] = 1
# #Compute drag
# drag = self.__speed / 300.0
self.__dir = 1
if (YR_input is not None) and (
self.__automation == True
): #provides the opportunity to pass a yaw rate to the driver.
yawrate = YR_input
Wheel_yawrate = self.__dir * SteeringWheelValue * 35.0 #max wheel lock is 35degrees per s yawrate
self.__Wheel_yawrate_adjustment = yawrate - Wheel_yawrate #correction for any offset between virtual yawrate and yawrate as specified by the steering wheel angle.
else:
yawrate = self.__dir * SteeringWheelValue * 35.0 #max wheel lock is 35degrees per s yawrate
#add adjustment for smooth take-over.
yawrate += self.__Wheel_yawrate_adjustment
turnangle = yawrate * dt
self.__heading += turnangle
self.__pause = self.__pause + 1
#Update the viewpoint
if self.__pause > 0:
distance = self.__speed * dt
#posnew = (0,0,self.__speed)
posnew = (0, 0, distance)
eulernew = (self.__heading, 0, 0)
self.__view.setPosition(posnew, viz.REL_LOCAL)
self.__view.setEuler(eulernew)
else:
self.__heading = 0.0
self.__dir = 1.0
turnangle = 0.0
#return the values used in position update
UpdateValues = []
UpdateValues.append(yawrate)
UpdateValues.append(turnangle)
UpdateValues.append(distance)
UpdateValues.append(dt)
UpdateValues.append(SteeringWheelValue)
UpdateValues.append(self.__Wheel_yawrate_adjustment)
return (UpdateValues)
def myKeyboard( key):
global t , trialstartframe, trialType, feetScaledFlag, Piazza, stripe2, lFoot, rFoot
global affTrials, distTrials, trials, footSize, numTrials, canStep, DataEntry, verbalEst
global subjectno, ToRecord_YN, Estimate, FootH_Offset, Swapped, Tracker_Offset, paused
global lFootTracker, rFootTracker, LFootLink, RFootLink, rFoot, lFoot, Tracker2FootEdge
global lFootModel, rFootModel, InputString, EH_Flag
if DataEntry == False:
if key == '`':
DataEntry = True
if key == 'n':
ToRecord_YN = "FALSE"
if key == 'y':
ToRecord_YN = "TRUE"
# Starts the next trial
if key == 'p':
BlockDisplayOFF()
if key == ' ':
if trialType == 0: # AFFORDANCE
out.write(str(subjectno) + ',' + str(t) + ',' + str(trials[t][1]) + ',' + 'AFFORDANCE' + ',' + str(trials[t][0]) + ',' + str(ToRecord_YN) +'\n')
#('\nSubject Number,Trial Index,Gap Width,Trial Type,Rotation,Can Step,Distance,Height Perception,Height Change %')
out.flush()
os.fsync(out)
ToRecord_YN = None
if t < len(affTrials) - 1:
CrosshairDisplay(2)
t += 1
doTrial( trials[t][0] , trials[t][1] )
print t
print trials[t]
trialstartframe = viz.getFrameNumber()
else: # Finished AFFORDANCE
t += 1 # Increment so that the scene that is loaded after the message box is the first DISTANCE trial/next trial
trialType = 1 # DISTANCE
numTrials = 12 # Number of trials in each foot size for the DISTANCE judgments
canStep = -1 # No longer used for remaining trials
# Take break before beginning DISTANCE judgments
BlockDisplay("DISTANCE")
# Load the first DISTANCE trial
doTrial (trials[t][0] , trials[t][1])
print t
print trials[t]
else: # DISTANCE (trialType == 1) or EYE HEIGHT (trialType == 2)
if t < len(trials) - 1:
CrosshairDisplay(3)
out.write(str(subjectno) + ',' + str(t) + ',' + str(trials[t][1]) + ',' + 'DISTANCE' + ',' + str(trials[t][0]) + ',' + "N/A" + ',' + InputString +'\n')
#('\nSubject Number,Trial Index,Trial Type,Rotation,Can Step,Distance,Height Perception,Height Change %')
out.flush()
os.fsync(out)
InputString = ""
InputText2D.message(InputString)
t += 1
# if (t != len(affTrials)) and (t-len(affTrials))%numTrials == 0:
# viz.message("")
# print 'hit third break'
# currSizeIndex = 1 # Set foot size index to second foot size
doTrial( trials[t][0] , trials[t][1] )
print t
print trials[t]
trialstartframe = viz.getFrameNumber()
else: # Finished DISTANCE
if(EH_Flag == False):
out.write(str(subjectno) + ',' + str(t) + ',' + str(trials[t][1]) + ',' + 'DISTANCE' + ',' + str(trials[t][0]) + ',' + "N/A" + ',' + InputString +'\n')
EH_Flag = True
else:
out.write(str(subjectno) + ',' + str(t+1) + ',' + "N/A" + ',' + 'HEIGHT ESTIM' + ',' + str(trials[t][0]) + ',' + "N/A" + ',' + "N/A" + ',' + InputString +'\n')
trialType = 2 # EYE HEIGHT
paused = True
InputString = ""
InputText2D.message(InputString)
BlockDisplay("EYE HEIGHT")
# Precautionary inclusion, these keys should be VERY circumstantially used
# Go back one trial
if key == viz.KEY_LEFT:
t -= 2
myKeyboard(' ')
# Going forward one trial would be equivalent to pressing the spacebar so that key == ' '
# Use this key for updating scale of the shoes to reflect the base shoe size/dimensions
if key == 'u' and feetScaledFlag < 0:
print ("Scaling Feet")
# The shoes will now be scaled properly
feetScaledFlag = 1
TempList = rFoot.getScale()
TempList = [TempList[0]*Multi,TempList[1]*Multi,TempList[2]*Multi]
rFoot.setScale(TempList)
TempList = lFoot.getScale()
TempList = [TempList[0]*Multi,TempList[1]*Multi,TempList[2]*Multi]
lFoot.setScale(TempList)
SetShoes()
del TempList
# Make the shoes visible to the user
rFoot.visible(viz.ON)
lFoot.visible(viz.ON)
RotAngle = math.degrees(math.asin(Tracker_Offset/Tracker2FootEdge))
print("RotAngle: " + str(RotAngle))
rFootModel.setAxisAngle([1,0,0,RotAngle])
lFootModel.setAxisAngle([1,0,0,RotAngle])
# Schedule a task so that the data is recorded every FRAME_DELAY seconds
viztask.schedule(printTarget)
print ("Scaling Feet Done")
# Show noisy blank screen
if key == 'b':
CrosshairDisplay(2)
if key == '1':
Tracker_Offset = viz.input('Tracker offset from center to ground (in CM)' , value='0')
Tracker_Offset = Tracker_Offset * .01
LFootLink.remove()
RFootLink.remove()
RFootLink = viz.link(Tracking[0], rFoot, offset=(0,-Tracker_Offset,0, viz.REL_PARENT))
LFootLink = viz.link(Tracking[1], lFoot, offset=(0,-Tracker_Offset,0, viz.REL_PARENT))
if(Tracker_Offset/Tracker2FootEdge > 1 or Tracker_Offset/Tracker2FootEdge < 0):
CalcErrorFlag = True
while(CalcErrorFlag):
Tracker_Offset = viz.input('Tracker offset from center to ground (in CM)' , value='0')
Tracker_Offset = Tracker_Offset * .01
Tracker2FootEdge = viz.input('distance from tracker center to the ground in front of the participants foot (in CM)' , value='0')
Tracker2FootEdge = Tracker2FootEdge * .01
if(Tracker_Offset/Tracker2FootEdge > 1 or Tracker_Offset/Tracker2FootEdge < 0):
pass
else:
CalcErrorFlag = False
RotAngle = math.degrees(math.asin(Tracker_Offset/Tracker2FootEdge))
print("RotAngle: " + str(RotAngle))
rFootModel.setAxisAngle([1,0,0,RotAngle])
lFootModel.setAxisAngle([1,0,0,RotAngle])
if key == '2':
Tracker2FootEdge = viz.input('distance from tracker center to the ground in front of the participants foot (in CM)' , value='0')
Tracker2FootEdge = Tracker2FootEdge * .01
if(Tracker_Offset/Tracker2FootEdge > 1 or Tracker_Offset/Tracker2FootEdge < 0):
CalcErrorFlag = True
while(CalcErrorFlag):
Tracker_Offset = viz.input('Tracker offset from center to ground (in CM)' , value='0')
Tracker_Offset = Tracker_Offset * .01
Tracker2FootEdge = viz.input('distance from tracker center to the ground in front of the participants foot (in CM)' , value='0')
Tracker2FootEdge = Tracker2FootEdge * .01
if(Tracker_Offset/Tracker2FootEdge > 1 or Tracker_Offset/Tracker2FootEdge < 0):
pass
else:
CalcErrorFlag = False
RotAngle = math.degrees(math.asin(Tracker_Offset/Tracker2FootEdge))
print("RotAngle: " + str(RotAngle))
rFootModel.setAxisAngle([1,0,0,RotAngle])
lFootModel.setAxisAngle([1,0,0,RotAngle])
elif DataEntry == True:
if key == '`' or key == viz.KEY_RETURN:
DataEntry = False
elif key == viz.KEY_BACKSPACE:
InputString = InputString[:-1]
else:
InputString = InputString + key
InputText2D.message(InputString)
if key == viz.KEY_F6:
LFootLink.remove()
RFootLink.remove()
if Swapped == False:
Swapped = True
RFootLink = viz.link(Tracking[1], rFoot, offset=(0,-Tracker_Offset,0, viz.REL_PARENT))###FIX
LFootLink = viz.link(Tracking[0], lFoot, offset=(0,-Tracker_Offset,0, viz.REL_PARENT))
elif Swapped == True:
Swapped = False
RFootLink = viz.link(Tracking[0], rFoot, offset=(0,-Tracker_Offset,0, viz.REL_PARENT))###FIX
LFootLink = viz.link(Tracking[1], lFoot, offset=(0,-Tracker_Offset,0, viz.REL_PARENT))
if key == viz.KEY_ESCAPE:
out.flush()
out2.flush()
os.fsync(out)
os.fsync(out2)
out.close()
out2.close()
viz.quit()
def calculate_segment_CoM(self):
x_TBCoM = {}
y_TBCoM = {}
z_TBCoM = {}
self.test_segment_list = []
for segment in self.body_segments:
if segment[0] is 'Pelvis':
# for body segment pelvis distal end (hip midpoint) equals the midpoint between r and l hip
# get tracker of r and l hip
lhip, rhip = trackers[16], trackers[20]
# use list comprehension to calculate midpoint (using getPosition for coordinates)
self.HIP_MIDPOINT = [
((a + b / 2))
for a, b in zip(lhip.getPosition(), rhip.getPosition())
]
#print(self.HIP_MIDPOINT)
# apply hip midpoint coordinates to sphere
self.s.setPosition(self.HIP_MIDPOINT)
# get position of prox / dist segment ends
prox_pos = self.HIP_CENTER
prox_pos = prox_pos.getPosition()
dist_pos = self.HIP_MIDPOINT
else:
# link green/red spheres to prox/dist segment
prox = segment[1]
dist = segment[2]
# get position of prox / dist segment ends
prox_pos = prox.getPosition()
dist_pos = dist.getPosition()
#print(segment, prox_pos, dist_pos)
seg = [
segment[0] + '_prox', prox_pos[0], prox_pos[1], prox_pos[2],
segment[0] + '_dist', dist_pos[0], dist_pos[1], dist_pos[2]
]
#data = map(lambda x: str(x).translate(None, ['[',']']), seg)
self.test_segment_list.append(seg) #[segment, dist_pos, prox_pos])
x_prox, y_prox, x_dist, y_dist = prox_pos[0], prox_pos[
1], dist_pos[0], dist_pos[1]
z_prox, z_dist = prox_pos[2], prox_pos[2]
segment = segment[0]
l_prox, l_dist = self.perc_of_segm_length[segment][
0], self.perc_of_segm_length[segment][1]
#
x_COM = x_prox * l_dist + x_dist * l_prox
y_COM = y_prox * l_dist + y_dist * l_prox
z_COM = z_prox * l_dist + z_dist * l_prox
# apply body segment COM to according sphere
self.com_spheres[segment].setPosition(x_COM, y_COM, z_COM)
self.com_spheres[segment].visible(viz.OFF)
segment_fraction = self.perc_of_segm_length[segment][2]
x_TBCoM[segment] = (x_COM * segment_fraction)
y_TBCoM[segment] = (y_COM * segment_fraction)
z_TBCoM[segment] = (z_COM * segment_fraction)
X = sum(x_TBCoM.values())
Y = sum(y_TBCoM.values())
Z = sum(z_TBCoM.values())
# apply TBCoM coordinates to TBCoM sphere
self.TBCoM_sphere.setPosition(X, Y, Z)
self.TBCoM_sphere.visible(viz.OFF)
#print(self.TBCoM_sphere.getPosition()[0])
#print(self.TBCoM_sphere.getEuler())
# print out data in console
#print(self.test_segment_list)
#print(self.exp.TRIAL_NO, self.exp.current_stimulus_name, self.exp.current_stimulus_yaw, self.exp.current_stimulus_roll,self.exp.STATE,
# viz.tick(), (viz.tick() - self.exp.TRIAL_START_TIME), viz.getFrameNumber(), viz.getFrameElapsed(), viz.getFrameTime(), [X, Y, Z], tracker_coordinates)#self.segment_coordinates)
# temporarily save framewise data into empty list
self.TEMP_RV_DATA.append([
self.exp.STATE, self.exp.response, self.exp.keyPressTime,
viz.tick(),
viz.getFrameNumber(),
viz.getFrameElapsed(),
viz.getFrameTime()
])
self.TEMP_COM_DATA.append(
self.test_segment_list) # self.segment_coordinates
self.TEMP_TCBOM.append(['TCBOM', X, Y, Z])
