VibrationController.cs 4.7 KB

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  1. using System;
  2. using System.Threading.Tasks;
  3. using Sensors;
  4. using UnityEngine;
  5. namespace SicknessReduction.Haptic
  6. {
  7. public enum VibrationControllerMode
  8. {
  9. Continuous,
  10. AlternatingFixed,
  11. AlternatingCadenceBased
  12. }
  13. [RequireComponent(typeof(DynamicReductionSource))]
  14. public class VibrationController : EspController
  15. {
  16. private const string TOPIC_CYCLE = "Vibration/Control/Cycle";
  17. private const string TOPIC_CADENCE = "Vibration/Control/Cadence";
  18. private const int THRES_CADENCE_CHANGE = 4;
  19. public int minCycle = 100;
  20. public int maxCycle = 178; //vibro motor specs: 11000 ± 3,000rpm = 133.33 - 183.33 Hz
  21. public float reductionValueThreshold = 0.05f;
  22. public VibrationControllerMode mode;
  23. public int fixedCycleRpm;
  24. private bool initialCyclePublished;
  25. private int previousCadence = -1;
  26. private DynamicReductionSource reductionSource;
  27. private int currentCycle = 0;
  28. protected override void Start()
  29. {
  30. base.Start();
  31. reductionSource = GetComponent<DynamicReductionSource>();
  32. }
  33. protected override async void Update()
  34. {
  35. base.Update();
  36. // > 0 while cornering
  37. var reductionValue = reductionSource.CurrentValue;
  38. var cycleValue = reductionValue < reductionValueThreshold
  39. ? 0
  40. : (int) Mathf.Lerp(minCycle, maxCycle, reductionValue);
  41. if (!DoUpdate || PreviousUpdateActive) return;
  42. if (reductionValue > 0)
  43. {
  44. switch (mode)
  45. {
  46. case VibrationControllerMode.Continuous:
  47. await VibrateContinuous(cycleValue);
  48. break;
  49. case VibrationControllerMode.AlternatingFixed:
  50. await VibrateAlternatingFixed(cycleValue);
  51. break;
  52. case VibrationControllerMode.AlternatingCadenceBased:
  53. await VibrateAlternatingCadenceBased();
  54. break;
  55. default:
  56. throw new ArgumentOutOfRangeException();
  57. }
  58. }
  59. else if (currentCycle != 0)
  60. {
  61. await StopVibrating();
  62. }
  63. PreviousUpdateActive = false;
  64. }
  65. private async Task StopVibrating()
  66. {
  67. Debug.Log("Stop Vibrating");
  68. await Broker.Publish(TOPIC_CYCLE, "0");
  69. currentCycle = 0;
  70. }
  71. private async Task VibrateAlternatingCadenceBased()
  72. {
  73. var cadence = BikeSensorData.Instance.PowermeterData?.InstantaneousCadence;
  74. if (!cadence.HasValue) return;
  75. var c = cadence.Value;
  76. PreviousUpdateActive = true; //flag to avoid concurrent updates
  77. //as soon as we have a cadence, we want the motors to vibrate
  78. if (!initialCyclePublished)
  79. {
  80. await Broker.Publish(TOPIC_CYCLE, $"{maxCycle}");
  81. initialCyclePublished = true;
  82. }
  83. //if the cadence changes to 0, we have to switch off vibration
  84. if (c == 0)
  85. {
  86. await Broker.Publish(TOPIC_CYCLE, "0");
  87. previousCadence = c;
  88. }
  89. //as soon as we have cadence again, we want to switch on vibration again, and then immediately set cadence again
  90. else if (previousCadence == 0)
  91. {
  92. await Broker.Publish(TOPIC_CYCLE, $"{maxCycle}");
  93. await PublishCadence(c);
  94. }
  95. //if we have never set cadence, or the change of cadence is high enough, we tell the ESP to change cadence
  96. else if (previousCadence < 0 || c - previousCadence > THRES_CADENCE_CHANGE)
  97. {
  98. await PublishCadence(c);
  99. }
  100. }
  101. private async Task VibrateAlternatingFixed(int cycleValue)
  102. {
  103. if (Math.Abs(cycleValue - currentCycle) > 0)
  104. {
  105. await Broker.Publish(TOPIC_CYCLE, $"{cycleValue}");
  106. await PublishCadence(fixedCycleRpm);
  107. }
  108. }
  109. private async Task VibrateContinuous(int cycleValue)
  110. {
  111. if (Math.Abs(cycleValue - currentCycle) > 0)
  112. {
  113. Debug.Log($"Sending Cycle {cycleValue}");
  114. await Broker.Publish(TOPIC_CYCLE, $"{cycleValue}");
  115. }
  116. }
  117. private async Task PublishCadence(int cadence)
  118. {
  119. Debug.Log($"Sending Cadence {cadence}");
  120. await Broker.Publish(TOPIC_CADENCE, $"{cadence}");
  121. previousCadence = cadence;
  122. }
  123. }
  124. }