Polar Sensor Data improvements and plotting

Assembly-CSharp-Editor.csproj

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+# Datasource local storage ignored files
+/../../../../../../:\Unity Projects\VR Cycling\Assets\Plotting\.idea/dataSources/
+/dataSources.local.xml
+# Editor-based HTTP Client requests
+/httpRequests/

Assets/Plotting/.idea/Plotting.iml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="jdk" jdkName="Python 3.8" jdkType="Python SDK" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>

Assets/Plotting/.idea/inspectionProfiles/Project_Default.xml

@@ -0,0 +1,16 @@
+<component name="InspectionProjectProfileManager">
+  <profile version="1.0">
+    <option name="myName" value="Project Default" />
+    <inspection_tool class="MysqlParsingInspection" enabled="false" level="WARNING" enabled_by_default="false" />
+    <inspection_tool class="PyPep8Inspection" enabled="true" level="WEAK WARNING" enabled_by_default="true">
+      <option name="ignoredErrors">
+        <list>
+          <option value="E302" />
+          <option value="E127" />
+        </list>
+      </option>
+    </inspection_tool>
+    <inspection_tool class="SqlNoDataSourceInspection" enabled="false" level="WARNING" enabled_by_default="false" />
+    <inspection_tool class="SqlResolveInspection" enabled="false" level="WARNING" enabled_by_default="false" />
+  </profile>
+</component>

Assets/Plotting/.idea/inspectionProfiles/profiles_settings.xml

@@ -0,0 +1,5 @@
+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="PROJECT_PROFILE" />
+  </settings>
+</component>

Assets/Plotting/.idea/misc.xml

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.8" project-jdk-type="Python SDK" />
+</project>

Assets/Plotting/.idea/modules.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/Plotting.iml" filepath="$PROJECT_DIR$/.idea/Plotting.iml" />
+    </modules>
+  </component>
+</project>

Assets/Plotting/.idea/other.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="PySciProjectComponent">
+    <option name="PY_MATPLOTLIB_IN_TOOLWINDOW" value="false" />
+  </component>
+</project>

Assets/Plotting/.idea/vcs.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/../.." vcs="Git" />
+  </component>
+</project>

Assets/Plotting/DebugPlot.cs

@@ -0,0 +1,60 @@
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.IO;
+using UnityEngine;
+
+namespace Plotting
+{
+    public class DebugPlot
+    {
+        #region signleton
+
+        private static Lazy<DebugPlot>
+            instance =
+                new Lazy<DebugPlot>
+                    (() => new DebugPlot());
+
+        public static DebugPlot Instance => instance.Value;
+
+        public static void DestroyInstance()
+        {
+            if (instance.IsValueCreated)
+            {
+                instance.Value.Dispose();
+                instance =
+                    new Lazy<DebugPlot>
+                        (() => new DebugPlot());
+            }
+        }
+
+        #endregion
+
+        private List<PlotFileWriter> plotWriters = new List<PlotFileWriter>();
+        private Process plottingProc;
+
+        private DebugPlot()
+        { }
+
+        public PlotFileWriter StartPlotting(string path)
+        {
+            var writer = new PlotFileWriter(path);
+            plotWriters.Add(writer);
+            return writer;
+        }
+
+        public void ShowPlots()
+        {
+            plottingProc = Process.Start("CMD.exe",$"/C cd Assets/Plotting & python plot.py");
+        }
+
+        private void Dispose()
+        {
+            plottingProc?.Kill();
+            foreach (var p in plotWriters)
+            {
+                p.Dispose();
+            }
+        }
+    }
+}

Assets/Plotting/DebugPlot.cs.meta

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+fileFormatVersion: 2
+guid: 5bc794a5980322b46929df1a8480f0d4
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Plotting/PlotFileWriter.cs

@@ -0,0 +1,38 @@
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using JetBrains.Annotations;
+using UnityEngine;
+
+namespace Plotting
+{
+    public class PlotFileWriter
+    {
+        private readonly StreamWriter writer;
+        private Task previousWriteTask;
+
+        public PlotFileWriter(string path)
+        {
+            var fileInfo = new FileInfo(path);
+            if (!fileInfo.Directory?.Exists ?? false)
+            {
+                fileInfo.Directory?.Create();
+            }
+            writer = new StreamWriter(path) {AutoFlush = true};
+        }
+
+        public async Task WriteDataLine<T>(T xValue, IEnumerable<T> values)
+        {
+            await writer.WriteLineAsync($"{xValue}\t{string.Join("\t", values)}");
+        }
+
+        public void Dispose()
+        {
+            writer?.Close();
+        }
+        
+    }
+}

Assets/Plotting/PlotFileWriter.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: bb7418f374314ed4a76f15fa442183aa
+timeCreated: 1606555659

Assets/Plotting/plot.py

@@ -0,0 +1,145 @@
+import signal
+import sys
+
+from matplotlib import pyplot as plt
+import asyncio
+import os
+import time
+
+file_data = {}
+axes = {}
+labels = {}
+
+
+def tryParseInt(value):
+    if value is None or value == "":
+        return value, False
+    try:
+        return int(value), True
+    except ValueError:
+        return value, False
+
+
+def tryParseIntList(list):
+    new_vars = []
+    for i in list:
+        y, success = tryParseInt(i)
+        if not success:
+            new_vars = None
+            break
+        new_vars.append(y)
+    return new_vars
+
+
+async def follow(path):
+    with open(path, "r") as f:
+        labels[path] = f.readline().split("\t")
+        while True:
+            line = f.readline()
+            if not line:
+                print("nothing new")
+                await asyncio.sleep(0.1)
+                continue
+            yield line
+        print("returned follow")
+
+
+def init_plt(paths):
+    plt.ion()
+    fig = plt.figure()
+
+    nrows = 1
+    ncolumns = 1
+    index = 1
+
+    while nrows * ncolumns < len(paths):
+        nrows += 1
+        if nrows * ncolumns >= len(paths):
+            break
+        ncolumns += 1
+
+    for key in paths:
+        axes[key] = fig.add_subplot(nrows, ncolumns, index)
+        index += 1
+
+    return fig
+
+
+def get_files():
+    return ["plots/{}".format(p) for p in [f for f in os.listdir("plots") if f.endswith(".tsv")]]
+
+
+async def read_file_data(path):
+    print(f"reading data for {path}")
+    lines = follow(path)
+    xs = []
+    ys = []
+
+    async for line in lines:
+        line_data = line.split("\t")
+
+        x, success = tryParseInt(line_data[0])
+        if success:
+            xs.append(x/1000)
+
+            rest = tryParseIntList(line_data[1:])
+            if rest is not None:
+                if len(ys) == 0:
+                    ys = [[i] for i in rest]
+                else:
+                    for i in range(len(rest)):
+                        ys[i].append(rest[i])
+
+                file_data[path] = (xs, ys)
+                print("added to file_data")
+
+    print("read all lines")
+
+
+async def plot_loop():
+    print("before plot loop")
+    while True:
+        if len(axes) > 0:
+            for key, ax in axes.items():
+                if len(file_data) > 0:
+                    xs, ys = file_data[key]
+                    print("reading file data")
+                    ax.clear()
+                    for i in range(len(ys)):
+                        y = ys[i]
+                        ax.plot(xs, y, label=labels[key][i + 1], linewidth = 0.7)
+                        ax.set_title(key)
+                        ax.set_xlabel(labels[key][0])
+
+            print("plot.show")
+            plt.legend()
+            plt.pause(0.2)
+            await asyncio.sleep(0.2)
+            # await asyncio.sleep(1)
+
+
+async def test():
+    print("abc")
+
+
+def signal_handler(signal, frame):
+    loop.stop()
+    sys.exit(0)
+
+
+if __name__ == '__main__':
+    loop = asyncio.get_event_loop()
+    signal.signal(signal.SIGINT, signal_handler)
+
+    paths = get_files()
+    fig = init_plt(paths)
+
+    asyncio.ensure_future(test())
+
+    for p in paths:
+        asyncio.ensure_future(read_file_data(p))
+
+    asyncio.ensure_future(plot_loop())
+    asyncio.ensure_future(test())
+
+    loop.run_forever()

Assets/Plotting/plot.py.meta

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+fileFormatVersion: 2
+guid: 571e92003fbdb60419bd276abfa7135e
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Plotting/plots.meta

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+fileFormatVersion: 2
+guid: f8c4e854528bcf442a401fc99eadade9
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

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Assets/Plotting/plots/acc.tsv.meta

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Assets/Scenes/MainScene.unity

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+  m_WheelDampingRate: 1
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@@ -10211,21 +10211,28 @@ MonoBehaviour:
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   maxSpeed: 40
-  maxMotorTorque: 1000
-  leaningAngleMultiplier: 0.03
-  centerAngle: 0
+  maxMotorTorque: 2200
+  polarRotationMapping:
+    maxRight: -1000
+    center: 0
   speedSensorConfig:
     deviceId: 63387
     wheelCircumference: 2.115
   polarSensorConfig:
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     rearLeft: {fileID: 366287529}
     rearRight: {fileID: 1990711643}
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+  offsetCollidersFromWheel: 0.75
+  maxLeaningAngle: 35
+  maxSteeringAngle: 80
+  maxMotorTorque: 2000
+  maxBreakTorque: 2000
 --- !u!114 &495763392
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   m_EditorClassIdentifier: 
+  steer: 1
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+  accelerate: 1
   torqueIncreasePerSecond: 10
   brakeTorqueIncreasePerSecond: 10
-  leaningAngleIncreasePerSecond: 8
-  steeringAngleIncreasePerSecond: 4
+  leaningAngleIncreasePerSecond: 12
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   maxMotorTorque: 400
   maxBrakeTorque: 600
   maxLeaningAngle: 35
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+  m_Center: {x: 0, y: 0.045, z: 0}
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   m_SuspensionSpring:
-    spring: 1000
+    spring: 10000
     damper: 100
-    targetPosition: 0
-  m_SuspensionDistance: 0.03
+    targetPosition: 0.5
+  m_SuspensionDistance: 0.09
   m_ForceAppPointDistance: 0
   m_Mass: 0.5
-  m_WheelDampingRate: 0.25
+  m_WheelDampingRate: 1
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   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1485411599}
-  m_Center: {x: 0, y: -0.12, z: 0}
+  m_Center: {x: 0, y: 0.045, z: 0}
   m_Radius: 0.645
   m_SuspensionSpring:
-    spring: 1000
+    spring: 10000
     damper: 100
-    targetPosition: 0
-  m_SuspensionDistance: 0.03
+    targetPosition: 0.5
+  m_SuspensionDistance: 0.09
   m_ForceAppPointDistance: 0
   m_Mass: 0.5
-  m_WheelDampingRate: 0.25
+  m_WheelDampingRate: 1
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     m_ExtremumValue: 1
@@ -42083,6 +42191,10 @@ MonoBehaviour:
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     rearRight: {fileID: 0}
   offsetCollidersFromWheel: 0
+  maxLeaningAngle: 35
+  maxSteeringAngle: 80
+  maxMotorTorque: 2000
+  maxBreakTorque: 2000
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   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1990711641}
-  m_Center: {x: 0, y: -0.12, z: 0}
+  m_Center: {x: 0, y: 0.045, z: 0}
   m_Radius: 0.645
   m_SuspensionSpring:
-    spring: 1000
+    spring: 10000
     damper: 100
-    targetPosition: 0
-  m_SuspensionDistance: 0.03
+    targetPosition: 0.5
+  m_SuspensionDistance: 0.09
   m_ForceAppPointDistance: 0
   m_Mass: 0.5
-  m_WheelDampingRate: 0.25
+  m_WheelDampingRate: 1
   m_ForwardFriction:
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     m_ExtremumValue: 1
@@ -43659,7 +43771,7 @@ RectTransform:
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   m_AnchorMin: {x: 0, y: 1}
   m_AnchorMax: {x: 0, y: 1}
-  m_AnchoredPosition: {x: 10, y: -60}
+  m_AnchoredPosition: {x: 1389, y: -50}
   m_SizeDelta: {x: 580, y: 110}
   m_Pivot: {x: 0, y: 1}
 --- !u!114 &2005867815

Assets/Scripts/BicyleController/BicycleController.cs

@@ -11,32 +11,52 @@ public class BicycleController : MonoBehaviour
 {
     #region Variables
 
-    [Header("Visible Game Objects")] 
-    public GameObject rearWheel;
+    [Header("Visible Game Objects")] public GameObject rearWheel;
     public GameObject frontWheel;
 
     [Header("Game Objects for Physics")] public Transform centerOfMass;
     [FormerlySerializedAs("rb")] public Rigidbody rigidBody;
     public WheelConfig wheelConfig;
-    
-    [Header("Values")] 
-    public float offsetCollidersFromWheel = 0.25f;
 
-   
+    [Header("Values")] public float offsetCollidersFromWheel = 0.25f;
+    public float maxLeaningAngle = 35f;
+    public float maxSteeringAngle = 80f;
+    public float maxMotorTorque = 2000f;
+    public float maxBreakTorque = 2000f;
 
-    public float CurrentSteerAngle { get; set; } = 0f;
+    public float CurrentSteerAngle
+    {
+        get => currentSteerAngle;
+        set => currentSteerAngle = Mathf.Clamp(value, -maxSteeringAngle, maxSteeringAngle);
+    }
+
+    public float CurrentMotorTorque
+    {
+        get => currentMotorTorque;
+        set => currentMotorTorque = Mathf.Clamp(value, -maxMotorTorque, maxMotorTorque);
+    }
 
-    public float CurrentMotorTorque { get; set; } = 0f;
+    public float CurrentBrakeTorque
+    {
+        get => currentBrakeTorque;
+        set => currentBrakeTorque = Mathf.Clamp(value, -maxBreakTorque, maxBreakTorque);
+    }
 
-    public float CurrentBrakeTorque { get; set; } = 0f;
+    public float CurrentLeaningAngle
+    {
+        get => currentLeaningAngle;
+        set => currentLeaningAngle = Mathf.Clamp(value, -maxLeaningAngle, maxLeaningAngle);
+    }
 
-    public float CurrentLeaningAngle { get; set; } = 0f;
-    
     private WheelCollider[] allWheelColliders;
     private float initialWheelColliderY;
+    private float currentSteerAngle = 0f;
+    private float currentMotorTorque = 0f;
+    private float currentBrakeTorque = 0f;
+    private float currentLeaningAngle = 0f;
 
     #endregion
-    
+
     // Start is called before the first frame update
     void Start()
     {
@@ -88,6 +108,7 @@ public class BicycleController : MonoBehaviour
             ApplyOffsetToTransform(wheelConfig.frontRight.transform, initialWheelColliderY);
             ApplyOffsetToTransform(wheelConfig.rearRight.transform, initialWheelColliderY);
         }
+
         //CurrentLeaningAngle < 0 -> leaning left, > 0 -> right
         var leaningAbs = Mathf.Abs(CurrentLeaningAngle * Mathf.Deg2Rad);
 
@@ -96,7 +117,7 @@ public class BicycleController : MonoBehaviour
         var verticalOffset = offsetCollidersFromWheel * Mathf.Sin(leaningAbs) / Mathf.Sin(1.57079633f - leaningAbs);
         var yPlusOffset = initialWheelColliderY + verticalOffset;
         var yMinusOffset = initialWheelColliderY - verticalOffset;
-        
+
         if (CurrentLeaningAngle < 0) //TODO: maybe add a threshold for leaning, e.g. < -0.05 and > 0.05 
         {
             //leaning left, left wheels up, right wheels down

Assets/Scripts/BicyleController/KeyboardBikeController.cs

@@ -6,6 +6,10 @@ public class KeyboardBikeController : MonoBehaviour
 {
     private BicycleController bicycleController;
 
+    public bool steer = true;
+    public bool lean = true;
+    public bool accelerate = true;
+
     public float torqueIncreasePerSecond = 10f;
     public float brakeTorqueIncreasePerSecond = 20f;
     public float leaningAngleIncreasePerSecond = 2f;
@@ -23,54 +27,63 @@ public class KeyboardBikeController : MonoBehaviour
 
     private void Update()
     {
-        if (Input.GetKey(KeyCode.T))
-        {
-            bicycleController.CurrentBrakeTorque = 0f;
-            bicycleController.CurrentMotorTorque += torqueIncreasePerSecond * Time.deltaTime;
-        }
-        else if (Input.GetKeyUp(KeyCode.T))
+        if (accelerate)
         {
-            bicycleController.CurrentMotorTorque = 0f;
-        }
+            if (Input.GetKey(KeyCode.T))
+            {
+                bicycleController.CurrentBrakeTorque = 0f;
+                bicycleController.CurrentMotorTorque += torqueIncreasePerSecond * Time.deltaTime;
+            }
+            else if (Input.GetKeyUp(KeyCode.T))
+            {
+                bicycleController.CurrentMotorTorque = 0f;
+            }
 
-        if (Input.GetKey(KeyCode.G))
-        {
-            bicycleController.CurrentMotorTorque = 0f;
-            bicycleController.CurrentBrakeTorque += brakeTorqueIncreasePerSecond * Time.deltaTime;
-        }
-        else if (Input.GetKeyUp(KeyCode.G))
-        {
-            bicycleController.CurrentBrakeTorque = 0f;
+            if (Input.GetKey(KeyCode.G))
+            {
+                bicycleController.CurrentMotorTorque = 0f;
+                bicycleController.CurrentBrakeTorque += brakeTorqueIncreasePerSecond * Time.deltaTime;
+            }
+            else if (Input.GetKeyUp(KeyCode.G))
+            {
+                bicycleController.CurrentBrakeTorque = 0f;
+            }
         }
 
-        if (Input.GetKey(KeyCode.F))
+        if (steer)
         {
-            bicycleController.CurrentSteerAngle -= steeringAngleIncreasePerSecond * Time.deltaTime;
-        }
+            if (Input.GetKey(KeyCode.F))
+            {
+                bicycleController.CurrentSteerAngle -= steeringAngleIncreasePerSecond * Time.deltaTime;
+            }
 
-        if (Input.GetKey(KeyCode.H))
-        {
-            bicycleController.CurrentSteerAngle += steeringAngleIncreasePerSecond * Time.deltaTime;
-        }
+            if (Input.GetKey(KeyCode.H))
+            {
+                bicycleController.CurrentSteerAngle += steeringAngleIncreasePerSecond * Time.deltaTime;
+            }
 
-        if (Input.GetKeyUp(KeyCode.F) || Input.GetKeyUp(KeyCode.H))
-        {
-            bicycleController.CurrentSteerAngle = 0f;
+            if (Input.GetKeyUp(KeyCode.F) || Input.GetKeyUp(KeyCode.H))
+            {
+                bicycleController.CurrentSteerAngle = 0f;
+            }
         }
 
-        if (Input.GetKey(KeyCode.R))
+        if (lean)
         {
-            bicycleController.CurrentLeaningAngle -= leaningAngleIncreasePerSecond * Time.deltaTime;
-        }
+            if (Input.GetKey(KeyCode.R))
+            {
+                bicycleController.CurrentLeaningAngle -= leaningAngleIncreasePerSecond * Time.deltaTime;
+            }
 
-        if (Input.GetKey(KeyCode.Z))
-        {
-            bicycleController.CurrentLeaningAngle += leaningAngleIncreasePerSecond * Time.deltaTime;
-        }
+            if (Input.GetKey(KeyCode.Z))
+            {
+                bicycleController.CurrentLeaningAngle += leaningAngleIncreasePerSecond * Time.deltaTime;
+            }
 
-        if (Input.GetKeyUp(KeyCode.R) || Input.GetKeyUp(KeyCode.Z))
-        {
-            bicycleController.CurrentLeaningAngle = 0f;
+            if (Input.GetKeyUp(KeyCode.R) || Input.GetKeyUp(KeyCode.Z))
+            {
+                bicycleController.CurrentLeaningAngle = 0f;
+            }
         }
     }
 }

Assets/Scripts/BicyleController/SensorBikeController.cs

@@ -2,25 +2,36 @@
 using UnityEngine;
 using UnityEngine.Serialization;
 
+[Serializable]
+public struct PolarRotationMapping
+{
+    public float maxRight;
+    public float center;
+}
 
 public class SensorBikeController : MonoBehaviour
 {
     public float maxSpeed = 40f;
     public float maxMotorTorque = 1000;
-    public float leaningAngleMultiplier = 0.1f;
-    public float centerAngle = 1000f;
+    public PolarRotationMapping polarRotationMapping;
 
     public SpeedSensorConfig speedSensorConfig;
     public PolarSensorConfig polarSensorConfig;
 
+    public bool steer = true;
+    public bool accelerate = true;
+    public bool lean = true;
+
     private BicycleController bicycleController;
     private BikeSensorData sensorData;
+    private float leanFactor;
 
-    private void Start()
+    private async void Start()
     {
         bicycleController = GetComponent<BicycleController>();
         sensorData = BikeSensorData.Instance;
-        sensorData.StartListening(polarSensorConfig: polarSensorConfig, speedSensorConfig: speedSensorConfig);
+        await sensorData.StartListening(polarSensorConfig: polarSensorConfig, speedSensorConfig: speedSensorConfig);
+        leanFactor = 90f / (polarRotationMapping.maxRight - polarRotationMapping.center);
     }
 
     private void Update()
@@ -28,12 +39,12 @@ public class SensorBikeController : MonoBehaviour
         var speedData = sensorData.SpeedData;
         var polarData = sensorData.PolarData;
 
-        if (speedData != null)
+        if (speedData != null && accelerate)
         {
             SetSpeed(speedData.Value);
         }
 
-        if (polarData != null)
+        if (polarData != null && lean)
         {
             SetLeaningAngle(polarData.Value);
         }
@@ -49,7 +60,7 @@ public class SensorBikeController : MonoBehaviour
         //don't lean while standing / walking to bike
         if (bicycleController.rigidBody.velocity.magnitude > .5f)
         {
-            bicycleController.CurrentLeaningAngle = (-polarData.Acc.y - centerAngle) * leaningAngleMultiplier;
+            bicycleController.CurrentLeaningAngle = (polarData.Acc.y - polarRotationMapping.center) * leanFactor;
         }
     }
 
@@ -71,10 +82,11 @@ public class SensorBikeController : MonoBehaviour
             bicycleController.CurrentMotorTorque = 0;
             bicycleController.CurrentBrakeTorque = -torque;
         }
-        else
+        // without else the speed overshoots a bit, but is way closer to real speed
+        /*else
         {
             bicycleController.CurrentMotorTorque = 0;
             bicycleController.CurrentBrakeTorque = 0;
-        }
+        }*/
     }
 }

Assets/Scripts/Display/DebugDisplay.cs

@@ -20,24 +20,26 @@ public class DebugDisplay : MonoBehaviour
 
     private void Update()
     {
+        var rbSpeed = bicycleController.rigidBody.velocity.magnitude * 3.6;
+        var sensorSpeed = sensorData.SpeedData?.SpeedKmh ?? 0f;
         var sb = new StringBuilder();
         sb.Append(
-            $"MotorTorque: {bicycleController.CurrentMotorTorque}; BrakeTorque: {bicycleController.CurrentBrakeTorque}, Steer: {bicycleController.CurrentSteerAngle}; Lean: {bicycleController.CurrentLeaningAngle}\n");
+            $"MotorTorque: {bicycleController.CurrentMotorTorque:n2}\nBrakeTorque: {bicycleController.CurrentBrakeTorque:n2}\nSteer: {bicycleController.CurrentSteerAngle}\nLean: {bicycleController.CurrentLeaningAngle:n4}\n");
         sb.Append("-----Sensors------\n");
         sb.Append(
-            $"Speed: {(sensorData.SpeedData?.Speed ?? 0f):n4} m/s; Polar Acc ({(sensorData.PolarData?.Acc.x ?? 0f):n4}; {(sensorData.PolarData?.Acc.y ?? 0f):n4}; {(sensorData.PolarData?.Acc.z ?? 0f):n4}) ");
+            $"Speed: {(sensorData.SpeedData?.Speed ?? 0f):n4} m/s\nPolar Acc ({(sensorData.PolarData?.Acc.x ?? 0f):n4}; {(sensorData.PolarData?.Acc.y ?? 0f):n4}; {(sensorData.PolarData?.Acc.z ?? 0f):n4}) ");
         sb.Append("\n\n");
         sb.Append($"IP: {ip}\n");
         sb.Append("----BicycleController-----\n");
-        sb.Append($"Actual Speed {(bicycleController.rigidBody.velocity.magnitude * 3.6):n2} km/h");
+        sb.Append($"Actual Speed {rbSpeed:n2} km/h - Dif: {(sensorSpeed - rbSpeed):n2}");
         text = sb.ToString();
     }
 
     private void OnGUI()
     {
         var padding = 10;
-        var width = 360;
-        var height = 120;
+        var width = 260;
+        var height = 175;
         var x = Screen.width - width - padding;
         var y = Screen.height - height - padding;
 

Assets/Scripts/Sensors/BikeSensorData.cs

@@ -1,6 +1,7 @@
 using System;
 using System.Configuration;
 using System.Data;
+using System.Threading.Tasks;
 using JetBrains.Annotations;
 
 
@@ -31,53 +32,52 @@ public sealed class BikeSensorData
     {
     }
 
-    public void StartListening(SpeedSensorConfig? speedSensorConfig = null,
+    public async Task StartListening(SpeedSensorConfig? speedSensorConfig = null,
         PolarSensorConfig? polarSensorConfig = null, int? powermeterId = null, int? hrAntId = null)
     {
-
-        if(speedSensorReceiver != null)
-        {
-            throw new InvalidConstraintException(
-                "BikeSensorData: Already listening to Speed Sensor");
-        }
-        if(hrReceiver != null)
-        {
-            throw new InvalidConstraintException(
-                "BikeSensorData: Already listening to HR Sensor");
-        }
-
-        if (polarReceiver != null)
-        {
-            throw new InvalidConstraintException(
-                "BikeSensorData: Already listening to Polar Sensor");
-        }
-        if (powerMeterReceiver != null)
-        {
-            throw new InvalidConstraintException(
-                "BikeSensorData: Already listening to Power Sensor");
-        }
-        
         if (speedSensorConfig != null)
         {
+            if(speedSensorReceiver != null)
+            {
+                throw new InvalidConstraintException(
+                    "BikeSensorData: Already listening to Speed Sensor");
+            }
             speedSensorReceiver = new SpeedSensorReceiver(speedSensorConfig.Value);
             speedSensorReceiver.StartScan();
         }
 
         if (hrAntId != null)
         {
+            if(hrReceiver != null)
+            {
+                throw new InvalidConstraintException(
+                    "BikeSensorData: Already listening to HR Sensor");
+            }
             hrReceiver = new HrReceiver(hrAntId.Value);
             hrReceiver.StartScan();
+            
         }
 
         if (powermeterId != null)
         {
+            if (powerMeterReceiver != null)
+            {
+                throw new InvalidConstraintException(
+                    "BikeSensorData: Already listening to Power Sensor");
+            }
             powerMeterReceiver = new PowerMeterReceiver(powermeterId.Value);
             powerMeterReceiver.StartScan();
         }
 
         if (polarSensorConfig != null)
         {
+            if (polarReceiver != null)
+            {
+                throw new InvalidConstraintException(
+                    "BikeSensorData: Already listening to Polar Sensor");
+            }
             polarReceiver = new PolarReceiver(polarSensorConfig.Value); //automatically starts listening
+            await polarReceiver.StartListening();
         }
         
     }

Assets/Scripts/Sensors/Polar/PolarEcgData.cs

@@ -0,0 +1,31 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+using UnityEngine;
+using Valve.VR.InteractionSystem;
+
+public struct EcgData
+{
+    public long Timestamp { get; }
+    public List<float> Values { get; }
+
+    EcgData(long timestamp, List<float> values)
+    {
+        Timestamp = timestamp;
+        Values = values;
+    }
+
+    public static EcgData FromString(string s)
+    {
+        var data = s.Split(';');
+        if (data.Length == 2)
+        {
+            var t = long.Parse(data[0]);
+            var values = data[1].Split(',').Select(value => float.Parse(value)).ToList();
+            return new EcgData(t, values);
+        }
+
+        throw new FormatException("EcgData String has wrong format");
+    }
+}

Assets/Scripts/Sensors/Polar/PolarEcgData.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: bc45d3be8c26453b9ac59ea5a34a7ff3
+timeCreated: 1606558741

Assets/Scripts/Sensors/Polar/PolarReceiver.cs

@@ -1,4 +1,7 @@
 using System;
+using System.Linq;
+using System.Threading.Tasks;
+using Plotting;
 using UnityEngine;
 using UnityEngine.Serialization;
 
@@ -7,11 +10,18 @@ public struct PolarSensorConfig
 {
     public int port;
     public String ipAddress;
+    public bool plotAcc;
+    public bool plotEcg;
+    public int accSampleRate; //TODO: let user choose between 25, 50, 100, 200
 
-    public PolarSensorConfig(int port = 9099, string ipAddress = "0.0.0.0")
+    public PolarSensorConfig(int port = 9099, string ipAddress = "0.0.0.0", bool plotAcc = false, bool plotEcg = false,
+        int accSampleRate = 25)
     {
         this.port = port;
         this.ipAddress = ipAddress;
+        this.plotAcc = plotAcc;
+        this.plotEcg = plotEcg;
+        this.accSampleRate = accSampleRate;
     }
 }
 
@@ -29,33 +39,100 @@ public class PolarReceiver
     public PolarSensorConfig SensorConfig { get; private set; }
     public PolarSensorData SensorData => sensorData;
 
+    private PlotFileWriter ecgPlotFile;
+    private PlotFileWriter accPlotFile;
+    private static DateTime startTime;
+    private static long previousTime;
 
-    public PolarReceiver()
+    [RuntimeInitializeOnLoadMethod(RuntimeInitializeLoadType.BeforeSceneLoad)]
+    private static void InitTime()
     {
+        startTime = DateTime.Now;
     }
 
-    public PolarReceiver(PolarSensorConfig config, bool autoStart = true)
+    public PolarReceiver(PolarSensorConfig config)
     {
         SensorConfig = config;
-        if (autoStart) StartListening();
     }
 
-    public void StartListening()
+    public async Task StartListening()
     {
-        connection = new UdpConnection(SensorConfig.ipAddress, SensorConfig.port, OnAccData);
+        if (SensorConfig.plotAcc)
+        {
+            accPlotFile = DebugPlot.Instance.StartPlotting("Assets/Plotting/plots/acc.tsv");
+            await accPlotFile.WriteDataLine("timestamp", new[] {"x", "y", "z"});
+        }
+
+        if (SensorConfig.plotEcg)
+        {
+            ecgPlotFile = DebugPlot.Instance.StartPlotting("Assets/Plotting/plots/ecg.tsv");
+            await accPlotFile.WriteDataLine("timestamp", new[] {"voltage"});
+        }
+
+        if (SensorConfig.plotAcc || SensorConfig.plotEcg)
+        {
+            DebugPlot.Instance.ShowPlots();
+        }
+
+        connection = new UdpConnection(SensorConfig.ipAddress, SensorConfig.port, OnAccData, OnEcgData);
         connection.Listen();
     }
 
     public void Dispose()
     {
         connection.StopListening();
+        DebugPlot.DestroyInstance();
+    }
+
+    private async void OnAccData(AccData data)
+    {
+        var now = DateTime.Now;
+        Debug.Log($"#ACC DATA items: {data.Values.Count}");
+        Debug.Log($"ACC DATA s since last: {data.Timestamp - previousTime} /1000000000f");
+        previousTime = data.Timestamp;
+        await Task.WhenAll(UpdateSensorDataForAcc(data), PlotAcc(data));
     }
 
-    private void OnAccData(AccData data)
+    private async Task PlotAcc(AccData data)
     {
-        //Debug.Log(data.Timestamp);
-        sensorData.Acc = data.Values[0]; //TODO: what about rest of array?
+        if (SensorConfig.plotAcc)
+        {
+            var timestamp =
+                (int) (DateTime.Now - startTime)
+                .TotalMilliseconds; //not perfect because of delay. But that's the time the game get's the data
+            //var timestamp = data.Timestamp;
+            foreach (var item in data.Values)
+            {
+                await accPlotFile.WriteDataLine(timestamp, new[] {item.x, item.y, item.z});
+                timestamp += 1000 / SensorConfig.accSampleRate;
+            }
+        }
     }
 
-    //TODO: OnEcgData
+    private async Task UpdateSensorDataForAcc(AccData data)
+    {
+        foreach (var item in data.Values)
+        {
+            sensorData.Acc = data.Values[0];
+            await Task.Delay(1000 / SensorConfig.accSampleRate);
+        }
+    }
+
+    private async void OnEcgData(EcgData data)
+    {
+        if (SensorConfig.plotEcg)
+        {
+            //var timestamp = data.Timestamp; // if we wanted to use the timestamp of the polar sensor directly
+            var timestamp =
+                (int) (DateTime.Now - startTime)
+                .TotalMilliseconds; //not perfect because of delay. But that's the time the game get's the data
+            foreach (var item in data.Values)
+            {
+                await ecgPlotFile.WriteDataLine(timestamp, new[] {item});
+                timestamp += 1000 / 130;
+            }
+        }
+
+        sensorData.EcgValue = data.Values[0]; //TODO
+    }
 }

Assets/Scripts/Sensors/Polar/UdpConnection.cs

@@ -16,10 +16,12 @@ public class UdpConnection
 
     private bool listening = false;
     private Action<AccData> onAccData;
+    private Action<EcgData> onEcgData;
 
-    public UdpConnection(String ipAddress, int port, Action<AccData> onAccData)
+    public UdpConnection(String ipAddress, int port, Action<AccData> onAccData, Action<EcgData> onEcgData)
     {
         this.onAccData = onAccData;
+        this.onEcgData = onEcgData;
         client = new UdpClient(new IPEndPoint(IPAddress.Parse(ipAddress), port));
     }
 
@@ -40,7 +42,7 @@ public class UdpConnection
                     onAccData(AccData.FromString(data[1]));
                 }else if (name.Equals("ECG"))
                 {
-                    //TODO
+                    onEcgData(EcgData.FromString(data[1]));
                 }else if (name.Equals("HR"))
                 {
                     //TODO

Assets/SteamVR/InteractionSystem/Samples/BuggyBuddy/Buggy.physicMaterial

@@ -3,11 +3,12 @@
 --- !u!134 &13400000
 PhysicMaterial:
   m_ObjectHideFlags: 0
-  m_PrefabParentObject: {fileID: 0}
-  m_PrefabInternal: {fileID: 0}
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
   m_Name: Buggy
   dynamicFriction: 0.3
   staticFriction: 0.1
-  bounciness: 0.3
-  frictionCombine: 0
-  bounceCombine: 0
+  bounciness: 0
+  frictionCombine: 1
+  bounceCombine: 1

ProjectSettings/QualitySettings.asset

@@ -95,7 +95,7 @@ QualitySettings:
     skinWeights: 2
     textureQuality: 0
     anisotropicTextures: 1
-    antiAliasing: 0
+    antiAliasing: 2
     softParticles: 0
     softVegetation: 1
     realtimeReflectionProbes: 1

SteamVR.csproj

@@ -12,7 +12,7 @@
     <ProductVersion>10.0.20506</ProductVersion>
     <SchemaVersion>2.0</SchemaVersion>
     <RootNamespace></RootNamespace>
-    <ProjectGuid>{AA2F3384-93C6-6339-7224-30BEFA100592}</ProjectGuid>
+    <ProjectGuid>{38F48EE2-F28D-DDBC-80B3-619ED7F38A17}</ProjectGuid>
     <OutputType>Library</OutputType>
     <AppDesignerFolder>Properties</AppDesignerFolder>
     <AssemblyName>SteamVR</AssemblyName>
@@ -51,10 +51,10 @@
   </PropertyGroup>
   <ItemGroup>
     <Reference Include="UnityEngine">
-      <HintPath>C:\Program Files\Unity\Hub\Editor\2019.4.15f1\Editor\Data\Managed/UnityEngine/UnityEngine.dll</HintPath>
+      <HintPath>C:\Program Files\Unity Editors\2019.4.15f1\Editor\Data\Managed/UnityEngine/UnityEngine.dll</HintPath>
     </Reference>
     <Reference Include="UnityEditor">
-      <HintPath>C:\Program Files\Unity\Hub\Editor\2019.4.15f1\Editor\Data\Managed/UnityEditor.dll</HintPath>
+      <HintPath>C:\Program Files\Unity Editors\2019.4.15f1\Editor\Data\Managed/UnityEditor.dll</HintPath>
     </Reference>
   </ItemGroup>
   <ItemGroup>
@@ -256,561 +256,570 @@
      <None Include="Assets\SteamVR\SteamVR.asmdef" />
      <None Include="Assets\SteamVR\Resources\SteamVR_Fade.shader" />
  <Reference Include="UnityEditor.UI">
- <HintPath>C:/Users/student/Desktop/VRCyling/Library/ScriptAssemblies/UnityEditor.UI.dll</HintPath>
+ <HintPath>C:/Unity Projects/VR Cycling/Library/ScriptAssemblies/UnityEditor.UI.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.UI">
- <HintPath>C:/Users/student/Desktop/VRCyling/Library/ScriptAssemblies/UnityEngine.UI.dll</HintPath>
+ <HintPath>C:/Unity Projects/VR Cycling/Library/ScriptAssemblies/UnityEngine.UI.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.AIModule">
- <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AIModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AIModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.ARModule">
- <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.ARModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.ARModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.AccessibilityModule">
- <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AccessibilityModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AccessibilityModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.AndroidJNIModule">
- <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AndroidJNIModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AndroidJNIModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.AnimationModule">
- <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AnimationModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AnimationModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.AssetBundleModule">
- <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AssetBundleModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AssetBundleModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.AudioModule">
- <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AudioModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.AudioModule.dll</HintPath>
  </Reference>
  <Reference Include="UnityEngine.ClothModule">
- <HintPath>C:/Program Files/Unity/Hub/Editor/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.ClothModule.dll</HintPath>
+ <HintPath>C:/Program Files/Unity Editors/2019.4.15f1/Editor/Data/Managed/UnityEngine/UnityEngine.ClothModule.dll</HintPath>
  </Reference>
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SteamVR_Editor.csproj

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SteamVR_Windows_EditorHelper.csproj

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