123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125 |
- using System;
- using System.Collections.Generic;
- using System.Globalization;
- using Logging.Base;
- using Tracking;
- using UnityEngine;
- namespace Logging.Data
- {
- public readonly struct ViveSensorDataLog : ISerializable
- {
- private readonly long timestamp;
- private readonly float steerAngle;
- private readonly float frontWheelTrackerPositionX;
- private readonly float frontWheelTrackerPositionY;
- private readonly float frontWheelTrackerPositionZ;
- private readonly float frontWheelTrackerRotationX;
- private readonly float frontWheelTrackerRotationY;
- private readonly float frontWheelTrackerRotationZ;
- private readonly float kineticTrackerPositionX;
- private readonly float kineticTrackerPositionY;
- private readonly float kineticTrackerPositionZ;
- private readonly float kineticTrackerRotationX;
- private readonly float kineticTrackerRotationY;
- private readonly float kineticTrackerRotationZ;
- private readonly float hmdPositionX;
- private readonly float hmdPositionY;
- private readonly float hmdPositionZ;
- private readonly float hmdRotationX;
- private readonly float hmdRotationY;
- private readonly float hmdRotationZ;
- public ViveSensorDataLog(long timestamp, float steerAngle, float frontWheelTrackerPositionX,
- float frontWheelTrackerPositionY, float frontWheelTrackerPositionZ, float frontWheelTrackerRotationX,
- float frontWheelTrackerRotationY, float frontWheelTrackerRotationZ, float kineticTrackerPositionX,
- float kineticTrackerPositionY, float kineticTrackerPositionZ, float kineticTrackerRotationX,
- float kineticTrackerRotationY, float kineticTrackerRotationZ, float hmdPositionX, float hmdPositionY,
- float hmdPositionZ, float hmdRotationX, float hmdRotationY, float hmdRotationZ)
- {
- this.timestamp = timestamp;
- this.steerAngle = steerAngle;
- this.frontWheelTrackerPositionX = frontWheelTrackerPositionX;
- this.frontWheelTrackerPositionY = frontWheelTrackerPositionY;
- this.frontWheelTrackerPositionZ = frontWheelTrackerPositionZ;
- this.frontWheelTrackerRotationX = frontWheelTrackerRotationX;
- this.frontWheelTrackerRotationY = frontWheelTrackerRotationY;
- this.frontWheelTrackerRotationZ = frontWheelTrackerRotationZ;
- this.kineticTrackerPositionX = kineticTrackerPositionX;
- this.kineticTrackerPositionY = kineticTrackerPositionY;
- this.kineticTrackerPositionZ = kineticTrackerPositionZ;
- this.kineticTrackerRotationX = kineticTrackerRotationX;
- this.kineticTrackerRotationY = kineticTrackerRotationY;
- this.kineticTrackerRotationZ = kineticTrackerRotationZ;
- this.hmdPositionX = hmdPositionX;
- this.hmdPositionY = hmdPositionY;
- this.hmdPositionZ = hmdPositionZ;
- this.hmdRotationX = hmdRotationX;
- this.hmdRotationY = hmdRotationY;
- this.hmdRotationZ = hmdRotationZ;
- }
- public KeyValuePair<long, string[]> Serialize()
- {
- return new KeyValuePair<long, string[]>
- (timestamp,
- new[]
- {
- steerAngle.ToString("F6", CultureInfo.InvariantCulture),
- frontWheelTrackerPositionX.ToString("F6", CultureInfo.InvariantCulture),
- frontWheelTrackerPositionY.ToString("F6", CultureInfo.InvariantCulture),
- frontWheelTrackerPositionZ.ToString("F6", CultureInfo.InvariantCulture),
- frontWheelTrackerRotationX.ToString("F6", CultureInfo.InvariantCulture),
- frontWheelTrackerRotationY.ToString("F6", CultureInfo.InvariantCulture),
- frontWheelTrackerRotationZ.ToString("F6", CultureInfo.InvariantCulture),
- kineticTrackerPositionX.ToString("F6", CultureInfo.InvariantCulture),
- kineticTrackerPositionY.ToString("F6", CultureInfo.InvariantCulture),
- kineticTrackerPositionZ.ToString("F6", CultureInfo.InvariantCulture),
- kineticTrackerRotationX.ToString("F6", CultureInfo.InvariantCulture),
- kineticTrackerRotationY.ToString("F6", CultureInfo.InvariantCulture),
- kineticTrackerRotationZ.ToString("F6", CultureInfo.InvariantCulture),
- hmdPositionX.ToString("F6", CultureInfo.InvariantCulture),
- hmdPositionY.ToString("F6", CultureInfo.InvariantCulture),
- hmdPositionZ.ToString("F6", CultureInfo.InvariantCulture),
- hmdRotationX.ToString("F6", CultureInfo.InvariantCulture),
- hmdRotationY.ToString("F6", CultureInfo.InvariantCulture),
- hmdRotationZ.ToString("F6", CultureInfo.InvariantCulture)
- }
- );
- }
- }
- public class ViveSensorDataLogger : SensorDataLogger<ViveSensorDataLog>
- {
- public FrontWheelTracker fwt;
- public KineticLegTracker klt;
- public Transform hmd;
- public override string Key => "vive_sensor_data";
- private void Update()
- {
- var steerAngle = fwt.SteerRotation;
- var fwtPosition = fwt.RelativePosition;
- var fwtRotation = fwt.RelativeRotation;
- var kltPosition = klt.RelativePosition;
- var kltRotation = klt.RelativeRotation;
- var hmdPosition = hmd.position;
- var hmdRotation = hmd.rotation.eulerAngles;
- //TODO: data always there?
- Log(new ViveSensorDataLog(Helpers.RoundToLong(Time.time * 1000), steerAngle,
- fwtPosition.x, fwtPosition.y, fwtPosition.z,
- fwtRotation.x, fwtRotation.y, fwtRotation.z,
- kltPosition.x, kltPosition.y, kltPosition.z,
- kltRotation.x, kltRotation.y, kltRotation.z,
- hmdPosition.x, hmdPosition.y, hmdPosition.z,
- hmdRotation.x, hmdRotation.y, hmdRotation.z));
- }
- public override IEnumerable<ViveSensorDataLog> ReadLog(IEnumerable<IEnumerable<string>> lines)
- {
- throw new NotImplementedException();
- }
- }
- }
|