forked from gabrielDiaz-performlab/CatchB
-
Notifications
You must be signed in to change notification settings - Fork 0
/
main.py
1988 lines (1533 loc) · 76.3 KB
/
main.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
from __future__ import print_function
"""
Runs an experiment.
(Please add a better module docstring.)
"""
import datetime
import logging
import math
import os.path
import platform
import random
from ctypes import * # eyetrackka
import numpy as np
import pandas as pd
import oculus
import ode
import physEnv
import smi
import visEnv
import viz
# relative path imports
viz.res.addPath('resources')
sys.path.append('utils')
import vizact
import vizconnect
import vizshape
import viztask
from configobj import ConfigObj, flatten_errors
from drawNumberFromDist import *
from gazeTools import calibrationTools, gazeSphere, gazeVector
from validate import Validator
expConfigFileName = 'gd_pilot.cfg'
print('**************** USING' + expConfigFileName + '****************')
# Room coordinates?
ft = .3048
inch = 0.0254
m = 1
eps = .01
nan = float('NaN') # Pandas?
class soundBank():
"""
Create a globally accessible soundbank.
To access within a member function, import the global variable with 'global soundbank'
"""
def __init__(self):
"""Register sounds. It makes sense to do it once per experiment."""
self.bounce = '/Resources/bounce.wav'
self.buzzer = '/Resources/BUZZER.wav'
self.bubblePop = '/Resources/bubblePop3.wav'
self.highDrip = '/Resources/highdrip.wav'
self.cowbell = '/Resources/cowbell.wav'
self.gong = '/Resources/gong.wav'
viz.playSound(self.bounce, viz.SOUND_PRELOAD)
viz.playSound(self.buzzer, viz.SOUND_PRELOAD)
viz.playSound(self.bubblePop, viz.SOUND_PRELOAD)
viz.playSound(self.highDrip, viz.SOUND_PRELOAD)
viz.playSound(self.cowbell, viz.SOUND_PRELOAD)
viz.playSound(self.cowbell, viz.SOUND_PRELOAD)
soundBank = soundBank()
class Configuration():
"""
Add docstring
"""
def __init__(self, expCfgName=""):
"""
Opens and interprets both the system config (as defined by the
<platform>.cfg file) and the experiment config (as defined by
the file in expCfgName). Both configurations MUST conform the
specs given in sysCfgSpec.ini and expCfgSpec.ini respectively.
It also initializes the system as specified in the sysCfg.
"""
self.eyeTracker = []
self.writables = list()
if expCfgName:
self.__createExpCfg(expCfgName)
else:
self.expCfg = None
self.__createSysCfg()
for pathName in self.sysCfg['set_path']:
viz.res.addPath(pathName)
self.vizconnect = vizconnect.go('vizConnect/' + self.sysCfg['vizconfigFileName'])
self.__postVizConnectSetup()
def __postVizConnectSetup(self):
'''
This is where one can run any system-specific code that vizconnect can't handle
'''
dispDict = vizconnect.getRawDisplayDict()
self.clientWindow = dispDict['exp_display']
self.riftWindow = dispDict['rift_display']
if self.sysCfg['use_wiimote']:
# Create wiimote holder
self.wiimote = 0
self.__connectWiiMote()
if self.sysCfg['use_hmd'] and self.sysCfg['hmd']['type'] == 'DK2':
self.__setupOculusMon()
if self.sysCfg['use_eyetracking']:
self.use_eyeTracking = True
self.__connectSMIDK2()
else:
self.use_eyeTracking = False
self.writer = None # Will get initialized later when the system starts
self.writables = list()
if self.sysCfg['use_phasespace']:
from mocapInterface import phasespaceInterface
self.mocap = phasespaceInterface(self.sysCfg)
self.use_phasespace = True
else:
self.use_phasespace = False
viz.setOption("viz.glfinish", 1)
viz.setOption("viz.dwm_composition", 0)
def __createExpCfg(self, expCfgName):
"""
Parses and validates a config obj
Variables read in are stored in configObj
"""
print("Loading experiment config file: " + expCfgName)
# This is where the parser is called.
expCfg = ConfigObj(expCfgName, configspec='expCfgSpec.ini', raise_errors=True, file_error=True)
validator = Validator()
expCfgOK = expCfg.validate(validator)
if expCfgOK == True:
print("Experiment config file parsed correctly")
else:
print('Experiment config file validation failed!')
res = expCfg.validate(validator, preserve_errors=True)
for entry in flatten_errors(expCfg, res):
# each entry is a tuple
section_list, key, error = entry
if key:
section_list.append(key)
else:
section_list.append('[missing section]')
section_string = ', '.join(section_list)
if error == False:
error = 'Missing value or section.'
print(section_string, ' = ', error)
sys.exit(1)
if expCfg.has_key('_LOAD_'):
for ld in expCfg['_LOAD_']['loadList']:
print('Loading: ' + ld + ' as ' + expCfg['_LOAD_'][ld]['cfgFile'])
curCfg = ConfigObj(expCfg['_LOAD_'][ld]['cfgFile'], configspec=expCfg['_LOAD_'][ld]['cfgSpec'], raise_errors=True, file_error=True)
validator = Validator()
expCfgOK = curCfg.validate(validator)
if expCfgOK == True:
print("Experiment config file parsed correctly")
else:
print('Experiment config file validation failed!')
res = curCfg.validate(validator, preserve_errors=True)
for entry in flatten_errors(curCfg, res):
# each entry is a tuple
section_list, key, error = entry
if key is not None:
section_list.append(key)
else:
section_list.append('[missing section]')
section_string = ', '.join(section_list)
if error == False:
error = 'Missing value or section.'
print(section_string, ' = ', error)
sys.exit(1)
expCfg.merge(curCfg)
self.expCfg = expCfg
def __setWinPriority(self, pid=None, priority=5):
""" Set The Priority of a Windows Process. Priority is a value between 0-5 where
2 is normal priority. Default sets the priority of the current
python process but can take any valid process ID. """
import win32api, win32process, win32con
priorityclasses = [win32process.IDLE_PRIORITY_CLASS,
win32process.BELOW_NORMAL_PRIORITY_CLASS,
win32process.NORMAL_PRIORITY_CLASS,
win32process.ABOVE_NORMAL_PRIORITY_CLASS,
win32process.HIGH_PRIORITY_CLASS,
win32process.REALTIME_PRIORITY_CLASS]
if not pid:
pid = win32api.GetCurrentProcessId()
handle = win32api.OpenProcess(win32con.PROCESS_ALL_ACCESS, True, pid)
win32process.SetPriorityClass(handle, priorityclasses[priority])
def __createSysCfg(self):
"""
Set up the system config section (sysCfg)
"""
# Get machine name
sysCfgName = platform.node()+".cfg"
if not os.path.isfile(sysCfgName):
sysCfgName = "defaultSys.cfg"
print("Loading system config file: " + sysCfgName)
# Parse system config file
sysCfg = ConfigObj(sysCfgName, configspec='sysCfgSpec.ini', raise_errors=True)
validator = Validator()
sysCfgOK = sysCfg.validate(validator)
if sysCfgOK:
print("System config file parsed correctly")
else:
print('System config file validation failed!')
res = sysCfg.validate(validator, preserve_errors=True)
for entry in flatten_errors(sysCfg, res):
# each entry is a tuple
section_list, key, error = entry
if key is not None:
section_list.append(key)
else:
section_list.append('[missing section]')
section_string = ', '.join(section_list)
if error == False:
error = 'Missing value or section.'
print(section_string, ' = ', error)
sys.exit(1)
self.sysCfg = sysCfg
def __setupOculusMon(self):
"""
Setup for the oculus rift dk2
Relies upon a cluster enabling a single client on the local machine
THe client enables a mirrored desktop view of what's displays inside the oculus DK2
Note that this does some juggling of monitor numbers for you.
"""
#viz.window.setFullscreenMonitor(self.sysCfg['displays'])
#hmd = oculus.Rift(renderMode=oculus.RENDER_CLIENT)
displayList = self.sysCfg['displays']
if len(displayList) < 2:
print('Display list is <1. Need two displays.')
else:
print('Using display number ' + str(displayList[0]) + ' for oculus display.')
print('Using display number ' + str(displayList[1]) + ' for mirrored display.')
### Set the rift and exp displays
riftMon = []
expMon = displayList[1]
with viz.cluster.MaskedContext(viz.MASTER):
# Set monitor to the oculus rift
monList = viz.window.getMonitorList()
for mon in monList:
if mon.name == 'Rift DK2':
riftMon = mon.id
viz.window.setFullscreenMonitor(riftMon)
viz.window.setFullscreen(1)
with viz.cluster.MaskedContext(viz.CLIENT1):
count = 1
while riftMon == expMon:
expMon = count
viz.window.setFullscreenMonitor(expMon)
viz.window.setFullscreen(1)
def __connectWiiMote(self):
wii = viz.add('wiimote.dle')#Add wiimote extension
# Replace old wiimote
if self.wiimote:
print('Wiimote removed.')
self.wiimote.remove()
self.wiimote = wii.addWiimote()# Connect to first available wiimote
vizact.onexit(self.wiimote.remove) # Make sure it is disconnected on quit
self.wiimote.led = wii.LED_1 | wii.LED_4 #Turn on leds to show connection
def __connectSMIDK2(self):
if self.sysCfg['sim_trackerData']:
self.eyeTracker = smi.iViewHMD(simulate=True)
else:
self.eyeTracker = smi.iViewHMD()
def __record_data__(self, e):
if self.use_DVR and self.writer != None:
#print "Writing..."
self.writer.write(self.writables)
class Experiment(viz.EventClass):
"""
Experiment manages the basic operation of the experiment.
"""
def __init__(self, expConfigFileName):
"""
Event classes can register their own callback functions. This makes it possible to register
callback functions (e.g. activated by a timer event) within the class (that accept the
implied self argument) eg self.callbackFunction(arg1) would receive args (self, arg1) If
this were not an eventclass, the self arg would not be passed = badness.
"""
viz.EventClass.__init__(self) # isn't this called already when Experiment is instantiated?
##############################################################
##############################################################
## Use config to setup hardware, motion tracking, frustum, eyeTrackingCal.
## This draws upon the system config to setup the hardware / HMD
self.config = Configuration(expConfigFileName)
################################################################
################################################################
## Set states
self.inCalibrateMode = False
self.inHMDGeomCheckMode = False
self.setEnabled(False)
self.test_char = None
self.calibrationFrameCounter = 0
self.totalCalibrationFrames = 100
#self.standingBoxSize_WHL = map(float, config.expCfg['room']['standingBoxSize_WHL'])
################################################################
################################################################
# Create visual and physical objects (the room)
self.room = visEnv.room(self.config)
self.viewAct = []
self.hmdLinkedToView = False
self.headTracker = []
################################################################
################################################################
# Build block and trial list
self.blockNumber = 0
self.trialNumber = 0
self.inProgress = True
self.enableWritingToLog = False
self.calibrationDoneSMI = False
self.gazeVector = []
self.eyeBallVector = []
self.blocks_bl = []
for bIdx in range(len(self.config.expCfg['experiment']['blockList'])):
self.blocks_bl.append(block(self.config, bIdx, self.room))
self.currentTrial = self.blocks_bl[self.blockNumber].trials_tr[self.trialNumber]
# ################################################################
# ################################################################
# ## Misc. Design specific items here.
# Setup launch trigger
self.launchKeyIsCurrentlyDown = False
self.minLaunchTriggerDuration = self.config.expCfg['experiment']['minLaunchTriggerDuration']
if self.config.sysCfg['use_phasespace']:
self.linkObjectsUsingMocap()
##############################################################
##############################################################
## Callbacks and timers
vizact.onupdate(viz.PRIORITY_PHYSICS, self._checkForCollisions)
self.callback(viz.KEYDOWN_EVENT, self.onKeyDown)
self.callback(viz.KEYUP_EVENT, self.onKeyUp)
self.callback(viz.TIMER_EVENT, self._timerCallback)
self.perFrameTimerID = viz.getEventID('perFrameTimerID') # Generates a unique ID.
self.starttimer(self.perFrameTimerID, viz.FASTEST_EXPIRATION, viz.FOREVER)
# maxFlightDurTimerID times out balls a fixed dur after launch
self.maxFlightDurTimerID = viz.getEventID('maxFlightDurTimerID')
self.ballPresDurTimerID = viz.getEventID('ballPresDurTimerID')
self.ballBlankDurTimerID = viz.getEventID('ballBlankDurTimerID')
############################################################
#############################################################
# Setup per-frame data output
self.setupFileIO()
with viz.cluster.MaskedContext(viz.MASTER):
vizact.onupdate(viz.PRIORITY_LAST_UPDATE, self.addDataToLog)
self.eventFlag = eventFlag()
def _timerCallback(self, timerID):
"""
Add Docstring.
"""
if timerID == self.maxFlightDurTimerID:
print('Removing ball!')
self.currentTrial.removeBall()
self.room.standingBox.visible(viz.TOGGLE)
self.endTrial()
elif timerID == self.ballPresDurTimerID:
# make ball invisible (Why another if in an elif?)
if self.currentTrial.blankDur != 0.0:
self.currentTrial.ballObj.node3D.visible(False)
self.starttimer(self.ballBlankDurTimerID, self.currentTrial.blankDur)
#self.eventFlag.setStatus(8)
self.eventFlag.setStatus('ballRenderOff')
elif timerID == self.ballBlankDurTimerID:
self.currentTrial.ballObj.node3D.visible(True)
#self.eventFlag.setStatus(9)
self.eventFlag.setStatus('ballRenderOn')
def _checkForCollisions(self):
"""
Add Docstring.
"""
thePhysEnv = self.room.physEnv
if thePhysEnv.collisionDetected == False:
# No collisions this time!
return
theFloor = self.room.floor
theBackWall = self.room.wall_NegZ
theBall = self.currentTrial.ballObj
if self.room.paddle:
thePaddle = self.room.paddle
if self.room.passingPlane:
thePassingPlane = self.room.passingPlane
for idx in range(len(thePhysEnv.collisionList_idx_physNodes)):
physNode1 = thePhysEnv.collisionList_idx_physNodes[idx][0]
physNode2 = thePhysEnv.collisionList_idx_physNodes[idx][1]
# BALL / FLOOR
if theBall:
# TODO: Cleanup this logic - It's currently unreadable.
if(self.currentTrial.ballHasBouncedOnFloor == False and
(physNode1 == theFloor.physNode and physNode2 == theBall.physNode or
physNode1 == theBall.physNode and physNode2 == theFloor.physNode)):
self.eventFlag.setStatus('ballOnFloor')
self.currentTrial.ballHasBouncedOnFloor = True
# This is an example of how to get contact information
bouncePos_XYZ, normal, depth, geom1, geom2 = thePhysEnv.contactObjects_idx[0].getContactGeomParams()
print('Bounce Point', bouncePos_XYZ)
self.currentTrial.ballOnPaddlePos_XYZ = bouncePos_XYZ
#print 'Ball has hit the ground.'
viz.playSound(soundBank.bounce)
# Compare pre-bounce flight dur with predicted pre-bounce flight dur
#actualPreBounceFlightDur = float(viz.getFrameTime()) - self.currentTrial.launchTime
#durationError = self.currentTrial.predictedPreBounceFlightDur - actualPreBounceFlightDur
#self.currentTrial.flightDurationError = durationError
#print 'Predicted: ' + str(self.currentTrial.predictedPreBounceFlightDur)
#print 'Actual : ' + str(actualPreBounceFlightDur)
#print 'Flight duration error: ' + str(durationError)
# BALL / PADDLE
if (self.currentTrial.ballHasHitPaddle == False and
(physNode1 == thePaddle.physNode and physNode2 == theBall.physNode or
physNode1 == theBall.physNode and physNode2 == thePaddle.physNode)):
#self.eventFlag.setStatus(4)
self.eventFlag.setStatus('ballOnPaddle')
self.currentTrial.ballHasHitPaddle = True
viz.playSound(soundBank.cowbell)
# self.ballObj.physNode.setStickUponContact( room.paddle.physNode.geom )
if theBall.physNode.queryStickyState(thePaddle.physNode):
# Could also be acheived by turning of physics via the physnode
theBall.updateAction.remove()
theBall.node3D.setParent(thePaddle.node3D)
collPoint_XYZ = theBall.physNode.collisionPosLocal_XYZ
theBall.node3D.setPosition(collPoint_XYZ, viz.ABS_PARENT)
print('Collision Location ', collPoint_XYZ)
self.currentTrial.ballOnPaddlePosLoc_XYZ = collPoint_XYZ
# If you don't set position in this way (on the next frame using vizact.onupdate),
# then it doesn't seem to update correctly.
# My guess is that this is because the ball's position is updated later on this frame using
# visObj.applyPhysToVis()
vizact.onupdate(viz.PRIORITY_LINKS, theBall.node3D.setPosition, collPoint_XYZ[0], collPoint_XYZ[1], collPoint_XYZ[2], viz.ABS_PARENT)
# # BALL / PassingPlane
# if( type(self.room.passingPlane) is visEnv.visObj and
# self.currentTrial.ballHasHitPassingPlane == False
# and (physNode1 == thePassingPlane.physNode and physNode2 == theBall.physNode or
# physNode1 == theBall.physNode and physNode2 == thePassingPlane.physNode )):
#
# self.eventFlag.setStatus(8)
# self.currentTrial.ballHasHitPassingPlane = True
# viz.playSound(soundBank.bubblePop)
#
# #self.currentTrial.myMarkersList.append(vizshape.addCircle(0.02))
# #self.currentTrial.myMarkersList[-1].color([1,1,0])
# #self.currentTrial.myMarkersList[-1].setPosition(theBall.node3D.getPosition())
#
#
# # self.ballObj.physNode.setStickUponContact( room.paddle.physNode.geom )
# if( theBall.physNode.queryStickyState(thePassingPlane.physNode) ):
#
# theBall.updateAction.remove()
# theBall.node3D.setParent(thePassingPlane.node3D)
# collPoint_XYZ = theBall.physNode.collisionPosLocal_XYZ
# theBall.node3D.setPosition(collPoint_XYZ, viz.ABS_PARENT)
#
# self.currentTrial.ballOnPassingPlanePosLoc_XYZ = collPoint_XYZ
#
# # If you don't set position in this way (on the next frame using vizact.onupdate),
# # then it doesn't seem to update correctly.
# # My guess is that this is because the ball's position is updated later on this frame using
# # visObj.applyPhysToVis()
# #print '===============> HI HOO', collPoint_XYZ
# vizact.onupdate(viz.PRIORITY_LINKS,theBall.node3D.setPosition,collPoint_XYZ[0],collPoint_XYZ[1],collPoint_XYZ[2])
if (physNode1 == theBackWall.physNode and physNode2 == theBall.physNode or
physNode1 == theBall.physNode and physNode2 == theBackWall.physNode):
#self.eventFlag.setStatus(5)
self.eventFlag.setStatus('ballOnBackWall')
#print 'Ball has hit the back wall.'
viz.playSound(soundBank.bounce)
# TODO: Move this to logging/recording module
def setupFileIO(self):
"""
set up a logger and add handlers
"""
self.logger = logging.getLogger()
now = datetime.datetime.now()
dateTimeStr = str(now.year) + '-' + str(now.month) + '-' + str(now.day) + '-' + str(now.hour) + '-' + str(now.minute)
dataOutPutDir = self.config.sysCfg['writer']['outFileDir'] + '//' +str(dateTimeStr) + '//'
if not os.path.exists(dataOutPutDir):
os.makedirs(dataOutPutDir)
self.fhandler = logging.FileHandler(filename=dataOutPutDir + 'exp_data-' + dateTimeStr + '.dict', mode='w')
formatter = logging.Formatter('%(message)s')
self.fhandler.setFormatter(formatter)
self.logger.addHandler(self.fhandler)
self.logger.setLevel(logging.DEBUG)
from shutil import copyfile
# Copy config files
copyfile('.\\' + expConfigFileName, dataOutPutDir+expConfigFileName) # exp config
copyfile('.\\expCfgSpec.ini', dataOutPutDir + 'expCfgSpec.ini') # exp config spec1
copyfile('.\\' + os.environ['COMPUTERNAME'] + '.cfg', dataOutPutDir + os.environ['COMPUTERNAME'] + '.cfg') # system config
copyfile('.\\sysCfgSpec.ini', dataOutPutDir + 'sysCfgSpec.ini') # system config spec
def start(self):
"""
This is called when the experiment should begin.
"""
self.setEnabled(True)
def toggleEyeCalib(self):
"""
Toggles the calibration for eye tracking.
Note, that for this to work, toggling
# self.config.camera must turn off your world model
# This is setup in testRoom.init().
# Example of what's needed in testRoom.init
self.room = viz.addGroup()
self.model = viz.add('pit.osgb',parent = self.room)
"""
if not self.config.sysCfg['use_eyetracking']:
print('Eyetracker not setup')
return
if not self.config.mocap:
pass
elif self.hmdLinkedToView and self.viewAct.getEnabled():
self.viewAct.setEnabled(viz.OFF)
elif self.hmdLinkedToView and self.viewAct.getEnabled() == False:
self.viewAct.setEnabled(viz.ON)
viz.mouse.setOverride(viz.TOGGLE)
self.config.eyeTrackingCal.toggleCalib()
self.inCalibrateMode = not self.inCalibrateMode
if self.inCalibrateMode:
viz.clearcolor(.5, .5, .5)
viz.MainView.setPosition(0, 0, 0)
viz.MainView.setAxisAngle(0, 1, 0, 0)
viz.MainView.velocity([0, 0, 0])
else:
viz.clearcolor(0, 0, 0)
if self.room:
self.room.walls.visible(viz.TOGGLE)
self.room.objects.visible(viz.TOGGLE)
self.config.eyeTrackingCal.updateOffset('s')
self.config.eyeTrackingCal.updateOffset('w')
def createCamera(self):
"""
Currently, this function does nothing.
Head camera is generally initialized as part of the system calls. Additional changes should be added here.
"""
pass
def updateGazePoints(self):
displayOffset = 0.15
self.myDisplay.setPosition(viz.MainView.getPosition() - [0.0, 0.0, displayOffset])
def callSMICalibration(self):
self.calibrationDoneSMI = True
eyeTracker = experimentObject.config.eyeTracker
eyeTracker.calibrate()
print('calibrationDoneSMI ==> ', self.calibrationDoneSMI)
def callPerForMCalibration(self):
print('Static Calibration Method is Called')
self.totalCalibrationFrames = 100
calibTools.staticCalibrationMethod()
def updateCalibrationPoint(self):
calibTools.updateCalibrationPoint()
def recordCalibrationData(self):
print('Data Recording Started for Calibration')
calibTools.calibrationSphere.color(viz.YELLOW)
self.enableWritingToLog = True
self.calibrationFrameCounter = 0
def onKeyDown(self, key):
"""
Interactive commands can be given via the keyboard.
Some are provided here. You'll likely want to add more.
"""
if self.config.use_phasespace:
mocapSys = self.config.mocap
hmdRigid = mocapSys.returnPointerToRigid('hmd')
paddleRigid = mocapSys.returnPointerToRigid('paddle')
else:
mocapSys = []
hmdRigid = []
paddleRigid = []
##########################################################
##########################################################
## Keys used in the default mode
if key == 'R':
#riftOriTracker = vizconnect.getTracker('rift').getNode3d()
pass
if key == 'c' and self.config.eyeTracker:
self.callSMICalibration()
if key == 'q':
self.updateCalibrationPoint()
if key == 'k':
self.recordCalibrationData()
if key == 'e':
self.callPerForMCalibration()
if key == 'z':
print('Dynamic Calibration Method is Called')
self.totalCalibrationFrames = 2000
self.enableWritingToLog = True
calibTools.dynamicCalibrationMethod()
if not self.inCalibrateMode:
if key == 'M':
# Toggle the link between the HMD and Mainview
if self.hmdLinkedToView:
if self.viewAct.getEnabled():
self.viewAct.disable()
else:
self.viewAct.enable()
elif key == 'p':
mocapSys.resetRigid('paddle')
elif key == 'P':
mocapSys.saveRigid('paddle')
elif key == 'h':
#print 'reset HMD Rigid Body'
mocapSys.resetRigid('hmd')
elif key == 'H':
print('save HMD Rigid Body')
mocapSys.saveRigid('hmd')
elif key == 'W':
self.connectWiiMote()
elif key == 'v':
self.launchKeyDown()
elif key == 'D':
dvrWriter = self.config.writer
dvrWriter.toggleOnOff()
elif key == 'r':
vizconnect.getTracker('rift_tracker').resetHeading()
##########################################################
##########################################################
##
def onKeyUp(self, key):
"""
Eye-tracker calibration mode.
"""
if key == 'v':
self.launchKeyUp()
def launchKeyDown(self):
if (self.inProgress == True and
self.launchKeyIsCurrentlyDown == False and
self.currentTrial.ballInRoom == False): # There is not already a ball
# Start timing trigger duration
# At end of trigger, launch the ball.
self.launchKeyIsCurrentlyDown = True
self.timeLaunchKeyWasPressed = viz.tick()
self.room.standingBox.visible(viz.TOGGLE)
self.currentTrial.placeLaunchPlane(self.currentTrial.launchPlaneSize)
self.currentTrial.placePassingPlane(self.currentTrial.passingPlaneSize)
self.currentTrial.placeBall(self.room)
def launchKeyUp(self):
global calibTools # bad
if calibTools.calibrationInProgress:
return
if self.launchKeyIsCurrentlyDown:
self.launchKeyIsCurrentlyDown = False
triggerDuration = viz.tick() - self.timeLaunchKeyWasPressed
ballReadyToLaunch = False
if (self.currentTrial.ballInRoom == True and
self.currentTrial.ballInInitialState == True and
self.currentTrial.ballLaunched == False):
# Ball is ready to launch
if triggerDuration <= self.minLaunchTriggerDuration:
# Trigger not held long enough for a launch
viz.playSound(soundBank.cowbell) # need more cowbell
self.room.standingBox.visible(viz.TOGGLE)
self.currentTrial.removeBall()
print('Launch aborted Because of Timing')
if triggerDuration >= self.minLaunchTriggerDuration:
#self.eventFlag.setStatus(1)
self.eventFlag.setStatus('trialStart')
self.inProgress = True
self.enableWritingToLog = True
print('Start Trial {%s}' % str(self.enableWritingToLog))
self.currentTrial.launchBall()
self.starttimer(self.maxFlightDurTimerID, self.currentTrial.ballFlightMaxDur)
self.starttimer(self.ballPresDurTimerID, self.currentTrial.preBlankDur)
else: # Why?
return
# TODO: Move this to logging/recording module
def addDataToLog(self):
"""
Writes a string (really a dictionary literal) describing current state of experiment to
text file.
Note: many variables defined in this function include in the variable name an underscore.
The post-underscore suffix is currently used to break up the values of such variables, if
they are not scalar quantities.
Legend:
** for 1 var
() for 2 vars
[] for 3 vars
<> for 4 vars
@@ for 16 vars (view and projection matrices)
### Eventflag
1 ball launched
3 ball has hit floor
4 ball has hit paddle
5 ball has hit back wall
6 ball has timed out
"""
NaN = float('NaN') # Why? - is this for Pandas?
# floating point NAN defined here this way due to use of Pandas later columns must contain
# values of same type - most recorded data in here is floating point, thus, empty cells
# must also have some representative value that is also a float.
# (Why not 0.0? - probably cases where attribute is 0.0, not empty)
# Only write data is the experiment is ongoing
if self.enableWritingToLog is False or self.inProgress is False:
return
# during calibration only 100 frame durations are recorded for each fixation.
# TODO: the conditional governing whether to record should be outside the actual function
self.calibrationFrameCounter += 1
if calibTools.calibrationInProgress and self.calibrationFrameCounter > self.totalCalibrationFrames:
self.enableWritingToLog = False
print('Calibration Frames Recorded:', self.calibrationFrameCounter)
calibTools.calibrationSphere.color(viz.PURPLE)
self.calibrationFrameCounter = 0
return
# Gather misc data
frameNum = viz.getFrameNumber()
viewPos_XYZ = viz.MainView.getPosition(viz.MASTER)
if calibTools.calibrationSphere:
calibrationPoint_XYZ = calibTools.calibrationSphere.getPosition()
else:
calibrationPoint_XYZ = [NaN, NaN, NaN]
# current state of experiment
currentSample = self.config.eyeTracker.getLastSample()
# Gather racquet data
if self.room.paddle:
paddlePos_XYZ = self.room.paddle.node3D.getPosition()
paddleQuat_XYZW = self.room.paddle.node3D.getMatrix().getQuat()
paddleMat_4x4 = self.room.paddle.node3D.getMatrix().data
else:
paddlePos_XYZ = [NaN, NaN, NaN]
paddleQuat_XYZW = [NaN, NaN, NaN, NaN]
paddleMat_4x4 = [NaN] * 16
# Gather ball data
theBall = self.currentTrial.ballObj
if theBall:
ballPos_XYZ = theBall.node3D.getPosition(viz.ABS_GLOBAL)
ballVel_XYZ = theBall.getVelocity()
ballVisible = self.currentTrial.ballObj.node3D.getVisible()
ballMat_4x4 = theBall.node3D.getMatrix().data
else:
ballPos_XYZ = [NaN, NaN, NaN]
ballVel_XYZ = [NaN, NaN, NaN]
ballVisible = NaN
ballMat_4x4 = [NaN] * 16
# SMI Data
if currentSample:
#smiServerTime = self.config.eyeTracker.getServerTime()
cycEyeOnScreen_XY = [currentSample.por.x, currentSample.por.y]
cycEyeInHead_XYZ = [currentSample.gazeDirection.x, currentSample.gazeDirection.y, currentSample.gazeDirection.z]
cycEyeBasePoint_XYZ = [currentSample.gazeBasePoint.x, currentSample.gazeBasePoint.y, currentSample.gazeBasePoint.z]
rightEyeOnScreen_XY = [currentSample.rightEye.por.x, currentSample.rightEye.por.y]
rightEyeInHead_XYZ = [currentSample.rightEye.gazeDirection.x, currentSample.rightEye.gazeDirection.y, currentSample.rightEye.gazeDirection.z]
rightEyeBasePoint_XYZ = [currentSample.rightEye.gazeBasePoint.x, currentSample.rightEye.gazeBasePoint.y, currentSample.rightEye.gazeBasePoint.z] # H or W?
rightEyeScreenDistance = currentSample.rightEye.eyeScreenDistance
rightEyeLensDistance = currentSample.rightEye.eyeLensDistance
rightPupilRadius = currentSample.rightEye.pupilRadius
rightPupilPos_XYZ = [currentSample.rightEye.pupilPosition.x, currentSample.rightEye.pupilPosition.y, currentSample.rightEye.pupilPosition.z] # Pixel values
leftEyeOnScreen_XY = [currentSample.leftEye.por.x, currentSample.leftEye.por.y]
leftEyeInHead_XYZ = [currentSample.leftEye.gazeDirection.x, currentSample.leftEye.gazeDirection.y, currentSample.leftEye.gazeDirection.z]
leftEyeBasePoint_XYZ = [currentSample.leftEye.gazeBasePoint.x, currentSample.leftEye.gazeBasePoint.y, currentSample.leftEye.gazeBasePoint.z] # H or W?
leftEyeScreenDistance = currentSample.leftEye.eyeScreenDistance
leftEyeLensDistance = currentSample.leftEye.eyeLensDistance
leftPupilRadius = currentSample.leftEye.pupilRadius
leftPupilPos_XYZ = [currentSample.leftEye.pupilPosition.x, currentSample.leftEye.pupilPosition.y, currentSample.leftEye.pupilPosition.z] # Pixel values
# TODO: Check SMI documentation to make sure forcing timestamp to int (instead of long)
# wont cause issues.
# cast to int to avoid "L" suffix in dict literal str (Python 3 has no Long type)
eyeTimeStamp = int(currentSample.timestamp)
IOD = currentSample.iod
IPD = currentSample.ipd
else:
#smiServerTime = [NaN]
cycEyeOnScreen_XY = [NaN, NaN]
cycEyeInHead_XYZ = [NaN, NaN, NaN]
cycEyeBasePoint_XYZ = [NaN, NaN, NaN]
rightEyeOnScreen_XY = [NaN, NaN]
rightEyeInHead_XYZ = [NaN, NaN, NaN]
rightEyeBasePoint_XYZ = [NaN, NaN, NaN]
rightEyeScreenDistance = NaN
rightEyeLensDistance = NaN
rightPupilRadius = NaN
rightPupilPos_XYZ = [NaN, NaN, NaN]
leftEyeOnScreen_XY = [NaN, NaN]
leftEyeInHead_XYZ = [NaN, NaN, NaN]
leftEyeBasePoint_XYZ = [NaN, NaN, NaN]
leftEyeScreenDistance = NaN
leftEyeLensDistance = NaN
leftPupilRadius = NaN
leftPupilPos_XYZ = [NaN, NaN, NaN]
eyeTimeStamp = NaN
IOD = NaN
IPD = NaN
##### Eye nodes
if currentSample:
cycEyeNodeInWorld_XYZ = viz.MainView.getPosition()
rightEyeNodeInWorld_XYZ = rightEyeNode.getPosition(viz.ABS_GLOBAL)
leftEyeNodeInWorld_XYZ = leftEyeNode.getPosition(viz.ABS_GLOBAL)
rightEyeNodeInHead_XYZ = rightEyeNode.getPosition(viz.ABS_PARENT)
leftEyeNodeInHead_XYZ = leftEyeNode.getPosition(viz.ABS_PARENT)
cycMat_4x4 = viz.MainView.getMatrix(viz.ABS_GLOBAL).data
rightEyeMat_4x4 = rightEyeNode.getMatrix(viz.ABS_GLOBAL).data
leftEyeMat_4x4 = leftEyeNode.getMatrix(viz.ABS_GLOBAL).data
cycInverseMat_4x4 = viz.MainView.getMatrix(viz.ABS_GLOBAL).inverse().data
rightEyeInverseMat_4x4 = rightEyeNode.getMatrix(viz.ABS_GLOBAL).inverse().data
leftEyeInverseMat_4x4 = leftEyeNode.getMatrix(viz.ABS_GLOBAL).inverse().data
cycGazeNodeInWorld_XYZ = cyclopEyeSphere.node3D.getPosition(viz.ABS_GLOBAL)
rightGazeNodeInWorld_XYZ = right_sphere.node3D.getPosition(viz.ABS_GLOBAL)
leftGazeNodeInWorld_XYZ = left_sphere.node3D.getPosition(viz.ABS_GLOBAL)
# cycGazeNodeInHead_XYZ = viz.MainView.getPosition(viz.ABS_PARENT)
# rightGazeNodeInHead_XYZ = right_sphere.node3D.getPosition(viz.ABS_PARENT)
# leftGazeNodeInHead_XYZ = left_sphere.node3D.getPosition(viz.ABS_PARENT)
else:
cycEyeNodeInWorld_XYZ = [NaN, NaN, NaN]
rightEyeNodeInWorld_XYZ = [NaN, NaN, NaN]
leftEyeNodeInWorld_XYZ = [NaN, NaN, NaN]
rightEyeNodeInHead_XYZ = [NaN, NaN, NaN]
leftEyeNodeInHead_XYZ = [NaN, NaN, NaN]
cycMat_4x4 = [NaN] * 16
rightEyeMat_4x4 = [NaN] * 16
leftEyeMat_4x4 = [NaN] * 16
cycInverseMat_4x4 = [NaN] * 16
rightEyeInverseMat_4x4 = [NaN] * 16
leftEyeInverseMat_4x4 = [NaN] * 16