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NatNetClient.py
523 lines (423 loc) · 21.5 KB
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NatNetClient.py
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#
# Modified version of the NatNet 3.0 Python Client example from NatNetSDK
#
import socket
import struct
from threading import Thread
# Create structs for reading various object types to speed up parsing.
Vector3 = struct.Struct( '<fff' )
Quaternion = struct.Struct( '<ffff' )
FloatValue = struct.Struct( '<f' )
DoubleValue = struct.Struct( '<d' )
class NatNetClient:
def __init__( self, server="127.0.0.1", multicast="239.255.42.99", commandPort=1510, dataPort=1511, rigidBodyListener=None, newFrameListener=None, rigidBodyListListener=None, verbose=False ):
# IP address of the NatNet server.
self.serverIPAddress = server
# This should match the multicast address listed in Motive's streaming settings.
self.multicastAddress = multicast
# NatNet Command channel
self.commandPort = commandPort
# NatNet Data channel
self.dataPort = dataPort
# Set this to a callback method of your choice to receive per-rigid-body data at each frame.
self.rigidBodyListener = rigidBodyListener
# Set this to a callback method of your choice to receive data at each frame.
self.newFrameListener = newFrameListener
# Set this to a callback method of your choice to receive rigid-body data list and timestamp at each frame.
self.rigidBodyListListener = rigidBodyListListener
self.rigidBodyList = []
# NatNet stream version. This will be updated to the actual version the server is using during initialization.
self.__natNetStreamVersion = (3,0,0,0)
# Trace verbose level
self.verbose = verbose
# flag to stop threads
self.running = False
# Client/server message ids
NAT_PING = 0
NAT_PINGRESPONSE = 1
NAT_REQUEST = 2
NAT_RESPONSE = 3
NAT_REQUEST_MODELDEF = 4
NAT_MODELDEF = 5
NAT_REQUEST_FRAMEOFDATA = 6
NAT_FRAMEOFDATA = 7
NAT_MESSAGESTRING = 8
NAT_DISCONNECT = 9
NAT_UNRECOGNIZED_REQUEST = 100
def __trace( self, *args ):
if self.verbose:
print( "".join(map(str,args)) )
# Create a data socket to attach to the NatNet stream
def __createDataSocket( self, port ):
result = socket.socket( socket.AF_INET, # Internet
socket.SOCK_DGRAM,
socket.IPPROTO_UDP) # UDP
result.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
result.bind( ('', port) )
mreq = struct.pack("4sl", socket.inet_aton(self.multicastAddress), socket.INADDR_ANY)
result.setsockopt(socket.IPPROTO_IP, socket.IP_ADD_MEMBERSHIP, mreq)
return result
# Create a command socket to attach to the NatNet stream
def __createCommandSocket( self ):
result = socket.socket( socket.AF_INET, socket.SOCK_DGRAM )
result.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
result.bind( ('', 0) )
result.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
return result
# Unpack a rigid body object from a data packet
def __unpackRigidBody( self, data ):
offset = 0
# ID (4 bytes)
id = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
self.__trace( "ID:", id )
# Position and orientation
pos = Vector3.unpack( data[offset:offset+12] )
offset += 12
self.__trace( "\tPosition:", pos[0],",", pos[1],",", pos[2] )
rot = Quaternion.unpack( data[offset:offset+16] )
offset += 16
self.__trace( "\tOrientation:", rot[0],",", rot[1],",", rot[2],",", rot[3] )
# Store data
self.rigidBodyList.append((id, pos, rot))
# Send information to any listener.
if self.rigidBodyListener is not None:
self.rigidBodyListener( id, pos, rot )
# RB Marker Data ( Before version 3.0. After Version 3.0 Marker data is in description )
if( self.__natNetStreamVersion[0] < 3 ) :
# Marker count (4 bytes)
markerCount = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
markerCountRange = range( 0, markerCount )
self.__trace( "\tMarker Count:", markerCount )
# Marker positions
for i in markerCountRange:
pos = Vector3.unpack( data[offset:offset+12] )
offset += 12
self.__trace( "\tMarker", i, ":", pos[0],",", pos[1],",", pos[2] )
if( self.__natNetStreamVersion[0] >= 2 ):
# Marker ID's
for i in markerCountRange:
id = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
self.__trace( "\tMarker ID", i, ":", id )
# Marker sizes
for i in markerCountRange:
size = FloatValue.unpack( data[offset:offset+4] )
offset += 4
self.__trace( "\tMarker Size", i, ":", size[0] )
if( self.__natNetStreamVersion[0] >= 2 ):
markerError, = FloatValue.unpack( data[offset:offset+4] )
offset += 4
self.__trace( "\tMarker Error:", markerError )
# Version 2.6 and later
if( ( ( self.__natNetStreamVersion[0] == 2 ) and ( self.__natNetStreamVersion[1] >= 6 ) ) or self.__natNetStreamVersion[0] > 2 or self.__natNetStreamVersion[0] == 0 ):
param, = struct.unpack( 'h', data[offset:offset+2] )
trackingValid = ( param & 0x01 ) != 0
offset += 2
self.__trace( "\tTracking Valid:", 'True' if trackingValid else 'False' )
return offset
# Unpack a skeleton object from a data packet
def __unpackSkeleton( self, data ):
offset = 0
id = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
self.__trace( "ID:", id )
rigidBodyCount = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
self.__trace( "Rigid Body Count:", rigidBodyCount )
for j in range( 0, rigidBodyCount ):
offset += self.__unpackRigidBody( data[offset:] )
return offset
# Unpack data from a motion capture frame message
def __unpackMocapData( self, data ):
self.__trace( "Begin MoCap Frame\n-----------------\n" )
data = memoryview( data )
offset = 0
self.rigidBodyList = []
# Frame number (4 bytes)
frameNumber = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
self.__trace( "Frame #:", frameNumber )
# Marker set count (4 bytes)
markerSetCount = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
self.__trace( "Marker Set Count:", markerSetCount )
for i in range( 0, markerSetCount ):
# Model name
modelName, separator, remainder = bytes(data[offset:]).partition( b'\0' )
offset += len( modelName ) + 1
self.__trace( "Model Name:", modelName.decode( 'utf-8' ) )
# Marker count (4 bytes)
markerCount = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
self.__trace( "Marker Count:", markerCount )
for j in range( 0, markerCount ):
pos = Vector3.unpack( data[offset:offset+12] )
offset += 12
#self.__trace( "\tMarker", j, ":", pos[0],",", pos[1],",", pos[2] )
# Unlabeled markers count (4 bytes)
unlabeledMarkersCount = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
self.__trace( "Unlabeled Markers Count:", unlabeledMarkersCount )
for i in range( 0, unlabeledMarkersCount ):
pos = Vector3.unpack( data[offset:offset+12] )
offset += 12
self.__trace( "\tMarker", i, ":", pos[0],",", pos[1],",", pos[2] )
# Rigid body count (4 bytes)
rigidBodyCount = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
self.__trace( "Rigid Body Count:", rigidBodyCount )
for i in range( 0, rigidBodyCount ):
offset += self.__unpackRigidBody( data[offset:] )
# Version 2.1 and later
skeletonCount = 0
if( ( self.__natNetStreamVersion[0] == 2 and self.__natNetStreamVersion[1] > 0 ) or self.__natNetStreamVersion[0] > 2 ):
skeletonCount = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
self.__trace( "Skeleton Count:", skeletonCount )
for i in range( 0, skeletonCount ):
offset += self.__unpackSkeleton( data[offset:] )
# Labeled markers (Version 2.3 and later)
labeledMarkerCount = 0
if( ( self.__natNetStreamVersion[0] == 2 and self.__natNetStreamVersion[1] > 3 ) or self.__natNetStreamVersion[0] > 2 ):
labeledMarkerCount = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
self.__trace( "Labeled Marker Count:", labeledMarkerCount )
for i in range( 0, labeledMarkerCount ):
id = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
pos = Vector3.unpack( data[offset:offset+12] )
offset += 12
size = FloatValue.unpack( data[offset:offset+4] )
offset += 4
# Version 2.6 and later
if( ( self.__natNetStreamVersion[0] == 2 and self.__natNetStreamVersion[1] >= 6 ) or self.__natNetStreamVersion[0] > 2 or self.__natNetStreamVersion[0] == 0 ):
param, = struct.unpack( 'h', data[offset:offset+2] )
offset += 2
occluded = ( param & 0x01 ) != 0
pointCloudSolved = ( param & 0x02 ) != 0
modelSolved = ( param & 0x04 ) != 0
# Version 3.0 and later
if( self.__natNetStreamVersion[0] >= 3 or self.__natNetStreamVersion[0] == 0 ):
residual, = FloatValue.unpack( data[offset:offset+4] )
offset += 4
self.__trace( "Residual:", residual )
# Force Plate data (version 2.9 and later)
if( ( self.__natNetStreamVersion[0] == 2 and self.__natNetStreamVersion[1] >= 9 ) or self.__natNetStreamVersion[0] > 2 ):
forcePlateCount = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
self.__trace( "Force Plate Count:", forcePlateCount )
for i in range( 0, forcePlateCount ):
# ID
forcePlateID = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
self.__trace( "Force Plate", i, ":", forcePlateID )
# Channel Count
forcePlateChannelCount = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
# Channel Data
for j in range( 0, forcePlateChannelCount ):
self.__trace( "\tChannel", j, ":", forcePlateID )
forcePlateChannelFrameCount = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
for k in range( 0, forcePlateChannelFrameCount ):
forcePlateChannelVal = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
self.__trace( "\t\t", forcePlateChannelVal )
# Device data (version 2.11 and later)
if( ( self.__natNetStreamVersion[0] == 2 and self.__natNetStreamVersion[1] >= 11 ) or self.__natNetStreamVersion[0] > 2 ):
deviceCount = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
self.__trace( "Device Count:", deviceCount )
for i in range( 0, deviceCount ):
# ID
deviceID = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
self.__trace( "Device", i, ":", deviceID )
# Channel Count
deviceChannelCount = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
# Channel Data
for j in range( 0, deviceChannelCount ):
self.__trace( "\tChannel", j, ":", deviceID )
deviceChannelFrameCount = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
for k in range( 0, deviceChannelFrameCount ):
deviceChannelVal = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
self.__trace( "\t\t", deviceChannelVal )
# software latency (removed in version 3.0)
if self.__natNetStreamVersion[0] < 3:
latency = FloatValue.unpack( data[offset:offset+4] )
offset += 4
# Timecode
timecode = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
timecodeSub = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
# Timestamp (increased to double precision in 2.7 and later)
if( ( self.__natNetStreamVersion[0] == 2 and self.__natNetStreamVersion[1] >= 7 ) or self.__natNetStreamVersion[0] > 2 ):
timestamp, = DoubleValue.unpack( data[offset:offset+8] )
offset += 8
else:
timestamp, = FloatValue.unpack( data[offset:offset+4] )
offset += 4
# Hires Timestamp (Version 3.0 and later)
if( self.__natNetStreamVersion[0] >= 3 or self.__natNetStreamVersion[0] == 0 ):
stampCameraExposure = int.from_bytes( data[offset:offset+8], byteorder='little' )
offset += 8
stampDataReceived = int.from_bytes( data[offset:offset+8], byteorder='little' )
offset += 8
stampTransmit = int.from_bytes( data[offset:offset+8], byteorder='little' )
offset += 8
# Frame parameters
param, = struct.unpack( 'h', data[offset:offset+2] )
isRecording = ( param & 0x01 ) != 0
trackedModelsChanged = ( param & 0x02 ) != 0
offset += 2
# Send information to any listener.
if self.newFrameListener is not None:
self.newFrameListener( frameNumber, markerSetCount, unlabeledMarkersCount, rigidBodyCount, skeletonCount,
labeledMarkerCount, timecode, timecodeSub, timestamp, isRecording, trackedModelsChanged )
# Send rigid body list and timestamp
if self.rigidBodyListListener is not None:
self.rigidBodyListListener( self.rigidBodyList, timestamp )
# Unpack a marker set description packet
def __unpackMarkerSetDescription( self, data ):
offset = 0
name, separator, remainder = bytes(data[offset:]).partition( b'\0' )
offset += len( name ) + 1
self.__trace( "Markerset Name:", name.decode( 'utf-8' ) )
markerCount = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
for i in range( 0, markerCount ):
name, separator, remainder = bytes(data[offset:]).partition( b'\0' )
offset += len( name ) + 1
self.__trace( "\tMarker Name:", name.decode( 'utf-8' ) )
return offset
# Unpack a rigid body description packet
def __unpackRigidBodyDescription( self, data ):
offset = 0
# Version 2.0 or higher
if( self.__natNetStreamVersion[0] >= 2 ):
name, separator, remainder = bytes(data[offset:]).partition( b'\0' )
offset += len( name ) + 1
self.__trace( "\tMarker Name:", name.decode( 'utf-8' ) )
id = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
parentID = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
timestamp = Vector3.unpack( data[offset:offset+12] )
offset += 12
return offset
# Unpack a skeleton description packet
def __unpackSkeletonDescription( self, data ):
offset = 0
name, separator, remainder = bytes(data[offset:]).partition( b'\0' )
offset += len( name ) + 1
self.__trace( "\tMarker Name:", name.decode( 'utf-8' ) )
id = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
rigidBodyCount = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
for i in range( 0, rigidBodyCount ):
offset += self.__unpackRigidBodyDescription( data[offset:] )
return offset
# Unpack a data description packet
def __unpackDataDescriptions( self, data ):
offset = 0
datasetCount = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
for i in range( 0, datasetCount ):
type = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
if( type == 0 ):
offset += self.__unpackMarkerSetDescription( data[offset:] )
elif( type == 1 ):
offset += self.__unpackRigidBodyDescription( data[offset:] )
elif( type == 2 ):
offset += self.__unpackSkeletonDescription( data[offset:] )
def __dataThreadFunction( self, sock ):
sock.settimeout(0.5)
while self.running:
# Block for input
try:
data, addr = sock.recvfrom( 32768 ) # 32k byte buffer size
if( len( data ) >= 4):
self.__processMessage( data )
except socket.timeout:
pass
def __processMessage( self, data ):
self.__trace( "Begin Packet\n------------\n" )
messageID = int.from_bytes( data[0:2], byteorder='little' )
self.__trace( "Message ID:", messageID )
packetSize = int.from_bytes( data[2:4], byteorder='little' )
self.__trace( "Packet Size:", packetSize )
if not len( data ) - 4 >= packetSize:
# Not enough data
return
offset = 4
if( messageID == self.NAT_FRAMEOFDATA ):
self.__unpackMocapData( data[offset:] )
elif( messageID == self.NAT_MODELDEF ):
self.__unpackDataDescriptions( data[offset:] )
elif( messageID == self.NAT_PINGRESPONSE ):
offset += 256 # Skip the sending app's Name field
offset += 4 # Skip the sending app's Version info
self.__natNetStreamVersion = struct.unpack( 'BBBB', data[offset:offset+4] )
offset += 4
elif( messageID == self.NAT_RESPONSE ):
if( packetSize == 4 ):
commandResponse = int.from_bytes( data[offset:offset+4], byteorder='little' )
offset += 4
else:
message, separator, remainder = bytes(data[offset:]).partition( b'\0' )
offset += len( message ) + 1
self.__trace( "Command response:", message.decode( 'utf-8' ) )
elif( messageID == self.NAT_UNRECOGNIZED_REQUEST ):
self.__trace( "Received 'Unrecognized request' from server" )
elif( messageID == self.NAT_MESSAGESTRING ):
message, separator, remainder = bytes(data[offset:]).partition( b'\0' )
offset += len( message ) + 1
self.__trace( "Received message from server:", message.decode( 'utf-8' ) )
else:
self.__trace( "ERROR: Unrecognized packet type" )
self.__trace( "End Packet\n----------\n" )
def sendCommand( self, command, commandStr, socket, address ):
# Compose the message in our known message format
if( command == self.NAT_REQUEST_MODELDEF or command == self.NAT_REQUEST_FRAMEOFDATA ):
packetSize = 0
commandStr = ""
elif( command == self.NAT_REQUEST ):
packetSize = len( commandStr ) + 1
elif( command == self.NAT_PING ):
commandStr = "Ping"
packetSize = len( commandStr ) + 1
data = command.to_bytes( 2, byteorder='little' )
data += packetSize.to_bytes( 2, byteorder='little' )
data += commandStr.encode( 'utf-8' )
data += b'\0'
socket.sendto( data, address )
def run( self ):
# Set running flag to True
self.running = True
# Create the data socket
self.dataSocket = self.__createDataSocket( self.dataPort )
if( self.dataSocket is None ):
print( "Could not open data channel" )
exit
# Create the command socket
self.commandSocket = self.__createCommandSocket()
if( self.commandSocket is None ):
print( "Could not open command channel" )
exit
# Create a separate thread for receiving data packets
dataThread = Thread( target = self.__dataThreadFunction, args = (self.dataSocket, ))
dataThread.start()
# Create a separate thread for receiving command packets
commandThread = Thread( target = self.__dataThreadFunction, args = (self.commandSocket, ))
commandThread.start()
self.sendCommand( self.NAT_REQUEST_MODELDEF, "", self.commandSocket, (self.serverIPAddress, self.commandPort) )
def stop( self ):
self.running = False