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Vazquez_Exp2B_V75_rev2_DK2.py
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Vazquez_Exp2B_V75_rev2_DK2.py
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#Exp2B
#Alteration of Vazquex Experiment 2B
#
#Subjects walk at a set speed while they try to match step positions (ANK-ANK distance)
#targets are displayed on a latitudinal grid, 20 targets, 2 cm apart.
#
#The target is determined based on TM baseline walking
#
#V75 is for post adaptation, instead of displaying feedback of the actual movement, it employs an error clamp (25% of true error)
#REV 2 introduces csv write
#
#V2P_DK2_R1
#
#William Anderton 4/21/2016
import viz
import vizshape
import time
import vizinfo
import random
import itertools
import socket
import sys
import io
import re
import threading
import Queue
import time
#import json
import csv
import vizact
import struct
import array
import math
import subprocess
import win32gui
import numpy as np
import oculus
import vizlens
import os.path
global cpps
cpps = subprocess.Popen('"C:/Users/Gelsey Torres-Oviedo/Documents/Visual Studio 2013/Projects/Vicon2Python_DK2_rev1/x64/Release/Vicon2Python_DK2_rev1.exe"')
time.sleep(3)
viz.splashScreen('C:\Users\Gelsey Torres-Oviedo\Desktop\VizardFolderVRServer\Logo_final_DK2.jpg')
viz.go(
#viz.FULLSCREEN #run world in full screen
)
#def file_len(fname):#how many lines are in the error clamp file?
# for i, l in enumerate(f):
# pass
# return i + 1
#look for the file
#if os.path.isfile('C:\Users\Gelsey Torres-Oviedo\Desktop\VizardFolderVRServer\ErrorClamps.csv'):
# f = open('C:\Users\Gelsey Torres-Oviedo\Desktop\VizardFolderVRServer\ErrorClamps.csv','r')
# numline = file_len(f)
# global Rclamp
# Rclamp = [0]*numline
# global Lclamp
# Lclamp = [0]*numline
#
# f.close()
# f = open('C:\Users\Gelsey Torres-Oviedo\Desktop\VizardFolderVRServer\ErrorClamps.csv','r')
# print('numline: ',numline)
# for z in range(0,numline,1):
# line = f.readline()
# line = line.replace('\n','')
# line2 = line.split(',')
# Rclamp[z] = float(line2[0])
# Lclamp[z] = float(line2[1])
# f.close()
#else:
# print('ERROR: Error clamp definition file not available, cannot determine error clamps...\n')
#print(Rclamp)
viz.fov(110)
pincushion = vizlens.PincushionDistortion()
pincushion.setK1(0.2)
global hmd
view = viz.addView
hmd = oculus.Rift()
hmd.getSensor
global targetL
targetL = 0.5099501
global targetR6
targetR = 0.5237383
global targetmeann
targetmean = (targetR+targetL)/2
global targettol
targettol = 0.02
global circleL #slow leg circle marker
circleL = vizshape.addSphere(0.01,50,50,color=viz.GREEN)
circleL.setPosition(-0.03,targetL,0)
circleL.disable(viz.LIGHTING)#no shading, we don't want depth perception here
global circleR #slow leg circle marker
circleR = vizshape.addSphere(0.01,50,50)
circleR.color(1,0.7,0)
circleR.setPosition(0.04,targetR,0)
circleR.disable(viz.LIGHTING)#no shading, we don't want depth perception here
global highlightr
highlightr = vizshape.addBox(size=[0.25,0.0175,0.001])
highlightr.color(0,0,1)
highlightr.setPosition(0.145,targetmean,0)
highlightr.disable(viz.LIGHTING)
global highlightl
highlightl = vizshape.addBox(size=[0.25,0.0175,0.001])
highlightl.color(0,0,1)
highlightl.setPosition(-0.135,targetmean,0)
highlightl.disable(viz.LIGHTING)
#setup order of highlights
short = -0.06
long = 0.06
med = 0
global frodo
#shortFirst=1;
shortFirst=0;
if (shortFirst == 1):
frodo = [short]*10
frodo = frodo + [long]*15
frodo = frodo + [short]*15
frodo = frodo + [long]*15
frodo = frodo + [short]*25
frodo = frodo + [long]*25
frodo = frodo + [short]*50
frodo = frodo + [long]*50
frodo = frodo + [short]*50
frodo = frodo + [long]*50
frodo = frodo + [short]*50
frodo = frodo + [long]*50
frodo = frodo + [med]*50
elif (shortFirst == 0):
frodo = [long]*10
frodo = frodo + [short]*15
frodo = frodo + [long]*15
frodo = frodo + [short]*15
frodo = frodo + [long]*25
frodo = frodo + [short]*25
frodo = frodo + [long]*50
frodo = frodo + [short]*50
frodo = frodo + [long]*50
frodo = frodo + [short]*50
frodo = frodo + [long]*50
frodo = frodo + [short]*50
frodo = frodo + [med]*50
else:
print('WARNING cannot determine first set please review...')
print(frodo)
global stepind
stepind = 0
highlightr.setPosition(0.145,targetmean+frodo[stepind],0)
highlightl.setPosition(-0.135,targetmean+frodo[stepind],0)
global Rclamp
Rclamp = 0
global Lclamp
Lclamp = 0
global randyclamps
randyclamps = (-0.04,-0.035,-0.03,-0.025,-0.02,-0.015,-0.01,-0.005,0,0.005,0.01,0.015,0.02,0.025,0.03,0.035,0.04)
#print(frodo)
#fakebox = vizshape.addBox(size=[1,0.01,0.001])
#fakebox.setPosition(0,targetmean,0)
#fakebox.color(0,1,0)
#fakebox.disable(viz.LIGHTING)
#create latitudinal grid, "10" is the target step length, the grid expands above and belo
lines = {}#create empty dictionary
for x in range(1,12,1):
lines["Tp{0}".format(x)]=vizshape.addBox(size=[1,0.002,0.001])
lines["Tp{0}".format(x)].setPosition(0,targetmean+0.01+(x-1)*0.02,0)
lines["Tn{0}".format(x)]=vizshape.addBox(size=[1,0.002,0.001])
lines["Tn{0}".format(x)].setPosition(0,targetmean+0.01-(x-1)*0.02,0)
# print((x-1)*0.02)
global tnums
tnums = {}
for x in range(0,21,1):
if (x<10):
tnums["Num{0}".format(x)]=viz.addText(str(x),pos=[0,targetmean-0.2-0.01+x*0.02+0.005,0],scale=[0.015,0.015,0.015])
else:
tnums["Num{0}".format(x)]=viz.addText(str(x),pos=[-0.005,targetmean-0.2-0.01+x*0.02+0.005,0],scale=[0.015,0.015,0.015])
viz.MainView.setPosition(0,targetmean+0.05, -0.57)
viz.MainView.setEuler(0,0,0)
global histzR
histzR = -500
global histzL
histzL = -500
global rgorb
rgorb = 0
global lgorb
lgorb = 0
global Rerror
Rerror = 0
global Lerror
Lerror = 0
global RHS
RHS = 0
global LHS
LHS = 0
'''
def updatetargetdisplay(ts,vizobj,flag): #distance value, circle object, flag=1 for left, anything else for right
global tnums
# print(tnums)
#figure out which target to place circle in and highlight the number
ts = abs(ts)*100 #convert units to centimeters for rounding
# print("ts",ts)
oddnum = np.floor(ts / 2.) * 2 + 1 #round to the nearest odd integer
# print("oddnum",int(oddnum))
index = int((oddnum-1)/2)
# print("index",index)
#turn the other target numbers back to white
# for i in [x for x in xrange(21)+0.2 if x != int(index)]:
# tnums["Num{0}".format(i)].color(viz.WHITE)
# #highlight the selected target
# try:
# tnums["Num{0}".format(int(index))].color(viz.RED)
# except:
# pass
#update position of circle
# vizobj.setPosition(-0.1,oddnum/100,0)
if (flag == 1):
vizobj.setPosition(-0.05,ts/100,0) #analog placement
# vizobj.setPosition(-0.03,oddnum/100,0)#discrete placement
else:
vizobj.setPosition(0.05,ts/100,0) #analog placement
# vizobj.setPosition(0.04,oddnum/100,0) #discrete placement
return index #return in units of meters
'''
#global targetnum
#targetnum = updatetargetdisplay(targetL,circleL,1)#place the cursors at the targets at the beginning
#nothing = updatetargetdisplay(targetR,circleR,2)
def UpdateViz(root,q,speedlist,qq,savestring,q3):
global histzL
global histzR
global targetL
global targetR
global circleL
global circleR
global rgorb
global lgorb
global cpps
global Rerror
global Lerror
global targetnum
global targettol
global RHS
global LHS
global highlightl
global highlightr
global frodo
global stepind
global Rclamp
global Lclamp
global randyclamps
while not endflag.isSet():
root = q.get()#look for the next frame data in the thread queue
data = ParseRoot(root)
FN = int(data["FN"])
Rz = float(data["Rz"])
Lz = float(data["Lz"])
#look for marker data
try:
RANKY = float(data["RANK"][1])/1000
LANKY = float(data["LANK"][1])/1000
# RHIPY = float(data["RGT"][1])/1000
# LHIPY = float(data["LGT"][1])/1000
except:
try:
pass
# RHIPY = float(data["RHIP"][1])/1000
# LHIPY = float(data["LHIP"][1])/1000
except:
# pass
print(["ERROR: incorrect or missing marker data..."])
Rgamma = LANKY-RANKY
Lgamma = RANKY-LANKY
#gait events
if (Rz <= -30) & (histzR > -30):#RHS
Rerror = Rgamma-(targetR+frodo[stepind])
RHS = 1
# circleR.setPosition(0.05,targetmean+frodo[stepind]+random.choice(randyclamps),0)
# circleR.setPosition(0.05,targetmean+frodo[stepind]+Rclamp[stepind],0)
circleR.setPosition(0.05,targetmean+frodo[stepind]+0.35*Rerror,0)
Rclamp = targetmean+frodo[stepind]+0.35*Rerror
stepind = stepind+1
# if (stepind > len(Rclamp)):
if (stepind > 455):
print('Task Complete! Out of steps')
else:
highlightr.setPosition(0.145,targetmean+frodo[stepind],0)
highlightl.setPosition(-0.135,targetmean+frodo[stepind],0)
if (Rerror < targettol):
rgorb = 1
else:
rgorb = 0
# nothing = updatetargetdisplay(Rgamma,circleR,2)
# elif (Rz >-30) & (histzR<=-30): #RTO
# highlightr.setPosition(0.145,targetmean+frodo(stepind),0)
else:
RHS = 0
if (Lz <= -30) & (histzL > -30):#LHS
Lerror = Lgamma-(targetL+frodo[stepind])
LHS = 1
# if (stepind > len(Rclamp)):
if (stepind > 455):
print('Task Complete! Out of steps')
else:
# circleL.setPosition(-0.05,targetmean+frodo[stepind]+random.choice(randyclamps),0)
# circleL.setPosition(-0.05,targetmean+frodo[stepind]+Lclamp[stepind],0)
circleL.setPosition(-0.05,targetmean+frodo[stepind]+0.35*Lerror,0)
Lclamp = targetmean+frodo[stepind]+0.35*Lerror
if (Lerror < targettol):
lgorb = 1
else:
lgorb = 0
# targetnum = updatetargetdisplay(Lgamma,circleL,1)
else:
LHS = 0
histzR = Rz
histzL = Lz
#save data
savestring = [FN,Rz,Lz,RHS,LHS,RANKY,LANKY,rgorb,lgorb,Rgamma,Lgamma,Rerror,Lerror,targetmean+frodo[stepind],Rclamp,Lclamp,]#organize the data to be written to file
q3.put(savestring)
#close cpp server
cpps.kill()
def ParseRoot(root):#the purpose of this function is to make sure that marker data is used correctly since they can arrive in different order, depending on the order the models are listed in Nexus
tempdat = root.split(',')
# print tempdat
del tempdat[-1]#the last element is a empty string ""
data = {}#create dictionary
data["FN"] = int(tempdat[0])#frame number
data["Rz"] = float(tempdat[4])#right forceplate Z component
data["Lz"] = float(tempdat[2])#left forceplate Z comp.
data["DeviceCount"] = float(tempdat[5])# #of devices besides forceplates
# print(data["DeviceCount"])
for x in range(6,6+2*int(data["DeviceCount"])-1,2): #assumes one value per device for now...
temp = tempdat[x]
data[temp] = [tempdat[x+1]]
# print temp
#place marker data into dictionary
for z in range(6+2*int(data["DeviceCount"]),len(tempdat),4):
temp = tempdat[z]
# print temp
data[temp] = [tempdat[z+1],tempdat[z+2],tempdat[z+3]]
# print data
return data
def runclient(root,q):
#illegal characters to remove from string later before going to xml
RE_XML_ILLEGAL = u'([\u0000-\u0008\u000b-\u000c\u000e-\u001f\ufffe-\uffff])' + \
u'|' + \
u'([%s-%s][^%s-%s])|([^%s-%s][%s-%s])|([%s-%s]$)|(^[%s-%s])' % \
(unichr(0xd800),unichr(0xdbff),unichr(0xdc00),unichr(0xdfff),
unichr(0xd800),unichr(0xdbff),unichr(0xdc00),unichr(0xdfff),
unichr(0xd800),unichr(0xdbff),unichr(0xdc00),unichr(0xdfff))
HOST = 'localhost'#IP address of CPP server
PORT = 50008
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
print 'Socket created'
print 'Socket now connecting'
s.connect((HOST,PORT))
s.send('1')#send initial request for data
while not endflag.isSet():
global FNold
global repeatcount
data = s.recv(50)#receive the initial message
# print(data)
data3 = data[:3]#get first 3 letters
if (data3 == "New"):
nextsizestring = data[3:]#get the integer after "New"
nextsizestring2 = nextsizestring.rstrip('\0')#format
nextsize = int(nextsizestring2,10)#cast as type int
# print("Next Packet is size: ")
# print(nextsize)
s.send('b')#tell cpp server we are ready for the packet
databuf = ''#initialize a buffer
while (sys.getsizeof(databuf) < nextsize):
data = s.recv(nextsize)#data buffer as a python string
databuf = databuf + data#collect data into buffer until size is matched
root = databuf
# print('root',root)
# root = ElementTree.ElementTree(ElementTree.fromstring(databuf))#create the element tree
q.put(root)#place the etree into the threading queue
elif (data3 != "New"):
print("WARNING! TCP SYNCH HAS FAILED")
break
if not data: break
s.send('b')
s.close()
def savedata(savestring,q3):
#initialize the file
mst = time.time()
mst2 = int(round(mst))
mststring = str(mst2)+'EXP2B_V75_rev2_DK2.txt'
print("Data file created named: ")
print(mststring)
file = open(mststring,'w+')
csvw = csv.writer(file)
csvw.writerow(['FrameNumber','Rfz','Lfz','RHS','LHS','RANKY','LANKY','RGORB','LGORB','Rgamma','Lgamma','Rerror','Lerror','target','Rclamp','Lclamp'])
# json.dump(['FrameNumber','Rfz','Lfz','RHS','LHS','RANKY','LANKY','RGORB','LGORB','Rgamma','Lgamma','Rerror','Lerror','target','Rclamp','Lclamp'],file)
file.close()
file = open(mststring,'a')#reopen for appending only
csvw = csv.writer(file)
while not endflag.isSet():
savestring = q3.get()#look in the queue for data to write
if savestring is None:
continue
else:
# json.dump(savestring, file)
csvw.writerow(savestring)
print("savedata stop flag raised, finishing...")
while 1:
try:
savestring = q3.get(False,2)
except:
savestring = 'g'
# print(savestring)
if savestring == 'g':
break
print("data finished write to file")
else:
json.dump(savestring, file)
print("data still writing to file")
print("savedata finished writing")
file.close()
endflag = threading.Event()#an event to raise when we are ready to stop recording
def raisestop(sign):
#the sign passed in doesn't do anything, I just didn't know how to make this work without passing something in...
print("stop flag raised")
endflag.set()
# t1.join(5)
# t2.join(5)
# t3.join(5)
# t4.join(5)
viz.quit()
root = ''#empty string
savestring = ''
speedlist = array.array('i')
q = Queue.Queue()#initialize the queue
qq = Queue.Queue()#another queue for treadmill commands
q3 = Queue.Queue()#intialize another queue for saving data
#create threads for client
t1 = threading.Thread(target=runclient,args=(root,q))
t2 = threading.Thread(target=UpdateViz,args=(root,q,speedlist,qq,savestring,q3))
#t3 = threading.Thread(target=sendtreadmillcommand,args=(speedlist,qq))
t4 = threading.Thread(target=savedata,args=(savestring,q3))
t1.daemon = True
t2.daemon = True
#t3.daemon = True
t4.daemon = True
#start the threads
t1.start()
t2.start()
#t3.start()
t4.start()
print("\n")
print("press 'q' to stop")
vizact.onkeydown('q',raisestop,'biggle')#biggle is meaningless, just need to pass something into the raisestop callback