restructure the repository
This commit is contained in:
parent
63230b7754
commit
936acf8703
12 changed files with 9 additions and 344 deletions
22
Notes.md
22
Notes.md
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@ -1,22 +0,0 @@
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# Resources
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- [vrpn-rs description of VRPN protocol](https://github.com/vrpn/vrpn-rs/blob/main/Protocol.md)
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# Design
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Allow for a session based design - data needs to be collected per block
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and immediatly made available. Minimal or no internal state keeping!
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- first collect names and ids of message_types and senders (stored in session)
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- register listeners in session
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- listeners inject captured data with signals
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- keep naming "classic" ??? ... above session is a tracker with a sender with sensors
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# Todo
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- Testset for Quaternion rotations
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- Axis as subscene
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# Internal Notes
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- Graphics Interaction Lab OptiTrack system is at 212.201.64.122
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197
VRPN.gd
197
VRPN.gd
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@ -1,197 +0,0 @@
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extends Node
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class_name VRPN
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# tracking associated data
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enum TrackingData { POS_QUAT, VELOCITY, ACCELERATION }
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# magic cookie
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const magic_cookie_start : String = "vrpn: ver."
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# kinda redundant as we take the seq number as well
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static var header_size : int = aligned_size(20)
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var sensors : Dictionary[int,String] = {}
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var messages : Dictionary[int,String] = {}
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signal connected(s:StreamPeerTCP)
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signal data(data:Array)
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signal disconnected
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signal error
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@export var tracker_receivers : Array[VRPN_Receiver] = []
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@onready var _stream: StreamPeerTCP = StreamPeerTCP.new()
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@export var vrpn_server : String = "127.0.0.1"
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@export var vrpn_port : int = 3883
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func _ready() -> void:
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self.connect_to_host(vrpn_server,vrpn_port)
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if not connected.has_connections():
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connected.connect(self._on_connected)
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if not data.has_connections():
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data.connect(self._on_data)
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if not disconnected.has_connections():
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disconnected.connect(self._on_disconnected)
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if not error.has_connections():
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error.connect(self._on_error)
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func _process(delta: float) -> void:
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var old_status = _stream.get_status()
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_stream.poll()
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var new_status = _stream.get_status()
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if old_status != new_status:
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match new_status:
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_stream.STATUS_NONE:
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emit_signal("disconnected")
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_stream.STATUS_CONNECTING:
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print("Connecting.")
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_stream.STATUS_CONNECTED:
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print("Connected.")
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emit_signal("connected",_stream.poll()
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)
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_stream.STATUS_ERROR:
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print("Error with socket stream.")
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emit_signal("error")
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if new_status == _stream.STATUS_CONNECTED:
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var available_bytes: int = _stream.get_available_bytes()
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if available_bytes > 0:
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var res = _stream.get_partial_data(available_bytes)
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if res[0] != OK:
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emit_signal("error")
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else:
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emit_signal("data", res[1])
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func connect_to_host(host: String, port: int) -> void:
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print("Connecting to %s:%d" % [host, port])
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if _stream.connect_to_host(host, port) != OK:
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print("Error connecting to host.")
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emit_signal("error")
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func send(data: PackedByteArray) -> bool:
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if _stream.get_status() != _stream.STATUS_CONNECTED:
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print("Error: Stream is not currently connected.")
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return false
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var error: int = _stream.put_data(data)
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if error != OK:
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print("Error writing to stream: ", error)
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return false
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return true
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func _on_data(data : Array):
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var bytes = PackedByteArray(data)
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var as_cookie = bytes.get_string_from_ascii()
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# Cookie Hack!
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if as_cookie.begins_with(VRPN.magic_cookie_start): #
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# kaboom we just send back the same cookie :)
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self.send(bytes)
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else:
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VRPN.marshall_block(bytes,self)
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func _on_connected(s : StreamPeerTCP):
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print("Connected to",s.get_connected_host()) # Replace with function body.
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func _on_disconnected():
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print("Disconnected") # Replace with function body.
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func _on_error():
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print("Error") # Replace with function body.
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static func marshall_block(data : PackedByteArray,session : VRPN) -> void:
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# need to fix that
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var block_offset : int = 0
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while data.size() > block_offset:
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# reader for stream
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var header := StreamPeerBuffer.new()
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# get block addresses
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header.data_array = data.slice(block_offset,block_offset+header_size)
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# make sure we read as big endian
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header.big_endian = true
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# read header
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var length := header.get_32() as int # length of message
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var time_sec := header.get_32() as int # datetime sec
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var time_msec := header.get_32() as int # datetime micro sec
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var sender_id := header.get_32() as int # sender id
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var message_type := header.get_32() as int # type of message (payload)
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var sequence_num := header.get_32() as int # inofficial sequence number (padding)
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if false:
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print("length '%d'" % length)
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print("time_sec '%d'" % time_sec)
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print("time_msec '%d'" % time_msec)
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print("sender_id '%d'" % sender_id)
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print("message_type '%d'" % message_type)
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print("sequence_num '%d'" % sequence_num)
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marshall_body(data.slice(block_offset+header_size,block_offset+length),message_type,sender_id,session)
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# next datablock
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block_offset += aligned_size(length)
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static func decode_string(stream : StreamPeerBuffer) -> String:
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var len = stream.get_32()
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return stream.get_string(len)
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static func marshall_body(data : PackedByteArray,message_type : int, sender_id: int, session : VRPN):
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var body := StreamPeerBuffer.new()
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body.data_array = data
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body.big_endian = true
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# only take message_type directly for negative (-1,-2)
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# messages that provide dynamic descriptors
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if message_type < 0:
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# message and sender descriptions
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match message_type:
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-1: # sensor names
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var name = decode_string(body)
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print("sensor name is '%s' with '%d" % [name,sender_id])
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session.sensors[sender_id] = name
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-2: # message names
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var name = decode_string(body)
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print("message name is '%s' for message_type '%d'" % [name,sender_id])
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session.messages[sender_id] = name
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return
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# now we use the string identifiers
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# because they are supposedly dynamically assigned
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match session.messages[message_type]:
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'vrpn_Tracker Pos_Quat': # quat pos
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# get id
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var sensor_id = body.get_32()
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var padding = body.get_32() # padding
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var pos = Vector3(body.get_double(),body.get_double(),body.get_double())
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# VRPN quaternions are w,xyz
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var quat_w = body.get_double()
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var quat_x = body.get_double()
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var quat_y = body.get_double()
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var quat_z = body.get_double()
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#var quat = Quaternion(quat_x,quat_y,quat_z,quat_w).normalized()
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# bug? Documentation of Godot Quaternion c'tor is x,y,x,w
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# but implementation follow classic w,x,y,z order
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var quat = Quaternion(quat_w,quat_x,quat_y,quat_z).normalized()
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for r in session.tracker_receivers:
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r._on_pos_quat({
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"tracker" : session.sensors[sender_id],
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"sensor" : sensor_id,
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"position" : pos,
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"rotation" : quat
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})
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_:
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pass
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#print("unhandled message type {0}".format([message_type]))
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static func aligned_size(actual_size : int, alignment : int = 8) -> int:
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return (actual_size + alignment - 1) & ~(alignment - 1)
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@ -1 +0,0 @@
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uid://dmq3i7qmo1qe0
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extends Node3D
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class_name VRPN_Receiver
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@export var tracker_name : String = "Tracker0"
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@export var tracker_sensor : int = 0
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@export var tracker_use_position : bool = true
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@export var tracker_use_rotation : bool = true
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func _on_pos_quat(tracker_data : Dictionary):
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if tracker_data['tracker'] == tracker_name and tracker_data['sensor'] == tracker_sensor:
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if tracker_use_position:
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self.global_position = tracker_data['position']
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if tracker_use_rotation:
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var rotation := tracker_data['rotation'] as Quaternion
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self.global_basis = Basis(rotation)
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@ -1 +0,0 @@
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uid://dpj1wrvfsiq4v
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@ -1,8 +1,8 @@
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[gd_scene load_steps=5 format=3 uid="uid://bj5ykdjle10tt"]
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[ext_resource type="Script" uid="uid://dmq3i7qmo1qe0" path="res://VRPN.gd" id="2_24d08"]
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[ext_resource type="Script" uid="uid://dpj1wrvfsiq4v" path="res://VRPN_Receiver.gd" id="2_170dk"]
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[ext_resource type="PackedScene" uid="uid://b426fy7d6jw2d" path="res://axis.blend" id="3_170dk"]
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[ext_resource type="Script" uid="uid://dmq3i7qmo1qe0" path="res://addons/vrpn/scripts/VRPN.gd" id="2_24d08"]
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[ext_resource type="Script" uid="uid://dpj1wrvfsiq4v" path="res://addons/vrpn/scripts/VRPN_Receiver.gd" id="2_170dk"]
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[ext_resource type="PackedScene" uid="uid://b426fy7d6jw2d" path="res://addons/vrpn/assets/axis.blend" id="3_170dk"]
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[sub_resource type="PlaneMesh" id="PlaneMesh_24d08"]
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size = Vector2(6, 2)
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@ -21,9 +21,9 @@ shadow_enabled = true
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[node name="VRPN" type="Node3D" parent="Root" node_paths=PackedStringArray("tracker_receivers")]
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script = ExtResource("2_24d08")
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tracker_receivers = [NodePath("RB1"), NodePath("RB2"), NodePath("../SpinTracker/Offset0/Tracker0"), NodePath("../SpinTracker/Tracker1"), NodePath("../SpinTracker/Offset2/Tracker2")]
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vrpn_server = "212.201.64.122"
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[node name="RB1" type="Node3D" parent="Root/VRPN"]
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visible = false
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script = ExtResource("2_170dk")
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tracker_name = "RB1"
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@ -31,6 +31,7 @@ tracker_name = "RB1"
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transform = Transform3D(0.1, 0, 0, 0, 0.1, 0, 0, 0, 0.1, 0, 0, 0)
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[node name="RB2" type="Node3D" parent="Root/VRPN"]
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visible = false
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script = ExtResource("2_170dk")
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tracker_name = "RB2"
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@ -46,11 +47,11 @@ mesh = SubResource("PlaneMesh_24d08")
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[node name="SpinTracker" type="Node3D" parent="Root"]
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transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.764802, 0)
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visible = false
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[node name="Tracker1" type="Node3D" parent="Root/SpinTracker"]
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script = ExtResource("2_170dk")
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tracker_name = "Tracker1"
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tracker_use_position = false
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[node name="axis2" parent="Root/SpinTracker/Tracker1" instance=ExtResource("3_170dk")]
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transform = Transform3D(0.1, 0, 0, 0, 0.1, 0, 0, 0, 0.1, 0, 0, 0)
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@ -65,6 +66,7 @@ transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -1, 0, 0)
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[node name="Tracker2" type="Node3D" parent="Root/SpinTracker/Offset2"]
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script = ExtResource("2_170dk")
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tracker_name = "Tracker2"
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tracker_use_position = false
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[node name="axis" parent="Root/SpinTracker/Offset2/Tracker2" instance=ExtResource("3_170dk")]
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transform = Transform3D(0.1, 0, 0, 0, 0.1, 0, 0, 0, 0.1, 0, 0, 0)
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@ -78,6 +80,7 @@ transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0)
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[node name="Tracker0" type="Node3D" parent="Root/SpinTracker/Offset0"]
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script = ExtResource("2_170dk")
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tracker_use_position = false
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[node name="axis" parent="Root/SpinTracker/Offset0/Tracker0" instance=ExtResource("3_170dk")]
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transform = Transform3D(0.1, 0, 0, 0, 0.1, 0, 0, 0, 0.1, 0, 0, 0)
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BIN
axis.blend
BIN
axis.blend
Binary file not shown.
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@ -1,62 +0,0 @@
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[remap]
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importer="scene"
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importer_version=1
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type="PackedScene"
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uid="uid://b426fy7d6jw2d"
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path="res://.godot/imported/axis.blend-5b7f41137e49e6b98e717dd423c9150b.scn"
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[deps]
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source_file="res://axis.blend"
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dest_files=["res://.godot/imported/axis.blend-5b7f41137e49e6b98e717dd423c9150b.scn"]
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[params]
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nodes/root_type=""
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nodes/root_name=""
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nodes/apply_root_scale=true
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nodes/root_scale=1.0
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nodes/import_as_skeleton_bones=false
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nodes/use_node_type_suffixes=true
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meshes/ensure_tangents=true
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meshes/generate_lods=true
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meshes/create_shadow_meshes=true
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meshes/light_baking=1
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meshes/lightmap_texel_size=0.2
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meshes/force_disable_compression=false
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skins/use_named_skins=true
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animation/import=true
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animation/fps=30
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animation/trimming=false
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animation/remove_immutable_tracks=true
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animation/import_rest_as_RESET=false
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import_script/path=""
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_subresources={
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"nodes": {
|
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"PATH:Camera": {
|
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"import/skip_import": true
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},
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"PATH:Light": {
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"import/skip_import": true
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}
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}
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}
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blender/nodes/visible=0
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blender/nodes/active_collection_only=false
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blender/nodes/punctual_lights=true
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blender/nodes/cameras=true
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blender/nodes/custom_properties=true
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blender/nodes/modifiers=1
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blender/meshes/colors=false
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blender/meshes/uvs=true
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blender/meshes/normals=true
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blender/meshes/export_geometry_nodes_instances=false
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blender/meshes/tangents=true
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blender/meshes/skins=2
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blender/meshes/export_bones_deforming_mesh_only=false
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blender/materials/unpack_enabled=true
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blender/materials/export_materials=1
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blender/animation/limit_playback=true
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blender/animation/always_sample=true
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blender/animation/group_tracks=true
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1
icon.svg
1
icon.svg
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@ -1 +0,0 @@
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<svg xmlns="http://www.w3.org/2000/svg" width="128" height="128"><rect width="124" height="124" x="2" y="2" fill="#363d52" stroke="#212532" stroke-width="4" rx="14"/><g fill="#fff" transform="translate(12.322 12.322)scale(.101)"><path d="M105 673v33q407 354 814 0v-33z"/><path fill="#478cbf" d="m105 673 152 14q12 1 15 14l4 67 132 10 8-61q2-11 15-15h162q13 4 15 15l8 61 132-10 4-67q3-13 15-14l152-14V427q30-39 56-81-35-59-83-108-43 20-82 47-40-37-88-64 7-51 8-102-59-28-123-42-26 43-46 89-49-7-98 0-20-46-46-89-64 14-123 42 1 51 8 102-48 27-88 64-39-27-82-47-48 49-83 108 26 42 56 81zm0 33v39c0 276 813 276 814 0v-39l-134 12-5 69q-2 10-14 13l-162 11q-12 0-16-11l-10-65H446l-10 65q-4 11-16 11l-162-11q-12-3-14-13l-5-69z"/><path d="M483 600c0 34 58 34 58 0v-86c0-34-58-34-58 0z"/><circle cx="725" cy="526" r="90"/><circle cx="299" cy="526" r="90"/></g><g fill="#414042" transform="translate(12.322 12.322)scale(.101)"><circle cx="307" cy="532" r="60"/><circle cx="717" cy="532" r="60"/></g></svg>
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Before Width: | Height: | Size: 994 B |
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@ -1,37 +0,0 @@
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[remap]
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||||
|
||||
importer="texture"
|
||||
type="CompressedTexture2D"
|
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uid="uid://cdprcmtx102rp"
|
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path="res://.godot/imported/icon.svg-218a8f2b3041327d8a5756f3a245f83b.ctex"
|
||||
metadata={
|
||||
"vram_texture": false
|
||||
}
|
||||
|
||||
[deps]
|
||||
|
||||
source_file="res://icon.svg"
|
||||
dest_files=["res://.godot/imported/icon.svg-218a8f2b3041327d8a5756f3a245f83b.ctex"]
|
||||
|
||||
[params]
|
||||
|
||||
compress/mode=0
|
||||
compress/high_quality=false
|
||||
compress/lossy_quality=0.7
|
||||
compress/hdr_compression=1
|
||||
compress/normal_map=0
|
||||
compress/channel_pack=0
|
||||
mipmaps/generate=false
|
||||
mipmaps/limit=-1
|
||||
roughness/mode=0
|
||||
roughness/src_normal=""
|
||||
process/fix_alpha_border=true
|
||||
process/premult_alpha=false
|
||||
process/normal_map_invert_y=false
|
||||
process/hdr_as_srgb=false
|
||||
process/hdr_clamp_exposure=false
|
||||
process/size_limit=0
|
||||
detect_3d/compress_to=1
|
||||
svg/scale=1.0
|
||||
editor/scale_with_editor_scale=false
|
||||
editor/convert_colors_with_editor_theme=false
|
||||
|
|
@ -13,4 +13,4 @@ config_version=5
|
|||
config/name="uvrpn"
|
||||
run/main_scene="uid://bj5ykdjle10tt"
|
||||
config/features=PackedStringArray("4.4", "Forward Plus")
|
||||
config/icon="res://icon.svg"
|
||||
config/icon="uid://cdprcmtx102rp"
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue