// apply a Shimmer model to the transform
private void UpdateTransform(Shimmer3DModel s)
{
transform.parent.transform.eulerAngles = offset;
transform.eulerAngles = new Vector3(
(float)s.Axis_Angle_X_CAL,
(float)s.Axis_Angle_Y_CAL,
(float)s.Axis_Angle_Z_CAL
);
transform.localRotation = new Quaternion(
-(float)s.Quaternion_2_CAL,
-(float)s.Quaternion_0_CAL,
(float)s.Quaternion_1_CAL,
-(float)s.Quaternion_3_CAL);
accelerometer = new Vector3(
(float)s.Low_Noise_Accelerometer_Y_CAL,
(float)s.Low_Noise_Accelerometer_Z_CAL,
-(float)s.Low_Noise_Accelerometer_X_CAL);
gyroscope = new Vector3(
(float)s.Gyroscope_Y_CAL,
(float)s.Gyroscope_Z_CAL,
-(float)s.Gyroscope_X_CAL);
}
//Add snapshots of model accel and rotation to list
private void IsMoving(Shimmer3DModel s)
{
////add string key then value
//snapshots.Add("Ac: " + Time.time, accel);
//snapshots.Add("Gy: " + Time.time, gyro);
//playback.Add(BuildRowFromModel(s));
}
// this method is called for each row of data received from the Shimmer
public void UpdateFeed(List <double> data)
{
Shimmer3DModel s;
if (data.Count > 0)
{
// put this data as a model on the shared Queue
s = Shimmer3DModel.GetModelFromArray(data.ToArray());
Queue.Enqueue(s);
}
}
// create a csv row from a shimmer3D model object
public static string BuildRowFromModel(Shimmer3DModel s)
{
StringBuilder sb = new StringBuilder();
sb.Append(s.Timestamp_RAW); // convert this to a readable date
sb.Append("," + s.Timestamp_CAL);
sb.Append("," + s.Low_Noise_Accelerometer_X_RAW);
sb.Append("," + s.Low_Noise_Accelerometer_X_CAL);
sb.Append("," + s.Low_Noise_Accelerometer_Y_RAW);
sb.Append("," + s.Low_Noise_Accelerometer_Y_CAL);
sb.Append("," + s.Low_Noise_Accelerometer_Z_RAW);
sb.Append("," + s.Low_Noise_Accelerometer_Z_CAL);
sb.Append("," + s.Wide_Range_Accelerometer_X_RAW);
sb.Append("," + s.Wide_Range_Accelerometer_X_CAL);
sb.Append("," + s.Wide_Range_Accelerometer_Y_RAW);
sb.Append("," + s.Wide_Range_Accelerometer_Y_CAL);
sb.Append("," + s.Wide_Range_Accelerometer_Z_RAW);
sb.Append("," + s.Wide_Range_Accelerometer_Z_CAL);
sb.Append("," + s.Gyroscope_X_RAW);
sb.Append("," + s.Gyroscope_X_CAL);
sb.Append("," + s.Gyroscope_Y_RAW);
sb.Append("," + s.Gyroscope_Y_CAL);
sb.Append("," + s.Gyroscope_Z_RAW);
sb.Append("," + s.Gyroscope_Z_CAL);
sb.Append("," + s.Magnetometer_X_RAW);
sb.Append("," + s.Magnetometer_X_CAL);
sb.Append("," + s.Magnetometer_Y_RAW);
sb.Append("," + s.Magnetometer_Y_CAL);
sb.Append("," + s.Magnetometer_Z_RAW);
sb.Append("," + s.Magnetometer_Z_CAL);
sb.Append("," + s.Pressure_RAW);
sb.Append("," + s.Pressure_CAL);
sb.Append("," + s.Temperature_RAW);
sb.Append("," + s.Temperature_CAL);
sb.Append("," + s.Axis_Angle_A_CAL);
sb.Append("," + s.Axis_Angle_X_CAL);
sb.Append("," + s.Axis_Angle_Y_CAL);
sb.Append("," + s.Axis_Angle_Z_CAL);
sb.Append("," + s.Quaternion_0_CAL);
sb.Append("," + s.Quaternion_1_CAL);
sb.Append("," + s.Quaternion_2_CAL);
sb.Append("," + s.Quaternion_3_CAL);
return(sb.ToString());
}
// this method is called for each model as it is received
public void UpdateFeed(List <double> data)
{
if (data != null)
{
Shimmer3DModel s = Shimmer3DModel.GetModelFromArray(data.ToArray());
dataQueue.Enqueue(s);
if (count % 10 == 0)
{
Shimmer3DModel.PrintModel(s);
}
count++;
}
}
// this method is called for each row of data received from the Shimmer
public void UpdateFeed(List <double> data)
{
Shimmer3DModel s;
if (data.Count > 0)
{
// put this data as a model on the shared Queue
s = Shimmer3DModel.GetModelFromArray(data.ToArray());
Queue.Enqueue(s);
if (IsRecording)
{
// save to list aswell
RecordList.Add(s);
}
}
}
private bool CheckMoving(Shimmer3DModel s)
{
//if movement in any direction is above a set threshold, capture data and add to list
float dX = Mathf.Abs((float)(lastShimmerModel.Low_Noise_Accelerometer_X_CAL - s.Low_Noise_Accelerometer_X_CAL));
float dY = Mathf.Abs((float)(lastShimmerModel.Low_Noise_Accelerometer_Y_CAL - s.Low_Noise_Accelerometer_Y_CAL));
float dZ = Mathf.Abs((float)(lastShimmerModel.Low_Noise_Accelerometer_Z_CAL - s.Low_Noise_Accelerometer_Z_CAL));
if (dX > isMovingThreshold || dY > isMovingThreshold || dZ > isMovingThreshold)
{
Vector3 accel = new Vector3(dX, dY, dZ);
Vector3 gyro = new Vector3((float)s.Gyroscope_X_CAL, (float)s.Gyroscope_Y_CAL, (float)s.Gyroscope_Z_CAL);
IsMoving(s);
return(true);
}
return(false);
}
// rebuild a shimmer3D model from a row in a csv file
public static Shimmer3DModel BuildModelFromRow(string csvLine)
{
string[] values = csvLine.Split(',');
Shimmer3DModel loadedModel = new Shimmer3DModel(
Convert.ToDouble(values[0]),
Convert.ToDouble(values[1]),
Convert.ToDouble(values[2]),
Convert.ToDouble(values[3]),
Convert.ToDouble(values[4]),
Convert.ToDouble(values[5]),
Convert.ToDouble(values[6]),
Convert.ToDouble(values[7]),
Convert.ToDouble(values[8]),
Convert.ToDouble(values[9]),
Convert.ToDouble(values[10]),
Convert.ToDouble(values[11]),
Convert.ToDouble(values[12]),
Convert.ToDouble(values[13]),
Convert.ToDouble(values[14]),
Convert.ToDouble(values[15]),
Convert.ToDouble(values[16]),
Convert.ToDouble(values[17]),
Convert.ToDouble(values[18]),
Convert.ToDouble(values[19]),
Convert.ToDouble(values[20]),
Convert.ToDouble(values[21]),
Convert.ToDouble(values[22]),
Convert.ToDouble(values[23]),
Convert.ToDouble(values[24]),
Convert.ToDouble(values[25]),
Convert.ToDouble(values[26]),
Convert.ToDouble(values[27]),
Convert.ToDouble(values[28]),
Convert.ToDouble(values[29]),
Convert.ToDouble(values[30]),
Convert.ToDouble(values[31]),
Convert.ToDouble(values[32]),
Convert.ToDouble(values[33]),
Convert.ToDouble(values[34]),
Convert.ToDouble(values[35]),
Convert.ToDouble(values[36]),
Convert.ToDouble(values[37]));
return(loadedModel);
}
private void UpdateTransform(Shimmer3DModel s)
{
transform.localRotation = new Quaternion(
-(float)s.Quaternion_2_CAL,
-(float)s.Quaternion_0_CAL,
(float)s.Quaternion_1_CAL,
-(float)s.Quaternion_3_CAL);
accelerometer = new Vector3(
(float)s.Low_Noise_Accelerometer_X_CAL,
(float)s.Low_Noise_Accelerometer_Y_CAL,
(float)s.Low_Noise_Accelerometer_Z_CAL);
//Debug.Log("LN Acc X: " + accelerometer.x + "LN Acc Y: " + accelerometer.y + "LN Acc Z: " + accelerometer.z);
gyroscope = new Vector3(
(float)s.Gyroscope_Y_CAL,
(float)s.Gyroscope_Z_CAL,
-(float)s.Gyroscope_X_CAL);
}
// TODO: unused in this class - will be moved to viewModel
private void RotateCube(Shimmer3DModel s)
{
// Quaternion Calibrated Values
var x = s.Quaternion_0_CAL;
var y = s.Quaternion_1_CAL;
var z = s.Quaternion_2_CAL;
var w = s.Quaternion_3_CAL;
//// Gyroscope Calibrated Values
//var x = s.Gyroscope_X_CAL;
//var y = s.Gyroscope_X_CAL;
//var z = s.Gyroscope_X_CAL;
//Shimmer3DModel.PrintModel(s);
//Quaternion q = new Quaternion(new Vector3D(x, y, z), w);
//Cube.Transform = new RotateTransform3D(new QuaternionRotation3D(q));
//Cube.Transform = new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(1, 0, 0), x));
//Cube.Transform = new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 1, 0), y));
//Cube.Transform = new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 0, 1), z));
}
private void Update()
{
if (!isPlayback)
{
// if data is available, use it
if (shimmerFeed.Queue.Count > 0)
{
var s = shimmerFeed.Queue.Dequeue();
playback.Add(s);
// see if there was an 'impact' between this data and the last received data
if (lastShimmerModel != null)
{
Debug.Log("Checking Impact");
if (CheckImpact(s))
{
txtImpact.text = "--IMPACT--\n" + Time.time;
}
if (CheckMoving(s))
{
txtImpact.text = "--IsMoving--\n" + "LN Acc X: " + accelerometer.x + "\nLN Acc Y: " + accelerometer.y + "\nLN Acc Z: " + accelerometer.z;
}
}
UpdateTransform(s);
lastShimmerModel = s;
}
}
else
{
if (loadFile.Count > 0 && loadFile != null)
{
var s = loadFile[0];
UpdateTransform(s);
loadFile.Remove(s);
}
}
}
private bool CheckImpact(Shimmer3DModel s)
{
float dX = Mathf.Abs((float)(lastShimmerModel.Low_Noise_Accelerometer_X_CAL - s.Low_Noise_Accelerometer_X_CAL));
float dY = Mathf.Abs((float)(lastShimmerModel.Low_Noise_Accelerometer_Y_CAL - s.Low_Noise_Accelerometer_Y_CAL));
float dZ = Mathf.Abs((float)(lastShimmerModel.Low_Noise_Accelerometer_Z_CAL - s.Low_Noise_Accelerometer_Z_CAL));
//Debug.Log(dX);
//Debug.Log(dY);
//Debug.Log(dZ);
if (dX > impactThreshold)
{
return(true);
}
if (dY > impactThreshold)
{
return(true);
}
if (dZ > impactThreshold)
{
return(true);
}
return(false);
}
// main logic used to decide what to do with the transform, i.e. live streaming or playback
// TODO: tidy up the logic in this method if needed
private void Update()
{
// handle live streaming from shimmer
if (!shimmerDevice.IsPlayback)
{
isLive = true;
// if data is available, use it
if (shimmerDevice.Queue.Count > 0)
{
var s = shimmerDevice.Queue.Dequeue();
// see if there was an 'impact' between this data and the last received data
if (lastShimmerModel != null)
{
//Debug.Log("Checking Impact");
if (CheckImpact(s))
{
txtImpact.text = "--IMPACT--" + Time.time;
Debug.Log("--IMPACT--" + Time.time);
}
}
UpdateTransform(s);
lastShimmerModel = s;
}
} // end handle live streaming
else // handle playback
{
// handle playback from memory if data is present and playback mode is enabled
Shimmer3DModel s;
if (shimmerDevice.RecordList.Count > 0 && shimmerDevice.RecordList != null && shimmerDevice.IsPlayback == true)
{
// get the first model from the list
s = shimmerDevice.RecordList[0];
// check whether this is the first model in the playback list
// - if it is the first model, isLive will still be set to true
if (isLive)
{
// first frame, set these variables
isLive = false;
// firstModelTime is set as the timestamp of the first model in the list, all other models
// will be applied to the transform relative to this first model
firstModelTime = s.Timestamp_CAL;
// update the model's transform accordingly
UpdateTransform(s);
// reset the time since last model applied, since one was just applied
timeSinceLastModelApplied = 0.0;
// and remove the 'used' model from the list
shimmerDevice.RecordList.Remove(s);
}
double timeToWait = 0.0;
if (!isLive)
{
timeToWait = (s.Timestamp_CAL - firstModelTime) / 1000;
}
// check if the next model should be applied to the transform
// i.e. wait the correct amount of time to display the next frame
if (timeSinceLastModelApplied >= timeToWait)
{
// update the model's transform accordingly
UpdateTransform(s);
// and remove the 'used' model from the list
shimmerDevice.RecordList.Remove(s);
}
else
{
// still waiting, increment the time since last frame with time between this
timeSinceLastModelApplied += Time.deltaTime;
}
}
else
{
// playback is either disabled or has ended, simply turn playback off to save on processing
shimmerDevice.IsPlayback = false;
}
}
}
