// Update is called once per frame
void FixedUpdate()
{
if ((Time.time > Time_0) && (Time.time < Time_F)) //Perturbation start and finish time
{
//print("Update time:" + Time.deltaTime);
if (Counter == 0)
{
xPos = trackingInfo.headTranslX;
xPosPrevious = xPosInit;
TimeInit = Time.time;
}
if (Counter < PosArray.Length)
{
daqInput = (PosArray[Counter] - Pos_min) * (5.0f / (Pos_max - Pos_min));
xPos = xPosInit + PosArray[Counter];
MCCDAQwrap.writeVolts(1, daqInput);
WriteLog(PosArray[Counter], daqInput, (Time.time - TimeInit));
WriteLogOri(trackingInfo.headTransl);
deltaX = (xPos - xPosPrevious);
transform.Translate(new Vector3(deltaX, 0, 0));
}
xPosPrevious = xPos;
Counter = Counter + 1;
}
else if (Time.time > Time_F)
{
Debug.Log("VR Input Finished!!!");
MCCDAQwrap.writeVolts(1, 2.5f);
}
}
// Update is called once per frame
void FixedUpdate()
{
if ((Time.time > Time_0) && (Time.time < Time_F)) //Perturbation start and finish time
{
//print("Update time:" + Time.deltaTime);
if (Counter == 0)
{
xEulerInit = transform.eulerAngles.x;
xEulerPrevious = xEulerInit;
TimeInit = Time.time;
}
if (Counter < PosArray.Length)
{
pertSignal = PosArray[Counter];
daqInput = (PosArray[Counter] - Pos_min) * (5.0f / (Pos_max - Pos_min));
xEuler = xEulerInit + PosArray[Counter];
MCCDAQwrap.writeVolts(1, daqInput);
WriteLog(PosArray[Counter], daqInput, (Time.time - TimeInit));
WriteLogOri(trackingInfo.headTransl);
deltaXori = (xEuler - xEulerPrevious);
if (deltaXori > 180)
{
deltaXori = deltaXori - 360;
}
if (deltaXori < -180)
{
deltaXori = deltaXori + 360;
}
//transform.Rotate(new Vector3(deltaXori, yEuler, zEuler));
transform.RotateAround(AnklePosition, new Vector3(1, 0, 0), deltaXori);
}
xEulerPrevious = xEuler;
Counter = Counter + 1;
}
else if (Time.time > Time_F)
{
Debug.Log("VR Input Finished!!!");
MCCDAQwrap.writeVolts(1, 2.5f);
}
}
// Use this for initialization
void Start()
{
MCCDAQwrap.flashLED();
MCCDAQwrap.writeVolts(1, 0.0f); // Set all voltages to zero
//Using Random Class
rndGen = new System.Random();
xPos = 0.0f;
deltaX = 0.0f;
Counter = 0;
daqInput = 0.0f;
pertSignal = 0.0f;
// ******************************* Scene ***********************************
SceneName = SceneManager.GetActiveScene().name;
// ******************************* EXPERIMENTS SETUP *****************************
bool bVRgui = false;
if (bVRgui)
{
//Load the GUI and wait until its finished
ProcessStartInfo startInfo = new ProcessStartInfo();
startInfo.WorkingDirectory = "VR_GUI";
startInfo.FileName = "VR_GUI.exe";
Process.Start(startInfo).WaitForExit();
StreamReader csv_file = new StreamReader(@"VR_GUI\\ExpParams.csv");
string legends = csv_file.ReadLine();
string Params = csv_file.ReadLine();
csv_file.Close();
string[] ParamsList = Params.Split(',');
flagExpNum = (int)float.Parse(ParamsList[0]); // 0: Normal VR 1: Randomized Half Sinusoidal 2:PRTS 3:TrapZ 4:TrapV 5: Sum of Sins 6: PRBS
P2P_Amp = float.Parse(ParamsList[1]); //deg
Vel_max = float.Parse(ParamsList[2]); //dps
minDeltaSec = float.Parse(ParamsList[3]); //Wait Time this is minDelta. delta = minDelta + rand(0, minDelta)
minWSec = float.Parse(ParamsList[4]); //Pulse Width, this is w. W = w + rand(0, w)
NumPulses = (int)float.Parse(ParamsList[5]); // or Periods
Time_0 = float.Parse(ParamsList[6]); //Start perturbations after this time seconds
T_total = float.Parse(ParamsList[7]);
PRTS_dt = float.Parse(ParamsList[8]); //sec
TrapV_ta = float.Parse(ParamsList[9]);
TrapV_tv = float.Parse(ParamsList[10]);
TrapV_tx = float.Parse(ParamsList[11]);
SOS_minFreq = float.Parse(ParamsList[12]);
SOS_maxFreq = float.Parse(ParamsList[13]);
SOS_freqCount = (int)float.Parse(ParamsList[14]);
Random_Direction = (int)float.Parse(ParamsList[15]);
dtVR = Time.fixedDeltaTime; //Time resolution (time per frame) measured for VR device with FixedUpdate() method
}
else
{
flagExpNum = 4; // 0: Normal VR 1: Randomized Half Sinusoidal 2:PRTS 3:TrapZ 4:TrapV 5: Sum of Sins 6: PRBS
Time_0 = 4.0f; //Start perturbations after this time seconds
dtVR = Time.fixedDeltaTime; //Time resolution (time per frame) measured for VR device with FixedUpdate() method
P2P_Amp = 0.14f; //meter
Vel_max = 0.14f; // m/s
minDeltaSec = 2.5f; //Wait Time this is minDelta. delta = minDelta + rand(0, minDelta)
minWSec = 2.5f; //Pulse Width, this is w. W = w + rand(0, w)
NumPulses = 10; // or Periods
PRTS_dt = 0.1f; //sec
TrapV_ta = 0.4f;
TrapV_tv = 0.6f;
TrapV_tx = 2.5f;
SOS_minFreq = 0.05f;
SOS_maxFreq = 1.5f;
SOS_freqCount = 15;
}
switch (flagExpNum)
{
case 0: // No purturbation
{
logFileName = "Normal";
PosArray = new float[(int)Math.Round(T_total / dtVR)];
Array.Clear(PosArray, 0, PosArray.Length);
T_total = 200.0f; //sec
break;
}
case 1: // ******************* 1: Randomized half Sinusoids *********************
{
logFileName = "RandHalfSin";
RS_RotationVelocity = Mathf.PI / 2; // A.Sin(wt) w = Rad per second; default = pi / 2
frequency = RS_RotationVelocity / (2 * Mathf.PI); //v = w/2pi Hz
PosArray = InputFunctions.HalfSin_offline(NumPulses, P2P_Amp, RS_RotationVelocity, minDeltaSec, SceneName, out T_total, dtVR).ToArray();
P2P_Amp_calc = P2P_Amp;
break;
}
case 2: // *************************** 2: PRTS ********************************
{
logFileName = "PRTS";
PRTS_dt = 0.2f; //sec
Vel_max = P2P_Amp / (17.0f * PRTS_dt);
T_total = 242 * PRTS_dt * NumPulses;
PosArray = InputFunctions.PRTS_offline(NumPulses, PRTS_dt, Vel_max, SceneName, out T_total, dtVR).ToArray();
P2P_Amp_calc = P2P_Amp;
Debug.Log(logFileName + " PRTS_dt = " + PRTS_dt + " Seconds");
break;
}
case 3: // *************************** 2: TrapZ ********************************
{
logFileName = "TrapZ";
PosArray = InputFunctions.TrapZ_offline(NumPulses, P2P_Amp, Vel_max, minDeltaSec, minWSec, SceneName, out T_total, dtVR).ToArray();
P2P_Amp_calc = P2P_Amp;;
break;
}
case 4: // ************************* 4: TrapV ********************************
{
logFileName = "TrapV";
PosArray = InputFunctions.TrapV_offline(NumPulses, minDeltaSec, TrapV_ta, TrapV_tv, TrapV_tx, Vel_max, SceneName, out T_total, dtVR).ToArray();
P2P_Amp_calc = Vel_max * (TrapV_ta + TrapV_tv);
Debug.Log(" TrapV Times: ta = " + TrapV_ta + " t_v = " + TrapV_tv + " t_x = " + TrapV_tx);
break;
}
case 5: // ************************* 5: SumOfSin *******************************
{
logFileName = "SumOfSin";
SOS_minFreq = 0.05f;
SOS_maxFreq = 0.15f;
SOS_freqCount = 1;
PosArray = InputFunctions.SumOfSin_offline(NumPulses, P2P_Amp, SOS_minFreq, SOS_maxFreq, SOS_freqCount, SceneName, out T_total, dtVR).ToArray();
P2P_Amp_calc = P2P_Amp;;
break;
}
case 6: // ************************* 5: PRBS *******************************
{
logFileName = "PRBS";
T_total = 10.0f; //seconds
PosArray = InputFunctions.PRBS_offline(P2P_Amp, 0.5f, T_total, SceneName, dtVR).ToArray();
P2P_Amp_calc = P2P_Amp;;
break;
}
}
Time_F = Time_0 + T_total;
Pos_max = PosArray.Max();
Pos_min = PosArray.Min();
Debug.Log(logFileName + " P2P_Amp_calc = " + P2P_Amp_calc + " meters");
Debug.Log(logFileName + " Vel_max = " + Vel_max + " mps");
Debug.Log(logFileName + " Time Total = " + T_total + " seconds");
// ******************* Write to file *******************
dt = DateTime.Now;
dateString = dt.ToString("dd-MM-yyyy");
timeString = dt.ToString("HH-mm");
string logDir = "log/Online/" + dateString + "/" + SceneName + "/" + logFileName;
string currentDir = Directory.GetCurrentDirectory();
string logPath = Path.Combine(currentDir, logDir);
Directory.CreateDirectory(logPath);
dataLogger = new StreamWriter(logPath + "/VR_" + logFileName + '_' + timeString + ".txt");
timeLog = new StreamWriter(logPath + "/Time_" + logFileName + '_' + timeString + ".txt");
daqSignal = new StreamWriter(logPath + "/daq_" + logFileName + '_' + timeString + ".txt");
headMotionLog = new StreamWriter(logPath + "/HeadMotion_" + logFileName + '_' + timeString + ".txt");
}