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hybridDataPlot.m
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hybridDataPlot.m
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function [] = hybridDataPlot(bending_start_point, bending_end_point, rotation_start_point, rotation_end_point, handles)
% Calibration Scale Information
scale_bending = 140 / (bending_end_point - bending_start_point);
scale_rotation = 90 / (rotation_end_point - rotation_start_point);
% Load all sub folders functions
addpath(genpath(pwd));
% Program options
TransmitMulticast = false;
EnableHapticFeedbackTest = false;
HapticOnList = {'ViconAP_001';'ViconAP_002'};
bReadCentroids = false;
bReadRays = false;
axisMapping = 'ZUp';
% A dialog to stop the loop
MessageBox = msgbox( 'Stop DataStream Client', 'Vicon DataStream SDK' );
% Load the SDK
fprintf( 'Loading SDK...' );
Client.LoadViconDataStreamSDK();
fprintf( 'done\n' );
% Program options
HostName = 'localhost:801';
% Make a new client
MyClient = Client();
% Connect to a server
fprintf( 'Connecting to %s ...', HostName );
while ~MyClient.IsConnected().Connected
% Direct connection
MyClient.Connect( HostName );
% Multicast connection
% MyClient.ConnectToMulticast( HostName, '224.0.0.0' );
fprintf( '.' );
end
fprintf( '\n' );
% Enable some different data types
MyClient.EnableSegmentData();
MyClient.EnableMarkerData();
MyClient.EnableUnlabeledMarkerData();
MyClient.EnableDeviceData();
if bReadCentroids
MyClient.EnableCentroidData();
end
if bReadRays
MyClient.EnableMarkerRayData();
end
fprintf( 'Segment Data Enabled: %s\n', AdaptBool( MyClient.IsSegmentDataEnabled().Enabled ) );
fprintf( 'Marker Data Enabled: %s\n', AdaptBool( MyClient.IsMarkerDataEnabled().Enabled ) );
fprintf( 'Unlabeled Marker Data Enabled: %s\n', AdaptBool( MyClient.IsUnlabeledMarkerDataEnabled().Enabled ) );
fprintf( 'Device Data Enabled: %s\n', AdaptBool( MyClient.IsDeviceDataEnabled().Enabled ) );
fprintf( 'Centroid Data Enabled: %s\n', AdaptBool( MyClient.IsCentroidDataEnabled().Enabled ) );
fprintf( 'Marker Ray Data Enabled: %s\n', AdaptBool( MyClient.IsMarkerRayDataEnabled().Enabled ) );
% Set the streaming mode
MyClient.SetStreamMode( StreamMode.ClientPull );
% MyClient.SetStreamMode( StreamMode.ClientPullPreFetch );
% MyClient.SetStreamMode( StreamMode.ServerPush );
% Set the global up axis
if axisMapping == 'XUp'
MyClient.SetAxisMapping( Direction.Up, ...
Direction.Forward, ...
Direction.Left ); % X-up
elseif axisMapping == 'YUp'
MyClient.SetAxisMapping( Direction.Forward, ...
Direction.Up, ...
Direction.Right ); % Y-up
else
MyClient.SetAxisMapping( Direction.Forward, ...
Direction.Left, ...
Direction.Up ); % Z-up
end
Output_GetAxisMapping = MyClient.GetAxisMapping();
fprintf( 'Axis Mapping: X-%s Y-%s Z-%s\n', Output_GetAxisMapping.XAxis.ToString(), ...
Output_GetAxisMapping.YAxis.ToString(), ...
Output_GetAxisMapping.ZAxis.ToString() );
% Discover the version number
Output_GetVersion = MyClient.GetVersion();
fprintf( 'Version: %d.%d.%d\n', Output_GetVersion.Major, ...
Output_GetVersion.Minor, ...
Output_GetVersion.Point );
if TransmitMulticast
MyClient.StartTransmittingMulticast( 'localhost', '224.0.0.0' );
end
% Global Variables for distance
distance = 0;
[origin_x,origin_y,origin_z] = deal(0);
[target_x,target_y,target_z] = deal(0);
% Global Variables for rotation
[origin_w,origin_X,origin_Y,origin_Z] = deal(0);
[target_w,target_X,target_Y,target_Z] = deal(0);
[rotation_X,rotation_Y,rotation_Z] = deal(0);
% initial start point
Counter = 1;
startTime = datetime('now');
% access to the axisX
hvax = handles.viconPlotX;
axes(hvax);
realtime_angle_X = animatedline;
hvax.YGrid = 'on';
hvax.YLim = [-180 180];
%
% access to the axisY
hvay = handles.viconPlotY;
axes(hvay);
realtime_angle_Y = animatedline;
hvay.YGrid = 'on';
hvay.YLim = [-180 180];
%
% access to the axisZ
hvaz = handles.viconPlotZ;
axes(hvaz);
realtime_angle_Z = animatedline;
hvaz.YGrid = 'on';
hvaz.YLim = [-180 180];
% Arduino Part
a = arduino;
% register a cleanup function
finishup = onCleanup(@() exitprogram(a));
v_1 = 0;
v_2 = 0;
v_hybrid_1 = 0;
pre_angle_bending = 0;
buf_len = 100;
index = 1:buf_len;
sg_buf_len = 31;
val = 0;
buff_data_1 = zeros(buf_len, 1);
buff_data_filtered_1 = zeros(buf_len, 1);
buff_data_2 = zeros(buf_len, 1);
buff_data_filtered_2 = zeros(buf_len, 1);
sg_buff_data = zeros(sg_buf_len, 1);
sg_buff_data_filtered = zeros(sg_buf_len, 1);
taps = 15;
% access to the axis
hax = handles.anglePlot;
axes(hax);
h_voltage_1 = animatedline('Color','r');
hax.YGrid = 'on';
hax.YLim = [-180 360];
hbx = handles.rotationPlot;
axes(hbx);
h_voltage_2 = animatedline('Color','b');
hbx.YGrid = 'on';
hbx.YLim = [-180 360];
% Loop until the message box is dismissed
while ishandle( MessageBox )
% while ~getappdata(hf, 'vicon_plot')
Counter = Counter + 1;
% Get a frame
fprintf( '\n' );
fprintf( '\n' );
fprintf( 'Waiting for new frame...' );
while MyClient.GetFrame().Result.Value ~= Result.Success
fprintf( '.' );
end% while
fprintf( '\n' );
% Get the frame number
Output_GetFrameNumber = MyClient.GetFrameNumber();
fprintf( 'Frame Number: %d\n', Output_GetFrameNumber.FrameNumber );
% Get the frame rate
Output_GetFrameRate = MyClient.GetFrameRate();
fprintf( 'Frame rate: %g\n', Output_GetFrameRate.FrameRateHz );
for FrameRateIndex = 1:MyClient.GetFrameRateCount().Count
FrameRateName = MyClient.GetFrameRateName( FrameRateIndex ).Name;
FrameRateValue = MyClient.GetFrameRateValue( FrameRateName ).Value;
fprintf( '%s: %gHz\n', FrameRateName, FrameRateValue );
end% for
fprintf( '\n' );
% Get the timecode
Output_GetTimecode = MyClient.GetTimecode();
fprintf( 'Timecode: %dh %dm %ds %df %dsf %s %d %d %d\n\n', ...
Output_GetTimecode.Hours, ...
Output_GetTimecode.Minutes, ...
Output_GetTimecode.Seconds, ...
Output_GetTimecode.Frames, ...
Output_GetTimecode.SubFrame, ...
AdaptBool( Output_GetTimecode.FieldFlag ), ...
Output_GetTimecode.Standard.Value, ...
Output_GetTimecode.SubFramesPerFrame, ...
Output_GetTimecode.UserBits );
% Get the latency
fprintf( 'Latency: %gs\n', MyClient.GetLatencyTotal().Total );
for LatencySampleIndex = 1:MyClient.GetLatencySampleCount().Count
SampleName = MyClient.GetLatencySampleName( LatencySampleIndex ).Name;
SampleValue = MyClient.GetLatencySampleValue( SampleName ).Value;
fprintf( ' %s %gs\n', SampleName, SampleValue );
end% for
fprintf( '\n' );
% Count the number of subjects
SubjectCount = MyClient.GetSubjectCount().SubjectCount;
fprintf( 'Subjects (%d):\n', SubjectCount );
for SubjectIndex = 1:SubjectCount
fprintf( ' Subject #%d\n', SubjectIndex - 1 );
% Get the subject name
SubjectName = MyClient.GetSubjectName( SubjectIndex ).SubjectName;
fprintf( ' Name: %s\n', SubjectName );
% Get the root segment
RootSegment = MyClient.GetSubjectRootSegmentName( SubjectName ).SegmentName;
fprintf( ' Root Segment: %s\n', RootSegment );
% Count the number of segments
SegmentCount = MyClient.GetSegmentCount( SubjectName ).SegmentCount;
fprintf( ' Segments (%d):\n', SegmentCount );
for SegmentIndex = 1:SegmentCount
fprintf( ' Segment #%d\n', SegmentIndex - 1 );
% Get the segment name
SegmentName = MyClient.GetSegmentName( SubjectName, SegmentIndex ).SegmentName;
fprintf( ' Name: %s\n', SegmentName );
% Get the segment parent
SegmentParentName = MyClient.GetSegmentParentName( SubjectName, SegmentName ).SegmentName;
fprintf( ' Parent: %s\n', SegmentParentName );
% Get the segment's children
ChildCount = MyClient.GetSegmentChildCount( SubjectName, SegmentName ).SegmentCount;
fprintf( ' Children (%d):\n', ChildCount );
for ChildIndex = 1:ChildCount
ChildName = MyClient.GetSegmentChildName( SubjectName, SegmentName, ChildIndex ).SegmentName;
fprintf( ' %s\n', ChildName );
end% for
% Get the static segment translation
Output_GetSegmentStaticTranslation = MyClient.GetSegmentStaticTranslation( SubjectName, SegmentName );
origin_x = Output_GetSegmentStaticTranslation.Translation( 1 );
origin_y = Output_GetSegmentStaticTranslation.Translation( 2 );
origin_z = Output_GetSegmentStaticTranslation.Translation( 3 );
% Get the static segment rotation in EulerXYZ co-ordinates
Output_GetSegmentStaticRotationEulerXYZ = MyClient.GetSegmentStaticRotationEulerXYZ( SubjectName, SegmentName );
origin_X = Output_GetSegmentStaticRotationEulerXYZ.Rotation( 1 );
origin_Y = Output_GetSegmentStaticRotationEulerXYZ.Rotation( 2 );
origin_Z = Output_GetSegmentStaticRotationEulerXYZ.Rotation( 3 );
fprintf( ' Static Rotation EulerXYZ: (%g, %g, %g)\n', ...
Output_GetSegmentStaticRotationEulerXYZ.Rotation( 1 ), ...
Output_GetSegmentStaticRotationEulerXYZ.Rotation( 2 ), ...
Output_GetSegmentStaticRotationEulerXYZ.Rotation( 3 ) );
% Get the local segment translation
Output_GetSegmentLocalTranslation = MyClient.GetSegmentLocalTranslation( SubjectName, SegmentName );
target_x = Output_GetSegmentLocalTranslation.Translation( 1 );
target_y = Output_GetSegmentLocalTranslation.Translation( 2 );
target_z = Output_GetSegmentLocalTranslation.Translation( 3 );
% Get the local segment rotation in EulerXYZ co-ordinates
Output_GetSegmentLocalRotationEulerXYZ = MyClient.GetSegmentLocalRotationEulerXYZ( SubjectName, SegmentName );
target_X = Output_GetSegmentLocalRotationEulerXYZ.Rotation( 1 );
target_Y = Output_GetSegmentLocalRotationEulerXYZ.Rotation( 2 );
target_Z = Output_GetSegmentLocalRotationEulerXYZ.Rotation( 3 );
% Get the local segment rotation in EulerXYZ co-ordinates
Output_GetSegmentLocalRotationEulerXYZ = MyClient.GetSegmentLocalRotationEulerXYZ( SubjectName, SegmentName );
fprintf( ' Local Rotation EulerXYZ: (%g, %g, %g) %s\n', ...
Output_GetSegmentLocalRotationEulerXYZ.Rotation( 1 ), ...
Output_GetSegmentLocalRotationEulerXYZ.Rotation( 2 ), ...
Output_GetSegmentLocalRotationEulerXYZ.Rotation( 3 ), ...
AdaptBool( Output_GetSegmentLocalRotationEulerXYZ.Occluded ) );
ratio_main = getappdata(0,'main_ratio');
ratio_side = getappdata(0,'side_ratio');
v_1 = readVoltage(a, 'A0');
buff_data_1 = [buff_data_1(2:end) ; v_1];
buff_data_filtered_1 = mean(buff_data_1(buf_len : -1 : buf_len-taps+1));
% buff_data_filtered_1 = v_1;
v_2 = readVoltage(a, 'A1');
buff_data_2 = [buff_data_2(2:end) ; v_2];
buff_data_filtered_2 = mean(buff_data_2(buf_len : -1 : buf_len-taps+1));
rotation_X = (target_X - origin_X) / pi * 180;
rotation_Y = (target_Y - origin_Y) / pi * 180;
rotation_Z = (target_Z - origin_Z) / pi * 180;
fprintf('Real time rotation XYZ is (%g, %g, %g)\n\n', rotation_X, rotation_Y, rotation_Z);
distance = sqrt((target_x - origin_x)^2 ...
+ (target_y - origin_y)^2 ...
+ (target_z - origin_z)^2);
fprintf('Real time distance is %g mm\n', distance);
% Get current time
t = datetime('now') - startTime;
% Add points to animation
addpoints(realtime_angle_X, datenum(t), rotation_X);
addpoints(realtime_angle_Y, datenum(t), rotation_Y);
addpoints(realtime_angle_Z, datenum(t), rotation_Z);
pre_angle_bending = (buff_data_filtered_1 - bending_start_point) * 100;
pre_angle_rotation = (buff_data_filtered_2 - rotation_start_point) * 200;
% Add points to animation
addpoints(h_voltage_1, datenum(t), pre_angle_bending);
addpoints(h_voltage_2, datenum(t), pre_angle_rotation);
% Update axes
hvax.XLim = datenum([t-seconds(15) t]);
hvay.XLim = datenum([t-seconds(15) t]);
hvaz.XLim = datenum([t-seconds(15) t]);
% Update axes
hax.XLim = datenum([t-seconds(15) t]);
hbx.XLim = datenum([t-seconds(15) t]);
datetick('x','keeplimits')
drawnow limitrate
end% SegmentIndex
end% SubjectIndex
end% while true
if TransmitMulticast
MyClient.StopTransmittingMulticast();
end
% Disconnect and dispose
MyClient.Disconnect();
% Draw the plot
[timeLogs, angle_X] = getpoints(realtime_angle_X);
[timeLogs, angle_Y] = getpoints(realtime_angle_Y);
[timeLogs, angle_Z] = getpoints(realtime_angle_Z);
[timeLogs, h_voltage_1] = getpoints(h_voltage_1);
[timeLogs, h_voltage_2] = getpoints(h_voltage_2);
timeSecs = (timeLogs-timeLogs(1))*24*3600;
% Write to file angle_X
T = table(timeSecs', angle_X','VariableNames',{'Time','angle_X'});
filename_1 = './position/angle_X.xlsx';
% Write table to file
writetable(T,filename_1)
% Print confirmation to command line
fprintf('Results table with %g voltage measurements saved to file %s\n',...
length(timeSecs), filename_1)
% Write to file angle_Y
T = table(timeSecs', angle_Y','VariableNames',{'Time','angle_Y'});
filename_2 = './position/angle_Y.xlsx';
% Write table to file
writetable(T,filename_2)
% Print confirmation to command line
fprintf('Results table with %g voltage measurements saved to file %s\n',...
length(timeSecs), filename_2)
% Write to file angle_Z
T = table(timeSecs', angle_Z','VariableNames',{'Time','angle_Z'});
filename_3 = './position/angle_Z.xlsx';
% Write table to file
writetable(T,filename_3)
% Print confirmation to command line
fprintf('Results table with %g voltage measurements saved to file %s\n',...
length(timeSecs), filename_3)
% Write to file voltage 1
T = table(timeSecs', h_voltage_1','VariableNames',{'Time','h_voltage_1'});
filename_4 = './position/voltage_1.xlsx';
% Write table to file
writetable(T,filename_4)
% Print confirmation to command line
fprintf('Results table with %g voltage measurements saved to file %s\n',...
length(timeSecs), filename_4)
% Write to file voltage 2
T = table(timeSecs', h_voltage_2','VariableNames',{'Time','h_voltage_2'});
filename_5 = './position/voltage_2.xlsx';
% Write table to file
writetable(T,filename_5)
% Print confirmation to command line
fprintf('Results table with %g voltage measurements saved to file %s\n',...
length(timeSecs), filename_5)
% Write to file pred_angle
% T = table(timeSecs', h_angle_pred','VariableNames',{'Time','h_angle_pred'});
% filename_6 = './wrist_new/pred_angle.xlsx';
% % Write table to file
% writetable(T,filename_6)
% % Print confirmation to command line
% fprintf('Results table with %g voltage measurements saved to file %s\n',...
% length(timeSecs), filename_6)
%
% Unload the SDK
fprintf( 'Unloading SDK...' );
Client.UnloadViconDataStreamSDK();
fprintf( 'done\n' );
end