glax/OSCCollar
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Allow more flexible setup with radius at startup,

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calculate constants once
This commit is contained in:
glax 2023-11-30 15:28:15 +01:00
parent b98154ffcc
commit c7e6ab83e6
2 changed files with 62 additions and 54 deletions
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2
OSCCollar/GPS.cs
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@ -4,7 +4,7 @@ public class GPS
{
public double X { get; init; }
public double Y { get; init; }
public float Distance { get; set; }
public double Distance { get; set; }
public GPS(double x, double y)
{

114
OSCCollar/OSCCollar.cs
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@ -1,5 +1,4 @@
using System.Net;
using BuildSoft.OscCore;
using BuildSoft.OscCore;
namespace VRC_Console;
@ -15,30 +14,57 @@ public class OSCCollar
private OscClient Client { get; init; }
private float _leashStretch;
private double _posX, _posY, _verticalMovement, _horizontalMovement;
private bool _allowMoving;
private bool _allowMoving = true;
private uint _nilSent;
private DateTime _lastNilMessageSent = DateTime.UnixEpoch;
private DateTime _lastConsoleOutput = DateTime.UnixEpoch;
private static readonly TimeSpan ConsoleUpdateInterval = TimeSpan.FromMilliseconds(100);
private static readonly TimeSpan UpdateFieldsTimeout = TimeSpan.FromMilliseconds(1);
private static readonly TimeSpan NilMessageMaxTimeout = TimeSpan.FromMilliseconds(400);
private readonly GPS _gps1 = new GPS(0, -100);
private readonly GPS _gps2 = new GPS(-86.6, 50);
private readonly GPS _gps3 = new GPS(86.6, 50);
private static readonly double calibrationX = -.33;
private static readonly double calibrationY = -1.1;
private const double PowerFactor = 1f;
private static readonly TimeSpan UpdateInterval = TimeSpan.FromMilliseconds(1);
private static readonly TimeSpan MessageMinInterval = TimeSpan.FromMilliseconds(400);
private double radius;
private GPS GPS1 { get; init; }
private GPS GPS2 { get; init; }
private GPS GPS3 { get; init; }
private double CalibrationX { get; init; }
private double CalibrationY { get; init; }
private string debugValue = "";
private double GPSConstantA { get; init; }
private double GPSConstantB { get; init; }
private double GPSConstantC { get; init; }
private double GPSConstantD { get; init; }
private double GPSConstantE { get; init; }
private OSCCollar(string ip = "127.0.0.1", int portReceive = 9001, int portSend = 9000)
private OSCCollar(string ip = "127.0.0.1", int portReceive = 9001, int portSend = 9000, double radius = 100, double calibrationX = 0, double calibrationY = 0, bool skipSetup = true)
{
this.radius = radius;
this.GPS1 = new(0, -radius);
this.GPS2 = new(-(radius * 0.866), radius / 2);
this.GPS3 = new(radius * 0.866, radius / 2);
this.CalibrationX = calibrationX;
this.CalibrationY = calibrationY;
this.GPSConstantA = 2 * GPS2.X - 2 * GPS1.X;
this.GPSConstantB = 2 * GPS2.Y - 2 * GPS1.Y;
this.GPSConstantC = Math.Pow(GPS1.X, 2) + Math.Pow(GPS2.X, 2) - Math.Pow(GPS1.Y, 2) + Math.Pow(GPS2.Y, 2);
this.GPSConstantD = 2 * GPS3.X - 2 * GPS2.X;
this.GPSConstantE = Math.Pow(GPS2.X, 2) + Math.Pow(GPS3.X, 2) - Math.Pow(GPS2.Y, 2) + Math.Pow(GPS3.Y, 2);
if (!skipSetup)
{
Console.WriteLine("Position your GPS receivers:");
Console.WriteLine($"GPS 1 x: {GPS1.X} y: {GPS1.Y}");
Console.WriteLine($"GPS 2 x: {GPS2.X} y: {GPS2.Y}");
Console.WriteLine($"GPS 3 x: {GPS3.X} y: {GPS3.Y}");
}
this.Server = new OscServer(portReceive);
this.Client = new OscClient(ip, portSend);
Server.TryAddMethod("/avatar/parameters/GPS1", GPS1Handle);
Server.TryAddMethod("/avatar/parameters/GPS2", GPS2Handle);
Server.TryAddMethod("/avatar/parameters/GPS3", GPS3Handle);
Server.TryAddMethod("/avatar/parameters/Leash_Stretch", CollarStretchHandle);
Server.TryAddMethod("/avatar/parameters/Leash_Toggle", AllowMovingHandle);
this.Server.TryAddMethod("/avatar/parameters/GPS1", GPS1Handle);
this.Server.TryAddMethod("/avatar/parameters/GPS2", GPS2Handle);
this.Server.TryAddMethod("/avatar/parameters/GPS3", GPS3Handle);
this.Server.TryAddMethod("/avatar/parameters/Leash_Stretch", CollarStretchHandle);
this.Server.TryAddMethod("/avatar/parameters/Leash_Toggle", AllowMovingHandle);
this.Server.Start();
Thread runningThread = new Thread(RunningThread);
@ -51,9 +77,9 @@ public class OSCCollar
Console.ForegroundColor = ConsoleColor.White;
Console.WriteLine($"OSC Collar - Status: {(_allowMoving ? "enabled" : "disabled")}");
Console.WriteLine("==============================");
Console.WriteLine($"GPS 1:...............{_gps1.Distance:0.000000}");
Console.WriteLine($"GPS 2:...............{_gps2.Distance:0.000000}");
Console.WriteLine($"GPS 3:...............{_gps3.Distance:0.000000}");
Console.WriteLine($"GPS 1:...............{GPS1.Distance:0.000000}");
Console.WriteLine($"GPS 2:...............{GPS2.Distance:0.000000}");
Console.WriteLine($"GPS 3:...............{GPS3.Distance:0.000000}");
Console.WriteLine($"Position X:..........{_posX:0.000000}");
Console.WriteLine($"Position Y:..........{_posY:0.000000}");
Console.WriteLine($"Stretch:.............{_leashStretch:0.0000}");
@ -74,8 +100,8 @@ public class OSCCollar
Console.Write("|");
}
int centerX = 50;
int centerY = 5;
const int centerX = 50;
const int centerY = 5;
int consoleX = Convert.ToInt32(Math.Floor(_horizontalMovement * 10));
int consoleY = Convert.ToInt32(-Math.Floor(_verticalMovement * 4));
double position = (_verticalMovement * 10) % 10;
@ -98,17 +124,17 @@ public class OSCCollar
private void GPS1Handle(OscMessageValues messageValues)
{
this._gps1.Distance = messageValues.ReadFloatElement(0) * 100;
this.GPS1.Distance = messageValues.ReadFloatElement(0) * radius;
}
private void GPS2Handle(OscMessageValues messageValues)
{
this._gps2.Distance = messageValues.ReadFloatElement(0) * 100;
this.GPS2.Distance = messageValues.ReadFloatElement(0) * radius;
}
private void GPS3Handle(OscMessageValues messageValues)
{
this._gps3.Distance = messageValues.ReadFloatElement(0) * 100;
this.GPS3.Distance = messageValues.ReadFloatElement(0) * radius;
}
private void CollarStretchHandle(OscMessageValues messageValues)
@ -118,35 +144,16 @@ public class OSCCollar
private void CalculatePositionFromGPS()
{
double a = 2 * _gps2.X - 2 * _gps1.X;
double b = 2 * _gps2.Y - 2 * _gps1.Y;
double c = Math.Pow(_gps1.Distance, 2) - Math.Pow(_gps2.Distance, 2) - Math.Pow(_gps1.X, 2) +
Math.Pow(_gps2.X, 2) - Math.Pow(_gps1.Y, 2) + Math.Pow(_gps2.Y, 2);
double log = Math.Pow(_gps1.X, 2) +
Math.Pow(_gps2.X, 2) - Math.Pow(_gps1.Y, 2) + Math.Pow(_gps2.Y, 2);
double d = 2 * _gps3.X - 2 * _gps2.X;
//double e = 2 * _gps3.Y - 2 * _gps2.Y;
double f = Math.Pow(_gps2.Distance, 2) - Math.Pow(_gps3.Distance, 2) - Math.Pow(_gps2.X, 2) +
Math.Pow(_gps3.X, 2) - Math.Pow(_gps2.Y, 2) + Math.Pow(_gps3.Y, 2);
double gpsFactorA = Math.Pow(GPS1.Distance, 2) - Math.Pow(GPS2.Distance, 2) - GPSConstantC;
double gpsFactorB = Math.Pow(GPS2.Distance, 2) - Math.Pow(GPS3.Distance, 2) - GPSConstantE;
/*
_posX = (c * e - f * b) / (e * a - b * d);
_posY = (c * d - a * f) / (b * d - a * e);*/
_posX = (gpsFactorB / GPSConstantD) + CalibrationX;
_posY = (gpsFactorA * GPSConstantD - GPSConstantA * gpsFactorB) / (GPSConstantB * GPSConstantD) + CalibrationY;
/*
double a = -173.19;
double b = 300;
double c = Math.Pow(_gps1.Distance, 2) - Math.Pow(_gps2.Distance, 2) - 0.44;
double d = 346.39;
double f = Math.Pow(_gps2.Distance, 2) - Math.Pow(_gps3.Distance, 2) - 3758.45;*/
double inverseLength = 1 / Math.Sqrt(Math.Pow(_posX, 2) + Math.Pow(_posY, 2));
_posX = (f / d) + calibrationX;
_posY = (c * d - a * f) / (b * d) + calibrationY;
double factor = 1 / Math.Sqrt(Math.Pow(_posX, 2) + Math.Pow(_posY, 2));
_verticalMovement = _posY * factor * _leashStretch * PowerFactor;
_horizontalMovement = _posX * factor * -1 * _leashStretch * PowerFactor;
_verticalMovement = _posY * inverseLength * _leashStretch;
_horizontalMovement = _posX * inverseLength * -1 * _leashStretch;
}
private void RunningThread()
@ -155,7 +162,7 @@ public class OSCCollar
{
this.Server.Update();
CalculatePositionFromGPS();
if (_lastNilMessageSent.Add(NilMessageMaxTimeout) < DateTime.Now)
if (_lastNilMessageSent.Add(MessageMinInterval) < DateTime.Now)
{
this.Client.Send("/input/Vertical", 0f);
this.Client.Send("/input/Horizontal", 0f);
@ -170,6 +177,7 @@ public class OSCCollar
{
this.Client.Send("/input/Vertical", Convert.ToSingle(_verticalMovement));
this.Client.Send("/input/Horizontal", Convert.ToSingle(_horizontalMovement));
this._lastNilMessageSent = DateTime.Now;
}
}
@ -179,7 +187,7 @@ public class OSCCollar
_lastConsoleOutput = DateTime.Now;
}
Thread.Sleep(UpdateFieldsTimeout);
Thread.Sleep(UpdateInterval);
}
}
}