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using Auto_Calibration;
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Linq;
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using UnityEngine;
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public class BleHandDriver : MonoBehaviour
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{
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private AndroidJavaClass AR1_linear_AA;
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private AndroidJavaClass AR1_linear_AD;
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private AndroidJavaClass AR1_linear_AE;
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private AndroidJavaClass AR1_linear_AG;
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private string Version;
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public BleHandDriver(string _DeviceName)
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{
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DeviceName = _DeviceName;
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if (PlayerPrefs.GetFloat($"{DeviceName}_X_Center") != 0)
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{
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x_center_data = PlayerPrefs.GetFloat($"{DeviceName}_X_Center");
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}
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if (PlayerPrefs.GetFloat($"{DeviceName}_Y_Center") != 0)
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{
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y_center_data = PlayerPrefs.GetFloat($"{DeviceName}_Y_Center");
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}
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if (PlayerPrefs.GetFloat($"{DeviceName}_X_MAX") != 0)
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{
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x_max_data = PlayerPrefs.GetFloat($"{DeviceName}_X_MAX");
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}
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if (PlayerPrefs.GetFloat($"{DeviceName}_Y_MAX") != 0)
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{
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y_max_data = PlayerPrefs.GetFloat($"{DeviceName}_Y_MAX");
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}
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if (PlayerPrefs.GetFloat($"{DeviceName}_X_MIN") != 0)
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{
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x_min_data = PlayerPrefs.GetFloat($"{DeviceName}_X_MIN");
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}
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if (PlayerPrefs.GetFloat($"{DeviceName}_Y_MIN") != 0)
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{
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y_min_data = PlayerPrefs.GetFloat($"{DeviceName}_Y_MIN");
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}
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if (PlayerPrefs.GetFloat($"{DeviceName}_DeadZone") != 0)
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{
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dead_zone = PlayerPrefs.GetFloat($"{DeviceName}_DeadZone");
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}
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if (PlayerPrefs.GetFloat($"{DeviceName}_TriggerValue") != 0)
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{
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trigger_value = PlayerPrefs.GetFloat($"{DeviceName}_TriggerValue");
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}
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if (PlayerPrefs.GetFloat($"{DeviceName}_GrabValue") != 0)
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{
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grab_value = PlayerPrefs.GetFloat($"{DeviceName}_GrabValue");
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}
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if (PlayerPrefs.GetFloat($"{DeviceName}_TrackpadValue") != 0)
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{
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trackpad_value = PlayerPrefs.GetFloat($"{DeviceName}_TrackpadValue");
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}
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AR1_linear_AA = new("com.example.ar1_linear1.AR1_linear_AA");
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AR1_linear_AD = new("com.example.ar1_linear1.AR1_linear_AD");
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AR1_linear_AE = new("com.example.ar1_linear1.AR1_linear_AE");
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AR1_linear_AG = new("com.example.ar1_linear1.AR1_linear_AG");
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}
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public enum HandType
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{
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Left,
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Right
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}
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public enum Axis
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{
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x = -3,
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y = -2,
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z = -1,
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x_n,
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y_n,
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z_n
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}
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public enum CalibrationType
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{
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AdductFin = -2,
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FistFin = -1,
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None, //δ<EFBFBD>궨
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Fist, //<EFBFBD><EFBFBD>ȭ
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Adduct, //<EFBFBD><EFBFBD>£
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Stretch, //<EFBFBD>ſ<EFBFBD>
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Completed //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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}
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private float f4, f5, f6, f7, f8, f9, f10, f11, f12, f13, f14, f15, f16, f17, f18;
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private float a4 = 0,
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a5 = 0,
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a6 = 0,
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a7 = 0,
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a8 = 0,
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a9 = 0,
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a10 = 0,
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a11,
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a12 = 0,
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a13 = 0,
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a14 = 0,
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a15;
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private float n1 = 0,
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n2 = 0,
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n3 = 0,
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n4 = 0,
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n5 = 0,
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n6 = 0,
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n7 = 0,
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n8 = 0,
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n9 = 0,
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n10 = 0,
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n11 = 0,
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n12 = 0,
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n13 = 0,
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n14 = 0,
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n15 = 0;
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private float h4 = 0,
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h5 = 0,
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h6 = 0,
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h7 = 0,
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h8 = 0,
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h9 = 0,
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h10 = 0,
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h11 = 0,
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h12 = 0,
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h13 = 0,
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h14 = 0,
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h15 = 0,
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h16 = 0,
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h17 = 0;
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private float m4 = 0,
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m5 = 0,
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m6 = 0,
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m7 = 0,
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m8 = 0,
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m9 = 0,
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m10 = 0,
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m11 = 0,
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m12 = 0,
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m13 = 0,
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m14 = 0,
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m15 = 0;
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private float dot4 = 0,
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dot5 = 0,
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dot6 = 0,
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dot7 = 0,
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dot8 = 0,
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dot9 = 0,
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dot10 = 0,
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dot11 = 0,
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dot12 = 0,
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dot13 = 0,
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dot14 = 0,
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dot15 = 0;
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private Queue<float> f4Queue = new Queue<float>();
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private Queue<float> f5Queue = new Queue<float>();
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private Queue<float> f6Queue = new Queue<float>();
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private Queue<float> f7Queue = new Queue<float>();
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private Queue<float> f8Queue = new Queue<float>();
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private Queue<float> f9Queue = new Queue<float>();
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private Queue<float> f10Queue = new Queue<float>();
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private Queue<float> f11Queue = new Queue<float>();
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private Queue<float> f12Queue = new Queue<float>();
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private Queue<float> f13Queue = new Queue<float>();
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private Queue<float> f14Queue = new Queue<float>();
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private Queue<float> f15Queue = new Queue<float>();
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private const int QUEUE_MAX_SIZE = 10;
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public int HandDeviceIndex = 1;
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public HandType Hand;
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public Transform Wrist;
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[Header("<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵƫ<EFBFBD><EFBFBD>")]
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public Axis Pitch = Axis.z;
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public Axis Roll = Axis.x_n;
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public Axis Yaw = Axis.y_n;
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[Header("IMU<EFBFBD><EFBFBD><EFBFBD><EFBFBD>")] public bool HasIMU = false;
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[Header("Ĵָ<EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD>ϵ<EFBFBD><EFBFBD>")][Range(0, 1)] public float coefficient = 0.6f;
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[Header("Ĵָ<EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD>ƫ<EFBFBD><EFBFBD>")] public Vector3 Thumb1Offset;
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public string DeviceName;
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public float time;
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string line;
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private CalibrationType mCalibrationType = CalibrationType.None;
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private double[] pre_sensor_data;
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private List<double> angle_data = new();
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private List<double> raw_data = new();
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bool isCalibration = false;
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private float x_center_data = 1850;
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private float y_center_data = 1850;
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private float x_max_data = 3750;
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private float x_min_data = 620;
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private float y_min_data = 620;
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private float y_max_data = 3750;
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private bool centerCalib = false;
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private bool rangeCalib = false;
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private float dead_zone = 0.15f;
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private float trackpad_value = 0.3f;
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private float trigger_value = 0.5f;
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private float grab_value = 0.5f;
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private InputData input;
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private bool SaveCalibrationDataPermission = false;
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private bool ReadControllerSavedData = true;
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private int _curCalibTimes = 0;
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public void Method_update()
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{
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if (time < 0)
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{
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time = 5;
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}
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else
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{
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time -= Time.deltaTime;
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}
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line = UDE_API.GetDeviceDataByName(DeviceName);
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if (string.IsNullOrEmpty(line))
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{
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return;
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}
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//Debug.Log("Line " + line);
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var data = line.Split(',');
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raw_data = new();
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foreach (string str in data)
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{
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raw_data.Add(Convert.ToDouble(str));
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}
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f4 = Convert.ToSingle(data[0]);
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f5 = Convert.ToSingle(data[1]);
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f6 = Convert.ToSingle(data[2]);
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f7 = Convert.ToSingle(data[3]);
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f8 = Convert.ToSingle(data[4]);
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f9 = Convert.ToSingle(data[5]);
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f10 = Convert.ToSingle(data[6]);
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f11 = Convert.ToSingle(data[7]);
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f12 = Convert.ToSingle(data[8]);
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f13 = Convert.ToSingle(data[9]);
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f14 = Convert.ToSingle(data[10]);
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f15 = Convert.ToSingle(data[11]);
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if (data.Length > 12 && data.Length <= 16)
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{
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f16 = Convert.ToSingle(data[12]);
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f17 = Convert.ToSingle(data[13]);
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f18 = Convert.ToSingle(data[14]);
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}
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else if (data.Length > 16)
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{
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f16 = Convert.ToSingle(data[16]);
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f17 = Convert.ToSingle(data[17]);
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f18 = Convert.ToSingle(data[18]);
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}
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if (ReadControllerSavedData)
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{
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ReadControllerSavedData = false;
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var x_temp = PlayerPrefs.GetFloat(DeviceName + "_X_Center");
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if (x_temp != 0)
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{
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x_center_data = x_temp;
|
|
|
|
|
|
y_center_data = PlayerPrefs.GetFloat(DeviceName + "_Y_Center");
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
var max_temp = PlayerPrefs.GetFloat(DeviceName + "_X_Max");
|
|
|
|
|
|
if (max_temp != 0)
|
|
|
|
|
|
{
|
|
|
|
|
|
x_max_data = max_temp;
|
|
|
|
|
|
x_min_data = PlayerPrefs.GetFloat(DeviceName + "_X_Min");
|
|
|
|
|
|
y_max_data = PlayerPrefs.GetFloat(DeviceName + "_Y_Max");
|
|
|
|
|
|
y_min_data = PlayerPrefs.GetFloat(DeviceName + "_Y_Min");
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
float f25 = (f16 - x_center_data) / ((x_max_data - x_min_data) / 2);
|
|
|
|
|
|
float f26 = (f17 - y_center_data) / ((y_max_data - y_min_data) / 2);
|
|
|
|
|
|
|
|
|
|
|
|
if (f25 > 1)
|
|
|
|
|
|
{
|
|
|
|
|
|
f25 = 1;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (f25 < -1)
|
|
|
|
|
|
{
|
|
|
|
|
|
f25 = -1;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (f26 > 1)
|
|
|
|
|
|
{
|
|
|
|
|
|
f26 = 1;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (f26 < -1)
|
|
|
|
|
|
{
|
|
|
|
|
|
f26 = -1;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (f25 <= dead_zone && f25 >= -dead_zone)
|
|
|
|
|
|
{
|
|
|
|
|
|
f25 = 0;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (f26 <= dead_zone && f26 >= -dead_zone)
|
|
|
|
|
|
{
|
|
|
|
|
|
f26 = 0;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
input = new InputData();
|
|
|
|
|
|
input.joyX = f25;
|
|
|
|
|
|
input.joyY = f26;
|
|
|
|
|
|
|
|
|
|
|
|
switch (f18)
|
|
|
|
|
|
{
|
|
|
|
|
|
case 1:
|
|
|
|
|
|
input.bButton = true;
|
|
|
|
|
|
break;
|
|
|
|
|
|
case 2:
|
|
|
|
|
|
input.aButton = true;
|
|
|
|
|
|
break;
|
|
|
|
|
|
case 3:
|
|
|
|
|
|
input.menu = true;
|
|
|
|
|
|
break;
|
|
|
|
|
|
case 4:
|
|
|
|
|
|
input.joyButton = true;
|
|
|
|
|
|
break;
|
|
|
|
|
|
case 5:
|
|
|
|
|
|
break;
|
|
|
|
|
|
case 6:
|
|
|
|
|
|
break;
|
|
|
|
|
|
case 7:
|
|
|
|
|
|
break;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (centerCalib)
|
|
|
|
|
|
{
|
|
|
|
|
|
x_center_data = f16;
|
|
|
|
|
|
y_center_data = f17;
|
|
|
|
|
|
centerCalib = false;
|
|
|
|
|
|
|
|
|
|
|
|
PlayerPrefs.SetFloat(DeviceName + "_X_Center", f16);
|
|
|
|
|
|
PlayerPrefs.SetFloat(DeviceName + "_Y_Center", f17);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (rangeCalib)
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
|
|
|
|
if (f16 > 600)
|
|
|
|
|
|
{
|
|
|
|
|
|
x_min_data = Math.Min(x_min_data, f16);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (f16 < 3800)
|
|
|
|
|
|
{
|
|
|
|
|
|
x_max_data = Math.Max(x_max_data, f16);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if (f17 > 600)
|
|
|
|
|
|
{
|
|
|
|
|
|
y_min_data = Math.Min(y_min_data, f17);
|
|
|
|
|
|
}
|
|
|
|
|
|
if (f17 < 3800)
|
|
|
|
|
|
{
|
|
|
|
|
|
y_max_data = Math.Max(y_max_data, f17);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (mCalibrationType == CalibrationType.None && PlayerPrefs.GetInt(DeviceName) == 1)
|
|
|
|
|
|
{
|
|
|
|
|
|
string[] CalibSavedData = PlayerPrefs.GetString(DeviceName + "_CalibDT").Split(",");
|
|
|
|
|
|
int index = 0;
|
|
|
|
|
|
|
|
|
|
|
|
n4 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
n5 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
n6 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
n7 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
n8 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
n9 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
n10 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
n11 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
n12 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
n13 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
n14 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
n15 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
|
|
|
|
|
|
h4 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
h5 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
h6 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
h7 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
h8 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
h9 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
h10 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
h11 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
h12 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
h13 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
h14 = float.Parse(CalibSavedData[index++]);
|
|
|
|
|
|
h15 = float.Parse(CalibSavedData[index]);
|
|
|
|
|
|
|
|
|
|
|
|
mCalibrationType = CalibrationType.Completed;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#region Dynamic Calibration
|
|
|
|
|
|
//if (_curCalibTimes < 1000)
|
|
|
|
|
|
//{
|
|
|
|
|
|
// if (m4 < f4)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// m4 = f4;
|
|
|
|
|
|
// if (m4 < h4)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// m4 = h4;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// if (m5 < f5)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// m5 = f5;
|
|
|
|
|
|
// if (m5 < h5)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// m5 = h5;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// if (m6 < f6)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// m6 = f6;
|
|
|
|
|
|
// if (m6 < h6)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// m6 = h6;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// if (m7 < f7)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// m7 = f7;
|
|
|
|
|
|
// if (m7 < h7)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// m7 = h7;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// if (m9 < f9)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// m9 = f9;
|
|
|
|
|
|
// if (m9 < h9)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// m9 = h9;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// if (m10 < f10)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// m10 = f10;
|
|
|
|
|
|
// if (m10 < h10)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// m10 = h10;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// if (m12 < f12)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// m12 = f12;
|
|
|
|
|
|
// if (m12 < h12)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// m12 = h12;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// if (m13 < f13)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// m13 = f13;
|
|
|
|
|
|
// if (m13 < h13)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// m13 = h13;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// if (m15 < f15)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// m15 = f15;
|
|
|
|
|
|
// if (m15 < h15)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// m15 = h15;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// _curCalibTimes++;
|
|
|
|
|
|
|
|
|
|
|
|
//}
|
|
|
|
|
|
//else
|
|
|
|
|
|
//{
|
|
|
|
|
|
// //Debug.LogError("<EFBFBD><EFBFBD>̬<EFBFBD>궨<EFBFBD><EFBFBD><EFBFBD><EFBFBD>");
|
|
|
|
|
|
// //Debug.LogError($"{_deviceName}:{m4},{m5},{m6},{m7},{m8},{m9},{m10},{m11},{m12},{m13},{m14},{m15}");
|
|
|
|
|
|
// // f4<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|
|
|
|
|
// if (m4 < f4)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// UpdateQueue(f4Queue, f4);
|
|
|
|
|
|
// if (f4Queue.Count == QUEUE_MAX_SIZE && CalculateVariance(f4Queue) < 10)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// dot4 = f4 - m4;
|
|
|
|
|
|
// m4 = f4;
|
|
|
|
|
|
// n4 += dot4;
|
|
|
|
|
|
// h4 += dot4;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// // f5<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|
|
|
|
|
// if (m5 < f5)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// UpdateQueue(f5Queue, f5);
|
|
|
|
|
|
// if (f5Queue.Count == QUEUE_MAX_SIZE && CalculateVariance(f5Queue) < 10)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// dot5 = f5 - m5;
|
|
|
|
|
|
// m5 = f5;
|
|
|
|
|
|
// n5 += dot5;
|
|
|
|
|
|
// h5 += dot5;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// // f6<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|
|
|
|
|
// if (m6 < f6)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// UpdateQueue(f6Queue, f6);
|
|
|
|
|
|
// if (f6Queue.Count == QUEUE_MAX_SIZE && CalculateVariance(f6Queue) < 10)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// dot6 = f6 - m6;
|
|
|
|
|
|
// m6 = f6;
|
|
|
|
|
|
// n6 += dot6;
|
|
|
|
|
|
// h6 += dot6;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
|
|
|
|
|
|
// // f7<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|
|
|
|
|
// if (m7 < f7)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// UpdateQueue(f7Queue, f7);
|
|
|
|
|
|
// if (f7Queue.Count == QUEUE_MAX_SIZE && CalculateVariance(f7Queue) < 10)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// dot7 = f7 - m7;
|
|
|
|
|
|
// m7 = f7;
|
|
|
|
|
|
// n7 += dot7;
|
|
|
|
|
|
// h7 += dot7;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// // f9<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|
|
|
|
|
// if (m9 < f9)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// UpdateQueue(f9Queue, f9);
|
|
|
|
|
|
// if (f9Queue.Count == QUEUE_MAX_SIZE && CalculateVariance(f9Queue) < 10)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// dot9 = f9 - m9;
|
|
|
|
|
|
// m9 = f9;
|
|
|
|
|
|
// n9 += dot9;
|
|
|
|
|
|
// h9 += dot9;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// // f10<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|
|
|
|
|
// if (m10 < f10)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// UpdateQueue(f10Queue, f10);
|
|
|
|
|
|
// if (f10Queue.Count == QUEUE_MAX_SIZE && CalculateVariance(f10Queue) < 10)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// dot10 = f10 - m10;
|
|
|
|
|
|
// m10 = f10;
|
|
|
|
|
|
// n10 += dot10;
|
|
|
|
|
|
// h10 += dot10;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// // f12<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|
|
|
|
|
// if (m12 < f12)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// UpdateQueue(f12Queue, f12);
|
|
|
|
|
|
// if (f12Queue.Count == QUEUE_MAX_SIZE && CalculateVariance(f12Queue) < 10)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// dot12 = f12 - m12;
|
|
|
|
|
|
// m12 = f12;
|
|
|
|
|
|
// n12 += dot12;
|
|
|
|
|
|
// h12 += dot12;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// // f13<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|
|
|
|
|
// if (m13 < f13)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// UpdateQueue(f13Queue, f13);
|
|
|
|
|
|
// if (f13Queue.Count == QUEUE_MAX_SIZE && CalculateVariance(f13Queue) < 10)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// dot13 = f13 - m13;
|
|
|
|
|
|
// m13 = f13;
|
|
|
|
|
|
// n13 += dot13;
|
|
|
|
|
|
// h13 += dot13;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// // f15<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|
|
|
|
|
// if (m15 < f15)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// UpdateQueue(f15Queue, f15);
|
|
|
|
|
|
// if (f15Queue.Count == QUEUE_MAX_SIZE && CalculateVariance(f15Queue) < 10)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// dot15 = f15 - m15;
|
|
|
|
|
|
// m15 = f15;
|
|
|
|
|
|
// n15 += dot15;
|
|
|
|
|
|
// h15 += dot15;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
//}
|
|
|
|
|
|
#endregion
|
|
|
|
|
|
|
|
|
|
|
|
if (mCalibrationType == CalibrationType.Completed)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (SaveCalibrationDataPermission)
|
|
|
|
|
|
{
|
|
|
|
|
|
//<EFBFBD>궨<EFBFBD><EFBFBD>¼<EFBFBD><EFBFBD><EFBFBD>α궨<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼һ<EFBFBD><EFBFBD>
|
|
|
|
|
|
SaveCalibrationDataPermission = false;
|
|
|
|
|
|
PlayerPrefs.SetInt(DeviceName, 1);
|
|
|
|
|
|
|
|
|
|
|
|
string DataSet = n4 + "," + n5 + "," + n6 + "," + n7 + "," + n8 + "," + n9 + "," + n10 + "," + n11 + "," + n12 + "," + n13 + "," + n14 + "," + n15 + ",";
|
|
|
|
|
|
DataSet += h4 + "," + h5 + "," + h6 + "," + h7 + "," + h8 + "," + h9 + "," + h10 + "," + h11 + "," + h12 + "," + h13 + "," + h14 + "," + h15;
|
|
|
|
|
|
|
|
|
|
|
|
PlayerPrefs.SetString(DeviceName + "_CalibDT", DataSet);
|
|
|
|
|
|
//Debug.Log("<EFBFBD>Ѽ<EFBFBD>¼<EFBFBD>±궨<EFBFBD><EFBFBD><EFBFBD><EFBFBD>");
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
double[] org_f = new double[12] { f4, f5, f6, f7, f8, f9, f10, f11, f12, f13, f14, f15 };
|
|
|
|
|
|
double[] org_n = new double[12] { n4, n5, n6, n7, n8, n9, n10, n11, n12, n13, n14, n15 };
|
|
|
|
|
|
double[] org_h = new double[12] { h4, h5, h6, h7, h8, h9, h10, h11, h12, h13, h14, h15 };
|
|
|
|
|
|
float nn = 100;
|
|
|
|
|
|
double[] org_a = Auto_Cali.AutoCali(org_f, org_n, org_h, nn);
|
|
|
|
|
|
|
|
|
|
|
|
a4 = Convert.ToSingle(org_a[0]);
|
|
|
|
|
|
a5 = Convert.ToSingle(org_a[1]);
|
|
|
|
|
|
a6 = Convert.ToSingle(org_a[2]);
|
|
|
|
|
|
a7 = Convert.ToSingle(org_a[3]);
|
|
|
|
|
|
a8 = Convert.ToSingle(org_a[4]);
|
|
|
|
|
|
a9 = Convert.ToSingle(org_a[5]);
|
|
|
|
|
|
a10 = Convert.ToSingle(org_a[6]);
|
|
|
|
|
|
a11 = Convert.ToSingle(org_a[7]);
|
|
|
|
|
|
a12 = Convert.ToSingle(org_a[8]);
|
|
|
|
|
|
a13 = Convert.ToSingle(org_a[9]);
|
|
|
|
|
|
a14 = Convert.ToSingle(org_a[10]);
|
|
|
|
|
|
a15 = Convert.ToSingle(org_a[11]);
|
|
|
|
|
|
|
|
|
|
|
|
double[][] Y = new double[12][];
|
|
|
|
|
|
for (int i = 0; i < 12; i++)
|
|
|
|
|
|
{
|
|
|
|
|
|
Y[i] = new double[1];
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
Y[0][0] = Convert.ToDouble(a4);
|
|
|
|
|
|
Y[1][0] = Convert.ToDouble(a5);
|
|
|
|
|
|
Y[2][0] = Convert.ToDouble(a6);
|
|
|
|
|
|
Y[3][0] = Convert.ToDouble(a7);
|
|
|
|
|
|
Y[4][0] = Convert.ToDouble(a8);
|
|
|
|
|
|
Y[5][0] = Convert.ToDouble(a9);
|
|
|
|
|
|
Y[6][0] = Convert.ToDouble(a10);
|
|
|
|
|
|
Y[7][0] = Convert.ToDouble(a11);
|
|
|
|
|
|
Y[8][0] = Convert.ToDouble(a12);
|
|
|
|
|
|
Y[9][0] = Convert.ToDouble(a13);
|
|
|
|
|
|
Y[10][0] = Convert.ToDouble(a14);
|
|
|
|
|
|
Y[11][0] = Convert.ToDouble(a15);
|
|
|
|
|
|
double[] b = new double[12];
|
|
|
|
|
|
b[0] = Convert.ToDouble(a4);
|
|
|
|
|
|
b[1] = Convert.ToDouble(a5);
|
|
|
|
|
|
b[2] = Convert.ToDouble(a6);
|
|
|
|
|
|
b[3] = Convert.ToDouble(a7);
|
|
|
|
|
|
b[4] = Convert.ToDouble(a8);
|
|
|
|
|
|
b[5] = Convert.ToDouble(a9);
|
|
|
|
|
|
b[6] = Convert.ToDouble(a10);
|
|
|
|
|
|
b[7] = Convert.ToDouble(a11);
|
|
|
|
|
|
b[8] = Convert.ToDouble(a12);
|
|
|
|
|
|
b[9] = Convert.ToDouble(a13);
|
|
|
|
|
|
b[10] = Convert.ToDouble(a14);
|
|
|
|
|
|
b[11] = Convert.ToDouble(a15);
|
|
|
|
|
|
if (pre_sensor_data == null)
|
|
|
|
|
|
{
|
|
|
|
|
|
pre_sensor_data = new double[12];
|
|
|
|
|
|
pre_sensor_data[0] = Convert.ToDouble(a4);
|
|
|
|
|
|
pre_sensor_data[1] = Convert.ToDouble(a5);
|
|
|
|
|
|
pre_sensor_data[2] = Convert.ToDouble(a6);
|
|
|
|
|
|
pre_sensor_data[3] = Convert.ToDouble(a7);
|
|
|
|
|
|
pre_sensor_data[4] = Convert.ToDouble(a8);
|
|
|
|
|
|
pre_sensor_data[5] = Convert.ToDouble(a9);
|
|
|
|
|
|
pre_sensor_data[6] = Convert.ToDouble(a10);
|
|
|
|
|
|
pre_sensor_data[7] = Convert.ToDouble(a11);
|
|
|
|
|
|
pre_sensor_data[8] = Convert.ToDouble(a12);
|
|
|
|
|
|
pre_sensor_data[9] = Convert.ToDouble(a13);
|
|
|
|
|
|
pre_sensor_data[10] = Convert.ToDouble(a14);
|
|
|
|
|
|
pre_sensor_data[11] = Convert.ToDouble(a15);
|
|
|
|
|
|
return;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
double[] result = new double[26];
|
|
|
|
|
|
|
|
|
|
|
|
if (string.IsNullOrEmpty(DeviceName))
|
|
|
|
|
|
{
|
|
|
|
|
|
result = AR1_linear_AE.CallStatic<double[]>("Senser2Angle", b, pre_sensor_data);
|
|
|
|
|
|
Version = AR1_linear_AE.GetStatic<string>("Version");
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (DeviceName[5] == 'A')
|
|
|
|
|
|
{
|
|
|
|
|
|
result = AR1_linear_AA.CallStatic<double[]>("Senser2Angle", b, pre_sensor_data);
|
|
|
|
|
|
Version = AR1_linear_AA.GetStatic<string>("Version");
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (DeviceName[5] == 'B')
|
|
|
|
|
|
{
|
|
|
|
|
|
result = AR1_linear_AD.CallStatic<double[]>("Senser2Angle", b, pre_sensor_data);
|
|
|
|
|
|
Version = AR1_linear_AD.GetStatic<string>("Version");
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (DeviceName[5] == 'C' || DeviceName[5] == 'D')
|
|
|
|
|
|
{
|
|
|
|
|
|
result = AR1_linear_AE.CallStatic<double[]>("Senser2Angle", b, pre_sensor_data);
|
|
|
|
|
|
Version = AR1_linear_AE.GetStatic<string>("Version");
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (DeviceName[5] == 'E' || DeviceName[5] == 'F')
|
|
|
|
|
|
{
|
|
|
|
|
|
result = AR1_linear_AG.CallStatic<double[]>("Senser2Angle", b, pre_sensor_data);
|
|
|
|
|
|
Version = AR1_linear_AG.GetStatic<string>("Version");
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (DeviceName.Contains('L'))
|
|
|
|
|
|
{
|
|
|
|
|
|
string str = string.Empty;
|
|
|
|
|
|
for (int i = 0; i < result.Length; i++)
|
|
|
|
|
|
{
|
|
|
|
|
|
str += result[i] + ",";
|
|
|
|
|
|
}
|
|
|
|
|
|
Debug.LogError("Left Res: " + str);
|
|
|
|
|
|
}
|
|
|
|
|
|
Array.Copy(b, pre_sensor_data, pre_sensor_data.Length);
|
|
|
|
|
|
angle_data = new List<double>(result);
|
|
|
|
|
|
//Debug.Log("Debug " + angle_data.ToArray().ToString());
|
|
|
|
|
|
|
|
|
|
|
|
if (Math.Abs(result[5]) >= trigger_value * 100)
|
|
|
|
|
|
{
|
|
|
|
|
|
input.trgButton = true;
|
|
|
|
|
|
|
|
|
|
|
|
input.trgValue = (float)((Math.Abs(result[5]) - trigger_value * 100) / 65);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (Math.Abs(result[9]) >= grab_value * 100 && Math.Abs(result[13]) >= grab_value * 100)
|
|
|
|
|
|
input.grab = true;
|
|
|
|
|
|
|
|
|
|
|
|
if (Math.Abs(result[0]) >= trackpad_value * 60)
|
|
|
|
|
|
{
|
|
|
|
|
|
input.trackpad_touch = true;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
private float CalculateVariance(Queue<float> queue)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (queue.Count == 0) return 0;
|
|
|
|
|
|
float mean = queue.Average();
|
|
|
|
|
|
return queue.Sum(x => (x - mean) * (x - mean)) / queue.Count;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void UpdateQueue(Queue<float> queue, float value)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (queue.Count >= QUEUE_MAX_SIZE)
|
|
|
|
|
|
{
|
|
|
|
|
|
queue.Dequeue();
|
|
|
|
|
|
}
|
|
|
|
|
|
queue.Enqueue(value);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public bool StartCalibration(CalibrationType calibrationType)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (isCalibration)
|
|
|
|
|
|
{
|
|
|
|
|
|
return false;
|
|
|
|
|
|
}
|
|
|
|
|
|
isCalibration = true;
|
|
|
|
|
|
mCalibrationType = calibrationType;
|
|
|
|
|
|
return true;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public bool StopCalibration(CalibrationType calibrationType)
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
|
|
|
|
//line = UDE_API.GetDeviceDataByName(DeviceName);
|
|
|
|
|
|
if (string.IsNullOrEmpty(line))
|
|
|
|
|
|
{
|
|
|
|
|
|
return false;
|
|
|
|
|
|
}
|
|
|
|
|
|
if (!isCalibration)
|
|
|
|
|
|
{
|
|
|
|
|
|
return false;
|
|
|
|
|
|
}
|
|
|
|
|
|
//Debug.Log(line);
|
|
|
|
|
|
//var data = line.Split(',');
|
|
|
|
|
|
|
|
|
|
|
|
//f4 = Convert.ToSingle(data[0]);
|
|
|
|
|
|
//f5 = Convert.ToSingle(data[1]);
|
|
|
|
|
|
//f6 = Convert.ToSingle(data[2]);
|
|
|
|
|
|
//f7 = Convert.ToSingle(data[3]);
|
|
|
|
|
|
//f8 = Convert.ToSingle(data[4]);
|
|
|
|
|
|
//f9 = Convert.ToSingle(data[5]);
|
|
|
|
|
|
//f10 = Convert.ToSingle(data[6]);
|
|
|
|
|
|
//f11 = Convert.ToSingle(data[7]);
|
|
|
|
|
|
//f12 = Convert.ToSingle(data[8]);
|
|
|
|
|
|
//f13 = Convert.ToSingle(data[9]);
|
|
|
|
|
|
//f14 = Convert.ToSingle(data[10]);
|
|
|
|
|
|
//f15 = Convert.ToSingle(data[11]);
|
|
|
|
|
|
//if (data.Length > 12 && data.Length <= 16)
|
|
|
|
|
|
//{
|
|
|
|
|
|
// f16 = Convert.ToSingle(data[12]);
|
|
|
|
|
|
// f17 = Convert.ToSingle(data[13]);
|
|
|
|
|
|
// f18 = Convert.ToSingle(data[14]);
|
|
|
|
|
|
//}
|
|
|
|
|
|
//else if (data.Length > 16)
|
|
|
|
|
|
//{
|
|
|
|
|
|
// f16 = Convert.ToSingle(data[16]);
|
|
|
|
|
|
// f17 = Convert.ToSingle(data[17]);
|
|
|
|
|
|
// f18 = Convert.ToSingle(data[18]);
|
|
|
|
|
|
//}
|
|
|
|
|
|
|
|
|
|
|
|
switch (calibrationType)
|
|
|
|
|
|
{
|
|
|
|
|
|
case CalibrationType.Fist:
|
|
|
|
|
|
h4 = f4;
|
|
|
|
|
|
h5 = f5;
|
|
|
|
|
|
h6 = f6;
|
|
|
|
|
|
h7 = f7;
|
|
|
|
|
|
|
|
|
|
|
|
h9 = f9;
|
|
|
|
|
|
h10 = f10;
|
|
|
|
|
|
h12 = f12;
|
|
|
|
|
|
h13 = f13;
|
|
|
|
|
|
h15 = f15;
|
|
|
|
|
|
isCalibration = false;
|
|
|
|
|
|
mCalibrationType = CalibrationType.FistFin;
|
|
|
|
|
|
SaveCalibrationDataPermission = true;
|
|
|
|
|
|
break;
|
|
|
|
|
|
case CalibrationType.Adduct:
|
|
|
|
|
|
|
|
|
|
|
|
n4 = f4;
|
|
|
|
|
|
n5 = f5;
|
|
|
|
|
|
n6 = f6;
|
|
|
|
|
|
n7 = f7;
|
|
|
|
|
|
n8 = f8;
|
|
|
|
|
|
n9 = f9;
|
|
|
|
|
|
n10 = f10;
|
|
|
|
|
|
n11 = f11;
|
|
|
|
|
|
n12 = f12;
|
|
|
|
|
|
n13 = f13;
|
|
|
|
|
|
n14 = f14;
|
|
|
|
|
|
n15 = f15;
|
|
|
|
|
|
isCalibration = false;
|
|
|
|
|
|
mCalibrationType = CalibrationType.AdductFin;
|
|
|
|
|
|
|
|
|
|
|
|
break;
|
|
|
|
|
|
case CalibrationType.Stretch:
|
|
|
|
|
|
|
|
|
|
|
|
h8 = f8;
|
|
|
|
|
|
h11 = f11;
|
|
|
|
|
|
h14 = f14;
|
|
|
|
|
|
isCalibration = false;
|
|
|
|
|
|
mCalibrationType = CalibrationType.Completed;
|
|
|
|
|
|
break;
|
|
|
|
|
|
}
|
|
|
|
|
|
return true;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public CalibrationType GetCalibrationType()
|
|
|
|
|
|
{
|
|
|
|
|
|
return mCalibrationType;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public List<double> GetAngleData()
|
|
|
|
|
|
{
|
|
|
|
|
|
return angle_data;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public List<double> GetRawData()
|
|
|
|
|
|
{
|
|
|
|
|
|
return raw_data;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public void CalibrationCenterData()
|
|
|
|
|
|
{
|
|
|
|
|
|
centerCalib = true;
|
|
|
|
|
|
ReadControllerSavedData = true;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public void StartCalibrationRangeData()
|
|
|
|
|
|
{
|
|
|
|
|
|
rangeCalib = true;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public void StopCalibrationRangeData()
|
|
|
|
|
|
{
|
|
|
|
|
|
PlayerPrefs.SetFloat($"{DeviceName}_X_MAX", x_max_data);
|
|
|
|
|
|
PlayerPrefs.SetFloat($"{DeviceName}_X_MIN", x_min_data);
|
|
|
|
|
|
PlayerPrefs.SetFloat($"{DeviceName}_Y_MAX", y_max_data);
|
|
|
|
|
|
PlayerPrefs.SetFloat($"{DeviceName}_Y_MIN", y_min_data);
|
|
|
|
|
|
ReadControllerSavedData = true;
|
|
|
|
|
|
rangeCalib = false;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public InputData GetInputData()
|
|
|
|
|
|
{
|
|
|
|
|
|
return input;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public void SetDeadZone(float dead_zone)
|
|
|
|
|
|
{
|
|
|
|
|
|
this.dead_zone = dead_zone;
|
|
|
|
|
|
PlayerPrefs.SetFloat($"{DeviceName}_DeadZone", dead_zone);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public float GetDeadZone()
|
|
|
|
|
|
{
|
|
|
|
|
|
return dead_zone;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public void SetTriggerValue(float trigger_value)
|
|
|
|
|
|
{
|
|
|
|
|
|
this.trigger_value = trigger_value;
|
|
|
|
|
|
PlayerPrefs.SetFloat($"{DeviceName}_TriggerValue", trigger_value);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public float GetTriggerValue()
|
|
|
|
|
|
{
|
|
|
|
|
|
return trigger_value;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public void SetGrabValue(float grab_value)
|
|
|
|
|
|
{
|
|
|
|
|
|
this.grab_value = grab_value;
|
|
|
|
|
|
PlayerPrefs.SetFloat($"{DeviceName}_GrabValue", grab_value);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public float GetGrabValue()
|
|
|
|
|
|
{
|
|
|
|
|
|
return grab_value;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public void SetTrackpadValue(float trackpad_value)
|
|
|
|
|
|
{
|
|
|
|
|
|
this.trackpad_value = trackpad_value;
|
|
|
|
|
|
PlayerPrefs.SetFloat($"{DeviceName}_TrackpadValue", trackpad_value);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public float GetTrackpadValue()
|
|
|
|
|
|
{
|
|
|
|
|
|
return trackpad_value;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public double[] GetCalibrationInfoOffset()
|
|
|
|
|
|
{
|
|
|
|
|
|
double[] calibration_info = new double[12];
|
|
|
|
|
|
double[] org_n = new double[12] { n4, n5, n6, n7, n8, n9, n10, n11, n12, n13, n14, n15 };
|
|
|
|
|
|
double[] org_h = new double[12] { h4, h5, h6, h7, h8, h9, h10, h11, h12, h13, h14, h15 };
|
|
|
|
|
|
for (int i = 0; i < 12; i++)
|
|
|
|
|
|
{
|
|
|
|
|
|
calibration_info[i] = Mathf.Abs((float)(org_n[i] - org_h[i]));
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
return calibration_info;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public string GetAlgorithmVerName()
|
|
|
|
|
|
{
|
|
|
|
|
|
return Version;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
}
|
