UDP and stuff

rtscs_param_receivers/optitrack_param_receiver/optitrack_packet_receiver.py

-#import threading
-from eventlet.green import threading
+import threading
+#from eventlet.green import threading
 import optirx as rx
 
 DEFAULT_MULTICAST_ADDRESS = '239.255.42.99'
@@ -7,7 +7,7 @@ DEFAULT_DATA_PORT = 1511
 DEFAULT_NATNETSDK_VERSION = (2, 8, 0, 0)
 
 
-class OptitrackPacketReceiver:
+class OptitrackPacketReceiver(threading.Thread):
     """
     Responsible for constantly receiving UDP packets form the OptiTrack system, parsing them to optirx objects,
     and storing them locally to make them available when needed.
@@ -16,7 +16,7 @@ class OptitrackPacketReceiver:
     """
     def __init__(self, server_ip_addr, natnetsdk_version=DEFAULT_NATNETSDK_VERSION,
                  multicast_addr=DEFAULT_MULTICAST_ADDRESS, data_port=DEFAULT_DATA_PORT):
-        #super(OptitrackPacketReceiver, self).__init__()
+        super(OptitrackPacketReceiver, self).__init__()
         self._natnetsdk_version = natnetsdk_version
         self._last_packet = None
         self._is_shutdown_request = False

socket-server/server.py

@@ -31,9 +31,9 @@ def start_sio():
 DEFAULT_NOTE_DURATION_PRECISION = 0.125
 # rh roll implemented for future use
 DEFAULT_OPTITRACK_RANGES_DICT = {
-    'x': (-0.9, 1.5),
-    'y': (-2.1, 1.2),
-    'z': (-0.1, 1.7),
+    'x': (-0.7, 0.5),
+    'y': (-0.7, 0.55),
+    'z': (-0.4, 1.0),
     'rh_roll': (-180, 180)
 }
 DEFAULT_RTSCS_PARAM_RANGES_DICT = {

socket-server/server_udp.py

+import optirx as rx
+import optirx_utils
+import eventlet
+import math
+from oscpy.client import OSCClient
+from utils import clip_value, remap_range, round_to_precision
+import json
+
+eventlet.monkey_patch()
+
+UDP_IP = "192.168.43.186"
+UDP_PORT = 5000
+
+max_udp_client = OSCClient(UDP_IP, UDP_PORT)
+def send_udp(message):
+    max_udp_client.send_message("/", message)
+
+DEFAULT_NOTE_DURATION_PRECISION = 0.125
+# rh roll implemented for future use
+DEFAULT_OPTITRACK_RANGES_DICT = {
+    'x': (-0.88, 0.19),
+    'y': (-0.03, 0.49),
+    'z': (0.07, 1.3),
+    'rh_roll': (-180, 180)
+}
+DEFAULT_RTSCS_PARAM_RANGES_DICT = {
+    'tempo': (75, 170),
+    'senda': (0, 100),
+    'mastervol': (-55, 0),
+    'numerical_hint': (0, 1)
+}
+
+def transform_params(rh_position, rh_roll, lh_position=None):
+    """
+    Transforms OptiTrack params into rtscs params
+    :param rh_position: a (x, y, z) tuple holding the position of the right hand "rigid body"
+    :param rh_roll: roll angle in degrees of the right hand "rigid body"
+    :param lh_position: a (x, y, z) tuple holding the position of the left hand "rigid body"
+    :return: rtscs params tuple as defined in BaseRtscsParamReceiver.get_rtscs_params()
+    """
+    is_sustain = False  # TODO: derive is_sustain from distance between rh_position and lh_position
+    transformed_params = rh_position + [rh_roll, is_sustain]
+
+    # Remap rh position onto rtscs internal ranges
+    # x -> frequency
+    # y -> number of waves which define the complex wave.
+    # z -> amplitude.
+
+    for i, mapped_pair in enumerate((('x', 'tempo'), ('y', 'senda'),
+                                     ('z', 'mastervol'), ('rh_roll', 'numerical_hint'))):
+        source_low = DEFAULT_OPTITRACK_RANGES_DICT[mapped_pair[0]][0]
+        source_high = DEFAULT_OPTITRACK_RANGES_DICT[mapped_pair[0]][1]
+        destination_low = DEFAULT_RTSCS_PARAM_RANGES_DICT[mapped_pair[1]][0]
+        destination_high = DEFAULT_RTSCS_PARAM_RANGES_DICT[mapped_pair[1]][1]
+
+        # clip Optritrack param to the limits of its defined valid range
+        transformed_params[i] = clip_value(transformed_params[i],
+                                           source_low, source_high)
+        # translate Optritrack param to rtscs param
+        transformed_params[i] = remap_range(transformed_params[i],
+                                            source_low, source_high,
+                                            destination_low, destination_high)
+
+    # convert frequency and number of sins to int
+    for i in range(1):
+        transformed_params[i] = int(round(transformed_params[i]))
+
+    # round amplitude factor to precision
+    transformed_params[2] = round_to_precision(transformed_params[2], DEFAULT_NOTE_DURATION_PRECISION)
+
+    return transformed_params
+
+def get_rtscs_params_body(rh):
+    """
+    Get input from the OptiTrack system streaming engine, transform the data to rtscs_params and return it.
+    """
+    if rh is None or rh.mrk_mean_error == 0:
+        return 0, 0, 1, 0, False
+
+    # mul by -1 to fix flipped coordinates if not fully compatible Motive calibration square
+    rh_position = list(rh.position)  # map(lambda coordinate: -1 * coordinate, rh.position)
+    # Convert right hand convention to left hand convention for Motive 1.73+ used with CS-200
+    rh_position[0] = -rh_position[0]
+    # For convenience convert roll angle from radians to degrees
+    rh_roll = math.degrees(optirx_utils.orientation2radians(rh.orientation)[0])
+
+    return transform_params(rh_position, rh_roll)
+
+def get_optirx_data():
+    dsock = rx.mkdatasock(ip_address="127.0.0.1", multicast_address='239.255.42.99', port=1511)
+    natnetsdk_version = (2, 8, 0, 0)
+    while True:
+        data = dsock.recv(rx.MAX_PACKETSIZE)
+        # parse packet and store it locally
+        packet = rx.unpack(data, natnetsdk_version)
+        if type(packet) is rx.SenderData:
+            natnetsdk_version = packet.natnet_version
+        rh = optirx_utils.get_first_rigid_body(packet)
+
+        if rh is not None:
+            print(rh.position)
+            params = get_rtscs_params_body(rh)
+            if params != (0, 0, 1, 0, False):
+                print(params)
+                msg = [json.dumps({
+                    'tempo': params[0],
+                    'senda': params[1],
+                    'mastervol': params[2],
+                })]
+                send_udp(msg)
+                print(msg)
+                eventlet.sleep(0.1)
+
+t_data = eventlet.spawn(get_optirx_data)
+t_data.wait()
\ No newline at end of file