diff --git a/.gitignore b/.gitignore index 2538b1d..28b863e 100644 --- a/.gitignore +++ b/.gitignore @@ -1,48 +1,6 @@ -[Ll]ibrary/ -[Tt]emp/ -[Oo]bj/ -[Bb]uild/ -[Bb]uilds/ -[Ll]ogs/ +# Ignore folders named 'oculus-frc-streamer_' and any variations +oculus-frc-streamer_*/ -# Uncomment this line if you wish to ignore the asset store tools plugin -# [Aa]ssets/AssetStoreTools* - -# Visual Studio cache directory -.vs/ - -# Gradle cache directory -.gradle/ - -# Autogenerated VS/MD/Consulo solution and project files -ExportedObj/ -.consulo/ -*.csproj -*.unityproj -*.sln -*.suo -*.tmp -*.user -*.userprefs -*.pidb -*.booproj -*.svd -*.pdb -*.mdb -*.opendb -*.VC.db - -# Unity3D generated meta files -*.pidb.meta -*.pdb.meta -*.mdb.meta - -# Unity3D generated file on crash reports -sysinfo.txt - -# Builds +# Ignore .apk and .zip files *.apk -*.unitypackage - -# Crashlytics generated file -crashlytics-build.properties +*.zip diff --git a/.gitmodules b/.gitmodules index 1c7ee3d..220b1c0 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +1,6 @@ [submodule "unity/Assets/Robot/NetworkTables-CSharp"] path = unity/Assets/Robot/NetworkTables-CSharp url = https://github.com/juchong/NetworkTables-CSharp.git +[submodule "robot"] + path = robot + url = https://github.com/juchong/swerve-testbed-bot-java.git diff --git a/robot b/robot new file mode 160000 index 0000000..7df7838 --- /dev/null +++ b/robot @@ -0,0 +1 @@ +Subproject commit 7df7838ea55245f6e74cde10f4a7c0a854f2c9a9 diff --git a/.gitattributes b/unity/.gitattributes similarity index 100% rename from .gitattributes rename to unity/.gitattributes diff --git a/unity/.gitignore b/unity/.gitignore index 9b2cbc1..0174654 100644 --- a/unity/.gitignore +++ b/unity/.gitignore @@ -12,6 +12,12 @@ **/[Bb]uilds/ **/[Ll]ogs/ **/[Uu]ser[Ss]ettings/ +**/.utmp/** +**/oculus-frc-streamer_BurstDebugInformation_DoNotShip/** + +# Ignore specific plugins +**[Aa]ssets/[Ss]cripts/[Mm]essage[Pp]ack.meta +**[Aa]ssets/[Ss]cripts/[Mm]essage[Pp]ack/** # MemoryCaptures can get excessive in size. # They also could contain extremely sensitive data diff --git a/unity/.vsconfig b/unity/.vsconfig new file mode 100644 index 0000000..f019fd0 --- /dev/null +++ b/unity/.vsconfig @@ -0,0 +1,6 @@ +{ + "version": "1.0", + "components": [ + "Microsoft.VisualStudio.Workload.ManagedGame" + ] +} diff --git a/Assets/.gitignore b/unity/Assets/.gitignore similarity index 100% rename from Assets/.gitignore rename to unity/Assets/.gitignore diff --git a/unity/Assets/InputSystem_Actions.inputactions b/unity/Assets/InputSystem_Actions.inputactions new file mode 100644 index 0000000..1a12cb9 --- /dev/null +++ b/unity/Assets/InputSystem_Actions.inputactions @@ -0,0 +1,1057 @@ +{ + "name": "InputSystem_Actions", + "maps": [ + { + "name": "Player", + "id": "df70fa95-8a34-4494-b137-73ab6b9c7d37", + "actions": [ + { + "name": "Move", + "type": "Value", + "id": "351f2ccd-1f9f-44bf-9bec-d62ac5c5f408", + "expectedControlType": "Vector2", + "processors": "", + 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MotionFrame + { + public int frameIndex; + public float timeStamp; + public Vector3 position; + public Quaternion rotation; + } + + public OVRCameraRig cameraRig; + + private StreamWriter writer; + private bool firstFrameWritten = false; + + void Start() + { + Debug.Log("[MotionRecorder] Logging started."); + + string path = UnityEngine.Application.persistentDataPath + "/motion_" + System.DateTime.Now.ToString("yyyy-MM-dd_HH-mm-ss") + ".json"; + + try + { + writer = new StreamWriter(path, false); + writer.WriteLine("{"); + writer.WriteLine("\"frames\":["); + } + catch (IOException e) + { + Debug.LogError("[MotionRecorder] ERROR: Failed to create file: " + e.Message); + } + } + + void LateUpdate() + { + if (writer == null) return; + + MotionFrame frame; + frame.frameIndex = Time.frameCount; + frame.timeStamp = Time.time; + frame.position = cameraRig.centerEyeAnchor.position; + frame.rotation = cameraRig.centerEyeAnchor.rotation; + + string jsonFrame = JsonUtility.ToJson(frame, true); + 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File closed properly."); + } + } +} diff --git a/unity/Assets/Robot/MotionRecorder.cs.meta b/unity/Assets/Robot/MotionRecorder.cs.meta new file mode 100644 index 0000000..2628bab --- /dev/null +++ b/unity/Assets/Robot/MotionRecorder.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 7454f82ce81bf7a40a5241e96c4c954f +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/unity/Assets/Robot/MotionStreamer.cs b/unity/Assets/Robot/MotionStreamer.cs new file mode 100644 index 0000000..4250bc7 --- /dev/null +++ b/unity/Assets/Robot/MotionStreamer.cs @@ -0,0 +1,151 @@ +/* Unity-based example for publishing Quest headset data to FRC-compatible Network Tables */ +/* Juan Chong - 2024 */ +using UnityEngine; +using NetworkTables; + +/* Extend Vector3 with a ToArray() function */ +public static class VectorExtensions +{ + public static float[] ToArray(this Vector3 vector) + { + return new float[] { vector.x, vector.y, vector.z }; + } +} + +/* Extend Quaternion with a ToArray() function */ +public static class QuaternionExtensions +{ + public static float[] ToArray(this Quaternion quaternion) + { + return new float[] { quaternion.x, quaternion.y, quaternion.z, quaternion.w }; + } +} + +public class MotionStreamer : MonoBehaviour +{ + /* Initialize local variables */ + public int frameIndex; // Local variable to store the headset frame index + public double timeStamp; // Local variable to store the headset timestamp + public Vector3 position; // Local variable to store the headset position in 3D space + public Quaternion rotation; // Local variable to store the headset rotation in quaternion form + public Vector3 eulerAngles; // Local variable to store the headset rotation in Euler angles + public OVRCameraRig cameraRig; + public Nt4Source frcDataSink = null; + private long command = 0; + + [SerializeField] public Transform vrCamera; // The VR camera transform + [SerializeField] public Transform vrCameraRoot; // The root of the camera transform + [SerializeField] public Transform resetTransform; // The desired position & rotation (look direction) for your player + + /* NT configuration settings */ + private readonly string appName = "Quest3S"; // A fun name to ID the client in the robot logs + private readonly string serverAddress = "10.99.99.2"; // RoboRIO IP Address (typically 10.TE.AM.2) + private readonly int serverPort = 5810; // Typically 5810 + private int delayCounter = 0; // Counter used to delay checking for commands from the robot + + void Start() + { + ConnectToRobot(); + } + + void LateUpdate() + { + if (frcDataSink.Client.Connected()) + { + PublishFrameData(); + + if (delayCounter >= 0) + { + ProcessCommands(); + delayCounter = 0; + } + else + { + delayCounter++; + } + } + else + { + HandleDisconnectedState(); + } + } + + // Connect to the RoboRIO and publish topics + private void ConnectToRobot() + { + UnityEngine.Debug.Log("[MotionStreamer] Attempting to connect to the RoboRIO at " + serverAddress + "."); + frcDataSink = new Nt4Source(appName, serverAddress, serverPort); + PublishTopics(); + } + + // Handle the disconnected state (RIO reboot, code restart, etc.) + private void HandleDisconnectedState() + { + UnityEngine.Debug.Log("[MotionStreamer] Robot disconnected. Resetting connection and attempting to reconnect..."); + frcDataSink.Client.Disconnect(); + ConnectToRobot(); + } + + // Publish topics to Network Tables + private void PublishTopics() + { + frcDataSink.PublishTopic("/oculus/miso", "int"); + frcDataSink.PublishTopic("/oculus/frameCount", "int"); + frcDataSink.PublishTopic("/oculus/timestamp", "double"); + frcDataSink.PublishTopic("/oculus/position", "float[]"); + frcDataSink.PublishTopic("/oculus/quaternion", "float[]"); + frcDataSink.PublishTopic("/oculus/eulerAngles", "float[]"); + frcDataSink.Subscribe("/oculus/mosi", 0.1, false, false, false); + } + + // Publish the Quest pose data to Network Tables + private void PublishFrameData() + { + frameIndex = UnityEngine.Time.frameCount; + timeStamp = UnityEngine.Time.time; + position = cameraRig.centerEyeAnchor.position; + rotation = cameraRig.centerEyeAnchor.rotation; + eulerAngles = cameraRig.centerEyeAnchor.eulerAngles; + + frcDataSink.PublishValue("/oculus/frameCount", frameIndex); + frcDataSink.PublishValue("/oculus/timestamp", timeStamp); + frcDataSink.PublishValue("/oculus/position", position.ToArray()); + frcDataSink.PublishValue("/oculus/quaternion", rotation.ToArray()); + frcDataSink.PublishValue("/oculus/eulerAngles", eulerAngles.ToArray()); + } + + // Process commands from the robot + private void ProcessCommands() + { + command = frcDataSink.GetLong("/oculus/mosi"); + switch (command) + { + case 1: + RecenterPlayer(); + UnityEngine.Debug.Log("[MotionStreamer] Processed a heading reset request."); + frcDataSink.PublishValue("/oculus/miso", 99); + break; + default: + frcDataSink.PublishValue("/oculus/miso", 0); + break; + } + } + + // Clean up if the app crashes or is stopped + void OnApplicationQuit() + { + + } + + // Transform the HMD's rotation to virtually "zero" the robot position. 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windowLayoutType.GetMethod("LoadWindowLayout", BindingFlags.Public | BindingFlags.Static); + method.Invoke(null, new object[] { Path.Combine(Application.dataPath, "TutorialInfo/Layout.wlt"), false }); + } + + static Readme SelectReadme() + { + var ids = AssetDatabase.FindAssets("Readme t:Readme"); + if (ids.Length == 1) + { + var readmeObject = AssetDatabase.LoadMainAssetAtPath(AssetDatabase.GUIDToAssetPath(ids[0])); + + Selection.objects = new UnityEngine.Object[] { readmeObject }; + + return (Readme)readmeObject; + } + else + { + Debug.Log("Couldn't find a readme"); + return null; + } + } + + protected override void OnHeaderGUI() + { + var readme = (Readme)target; + Init(); + + var iconWidth = Mathf.Min(EditorGUIUtility.currentViewWidth / 3f - 20f, 128f); + + GUILayout.BeginHorizontal("In BigTitle"); + { + if (readme.icon != null) + { + GUILayout.Space(k_Space); + GUILayout.Label(readme.icon, GUILayout.Width(iconWidth), GUILayout.Height(iconWidth)); + } + GUILayout.Space(k_Space); + GUILayout.BeginVertical(); + { + + GUILayout.FlexibleSpace(); + GUILayout.Label(readme.title, TitleStyle); + GUILayout.FlexibleSpace(); + } + GUILayout.EndVertical(); + GUILayout.FlexibleSpace(); + } + GUILayout.EndHorizontal(); + } + + public override void OnInspectorGUI() + { + var readme = (Readme)target; + Init(); + + foreach (var section in readme.sections) + { + if (!string.IsNullOrEmpty(section.heading)) + { + GUILayout.Label(section.heading, HeadingStyle); + } + + if (!string.IsNullOrEmpty(section.text)) + { + GUILayout.Label(section.text, BodyStyle); + } + + if (!string.IsNullOrEmpty(section.linkText)) + { + if (LinkLabel(new GUIContent(section.linkText))) + { + Application.OpenURL(section.url); + } + } + + GUILayout.Space(k_Space); + } + + if (GUILayout.Button("Remove Readme Assets", ButtonStyle)) + { + RemoveTutorial(); + } + } + + bool m_Initialized; + + GUIStyle LinkStyle + { + get { return m_LinkStyle; } + } + + [SerializeField] + GUIStyle m_LinkStyle; + + GUIStyle TitleStyle + { + get { return m_TitleStyle; } + } + + [SerializeField] + GUIStyle m_TitleStyle; + + GUIStyle HeadingStyle + { + get { return m_HeadingStyle; } + } + + [SerializeField] + GUIStyle m_HeadingStyle; + + GUIStyle BodyStyle + { + get { return m_BodyStyle; } + } + + [SerializeField] + GUIStyle m_BodyStyle; + + GUIStyle ButtonStyle + { + get { return m_ButtonStyle; } + } + + [SerializeField] + GUIStyle m_ButtonStyle; + + void Init() + { + if (m_Initialized) + return; + m_BodyStyle = new GUIStyle(EditorStyles.label); + m_BodyStyle.wordWrap = true; + m_BodyStyle.fontSize = 14; + m_BodyStyle.richText = true; + + m_TitleStyle = new GUIStyle(m_BodyStyle); + m_TitleStyle.fontSize = 26; + + m_HeadingStyle = new GUIStyle(m_BodyStyle); + m_HeadingStyle.fontStyle = FontStyle.Bold; + m_HeadingStyle.fontSize = 18; + + m_LinkStyle = new GUIStyle(m_BodyStyle); + m_LinkStyle.wordWrap = false; + + // Match selection color which works nicely for both light and dark skins + 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