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+ add a code to take from qualisys and send to a sever [WIP]
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| """ | ||
| This example shows how to retrieve marker data from a Vicon Nexus interface. Please note that the Vicon interface is the only implemented method capable of retrieving marker data. | ||
| First, you need to create a ViconClient object. This object will be used to connect to the Vicon system and retrieve data. Next, you need to add a set of markers to the interface. For now, only one marker set can be added. | ||
| The marker set takes the following arguments: | ||
| - nb_markers : int | ||
| Number of markers. | ||
| - name : str | ||
| Name of the marker set. | ||
| - marker_names : Union [list, str] | ||
| List of marker names. | ||
| subject_name : str | ||
| Name of the subject. If None, the subject will be the first in Nexus. | ||
| rate: int | ||
| Rate of the camera used to record the marker trajectories. | ||
| unit : str | ||
| Unit of the marker trajectories ("mm" or "m"). | ||
| If you want to display the markers in a 3D scatter plot, you can add a Scatter3D plot to the interface. You can pass the size and color of the marker via size and color argument, respectively. Please see the Scatter3D documentation for more information. | ||
| Next, the data flow runs in a loop where the get_marker_set_data() function is used to retrieve the data from the interface. The data is then passed to the graph via the update() method through an array of (n_frame, n_markers, 3) where the plot parameters can be updated. | ||
| """ | ||
| from time import sleep, time | ||
| import importlib | ||
| import biosiglive | ||
| importlib.reload(biosiglive) | ||
| from biosiglive import (LivePlot, PlotType, QualisysClient) | ||
| from biosiglive import load, RealTimeProcessingMethod, InterfaceType, DeviceType, Server, InverseKinematicsMethods | ||
| import asyncio | ||
| import logging | ||
| import xml.etree.ElementTree as ET | ||
| import qtm_rt | ||
| import numpy as np | ||
| from collections import deque | ||
|
|
||
| # Fonction pour détecter si Fz dépasse le seuil | ||
| def detect_start(previous_f_z, current_f_z, threshold=30): | ||
| # Détection du passage de inférieur à supérieur au seuil | ||
| return previous_f_z <= threshold < current_f_z | ||
|
|
||
| class RealTimeDataProcessor: | ||
| def __init__(self, server_ip="192.168.0.1", port=7, | ||
| threshold=30, system_rate=100, device_rate=2000, nb_markers=4, nb_seconds=1): | ||
| # Initialisation du serveur | ||
| self.server = Server(server_ip, port) | ||
| self.server.start() | ||
| # Variables d'état | ||
| self.sending_started = False | ||
| self.previous_fz = 0 | ||
| self.threshold = threshold | ||
|
|
||
| async def setup(self): | ||
| """ main function """ | ||
| # Connection to qualisys | ||
| self.interface = await QualisysClient.create(ip="192.168.0.2", system_rate=100, port=22224) | ||
| queue = asyncio.Queue() | ||
|
|
||
| # Add info needed | ||
| n_markers = 4 | ||
| await self.interface.add_marker_set( | ||
| nb_markers=n_markers, data_buffer_size=1000, marker_data_file_key="markers", name="markers", rate=100, unit="mm" | ||
| ) | ||
| await self.interface.add_device( | ||
| nb_channels=12, | ||
| device_type="force_plate", | ||
| name="force_plate", | ||
| data_buffer_size=100, | ||
| rate=1000, | ||
| device_data_file_key="force_plate", | ||
| processing_method=None, | ||
| moving_average=True, | ||
| ) | ||
|
|
||
| while True: | ||
| tic = asyncio.get_event_loop().time() | ||
| packet = await self.interface.Connect.get_current_frame(components=self.interface.component) | ||
|
|
||
| #data recuperation | ||
| mark_tmp = self.interface.get_marker_set_data(packet=packet) | ||
| mark_tmp = mark_tmp | ||
|
|
||
| dataforce = self.interface.get_force_plate_data(packet=packet) | ||
|
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||
| current_fz = np.mean(dataforce[2]) | ||
|
|
||
| if not self.sending_started and detect_start(self.previous_fz, current_fz, self.threshold): | ||
| self.sending_started = True | ||
| print("Démarrage de l'envoi des données.") | ||
|
|
||
| elif self.sending_started: | ||
| connection, message = self.server.client_listening() # Non-bloquant | ||
| if connection: | ||
| dataAll = { | ||
| "Force": dataforce, | ||
| "Markers": mark_tmp, | ||
| "MarkersNames": self.mks_name | ||
| } | ||
| # "Angle": Q[:, -1], | ||
| self.server.send_data(dataAll, connection, message) | ||
|
|
||
| # Mettre à jour la valeur précédente de Fz | ||
| self.previous_fz = current_fz | ||
|
|
||
| # time laps | ||
| loop_time = asyncio.get_event_loop().time() - tic | ||
| real_time_to_sleep = (1/100) - loop_time | ||
| if real_time_to_sleep > 0: | ||
| await asyncio.sleep(real_time_to_sleep) | ||
|
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| if __name__ == "__main__": | ||
| processor = RealTimeDataProcessor() | ||
| # processor.process_data() | ||
| asyncio.run(processor.setup()) | ||
| """" | ||
| loop = asyncio.get_event_loop() | ||
| asyncio.ensure_future(setup()) | ||
| loop.run_forever() | ||
| """ |