WIL.py

# WYSIWYG Indoor Localization
#   Gather pose/button information from localization system
#
# Author: David Vincze
#
# https://github.com/szaguldo-kamaz/
#


import importlib


class WIL:

    def __init__(self, wil_config_filename = "wil_config.py"):

        if wil_config_filename[-3:] == ".py":
            wil_config_filename = wil_config_filename[:-3]

        wilc = importlib.import_module(wil_config_filename)

        self.config = wilc.wil_config
        self.trackers = {}
        self.trackers_by_serial = {}
        self.trackers_by_name = self.trackers
        self.verbose = False

        if   self.config.locdata_source == self.config.LOCDATA_SOURCE_LIBSURVIVE:
            from WIL_LocDataLibSurvive import WILLocDataLibSurvive
            self.locdata = WILLocDataLibSurvive(self.config.playareapixels)
        elif self.config.locdata_source == self.config.LOCDATA_SOURCE_STEAMVR:
            from WIL_LocDataSteamVR    import WILLocDataSteamVR
            self.locdata = WILLocDataSteamVR(self.config.playareapixels)
        elif self.config.locdata_source == self.config.LOCDATA_SOURCE_ROS:
            from WIL_LocDataROS        import WILLocDataROS
            self.locdata = WILLocDataROS(self.config.playareapixels)
        elif self.config.locdata_source == self.config.LOCDATA_SOURCE_REMOTEUDP:
            from WIL_LocDataRemoteUDP  import WILLocDataRemoteUDP
            self.locdata = WILLocDataRemoteUDP(self.config.playareapixels)
        elif self.config.locdata_source == self.config.LOCDATA_SOURCE_FILE:
            from WIL_LocDataFile       import WILLocDataFile
            self.locdata = WILLocDataFile(self.config.playareapixels)
        else:
            print("Unknown LocData_source was specified. Exiting.")
            sys.exit(1)  # should be an exception. maybe later...

        for trackername in list(self.config.trackers.keys()):  # list to make a copy, because pointer_trackers can be added inside this loop
            self.add_tracker(trackername, self.config.trackers[trackername]['serial'])
            self.trackers[trackername].set_yawaxis(self.config.trackers[trackername]['yawaxis'])
            self.trackers[trackername].set_pitchaxis(self.config.trackers[trackername]['pitchaxis'])
            self.trackers[trackername].set_rollaxis(self.config.trackers[trackername]['rollaxis'])
            if 'pointer' in self.config.trackers[trackername].keys() and \
               self.config.trackers[trackername]['pointer'] == True:
                self.add_pointer_tracker(trackername, self.config.trackers[trackername]['serial'])

    def set_verbose(self, verbose):
        self.verbose = verbose
        self.locdata.verbose = verbose

    def add_tracker(self, trackername, trackerserial):
        self.trackers_by_serial[trackerserial] = self.locdata.add_tracker_by_serial(trackerserial)
        self.trackers[trackername] = self.trackers_by_serial[trackerserial]

    def add_pointer_tracker(self, trackername, trackerserial):
        self.trackers_by_serial[trackerserial+'-PTR'] = self.locdata.add_pointer_tracker(self.trackers[trackername])
        self.trackers[trackername+'-PTR'] = self.trackers_by_serial[trackerserial+'-PTR']
        self.config.trackers[trackername+'-PTR'] = self.config.trackers[trackername].copy()
        self.config.trackers[trackername+'-PTR']['labeltext'] = self.config.trackers[trackername]['labeltext'] + '-PTR'

    def get_tracker_names(self):
        return list(self.trackers.keys())

    def get_tracker_serials(self):
        return self.trackers_by_serial.keys()

    def calibrate_world(self, xoffset_world, yoffset_world, zoffset_world, yawoffset_world, yawoffset_trackerself, pitchoffset_world, pitchoffset_trackerself, rolloffset_world, rolloffset_trackerself, pixelratio, swapx, swapy, reverse_yawdir, reverse_pitch, reverse_roll):
        self.locdata.calibrate_world(xoffset_world, yoffset_world, zoffset_world, yawoffset_world, yawoffset_trackerself, pitchoffset_world, pitchoffset_trackerself, rolloffset_world, rolloffset_trackerself, pixelratio, swapx, swapy, reverse_yawdir, reverse_pitch, reverse_roll)

    def calibrate_from_file(self, calibdata_filename):
        return self.locdata.calibrate_from_file(calibdata_filename)

    def get_calibration_data_world(self):
        return self.locdata.get_calibration_data_world()

    def update(self):
        return self.locdata.update()

    def all_poses_valid(self):
        return self.locdata.all_poses_valid()