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Code Issues 161 Packages Projects Releases Wiki Activity

Early implementation of WebSocket VR Bridge

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Eiren Rain
2021-09-24 01:53:10 +03:00
parent 82ba193bb4
commit ce4a90dc55
8 changed files with 206 additions and 21 deletions
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1
build.gradle
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@@ -52,6 +52,7 @@ dependencies {
compile 'com.illposed.osc:javaosc-core:0.8'
compile 'com.fazecast:jSerialComm:[2.0.0,3.0.0)'
compile 'com.google.protobuf:protobuf-java:3.17.3'
compile "org.java-websocket:Java-WebSocket:1.5.1"
// This dependency is used internally, and not exposed to consumers on their own compile classpath.
implementation 'com.google.guava:guava:28.2-jre'

4
src/main/java/io/eiren/gui/TrackersList.java
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@@ -214,13 +214,15 @@ public class TrackersList extends EJBoxNoStretch {
if(t.hasPosition())
add(new JLabel("Position"), c(1, row, 2, GridBagConstraints.FIRST_LINE_START));
add(new JLabel("TPS"), c(3, row, 2, GridBagConstraints.FIRST_LINE_START));
if(realTracker instanceof IMUTracker) {
add(new JLabel("Ping"), c(2, row, 2, GridBagConstraints.FIRST_LINE_START));
}
row++;
if(t.hasRotation())
add(rotation = new JLabel("0 0 0"), c(0, row, 2, GridBagConstraints.FIRST_LINE_START));
if(t.hasPosition())
add(position = new JLabel("0 0 0"), c(1, row, 2, GridBagConstraints.FIRST_LINE_START));
if(realTracker instanceof IMUTracker) {
add(new JLabel("Ping"), c(2, row, 2, GridBagConstraints.FIRST_LINE_START));
add(ping = new JLabel(""), c(2, row, 2, GridBagConstraints.FIRST_LINE_START));
}
if(realTracker instanceof TrackerWithTPS) {

5
src/main/java/io/eiren/vr/VRServer.java
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@@ -23,6 +23,7 @@ import io.eiren.vr.bridge.NamedPipeVRBridge;
import io.eiren.vr.bridge.SteamVRPipeInputBridge;
import io.eiren.vr.bridge.VMCBridge;
import io.eiren.vr.bridge.VRBridge;
import io.eiren.vr.bridge.WebSocketVRBridge;
import io.eiren.vr.processor.HumanPoseProcessor;
import io.eiren.vr.processor.HumanSkeleton;
import io.eiren.vr.trackers.HMDTracker;
@@ -63,6 +64,10 @@ public class VRServer extends Thread {
SteamVRPipeInputBridge steamVRInput = new SteamVRPipeInputBridge(this);
tasks.add(() -> steamVRInput.start());
bridges.add(steamVRInput);
// Create WebSocket server
WebSocketVRBridge wsBridge = new WebSocketVRBridge(hmdTracker, shareTrackers, this);
tasks.add(() -> wsBridge.start());
bridges.add(wsBridge);
// Create VMCBridge
try {

176
src/main/java/io/eiren/vr/bridge/WebSocketVRBridge.java Normal file
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@@ -0,0 +1,176 @@
package io.eiren.vr.bridge;
import java.net.InetSocketAddress;
import java.nio.ByteBuffer;
import java.util.Collections;
import java.util.List;
import java.util.concurrent.atomic.AtomicBoolean;
import org.java_websocket.WebSocket;
import org.java_websocket.drafts.Draft;
import org.java_websocket.drafts.Draft_6455;
import org.java_websocket.handshake.ClientHandshake;
import org.java_websocket.server.WebSocketServer;
import org.json.JSONException;
import org.json.JSONObject;
import com.jme3.math.Quaternion;
import com.jme3.math.Vector3f;
import io.eiren.util.collections.FastList;
import io.eiren.util.logging.LogManager;
import io.eiren.vr.Main;
import io.eiren.vr.VRServer;
import io.eiren.vr.trackers.ComputedTracker;
import io.eiren.vr.trackers.HMDTracker;
import io.eiren.vr.trackers.Tracker;
import io.eiren.vr.trackers.TrackerStatus;
public class WebSocketVRBridge extends WebSocketServer implements VRBridge {
private final Vector3f vBuffer = new Vector3f();
private final Quaternion qBuffer = new Quaternion();
private final HMDTracker hmd;
private final List<? extends Tracker> shareTrackers;
private final List<ComputedTracker> internalTrackers;
private final HMDTracker internalHMDTracker = new HMDTracker("itnernal://HMD");
private final AtomicBoolean newHMDData = new AtomicBoolean(false);
public WebSocketVRBridge(HMDTracker hmd, List<? extends Tracker> shareTrackers, VRServer server) {
super(new InetSocketAddress(21110), Collections.<Draft>singletonList(new Draft_6455()));
this.hmd = hmd;
this.shareTrackers = new FastList<>(shareTrackers);
this.internalTrackers = new FastList<>(shareTrackers.size());
for(int i = 0; i < shareTrackers.size(); ++i) {
Tracker t = shareTrackers.get(i);
ComputedTracker ct = new ComputedTracker("internal://" + t.getName(), true, true);
ct.setStatus(TrackerStatus.OK);
ct.bodyPosition = t.getBodyPosition();
this.internalTrackers.add(ct);
}
}
@Override
public void dataRead() {
if(newHMDData.compareAndSet(true, false)) {
hmd.position.set(internalHMDTracker.position);
hmd.rotation.set(internalHMDTracker.rotation);
hmd.dataTick();
}
}
@Override
public void dataWrite() {
for(int i = 0; i < shareTrackers.size(); ++i) {
Tracker t = shareTrackers.get(i);
ComputedTracker it = this.internalTrackers.get(i);
if(t.getPosition(vBuffer))
it.position.set(vBuffer);
if(t.getRotation(qBuffer))
it.rotation.set(qBuffer);
}
}
@Override
public void onOpen(WebSocket conn, ClientHandshake handshake) {
LogManager.log.info("[WebSocket] New connection from: " + conn.getRemoteSocketAddress().getAddress().getHostAddress());
// Register trackers
for(int i = 0; i < internalTrackers.size(); ++i) {
JSONObject message = new JSONObject();
message.put("type", "config");
message.put("tracker_id", "SlimeVR Tracker " + (i + 1));
message.put("location", internalTrackers.get(i).bodyPosition.designation);
message.put("tracker_type", message.optString("location"));
conn.send(message.toString());
}
}
@Override
public void onClose(WebSocket conn, int code, String reason, boolean remote) {
LogManager.log.info("[WebSocket] Disconnected: " + conn.getRemoteSocketAddress().getAddress().getHostAddress() + ", (" + code + ") " + reason + ". Remote: " + remote);
}
@Override
public void onMessage(WebSocket conn, ByteBuffer message) {
StringBuilder sb = new StringBuilder(message.limit());
while(message.hasRemaining()) {
sb.append((char) message.get());
}
onMessage(conn, sb.toString());
}
@Override
public void onMessage(WebSocket conn, String message) {
//LogManager.log.info(message);
try {
JSONObject json = new JSONObject(message);
if(json.has("type")) {
switch(json.optString("type")) {
case "pos":
parsePosition(json, conn);
return;
case "action":
parseAction(json, conn);
return;
case "config": // TODO Ignore it for now, it should only register HMD in our test case with id 0
LogManager.log.info("[WebSocket] Config recieved: " + json.toString());
return;
}
}
LogManager.log.warning("[WebSocket] Unrecognized message from " + conn.getRemoteSocketAddress().getAddress().getHostAddress() + ": " + message);
} catch(Exception e) {
LogManager.log.severe("[WebSocket] Exception parsing message from " + conn.getRemoteSocketAddress().getAddress().getHostAddress() + ". Message: " + message, e);
}
}
private void parsePosition(JSONObject json, WebSocket conn) throws JSONException {
if(json.optInt("tracker_id") == 0) {
// Read HMD information
internalHMDTracker.position.set(json.optFloat("x"), json.optFloat("y") + 0.2f, json.optFloat("z")); // TODO Wtf is this hack? VRWorkout issue?
internalHMDTracker.rotation.set(json.optFloat("qx"), json.optFloat("qy"), json.optFloat("qz"), json.optFloat("qw"));
internalHMDTracker.dataTick();
newHMDData.set(true);
// Send tracker info in reply
for(int i = 0; i < internalTrackers.size(); ++i) {
JSONObject message = new JSONObject();
message.put("type", "pos");
message.put("src", "full");
message.put("tracker_id", "SlimeVR Tracker " + (i + 1));
ComputedTracker t = internalTrackers.get(i);
message.put("x", t.position.x);
message.put("y", t.position.y);
message.put("z", t.position.z);
message.put("qx", t.rotation.getX());
message.put("qy", t.rotation.getY());
message.put("qz", t.rotation.getZ());
message.put("qw", t.rotation.getW());
conn.send(message.toString());
}
}
}
private void parseAction(JSONObject json, WebSocket conn) throws JSONException {
switch(json.optString("name")) {
case "calibrate":
Main.vrServer.resetTrackersYaw();
break;
}
}
@Override
public void onError(WebSocket conn, Exception ex) {
LogManager.log.severe("[WebSocket] Exception on connection " + (conn != null ? conn.getRemoteSocketAddress().getAddress().getHostAddress() : null), ex);
}
@Override
public void onStart() {
LogManager.log.info("[WebSocket] Web Socket VR Bridge started on port " + getPort());
setConnectionLostTimeout(0);
setConnectionLostTimeout(1);
}
}

3
src/main/java/io/eiren/vr/processor/ComputedHumanPoseTracker.java
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@@ -9,9 +9,10 @@ public class ComputedHumanPoseTracker extends ComputedTracker implements Tracker
public final ComputedHumanPoseTrackerPosition skeletonPosition;
protected BufferedTimer timer = new BufferedTimer(1f);
public ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition skeletonPosition) {
public ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition skeletonPosition, TrackerBodyPosition bodyPosition) {
super("human://" + skeletonPosition.name(), true, true);
this.skeletonPosition = skeletonPosition;
this.bodyPosition = bodyPosition;
}
@Override

12
src/main/java/io/eiren/vr/processor/HumanPoseProcessor.java
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@@ -20,16 +20,16 @@ public class HumanPoseProcessor {
public HumanPoseProcessor(VRServer server, HMDTracker hmd, int trackersAmount) {
this.server = server;
computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.WAIST));
computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.WAIST, TrackerBodyPosition.WAIST));
if(trackersAmount > 2) {
computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.LEFT_FOOT));
computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.RIGHT_FOOT));
computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.LEFT_FOOT, TrackerBodyPosition.LEFT_FOOT));
computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.RIGHT_FOOT, TrackerBodyPosition.RIGHT_FOOT));
if(trackersAmount == 4 || trackersAmount >= 6) {
computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.CHEST));
computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.CHEST, TrackerBodyPosition.CHEST));
}
if(trackersAmount >= 5) {
computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.LEFT_KNEE));
computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.RIGHT_KNEE));
computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.LEFT_KNEE, TrackerBodyPosition.LEFT_ANKLE));
computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.RIGHT_KNEE, TrackerBodyPosition.RIGHT_ANKLE));
}
}
}

4
src/main/java/io/eiren/vr/processor/HumanSkeletonWithLegs.java
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@@ -91,9 +91,9 @@ public class HumanSkeletonWithLegs extends HumanSkeletonWithWaist {
rkt = t;
}
if(lat == null)
lat = new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.LEFT_FOOT);
lat = new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.LEFT_FOOT, TrackerBodyPosition.LEFT_FOOT);
if(rat == null)
rat = new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.RIGHT_FOOT);
rat = new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.RIGHT_FOOT, TrackerBodyPosition.RIGHT_FOOT);
computedLeftFootTracker = lat;
computedRightFootTracker = rat;
computedLeftKneeTracker = lkt;

22
src/main/java/io/eiren/vr/processor/TrackerBodyPosition.java
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@@ -6,17 +6,17 @@ import java.util.Map;
public enum TrackerBodyPosition {
NONE(""),
HMD("body:HMD"),
CHEST("body:chest"),
WAIST("body:waist"),
LEFT_LEG("body:left_leg"),
RIGHT_LEG("body:right_leg"),
LEFT_ANKLE("body:left_ankle"),
RIGHT_ANKLE("body:right_ankle"),
LEFT_FOOT("body:left_foot"),
RIGHT_FOOT("body:right_foot"),
LEFT_CONTROLLER("body:left_controller"),
RIGHT_CONTROLLER("body:right_conroller"),
HMD("HMD"),
CHEST("chest"),
WAIST("waist"),
LEFT_LEG("left_leg"),
RIGHT_LEG("right_leg"),
LEFT_ANKLE("left_ankle"),
RIGHT_ANKLE("right_ankle"),
LEFT_FOOT("left_foot"),
RIGHT_FOOT("right_foot"),
LEFT_CONTROLLER("left_controller"),
RIGHT_CONTROLLER("right_conroller"),
;
public final String designation;