diff --git a/LICENSE b/LICENSE index f288702..e7f17fa 100644 --- a/LICENSE +++ b/LICENSE @@ -1,674 +1,21 @@ - GNU GENERAL PUBLIC LICENSE - Version 3, 29 June 2007 - - Copyright (C) 2007 Free Software Foundation, Inc. - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - Preamble - - The GNU General Public License is a free, copyleft license for -software and other kinds of works. - - The licenses for most software and other practical works are designed -to take away your freedom to share and change the works. By contrast, -the GNU General Public License is intended to guarantee your freedom to -share and change all versions of a program--to make sure it remains free -software for all its users. We, the Free Software Foundation, use the -GNU General Public License for most of our software; it applies also to -any other work released this way by its authors. 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IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/projects/AstroBalance/Assets/Scripts/RingBuffer.cs b/projects/AstroBalance/Assets/Scripts/RingBuffer.cs deleted file mode 100644 index 91950b9..0000000 --- a/projects/AstroBalance/Assets/Scripts/RingBuffer.cs +++ /dev/null @@ -1,304 +0,0 @@ -#region License -/* Copyright 2015 Joe Osborne - * - * This file is part of RingBuffer. - * - * RingBuffer is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * RingBuffer is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with RingBuffer. If not, see . - */ -#endregion -using System; -using System.Collections; -using System.Collections.Generic; - -namespace RingBuffer -{ - /// - /// A generic ring buffer with fixed capacity. - /// - /// The type of data stored in the buffer - public class RingBuffer : IEnumerable, IEnumerable, ICollection, ICollection - { - protected int head = 0; - protected int tail = 0; - protected int size = 0; - - protected T[] buffer; - - private bool allowOverflow; - public bool AllowOverflow - { - get { return allowOverflow; } - } - - /// - /// The total number of elements the buffer can store (grows). - /// - public int Capacity - { - get { return buffer.Length; } - } - - /// - /// The number of elements currently contained in the buffer. - /// - public int Size - { - get { return size; } - } - - /// - /// Retrieve the next item from the buffer. - /// - /// The oldest item added to the buffer. - public T Get() - { - if (size == 0) - throw new System.InvalidOperationException("Buffer is empty."); - T _item = buffer[head]; - head = (head + 1) % Capacity; - size--; - return _item; - } - - /// - /// Adds an item to the end of the buffer. - /// - /// The item to be added. - public void Put(T item) - { - // If tail & head are equal and the buffer is not empty, assume - // that it will overflow and throw an exception. - if (tail == head && size != 0) - { - if (allowOverflow) - { - addToBuffer(item, true); - } - else - { - throw new System.InvalidOperationException( - "The RingBuffer is full" - + ((byte)head).ToString() - + ", " - + ((byte)tail).ToString() - ); - } - } - // If the buffer will not overflow, just add the item. - else - { - addToBuffer(item, false); - } - } - - protected void addToBuffer(T toAdd, bool overflow) - { - if (overflow) - { - head = (head + 1) % Capacity; - } - else - { - size++; - } - buffer[tail] = toAdd; - tail = (tail + 1) % Capacity; - } - - #region Constructors - // Default capacity is 4, default overflow behavior is false. - public RingBuffer() - : this(4) { } - - public RingBuffer(int capacity) - : this(capacity, false) { } - - public RingBuffer(int capacity, bool overflow) - { - buffer = new T[capacity]; - allowOverflow = overflow; - } - #endregion - - #region IEnumerable Members - public IEnumerator GetEnumerator() - { - int _index = head; - for (int i = 0; i < size; i++, _index = (_index + 1) % Capacity) - { - yield return buffer[_index]; - } - } - - IEnumerator IEnumerable.GetEnumerator() - { - return GetEnumerator(); - } - - IEnumerator IEnumerable.GetEnumerator() - { - return (IEnumerator)GetEnumerator(); - } - #endregion - - #region ICollection Members - public int Count - { - get { return size; } - } - public bool IsReadOnly - { - get { return false; } - } - - public void Add(T item) - { - Put(item); - } - - /// - /// Determines whether the RingBuffer contains a specific value. - /// - /// The value to check the RingBuffer for. - /// True if the RingBuffer contains - /// , false if it does not. - /// - public bool Contains(T item) - { - EqualityComparer comparer = EqualityComparer.Default; - int _index = head; - for (int i = 0; i < size; i++, _index = (_index + 1) % Capacity) - { - if (comparer.Equals(item, buffer[_index])) - return true; - } - return false; - } - - /// - /// Removes all items from the RingBuffer. - /// - public void Clear() - { - for (int i = 0; i < Capacity; i++) - { - buffer[i] = default(T); - } - head = 0; - tail = 0; - size = 0; - } - - /// - /// Copies the contents of the RingBuffer to - /// starting at . - /// - /// The array to be copied to. - /// The index of - /// where the buffer should begin copying to. - public void CopyTo(T[] array, int arrayIndex) - { - int _index = head; - for (int i = 0; i < size; i++, arrayIndex++, _index = (_index + 1) % Capacity) - { - array[arrayIndex] = buffer[_index]; - } - } - - /// - /// Removes from the buffer. - /// - /// - /// True if was found and - /// successfully removed. False if was not - /// found or there was a problem removing it from the RingBuffer. - /// - public bool Remove(T item) - { - int _index = head; - int _removeIndex = 0; - bool _foundItem = false; - EqualityComparer _comparer = EqualityComparer.Default; - for (int i = 0; i < size; i++, _index = (_index + 1) % Capacity) - { - if (_comparer.Equals(item, buffer[_index])) - { - _removeIndex = _index; - _foundItem = true; - break; - } - } - if (_foundItem) - { - T[] _newBuffer = new T[size - 1]; - _index = head; - bool _pastItem = false; - for (int i = 0; i < size - 1; i++, _index = (_index + 1) % Capacity) - { - if (_index == _removeIndex) - { - _pastItem = true; - } - if (_pastItem) - { - _newBuffer[_index] = buffer[(_index + 1) % Capacity]; - } - else - { - _newBuffer[_index] = buffer[_index]; - } - } - size--; - buffer = _newBuffer; - return true; - } - return false; - } - #endregion - - #region ICollection Members - /// - /// Gets an object that can be used to synchronize access to the - /// RingBuffer. - /// - public Object SyncRoot - { - get { return this; } - } - - /// - /// Gets a value indicating whether access to the RingBuffer is - /// synchronized (thread safe). - /// - public bool IsSynchronized - { - get { return false; } - } - - /// - /// Copies the elements of the RingBuffer to , - /// starting at a particular Array . - /// - /// The one-dimensional Array that is the - /// destination of the elements copied from RingBuffer. The Array must - /// have zero-based indexing. - /// The zero-based index in - /// at which copying begins. - void ICollection.CopyTo(Array array, int index) - { - CopyTo((T[])array, index); - } - #endregion - } -} diff --git a/projects/AstroBalance/Assets/Scripts/RingBuffer.cs.meta b/projects/AstroBalance/Assets/Scripts/RingBuffer.cs.meta deleted file mode 100644 index ec335e9..0000000 --- a/projects/AstroBalance/Assets/Scripts/RingBuffer.cs.meta +++ /dev/null @@ -1,2 +0,0 @@ -fileFormatVersion: 2 -guid: b7010ae56bb9dfa49b21924e26e922b5 \ No newline at end of file diff --git a/projects/AstroBalance/Assets/Scripts/RocketLaunch/LaunchCode.cs b/projects/AstroBalance/Assets/Scripts/RocketLaunch/LaunchCode.cs index a8d82b6..f41ae70 100644 --- a/projects/AstroBalance/Assets/Scripts/RocketLaunch/LaunchCode.cs +++ b/projects/AstroBalance/Assets/Scripts/RocketLaunch/LaunchCode.cs @@ -1,7 +1,6 @@ using System.Collections.Generic; using TMPro; using Tobii.GameIntegration.Net; -using TrackerBuffers; using UnityEngine; /// @@ -41,6 +40,7 @@ public class LaunchCode : MonoBehaviour private float timeToSpriteChange; private Sprite countDownSprite; private GazeBuffer gazeBuffer; + private int minDataRequired = 2; // we need at least 2 data points to calculate steadiness. void Start() { @@ -50,36 +50,37 @@ void Start() countDownSprites.Remove(countDownSprite); gameObject.GetComponent().sprite = countDownSprite; timeToSpriteChange = timerDuration; - gazeBuffer = new GazeBuffer(gazeBufferCapacity); + gazeBuffer = new GazeBuffer(gazeBufferCapacity, minDataRequired); } void Update() { - GazePoint gazePoint = new GazePoint(); + GazeItem gazeItem = new GazeItem(); if (useMouseForTracker) { var mousePos = Input.mousePosition; - gazePoint.X = mousePos.x; - gazePoint.Y = mousePos.y; - gazePoint.TimeStampMicroSeconds = (long)(Time.timeSinceLevelLoad * 1000000); + gazeItem.gazePoint.X = mousePos.x; + gazeItem.gazePoint.Y = mousePos.y; + gazeItem.gazePoint.TimeStampMicroSeconds = (long)(Time.timeSinceLevelLoad * 1000000); } else { - gazePoint = tracker.getGazePoint(); - Vector2 worldGaze = tracker.ConvertGazePointToWorldCoordinates(gazePoint); - gazePoint.X = worldGaze.x; - gazePoint.Y = worldGaze.y; + gazeItem.gazePoint = tracker.getGazePoint(); + Vector2 worldGaze = tracker.ConvertGazePointToWorldCoordinates(gazeItem.gazePoint); + gazeItem.gazePoint.X = worldGaze.x; + gazeItem.gazePoint.Y = worldGaze.y; } - gazeBuffer.addIfNew(gazePoint); + gazeBuffer.addIfNew(gazeItem); bool gazeIsSteady = false; - GazePoint targetPoint = new GazePoint(); + float targetX = 0f; + float targetY = 0f; if (targetObject != null) { - targetPoint.X = targetObject.transform.position.x; - targetPoint.Y = targetObject.transform.position.y; - gazeIsSteady = gazeBuffer.gazeSteady(gazeTime, gazeTolerance, targetPoint); + targetX = targetObject.transform.position.x; + targetY = targetObject.transform.position.y; + gazeIsSteady = gazeBuffer.gazeSteady(gazeTime, gazeTolerance, targetX, targetY); } else { @@ -91,14 +92,14 @@ void Update() string steadyText = gazeIsSteady ? "Gaze is steady" : "Gaze is not steady"; statusText.text = "Look here -> " - + targetPoint.X + + targetX + ", " - + targetPoint.Y + + targetY + "\n" + "Looking here -> " - + gazePoint.X + + gazeItem.gazePoint.X + ", " - + gazePoint.Y + + gazeItem.gazePoint.Y + "\n" + steadyText; } diff --git a/projects/AstroBalance/Assets/Scripts/RocketLaunch/LaunchControl.cs b/projects/AstroBalance/Assets/Scripts/RocketLaunch/LaunchControl.cs index bb78863..a2f51b5 100644 --- a/projects/AstroBalance/Assets/Scripts/RocketLaunch/LaunchControl.cs +++ b/projects/AstroBalance/Assets/Scripts/RocketLaunch/LaunchControl.cs @@ -1,6 +1,5 @@ using TMPro; using Tobii.GameIntegration.Net; -using TrackerBuffers; using UnityEngine; /// @@ -48,10 +47,12 @@ public class LaunchControl : MonoBehaviour private GameObject winScreen; private TextMeshProUGUI winText; - private HeadPoseBuffer headPoseBuffer; + private HeadAngleBuffer headPitchBuffer; + private HeadAngleBuffer headYawBuffer; private bool usePitch; //true if we're using pitch speed, false if we're using yaw speed. private RocketLaunchData gameData; private float rocketSpeed; + private int minDataRequired = 2; // we need at least 2 data points to calculate a speed. private string saveFilename = "RocketLaunchScores"; // Start is called once before the first execution of Update after the MonoBehaviour is created @@ -61,7 +62,6 @@ void Start() winText = winScreen.GetComponentInChildren(); winScreen.SetActive(false); tracker = FindFirstObjectByType(); - headPoseBuffer = new HeadPoseBuffer(headPoseBufferCapacity); SaveData saveData = new(saveFilename); RocketLaunchData lastGameData = saveData.GetLastGameData(); @@ -74,7 +74,8 @@ void Start() { usePitch = !lastGameData.pitch; } - + headPitchBuffer = new HeadAngleBuffer(headPoseBufferCapacity, minDataRequired); + headYawBuffer = new HeadAngleBuffer(headPoseBufferCapacity, minDataRequired); instructionsText.text = usePitch ? "Nod your head and repeat the code to launch the rocket!" : "Shake your head and repeat the code to launch the rocket!"; @@ -116,12 +117,19 @@ void Update() { headPose = tracker.getHeadPose(); } - - headPoseBuffer.addIfNew(headPose); - - float headSpeed = - headPoseBuffer.getSpeed(speedTime, usePitch) - - headPoseBuffer.getSpeed(speedTime, !usePitch); + HeadPitchItem headPitch = new HeadPitchItem(headPose); + HeadYawItem headYaw = new HeadYawItem(headPose); + headPitchBuffer.addIfNew(headPitch); + headYawBuffer.addIfNew(headYaw); + float headSpeed = 0f; + if (usePitch) + { + headSpeed = headPitchBuffer.getSpeed(speedTime) - headYawBuffer.getSpeed(speedTime); + } + else + { + headSpeed = headYawBuffer.getSpeed(speedTime) - headPitchBuffer.getSpeed(speedTime); + } headSpeed = Mathf.Max(0, headSpeed); // Clamp to zero to avoid negative speeds if (statusText != null) diff --git a/projects/AstroBalance/Assets/Scripts/TrackerBuffers.cs b/projects/AstroBalance/Assets/Scripts/TrackerBuffers.cs index 8d6476e..568e212 100644 --- a/projects/AstroBalance/Assets/Scripts/TrackerBuffers.cs +++ b/projects/AstroBalance/Assets/Scripts/TrackerBuffers.cs @@ -1,296 +1,309 @@ using System; +using System.Collections.Generic; using System.Linq; -using RingBuffer; using Tobii.GameIntegration.Net; -using UnityEngine; -namespace TrackerBuffers +/// +/// Holds a buffer for a head angle (pitch, yaw or roll). +/// +class HeadAngleBuffer : TobiiBuffer { /// - /// Will hold the gazepoint buffer and provide methods to check gaze stability and direction. + /// Initializes a new instance of the HeadAngleBuffer class. /// - /// TODO Understand how to make this thread safe. - public class GazeBuffer : RingBuffer + /// The maximum number of items that can be stored in the buffer. + /// The minimum number of data points required to calculate a speed. + public HeadAngleBuffer(int capacity, int minDataRequired) + : base(capacity, minDataRequired) { } + + /// + /// Calculates the average speed of the buffer over a given time period. + /// Speed is calculated as the average change in angle returned by GetAngle + /// Divided by the total change in time returned by TimeStampMicroSeconds + /// + /// The time period in seconds over which to calculate the average speed. + /// The average speed of the buffer over the given time period. + public float getSpeed(float speedTime) { - public GazeBuffer(int capacity) - : base(capacity, true) { } - - /// - /// Adds a new gaze point to the buffer if it has a different timestamp to the last added gaze point. - /// returns true if the point was added, false otherwise. - /// - public bool addIfNew(GazePoint item) - { - if ( - size == 0 - || item.TimeStampMicroSeconds != buffer[getLatestEntryIndex()].TimeStampMicroSeconds - ) - { - base.Add(item); - return true; - } - return false; - } + float averageSpeed = 0f; + if (!hasEnoughData) + return averageSpeed; - private int getLatestEntryIndex() - { - int last_entry = tail - 1; - if (last_entry < 0) - last_entry = size - 1; - return last_entry; - } + int timeInMicroseconds = (int)(speedTime * 1e6); + List headAngles = GetItems(timeInMicroseconds); - /// - /// returns true if the gaze points more recent than the time have a summed - /// square distance from the target point less than the tolerance. - /// - /// in seconds to sample over - /// the allowable range - /// the target gaze point - public bool gazeSteady(float time, float tolerance, GazePoint targetGazePoint) - { - if (size < 2) - return false; - int timeInMicroseconds = (int)(time * 1e6); - CopyToTwoArrays(timeInMicroseconds, out float[] x_array, out float[] y_array); - return gazeSteadyImpl( - x_array, - y_array, - targetGazePoint.X, - targetGazePoint.Y, - tolerance - ); - } + return calculateAverageSpeed(headAngles); + } - /// - /// returns true if the gaze points more recent than the time have a standard deviation - /// less than the tolerance. - /// - /// in seconds to sample over - /// the allowable standard deviation - public bool gazeSteady(float time, float tolerance) + private float calculateAverageSpeed(List headAngles) + { + if (headAngles.Count() < 2) { - if (size < 2) - return false; - int timeInMicroseconds = (int)(time * 1e6); - CopyToTwoArrays(timeInMicroseconds, out float[] x_array, out float[] y_array); - float targetGazePointX = Queryable.Average(x_array.AsQueryable()); - float targetGazePointY = Queryable.Average(y_array.AsQueryable()); - - return gazeSteadyImpl(x_array, y_array, targetGazePointX, targetGazePointY, tolerance); + return 0f; } - - private bool gazeSteadyImpl( - float[] x_array, - float[] y_array, - float targetGazePointX, - float targetGazePointY, - float tolerance - ) + float totalDistance = 0f; + for (int i = 0; i < headAngles.Count() - 1; i++) { - bool steady = false; - float sumOfSquaresX = x_array - .Select(val => (val - targetGazePointX) * (val - targetGazePointX)) - .Sum(); - float sumOfSquaresY = y_array - .Select(val => (val - targetGazePointY) * (val - targetGazePointY)) - .Sum(); - float stddevX = (float)Math.Sqrt(sumOfSquaresX / x_array.Length); - float stddevY = (float)Math.Sqrt(sumOfSquaresY / y_array.Length); - - if (stddevX < tolerance && stddevY < tolerance) - steady = true; - - Debug.Log( - "Gaze is " - + steady - + " at " - + targetGazePointX - + " " - + targetGazePointY - + "(" - + stddevX - + ", " - + stddevY - + ")" - + " Based on " - + x_array.Length - + " samples" - ); - return steady; + totalDistance += Math.Abs(headAngles[i + 1].GetAngle() - headAngles[i].GetAngle()); } - /// - ///Copies the contents of the RingBuffer to two arrays, - ///one for the x coordinates and one for the y, stopping - /// when the timestamps are older than - /// - private void CopyToTwoArrays(long gazeTime, out float[] x_array, out float[] y_array) - { - if (size == 0) - { - x_array = new float[0]; - y_array = new float[0]; - return; - } - int _index = getLatestEntryIndex(); - - int arrayIndex = 0; - x_array = new float[size]; - y_array = new float[size]; - x_array[arrayIndex] = buffer[_index].X; - y_array[arrayIndex] = buffer[_index].Y; - long timestamp = buffer[_index].TimeStampMicroSeconds - gazeTime; + double totalTime = + ( + headAngles[0].TimeStampMicroSeconds() + - headAngles[headAngles.Count() - 1].TimeStampMicroSeconds() + ) / 1e6; + float averageSpeed = (float)(totalDistance / totalTime); - _index = _index > 0 ? _index - 1 : size - 1; - arrayIndex++; + return averageSpeed; + } +} - while (_index != head && buffer[_index].TimeStampMicroSeconds >= timestamp) - { - x_array[arrayIndex] = buffer[_index].X; - y_array[arrayIndex] = buffer[_index].Y; - _index = _index > 0 ? _index - 1 : size - 1; - arrayIndex++; - } - // Add head if it falls in time range - if (size > 1 && _index == head && buffer[_index].TimeStampMicroSeconds >= timestamp) - { - x_array[arrayIndex] = buffer[_index].X; - y_array[arrayIndex] = buffer[_index].Y; - arrayIndex++; - } +/// +/// Holds the gazepoint buffer and provides a method to check gaze stability and direction. +/// +class GazeBuffer : TobiiBuffer +{ + /// + /// Initializes a new instance of the GazeBuffer class. + /// + /// The maximum number of items that can be stored in the buffer. + /// The minimum number of data points required to calculate steadiness. + public GazeBuffer(int capacity, int minDataRequired) + : base(capacity, minDataRequired) { } - Array.Resize(ref x_array, arrayIndex); - Array.Resize(ref y_array, arrayIndex); - } + /// + /// returns true if the data more recent than the time have a summed + /// square distance from the target point less than the tolerance. + /// + /// in seconds to sample over + /// the allowable range + /// x coordinate of the target point + /// y coordinate of the target point + public bool gazeSteady(float time, float tolerance, float targetPoint_x, float targetPoint_y) + { + if (!hasEnoughData) + return false; + int timeInMicroseconds = (int)(time * 1e6); + List gazePoints = GetItems(timeInMicroseconds); + GetXYArrays(gazePoints, out float[] array_x, out float[] array_y); + return dataSteadyImpl(array_x, array_y, targetPoint_x, targetPoint_y, tolerance); } - /// - /// Will hold the HeadPose buffer and provide methods to check movement speed. - /// TODO Understand how to make this thread safe. - /// TODO I should be able to use inheritance to reduce duplication here, but - /// had difficultly with templating. + // + /// returns true if the data more recent than the time have a standard deviation + /// less than the tolerance. /// - public class HeadPoseBuffer : RingBuffer + /// in seconds to sample over + /// the allowable standard deviation + public bool gazeSteady(float time, float tolerance) { - public HeadPoseBuffer(int capacity) - : base(capacity, true) { } - - /// - /// Adds a new head pose to the buffer if it has a different timestamp to the last added head pose. - /// Returns true if the point was added, false otherwise. - /// - public bool addIfNew(HeadPose item) - { - if ( - size == 0 - || item.TimeStampMicroSeconds != buffer[getLatestEntryIndex()].TimeStampMicroSeconds - ) - { - base.Add(item); - return true; - } + if (!hasEnoughData) return false; - } + int timeInMicroseconds = (int)(time * 1e6); + List gazePoints = GetItems(timeInMicroseconds); + GetXYArrays(gazePoints, out float[] array_x, out float[] array_y); + float targetPoint_x = Queryable.Average(array_x.AsQueryable()); + float targetPoint_y = Queryable.Average(array_y.AsQueryable()); - /// - /// Calculates the average speed of the head pose buffer over a given time period. - /// - /// The time period in seconds over which to calculate the average speed. - /// Whether to use pitch in the calculation. - /// The average speed of the head pose buffer over the given time period. - public float getSpeed(float speedTime, bool usePitch) + return dataSteadyImpl(array_x, array_y, targetPoint_x, targetPoint_y, tolerance); + } + + /// + /// Convert a list of gaze items into two arrays of x and y positions. + /// + /// The x array to fill + /// The y array to fill + private void GetXYArrays(List gazeItems, out float[] array_x, out float[] array_y) + { + array_x = new float[gazeItems.Count()]; + array_y = new float[gazeItems.Count()]; + for (int i = 0; i < gazeItems.Count(); i++) { - float averageSpeed = 0f; - if (size < 2) - return averageSpeed; - int timeInMicroseconds = (int)(speedTime * 1e6); - CopyToTwoArrays( - timeInMicroseconds, - usePitch, - out float[] posArray, - out float[] timeStampMicroSecondsArray - ); + array_x[i] = gazeItems[i].getX(); + array_y[i] = gazeItems[i].getY(); + } + } - float totalDistance = 0f; - for (int i = 0; i < posArray.Length - 1; i++) - { - totalDistance += Math.Abs(posArray[i + 1] - posArray[i]); - } + private bool dataSteadyImpl( + float[] xPositions, + float[] yPositions, + float targetPointX, + float targetPointY, + float tolerance + ) + { + bool steady = false; + float sumOfSquares_x = xPositions + .Select(val => (val - targetPointX) * (val - targetPointX)) + .Sum(); + float sumOfSquares_y = yPositions + .Select(val => (val - targetPointY) * (val - targetPointY)) + .Sum(); + float stddev_x = (float)Math.Sqrt(sumOfSquares_x / xPositions.Length); + float stddev_y = (float)Math.Sqrt(sumOfSquares_y / yPositions.Length); - double totalTime = - (timeStampMicroSecondsArray[0] - timeStampMicroSecondsArray[posArray.Length - 1]) - / 1e6; - averageSpeed = (float)(totalDistance / totalTime); - return averageSpeed; - } + if (stddev_x < tolerance && stddev_y < tolerance) + steady = true; + + return steady; + } +} - private int getLatestEntryIndex() +/// define an interface for the buffer data to enable us to create templated buffers. +interface ITimeStampMicroSeconds +{ + long TimeStampMicroSeconds(); +} + +/// +/// Wrapper for Tobii gazepoint data, implementing timestamp interface. +/// +class GazeItem : ITimeStampMicroSeconds +{ + public GazePoint gazePoint; + + public long TimeStampMicroSeconds() => gazePoint.TimeStampMicroSeconds; + + public float getX() => gazePoint.X; + + public float getY() => gazePoint.Y; +} + +/// +/// Wrapper for Tobii headpose data, implementing timestamp interface. +/// +abstract class HeadAngleItem : ITimeStampMicroSeconds +{ + protected HeadPose headPose; + + public HeadAngleItem(HeadPose headPose) + { + this.headPose = headPose; + } + + public long TimeStampMicroSeconds() => headPose.TimeStampMicroSeconds; + + public abstract float GetAngle(); +} + +/// +/// Wrapper for Tobii head pose pitch data, returning pitch angle. +/// +class HeadPitchItem : HeadAngleItem +{ + public HeadPitchItem(HeadPose headPose) + : base(headPose) { } + + public override float GetAngle() + { + return headPose.Rotation.PitchDegrees; + } +} + +/// +/// Wrapper for Tobii head pose yaw data, returning yaw angle. +/// +class HeadYawItem : HeadAngleItem +{ + public HeadYawItem(HeadPose headPose) + : base(headPose) { } + + public override float GetAngle() + { + return headPose.Rotation.YawDegrees; + } +} + +/// +/// Base class for the tracker buffers, provides functionality to add items in a continuous loop, overwriting +/// old data when the buffer is full. +/// +class TobiiBuffer + where T : ITimeStampMicroSeconds +{ + protected int lastAddedIndex; + private bool hasData; // flag to indicate if the buffer has any data + protected bool hasEnoughData; // flag to indicate if the buffer has enough data to calculate speed or steadiness. + private int minDataRequired; + protected T[] buffer; + + /// + /// Initializes a new instance of the class. + /// + /// The capacity of the buffer. + /// The minimum number of data points required for calculations to be meaningful. + public TobiiBuffer(int capacity, int minDataRequired) + { + if (capacity <= 0 || minDataRequired <= 0 || minDataRequired > capacity) { - int last_entry = tail - 1; - if (last_entry < 0) - last_entry = size - 1; - return last_entry; + throw new ArgumentException( + "Capacity and minDataRequired must be positive and minDataRequired must be less than or equal to capacity." + ); } + buffer = new T[capacity]; + lastAddedIndex = -1; + hasData = false; + hasEnoughData = false; + this.minDataRequired = minDataRequired; + } - /// - /// creates two arrays, one of positions and one of timestamps, from which we can - /// calculate average speed. Positions can either be yaw, or pitch, switched - /// by the value of usePitches - /// - /// The time period over which the speed is calculated - /// Whether to use pitch or yaw - /// The return array of positions - /// The return array of timestamps - private void CopyToTwoArrays( - long speedTime, - bool usePitches, - out float[] pos_array, - out float[] timestamp_array + /// + /// Adds a new item to the buffer if it has a different timestamp to the last added item. + /// returns true if the point was added, false otherwise. + /// + public bool addIfNew(T item) + { + if ( + !hasData + || item.TimeStampMicroSeconds() != buffer[lastAddedIndex].TimeStampMicroSeconds() ) { - if (size == 0) + hasData = true; + int newIndex = lastAddedIndex + 1; + if (newIndex + 1 >= minDataRequired) // index starts at 0, so items added = newIndex + 1 { - pos_array = new float[0]; - timestamp_array = new float[0]; - return; + hasEnoughData = true; } - int _index = getLatestEntryIndex(); + if (newIndex >= buffer.Length) + { + newIndex = 0; + } + buffer[newIndex] = item; + lastAddedIndex = newIndex; + return true; + } + return false; + } - int arrayIndex = 0; - pos_array = new float[size]; - timestamp_array = new float[size]; + /// + /// Return all items in the buffer created less than 'maximumAge' ago. + /// Items will be returned in order from newest to oldest. + /// + /// The maximum age (in microseconds) of the data to return. + protected List GetItems(long maximumAge) + { + List bufferItems = new List(); - pos_array[arrayIndex] = usePitches - ? buffer[_index].Rotation.PitchDegrees - : buffer[_index].Rotation.YawDegrees; - timestamp_array[arrayIndex] = buffer[_index].TimeStampMicroSeconds; - long timestamp = buffer[_index].TimeStampMicroSeconds - speedTime; + if (!hasData) + { + return bufferItems; + } - _index = _index > 0 ? _index - 1 : size - 1; - arrayIndex++; + int bufferIndex = lastAddedIndex; + bufferItems.Add(buffer[bufferIndex]); + long oldestAllowableTime = buffer[bufferIndex].TimeStampMicroSeconds() - maximumAge; - while (_index != head && buffer[_index].TimeStampMicroSeconds >= timestamp) - { - pos_array[arrayIndex] = usePitches - ? buffer[_index].Rotation.PitchDegrees - : buffer[_index].Rotation.YawDegrees; - timestamp_array[arrayIndex] = buffer[_index].TimeStampMicroSeconds; - _index = _index > 0 ? _index - 1 : size - 1; - arrayIndex++; - } - /// Add head if it falls in time range - if (size > 1 && _index == head && buffer[_index].TimeStampMicroSeconds >= timestamp) - { - pos_array[arrayIndex] = usePitches - ? buffer[_index].Rotation.PitchDegrees - : buffer[_index].Rotation.YawDegrees; - timestamp_array[arrayIndex] = buffer[_index].TimeStampMicroSeconds; - arrayIndex++; - } + bufferIndex = bufferIndex > 0 ? bufferIndex - 1 : buffer.Length - 1; - Array.Resize(ref pos_array, arrayIndex); - Array.Resize(ref timestamp_array, arrayIndex); + while ( + bufferIndex != lastAddedIndex + && buffer[bufferIndex].TimeStampMicroSeconds() >= oldestAllowableTime + ) + { + bufferItems.Add(buffer[bufferIndex]); + bufferIndex = bufferIndex > 0 ? bufferIndex - 1 : buffer.Length - 1; } + + return bufferItems; } }