Improve Python visualizer (#42)

* Misc lint
* Fix null target issue
* Improve Python visualizer
* Lint

Visuo-haptic Toolkit/Assets/Demo Scenes/Corridor/Scripts/CorridorRedirection.cs

@@ -21,16 +21,11 @@ public class CorridorRedirection : MonoBehaviour {
 		[SerializeField] private Transform start, end;
 		private float NormalizedDistance => Mathf.InverseLerp(start.position.z, end.position.z, UserHead.position.z);
 
-        private void Start() => redirectionScript = this.GetComponent<WorldRedirection>();
-
-        private void Update() {
+		private void Start() => redirectionScript = GetComponent<WorldRedirection>();
 
+		private void Update() {
 			redirectionApplied = redirectionScript.GetAngularRedirection().eulerAngles.y;
-			if (redirectionApplied > redirectionAmount) {
-				redirectionScript.StopRedirection();
-			} else {
-				redirectionScript.StartRedirection();
-			}
+			redirectionScript.redirect = redirectionApplied < redirectionAmount;
 		}
 	}
 }

Visuo-haptic Toolkit/Assets/Demo Scenes/Corridor/Scripts/CorridorRepresentation.cs

@@ -6,13 +6,10 @@ public class CorridorRepresentation : MonoBehaviour {
 
 	private WorldRedirection script;
 
-	private void Start() {
-		script = this.GetComponent<WorldRedirection>();
-	}
+	private void Start() => script = GetComponent<WorldRedirection>();
 
 	private void Update() {
-		virtualCorridor.SetPositionAndRotation(physicalCorridor.position, physicalCorridor.rotation);
-		virtualCorridor.position = physicalCorridor.position + script.scene.GetHeadToHeadVector();
+		virtualCorridor.SetPositionAndRotation(physicalCorridor.position + script.scene.GetHeadToHeadVector(), physicalCorridor.rotation);
 		virtualCorridor.RotateAround(script.scene.physicalHead.position, Vector3.up, -script.scene.HeadToHeadRedirection.eulerAngles.y);
 	}
 }

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Prefabs/Redirection/ToolkitWorldRedirection.prefab

@@ -11,8 +11,6 @@ GameObject:
   - component: {fileID: 3345062529341880481}
   - component: {fileID: 7088029602675669135}
   - component: {fileID: 3621196646475796290}
-  - component: {fileID: 2164931620210237325}
-  - component: {fileID: 3527750865740220717}
   m_Layer: 0
   m_Name: ToolkitWorldRedirection
   m_TagString: Untagged
@@ -54,13 +52,10 @@ MonoBehaviour:
     physicalHead: {fileID: 0}
     virtualHead: {fileID: 0}
     physicalTarget: {fileID: 0}
-    physicalTargetPosition: {x: 0, y: 0, z: 0}
     virtualTarget: {fileID: 0}
-    virtualTargetPosition: {x: 0, y: 0, z: 0}
     origin: {fileID: 0}
     targets:
     - {fileID: 0}
-    radius: 5
     applyDampening: 0
     applySmoothing: 0
     selectedTarget: {fileID: 0}
@@ -70,8 +65,14 @@ MonoBehaviour:
     previousHeadPosition: {x: 0, y: 0, z: 0}
     previousHeadRotation: {x: 0, y: 0, z: 0, w: 0}
     previousRedirection: 0
+    strategyDirection: {x: 0, y: 0, z: 0}
+    parameters: {fileID: 0}
+    aggregateFunction: 0
+    enableHybridOverTime: 1
+    enableHybridRotational: 1
+    enableHybridCurvature: 1
   redirect: 1
-  technique: 2
+  _technique: 0
   strategy: 3
 --- !u!114 &3621196646475796290
 MonoBehaviour:
@@ -86,34 +87,6 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   targetPrefab: {fileID: 84340963187888445, guid: 786584c1c713db54b9cad6864b80089b, type: 3}
-  active: {fileID: 0}
-  inactive: {fileID: 2100000, guid: fdc7faebe87ef18468772439a4b880b2, type: 2}
+  activeMaterial: {fileID: 0}
+  inactiveMaterial: {fileID: 0}
   orbitResolution: 3
---- !u!114 &2164931620210237325
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 200869264966477082}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: f426d30751fd5b14c9c1093c441414b3, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  physicalHead: {fileID: 0}
-  world: {fileID: 0}
-  characteristics: 100
---- !u!114 &3527750865740220717
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 200869264966477082}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: a9825707130c9eb4a9c129292679e71c, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  parameters: {fileID: 11400000, guid: c39097e50bc3898498d2edf378be3a21, type: 2}

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Calibration/QuickCalibration.cs

@@ -1,19 +1,16 @@
 using UnityEngine;
 
-using VHToolkit.Demo;
-
 namespace VHToolkit.Calibration {
 
 	public class QuickCalibration : MonoBehaviour {
 		[SerializeField] private Transform physicalHead;
 		[SerializeField] private Transform world;
 
-        private void Update() {
+		private void Update() {
 			if (Input.GetKeyDown(KeyCode.Space)) {
 				Debug.Log("Resetting world position");
 				world.SetPositionAndRotation(new(physicalHead.position.x, 0f, physicalHead.position.z),
 											 Quaternion.Euler(0f, physicalHead.rotation.eulerAngles.y, 0f));
-				// this.GetComponent<CorridorRedirection>().state = 0;
 			}
 		}
 	}

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Logging/JsonLogging.cs

@@ -51,7 +51,7 @@ public class JsonLogging : MonoBehaviour {
 		private string fileName;
 		private readonly int bufferSize = 10; // number of records kept before writing to disk
 
-		private List<JsonRedirectionData> records = new();
+		private Queue<JsonRedirectionData> records = new();
 
 		private Interaction script;
 
@@ -61,7 +61,7 @@ private void Start() {
 		}
 
 		private void Update() {
-			void writeRecords<Data>(List<Data> records) {
+			void writeRecords<Data>(Queue<Data> records) {
 				if (records.Count > bufferSize) {
 					using var writer = new StreamWriter(fileName, append: true);
 					foreach (var record in records) {
@@ -71,15 +71,14 @@ void writeRecords<Data>(List<Data> records) {
 				}
 			}
 
-			records.Add(new JsonRedirectionData(script));
+			records.Enqueue(new JsonRedirectionData(script));
 			writeRecords(records);
 		}
 
 		public void CreateNewFile() {
-			Debug.Log("Create Json log file.");
 			Directory.CreateDirectory(logDirectoryPath);
 			fileName = $"{logDirectoryPath}{optionalFilenamePrefix}{DateTime.Now:yyyy-MM-dd_HH-mm-ss}.jsonl";
-			records = new List<JsonRedirectionData>();
+			records = new Queue<JsonRedirectionData>();
 		}
 	}
 }

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Redirection/Body Redirection/Techniques.cs

@@ -159,7 +159,7 @@ public override void Redirect(Scene scene) {
 	public class ResetBodyRedirection : BodyRedirectionTechnique {
 
 		public override void Redirect(Scene scene) {
-			foreach ((var limb, var t) in scene.limbs.Zip(scene.GetLimbInstantTranslation())) {
+			foreach (var (limb, t) in scene.limbs.Zip(scene.GetLimbInstantTranslation())) {
 				limb.virtualLimb.ForEach(vlimb => vlimb.Translate(t + t.magnitude * Toolkit.Instance.parameters.ResetRedirectionCoeff * (limb.physicalLimb.position - vlimb.position).normalized, relativeTo: Space.World));
 			};
 		}
@@ -172,7 +172,7 @@ public override void Redirect(Scene scene) {
 	public class NoBodyRedirection : BodyRedirectionTechnique {
 
 		public override void Redirect(Scene scene) {
-			foreach ((var limb, var t) in scene.limbs.Zip(scene.GetLimbInstantTranslation())) {
+			foreach (var (limb, t) in scene.limbs.Zip(scene.GetLimbInstantTranslation())) {
 				limb.virtualLimb.ForEach(vlimb => vlimb.Translate(t, relativeTo: Space.World));
 			}
 		}

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Redirection/Interaction.cs

@@ -7,14 +7,10 @@ namespace VHToolkit.Redirection {
 	/// <summary>
 	/// This is the base class for the visuo-haptic techniques managers such as BodyRedirection.
 	/// </summary>
-    public class Interaction : MonoBehaviour {
+	public class Interaction : MonoBehaviour {
 		public Scene scene;
 		public bool redirect = false;
 
-		public void StartRedirection() => redirect = true;
-
-		public void StopRedirection() => redirect = false;
-
 		public List<Transform> GetPhysicalLimbs() => scene.limbs.ConvertAll(limb => limb.physicalLimb);
 
 		public void AddPhysicalLimb(Transform physicalLimb, IEnumerable<Transform> virtualLimbs) => scene.limbs.Add(new(physicalLimb, virtualLimbs.ToList()));
@@ -24,5 +20,5 @@ public class Interaction : MonoBehaviour {
 		public List<Limb> GetLimbs() => scene.limbs;
 
 		public void SetLimbs(IEnumerable<Limb> limbs) => scene.limbs = limbs.ToList();
-    }
+	}
 }

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Redirection/World Redirection/Strategies.cs

@@ -45,7 +45,7 @@ float bearing(Transform t) => Vector3.Angle(
 				Vector3.ProjectOnPlane(t.position - scene.physicalHead.position, Vector3.up));
 			scene.selectedTarget = scene.targets.Where(t => t != null).MinBy(bearing);
 			if (scene.selectedTarget == null) {
-				Debug.LogWarning("Using SteerToMultipleTargets but scene.targets is empty.");
+				Debug.LogWarning("Using SteerToMultipleTargets but scene.targets is empty or all-null.");
 				return scene.physicalHead.forward;
 			}
 			return scene.selectedTarget.position - scene.physicalHead.position;
@@ -60,8 +60,6 @@ class SteerInDirection : WorldRedirectionStrategy {
 		/// </summary>
 		/// <param name="scene"></param>
 		/// <returns></returns>
-		public override Vector3 SteerTo(Scene scene) {
-			return scene.physicalHead.rotation * scene.strategyDirection;
-		}
+		public override Vector3 SteerTo(Scene scene) => scene.physicalHead.rotation * scene.strategyDirection;
 	}
 }

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Utils/Editor/Visualisation/LoggingEditor.cs

@@ -8,8 +8,7 @@ public override void OnInspectorGUI() {
 			base.OnInspectorGUI();
 
 			if (GUILayout.Button("Launch visualizer")) {
-				Socket socket = (Socket)target;
-				socket.LaunchVisualizer();
+				(target as Socket).LaunchVisualizer();
 			}
 		}
 	}

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Visualisation/Socket.cs

@@ -101,7 +101,6 @@ private void StartSendingMessages() {
 
 		private void SendMessage(TcpClient client, WorldRedirectionData redirectionData) {
 			string json = JsonUtility.ToJson(redirectionData);
-			Debug.Log($"Sending: {json}");
 			// Translate the passed message into ASCII and store it as a Byte array.
 			Byte[] messageBytes = System.Text.Encoding.ASCII.GetBytes(json + '\n');
 
@@ -121,7 +120,6 @@ private void Update() {
 								  (script.redirect && scene.enableHybridRotational) ? Razzaque2001Rotational.GetRedirection(scene) : 0f,
 								  (script.redirect && scene.enableHybridCurvature) ? Razzaque2001Curvature.GetRedirection(scene) : 0f,
 								  (float)(DateTime.Now - startTime).TotalSeconds);
-			Debug.Log(redirectionData.ToString());
 		}
 	}
 }

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Visualisation/TopViewCamera.CS

@@ -6,9 +6,6 @@ using UnityEngine;
 public class TopViewCamera : MonoBehaviour {
 	public Transform trackedObject;
 
-    private void Update() => transform.SetPositionAndRotation(
-            new(trackedObject.position.x, transform.position.y, trackedObject.position.z),
-            transform.rotation
-            // Quaternion.Euler(90f, trackedObject.rotation.eulerAngles.y, 0f)
-            );
+	private void Update() => transform.position =
+			new(trackedObject.position.x, transform.position.y, trackedObject.position.z);
 }

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Visualisation/WRVisuals.cs

@@ -118,9 +118,9 @@ private void UpdateTargetsOrbit(Scene scene, Vector3 leftTarget, Vector3 rightTa
 		}
 
 		private void MultipleTargets(Scene scene) {
-			FixTargetCounts(scene.targets.Count);
+			FixTargetCounts(scene.targets.Count(x => x != null));
 
-			foreach (var (first, second) in targets.Zip(scene.targets)) {
+			foreach (var (first, second) in targets.Zip(scene.targets.Where(x => x != null))) {
 				first.transform.position = second.position;
 
 				if (second == scene.selectedTarget) {

python/RedirectionPlotter.py

@@ -5,7 +5,6 @@
 from gettext import translation
 import json
 import pathlib
-import re
 import matplotlib
 import matplotlib.pyplot as plt
 
@@ -16,10 +15,10 @@
 
 localedir = pathlib.Path(__file__).parent / 'locales'
 translation('messages', localedir,languages=['fr_FR'], fallback=True).install()
-_ = builtins.__dict__['_'] #  convince linters '_' is defined
+_ = builtins.__dict__['_']  # Convince linters '_' is defined
 
 
-plt.ion() # turn on interactive mode
+plt.ion()  # Turn on interactive mode
 fig = plt.figure(figsize=(10,6), constrained_layout=True)
 ax1 = plt.subplot(211)
 box = ax1.get_position()
@@ -35,43 +34,43 @@
 with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as serversocket:
     serversocket.bind(("localhost", 13000))
     serversocket.listen(5)
-    clientsocket, __ = serversocket.accept()
-    with clientsocket.makefile() as file:
-        for line in file:
-            if not plt.get_fignums():
-                break
-            d = json.loads(line)
-            for k, l in {
-                "overTime": otrs, "rotational": rs, "curvature": cs, "overTimeSum": otrsSum,
-                "rotationalSum": rsSum, "curvatureSum": csSum, "time": ys, "maxSums": maxSums
-            }.items():
-                l.append(d[k])
-
-            ax1.clear()
-            ax2.clear()
-
-            ax1.set_ylim((0, 180))
-            ax1.set_title(_('Redirection amounts over time'), y=1.35)
-            ax1.set_ylabel(_('Redirection Applied to User (degrees)'))
-            labels=(_('Over time rotation'), _('Rotational'), _('Curvature'))
-            ax1.stackplot(
-                ys, otrsSum, rsSum, csSum, *zip(*maxSums),
-                labels=list(labels) + [l + '_max' for l in labels],
-                colors="rgbymc")
-            # ax1.plot(ys[-60:], hybrid[-60:], color='b', label='Hybrid', linewidth=0.5)
-
-            # ax2.set_xticks(list(map(int, ys[::10])))
-            # ax2.set_xlim((ys[-1] - 30, ys[-1]))
-            ax2.set_xlabel(_('Time from start (seconds)'), loc='right')
-            ax2.set_ylabel(_('Redirection per Second (degrees/s)'))
-            for series, color, label in zip([otrs, rs, cs], "rgb", labels):
-                ax2.plot(ys, series, color=color, label=label, linewidth=1)
-
-
-            ax1.legend(
-                loc='lower left',
-                bbox_to_anchor=(0, 1, 1, 0),
-                mode="expand",
-                ncols=3,
-                title=_("Redirection source"))
-            plt.pause(0.05)
+    with serversocket.accept()[0] as clientsocket:
+        with clientsocket.makefile() as file:
+            for line in file:
+                if not plt.get_fignums():
+                    break
+                d = json.loads(line)
+                for k, l in {
+                    "overTime": otrs, "rotational": rs, "curvature": cs, "overTimeSum": otrsSum,
+                    "rotationalSum": rsSum, "curvatureSum": csSum, "time": ys, "maxSums": maxSums
+                }.items():
+                    l.append(d[k])
+
+                ax1.clear()
+                ax2.clear()
+
+                ax1.set_ylim((0, 180))
+                ax1.set_title(_('Redirection amounts over time'), y=1.35)
+                ax1.set_ylabel(_('Redirection Applied to User (degrees)'))
+                labels=(_('Over time rotation'), _('Rotational'), _('Curvature'))
+                ax1.stackplot(
+                    ys, otrsSum, rsSum, csSum, *zip(*maxSums),
+                    labels=list(labels) + [l + '_max' for l in labels],
+                    colors="rgbymc")
+                # ax1.plot(ys[-60:], hybrid[-60:], color='b', label='Hybrid', linewidth=0.5)
+
+                # ax2.set_xticks(list(map(int, ys[::10])))
+                # ax2.set_xlim((ys[-1] - 30, ys[-1]))
+                ax2.set_xlabel(_('Time from start (seconds)'), loc='right')
+                ax2.set_ylabel(_('Redirection per Second (degrees/s)'))
+                for series, color, label in zip([otrs, rs, cs], "rgb", labels):
+                    ax2.plot(ys, series, color=color, label=label, linewidth=1)
+
+
+                ax1.legend(
+                    loc='lower left',
+                    bbox_to_anchor=(0, 1, 1, 0),
+                    mode="expand",
+                    ncols=3,
+                    title=_("Redirection source"))
+                plt.pause(0.05)