Feature/spherical coordinates quaternion (#14)

* chore: configure pre-commit

* chore: update credits

* feat: quaternions as spherical coords

* chore(pyinstaller): bump version number

* chore: pre-commit all files

.github/workflows/python-app.yml

@@ -23,7 +23,7 @@ jobs:
           draft: false
           prerelease: false
           generate_release_notes: false
-          
+
   build:
     name: Build Release
     needs: create_release
@@ -44,7 +44,7 @@ jobs:
         uses: actions/setup-python@v3
         with:
           python-version: "3.11"
-          
+
       - name: Install dependencies
         run: |
           pip install -U wheel pip setuptools

.pre-commit-config.yaml

@@ -0,0 +1,17 @@
+repos:
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.1.13
+    hooks:
+    - id: ruff
+      args: [--fix, --exit-non-zero-on-fix]
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+      - id: check-added-large-files
+        args: ['--maxkb=2000']
+      - id: end-of-file-fixer
+      - id: trailing-whitespace
+      - id: check-ast
+      - id: check-json
+      - id: check-toml
+      - id: check-yaml

README.md

@@ -62,4 +62,4 @@ signtool sign /tr http://timestamp.sectigo.com /td sha256 /a sensor-tile-osc\dis
 
 Developed by Paulo Chiliguano, Travis West and KA HO Wong.
 
-Conducted by Roberto Alonso Trillo @ HKBU Department of Music.
+Conducted by Dr Roberto Alonso Trillo @ HKBU Academy of Music.

calibrator.py

@@ -20,7 +20,7 @@ def __init__(self):
 
         # NOTE: the gyro is not yet calibrated in pyMIMU
         self.gyro_transform = self.DEG_RAD_RATIO * np.identity(3)
-        
+
         self.magn_transform = np.identity(3)
 
     def calibrate(self, vector_measurement, matrix_transform, vector_bias):

fusion_filter.py

@@ -1,9 +1,10 @@
 
 
-# Modified by Paulo Chiliguano and Travis West
+# Modified by Paulo Chiliguano
+# Developed by Travis West
 # Directed by Dr Roberto Alonso Trillo
-# Department of Music - Hong Kong Baptist University
-# 2022
+# HKBU Academy of Music
+# 2024
 
 """Fusion filter
 """
@@ -60,7 +61,7 @@ def __init__(self):
         self.anm1       = np.zeros(3)
         self.aa         = np.zeros(3)
         self.gyro_bias = np.zeros(3)
-        
+
 
     def set_gyro_bias_alpha(self, v):
         self.galpha = v

gesture_model.py

@@ -1,9 +1,10 @@
 
 
-# Modified by Paulo Chiliguano and Travis West
+# Modified by Paulo Chiliguano
+# Developed by Travis West
 # Directed by Dr Roberto Alonso Trillo
-# Department of Music - Hong Kong Baptist University
-# 2022
+# HKBU Academy of Music
+# 2024
 
 """Gesture model
 """
@@ -42,4 +43,4 @@ def tick(self, accl: List[float], gyro: List[float], magn: List[float]):
         self.roll = self.RAD_DEG_RATIO * np.arctan2(self.matrix[2,1], self.matrix[2,2])
         self.movement_acceleration = self.fusion_filter.ma_sensor
         self.acceleration_derivative = self.fusion_filter.da
-        self.movement_velocity = self.movement_velocity * 0.9999 + self.movement_acceleration
+        self.movement_velocity = self.movement_velocity * 0.9999 + self.movement_acceleration

metabow_bridge.py

@@ -1,9 +1,9 @@
 #!/usr/bin/python
 
-# Modified by Paulo Chiliguano (@pauloesteban) and KA HO Wong
+# Developed by Paulo Chiliguano and KA HO Wong
 # Directed by Dr Roberto Alonso Trillo
-# Department of Music - Hong Kong Baptist University
-# 2023
+# HKBU Academy of Music
+# 2024
 
 import asyncio
 import csv
@@ -21,7 +21,7 @@
 
 from pythonosc import udp_client
 from gesture_model import GestureModel
-from utils import bytearray_to_fusion_data, log_file_path
+from utils import bytearray_to_fusion_data, log_file_path, pyquaternion_as_spherical_coords
 
 
 class FusionThread(threading.Thread):
@@ -97,7 +97,7 @@ def __init__(self, loop):
             'accl_roll'
         ]
 
-    
+
     def _instantiate_scanner(self):
         try:
             self.scanner = BleakScanner(self.device_detected)
@@ -122,15 +122,15 @@ def on_exit(self):
     def create_ports_frame(self, container):
         label_frame = ttk.Labelframe(container, text='UDP Ports', relief=tk.RIDGE)
         label_frame.grid(row=0, column=0, sticky=tk.W)
-        title = ttk.Label(label_frame, text=f"Device Port:")
+        title = ttk.Label(label_frame, text="Device Port:")
         title.grid(row=0, column=0, sticky=tk.W)
         self.port0_spinbox = ttk.Spinbox(label_frame,
                                          from_=1024,
                                          to=49151,
                                          textvariable=self.port0,
                                          width=10)
         self.port0_spinbox.grid(row=0, column=1, sticky=tk.W)
-        title1 = ttk.Label(label_frame, text=f"Mirror Port:")
+        title1 = ttk.Label(label_frame, text="Mirror Port:")
         title1.grid(row=1, column=0, sticky=tk.W)
         self.port1_spinbox = ttk.Spinbox(label_frame,
                                          from_=1024,
@@ -159,14 +159,14 @@ def create_monitoring_frame(self, container):
         self.monitoring_label.state(['disabled'])
 
         return label_frame
-        
-    
+
+
     def items_selected(self, event):
         selected_ix = self.devices_listbox.curselection()
         selected_devices_keys = [self.devices_listbox.get(i) for i in selected_ix]
         self.selected_devices = [self.AM1V330_devices[i] for i in selected_devices_keys]
 
-    
+
     def create_scanner_frame(self, container):
         label_frame = ttk.Labelframe(container, text='Devices', relief=tk.RIDGE)
         label_frame.grid(row=0, column=0, sticky=tk.W)
@@ -214,7 +214,7 @@ def create_scanner_frame(self, container):
 
         return label_frame
 
-    
+
     async def device_detected(self, device, _):
         if device.name == self.device_name:
             self.AM1V330_devices[device.address] = device  # bleak.backends.device.BLEDevice
@@ -229,7 +229,7 @@ async def start_scan(self):
         self.stop_scan_button.state(['!disabled'])
         self.connect_button.state(['disabled'])
         self.refresh_listbox = True
-    
+
 
     async def stop_scan(self):
         self.start_scan_button.state(['!disabled'])
@@ -255,7 +255,7 @@ async def connect(self):
         self._create_csv_file()
         await asyncio.gather(*(self.notify(i, device) for i, device in enumerate(self.selected_devices)))
 
-    
+
     async def notify(self, i, device):
         async with BleakClient(device) as client:
             if self.option_address.get() == "0":
@@ -309,7 +309,7 @@ def notification_handler(self, device_number: int | str, sender: int, data: byte
         else:
             self._send_messages(device_number, self.udp_client, self.model)
         write_thread.join()
-        
+
 
     def _write_log(self, timestamp, device_number, fusion_data, model):
         data = [device_number,
@@ -322,16 +322,19 @@ def _write_log(self, timestamp, device_number, fusion_data, model):
                 model.skewness,
                 model.tilt,
                 model.roll]
-        
+
         with open(self.log_name, 'a', encoding='UTF8') as f:
             writer = csv.writer(f)
             writer.writerow(data)
 
 
     def _send_messages(self, device_number, udp_client, model):
         address_quaternion = f"/{device_number}/quaternion"
-        quaternion = model.quaternion.elements.tolist()
+        elements = model.quaternion.elements
+        quaternion = elements.tolist()
         udp_client.send_message(address_quaternion, quaternion)
+        spherical_coords = pyquaternion_as_spherical_coords(elements)
+        udp_client.send_message(f"/{device_number}/spherical_coords", spherical_coords.tolist())
         address_sensor_frame = f"/{device_number}/motion_acceleration/sensor_frame"
         movement_accl = model.movement_acceleration.tolist()
         udp_client.send_message(address_sensor_frame, movement_accl)
@@ -359,14 +362,14 @@ def populate_devices(self):
             for k, v in self.AM1V330_devices.items():
                 self.devices_listbox.insert('end', k)
 
-    
+
     def _create_csv_file(self):
         self.log_name = log_file_path()
         with open(self.log_name, 'w', encoding='UTF8') as f:
             writer = csv.writer(f)
             writer.writerow(self.csv_header)
 
-    
+
     async def show(self):
         while not self.is_destroyed:
             if self.refresh_listbox:
@@ -387,4 +390,4 @@ async def metabow(self):
 
 
 if __name__ == '__main__':
-    asyncio.run(App().metabow())
+    asyncio.run(App().metabow())

metabow_bridge.spec

@@ -53,7 +53,7 @@ app = BUNDLE(
     name='bridge.app',
     icon=None,
     bundle_identifier='com.metabow.bridge',
-    version='1.2.0',
+    version='1.4.0',
     info_plist={
         'NSBluetoothAlwaysUsageDescription': 'This app uses Bluetooth.'
     }

requirements.txt

@@ -1,4 +1,5 @@
-numpy<1.26,>=1.23.2
+numpy<1.26.5,>=1.26
+numpy-quaternion>=2023.0.2
 pyquaternion<1.0.0
 python-osc<1.9.0
 bleak<0.21,>=0.15.1

utils.py

@@ -1,9 +1,10 @@
-# Created by Paulo Chiliguano (@pauloesteban)
+# Developed by Paulo Chiliguano
 # Directed by Dr Roberto Alonso Trillo
 # Department of Music - Hong Kong Baptist University
-# 2022
+# 2024
 
 
+import quaternion
 from datetime import datetime
 from os import makedirs
 from os.path import expandvars, isdir, join
@@ -118,10 +119,15 @@ def log_file_path() -> str:
     else:
         homefolder = expandvars(r"$HOME")
 
-    dir = join(homefolder, "Desktop", "Metabow Logs")
-    
-    _create_folder_in_desktop(dir)
+    log_dir = join(homefolder, "Desktop", "Metabow Logs")
+
+    _create_folder_in_desktop(log_dir)
     now = datetime.now().strftime("%Y%m%d_%H%M%S")
-    filename = join(dir, f"mb_{now}.csv")
+    filename = join(log_dir, f"mb_{now}.csv")
+
+    return filename
+
 
-    return filename
+def pyquaternion_as_spherical_coords(elements):
+    elems = quaternion.from_float_array(elements)
+    return quaternion.as_spherical_coords(elems)