def writeLogData( self ):
try:
f = open( self.log_file, "a" )
pos = self.tracker_position.getValue()
orn = self.tracker_orientation.getValue()
force = hdev.force.getValue()


now= datetime.datetime.now()
f.write( "%s\t%s:%s:%s-%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n" % (self.next_target_index,
now.hour, now.minute, now.second, now.microsecond, time.getValue()-self.experiment_start_time, pos.x, pos.y, pos.z, orn.x, orn.y, orn.z, orn.angle, force.x, force.y, force.z) )
f.close()
except:
print "Unable to write log data to file: ", self.log_file


# The main function of the experiment. Called once per scene-graph loop.
def experimentMain( self ):
Experiment.Experiment.experimentMain( self )
current_time = time.getValue()

last_mode = self.mode

current_speed = self.tracker_velocity.getValue().length()

if( self.mode == "WAIT_TO_SHOW" ):
if( (current_time - self.target_change_time) > self.current_target.getTargetPauseTime() ):
self.current_target.showTarget()
self.target_show_time = current_time
self.max_speed = 0
self.mode = "OUTSIDE_TARGET"
self.onTargetMoveOutside()
elif( self.mode == "OUTSIDE_TARGET" ):
if( self.current_target.isInsideTarget( self.tracker_position.getValue() )):
self.mode = "INSIDE_TARGET"
self.onTargetMoveInside()
self.moveToNextTarget()
moveCursor(self.current_target.getCursorPosition().x)

if( self.mode != last_mode ):
print "Switching mode: ", self.mode

return "CONTINUE"

def moveCursor(tx):
pos = hdev.trackerPosition.getValue()
x = pos.x

fx = calculateForce(tx-x)

global forcefield

if(fx!=0):
forcefield.force.setValue( Vec3f(fx,0,-10) )
Timer(.1, moveCursor, [tx]).start()
else:
forcefield.force.setValue( Vec3f(0,0,-10) )

def applyPulse():
try:
setSerialPort(1)
Timer(.05, setSerialPort, [0]).start()
except:
print "Unable to apply pulse"

class FoodButton(AutoUpdate( SFString ) ):
def update(self, even ):
routes_in = self.getRoutesIn()
temp = routes_in[0].getValue()
return temp

foodButton = FoodButton()

class ActionButton( AutoUpdate( SFInt32 ) ):
def update( self, event ):
routes_in = self.getRoutesIn()
temp = routes_in[0].getValue()
when = datetime.datetime.now()
if temp==1:
#applyPulse()
print 'gotcha'
print when
return temp

actionbutton = ActionButton()

def setSerialPort(value):
global serialPort
serialPort.setRTS(value)

# Get the group to use from the x3d file.
main_group,forcefield = references.getValue()

# Get the haptics device currently in use.
hdev = None
di = getActiveDeviceInfo()
if( di and len( di.device.getValue() ) ):
hdev = di.device.getValue()[0]
hdev.stylus.setValue( createX3DNodeFromURL( "ast_pointer.wrl" )[0] )

if( not(hdev ) ):
print "Could not find any haptics device."
sys.exit( 0 )