#10 (stage 1) implement complementary filter to fuse acc/gyro #11

tribbloid · 2024-03-02T06:56:02Z

first draft, external API mimicking AirAPI_Windows

if you think the code convention looks good, I'll gradually add more sensors & algorithm

ESKF may take some time tho

.gitignore

badicsalex · 2024-03-04T08:37:41Z

Cargo.toml


 [target.'cfg(not(target_os = "android"))'.dependencies]
 hidapi = { version = "2.4.1", optional = true }


 [dev-dependencies]
 clap = { version = "4.3", features = ["derive"] }
-opencv = { version = "0.84.2", default-features = false, features = ["highgui", "imgproc", "calib3d"] }
+#opencv = { version = "0.84.2", default-features = false, features = ["highgui", "imgproc", "calib3d"] }


I agree that opencv should actually be removed and the relevant example moved into a different crate, but don't just leave it commented.

sorry that was interference between branches, will add back ASAP

badicsalex · 2024-03-04T08:37:54Z

Cargo.toml

+#opencv = { version = "0.84.2", default-features = false, features = ["highgui", "imgproc", "calib3d"] }
+
+[lib]
+crate-type = ["cdylib", "rlib"]


As I said below, C bindings should not be part of this crate.

It could be an optional feature somehow, or you should create a glue crate for your project.

badicsalex · 2024-03-04T08:38:22Z

rust-toolchain.toml

@@ -0,0 +1,4 @@
+[toolchain]


Is there a specific reason to have this file? Especially with musl.

I'm using RustRover/ClionNova, they can't find the installed toolchain automatically

You should find an alternative way to fix your IDE, because this is basically a global override on the project. Most people wouldn't want to build for this target.

badicsalex · 2024-03-04T08:38:38Z

rustfmt.toml

@@ -0,0 +1,10 @@
+format_code_in_doc_comments = true


I want to use rustfmt at factory setting always, so please don't.

will remove

src/connection.rs

src/lib.rs

badicsalex · 2024-03-04T08:51:15Z

src/lib.rs

@@ -186,6 +247,17 @@ pub trait ARGlasses: Send {
    fn serial(&mut self) -> Result<String>;
    /// Get a single sensor event. Blocks.
    fn read_event(&mut self) -> Result<GlassesEvent>;
+    /// read until next valid event. Blocks.
+    fn next_event(&mut self) -> GlassesEvent {


This is not really useful on the public interface. Instead this should be folded into the Fusion code.

badicsalex · 2024-03-04T08:51:53Z

src/lib.rs

@@ -266,7 +338,7 @@ pub fn any_glasses() -> Result<Box<dyn ARGlasses>> {
    if let Ok(glasses) = mad_gaze::MadGazeGlow::new() {
        return Ok(Box::new(glasses));
    };
-    Err(Error::NotFound)
+    Err(Error::NotFound) // TODO: this may hide some errors in reporting, need to aggregate them as cause


Probably, but this should be a github Issue instead.

badicsalex · 2024-03-04T08:53:38Z

src/lib.rs

+
+#[no_mangle]
+pub extern "C" fn StopConnection() -> i32 {
+    0 // TODO: need impl in ARGlasses


Note: existing.lock().unwrap() = None would do the trick.

badicsalex · 2024-03-05T06:33:16Z

Cargo.lock

This stayed in the commit accidentally I think.

badicsalex · 2024-03-05T06:38:20Z

rust-toolchain.toml

@@ -0,0 +1,4 @@
+[toolchain]


You should find an alternative way to fix your IDE, because this is basically a global override on the project. Most people wouldn't want to build for this target.

badicsalex · 2024-03-05T06:39:15Z

src/connection.rs

+    pub attitude: UnitQuaternion<f32>,
+    // just old readings
+    // prevAcc: (Vector3<f32>, u64),
+    prev_gyro: (Vector3<f32>, u64),


Please split this up into two fields: prev_gyro and prev_gyro_timestamp

src/connection.rs

src/lib.rs

badicsalex · 2024-03-12T08:04:51Z

examples/before.sh

+# to run applications without sudo privileges, connect the glasses,
+# make sure that permission to device files are set to 777 (it will be reverted after next login):
+
+sudo chmod 777 /dev/hidraw*


This shouldn't be needed if you use the udev rules in the udev directory of this repo.

badicsalex · 2024-03-12T08:05:15Z

examples/connection_sync.rs

@@ -0,0 +1,33 @@
+// Copyright (C) 2023, Alex Badics


You can write your own name on your own code :)

badicsalex · 2024-03-12T08:07:05Z

src/lib.rs

+*/
+pub trait Fusion: Send {
+    fn glasses(&mut self) -> &mut Box<dyn ARGlasses>;
+    // TODO: only declared mutable as many API of ARGlasses are also mutable


You could have two APIs: glasses and glasses_mut

badicsalex · 2024-03-12T08:08:08Z

src/lib.rs

+
+    fn attitude_euler(&self) -> Vector3<f32>;
+
+    fn update(&mut self) -> ();


This should most probably be Result<()> because it can definitely fail.

badicsalex · 2024-03-12T08:09:18Z

src/fusion.rs

+    /// read until next valid event. Blocks.
+    fn next_event(&mut self) -> GlassesEvent {
+        loop {
+            match self.glasses.read_event() {


This will create a 100% CPU usage infinite loop if the glasses are disconnected.

badicsalex · 2024-03-12T08:09:37Z

src/fusion.rs

+                    gyroscope,
+                    timestamp,
+                } => {
+                    if gyroscope != Vector3::zeros() {


Why is this check needed?

badicsalex · 2024-03-12T08:10:03Z

src/fusion.rs

+    pub attitude: UnitQuaternion<f32>,
+    // just old readings
+    // prevAcc: (Vector3<f32>, u64),
+    pub prev_gyro: (Vector3<f32>, u64),


I still think this should be split up into two fields.

badicsalex · 2024-03-12T08:13:31Z

src/fusion.rs

+    }
+
+    fn update_gyro(&mut self, gyro: Vector3<f32>, t: u64) -> () {
+        let d_t1 = ((t - self.prev_gyro.1) as f32) / 1000.0;


1000.0 is incorrect. Timestamps are in microseconds.

badicsalex · 2024-03-12T08:17:46Z

src/lib.rs

+
+    fn attitude_quaternion(&self) -> UnitQuaternion<f32>;
+
+    fn attitude_euler(&self) -> Vector3<f32>;


I'm not sure this is useful on the public interface. It's basically equivalent to attitude_quaternion.euler_angles()

And then you can just call it attitude

badicsalex · 2024-03-12T08:18:34Z

src/lib.rs

+// static i1: OnceLock<Box<u64>> = OnceLock::new();
+// static i2: OnceLock<Box<dyn T1>> = OnceLock::new();
+
+pub struct Connection {


This whole Connection thing should go into a separate module (or preferably crate)

add NaiveCF as the default Fusion impl, demonstrated by an example glasses discovery process has more verbose logging add rustfmt

badicsalex requested changes Mar 4, 2024

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badicsalex mentioned this pull request Mar 4, 2024

Implement Kalman filter to read Quaterion or Euler Angles from continous ARGlasses connection. #10

Open

badicsalex requested changes Mar 5, 2024

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tribbloid force-pushed the complementary-filter/dev1 branch 2 times, most recently from 0078968 to 4eee7c8 Compare March 5, 2024 20:52

badicsalex requested changes Mar 12, 2024

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add Fusion

5c0199c

add NaiveCF as the default Fusion impl, demonstrated by an example glasses discovery process has more verbose logging add rustfmt

tribbloid force-pushed the complementary-filter/dev1 branch from cc26f90 to 5c0199c Compare May 8, 2024 21:09

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#10 (stage 1) implement complementary filter to fuse acc/gyro #11

#10 (stage 1) implement complementary filter to fuse acc/gyro #11

tribbloid commented Mar 2, 2024

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		fn attitude_euler(&self) -> Vector3<f32>;

		fn update(&mut self) -> ();


		fn attitude_quaternion(&self) -> UnitQuaternion<f32>;

		fn attitude_euler(&self) -> Vector3<f32>;

#10 (stage 1) implement complementary filter to fuse acc/gyro #11

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#10 (stage 1) implement complementary filter to fuse acc/gyro #11

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tribbloid commented Mar 2, 2024

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