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improve stability and reduce delay
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@teamclouday
teamclouday committed Aug 22, 2021
1 parent 68fc5a6 commit 0abf247
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Showing 7 changed files with 144 additions and 86 deletions.
4 changes: 2 additions & 2 deletions Android/app/build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -7,8 +7,8 @@ android {
applicationId "com.example.androidsteering"
minSdkVersion 19
targetSdkVersion 29
versionCode 4
versionName "2.0.0"
versionCode 5
versionName "2.1.0"
testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
}
buildTypes {
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68 changes: 40 additions & 28 deletions Android/app/src/main/java/com/example/androidsteering/Connection.java
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Original file line number Diff line number Diff line change
Expand Up @@ -43,59 +43,71 @@ static class MyBuffer
private boolean updatePitch = true;
private boolean updateRoll = true;

public synchronized void addData(float pitch, float roll)
public void addData(float pitch, float roll)
{
if(!running) return;
if(updatePitch) buff.add(new Motion.MyMove(false, 0, pitch));
if(updateRoll) buff.add(new Motion.MyMove(false, 1, roll));
int idx = 0;
while(buff.size() > MAX_SIZE && idx < buff.size())
synchronized (buff)
{
if(buff.get(idx).MotionButton)
if(updatePitch) buff.add(new Motion.MyMove(false, 0, pitch));
if(updateRoll) buff.add(new Motion.MyMove(false, 1, roll));
int idx = buff.size() - 1;
while(buff.size() > MAX_SIZE && idx >= 0)
{
idx++;
continue;
if(buff.get(idx).MotionButton)
{
idx--;
continue;
}
buff.remove(idx);
}
buff.remove(idx);
}
}

public synchronized void addData(int status, float val)
public void addData(int status, float val)
{
if(!running) return;
buff.add(new Motion.MyMove(false, status, val));
int idx = 0;
while(buff.size() > MAX_SIZE && idx < buff.size())
synchronized (buff)
{
if(buff.get(idx).MotionButton)
buff.add(new Motion.MyMove(false, status, val));
int idx = buff.size() - 1;
while(buff.size() > MAX_SIZE && idx >= 0)
{
idx++;
continue;
if(buff.get(idx).MotionButton)
{
idx--;
continue;
}
buff.remove(idx);
}
buff.remove(idx);
}
}

public synchronized void addData(MotionButton button)
public void addData(MotionButton button)
{
if(!running) return;
buff.add(new Motion.MyMove(true, button.getVal(), 0.0f));
int idx = 0;
while(buff.size() > MAX_SIZE && idx < buff.size())
synchronized (buff)
{
if(buff.get(idx).MotionButton)
buff.add(new Motion.MyMove(true, button.getVal(), 0.0f));
int idx = buff.size() - 1;
while(buff.size() > MAX_SIZE && idx >= 0)
{
idx++;
continue;
if(buff.get(idx).MotionButton)
{
idx--;
continue;
}
buff.remove(idx);
}
buff.remove(idx);
}
}

public synchronized Motion.MyMove getData()
public Motion.MyMove getData()
{
if(buff.size() <= 0) return null;
return buff.remove(0);
synchronized (buff)
{
if(buff.size() <= 0) return null;
return buff.remove(0);
}
}

public synchronized void turnOn(){running = true;}
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4 changes: 2 additions & 2 deletions Android/app/src/main/java/com/example/androidsteering/Motion.java
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Original file line number Diff line number Diff line change
Expand Up @@ -76,8 +76,8 @@ public Motion(MainActivity activity, Connection.MyBuffer buffer)
public void start()
{
// sample period is set to 10ms
sensorManager.registerListener(this, accSensor, SensorManager.SENSOR_DELAY_UI);
sensorManager.registerListener(this, magSensor, SensorManager.SENSOR_DELAY_UI);
sensorManager.registerListener(this, accSensor, SensorManager.SENSOR_DELAY_GAME);
sensorManager.registerListener(this, magSensor, SensorManager.SENSOR_DELAY_GAME);
Log.d(mainActivity.getString(R.string.logTagMotion), "Sensor listener registered");
}

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2 changes: 1 addition & 1 deletion Windows/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@ Used to configure controller buttons and axis
* Interpreted range is `(-80, 10)`
Overflowing values are clamped
* Steering (Pitch)
* Real range is `(-90, 90)`, with resting mode in range `(-2, 2)`
* Real range is `(-90, 90)`, with no resting mode
* Interpreted range is `(-45, 45)`
Overflowing values are clamped

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90 changes: 65 additions & 25 deletions Windows/SteeringWheel/Connection.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -24,38 +24,65 @@ public void AddData(bool v1, int v2, float v3)
{
lock(buffer)
{
buffer.Add(new MotionData()
if(v1 || buffer.Count <= MAX_SIZE)
{
IsButton = v1,
Status = v2,
Value = v3
});
int idx = 0;
while (buffer.Count > MAX_SIZE && idx < buffer.Count)
buffer.Add(new MotionData()
{
IsButton = v1,
Status = v2,
Value = v3
});
}
else
{
if (buffer[idx].IsButton)
bool updated = false;
for (int idx = buffer.Count - 1; idx >= 0; idx--)
{
idx++;
continue;
if (!buffer[idx].IsButton && buffer[idx].Status == v2)
{
buffer[idx].Value = buffer[idx].Value * 0.4f + v3 * 0.6f; // take weighted average
updated = true;
break;
}
}
// if not updated, insert regardless of oversize
if(!updated)
{
buffer.Add(new MotionData()
{
IsButton = v1,
Status = v2,
Value = v3
});
}
buffer.RemoveAt(idx);
}
}
}
public void AddData(MotionData data)
{
lock(buffer)
{
buffer.Add(data);
int idx = 0;
while (buffer.Count > MAX_SIZE && idx < buffer.Count)
if (data.IsButton || buffer.Count <= MAX_SIZE)
{
if (buffer[idx].IsButton)
buffer.Add(data);
}
else
{
bool updated = false;
for (int idx = buffer.Count - 1; idx >= 0; idx--)
{
if (!buffer[idx].IsButton && buffer[idx].Status == data.Status)
{
buffer[idx].Value = buffer[idx].Value * 0.4f + data.Value * 0.6f; // take weighted average
updated = true;
break;
}
}
// if not updated, insert regardless of oversize
if (!updated)
{
idx++;
continue;
buffer.Add(data);
}
buffer.RemoveAt(idx);
}
}
}
Expand Down Expand Up @@ -105,10 +132,13 @@ class Connection

private readonly int MAX_WAIT_TIME = 1500;
private readonly int DATA_SEPARATOR = 10086;
private readonly int BUFFER_SIZE = 13 * 5; // 5 data packs each time
private readonly int PACK_SIZE = 13;
private readonly int NUM_PACKS = 4; // 4 packs a time
private readonly int DEVICE_CHECK_EXPECTED = 123456;
private readonly int DEVICE_CHECK_DATA = 654321;
private bool isConnectionAllowed = false;
private byte[] lastPack = new byte[13];
private int lastPackLength = 0;

// bluetooth components
private readonly Guid bthServerUUID = new Guid("a7bda841-7dbc-4179-9800-1a3eff463f1c");
Expand Down Expand Up @@ -260,12 +290,14 @@ private void ConnectBluetooth()
while (isConnectionAllowed && bthClient != null)
{
// read data into a buffer
byte[] buffer = new byte[BUFFER_SIZE];
int size = bthStream.Read(buffer, 0, BUFFER_SIZE);
byte[] buffer = new byte[PACK_SIZE * (NUM_PACKS + 1)];
Array.Copy(lastPack, 0, buffer, 0, lastPackLength); // add last pack
int size = bthStream.Read(buffer, lastPackLength, PACK_SIZE * NUM_PACKS);
if (size <= 0) break;
int totalSize = size + lastPackLength;
// process data into data packs
int idx = 0;
while (idx <= size - 13)
while (idx <= totalSize - PACK_SIZE)
{
// check for separator
Array.Copy(buffer, idx, placeholder, 0, 4);
Expand All @@ -288,6 +320,9 @@ private void ConnectBluetooth()
// add to shared buffer
sharedBuffer.AddData(data);
}
// check for remaining pack, and store for next loop
Array.Copy(buffer, idx, lastPack, 0, totalSize - idx);
lastPackLength = totalSize - idx;
Thread.Sleep(1);
}
}
Expand Down Expand Up @@ -438,12 +473,14 @@ private void ConnectWifi()
while (isConnectionAllowed && wifiClient != null)
{
// read data into a buffer
byte[] buffer = new byte[BUFFER_SIZE];
int size = wifiStream.Read(buffer, 0, BUFFER_SIZE);
byte[] buffer = new byte[PACK_SIZE * (NUM_PACKS + 1)];
Array.Copy(lastPack, 0, buffer, 0, lastPackLength); // add last pack
int size = wifiStream.Read(buffer, lastPackLength, PACK_SIZE * NUM_PACKS);
if (size <= 0) break;
int totalSize = size + lastPackLength;
// process data into data packs
int idx = 0;
while (idx <= size - 13)
while (idx <= totalSize - PACK_SIZE)
{
// check for separator
Array.Copy(buffer, idx, placeholder, 0, 4);
Expand All @@ -466,6 +503,9 @@ private void ConnectWifi()
// add to shared buffer
sharedBuffer.AddData(data);
}
// check for remaining pack, and store for next loop
Array.Copy(buffer, idx, lastPack, 0, totalSize - idx);
lastPackLength = totalSize - idx;
Thread.Sleep(1);
}
}
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60 changes: 33 additions & 27 deletions Windows/SteeringWheel/Controller.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -93,7 +93,7 @@ class Controller
private long axisMax = 0;
public bool vJoyInitialized { get; private set; }
private const int triggerInterval = 100;
private const int updateInterval = 10;
private const int updateInterval = 5;

public Controller(MainWindow window, SharedBuffer buffer)
{
Expand Down Expand Up @@ -277,33 +277,39 @@ private void ProcessAcceleration(float val)
/// <param name="val"></param>
private void ProcessSteering(float val)
{
if(-2.0f <= val && val <= 2.0f)
//if(-2.0f <= val && val <= 2.0f)
//{
// // set to rest mode
// lock (joyReportLock)
// {
// joyReport.AxisX = (int)(axisMax / 2);
// }
//}
//else if(2.0f < val && val <= 90.0f)
//{
// // turning left
// float step = FilterSmoothStep(val, 2.0f, CAP_Steering);
// float half = axisMax / 2.0f * step;
// lock (joyReportLock)
// {
// joyReport.AxisX = (int)(axisMax / 2.0f - half);
// }
//}
//else if(-90.0f <= val && val < -2.0f)
//{
// // turning right
// float step = FilterSmoothStep(-val, 2.0f, CAP_Steering);
// float half = axisMax / 2.0f * step;
// lock (joyReportLock)
// {
// joyReport.AxisX = (int)(axisMax / 2.0f + half);
// }
//}
float step = FilterLinear(-val, -CAP_Steering, CAP_Steering);
val = axisMax * step;
lock(joyReportLock)
{
// set to rest mode
lock (joyReportLock)
{
joyReport.AxisX = (int)(axisMax / 2);
}
}
else if(2.0f < val && val <= 90.0f)
{
// turning left
float step = FilterSmoothStep(val, 2.0f, CAP_Steering);
float half = axisMax / 2.0f * step;
lock (joyReportLock)
{
joyReport.AxisX = (int)(axisMax / 2.0f - half);
}
}
else if(-90.0f <= val && val < -2.0f)
{
// turning right
float step = FilterSmoothStep(-val, 2.0f, CAP_Steering);
float half = axisMax / 2.0f * step;
lock (joyReportLock)
{
joyReport.AxisX = (int)(axisMax / 2.0f + half);
}
joyReport.AxisX = (int)val;
}
}

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2 changes: 1 addition & 1 deletion Windows/SteeringWheel/SteeringWheel.csproj
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@
<PublisherName>Teamclouday</PublisherName>
<OpenBrowserOnPublish>false</OpenBrowserOnPublish>
<ApplicationRevision>1</ApplicationRevision>
<ApplicationVersion>2.0.0.%2a</ApplicationVersion>
<ApplicationVersion>2.1.0.%2a</ApplicationVersion>
<UseApplicationTrust>false</UseApplicationTrust>
<PublishWizardCompleted>true</PublishWizardCompleted>
<BootstrapperEnabled>true</BootstrapperEnabled>
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