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jonnewjonnew
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Merge pull request #2 from open-ephys/modular-commutator
Add commutator control based on swing-twist decomposition
2 parents 0bbd480 + aeadf1b commit 0d14908

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‎.bonsai/Bonsai.config

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‎OpenEphys.Commutator/AutoCommutator.bonsai

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<?xml version="1.0" encoding="utf-8"?>
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<WorkflowBuilder Version="2.8.5"
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xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
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xmlns:rx="clr-namespace:Bonsai.Reactive;assembly=Bonsai.Core"
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xmlns:commutator="clr-namespace:OpenEphys.Commutator;assembly=OpenEphys.Commutator"
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xmlns:port="clr-namespace:Bonsai.IO.Ports;assembly=Bonsai.System"
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xmlns="https://bonsai-rx.org/2018/workflow">
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<Description>Control an Open Ephys commutator by using rotation angle measurements.</Description>
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<Workflow>
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<Nodes>
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<Expression xsi:type="WorkflowInput">
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<Name>Source1</Name>
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</Expression>
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<Expression xsi:type="Combinator">
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<Combinator xsi:type="rx:SampleInterval">
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<rx:Interval>PT0.1S</rx:Interval>
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</Combinator>
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</Expression>
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<Expression xsi:type="ExternalizedMapping">
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<Property Name="RotationAxis" />
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</Expression>
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<Expression xsi:type="Combinator">
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<Combinator xsi:type="commutator:QuaternionToTwist">
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<commutator:RotationAxis>
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<commutator:X>0</commutator:X>
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<commutator:Y>0</commutator:Y>
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<commutator:Z>1</commutator:Z>
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</commutator:RotationAxis>
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</Combinator>
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</Expression>
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<Expression xsi:type="Format">
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<Format>{{turn : {0}}}</Format>
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<Selector>it</Selector>
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</Expression>
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<Expression xsi:type="ExternalizedMapping">
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<Property Name="Value" DisplayName="LedEnable" Description="If true, the commutator's LED will show status information. Otherwise, it will turn off." />
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</Expression>
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<Expression xsi:type="Combinator">
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<Combinator xsi:type="BooleanProperty">
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<Value>false</Value>
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</Combinator>
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</Expression>
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<Expression xsi:type="rx:Condition">
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<Workflow>
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<Nodes>
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<Expression xsi:type="WorkflowInput">
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<Name>Source1</Name>
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</Expression>
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<Expression xsi:type="WorkflowOutput" />
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</Nodes>
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<Edges>
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<Edge From="0" To="1" Label="Source1" />
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</Edges>
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</Workflow>
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</Expression>
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<Expression xsi:type="Combinator">
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<Combinator xsi:type="StringProperty">
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<Value>{led: true}</Value>
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</Combinator>
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</Expression>
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<Expression xsi:type="rx:Condition">
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<Workflow>
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<Nodes>
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<Expression xsi:type="WorkflowInput">
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<Name>Source1</Name>
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</Expression>
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<Expression xsi:type="BitwiseNot" />
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<Expression xsi:type="WorkflowOutput" />
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</Nodes>
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<Edges>
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<Edge From="0" To="1" Label="Source1" />
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<Edge From="1" To="2" Label="Source1" />
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</Edges>
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</Workflow>
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</Expression>
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<Expression xsi:type="Combinator">
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<Combinator xsi:type="StringProperty">
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<Value>{led: false}</Value>
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</Combinator>
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</Expression>
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<Expression xsi:type="Combinator">
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<Combinator xsi:type="rx:Merge" />
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</Expression>
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<Expression xsi:type="ExternalizedMapping">
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<Property Name="PortName" />
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</Expression>
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<Expression xsi:type="Combinator">
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<Combinator xsi:type="port:SerialWriteLine">
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<port:PortName />
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<port:NewLine>\r\n</port:NewLine>
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</Combinator>
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</Expression>
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<Expression xsi:type="WorkflowOutput" />
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</Nodes>
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<Edges>
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<Edge From="0" To="1" Label="Source1" />
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<Edge From="1" To="3" Label="Source1" />
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<Edge From="2" To="3" Label="Source2" />
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<Edge From="3" To="4" Label="Source1" />
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<Edge From="4" To="11" Label="Source1" />
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<Edge From="5" To="6" Label="Source1" />
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<Edge From="6" To="7" Label="Source1" />
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<Edge From="6" To="9" Label="Source1" />
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<Edge From="7" To="8" Label="Source1" />
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<Edge From="10" To="11" Label="Source3" />
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<Edge From="11" To="13" Label="Source1" />
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<Edge From="12" To="13" Label="Source2" />
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<Edge From="13" To="14" Label="Source1" />
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</Edges>
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</Workflow>
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</WorkflowBuilder>

‎OpenEphys.Commutator/OpenEphys.Commutator.csproj

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<TargetFramework>net472</TargetFramework>
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</PropertyGroup>
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<ItemGroup>
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<EmbeddedResource Include="**/*.bonsai" />
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</ItemGroup>
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<ItemGroup>
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<PackageReference Include="Bonsai.Core" Version="2.8.5" />
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<PackageReference Include="Bonsai.System" Version="2.8.1" />

‎OpenEphys.Commutator/QuaternionToTwist.cs

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using System;
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using System.ComponentModel;
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using System.Linq;
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using System.Numerics;
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using System.Reactive.Linq;
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using Bonsai;
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namespace OpenEphys.Commutator
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{
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/// <summary>
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/// Calculates a the rotation about a specified axis (the "twist") that has occurred between successive 3D
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/// rotation measurements.
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/// </summary>
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[Description("Calculates a feedback control signal to compensate for twisting about the specified axis, in units of turns.")]
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public class QuaternionToTwist : Combinator<Quaternion, double>
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{
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/// <summary>
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/// Gets or sets the direction vector specifying the axis around which to calculate the twist.
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/// </summary>
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/// <remarks>
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/// This vector should point, using the reference frame of the device producing rotation measurements,
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/// in the direction that the tether exits the headstage. Note that negating this vector will result in
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/// negating the direction of twisting.
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/// </remarks>
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[TypeConverter(typeof(NumericRecordConverter))]
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[Description("The direction vector specifying the axis around which to calculate the twist.")]
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public Vector3 RotationAxis { get; set; } = Vector3.UnitZ;
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/// <summary>
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/// Calculates a twist about <see cref="RotationAxis"/> that has occurred between successive rotation
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/// measurements provided by the input sequence.
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/// </summary>
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/// <param name="source">The sequence of rotation measurements.</param>
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/// <returns>The sequence of twist values, in units of turns.</returns>
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public override IObservable<double> Process(IObservable<Quaternion> source)
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{
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return Observable.Defer(() =>
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{
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double? previousTwist = default;
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return source.Select(rotation =>
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{
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// project rotation axis onto the direction axis
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var direction = RotationAxis;
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var rotationAxis = new Vector3(rotation.X, rotation.Y, rotation.Z);
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var dotProduct = Vector3.Dot(rotationAxis, direction);
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var projection = dotProduct / Vector3.Dot(direction, direction) * direction;
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var twist = new Quaternion(projection, rotation.W);
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twist = Quaternion.Normalize(twist);
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if (dotProduct < 0) // account for angle-axis flipping
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{
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twist = -twist;
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}
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// normalize twist feedback in units of turns
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var twistAngle = 2 * Math.Acos(twist.W);
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var feedback = previousTwist.HasValue
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? (twistAngle - previousTwist.GetValueOrDefault() + 3 * Math.PI) % (2 * Math.PI) - Math.PI
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: 0;
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previousTwist = twistAngle;
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return -feedback / (2 * Math.PI);
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});
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});
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}
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}
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}

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