Cubic Hand project for EECS 249A course.
Dependencies: MMA8451Q TSI cc3000_hostdriver_mbedsocket NVIC_set_all_priorities mbed Multi_WS2811
DataGlove.cpp@14:0c4a26dc6873, 2014-12-07 (annotated)
- Committer:
- naren
- Date:
- Sun Dec 07 19:50:47 2014 +0000
- Revision:
- 14:0c4a26dc6873
- Parent:
- 13:c701f1122797
- Child:
- 15:b48ac00af0b8
Added new glove parsing; ; Existing bugs: ; Getting stuck at GloveWifi::GetDataFromBuffer; LED glows yellow (can it be the problem)?
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kalbers | 3:5f5d75cba8e1 | 1 | #include "DataGlove.h" |
kalbers | 3:5f5d75cba8e1 | 2 | |
naren | 14:0c4a26dc6873 | 3 | #define STREAM_FINGERS_QUATERNION 1 |
naren | 14:0c4a26dc6873 | 4 | #define STREAM_QUATERNION 2 |
naren | 14:0c4a26dc6873 | 5 | #define STREAM_FINGERS_RAW 3 |
naren | 14:0c4a26dc6873 | 6 | #define STREAM_RAW 4 |
naren | 14:0c4a26dc6873 | 7 | #define STREAM_FINGERS 5 |
naren | 14:0c4a26dc6873 | 8 | |
kalbers | 13:c701f1122797 | 9 | DataGlove::DataGlove() |
kalbers | 3:5f5d75cba8e1 | 10 | { |
kalbers | 13:c701f1122797 | 11 | notConnectedCount = 0; |
naren | 14:0c4a26dc6873 | 12 | gl = new Glove; |
kalbers | 3:5f5d75cba8e1 | 13 | } |
kalbers | 3:5f5d75cba8e1 | 14 | |
kalbers | 3:5f5d75cba8e1 | 15 | DataGlove::~DataGlove() |
kalbers | 3:5f5d75cba8e1 | 16 | { |
naren | 14:0c4a26dc6873 | 17 | delete(gl); |
kalbers | 3:5f5d75cba8e1 | 18 | } |
kalbers | 3:5f5d75cba8e1 | 19 | |
kalbers | 3:5f5d75cba8e1 | 20 | void DataGlove::Init() |
kalbers | 3:5f5d75cba8e1 | 21 | { |
naren | 14:0c4a26dc6873 | 22 | GloveSocket.Init(); |
kalbers | 3:5f5d75cba8e1 | 23 | GloveSocket.Connect(); |
kalbers | 3:5f5d75cba8e1 | 24 | SendBuf[0] = '$'; |
kalbers | 3:5f5d75cba8e1 | 25 | SendBuf[1] = 0x0A; |
kalbers | 3:5f5d75cba8e1 | 26 | SendBuf[2] = 0x03; |
naren | 14:0c4a26dc6873 | 27 | // Streaming quaternion data |
naren | 14:0c4a26dc6873 | 28 | SendBuf[3] = STREAM_QUATERNION; |
kalbers | 3:5f5d75cba8e1 | 29 | SendBuf[4] = (SendBuf[0]+SendBuf[1]+SendBuf[2]+SendBuf[3])%256; |
kalbers | 3:5f5d75cba8e1 | 30 | SendBuf[5] = '#'; |
kalbers | 3:5f5d75cba8e1 | 31 | GloveSocket.SendDataToGlove(SendBuf, 6); |
kalbers | 3:5f5d75cba8e1 | 32 | } |
kalbers | 3:5f5d75cba8e1 | 33 | |
kalbers | 3:5f5d75cba8e1 | 34 | void DataGlove::Receive() |
kalbers | 3:5f5d75cba8e1 | 35 | { |
naren | 14:0c4a26dc6873 | 36 | uint8_t *Buf, *buffer; |
naren | 14:0c4a26dc6873 | 37 | int8_t numReceived; |
naren | 14:0c4a26dc6873 | 38 | bool raw = false; |
naren | 14:0c4a26dc6873 | 39 | unsigned char bcc; |
naren | 14:0c4a26dc6873 | 40 | int pkglen, u; |
naren | 14:0c4a26dc6873 | 41 | int timeOfArrival, id, pkgtype; |
naren | 14:0c4a26dc6873 | 42 | int j, k, y; |
naren | 14:0c4a26dc6873 | 43 | double roll, yaw, pitch; |
naren | 14:0c4a26dc6873 | 44 | double norm, test; |
naren | 14:0c4a26dc6873 | 45 | int q0, q1, q2, q3; |
naren | 14:0c4a26dc6873 | 46 | double q00, q11, q22, q33; |
naren | 14:0c4a26dc6873 | 47 | printf("beginning of receive\r\n"); |
naren | 14:0c4a26dc6873 | 48 | numReceived = GloveSocket.GetDataFromBuffer(Buf, 1); |
naren | 14:0c4a26dc6873 | 49 | printf("received %d bytes\r\n", numReceived); |
naren | 14:0c4a26dc6873 | 50 | if (Buf[0] == '$') { |
naren | 14:0c4a26dc6873 | 51 | bcc = '$'; |
naren | 14:0c4a26dc6873 | 52 | numReceived = GloveSocket.GetDataFromBuffer(Buf, 2); |
naren | 14:0c4a26dc6873 | 53 | if ((numReceived == 2) && (Buf[0] == 0x0a)) { |
naren | 14:0c4a26dc6873 | 54 | pkglen = Buf[1]; |
naren | 14:0c4a26dc6873 | 55 | bcc += Buf[0]; |
naren | 14:0c4a26dc6873 | 56 | bcc += Buf[1]; |
naren | 14:0c4a26dc6873 | 57 | numReceived = GloveSocket.GetDataFromBuffer(Buf, pkglen); |
naren | 14:0c4a26dc6873 | 58 | if (numReceived < pkglen) { |
naren | 14:0c4a26dc6873 | 59 | notConnectedCount++; |
naren | 14:0c4a26dc6873 | 60 | } |
naren | 14:0c4a26dc6873 | 61 | for (u = 0; u < pkglen - 2; u++) { |
naren | 14:0c4a26dc6873 | 62 | bcc += Buf[u]; |
naren | 14:0c4a26dc6873 | 63 | } |
naren | 14:0c4a26dc6873 | 64 | if ((numReceived == pkglen) && (bcc == Buf[pkglen-2])) { |
naren | 14:0c4a26dc6873 | 65 | memcpy(buffer, Buf, numReceived); |
naren | 14:0c4a26dc6873 | 66 | timeOfArrival = (buffer[3] << 24) + (buffer[4] << 16) + (buffer[5] << 8) + buffer[6]; |
naren | 14:0c4a26dc6873 | 67 | id = (buffer[1] << 8) + buffer[2]; |
naren | 14:0c4a26dc6873 | 68 | pkgtype = buffer[0]; |
naren | 14:0c4a26dc6873 | 69 | switch (pkgtype){ |
naren | 14:0c4a26dc6873 | 70 | case STREAM_FINGERS_QUATERNION: |
naren | 14:0c4a26dc6873 | 71 | { |
naren | 14:0c4a26dc6873 | 72 | k = 7; |
naren | 14:0c4a26dc6873 | 73 | q0 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3]; |
naren | 14:0c4a26dc6873 | 74 | k += 4; |
naren | 14:0c4a26dc6873 | 75 | q1 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3]; |
naren | 14:0c4a26dc6873 | 76 | k += 4; |
naren | 14:0c4a26dc6873 | 77 | q2 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3]; |
naren | 14:0c4a26dc6873 | 78 | k += 4; |
naren | 14:0c4a26dc6873 | 79 | q3 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3]; |
naren | 14:0c4a26dc6873 | 80 | k += 4; |
naren | 14:0c4a26dc6873 | 81 | for (y = 0; y < 5; y++) { |
naren | 14:0c4a26dc6873 | 82 | gl->fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k + 1]); |
naren | 14:0c4a26dc6873 | 83 | k += 2; |
naren | 14:0c4a26dc6873 | 84 | } |
naren | 14:0c4a26dc6873 | 85 | q00 = q0 / 32768.0; |
naren | 14:0c4a26dc6873 | 86 | q11 = q1 / 32768.0; |
naren | 14:0c4a26dc6873 | 87 | q22 = q2 / 32768.0; |
naren | 14:0c4a26dc6873 | 88 | q33 = q3 / 32768.0; |
naren | 14:0c4a26dc6873 | 89 | |
naren | 14:0c4a26dc6873 | 90 | norm = sqrt(q00 * q00 + q11 * q11 + q22 * q22 + q33 * q33); |
naren | 14:0c4a26dc6873 | 91 | test = q00 * q11 + q22 * q33; |
naren | 14:0c4a26dc6873 | 92 | |
naren | 14:0c4a26dc6873 | 93 | roll = 180.0 * atan2(2 * (q00 * q11 + q22 * q33), 1 - 2 * (q11 * q11 + q22 * q22)) / 3.1415; |
naren | 14:0c4a26dc6873 | 94 | pitch = 180.0 * asin(2 * (q00 * q22 - q33 * q11)) / 3.1415; |
naren | 14:0c4a26dc6873 | 95 | yaw = 180.0 * atan2(2 * (q00 * q33 + q11 * q22), 1 - 2 * (q22 * q22 + q33 * q33)) / 3.1415; |
naren | 14:0c4a26dc6873 | 96 | |
naren | 14:0c4a26dc6873 | 97 | gl->roll = roll; |
naren | 14:0c4a26dc6873 | 98 | gl->pitch = pitch; |
naren | 14:0c4a26dc6873 | 99 | gl->yaw = yaw; |
naren | 14:0c4a26dc6873 | 100 | gl->lastPkgTime = timeOfArrival; |
naren | 14:0c4a26dc6873 | 101 | } |
naren | 14:0c4a26dc6873 | 102 | break; |
naren | 14:0c4a26dc6873 | 103 | case STREAM_QUATERNION: |
naren | 14:0c4a26dc6873 | 104 | { |
naren | 14:0c4a26dc6873 | 105 | k = 7; |
naren | 14:0c4a26dc6873 | 106 | q0 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3]; |
naren | 14:0c4a26dc6873 | 107 | k += 4; |
naren | 14:0c4a26dc6873 | 108 | q1 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3]; |
naren | 14:0c4a26dc6873 | 109 | k += 4; |
naren | 14:0c4a26dc6873 | 110 | q2 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3]; |
naren | 14:0c4a26dc6873 | 111 | k += 4; |
naren | 14:0c4a26dc6873 | 112 | q3 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3]; |
naren | 14:0c4a26dc6873 | 113 | k += 4; |
naren | 14:0c4a26dc6873 | 114 | for (y = 0; y < 5; y++) { |
naren | 14:0c4a26dc6873 | 115 | gl->fingers[y] = 0.0; |
naren | 14:0c4a26dc6873 | 116 | } |
naren | 14:0c4a26dc6873 | 117 | q00 = q0 / 32768.0; |
naren | 14:0c4a26dc6873 | 118 | q11 = q1 / 32768.0; |
naren | 14:0c4a26dc6873 | 119 | q22 = q2 / 32768.0; |
naren | 14:0c4a26dc6873 | 120 | q33 = q3 / 32768.0; |
naren | 14:0c4a26dc6873 | 121 | |
naren | 14:0c4a26dc6873 | 122 | norm = sqrt(q00 * q00 + q11 * q11 + q22 * q22 + q33 * q33); |
naren | 14:0c4a26dc6873 | 123 | test = q00 * q11 + q22 * q33; |
naren | 14:0c4a26dc6873 | 124 | roll = 180.0 * atan2(2 * (q00 * q11 + q22 * q33), 1 - 2 * (q11 * q11 + q22 * q22)) / 3.1415; |
naren | 14:0c4a26dc6873 | 125 | pitch = 180.0 * asin(2 * (q00 * q22 - q33 * q11)) / 3.1415; |
naren | 14:0c4a26dc6873 | 126 | yaw = 180.0 * atan2(2 * (q00 * q33 + q11 * q22), 1 - 2 * (q22 * q22 + q33 * q33)) / 3.1415; |
naren | 14:0c4a26dc6873 | 127 | |
naren | 14:0c4a26dc6873 | 128 | gl->roll = roll; |
naren | 14:0c4a26dc6873 | 129 | gl->pitch = pitch; |
naren | 14:0c4a26dc6873 | 130 | gl->yaw = yaw; |
naren | 14:0c4a26dc6873 | 131 | gl->lastPkgTime = timeOfArrival; |
naren | 14:0c4a26dc6873 | 132 | printf("roll: %f\tpitch: %f\tyaw: %f\r\n", gl->roll, gl->pitch, gl->yaw); |
naren | 14:0c4a26dc6873 | 133 | } |
naren | 14:0c4a26dc6873 | 134 | break; |
naren | 14:0c4a26dc6873 | 135 | case STREAM_FINGERS_RAW: |
naren | 14:0c4a26dc6873 | 136 | { |
naren | 14:0c4a26dc6873 | 137 | k = 7; |
naren | 14:0c4a26dc6873 | 138 | for (j = 0; j < 3; j++){ |
naren | 14:0c4a26dc6873 | 139 | gl->gyro[j] = (buffer[k] << 8) + (buffer[k+1]); |
naren | 14:0c4a26dc6873 | 140 | if (gl->gyro[j] > 0x7fff) |
naren | 14:0c4a26dc6873 | 141 | gl->gyro[j] -= 0x10000; |
naren | 14:0c4a26dc6873 | 142 | k += 2; |
naren | 14:0c4a26dc6873 | 143 | } |
naren | 14:0c4a26dc6873 | 144 | for (j = 0; j < 3; j++){ |
naren | 14:0c4a26dc6873 | 145 | gl->magn[j] = (buffer[k] << 8) + (buffer[k+1]); |
naren | 14:0c4a26dc6873 | 146 | if (gl->magn[j] > 0x7fff) |
naren | 14:0c4a26dc6873 | 147 | gl->magn[j] -= 0x10000; |
naren | 14:0c4a26dc6873 | 148 | k += 2; |
naren | 14:0c4a26dc6873 | 149 | } |
naren | 14:0c4a26dc6873 | 150 | for (j = 0; j < 3; j++){ |
naren | 14:0c4a26dc6873 | 151 | gl->accel[j] = (buffer[k] << 8) + (buffer[k+1]); |
naren | 14:0c4a26dc6873 | 152 | if (gl->accel[j]>0x7fff) |
naren | 14:0c4a26dc6873 | 153 | gl->accel[j] -= 0x10000; |
naren | 14:0c4a26dc6873 | 154 | k += 2; |
naren | 14:0c4a26dc6873 | 155 | } |
naren | 14:0c4a26dc6873 | 156 | for (y = 0; y < 5; y++){ |
naren | 14:0c4a26dc6873 | 157 | gl->fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k+1]); |
naren | 14:0c4a26dc6873 | 158 | k += 2; |
naren | 14:0c4a26dc6873 | 159 | } |
naren | 14:0c4a26dc6873 | 160 | |
naren | 14:0c4a26dc6873 | 161 | gl->roll = 0.0; |
naren | 14:0c4a26dc6873 | 162 | gl->pitch = 0.0; |
naren | 14:0c4a26dc6873 | 163 | gl->yaw = 0.0; |
naren | 14:0c4a26dc6873 | 164 | gl->lastPkgTime = timeOfArrival; |
naren | 14:0c4a26dc6873 | 165 | } |
naren | 14:0c4a26dc6873 | 166 | break; |
naren | 14:0c4a26dc6873 | 167 | case STREAM_RAW: |
naren | 14:0c4a26dc6873 | 168 | { |
naren | 14:0c4a26dc6873 | 169 | k = 7; |
naren | 14:0c4a26dc6873 | 170 | for (j = 0; j < 3; j++){ |
naren | 14:0c4a26dc6873 | 171 | gl->gyro[j] = (buffer[k] << 8) + (buffer[k+1]); |
naren | 14:0c4a26dc6873 | 172 | if (gl->gyro[j] > 0x7fff) |
naren | 14:0c4a26dc6873 | 173 | gl->gyro[j] -= 0x10000; |
naren | 14:0c4a26dc6873 | 174 | k += 2; |
naren | 14:0c4a26dc6873 | 175 | } |
naren | 14:0c4a26dc6873 | 176 | for (j = 0; j < 3; j++){ |
naren | 14:0c4a26dc6873 | 177 | gl->magn[j] = (buffer[k] << 8) + (buffer[k+1]); |
naren | 14:0c4a26dc6873 | 178 | if (gl->magn[j] > 0x7fff) |
naren | 14:0c4a26dc6873 | 179 | gl->magn[j] -= 0x10000; |
naren | 14:0c4a26dc6873 | 180 | k += 2; |
naren | 14:0c4a26dc6873 | 181 | } |
naren | 14:0c4a26dc6873 | 182 | for (j = 0; j < 3; j++){ |
naren | 14:0c4a26dc6873 | 183 | gl->accel[j] = (buffer[k] << 8) + (buffer[k+1]); |
naren | 14:0c4a26dc6873 | 184 | if (gl->accel[j] > 0x7fff) |
naren | 14:0c4a26dc6873 | 185 | gl->accel[j] -= 0x10000; |
naren | 14:0c4a26dc6873 | 186 | k += 2; |
naren | 14:0c4a26dc6873 | 187 | } |
naren | 14:0c4a26dc6873 | 188 | int y = 0; |
naren | 14:0c4a26dc6873 | 189 | for (y = 0; y < 5; y++){ |
naren | 14:0c4a26dc6873 | 190 | gl->fingers[y] = 0.0; |
naren | 14:0c4a26dc6873 | 191 | } |
naren | 14:0c4a26dc6873 | 192 | |
naren | 14:0c4a26dc6873 | 193 | gl->roll = 0.0; |
naren | 14:0c4a26dc6873 | 194 | gl->pitch = 0.0; |
naren | 14:0c4a26dc6873 | 195 | gl->yaw = 0.0; |
naren | 14:0c4a26dc6873 | 196 | gl->lastPkgTime = timeOfArrival; |
naren | 14:0c4a26dc6873 | 197 | printf("%f %f %f %f %f %f\r\n", gl->gyro[0], gl->gyro[1], gl->gyro[2], gl->accel[0], gl->accel[1], gl->accel[2]); |
naren | 14:0c4a26dc6873 | 198 | } |
naren | 14:0c4a26dc6873 | 199 | break; |
naren | 14:0c4a26dc6873 | 200 | |
naren | 14:0c4a26dc6873 | 201 | case STREAM_FINGERS: |
naren | 14:0c4a26dc6873 | 202 | { |
naren | 14:0c4a26dc6873 | 203 | k = 7; |
naren | 14:0c4a26dc6873 | 204 | for (y = 0; y < 5; y++){ |
naren | 14:0c4a26dc6873 | 205 | gl->fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k+1]); |
naren | 14:0c4a26dc6873 | 206 | k += 2; |
naren | 14:0c4a26dc6873 | 207 | } |
naren | 14:0c4a26dc6873 | 208 | |
naren | 14:0c4a26dc6873 | 209 | gl->roll = 0.0; |
naren | 14:0c4a26dc6873 | 210 | gl->pitch = 0.0; |
naren | 14:0c4a26dc6873 | 211 | gl->yaw = 0.0; |
naren | 14:0c4a26dc6873 | 212 | gl->lastPkgTime = timeOfArrival; |
naren | 14:0c4a26dc6873 | 213 | } |
naren | 14:0c4a26dc6873 | 214 | break; |
naren | 14:0c4a26dc6873 | 215 | } |
naren | 14:0c4a26dc6873 | 216 | notConnectedCount = 0; |
naren | 14:0c4a26dc6873 | 217 | } |
naren | 14:0c4a26dc6873 | 218 | else{ |
naren | 14:0c4a26dc6873 | 219 | if (bcc!=Buf[pkglen-2]) |
naren | 14:0c4a26dc6873 | 220 | notConnectedCount++; |
naren | 14:0c4a26dc6873 | 221 | } |
naren | 14:0c4a26dc6873 | 222 | } |
kalbers | 3:5f5d75cba8e1 | 223 | } |
kalbers | 3:5f5d75cba8e1 | 224 | else { |
naren | 14:0c4a26dc6873 | 225 | printf("couldn't get data %d\r\n", notConnectedCount); |
naren | 14:0c4a26dc6873 | 226 | notConnectedCount++; |
kalbers | 3:5f5d75cba8e1 | 227 | } |
naren | 14:0c4a26dc6873 | 228 | printf("just before re-establishing connection\r\n"); |
kalbers | 3:5f5d75cba8e1 | 229 | // Re-establishing communication in case no data is received for 1s (20 frames per second*1 = 20) |
kalbers | 3:5f5d75cba8e1 | 230 | if (notConnectedCount > 20) { |
kalbers | 3:5f5d75cba8e1 | 231 | printf("Connection broke! Trying to re-establish...\r\n"); |
naren | 14:0c4a26dc6873 | 232 | GloveSocket.Disconnect(); |
kalbers | 3:5f5d75cba8e1 | 233 | printf("Disconnected wifi\r\n"); |
kalbers | 3:5f5d75cba8e1 | 234 | notConnectedCount = 0; |
kalbers | 3:5f5d75cba8e1 | 235 | GloveSocket.Connect(); |
kalbers | 3:5f5d75cba8e1 | 236 | } |
naren | 14:0c4a26dc6873 | 237 | wait(0.1); |
kalbers | 3:5f5d75cba8e1 | 238 | } |
kalbers | 3:5f5d75cba8e1 | 239 | |
kalbers | 3:5f5d75cba8e1 | 240 | void DataGlove::Parse() |
kalbers | 3:5f5d75cba8e1 | 241 | { |
kalbers | 3:5f5d75cba8e1 | 242 | } |