Model-Based Team / Mbed 2 deprecated CubicHand

Cubic Hand project for EECS 249A course.

Dependencies:   MMA8451Q TSI cc3000_hostdriver_mbedsocket NVIC_set_all_priorities mbed Multi_WS2811

DataGlove.cpp@15:b48ac00af0b8, 2014-12-07 (annotated)

Committer:
kalbers
Date:
Sun Dec 07 21:49:33 2014 +0000
Revision:
15:b48ac00af0b8
Parent:
14:0c4a26dc6873
Child:
18:6737bf53ccd1
Added a reconnect to GloveWifi.

Who changed what in which revision?

UserRevisionLine numberNew 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 15:b48ac00af0b8 24 StreamData();
kalbers 15:b48ac00af0b8 25 }
kalbers 15:b48ac00af0b8 26
kalbers 15:b48ac00af0b8 27 void DataGlove::StreamData()
kalbers 15:b48ac00af0b8 28 {
kalbers 3:5f5d75cba8e1 29 SendBuf[0] = '$';
kalbers 3:5f5d75cba8e1 30 SendBuf[1] = 0x0A;
kalbers 3:5f5d75cba8e1 31 SendBuf[2] = 0x03;
naren 14:0c4a26dc6873 32 // Streaming quaternion data
naren 14:0c4a26dc6873 33 SendBuf[3] = STREAM_QUATERNION;
kalbers 3:5f5d75cba8e1 34 SendBuf[4] = (SendBuf[0]+SendBuf[1]+SendBuf[2]+SendBuf[3])%256;
kalbers 3:5f5d75cba8e1 35 SendBuf[5] = '#';
kalbers 3:5f5d75cba8e1 36 GloveSocket.SendDataToGlove(SendBuf, 6);
kalbers 3:5f5d75cba8e1 37 }
kalbers 3:5f5d75cba8e1 38
kalbers 3:5f5d75cba8e1 39 void DataGlove::Receive()
kalbers 3:5f5d75cba8e1 40 {
kalbers 15:b48ac00af0b8 41 raw = false;
naren 14:0c4a26dc6873 42 numReceived = GloveSocket.GetDataFromBuffer(Buf, 1);
naren 14:0c4a26dc6873 43 if (Buf[0] == '$') {
naren 14:0c4a26dc6873 44 bcc = '$';
naren 14:0c4a26dc6873 45 numReceived = GloveSocket.GetDataFromBuffer(Buf, 2);
naren 14:0c4a26dc6873 46 if ((numReceived == 2) && (Buf[0] == 0x0a)) {
naren 14:0c4a26dc6873 47 pkglen = Buf[1];
naren 14:0c4a26dc6873 48 bcc += Buf[0];
naren 14:0c4a26dc6873 49 bcc += Buf[1];
naren 14:0c4a26dc6873 50 numReceived = GloveSocket.GetDataFromBuffer(Buf, pkglen);
naren 14:0c4a26dc6873 51 if (numReceived < pkglen) {
naren 14:0c4a26dc6873 52 notConnectedCount++;
naren 14:0c4a26dc6873 53 }
naren 14:0c4a26dc6873 54 for (u = 0; u < pkglen - 2; u++) {
naren 14:0c4a26dc6873 55 bcc += Buf[u];
naren 14:0c4a26dc6873 56 }
naren 14:0c4a26dc6873 57 if ((numReceived == pkglen) && (bcc == Buf[pkglen-2])) {
naren 14:0c4a26dc6873 58 memcpy(buffer, Buf, numReceived);
naren 14:0c4a26dc6873 59 timeOfArrival = (buffer[3] << 24) + (buffer[4] << 16) + (buffer[5] << 8) + buffer[6];
naren 14:0c4a26dc6873 60 id = (buffer[1] << 8) + buffer[2];
naren 14:0c4a26dc6873 61 pkgtype = buffer[0];
naren 14:0c4a26dc6873 62 switch (pkgtype){
naren 14:0c4a26dc6873 63 case STREAM_FINGERS_QUATERNION:
naren 14:0c4a26dc6873 64 {
naren 14:0c4a26dc6873 65 k = 7;
naren 14:0c4a26dc6873 66 q0 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
naren 14:0c4a26dc6873 67 k += 4;
naren 14:0c4a26dc6873 68 q1 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
naren 14:0c4a26dc6873 69 k += 4;
naren 14:0c4a26dc6873 70 q2 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
naren 14:0c4a26dc6873 71 k += 4;
naren 14:0c4a26dc6873 72 q3 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
naren 14:0c4a26dc6873 73 k += 4;
naren 14:0c4a26dc6873 74 for (y = 0; y < 5; y++) {
naren 14:0c4a26dc6873 75 gl->fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k + 1]);
naren 14:0c4a26dc6873 76 k += 2;
naren 14:0c4a26dc6873 77 }
naren 14:0c4a26dc6873 78 q00 = q0 / 32768.0;
naren 14:0c4a26dc6873 79 q11 = q1 / 32768.0;
naren 14:0c4a26dc6873 80 q22 = q2 / 32768.0;
naren 14:0c4a26dc6873 81 q33 = q3 / 32768.0;
naren 14:0c4a26dc6873 82
naren 14:0c4a26dc6873 83 norm = sqrt(q00 * q00 + q11 * q11 + q22 * q22 + q33 * q33);
naren 14:0c4a26dc6873 84 test = q00 * q11 + q22 * q33;
naren 14:0c4a26dc6873 85
naren 14:0c4a26dc6873 86 roll = 180.0 * atan2(2 * (q00 * q11 + q22 * q33), 1 - 2 * (q11 * q11 + q22 * q22)) / 3.1415;
naren 14:0c4a26dc6873 87 pitch = 180.0 * asin(2 * (q00 * q22 - q33 * q11)) / 3.1415;
naren 14:0c4a26dc6873 88 yaw = 180.0 * atan2(2 * (q00 * q33 + q11 * q22), 1 - 2 * (q22 * q22 + q33 * q33)) / 3.1415;
naren 14:0c4a26dc6873 89
naren 14:0c4a26dc6873 90 gl->roll = roll;
naren 14:0c4a26dc6873 91 gl->pitch = pitch;
naren 14:0c4a26dc6873 92 gl->yaw = yaw;
naren 14:0c4a26dc6873 93 gl->lastPkgTime = timeOfArrival;
naren 14:0c4a26dc6873 94 }
naren 14:0c4a26dc6873 95 break;
naren 14:0c4a26dc6873 96 case STREAM_QUATERNION:
naren 14:0c4a26dc6873 97 {
naren 14:0c4a26dc6873 98 k = 7;
naren 14:0c4a26dc6873 99 q0 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
naren 14:0c4a26dc6873 100 k += 4;
naren 14:0c4a26dc6873 101 q1 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
naren 14:0c4a26dc6873 102 k += 4;
naren 14:0c4a26dc6873 103 q2 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
naren 14:0c4a26dc6873 104 k += 4;
naren 14:0c4a26dc6873 105 q3 = (buffer[k] << 24) + (buffer[k+1] << 16) + (buffer[k+2] << 8) + buffer[k+3];
naren 14:0c4a26dc6873 106 k += 4;
naren 14:0c4a26dc6873 107 for (y = 0; y < 5; y++) {
naren 14:0c4a26dc6873 108 gl->fingers[y] = 0.0;
naren 14:0c4a26dc6873 109 }
naren 14:0c4a26dc6873 110 q00 = q0 / 32768.0;
naren 14:0c4a26dc6873 111 q11 = q1 / 32768.0;
naren 14:0c4a26dc6873 112 q22 = q2 / 32768.0;
naren 14:0c4a26dc6873 113 q33 = q3 / 32768.0;
naren 14:0c4a26dc6873 114
naren 14:0c4a26dc6873 115 norm = sqrt(q00 * q00 + q11 * q11 + q22 * q22 + q33 * q33);
naren 14:0c4a26dc6873 116 test = q00 * q11 + q22 * q33;
naren 14:0c4a26dc6873 117 roll = 180.0 * atan2(2 * (q00 * q11 + q22 * q33), 1 - 2 * (q11 * q11 + q22 * q22)) / 3.1415;
naren 14:0c4a26dc6873 118 pitch = 180.0 * asin(2 * (q00 * q22 - q33 * q11)) / 3.1415;
naren 14:0c4a26dc6873 119 yaw = 180.0 * atan2(2 * (q00 * q33 + q11 * q22), 1 - 2 * (q22 * q22 + q33 * q33)) / 3.1415;
naren 14:0c4a26dc6873 120
naren 14:0c4a26dc6873 121 gl->roll = roll;
naren 14:0c4a26dc6873 122 gl->pitch = pitch;
naren 14:0c4a26dc6873 123 gl->yaw = yaw;
naren 14:0c4a26dc6873 124 gl->lastPkgTime = timeOfArrival;
naren 14:0c4a26dc6873 125 printf("roll: %f\tpitch: %f\tyaw: %f\r\n", gl->roll, gl->pitch, gl->yaw);
naren 14:0c4a26dc6873 126 }
naren 14:0c4a26dc6873 127 break;
naren 14:0c4a26dc6873 128 case STREAM_FINGERS_RAW:
naren 14:0c4a26dc6873 129 {
naren 14:0c4a26dc6873 130 k = 7;
naren 14:0c4a26dc6873 131 for (j = 0; j < 3; j++){
naren 14:0c4a26dc6873 132 gl->gyro[j] = (buffer[k] << 8) + (buffer[k+1]);
naren 14:0c4a26dc6873 133 if (gl->gyro[j] > 0x7fff)
naren 14:0c4a26dc6873 134 gl->gyro[j] -= 0x10000;
naren 14:0c4a26dc6873 135 k += 2;
naren 14:0c4a26dc6873 136 }
naren 14:0c4a26dc6873 137 for (j = 0; j < 3; j++){
naren 14:0c4a26dc6873 138 gl->magn[j] = (buffer[k] << 8) + (buffer[k+1]);
naren 14:0c4a26dc6873 139 if (gl->magn[j] > 0x7fff)
naren 14:0c4a26dc6873 140 gl->magn[j] -= 0x10000;
naren 14:0c4a26dc6873 141 k += 2;
naren 14:0c4a26dc6873 142 }
naren 14:0c4a26dc6873 143 for (j = 0; j < 3; j++){
naren 14:0c4a26dc6873 144 gl->accel[j] = (buffer[k] << 8) + (buffer[k+1]);
naren 14:0c4a26dc6873 145 if (gl->accel[j]>0x7fff)
naren 14:0c4a26dc6873 146 gl->accel[j] -= 0x10000;
naren 14:0c4a26dc6873 147 k += 2;
naren 14:0c4a26dc6873 148 }
naren 14:0c4a26dc6873 149 for (y = 0; y < 5; y++){
naren 14:0c4a26dc6873 150 gl->fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k+1]);
naren 14:0c4a26dc6873 151 k += 2;
naren 14:0c4a26dc6873 152 }
naren 14:0c4a26dc6873 153
naren 14:0c4a26dc6873 154 gl->roll = 0.0;
naren 14:0c4a26dc6873 155 gl->pitch = 0.0;
naren 14:0c4a26dc6873 156 gl->yaw = 0.0;
naren 14:0c4a26dc6873 157 gl->lastPkgTime = timeOfArrival;
naren 14:0c4a26dc6873 158 }
naren 14:0c4a26dc6873 159 break;
naren 14:0c4a26dc6873 160 case STREAM_RAW:
naren 14:0c4a26dc6873 161 {
naren 14:0c4a26dc6873 162 k = 7;
naren 14:0c4a26dc6873 163 for (j = 0; j < 3; j++){
naren 14:0c4a26dc6873 164 gl->gyro[j] = (buffer[k] << 8) + (buffer[k+1]);
naren 14:0c4a26dc6873 165 if (gl->gyro[j] > 0x7fff)
naren 14:0c4a26dc6873 166 gl->gyro[j] -= 0x10000;
naren 14:0c4a26dc6873 167 k += 2;
naren 14:0c4a26dc6873 168 }
naren 14:0c4a26dc6873 169 for (j = 0; j < 3; j++){
naren 14:0c4a26dc6873 170 gl->magn[j] = (buffer[k] << 8) + (buffer[k+1]);
naren 14:0c4a26dc6873 171 if (gl->magn[j] > 0x7fff)
naren 14:0c4a26dc6873 172 gl->magn[j] -= 0x10000;
naren 14:0c4a26dc6873 173 k += 2;
naren 14:0c4a26dc6873 174 }
naren 14:0c4a26dc6873 175 for (j = 0; j < 3; j++){
naren 14:0c4a26dc6873 176 gl->accel[j] = (buffer[k] << 8) + (buffer[k+1]);
naren 14:0c4a26dc6873 177 if (gl->accel[j] > 0x7fff)
naren 14:0c4a26dc6873 178 gl->accel[j] -= 0x10000;
naren 14:0c4a26dc6873 179 k += 2;
naren 14:0c4a26dc6873 180 }
naren 14:0c4a26dc6873 181 int y = 0;
naren 14:0c4a26dc6873 182 for (y = 0; y < 5; y++){
naren 14:0c4a26dc6873 183 gl->fingers[y] = 0.0;
naren 14:0c4a26dc6873 184 }
naren 14:0c4a26dc6873 185
naren 14:0c4a26dc6873 186 gl->roll = 0.0;
naren 14:0c4a26dc6873 187 gl->pitch = 0.0;
naren 14:0c4a26dc6873 188 gl->yaw = 0.0;
naren 14:0c4a26dc6873 189 gl->lastPkgTime = timeOfArrival;
naren 14:0c4a26dc6873 190 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 191 }
naren 14:0c4a26dc6873 192 break;
naren 14:0c4a26dc6873 193
naren 14:0c4a26dc6873 194 case STREAM_FINGERS:
naren 14:0c4a26dc6873 195 {
naren 14:0c4a26dc6873 196 k = 7;
naren 14:0c4a26dc6873 197 for (y = 0; y < 5; y++){
naren 14:0c4a26dc6873 198 gl->fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k+1]);
naren 14:0c4a26dc6873 199 k += 2;
naren 14:0c4a26dc6873 200 }
naren 14:0c4a26dc6873 201
naren 14:0c4a26dc6873 202 gl->roll = 0.0;
naren 14:0c4a26dc6873 203 gl->pitch = 0.0;
naren 14:0c4a26dc6873 204 gl->yaw = 0.0;
naren 14:0c4a26dc6873 205 gl->lastPkgTime = timeOfArrival;
naren 14:0c4a26dc6873 206 }
naren 14:0c4a26dc6873 207 break;
naren 14:0c4a26dc6873 208 }
naren 14:0c4a26dc6873 209 notConnectedCount = 0;
naren 14:0c4a26dc6873 210 }
naren 14:0c4a26dc6873 211 else{
naren 14:0c4a26dc6873 212 if (bcc!=Buf[pkglen-2])
naren 14:0c4a26dc6873 213 notConnectedCount++;
naren 14:0c4a26dc6873 214 }
naren 14:0c4a26dc6873 215 }
kalbers 3:5f5d75cba8e1 216 }
kalbers 3:5f5d75cba8e1 217 else {
kalbers 15:b48ac00af0b8 218 //printf("couldn't get data %d\r\n", notConnectedCount);
naren 14:0c4a26dc6873 219 notConnectedCount++;
kalbers 3:5f5d75cba8e1 220 }
kalbers 3:5f5d75cba8e1 221 // Re-establishing communication in case no data is received for 1s (20 frames per second*1 = 20)
kalbers 3:5f5d75cba8e1 222 if (notConnectedCount > 20) {
kalbers 3:5f5d75cba8e1 223 printf("Connection broke! Trying to re-establish...\r\n");
kalbers 15:b48ac00af0b8 224 GloveSocket.Reconnect();
kalbers 15:b48ac00af0b8 225 StreamData();
kalbers 3:5f5d75cba8e1 226 notConnectedCount = 0;
kalbers 3:5f5d75cba8e1 227 }
kalbers 3:5f5d75cba8e1 228 }
kalbers 3:5f5d75cba8e1 229
kalbers 3:5f5d75cba8e1 230 void DataGlove::Parse()
kalbers 3:5f5d75cba8e1 231 {
kalbers 3:5f5d75cba8e1 232 }