Laser Sensing Display for UI interfaces in the real world
Fork of skinGames_forktest by
main.cpp@0:345b3bc7a0ea, 2012-03-28 (annotated)
- Committer:
- mbedalvaro
- Date:
- Wed Mar 28 14:40:01 2012 +0000
- Revision:
- 0:345b3bc7a0ea
- Child:
- 1:a4050fee11f7
This version (using rigid frame, base and child classes, etc) works, but the blob is strangely smaller. Need to check this.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mbedalvaro | 0:345b3bc7a0ea | 1 | #include "mbed.h" |
mbedalvaro | 0:345b3bc7a0ea | 2 | #include "hardwareIO.h" |
mbedalvaro | 0:345b3bc7a0ea | 3 | #include "mbedOSC.h" |
mbedalvaro | 0:345b3bc7a0ea | 4 | #include "blobConfig.h" |
mbedalvaro | 0:345b3bc7a0ea | 5 | #include "simpleLaserRenderer.h" |
mbedalvaro | 0:345b3bc7a0ea | 6 | |
mbedalvaro | 0:345b3bc7a0ea | 7 | extern "C" void mbed_reset(); |
mbedalvaro | 0:345b3bc7a0ea | 8 | |
mbedalvaro | 0:345b3bc7a0ea | 9 | blobConfig blobconf; |
mbedalvaro | 0:345b3bc7a0ea | 10 | simpleLaserSensingRenderer lsr; |
mbedalvaro | 0:345b3bc7a0ea | 11 | |
mbedalvaro | 0:345b3bc7a0ea | 12 | // For tests: |
mbedalvaro | 0:345b3bc7a0ea | 13 | DigitalOut myled(LED1); |
mbedalvaro | 0:345b3bc7a0ea | 14 | DigitalOut myled2(LED2); |
mbedalvaro | 0:345b3bc7a0ea | 15 | //DigitalOut myled3(LED2); |
mbedalvaro | 0:345b3bc7a0ea | 16 | |
mbedalvaro | 0:345b3bc7a0ea | 17 | |
mbedalvaro | 0:345b3bc7a0ea | 18 | // To test the time it takes for executing one loop in the main program: |
mbedalvaro | 0:345b3bc7a0ea | 19 | //#define LOOPTIMECOMPUTE |
mbedalvaro | 0:345b3bc7a0ea | 20 | |
mbedalvaro | 0:345b3bc7a0ea | 21 | //---------- ETHERNET / OSC related (in the future, put somewhere else...): ------------------------------------------- |
mbedalvaro | 0:345b3bc7a0ea | 22 | // mbed IP address (server): |
mbedalvaro | 0:345b3bc7a0ea | 23 | #ifdef DHCP |
mbedalvaro | 0:345b3bc7a0ea | 24 | EthernetNetIf eth; |
mbedalvaro | 0:345b3bc7a0ea | 25 | #else |
mbedalvaro | 0:345b3bc7a0ea | 26 | EthernetNetIf eth( |
mbedalvaro | 0:345b3bc7a0ea | 27 | IpAddr(10,0,0,2), //IP Address |
mbedalvaro | 0:345b3bc7a0ea | 28 | IpAddr(255,255,255,0), //Network Mask |
mbedalvaro | 0:345b3bc7a0ea | 29 | IpAddr(10,0,0,1), //Gateway |
mbedalvaro | 0:345b3bc7a0ea | 30 | IpAddr(10,0,0,1) //DNS |
mbedalvaro | 0:345b3bc7a0ea | 31 | ); |
mbedalvaro | 0:345b3bc7a0ea | 32 | #endif |
mbedalvaro | 0:345b3bc7a0ea | 33 | |
mbedalvaro | 0:345b3bc7a0ea | 34 | //uint8_t serverMac[] = { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED }; |
mbedalvaro | 0:345b3bc7a0ea | 35 | uint8_t serverIp[] = { 10, 0, 0, 2 }; // not needed perhaps! |
mbedalvaro | 0:345b3bc7a0ea | 36 | int serverPort = 10000; |
mbedalvaro | 0:345b3bc7a0ea | 37 | |
mbedalvaro | 0:345b3bc7a0ea | 38 | uint8_t destIp[] = { 10, 0, 0, 1}; |
mbedalvaro | 0:345b3bc7a0ea | 39 | int destPort = 12000; |
mbedalvaro | 0:345b3bc7a0ea | 40 | |
mbedalvaro | 0:345b3bc7a0ea | 41 | char *topAddress="/mbed"; |
mbedalvaro | 0:345b3bc7a0ea | 42 | char *subAddress[3]={ "/test1" , "/test2" , "/test3" }; |
mbedalvaro | 0:345b3bc7a0ea | 43 | |
mbedalvaro | 0:345b3bc7a0ea | 44 | OSCMessage recMes; |
mbedalvaro | 0:345b3bc7a0ea | 45 | OSCMessage sendMes; |
mbedalvaro | 0:345b3bc7a0ea | 46 | |
mbedalvaro | 0:345b3bc7a0ea | 47 | OSCClass osc; |
mbedalvaro | 0:345b3bc7a0ea | 48 | //OSCClass osc(&recMes); // instantiate OSC communication object, and set the receiver container from the OSC packets |
mbedalvaro | 0:345b3bc7a0ea | 49 | |
mbedalvaro | 0:345b3bc7a0ea | 50 | void processOSC(UDPSocketEvent e); |
mbedalvaro | 0:345b3bc7a0ea | 51 | // ---------------------------------------------------------------------------------------------------------------------- |
mbedalvaro | 0:345b3bc7a0ea | 52 | |
mbedalvaro | 0:345b3bc7a0ea | 53 | Ticker timerForRendering; |
mbedalvaro | 0:345b3bc7a0ea | 54 | Timer measureLoopPeriod; |
mbedalvaro | 0:345b3bc7a0ea | 55 | |
mbedalvaro | 0:345b3bc7a0ea | 56 | void processSerial(); |
mbedalvaro | 0:345b3bc7a0ea | 57 | |
mbedalvaro | 0:345b3bc7a0ea | 58 | int main() { |
mbedalvaro | 0:345b3bc7a0ea | 59 | |
mbedalvaro | 0:345b3bc7a0ea | 60 | // Initialize the hardware (laser powers, positions...): |
mbedalvaro | 0:345b3bc7a0ea | 61 | IO.init(); |
mbedalvaro | 0:345b3bc7a0ea | 62 | |
mbedalvaro | 0:345b3bc7a0ea | 63 | // ------------------------------- |
mbedalvaro | 0:345b3bc7a0ea | 64 | // Set the Ethernet port: |
mbedalvaro | 0:345b3bc7a0ea | 65 | printf("Setting up...\r\n"); |
mbedalvaro | 0:345b3bc7a0ea | 66 | EthernetErr ethErr = eth.setup(); |
mbedalvaro | 0:345b3bc7a0ea | 67 | if(ethErr) |
mbedalvaro | 0:345b3bc7a0ea | 68 | { |
mbedalvaro | 0:345b3bc7a0ea | 69 | printf("Error %d in setup.\r\n", ethErr); |
mbedalvaro | 0:345b3bc7a0ea | 70 | return -1; |
mbedalvaro | 0:345b3bc7a0ea | 71 | } |
mbedalvaro | 0:345b3bc7a0ea | 72 | printf("Setup OK\r\n"); |
mbedalvaro | 0:345b3bc7a0ea | 73 | |
mbedalvaro | 0:345b3bc7a0ea | 74 | //(1) Sending message: |
mbedalvaro | 0:345b3bc7a0ea | 75 | // Set IP and Port: |
mbedalvaro | 0:345b3bc7a0ea | 76 | sendMes.setIp( destIp ); |
mbedalvaro | 0:345b3bc7a0ea | 77 | sendMes.setPort( destPort ); |
mbedalvaro | 0:345b3bc7a0ea | 78 | // Set data: |
mbedalvaro | 0:345b3bc7a0ea | 79 | // sendMes.setTopAddress(topAddress); |
mbedalvaro | 0:345b3bc7a0ea | 80 | |
mbedalvaro | 0:345b3bc7a0ea | 81 | //setting osc functionnality: |
mbedalvaro | 0:345b3bc7a0ea | 82 | //(2) Receiving: |
mbedalvaro | 0:345b3bc7a0ea | 83 | // recMes.setIp( serverIp ); // not needed? |
mbedalvaro | 0:345b3bc7a0ea | 84 | osc.setReceiveMessage(&recMes); // this sets the receiver container for the OSC packets (we can avoid doing this if we use osc.getMessage() to get messages) |
mbedalvaro | 0:345b3bc7a0ea | 85 | osc.begin(serverPort, &processOSC); // binds the upd (osc) messages to an arbitrary listening port ("server" port), and callback function |
mbedalvaro | 0:345b3bc7a0ea | 86 | // ------------------------------- |
mbedalvaro | 0:345b3bc7a0ea | 87 | |
mbedalvaro | 0:345b3bc7a0ea | 88 | /* // sending seems not to work right after setting the osc object?? |
mbedalvaro | 0:345b3bc7a0ea | 89 | wait(1); |
mbedalvaro | 0:345b3bc7a0ea | 90 | sendMes.setTopAddress("starting"); |
mbedalvaro | 0:345b3bc7a0ea | 91 | sendMes.setSubAddress(""); |
mbedalvaro | 0:345b3bc7a0ea | 92 | osc.sendOsc( &sendMes ); |
mbedalvaro | 0:345b3bc7a0ea | 93 | */ |
mbedalvaro | 0:345b3bc7a0ea | 94 | |
mbedalvaro | 0:345b3bc7a0ea | 95 | // initialize with the desired blob configuration: |
mbedalvaro | 0:345b3bc7a0ea | 96 | |
mbedalvaro | 0:345b3bc7a0ea | 97 | // Tested modes: |
mbedalvaro | 0:345b3bc7a0ea | 98 | //blobconf.oneElasticLoopContractCentral(); |
mbedalvaro | 0:345b3bc7a0ea | 99 | blobconf.addOneElasticContourFollowing(); |
mbedalvaro | 0:345b3bc7a0ea | 100 | // Important: first, set the initial position for all the blobs, this will be useful because |
mbedalvaro | 0:345b3bc7a0ea | 101 | // when changing modes we can use the previous central position... |
mbedalvaro | 0:345b3bc7a0ea | 102 | // blobconf.setInitialPos(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y); |
mbedalvaro | 0:345b3bc7a0ea | 103 | |
mbedalvaro | 0:345b3bc7a0ea | 104 | |
mbedalvaro | 0:345b3bc7a0ea | 105 | // RENRERER (attn: setConfigToRender must be called when the blobconf is set - i.e., the number of blobs and number of points/blob is fixed) |
mbedalvaro | 0:345b3bc7a0ea | 106 | lsr.setConfigToRender(&blobconf); |
mbedalvaro | 0:345b3bc7a0ea | 107 | |
mbedalvaro | 0:345b3bc7a0ea | 108 | // Timer on the rendering function of the oneLoop object: |
mbedalvaro | 0:345b3bc7a0ea | 109 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds) |
mbedalvaro | 0:345b3bc7a0ea | 110 | // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds) |
mbedalvaro | 0:345b3bc7a0ea | 111 | |
mbedalvaro | 0:345b3bc7a0ea | 112 | //========================================== INFINITE LOOP (in USER PROGRAM CONTEXT) =================================================================== |
mbedalvaro | 0:345b3bc7a0ea | 113 | #ifdef LOOPTIMECOMPUTE |
mbedalvaro | 0:345b3bc7a0ea | 114 | int timeCounterNum=100000; |
mbedalvaro | 0:345b3bc7a0ea | 115 | #endif |
mbedalvaro | 0:345b3bc7a0ea | 116 | |
mbedalvaro | 0:345b3bc7a0ea | 117 | |
mbedalvaro | 0:345b3bc7a0ea | 118 | while(true) { |
mbedalvaro | 0:345b3bc7a0ea | 119 | |
mbedalvaro | 0:345b3bc7a0ea | 120 | // update config dynamics (this also could be threaded?): |
mbedalvaro | 0:345b3bc7a0ea | 121 | blobconf.update(); |
mbedalvaro | 0:345b3bc7a0ea | 122 | |
mbedalvaro | 0:345b3bc7a0ea | 123 | // draw the config (note: each kind of blob renders differently) |
mbedalvaro | 0:345b3bc7a0ea | 124 | // blobconf.draw(); |
mbedalvaro | 0:345b3bc7a0ea | 125 | |
mbedalvaro | 0:345b3bc7a0ea | 126 | // COMMUNICATION: |
mbedalvaro | 0:345b3bc7a0ea | 127 | // (a) Reading commands: |
mbedalvaro | 0:345b3bc7a0ea | 128 | // Ethernet: |
mbedalvaro | 0:345b3bc7a0ea | 129 | Net::poll(); // this will take care of calling processOSC(UDPSocketEvent e) when a new packet arrives. |
mbedalvaro | 0:345b3bc7a0ea | 130 | |
mbedalvaro | 0:345b3bc7a0ea | 131 | // Serial: |
mbedalvaro | 0:345b3bc7a0ea | 132 | if(pc.readable()>0) processSerial(); |
mbedalvaro | 0:345b3bc7a0ea | 133 | |
mbedalvaro | 0:345b3bc7a0ea | 134 | // (b)Sending Data: // PUT THIS IN AN INTERRUPT OR A TIMER!!! it may be TOO FAST... |
mbedalvaro | 0:345b3bc7a0ea | 135 | blobconf.sendConfData(); |
mbedalvaro | 0:345b3bc7a0ea | 136 | |
mbedalvaro | 0:345b3bc7a0ea | 137 | // text: |
mbedalvaro | 0:345b3bc7a0ea | 138 | /* |
mbedalvaro | 0:345b3bc7a0ea | 139 | sendMes.setTopAddress("/hello"); |
mbedalvaro | 0:345b3bc7a0ea | 140 | sendMes.setSubAddress("/daito"); // ATTENTION: the host computer needs to know in advance how many points are in the loop (I did not implement "bundle" messages yet...) |
mbedalvaro | 0:345b3bc7a0ea | 141 | int x=(long)10; |
mbedalvaro | 0:345b3bc7a0ea | 142 | sendMes.setArgs( "i", &x); |
mbedalvaro | 0:345b3bc7a0ea | 143 | osc.sendOsc( &sendMes ); |
mbedalvaro | 0:345b3bc7a0ea | 144 | */ |
mbedalvaro | 0:345b3bc7a0ea | 145 | |
mbedalvaro | 0:345b3bc7a0ea | 146 | #ifdef LOOPTIMECOMPUTE |
mbedalvaro | 0:345b3bc7a0ea | 147 | if (timeCounterNum>50000) myled = 0; |
mbedalvaro | 0:345b3bc7a0ea | 148 | //if (timeCounterNum%100==0) blobconf.sendConfData(); |
mbedalvaro | 0:345b3bc7a0ea | 149 | if (timeCounterNum>100000) { |
mbedalvaro | 0:345b3bc7a0ea | 150 | myled = 1; |
mbedalvaro | 0:345b3bc7a0ea | 151 | measureLoopPeriod.stop(); |
mbedalvaro | 0:345b3bc7a0ea | 152 | sendMes.setTopAddress("/timeloop"); |
mbedalvaro | 0:345b3bc7a0ea | 153 | sendMes.setSubAddress("/"); |
mbedalvaro | 0:345b3bc7a0ea | 154 | long x=(long)(int(measureLoopPeriod.read_us()/100000)); |
mbedalvaro | 0:345b3bc7a0ea | 155 | sendMes.setArgs( "i", &x); |
mbedalvaro | 0:345b3bc7a0ea | 156 | osc.sendOsc( &sendMes ); |
mbedalvaro | 0:345b3bc7a0ea | 157 | timeCounterNum=0; |
mbedalvaro | 0:345b3bc7a0ea | 158 | measureLoopPeriod.reset(); |
mbedalvaro | 0:345b3bc7a0ea | 159 | measureLoopPeriod.start(); |
mbedalvaro | 0:345b3bc7a0ea | 160 | } else timeCounterNum++; |
mbedalvaro | 0:345b3bc7a0ea | 161 | #endif |
mbedalvaro | 0:345b3bc7a0ea | 162 | |
mbedalvaro | 0:345b3bc7a0ea | 163 | } |
mbedalvaro | 0:345b3bc7a0ea | 164 | } |
mbedalvaro | 0:345b3bc7a0ea | 165 | |
mbedalvaro | 0:345b3bc7a0ea | 166 | // ================= INTERPRET COMMAND ========================= |
mbedalvaro | 0:345b3bc7a0ea | 167 | // NOTE: the following arrays are GLOBAL (used in processOSC and processSerial, as well as in interpretCommand function): |
mbedalvaro | 0:345b3bc7a0ea | 168 | // max of two addresses (top and sub), of a max length of 24 characters: |
mbedalvaro | 0:345b3bc7a0ea | 169 | char address[2][24]; |
mbedalvaro | 0:345b3bc7a0ea | 170 | //long auxdata[2]; // to store a max of two arguments (note: we will only use LONGs) |
mbedalvaro | 0:345b3bc7a0ea | 171 | int data[2]; // this is to have -1 as NO DATA, to detect errors. |
mbedalvaro | 0:345b3bc7a0ea | 172 | |
mbedalvaro | 0:345b3bc7a0ea | 173 | //interpretCommand(const char& address[2][], const int& data[2]) { |
mbedalvaro | 0:345b3bc7a0ea | 174 | void interpretCommand() { |
mbedalvaro | 0:345b3bc7a0ea | 175 | // (I) =========================================== SPECIAL FUNCTIONS (reset, rescan LUT, etc) ==================================================== |
mbedalvaro | 0:345b3bc7a0ea | 176 | if ( !strcmp(address[0], "takeSnapshot" ) ) { // will reset all the spots, but the 0, and use it for taking measures: |
mbedalvaro | 0:345b3bc7a0ea | 177 | |
mbedalvaro | 0:345b3bc7a0ea | 178 | // for test: |
mbedalvaro | 0:345b3bc7a0ea | 179 | for (int i=0; i<2 ; i++) { |
mbedalvaro | 0:345b3bc7a0ea | 180 | myled = 1; wait(0.1); myled = 0; wait(0.1); |
mbedalvaro | 0:345b3bc7a0ea | 181 | } |
mbedalvaro | 0:345b3bc7a0ea | 182 | |
mbedalvaro | 0:345b3bc7a0ea | 183 | // First, we need to disable the threaded display for the loop: |
mbedalvaro | 0:345b3bc7a0ea | 184 | timerForRendering.detach(); |
mbedalvaro | 0:345b3bc7a0ea | 185 | |
mbedalvaro | 0:345b3bc7a0ea | 186 | // Then, do the scan (sending values on serial port): |
mbedalvaro | 0:345b3bc7a0ea | 187 | IO.scan_serial(); |
mbedalvaro | 0:345b3bc7a0ea | 188 | |
mbedalvaro | 0:345b3bc7a0ea | 189 | // Finally, start again threaded display: |
mbedalvaro | 0:345b3bc7a0ea | 190 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds) |
mbedalvaro | 0:345b3bc7a0ea | 191 | } |
mbedalvaro | 0:345b3bc7a0ea | 192 | |
mbedalvaro | 0:345b3bc7a0ea | 193 | else if ( !strcmp(address[0], "mbedReset" ) ) mbed_reset(); |
mbedalvaro | 0:345b3bc7a0ea | 194 | |
mbedalvaro | 0:345b3bc7a0ea | 195 | else if ( !strcmp(address[0], "calibrate" ) ) { |
mbedalvaro | 0:345b3bc7a0ea | 196 | // First, we need to disable the threaded display for the loop: |
mbedalvaro | 0:345b3bc7a0ea | 197 | timerForRendering.detach(); |
mbedalvaro | 0:345b3bc7a0ea | 198 | // RESCAN (and save LUT table): |
mbedalvaro | 0:345b3bc7a0ea | 199 | IO.scanLUT(); |
mbedalvaro | 0:345b3bc7a0ea | 200 | // Finally, start again threaded display: |
mbedalvaro | 0:345b3bc7a0ea | 201 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); |
mbedalvaro | 0:345b3bc7a0ea | 202 | } |
mbedalvaro | 0:345b3bc7a0ea | 203 | |
mbedalvaro | 0:345b3bc7a0ea | 204 | // (II) ========================================= GLOBAL CONFIG and HARDWARE COMMANDS =========================================== |
mbedalvaro | 0:345b3bc7a0ea | 205 | |
mbedalvaro | 0:345b3bc7a0ea | 206 | else if ( !strcmp(address[0], "setGreenLaser" ) ) { |
mbedalvaro | 0:345b3bc7a0ea | 207 | int value=data[0]; |
mbedalvaro | 0:345b3bc7a0ea | 208 | if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) |
mbedalvaro | 0:345b3bc7a0ea | 209 | if (value==0) IO.setGreenPower(0); else IO.setGreenPower(1); |
mbedalvaro | 0:345b3bc7a0ea | 210 | } |
mbedalvaro | 0:345b3bc7a0ea | 211 | } |
mbedalvaro | 0:345b3bc7a0ea | 212 | |
mbedalvaro | 0:345b3bc7a0ea | 213 | // SIMPLE BEHAVIOUR MODES (to be read from an XML file in the future): |
mbedalvaro | 0:345b3bc7a0ea | 214 | else if (!strcmp(address[0], "crawling")) { // |
mbedalvaro | 0:345b3bc7a0ea | 215 | timerForRendering.detach(); |
mbedalvaro | 0:345b3bc7a0ea | 216 | // blobconf.computeBoundingBox(); |
mbedalvaro | 0:345b3bc7a0ea | 217 | blobconf.clearConfig(); |
mbedalvaro | 0:345b3bc7a0ea | 218 | blobconf.addOneElasticContourFollowing(); |
mbedalvaro | 0:345b3bc7a0ea | 219 | lsr.setConfigToRender(&blobconf); |
mbedalvaro | 0:345b3bc7a0ea | 220 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); |
mbedalvaro | 0:345b3bc7a0ea | 221 | } |
mbedalvaro | 0:345b3bc7a0ea | 222 | else if (!strcmp(address[0], "loop")) { // |
mbedalvaro | 0:345b3bc7a0ea | 223 | timerForRendering.detach(); |
mbedalvaro | 0:345b3bc7a0ea | 224 | // blobconf.computeBoundingBox(); |
mbedalvaro | 0:345b3bc7a0ea | 225 | blobconf.clearConfig(); |
mbedalvaro | 0:345b3bc7a0ea | 226 | blobconf.addOneElasticLoopContractCentral(); |
mbedalvaro | 0:345b3bc7a0ea | 227 | lsr.setConfigToRender(&blobconf); |
mbedalvaro | 0:345b3bc7a0ea | 228 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); |
mbedalvaro | 0:345b3bc7a0ea | 229 | } |
mbedalvaro | 0:345b3bc7a0ea | 230 | |
mbedalvaro | 0:345b3bc7a0ea | 231 | else if (!strcmp(address[0], "bouncing")) { |
mbedalvaro | 0:345b3bc7a0ea | 232 | timerForRendering.detach(); |
mbedalvaro | 0:345b3bc7a0ea | 233 | // blobconf.computeBoundingBox(); |
mbedalvaro | 0:345b3bc7a0ea | 234 | blobconf.clearConfig(); |
mbedalvaro | 0:345b3bc7a0ea | 235 | blobconf.addOneElasticBouncing(); |
mbedalvaro | 0:345b3bc7a0ea | 236 | lsr.setConfigToRender(&blobconf); |
mbedalvaro | 0:345b3bc7a0ea | 237 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); |
mbedalvaro | 0:345b3bc7a0ea | 238 | } |
mbedalvaro | 0:345b3bc7a0ea | 239 | |
mbedalvaro | 0:345b3bc7a0ea | 240 | // other: |
mbedalvaro | 0:345b3bc7a0ea | 241 | |
mbedalvaro | 0:345b3bc7a0ea | 242 | else if ( !strcmp(address[0], "standby" ) ) { // will put ALL the spots in stand by mode |
mbedalvaro | 0:345b3bc7a0ea | 243 | blobconf.allStandBy(); // will avoid the update function |
mbedalvaro | 0:345b3bc7a0ea | 244 | } |
mbedalvaro | 0:345b3bc7a0ea | 245 | else if ( !strcmp(address[0], "resume" ) ) { // will put ALL the spots in stand by mode |
mbedalvaro | 0:345b3bc7a0ea | 246 | blobconf.allResume(); // will avoid the update function |
mbedalvaro | 0:345b3bc7a0ea | 247 | } |
mbedalvaro | 0:345b3bc7a0ea | 248 | |
mbedalvaro | 0:345b3bc7a0ea | 249 | // (III) ========================================= Loop control (parameters, etc) =========================================== |
mbedalvaro | 0:345b3bc7a0ea | 250 | // NOte: for the time being, we only have ONE loop, so there is no "per loop or per config" mode. |
mbedalvaro | 0:345b3bc7a0ea | 251 | |
mbedalvaro | 0:345b3bc7a0ea | 252 | else if (!strcmp( address[0], "sendOSC" ) ) { |
mbedalvaro | 0:345b3bc7a0ea | 253 | int value=data[0]; |
mbedalvaro | 0:345b3bc7a0ea | 254 | if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) |
mbedalvaro | 0:345b3bc7a0ea | 255 | for (int i=0; i< blobconf.numBlobs; i++) { |
mbedalvaro | 0:345b3bc7a0ea | 256 | blobconf.blobArray[i]->sendOSC=(value>0); |
mbedalvaro | 0:345b3bc7a0ea | 257 | } |
mbedalvaro | 0:345b3bc7a0ea | 258 | } |
mbedalvaro | 0:345b3bc7a0ea | 259 | } |
mbedalvaro | 0:345b3bc7a0ea | 260 | |
mbedalvaro | 0:345b3bc7a0ea | 261 | else if (!strcmp( address[0], "sendArea" ) ) { |
mbedalvaro | 0:345b3bc7a0ea | 262 | int value=data[0]; |
mbedalvaro | 0:345b3bc7a0ea | 263 | if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) |
mbedalvaro | 0:345b3bc7a0ea | 264 | for (int i=0; i< blobconf.numBlobs; i++) { |
mbedalvaro | 0:345b3bc7a0ea | 265 | blobconf.blobArray[i]->sendingBlobArea=(value>0); |
mbedalvaro | 0:345b3bc7a0ea | 266 | } |
mbedalvaro | 0:345b3bc7a0ea | 267 | } |
mbedalvaro | 0:345b3bc7a0ea | 268 | } |
mbedalvaro | 0:345b3bc7a0ea | 269 | |
mbedalvaro | 0:345b3bc7a0ea | 270 | else if (!strcmp( address[0], "sendPos" ) ) { |
mbedalvaro | 0:345b3bc7a0ea | 271 | int value=data[0]; |
mbedalvaro | 0:345b3bc7a0ea | 272 | if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) |
mbedalvaro | 0:345b3bc7a0ea | 273 | for (int i=0; i< blobconf.numBlobs; i++) { |
mbedalvaro | 0:345b3bc7a0ea | 274 | blobconf.blobArray[i]->sendingLoopPositions=(value>0); |
mbedalvaro | 0:345b3bc7a0ea | 275 | } |
mbedalvaro | 0:345b3bc7a0ea | 276 | } |
mbedalvaro | 0:345b3bc7a0ea | 277 | } |
mbedalvaro | 0:345b3bc7a0ea | 278 | |
mbedalvaro | 0:345b3bc7a0ea | 279 | else if (!strcmp( address[0], "sendRegions" ) ) { |
mbedalvaro | 0:345b3bc7a0ea | 280 | int value=data[0]; |
mbedalvaro | 0:345b3bc7a0ea | 281 | if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) |
mbedalvaro | 0:345b3bc7a0ea | 282 | for (int i=0; i< blobconf.numBlobs; i++) { |
mbedalvaro | 0:345b3bc7a0ea | 283 | blobconf.blobArray[i]->sendingLoopRegions=(value>0); |
mbedalvaro | 0:345b3bc7a0ea | 284 | } |
mbedalvaro | 0:345b3bc7a0ea | 285 | } |
mbedalvaro | 0:345b3bc7a0ea | 286 | } |
mbedalvaro | 0:345b3bc7a0ea | 287 | |
mbedalvaro | 0:345b3bc7a0ea | 288 | else if (!strcmp( address[0], "sendTouched" ) ) { |
mbedalvaro | 0:345b3bc7a0ea | 289 | int value=data[0]; |
mbedalvaro | 0:345b3bc7a0ea | 290 | if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) |
mbedalvaro | 0:345b3bc7a0ea | 291 | for (int i=0; i< blobconf.numBlobs; i++) { |
mbedalvaro | 0:345b3bc7a0ea | 292 | blobconf.blobArray[i]->sendingTouched=(value>0); |
mbedalvaro | 0:345b3bc7a0ea | 293 | } |
mbedalvaro | 0:345b3bc7a0ea | 294 | } |
mbedalvaro | 0:345b3bc7a0ea | 295 | } |
mbedalvaro | 0:345b3bc7a0ea | 296 | |
mbedalvaro | 0:345b3bc7a0ea | 297 | |
mbedalvaro | 0:345b3bc7a0ea | 298 | |
mbedalvaro | 0:345b3bc7a0ea | 299 | } |
mbedalvaro | 0:345b3bc7a0ea | 300 | |
mbedalvaro | 0:345b3bc7a0ea | 301 | //============= RECEIVE OSC COMMANDS ========================= |
mbedalvaro | 0:345b3bc7a0ea | 302 | // This is the callback function called when there are packets on the listening socket. It is not nice to have it |
mbedalvaro | 0:345b3bc7a0ea | 303 | // here, but for the time being having a "wrapping global" is the simplest solution (we cannot pass a member-function pointer |
mbedalvaro | 0:345b3bc7a0ea | 304 | // as handler to the upd object). |
mbedalvaro | 0:345b3bc7a0ea | 305 | void processOSC(UDPSocketEvent e) { |
mbedalvaro | 0:345b3bc7a0ea | 306 | osc.onUDPSocketEvent(e); |
mbedalvaro | 0:345b3bc7a0ea | 307 | |
mbedalvaro | 0:345b3bc7a0ea | 308 | if (osc.newMessage) { |
mbedalvaro | 0:345b3bc7a0ea | 309 | // in fact, there is no need to check this if using the method of a global callback function - it is clear this is a new packet... however, it may be |
mbedalvaro | 0:345b3bc7a0ea | 310 | // interesting to use a timer, and process data (answers, etc) only after a certain amount of time, so as to avoid blocking the program in IRQ context... |
mbedalvaro | 0:345b3bc7a0ea | 311 | |
mbedalvaro | 0:345b3bc7a0ea | 312 | // Acquire the addresses and arguments and put them in the GLOBAL variables: |
mbedalvaro | 0:345b3bc7a0ea | 313 | strcpy(address[0],""); strcpy(address[1],""); |
mbedalvaro | 0:345b3bc7a0ea | 314 | for (int i=0; i<recMes.getAddressNum(); i++) strcpy(address[i],recMes.getAddress(i)); // NOTE: up to the rest of the program to check if address[1] is really not null |
mbedalvaro | 0:345b3bc7a0ea | 315 | // Acquire data: |
mbedalvaro | 0:345b3bc7a0ea | 316 | data[0]=-1; data[1]=-1; |
mbedalvaro | 0:345b3bc7a0ea | 317 | for (int i=0; i<recMes.getArgNum(); i++) data[i]=(int)recMes.getArgInt(i); |
mbedalvaro | 0:345b3bc7a0ea | 318 | |
mbedalvaro | 0:345b3bc7a0ea | 319 | // Finally, interpret the command: |
mbedalvaro | 0:345b3bc7a0ea | 320 | interpretCommand();//address, data); |
mbedalvaro | 0:345b3bc7a0ea | 321 | |
mbedalvaro | 0:345b3bc7a0ea | 322 | } |
mbedalvaro | 0:345b3bc7a0ea | 323 | } |
mbedalvaro | 0:345b3bc7a0ea | 324 | |
mbedalvaro | 0:345b3bc7a0ea | 325 | //============= RECEIVE SERIAL COMMANDS ========================= |
mbedalvaro | 0:345b3bc7a0ea | 326 | // |
mbedalvaro | 0:345b3bc7a0ea | 327 | // NOTE: - NUMERIC PARAMETERS have to be send BEFORE the command word. They must be sent as ASCII DEC, without end character. |
mbedalvaro | 0:345b3bc7a0ea | 328 | // - Commands words SHOULD NOT have numbers in it. They should be C compliant STRINGS (ended with character '0') |
mbedalvaro | 0:345b3bc7a0ea | 329 | // - order is irrelevant: we can send 10 RADIUS or RADIUS 10. |
mbedalvaro | 0:345b3bc7a0ea | 330 | |
mbedalvaro | 0:345b3bc7a0ea | 331 | // String to store ALPHANUMERIC DATA (i.e., integers, floating point numbers, unsigned ints, etc represented as DEC) sent wirelessly: |
mbedalvaro | 0:345b3bc7a0ea | 332 | char stringData[24]; // note: an integer is two bytes long, represented with a maximum of 5 digits, but we may send floats or unsigned int... |
mbedalvaro | 0:345b3bc7a0ea | 333 | int indexStringData=0;//position of the byte in the string |
mbedalvaro | 0:345b3bc7a0ea | 334 | |
mbedalvaro | 0:345b3bc7a0ea | 335 | // String to store COMMAND WORDS: |
mbedalvaro | 0:345b3bc7a0ea | 336 | char stringCommand[24]; // note: an integer is two bytes long, represented with a maximum of 5 digits, but we may send floats or unsigned int... |
mbedalvaro | 0:345b3bc7a0ea | 337 | int indexStringCommand=0; |
mbedalvaro | 0:345b3bc7a0ea | 338 | bool commandReady=false; // will become true when receiving the byte 0 (i.e. the '/0' string terminator) |
mbedalvaro | 0:345b3bc7a0ea | 339 | |
mbedalvaro | 0:345b3bc7a0ea | 340 | void processSerial() { |
mbedalvaro | 0:345b3bc7a0ea | 341 | |
mbedalvaro | 0:345b3bc7a0ea | 342 | while(pc.readable()>0){ |
mbedalvaro | 0:345b3bc7a0ea | 343 | |
mbedalvaro | 0:345b3bc7a0ea | 344 | char val =pc.getc(); |
mbedalvaro | 0:345b3bc7a0ea | 345 | // pc.printf("Got :%d\n", incomingByte); |
mbedalvaro | 0:345b3bc7a0ea | 346 | //pc.putc(incomingByte); |
mbedalvaro | 0:345b3bc7a0ea | 347 | |
mbedalvaro | 0:345b3bc7a0ea | 348 | // Save ASCII numeric characters (ASCII 0 - 9) on stringData: |
mbedalvaro | 0:345b3bc7a0ea | 349 | if ((val >= '0') && (val <= '9')){ // this is 45 to 57 (included) |
mbedalvaro | 0:345b3bc7a0ea | 350 | stringData[indexStringData] = val; |
mbedalvaro | 0:345b3bc7a0ea | 351 | indexStringData++; |
mbedalvaro | 0:345b3bc7a0ea | 352 | } |
mbedalvaro | 0:345b3bc7a0ea | 353 | |
mbedalvaro | 0:345b3bc7a0ea | 354 | // Save ASCII letters in stringCommand: |
mbedalvaro | 0:345b3bc7a0ea | 355 | if ((val >= 'A') && (val <= 'z')){ // this is 65 to 122 (included) |
mbedalvaro | 0:345b3bc7a0ea | 356 | stringCommand[indexStringCommand] = val; |
mbedalvaro | 0:345b3bc7a0ea | 357 | indexStringCommand++; |
mbedalvaro | 0:345b3bc7a0ea | 358 | } |
mbedalvaro | 0:345b3bc7a0ea | 359 | // is command ready? |
mbedalvaro | 0:345b3bc7a0ea | 360 | if (val=='/') { |
mbedalvaro | 0:345b3bc7a0ea | 361 | commandReady=true; |
mbedalvaro | 0:345b3bc7a0ea | 362 | stringCommand[indexStringCommand] = 0; // string termination. |
mbedalvaro | 0:345b3bc7a0ea | 363 | indexStringCommand=0; // reset index string for acquiring next command |
mbedalvaro | 0:345b3bc7a0ea | 364 | //Serial.println(stringCommand); |
mbedalvaro | 0:345b3bc7a0ea | 365 | } |
mbedalvaro | 0:345b3bc7a0ea | 366 | |
mbedalvaro | 0:345b3bc7a0ea | 367 | // COMMANDS (with or without numeric parameters): |
mbedalvaro | 0:345b3bc7a0ea | 368 | if (commandReady==true) { // it means we can interpret the command string: |
mbedalvaro | 0:345b3bc7a0ea | 369 | commandReady=false; |
mbedalvaro | 0:345b3bc7a0ea | 370 | |
mbedalvaro | 0:345b3bc7a0ea | 371 | stringData[indexStringData] = 0 ;// string termination for numeric values; |
mbedalvaro | 0:345b3bc7a0ea | 372 | indexStringData=0; |
mbedalvaro | 0:345b3bc7a0ea | 373 | |
mbedalvaro | 0:345b3bc7a0ea | 374 | // PARSE DATA: (TO DO!!!!!!!!!!!!!!): |
mbedalvaro | 0:345b3bc7a0ea | 375 | |
mbedalvaro | 0:345b3bc7a0ea | 376 | // (a) Parse command (get address[0] and address[1]): |
mbedalvaro | 0:345b3bc7a0ea | 377 | //ex: "/1/standBy" -- > address[0]="1" and address[1]="standBy" |
mbedalvaro | 0:345b3bc7a0ea | 378 | // address[2] |
mbedalvaro | 0:345b3bc7a0ea | 379 | |
mbedalvaro | 0:345b3bc7a0ea | 380 | // Serial.println(stringCommand); |
mbedalvaro | 0:345b3bc7a0ea | 381 | // Serial.println(stringData); |
mbedalvaro | 0:345b3bc7a0ea | 382 | |
mbedalvaro | 0:345b3bc7a0ea | 383 | // (b) Parse data: |
mbedalvaro | 0:345b3bc7a0ea | 384 | |
mbedalvaro | 0:345b3bc7a0ea | 385 | // char address[2][24]; |
mbedalvaro | 0:345b3bc7a0ea | 386 | //long auxdata[2]; // to store a max of two arguments (note: we will only use LONGs) |
mbedalvaro | 0:345b3bc7a0ea | 387 | //int data[2]; // this is to have -1 as NO DATA, to detect errors. |
mbedalvaro | 0:345b3bc7a0ea | 388 | |
mbedalvaro | 0:345b3bc7a0ea | 389 | // FOR THE TIME BEING there is no parsing for serial commands: |
mbedalvaro | 0:345b3bc7a0ea | 390 | |
mbedalvaro | 0:345b3bc7a0ea | 391 | // SCANNING: |
mbedalvaro | 0:345b3bc7a0ea | 392 | if (!strcmp(stringCommand , "takeSnapshot")) { |
mbedalvaro | 0:345b3bc7a0ea | 393 | // First, we need to disable the threaded display for the loop: |
mbedalvaro | 0:345b3bc7a0ea | 394 | timerForRendering.detach(); |
mbedalvaro | 0:345b3bc7a0ea | 395 | |
mbedalvaro | 0:345b3bc7a0ea | 396 | // Then, do the scan (sending values on serial port): |
mbedalvaro | 0:345b3bc7a0ea | 397 | IO.scan_serial(); |
mbedalvaro | 0:345b3bc7a0ea | 398 | |
mbedalvaro | 0:345b3bc7a0ea | 399 | // Finally, start again threaded display: |
mbedalvaro | 0:345b3bc7a0ea | 400 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds) |
mbedalvaro | 0:345b3bc7a0ea | 401 | |
mbedalvaro | 0:345b3bc7a0ea | 402 | } |
mbedalvaro | 0:345b3bc7a0ea | 403 | |
mbedalvaro | 0:345b3bc7a0ea | 404 | if (!strcmp(stringCommand , "REDON")) IO.setRedPower(1); // pc.printf("%d\n",incomingByte); |
mbedalvaro | 0:345b3bc7a0ea | 405 | |
mbedalvaro | 0:345b3bc7a0ea | 406 | if (!strcmp(stringCommand , "REDOFF")) IO.setRedPower(0); |
mbedalvaro | 0:345b3bc7a0ea | 407 | |
mbedalvaro | 0:345b3bc7a0ea | 408 | if (!strcmp(stringCommand , "READVALUE")) pc.printf("Value read: %f", lockin.getSmoothValue());//lockin.getLastValue());/ |
mbedalvaro | 0:345b3bc7a0ea | 409 | |
mbedalvaro | 0:345b3bc7a0ea | 410 | // FINALLY, interpret commands (but only after parsing): |
mbedalvaro | 0:345b3bc7a0ea | 411 | // interpretCommand();//address, data); |
mbedalvaro | 0:345b3bc7a0ea | 412 | |
mbedalvaro | 0:345b3bc7a0ea | 413 | } |
mbedalvaro | 0:345b3bc7a0ea | 414 | } |
mbedalvaro | 0:345b3bc7a0ea | 415 | } |
mbedalvaro | 0:345b3bc7a0ea | 416 | |
mbedalvaro | 0:345b3bc7a0ea | 417 | |
mbedalvaro | 0:345b3bc7a0ea | 418 | |
mbedalvaro | 0:345b3bc7a0ea | 419 | // ================ MISCELANEA |
mbedalvaro | 0:345b3bc7a0ea | 420 | |
mbedalvaro | 0:345b3bc7a0ea | 421 | /* EXAMPLE SEND/RECEIVE on PROCESSING: |
mbedalvaro | 0:345b3bc7a0ea | 422 | |
mbedalvaro | 0:345b3bc7a0ea | 423 | // oscP5sendreceive by andreas schlegel |
mbedalvaro | 0:345b3bc7a0ea | 424 | // example shows how to send and receive osc messages. |
mbedalvaro | 0:345b3bc7a0ea | 425 | // oscP5 website at http://www.sojamo.de/oscP5 |
mbedalvaro | 0:345b3bc7a0ea | 426 | |
mbedalvaro | 0:345b3bc7a0ea | 427 | import oscP5.*; |
mbedalvaro | 0:345b3bc7a0ea | 428 | import netP5.*; |
mbedalvaro | 0:345b3bc7a0ea | 429 | |
mbedalvaro | 0:345b3bc7a0ea | 430 | OscP5 oscP5; |
mbedalvaro | 0:345b3bc7a0ea | 431 | NetAddress myRemoteLocation; |
mbedalvaro | 0:345b3bc7a0ea | 432 | |
mbedalvaro | 0:345b3bc7a0ea | 433 | void setup() { |
mbedalvaro | 0:345b3bc7a0ea | 434 | size(400,400); |
mbedalvaro | 0:345b3bc7a0ea | 435 | frameRate(25); |
mbedalvaro | 0:345b3bc7a0ea | 436 | // start oscP5, listening for incoming messages at port 12000 |
mbedalvaro | 0:345b3bc7a0ea | 437 | oscP5 = new OscP5(this,12000); |
mbedalvaro | 0:345b3bc7a0ea | 438 | |
mbedalvaro | 0:345b3bc7a0ea | 439 | // myRemoteLocation is a NetAddress. a NetAddress takes 2 parameters, |
mbedalvaro | 0:345b3bc7a0ea | 440 | // an ip address and a port number. myRemoteLocation is used as parameter in |
mbedalvaro | 0:345b3bc7a0ea | 441 | // oscP5.send() when sending osc packets to another computer, device, |
mbedalvaro | 0:345b3bc7a0ea | 442 | // application. usage see below. for testing purposes the listening port |
mbedalvaro | 0:345b3bc7a0ea | 443 | // and the port of the remote location address are the same, hence you will |
mbedalvaro | 0:345b3bc7a0ea | 444 | // send messages back to this sketch. |
mbedalvaro | 0:345b3bc7a0ea | 445 | myRemoteLocation = new NetAddress("10.0.0.2",10000); |
mbedalvaro | 0:345b3bc7a0ea | 446 | } |
mbedalvaro | 0:345b3bc7a0ea | 447 | |
mbedalvaro | 0:345b3bc7a0ea | 448 | |
mbedalvaro | 0:345b3bc7a0ea | 449 | void draw() { |
mbedalvaro | 0:345b3bc7a0ea | 450 | background(0); |
mbedalvaro | 0:345b3bc7a0ea | 451 | } |
mbedalvaro | 0:345b3bc7a0ea | 452 | |
mbedalvaro | 0:345b3bc7a0ea | 453 | void mousePressed() { |
mbedalvaro | 0:345b3bc7a0ea | 454 | // in the following different ways of creating osc messages are shown by example |
mbedalvaro | 0:345b3bc7a0ea | 455 | OscMessage myMessage = new OscMessage("/mbed/test1"); |
mbedalvaro | 0:345b3bc7a0ea | 456 | |
mbedalvaro | 0:345b3bc7a0ea | 457 | myMessage.add(123); // add an int to the osc message |
mbedalvaro | 0:345b3bc7a0ea | 458 | |
mbedalvaro | 0:345b3bc7a0ea | 459 | // send the message |
mbedalvaro | 0:345b3bc7a0ea | 460 | oscP5.send(myMessage, myRemoteLocation); |
mbedalvaro | 0:345b3bc7a0ea | 461 | } |
mbedalvaro | 0:345b3bc7a0ea | 462 | |
mbedalvaro | 0:345b3bc7a0ea | 463 | |
mbedalvaro | 0:345b3bc7a0ea | 464 | // incoming osc message are forwarded to the oscEvent method. |
mbedalvaro | 0:345b3bc7a0ea | 465 | void oscEvent(OscMessage theOscMessage) { |
mbedalvaro | 0:345b3bc7a0ea | 466 | // print the address pattern and the typetag of the received OscMessage |
mbedalvaro | 0:345b3bc7a0ea | 467 | print("### received an osc message."); |
mbedalvaro | 0:345b3bc7a0ea | 468 | print(" addrpattern: "+theOscMessage.addrPattern()); |
mbedalvaro | 0:345b3bc7a0ea | 469 | println(" typetag: "+theOscMessage.typetag()); |
mbedalvaro | 0:345b3bc7a0ea | 470 | } |
mbedalvaro | 0:345b3bc7a0ea | 471 | |
mbedalvaro | 0:345b3bc7a0ea | 472 | */ |
mbedalvaro | 0:345b3bc7a0ea | 473 |