Alvaro Cassinelli / Mbed 2 deprecated laserUI

Laser Sensing Display for UI interfaces in the real world

Dependencies:   mbed

Fork of skinGames_forktest by Alvaro Cassinelli

main.cpp@23:bf666fcc61bc, 2012-06-13 (annotated)

Committer:
mbedalvaro
Date:
Wed Jun 13 10:09:41 2012 +0000
Revision:
23:bf666fcc61bc
Parent:
22:d87317d7ca91
Child:
24:4e52031a495b
- added function to check laser power ; - but there seems to be a problem on the green laser control... at least on bouncing mode. The way the green color is set is wrong too - not per blob color?

Who changed what in which revision?

UserRevisionLine numberNew 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 23:bf666fcc61bc 15 DigitalOut myled3(LED3);
mbedalvaro 0:345b3bc7a0ea 16
mbedalvaro 0:345b3bc7a0ea 17
mbedalvaro 1:a4050fee11f7 18 // To test the time it takes for executing one loop in the main program:
mbedalvaro 10:6f8e48dca1bd 19 //#define LOOPTIMECOMPUTE
mbedalvaro 1:a4050fee11f7 20
mbedalvaro 1:a4050fee11f7 21 // To get serial commands (for debug, or other things using a Terminal - for instance, a laser scan)
mbedalvaro 14:0fc33a3a7b4b 22 #define SERIAL_COMMANDS
mbedalvaro 0:345b3bc7a0ea 23
mbedalvaro 0:345b3bc7a0ea 24 //---------- ETHERNET / OSC related (in the future, put somewhere else...): -------------------------------------------
mbedalvaro 0:345b3bc7a0ea 25 // mbed IP address (server):
mbedalvaro 0:345b3bc7a0ea 26 #ifdef DHCP
mbedalvaro 0:345b3bc7a0ea 27 EthernetNetIf eth;
mbedalvaro 0:345b3bc7a0ea 28 #else
mbedalvaro 0:345b3bc7a0ea 29 EthernetNetIf eth(
mbedalvaro 1:a4050fee11f7 30 IpAddr(10,0,0,2), //IP Address
mbedalvaro 1:a4050fee11f7 31 IpAddr(255,255,255,0), //Network Mask
mbedalvaro 1:a4050fee11f7 32 IpAddr(10,0,0,1), //Gateway
mbedalvaro 1:a4050fee11f7 33 IpAddr(10,0,0,1) //DNS
mbedalvaro 0:345b3bc7a0ea 34 );
mbedalvaro 0:345b3bc7a0ea 35 #endif
mbedalvaro 0:345b3bc7a0ea 36
mbedalvaro 0:345b3bc7a0ea 37 //uint8_t serverMac[] = { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED };
mbedalvaro 0:345b3bc7a0ea 38 uint8_t serverIp[] = { 10, 0, 0, 2 }; // not needed perhaps!
mbedalvaro 0:345b3bc7a0ea 39 int serverPort = 10000;
mbedalvaro 1:a4050fee11f7 40
mbedalvaro 21:bc9b9383f4b6 41 uint8_t destIp[] = {10, 0, 0, 3};
mbedalvaro 0:345b3bc7a0ea 42 int destPort = 12000;
mbedalvaro 1:a4050fee11f7 43
mbedalvaro 0:345b3bc7a0ea 44 char *topAddress="/mbed";
mbedalvaro 0:345b3bc7a0ea 45 char *subAddress[3]={ "/test1" , "/test2" , "/test3" };
mbedalvaro 1:a4050fee11f7 46
mbedalvaro 0:345b3bc7a0ea 47 OSCMessage recMes;
mbedalvaro 0:345b3bc7a0ea 48 OSCMessage sendMes;
mbedalvaro 1:a4050fee11f7 49
mbedalvaro 1:a4050fee11f7 50 OSCClass osc;
mbedalvaro 1:a4050fee11f7 51 //OSCClass osc(&recMes); // instantiate OSC communication object, and set the receiver container from the OSC packets
mbedalvaro 1:a4050fee11f7 52
mbedalvaro 1:a4050fee11f7 53 void processOSC(UDPSocketEvent e);
mbedalvaro 0:345b3bc7a0ea 54 // ----------------------------------------------------------------------------------------------------------------------
mbedalvaro 0:345b3bc7a0ea 55
mbedalvaro 2:34157ebbf56b 56 // Tickers:
mbedalvaro 0:345b3bc7a0ea 57 Ticker timerForRendering;
mbedalvaro 2:34157ebbf56b 58 //Ticker timerForSendingData; // better use a timer, so as not to interrupt the exact laser display ticker
mbedalvaro 2:34157ebbf56b 59
mbedalvaro 9:3321170d157c 60 // Timers:
mbedalvaro 0:345b3bc7a0ea 61 Timer measureLoopPeriod;
mbedalvaro 9:3321170d157c 62 //Timer measureUpdatePeriod;
mbedalvaro 18:d72935b13858 63
mbedalvaro 0:345b3bc7a0ea 64
mbedalvaro 1:a4050fee11f7 65 // to get serial commands (not necessary perhaps)
mbedalvaro 0:345b3bc7a0ea 66 void processSerial();
mbedalvaro 1:a4050fee11f7 67
mbedalvaro 0:345b3bc7a0ea 68 int main() {
mbedalvaro 1:a4050fee11f7 69
mbedalvaro 0:345b3bc7a0ea 70 // Initialize the hardware (laser powers, positions...):
mbedalvaro 0:345b3bc7a0ea 71 IO.init();
mbedalvaro 0:345b3bc7a0ea 72
mbedalvaro 1:a4050fee11f7 73 // -------------------------------
mbedalvaro 1:a4050fee11f7 74 // Set the Ethernet port:
mbedalvaro 1:a4050fee11f7 75 printf("Setting up...\r\n");
mbedalvaro 1:a4050fee11f7 76 EthernetErr ethErr = eth.setup();
mbedalvaro 1:a4050fee11f7 77 if (ethErr) {
mbedalvaro 1:a4050fee11f7 78 printf("Error %d in setup.\r\n", ethErr);
mbedalvaro 1:a4050fee11f7 79 return -1;
mbedalvaro 1:a4050fee11f7 80 }
mbedalvaro 1:a4050fee11f7 81 printf("Setup OK\r\n");
mbedalvaro 1:a4050fee11f7 82
mbedalvaro 1:a4050fee11f7 83 //(1) Sending message:
mbedalvaro 1:a4050fee11f7 84 // Set IP and Port:
mbedalvaro 1:a4050fee11f7 85 sendMes.setIp( destIp );
mbedalvaro 1:a4050fee11f7 86 sendMes.setPort( destPort );
mbedalvaro 1:a4050fee11f7 87 // Set data:
mbedalvaro 1:a4050fee11f7 88 // sendMes.setTopAddress(topAddress);
mbedalvaro 1:a4050fee11f7 89
mbedalvaro 1:a4050fee11f7 90 //setting osc functionnality:
mbedalvaro 1:a4050fee11f7 91 //(2) Receiving:
mbedalvaro 1:a4050fee11f7 92 // recMes.setIp( serverIp ); // not needed?
mbedalvaro 1:a4050fee11f7 93 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 1:a4050fee11f7 94 osc.begin(serverPort, &processOSC); // binds the upd (osc) messages to an arbitrary listening port ("server" port), and callback function
mbedalvaro 1:a4050fee11f7 95 // -------------------------------
mbedalvaro 1:a4050fee11f7 96
mbedalvaro 0:345b3bc7a0ea 97 /* // sending seems not to work right after setting the osc object??
mbedalvaro 0:345b3bc7a0ea 98 wait(1);
mbedalvaro 0:345b3bc7a0ea 99 sendMes.setTopAddress("starting");
mbedalvaro 1:a4050fee11f7 100 sendMes.setSubAddress("");
mbedalvaro 0:345b3bc7a0ea 101 osc.sendOsc( &sendMes );
mbedalvaro 0:345b3bc7a0ea 102 */
mbedalvaro 1:a4050fee11f7 103
mbedalvaro 0:345b3bc7a0ea 104 // initialize with the desired blob configuration:
mbedalvaro 1:a4050fee11f7 105
mbedalvaro 0:345b3bc7a0ea 106 // Tested modes:
mbedalvaro 1:a4050fee11f7 107 blobconf.clearConfig();
mbedalvaro 10:6f8e48dca1bd 108 // blobconf.addOneElasticLoopContractCentral();
mbedalvaro 11:62f7183a03e7 109 // blobconf.addOneElasticContourFollowing();
mbedalvaro 1:a4050fee11f7 110
mbedalvaro 14:0fc33a3a7b4b 111 // blobconf.addOneRigidLoopBouncing();
mbedalvaro 9:3321170d157c 112 // blobconf.addOneRigidLoopBouncing();
mbedalvaro 16:2ff1cb2ae1b1 113 //blobconf.addOneRigidLoopFollowing();
mbedalvaro 16:2ff1cb2ae1b1 114 blobconf.addOneRigidLoopFollowing();
mbedalvaro 2:34157ebbf56b 115
mbedalvaro 7:0df17f3078bc 116
mbedalvaro 5:73cd58b58f95 117 //blobconf.addOneRigidLoopTest();
mbedalvaro 1:a4050fee11f7 118
mbedalvaro 0:345b3bc7a0ea 119 // Important: first, set the initial position for all the blobs, this will be useful because
mbedalvaro 0:345b3bc7a0ea 120 // when changing modes we can use the previous central position...
mbedalvaro 1:a4050fee11f7 121 // blobconf.setInitialPos(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y);
mbedalvaro 1:a4050fee11f7 122
mbedalvaro 5:73cd58b58f95 123 // draw the config once befor activating the laser buffer:
mbedalvaro 5:73cd58b58f95 124 blobconf.draw();
mbedalvaro 13:9f03eac02700 125 lsr.startFullDisplay();
mbedalvaro 1:a4050fee11f7 126
mbedalvaro 0:345b3bc7a0ea 127 // 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 1:a4050fee11f7 128 lsr.setConfigToRender(&blobconf);
mbedalvaro 1:a4050fee11f7 129
mbedalvaro 1:a4050fee11f7 130 // Timer on the rendering function of the oneLoop object:
mbedalvaro 9:3321170d157c 131 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds)
mbedalvaro 9:3321170d157c 132 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds)
mbedalvaro 1:a4050fee11f7 133
mbedalvaro 1:a4050fee11f7 134 // Timer for sending OSC data:
mbedalvaro 9:3321170d157c 135 // timerForSendingData.attach(&blobconf, &blobConfig::sendConfData, 0.025); // time in seconds (25ms -> 40Hz)
mbedalvaro 1:a4050fee11f7 136
mbedalvaro 1:a4050fee11f7 137 //========================================== INFINITE LOOP (in USER PROGRAM CONTEXT) ===================================================================
mbedalvaro 1:a4050fee11f7 138 #ifdef LOOPTIMECOMPUTE
mbedalvaro 1:a4050fee11f7 139 int timeCounterNum=1000;
mbedalvaro 1:a4050fee11f7 140 #endif
mbedalvaro 1:a4050fee11f7 141
mbedalvaro 9:3321170d157c 142 //measureUpdatePeriod.start();
mbedalvaro 1:a4050fee11f7 143
mbedalvaro 1:a4050fee11f7 144 while (true) {
mbedalvaro 1:a4050fee11f7 145
mbedalvaro 13:9f03eac02700 146 if (lsr.endedFullDisplay()) {
mbedalvaro 9:3321170d157c 147
mbedalvaro 9:3321170d157c 148 // measureUpdatePeriod.stop();
mbedalvaro 9:3321170d157c 149 // measureUpdatePeriod.reset();
mbedalvaro 9:3321170d157c 150
mbedalvaro 9:3321170d157c 151 // __disable_irq();
mbedalvaro 9:3321170d157c 152
mbedalvaro 1:a4050fee11f7 153 // update config dynamics (this also could be threaded?):
mbedalvaro 1:a4050fee11f7 154 blobconf.update();
mbedalvaro 1:a4050fee11f7 155
mbedalvaro 10:6f8e48dca1bd 156
mbedalvaro 1:a4050fee11f7 157 // draw the config (note: each kind of blob renders differently)
mbedalvaro 1:a4050fee11f7 158 blobconf.draw();
mbedalvaro 18:d72935b13858 159
mbedalvaro 18:d72935b13858 160
mbedalvaro 18:d72935b13858 161 // (b)Sending Data: // PUT THIS IN AN INTERRUPT OR USE A TIMER!!! it may be TOO FAST...
mbedalvaro 18:d72935b13858 162 // NOTE: better use a timer, so the only ISR "ticker" is the laser rendering (otherwise the laser rendering will be interrupted by the sending of data - the other way is ok):
mbedalvaro 18:d72935b13858 163 // NOTE: timer for sending is now not COMMON to all blobs, but depends on the blob (it could depend on the CONFIG only, but this can be simulated by using
mbedalvaro 18:d72935b13858 164 // per blob timer counter.
mbedalvaro 18:d72935b13858 165 blobconf.sendConfData();
mbedalvaro 18:d72935b13858 166
mbedalvaro 16:2ff1cb2ae1b1 167
mbedalvaro 23:bf666fcc61bc 168 lsr.startFullDisplay(); // this start the point-display counter (wherever the actual laser is). Before update and draw, the counter needs to be reset.
mbedalvaro 16:2ff1cb2ae1b1 169
mbedalvaro 9:3321170d157c 170
mbedalvaro 9:3321170d157c 171 // __enable_irq();
mbedalvaro 9:3321170d157c 172
mbedalvaro 9:3321170d157c 173 // measureUpdatePeriod.start();
mbedalvaro 10:6f8e48dca1bd 174
mbedalvaro 1:a4050fee11f7 175 }
mbedalvaro 0:345b3bc7a0ea 176
mbedalvaro 2:34157ebbf56b 177
mbedalvaro 1:a4050fee11f7 178 // COMMUNICATION:
mbedalvaro 1:a4050fee11f7 179 // (a) Reading commands:
mbedalvaro 1:a4050fee11f7 180 // Ethernet:
mbedalvaro 1:a4050fee11f7 181 Net::poll(); // this will take care of calling processOSC(UDPSocketEvent e) when a new packet arrives.
mbedalvaro 1:a4050fee11f7 182
mbedalvaro 1:a4050fee11f7 183 // Serial:
mbedalvaro 1:a4050fee11f7 184 #ifdef SERIAL_COMMANDS
mbedalvaro 1:a4050fee11f7 185 if (pc.readable()>0) processSerial();
mbedalvaro 1:a4050fee11f7 186 #endif
mbedalvaro 9:3321170d157c 187
mbedalvaro 9:3321170d157c 188
mbedalvaro 1:a4050fee11f7 189 // text:
mbedalvaro 1:a4050fee11f7 190 /*
mbedalvaro 1:a4050fee11f7 191 sendMes.setTopAddress("/hello");
mbedalvaro 1:a4050fee11f7 192 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 1:a4050fee11f7 193 int x=(long)10;
mbedalvaro 1:a4050fee11f7 194 sendMes.setArgs( "i", &x);
mbedalvaro 1:a4050fee11f7 195 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 196 */
mbedalvaro 1:a4050fee11f7 197
mbedalvaro 0:345b3bc7a0ea 198 #ifdef LOOPTIMECOMPUTE
mbedalvaro 9:3321170d157c 199 if (timeCounterNum>50) myled = 0;
mbedalvaro 9:3321170d157c 200 // if (timeCounterNum%10==0) blobconf.sendConfData();
mbedalvaro 9:3321170d157c 201 if (timeCounterNum>100) {
mbedalvaro 1:a4050fee11f7 202 myled = 1;
mbedalvaro 1:a4050fee11f7 203 measureLoopPeriod.stop();
mbedalvaro 1:a4050fee11f7 204 sendMes.setTopAddress("/timeloop");
mbedalvaro 1:a4050fee11f7 205 sendMes.setSubAddress("/");
mbedalvaro 10:6f8e48dca1bd 206 // long x=(long)(int(measureLoopPeriod.read_us()/100.0));
mbedalvaro 9:3321170d157c 207 // long x=(long)(blobconf.blobArray[0]->displaySensingBuffer.lsdTrajectory.size());
mbedalvaro 9:3321170d157c 208 // long x=(long)(blobconf.blobArray[0]->normRecenteringVector);
mbedalvaro 10:6f8e48dca1bd 209 long x=(long)(1000*blobconf.blobArray[0]->displaySensingBuffer.lsdTrajectory[0].intensity);
mbedalvaro 1:a4050fee11f7 210 sendMes.setArgs( "i", &x);
mbedalvaro 1:a4050fee11f7 211 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 212 timeCounterNum=0;
mbedalvaro 1:a4050fee11f7 213 measureLoopPeriod.reset();
mbedalvaro 1:a4050fee11f7 214 measureLoopPeriod.start();
mbedalvaro 1:a4050fee11f7 215 } else timeCounterNum++;
mbedalvaro 0:345b3bc7a0ea 216 #endif
mbedalvaro 0:345b3bc7a0ea 217
mbedalvaro 0:345b3bc7a0ea 218 }
mbedalvaro 0:345b3bc7a0ea 219 }
mbedalvaro 0:345b3bc7a0ea 220
mbedalvaro 1:a4050fee11f7 221 // ================= INTERPRET COMMAND =========================
mbedalvaro 0:345b3bc7a0ea 222 // NOTE: the following arrays are GLOBAL (used in processOSC and processSerial, as well as in interpretCommand function):
mbedalvaro 1:a4050fee11f7 223 // max of two addresses (top and sub), of a max length of 24 characters:
mbedalvaro 0:345b3bc7a0ea 224 char address[2][24];
mbedalvaro 0:345b3bc7a0ea 225 //long auxdata[2]; // to store a max of two arguments (note: we will only use LONGs)
mbedalvaro 1:a4050fee11f7 226 int data[2]; // this is to have -1 as NO DATA, to detect errors.
mbedalvaro 1:a4050fee11f7 227
mbedalvaro 1:a4050fee11f7 228 //interpretCommand(const char& address[2][], const int& data[2]) {
mbedalvaro 0:345b3bc7a0ea 229 void interpretCommand() {
mbedalvaro 0:345b3bc7a0ea 230 // (I) =========================================== SPECIAL FUNCTIONS (reset, rescan LUT, etc) ====================================================
mbedalvaro 16:2ff1cb2ae1b1 231 if ( !strcmp(address[0], "takeSnapshot" ) ) {
mbedalvaro 1:a4050fee11f7 232
mbedalvaro 1:a4050fee11f7 233 // for test:
mbedalvaro 1:a4050fee11f7 234 for (int i=0; i<2 ; i++) {
mbedalvaro 1:a4050fee11f7 235 myled = 1;
mbedalvaro 1:a4050fee11f7 236 wait(0.1);
mbedalvaro 1:a4050fee11f7 237 myled = 0;
mbedalvaro 1:a4050fee11f7 238 wait(0.1);
mbedalvaro 1:a4050fee11f7 239 }
mbedalvaro 1:a4050fee11f7 240
mbedalvaro 1:a4050fee11f7 241 // First, we need to disable the threaded display for the loop:
mbedalvaro 1:a4050fee11f7 242 timerForRendering.detach();
mbedalvaro 1:a4050fee11f7 243
mbedalvaro 1:a4050fee11f7 244 // Then, do the scan (sending values on serial port):
mbedalvaro 1:a4050fee11f7 245 IO.scan_serial();
mbedalvaro 1:a4050fee11f7 246
mbedalvaro 1:a4050fee11f7 247 // Finally, start again threaded display:
mbedalvaro 9:3321170d157c 248 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 9:3321170d157c 249 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 1:a4050fee11f7 250 }
mbedalvaro 1:a4050fee11f7 251
mbedalvaro 1:a4050fee11f7 252 else if ( !strcmp(address[0], "mbedReset" ) ) mbed_reset();
mbedalvaro 22:d87317d7ca91 253
mbedalvaro 22:d87317d7ca91 254 else if (!strcmp(address[0], "showMirrorLimits")) {
mbedalvaro 22:d87317d7ca91 255 int value=data[0];
mbedalvaro 22:d87317d7ca91 256 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 22:d87317d7ca91 257 timerForRendering.detach();
mbedalvaro 22:d87317d7ca91 258 IO.showLimitsMirrors(value);
mbedalvaro 22:d87317d7ca91 259 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 22:d87317d7ca91 260 }
mbedalvaro 22:d87317d7ca91 261 }
mbedalvaro 1:a4050fee11f7 262
mbedalvaro 1:a4050fee11f7 263 else if ( !strcmp(address[0], "calibrate" ) ) {
mbedalvaro 1:a4050fee11f7 264 // First, we need to disable the threaded display for the loop:
mbedalvaro 1:a4050fee11f7 265 timerForRendering.detach();
mbedalvaro 1:a4050fee11f7 266 // RESCAN (and save LUT table):
mbedalvaro 1:a4050fee11f7 267 IO.scanLUT();
mbedalvaro 1:a4050fee11f7 268 // Finally, start again threaded display:
mbedalvaro 9:3321170d157c 269 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 9:3321170d157c 270 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 1:a4050fee11f7 271 }
mbedalvaro 1:a4050fee11f7 272
mbedalvaro 1:a4050fee11f7 273 // (II) ========================================= GLOBAL CONFIG and HARDWARE COMMANDS ===========================================
mbedalvaro 1:a4050fee11f7 274
mbedalvaro 1:a4050fee11f7 275 else if ( !strcmp(address[0], "setGreenLaser" ) ) {
mbedalvaro 1:a4050fee11f7 276 int value=data[0];
mbedalvaro 1:a4050fee11f7 277 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 1:a4050fee11f7 278 if (value==0) IO.setGreenPower(0);
mbedalvaro 1:a4050fee11f7 279 else IO.setGreenPower(1);
mbedalvaro 1:a4050fee11f7 280 }
mbedalvaro 1:a4050fee11f7 281 }
mbedalvaro 23:bf666fcc61bc 282
mbedalvaro 23:bf666fcc61bc 283 else if ( !strcmp(address[0], "testPower" ) ) {
mbedalvaro 23:bf666fcc61bc 284 // First, we need to disable the threaded display for the loop:
mbedalvaro 23:bf666fcc61bc 285 timerForRendering.detach();
mbedalvaro 23:bf666fcc61bc 286
mbedalvaro 23:bf666fcc61bc 287 // Note: arguments is first 3 bits to set the laser powers (3 LSB bits to set each color)
mbedalvaro 23:bf666fcc61bc 288 // and then the second argument is the number of seconds to wait for the measurment
mbedalvaro 23:bf666fcc61bc 289 int value1=data[0], value2=data[1];
mbedalvaro 23:bf666fcc61bc 290 if ((value1!=-1)&&(value2!=-1)) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 23:bf666fcc61bc 291
mbedalvaro 23:bf666fcc61bc 292 // Set position of mirrors:
mbedalvaro 23:bf666fcc61bc 293 IO.writeOutX(CENTER_AD_MIRROR_X);
mbedalvaro 23:bf666fcc61bc 294 IO.writeOutY(CENTER_AD_MIRROR_Y);
mbedalvaro 23:bf666fcc61bc 295
mbedalvaro 23:bf666fcc61bc 296 for (int i=0; i<3 ; i++) {
mbedalvaro 23:bf666fcc61bc 297 myled3 = 1;
mbedalvaro 23:bf666fcc61bc 298 wait(0.2);
mbedalvaro 23:bf666fcc61bc 299 myled3 = 0;
mbedalvaro 23:bf666fcc61bc 300 wait(0.2);
mbedalvaro 23:bf666fcc61bc 301 }
mbedalvaro 23:bf666fcc61bc 302
mbedalvaro 23:bf666fcc61bc 303 // Set laser power:
mbedalvaro 23:bf666fcc61bc 304 IO.setRGBPower((unsigned char)value1);
mbedalvaro 23:bf666fcc61bc 305
mbedalvaro 23:bf666fcc61bc 306 // Wait...
mbedalvaro 23:bf666fcc61bc 307 wait(value2);// in seconds
mbedalvaro 23:bf666fcc61bc 308 //Timer t;
mbedalvaro 23:bf666fcc61bc 309 //t.start();
mbedalvaro 23:bf666fcc61bc 310 //while(t.read_ms()<value2*1000);
mbedalvaro 23:bf666fcc61bc 311 //t.stop();
mbedalvaro 23:bf666fcc61bc 312 }
mbedalvaro 23:bf666fcc61bc 313
mbedalvaro 23:bf666fcc61bc 314 // Finally, start again threaded display:
mbedalvaro 23:bf666fcc61bc 315 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 23:bf666fcc61bc 316
mbedalvaro 23:bf666fcc61bc 317 }
mbedalvaro 23:bf666fcc61bc 318
mbedalvaro 23:bf666fcc61bc 319
mbedalvaro 1:a4050fee11f7 320
mbedalvaro 1:a4050fee11f7 321 // SIMPLE BEHAVIOUR MODES (to be read from an XML file in the future):
mbedalvaro 11:62f7183a03e7 322 else if (!strcmp(address[0], "elastic_following")) { //
mbedalvaro 1:a4050fee11f7 323 timerForRendering.detach();
mbedalvaro 0:345b3bc7a0ea 324 // blobconf.computeBoundingBox();
mbedalvaro 1:a4050fee11f7 325 blobconf.clearConfig();
mbedalvaro 1:a4050fee11f7 326 blobconf.addOneElasticContourFollowing();
mbedalvaro 1:a4050fee11f7 327 lsr.setConfigToRender(&blobconf);
mbedalvaro 9:3321170d157c 328 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 9:3321170d157c 329 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 16:2ff1cb2ae1b1 330
mbedalvaro 11:62f7183a03e7 331 } else if (!strcmp(address[0], "elastic_mouth")) { //
mbedalvaro 1:a4050fee11f7 332 timerForRendering.detach();
mbedalvaro 1:a4050fee11f7 333 // blobconf.computeBoundingBox();
mbedalvaro 1:a4050fee11f7 334 blobconf.clearConfig();
mbedalvaro 1:a4050fee11f7 335 blobconf.addOneElasticLoopContractCentral();
mbedalvaro 1:a4050fee11f7 336 lsr.setConfigToRender(&blobconf);
mbedalvaro 9:3321170d157c 337 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 9:3321170d157c 338 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 19:228430f1350e 339
mbedalvaro 19:228430f1350e 340 } else if (!strcmp(address[0], "elastic_mouth_small")) { //
mbedalvaro 19:228430f1350e 341 timerForRendering.detach();
mbedalvaro 19:228430f1350e 342 // blobconf.computeBoundingBox();
mbedalvaro 19:228430f1350e 343 blobconf.clearConfig();
mbedalvaro 19:228430f1350e 344 blobconf.addOneElasticLoopContractCentralFast();
mbedalvaro 19:228430f1350e 345 lsr.setConfigToRender(&blobconf);
mbedalvaro 19:228430f1350e 346 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 19:228430f1350e 347 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 1:a4050fee11f7 348 }
mbedalvaro 11:62f7183a03e7 349 else if (!strcmp(address[0], "spot_bouncing")) {
mbedalvaro 16:2ff1cb2ae1b1 350 int value=data[0];
mbedalvaro 16:2ff1cb2ae1b1 351 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 16:2ff1cb2ae1b1 352
mbedalvaro 16:2ff1cb2ae1b1 353 timerForRendering.detach();
mbedalvaro 16:2ff1cb2ae1b1 354 // blobconf.computeBoundingBox();
mbedalvaro 16:2ff1cb2ae1b1 355 blobconf.clearConfig();
mbedalvaro 16:2ff1cb2ae1b1 356
mbedalvaro 22:d87317d7ca91 357 // HACK for the time being:
mbedalvaro 22:d87317d7ca91 358 int aux=rand()%100;
mbedalvaro 22:d87317d7ca91 359 if (aux<70) value=1;
mbedalvaro 22:d87317d7ca91 360 else if (aux<80) value=2;
mbedalvaro 22:d87317d7ca91 361 else value=3;
mbedalvaro 22:d87317d7ca91 362
mbedalvaro 16:2ff1cb2ae1b1 363 for (int i=0; i<value ; i++) blobconf.addOneRigidLoopBouncing();
mbedalvaro 16:2ff1cb2ae1b1 364
mbedalvaro 16:2ff1cb2ae1b1 365 lsr.setConfigToRender(&blobconf);
mbedalvaro 16:2ff1cb2ae1b1 366 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 16:2ff1cb2ae1b1 367 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 16:2ff1cb2ae1b1 368 }
mbedalvaro 16:2ff1cb2ae1b1 369 }
mbedalvaro 16:2ff1cb2ae1b1 370
mbedalvaro 16:2ff1cb2ae1b1 371 else if (!strcmp(address[0], "spot_following")) {
mbedalvaro 16:2ff1cb2ae1b1 372 int value=data[0];
mbedalvaro 16:2ff1cb2ae1b1 373 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 16:2ff1cb2ae1b1 374
mbedalvaro 16:2ff1cb2ae1b1 375 timerForRendering.detach();
mbedalvaro 16:2ff1cb2ae1b1 376 // blobconf.computeBoundingBox();
mbedalvaro 16:2ff1cb2ae1b1 377 blobconf.clearConfig();
mbedalvaro 22:d87317d7ca91 378
mbedalvaro 22:d87317d7ca91 379 // HACK for the time being:
mbedalvaro 22:d87317d7ca91 380 int aux=rand()%100;
mbedalvaro 22:d87317d7ca91 381 if (aux<70) value=1;
mbedalvaro 22:d87317d7ca91 382 else if (aux<80) value=2;
mbedalvaro 22:d87317d7ca91 383 else value=6;
mbedalvaro 22:d87317d7ca91 384
mbedalvaro 16:2ff1cb2ae1b1 385 for (int i=0; i<value ; i++) blobconf.addOneRigidLoopFollowing();
mbedalvaro 22:d87317d7ca91 386
mbedalvaro 22:d87317d7ca91 387
mbedalvaro 16:2ff1cb2ae1b1 388 lsr.setConfigToRender(&blobconf);
mbedalvaro 16:2ff1cb2ae1b1 389 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 16:2ff1cb2ae1b1 390 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 16:2ff1cb2ae1b1 391 }
mbedalvaro 16:2ff1cb2ae1b1 392 }
mbedalvaro 16:2ff1cb2ae1b1 393
mbedalvaro 16:2ff1cb2ae1b1 394 else if (!strcmp(address[0], "spot_test")) {
mbedalvaro 0:345b3bc7a0ea 395 timerForRendering.detach();
mbedalvaro 0:345b3bc7a0ea 396 // blobconf.computeBoundingBox();
mbedalvaro 1:a4050fee11f7 397 blobconf.clearConfig();
mbedalvaro 16:2ff1cb2ae1b1 398 blobconf.addOneRigidLoopTest();
mbedalvaro 1:a4050fee11f7 399 lsr.setConfigToRender(&blobconf);
mbedalvaro 9:3321170d157c 400 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 9:3321170d157c 401 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 1:a4050fee11f7 402 }
mbedalvaro 1:a4050fee11f7 403
mbedalvaro 1:a4050fee11f7 404 // other:
mbedalvaro 1:a4050fee11f7 405
mbedalvaro 1:a4050fee11f7 406 else if ( !strcmp(address[0], "standby" ) ) { // will put ALL the spots in stand by mode
mbedalvaro 0:345b3bc7a0ea 407 blobconf.allStandBy(); // will avoid the update function
mbedalvaro 1:a4050fee11f7 408 } else if ( !strcmp(address[0], "resume" ) ) { // will put ALL the spots in stand by mode
mbedalvaro 0:345b3bc7a0ea 409 blobconf.allResume(); // will avoid the update function
mbedalvaro 1:a4050fee11f7 410 }
mbedalvaro 1:a4050fee11f7 411
mbedalvaro 1:a4050fee11f7 412 // (III) ========================================= Loop control (parameters, etc) ===========================================
mbedalvaro 19:228430f1350e 413
mbedalvaro 1:a4050fee11f7 414 else if (!strcmp( address[0], "sendOSC" ) ) {
mbedalvaro 1:a4050fee11f7 415 int value=data[0];
mbedalvaro 1:a4050fee11f7 416 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 1:a4050fee11f7 417 for (int i=0; i< blobconf.numBlobs; i++) {
mbedalvaro 1:a4050fee11f7 418 blobconf.blobArray[i]->sendOSC=(value>0);
mbedalvaro 1:a4050fee11f7 419 }
mbedalvaro 1:a4050fee11f7 420 }
mbedalvaro 1:a4050fee11f7 421 }
mbedalvaro 1:a4050fee11f7 422
mbedalvaro 1:a4050fee11f7 423 else if (!strcmp( address[0], "sendArea" ) ) {
mbedalvaro 1:a4050fee11f7 424 int value=data[0];
mbedalvaro 1:a4050fee11f7 425 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 1:a4050fee11f7 426 for (int i=0; i< blobconf.numBlobs; i++) {
mbedalvaro 1:a4050fee11f7 427 blobconf.blobArray[i]->sendingBlobArea=(value>0);
mbedalvaro 1:a4050fee11f7 428 }
mbedalvaro 1:a4050fee11f7 429 }
mbedalvaro 1:a4050fee11f7 430 }
mbedalvaro 1:a4050fee11f7 431
mbedalvaro 1:a4050fee11f7 432 else if (!strcmp( address[0], "sendPos" ) ) {
mbedalvaro 1:a4050fee11f7 433 int value=data[0];
mbedalvaro 1:a4050fee11f7 434 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 1:a4050fee11f7 435 for (int i=0; i< blobconf.numBlobs; i++) {
mbedalvaro 1:a4050fee11f7 436 blobconf.blobArray[i]->sendingLoopPositions=(value>0);
mbedalvaro 1:a4050fee11f7 437 }
mbedalvaro 1:a4050fee11f7 438 }
mbedalvaro 1:a4050fee11f7 439 }
mbedalvaro 1:a4050fee11f7 440
mbedalvaro 1:a4050fee11f7 441 else if (!strcmp( address[0], "sendRegions" ) ) {
mbedalvaro 1:a4050fee11f7 442 int value=data[0];
mbedalvaro 1:a4050fee11f7 443 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 1:a4050fee11f7 444 for (int i=0; i< blobconf.numBlobs; i++) {
mbedalvaro 1:a4050fee11f7 445 blobconf.blobArray[i]->sendingLoopRegions=(value>0);
mbedalvaro 1:a4050fee11f7 446 }
mbedalvaro 1:a4050fee11f7 447 }
mbedalvaro 1:a4050fee11f7 448 }
mbedalvaro 1:a4050fee11f7 449
mbedalvaro 1:a4050fee11f7 450 else if (!strcmp( address[0], "sendTouched" ) ) {
mbedalvaro 1:a4050fee11f7 451 int value=data[0];
mbedalvaro 1:a4050fee11f7 452 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 1:a4050fee11f7 453 for (int i=0; i< blobconf.numBlobs; i++) {
mbedalvaro 1:a4050fee11f7 454 blobconf.blobArray[i]->sendingTouched=(value>0);
mbedalvaro 1:a4050fee11f7 455 }
mbedalvaro 1:a4050fee11f7 456 }
mbedalvaro 1:a4050fee11f7 457 }
mbedalvaro 1:a4050fee11f7 458
mbedalvaro 1:a4050fee11f7 459
mbedalvaro 1:a4050fee11f7 460
mbedalvaro 0:345b3bc7a0ea 461 }
mbedalvaro 0:345b3bc7a0ea 462
mbedalvaro 0:345b3bc7a0ea 463 //============= RECEIVE OSC COMMANDS =========================
mbedalvaro 1:a4050fee11f7 464 // This is the callback function called when there are packets on the listening socket. It is not nice to have it
mbedalvaro 1:a4050fee11f7 465 // here, but for the time being having a "wrapping global" is the simplest solution (we cannot pass a member-function pointer
mbedalvaro 1:a4050fee11f7 466 // as handler to the upd object).
mbedalvaro 0:345b3bc7a0ea 467 void processOSC(UDPSocketEvent e) {
mbedalvaro 0:345b3bc7a0ea 468 osc.onUDPSocketEvent(e);
mbedalvaro 0:345b3bc7a0ea 469
mbedalvaro 0:345b3bc7a0ea 470 if (osc.newMessage) {
mbedalvaro 1:a4050fee11f7 471 // 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 1:a4050fee11f7 472 // 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 1:a4050fee11f7 473
mbedalvaro 1:a4050fee11f7 474 // Acquire the addresses and arguments and put them in the GLOBAL variables:
mbedalvaro 1:a4050fee11f7 475 strcpy(address[0],"");
mbedalvaro 1:a4050fee11f7 476 strcpy(address[1],"");
mbedalvaro 1:a4050fee11f7 477 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 1:a4050fee11f7 478 // Acquire data:
mbedalvaro 1:a4050fee11f7 479 data[0]=-1;
mbedalvaro 1:a4050fee11f7 480 data[1]=-1;
mbedalvaro 1:a4050fee11f7 481 for (int i=0; i<recMes.getArgNum(); i++) data[i]=(int)recMes.getArgInt(i);
mbedalvaro 1:a4050fee11f7 482
mbedalvaro 1:a4050fee11f7 483 // Finally, interpret the command:
mbedalvaro 1:a4050fee11f7 484 interpretCommand();//address, data);
mbedalvaro 1:a4050fee11f7 485
mbedalvaro 0:345b3bc7a0ea 486 }
mbedalvaro 1:a4050fee11f7 487 }
mbedalvaro 1:a4050fee11f7 488
mbedalvaro 0:345b3bc7a0ea 489 //============= RECEIVE SERIAL COMMANDS =========================
mbedalvaro 0:345b3bc7a0ea 490 //
mbedalvaro 1:a4050fee11f7 491 // NOTE: - NUMERIC PARAMETERS have to be send BEFORE the command word. They must be sent as ASCII DEC, without end character.
mbedalvaro 0:345b3bc7a0ea 492 // - Commands words SHOULD NOT have numbers in it. They should be C compliant STRINGS (ended with character '0')
mbedalvaro 1:a4050fee11f7 493 // - order is irrelevant: we can send 10 RADIUS or RADIUS 10.
mbedalvaro 0:345b3bc7a0ea 494
mbedalvaro 1:a4050fee11f7 495 // String to store ALPHANUMERIC DATA (i.e., integers, floating point numbers, unsigned ints, etc represented as DEC) sent wirelessly:
mbedalvaro 0:345b3bc7a0ea 496 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 497 int indexStringData=0;//position of the byte in the string
mbedalvaro 0:345b3bc7a0ea 498
mbedalvaro 0:345b3bc7a0ea 499 // String to store COMMAND WORDS:
mbedalvaro 0:345b3bc7a0ea 500 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 501 int indexStringCommand=0;
mbedalvaro 0:345b3bc7a0ea 502 bool commandReady=false; // will become true when receiving the byte 0 (i.e. the '/0' string terminator)
mbedalvaro 0:345b3bc7a0ea 503
mbedalvaro 0:345b3bc7a0ea 504 void processSerial() {
mbedalvaro 0:345b3bc7a0ea 505
mbedalvaro 1:a4050fee11f7 506 while (pc.readable()>0) {
mbedalvaro 1:a4050fee11f7 507
mbedalvaro 14:0fc33a3a7b4b 508
mbedalvaro 1:a4050fee11f7 509 char val =pc.getc();
mbedalvaro 0:345b3bc7a0ea 510 // pc.printf("Got :%d\n", incomingByte);
mbedalvaro 1:a4050fee11f7 511 //pc.putc(incomingByte);
mbedalvaro 1:a4050fee11f7 512
mbedalvaro 1:a4050fee11f7 513 // Save ASCII numeric characters (ASCII 0 - 9) on stringData:
mbedalvaro 1:a4050fee11f7 514 if ((val >= '0') && (val <= '9')) { // this is 45 to 57 (included)
mbedalvaro 1:a4050fee11f7 515 stringData[indexStringData] = val;
mbedalvaro 1:a4050fee11f7 516 indexStringData++;
mbedalvaro 1:a4050fee11f7 517 }
mbedalvaro 1:a4050fee11f7 518
mbedalvaro 1:a4050fee11f7 519 // Save ASCII letters in stringCommand:
mbedalvaro 1:a4050fee11f7 520 if ((val >= 'A') && (val <= 'z')) { // this is 65 to 122 (included)
mbedalvaro 1:a4050fee11f7 521 stringCommand[indexStringCommand] = val;
mbedalvaro 1:a4050fee11f7 522 indexStringCommand++;
mbedalvaro 1:a4050fee11f7 523 }
mbedalvaro 1:a4050fee11f7 524 // is command ready?
mbedalvaro 1:a4050fee11f7 525 if (val=='/') {
mbedalvaro 1:a4050fee11f7 526 commandReady=true;
mbedalvaro 1:a4050fee11f7 527 stringCommand[indexStringCommand] = 0; // string termination.
mbedalvaro 1:a4050fee11f7 528 indexStringCommand=0; // reset index string for acquiring next command
mbedalvaro 1:a4050fee11f7 529 //Serial.println(stringCommand);
mbedalvaro 1:a4050fee11f7 530 }
mbedalvaro 1:a4050fee11f7 531
mbedalvaro 1:a4050fee11f7 532 // COMMANDS (with or without numeric parameters):
mbedalvaro 1:a4050fee11f7 533 if (commandReady==true) { // it means we can interpret the command string:
mbedalvaro 1:a4050fee11f7 534 commandReady=false;
mbedalvaro 1:a4050fee11f7 535
mbedalvaro 1:a4050fee11f7 536 stringData[indexStringData] = 0 ;// string termination for numeric values;
mbedalvaro 1:a4050fee11f7 537 indexStringData=0;
mbedalvaro 1:a4050fee11f7 538
mbedalvaro 1:a4050fee11f7 539 // PARSE DATA: (TO DO!!!!!!!!!!!!!!):
mbedalvaro 0:345b3bc7a0ea 540
mbedalvaro 1:a4050fee11f7 541 // (a) Parse command (get address[0] and address[1]):
mbedalvaro 1:a4050fee11f7 542 //ex: "/1/standBy" -- > address[0]="1" and address[1]="standBy"
mbedalvaro 1:a4050fee11f7 543 // address[2]
mbedalvaro 1:a4050fee11f7 544
mbedalvaro 1:a4050fee11f7 545 // Serial.println(stringCommand);
mbedalvaro 1:a4050fee11f7 546 // Serial.println(stringData);
mbedalvaro 1:a4050fee11f7 547
mbedalvaro 1:a4050fee11f7 548 // (b) Parse data:
mbedalvaro 1:a4050fee11f7 549
mbedalvaro 1:a4050fee11f7 550 // char address[2][24];
mbedalvaro 1:a4050fee11f7 551 //long auxdata[2]; // to store a max of two arguments (note: we will only use LONGs)
mbedalvaro 1:a4050fee11f7 552 //int data[2]; // this is to have -1 as NO DATA, to detect errors.
mbedalvaro 1:a4050fee11f7 553
mbedalvaro 1:a4050fee11f7 554 // FOR THE TIME BEING there is no parsing for serial commands:
mbedalvaro 1:a4050fee11f7 555
mbedalvaro 1:a4050fee11f7 556 // SCANNING:
mbedalvaro 1:a4050fee11f7 557 if (!strcmp(stringCommand , "takeSnapshot")) {
mbedalvaro 1:a4050fee11f7 558 // First, we need to disable the threaded display for the loop:
mbedalvaro 1:a4050fee11f7 559 timerForRendering.detach();
mbedalvaro 1:a4050fee11f7 560
mbedalvaro 1:a4050fee11f7 561 // Then, do the scan (sending values on serial port):
mbedalvaro 1:a4050fee11f7 562 IO.scan_serial();
mbedalvaro 1:a4050fee11f7 563
mbedalvaro 1:a4050fee11f7 564 // Finally, start again threaded display:
mbedalvaro 4:f9d364f10335 565 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 9:3321170d157c 566 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 16:2ff1cb2ae1b1 567 } else if (!strcmp(stringCommand , "REDON")) IO.setRedPower(1); // pc.printf("%d\n",incomingByte);
mbedalvaro 1:a4050fee11f7 568
mbedalvaro 14:0fc33a3a7b4b 569 else if (!strcmp(stringCommand , "REDOFF")) IO.setRedPower(0);
mbedalvaro 14:0fc33a3a7b4b 570
mbedalvaro 14:0fc33a3a7b4b 571 else if (!strcmp(stringCommand , "READVALUE")) pc.printf("Value read: %f", lockin.getSmoothValue());//lockin.getLastValue());/
mbedalvaro 1:a4050fee11f7 572
mbedalvaro 14:0fc33a3a7b4b 573 else if (!strcmp(stringCommand , "mbedReset")) mbed_reset();
mbedalvaro 16:2ff1cb2ae1b1 574
mbedalvaro 14:0fc33a3a7b4b 575 else if (!strcmp(stringCommand , "calibrate")) {
mbedalvaro 16:2ff1cb2ae1b1 576 // First, we need to disable the threaded display for the loop:
mbedalvaro 16:2ff1cb2ae1b1 577 timerForRendering.detach();
mbedalvaro 16:2ff1cb2ae1b1 578 // RESCAN (and save LUT table):
mbedalvaro 16:2ff1cb2ae1b1 579 IO.scanLUT();
mbedalvaro 16:2ff1cb2ae1b1 580 // Finally, start again threaded display:
mbedalvaro 16:2ff1cb2ae1b1 581 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 16:2ff1cb2ae1b1 582 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 16:2ff1cb2ae1b1 583 }
mbedalvaro 1:a4050fee11f7 584
mbedalvaro 1:a4050fee11f7 585 // FINALLY, interpret commands (but only after parsing):
mbedalvaro 1:a4050fee11f7 586 // interpretCommand();//address, data);
mbedalvaro 0:345b3bc7a0ea 587
mbedalvaro 0:345b3bc7a0ea 588 }
mbedalvaro 1:a4050fee11f7 589 }
mbedalvaro 1:a4050fee11f7 590 }
mbedalvaro 0:345b3bc7a0ea 591
mbedalvaro 0:345b3bc7a0ea 592
mbedalvaro 0:345b3bc7a0ea 593
mbedalvaro 0:345b3bc7a0ea 594 // ================ MISCELANEA
mbedalvaro 0:345b3bc7a0ea 595
mbedalvaro 0:345b3bc7a0ea 596 /* EXAMPLE SEND/RECEIVE on PROCESSING:
mbedalvaro 0:345b3bc7a0ea 597
mbedalvaro 0:345b3bc7a0ea 598 // oscP5sendreceive by andreas schlegel
mbedalvaro 0:345b3bc7a0ea 599 // example shows how to send and receive osc messages.
mbedalvaro 0:345b3bc7a0ea 600 // oscP5 website at http://www.sojamo.de/oscP5
mbedalvaro 0:345b3bc7a0ea 601
mbedalvaro 0:345b3bc7a0ea 602 import oscP5.*;
mbedalvaro 0:345b3bc7a0ea 603 import netP5.*;
mbedalvaro 1:a4050fee11f7 604
mbedalvaro 0:345b3bc7a0ea 605 OscP5 oscP5;
mbedalvaro 0:345b3bc7a0ea 606 NetAddress myRemoteLocation;
mbedalvaro 0:345b3bc7a0ea 607
mbedalvaro 0:345b3bc7a0ea 608 void setup() {
mbedalvaro 0:345b3bc7a0ea 609 size(400,400);
mbedalvaro 0:345b3bc7a0ea 610 frameRate(25);
mbedalvaro 1:a4050fee11f7 611 // start oscP5, listening for incoming messages at port 12000
mbedalvaro 0:345b3bc7a0ea 612 oscP5 = new OscP5(this,12000);
mbedalvaro 1:a4050fee11f7 613
mbedalvaro 0:345b3bc7a0ea 614 // myRemoteLocation is a NetAddress. a NetAddress takes 2 parameters,
mbedalvaro 0:345b3bc7a0ea 615 // an ip address and a port number. myRemoteLocation is used as parameter in
mbedalvaro 1:a4050fee11f7 616 // oscP5.send() when sending osc packets to another computer, device,
mbedalvaro 0:345b3bc7a0ea 617 // application. usage see below. for testing purposes the listening port
mbedalvaro 0:345b3bc7a0ea 618 // and the port of the remote location address are the same, hence you will
mbedalvaro 0:345b3bc7a0ea 619 // send messages back to this sketch.
mbedalvaro 0:345b3bc7a0ea 620 myRemoteLocation = new NetAddress("10.0.0.2",10000);
mbedalvaro 0:345b3bc7a0ea 621 }
mbedalvaro 0:345b3bc7a0ea 622
mbedalvaro 0:345b3bc7a0ea 623
mbedalvaro 0:345b3bc7a0ea 624 void draw() {
mbedalvaro 1:a4050fee11f7 625 background(0);
mbedalvaro 0:345b3bc7a0ea 626 }
mbedalvaro 0:345b3bc7a0ea 627
mbedalvaro 0:345b3bc7a0ea 628 void mousePressed() {
mbedalvaro 1:a4050fee11f7 629 // in the following different ways of creating osc messages are shown by example
mbedalvaro 0:345b3bc7a0ea 630 OscMessage myMessage = new OscMessage("/mbed/test1");
mbedalvaro 1:a4050fee11f7 631
mbedalvaro 1:a4050fee11f7 632 myMessage.add(123); // add an int to the osc message
mbedalvaro 0:345b3bc7a0ea 633
mbedalvaro 1:a4050fee11f7 634 // send the message
mbedalvaro 1:a4050fee11f7 635 oscP5.send(myMessage, myRemoteLocation);
mbedalvaro 0:345b3bc7a0ea 636 }
mbedalvaro 0:345b3bc7a0ea 637
mbedalvaro 0:345b3bc7a0ea 638
mbedalvaro 1:a4050fee11f7 639 // incoming osc message are forwarded to the oscEvent method.
mbedalvaro 0:345b3bc7a0ea 640 void oscEvent(OscMessage theOscMessage) {
mbedalvaro 1:a4050fee11f7 641 // print the address pattern and the typetag of the received OscMessage
mbedalvaro 0:345b3bc7a0ea 642 print("### received an osc message.");
mbedalvaro 0:345b3bc7a0ea 643 print(" addrpattern: "+theOscMessage.addrPattern());
mbedalvaro 0:345b3bc7a0ea 644 println(" typetag: "+theOscMessage.typetag());
mbedalvaro 0:345b3bc7a0ea 645 }
mbedalvaro 0:345b3bc7a0ea 646
mbedalvaro 0:345b3bc7a0ea 647 */