Laser Sensing Display for UI interfaces in the real world
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Diff: main.cpp
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- 0:345b3bc7a0ea
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diff -r 000000000000 -r 345b3bc7a0ea main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Wed Mar 28 14:40:01 2012 +0000 @@ -0,0 +1,473 @@ +#include "mbed.h" +#include "hardwareIO.h" +#include "mbedOSC.h" +#include "blobConfig.h" +#include "simpleLaserRenderer.h" + +extern "C" void mbed_reset(); + +blobConfig blobconf; +simpleLaserSensingRenderer lsr; + +// For tests: +DigitalOut myled(LED1); +DigitalOut myled2(LED2); +//DigitalOut myled3(LED2); + + +// To test the time it takes for executing one loop in the main program: +//#define LOOPTIMECOMPUTE + +//---------- ETHERNET / OSC related (in the future, put somewhere else...): ------------------------------------------- +// mbed IP address (server): +#ifdef DHCP +EthernetNetIf eth; +#else +EthernetNetIf eth( + IpAddr(10,0,0,2), //IP Address + IpAddr(255,255,255,0), //Network Mask + IpAddr(10,0,0,1), //Gateway + IpAddr(10,0,0,1) //DNS +); +#endif + +//uint8_t serverMac[] = { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED }; +uint8_t serverIp[] = { 10, 0, 0, 2 }; // not needed perhaps! +int serverPort = 10000; + +uint8_t destIp[] = { 10, 0, 0, 1}; +int destPort = 12000; + +char *topAddress="/mbed"; +char *subAddress[3]={ "/test1" , "/test2" , "/test3" }; + +OSCMessage recMes; +OSCMessage sendMes; + +OSCClass osc; +//OSCClass osc(&recMes); // instantiate OSC communication object, and set the receiver container from the OSC packets + +void processOSC(UDPSocketEvent e); +// ---------------------------------------------------------------------------------------------------------------------- + +Ticker timerForRendering; +Timer measureLoopPeriod; + +void processSerial(); + +int main() { + + // Initialize the hardware (laser powers, positions...): + IO.init(); + + // ------------------------------- + // Set the Ethernet port: + printf("Setting up...\r\n"); + EthernetErr ethErr = eth.setup(); + if(ethErr) + { + printf("Error %d in setup.\r\n", ethErr); + return -1; + } + printf("Setup OK\r\n"); + + //(1) Sending message: + // Set IP and Port: + sendMes.setIp( destIp ); + sendMes.setPort( destPort ); + // Set data: + // sendMes.setTopAddress(topAddress); + + //setting osc functionnality: + //(2) Receiving: + // recMes.setIp( serverIp ); // not needed? + 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) + osc.begin(serverPort, &processOSC); // binds the upd (osc) messages to an arbitrary listening port ("server" port), and callback function + // ------------------------------- + + /* // sending seems not to work right after setting the osc object?? + wait(1); + sendMes.setTopAddress("starting"); + sendMes.setSubAddress(""); + osc.sendOsc( &sendMes ); + */ + + // initialize with the desired blob configuration: + + // Tested modes: + //blobconf.oneElasticLoopContractCentral(); + blobconf.addOneElasticContourFollowing(); + // Important: first, set the initial position for all the blobs, this will be useful because + // when changing modes we can use the previous central position... + // blobconf.setInitialPos(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y); + + + // RENRERER (attn: setConfigToRender must be called when the blobconf is set - i.e., the number of blobs and number of points/blob is fixed) + lsr.setConfigToRender(&blobconf); + + // Timer on the rendering function of the oneLoop object: + timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds) + // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds) + + //========================================== INFINITE LOOP (in USER PROGRAM CONTEXT) =================================================================== + #ifdef LOOPTIMECOMPUTE + int timeCounterNum=100000; + #endif + + + while(true) { + + // update config dynamics (this also could be threaded?): + blobconf.update(); + + // draw the config (note: each kind of blob renders differently) + // blobconf.draw(); + + // COMMUNICATION: + // (a) Reading commands: + // Ethernet: + Net::poll(); // this will take care of calling processOSC(UDPSocketEvent e) when a new packet arrives. + + // Serial: + if(pc.readable()>0) processSerial(); + + // (b)Sending Data: // PUT THIS IN AN INTERRUPT OR A TIMER!!! it may be TOO FAST... + blobconf.sendConfData(); + + // text: + /* + sendMes.setTopAddress("/hello"); + 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...) + int x=(long)10; + sendMes.setArgs( "i", &x); + osc.sendOsc( &sendMes ); + */ + +#ifdef LOOPTIMECOMPUTE + if (timeCounterNum>50000) myled = 0; + //if (timeCounterNum%100==0) blobconf.sendConfData(); + if (timeCounterNum>100000) { + myled = 1; + measureLoopPeriod.stop(); + sendMes.setTopAddress("/timeloop"); + sendMes.setSubAddress("/"); + long x=(long)(int(measureLoopPeriod.read_us()/100000)); + sendMes.setArgs( "i", &x); + osc.sendOsc( &sendMes ); + timeCounterNum=0; + measureLoopPeriod.reset(); + measureLoopPeriod.start(); + } else timeCounterNum++; +#endif + + } +} + + // ================= INTERPRET COMMAND ========================= +// NOTE: the following arrays are GLOBAL (used in processOSC and processSerial, as well as in interpretCommand function): + // max of two addresses (top and sub), of a max length of 24 characters: +char address[2][24]; +//long auxdata[2]; // to store a max of two arguments (note: we will only use LONGs) +int data[2]; // this is to have -1 as NO DATA, to detect errors. + +//interpretCommand(const char& address[2][], const int& data[2]) { +void interpretCommand() { + // (I) =========================================== SPECIAL FUNCTIONS (reset, rescan LUT, etc) ==================================================== + if ( !strcmp(address[0], "takeSnapshot" ) ) { // will reset all the spots, but the 0, and use it for taking measures: + + // for test: + for (int i=0; i<2 ; i++) { + myled = 1; wait(0.1); myled = 0; wait(0.1); + } + + // First, we need to disable the threaded display for the loop: + timerForRendering.detach(); + + // Then, do the scan (sending values on serial port): + IO.scan_serial(); + + // Finally, start again threaded display: + timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds) + } + + else if ( !strcmp(address[0], "mbedReset" ) ) mbed_reset(); + + else if ( !strcmp(address[0], "calibrate" ) ) { + // First, we need to disable the threaded display for the loop: + timerForRendering.detach(); + // RESCAN (and save LUT table): + IO.scanLUT(); + // Finally, start again threaded display: + timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); + } + + // (II) ========================================= GLOBAL CONFIG and HARDWARE COMMANDS =========================================== + + else if ( !strcmp(address[0], "setGreenLaser" ) ) { + int value=data[0]; + if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) + if (value==0) IO.setGreenPower(0); else IO.setGreenPower(1); + } + } + + // SIMPLE BEHAVIOUR MODES (to be read from an XML file in the future): + else if (!strcmp(address[0], "crawling")) { // + timerForRendering.detach(); + // blobconf.computeBoundingBox(); + blobconf.clearConfig(); + blobconf.addOneElasticContourFollowing(); + lsr.setConfigToRender(&blobconf); + timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); + } + else if (!strcmp(address[0], "loop")) { // + timerForRendering.detach(); + // blobconf.computeBoundingBox(); + blobconf.clearConfig(); + blobconf.addOneElasticLoopContractCentral(); + lsr.setConfigToRender(&blobconf); + timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); + } + + else if (!strcmp(address[0], "bouncing")) { + timerForRendering.detach(); + // blobconf.computeBoundingBox(); + blobconf.clearConfig(); + blobconf.addOneElasticBouncing(); + lsr.setConfigToRender(&blobconf); + timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); + } + + // other: + + else if ( !strcmp(address[0], "standby" ) ) { // will put ALL the spots in stand by mode + blobconf.allStandBy(); // will avoid the update function + } + else if ( !strcmp(address[0], "resume" ) ) { // will put ALL the spots in stand by mode + blobconf.allResume(); // will avoid the update function + } + + // (III) ========================================= Loop control (parameters, etc) =========================================== + // NOte: for the time being, we only have ONE loop, so there is no "per loop or per config" mode. + + else if (!strcmp( address[0], "sendOSC" ) ) { + int value=data[0]; + if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) + for (int i=0; i< blobconf.numBlobs; i++) { + blobconf.blobArray[i]->sendOSC=(value>0); + } + } + } + + else if (!strcmp( address[0], "sendArea" ) ) { + int value=data[0]; + if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) + for (int i=0; i< blobconf.numBlobs; i++) { + blobconf.blobArray[i]->sendingBlobArea=(value>0); + } + } + } + + else if (!strcmp( address[0], "sendPos" ) ) { + int value=data[0]; + if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) + for (int i=0; i< blobconf.numBlobs; i++) { + blobconf.blobArray[i]->sendingLoopPositions=(value>0); + } + } + } + + else if (!strcmp( address[0], "sendRegions" ) ) { + int value=data[0]; + if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) + for (int i=0; i< blobconf.numBlobs; i++) { + blobconf.blobArray[i]->sendingLoopRegions=(value>0); + } + } + } + + else if (!strcmp( address[0], "sendTouched" ) ) { + int value=data[0]; + if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) + for (int i=0; i< blobconf.numBlobs; i++) { + blobconf.blobArray[i]->sendingTouched=(value>0); + } + } + } + + + +} + +//============= RECEIVE OSC COMMANDS ========================= +// This is the callback function called when there are packets on the listening socket. It is not nice to have it +// here, but for the time being having a "wrapping global" is the simplest solution (we cannot pass a member-function pointer +// as handler to the upd object). +void processOSC(UDPSocketEvent e) { + osc.onUDPSocketEvent(e); + + if (osc.newMessage) { + // 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 + // 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... + + // Acquire the addresses and arguments and put them in the GLOBAL variables: + strcpy(address[0],""); strcpy(address[1],""); + 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 + // Acquire data: + data[0]=-1; data[1]=-1; + for (int i=0; i<recMes.getArgNum(); i++) data[i]=(int)recMes.getArgInt(i); + + // Finally, interpret the command: + interpretCommand();//address, data); + + } + } + +//============= RECEIVE SERIAL COMMANDS ========================= +// +// NOTE: - NUMERIC PARAMETERS have to be send BEFORE the command word. They must be sent as ASCII DEC, without end character. +// - Commands words SHOULD NOT have numbers in it. They should be C compliant STRINGS (ended with character '0') +// - order is irrelevant: we can send 10 RADIUS or RADIUS 10. + +// String to store ALPHANUMERIC DATA (i.e., integers, floating point numbers, unsigned ints, etc represented as DEC) sent wirelessly: +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... +int indexStringData=0;//position of the byte in the string + +// String to store COMMAND WORDS: +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... +int indexStringCommand=0; +bool commandReady=false; // will become true when receiving the byte 0 (i.e. the '/0' string terminator) + +void processSerial() { + + while(pc.readable()>0){ + + char val =pc.getc(); + // pc.printf("Got :%d\n", incomingByte); + //pc.putc(incomingByte); + + // Save ASCII numeric characters (ASCII 0 - 9) on stringData: + if ((val >= '0') && (val <= '9')){ // this is 45 to 57 (included) + stringData[indexStringData] = val; + indexStringData++; + } + + // Save ASCII letters in stringCommand: + if ((val >= 'A') && (val <= 'z')){ // this is 65 to 122 (included) + stringCommand[indexStringCommand] = val; + indexStringCommand++; + } + // is command ready? + if (val=='/') { + commandReady=true; + stringCommand[indexStringCommand] = 0; // string termination. + indexStringCommand=0; // reset index string for acquiring next command + //Serial.println(stringCommand); + } + + // COMMANDS (with or without numeric parameters): + if (commandReady==true) { // it means we can interpret the command string: + commandReady=false; + + stringData[indexStringData] = 0 ;// string termination for numeric values; + indexStringData=0; + + // PARSE DATA: (TO DO!!!!!!!!!!!!!!): + + // (a) Parse command (get address[0] and address[1]): + //ex: "/1/standBy" -- > address[0]="1" and address[1]="standBy" + // address[2] + + // Serial.println(stringCommand); + // Serial.println(stringData); + + // (b) Parse data: + + // char address[2][24]; + //long auxdata[2]; // to store a max of two arguments (note: we will only use LONGs) + //int data[2]; // this is to have -1 as NO DATA, to detect errors. + + // FOR THE TIME BEING there is no parsing for serial commands: + + // SCANNING: + if (!strcmp(stringCommand , "takeSnapshot")) { + // First, we need to disable the threaded display for the loop: + timerForRendering.detach(); + + // Then, do the scan (sending values on serial port): + IO.scan_serial(); + + // Finally, start again threaded display: + timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds) + + } + + if (!strcmp(stringCommand , "REDON")) IO.setRedPower(1); // pc.printf("%d\n",incomingByte); + + if (!strcmp(stringCommand , "REDOFF")) IO.setRedPower(0); + + if (!strcmp(stringCommand , "READVALUE")) pc.printf("Value read: %f", lockin.getSmoothValue());//lockin.getLastValue());/ + + // FINALLY, interpret commands (but only after parsing): + // interpretCommand();//address, data); + + } + } + } + + + +// ================ MISCELANEA + +/* EXAMPLE SEND/RECEIVE on PROCESSING: + +// oscP5sendreceive by andreas schlegel +// example shows how to send and receive osc messages. +// oscP5 website at http://www.sojamo.de/oscP5 + +import oscP5.*; +import netP5.*; + +OscP5 oscP5; +NetAddress myRemoteLocation; + +void setup() { + size(400,400); + frameRate(25); + // start oscP5, listening for incoming messages at port 12000 + oscP5 = new OscP5(this,12000); + + // myRemoteLocation is a NetAddress. a NetAddress takes 2 parameters, + // an ip address and a port number. myRemoteLocation is used as parameter in + // oscP5.send() when sending osc packets to another computer, device, + // application. usage see below. for testing purposes the listening port + // and the port of the remote location address are the same, hence you will + // send messages back to this sketch. + myRemoteLocation = new NetAddress("10.0.0.2",10000); +} + + +void draw() { + background(0); +} + +void mousePressed() { + // in the following different ways of creating osc messages are shown by example + OscMessage myMessage = new OscMessage("/mbed/test1"); + + myMessage.add(123); // add an int to the osc message + + // send the message + oscP5.send(myMessage, myRemoteLocation); +} + + +// incoming osc message are forwarded to the oscEvent method. +void oscEvent(OscMessage theOscMessage) { + // print the address pattern and the typetag of the received OscMessage + print("### received an osc message."); + print(" addrpattern: "+theOscMessage.addrPattern()); + println(" typetag: "+theOscMessage.typetag()); +} + +*/ + \ No newline at end of file