Alvaro Cassinelli / Mbed 2 deprecated skinGames_II

save loops

Dependencies:   mbed

soundSpot.h@1:3be7b7d050f4, 2014-12-02 (annotated)

Committer:
mbedalvaro
Date:
Tue Dec 02 08:29:59 2014 +0000
Revision:
1:3be7b7d050f4
Parent:
0:df6fdd9b99f0 
updated

Who changed what in which revision?

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mbedalvaro 0:df6fdd9b99f0 1 #ifndef SOUNDSPOT_H
mbedalvaro 0:df6fdd9b99f0 2 #define SOUNDSPOT_H
mbedalvaro 0:df6fdd9b99f0 3
mbedalvaro 0:df6fdd9b99f0 4 //#define SEND_AS_BLOB // for test (sending positions in a single OSC blob chunk)
mbedalvaro 0:df6fdd9b99f0 5 //#define SEND_AS_STRING
mbedalvaro 0:df6fdd9b99f0 6 #define SEND_AS_POINTS
mbedalvaro 0:df6fdd9b99f0 7
mbedalvaro 0:df6fdd9b99f0 8 // The global object OSC for sending/receiving messages:
mbedalvaro 0:df6fdd9b99f0 9 #include "mbedOSC.h"
mbedalvaro 0:df6fdd9b99f0 10 extern OSCMessage recMes;
mbedalvaro 0:df6fdd9b99f0 11 extern OSCMessage sendMes;
mbedalvaro 0:df6fdd9b99f0 12 extern OSCClass osc;
mbedalvaro 0:df6fdd9b99f0 13
mbedalvaro 0:df6fdd9b99f0 14 extern DigitalOut myled2; // for tests...
mbedalvaro 0:df6fdd9b99f0 15
mbedalvaro 0:df6fdd9b99f0 16 #include "classLaserSensingTrajectory.h"
mbedalvaro 0:df6fdd9b99f0 17 #include "classRigidScafold.h"
mbedalvaro 0:df6fdd9b99f0 18
mbedalvaro 0:df6fdd9b99f0 19
mbedalvaro 0:df6fdd9b99f0 20 #define min(a, b) (((a) < (b)) ? (a) : (b))
mbedalvaro 0:df6fdd9b99f0 21 #define max(a, b) (((a) > (b)) ? (a) : (b))
mbedalvaro 0:df6fdd9b99f0 22
mbedalvaro 0:df6fdd9b99f0 23 // This is a polymorphic class, and elasticLoop, livingSpot are derived classes that
mbedalvaro 0:df6fdd9b99f0 24 // instantiate particular methods (update, etc).
mbedalvaro 0:df6fdd9b99f0 25 class soundSpot {
mbedalvaro 0:df6fdd9b99f0 26 protected: // (note: protected means that the child classes will have access to these variables/methods; private means that only this class members have access)
mbedalvaro 0:df6fdd9b99f0 27
mbedalvaro 0:df6fdd9b99f0 28 // number of points of this blob:
mbedalvaro 0:df6fdd9b99f0 29 int numPoints; // this in fact is equal to sensingTrajectory.size() for instance.
mbedalvaro 0:df6fdd9b99f0 30 Timer measureSendPeriod;
mbedalvaro 0:df6fdd9b99f0 31
mbedalvaro 0:df6fdd9b99f0 32 public:
mbedalvaro 0:df6fdd9b99f0 33
mbedalvaro 0:df6fdd9b99f0 34 // CONSTRUCTOR AND DESTRUCTOR --------------------------------------------------------------------------------------------------------------
mbedalvaro 0:df6fdd9b99f0 35 soundSpot();
mbedalvaro 0:df6fdd9b99f0 36 // Destructor (virtual, because one can only delete an object of a derived type
mbedalvaro 0:df6fdd9b99f0 37 // through a pointer to one of its base classes IF the base class has a virtual destructor)
mbedalvaro 0:df6fdd9b99f0 38 virtual ~soundSpot();// { cout<<"Destroying Base";}
mbedalvaro 0:df6fdd9b99f0 39
mbedalvaro 0:df6fdd9b99f0 40 // METHODS -------------------------------------------------------------------------------------------------------------
mbedalvaro 0:df6fdd9b99f0 41 // COMMON methods to all the kind of blobs:
mbedalvaro 0:df6fdd9b99f0 42 // (1) properties of the visible loop:
mbedalvaro 0:df6fdd9b99f0 43 void setColor(unsigned char c);
mbedalvaro 0:df6fdd9b99f0 44 void setGreenColor(unsigned char c);
mbedalvaro 0:df6fdd9b99f0 45 void setBlueColor(unsigned char c);
mbedalvaro 0:df6fdd9b99f0 46
mbedalvaro 0:df6fdd9b99f0 47 // (2) Sending modes:
mbedalvaro 0:df6fdd9b99f0 48 void stopAllSending(void);
mbedalvaro 0:df6fdd9b99f0 49 void resetAllSendingModes(void);
mbedalvaro 0:df6fdd9b99f0 50 void initCommonVariables();
mbedalvaro 0:df6fdd9b99f0 51 void sendData(void); // send data common to all kind of blobs
mbedalvaro 0:df6fdd9b99f0 52
mbedalvaro 0:df6fdd9b99f0 53 // VIRTUAL METHODS (common to all blobs, but each type of blob will implement it differently):
mbedalvaro 0:df6fdd9b99f0 54 // Blob creation:
mbedalvaro 0:df6fdd9b99f0 55 virtual void setRegionMotion(float mmix, float mmiy, float mmax, float mmay)=0;
mbedalvaro 0:df6fdd9b99f0 56 // virtual void createBlob()=0; // note: the number of masses in the blob will be given from the scafold.
mbedalvaro 0:df6fdd9b99f0 57 // virtual void createBlob(int _id, ElasticLoopMode _elasticBlobMode, vector2D _initPos)=0;
mbedalvaro 0:df6fdd9b99f0 58 // Update:
mbedalvaro 0:df6fdd9b99f0 59 virtual void update(vector2Df referencePos=vector2Df(0,0))=0;
mbedalvaro 0:df6fdd9b99f0 60 virtual void computeBoundingBox(void)=0; // this is virtual because the displayed blob may be the scafold itself (in case of laser spot), or the elastic loop.
mbedalvaro 0:df6fdd9b99f0 61 // Draw (on lsdTrajectory):
mbedalvaro 0:df6fdd9b99f0 62 virtual void draw(void)=0; // NOTE: this method actually "renders" the trajectory using the laser renderer (not yet done)
mbedalvaro 0:df6fdd9b99f0 63 // Send data through OSC:
mbedalvaro 0:df6fdd9b99f0 64 virtual void sendDataSpecific(void)=0; // send data specific to each blob
mbedalvaro 0:df6fdd9b99f0 65
mbedalvaro 0:df6fdd9b99f0 66 // Some parameters (very different treatement for each type of blob):
mbedalvaro 0:df6fdd9b99f0 67 virtual void setSpeed(float speed=7.0)=0;
mbedalvaro 0:df6fdd9b99f0 68 virtual void setSize(float size=20.0)=0;
mbedalvaro 0:df6fdd9b99f0 69 virtual void speedFactor(float speedfactor=100.0)=0;
mbedalvaro 0:df6fdd9b99f0 70 virtual void sizeFactor(float sizeFactor=100.0)=0;
mbedalvaro 0:df6fdd9b99f0 71
mbedalvaro 0:df6fdd9b99f0 72 void addAngleCorrection(float _moreAngleCorrection);
mbedalvaro 0:df6fdd9b99f0 73 void setAngleCorrection(float _angleCorrection);
mbedalvaro 0:df6fdd9b99f0 74
mbedalvaro 0:df6fdd9b99f0 75 virtual void explosion()=0; // not very nice programming style, it should be a MODE instead or something like that.
mbedalvaro 0:df6fdd9b99f0 76 virtual vector2Df getCenter()=0;
mbedalvaro 0:df6fdd9b99f0 77 virtual void resetPositionSpeed()=0;
mbedalvaro 0:df6fdd9b99f0 78 virtual void setPositionSpeed(vector2Df _pos, vector2Df _spe)=0;
mbedalvaro 0:df6fdd9b99f0 79
mbedalvaro 0:df6fdd9b99f0 80 virtual void showChildParameters()=0;
mbedalvaro 0:df6fdd9b99f0 81 void printParameters(); // first show common parameters, then call the virtual method:
mbedalvaro 0:df6fdd9b99f0 82
mbedalvaro 0:df6fdd9b99f0 83 // DATA --------------------------------------------------------------------------------------------------------------
mbedalvaro 0:df6fdd9b99f0 84 int identifier; //0, 1, 2...
mbedalvaro 0:df6fdd9b99f0 85 char spotName[20]; //spot, elastic,... (this may be useful to set particular variables by forcing type cast (bad, but couldn't find a more elegant solution for the moment)
mbedalvaro 0:df6fdd9b99f0 86 unsigned char blobColor, transientBlobColor; // transient blob color is the color of the blob when touching something for instance.
mbedalvaro 0:df6fdd9b99f0 87 bool blueTouch; // this is equivalent to "debugDelayMirrors" #define, but per-blob (ie. blue active in dark zones). Good for elastic loops...
mbedalvaro 0:df6fdd9b99f0 88
mbedalvaro 0:df6fdd9b99f0 89 // initial position and speed of the blob:
mbedalvaro 0:df6fdd9b99f0 90 vector2Df startCenter;
mbedalvaro 0:df6fdd9b99f0 91 vector2Df startSpeed;
mbedalvaro 0:df6fdd9b99f0 92
mbedalvaro 0:df6fdd9b99f0 93 // Special fields:
mbedalvaro 0:df6fdd9b99f0 94 vector2Df gravity;
mbedalvaro 0:df6fdd9b99f0 95
mbedalvaro 0:df6fdd9b99f0 96 // SCAFOLD (rigid structure of points, with a center and methods to create it):
mbedalvaro 0:df6fdd9b99f0 97 RigidScafold bluePrint;
mbedalvaro 0:df6fdd9b99f0 98
mbedalvaro 0:df6fdd9b99f0 99 // LASER DISPLAY/SENSING-TRAJECTORY with DATA BUFFER for each blob:
mbedalvaro 0:df6fdd9b99f0 100 LaserSensingTrajectory displaySensingBuffer;
mbedalvaro 0:df6fdd9b99f0 101
mbedalvaro 0:df6fdd9b99f0 102 // the following are common to all kind of blobs, but the way these quantities are calculated (in the update() method) differs greatly:
mbedalvaro 0:df6fdd9b99f0 103 vector2Df totalLightForce;
mbedalvaro 0:df6fdd9b99f0 104 vector2Df recenteringVectorLoop;
mbedalvaro 0:df6fdd9b99f0 105 float angleCorrectionForceLoop;
mbedalvaro 0:df6fdd9b99f0 106 float angleRecenteringVector; // auxiliary variables for sending data (for the recenteringVectorLoop)
mbedalvaro 0:df6fdd9b99f0 107 float normRecenteringVector;
mbedalvaro 0:df6fdd9b99f0 108
mbedalvaro 0:df6fdd9b99f0 109 // Geometry/kinematics of the loop:
mbedalvaro 0:df6fdd9b99f0 110 float cx, cy, w, h;
mbedalvaro 0:df6fdd9b99f0 111 float area, approxArea;
mbedalvaro 0:df6fdd9b99f0 112 float totalKineticEnergy;
mbedalvaro 0:df6fdd9b99f0 113
mbedalvaro 0:df6fdd9b99f0 114 bool render; // when false, the blob is NOT RENDERED
mbedalvaro 0:df6fdd9b99f0 115 bool standByMode; // when true, the blob is NOT UPDATED
mbedalvaro 0:df6fdd9b99f0 116
mbedalvaro 0:df6fdd9b99f0 117 // something touched the blob:
mbedalvaro 0:df6fdd9b99f0 118 bool searchActive;
mbedalvaro 0:df6fdd9b99f0 119 bool firstTimeNoTouch;
mbedalvaro 0:df6fdd9b99f0 120 //bool lightTouched; // belongs to the lsdTrajectory
mbedalvaro 0:df6fdd9b99f0 121 int noTouchedCounter;
mbedalvaro 0:df6fdd9b99f0 122 vector2Df randomForce;
mbedalvaro 0:df6fdd9b99f0 123
mbedalvaro 0:df6fdd9b99f0 124 // the blob touched the wall limits (these variables are updated in the "update" method, and implemented differently for each blob)
mbedalvaro 0:df6fdd9b99f0 125 bool blobWallCollision;
mbedalvaro 0:df6fdd9b99f0 126 int wallCounter;
mbedalvaro 0:df6fdd9b99f0 127
mbedalvaro 0:df6fdd9b99f0 128 // HARDWARE SENDING MODE (can be changed by serial or osc commands):
mbedalvaro 0:df6fdd9b99f0 129 unsigned short periodSendingData; // max data rate for sending data (in ms)
mbedalvaro 0:df6fdd9b99f0 130 bool sendSerial;
mbedalvaro 0:df6fdd9b99f0 131 bool sendOSC;
mbedalvaro 0:df6fdd9b99f0 132 bool sendingOnlyWhenTouch; // when this is "true", data will be send ONLY when something touches the blob (border or light touch). Note that the max speed of sending
mbedalvaro 0:df6fdd9b99f0 133 // will be limited to periodSendingData.
mbedalvaro 0:df6fdd9b99f0 134 // SENDING modes for things COMMON TO ALL THE KIND OF BLOBS:
mbedalvaro 0:df6fdd9b99f0 135 // (d) Light sensing statistics:
mbedalvaro 0:df6fdd9b99f0 136 bool sendingBlobMaxMin; // max and min intensities are calculated directly from the lsdTrajectory
mbedalvaro 0:df6fdd9b99f0 137 bool sendingTouched; // when someone touches the blob (can be calculated directly from the lsdTrajectory)
mbedalvaro 0:df6fdd9b99f0 138 bool sendingLightForce; // the total light force (note: this CANNOT be calculated on the lsdTrajectory, but on the update method, particular to each loop).
mbedalvaro 0:df6fdd9b99f0 139 // (e) Recentering vector: (note: redundant with sendingLightForce, IF the correction angle is known).
mbedalvaro 0:df6fdd9b99f0 140 bool sendingRecenteringVector;
mbedalvaro 0:df6fdd9b99f0 141 bool sendingRecenteringAngle;
mbedalvaro 0:df6fdd9b99f0 142 bool sendingRecenteringNorm;
mbedalvaro 0:df6fdd9b99f0 143
mbedalvaro 0:df6fdd9b99f0 144 // SPECIFIC TO EACH BLOB (move this from here, use virtual methods to set their values):
mbedalvaro 0:df6fdd9b99f0 145 // (a) anchor mass data:
mbedalvaro 0:df6fdd9b99f0 146 bool sendingAnchorPosition;
mbedalvaro 0:df6fdd9b99f0 147 bool sendingAnchorForce; // this is the total force on the anchor mass, not just the recentering force
mbedalvaro 0:df6fdd9b99f0 148 bool sendingAnchorTouchWall;
mbedalvaro 0:df6fdd9b99f0 149 // (b) data from blob points:
mbedalvaro 0:df6fdd9b99f0 150 bool sendingLoopPositions;
mbedalvaro 0:df6fdd9b99f0 151 bool sendingLoopForces;// this is not just the forces from light, but all the forces in each particle
mbedalvaro 0:df6fdd9b99f0 152 bool sendingLoopForcesLight;
mbedalvaro 0:df6fdd9b99f0 153 bool sendingLoopRegions; // from this we can detect "hits"
mbedalvaro 0:df6fdd9b99f0 154 bool sendingLoopTouchWall;
mbedalvaro 0:df6fdd9b99f0 155 // (c) Blob geometry/kinematics:
mbedalvaro 0:df6fdd9b99f0 156 bool sendingBlobArea;
mbedalvaro 0:df6fdd9b99f0 157 bool sendingKineticEnergy;
mbedalvaro 0:df6fdd9b99f0 158 bool sendingBlobNormals;
mbedalvaro 0:df6fdd9b99f0 159 bool sendingBlobAngles; // redundant with sendingBlobNormals, but simplified (only angle of normal)
mbedalvaro 0:df6fdd9b99f0 160 };
mbedalvaro 0:df6fdd9b99f0 161
mbedalvaro 0:df6fdd9b99f0 162 #endif