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save loops
Diff: simpleLaserRenderer.h
- Revision:
- 0:df6fdd9b99f0
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/simpleLaserRenderer.h Tue Dec 02 04:39:15 2014 +0000 @@ -0,0 +1,65 @@ +#ifndef simpleLaserSensingRenderer_h +#define simpleLaserSensingRenderer_h + +#include "blobConfig.h" +// Include hardware interface for display and sensing: +#include "hardwareIO.h" + +//extern DigitalOut myled3; // for tests... + +//#define debugDelayMirrors // this is to check visually the mirror delay (but it is also beautiful) + +#define RED_BLANKING // note: RED blanking introduces problems because the Lock-in looses signal, but we can add more points to compensate when there +// are many blobs, see "DEFAULT_OVERLAP_POINTS" (but will slow down...) + +#define RENDER_INTERVAL 0.00011 // good value in previous version (monaco) was 0.00011 // in seconds (Ticker) + +#define WAIT_NORMAL 0 // good :0 // (minimum is 0) waiting time for setting mirror position MINUS waiting laser time (note that this total waiting time may be equal to 0 if we set a good sampling freq for the renderer, but +// and if the shape is regular so that this time does not change significatively - this is not the case for multiple blobs or highly deformed blobs). +#define WAIT_LASER 0 // (minimum is 0) waiting time for activating the laser (if there are color changes IN BETWEEN points). Maybe needed for the green laser +// WHEN THERE IS MORE THAN ONE SPOT: +#define WAIT_FIRST 12 // special waiting time for mirror positioning to first point on next blob BEFORE re-activating laser +#define WAIT_FIRST_LASER 0 // IMPORTANT waiting time for the activation of the RED laser and LOCK-IN (also waiting time for the mirrors) +#define WAIT_LAST 0 // special waiting time for last point + +// Redundant drawing for avoiding deformed saccade (note: this could be active when there is more than one blob, instead of using a #define...) +#define DEFAULT_OVERLAP_POINTS 5 // 10 + +enum lsdStateType {NORMAL_POINT, LAST_POINT, MOVE_NEXT_BLOB, START_POINT}; + +class simpleLaserSensingRenderer { +public: + + void setConfigToRender(blobConfig*); + //void startRenderer(); // pb: I cannot use the ticker function inside the class! + void laserRenderThread(); + void laserRenderThreadONEBLOBONLY(); + // void laserRender(blobConfig*); + + blobConfig* ptBlobCfToRender; + + lsdStateType stateLsd; + int totalBlobs; + int currentBlob; + int currentPoint; + int currentMirrorDelay; + int currentTotalPoints; + int currentColor; + unsigned short x,y; // auxiliary variables storing mirror position(0-4096) + + // New method to check complete display of one loop: + unsigned char configTotalPoints; + unsigned char pointDisplayCounter; + unsigned char numOverlapPoints; + + void startFullDisplay(); + bool endedFullDisplay(); + bool endedFractionDisplay(int fract); + + int waitNormal, waitLaser, waitFirst, waitFirstLaser, waitLast; +}; + +#endif + + +