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
+
+
+