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save loops
main.cpp
- Committer:
- mbedalvaro
- Date:
- 2014-12-02
- Revision:
- 1:3be7b7d050f4
- Parent:
- 0:df6fdd9b99f0
File content as of revision 1:3be7b7d050f4:
#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(LED3); DigitalOut ledSwitchOne(LED_SWITCH_ONE); // To test the time it takes for executing one loop in the main program: //#define LOOPTIMECOMPUTE // To get serial commands (for debug, or other things using a Terminal - for instance, a laser scan) #define SERIAL_COMMANDS int renderFraction=1;// when 1, the blob needs to be rendered completely before update; 2 means half of it, etc. 0 means render all the time. // NEW (1.4.2014): change modes by switch for fast demos: int totalNumberDemos=13; int currentDemoMode=0; void changeMode(int mode); //---------- 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 of the mbed 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, 3}; uint8_t destIp[] = {255, 255, 255, 255}; // broadcast, so we can use several computers for sound, etc 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); // ---------------------------------------------------------------------------------------------------------------------- // Tickers: Ticker timerForRendering; //Ticker timerForSendingData; // better use a timer, so as not to interrupt the exact laser display ticker // Timers: Timer measureLoopPeriod; Timer measureReadPeriod; // timer for reading hardare or communication data (I will read in ms) #define periodReadingData 30 //Timer measureUpdatePeriod; // to get serial commands (not necessary perhaps) void processSerial(); int main() { // Initialize the hardware (laser powers, positions...): IO.init(); ledSwitchOne=0; // ------------------------------- // Set the Ethernet port: // pc.printf("Setting up...\r\n"); //printf("Setting up...\r\n"); EthernetErr ethErr = eth.setup(); if (ethErr) { // pc.printf("Error %d in setup.\r\n", ethErr); // return -1; } // pc.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: // blobconf.initConfig(ONE_ELASTIC_FOLLOWING); // Tested modes: // blobconf.clearConfig(); // blobconf.addOneElasticLoopContractCentral(); // blobconf.addOneElasticContourFollowing(); // blobconf.addOneRigidLoopBouncing(); // blobconf.addOneRigidLoopBouncing(); //blobconf.addOneRigidLoopFollowing(); // blobconf.addOneRigidLoopFollowing(); //blobconf.addOneElasticLoopContractCentralFast(); //blobconf.addOneRigidLoopTest(); // START WITH TWO FOLLOWING SPOTS (exhibition Tokyo Design Week): blobconf.initConfig(FOLLOWING_SPOTS, 1); // value is the nb of spots instantiated // Make them of different color: //blobconf.blobArray[0]->setBlueColor(1); //blobconf.blobArray[1]->setGreenColor(1); // start in no stand by mode: blobconf.allResume(); // 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); // draw the config once before activating the laser buffer: blobconf.draw(); lsr.startFullDisplay(); // 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) // Timer for sending OSC data: // timerForSendingData.attach(&blobconf, &blobConfig::sendConfData, 0.025); // time in seconds (25ms -> 40Hz) //========================================== INFINITE LOOP (in USER PROGRAM CONTEXT) =================================================================== #ifdef LOOPTIMECOMPUTE int timeCounterNum=1000; #endif //measureUpdatePeriod.start(); measureReadPeriod.start(); while (true) { // Process sensing buffer and compute light forces (for all blobs here, or in the update function for each one) blobconf.processSensedData(); if (lsr.endedFractionDisplay(renderFraction)) {// (lsr.endedFullDisplay()) { // measureUpdatePeriod.stop(); // measureUpdatePeriod.reset(); // __disable_irq(); // update config dynamics (this also could be threaded?): blobconf.update(); // draw the config (note: each kind of blob renders differently) blobconf.draw(); // (b)Sending Data: // PUT THIS IN AN INTERRUPT OR USE A TIMER!!! it may be TOO FAST... // 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): // 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 // per blob timer counter. blobconf.sendConfData(); lsr.startFullDisplay(); // this start the point-display counter (wherever the actual laser is). Before update and draw, the counter needs to be reset. // __enable_irq(); // measureUpdatePeriod.start(); } else { // do a delay to equilibrate the timings? //wait_us(6700); } // COMMUNICATION and HARDWARE CONTROL: // (a) Reading commands: if (measureReadPeriod.read_ms()>periodReadingData) { measureReadPeriod.stop(); // Ethernet: Net::poll(); // this will take care of calling processOSC(UDPSocketEvent e) when a new packet arrives. // Serial: #ifdef SERIAL_COMMANDS if (pc.readable()>0) processSerial(); #endif // Potentiometer, switches, etc: //(1) Check for change of threshold mode button (switch one): //!!! ATTENTION: this does not work very well to say the truth: bouncing+adc settings problems... better use a TWO STATE SWITCH: bool stateswitch; if (IO.switchOneCheck(stateswitch)) { //if (stateswitch) pc.printf("Setting AUTO threshold mode\n"); else pc.printf("Setting FIXED threshold mode\n"); // for (int i=0; i< blobconf.numBlobs; i++) blobconf.blobArray[i]->displaySensingBuffer.setThresholdMode((stateswitch? 1 : 0)); currentDemoMode=(currentDemoMode+1)%totalNumberDemos; // ledSwitchOne=(stateswitch? 1 :0); // this switch has a built-in led ledSwitchOne=1; wait_ms(500) ; ledSwitchOne=0; changeMode(currentDemoMode); blobconf.allResume(); } if (IO.twoStateSwitchCheck(stateswitch)) { // if there is a change... for (int i=0; i< blobconf.numBlobs; i++) blobconf.blobArray[i]->displaySensingBuffer.setThresholdMode((stateswitch? 1 : 0)); } //(2) in case the the second switch was pressed, check the current pot value and update the fixed threshold (regardless of the threshold mode) // NOTE: using the potentiometer FAILS because I cannot properly switch back and forth between ADC modes (burst and normal) if (IO.switchTwoCheck(stateswitch)) { timerForRendering.detach(); IO.showLimitsMirrors(5); // in seconds timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // IO.updatePotValue(); // for (int i=0; i< blobconf.numBlobs; i++) blobconf.blobArray[i]->displaySensingBuffer.setFixedThreshold(IO.potValue); // pc.printf("Got :%d\n", IO.potValue); } if (rotaryEncoder1.CheckNew()) { for (int i=0; i< blobconf.numBlobs; i++) blobconf.blobArray[i]->displaySensingBuffer.setFixedThreshold(rotaryEncoder1.Get()); //pc.printf("Fixed Threshold :%d\n", rotaryEncoder1.Get()); } // (3) Change additional mirror delay from rotary encoder: if (rotaryEncoder2.CheckNew()) { for (int i=0; i< blobconf.numBlobs; i++) blobconf.blobArray[i]->displaySensingBuffer.setDelayMirrors(rotaryEncoder2.Get()); // pc.printf("Mirror delay :%d\n", rotaryEncoder2.Get()); } // Restart the timer: measureLoopPeriod.reset(); measureReadPeriod.start(); } // 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>50) myled = 0; // if (timeCounterNum%10==0) blobconf.sendConfData(); if (timeCounterNum>1000) { myled = 1; measureLoopPeriod.stop(); sendMes.setTopAddress("/timeloop"); sendMes.setSubAddress("/"); long x=(long)(int(measureLoopPeriod.read_us()/1000.0)); // long x=(long)(blobconf.blobArray[0]->displaySensingBuffer.lsdTrajectory.size()); // long x=(long)(blobconf.blobArray[0]->normRecenteringVector); //long x=(long)(1000*blobconf.blobArray[0]->displaySensingBuffer.lsdTrajectory[0].intensity); 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" ) ) { int value=data[0]; if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) // 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(value); // Finally, start again threaded display: timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); } } else if ( !strcmp(address[0], "mbedReset" ) ) mbed_reset(); else if (!strcmp(address[0], "showMirrorLimits")) { int value=data[0]; if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) timerForRendering.detach(); IO.showLimitsMirrors(value); timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); } } 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::laserRenderThread, RENDER_INTERVAL); // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); } // (II) ========================================= GLOBAL CONFIG and HARDWARE COMMANDS =========================================== else if ( !strcmp(address[0], "setAllColor" ) ) { int value=data[0]; // this is the color (RGB bits) if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) blobconf.allSetColor(value); } } else if ( !strcmp(address[0], "setAllRandomColor" ) ) { blobconf.randomizeAllColors(); } else if ( !strcmp(address[0], "setAllGreenColor" ) ) { int value=data[0]; if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) if (value==0) blobconf.allSetGreen(1); else blobconf.allSetGreen(0); } } else if ( !strcmp(address[0], "setAllBlueColor" ) ) { int value=data[0]; if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) if (value==0) blobconf.allSetBlue(1); else blobconf.allSetBlue(0); } } // NOTE: RED either afect the lock in, or some other red laser... not yet done. else if ( !strcmp(address[0], "testPower" ) ) { // First, we need to disable the threaded display for the loop: timerForRendering.detach(); // Note: arguments is first 3 bits to set the laser powers (3 LSB bits to set each color) // and then the second argument is the number of seconds to wait for the measurment int value1=data[0], value2=data[1]; if ((value1!=-1)&&(value2!=-1)) { // otherwise do nothing, this is a reception error (there was no data) // Set position of mirrors: IO.writeOutX(CENTER_AD_MIRROR_X); IO.writeOutY(CENTER_AD_MIRROR_Y); for (int i=0; i<3 ; i++) { myled3 = 1; wait(0.2); myled3 = 0; wait(0.2); } // Set laser power: IO.setRGBPower((unsigned char)value1); // Wait... wait(value2);// in seconds //Timer t; //t.start(); //while(t.read_ms()<value2*1000); //t.stop(); } // Finally, start again threaded display: timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); } // SIMPLE BEHAVIOUR MODES (to be read from an XML file in the future): else if (!strcmp(address[0], "elastic_following")) { // timerForRendering.detach(); blobconf.initConfig(ONE_ELASTIC_FOLLOWING); lsr.setConfigToRender(&blobconf); timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); } else if (!strcmp(address[0], "elastic_mouth")) { // timerForRendering.detach(); blobconf.initConfig(ONE_ELASTIC_MOUTH); lsr.setConfigToRender(&blobconf); timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); } else if (!strcmp(address[0], "elastic_mouth_small")) { // timerForRendering.detach(); blobconf.initConfig(ONE_ELASTIC_MOUTH_SMALL); lsr.setConfigToRender(&blobconf); timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); } else if (!strcmp(address[0], "spot_bouncing")) { int value=data[0]; if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) timerForRendering.detach(); blobconf.initConfig(BOUNCING_SPOTS, value); // value is the nb of spots instantiated lsr.setConfigToRender(&blobconf); timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); } } else if (!strcmp(address[0], "spot_lorentz")) { int value=data[0]; if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) timerForRendering.detach(); blobconf.initConfig(LORENTZ_SPOTS, value); // value is the nb of spots instantiated lsr.setConfigToRender(&blobconf); timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); } } else if (!strcmp(address[0], "air_hockey")) { int value=data[0]; if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) timerForRendering.detach(); blobconf.initConfig(AIR_HOCKEY_GAME, value); // value is the nb of spots instantiated lsr.setConfigToRender(&blobconf); timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); } } else if (!strcmp(address[0], "rain_mode")) { int value=data[0]; if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) timerForRendering.detach(); blobconf.initConfig(RAIN_MODE, value); // value is the nb of spots instantiated lsr.setConfigToRender(&blobconf); timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); } } else if (!strcmp(address[0], "spot_following")) { int value=data[0]; if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) timerForRendering.detach(); blobconf.initConfig(FOLLOWING_SPOTS, value); // value is the nb of spots instantiated lsr.setConfigToRender(&blobconf); timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); if ( blobconf.numBlobs>1) for (int i=0; i< blobconf.numBlobs; i++) { blobconf.blobArray[i]->displaySensingBuffer.setDelayMirrors(2); blobconf.blobArray[i]->angleCorrectionForceLoop=-8;// in degrees } } } else if (!strcmp(address[0], "circular_pong")) { int value=data[0]; if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) timerForRendering.detach(); blobconf.initConfig(CIRCULAR_PONG_GAME, value); // value is the nb of spots instantiated lsr.setConfigToRender(&blobconf); timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); } } else if (!strcmp(address[0], "fish_net")) { int value=data[0]; if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) timerForRendering.detach(); blobconf.initConfig(FISH_NET_GAME, value); // value is the nb of spots instantiated lsr.setConfigToRender(&blobconf); timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); } } else if (!strcmp(address[0], "vertical_pinball")) { int value=data[0]; if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) timerForRendering.detach(); blobconf.initConfig(VERTICAL_PINBALL_GAME, value); lsr.setConfigToRender(&blobconf); timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); } } else if (!strcmp(address[0], "pac_man")) { timerForRendering.detach(); blobconf.initConfig(PAC_MAN_GAME); lsr.setConfigToRender(&blobconf); timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); } else if (!strcmp(address[0], "spot_tracking")) { timerForRendering.detach(); blobconf.initConfig(ONE_TRACKING_SPOT); // value is the nb of spots instantiated lsr.setConfigToRender(&blobconf); timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); } else if (!strcmp(address[0], "spot_test")) { timerForRendering.detach(); // blobconf.computeBoundingBox(); blobconf.clearConfig(); blobconf.addOneRigidLoopTest(); lsr.setConfigToRender(&blobconf); timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); } // other: else if ( !strcmp(address[0], "standby" ) ) { // will put ALL the blobs in stand by mode (no update function) blobconf.allStandBy(); // will avoid the update function } else if ( !strcmp(address[0], "resume" ) ) { blobconf.allResume(); // Update function is called for all the blobs } // (III) ========================================= Loop control (parameters, etc) =========================================== else if (!strcmp( address[0], "setSpeed" ) ) { int value=data[0]; // value 1 means a speed of 0.1, value 10, a speed of 1, etc. if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) for (int i=0; i< blobconf.numBlobs; i++) { //if ((!strcmp(blobconf.blobArray[i].spotName, "rigid_following"))||(!strcmp(blobconf.blobArray[i].spotName, "rigid_following"))) { blobconf.blobArray[i]->setSpeed((float)(0.1*value)); } } } else if (!strcmp( address[0], "speedFactor" ) ) { int value=data[0]; // value 100 means no change of speed. 200 is twice as fast, 50 is half as fast. if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) for (int i=0; i< blobconf.numBlobs; i++) { //if ((!strcmp(blobconf.blobArray[i].spotName, "rigid_following"))||(!strcmp(blobconf.blobArray[i].spotName, "rigid_following"))) { blobconf.blobArray[i]->speedFactor((float)(1.0*value/100.0)); } } } else if (!strcmp( address[0], "setSize" ) ) { int value=data[0]; // this is the direct size of the scafold 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]->setSize((float)(1.0*value)); } } else if (!strcmp( address[0], "sizeFactor" ) ) { int value=data[0]; // value 100 means no change of sice. 200 is twice as big, 50 is half as big. 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]->sizeFactor((float)(1.0*value/100.0)); } } // ADJUST MIRROR ANGLE CORRECTION: else if (!strcmp( address[0], "adjustPlusAngle" ) ) { int value=data[0]; // this is not a factor, but an additive quantity to the current delay 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]->addAngleCorrection(value); } else if (!strcmp( address[0], "adjustMinusAngle" ) ) { int value=data[0]; // this is not a factor, but an substractive quantity to the current delay 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]->addAngleCorrection(-value); } // ADJUST MIRROR DELAY (angle or mirror delay are equivalent in case of circular blobs): else if (!strcmp( address[0], "adjustPlusDelay" ) ) { int value=data[0]; // value 100 means no change of speed. 200 is twice as fast, 50 is half as fast. 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]->displaySensingBuffer.addDelayMirrors(value); } } else if (!strcmp( address[0], "adjustMinusDelay" ) ) { int value=data[0]; // value 100 means no change of speed. 200 is twice as fast, 50 is half as fast. 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]->displaySensingBuffer.addDelayMirrors(-value); } } else if (!strcmp( address[0], "adjustRenderFraction" ) ) { // for all spots... int value=data[0]; // value 100 means no change of speed. 200 is twice as fast, 50 is half as fast. if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) renderFraction=value; if (renderFraction>lsr.configTotalPoints) renderFraction=0;// update ALL the time (per-point) if (renderFraction<1) renderFraction=1; } } else if (!strcmp( address[0], "adjustPlusRenderFraction" ) ) { int value=data[0]; // value 100 means no change of speed. 200 is twice as fast, 50 is half as fast. if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) renderFraction+=value; if (renderFraction>lsr.configTotalPoints) renderFraction=0;// meaning: update ALL the time (per-point) } } else if (!strcmp( address[0], "adjustMinusRenderFraction" ) ) { int value=data[0]; // value 100 means no change of speed. 200 is twice as fast, 50 is half as fast. if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) renderFraction=((renderFraction-value)>=1? renderFraction-value : 1); } } // THRESHOLD MODE, and PARAMETERS: //(1) Set the threshold mode: else if (!strcmp( address[0], "autoThreshold" ) ) { int value=data[0]; // 1 (auto) or 0 (fixed) 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]->displaySensingBuffer.setThresholdMode(value); } // set led and switch state (global value of threshold): IO.setSwitchOneState(value>0); } // (a) AUTO THRESHOLD: // MINIMUM CONTRAST RATIO: // (1) using multiplicative factor: else if (!strcmp( address[0], "adjustMultContrast" ) ) { int value=data[0]; // value 100 means no change of the current contrast value. 200 means a min contrast // that is twice as large and 50 is half as large as before. 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]->displaySensingBuffer.multMinContrastRatio((float)(1.0*value/100.0)); } } // (2) directly: else if (!strcmp( address[0], "adjustContrast" ) ) { int value=data[0]; // value is in PERCENT (100=1, 50 = 0.5...) 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]->displaySensingBuffer.setMinContrastRatio((float)(1.0*value/100.0)); } } // THRESHOLD FACTOR: //(1) using multiplicative factor: else if (!strcmp( address[0], "adjustMultThreshold" ) ) { int value=data[0]; // value 100 means no change of the current contrast value. 200 means a min contrast // that is twice as large and 50 is half as large as before. 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]->displaySensingBuffer.multThresholdFactor((float)(1.0*value/100.0)); } } //(2) directly: else if (!strcmp( address[0], "adjustThresholdFactor" ) ) { int value=data[0]; // value is in PERCENT (100=1, 50 = 0.5...) 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]->displaySensingBuffer.setThresholdFactor((float)(1.0*value/100.0)); } } // MINIMUM ACCEPTABLE INTENSITY: // Adjust minimum acceptable intensity: else if (!strcmp( address[0], "adjustMinAcceptableIntensity" ) ) { int value=data[0]; // value is DIRECT value (0 to 255) 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]->displaySensingBuffer.setMinAcceptableIntensity(value); } } // (b) FIXED THRESHOLD: // Adjust fixedThreshold (directly): else if (!strcmp( address[0], "adjustFixedThreshold" ) ) { int value=data[0]; // value is DIRECT value (0 to 255) 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]->displaySensingBuffer.setFixedThreshold(value); } } else if (!strcmp( address[0], "printParameters" ) ) { pc.printf("Fraction display for the config: %d\n", renderFraction); blobconf.printParameters(); } // ===================== SEND DATA MODES ======================= 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], "sendAnchorPos" ) ) { 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]->sendingAnchorPosition=(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(atoi(stringData)); // Finally, start again threaded display: timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); } else if (!strcmp(stringCommand , "REDON")) IO.setRedPower(1); // pc.printf("%d\n",incomingByte); else if (!strcmp(stringCommand , "REDOFF")) IO.setRedPower(0); else if (!strcmp(stringCommand , "READVALUE")) pc.printf("Value read: %f", lockin.getSmoothValue());//lockin.getLastValue());/ else if (!strcmp(stringCommand , "mbedReset")) mbed_reset(); else if (!strcmp(stringCommand , "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::laserRenderThread, RENDER_INTERVAL); // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); } // FINALLY, interpret commands (but only after parsing): // interpretCommand();//address, data); } } } void changeMode(int mode) { strcpy(address[0],""); strcpy(address[1],""); data[0]=-1; data[1]=-1; switch(mode) { case 0: strcpy(address[0],"spot_following"); data[0]=1; interpretCommand(); break; case 1: strcpy(address[0],"spot_following"); data[0]=2; interpretCommand(); break; case 2: strcpy(address[0],"spot_bouncing"); data[0]=1; interpretCommand(); break; case 3: strcpy(address[0],"spot_bouncing"); data[0]=4; interpretCommand(); break; case 4: strcpy(address[0],"spot_lorentz"); data[0]=1; interpretCommand(); break; case 5: strcpy(address[0],"spot_lorentz"); data[0]=2; interpretCommand(); break; case 6: strcpy(address[0],"rain_mode"); data[0]=2; interpretCommand(); break; case 7: strcpy(address[0],"rain_mode"); data[0]=5; interpretCommand(); break; case 8: strcpy(address[0],"air_hockey"); data[0]=1; interpretCommand(); break; case 9: strcpy(address[0],"spot_tracking"); data[0]=1; interpretCommand(); // here, let's make the min contrast smaller, for finger tracking: strcpy(address[0],"adjustContrast"); data[0]=120; interpretCommand(); break; case 10: strcpy(address[0],"elastic_mouth"); interpretCommand(); break; case 11: strcpy(address[0],"elastic_following"); interpretCommand(); break; case 12: strcpy(address[0],"elastic_mouth_small"); interpretCommand(); break; //case 9: //strcpy(address[0],"pac_man"); //interpretCommand(); //break; //case 10: // strcpy(address[0],"circular_pong"); // data[0]=3; // interpretCommand(); //break; // case 10: // strcpy(address[0],"vertical_pinball"); // data[0]=2; // interpretCommand(); //pbreak; //case 11: //strcpy(address[0],"fish_net"); // data[0]=3; // interpretCommand(); //break; } } // ================ 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()); } */