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save loops
soundSpot.h
- Committer:
- mbedalvaro
- Date:
- 2014-12-02
- Revision:
- 1:3be7b7d050f4
- Parent:
- 0:df6fdd9b99f0
File content as of revision 1:3be7b7d050f4:
#ifndef SOUNDSPOT_H #define SOUNDSPOT_H //#define SEND_AS_BLOB // for test (sending positions in a single OSC blob chunk) //#define SEND_AS_STRING #define SEND_AS_POINTS // The global object OSC for sending/receiving messages: #include "mbedOSC.h" extern OSCMessage recMes; extern OSCMessage sendMes; extern OSCClass osc; extern DigitalOut myled2; // for tests... #include "classLaserSensingTrajectory.h" #include "classRigidScafold.h" #define min(a, b) (((a) < (b)) ? (a) : (b)) #define max(a, b) (((a) > (b)) ? (a) : (b)) // This is a polymorphic class, and elasticLoop, livingSpot are derived classes that // instantiate particular methods (update, etc). class soundSpot { protected: // (note: protected means that the child classes will have access to these variables/methods; private means that only this class members have access) // number of points of this blob: int numPoints; // this in fact is equal to sensingTrajectory.size() for instance. Timer measureSendPeriod; public: // CONSTRUCTOR AND DESTRUCTOR -------------------------------------------------------------------------------------------------------------- soundSpot(); // Destructor (virtual, because one can only delete an object of a derived type // through a pointer to one of its base classes IF the base class has a virtual destructor) virtual ~soundSpot();// { cout<<"Destroying Base";} // METHODS ------------------------------------------------------------------------------------------------------------- // COMMON methods to all the kind of blobs: // (1) properties of the visible loop: void setColor(unsigned char c); void setGreenColor(unsigned char c); void setBlueColor(unsigned char c); // (2) Sending modes: void stopAllSending(void); void resetAllSendingModes(void); void initCommonVariables(); void sendData(void); // send data common to all kind of blobs // VIRTUAL METHODS (common to all blobs, but each type of blob will implement it differently): // Blob creation: virtual void setRegionMotion(float mmix, float mmiy, float mmax, float mmay)=0; // virtual void createBlob()=0; // note: the number of masses in the blob will be given from the scafold. // virtual void createBlob(int _id, ElasticLoopMode _elasticBlobMode, vector2D _initPos)=0; // Update: virtual void update(vector2Df referencePos=vector2Df(0,0))=0; 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. // Draw (on lsdTrajectory): virtual void draw(void)=0; // NOTE: this method actually "renders" the trajectory using the laser renderer (not yet done) // Send data through OSC: virtual void sendDataSpecific(void)=0; // send data specific to each blob // Some parameters (very different treatement for each type of blob): virtual void setSpeed(float speed=7.0)=0; virtual void setSize(float size=20.0)=0; virtual void speedFactor(float speedfactor=100.0)=0; virtual void sizeFactor(float sizeFactor=100.0)=0; void addAngleCorrection(float _moreAngleCorrection); void setAngleCorrection(float _angleCorrection); virtual void explosion()=0; // not very nice programming style, it should be a MODE instead or something like that. virtual vector2Df getCenter()=0; virtual void resetPositionSpeed()=0; virtual void setPositionSpeed(vector2Df _pos, vector2Df _spe)=0; virtual void showChildParameters()=0; void printParameters(); // first show common parameters, then call the virtual method: // DATA -------------------------------------------------------------------------------------------------------------- int identifier; //0, 1, 2... 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) unsigned char blobColor, transientBlobColor; // transient blob color is the color of the blob when touching something for instance. bool blueTouch; // this is equivalent to "debugDelayMirrors" #define, but per-blob (ie. blue active in dark zones). Good for elastic loops... // initial position and speed of the blob: vector2Df startCenter; vector2Df startSpeed; // Special fields: vector2Df gravity; // SCAFOLD (rigid structure of points, with a center and methods to create it): RigidScafold bluePrint; // LASER DISPLAY/SENSING-TRAJECTORY with DATA BUFFER for each blob: LaserSensingTrajectory displaySensingBuffer; // the following are common to all kind of blobs, but the way these quantities are calculated (in the update() method) differs greatly: vector2Df totalLightForce; vector2Df recenteringVectorLoop; float angleCorrectionForceLoop; float angleRecenteringVector; // auxiliary variables for sending data (for the recenteringVectorLoop) float normRecenteringVector; // Geometry/kinematics of the loop: float cx, cy, w, h; float area, approxArea; float totalKineticEnergy; bool render; // when false, the blob is NOT RENDERED bool standByMode; // when true, the blob is NOT UPDATED // something touched the blob: bool searchActive; bool firstTimeNoTouch; //bool lightTouched; // belongs to the lsdTrajectory int noTouchedCounter; vector2Df randomForce; // the blob touched the wall limits (these variables are updated in the "update" method, and implemented differently for each blob) bool blobWallCollision; int wallCounter; // HARDWARE SENDING MODE (can be changed by serial or osc commands): unsigned short periodSendingData; // max data rate for sending data (in ms) bool sendSerial; bool sendOSC; 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 // will be limited to periodSendingData. // SENDING modes for things COMMON TO ALL THE KIND OF BLOBS: // (d) Light sensing statistics: bool sendingBlobMaxMin; // max and min intensities are calculated directly from the lsdTrajectory bool sendingTouched; // when someone touches the blob (can be calculated directly from the lsdTrajectory) bool sendingLightForce; // the total light force (note: this CANNOT be calculated on the lsdTrajectory, but on the update method, particular to each loop). // (e) Recentering vector: (note: redundant with sendingLightForce, IF the correction angle is known). bool sendingRecenteringVector; bool sendingRecenteringAngle; bool sendingRecenteringNorm; // SPECIFIC TO EACH BLOB (move this from here, use virtual methods to set their values): // (a) anchor mass data: bool sendingAnchorPosition; bool sendingAnchorForce; // this is the total force on the anchor mass, not just the recentering force bool sendingAnchorTouchWall; // (b) data from blob points: bool sendingLoopPositions; bool sendingLoopForces;// this is not just the forces from light, but all the forces in each particle bool sendingLoopForcesLight; bool sendingLoopRegions; // from this we can detect "hits" bool sendingLoopTouchWall; // (c) Blob geometry/kinematics: bool sendingBlobArea; bool sendingKineticEnergy; bool sendingBlobNormals; bool sendingBlobAngles; // redundant with sendingBlobNormals, but simplified (only angle of normal) }; #endif