Alvaro Cassinelli
/
skinGames_forktest
just a test
Fork of scoreLight_Advanced by
main.cpp@11:62f7183a03e7, 2012-04-12 (annotated)
- Committer:
- mbedalvaro
- Date:
- Thu Apr 12 05:16:48 2012 +0000
- Revision:
- 11:62f7183a03e7
- Parent:
- 10:6f8e48dca1bd
- Child:
- 13:9f03eac02700
It seems to work (but not tested on real hardware). ; NEEDS TO DO: ; 1) DOUBLE BUFFERING; 2) template class for vector2D, so as to use unsigned short for the rigid scafold instead of float...;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mbedalvaro | 0:345b3bc7a0ea | 1 | #include "mbed.h" |
mbedalvaro | 0:345b3bc7a0ea | 2 | #include "hardwareIO.h" |
mbedalvaro | 0:345b3bc7a0ea | 3 | #include "mbedOSC.h" |
mbedalvaro | 0:345b3bc7a0ea | 4 | #include "blobConfig.h" |
mbedalvaro | 0:345b3bc7a0ea | 5 | #include "simpleLaserRenderer.h" |
mbedalvaro | 0:345b3bc7a0ea | 6 | |
mbedalvaro | 0:345b3bc7a0ea | 7 | extern "C" void mbed_reset(); |
mbedalvaro | 0:345b3bc7a0ea | 8 | |
mbedalvaro | 0:345b3bc7a0ea | 9 | blobConfig blobconf; |
mbedalvaro | 0:345b3bc7a0ea | 10 | simpleLaserSensingRenderer lsr; |
mbedalvaro | 0:345b3bc7a0ea | 11 | |
mbedalvaro | 0:345b3bc7a0ea | 12 | // For tests: |
mbedalvaro | 0:345b3bc7a0ea | 13 | DigitalOut myled(LED1); |
mbedalvaro | 0:345b3bc7a0ea | 14 | DigitalOut myled2(LED2); |
mbedalvaro | 0:345b3bc7a0ea | 15 | //DigitalOut myled3(LED2); |
mbedalvaro | 0:345b3bc7a0ea | 16 | |
mbedalvaro | 0:345b3bc7a0ea | 17 | |
mbedalvaro | 1:a4050fee11f7 | 18 | // To test the time it takes for executing one loop in the main program: |
mbedalvaro | 10:6f8e48dca1bd | 19 | //#define LOOPTIMECOMPUTE |
mbedalvaro | 1:a4050fee11f7 | 20 | |
mbedalvaro | 1:a4050fee11f7 | 21 | // To get serial commands (for debug, or other things using a Terminal - for instance, a laser scan) |
mbedalvaro | 1:a4050fee11f7 | 22 | //#define SERIAL_COMMANDS |
mbedalvaro | 0:345b3bc7a0ea | 23 | |
mbedalvaro | 0:345b3bc7a0ea | 24 | //---------- ETHERNET / OSC related (in the future, put somewhere else...): ------------------------------------------- |
mbedalvaro | 0:345b3bc7a0ea | 25 | // mbed IP address (server): |
mbedalvaro | 0:345b3bc7a0ea | 26 | #ifdef DHCP |
mbedalvaro | 0:345b3bc7a0ea | 27 | EthernetNetIf eth; |
mbedalvaro | 0:345b3bc7a0ea | 28 | #else |
mbedalvaro | 0:345b3bc7a0ea | 29 | EthernetNetIf eth( |
mbedalvaro | 1:a4050fee11f7 | 30 | IpAddr(10,0,0,2), //IP Address |
mbedalvaro | 1:a4050fee11f7 | 31 | IpAddr(255,255,255,0), //Network Mask |
mbedalvaro | 1:a4050fee11f7 | 32 | IpAddr(10,0,0,1), //Gateway |
mbedalvaro | 1:a4050fee11f7 | 33 | IpAddr(10,0,0,1) //DNS |
mbedalvaro | 0:345b3bc7a0ea | 34 | ); |
mbedalvaro | 0:345b3bc7a0ea | 35 | #endif |
mbedalvaro | 0:345b3bc7a0ea | 36 | |
mbedalvaro | 0:345b3bc7a0ea | 37 | //uint8_t serverMac[] = { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED }; |
mbedalvaro | 0:345b3bc7a0ea | 38 | uint8_t serverIp[] = { 10, 0, 0, 2 }; // not needed perhaps! |
mbedalvaro | 0:345b3bc7a0ea | 39 | int serverPort = 10000; |
mbedalvaro | 1:a4050fee11f7 | 40 | |
mbedalvaro | 0:345b3bc7a0ea | 41 | uint8_t destIp[] = { 10, 0, 0, 1}; |
mbedalvaro | 0:345b3bc7a0ea | 42 | int destPort = 12000; |
mbedalvaro | 1:a4050fee11f7 | 43 | |
mbedalvaro | 0:345b3bc7a0ea | 44 | char *topAddress="/mbed"; |
mbedalvaro | 0:345b3bc7a0ea | 45 | char *subAddress[3]={ "/test1" , "/test2" , "/test3" }; |
mbedalvaro | 1:a4050fee11f7 | 46 | |
mbedalvaro | 0:345b3bc7a0ea | 47 | OSCMessage recMes; |
mbedalvaro | 0:345b3bc7a0ea | 48 | OSCMessage sendMes; |
mbedalvaro | 1:a4050fee11f7 | 49 | |
mbedalvaro | 1:a4050fee11f7 | 50 | OSCClass osc; |
mbedalvaro | 1:a4050fee11f7 | 51 | //OSCClass osc(&recMes); // instantiate OSC communication object, and set the receiver container from the OSC packets |
mbedalvaro | 1:a4050fee11f7 | 52 | |
mbedalvaro | 1:a4050fee11f7 | 53 | void processOSC(UDPSocketEvent e); |
mbedalvaro | 0:345b3bc7a0ea | 54 | // ---------------------------------------------------------------------------------------------------------------------- |
mbedalvaro | 0:345b3bc7a0ea | 55 | |
mbedalvaro | 2:34157ebbf56b | 56 | // Tickers: |
mbedalvaro | 0:345b3bc7a0ea | 57 | Ticker timerForRendering; |
mbedalvaro | 2:34157ebbf56b | 58 | //Ticker timerForSendingData; // better use a timer, so as not to interrupt the exact laser display ticker |
mbedalvaro | 2:34157ebbf56b | 59 | |
mbedalvaro | 9:3321170d157c | 60 | // Timers: |
mbedalvaro | 0:345b3bc7a0ea | 61 | Timer measureLoopPeriod; |
mbedalvaro | 9:3321170d157c | 62 | //Timer measureUpdatePeriod; |
mbedalvaro | 2:34157ebbf56b | 63 | Timer measureSendPeriod; |
mbedalvaro | 0:345b3bc7a0ea | 64 | |
mbedalvaro | 1:a4050fee11f7 | 65 | // to get serial commands (not necessary perhaps) |
mbedalvaro | 0:345b3bc7a0ea | 66 | void processSerial(); |
mbedalvaro | 1:a4050fee11f7 | 67 | |
mbedalvaro | 0:345b3bc7a0ea | 68 | int main() { |
mbedalvaro | 1:a4050fee11f7 | 69 | |
mbedalvaro | 0:345b3bc7a0ea | 70 | // Initialize the hardware (laser powers, positions...): |
mbedalvaro | 0:345b3bc7a0ea | 71 | IO.init(); |
mbedalvaro | 0:345b3bc7a0ea | 72 | |
mbedalvaro | 1:a4050fee11f7 | 73 | // ------------------------------- |
mbedalvaro | 1:a4050fee11f7 | 74 | // Set the Ethernet port: |
mbedalvaro | 1:a4050fee11f7 | 75 | printf("Setting up...\r\n"); |
mbedalvaro | 1:a4050fee11f7 | 76 | EthernetErr ethErr = eth.setup(); |
mbedalvaro | 1:a4050fee11f7 | 77 | if (ethErr) { |
mbedalvaro | 1:a4050fee11f7 | 78 | printf("Error %d in setup.\r\n", ethErr); |
mbedalvaro | 1:a4050fee11f7 | 79 | return -1; |
mbedalvaro | 1:a4050fee11f7 | 80 | } |
mbedalvaro | 1:a4050fee11f7 | 81 | printf("Setup OK\r\n"); |
mbedalvaro | 1:a4050fee11f7 | 82 | |
mbedalvaro | 1:a4050fee11f7 | 83 | //(1) Sending message: |
mbedalvaro | 1:a4050fee11f7 | 84 | // Set IP and Port: |
mbedalvaro | 1:a4050fee11f7 | 85 | sendMes.setIp( destIp ); |
mbedalvaro | 1:a4050fee11f7 | 86 | sendMes.setPort( destPort ); |
mbedalvaro | 1:a4050fee11f7 | 87 | // Set data: |
mbedalvaro | 1:a4050fee11f7 | 88 | // sendMes.setTopAddress(topAddress); |
mbedalvaro | 1:a4050fee11f7 | 89 | |
mbedalvaro | 1:a4050fee11f7 | 90 | //setting osc functionnality: |
mbedalvaro | 1:a4050fee11f7 | 91 | //(2) Receiving: |
mbedalvaro | 1:a4050fee11f7 | 92 | // recMes.setIp( serverIp ); // not needed? |
mbedalvaro | 1:a4050fee11f7 | 93 | 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) |
mbedalvaro | 1:a4050fee11f7 | 94 | osc.begin(serverPort, &processOSC); // binds the upd (osc) messages to an arbitrary listening port ("server" port), and callback function |
mbedalvaro | 1:a4050fee11f7 | 95 | // ------------------------------- |
mbedalvaro | 1:a4050fee11f7 | 96 | |
mbedalvaro | 0:345b3bc7a0ea | 97 | /* // sending seems not to work right after setting the osc object?? |
mbedalvaro | 0:345b3bc7a0ea | 98 | wait(1); |
mbedalvaro | 0:345b3bc7a0ea | 99 | sendMes.setTopAddress("starting"); |
mbedalvaro | 1:a4050fee11f7 | 100 | sendMes.setSubAddress(""); |
mbedalvaro | 0:345b3bc7a0ea | 101 | osc.sendOsc( &sendMes ); |
mbedalvaro | 0:345b3bc7a0ea | 102 | */ |
mbedalvaro | 1:a4050fee11f7 | 103 | |
mbedalvaro | 0:345b3bc7a0ea | 104 | // initialize with the desired blob configuration: |
mbedalvaro | 1:a4050fee11f7 | 105 | |
mbedalvaro | 0:345b3bc7a0ea | 106 | // Tested modes: |
mbedalvaro | 1:a4050fee11f7 | 107 | blobconf.clearConfig(); |
mbedalvaro | 10:6f8e48dca1bd | 108 | // blobconf.addOneElasticLoopContractCentral(); |
mbedalvaro | 11:62f7183a03e7 | 109 | // blobconf.addOneElasticContourFollowing(); |
mbedalvaro | 1:a4050fee11f7 | 110 | |
mbedalvaro | 11:62f7183a03e7 | 111 | blobconf.addOneRigidLoopBouncing(); |
mbedalvaro | 9:3321170d157c | 112 | // blobconf.addOneRigidLoopBouncing(); |
mbedalvaro | 10:6f8e48dca1bd | 113 | //blobconf.addOneRigidLoopFollowing(); |
mbedalvaro | 2:34157ebbf56b | 114 | |
mbedalvaro | 7:0df17f3078bc | 115 | |
mbedalvaro | 5:73cd58b58f95 | 116 | //blobconf.addOneRigidLoopTest(); |
mbedalvaro | 1:a4050fee11f7 | 117 | |
mbedalvaro | 0:345b3bc7a0ea | 118 | // Important: first, set the initial position for all the blobs, this will be useful because |
mbedalvaro | 0:345b3bc7a0ea | 119 | // when changing modes we can use the previous central position... |
mbedalvaro | 1:a4050fee11f7 | 120 | // blobconf.setInitialPos(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y); |
mbedalvaro | 1:a4050fee11f7 | 121 | |
mbedalvaro | 5:73cd58b58f95 | 122 | // draw the config once befor activating the laser buffer: |
mbedalvaro | 5:73cd58b58f95 | 123 | blobconf.draw(); |
mbedalvaro | 1:a4050fee11f7 | 124 | |
mbedalvaro | 0:345b3bc7a0ea | 125 | // RENRERER (attn: setConfigToRender must be called when the blobconf is set - i.e., the number of blobs and number of points/blob is fixed) |
mbedalvaro | 1:a4050fee11f7 | 126 | lsr.setConfigToRender(&blobconf); |
mbedalvaro | 1:a4050fee11f7 | 127 | |
mbedalvaro | 1:a4050fee11f7 | 128 | // Timer on the rendering function of the oneLoop object: |
mbedalvaro | 9:3321170d157c | 129 | // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds) |
mbedalvaro | 9:3321170d157c | 130 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds) |
mbedalvaro | 1:a4050fee11f7 | 131 | |
mbedalvaro | 1:a4050fee11f7 | 132 | // Timer for sending OSC data: |
mbedalvaro | 9:3321170d157c | 133 | // timerForSendingData.attach(&blobconf, &blobConfig::sendConfData, 0.025); // time in seconds (25ms -> 40Hz) |
mbedalvaro | 1:a4050fee11f7 | 134 | |
mbedalvaro | 1:a4050fee11f7 | 135 | //========================================== INFINITE LOOP (in USER PROGRAM CONTEXT) =================================================================== |
mbedalvaro | 1:a4050fee11f7 | 136 | #ifdef LOOPTIMECOMPUTE |
mbedalvaro | 1:a4050fee11f7 | 137 | int timeCounterNum=1000; |
mbedalvaro | 1:a4050fee11f7 | 138 | #endif |
mbedalvaro | 1:a4050fee11f7 | 139 | |
mbedalvaro | 9:3321170d157c | 140 | //measureUpdatePeriod.start(); |
mbedalvaro | 9:3321170d157c | 141 | measureSendPeriod.start(); |
mbedalvaro | 1:a4050fee11f7 | 142 | |
mbedalvaro | 1:a4050fee11f7 | 143 | while (true) { |
mbedalvaro | 1:a4050fee11f7 | 144 | |
mbedalvaro | 7:0df17f3078bc | 145 | //NOTE: the updating period needs to be calculated as a function of the number of diplays points and the "refresh" rate of the laser. |
mbedalvaro | 7:0df17f3078bc | 146 | // THIS IS THE EQUICALENT OF "VERTICAL SYNCH"... |
mbedalvaro | 9:3321170d157c | 147 | // if (measureUpdatePeriod.read_ms()>4) { // 4 or 5 ms seems to be the minimum time required for performing one main loop (for a blob of 40 points) |
mbedalvaro | 9:3321170d157c | 148 | // with laser rendering ISR every 110us (total loop time 4300us, 3100us of effective loop time, and each laser interrupt about 30us) |
mbedalvaro | 9:3321170d157c | 149 | if (lsr.endedDisplay) { |
mbedalvaro | 9:3321170d157c | 150 | |
mbedalvaro | 9:3321170d157c | 151 | lsr.endedDisplay=false; |
mbedalvaro | 9:3321170d157c | 152 | |
mbedalvaro | 9:3321170d157c | 153 | // measureUpdatePeriod.stop(); |
mbedalvaro | 9:3321170d157c | 154 | // measureUpdatePeriod.reset(); |
mbedalvaro | 9:3321170d157c | 155 | |
mbedalvaro | 9:3321170d157c | 156 | // __disable_irq(); |
mbedalvaro | 9:3321170d157c | 157 | |
mbedalvaro | 1:a4050fee11f7 | 158 | // update config dynamics (this also could be threaded?): |
mbedalvaro | 1:a4050fee11f7 | 159 | blobconf.update(); |
mbedalvaro | 1:a4050fee11f7 | 160 | |
mbedalvaro | 10:6f8e48dca1bd | 161 | |
mbedalvaro | 1:a4050fee11f7 | 162 | // draw the config (note: each kind of blob renders differently) |
mbedalvaro | 1:a4050fee11f7 | 163 | blobconf.draw(); |
mbedalvaro | 9:3321170d157c | 164 | |
mbedalvaro | 9:3321170d157c | 165 | // __enable_irq(); |
mbedalvaro | 9:3321170d157c | 166 | |
mbedalvaro | 9:3321170d157c | 167 | // measureUpdatePeriod.start(); |
mbedalvaro | 10:6f8e48dca1bd | 168 | |
mbedalvaro | 1:a4050fee11f7 | 169 | } |
mbedalvaro | 0:345b3bc7a0ea | 170 | |
mbedalvaro | 2:34157ebbf56b | 171 | |
mbedalvaro | 1:a4050fee11f7 | 172 | // COMMUNICATION: |
mbedalvaro | 1:a4050fee11f7 | 173 | // (a) Reading commands: |
mbedalvaro | 1:a4050fee11f7 | 174 | // Ethernet: |
mbedalvaro | 1:a4050fee11f7 | 175 | Net::poll(); // this will take care of calling processOSC(UDPSocketEvent e) when a new packet arrives. |
mbedalvaro | 1:a4050fee11f7 | 176 | |
mbedalvaro | 1:a4050fee11f7 | 177 | // Serial: |
mbedalvaro | 1:a4050fee11f7 | 178 | #ifdef SERIAL_COMMANDS |
mbedalvaro | 1:a4050fee11f7 | 179 | if (pc.readable()>0) processSerial(); |
mbedalvaro | 1:a4050fee11f7 | 180 | #endif |
mbedalvaro | 9:3321170d157c | 181 | |
mbedalvaro | 9:3321170d157c | 182 | |
mbedalvaro | 10:6f8e48dca1bd | 183 | // (b)Sending Data: // PUT THIS IN AN INTERRUPT OR USE A TIMER!!! it may be TOO FAST... |
mbedalvaro | 10:6f8e48dca1bd | 184 | // 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): |
mbedalvaro | 10:6f8e48dca1bd | 185 | if (measureSendPeriod.read_ms()>25) { |
mbedalvaro | 10:6f8e48dca1bd | 186 | measureSendPeriod.stop(); |
mbedalvaro | 10:6f8e48dca1bd | 187 | measureSendPeriod.reset(); |
mbedalvaro | 9:3321170d157c | 188 | |
mbedalvaro | 10:6f8e48dca1bd | 189 | blobconf.sendConfData(); |
mbedalvaro | 10:6f8e48dca1bd | 190 | |
mbedalvaro | 10:6f8e48dca1bd | 191 | measureSendPeriod.start(); |
mbedalvaro | 10:6f8e48dca1bd | 192 | } |
mbedalvaro | 10:6f8e48dca1bd | 193 | |
mbedalvaro | 1:a4050fee11f7 | 194 | |
mbedalvaro | 1:a4050fee11f7 | 195 | // text: |
mbedalvaro | 1:a4050fee11f7 | 196 | /* |
mbedalvaro | 1:a4050fee11f7 | 197 | sendMes.setTopAddress("/hello"); |
mbedalvaro | 1:a4050fee11f7 | 198 | 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...) |
mbedalvaro | 1:a4050fee11f7 | 199 | int x=(long)10; |
mbedalvaro | 1:a4050fee11f7 | 200 | sendMes.setArgs( "i", &x); |
mbedalvaro | 1:a4050fee11f7 | 201 | osc.sendOsc( &sendMes ); |
mbedalvaro | 1:a4050fee11f7 | 202 | */ |
mbedalvaro | 1:a4050fee11f7 | 203 | |
mbedalvaro | 0:345b3bc7a0ea | 204 | #ifdef LOOPTIMECOMPUTE |
mbedalvaro | 9:3321170d157c | 205 | if (timeCounterNum>50) myled = 0; |
mbedalvaro | 9:3321170d157c | 206 | // if (timeCounterNum%10==0) blobconf.sendConfData(); |
mbedalvaro | 9:3321170d157c | 207 | if (timeCounterNum>100) { |
mbedalvaro | 1:a4050fee11f7 | 208 | myled = 1; |
mbedalvaro | 1:a4050fee11f7 | 209 | measureLoopPeriod.stop(); |
mbedalvaro | 1:a4050fee11f7 | 210 | sendMes.setTopAddress("/timeloop"); |
mbedalvaro | 1:a4050fee11f7 | 211 | sendMes.setSubAddress("/"); |
mbedalvaro | 10:6f8e48dca1bd | 212 | // long x=(long)(int(measureLoopPeriod.read_us()/100.0)); |
mbedalvaro | 9:3321170d157c | 213 | // long x=(long)(blobconf.blobArray[0]->displaySensingBuffer.lsdTrajectory.size()); |
mbedalvaro | 9:3321170d157c | 214 | // long x=(long)(blobconf.blobArray[0]->normRecenteringVector); |
mbedalvaro | 10:6f8e48dca1bd | 215 | long x=(long)(1000*blobconf.blobArray[0]->displaySensingBuffer.lsdTrajectory[0].intensity); |
mbedalvaro | 1:a4050fee11f7 | 216 | sendMes.setArgs( "i", &x); |
mbedalvaro | 1:a4050fee11f7 | 217 | osc.sendOsc( &sendMes ); |
mbedalvaro | 1:a4050fee11f7 | 218 | timeCounterNum=0; |
mbedalvaro | 1:a4050fee11f7 | 219 | measureLoopPeriod.reset(); |
mbedalvaro | 1:a4050fee11f7 | 220 | measureLoopPeriod.start(); |
mbedalvaro | 1:a4050fee11f7 | 221 | } else timeCounterNum++; |
mbedalvaro | 0:345b3bc7a0ea | 222 | #endif |
mbedalvaro | 0:345b3bc7a0ea | 223 | |
mbedalvaro | 0:345b3bc7a0ea | 224 | } |
mbedalvaro | 0:345b3bc7a0ea | 225 | } |
mbedalvaro | 0:345b3bc7a0ea | 226 | |
mbedalvaro | 1:a4050fee11f7 | 227 | // ================= INTERPRET COMMAND ========================= |
mbedalvaro | 0:345b3bc7a0ea | 228 | // NOTE: the following arrays are GLOBAL (used in processOSC and processSerial, as well as in interpretCommand function): |
mbedalvaro | 1:a4050fee11f7 | 229 | // max of two addresses (top and sub), of a max length of 24 characters: |
mbedalvaro | 0:345b3bc7a0ea | 230 | char address[2][24]; |
mbedalvaro | 0:345b3bc7a0ea | 231 | //long auxdata[2]; // to store a max of two arguments (note: we will only use LONGs) |
mbedalvaro | 1:a4050fee11f7 | 232 | int data[2]; // this is to have -1 as NO DATA, to detect errors. |
mbedalvaro | 1:a4050fee11f7 | 233 | |
mbedalvaro | 1:a4050fee11f7 | 234 | //interpretCommand(const char& address[2][], const int& data[2]) { |
mbedalvaro | 0:345b3bc7a0ea | 235 | void interpretCommand() { |
mbedalvaro | 0:345b3bc7a0ea | 236 | // (I) =========================================== SPECIAL FUNCTIONS (reset, rescan LUT, etc) ==================================================== |
mbedalvaro | 0:345b3bc7a0ea | 237 | if ( !strcmp(address[0], "takeSnapshot" ) ) { // will reset all the spots, but the 0, and use it for taking measures: |
mbedalvaro | 1:a4050fee11f7 | 238 | |
mbedalvaro | 1:a4050fee11f7 | 239 | // for test: |
mbedalvaro | 1:a4050fee11f7 | 240 | for (int i=0; i<2 ; i++) { |
mbedalvaro | 1:a4050fee11f7 | 241 | myled = 1; |
mbedalvaro | 1:a4050fee11f7 | 242 | wait(0.1); |
mbedalvaro | 1:a4050fee11f7 | 243 | myled = 0; |
mbedalvaro | 1:a4050fee11f7 | 244 | wait(0.1); |
mbedalvaro | 1:a4050fee11f7 | 245 | } |
mbedalvaro | 1:a4050fee11f7 | 246 | |
mbedalvaro | 1:a4050fee11f7 | 247 | // First, we need to disable the threaded display for the loop: |
mbedalvaro | 1:a4050fee11f7 | 248 | timerForRendering.detach(); |
mbedalvaro | 1:a4050fee11f7 | 249 | |
mbedalvaro | 1:a4050fee11f7 | 250 | // Then, do the scan (sending values on serial port): |
mbedalvaro | 1:a4050fee11f7 | 251 | IO.scan_serial(); |
mbedalvaro | 1:a4050fee11f7 | 252 | |
mbedalvaro | 1:a4050fee11f7 | 253 | // Finally, start again threaded display: |
mbedalvaro | 9:3321170d157c | 254 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); |
mbedalvaro | 9:3321170d157c | 255 | // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); |
mbedalvaro | 1:a4050fee11f7 | 256 | } |
mbedalvaro | 1:a4050fee11f7 | 257 | |
mbedalvaro | 1:a4050fee11f7 | 258 | else if ( !strcmp(address[0], "mbedReset" ) ) mbed_reset(); |
mbedalvaro | 1:a4050fee11f7 | 259 | |
mbedalvaro | 1:a4050fee11f7 | 260 | else if ( !strcmp(address[0], "calibrate" ) ) { |
mbedalvaro | 1:a4050fee11f7 | 261 | // First, we need to disable the threaded display for the loop: |
mbedalvaro | 1:a4050fee11f7 | 262 | timerForRendering.detach(); |
mbedalvaro | 1:a4050fee11f7 | 263 | // RESCAN (and save LUT table): |
mbedalvaro | 1:a4050fee11f7 | 264 | IO.scanLUT(); |
mbedalvaro | 1:a4050fee11f7 | 265 | // Finally, start again threaded display: |
mbedalvaro | 9:3321170d157c | 266 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); |
mbedalvaro | 9:3321170d157c | 267 | // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); |
mbedalvaro | 1:a4050fee11f7 | 268 | } |
mbedalvaro | 1:a4050fee11f7 | 269 | |
mbedalvaro | 1:a4050fee11f7 | 270 | // (II) ========================================= GLOBAL CONFIG and HARDWARE COMMANDS =========================================== |
mbedalvaro | 1:a4050fee11f7 | 271 | |
mbedalvaro | 1:a4050fee11f7 | 272 | else if ( !strcmp(address[0], "setGreenLaser" ) ) { |
mbedalvaro | 1:a4050fee11f7 | 273 | int value=data[0]; |
mbedalvaro | 1:a4050fee11f7 | 274 | if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) |
mbedalvaro | 1:a4050fee11f7 | 275 | if (value==0) IO.setGreenPower(0); |
mbedalvaro | 1:a4050fee11f7 | 276 | else IO.setGreenPower(1); |
mbedalvaro | 1:a4050fee11f7 | 277 | } |
mbedalvaro | 1:a4050fee11f7 | 278 | } |
mbedalvaro | 1:a4050fee11f7 | 279 | |
mbedalvaro | 1:a4050fee11f7 | 280 | // SIMPLE BEHAVIOUR MODES (to be read from an XML file in the future): |
mbedalvaro | 11:62f7183a03e7 | 281 | else if (!strcmp(address[0], "elastic_following")) { // |
mbedalvaro | 1:a4050fee11f7 | 282 | timerForRendering.detach(); |
mbedalvaro | 0:345b3bc7a0ea | 283 | // blobconf.computeBoundingBox(); |
mbedalvaro | 1:a4050fee11f7 | 284 | blobconf.clearConfig(); |
mbedalvaro | 1:a4050fee11f7 | 285 | blobconf.addOneElasticContourFollowing(); |
mbedalvaro | 1:a4050fee11f7 | 286 | lsr.setConfigToRender(&blobconf); |
mbedalvaro | 9:3321170d157c | 287 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); |
mbedalvaro | 9:3321170d157c | 288 | // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); |
mbedalvaro | 11:62f7183a03e7 | 289 | |
mbedalvaro | 11:62f7183a03e7 | 290 | } else if (!strcmp(address[0], "elastic_mouth")) { // |
mbedalvaro | 1:a4050fee11f7 | 291 | timerForRendering.detach(); |
mbedalvaro | 1:a4050fee11f7 | 292 | // blobconf.computeBoundingBox(); |
mbedalvaro | 1:a4050fee11f7 | 293 | blobconf.clearConfig(); |
mbedalvaro | 1:a4050fee11f7 | 294 | blobconf.addOneElasticLoopContractCentral(); |
mbedalvaro | 1:a4050fee11f7 | 295 | lsr.setConfigToRender(&blobconf); |
mbedalvaro | 9:3321170d157c | 296 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); |
mbedalvaro | 9:3321170d157c | 297 | // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); |
mbedalvaro | 1:a4050fee11f7 | 298 | } |
mbedalvaro | 1:a4050fee11f7 | 299 | |
mbedalvaro | 11:62f7183a03e7 | 300 | else if (!strcmp(address[0], "spot_bouncing")) { |
mbedalvaro | 0:345b3bc7a0ea | 301 | timerForRendering.detach(); |
mbedalvaro | 0:345b3bc7a0ea | 302 | // blobconf.computeBoundingBox(); |
mbedalvaro | 1:a4050fee11f7 | 303 | blobconf.clearConfig(); |
mbedalvaro | 11:62f7183a03e7 | 304 | blobconf.addOneRigidLoopBouncing(); |
mbedalvaro | 11:62f7183a03e7 | 305 | lsr.setConfigToRender(&blobconf); |
mbedalvaro | 11:62f7183a03e7 | 306 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); |
mbedalvaro | 11:62f7183a03e7 | 307 | // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); |
mbedalvaro | 11:62f7183a03e7 | 308 | } |
mbedalvaro | 11:62f7183a03e7 | 309 | |
mbedalvaro | 11:62f7183a03e7 | 310 | else if (!strcmp(address[0], "spot_following")) { |
mbedalvaro | 11:62f7183a03e7 | 311 | timerForRendering.detach(); |
mbedalvaro | 11:62f7183a03e7 | 312 | // blobconf.computeBoundingBox(); |
mbedalvaro | 11:62f7183a03e7 | 313 | blobconf.clearConfig(); |
mbedalvaro | 11:62f7183a03e7 | 314 | blobconf.addOneRigidLoopFollowing(); |
mbedalvaro | 1:a4050fee11f7 | 315 | lsr.setConfigToRender(&blobconf); |
mbedalvaro | 9:3321170d157c | 316 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); |
mbedalvaro | 9:3321170d157c | 317 | // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); |
mbedalvaro | 1:a4050fee11f7 | 318 | } |
mbedalvaro | 1:a4050fee11f7 | 319 | |
mbedalvaro | 1:a4050fee11f7 | 320 | // other: |
mbedalvaro | 1:a4050fee11f7 | 321 | |
mbedalvaro | 1:a4050fee11f7 | 322 | else if ( !strcmp(address[0], "standby" ) ) { // will put ALL the spots in stand by mode |
mbedalvaro | 0:345b3bc7a0ea | 323 | blobconf.allStandBy(); // will avoid the update function |
mbedalvaro | 1:a4050fee11f7 | 324 | } else if ( !strcmp(address[0], "resume" ) ) { // will put ALL the spots in stand by mode |
mbedalvaro | 0:345b3bc7a0ea | 325 | blobconf.allResume(); // will avoid the update function |
mbedalvaro | 1:a4050fee11f7 | 326 | } |
mbedalvaro | 1:a4050fee11f7 | 327 | |
mbedalvaro | 1:a4050fee11f7 | 328 | // (III) ========================================= Loop control (parameters, etc) =========================================== |
mbedalvaro | 1:a4050fee11f7 | 329 | // NOte: for the time being, we only have ONE loop, so there is no "per loop or per config" mode. |
mbedalvaro | 1:a4050fee11f7 | 330 | |
mbedalvaro | 1:a4050fee11f7 | 331 | else if (!strcmp( address[0], "sendOSC" ) ) { |
mbedalvaro | 1:a4050fee11f7 | 332 | int value=data[0]; |
mbedalvaro | 1:a4050fee11f7 | 333 | if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) |
mbedalvaro | 1:a4050fee11f7 | 334 | for (int i=0; i< blobconf.numBlobs; i++) { |
mbedalvaro | 1:a4050fee11f7 | 335 | blobconf.blobArray[i]->sendOSC=(value>0); |
mbedalvaro | 1:a4050fee11f7 | 336 | } |
mbedalvaro | 1:a4050fee11f7 | 337 | } |
mbedalvaro | 1:a4050fee11f7 | 338 | } |
mbedalvaro | 1:a4050fee11f7 | 339 | |
mbedalvaro | 1:a4050fee11f7 | 340 | else if (!strcmp( address[0], "sendArea" ) ) { |
mbedalvaro | 1:a4050fee11f7 | 341 | int value=data[0]; |
mbedalvaro | 1:a4050fee11f7 | 342 | if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) |
mbedalvaro | 1:a4050fee11f7 | 343 | for (int i=0; i< blobconf.numBlobs; i++) { |
mbedalvaro | 1:a4050fee11f7 | 344 | blobconf.blobArray[i]->sendingBlobArea=(value>0); |
mbedalvaro | 1:a4050fee11f7 | 345 | } |
mbedalvaro | 1:a4050fee11f7 | 346 | } |
mbedalvaro | 1:a4050fee11f7 | 347 | } |
mbedalvaro | 1:a4050fee11f7 | 348 | |
mbedalvaro | 1:a4050fee11f7 | 349 | else if (!strcmp( address[0], "sendPos" ) ) { |
mbedalvaro | 1:a4050fee11f7 | 350 | int value=data[0]; |
mbedalvaro | 1:a4050fee11f7 | 351 | if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) |
mbedalvaro | 1:a4050fee11f7 | 352 | for (int i=0; i< blobconf.numBlobs; i++) { |
mbedalvaro | 1:a4050fee11f7 | 353 | blobconf.blobArray[i]->sendingLoopPositions=(value>0); |
mbedalvaro | 1:a4050fee11f7 | 354 | } |
mbedalvaro | 1:a4050fee11f7 | 355 | } |
mbedalvaro | 1:a4050fee11f7 | 356 | } |
mbedalvaro | 1:a4050fee11f7 | 357 | |
mbedalvaro | 1:a4050fee11f7 | 358 | else if (!strcmp( address[0], "sendRegions" ) ) { |
mbedalvaro | 1:a4050fee11f7 | 359 | int value=data[0]; |
mbedalvaro | 1:a4050fee11f7 | 360 | if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) |
mbedalvaro | 1:a4050fee11f7 | 361 | for (int i=0; i< blobconf.numBlobs; i++) { |
mbedalvaro | 1:a4050fee11f7 | 362 | blobconf.blobArray[i]->sendingLoopRegions=(value>0); |
mbedalvaro | 1:a4050fee11f7 | 363 | } |
mbedalvaro | 1:a4050fee11f7 | 364 | } |
mbedalvaro | 1:a4050fee11f7 | 365 | } |
mbedalvaro | 1:a4050fee11f7 | 366 | |
mbedalvaro | 1:a4050fee11f7 | 367 | else if (!strcmp( address[0], "sendTouched" ) ) { |
mbedalvaro | 1:a4050fee11f7 | 368 | int value=data[0]; |
mbedalvaro | 1:a4050fee11f7 | 369 | if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) |
mbedalvaro | 1:a4050fee11f7 | 370 | for (int i=0; i< blobconf.numBlobs; i++) { |
mbedalvaro | 1:a4050fee11f7 | 371 | blobconf.blobArray[i]->sendingTouched=(value>0); |
mbedalvaro | 1:a4050fee11f7 | 372 | } |
mbedalvaro | 1:a4050fee11f7 | 373 | } |
mbedalvaro | 1:a4050fee11f7 | 374 | } |
mbedalvaro | 1:a4050fee11f7 | 375 | |
mbedalvaro | 1:a4050fee11f7 | 376 | |
mbedalvaro | 1:a4050fee11f7 | 377 | |
mbedalvaro | 0:345b3bc7a0ea | 378 | } |
mbedalvaro | 0:345b3bc7a0ea | 379 | |
mbedalvaro | 0:345b3bc7a0ea | 380 | //============= RECEIVE OSC COMMANDS ========================= |
mbedalvaro | 1:a4050fee11f7 | 381 | // This is the callback function called when there are packets on the listening socket. It is not nice to have it |
mbedalvaro | 1:a4050fee11f7 | 382 | // here, but for the time being having a "wrapping global" is the simplest solution (we cannot pass a member-function pointer |
mbedalvaro | 1:a4050fee11f7 | 383 | // as handler to the upd object). |
mbedalvaro | 0:345b3bc7a0ea | 384 | void processOSC(UDPSocketEvent e) { |
mbedalvaro | 0:345b3bc7a0ea | 385 | osc.onUDPSocketEvent(e); |
mbedalvaro | 0:345b3bc7a0ea | 386 | |
mbedalvaro | 0:345b3bc7a0ea | 387 | if (osc.newMessage) { |
mbedalvaro | 1:a4050fee11f7 | 388 | // 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 |
mbedalvaro | 1:a4050fee11f7 | 389 | // 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... |
mbedalvaro | 1:a4050fee11f7 | 390 | |
mbedalvaro | 1:a4050fee11f7 | 391 | // Acquire the addresses and arguments and put them in the GLOBAL variables: |
mbedalvaro | 1:a4050fee11f7 | 392 | strcpy(address[0],""); |
mbedalvaro | 1:a4050fee11f7 | 393 | strcpy(address[1],""); |
mbedalvaro | 1:a4050fee11f7 | 394 | 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 |
mbedalvaro | 1:a4050fee11f7 | 395 | // Acquire data: |
mbedalvaro | 1:a4050fee11f7 | 396 | data[0]=-1; |
mbedalvaro | 1:a4050fee11f7 | 397 | data[1]=-1; |
mbedalvaro | 1:a4050fee11f7 | 398 | for (int i=0; i<recMes.getArgNum(); i++) data[i]=(int)recMes.getArgInt(i); |
mbedalvaro | 1:a4050fee11f7 | 399 | |
mbedalvaro | 1:a4050fee11f7 | 400 | // Finally, interpret the command: |
mbedalvaro | 1:a4050fee11f7 | 401 | interpretCommand();//address, data); |
mbedalvaro | 1:a4050fee11f7 | 402 | |
mbedalvaro | 0:345b3bc7a0ea | 403 | } |
mbedalvaro | 1:a4050fee11f7 | 404 | } |
mbedalvaro | 1:a4050fee11f7 | 405 | |
mbedalvaro | 0:345b3bc7a0ea | 406 | //============= RECEIVE SERIAL COMMANDS ========================= |
mbedalvaro | 0:345b3bc7a0ea | 407 | // |
mbedalvaro | 1:a4050fee11f7 | 408 | // NOTE: - NUMERIC PARAMETERS have to be send BEFORE the command word. They must be sent as ASCII DEC, without end character. |
mbedalvaro | 0:345b3bc7a0ea | 409 | // - Commands words SHOULD NOT have numbers in it. They should be C compliant STRINGS (ended with character '0') |
mbedalvaro | 1:a4050fee11f7 | 410 | // - order is irrelevant: we can send 10 RADIUS or RADIUS 10. |
mbedalvaro | 0:345b3bc7a0ea | 411 | |
mbedalvaro | 1:a4050fee11f7 | 412 | // String to store ALPHANUMERIC DATA (i.e., integers, floating point numbers, unsigned ints, etc represented as DEC) sent wirelessly: |
mbedalvaro | 0:345b3bc7a0ea | 413 | 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... |
mbedalvaro | 0:345b3bc7a0ea | 414 | int indexStringData=0;//position of the byte in the string |
mbedalvaro | 0:345b3bc7a0ea | 415 | |
mbedalvaro | 0:345b3bc7a0ea | 416 | // String to store COMMAND WORDS: |
mbedalvaro | 0:345b3bc7a0ea | 417 | 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... |
mbedalvaro | 0:345b3bc7a0ea | 418 | int indexStringCommand=0; |
mbedalvaro | 0:345b3bc7a0ea | 419 | bool commandReady=false; // will become true when receiving the byte 0 (i.e. the '/0' string terminator) |
mbedalvaro | 0:345b3bc7a0ea | 420 | |
mbedalvaro | 0:345b3bc7a0ea | 421 | void processSerial() { |
mbedalvaro | 0:345b3bc7a0ea | 422 | |
mbedalvaro | 1:a4050fee11f7 | 423 | while (pc.readable()>0) { |
mbedalvaro | 1:a4050fee11f7 | 424 | |
mbedalvaro | 1:a4050fee11f7 | 425 | char val =pc.getc(); |
mbedalvaro | 0:345b3bc7a0ea | 426 | // pc.printf("Got :%d\n", incomingByte); |
mbedalvaro | 1:a4050fee11f7 | 427 | //pc.putc(incomingByte); |
mbedalvaro | 1:a4050fee11f7 | 428 | |
mbedalvaro | 1:a4050fee11f7 | 429 | // Save ASCII numeric characters (ASCII 0 - 9) on stringData: |
mbedalvaro | 1:a4050fee11f7 | 430 | if ((val >= '0') && (val <= '9')) { // this is 45 to 57 (included) |
mbedalvaro | 1:a4050fee11f7 | 431 | stringData[indexStringData] = val; |
mbedalvaro | 1:a4050fee11f7 | 432 | indexStringData++; |
mbedalvaro | 1:a4050fee11f7 | 433 | } |
mbedalvaro | 1:a4050fee11f7 | 434 | |
mbedalvaro | 1:a4050fee11f7 | 435 | // Save ASCII letters in stringCommand: |
mbedalvaro | 1:a4050fee11f7 | 436 | if ((val >= 'A') && (val <= 'z')) { // this is 65 to 122 (included) |
mbedalvaro | 1:a4050fee11f7 | 437 | stringCommand[indexStringCommand] = val; |
mbedalvaro | 1:a4050fee11f7 | 438 | indexStringCommand++; |
mbedalvaro | 1:a4050fee11f7 | 439 | } |
mbedalvaro | 1:a4050fee11f7 | 440 | // is command ready? |
mbedalvaro | 1:a4050fee11f7 | 441 | if (val=='/') { |
mbedalvaro | 1:a4050fee11f7 | 442 | commandReady=true; |
mbedalvaro | 1:a4050fee11f7 | 443 | stringCommand[indexStringCommand] = 0; // string termination. |
mbedalvaro | 1:a4050fee11f7 | 444 | indexStringCommand=0; // reset index string for acquiring next command |
mbedalvaro | 1:a4050fee11f7 | 445 | //Serial.println(stringCommand); |
mbedalvaro | 1:a4050fee11f7 | 446 | } |
mbedalvaro | 1:a4050fee11f7 | 447 | |
mbedalvaro | 1:a4050fee11f7 | 448 | // COMMANDS (with or without numeric parameters): |
mbedalvaro | 1:a4050fee11f7 | 449 | if (commandReady==true) { // it means we can interpret the command string: |
mbedalvaro | 1:a4050fee11f7 | 450 | commandReady=false; |
mbedalvaro | 1:a4050fee11f7 | 451 | |
mbedalvaro | 1:a4050fee11f7 | 452 | stringData[indexStringData] = 0 ;// string termination for numeric values; |
mbedalvaro | 1:a4050fee11f7 | 453 | indexStringData=0; |
mbedalvaro | 1:a4050fee11f7 | 454 | |
mbedalvaro | 1:a4050fee11f7 | 455 | // PARSE DATA: (TO DO!!!!!!!!!!!!!!): |
mbedalvaro | 0:345b3bc7a0ea | 456 | |
mbedalvaro | 1:a4050fee11f7 | 457 | // (a) Parse command (get address[0] and address[1]): |
mbedalvaro | 1:a4050fee11f7 | 458 | //ex: "/1/standBy" -- > address[0]="1" and address[1]="standBy" |
mbedalvaro | 1:a4050fee11f7 | 459 | // address[2] |
mbedalvaro | 1:a4050fee11f7 | 460 | |
mbedalvaro | 1:a4050fee11f7 | 461 | // Serial.println(stringCommand); |
mbedalvaro | 1:a4050fee11f7 | 462 | // Serial.println(stringData); |
mbedalvaro | 1:a4050fee11f7 | 463 | |
mbedalvaro | 1:a4050fee11f7 | 464 | // (b) Parse data: |
mbedalvaro | 1:a4050fee11f7 | 465 | |
mbedalvaro | 1:a4050fee11f7 | 466 | // char address[2][24]; |
mbedalvaro | 1:a4050fee11f7 | 467 | //long auxdata[2]; // to store a max of two arguments (note: we will only use LONGs) |
mbedalvaro | 1:a4050fee11f7 | 468 | //int data[2]; // this is to have -1 as NO DATA, to detect errors. |
mbedalvaro | 1:a4050fee11f7 | 469 | |
mbedalvaro | 1:a4050fee11f7 | 470 | // FOR THE TIME BEING there is no parsing for serial commands: |
mbedalvaro | 1:a4050fee11f7 | 471 | |
mbedalvaro | 1:a4050fee11f7 | 472 | // SCANNING: |
mbedalvaro | 1:a4050fee11f7 | 473 | if (!strcmp(stringCommand , "takeSnapshot")) { |
mbedalvaro | 1:a4050fee11f7 | 474 | // First, we need to disable the threaded display for the loop: |
mbedalvaro | 1:a4050fee11f7 | 475 | timerForRendering.detach(); |
mbedalvaro | 1:a4050fee11f7 | 476 | |
mbedalvaro | 1:a4050fee11f7 | 477 | // Then, do the scan (sending values on serial port): |
mbedalvaro | 1:a4050fee11f7 | 478 | IO.scan_serial(); |
mbedalvaro | 1:a4050fee11f7 | 479 | |
mbedalvaro | 1:a4050fee11f7 | 480 | // Finally, start again threaded display: |
mbedalvaro | 4:f9d364f10335 | 481 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); |
mbedalvaro | 9:3321170d157c | 482 | // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); |
mbedalvaro | 1:a4050fee11f7 | 483 | } |
mbedalvaro | 1:a4050fee11f7 | 484 | |
mbedalvaro | 1:a4050fee11f7 | 485 | if (!strcmp(stringCommand , "REDON")) IO.setRedPower(1); // pc.printf("%d\n",incomingByte); |
mbedalvaro | 1:a4050fee11f7 | 486 | |
mbedalvaro | 1:a4050fee11f7 | 487 | if (!strcmp(stringCommand , "REDOFF")) IO.setRedPower(0); |
mbedalvaro | 1:a4050fee11f7 | 488 | |
mbedalvaro | 1:a4050fee11f7 | 489 | if (!strcmp(stringCommand , "READVALUE")) pc.printf("Value read: %f", lockin.getSmoothValue());//lockin.getLastValue());/ |
mbedalvaro | 1:a4050fee11f7 | 490 | |
mbedalvaro | 1:a4050fee11f7 | 491 | // FINALLY, interpret commands (but only after parsing): |
mbedalvaro | 1:a4050fee11f7 | 492 | // interpretCommand();//address, data); |
mbedalvaro | 0:345b3bc7a0ea | 493 | |
mbedalvaro | 0:345b3bc7a0ea | 494 | } |
mbedalvaro | 1:a4050fee11f7 | 495 | } |
mbedalvaro | 1:a4050fee11f7 | 496 | } |
mbedalvaro | 0:345b3bc7a0ea | 497 | |
mbedalvaro | 0:345b3bc7a0ea | 498 | |
mbedalvaro | 0:345b3bc7a0ea | 499 | |
mbedalvaro | 0:345b3bc7a0ea | 500 | // ================ MISCELANEA |
mbedalvaro | 0:345b3bc7a0ea | 501 | |
mbedalvaro | 0:345b3bc7a0ea | 502 | /* EXAMPLE SEND/RECEIVE on PROCESSING: |
mbedalvaro | 0:345b3bc7a0ea | 503 | |
mbedalvaro | 0:345b3bc7a0ea | 504 | // oscP5sendreceive by andreas schlegel |
mbedalvaro | 0:345b3bc7a0ea | 505 | // example shows how to send and receive osc messages. |
mbedalvaro | 0:345b3bc7a0ea | 506 | // oscP5 website at http://www.sojamo.de/oscP5 |
mbedalvaro | 0:345b3bc7a0ea | 507 | |
mbedalvaro | 0:345b3bc7a0ea | 508 | import oscP5.*; |
mbedalvaro | 0:345b3bc7a0ea | 509 | import netP5.*; |
mbedalvaro | 1:a4050fee11f7 | 510 | |
mbedalvaro | 0:345b3bc7a0ea | 511 | OscP5 oscP5; |
mbedalvaro | 0:345b3bc7a0ea | 512 | NetAddress myRemoteLocation; |
mbedalvaro | 0:345b3bc7a0ea | 513 | |
mbedalvaro | 0:345b3bc7a0ea | 514 | void setup() { |
mbedalvaro | 0:345b3bc7a0ea | 515 | size(400,400); |
mbedalvaro | 0:345b3bc7a0ea | 516 | frameRate(25); |
mbedalvaro | 1:a4050fee11f7 | 517 | // start oscP5, listening for incoming messages at port 12000 |
mbedalvaro | 0:345b3bc7a0ea | 518 | oscP5 = new OscP5(this,12000); |
mbedalvaro | 1:a4050fee11f7 | 519 | |
mbedalvaro | 0:345b3bc7a0ea | 520 | // myRemoteLocation is a NetAddress. a NetAddress takes 2 parameters, |
mbedalvaro | 0:345b3bc7a0ea | 521 | // an ip address and a port number. myRemoteLocation is used as parameter in |
mbedalvaro | 1:a4050fee11f7 | 522 | // oscP5.send() when sending osc packets to another computer, device, |
mbedalvaro | 0:345b3bc7a0ea | 523 | // application. usage see below. for testing purposes the listening port |
mbedalvaro | 0:345b3bc7a0ea | 524 | // and the port of the remote location address are the same, hence you will |
mbedalvaro | 0:345b3bc7a0ea | 525 | // send messages back to this sketch. |
mbedalvaro | 0:345b3bc7a0ea | 526 | myRemoteLocation = new NetAddress("10.0.0.2",10000); |
mbedalvaro | 0:345b3bc7a0ea | 527 | } |
mbedalvaro | 0:345b3bc7a0ea | 528 | |
mbedalvaro | 0:345b3bc7a0ea | 529 | |
mbedalvaro | 0:345b3bc7a0ea | 530 | void draw() { |
mbedalvaro | 1:a4050fee11f7 | 531 | background(0); |
mbedalvaro | 0:345b3bc7a0ea | 532 | } |
mbedalvaro | 0:345b3bc7a0ea | 533 | |
mbedalvaro | 0:345b3bc7a0ea | 534 | void mousePressed() { |
mbedalvaro | 1:a4050fee11f7 | 535 | // in the following different ways of creating osc messages are shown by example |
mbedalvaro | 0:345b3bc7a0ea | 536 | OscMessage myMessage = new OscMessage("/mbed/test1"); |
mbedalvaro | 1:a4050fee11f7 | 537 | |
mbedalvaro | 1:a4050fee11f7 | 538 | myMessage.add(123); // add an int to the osc message |
mbedalvaro | 0:345b3bc7a0ea | 539 | |
mbedalvaro | 1:a4050fee11f7 | 540 | // send the message |
mbedalvaro | 1:a4050fee11f7 | 541 | oscP5.send(myMessage, myRemoteLocation); |
mbedalvaro | 0:345b3bc7a0ea | 542 | } |
mbedalvaro | 0:345b3bc7a0ea | 543 | |
mbedalvaro | 0:345b3bc7a0ea | 544 | |
mbedalvaro | 1:a4050fee11f7 | 545 | // incoming osc message are forwarded to the oscEvent method. |
mbedalvaro | 0:345b3bc7a0ea | 546 | void oscEvent(OscMessage theOscMessage) { |
mbedalvaro | 1:a4050fee11f7 | 547 | // print the address pattern and the typetag of the received OscMessage |
mbedalvaro | 0:345b3bc7a0ea | 548 | print("### received an osc message."); |
mbedalvaro | 0:345b3bc7a0ea | 549 | print(" addrpattern: "+theOscMessage.addrPattern()); |
mbedalvaro | 0:345b3bc7a0ea | 550 | println(" typetag: "+theOscMessage.typetag()); |
mbedalvaro | 0:345b3bc7a0ea | 551 | } |
mbedalvaro | 0:345b3bc7a0ea | 552 | |
mbedalvaro | 0:345b3bc7a0ea | 553 | */ |