Alvaro Cassinelli
/
skinGames_forktest
just a test
Fork of scoreLight_Advanced by
main.cpp@22:d87317d7ca91, 2012-06-02 (annotated)
- Committer:
- mbedalvaro
- Date:
- Sat Jun 02 06:38:12 2012 +0000
- Revision:
- 22:d87317d7ca91
- Parent:
- 21:bc9b9383f4b6
- Child:
- 23:bf666fcc61bc
testing the LUT table
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 | 14:0fc33a3a7b4b | 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 | 21:bc9b9383f4b6 | 41 | uint8_t destIp[] = {10, 0, 0, 3}; |
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 | 18:d72935b13858 | 63 | |
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 | 14:0fc33a3a7b4b | 111 | // blobconf.addOneRigidLoopBouncing(); |
mbedalvaro | 9:3321170d157c | 112 | // blobconf.addOneRigidLoopBouncing(); |
mbedalvaro | 16:2ff1cb2ae1b1 | 113 | //blobconf.addOneRigidLoopFollowing(); |
mbedalvaro | 16:2ff1cb2ae1b1 | 114 | blobconf.addOneRigidLoopFollowing(); |
mbedalvaro | 2:34157ebbf56b | 115 | |
mbedalvaro | 7:0df17f3078bc | 116 | |
mbedalvaro | 5:73cd58b58f95 | 117 | //blobconf.addOneRigidLoopTest(); |
mbedalvaro | 1:a4050fee11f7 | 118 | |
mbedalvaro | 0:345b3bc7a0ea | 119 | // Important: first, set the initial position for all the blobs, this will be useful because |
mbedalvaro | 0:345b3bc7a0ea | 120 | // when changing modes we can use the previous central position... |
mbedalvaro | 1:a4050fee11f7 | 121 | // blobconf.setInitialPos(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y); |
mbedalvaro | 1:a4050fee11f7 | 122 | |
mbedalvaro | 5:73cd58b58f95 | 123 | // draw the config once befor activating the laser buffer: |
mbedalvaro | 5:73cd58b58f95 | 124 | blobconf.draw(); |
mbedalvaro | 13:9f03eac02700 | 125 | lsr.startFullDisplay(); |
mbedalvaro | 1:a4050fee11f7 | 126 | |
mbedalvaro | 0:345b3bc7a0ea | 127 | // 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 | 128 | lsr.setConfigToRender(&blobconf); |
mbedalvaro | 1:a4050fee11f7 | 129 | |
mbedalvaro | 1:a4050fee11f7 | 130 | // Timer on the rendering function of the oneLoop object: |
mbedalvaro | 9:3321170d157c | 131 | // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds) |
mbedalvaro | 9:3321170d157c | 132 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds) |
mbedalvaro | 1:a4050fee11f7 | 133 | |
mbedalvaro | 1:a4050fee11f7 | 134 | // Timer for sending OSC data: |
mbedalvaro | 9:3321170d157c | 135 | // timerForSendingData.attach(&blobconf, &blobConfig::sendConfData, 0.025); // time in seconds (25ms -> 40Hz) |
mbedalvaro | 1:a4050fee11f7 | 136 | |
mbedalvaro | 1:a4050fee11f7 | 137 | //========================================== INFINITE LOOP (in USER PROGRAM CONTEXT) =================================================================== |
mbedalvaro | 1:a4050fee11f7 | 138 | #ifdef LOOPTIMECOMPUTE |
mbedalvaro | 1:a4050fee11f7 | 139 | int timeCounterNum=1000; |
mbedalvaro | 1:a4050fee11f7 | 140 | #endif |
mbedalvaro | 1:a4050fee11f7 | 141 | |
mbedalvaro | 9:3321170d157c | 142 | //measureUpdatePeriod.start(); |
mbedalvaro | 1:a4050fee11f7 | 143 | |
mbedalvaro | 1:a4050fee11f7 | 144 | while (true) { |
mbedalvaro | 1:a4050fee11f7 | 145 | |
mbedalvaro | 13:9f03eac02700 | 146 | if (lsr.endedFullDisplay()) { |
mbedalvaro | 9:3321170d157c | 147 | |
mbedalvaro | 9:3321170d157c | 148 | // measureUpdatePeriod.stop(); |
mbedalvaro | 9:3321170d157c | 149 | // measureUpdatePeriod.reset(); |
mbedalvaro | 9:3321170d157c | 150 | |
mbedalvaro | 9:3321170d157c | 151 | // __disable_irq(); |
mbedalvaro | 9:3321170d157c | 152 | |
mbedalvaro | 1:a4050fee11f7 | 153 | // update config dynamics (this also could be threaded?): |
mbedalvaro | 1:a4050fee11f7 | 154 | blobconf.update(); |
mbedalvaro | 1:a4050fee11f7 | 155 | |
mbedalvaro | 10:6f8e48dca1bd | 156 | |
mbedalvaro | 1:a4050fee11f7 | 157 | // draw the config (note: each kind of blob renders differently) |
mbedalvaro | 1:a4050fee11f7 | 158 | blobconf.draw(); |
mbedalvaro | 18:d72935b13858 | 159 | |
mbedalvaro | 18:d72935b13858 | 160 | |
mbedalvaro | 18:d72935b13858 | 161 | // (b)Sending Data: // PUT THIS IN AN INTERRUPT OR USE A TIMER!!! it may be TOO FAST... |
mbedalvaro | 18:d72935b13858 | 162 | // 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 | 18:d72935b13858 | 163 | // 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 |
mbedalvaro | 18:d72935b13858 | 164 | // per blob timer counter. |
mbedalvaro | 18:d72935b13858 | 165 | blobconf.sendConfData(); |
mbedalvaro | 18:d72935b13858 | 166 | |
mbedalvaro | 16:2ff1cb2ae1b1 | 167 | |
mbedalvaro | 16:2ff1cb2ae1b1 | 168 | lsr.startFullDisplay(); // this start the point-display counter (wherever the actual laser is). Before update and draw, the counter needs to be reset. |
mbedalvaro | 16:2ff1cb2ae1b1 | 169 | |
mbedalvaro | 9:3321170d157c | 170 | |
mbedalvaro | 9:3321170d157c | 171 | // __enable_irq(); |
mbedalvaro | 9:3321170d157c | 172 | |
mbedalvaro | 9:3321170d157c | 173 | // measureUpdatePeriod.start(); |
mbedalvaro | 10:6f8e48dca1bd | 174 | |
mbedalvaro | 1:a4050fee11f7 | 175 | } |
mbedalvaro | 0:345b3bc7a0ea | 176 | |
mbedalvaro | 2:34157ebbf56b | 177 | |
mbedalvaro | 1:a4050fee11f7 | 178 | // COMMUNICATION: |
mbedalvaro | 1:a4050fee11f7 | 179 | // (a) Reading commands: |
mbedalvaro | 1:a4050fee11f7 | 180 | // Ethernet: |
mbedalvaro | 1:a4050fee11f7 | 181 | Net::poll(); // this will take care of calling processOSC(UDPSocketEvent e) when a new packet arrives. |
mbedalvaro | 1:a4050fee11f7 | 182 | |
mbedalvaro | 1:a4050fee11f7 | 183 | // Serial: |
mbedalvaro | 1:a4050fee11f7 | 184 | #ifdef SERIAL_COMMANDS |
mbedalvaro | 1:a4050fee11f7 | 185 | if (pc.readable()>0) processSerial(); |
mbedalvaro | 1:a4050fee11f7 | 186 | #endif |
mbedalvaro | 9:3321170d157c | 187 | |
mbedalvaro | 9:3321170d157c | 188 | |
mbedalvaro | 1:a4050fee11f7 | 189 | // text: |
mbedalvaro | 1:a4050fee11f7 | 190 | /* |
mbedalvaro | 1:a4050fee11f7 | 191 | sendMes.setTopAddress("/hello"); |
mbedalvaro | 1:a4050fee11f7 | 192 | 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 | 193 | int x=(long)10; |
mbedalvaro | 1:a4050fee11f7 | 194 | sendMes.setArgs( "i", &x); |
mbedalvaro | 1:a4050fee11f7 | 195 | osc.sendOsc( &sendMes ); |
mbedalvaro | 1:a4050fee11f7 | 196 | */ |
mbedalvaro | 1:a4050fee11f7 | 197 | |
mbedalvaro | 0:345b3bc7a0ea | 198 | #ifdef LOOPTIMECOMPUTE |
mbedalvaro | 9:3321170d157c | 199 | if (timeCounterNum>50) myled = 0; |
mbedalvaro | 9:3321170d157c | 200 | // if (timeCounterNum%10==0) blobconf.sendConfData(); |
mbedalvaro | 9:3321170d157c | 201 | if (timeCounterNum>100) { |
mbedalvaro | 1:a4050fee11f7 | 202 | myled = 1; |
mbedalvaro | 1:a4050fee11f7 | 203 | measureLoopPeriod.stop(); |
mbedalvaro | 1:a4050fee11f7 | 204 | sendMes.setTopAddress("/timeloop"); |
mbedalvaro | 1:a4050fee11f7 | 205 | sendMes.setSubAddress("/"); |
mbedalvaro | 10:6f8e48dca1bd | 206 | // long x=(long)(int(measureLoopPeriod.read_us()/100.0)); |
mbedalvaro | 9:3321170d157c | 207 | // long x=(long)(blobconf.blobArray[0]->displaySensingBuffer.lsdTrajectory.size()); |
mbedalvaro | 9:3321170d157c | 208 | // long x=(long)(blobconf.blobArray[0]->normRecenteringVector); |
mbedalvaro | 10:6f8e48dca1bd | 209 | long x=(long)(1000*blobconf.blobArray[0]->displaySensingBuffer.lsdTrajectory[0].intensity); |
mbedalvaro | 1:a4050fee11f7 | 210 | sendMes.setArgs( "i", &x); |
mbedalvaro | 1:a4050fee11f7 | 211 | osc.sendOsc( &sendMes ); |
mbedalvaro | 1:a4050fee11f7 | 212 | timeCounterNum=0; |
mbedalvaro | 1:a4050fee11f7 | 213 | measureLoopPeriod.reset(); |
mbedalvaro | 1:a4050fee11f7 | 214 | measureLoopPeriod.start(); |
mbedalvaro | 1:a4050fee11f7 | 215 | } else timeCounterNum++; |
mbedalvaro | 0:345b3bc7a0ea | 216 | #endif |
mbedalvaro | 0:345b3bc7a0ea | 217 | |
mbedalvaro | 0:345b3bc7a0ea | 218 | } |
mbedalvaro | 0:345b3bc7a0ea | 219 | } |
mbedalvaro | 0:345b3bc7a0ea | 220 | |
mbedalvaro | 1:a4050fee11f7 | 221 | // ================= INTERPRET COMMAND ========================= |
mbedalvaro | 0:345b3bc7a0ea | 222 | // NOTE: the following arrays are GLOBAL (used in processOSC and processSerial, as well as in interpretCommand function): |
mbedalvaro | 1:a4050fee11f7 | 223 | // max of two addresses (top and sub), of a max length of 24 characters: |
mbedalvaro | 0:345b3bc7a0ea | 224 | char address[2][24]; |
mbedalvaro | 0:345b3bc7a0ea | 225 | //long auxdata[2]; // to store a max of two arguments (note: we will only use LONGs) |
mbedalvaro | 1:a4050fee11f7 | 226 | int data[2]; // this is to have -1 as NO DATA, to detect errors. |
mbedalvaro | 1:a4050fee11f7 | 227 | |
mbedalvaro | 1:a4050fee11f7 | 228 | //interpretCommand(const char& address[2][], const int& data[2]) { |
mbedalvaro | 0:345b3bc7a0ea | 229 | void interpretCommand() { |
mbedalvaro | 0:345b3bc7a0ea | 230 | // (I) =========================================== SPECIAL FUNCTIONS (reset, rescan LUT, etc) ==================================================== |
mbedalvaro | 16:2ff1cb2ae1b1 | 231 | if ( !strcmp(address[0], "takeSnapshot" ) ) { |
mbedalvaro | 1:a4050fee11f7 | 232 | |
mbedalvaro | 1:a4050fee11f7 | 233 | // for test: |
mbedalvaro | 1:a4050fee11f7 | 234 | for (int i=0; i<2 ; i++) { |
mbedalvaro | 1:a4050fee11f7 | 235 | myled = 1; |
mbedalvaro | 1:a4050fee11f7 | 236 | wait(0.1); |
mbedalvaro | 1:a4050fee11f7 | 237 | myled = 0; |
mbedalvaro | 1:a4050fee11f7 | 238 | wait(0.1); |
mbedalvaro | 1:a4050fee11f7 | 239 | } |
mbedalvaro | 1:a4050fee11f7 | 240 | |
mbedalvaro | 1:a4050fee11f7 | 241 | // First, we need to disable the threaded display for the loop: |
mbedalvaro | 1:a4050fee11f7 | 242 | timerForRendering.detach(); |
mbedalvaro | 1:a4050fee11f7 | 243 | |
mbedalvaro | 1:a4050fee11f7 | 244 | // Then, do the scan (sending values on serial port): |
mbedalvaro | 1:a4050fee11f7 | 245 | IO.scan_serial(); |
mbedalvaro | 1:a4050fee11f7 | 246 | |
mbedalvaro | 1:a4050fee11f7 | 247 | // Finally, start again threaded display: |
mbedalvaro | 9:3321170d157c | 248 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); |
mbedalvaro | 9:3321170d157c | 249 | // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); |
mbedalvaro | 1:a4050fee11f7 | 250 | } |
mbedalvaro | 1:a4050fee11f7 | 251 | |
mbedalvaro | 1:a4050fee11f7 | 252 | else if ( !strcmp(address[0], "mbedReset" ) ) mbed_reset(); |
mbedalvaro | 22:d87317d7ca91 | 253 | |
mbedalvaro | 22:d87317d7ca91 | 254 | else if (!strcmp(address[0], "showMirrorLimits")) { |
mbedalvaro | 22:d87317d7ca91 | 255 | int value=data[0]; |
mbedalvaro | 22:d87317d7ca91 | 256 | if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) |
mbedalvaro | 22:d87317d7ca91 | 257 | timerForRendering.detach(); |
mbedalvaro | 22:d87317d7ca91 | 258 | IO.showLimitsMirrors(value); |
mbedalvaro | 22:d87317d7ca91 | 259 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); |
mbedalvaro | 22:d87317d7ca91 | 260 | } |
mbedalvaro | 22:d87317d7ca91 | 261 | } |
mbedalvaro | 1:a4050fee11f7 | 262 | |
mbedalvaro | 1:a4050fee11f7 | 263 | else if ( !strcmp(address[0], "calibrate" ) ) { |
mbedalvaro | 1:a4050fee11f7 | 264 | // First, we need to disable the threaded display for the loop: |
mbedalvaro | 1:a4050fee11f7 | 265 | timerForRendering.detach(); |
mbedalvaro | 1:a4050fee11f7 | 266 | // RESCAN (and save LUT table): |
mbedalvaro | 1:a4050fee11f7 | 267 | IO.scanLUT(); |
mbedalvaro | 1:a4050fee11f7 | 268 | // Finally, start again threaded display: |
mbedalvaro | 9:3321170d157c | 269 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); |
mbedalvaro | 9:3321170d157c | 270 | // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); |
mbedalvaro | 1:a4050fee11f7 | 271 | } |
mbedalvaro | 1:a4050fee11f7 | 272 | |
mbedalvaro | 1:a4050fee11f7 | 273 | // (II) ========================================= GLOBAL CONFIG and HARDWARE COMMANDS =========================================== |
mbedalvaro | 1:a4050fee11f7 | 274 | |
mbedalvaro | 1:a4050fee11f7 | 275 | else if ( !strcmp(address[0], "setGreenLaser" ) ) { |
mbedalvaro | 1:a4050fee11f7 | 276 | int value=data[0]; |
mbedalvaro | 1:a4050fee11f7 | 277 | if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) |
mbedalvaro | 1:a4050fee11f7 | 278 | if (value==0) IO.setGreenPower(0); |
mbedalvaro | 1:a4050fee11f7 | 279 | else IO.setGreenPower(1); |
mbedalvaro | 1:a4050fee11f7 | 280 | } |
mbedalvaro | 1:a4050fee11f7 | 281 | } |
mbedalvaro | 1:a4050fee11f7 | 282 | |
mbedalvaro | 1:a4050fee11f7 | 283 | // SIMPLE BEHAVIOUR MODES (to be read from an XML file in the future): |
mbedalvaro | 11:62f7183a03e7 | 284 | else if (!strcmp(address[0], "elastic_following")) { // |
mbedalvaro | 1:a4050fee11f7 | 285 | timerForRendering.detach(); |
mbedalvaro | 0:345b3bc7a0ea | 286 | // blobconf.computeBoundingBox(); |
mbedalvaro | 1:a4050fee11f7 | 287 | blobconf.clearConfig(); |
mbedalvaro | 1:a4050fee11f7 | 288 | blobconf.addOneElasticContourFollowing(); |
mbedalvaro | 1:a4050fee11f7 | 289 | lsr.setConfigToRender(&blobconf); |
mbedalvaro | 9:3321170d157c | 290 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); |
mbedalvaro | 9:3321170d157c | 291 | // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); |
mbedalvaro | 16:2ff1cb2ae1b1 | 292 | |
mbedalvaro | 11:62f7183a03e7 | 293 | } else if (!strcmp(address[0], "elastic_mouth")) { // |
mbedalvaro | 1:a4050fee11f7 | 294 | timerForRendering.detach(); |
mbedalvaro | 1:a4050fee11f7 | 295 | // blobconf.computeBoundingBox(); |
mbedalvaro | 1:a4050fee11f7 | 296 | blobconf.clearConfig(); |
mbedalvaro | 1:a4050fee11f7 | 297 | blobconf.addOneElasticLoopContractCentral(); |
mbedalvaro | 1:a4050fee11f7 | 298 | lsr.setConfigToRender(&blobconf); |
mbedalvaro | 9:3321170d157c | 299 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); |
mbedalvaro | 9:3321170d157c | 300 | // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); |
mbedalvaro | 19:228430f1350e | 301 | |
mbedalvaro | 19:228430f1350e | 302 | } else if (!strcmp(address[0], "elastic_mouth_small")) { // |
mbedalvaro | 19:228430f1350e | 303 | timerForRendering.detach(); |
mbedalvaro | 19:228430f1350e | 304 | // blobconf.computeBoundingBox(); |
mbedalvaro | 19:228430f1350e | 305 | blobconf.clearConfig(); |
mbedalvaro | 19:228430f1350e | 306 | blobconf.addOneElasticLoopContractCentralFast(); |
mbedalvaro | 19:228430f1350e | 307 | lsr.setConfigToRender(&blobconf); |
mbedalvaro | 19:228430f1350e | 308 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); |
mbedalvaro | 19:228430f1350e | 309 | // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); |
mbedalvaro | 1:a4050fee11f7 | 310 | } |
mbedalvaro | 11:62f7183a03e7 | 311 | else if (!strcmp(address[0], "spot_bouncing")) { |
mbedalvaro | 16:2ff1cb2ae1b1 | 312 | int value=data[0]; |
mbedalvaro | 16:2ff1cb2ae1b1 | 313 | if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) |
mbedalvaro | 16:2ff1cb2ae1b1 | 314 | |
mbedalvaro | 16:2ff1cb2ae1b1 | 315 | timerForRendering.detach(); |
mbedalvaro | 16:2ff1cb2ae1b1 | 316 | // blobconf.computeBoundingBox(); |
mbedalvaro | 16:2ff1cb2ae1b1 | 317 | blobconf.clearConfig(); |
mbedalvaro | 16:2ff1cb2ae1b1 | 318 | |
mbedalvaro | 22:d87317d7ca91 | 319 | // HACK for the time being: |
mbedalvaro | 22:d87317d7ca91 | 320 | int aux=rand()%100; |
mbedalvaro | 22:d87317d7ca91 | 321 | if (aux<70) value=1; |
mbedalvaro | 22:d87317d7ca91 | 322 | else if (aux<80) value=2; |
mbedalvaro | 22:d87317d7ca91 | 323 | else value=3; |
mbedalvaro | 22:d87317d7ca91 | 324 | |
mbedalvaro | 16:2ff1cb2ae1b1 | 325 | for (int i=0; i<value ; i++) blobconf.addOneRigidLoopBouncing(); |
mbedalvaro | 16:2ff1cb2ae1b1 | 326 | |
mbedalvaro | 16:2ff1cb2ae1b1 | 327 | lsr.setConfigToRender(&blobconf); |
mbedalvaro | 16:2ff1cb2ae1b1 | 328 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); |
mbedalvaro | 16:2ff1cb2ae1b1 | 329 | // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); |
mbedalvaro | 16:2ff1cb2ae1b1 | 330 | } |
mbedalvaro | 16:2ff1cb2ae1b1 | 331 | } |
mbedalvaro | 16:2ff1cb2ae1b1 | 332 | |
mbedalvaro | 16:2ff1cb2ae1b1 | 333 | else if (!strcmp(address[0], "spot_following")) { |
mbedalvaro | 16:2ff1cb2ae1b1 | 334 | int value=data[0]; |
mbedalvaro | 16:2ff1cb2ae1b1 | 335 | if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) |
mbedalvaro | 16:2ff1cb2ae1b1 | 336 | |
mbedalvaro | 16:2ff1cb2ae1b1 | 337 | timerForRendering.detach(); |
mbedalvaro | 16:2ff1cb2ae1b1 | 338 | // blobconf.computeBoundingBox(); |
mbedalvaro | 16:2ff1cb2ae1b1 | 339 | blobconf.clearConfig(); |
mbedalvaro | 22:d87317d7ca91 | 340 | |
mbedalvaro | 22:d87317d7ca91 | 341 | // HACK for the time being: |
mbedalvaro | 22:d87317d7ca91 | 342 | int aux=rand()%100; |
mbedalvaro | 22:d87317d7ca91 | 343 | if (aux<70) value=1; |
mbedalvaro | 22:d87317d7ca91 | 344 | else if (aux<80) value=2; |
mbedalvaro | 22:d87317d7ca91 | 345 | else value=6; |
mbedalvaro | 22:d87317d7ca91 | 346 | |
mbedalvaro | 16:2ff1cb2ae1b1 | 347 | for (int i=0; i<value ; i++) blobconf.addOneRigidLoopFollowing(); |
mbedalvaro | 22:d87317d7ca91 | 348 | |
mbedalvaro | 22:d87317d7ca91 | 349 | |
mbedalvaro | 16:2ff1cb2ae1b1 | 350 | lsr.setConfigToRender(&blobconf); |
mbedalvaro | 16:2ff1cb2ae1b1 | 351 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); |
mbedalvaro | 16:2ff1cb2ae1b1 | 352 | // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); |
mbedalvaro | 16:2ff1cb2ae1b1 | 353 | } |
mbedalvaro | 16:2ff1cb2ae1b1 | 354 | } |
mbedalvaro | 16:2ff1cb2ae1b1 | 355 | |
mbedalvaro | 16:2ff1cb2ae1b1 | 356 | else if (!strcmp(address[0], "spot_test")) { |
mbedalvaro | 0:345b3bc7a0ea | 357 | timerForRendering.detach(); |
mbedalvaro | 0:345b3bc7a0ea | 358 | // blobconf.computeBoundingBox(); |
mbedalvaro | 1:a4050fee11f7 | 359 | blobconf.clearConfig(); |
mbedalvaro | 16:2ff1cb2ae1b1 | 360 | blobconf.addOneRigidLoopTest(); |
mbedalvaro | 1:a4050fee11f7 | 361 | lsr.setConfigToRender(&blobconf); |
mbedalvaro | 9:3321170d157c | 362 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); |
mbedalvaro | 9:3321170d157c | 363 | // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); |
mbedalvaro | 1:a4050fee11f7 | 364 | } |
mbedalvaro | 1:a4050fee11f7 | 365 | |
mbedalvaro | 1:a4050fee11f7 | 366 | // other: |
mbedalvaro | 1:a4050fee11f7 | 367 | |
mbedalvaro | 1:a4050fee11f7 | 368 | else if ( !strcmp(address[0], "standby" ) ) { // will put ALL the spots in stand by mode |
mbedalvaro | 0:345b3bc7a0ea | 369 | blobconf.allStandBy(); // will avoid the update function |
mbedalvaro | 1:a4050fee11f7 | 370 | } else if ( !strcmp(address[0], "resume" ) ) { // will put ALL the spots in stand by mode |
mbedalvaro | 0:345b3bc7a0ea | 371 | blobconf.allResume(); // will avoid the update function |
mbedalvaro | 1:a4050fee11f7 | 372 | } |
mbedalvaro | 1:a4050fee11f7 | 373 | |
mbedalvaro | 1:a4050fee11f7 | 374 | // (III) ========================================= Loop control (parameters, etc) =========================================== |
mbedalvaro | 19:228430f1350e | 375 | |
mbedalvaro | 1:a4050fee11f7 | 376 | else if (!strcmp( address[0], "sendOSC" ) ) { |
mbedalvaro | 1:a4050fee11f7 | 377 | int value=data[0]; |
mbedalvaro | 1:a4050fee11f7 | 378 | if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) |
mbedalvaro | 1:a4050fee11f7 | 379 | for (int i=0; i< blobconf.numBlobs; i++) { |
mbedalvaro | 1:a4050fee11f7 | 380 | blobconf.blobArray[i]->sendOSC=(value>0); |
mbedalvaro | 1:a4050fee11f7 | 381 | } |
mbedalvaro | 1:a4050fee11f7 | 382 | } |
mbedalvaro | 1:a4050fee11f7 | 383 | } |
mbedalvaro | 1:a4050fee11f7 | 384 | |
mbedalvaro | 1:a4050fee11f7 | 385 | else if (!strcmp( address[0], "sendArea" ) ) { |
mbedalvaro | 1:a4050fee11f7 | 386 | int value=data[0]; |
mbedalvaro | 1:a4050fee11f7 | 387 | if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) |
mbedalvaro | 1:a4050fee11f7 | 388 | for (int i=0; i< blobconf.numBlobs; i++) { |
mbedalvaro | 1:a4050fee11f7 | 389 | blobconf.blobArray[i]->sendingBlobArea=(value>0); |
mbedalvaro | 1:a4050fee11f7 | 390 | } |
mbedalvaro | 1:a4050fee11f7 | 391 | } |
mbedalvaro | 1:a4050fee11f7 | 392 | } |
mbedalvaro | 1:a4050fee11f7 | 393 | |
mbedalvaro | 1:a4050fee11f7 | 394 | else if (!strcmp( address[0], "sendPos" ) ) { |
mbedalvaro | 1:a4050fee11f7 | 395 | int value=data[0]; |
mbedalvaro | 1:a4050fee11f7 | 396 | if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) |
mbedalvaro | 1:a4050fee11f7 | 397 | for (int i=0; i< blobconf.numBlobs; i++) { |
mbedalvaro | 1:a4050fee11f7 | 398 | blobconf.blobArray[i]->sendingLoopPositions=(value>0); |
mbedalvaro | 1:a4050fee11f7 | 399 | } |
mbedalvaro | 1:a4050fee11f7 | 400 | } |
mbedalvaro | 1:a4050fee11f7 | 401 | } |
mbedalvaro | 1:a4050fee11f7 | 402 | |
mbedalvaro | 1:a4050fee11f7 | 403 | else if (!strcmp( address[0], "sendRegions" ) ) { |
mbedalvaro | 1:a4050fee11f7 | 404 | int value=data[0]; |
mbedalvaro | 1:a4050fee11f7 | 405 | if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) |
mbedalvaro | 1:a4050fee11f7 | 406 | for (int i=0; i< blobconf.numBlobs; i++) { |
mbedalvaro | 1:a4050fee11f7 | 407 | blobconf.blobArray[i]->sendingLoopRegions=(value>0); |
mbedalvaro | 1:a4050fee11f7 | 408 | } |
mbedalvaro | 1:a4050fee11f7 | 409 | } |
mbedalvaro | 1:a4050fee11f7 | 410 | } |
mbedalvaro | 1:a4050fee11f7 | 411 | |
mbedalvaro | 1:a4050fee11f7 | 412 | else if (!strcmp( address[0], "sendTouched" ) ) { |
mbedalvaro | 1:a4050fee11f7 | 413 | int value=data[0]; |
mbedalvaro | 1:a4050fee11f7 | 414 | if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data) |
mbedalvaro | 1:a4050fee11f7 | 415 | for (int i=0; i< blobconf.numBlobs; i++) { |
mbedalvaro | 1:a4050fee11f7 | 416 | blobconf.blobArray[i]->sendingTouched=(value>0); |
mbedalvaro | 1:a4050fee11f7 | 417 | } |
mbedalvaro | 1:a4050fee11f7 | 418 | } |
mbedalvaro | 1:a4050fee11f7 | 419 | } |
mbedalvaro | 1:a4050fee11f7 | 420 | |
mbedalvaro | 1:a4050fee11f7 | 421 | |
mbedalvaro | 1:a4050fee11f7 | 422 | |
mbedalvaro | 0:345b3bc7a0ea | 423 | } |
mbedalvaro | 0:345b3bc7a0ea | 424 | |
mbedalvaro | 0:345b3bc7a0ea | 425 | //============= RECEIVE OSC COMMANDS ========================= |
mbedalvaro | 1:a4050fee11f7 | 426 | // This is the callback function called when there are packets on the listening socket. It is not nice to have it |
mbedalvaro | 1:a4050fee11f7 | 427 | // here, but for the time being having a "wrapping global" is the simplest solution (we cannot pass a member-function pointer |
mbedalvaro | 1:a4050fee11f7 | 428 | // as handler to the upd object). |
mbedalvaro | 0:345b3bc7a0ea | 429 | void processOSC(UDPSocketEvent e) { |
mbedalvaro | 0:345b3bc7a0ea | 430 | osc.onUDPSocketEvent(e); |
mbedalvaro | 0:345b3bc7a0ea | 431 | |
mbedalvaro | 0:345b3bc7a0ea | 432 | if (osc.newMessage) { |
mbedalvaro | 1:a4050fee11f7 | 433 | // 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 | 434 | // 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 | 435 | |
mbedalvaro | 1:a4050fee11f7 | 436 | // Acquire the addresses and arguments and put them in the GLOBAL variables: |
mbedalvaro | 1:a4050fee11f7 | 437 | strcpy(address[0],""); |
mbedalvaro | 1:a4050fee11f7 | 438 | strcpy(address[1],""); |
mbedalvaro | 1:a4050fee11f7 | 439 | 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 | 440 | // Acquire data: |
mbedalvaro | 1:a4050fee11f7 | 441 | data[0]=-1; |
mbedalvaro | 1:a4050fee11f7 | 442 | data[1]=-1; |
mbedalvaro | 1:a4050fee11f7 | 443 | for (int i=0; i<recMes.getArgNum(); i++) data[i]=(int)recMes.getArgInt(i); |
mbedalvaro | 1:a4050fee11f7 | 444 | |
mbedalvaro | 1:a4050fee11f7 | 445 | // Finally, interpret the command: |
mbedalvaro | 1:a4050fee11f7 | 446 | interpretCommand();//address, data); |
mbedalvaro | 1:a4050fee11f7 | 447 | |
mbedalvaro | 0:345b3bc7a0ea | 448 | } |
mbedalvaro | 1:a4050fee11f7 | 449 | } |
mbedalvaro | 1:a4050fee11f7 | 450 | |
mbedalvaro | 0:345b3bc7a0ea | 451 | //============= RECEIVE SERIAL COMMANDS ========================= |
mbedalvaro | 0:345b3bc7a0ea | 452 | // |
mbedalvaro | 1:a4050fee11f7 | 453 | // NOTE: - NUMERIC PARAMETERS have to be send BEFORE the command word. They must be sent as ASCII DEC, without end character. |
mbedalvaro | 0:345b3bc7a0ea | 454 | // - Commands words SHOULD NOT have numbers in it. They should be C compliant STRINGS (ended with character '0') |
mbedalvaro | 1:a4050fee11f7 | 455 | // - order is irrelevant: we can send 10 RADIUS or RADIUS 10. |
mbedalvaro | 0:345b3bc7a0ea | 456 | |
mbedalvaro | 1:a4050fee11f7 | 457 | // String to store ALPHANUMERIC DATA (i.e., integers, floating point numbers, unsigned ints, etc represented as DEC) sent wirelessly: |
mbedalvaro | 0:345b3bc7a0ea | 458 | 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 | 459 | int indexStringData=0;//position of the byte in the string |
mbedalvaro | 0:345b3bc7a0ea | 460 | |
mbedalvaro | 0:345b3bc7a0ea | 461 | // String to store COMMAND WORDS: |
mbedalvaro | 0:345b3bc7a0ea | 462 | 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 | 463 | int indexStringCommand=0; |
mbedalvaro | 0:345b3bc7a0ea | 464 | bool commandReady=false; // will become true when receiving the byte 0 (i.e. the '/0' string terminator) |
mbedalvaro | 0:345b3bc7a0ea | 465 | |
mbedalvaro | 0:345b3bc7a0ea | 466 | void processSerial() { |
mbedalvaro | 0:345b3bc7a0ea | 467 | |
mbedalvaro | 1:a4050fee11f7 | 468 | while (pc.readable()>0) { |
mbedalvaro | 1:a4050fee11f7 | 469 | |
mbedalvaro | 14:0fc33a3a7b4b | 470 | |
mbedalvaro | 1:a4050fee11f7 | 471 | char val =pc.getc(); |
mbedalvaro | 0:345b3bc7a0ea | 472 | // pc.printf("Got :%d\n", incomingByte); |
mbedalvaro | 1:a4050fee11f7 | 473 | //pc.putc(incomingByte); |
mbedalvaro | 1:a4050fee11f7 | 474 | |
mbedalvaro | 1:a4050fee11f7 | 475 | // Save ASCII numeric characters (ASCII 0 - 9) on stringData: |
mbedalvaro | 1:a4050fee11f7 | 476 | if ((val >= '0') && (val <= '9')) { // this is 45 to 57 (included) |
mbedalvaro | 1:a4050fee11f7 | 477 | stringData[indexStringData] = val; |
mbedalvaro | 1:a4050fee11f7 | 478 | indexStringData++; |
mbedalvaro | 1:a4050fee11f7 | 479 | } |
mbedalvaro | 1:a4050fee11f7 | 480 | |
mbedalvaro | 1:a4050fee11f7 | 481 | // Save ASCII letters in stringCommand: |
mbedalvaro | 1:a4050fee11f7 | 482 | if ((val >= 'A') && (val <= 'z')) { // this is 65 to 122 (included) |
mbedalvaro | 1:a4050fee11f7 | 483 | stringCommand[indexStringCommand] = val; |
mbedalvaro | 1:a4050fee11f7 | 484 | indexStringCommand++; |
mbedalvaro | 1:a4050fee11f7 | 485 | } |
mbedalvaro | 1:a4050fee11f7 | 486 | // is command ready? |
mbedalvaro | 1:a4050fee11f7 | 487 | if (val=='/') { |
mbedalvaro | 1:a4050fee11f7 | 488 | commandReady=true; |
mbedalvaro | 1:a4050fee11f7 | 489 | stringCommand[indexStringCommand] = 0; // string termination. |
mbedalvaro | 1:a4050fee11f7 | 490 | indexStringCommand=0; // reset index string for acquiring next command |
mbedalvaro | 1:a4050fee11f7 | 491 | //Serial.println(stringCommand); |
mbedalvaro | 1:a4050fee11f7 | 492 | } |
mbedalvaro | 1:a4050fee11f7 | 493 | |
mbedalvaro | 1:a4050fee11f7 | 494 | // COMMANDS (with or without numeric parameters): |
mbedalvaro | 1:a4050fee11f7 | 495 | if (commandReady==true) { // it means we can interpret the command string: |
mbedalvaro | 1:a4050fee11f7 | 496 | commandReady=false; |
mbedalvaro | 1:a4050fee11f7 | 497 | |
mbedalvaro | 1:a4050fee11f7 | 498 | stringData[indexStringData] = 0 ;// string termination for numeric values; |
mbedalvaro | 1:a4050fee11f7 | 499 | indexStringData=0; |
mbedalvaro | 1:a4050fee11f7 | 500 | |
mbedalvaro | 1:a4050fee11f7 | 501 | // PARSE DATA: (TO DO!!!!!!!!!!!!!!): |
mbedalvaro | 0:345b3bc7a0ea | 502 | |
mbedalvaro | 1:a4050fee11f7 | 503 | // (a) Parse command (get address[0] and address[1]): |
mbedalvaro | 1:a4050fee11f7 | 504 | //ex: "/1/standBy" -- > address[0]="1" and address[1]="standBy" |
mbedalvaro | 1:a4050fee11f7 | 505 | // address[2] |
mbedalvaro | 1:a4050fee11f7 | 506 | |
mbedalvaro | 1:a4050fee11f7 | 507 | // Serial.println(stringCommand); |
mbedalvaro | 1:a4050fee11f7 | 508 | // Serial.println(stringData); |
mbedalvaro | 1:a4050fee11f7 | 509 | |
mbedalvaro | 1:a4050fee11f7 | 510 | // (b) Parse data: |
mbedalvaro | 1:a4050fee11f7 | 511 | |
mbedalvaro | 1:a4050fee11f7 | 512 | // char address[2][24]; |
mbedalvaro | 1:a4050fee11f7 | 513 | //long auxdata[2]; // to store a max of two arguments (note: we will only use LONGs) |
mbedalvaro | 1:a4050fee11f7 | 514 | //int data[2]; // this is to have -1 as NO DATA, to detect errors. |
mbedalvaro | 1:a4050fee11f7 | 515 | |
mbedalvaro | 1:a4050fee11f7 | 516 | // FOR THE TIME BEING there is no parsing for serial commands: |
mbedalvaro | 1:a4050fee11f7 | 517 | |
mbedalvaro | 1:a4050fee11f7 | 518 | // SCANNING: |
mbedalvaro | 1:a4050fee11f7 | 519 | if (!strcmp(stringCommand , "takeSnapshot")) { |
mbedalvaro | 1:a4050fee11f7 | 520 | // First, we need to disable the threaded display for the loop: |
mbedalvaro | 1:a4050fee11f7 | 521 | timerForRendering.detach(); |
mbedalvaro | 1:a4050fee11f7 | 522 | |
mbedalvaro | 1:a4050fee11f7 | 523 | // Then, do the scan (sending values on serial port): |
mbedalvaro | 1:a4050fee11f7 | 524 | IO.scan_serial(); |
mbedalvaro | 1:a4050fee11f7 | 525 | |
mbedalvaro | 1:a4050fee11f7 | 526 | // Finally, start again threaded display: |
mbedalvaro | 4:f9d364f10335 | 527 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); |
mbedalvaro | 9:3321170d157c | 528 | // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); |
mbedalvaro | 16:2ff1cb2ae1b1 | 529 | } else if (!strcmp(stringCommand , "REDON")) IO.setRedPower(1); // pc.printf("%d\n",incomingByte); |
mbedalvaro | 1:a4050fee11f7 | 530 | |
mbedalvaro | 14:0fc33a3a7b4b | 531 | else if (!strcmp(stringCommand , "REDOFF")) IO.setRedPower(0); |
mbedalvaro | 14:0fc33a3a7b4b | 532 | |
mbedalvaro | 14:0fc33a3a7b4b | 533 | else if (!strcmp(stringCommand , "READVALUE")) pc.printf("Value read: %f", lockin.getSmoothValue());//lockin.getLastValue());/ |
mbedalvaro | 1:a4050fee11f7 | 534 | |
mbedalvaro | 14:0fc33a3a7b4b | 535 | else if (!strcmp(stringCommand , "mbedReset")) mbed_reset(); |
mbedalvaro | 16:2ff1cb2ae1b1 | 536 | |
mbedalvaro | 14:0fc33a3a7b4b | 537 | else if (!strcmp(stringCommand , "calibrate")) { |
mbedalvaro | 16:2ff1cb2ae1b1 | 538 | // First, we need to disable the threaded display for the loop: |
mbedalvaro | 16:2ff1cb2ae1b1 | 539 | timerForRendering.detach(); |
mbedalvaro | 16:2ff1cb2ae1b1 | 540 | // RESCAN (and save LUT table): |
mbedalvaro | 16:2ff1cb2ae1b1 | 541 | IO.scanLUT(); |
mbedalvaro | 16:2ff1cb2ae1b1 | 542 | // Finally, start again threaded display: |
mbedalvaro | 16:2ff1cb2ae1b1 | 543 | timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); |
mbedalvaro | 16:2ff1cb2ae1b1 | 544 | // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); |
mbedalvaro | 16:2ff1cb2ae1b1 | 545 | } |
mbedalvaro | 1:a4050fee11f7 | 546 | |
mbedalvaro | 1:a4050fee11f7 | 547 | // FINALLY, interpret commands (but only after parsing): |
mbedalvaro | 1:a4050fee11f7 | 548 | // interpretCommand();//address, data); |
mbedalvaro | 0:345b3bc7a0ea | 549 | |
mbedalvaro | 0:345b3bc7a0ea | 550 | } |
mbedalvaro | 1:a4050fee11f7 | 551 | } |
mbedalvaro | 1:a4050fee11f7 | 552 | } |
mbedalvaro | 0:345b3bc7a0ea | 553 | |
mbedalvaro | 0:345b3bc7a0ea | 554 | |
mbedalvaro | 0:345b3bc7a0ea | 555 | |
mbedalvaro | 0:345b3bc7a0ea | 556 | // ================ MISCELANEA |
mbedalvaro | 0:345b3bc7a0ea | 557 | |
mbedalvaro | 0:345b3bc7a0ea | 558 | /* EXAMPLE SEND/RECEIVE on PROCESSING: |
mbedalvaro | 0:345b3bc7a0ea | 559 | |
mbedalvaro | 0:345b3bc7a0ea | 560 | // oscP5sendreceive by andreas schlegel |
mbedalvaro | 0:345b3bc7a0ea | 561 | // example shows how to send and receive osc messages. |
mbedalvaro | 0:345b3bc7a0ea | 562 | // oscP5 website at http://www.sojamo.de/oscP5 |
mbedalvaro | 0:345b3bc7a0ea | 563 | |
mbedalvaro | 0:345b3bc7a0ea | 564 | import oscP5.*; |
mbedalvaro | 0:345b3bc7a0ea | 565 | import netP5.*; |
mbedalvaro | 1:a4050fee11f7 | 566 | |
mbedalvaro | 0:345b3bc7a0ea | 567 | OscP5 oscP5; |
mbedalvaro | 0:345b3bc7a0ea | 568 | NetAddress myRemoteLocation; |
mbedalvaro | 0:345b3bc7a0ea | 569 | |
mbedalvaro | 0:345b3bc7a0ea | 570 | void setup() { |
mbedalvaro | 0:345b3bc7a0ea | 571 | size(400,400); |
mbedalvaro | 0:345b3bc7a0ea | 572 | frameRate(25); |
mbedalvaro | 1:a4050fee11f7 | 573 | // start oscP5, listening for incoming messages at port 12000 |
mbedalvaro | 0:345b3bc7a0ea | 574 | oscP5 = new OscP5(this,12000); |
mbedalvaro | 1:a4050fee11f7 | 575 | |
mbedalvaro | 0:345b3bc7a0ea | 576 | // myRemoteLocation is a NetAddress. a NetAddress takes 2 parameters, |
mbedalvaro | 0:345b3bc7a0ea | 577 | // an ip address and a port number. myRemoteLocation is used as parameter in |
mbedalvaro | 1:a4050fee11f7 | 578 | // oscP5.send() when sending osc packets to another computer, device, |
mbedalvaro | 0:345b3bc7a0ea | 579 | // application. usage see below. for testing purposes the listening port |
mbedalvaro | 0:345b3bc7a0ea | 580 | // and the port of the remote location address are the same, hence you will |
mbedalvaro | 0:345b3bc7a0ea | 581 | // send messages back to this sketch. |
mbedalvaro | 0:345b3bc7a0ea | 582 | myRemoteLocation = new NetAddress("10.0.0.2",10000); |
mbedalvaro | 0:345b3bc7a0ea | 583 | } |
mbedalvaro | 0:345b3bc7a0ea | 584 | |
mbedalvaro | 0:345b3bc7a0ea | 585 | |
mbedalvaro | 0:345b3bc7a0ea | 586 | void draw() { |
mbedalvaro | 1:a4050fee11f7 | 587 | background(0); |
mbedalvaro | 0:345b3bc7a0ea | 588 | } |
mbedalvaro | 0:345b3bc7a0ea | 589 | |
mbedalvaro | 0:345b3bc7a0ea | 590 | void mousePressed() { |
mbedalvaro | 1:a4050fee11f7 | 591 | // in the following different ways of creating osc messages are shown by example |
mbedalvaro | 0:345b3bc7a0ea | 592 | OscMessage myMessage = new OscMessage("/mbed/test1"); |
mbedalvaro | 1:a4050fee11f7 | 593 | |
mbedalvaro | 1:a4050fee11f7 | 594 | myMessage.add(123); // add an int to the osc message |
mbedalvaro | 0:345b3bc7a0ea | 595 | |
mbedalvaro | 1:a4050fee11f7 | 596 | // send the message |
mbedalvaro | 1:a4050fee11f7 | 597 | oscP5.send(myMessage, myRemoteLocation); |
mbedalvaro | 0:345b3bc7a0ea | 598 | } |
mbedalvaro | 0:345b3bc7a0ea | 599 | |
mbedalvaro | 0:345b3bc7a0ea | 600 | |
mbedalvaro | 1:a4050fee11f7 | 601 | // incoming osc message are forwarded to the oscEvent method. |
mbedalvaro | 0:345b3bc7a0ea | 602 | void oscEvent(OscMessage theOscMessage) { |
mbedalvaro | 1:a4050fee11f7 | 603 | // print the address pattern and the typetag of the received OscMessage |
mbedalvaro | 0:345b3bc7a0ea | 604 | print("### received an osc message."); |
mbedalvaro | 0:345b3bc7a0ea | 605 | print(" addrpattern: "+theOscMessage.addrPattern()); |
mbedalvaro | 0:345b3bc7a0ea | 606 | println(" typetag: "+theOscMessage.typetag()); |
mbedalvaro | 0:345b3bc7a0ea | 607 | } |
mbedalvaro | 0:345b3bc7a0ea | 608 | |
mbedalvaro | 0:345b3bc7a0ea | 609 | */ |