Alvaro Cassinelli / Mbed 2 deprecated skinGames_forktest

just a test

Dependencies:   mbed

Fork of scoreLight_Advanced by Alvaro Cassinelli

rigidLoop.cpp@4:f9d364f10335, 2012-04-04 (annotated)

Committer:
mbedalvaro
Date:
Wed Apr 04 10:05:25 2012 +0000
Revision:
4:f9d364f10335
Parent:
3:b44ff6de81bd
Child:
5:73cd58b58f95
- the new optimized laser output buffer has not been tested, but it compiles; - I am commiting here, because I am planning to change the structure of the classes: soundSpot will not contain an object of type classLaserSensingTrajectory, but be a CHILD o...

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 1:a4050fee11f7 1 #include "rigidLoop.h"
mbedalvaro 1:a4050fee11f7 2
mbedalvaro 1:a4050fee11f7 3 // SHOULD NOT BE HERE: (only because I am using AD_MIRRIOR... max and min in the set region function that should not be here)
mbedalvaro 1:a4050fee11f7 4 #include "hardwareIO.h"
mbedalvaro 1:a4050fee11f7 5
mbedalvaro 1:a4050fee11f7 6 rigidLoop::rigidLoop() {
mbedalvaro 1:a4050fee11f7 7 }
mbedalvaro 1:a4050fee11f7 8
mbedalvaro 1:a4050fee11f7 9 rigidLoop::~rigidLoop() {
mbedalvaro 1:a4050fee11f7 10
mbedalvaro 1:a4050fee11f7 11 }
mbedalvaro 1:a4050fee11f7 12
mbedalvaro 1:a4050fee11f7 13
mbedalvaro 1:a4050fee11f7 14 // Note: this method is hidding the abstract method in the base class... and has DIFFERENT parameters than another child would have (enum type).
mbedalvaro 4:f9d364f10335 15 void rigidLoop::createBlob(int _id, RigidLoopMode _elasticBlobMode, vector2D _initPos, vector2D _initSpeed) {
mbedalvaro 1:a4050fee11f7 16 // (1) set ID:
mbedalvaro 1:a4050fee11f7 17 identifier=_id;
mbedalvaro 1:a4050fee11f7 18
mbedalvaro 1:a4050fee11f7 19 updateMode=_elasticBlobMode;
mbedalvaro 4:f9d364f10335 20
mbedalvaro 4:f9d364f10335 21 startCenter=_initPos;
mbedalvaro 4:f9d364f10335 22 startSpeed=_initSpeed;
mbedalvaro 4:f9d364f10335 23
mbedalvaro 1:a4050fee11f7 24 // (2) Initialize common variables of all blobs (base class):
mbedalvaro 1:a4050fee11f7 25 initCommonVariables();
mbedalvaro 1:a4050fee11f7 26
mbedalvaro 1:a4050fee11f7 27 // (3) initialize common variables for the different modes of this rigid loop (even if some are not used, better not to have more subclasses...)
mbedalvaro 4:f9d364f10335 28
mbedalvaro 2:34157ebbf56b 29 angleCorrectionForceLoop=0; // this will depend on the size of the blob (in principle), and number of blobs...
mbedalvaro 3:b44ff6de81bd 30
mbedalvaro 3:b44ff6de81bd 31
mbedalvaro 1:a4050fee11f7 32 // (3) Initialize secondary variables depending on the behaviour mode (may be changed afterwards in real time)
mbedalvaro 1:a4050fee11f7 33
mbedalvaro 1:a4050fee11f7 34 switch (updateMode) {
mbedalvaro 4:f9d364f10335 35
mbedalvaro 4:f9d364f10335 36 case SPOT_TEST:
mbedalvaro 4:f9d364f10335 37 // Name of this kind of spot:
mbedalvaro 4:f9d364f10335 38 sprintf(spotName,"spot_test");
mbedalvaro 4:f9d364f10335 39
mbedalvaro 4:f9d364f10335 40 //setColor(0x07);//0x04+0x02>>i);
mbedalvaro 4:f9d364f10335 41 setColor(0x04);
mbedalvaro 4:f9d364f10335 42
mbedalvaro 4:f9d364f10335 43 saccadeRadius=250;
mbedalvaro 4:f9d364f10335 44
mbedalvaro 4:f9d364f10335 45 // default (initial) shape (the scafold belongs to the base class):
mbedalvaro 4:f9d364f10335 46 bluePrint.buildCircularScafold(saccadeRadius, vector2D(0,0), 10); //(float _radius, vector2D _pos,vector2D _vel, int _numScafoldPoints);
mbedalvaro 4:f9d364f10335 47
mbedalvaro 4:f9d364f10335 48 // Note: We may assume NO MASS for the center of the contour following loop. Adding mass may be interesting though (smooth motion).
mbedalvaro 4:f9d364f10335 49 massCenter=0.01;
mbedalvaro 4:f9d364f10335 50 dampMotionCenterMass=0.001;
mbedalvaro 4:f9d364f10335 51
mbedalvaro 4:f9d364f10335 52 // Finally, we can create the loop (not much to do in this case, only set the central position, and some other things):
mbedalvaro 4:f9d364f10335 53 createLoopFromScafold();
mbedalvaro 4:f9d364f10335 54
mbedalvaro 4:f9d364f10335 55 // Excursion limits (this will set the limits of motion for the rigid loop, which is given by it's central position, so we have to correct by the radius).
mbedalvaro 4:f9d364f10335 56 setRegionMotion(MIN_AD_MIRRORS+saccadeRadius, MIN_AD_MIRRORS+saccadeRadius, MAX_AD_MIRRORS-saccadeRadius, MAX_AD_MIRRORS-saccadeRadius);
mbedalvaro 4:f9d364f10335 57
mbedalvaro 4:f9d364f10335 58 // per-blob mirror delay (if things were well adjusted - in particular mirror waiting times, then this could be 0. But in case of unique blobs, it may be interesting to accelerate display
mbedalvaro 4:f9d364f10335 59 // AND correct the delay by software):
mbedalvaro 4:f9d364f10335 60 displaySensingBuffer.setDelayMirrors(0);
mbedalvaro 4:f9d364f10335 61
mbedalvaro 4:f9d364f10335 62 break;
mbedalvaro 4:f9d364f10335 63
mbedalvaro 1:a4050fee11f7 64 case SPOT_FOLLOWING:
mbedalvaro 1:a4050fee11f7 65
mbedalvaro 4:f9d364f10335 66
mbedalvaro 1:a4050fee11f7 67 // Name of this kind of spot:
mbedalvaro 1:a4050fee11f7 68 sprintf(spotName,"rigid_following");
mbedalvaro 1:a4050fee11f7 69
mbedalvaro 3:b44ff6de81bd 70 //setColor(0x07);//0x04+0x02>>i);
mbedalvaro 3:b44ff6de81bd 71 setColor(0x04);
mbedalvaro 1:a4050fee11f7 72
mbedalvaro 1:a4050fee11f7 73 // default (initial) shape (the scafold belongs to the base class):
mbedalvaro 4:f9d364f10335 74 bluePrint.buildCircularScafold(saccadeRadius, vector2D(0,0), 10); //(float _radius, vector2D _pos,vector2D _vel, int _numScafoldPoints);
mbedalvaro 1:a4050fee11f7 75
mbedalvaro 1:a4050fee11f7 76 // Note: We may assume NO MASS for the center of the contour following loop. Adding mass may be interesting though (smooth motion).
mbedalvaro 1:a4050fee11f7 77 massCenter=0.01;
mbedalvaro 1:a4050fee11f7 78 dampMotionCenterMass=0.001;
mbedalvaro 1:a4050fee11f7 79
mbedalvaro 4:f9d364f10335 80 // Finally, we can create the loop (not much to do in this case, only set the central position, and some other things):
mbedalvaro 4:f9d364f10335 81 createLoopFromScafold();
mbedalvaro 4:f9d364f10335 82
mbedalvaro 4:f9d364f10335 83 // Excursion limits (this will set the limits of motion for the rigid loop, which is given by it's central position, so we have to correct by the radius).
mbedalvaro 4:f9d364f10335 84 setRegionMotion(MIN_AD_MIRRORS+saccadeRadius, MIN_AD_MIRRORS+saccadeRadius, MAX_AD_MIRRORS-saccadeRadius, MAX_AD_MIRRORS-saccadeRadius);
mbedalvaro 4:f9d364f10335 85
mbedalvaro 4:f9d364f10335 86 // per-blob mirror delay (if things were well adjusted - in particular mirror waiting times, then this could be 0. But in case of unique blobs, it may be interesting to accelerate display
mbedalvaro 4:f9d364f10335 87 // AND correct the delay by software):
mbedalvaro 4:f9d364f10335 88 displaySensingBuffer.setDelayMirrors(4);
mbedalvaro 4:f9d364f10335 89
mbedalvaro 1:a4050fee11f7 90 break;
mbedalvaro 1:a4050fee11f7 91
mbedalvaro 1:a4050fee11f7 92 case SPOT_BOUNCING:
mbedalvaro 1:a4050fee11f7 93 // Name of this kind of spot:
mbedalvaro 1:a4050fee11f7 94 sprintf(spotName,"rigid_bouncing");
mbedalvaro 1:a4050fee11f7 95
mbedalvaro 3:b44ff6de81bd 96 //setColor(0x07);//0x04+0x02>>i);
mbedalvaro 3:b44ff6de81bd 97 setColor(0x04);
mbedalvaro 1:a4050fee11f7 98
mbedalvaro 4:f9d364f10335 99 saccadeRadius=250;
mbedalvaro 1:a4050fee11f7 100 // default (initial) shape (the scafold belongs to the base class):
mbedalvaro 4:f9d364f10335 101 bluePrint.buildCircularScafold(saccadeRadius, vector2D(0,0), 40); //(float _radius, vector2D _pos,vector2D _vel, int _numScafoldPoints);
mbedalvaro 1:a4050fee11f7 102
mbedalvaro 1:a4050fee11f7 103 // Numeric parameters for the simulated mechanical system:
mbedalvaro 1:a4050fee11f7 104 massCenter=0.1;
mbedalvaro 2:34157ebbf56b 105 dampMotionCenterMass=0.00015;//00003;
mbedalvaro 1:a4050fee11f7 106 factorBouncingForce=0.0001; // this is because we will use a force on the central mass
mbedalvaro 1:a4050fee11f7 107
mbedalvaro 2:34157ebbf56b 108 slidingDirection=true; // For contour following (will change direction when touching wall)
mbedalvaro 2:34157ebbf56b 109 speedContourFollowing=0.0003;
mbedalvaro 1:a4050fee11f7 110
mbedalvaro 4:f9d364f10335 111 // Finally, we can create the loop (not much to do in this case, only set the central position, and some other things):
mbedalvaro 4:f9d364f10335 112 createLoopFromScafold();
mbedalvaro 4:f9d364f10335 113
mbedalvaro 4:f9d364f10335 114 // Excursion limits (this will set the limits of motion for the rigid loop, which is given by it's central position, so we have to correct by the radius).
mbedalvaro 4:f9d364f10335 115 setRegionMotion(MIN_AD_MIRRORS+saccadeRadius, MIN_AD_MIRRORS+saccadeRadius, MAX_AD_MIRRORS-saccadeRadius, MAX_AD_MIRRORS-saccadeRadius);
mbedalvaro 4:f9d364f10335 116
mbedalvaro 4:f9d364f10335 117 // per-blob mirror delay (if things were well adjusted - in particular mirror waiting times, then this could be 0. But in case of unique blobs, it may be interesting to accelerate display
mbedalvaro 4:f9d364f10335 118 // AND correct the delay by software):
mbedalvaro 4:f9d364f10335 119 displaySensingBuffer.setDelayMirrors(4);
mbedalvaro 1:a4050fee11f7 120
mbedalvaro 1:a4050fee11f7 121 break;
mbedalvaro 1:a4050fee11f7 122 }
mbedalvaro 3:b44ff6de81bd 123
mbedalvaro 1:a4050fee11f7 124 }
mbedalvaro 1:a4050fee11f7 125
mbedalvaro 1:a4050fee11f7 126
mbedalvaro 1:a4050fee11f7 127 void rigidLoop::initSizeBlob(int _numPoints) {
mbedalvaro 1:a4050fee11f7 128 // Iinitialize blob size (number of points for the loop, as well as other structures such as lsdTrajectory)
mbedalvaro 1:a4050fee11f7 129 numPoints=_numPoints;
mbedalvaro 1:a4050fee11f7 130
mbedalvaro 1:a4050fee11f7 131 // Sensing and Display trajectory:
mbedalvaro 1:a4050fee11f7 132 displaySensingBuffer.lsdTrajectory.resize(numPoints); // the lsdTrajectory and the elastic loop will have the same number of points (this could be different - decimation?).
mbedalvaro 1:a4050fee11f7 133 }
mbedalvaro 1:a4050fee11f7 134
mbedalvaro 1:a4050fee11f7 135 void rigidLoop::createLoopFromScafold(void) {
mbedalvaro 1:a4050fee11f7 136
mbedalvaro 1:a4050fee11f7 137 initSizeBlob(bluePrint.scafold.size()); // very simple here (only need to set the size of the lsd buffer)
mbedalvaro 1:a4050fee11f7 138
mbedalvaro 1:a4050fee11f7 139 centerMass.mass=massCenter;
mbedalvaro 1:a4050fee11f7 140 centerMass.dampMotion = dampMotionCenterMass;
mbedalvaro 1:a4050fee11f7 141
mbedalvaro 1:a4050fee11f7 142 // note: the following may not be required in case of contour following:
mbedalvaro 2:34157ebbf56b 143 centerMass.setIntegrationStep(0.23); // VERY IMPORTANT! in the case of verlet integration, we need to set dt BEFORE setting the initial speed.
mbedalvaro 4:f9d364f10335 144 centerMass.setInitialCondition(startCenter, startSpeed);
mbedalvaro 1:a4050fee11f7 145 // centerMass.setInitialCondition(2047.0, 2047.0,0.0,0.0);
mbedalvaro 1:a4050fee11f7 146 }
mbedalvaro 1:a4050fee11f7 147
mbedalvaro 1:a4050fee11f7 148 void rigidLoop::setRegionMotion(int mmix, int mmiy, int mmax, int mmay) { // wrapper for setWallLimits, because there is no more things to do than set this for a unique mass
mbedalvaro 1:a4050fee11f7 149 centerMass.setWallLimits(mmix+10, mmiy+10, mmax-10, mmay-10);
mbedalvaro 1:a4050fee11f7 150 }
mbedalvaro 1:a4050fee11f7 151
mbedalvaro 1:a4050fee11f7 152
mbedalvaro 1:a4050fee11f7 153 void rigidLoop::update() {
mbedalvaro 1:a4050fee11f7 154
mbedalvaro 1:a4050fee11f7 155 // (I) process loop geometry: not needed (rigid)
mbedalvaro 1:a4050fee11f7 156 // Just check if the blob touched the borders (only need to do this with the central mass):
mbedalvaro 1:a4050fee11f7 157 blobWallCollision=centerMass.bWallCollision;
mbedalvaro 1:a4050fee11f7 158
mbedalvaro 1:a4050fee11f7 159 // (II) Process sensing buffer and compute light forces:
mbedalvaro 1:a4050fee11f7 160 displaySensingBuffer.processSensedData(); // note: region with light is -1, and without is 2 (TO CHANGE!!! then we don't need to do "if" in the moment computation, but just a product)
mbedalvaro 1:a4050fee11f7 161
mbedalvaro 1:a4050fee11f7 162 // (III) Compute recentering vector (the "penetration vector in fact"), using "first order moment":
mbedalvaro 3:b44ff6de81bd 163 // ATTENTION!! for this simple method (of "first order moment") to work, we have either to have numPoints very large, OR an EVEN quantity - so the
mbedalvaro 3:b44ff6de81bd 164 // sum in the circle is 0).
mbedalvaro 1:a4050fee11f7 165 vector2D momentVector(0,0);
mbedalvaro 1:a4050fee11f7 166 for (int i = 0; i < numPoints; i++) {
mbedalvaro 1:a4050fee11f7 167 if (displaySensingBuffer.lsdTrajectory[i].lightZone>0) { // this is, we are in a dark zone (better to integrate there, because it is normally smaller)
mbedalvaro 4:f9d364f10335 168 // momentVector+=bluePrint.scafold[i];// note: no need to do -centerMass.pos, because the scafold is "centered" around 0
mbedalvaro 1:a4050fee11f7 169 }
mbedalvaro 1:a4050fee11f7 170 }
mbedalvaro 1:a4050fee11f7 171 float momentNorm=momentVector.length();
mbedalvaro 2:34157ebbf56b 172 if (momentNorm==0) {
mbedalvaro 3:b44ff6de81bd 173 recenteringVectorLoop.set(0,0);
mbedalvaro 3:b44ff6de81bd 174 normRecenteringVector=0;
mbedalvaro 3:b44ff6de81bd 175 angleRecenteringVector=0;
mbedalvaro 3:b44ff6de81bd 176 } else {
mbedalvaro 3:b44ff6de81bd 177 float aux=saccadeRadius/momentNorm;
mbedalvaro 3:b44ff6de81bd 178 if (aux>0.5) recenteringVectorLoop=momentVector*sqrt(aux*aux-0.25);
mbedalvaro 3:b44ff6de81bd 179 else recenteringVectorLoop=momentVector*sqrt(0.25-aux*aux);
mbedalvaro 3:b44ff6de81bd 180 //Rotate by angleCorrection (to correct delays, etc):
mbedalvaro 3:b44ff6de81bd 181 recenteringVectorLoop.rotateDeg(angleCorrectionForceLoop);
mbedalvaro 3:b44ff6de81bd 182 // Compute redundant quantities (if necessary, for sending through OSC, etc):
mbedalvaro 3:b44ff6de81bd 183 normRecenteringVector=recenteringVectorLoop.length();
mbedalvaro 3:b44ff6de81bd 184 angleRecenteringVector=recenteringVectorLoop.angleDegHoriz();
mbedalvaro 3:b44ff6de81bd 185 }
mbedalvaro 3:b44ff6de81bd 186
mbedalvaro 1:a4050fee11f7 187
mbedalvaro 1:a4050fee11f7 188 // Now, depending on the mode of operation, we have two types of behaviour:
mbedalvaro 1:a4050fee11f7 189 vector2D slidingVector; //( need to declare it here because a switch "jump" cannot bypass an initialization)
mbedalvaro 1:a4050fee11f7 190 switch (updateMode) {
mbedalvaro 4:f9d364f10335 191
mbedalvaro 4:f9d364f10335 192 case SPOT_TEST: // this is just for adjusting mirror delays, checking recentering vector, etc:
mbedalvaro 4:f9d364f10335 193 // do nothing for the time being
mbedalvaro 4:f9d364f10335 194 // NOTE: it is not so easy to show the recentering vector without affecting the mirror delay BECAUSE I AM USING THE INTERRUPT METHOD for display.
mbedalvaro 4:f9d364f10335 195 // A possible solution is to instantiate ANOTHER blob with a shape just equal to a line, and rotate it using data from the this blob. Make a new class? Seems a good idea.
mbedalvaro 4:f9d364f10335 196
mbedalvaro 4:f9d364f10335 197 break;
mbedalvaro 1:a4050fee11f7 198
mbedalvaro 1:a4050fee11f7 199 case SPOT_FOLLOWING:
mbedalvaro 1:a4050fee11f7 200 // we need to compute the tangencial "speed":
mbedalvaro 1:a4050fee11f7 201 // vector2D slidingVector;
mbedalvaro 2:34157ebbf56b 202 // let's normalize the moment vector (this simplifies the calculations for the sliding vector - need some calculations, but this is the result):
mbedalvaro 2:34157ebbf56b 203 if (momentNorm>0) {
mbedalvaro 3:b44ff6de81bd 204 momentVector/=momentNorm;
mbedalvaro 3:b44ff6de81bd 205 // We can now compute the sliding vector as:
mbedalvaro 3:b44ff6de81bd 206 slidingVector=momentVector.getRotatedDeg(slidingDirection? 90 : -90) * speedContourFollowing*saccadeRadius;
mbedalvaro 3:b44ff6de81bd 207 // Then the final correcting vector is the sum of sliding plus recentering vector (with a factor if one want some smothing)
mbedalvaro 3:b44ff6de81bd 208 // This is used to update the position of the central mass - WITHOUT INTEGRATION (or with it, but for the time being, we don't do that):
mbedalvaro 3:b44ff6de81bd 209 centerMass.pos += slidingVector + recenteringVectorLoop * 0.9;
mbedalvaro 3:b44ff6de81bd 210
mbedalvaro 3:b44ff6de81bd 211 // The following function can help constraining the position "pos", but it also does too much. Do something simpler perhaps?
mbedalvaro 3:b44ff6de81bd 212 centerMass.bounceOffWalls(); // constrain position (and compute wall "hit")
mbedalvaro 3:b44ff6de81bd 213
mbedalvaro 2:34157ebbf56b 214 } else {
mbedalvaro 3:b44ff6de81bd 215 // not on something. Do nothing for the time being
mbedalvaro 2:34157ebbf56b 216 }
mbedalvaro 1:a4050fee11f7 217
mbedalvaro 1:a4050fee11f7 218 break;
mbedalvaro 1:a4050fee11f7 219
mbedalvaro 1:a4050fee11f7 220 case SPOT_BOUNCING:
mbedalvaro 1:a4050fee11f7 221 // this is very simple: we need to give a force to the centralMass that is OPPOSITE to the recenteringVectorLoop vector
mbedalvaro 1:a4050fee11f7 222 centerMass.resetForce();
mbedalvaro 2:34157ebbf56b 223 centerMass.addForce(recenteringVectorLoop*factorBouncingForce);
mbedalvaro 1:a4050fee11f7 224
mbedalvaro 1:a4050fee11f7 225 // update dynamics for the central mass::
mbedalvaro 1:a4050fee11f7 226 #ifndef VERLET_METHOD
mbedalvaro 1:a4050fee11f7 227 centerMass.addDampingForce(); // // only in case of EULER method (damping in VERLET mode is done automatically when updating)
mbedalvaro 1:a4050fee11f7 228 #endif
mbedalvaro 1:a4050fee11f7 229
mbedalvaro 1:a4050fee11f7 230 centerMass.update(); // unconstrained
mbedalvaro 1:a4050fee11f7 231 centerMass.bounceOffWalls(); // constrain position (and compute wall "hit")
mbedalvaro 1:a4050fee11f7 232
mbedalvaro 1:a4050fee11f7 233 break;
mbedalvaro 1:a4050fee11f7 234
mbedalvaro 1:a4050fee11f7 235 }
mbedalvaro 1:a4050fee11f7 236
mbedalvaro 1:a4050fee11f7 237 // OTHER PARTICULAR THINGS:
mbedalvaro 1:a4050fee11f7 238 // change sliding direction (for countour following):
mbedalvaro 1:a4050fee11f7 239 if (blobWallCollision) {
mbedalvaro 1:a4050fee11f7 240 if (wallCounter>10) {
mbedalvaro 1:a4050fee11f7 241 slidingDirection=!slidingDirection;
mbedalvaro 1:a4050fee11f7 242 wallCounter=0;
mbedalvaro 1:a4050fee11f7 243 }
mbedalvaro 1:a4050fee11f7 244 }
mbedalvaro 1:a4050fee11f7 245 wallCounter++;
mbedalvaro 1:a4050fee11f7 246 }
mbedalvaro 1:a4050fee11f7 247
mbedalvaro 1:a4050fee11f7 248
mbedalvaro 1:a4050fee11f7 249 // Drawing the graphics - this will in fact use the graphic renderer - if any - and produce the trajectory to be displayed by the laser
mbedalvaro 1:a4050fee11f7 250 void rigidLoop::draw() {
mbedalvaro 1:a4050fee11f7 251 // for the time being, there is no "opengl" like renderer, so we just copy into the lsdTrajectory:
mbedalvaro 1:a4050fee11f7 252 float cx= centerMass.pos.x;
mbedalvaro 1:a4050fee11f7 253 float cy= centerMass.pos.y;
mbedalvaro 1:a4050fee11f7 254 for (int i = 0; i < numPoints; i++) {
mbedalvaro 1:a4050fee11f7 255 // The shape is drawn by translating the scafold shape (centered on centerMass):
mbedalvaro 1:a4050fee11f7 256 displaySensingBuffer.lsdTrajectory[i].x= int(bluePrint.scafold[i].x + cx ); // note: it should be an unsigned short!!
mbedalvaro 1:a4050fee11f7 257 displaySensingBuffer.lsdTrajectory[i].y= int(bluePrint.scafold[i].y + cy );
mbedalvaro 1:a4050fee11f7 258 //displaySensingBuffer.lsdTrajectory[i].color=blobColor; // perhaps per point color is not a good idea for the time being...
mbedalvaro 1:a4050fee11f7 259 }
mbedalvaro 1:a4050fee11f7 260 // global color for the whole loop:
mbedalvaro 1:a4050fee11f7 261 displaySensingBuffer.displayColor=blobColor;
mbedalvaro 1:a4050fee11f7 262 }
mbedalvaro 1:a4050fee11f7 263
mbedalvaro 1:a4050fee11f7 264 void rigidLoop::computeBoundingBox() {
mbedalvaro 1:a4050fee11f7 265 }
mbedalvaro 1:a4050fee11f7 266
mbedalvaro 1:a4050fee11f7 267
mbedalvaro 1:a4050fee11f7 268
mbedalvaro 1:a4050fee11f7 269 void rigidLoop::sendDataSpecific() {
mbedalvaro 1:a4050fee11f7 270 char auxstring[10];
mbedalvaro 1:a4050fee11f7 271 myled2=1; // for tests...
mbedalvaro 1:a4050fee11f7 272
mbedalvaro 1:a4050fee11f7 273 // First, set the top address of the message to the ID of the blob (not the name):
mbedalvaro 1:a4050fee11f7 274 sprintf(auxstring, "%d", identifier);
mbedalvaro 1:a4050fee11f7 275 sendMes.setTopAddress("0");//auxstring);
mbedalvaro 1:a4050fee11f7 276
mbedalvaro 1:a4050fee11f7 277 // ===================== OSC ======================
mbedalvaro 1:a4050fee11f7 278 if (sendOSC) {
mbedalvaro 1:a4050fee11f7 279
mbedalvaro 1:a4050fee11f7 280 // (a) Anchor mass:
mbedalvaro 1:a4050fee11f7 281 if (sendingAnchorPosition) {
mbedalvaro 1:a4050fee11f7 282 sendMes.setSubAddress("/apos");
mbedalvaro 1:a4050fee11f7 283 long x, y; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 284 x=(long)(centerMass.pos.x);
mbedalvaro 1:a4050fee11f7 285 y=(long)(centerMass.pos.y);
mbedalvaro 1:a4050fee11f7 286 sendMes.setArgs( "ii", &x, &y);
mbedalvaro 1:a4050fee11f7 287 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 288 }
mbedalvaro 1:a4050fee11f7 289
mbedalvaro 1:a4050fee11f7 290 // (b) data from blob points (this is ONLY FOR TESTS, because the loop is rigid - sending the center is enough)
mbedalvaro 1:a4050fee11f7 291 if (sendingLoopPositions) {
mbedalvaro 1:a4050fee11f7 292 #ifdef SEND_AS_POINTS
mbedalvaro 1:a4050fee11f7 293 long x, y; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 294 float cx= centerMass.pos.x;
mbedalvaro 1:a4050fee11f7 295 float cy= centerMass.pos.y;
mbedalvaro 1:a4050fee11f7 296 for (int i = 0; i < numPoints; i++) {
mbedalvaro 2:34157ebbf56b 297 sprintf(auxstring, "/p%d",identifier*10+ i);//20+ i+(identifier-1)*10); // auxstring read as "/p1", "/p2", ...
mbedalvaro 1:a4050fee11f7 298 sendMes.setSubAddress(auxstring); // 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 299 x=(long)(bluePrint.scafold[i].x + cx);
mbedalvaro 1:a4050fee11f7 300 y=(long)(bluePrint.scafold[i].y + cy);
mbedalvaro 1:a4050fee11f7 301 sendMes.setArgs( "ii", &x, &y);
mbedalvaro 1:a4050fee11f7 302 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 303 }
mbedalvaro 1:a4050fee11f7 304
mbedalvaro 1:a4050fee11f7 305 #endif
mbedalvaro 1:a4050fee11f7 306 #ifdef SEND_AS_BLOB
mbedalvaro 1:a4050fee11f7 307 sendMes.clearArgs(); // no need, we won't use osc.sendOsc()...
mbedalvaro 1:a4050fee11f7 308 uint8_t blobdata[4*numPoints]; // 2 bytes per coordinate, and 2 coordinates
mbedalvaro 1:a4050fee11f7 309 float cx= centerMass.pos.x;
mbedalvaro 1:a4050fee11f7 310 float cy= centerMass.pos.y;
mbedalvaro 1:a4050fee11f7 311 for (int i = 0; i < numPoints; i++ ) {
mbedalvaro 1:a4050fee11f7 312 // note: massesLoop[i].pos.x is a "float"
mbedalvaro 1:a4050fee11f7 313 uint16_t x=(uint16_t)(bluePrint.scafold[i].x + cx);
mbedalvaro 1:a4050fee11f7 314 blobdata[4*i]=(uint8_t)x>>8; // BIG ENDIAN (send FIRST the MOST SIGNIFICANT BYTE)
mbedalvaro 1:a4050fee11f7 315 blobdata[4*i+1]=(uint8_t)x;
mbedalvaro 1:a4050fee11f7 316
mbedalvaro 1:a4050fee11f7 317 uint16_t y=(uint16_t)(bluePrint.scafold[i].y + cy);
mbedalvaro 1:a4050fee11f7 318 blobdata[4*i+2]=(uint8_t)y>>8; // BIG ENDIAN (send FIRST the MOST SIGNIFICANT BYTE)
mbedalvaro 1:a4050fee11f7 319 blobdata[4*i+3]=(uint8_t)y;
mbedalvaro 1:a4050fee11f7 320 }
mbedalvaro 1:a4050fee11f7 321 osc.sendOscBlob(&(blobdata[0]), 4*numPoints, &sendMes ); // second parameter is osc blob size in bytes
mbedalvaro 1:a4050fee11f7 322 #endif
mbedalvaro 1:a4050fee11f7 323 #ifdef SEND_AS_STRING
mbedalvaro 1:a4050fee11f7 324 sendMes.clearArgs(); // no need, we won't use osc.sendOsc()...
mbedalvaro 1:a4050fee11f7 325 uint8_t blobdata[4*numPoints]; // 2 bytes per coordinate, and 2 coordinates
mbedalvaro 1:a4050fee11f7 326 float cx= centerMass.pos.x;
mbedalvaro 1:a4050fee11f7 327 float cy= centerMass.pos.y;
mbedalvaro 1:a4050fee11f7 328 for (int i = 0; i < numPoints; i++ ) {
mbedalvaro 1:a4050fee11f7 329 // note: massesLoop[i].pos.x is a "float"
mbedalvaro 1:a4050fee11f7 330 uint16_t x=(uint16_t)(bluePrint.scafold[i].x + cx );
mbedalvaro 1:a4050fee11f7 331 blobdata[4*i]=(uint8_t)x>>8; // BIG ENDIAN (send FIRST the MOST SIGNIFICANT BYTE)
mbedalvaro 1:a4050fee11f7 332 blobdata[4*i+1]=(uint8_t)x;
mbedalvaro 1:a4050fee11f7 333
mbedalvaro 1:a4050fee11f7 334 uint16_t y=(uint16_t)(bluePrint.scafold[i].y + cy);
mbedalvaro 1:a4050fee11f7 335 blobdata[4*i+2]=(uint8_t)y>>8; // BIG ENDIAN (send FIRST the MOST SIGNIFICANT BYTE)
mbedalvaro 1:a4050fee11f7 336 blobdata[4*i+3]=(uint8_t)y;
mbedalvaro 1:a4050fee11f7 337 }
mbedalvaro 1:a4050fee11f7 338 osc.sendOscString(blobdata, 4*numPoints, &sendMes ); // second parameter is osc blob size in bytes
mbedalvaro 1:a4050fee11f7 339 #endif
mbedalvaro 1:a4050fee11f7 340 }
mbedalvaro 1:a4050fee11f7 341 if (sendingLoopRegions) {
mbedalvaro 1:a4050fee11f7 342 long x; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 343 for (int i = 0; i < numPoints; i++) {
mbedalvaro 1:a4050fee11f7 344 sprintf(auxstring, "/r%d", i); // auxstring read as "/f1", "/f2", ...
mbedalvaro 1:a4050fee11f7 345 sendMes.setSubAddress(auxstring); // 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 346 x=(long)(displaySensingBuffer.lsdTrajectory[i].lightZone>0? 1 : 0);
mbedalvaro 1:a4050fee11f7 347 sendMes.setArgs( "i", &x);
mbedalvaro 1:a4050fee11f7 348 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 349 }
mbedalvaro 1:a4050fee11f7 350 }
mbedalvaro 1:a4050fee11f7 351 if (sendingLoopTouchWall) { // global touch wall for the loop (not per point)
mbedalvaro 1:a4050fee11f7 352 long wall; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 353 sprintf(auxstring, "/bWall");
mbedalvaro 1:a4050fee11f7 354 sendMes.setSubAddress(auxstring);
mbedalvaro 1:a4050fee11f7 355 wall=(long)(blobWallCollision? 1 : 0);
mbedalvaro 1:a4050fee11f7 356 sendMes.setArgs( "i", &wall);
mbedalvaro 1:a4050fee11f7 357 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 358 }
mbedalvaro 1:a4050fee11f7 359
mbedalvaro 1:a4050fee11f7 360 // (d) Light sensing statistics:
mbedalvaro 1:a4050fee11f7 361 if (sendingBlobMaxMin) {
mbedalvaro 1:a4050fee11f7 362 sendMes.setSubAddress("/maxmin");
mbedalvaro 1:a4050fee11f7 363 long x, y; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 364 x=(long)(displaySensingBuffer.maxI);
mbedalvaro 1:a4050fee11f7 365 y=(long)(displaySensingBuffer.minI);
mbedalvaro 1:a4050fee11f7 366 sendMes.setArgs( "ii", &x, &y);
mbedalvaro 1:a4050fee11f7 367 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 368 }
mbedalvaro 1:a4050fee11f7 369
mbedalvaro 1:a4050fee11f7 370 // (e) Recentering vector: (note: redundant with sendingLightForce, IF the correction angle is known).
mbedalvaro 1:a4050fee11f7 371 if (sendingRecenteringVector) {
mbedalvaro 1:a4050fee11f7 372 sendMes.setSubAddress("/rvector");
mbedalvaro 1:a4050fee11f7 373 long x, y; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 374 x=(long)(recenteringVectorLoop.x);
mbedalvaro 1:a4050fee11f7 375 y=(long)(recenteringVectorLoop.y);
mbedalvaro 1:a4050fee11f7 376 sendMes.setArgs( "ii", &x, &y);
mbedalvaro 1:a4050fee11f7 377 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 378 }
mbedalvaro 1:a4050fee11f7 379 if (sendingRecenteringAngle) {
mbedalvaro 1:a4050fee11f7 380 sendMes.setSubAddress("/rangle");
mbedalvaro 1:a4050fee11f7 381 long x; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 382 x=(long)(angleRecenteringVector);
mbedalvaro 1:a4050fee11f7 383 sendMes.setArgs( "i", &x);
mbedalvaro 1:a4050fee11f7 384 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 385 }
mbedalvaro 1:a4050fee11f7 386 if (sendingRecenteringNorm) {
mbedalvaro 1:a4050fee11f7 387 sendMes.setSubAddress("/rnorm");
mbedalvaro 1:a4050fee11f7 388 long x; //ATTENTION: parameters to setArgs should be long or unsigned long only (not int!!)
mbedalvaro 1:a4050fee11f7 389 x=(long)(normRecenteringVector);
mbedalvaro 1:a4050fee11f7 390 sendMes.setArgs( "i", &x);
mbedalvaro 1:a4050fee11f7 391 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 392 }
mbedalvaro 1:a4050fee11f7 393
mbedalvaro 1:a4050fee11f7 394 if (sendingTouched) {
mbedalvaro 1:a4050fee11f7 395 if (displaySensingBuffer.lightTouched) {
mbedalvaro 1:a4050fee11f7 396 sendMes.clearArgs(); // there are no arguments to send
mbedalvaro 1:a4050fee11f7 397 sendMes.setSubAddress("/touched");
mbedalvaro 1:a4050fee11f7 398 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 399 }
mbedalvaro 1:a4050fee11f7 400 }
mbedalvaro 1:a4050fee11f7 401
mbedalvaro 1:a4050fee11f7 402 } // end of OSC sending per-spot
mbedalvaro 1:a4050fee11f7 403
mbedalvaro 1:a4050fee11f7 404 // ===================== SERIAL ======================
mbedalvaro 1:a4050fee11f7 405 if (sendSerial) {
mbedalvaro 1:a4050fee11f7 406 //.. to do
mbedalvaro 1:a4050fee11f7 407 }
mbedalvaro 1:a4050fee11f7 408
mbedalvaro 1:a4050fee11f7 409 myled2=0; // for tests...
mbedalvaro 1:a4050fee11f7 410 }