Diff: main.cpp

Revision:

44:46e25fa1669b

Parent:

42:c4e9c1116af4

Child:

46:90516893793a

--- a/main.cpp	Fri Mar 28 10:25:06 2014 +0000
+++ b/main.cpp	Mon Mar 31 10:57:35 2014 +0000
@@ -60,6 +60,12 @@
 
 // Timers:
 Timer measureLoopPeriod;
+
+Timer measureReadPeriod; // timer for reading hardare or communication data (I will read in ms)
+#define periodReadingData 30
+
+ int renderFraction=1;// when 1, the blob needs to be rendered completely before update; 2 means half of it, etc. 0 means render all the time. 
+
 //Timer measureUpdatePeriod;
 
 
@@ -73,13 +79,14 @@
 
     // -------------------------------
     // Set the Ethernet port:
-    printf("Setting up...\r\n");
+   // pc.printf("Setting up...\r\n");
+    //printf("Setting up...\r\n");
     EthernetErr ethErr = eth.setup();
     if (ethErr) {
-        printf("Error %d in setup.\r\n", ethErr);
-        return -1;
+       // pc.printf("Error %d in setup.\r\n", ethErr);
+       // return -1;
     }
-    printf("Setup OK\r\n");
+   // pc.printf("Setup OK\r\n");
 
     //(1) Sending message:
     // Set IP and Port:
@@ -104,10 +111,13 @@
 
     // initialize with the desired blob configuration:
 
+    blobconf.initConfig(ONE_ELASTIC_FOLLOWING);
+       
     // Tested modes:
-    blobconf.clearConfig();
+   // blobconf.clearConfig();
 //    blobconf.addOneElasticLoopContractCentral();
-  blobconf.addOneElasticContourFollowing();
+ 
+ // blobconf.addOneElasticContourFollowing();
 
 //    blobconf.addOneRigidLoopBouncing();
 //  blobconf.addOneRigidLoopBouncing();
@@ -119,8 +129,9 @@
 // START WITH TWO FOLLOWING SPOTS (exhibition Tokyo Design Week):
  // blobconf.initConfig(FOLLOWING_SPOTS, 2); // value is the nb of spots instantiated
 // Make them of different color:
-// blobconf.blobArray[0]->setBlueColor(1);
-// blobconf.blobArray[1]->setGreenColor(1);
+ //blobconf.blobArray[0]->setBlueColor(1);
+ //blobconf.blobArray[1]->setGreenColor(1);
+
  // start in no stand by mode:
  blobconf.allResume();
 
@@ -148,10 +159,15 @@
 #endif
 
     //measureUpdatePeriod.start();
+    
+    measureReadPeriod.start();
 
     while (true) {
 
-        if (lsr.endedFullDisplay()) {
+         //  Process sensing buffer and compute light forces (for all blobs here, or in the update function for each one)
+        blobconf.processSensedData();
+         
+        if (lsr.endedFractionDisplay(renderFraction)) {// (lsr.endedFullDisplay()) {
 
             //  measureUpdatePeriod.stop();
             //  measureUpdatePeriod.reset();
@@ -180,11 +196,19 @@
 
             //     measureUpdatePeriod.start();
 
-        }
+        } else {
+            
+            // do a delay to equilibrate the timings?
+            //wait_us(6700);
+            }
 
 
-        // COMMUNICATION:
+        // COMMUNICATION and HARDWARE CONTROL:
+        
         // (a) Reading commands:
+        if (measureReadPeriod.read_ms()>periodReadingData) {
+            measureReadPeriod.stop();
+        
         // Ethernet:
         Net::poll(); // this will take care of calling processOSC(UDPSocketEvent e) when a new packet arrives.
 
@@ -212,11 +236,22 @@
        //    for (int i=0; i< blobconf.numBlobs; i++) blobconf.blobArray[i]->displaySensingBuffer.setFixedThreshold(IO.potValue);
        //    pc.printf("Got :%d\n", IO.potValue);
        // }
-        if (rotaryEncoder1.CheckNew()) for (int i=0; i< blobconf.numBlobs; i++) blobconf.blobArray[i]->displaySensingBuffer.setFixedThreshold(rotaryEncoder1.Get());
+        if (rotaryEncoder1.CheckNew()) {
+            for (int i=0; i< blobconf.numBlobs; i++) blobconf.blobArray[i]->displaySensingBuffer.setFixedThreshold(rotaryEncoder1.Get());
+            pc.printf("Fixed Threshold :%d\n", rotaryEncoder1.Get());
+            }
         
         // (3) Change additional mirror delay from rotary encoder: 
-        if (rotaryEncoder2.CheckNew()) for (int i=0; i< blobconf.numBlobs; i++) blobconf.blobArray[i]->displaySensingBuffer.setDelayMirrors(rotaryEncoder2.Get());
+        if (rotaryEncoder2.CheckNew()) {
+            for (int i=0; i< blobconf.numBlobs; i++) blobconf.blobArray[i]->displaySensingBuffer.setDelayMirrors(rotaryEncoder2.Get());
+             pc.printf("Mirror delay :%d\n", rotaryEncoder2.Get());
+            }
         
+        
+        // Restart the timer:
+        measureLoopPeriod.reset();
+        measureReadPeriod.start();
+        }
 
         // text:
         /*
@@ -230,15 +265,15 @@
 #ifdef LOOPTIMECOMPUTE
         if (timeCounterNum>50)  myled = 0;
         // if (timeCounterNum%10==0) blobconf.sendConfData();
-        if (timeCounterNum>100) {
+        if (timeCounterNum>1000) {
             myled = 1;
             measureLoopPeriod.stop();
             sendMes.setTopAddress("/timeloop");
             sendMes.setSubAddress("/");
-            //  long x=(long)(int(measureLoopPeriod.read_us()/100.0));
+            long x=(long)(int(measureLoopPeriod.read_us()/1000.0));
             // long x=(long)(blobconf.blobArray[0]->displaySensingBuffer.lsdTrajectory.size());
             // long x=(long)(blobconf.blobArray[0]->normRecenteringVector);
-            long x=(long)(1000*blobconf.blobArray[0]->displaySensingBuffer.lsdTrajectory[0].intensity);
+            //long x=(long)(1000*blobconf.blobArray[0]->displaySensingBuffer.lsdTrajectory[0].intensity);
             sendMes.setArgs( "i", &x);
             osc.sendOsc( &sendMes );
             timeCounterNum=0;
@@ -389,7 +424,9 @@
         timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
         // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
 
-    } else if (!strcmp(address[0], "elastic_mouth")) { //
+    } 
+    
+    else if (!strcmp(address[0], "elastic_mouth")) { //
         timerForRendering.detach();
         
         blobconf.initConfig(ONE_ELASTIC_MOUTH);
@@ -471,6 +508,12 @@
             lsr.setConfigToRender(&blobconf);
             timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
             // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
+            
+            if ( blobconf.numBlobs>1) 
+            for (int i=0; i< blobconf.numBlobs; i++) {
+                blobconf.blobArray[i]->displaySensingBuffer.setDelayMirrors(2);
+                blobconf.blobArray[i]->angleCorrectionForceLoop=-8;// in degrees
+            }
         }
     }
 
@@ -592,23 +635,53 @@
     // ADJUST MIRROR ANGLE CORRECTION:
     else if (!strcmp( address[0], "adjustPlusAngle" ) ) {
       int value=data[0]; // this is not a factor, but an additive quantity to the current delay
-      if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)     
-          for (int i=0; i< blobconf.numBlobs; i++) blobconf.blobArray[i]->displaySensingBuffer.addDelayMirrors(value);
-      }
+      if (value!=-1)  // otherwise do nothing, this is a reception error (there was no data)     
+          for (int i=0; i< blobconf.numBlobs; i++) blobconf.blobArray[i]->addAngleCorrection(value);
     }
     else if (!strcmp( address[0], "adjustMinusAngle" ) ) {
       int value=data[0]; // this is not a factor, but an substractive quantity to the current delay 
-      if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)     
-        for (int i=0; i< blobconf.numBlobs; i++) blobconf.blobArray[i]->displaySensingBuffer.addDelayMirrors(-value);
-      }
+      if (value!=-1) // otherwise do nothing, this is a reception error (there was no data)     
+        for (int i=0; i< blobconf.numBlobs; i++) blobconf.blobArray[i]->addAngleCorrection(-value);
     }
    
-    else if (!strcmp( address[0], "adjustPlusAngle" ) ) {
+   // ADJUST MIRROR DELAY (angle or mirror delay are equivalent in case of circular blobs):
+    else if (!strcmp( address[0], "adjustPlusDelay" ) ) {
       int value=data[0]; // value 100 means no change of speed. 200 is twice as fast, 50 is half as fast. 
       if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)     
           for (int i=0; i< blobconf.numBlobs; i++) blobconf.blobArray[i]->displaySensingBuffer.addDelayMirrors(value);
       }
     }
+    else if (!strcmp( address[0], "adjustMinusDelay" ) ) {
+      int value=data[0]; // value 100 means no change of speed. 200 is twice as fast, 50 is half as fast. 
+      if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)     
+          for (int i=0; i< blobconf.numBlobs; i++) blobconf.blobArray[i]->displaySensingBuffer.addDelayMirrors(-value);
+      }
+    }
+    
+     else if (!strcmp( address[0], "adjustRenderFraction" ) ) {
+      int value=data[0]; // value 100 means no change of speed. 200 is twice as fast, 50 is half as fast. 
+      if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)     
+         renderFraction=value;
+         if (renderFraction>lsr.configTotalPoints) renderFraction=0;// update ALL the time (per-point)
+         if (renderFraction<1) renderFraction=1;
+      }
+    }
+    
+    else if (!strcmp( address[0], "adjustPlusRenderFraction" ) ) {
+      int value=data[0]; // value 100 means no change of speed. 200 is twice as fast, 50 is half as fast. 
+      if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)     
+         renderFraction+=value;
+         if (renderFraction>lsr.configTotalPoints) renderFraction=0;// meaning: update ALL the time (per-point)
+      }
+    }
+    
+    else if (!strcmp( address[0], "adjustMinusRenderFraction" ) ) {
+      int value=data[0]; // value 100 means no change of speed. 200 is twice as fast, 50 is half as fast. 
+      if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)     
+          renderFraction=((renderFraction-value)>=1? renderFraction-value : 1);
+      }
+    }
+    
 
     
  // THRESHOLD MODE, and PARAMETERS: