File content as of revision 0:345b3bc7a0ea:

#include "blobConfig.h"
#include "hardwareIO.h" // this is in fact only to get to know the initial position of the spots, as well as the mirror limits to set the bounding box for the blobs

blobConfig::blobConfig(): numBlobs(0) {
    //blobArray.clear();// there is no need to do this, the vector does not contains anything here. 
   
}

blobConfig::~blobConfig() {
  clearConfig();
 
}



// =========================================== STANDARD CONFIGURATIONS =============================================================================

void blobConfig::computeBoundingBox() {
for(int i=0; i<blobArray.size(); i++){
 blobArray[i]->computeBoundingBox();
}
}

void blobConfig::clearConfig() {
 for(int i=0; i<blobArray.size(); i++) delete blobArray[i]; // we must delete the pointer created with new, so the memory for the object is liberated (calls its destructor)
 blobArray.clear();
 numBlobs=0;// this is just equal to blobArray.size()
}

void blobConfig::addOneElasticLoopRelax(){
  elasticLoop* pLoopRelax= new elasticLoop();
  pLoopRelax->createBlob(blobArray.size(), RELAX, vector2D(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y));
  // add this relaxing loop to the present config:
  blobArray.push_back(pLoopRelax);
  
  // update auxiliary variable numBlobs (just for easy reference): 
  numBlobs=blobArray.size();
 
}


void blobConfig::addOneElasticLoopContract(){
  elasticLoop* pLoopRelax= new elasticLoop();
  pLoopRelax->createBlob(blobArray.size(), CONTRACT, vector2D(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y));
  // add this relaxing loop to the present config:
  blobArray.push_back(pLoopRelax);
  
   // update auxiliary variable numBlobs (just for easy reference): 
  numBlobs=blobArray.size();
}

void blobConfig::addOneElasticLoopContractCentral(){
  elasticLoop* pLoopRelax= new elasticLoop();
  pLoopRelax->createBlob(blobArray.size(), CONTRACT_CENTRAL, vector2D(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y));
   // add this relaxing loop to the present config:
  blobArray.push_back(pLoopRelax);
  
   // update auxiliary variable numBlobs (just for easy reference): 
  numBlobs=blobArray.size();
}

void blobConfig::addOneElasticContourFollowing(){
  
  elasticLoop* pLoopRelax= new elasticLoop();
  pLoopRelax->createBlob(blobArray.size(), CONTOUR_FOLLOWING, vector2D(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y));
  // add this relaxing loop to the present config:
  blobArray.push_back(pLoopRelax);
  
   // update auxiliary variable numBlobs (just for easy reference): 
  numBlobs=blobArray.size();
}


void blobConfig:: addOneElasticContourFollowingFAST(){
  elasticLoop* pLoopRelax= new elasticLoop();
  pLoopRelax->createBlob(blobArray.size(), CONTOUR_FOLLOWING_FAST, vector2D(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y));
    // add this relaxing loop to the present config:
  blobArray.push_back(pLoopRelax);
  
   // update auxiliary variable numBlobs (just for easy reference): 
  numBlobs=blobArray.size();
}

void blobConfig::addOneElasticBouncing(){
  elasticLoop* pLoopRelax= new elasticLoop();
  pLoopRelax->createBlob(blobArray.size(), BOUNCING, vector2D(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y));
    // add this relaxing loop to the present config:
  blobArray.push_back(pLoopRelax);
  
   // update auxiliary variable numBlobs (just for easy reference): 
  numBlobs=blobArray.size();
}



// ==================================================================================================================================================


void blobConfig::allKill() { // this put all the blobs in "dead" mode, meaning that neither rendering nor update is done (but they are not deleted). 
   for(int i=0; i<blobArray.size(); i++){
     blobArray[i]->render = false;
     blobArray[i]->standByMode = false;
     } 
 } 
void blobConfig::allAlive() {
     for(int i=0; i<blobArray.size(); i++){
     blobArray[i]->render = true;
     blobArray[i]->standByMode = true;
     } 
 }
   
void blobConfig::allStandBy() {
  for(int i=0; i<blobArray.size(); i++) blobArray[i]->standByMode = true; 
}

void blobConfig::allResume() {
  for(int i=0; i<blobArray.size(); i++) blobArray[i]->standByMode = false;
}

void blobConfig::allVisible() { 
  for(int i=0; i<blobArray.size(); i++) blobArray[i]->render = true; 
}

void blobConfig::allInvisible() { // note that they may continue to evolve
  for(int i=0; i<blobArray.size(); i++) blobArray[i]->render = false;
}

void blobConfig::update(){ // update dynamics of the blob
  for(int i=0; i<blobArray.size(); i++) {
    if ((blobArray[i]->render==true)&&(blobArray[i]->standByMode==false)) blobArray[i]->update();
  }
}

void blobConfig::draw(){ // draw uses the opengl like renderer (if any), and save projected trajectory in the LaserSensingTrajectory object of each blob
  for(int i=0; i<blobArray.size(); i++) {
    if (blobArray[i]->render==true) blobArray[i]->draw(); 
  }
}

void blobConfig::sendConfData(){
// For the time being, only "per blob" data sending: 
// (b) Per-spot sending of data (note: both are NOT exclusive; so if we want just packaged data, we need to make all the spot STOP sending data. 
  for(int i=0; i<blobArray.size(); i++) {
    if (blobArray[i]->render==true) blobArray[i]->sendData(); // a blob that is in stand-by mode may send data (good for testing with a fixed loop)
  }
}