Alvaro Cassinelli / Mbed 2 deprecated laserUI

Laser Sensing Display for UI interfaces in the real world

Dependencies:   mbed

Fork of skinGames_forktest by Alvaro Cassinelli

main.cpp@7:0df17f3078bc, 2012-04-07 (annotated)

Committer:
mbedalvaro
Date:
Sat Apr 07 14:46:51 2012 +0000
Revision:
7:0df17f3078bc
Parent:
5:73cd58b58f95
Child:
8:5816bb17536b
working contour following and bouncing. The blob mode is not so nice now, but this is because the UPDATE TIME should be a funciton of the number of points and the complexity of update (very simple in case of bouncing/contour following for rigid loops, ...

Who changed what in which revision?

UserRevisionLine numberNew 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 7:0df17f3078bc 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 2:34157ebbf56b 60 // Timers:
mbedalvaro 0:345b3bc7a0ea 61 Timer measureLoopPeriod;
mbedalvaro 1:a4050fee11f7 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 7:0df17f3078bc 108 blobconf.addOneElasticLoopContractCentral();
mbedalvaro 5:73cd58b58f95 109 // blobconf.addOneElasticContourFollowing();
mbedalvaro 1:a4050fee11f7 110
mbedalvaro 7:0df17f3078bc 111 //blobconf.addOneRigidLoopBouncing();
mbedalvaro 5:73cd58b58f95 112 // blobconf.addOneRigidLoopFollowing();
mbedalvaro 2:34157ebbf56b 113
mbedalvaro 7:0df17f3078bc 114
mbedalvaro 5:73cd58b58f95 115 //blobconf.addOneRigidLoopTest();
mbedalvaro 1:a4050fee11f7 116
mbedalvaro 0:345b3bc7a0ea 117 // Important: first, set the initial position for all the blobs, this will be useful because
mbedalvaro 0:345b3bc7a0ea 118 // when changing modes we can use the previous central position...
mbedalvaro 1:a4050fee11f7 119 // blobconf.setInitialPos(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y);
mbedalvaro 1:a4050fee11f7 120
mbedalvaro 5:73cd58b58f95 121 // draw the config once befor activating the laser buffer:
mbedalvaro 5:73cd58b58f95 122 blobconf.draw();
mbedalvaro 1:a4050fee11f7 123
mbedalvaro 0:345b3bc7a0ea 124 // 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 125 lsr.setConfigToRender(&blobconf);
mbedalvaro 1:a4050fee11f7 126
mbedalvaro 1:a4050fee11f7 127 // Timer on the rendering function of the oneLoop object:
mbedalvaro 7:0df17f3078bc 128 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds)
mbedalvaro 3:b44ff6de81bd 129 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds)
mbedalvaro 1:a4050fee11f7 130
mbedalvaro 1:a4050fee11f7 131 // Timer for sending OSC data:
mbedalvaro 2:34157ebbf56b 132 // timerForSendingData.attach(&blobconf, &blobConfig::sendConfData, 0.025); // time in seconds (25ms -> 40Hz)
mbedalvaro 1:a4050fee11f7 133
mbedalvaro 1:a4050fee11f7 134 //========================================== INFINITE LOOP (in USER PROGRAM CONTEXT) ===================================================================
mbedalvaro 1:a4050fee11f7 135 #ifdef LOOPTIMECOMPUTE
mbedalvaro 1:a4050fee11f7 136 int timeCounterNum=1000;
mbedalvaro 1:a4050fee11f7 137 #endif
mbedalvaro 1:a4050fee11f7 138
mbedalvaro 1:a4050fee11f7 139 measureUpdatePeriod.start();
mbedalvaro 2:34157ebbf56b 140 measureSendPeriod.start();
mbedalvaro 1:a4050fee11f7 141
mbedalvaro 1:a4050fee11f7 142 while (true) {
mbedalvaro 1:a4050fee11f7 143
mbedalvaro 7:0df17f3078bc 144 //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 145 // THIS IS THE EQUICALENT OF "VERTICAL SYNCH"...
mbedalvaro 7:0df17f3078bc 146 if (measureUpdatePeriod.read_ms()>3) { // 4 or 5 ms seems to be the minimum time required for performing one main loop (for a blob of 40 points)
mbedalvaro 2:34157ebbf56b 147 // with laser rendering ISR every 110us (total loop time 4300us, 3100us of effective loop time, and each laser interrupt about 30us)
mbedalvaro 1:a4050fee11f7 148 measureUpdatePeriod.stop();
mbedalvaro 1:a4050fee11f7 149 measureUpdatePeriod.reset();
mbedalvaro 1:a4050fee11f7 150
mbedalvaro 2:34157ebbf56b 151 // __disable_irq();
mbedalvaro 2:34157ebbf56b 152
mbedalvaro 1:a4050fee11f7 153 // update config dynamics (this also could be threaded?):
mbedalvaro 1:a4050fee11f7 154 blobconf.update();
mbedalvaro 1:a4050fee11f7 155
mbedalvaro 1:a4050fee11f7 156 // draw the config (note: each kind of blob renders differently)
mbedalvaro 1:a4050fee11f7 157 blobconf.draw();
mbedalvaro 1:a4050fee11f7 158
mbedalvaro 2:34157ebbf56b 159 // __enable_irq();
mbedalvaro 2:34157ebbf56b 160
mbedalvaro 1:a4050fee11f7 161 measureUpdatePeriod.start();
mbedalvaro 1:a4050fee11f7 162 }
mbedalvaro 0:345b3bc7a0ea 163
mbedalvaro 2:34157ebbf56b 164
mbedalvaro 1:a4050fee11f7 165 // COMMUNICATION:
mbedalvaro 1:a4050fee11f7 166 // (a) Reading commands:
mbedalvaro 1:a4050fee11f7 167 // Ethernet:
mbedalvaro 1:a4050fee11f7 168 Net::poll(); // this will take care of calling processOSC(UDPSocketEvent e) when a new packet arrives.
mbedalvaro 1:a4050fee11f7 169
mbedalvaro 1:a4050fee11f7 170 // Serial:
mbedalvaro 1:a4050fee11f7 171 #ifdef SERIAL_COMMANDS
mbedalvaro 1:a4050fee11f7 172 if (pc.readable()>0) processSerial();
mbedalvaro 1:a4050fee11f7 173 #endif
mbedalvaro 2:34157ebbf56b 174
mbedalvaro 2:34157ebbf56b 175 // (b)Sending Data: // PUT THIS IN AN INTERRUPT OR USE A TIMER!!! it may be TOO FAST...
mbedalvaro 2:34157ebbf56b 176 // 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 2:34157ebbf56b 177 if (measureSendPeriod.read_ms()>25) {
mbedalvaro 2:34157ebbf56b 178 measureSendPeriod.stop();
mbedalvaro 2:34157ebbf56b 179 measureSendPeriod.reset();
mbedalvaro 2:34157ebbf56b 180
mbedalvaro 2:34157ebbf56b 181 blobconf.sendConfData();
mbedalvaro 2:34157ebbf56b 182
mbedalvaro 2:34157ebbf56b 183 measureSendPeriod.start();
mbedalvaro 2:34157ebbf56b 184 }
mbedalvaro 1:a4050fee11f7 185
mbedalvaro 1:a4050fee11f7 186 // text:
mbedalvaro 1:a4050fee11f7 187 /*
mbedalvaro 1:a4050fee11f7 188 sendMes.setTopAddress("/hello");
mbedalvaro 1:a4050fee11f7 189 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 190 int x=(long)10;
mbedalvaro 1:a4050fee11f7 191 sendMes.setArgs( "i", &x);
mbedalvaro 1:a4050fee11f7 192 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 193 */
mbedalvaro 1:a4050fee11f7 194
mbedalvaro 0:345b3bc7a0ea 195 #ifdef LOOPTIMECOMPUTE
mbedalvaro 1:a4050fee11f7 196 if (timeCounterNum>500) myled = 0;
mbedalvaro 1:a4050fee11f7 197 // if (timeCounterNum%10==0) blobconf.sendConfData();
mbedalvaro 1:a4050fee11f7 198 if (timeCounterNum>1000) {
mbedalvaro 1:a4050fee11f7 199 myled = 1;
mbedalvaro 1:a4050fee11f7 200 measureLoopPeriod.stop();
mbedalvaro 1:a4050fee11f7 201 sendMes.setTopAddress("/timeloop");
mbedalvaro 1:a4050fee11f7 202 sendMes.setSubAddress("/");
mbedalvaro 1:a4050fee11f7 203 long x=(long)(int(measureLoopPeriod.read_us()/1000.0));
mbedalvaro 5:73cd58b58f95 204 // long x=(long)(blobconf.blobArray[0]->displaySensingBuffer.lsdTrajectory.size());
mbedalvaro 7:0df17f3078bc 205 // long x=(long)(blobconf.blobArray[0]->normRecenteringVector);
mbedalvaro 1:a4050fee11f7 206 sendMes.setArgs( "i", &x);
mbedalvaro 1:a4050fee11f7 207 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 208 timeCounterNum=0;
mbedalvaro 1:a4050fee11f7 209 measureLoopPeriod.reset();
mbedalvaro 1:a4050fee11f7 210 measureLoopPeriod.start();
mbedalvaro 1:a4050fee11f7 211 } else timeCounterNum++;
mbedalvaro 0:345b3bc7a0ea 212 #endif
mbedalvaro 0:345b3bc7a0ea 213
mbedalvaro 0:345b3bc7a0ea 214 }
mbedalvaro 0:345b3bc7a0ea 215 }
mbedalvaro 0:345b3bc7a0ea 216
mbedalvaro 1:a4050fee11f7 217 // ================= INTERPRET COMMAND =========================
mbedalvaro 0:345b3bc7a0ea 218 // NOTE: the following arrays are GLOBAL (used in processOSC and processSerial, as well as in interpretCommand function):
mbedalvaro 1:a4050fee11f7 219 // max of two addresses (top and sub), of a max length of 24 characters:
mbedalvaro 0:345b3bc7a0ea 220 char address[2][24];
mbedalvaro 0:345b3bc7a0ea 221 //long auxdata[2]; // to store a max of two arguments (note: we will only use LONGs)
mbedalvaro 1:a4050fee11f7 222 int data[2]; // this is to have -1 as NO DATA, to detect errors.
mbedalvaro 1:a4050fee11f7 223
mbedalvaro 1:a4050fee11f7 224 //interpretCommand(const char& address[2][], const int& data[2]) {
mbedalvaro 0:345b3bc7a0ea 225 void interpretCommand() {
mbedalvaro 0:345b3bc7a0ea 226 // (I) =========================================== SPECIAL FUNCTIONS (reset, rescan LUT, etc) ====================================================
mbedalvaro 0:345b3bc7a0ea 227 if ( !strcmp(address[0], "takeSnapshot" ) ) { // will reset all the spots, but the 0, and use it for taking measures:
mbedalvaro 1:a4050fee11f7 228
mbedalvaro 1:a4050fee11f7 229 // for test:
mbedalvaro 1:a4050fee11f7 230 for (int i=0; i<2 ; i++) {
mbedalvaro 1:a4050fee11f7 231 myled = 1;
mbedalvaro 1:a4050fee11f7 232 wait(0.1);
mbedalvaro 1:a4050fee11f7 233 myled = 0;
mbedalvaro 1:a4050fee11f7 234 wait(0.1);
mbedalvaro 1:a4050fee11f7 235 }
mbedalvaro 1:a4050fee11f7 236
mbedalvaro 1:a4050fee11f7 237 // First, we need to disable the threaded display for the loop:
mbedalvaro 1:a4050fee11f7 238 timerForRendering.detach();
mbedalvaro 1:a4050fee11f7 239
mbedalvaro 1:a4050fee11f7 240 // Then, do the scan (sending values on serial port):
mbedalvaro 1:a4050fee11f7 241 IO.scan_serial();
mbedalvaro 1:a4050fee11f7 242
mbedalvaro 1:a4050fee11f7 243 // Finally, start again threaded display:
mbedalvaro 4:f9d364f10335 244 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 4:f9d364f10335 245 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 1:a4050fee11f7 246 }
mbedalvaro 1:a4050fee11f7 247
mbedalvaro 1:a4050fee11f7 248 else if ( !strcmp(address[0], "mbedReset" ) ) mbed_reset();
mbedalvaro 1:a4050fee11f7 249
mbedalvaro 1:a4050fee11f7 250 else if ( !strcmp(address[0], "calibrate" ) ) {
mbedalvaro 1:a4050fee11f7 251 // First, we need to disable the threaded display for the loop:
mbedalvaro 1:a4050fee11f7 252 timerForRendering.detach();
mbedalvaro 1:a4050fee11f7 253 // RESCAN (and save LUT table):
mbedalvaro 1:a4050fee11f7 254 IO.scanLUT();
mbedalvaro 1:a4050fee11f7 255 // Finally, start again threaded display:
mbedalvaro 4:f9d364f10335 256 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 4:f9d364f10335 257 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 1:a4050fee11f7 258 }
mbedalvaro 1:a4050fee11f7 259
mbedalvaro 1:a4050fee11f7 260 // (II) ========================================= GLOBAL CONFIG and HARDWARE COMMANDS ===========================================
mbedalvaro 1:a4050fee11f7 261
mbedalvaro 1:a4050fee11f7 262 else if ( !strcmp(address[0], "setGreenLaser" ) ) {
mbedalvaro 1:a4050fee11f7 263 int value=data[0];
mbedalvaro 1:a4050fee11f7 264 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 1:a4050fee11f7 265 if (value==0) IO.setGreenPower(0);
mbedalvaro 1:a4050fee11f7 266 else IO.setGreenPower(1);
mbedalvaro 1:a4050fee11f7 267 }
mbedalvaro 1:a4050fee11f7 268 }
mbedalvaro 1:a4050fee11f7 269
mbedalvaro 1:a4050fee11f7 270 // SIMPLE BEHAVIOUR MODES (to be read from an XML file in the future):
mbedalvaro 1:a4050fee11f7 271 else if (!strcmp(address[0], "crawling")) { //
mbedalvaro 1:a4050fee11f7 272 timerForRendering.detach();
mbedalvaro 0:345b3bc7a0ea 273 // blobconf.computeBoundingBox();
mbedalvaro 1:a4050fee11f7 274 blobconf.clearConfig();
mbedalvaro 1:a4050fee11f7 275 blobconf.addOneElasticContourFollowing();
mbedalvaro 1:a4050fee11f7 276 lsr.setConfigToRender(&blobconf);
mbedalvaro 4:f9d364f10335 277 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 4:f9d364f10335 278 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 1:a4050fee11f7 279 } else if (!strcmp(address[0], "loop")) { //
mbedalvaro 1:a4050fee11f7 280 timerForRendering.detach();
mbedalvaro 1:a4050fee11f7 281 // blobconf.computeBoundingBox();
mbedalvaro 1:a4050fee11f7 282 blobconf.clearConfig();
mbedalvaro 1:a4050fee11f7 283 blobconf.addOneElasticLoopContractCentral();
mbedalvaro 1:a4050fee11f7 284 lsr.setConfigToRender(&blobconf);
mbedalvaro 4:f9d364f10335 285 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 4:f9d364f10335 286 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 1:a4050fee11f7 287 }
mbedalvaro 1:a4050fee11f7 288
mbedalvaro 1:a4050fee11f7 289 else if (!strcmp(address[0], "bouncing")) {
mbedalvaro 0:345b3bc7a0ea 290 timerForRendering.detach();
mbedalvaro 0:345b3bc7a0ea 291 // blobconf.computeBoundingBox();
mbedalvaro 1:a4050fee11f7 292 blobconf.clearConfig();
mbedalvaro 1:a4050fee11f7 293 blobconf.addOneElasticBouncing();
mbedalvaro 1:a4050fee11f7 294 lsr.setConfigToRender(&blobconf);
mbedalvaro 4:f9d364f10335 295 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 4:f9d364f10335 296 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 1:a4050fee11f7 297 }
mbedalvaro 1:a4050fee11f7 298
mbedalvaro 1:a4050fee11f7 299 // other:
mbedalvaro 1:a4050fee11f7 300
mbedalvaro 1:a4050fee11f7 301 else if ( !strcmp(address[0], "standby" ) ) { // will put ALL the spots in stand by mode
mbedalvaro 0:345b3bc7a0ea 302 blobconf.allStandBy(); // will avoid the update function
mbedalvaro 1:a4050fee11f7 303 } else if ( !strcmp(address[0], "resume" ) ) { // will put ALL the spots in stand by mode
mbedalvaro 0:345b3bc7a0ea 304 blobconf.allResume(); // will avoid the update function
mbedalvaro 1:a4050fee11f7 305 }
mbedalvaro 1:a4050fee11f7 306
mbedalvaro 1:a4050fee11f7 307 // (III) ========================================= Loop control (parameters, etc) ===========================================
mbedalvaro 1:a4050fee11f7 308 // NOte: for the time being, we only have ONE loop, so there is no "per loop or per config" mode.
mbedalvaro 1:a4050fee11f7 309
mbedalvaro 1:a4050fee11f7 310 else if (!strcmp( address[0], "sendOSC" ) ) {
mbedalvaro 1:a4050fee11f7 311 int value=data[0];
mbedalvaro 1:a4050fee11f7 312 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 1:a4050fee11f7 313 for (int i=0; i< blobconf.numBlobs; i++) {
mbedalvaro 1:a4050fee11f7 314 blobconf.blobArray[i]->sendOSC=(value>0);
mbedalvaro 1:a4050fee11f7 315 }
mbedalvaro 1:a4050fee11f7 316 }
mbedalvaro 1:a4050fee11f7 317 }
mbedalvaro 1:a4050fee11f7 318
mbedalvaro 1:a4050fee11f7 319 else if (!strcmp( address[0], "sendArea" ) ) {
mbedalvaro 1:a4050fee11f7 320 int value=data[0];
mbedalvaro 1:a4050fee11f7 321 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 1:a4050fee11f7 322 for (int i=0; i< blobconf.numBlobs; i++) {
mbedalvaro 1:a4050fee11f7 323 blobconf.blobArray[i]->sendingBlobArea=(value>0);
mbedalvaro 1:a4050fee11f7 324 }
mbedalvaro 1:a4050fee11f7 325 }
mbedalvaro 1:a4050fee11f7 326 }
mbedalvaro 1:a4050fee11f7 327
mbedalvaro 1:a4050fee11f7 328 else if (!strcmp( address[0], "sendPos" ) ) {
mbedalvaro 1:a4050fee11f7 329 int value=data[0];
mbedalvaro 1:a4050fee11f7 330 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 1:a4050fee11f7 331 for (int i=0; i< blobconf.numBlobs; i++) {
mbedalvaro 1:a4050fee11f7 332 blobconf.blobArray[i]->sendingLoopPositions=(value>0);
mbedalvaro 1:a4050fee11f7 333 }
mbedalvaro 1:a4050fee11f7 334 }
mbedalvaro 1:a4050fee11f7 335 }
mbedalvaro 1:a4050fee11f7 336
mbedalvaro 1:a4050fee11f7 337 else if (!strcmp( address[0], "sendRegions" ) ) {
mbedalvaro 1:a4050fee11f7 338 int value=data[0];
mbedalvaro 1:a4050fee11f7 339 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 1:a4050fee11f7 340 for (int i=0; i< blobconf.numBlobs; i++) {
mbedalvaro 1:a4050fee11f7 341 blobconf.blobArray[i]->sendingLoopRegions=(value>0);
mbedalvaro 1:a4050fee11f7 342 }
mbedalvaro 1:a4050fee11f7 343 }
mbedalvaro 1:a4050fee11f7 344 }
mbedalvaro 1:a4050fee11f7 345
mbedalvaro 1:a4050fee11f7 346 else if (!strcmp( address[0], "sendTouched" ) ) {
mbedalvaro 1:a4050fee11f7 347 int value=data[0];
mbedalvaro 1:a4050fee11f7 348 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 1:a4050fee11f7 349 for (int i=0; i< blobconf.numBlobs; i++) {
mbedalvaro 1:a4050fee11f7 350 blobconf.blobArray[i]->sendingTouched=(value>0);
mbedalvaro 1:a4050fee11f7 351 }
mbedalvaro 1:a4050fee11f7 352 }
mbedalvaro 1:a4050fee11f7 353 }
mbedalvaro 1:a4050fee11f7 354
mbedalvaro 1:a4050fee11f7 355
mbedalvaro 1:a4050fee11f7 356
mbedalvaro 0:345b3bc7a0ea 357 }
mbedalvaro 0:345b3bc7a0ea 358
mbedalvaro 0:345b3bc7a0ea 359 //============= RECEIVE OSC COMMANDS =========================
mbedalvaro 1:a4050fee11f7 360 // This is the callback function called when there are packets on the listening socket. It is not nice to have it
mbedalvaro 1:a4050fee11f7 361 // here, but for the time being having a "wrapping global" is the simplest solution (we cannot pass a member-function pointer
mbedalvaro 1:a4050fee11f7 362 // as handler to the upd object).
mbedalvaro 0:345b3bc7a0ea 363 void processOSC(UDPSocketEvent e) {
mbedalvaro 0:345b3bc7a0ea 364 osc.onUDPSocketEvent(e);
mbedalvaro 0:345b3bc7a0ea 365
mbedalvaro 0:345b3bc7a0ea 366 if (osc.newMessage) {
mbedalvaro 1:a4050fee11f7 367 // 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 368 // 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 369
mbedalvaro 1:a4050fee11f7 370 // Acquire the addresses and arguments and put them in the GLOBAL variables:
mbedalvaro 1:a4050fee11f7 371 strcpy(address[0],"");
mbedalvaro 1:a4050fee11f7 372 strcpy(address[1],"");
mbedalvaro 1:a4050fee11f7 373 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 374 // Acquire data:
mbedalvaro 1:a4050fee11f7 375 data[0]=-1;
mbedalvaro 1:a4050fee11f7 376 data[1]=-1;
mbedalvaro 1:a4050fee11f7 377 for (int i=0; i<recMes.getArgNum(); i++) data[i]=(int)recMes.getArgInt(i);
mbedalvaro 1:a4050fee11f7 378
mbedalvaro 1:a4050fee11f7 379 // Finally, interpret the command:
mbedalvaro 1:a4050fee11f7 380 interpretCommand();//address, data);
mbedalvaro 1:a4050fee11f7 381
mbedalvaro 0:345b3bc7a0ea 382 }
mbedalvaro 1:a4050fee11f7 383 }
mbedalvaro 1:a4050fee11f7 384
mbedalvaro 0:345b3bc7a0ea 385 //============= RECEIVE SERIAL COMMANDS =========================
mbedalvaro 0:345b3bc7a0ea 386 //
mbedalvaro 1:a4050fee11f7 387 // NOTE: - NUMERIC PARAMETERS have to be send BEFORE the command word. They must be sent as ASCII DEC, without end character.
mbedalvaro 0:345b3bc7a0ea 388 // - Commands words SHOULD NOT have numbers in it. They should be C compliant STRINGS (ended with character '0')
mbedalvaro 1:a4050fee11f7 389 // - order is irrelevant: we can send 10 RADIUS or RADIUS 10.
mbedalvaro 0:345b3bc7a0ea 390
mbedalvaro 1:a4050fee11f7 391 // String to store ALPHANUMERIC DATA (i.e., integers, floating point numbers, unsigned ints, etc represented as DEC) sent wirelessly:
mbedalvaro 0:345b3bc7a0ea 392 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 393 int indexStringData=0;//position of the byte in the string
mbedalvaro 0:345b3bc7a0ea 394
mbedalvaro 0:345b3bc7a0ea 395 // String to store COMMAND WORDS:
mbedalvaro 0:345b3bc7a0ea 396 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 397 int indexStringCommand=0;
mbedalvaro 0:345b3bc7a0ea 398 bool commandReady=false; // will become true when receiving the byte 0 (i.e. the '/0' string terminator)
mbedalvaro 0:345b3bc7a0ea 399
mbedalvaro 0:345b3bc7a0ea 400 void processSerial() {
mbedalvaro 0:345b3bc7a0ea 401
mbedalvaro 1:a4050fee11f7 402 while (pc.readable()>0) {
mbedalvaro 1:a4050fee11f7 403
mbedalvaro 1:a4050fee11f7 404 char val =pc.getc();
mbedalvaro 0:345b3bc7a0ea 405 // pc.printf("Got :%d\n", incomingByte);
mbedalvaro 1:a4050fee11f7 406 //pc.putc(incomingByte);
mbedalvaro 1:a4050fee11f7 407
mbedalvaro 1:a4050fee11f7 408 // Save ASCII numeric characters (ASCII 0 - 9) on stringData:
mbedalvaro 1:a4050fee11f7 409 if ((val >= '0') && (val <= '9')) { // this is 45 to 57 (included)
mbedalvaro 1:a4050fee11f7 410 stringData[indexStringData] = val;
mbedalvaro 1:a4050fee11f7 411 indexStringData++;
mbedalvaro 1:a4050fee11f7 412 }
mbedalvaro 1:a4050fee11f7 413
mbedalvaro 1:a4050fee11f7 414 // Save ASCII letters in stringCommand:
mbedalvaro 1:a4050fee11f7 415 if ((val >= 'A') && (val <= 'z')) { // this is 65 to 122 (included)
mbedalvaro 1:a4050fee11f7 416 stringCommand[indexStringCommand] = val;
mbedalvaro 1:a4050fee11f7 417 indexStringCommand++;
mbedalvaro 1:a4050fee11f7 418 }
mbedalvaro 1:a4050fee11f7 419 // is command ready?
mbedalvaro 1:a4050fee11f7 420 if (val=='/') {
mbedalvaro 1:a4050fee11f7 421 commandReady=true;
mbedalvaro 1:a4050fee11f7 422 stringCommand[indexStringCommand] = 0; // string termination.
mbedalvaro 1:a4050fee11f7 423 indexStringCommand=0; // reset index string for acquiring next command
mbedalvaro 1:a4050fee11f7 424 //Serial.println(stringCommand);
mbedalvaro 1:a4050fee11f7 425 }
mbedalvaro 1:a4050fee11f7 426
mbedalvaro 1:a4050fee11f7 427 // COMMANDS (with or without numeric parameters):
mbedalvaro 1:a4050fee11f7 428 if (commandReady==true) { // it means we can interpret the command string:
mbedalvaro 1:a4050fee11f7 429 commandReady=false;
mbedalvaro 1:a4050fee11f7 430
mbedalvaro 1:a4050fee11f7 431 stringData[indexStringData] = 0 ;// string termination for numeric values;
mbedalvaro 1:a4050fee11f7 432 indexStringData=0;
mbedalvaro 1:a4050fee11f7 433
mbedalvaro 1:a4050fee11f7 434 // PARSE DATA: (TO DO!!!!!!!!!!!!!!):
mbedalvaro 0:345b3bc7a0ea 435
mbedalvaro 1:a4050fee11f7 436 // (a) Parse command (get address[0] and address[1]):
mbedalvaro 1:a4050fee11f7 437 //ex: "/1/standBy" -- > address[0]="1" and address[1]="standBy"
mbedalvaro 1:a4050fee11f7 438 // address[2]
mbedalvaro 1:a4050fee11f7 439
mbedalvaro 1:a4050fee11f7 440 // Serial.println(stringCommand);
mbedalvaro 1:a4050fee11f7 441 // Serial.println(stringData);
mbedalvaro 1:a4050fee11f7 442
mbedalvaro 1:a4050fee11f7 443 // (b) Parse data:
mbedalvaro 1:a4050fee11f7 444
mbedalvaro 1:a4050fee11f7 445 // char address[2][24];
mbedalvaro 1:a4050fee11f7 446 //long auxdata[2]; // to store a max of two arguments (note: we will only use LONGs)
mbedalvaro 1:a4050fee11f7 447 //int data[2]; // this is to have -1 as NO DATA, to detect errors.
mbedalvaro 1:a4050fee11f7 448
mbedalvaro 1:a4050fee11f7 449 // FOR THE TIME BEING there is no parsing for serial commands:
mbedalvaro 1:a4050fee11f7 450
mbedalvaro 1:a4050fee11f7 451 // SCANNING:
mbedalvaro 1:a4050fee11f7 452 if (!strcmp(stringCommand , "takeSnapshot")) {
mbedalvaro 1:a4050fee11f7 453 // First, we need to disable the threaded display for the loop:
mbedalvaro 1:a4050fee11f7 454 timerForRendering.detach();
mbedalvaro 1:a4050fee11f7 455
mbedalvaro 1:a4050fee11f7 456 // Then, do the scan (sending values on serial port):
mbedalvaro 1:a4050fee11f7 457 IO.scan_serial();
mbedalvaro 1:a4050fee11f7 458
mbedalvaro 1:a4050fee11f7 459 // Finally, start again threaded display:
mbedalvaro 4:f9d364f10335 460 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 4:f9d364f10335 461 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 1:a4050fee11f7 462 }
mbedalvaro 1:a4050fee11f7 463
mbedalvaro 1:a4050fee11f7 464 if (!strcmp(stringCommand , "REDON")) IO.setRedPower(1); // pc.printf("%d\n",incomingByte);
mbedalvaro 1:a4050fee11f7 465
mbedalvaro 1:a4050fee11f7 466 if (!strcmp(stringCommand , "REDOFF")) IO.setRedPower(0);
mbedalvaro 1:a4050fee11f7 467
mbedalvaro 1:a4050fee11f7 468 if (!strcmp(stringCommand , "READVALUE")) pc.printf("Value read: %f", lockin.getSmoothValue());//lockin.getLastValue());/
mbedalvaro 1:a4050fee11f7 469
mbedalvaro 1:a4050fee11f7 470 // FINALLY, interpret commands (but only after parsing):
mbedalvaro 1:a4050fee11f7 471 // interpretCommand();//address, data);
mbedalvaro 0:345b3bc7a0ea 472
mbedalvaro 0:345b3bc7a0ea 473 }
mbedalvaro 1:a4050fee11f7 474 }
mbedalvaro 1:a4050fee11f7 475 }
mbedalvaro 0:345b3bc7a0ea 476
mbedalvaro 0:345b3bc7a0ea 477
mbedalvaro 0:345b3bc7a0ea 478
mbedalvaro 0:345b3bc7a0ea 479 // ================ MISCELANEA
mbedalvaro 0:345b3bc7a0ea 480
mbedalvaro 0:345b3bc7a0ea 481 /* EXAMPLE SEND/RECEIVE on PROCESSING:
mbedalvaro 0:345b3bc7a0ea 482
mbedalvaro 0:345b3bc7a0ea 483 // oscP5sendreceive by andreas schlegel
mbedalvaro 0:345b3bc7a0ea 484 // example shows how to send and receive osc messages.
mbedalvaro 0:345b3bc7a0ea 485 // oscP5 website at http://www.sojamo.de/oscP5
mbedalvaro 0:345b3bc7a0ea 486
mbedalvaro 0:345b3bc7a0ea 487 import oscP5.*;
mbedalvaro 0:345b3bc7a0ea 488 import netP5.*;
mbedalvaro 1:a4050fee11f7 489
mbedalvaro 0:345b3bc7a0ea 490 OscP5 oscP5;
mbedalvaro 0:345b3bc7a0ea 491 NetAddress myRemoteLocation;
mbedalvaro 0:345b3bc7a0ea 492
mbedalvaro 0:345b3bc7a0ea 493 void setup() {
mbedalvaro 0:345b3bc7a0ea 494 size(400,400);
mbedalvaro 0:345b3bc7a0ea 495 frameRate(25);
mbedalvaro 1:a4050fee11f7 496 // start oscP5, listening for incoming messages at port 12000
mbedalvaro 0:345b3bc7a0ea 497 oscP5 = new OscP5(this,12000);
mbedalvaro 1:a4050fee11f7 498
mbedalvaro 0:345b3bc7a0ea 499 // myRemoteLocation is a NetAddress. a NetAddress takes 2 parameters,
mbedalvaro 0:345b3bc7a0ea 500 // an ip address and a port number. myRemoteLocation is used as parameter in
mbedalvaro 1:a4050fee11f7 501 // oscP5.send() when sending osc packets to another computer, device,
mbedalvaro 0:345b3bc7a0ea 502 // application. usage see below. for testing purposes the listening port
mbedalvaro 0:345b3bc7a0ea 503 // and the port of the remote location address are the same, hence you will
mbedalvaro 0:345b3bc7a0ea 504 // send messages back to this sketch.
mbedalvaro 0:345b3bc7a0ea 505 myRemoteLocation = new NetAddress("10.0.0.2",10000);
mbedalvaro 0:345b3bc7a0ea 506 }
mbedalvaro 0:345b3bc7a0ea 507
mbedalvaro 0:345b3bc7a0ea 508
mbedalvaro 0:345b3bc7a0ea 509 void draw() {
mbedalvaro 1:a4050fee11f7 510 background(0);
mbedalvaro 0:345b3bc7a0ea 511 }
mbedalvaro 0:345b3bc7a0ea 512
mbedalvaro 0:345b3bc7a0ea 513 void mousePressed() {
mbedalvaro 1:a4050fee11f7 514 // in the following different ways of creating osc messages are shown by example
mbedalvaro 0:345b3bc7a0ea 515 OscMessage myMessage = new OscMessage("/mbed/test1");
mbedalvaro 1:a4050fee11f7 516
mbedalvaro 1:a4050fee11f7 517 myMessage.add(123); // add an int to the osc message
mbedalvaro 0:345b3bc7a0ea 518
mbedalvaro 1:a4050fee11f7 519 // send the message
mbedalvaro 1:a4050fee11f7 520 oscP5.send(myMessage, myRemoteLocation);
mbedalvaro 0:345b3bc7a0ea 521 }
mbedalvaro 0:345b3bc7a0ea 522
mbedalvaro 0:345b3bc7a0ea 523
mbedalvaro 1:a4050fee11f7 524 // incoming osc message are forwarded to the oscEvent method.
mbedalvaro 0:345b3bc7a0ea 525 void oscEvent(OscMessage theOscMessage) {
mbedalvaro 1:a4050fee11f7 526 // print the address pattern and the typetag of the received OscMessage
mbedalvaro 0:345b3bc7a0ea 527 print("### received an osc message.");
mbedalvaro 0:345b3bc7a0ea 528 print(" addrpattern: "+theOscMessage.addrPattern());
mbedalvaro 0:345b3bc7a0ea 529 println(" typetag: "+theOscMessage.typetag());
mbedalvaro 0:345b3bc7a0ea 530 }
mbedalvaro 0:345b3bc7a0ea 531
mbedalvaro 0:345b3bc7a0ea 532 */