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

laserSensingDisplay.h@47:199042980678, 2014-04-17 (annotated)

Committer:
mbedalvaro
Date:
Thu Apr 17 08:04:14 2014 +0000
Revision:
47:199042980678
Parent:
46:e0dd2d1d07c1 
publishing for sharing with Ken Iwasaki

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 40:3ba2b0ea9f33 1 #ifndef LASER_SENSING_DISPLAY_h
mbedalvaro 40:3ba2b0ea9f33 2 #define LASER_SENSING_DISPLAY_h
mbedalvaro 40:3ba2b0ea9f33 3
mbedalvaro 40:3ba2b0ea9f33 4 #include "mbed.h" // we will use in particular the Ticker object
mbedalvaro 40:3ba2b0ea9f33 5 #include "hardwareIO.h" // Include hardware interface for display and sensing
mbedalvaro 40:3ba2b0ea9f33 6 #include "Scene.h"
mbedalvaro 40:3ba2b0ea9f33 7
mbedalvaro 40:3ba2b0ea9f33 8 //extern laserSensingDisplay lsd; // pre-instantiated in the implementation file.
mbedalvaro 40:3ba2b0ea9f33 9
mbedalvaro 40:3ba2b0ea9f33 10 // =====================================================================================================================
mbedalvaro 40:3ba2b0ea9f33 11 // NOTE: it would be much better to be able to wait in between points depending on the distance from these; but this is too computationally expensive here (perhaps!),
mbedalvaro 40:3ba2b0ea9f33 12 // so for the time being, it would be better to compute "optimal trajectories" with repetitive points if necessary on the pc side...
mbedalvaro 40:3ba2b0ea9f33 13
mbedalvaro 40:3ba2b0ea9f33 14 // =====================================================================================================================
mbedalvaro 40:3ba2b0ea9f33 15
mbedalvaro 40:3ba2b0ea9f33 16 //#define debugDelayMirrors // this is to check visually the mirror delay (but it is also beautiful)
mbedalvaro 40:3ba2b0ea9f33 17
mbedalvaro 40:3ba2b0ea9f33 18 #define SENSING_LASER_BLANKING // note: this blanking introduces problems because the Lock-in looses signal, but we can add more points to compensate when there
mbedalvaro 40:3ba2b0ea9f33 19 // are many blobs, see "DEFAULT_OVERLAP_POINTS" (but will slow down...)
mbedalvaro 40:3ba2b0ea9f33 20
mbedalvaro 46:e0dd2d1d07c1 21 #define RENDER_INTERVAL 0.000053 //0.0001 is good for CALIBRATION grid, 0.000054 good for normal display // in seconds (Ticker)
mbedalvaro 40:3ba2b0ea9f33 22
mbedalvaro 45:5ef809480c12 23 #define WAIT_NORMAL 0 //1 // good :0 // (minimum is 0) waiting time for setting mirror position MINUS waiting laser time (note that this total waiting time may be
mbedalvaro 40:3ba2b0ea9f33 24 //equal to 0 if we set a good sampling freq for the renderer, but and if the shape is regular so that this time does not change significatively - this is not
mbedalvaro 40:3ba2b0ea9f33 25 // the case for multiple blobs or highly deformed blobs).
mbedalvaro 40:3ba2b0ea9f33 26 #define WAIT_LASER 2 // Good 5 for grid. (minimum is 0) waiting time for properly powering the laser (if there are color changes IN BETWEEN points). Maybe needed for the green laser
mbedalvaro 40:3ba2b0ea9f33 27 // WHEN THERE IS MORE THAN ONE SPOT:
mbedalvaro 45:5ef809480c12 28 #define WAIT_FIRST 10// Good 7 for grid. 12 // special waiting time for mirror positioning to first point on next
mbedalvaro 40:3ba2b0ea9f33 29 // blob BEFORE re-activating laser
mbedalvaro 40:3ba2b0ea9f33 30
mbedalvaro 40:3ba2b0ea9f33 31 // ****IMPORTANT: IN FACT WAITING TIMES SHOULD DEPEND ON THE DISTANCE BETWEEN THE POINTS. AND THAT'S ALL*****
mbedalvaro 40:3ba2b0ea9f33 32
mbedalvaro 40:3ba2b0ea9f33 33 #define WAIT_FIRST_LASER 0 // IMPORTANT waiting time for the activation of the RED laser and LOCK-IN (also waiting time for the mirrors)
mbedalvaro 40:3ba2b0ea9f33 34 #define WAIT_LAST 2 // special waiting time for last point
mbedalvaro 40:3ba2b0ea9f33 35
mbedalvaro 40:3ba2b0ea9f33 36 // Redundant drawing for avoiding deformed saccade (note: this could be active when there is more than one blob, instead of using a #define...)
mbedalvaro 40:3ba2b0ea9f33 37 // NOTE: THIS IS ONLY MEANINFUL IF THE OBJECT IS A LOOP!!!
mbedalvaro 40:3ba2b0ea9f33 38 #define DEFAULT_OVERLAP_POINTS 0 // 10
mbedalvaro 40:3ba2b0ea9f33 39
mbedalvaro 40:3ba2b0ea9f33 40 enum lsdStateType {START_FIRST_OBJECT, NORMAL_POINT, LAST_POINT, MOVE_NEXT_OBJECT, START_POINT};
mbedalvaro 40:3ba2b0ea9f33 41
mbedalvaro 40:3ba2b0ea9f33 42 typedef struct {
mbedalvaro 40:3ba2b0ea9f33 43 // to do!
mbedalvaro 40:3ba2b0ea9f33 44 } lsdParams;
mbedalvaro 40:3ba2b0ea9f33 45
mbedalvaro 40:3ba2b0ea9f33 46 class laserSensingDisplay {
mbedalvaro 40:3ba2b0ea9f33 47 public:
mbedalvaro 40:3ba2b0ea9f33 48
mbedalvaro 40:3ba2b0ea9f33 49 // constructor:
mbedalvaro 40:3ba2b0ea9f33 50 laserSensingDisplay();
mbedalvaro 40:3ba2b0ea9f33 51
mbedalvaro 40:3ba2b0ea9f33 52 // We can "attach" any scene to display (if laserSensingDisplay object is an ivar of LaserRenderer lsr, then all this will be set at the LaserRenderer init):
mbedalvaro 40:3ba2b0ea9f33 53 void setSceneToDisplay(Scene* );
mbedalvaro 40:3ba2b0ea9f33 54 // NOTE: as this does display AND sensing, I cannot separate the 3d SCENE points from the 2d FRAME points. I call
mbedalvaro 40:3ba2b0ea9f33 55 // therefore the "frame and scene" as just the "scene" for the time being.
mbedalvaro 40:3ba2b0ea9f33 56 Scene* ptSceneToDisplay;
mbedalvaro 40:3ba2b0ea9f33 57
mbedalvaro 40:3ba2b0ea9f33 58 //void startRenderer(); // pb: I cannot use the ticker function inside the class!
mbedalvaro 40:3ba2b0ea9f33 59 void laserDisplayThread();
mbedalvaro 40:3ba2b0ea9f33 60 void run(); // start the ticker on laserDisplayThread
mbedalvaro 40:3ba2b0ea9f33 61 void stop(); // stop the ticker on laserDisplayThread
mbedalvaro 40:3ba2b0ea9f33 62 bool isRunning();
mbedalvaro 40:3ba2b0ea9f33 63
mbedalvaro 40:3ba2b0ea9f33 64 lsdStateType stateLsd;
mbedalvaro 40:3ba2b0ea9f33 65 unsigned char totalObjects; // I assume no more than 255 objects!
mbedalvaro 40:3ba2b0ea9f33 66 unsigned char currentObject;
mbedalvaro 40:3ba2b0ea9f33 67 unsigned short currentPoint;
mbedalvaro 40:3ba2b0ea9f33 68 unsigned char currentMirrorDelay;
mbedalvaro 40:3ba2b0ea9f33 69 unsigned short currentTotalPoints;
mbedalvaro 40:3ba2b0ea9f33 70 unsigned char currentColor;
mbedalvaro 40:3ba2b0ea9f33 71
mbedalvaro 40:3ba2b0ea9f33 72 unsigned short x,y; // auxiliary variables storing mirror position(0-4096)
mbedalvaro 40:3ba2b0ea9f33 73
mbedalvaro 40:3ba2b0ea9f33 74 // New method to check complete display of one loop:
mbedalvaro 40:3ba2b0ea9f33 75 unsigned short configTotalPoints;
mbedalvaro 40:3ba2b0ea9f33 76 unsigned short pointDisplayCounter;
mbedalvaro 40:3ba2b0ea9f33 77 unsigned char numOverlapPoints; // I assume no more than 255 points of overlap!
mbedalvaro 40:3ba2b0ea9f33 78 bool isDisplayingOver();
mbedalvaro 40:3ba2b0ea9f33 79 void startDisplayCheck();
mbedalvaro 40:3ba2b0ea9f33 80
mbedalvaro 40:3ba2b0ea9f33 81 unsigned char waitNormal, waitLaser, waitFirst, waitFirstLaser, waitLast;
mbedalvaro 40:3ba2b0ea9f33 82
mbedalvaro 40:3ba2b0ea9f33 83 private:
mbedalvaro 40:3ba2b0ea9f33 84
mbedalvaro 40:3ba2b0ea9f33 85 // Ticker to run/stop the ISR "laserDisplayThread()"
mbedalvaro 40:3ba2b0ea9f33 86 Ticker timerForRendering; // note: this is the only file that uses this object (attach and detach).
mbedalvaro 40:3ba2b0ea9f33 87 bool runningState;
mbedalvaro 40:3ba2b0ea9f33 88 bool displayingFinished;
mbedalvaro 40:3ba2b0ea9f33 89 };
mbedalvaro 40:3ba2b0ea9f33 90
mbedalvaro 40:3ba2b0ea9f33 91 #endif
mbedalvaro 40:3ba2b0ea9f33 92
mbedalvaro 40:3ba2b0ea9f33 93
mbedalvaro 40:3ba2b0ea9f33 94
mbedalvaro 40:3ba2b0ea9f33 95