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@3:b44ff6de81bd, 2012-04-02 (annotated)

Committer:
mbedalvaro
Date:
Mon Apr 02 05:33:44 2012 +0000
Revision:
3:b44ff6de81bd
Parent:
2:34157ebbf56b
Child:
4:f9d364f10335
working but needs a lot of calibration and optimization. In particular the laser renderer - I am going to modify it, that's why I commit now.

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