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@22:d87317d7ca91, 2012-06-02 (annotated)

Committer:
mbedalvaro
Date:
Sat Jun 02 06:38:12 2012 +0000
Revision:
22:d87317d7ca91
Parent:
21:bc9b9383f4b6
Child:
23:bf666fcc61bc
testing the LUT table

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 10:6f8e48dca1bd 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 14:0fc33a3a7b4b 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 21:bc9b9383f4b6 41 uint8_t destIp[] = {10, 0, 0, 3};
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 9:3321170d157c 60 // Timers:
mbedalvaro 0:345b3bc7a0ea 61 Timer measureLoopPeriod;
mbedalvaro 9:3321170d157c 62 //Timer measureUpdatePeriod;
mbedalvaro 18:d72935b13858 63
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 10:6f8e48dca1bd 108 // blobconf.addOneElasticLoopContractCentral();
mbedalvaro 11:62f7183a03e7 109 // blobconf.addOneElasticContourFollowing();
mbedalvaro 1:a4050fee11f7 110
mbedalvaro 14:0fc33a3a7b4b 111 // blobconf.addOneRigidLoopBouncing();
mbedalvaro 9:3321170d157c 112 // blobconf.addOneRigidLoopBouncing();
mbedalvaro 16:2ff1cb2ae1b1 113 //blobconf.addOneRigidLoopFollowing();
mbedalvaro 16:2ff1cb2ae1b1 114 blobconf.addOneRigidLoopFollowing();
mbedalvaro 2:34157ebbf56b 115
mbedalvaro 7:0df17f3078bc 116
mbedalvaro 5:73cd58b58f95 117 //blobconf.addOneRigidLoopTest();
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 5:73cd58b58f95 123 // draw the config once befor activating the laser buffer:
mbedalvaro 5:73cd58b58f95 124 blobconf.draw();
mbedalvaro 13:9f03eac02700 125 lsr.startFullDisplay();
mbedalvaro 1:a4050fee11f7 126
mbedalvaro 0:345b3bc7a0ea 127 // 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 128 lsr.setConfigToRender(&blobconf);
mbedalvaro 1:a4050fee11f7 129
mbedalvaro 1:a4050fee11f7 130 // Timer on the rendering function of the oneLoop object:
mbedalvaro 9:3321170d157c 131 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds)
mbedalvaro 9:3321170d157c 132 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds)
mbedalvaro 1:a4050fee11f7 133
mbedalvaro 1:a4050fee11f7 134 // Timer for sending OSC data:
mbedalvaro 9:3321170d157c 135 // timerForSendingData.attach(&blobconf, &blobConfig::sendConfData, 0.025); // time in seconds (25ms -> 40Hz)
mbedalvaro 1:a4050fee11f7 136
mbedalvaro 1:a4050fee11f7 137 //========================================== INFINITE LOOP (in USER PROGRAM CONTEXT) ===================================================================
mbedalvaro 1:a4050fee11f7 138 #ifdef LOOPTIMECOMPUTE
mbedalvaro 1:a4050fee11f7 139 int timeCounterNum=1000;
mbedalvaro 1:a4050fee11f7 140 #endif
mbedalvaro 1:a4050fee11f7 141
mbedalvaro 9:3321170d157c 142 //measureUpdatePeriod.start();
mbedalvaro 1:a4050fee11f7 143
mbedalvaro 1:a4050fee11f7 144 while (true) {
mbedalvaro 1:a4050fee11f7 145
mbedalvaro 13:9f03eac02700 146 if (lsr.endedFullDisplay()) {
mbedalvaro 9:3321170d157c 147
mbedalvaro 9:3321170d157c 148 // measureUpdatePeriod.stop();
mbedalvaro 9:3321170d157c 149 // measureUpdatePeriod.reset();
mbedalvaro 9:3321170d157c 150
mbedalvaro 9:3321170d157c 151 // __disable_irq();
mbedalvaro 9:3321170d157c 152
mbedalvaro 1:a4050fee11f7 153 // update config dynamics (this also could be threaded?):
mbedalvaro 1:a4050fee11f7 154 blobconf.update();
mbedalvaro 1:a4050fee11f7 155
mbedalvaro 10:6f8e48dca1bd 156
mbedalvaro 1:a4050fee11f7 157 // draw the config (note: each kind of blob renders differently)
mbedalvaro 1:a4050fee11f7 158 blobconf.draw();
mbedalvaro 18:d72935b13858 159
mbedalvaro 18:d72935b13858 160
mbedalvaro 18:d72935b13858 161 // (b)Sending Data: // PUT THIS IN AN INTERRUPT OR USE A TIMER!!! it may be TOO FAST...
mbedalvaro 18:d72935b13858 162 // 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 18:d72935b13858 163 // NOTE: timer for sending is now not COMMON to all blobs, but depends on the blob (it could depend on the CONFIG only, but this can be simulated by using
mbedalvaro 18:d72935b13858 164 // per blob timer counter.
mbedalvaro 18:d72935b13858 165 blobconf.sendConfData();
mbedalvaro 18:d72935b13858 166
mbedalvaro 16:2ff1cb2ae1b1 167
mbedalvaro 16:2ff1cb2ae1b1 168 lsr.startFullDisplay(); // this start the point-display counter (wherever the actual laser is). Before update and draw, the counter needs to be reset.
mbedalvaro 16:2ff1cb2ae1b1 169
mbedalvaro 9:3321170d157c 170
mbedalvaro 9:3321170d157c 171 // __enable_irq();
mbedalvaro 9:3321170d157c 172
mbedalvaro 9:3321170d157c 173 // measureUpdatePeriod.start();
mbedalvaro 10:6f8e48dca1bd 174
mbedalvaro 1:a4050fee11f7 175 }
mbedalvaro 0:345b3bc7a0ea 176
mbedalvaro 2:34157ebbf56b 177
mbedalvaro 1:a4050fee11f7 178 // COMMUNICATION:
mbedalvaro 1:a4050fee11f7 179 // (a) Reading commands:
mbedalvaro 1:a4050fee11f7 180 // Ethernet:
mbedalvaro 1:a4050fee11f7 181 Net::poll(); // this will take care of calling processOSC(UDPSocketEvent e) when a new packet arrives.
mbedalvaro 1:a4050fee11f7 182
mbedalvaro 1:a4050fee11f7 183 // Serial:
mbedalvaro 1:a4050fee11f7 184 #ifdef SERIAL_COMMANDS
mbedalvaro 1:a4050fee11f7 185 if (pc.readable()>0) processSerial();
mbedalvaro 1:a4050fee11f7 186 #endif
mbedalvaro 9:3321170d157c 187
mbedalvaro 9:3321170d157c 188
mbedalvaro 1:a4050fee11f7 189 // text:
mbedalvaro 1:a4050fee11f7 190 /*
mbedalvaro 1:a4050fee11f7 191 sendMes.setTopAddress("/hello");
mbedalvaro 1:a4050fee11f7 192 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 193 int x=(long)10;
mbedalvaro 1:a4050fee11f7 194 sendMes.setArgs( "i", &x);
mbedalvaro 1:a4050fee11f7 195 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 196 */
mbedalvaro 1:a4050fee11f7 197
mbedalvaro 0:345b3bc7a0ea 198 #ifdef LOOPTIMECOMPUTE
mbedalvaro 9:3321170d157c 199 if (timeCounterNum>50) myled = 0;
mbedalvaro 9:3321170d157c 200 // if (timeCounterNum%10==0) blobconf.sendConfData();
mbedalvaro 9:3321170d157c 201 if (timeCounterNum>100) {
mbedalvaro 1:a4050fee11f7 202 myled = 1;
mbedalvaro 1:a4050fee11f7 203 measureLoopPeriod.stop();
mbedalvaro 1:a4050fee11f7 204 sendMes.setTopAddress("/timeloop");
mbedalvaro 1:a4050fee11f7 205 sendMes.setSubAddress("/");
mbedalvaro 10:6f8e48dca1bd 206 // long x=(long)(int(measureLoopPeriod.read_us()/100.0));
mbedalvaro 9:3321170d157c 207 // long x=(long)(blobconf.blobArray[0]->displaySensingBuffer.lsdTrajectory.size());
mbedalvaro 9:3321170d157c 208 // long x=(long)(blobconf.blobArray[0]->normRecenteringVector);
mbedalvaro 10:6f8e48dca1bd 209 long x=(long)(1000*blobconf.blobArray[0]->displaySensingBuffer.lsdTrajectory[0].intensity);
mbedalvaro 1:a4050fee11f7 210 sendMes.setArgs( "i", &x);
mbedalvaro 1:a4050fee11f7 211 osc.sendOsc( &sendMes );
mbedalvaro 1:a4050fee11f7 212 timeCounterNum=0;
mbedalvaro 1:a4050fee11f7 213 measureLoopPeriod.reset();
mbedalvaro 1:a4050fee11f7 214 measureLoopPeriod.start();
mbedalvaro 1:a4050fee11f7 215 } else timeCounterNum++;
mbedalvaro 0:345b3bc7a0ea 216 #endif
mbedalvaro 0:345b3bc7a0ea 217
mbedalvaro 0:345b3bc7a0ea 218 }
mbedalvaro 0:345b3bc7a0ea 219 }
mbedalvaro 0:345b3bc7a0ea 220
mbedalvaro 1:a4050fee11f7 221 // ================= INTERPRET COMMAND =========================
mbedalvaro 0:345b3bc7a0ea 222 // NOTE: the following arrays are GLOBAL (used in processOSC and processSerial, as well as in interpretCommand function):
mbedalvaro 1:a4050fee11f7 223 // max of two addresses (top and sub), of a max length of 24 characters:
mbedalvaro 0:345b3bc7a0ea 224 char address[2][24];
mbedalvaro 0:345b3bc7a0ea 225 //long auxdata[2]; // to store a max of two arguments (note: we will only use LONGs)
mbedalvaro 1:a4050fee11f7 226 int data[2]; // this is to have -1 as NO DATA, to detect errors.
mbedalvaro 1:a4050fee11f7 227
mbedalvaro 1:a4050fee11f7 228 //interpretCommand(const char& address[2][], const int& data[2]) {
mbedalvaro 0:345b3bc7a0ea 229 void interpretCommand() {
mbedalvaro 0:345b3bc7a0ea 230 // (I) =========================================== SPECIAL FUNCTIONS (reset, rescan LUT, etc) ====================================================
mbedalvaro 16:2ff1cb2ae1b1 231 if ( !strcmp(address[0], "takeSnapshot" ) ) {
mbedalvaro 1:a4050fee11f7 232
mbedalvaro 1:a4050fee11f7 233 // for test:
mbedalvaro 1:a4050fee11f7 234 for (int i=0; i<2 ; i++) {
mbedalvaro 1:a4050fee11f7 235 myled = 1;
mbedalvaro 1:a4050fee11f7 236 wait(0.1);
mbedalvaro 1:a4050fee11f7 237 myled = 0;
mbedalvaro 1:a4050fee11f7 238 wait(0.1);
mbedalvaro 1:a4050fee11f7 239 }
mbedalvaro 1:a4050fee11f7 240
mbedalvaro 1:a4050fee11f7 241 // First, we need to disable the threaded display for the loop:
mbedalvaro 1:a4050fee11f7 242 timerForRendering.detach();
mbedalvaro 1:a4050fee11f7 243
mbedalvaro 1:a4050fee11f7 244 // Then, do the scan (sending values on serial port):
mbedalvaro 1:a4050fee11f7 245 IO.scan_serial();
mbedalvaro 1:a4050fee11f7 246
mbedalvaro 1:a4050fee11f7 247 // Finally, start again threaded display:
mbedalvaro 9:3321170d157c 248 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 9:3321170d157c 249 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 1:a4050fee11f7 250 }
mbedalvaro 1:a4050fee11f7 251
mbedalvaro 1:a4050fee11f7 252 else if ( !strcmp(address[0], "mbedReset" ) ) mbed_reset();
mbedalvaro 22:d87317d7ca91 253
mbedalvaro 22:d87317d7ca91 254 else if (!strcmp(address[0], "showMirrorLimits")) {
mbedalvaro 22:d87317d7ca91 255 int value=data[0];
mbedalvaro 22:d87317d7ca91 256 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 22:d87317d7ca91 257 timerForRendering.detach();
mbedalvaro 22:d87317d7ca91 258 IO.showLimitsMirrors(value);
mbedalvaro 22:d87317d7ca91 259 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 22:d87317d7ca91 260 }
mbedalvaro 22:d87317d7ca91 261 }
mbedalvaro 1:a4050fee11f7 262
mbedalvaro 1:a4050fee11f7 263 else if ( !strcmp(address[0], "calibrate" ) ) {
mbedalvaro 1:a4050fee11f7 264 // First, we need to disable the threaded display for the loop:
mbedalvaro 1:a4050fee11f7 265 timerForRendering.detach();
mbedalvaro 1:a4050fee11f7 266 // RESCAN (and save LUT table):
mbedalvaro 1:a4050fee11f7 267 IO.scanLUT();
mbedalvaro 1:a4050fee11f7 268 // Finally, start again threaded display:
mbedalvaro 9:3321170d157c 269 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 9:3321170d157c 270 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 1:a4050fee11f7 271 }
mbedalvaro 1:a4050fee11f7 272
mbedalvaro 1:a4050fee11f7 273 // (II) ========================================= GLOBAL CONFIG and HARDWARE COMMANDS ===========================================
mbedalvaro 1:a4050fee11f7 274
mbedalvaro 1:a4050fee11f7 275 else if ( !strcmp(address[0], "setGreenLaser" ) ) {
mbedalvaro 1:a4050fee11f7 276 int value=data[0];
mbedalvaro 1:a4050fee11f7 277 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 1:a4050fee11f7 278 if (value==0) IO.setGreenPower(0);
mbedalvaro 1:a4050fee11f7 279 else IO.setGreenPower(1);
mbedalvaro 1:a4050fee11f7 280 }
mbedalvaro 1:a4050fee11f7 281 }
mbedalvaro 1:a4050fee11f7 282
mbedalvaro 1:a4050fee11f7 283 // SIMPLE BEHAVIOUR MODES (to be read from an XML file in the future):
mbedalvaro 11:62f7183a03e7 284 else if (!strcmp(address[0], "elastic_following")) { //
mbedalvaro 1:a4050fee11f7 285 timerForRendering.detach();
mbedalvaro 0:345b3bc7a0ea 286 // blobconf.computeBoundingBox();
mbedalvaro 1:a4050fee11f7 287 blobconf.clearConfig();
mbedalvaro 1:a4050fee11f7 288 blobconf.addOneElasticContourFollowing();
mbedalvaro 1:a4050fee11f7 289 lsr.setConfigToRender(&blobconf);
mbedalvaro 9:3321170d157c 290 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 9:3321170d157c 291 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 16:2ff1cb2ae1b1 292
mbedalvaro 11:62f7183a03e7 293 } else if (!strcmp(address[0], "elastic_mouth")) { //
mbedalvaro 1:a4050fee11f7 294 timerForRendering.detach();
mbedalvaro 1:a4050fee11f7 295 // blobconf.computeBoundingBox();
mbedalvaro 1:a4050fee11f7 296 blobconf.clearConfig();
mbedalvaro 1:a4050fee11f7 297 blobconf.addOneElasticLoopContractCentral();
mbedalvaro 1:a4050fee11f7 298 lsr.setConfigToRender(&blobconf);
mbedalvaro 9:3321170d157c 299 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 9:3321170d157c 300 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 19:228430f1350e 301
mbedalvaro 19:228430f1350e 302 } else if (!strcmp(address[0], "elastic_mouth_small")) { //
mbedalvaro 19:228430f1350e 303 timerForRendering.detach();
mbedalvaro 19:228430f1350e 304 // blobconf.computeBoundingBox();
mbedalvaro 19:228430f1350e 305 blobconf.clearConfig();
mbedalvaro 19:228430f1350e 306 blobconf.addOneElasticLoopContractCentralFast();
mbedalvaro 19:228430f1350e 307 lsr.setConfigToRender(&blobconf);
mbedalvaro 19:228430f1350e 308 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 19:228430f1350e 309 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 1:a4050fee11f7 310 }
mbedalvaro 11:62f7183a03e7 311 else if (!strcmp(address[0], "spot_bouncing")) {
mbedalvaro 16:2ff1cb2ae1b1 312 int value=data[0];
mbedalvaro 16:2ff1cb2ae1b1 313 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 16:2ff1cb2ae1b1 314
mbedalvaro 16:2ff1cb2ae1b1 315 timerForRendering.detach();
mbedalvaro 16:2ff1cb2ae1b1 316 // blobconf.computeBoundingBox();
mbedalvaro 16:2ff1cb2ae1b1 317 blobconf.clearConfig();
mbedalvaro 16:2ff1cb2ae1b1 318
mbedalvaro 22:d87317d7ca91 319 // HACK for the time being:
mbedalvaro 22:d87317d7ca91 320 int aux=rand()%100;
mbedalvaro 22:d87317d7ca91 321 if (aux<70) value=1;
mbedalvaro 22:d87317d7ca91 322 else if (aux<80) value=2;
mbedalvaro 22:d87317d7ca91 323 else value=3;
mbedalvaro 22:d87317d7ca91 324
mbedalvaro 16:2ff1cb2ae1b1 325 for (int i=0; i<value ; i++) blobconf.addOneRigidLoopBouncing();
mbedalvaro 16:2ff1cb2ae1b1 326
mbedalvaro 16:2ff1cb2ae1b1 327 lsr.setConfigToRender(&blobconf);
mbedalvaro 16:2ff1cb2ae1b1 328 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 16:2ff1cb2ae1b1 329 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 16:2ff1cb2ae1b1 330 }
mbedalvaro 16:2ff1cb2ae1b1 331 }
mbedalvaro 16:2ff1cb2ae1b1 332
mbedalvaro 16:2ff1cb2ae1b1 333 else if (!strcmp(address[0], "spot_following")) {
mbedalvaro 16:2ff1cb2ae1b1 334 int value=data[0];
mbedalvaro 16:2ff1cb2ae1b1 335 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 16:2ff1cb2ae1b1 336
mbedalvaro 16:2ff1cb2ae1b1 337 timerForRendering.detach();
mbedalvaro 16:2ff1cb2ae1b1 338 // blobconf.computeBoundingBox();
mbedalvaro 16:2ff1cb2ae1b1 339 blobconf.clearConfig();
mbedalvaro 22:d87317d7ca91 340
mbedalvaro 22:d87317d7ca91 341 // HACK for the time being:
mbedalvaro 22:d87317d7ca91 342 int aux=rand()%100;
mbedalvaro 22:d87317d7ca91 343 if (aux<70) value=1;
mbedalvaro 22:d87317d7ca91 344 else if (aux<80) value=2;
mbedalvaro 22:d87317d7ca91 345 else value=6;
mbedalvaro 22:d87317d7ca91 346
mbedalvaro 16:2ff1cb2ae1b1 347 for (int i=0; i<value ; i++) blobconf.addOneRigidLoopFollowing();
mbedalvaro 22:d87317d7ca91 348
mbedalvaro 22:d87317d7ca91 349
mbedalvaro 16:2ff1cb2ae1b1 350 lsr.setConfigToRender(&blobconf);
mbedalvaro 16:2ff1cb2ae1b1 351 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 16:2ff1cb2ae1b1 352 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 16:2ff1cb2ae1b1 353 }
mbedalvaro 16:2ff1cb2ae1b1 354 }
mbedalvaro 16:2ff1cb2ae1b1 355
mbedalvaro 16:2ff1cb2ae1b1 356 else if (!strcmp(address[0], "spot_test")) {
mbedalvaro 0:345b3bc7a0ea 357 timerForRendering.detach();
mbedalvaro 0:345b3bc7a0ea 358 // blobconf.computeBoundingBox();
mbedalvaro 1:a4050fee11f7 359 blobconf.clearConfig();
mbedalvaro 16:2ff1cb2ae1b1 360 blobconf.addOneRigidLoopTest();
mbedalvaro 1:a4050fee11f7 361 lsr.setConfigToRender(&blobconf);
mbedalvaro 9:3321170d157c 362 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 9:3321170d157c 363 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 1:a4050fee11f7 364 }
mbedalvaro 1:a4050fee11f7 365
mbedalvaro 1:a4050fee11f7 366 // other:
mbedalvaro 1:a4050fee11f7 367
mbedalvaro 1:a4050fee11f7 368 else if ( !strcmp(address[0], "standby" ) ) { // will put ALL the spots in stand by mode
mbedalvaro 0:345b3bc7a0ea 369 blobconf.allStandBy(); // will avoid the update function
mbedalvaro 1:a4050fee11f7 370 } else if ( !strcmp(address[0], "resume" ) ) { // will put ALL the spots in stand by mode
mbedalvaro 0:345b3bc7a0ea 371 blobconf.allResume(); // will avoid the update function
mbedalvaro 1:a4050fee11f7 372 }
mbedalvaro 1:a4050fee11f7 373
mbedalvaro 1:a4050fee11f7 374 // (III) ========================================= Loop control (parameters, etc) ===========================================
mbedalvaro 19:228430f1350e 375
mbedalvaro 1:a4050fee11f7 376 else if (!strcmp( address[0], "sendOSC" ) ) {
mbedalvaro 1:a4050fee11f7 377 int value=data[0];
mbedalvaro 1:a4050fee11f7 378 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 1:a4050fee11f7 379 for (int i=0; i< blobconf.numBlobs; i++) {
mbedalvaro 1:a4050fee11f7 380 blobconf.blobArray[i]->sendOSC=(value>0);
mbedalvaro 1:a4050fee11f7 381 }
mbedalvaro 1:a4050fee11f7 382 }
mbedalvaro 1:a4050fee11f7 383 }
mbedalvaro 1:a4050fee11f7 384
mbedalvaro 1:a4050fee11f7 385 else if (!strcmp( address[0], "sendArea" ) ) {
mbedalvaro 1:a4050fee11f7 386 int value=data[0];
mbedalvaro 1:a4050fee11f7 387 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 1:a4050fee11f7 388 for (int i=0; i< blobconf.numBlobs; i++) {
mbedalvaro 1:a4050fee11f7 389 blobconf.blobArray[i]->sendingBlobArea=(value>0);
mbedalvaro 1:a4050fee11f7 390 }
mbedalvaro 1:a4050fee11f7 391 }
mbedalvaro 1:a4050fee11f7 392 }
mbedalvaro 1:a4050fee11f7 393
mbedalvaro 1:a4050fee11f7 394 else if (!strcmp( address[0], "sendPos" ) ) {
mbedalvaro 1:a4050fee11f7 395 int value=data[0];
mbedalvaro 1:a4050fee11f7 396 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 1:a4050fee11f7 397 for (int i=0; i< blobconf.numBlobs; i++) {
mbedalvaro 1:a4050fee11f7 398 blobconf.blobArray[i]->sendingLoopPositions=(value>0);
mbedalvaro 1:a4050fee11f7 399 }
mbedalvaro 1:a4050fee11f7 400 }
mbedalvaro 1:a4050fee11f7 401 }
mbedalvaro 1:a4050fee11f7 402
mbedalvaro 1:a4050fee11f7 403 else if (!strcmp( address[0], "sendRegions" ) ) {
mbedalvaro 1:a4050fee11f7 404 int value=data[0];
mbedalvaro 1:a4050fee11f7 405 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 1:a4050fee11f7 406 for (int i=0; i< blobconf.numBlobs; i++) {
mbedalvaro 1:a4050fee11f7 407 blobconf.blobArray[i]->sendingLoopRegions=(value>0);
mbedalvaro 1:a4050fee11f7 408 }
mbedalvaro 1:a4050fee11f7 409 }
mbedalvaro 1:a4050fee11f7 410 }
mbedalvaro 1:a4050fee11f7 411
mbedalvaro 1:a4050fee11f7 412 else if (!strcmp( address[0], "sendTouched" ) ) {
mbedalvaro 1:a4050fee11f7 413 int value=data[0];
mbedalvaro 1:a4050fee11f7 414 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 1:a4050fee11f7 415 for (int i=0; i< blobconf.numBlobs; i++) {
mbedalvaro 1:a4050fee11f7 416 blobconf.blobArray[i]->sendingTouched=(value>0);
mbedalvaro 1:a4050fee11f7 417 }
mbedalvaro 1:a4050fee11f7 418 }
mbedalvaro 1:a4050fee11f7 419 }
mbedalvaro 1:a4050fee11f7 420
mbedalvaro 1:a4050fee11f7 421
mbedalvaro 1:a4050fee11f7 422
mbedalvaro 0:345b3bc7a0ea 423 }
mbedalvaro 0:345b3bc7a0ea 424
mbedalvaro 0:345b3bc7a0ea 425 //============= RECEIVE OSC COMMANDS =========================
mbedalvaro 1:a4050fee11f7 426 // This is the callback function called when there are packets on the listening socket. It is not nice to have it
mbedalvaro 1:a4050fee11f7 427 // here, but for the time being having a "wrapping global" is the simplest solution (we cannot pass a member-function pointer
mbedalvaro 1:a4050fee11f7 428 // as handler to the upd object).
mbedalvaro 0:345b3bc7a0ea 429 void processOSC(UDPSocketEvent e) {
mbedalvaro 0:345b3bc7a0ea 430 osc.onUDPSocketEvent(e);
mbedalvaro 0:345b3bc7a0ea 431
mbedalvaro 0:345b3bc7a0ea 432 if (osc.newMessage) {
mbedalvaro 1:a4050fee11f7 433 // 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 434 // 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 435
mbedalvaro 1:a4050fee11f7 436 // Acquire the addresses and arguments and put them in the GLOBAL variables:
mbedalvaro 1:a4050fee11f7 437 strcpy(address[0],"");
mbedalvaro 1:a4050fee11f7 438 strcpy(address[1],"");
mbedalvaro 1:a4050fee11f7 439 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 440 // Acquire data:
mbedalvaro 1:a4050fee11f7 441 data[0]=-1;
mbedalvaro 1:a4050fee11f7 442 data[1]=-1;
mbedalvaro 1:a4050fee11f7 443 for (int i=0; i<recMes.getArgNum(); i++) data[i]=(int)recMes.getArgInt(i);
mbedalvaro 1:a4050fee11f7 444
mbedalvaro 1:a4050fee11f7 445 // Finally, interpret the command:
mbedalvaro 1:a4050fee11f7 446 interpretCommand();//address, data);
mbedalvaro 1:a4050fee11f7 447
mbedalvaro 0:345b3bc7a0ea 448 }
mbedalvaro 1:a4050fee11f7 449 }
mbedalvaro 1:a4050fee11f7 450
mbedalvaro 0:345b3bc7a0ea 451 //============= RECEIVE SERIAL COMMANDS =========================
mbedalvaro 0:345b3bc7a0ea 452 //
mbedalvaro 1:a4050fee11f7 453 // NOTE: - NUMERIC PARAMETERS have to be send BEFORE the command word. They must be sent as ASCII DEC, without end character.
mbedalvaro 0:345b3bc7a0ea 454 // - Commands words SHOULD NOT have numbers in it. They should be C compliant STRINGS (ended with character '0')
mbedalvaro 1:a4050fee11f7 455 // - order is irrelevant: we can send 10 RADIUS or RADIUS 10.
mbedalvaro 0:345b3bc7a0ea 456
mbedalvaro 1:a4050fee11f7 457 // String to store ALPHANUMERIC DATA (i.e., integers, floating point numbers, unsigned ints, etc represented as DEC) sent wirelessly:
mbedalvaro 0:345b3bc7a0ea 458 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 459 int indexStringData=0;//position of the byte in the string
mbedalvaro 0:345b3bc7a0ea 460
mbedalvaro 0:345b3bc7a0ea 461 // String to store COMMAND WORDS:
mbedalvaro 0:345b3bc7a0ea 462 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 463 int indexStringCommand=0;
mbedalvaro 0:345b3bc7a0ea 464 bool commandReady=false; // will become true when receiving the byte 0 (i.e. the '/0' string terminator)
mbedalvaro 0:345b3bc7a0ea 465
mbedalvaro 0:345b3bc7a0ea 466 void processSerial() {
mbedalvaro 0:345b3bc7a0ea 467
mbedalvaro 1:a4050fee11f7 468 while (pc.readable()>0) {
mbedalvaro 1:a4050fee11f7 469
mbedalvaro 14:0fc33a3a7b4b 470
mbedalvaro 1:a4050fee11f7 471 char val =pc.getc();
mbedalvaro 0:345b3bc7a0ea 472 // pc.printf("Got :%d\n", incomingByte);
mbedalvaro 1:a4050fee11f7 473 //pc.putc(incomingByte);
mbedalvaro 1:a4050fee11f7 474
mbedalvaro 1:a4050fee11f7 475 // Save ASCII numeric characters (ASCII 0 - 9) on stringData:
mbedalvaro 1:a4050fee11f7 476 if ((val >= '0') && (val <= '9')) { // this is 45 to 57 (included)
mbedalvaro 1:a4050fee11f7 477 stringData[indexStringData] = val;
mbedalvaro 1:a4050fee11f7 478 indexStringData++;
mbedalvaro 1:a4050fee11f7 479 }
mbedalvaro 1:a4050fee11f7 480
mbedalvaro 1:a4050fee11f7 481 // Save ASCII letters in stringCommand:
mbedalvaro 1:a4050fee11f7 482 if ((val >= 'A') && (val <= 'z')) { // this is 65 to 122 (included)
mbedalvaro 1:a4050fee11f7 483 stringCommand[indexStringCommand] = val;
mbedalvaro 1:a4050fee11f7 484 indexStringCommand++;
mbedalvaro 1:a4050fee11f7 485 }
mbedalvaro 1:a4050fee11f7 486 // is command ready?
mbedalvaro 1:a4050fee11f7 487 if (val=='/') {
mbedalvaro 1:a4050fee11f7 488 commandReady=true;
mbedalvaro 1:a4050fee11f7 489 stringCommand[indexStringCommand] = 0; // string termination.
mbedalvaro 1:a4050fee11f7 490 indexStringCommand=0; // reset index string for acquiring next command
mbedalvaro 1:a4050fee11f7 491 //Serial.println(stringCommand);
mbedalvaro 1:a4050fee11f7 492 }
mbedalvaro 1:a4050fee11f7 493
mbedalvaro 1:a4050fee11f7 494 // COMMANDS (with or without numeric parameters):
mbedalvaro 1:a4050fee11f7 495 if (commandReady==true) { // it means we can interpret the command string:
mbedalvaro 1:a4050fee11f7 496 commandReady=false;
mbedalvaro 1:a4050fee11f7 497
mbedalvaro 1:a4050fee11f7 498 stringData[indexStringData] = 0 ;// string termination for numeric values;
mbedalvaro 1:a4050fee11f7 499 indexStringData=0;
mbedalvaro 1:a4050fee11f7 500
mbedalvaro 1:a4050fee11f7 501 // PARSE DATA: (TO DO!!!!!!!!!!!!!!):
mbedalvaro 0:345b3bc7a0ea 502
mbedalvaro 1:a4050fee11f7 503 // (a) Parse command (get address[0] and address[1]):
mbedalvaro 1:a4050fee11f7 504 //ex: "/1/standBy" -- > address[0]="1" and address[1]="standBy"
mbedalvaro 1:a4050fee11f7 505 // address[2]
mbedalvaro 1:a4050fee11f7 506
mbedalvaro 1:a4050fee11f7 507 // Serial.println(stringCommand);
mbedalvaro 1:a4050fee11f7 508 // Serial.println(stringData);
mbedalvaro 1:a4050fee11f7 509
mbedalvaro 1:a4050fee11f7 510 // (b) Parse data:
mbedalvaro 1:a4050fee11f7 511
mbedalvaro 1:a4050fee11f7 512 // char address[2][24];
mbedalvaro 1:a4050fee11f7 513 //long auxdata[2]; // to store a max of two arguments (note: we will only use LONGs)
mbedalvaro 1:a4050fee11f7 514 //int data[2]; // this is to have -1 as NO DATA, to detect errors.
mbedalvaro 1:a4050fee11f7 515
mbedalvaro 1:a4050fee11f7 516 // FOR THE TIME BEING there is no parsing for serial commands:
mbedalvaro 1:a4050fee11f7 517
mbedalvaro 1:a4050fee11f7 518 // SCANNING:
mbedalvaro 1:a4050fee11f7 519 if (!strcmp(stringCommand , "takeSnapshot")) {
mbedalvaro 1:a4050fee11f7 520 // First, we need to disable the threaded display for the loop:
mbedalvaro 1:a4050fee11f7 521 timerForRendering.detach();
mbedalvaro 1:a4050fee11f7 522
mbedalvaro 1:a4050fee11f7 523 // Then, do the scan (sending values on serial port):
mbedalvaro 1:a4050fee11f7 524 IO.scan_serial();
mbedalvaro 1:a4050fee11f7 525
mbedalvaro 1:a4050fee11f7 526 // Finally, start again threaded display:
mbedalvaro 4:f9d364f10335 527 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 9:3321170d157c 528 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 16:2ff1cb2ae1b1 529 } else if (!strcmp(stringCommand , "REDON")) IO.setRedPower(1); // pc.printf("%d\n",incomingByte);
mbedalvaro 1:a4050fee11f7 530
mbedalvaro 14:0fc33a3a7b4b 531 else if (!strcmp(stringCommand , "REDOFF")) IO.setRedPower(0);
mbedalvaro 14:0fc33a3a7b4b 532
mbedalvaro 14:0fc33a3a7b4b 533 else if (!strcmp(stringCommand , "READVALUE")) pc.printf("Value read: %f", lockin.getSmoothValue());//lockin.getLastValue());/
mbedalvaro 1:a4050fee11f7 534
mbedalvaro 14:0fc33a3a7b4b 535 else if (!strcmp(stringCommand , "mbedReset")) mbed_reset();
mbedalvaro 16:2ff1cb2ae1b1 536
mbedalvaro 14:0fc33a3a7b4b 537 else if (!strcmp(stringCommand , "calibrate")) {
mbedalvaro 16:2ff1cb2ae1b1 538 // First, we need to disable the threaded display for the loop:
mbedalvaro 16:2ff1cb2ae1b1 539 timerForRendering.detach();
mbedalvaro 16:2ff1cb2ae1b1 540 // RESCAN (and save LUT table):
mbedalvaro 16:2ff1cb2ae1b1 541 IO.scanLUT();
mbedalvaro 16:2ff1cb2ae1b1 542 // Finally, start again threaded display:
mbedalvaro 16:2ff1cb2ae1b1 543 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
mbedalvaro 16:2ff1cb2ae1b1 544 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
mbedalvaro 16:2ff1cb2ae1b1 545 }
mbedalvaro 1:a4050fee11f7 546
mbedalvaro 1:a4050fee11f7 547 // FINALLY, interpret commands (but only after parsing):
mbedalvaro 1:a4050fee11f7 548 // interpretCommand();//address, data);
mbedalvaro 0:345b3bc7a0ea 549
mbedalvaro 0:345b3bc7a0ea 550 }
mbedalvaro 1:a4050fee11f7 551 }
mbedalvaro 1:a4050fee11f7 552 }
mbedalvaro 0:345b3bc7a0ea 553
mbedalvaro 0:345b3bc7a0ea 554
mbedalvaro 0:345b3bc7a0ea 555
mbedalvaro 0:345b3bc7a0ea 556 // ================ MISCELANEA
mbedalvaro 0:345b3bc7a0ea 557
mbedalvaro 0:345b3bc7a0ea 558 /* EXAMPLE SEND/RECEIVE on PROCESSING:
mbedalvaro 0:345b3bc7a0ea 559
mbedalvaro 0:345b3bc7a0ea 560 // oscP5sendreceive by andreas schlegel
mbedalvaro 0:345b3bc7a0ea 561 // example shows how to send and receive osc messages.
mbedalvaro 0:345b3bc7a0ea 562 // oscP5 website at http://www.sojamo.de/oscP5
mbedalvaro 0:345b3bc7a0ea 563
mbedalvaro 0:345b3bc7a0ea 564 import oscP5.*;
mbedalvaro 0:345b3bc7a0ea 565 import netP5.*;
mbedalvaro 1:a4050fee11f7 566
mbedalvaro 0:345b3bc7a0ea 567 OscP5 oscP5;
mbedalvaro 0:345b3bc7a0ea 568 NetAddress myRemoteLocation;
mbedalvaro 0:345b3bc7a0ea 569
mbedalvaro 0:345b3bc7a0ea 570 void setup() {
mbedalvaro 0:345b3bc7a0ea 571 size(400,400);
mbedalvaro 0:345b3bc7a0ea 572 frameRate(25);
mbedalvaro 1:a4050fee11f7 573 // start oscP5, listening for incoming messages at port 12000
mbedalvaro 0:345b3bc7a0ea 574 oscP5 = new OscP5(this,12000);
mbedalvaro 1:a4050fee11f7 575
mbedalvaro 0:345b3bc7a0ea 576 // myRemoteLocation is a NetAddress. a NetAddress takes 2 parameters,
mbedalvaro 0:345b3bc7a0ea 577 // an ip address and a port number. myRemoteLocation is used as parameter in
mbedalvaro 1:a4050fee11f7 578 // oscP5.send() when sending osc packets to another computer, device,
mbedalvaro 0:345b3bc7a0ea 579 // application. usage see below. for testing purposes the listening port
mbedalvaro 0:345b3bc7a0ea 580 // and the port of the remote location address are the same, hence you will
mbedalvaro 0:345b3bc7a0ea 581 // send messages back to this sketch.
mbedalvaro 0:345b3bc7a0ea 582 myRemoteLocation = new NetAddress("10.0.0.2",10000);
mbedalvaro 0:345b3bc7a0ea 583 }
mbedalvaro 0:345b3bc7a0ea 584
mbedalvaro 0:345b3bc7a0ea 585
mbedalvaro 0:345b3bc7a0ea 586 void draw() {
mbedalvaro 1:a4050fee11f7 587 background(0);
mbedalvaro 0:345b3bc7a0ea 588 }
mbedalvaro 0:345b3bc7a0ea 589
mbedalvaro 0:345b3bc7a0ea 590 void mousePressed() {
mbedalvaro 1:a4050fee11f7 591 // in the following different ways of creating osc messages are shown by example
mbedalvaro 0:345b3bc7a0ea 592 OscMessage myMessage = new OscMessage("/mbed/test1");
mbedalvaro 1:a4050fee11f7 593
mbedalvaro 1:a4050fee11f7 594 myMessage.add(123); // add an int to the osc message
mbedalvaro 0:345b3bc7a0ea 595
mbedalvaro 1:a4050fee11f7 596 // send the message
mbedalvaro 1:a4050fee11f7 597 oscP5.send(myMessage, myRemoteLocation);
mbedalvaro 0:345b3bc7a0ea 598 }
mbedalvaro 0:345b3bc7a0ea 599
mbedalvaro 0:345b3bc7a0ea 600
mbedalvaro 1:a4050fee11f7 601 // incoming osc message are forwarded to the oscEvent method.
mbedalvaro 0:345b3bc7a0ea 602 void oscEvent(OscMessage theOscMessage) {
mbedalvaro 1:a4050fee11f7 603 // print the address pattern and the typetag of the received OscMessage
mbedalvaro 0:345b3bc7a0ea 604 print("### received an osc message.");
mbedalvaro 0:345b3bc7a0ea 605 print(" addrpattern: "+theOscMessage.addrPattern());
mbedalvaro 0:345b3bc7a0ea 606 println(" typetag: "+theOscMessage.typetag());
mbedalvaro 0:345b3bc7a0ea 607 }
mbedalvaro 0:345b3bc7a0ea 608
mbedalvaro 0:345b3bc7a0ea 609 */