Diff: main.cpp

Revision:

16:2ff1cb2ae1b1

Parent:

14:0fc33a3a7b4b

Child:

17:356ca5690a59

--- a/main.cpp	Thu Apr 12 14:50:50 2012 +0000
+++ b/main.cpp	Fri Apr 13 07:43:09 2012 +0000
@@ -110,8 +110,8 @@
 
 //    blobconf.addOneRigidLoopBouncing();
 //  blobconf.addOneRigidLoopBouncing();
-blobconf.addOneRigidLoopFollowing();
-blobconf.addOneRigidLoopFollowing();
+//blobconf.addOneRigidLoopFollowing();
+    blobconf.addOneRigidLoopFollowing();
 
 
 //blobconf.addOneRigidLoopTest();
@@ -157,9 +157,9 @@
 
             // draw the config (note: each kind of blob renders differently)
             blobconf.draw();
-           
-           lsr.startFullDisplay(); // this start the point-display counter (wherever the actual laser is). Before update and draw, the counter needs to be reset. 
-            
+
+            lsr.startFullDisplay(); // this start the point-display counter (wherever the actual laser is). Before update and draw, the counter needs to be reset.
+
 
             // __enable_irq();
 
@@ -179,16 +179,16 @@
 #endif
 
 
-            // (b)Sending Data: // PUT THIS IN AN INTERRUPT OR USE A TIMER!!! it may be TOO FAST...
-            // 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):
-            if (measureSendPeriod.read_ms()>25) {
-                measureSendPeriod.stop();
-                measureSendPeriod.reset();
+        // (b)Sending Data: // PUT THIS IN AN INTERRUPT OR USE A TIMER!!! it may be TOO FAST...
+        // 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):
+        if (measureSendPeriod.read_ms()>25) {
+            measureSendPeriod.stop();
+            measureSendPeriod.reset();
 
-                blobconf.sendConfData();
+            blobconf.sendConfData();
 
-                measureSendPeriod.start();
-            }
+            measureSendPeriod.start();
+        }
 
 
         // text:
@@ -233,7 +233,7 @@
 //interpretCommand(const char& address[2][], const int& data[2]) {
 void interpretCommand() {
     // (I) =========================================== SPECIAL FUNCTIONS (reset, rescan LUT, etc) ====================================================
-    if ( !strcmp(address[0], "takeSnapshot" ) ) { 
+    if ( !strcmp(address[0], "takeSnapshot" ) ) {
 
         // for test:
         for (int i=0; i<2 ; i++) {
@@ -285,7 +285,7 @@
         lsr.setConfigToRender(&blobconf);
         timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
         // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
-  
+
     } else if (!strcmp(address[0], "elastic_mouth")) { //
         timerForRendering.detach();
         // blobconf.computeBoundingBox();
@@ -297,20 +297,40 @@
     }
 
     else if (!strcmp(address[0], "spot_bouncing")) {
+        int value=data[0];
+        if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
+
+            timerForRendering.detach();
+            // blobconf.computeBoundingBox();
+            blobconf.clearConfig();
+
+            for (int i=0; i<value ; i++) blobconf.addOneRigidLoopBouncing();
+
+            lsr.setConfigToRender(&blobconf);
+            timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
+            // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
+        }
+    }
+
+    else if (!strcmp(address[0], "spot_following")) {
+        int value=data[0];
+        if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
+
+            timerForRendering.detach();
+            // blobconf.computeBoundingBox();
+            blobconf.clearConfig();
+            for (int i=0; i<value ; i++) blobconf.addOneRigidLoopFollowing();
+            lsr.setConfigToRender(&blobconf);
+            timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
+            // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
+        }
+    }
+
+    else if (!strcmp(address[0], "spot_test")) {
         timerForRendering.detach();
         // blobconf.computeBoundingBox();
         blobconf.clearConfig();
-        blobconf.addOneRigidLoopBouncing();
-        lsr.setConfigToRender(&blobconf);
-        timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
-        // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
-    }
-    
-      else if (!strcmp(address[0], "spot_following")) {
-        timerForRendering.detach();
-        // blobconf.computeBoundingBox();
-        blobconf.clearConfig();
-        blobconf.addOneRigidLoopFollowing();
+        blobconf.addOneRigidLoopTest();
         lsr.setConfigToRender(&blobconf);
         timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
         // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
@@ -480,24 +500,23 @@
                 // Finally, start again threaded display:
                 timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
                 // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
-            } 
-            else if (!strcmp(stringCommand , "REDON"))   IO.setRedPower(1); // pc.printf("%d\n",incomingByte);
+            } else if (!strcmp(stringCommand , "REDON"))   IO.setRedPower(1); // pc.printf("%d\n",incomingByte);
 
             else if (!strcmp(stringCommand , "REDOFF"))  IO.setRedPower(0);
 
             else if  (!strcmp(stringCommand , "READVALUE")) pc.printf("Value read: %f", lockin.getSmoothValue());//lockin.getLastValue());/
 
             else if (!strcmp(stringCommand , "mbedReset"))  mbed_reset();
-            
+
             else if (!strcmp(stringCommand , "calibrate")) {
-             // First, we need to disable the threaded display for the loop:
-        timerForRendering.detach();
-        // RESCAN (and save LUT table):
-        IO.scanLUT();
-        // Finally, start again threaded display:
-        timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
-        // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
-        }
+                // First, we need to disable the threaded display for the loop:
+                timerForRendering.detach();
+                // RESCAN (and save LUT table):
+                IO.scanLUT();
+                // Finally, start again threaded display:
+                timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);
+                // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
+            }
 
             // FINALLY, interpret commands (but only after parsing):
             //  interpretCommand();//address, data);