Diff: laserSensingDisplay.h

Revision:

40:3ba2b0ea9f33

Child:

45:5ef809480c12

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/laserSensingDisplay.h	Wed Oct 16 16:14:27 2013 +0000
@@ -0,0 +1,95 @@
+#ifndef LASER_SENSING_DISPLAY_h
+#define LASER_SENSING_DISPLAY_h
+
+#include "mbed.h" // we will use in particular the Ticker object
+#include "hardwareIO.h" // Include hardware interface for display and sensing
+#include "Scene.h"
+
+//extern laserSensingDisplay lsd; // pre-instantiated in the implementation file. 
+
+// =====================================================================================================================
+// 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!), 
+// so for the time being, it would be better to compute "optimal trajectories" with repetitive points if necessary on the pc side...
+
+// =====================================================================================================================
+
+//#define debugDelayMirrors // this is to check visually the mirror delay (but it is also beautiful)
+
+#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 
+// are many blobs, see "DEFAULT_OVERLAP_POINTS" (but will slow down...)
+
+#define RENDER_INTERVAL 0.000056 //0.0001 is good for CALIBRATION grid, 0.000054 good for normal display // in seconds (Ticker)
+
+#define WAIT_NORMAL 1 // good :0 // (minimum is 0) waiting time for setting mirror position MINUS waiting laser time (note that this total waiting time may be 
+//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 
+// the case for multiple blobs or highly deformed blobs). 
+#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
+// WHEN THERE IS MORE THAN ONE SPOT:
+#define WAIT_FIRST 8// Good 7 for grid. 12 // special waiting time for mirror positioning to first point on next 
+// blob BEFORE re-activating laser
+
+// ****IMPORTANT: IN FACT WAITING TIMES SHOULD DEPEND ON THE DISTANCE BETWEEN THE POINTS. AND THAT'S ALL*****
+
+#define WAIT_FIRST_LASER 0  // IMPORTANT waiting time for the activation of the RED laser and LOCK-IN (also waiting time for the mirrors)
+#define WAIT_LAST 2  // special waiting time for last point 
+
+// Redundant drawing for avoiding deformed saccade (note: this could be active when there is more than one blob, instead of using a #define...)
+// NOTE: THIS IS ONLY MEANINFUL IF THE OBJECT IS A LOOP!!!
+#define DEFAULT_OVERLAP_POINTS 0 // 10
+
+enum lsdStateType {START_FIRST_OBJECT, NORMAL_POINT, LAST_POINT, MOVE_NEXT_OBJECT, START_POINT};
+
+typedef struct {
+    // to do!
+} lsdParams;
+
+class laserSensingDisplay {
+    public:
+    
+    // constructor:
+    laserSensingDisplay(); 
+
+    // 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):
+    void setSceneToDisplay(Scene* );
+    // NOTE: as this does display AND sensing, I cannot separate the 3d SCENE points from the 2d FRAME points. I call
+    // therefore the "frame and scene" as just the "scene" for the time being.
+    Scene* ptSceneToDisplay;
+        
+    //void startRenderer(); // pb: I cannot use the ticker function inside the class!
+    void laserDisplayThread();
+    void run(); // start the ticker on laserDisplayThread
+    void stop(); // stop the ticker on laserDisplayThread
+    bool isRunning(); 
+    
+    lsdStateType stateLsd;
+    unsigned char totalObjects; // I assume no more than 255 objects!
+    unsigned char currentObject;
+    unsigned short currentPoint;
+    unsigned char currentMirrorDelay;
+    unsigned short currentTotalPoints;
+    unsigned char currentColor;
+    
+    unsigned short x,y; // auxiliary variables storing mirror position(0-4096)
+    
+    // New method to check complete display of one loop:
+    unsigned short configTotalPoints;
+    unsigned short pointDisplayCounter;
+    unsigned char numOverlapPoints; // I assume no more than 255 points of overlap!
+    bool isDisplayingOver();
+    void startDisplayCheck();
+    
+    unsigned char waitNormal, waitLaser, waitFirst, waitFirstLaser, waitLast;
+    
+    private:
+    
+    // Ticker to run/stop the ISR "laserDisplayThread()"
+    Ticker timerForRendering; // note: this is the only file that uses this object (attach and detach).
+    bool runningState; 
+    bool displayingFinished;
+};
+
+#endif
+
+
+ 
+