File content as of revision 47:199042980678:

#include "laserSensingDisplay.h"

laserSensingDisplay lsd; // pre-instantiated cross-file global object

// The constructor:
laserSensingDisplay::laserSensingDisplay()
{
// pointDisplayCounter=65535;
    runningState=false;// this is important for the FIRST time (could be better in an "init" function?).
    displayingFinished=false;
}

void laserSensingDisplay::run()  // start the ticker on laserDisplayThread
{
    timerForRendering.attach(this, &laserSensingDisplay::laserDisplayThread, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds)
    runningState=true;
}

void laserSensingDisplay::stop()   // stop the ticker on laserDisplayThread
{
    timerForRendering.detach();
    runningState=false;
}

bool laserSensingDisplay::isRunning()
{
    return(runningState);
}

void laserSensingDisplay::setSceneToDisplay(Scene* ptScene)
{
    //Note: if the scene is recreated, it is important to first stop the displaying, and call to this function again, and only then re-attach the interrupt

    ptSceneToDisplay=ptScene;
    totalObjects=ptSceneToDisplay->totalObjects();

    // overlap display to avoid deformed saccade and give time to the mirrors to be well in the saccade trajectory
    // NOTE: ideally, numOverlapPoints depends on the number of points of EACH blob, as well as the distance between the spots.
    //       But for the time being, this will be a fixed quantity (DEFAULT_OVERLAP_POINTS).
    if (totalObjects>1) numOverlapPoints=DEFAULT_OVERLAP_POINTS;
    else numOverlapPoints=0;

    configTotalPoints=ptSceneToDisplay->totalPoints();
    // configTotalPoints contains the number of points of the config, and will be used to ensure that a FULL DISPLAY has been done BEFORE updating and "re-drawing" the trajectory in the buffer,
    // wherever the current point being displayed when we start the update/draw.
    // pointDisplayCounter=0;

    // Set time counters to 0:
    // NOTE: the waiting times (normal, start and end point) can be OBJECT dependent. This may be a nice future (TO DO?).
    waitFirst=0;
    waitFirstLaser=0;
    waitNormal=0;
    waitLaser=0;
    waitLast=0;

    // IMPORTANT: we have to start like this:
    stateLsd=START_FIRST_OBJECT;
    
    displayingFinished=false;
}

bool laserSensingDisplay::isDisplayingOver()
{
    return(displayingFinished); // the value of displayingFinished will become true when the renderer finished displaying all points of all objects.
}

void laserSensingDisplay::startDisplayCheck()
{
    displayingFinished=false; // we set it to false, wherever we where in the displaying process; when it becomes true, it means we had
    // completed at least one full display of the unchanged scene.
}

// THE CORE OF THE DISPLAYING ENGINE:
// Note: this routine should run in a thread - but in fact it is running in an interrupt routine for the time being.
void laserSensingDisplay::laserDisplayThread()
{
    // For tests:
    myLed1=!myLed1;
    // pc.printf("Point nb: %d\n", currentPoint);// does serial works in the interrupt?

    switch (stateLsd) {
        case NORMAL_POINT:
            if (currentPoint<currentTotalPoints+numOverlapPoints) { // Attention: use modulo currentTotalPoints when accessing trajectory index.
                if (waitNormal==0) { // Send mirrors position the first time (note: I don't put this inside the waitNormal<WAIT_NORMAL, because WAIT_NORMAL can be 0!
                    uint8_t currentPointWrap=currentPoint%currentTotalPoints;
                    x= ptSceneToDisplay->objectArray[currentObject]->displaySensingBuffer.lsdTrajectory[currentPointWrap].v2.x;
                    y= ptSceneToDisplay->objectArray[currentObject]->displaySensingBuffer.lsdTrajectory[currentPointWrap].v2.y;

                    IO.writeOutX(x);
                    IO.writeOutY(y);
                    // for tests:
                    // pc.printf("%d - %d\n", x, y);// does serial works in the interrupt?
                }
                if (waitNormal<WAIT_NORMAL)  {
                    waitNormal++;// wait a little to correct for mirror delay (note: the mirror effective waiting time is WAIT_NORMAL + WAIT_LASER)
                } else {   // if we got here, it means the mirrors are well positionned: activate laser:
                    if ((waitLaser==0)&&(currentPoint>numOverlapPoints)) { // change laser output the first time:
#ifdef SENSING_LASER_BLANKING
                IO.setLaserLockinPower(1);
#endif  
#ifndef debugDelayMirrors
                    IO.setRGBPower(currentColor); 
#else               // TEST MODE for delay using blue laser:
                        uint8_t delayedPoint=(currentPoint+currentTotalPoints-ptSceneToDisplay->objectArray[currentObject]->displaySensingBuffer.delayMirrorSamples)%currentTotalPoints;
                        if ( ptSceneToDisplay->objectArray[currentObject]->displaySensingBuffer.lsdTrajectory[delayedPoint].lightZone<0) { // note: we use PREVIOUS sensing - so as not to wait again for
                            //IO.setRGBPower((currentColor&0x02)|0x04); // RED always on, BLUE OFF (and green whatever it was)
                            // Note: better not use complicated calls?
                            IO.setRGBPower(currentColor|0x02); // add blue (if blue was on, nothing happens...)
                        } else {
                            IO.setGreenPower(currentColor);
                        }
#endif
                    }
                    if (waitLaser<WAIT_LASER) {
                        waitLaser++; // increment wait laser counter
                    } else { // If we got here, it means that mirrors and laser power are both properly set:

                        // READ the intensity and move to the next point:
                        uint8_t currentPointWrap=currentPoint%currentTotalPoints;
                        ptSceneToDisplay->objectArray[currentObject]->displaySensingBuffer.lsdTrajectory[currentPointWrap].intensity=(unsigned char)(255.0*IO.lockInCorrectedValue(x,y));
                        ptSceneToDisplay->objectArray[currentObject]->displaySensingBuffer.lsdTrajectory[currentPointWrap].intensity=(unsigned char)(255.0*IO.lockInCorrectedValue(x,y));

                        // Move to next point:
                        currentPoint++;

                        waitNormal=0;
                        waitLaser=0;

                        // Update the point display counter (meaning: this point has been properly acquired - we need (at least) configTotalPoints
                        // of those good acquisitions before updating and re-draw). But attention! this counter may OVERFLOW!
                        //pointDisplayCounter++;
                    }
                }
            } else { // this means we ended rendering this blob, with or without partial duplication
            
#ifdef debugDelayMirrors // this means that we will process the saccade data all the time, not only when querying the data! can be useful for tests only
                ptSceneToDisplay->objectArray[currentObject]->displaySensingBuffer.processSensedData();
#endif
            
                if (totalObjects>1) stateLsd=LAST_POINT;
                else { // this means we are rendering a unique blob:
                    // currentObject does not change (equal to 0 always), stateLsd is always NORMAL_POINT
                    // The only thing we need to do is to reset "currentPoint" to 0, and eventually change the color of the blob:
                    currentPoint=0;
                    currentColor=ptSceneToDisplay->objectArray[currentObject]->myColor;

                    // Also, note that this means we ended displaying a whole "configuration", hence:
                    displayingFinished=true; // (whatever the previous state was).
                }
            }
            break;
        case LAST_POINT:
            // pc.printf("LAST\n");// does serial works in the interrupt?

            // We need to pause for a while (this is for avoiding a deformed end of a blob when there are more than one blob AND we did not properly correct the mirror delay - this may be because
            // we want a faster display, in which case we will need to adjust the mirrorDelay variable to something different from 0)
            if (waitLast<WAIT_LAST) waitLast++;
            else {
                // switch off displaying lasers AND if required, the sensing laser (NOTE: there is no need to wait for switch off time)
                IO.setRGBPower(0x00); 
#ifdef SENSING_LASER_BLANKING
                IO.setLaserLockinPower(0);
#endif        
                waitLast=0;
                stateLsd=MOVE_NEXT_OBJECT;
            }
            break;

        case START_FIRST_OBJECT:
            // pc.printf("START NEW OBJECT\n");// does serial works in the interrupt?

            currentObject=0;

            // currentMirrorDelay=ptSceneToDisplay->objectArray[currentObject]->displaySensingBuffer.delayMirrorSamples; // per blob delay!
            currentTotalPoints=ptSceneToDisplay->objectArray[currentObject]->size(); // or using: displaySensingBuffer.lsdTrajectory.size() (but now I made it private to mantain size consistancy between 3d and 2d array size)
            currentColor=ptSceneToDisplay->objectArray[currentObject]->myColor;
            currentPoint=0;

            if (totalObjects>1) stateLsd=START_POINT;
            else stateLsd=NORMAL_POINT; // in this case, we can skip the waiting for the last point (and first point too)
            break;

        case MOVE_NEXT_OBJECT:
            // TO DO: line and counter to avoid overshoot?

            // Start processing next blob:
            currentObject=(currentObject+1)%totalObjects;

            // NOTE: check if this was the last object:
            if (currentObject==0) {
                displayingFinished=true; // that meant we cycle over the whole configuration
            }

            // currentMirrorDelay=ptSceneToDisplay->objectArray[currentObject]->displaySensingBuffer.delayMirrorSamples; // per blob delay!
            currentTotalPoints=ptSceneToDisplay->objectArray[currentObject]->size();// displaySensingBuffer.lsdTrajectory.size();
            currentColor=ptSceneToDisplay->objectArray[currentObject]->myColor;
            currentPoint=0;

            if (totalObjects>1) stateLsd=START_POINT;
            else stateLsd=NORMAL_POINT; // in this case, we can skip the waiting for the last point (and first point too)

            break;

        case START_POINT:
            if (waitFirst==0) {
                // Send command to position the mirrors on the first point of NEXT blob (laser is flying in between during this time... )
                x= ptSceneToDisplay->objectArray[currentObject]->displaySensingBuffer.lsdTrajectory[0].v2.x;
                y= ptSceneToDisplay->objectArray[currentObject]->displaySensingBuffer.lsdTrajectory[0].v2.y;
                IO.writeOutX(x);
                IO.writeOutY(y);
            }
            if (waitFirst<WAIT_FIRST) waitFirst++; // time for positioning of mirrors on next blob.
            else { //mirrors are positioned: activate laser and lock in (needs time):
                if (waitFirstLaser==0) {
                    // activate laser - important in particular for giving time to the Lock-in to catch signal, then laser rouge:
                    IO.setRGBPower(currentColor);
#ifdef SENSING_LASER_BLANKING     
                    IO.setLaserLockinPower(1);
#endif
                }
                if (waitFirstLaser<WAIT_FIRST_LASER) waitFirstLaser++;
                else  {
                    waitFirst=0;
                    waitFirstLaser=0;
                    stateLsd=NORMAL_POINT; // start normal point
                }
            }
            break;
    }
}

/*
void laserSensingDisplay::laserRenderThreadONEBLOBONLY() {
    // When we arrive here, we ASSUME the mirrors are well positioned at the currentPoint-1, so we need to process the currentPoint:

    // Current mirror position:
    x= ptSceneToDisplay->objectArray[currentObject]->displaySensingBuffer.lsdTrajectory[currentPoint].v2.x;
    y= ptSceneToDisplay->objectArray[currentObject]->displaySensingBuffer.lsdTrajectory[currentPoint].v2.y;

    // (2) Send command to position the mirrors to the next position:
    IO.writeOutX(x);
    IO.writeOutY(y);

//   int delayedPoint=(currentPoint+currentMirrorDelay)%currentTotalPoints;

#ifdef debugDelayMirrors
    if ( ptSceneToDisplay->objectArray[currentObject]->displaySensingBuffer.lsdTrajectory[currentPoint].lightZone<0) {
        IO.setBluePower(0);
        // myled3=0;
    } else {
        IO.setBluePower(1);
        // myled3=1;
    }
    //IO.setRGBPower(0x04); else  IO.setRGBPower(0x07);
#endif

    // (1) SENSING (on the current blob and particle index with mirror delay: )
    ptSceneToDisplay->objectArray[currentObject]->displaySensingBuffer.lsdTrajectory[currentPoint].intensity=(unsigned char)(255.0*IO.lockInCorrectedValue(x,y));
    //=lockin.getMedianValue(); //lockin.getLastValue();//

    // increment the current point index:
    currentPoint=(currentPoint+1)%currentTotalPoints;

}
*/