File content as of revision 2:34157ebbf56b:

#include "mbed.h"
#include "hardwareIO.h"
#include "mbedOSC.h"
#include "blobConfig.h"
#include "simpleLaserRenderer.h"

extern "C" void mbed_reset();

blobConfig blobconf;
simpleLaserSensingRenderer lsr;

// For tests:
DigitalOut myled(LED1);
DigitalOut myled2(LED2);
//DigitalOut myled3(LED2);


// To test the time it takes for executing one loop in the main program:
//#define LOOPTIMECOMPUTE

// To get serial commands (for debug, or other things using a Terminal - for instance, a laser scan)
//#define SERIAL_COMMANDS

//----------  ETHERNET / OSC related (in the future, put somewhere else...): -------------------------------------------
// mbed IP address (server):
#ifdef DHCP
EthernetNetIf eth;
#else
EthernetNetIf eth(
    IpAddr(10,0,0,2), //IP Address
    IpAddr(255,255,255,0), //Network Mask
    IpAddr(10,0,0,1), //Gateway
    IpAddr(10,0,0,1)  //DNS
);
#endif

//uint8_t serverMac[] = { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED };
uint8_t serverIp[]  = { 10, 0, 0, 2 }; // not needed perhaps!
int  serverPort  = 10000;

uint8_t destIp[]  = { 10, 0, 0, 1};
int  destPort = 12000;

char *topAddress="/mbed";
char *subAddress[3]={ "/test1" , "/test2" , "/test3" };

OSCMessage recMes;
OSCMessage sendMes;

OSCClass osc;
//OSCClass osc(&recMes);  // instantiate OSC communication object, and set the receiver container from the OSC packets

void processOSC(UDPSocketEvent e);
// ----------------------------------------------------------------------------------------------------------------------

// Tickers:
Ticker timerForRendering;
//Ticker timerForSendingData; // better use a timer, so as not to interrupt the exact laser display ticker

// Timers: 
Timer measureLoopPeriod;
Timer measureUpdatePeriod;
Timer measureSendPeriod;

// to get serial commands (not necessary perhaps)
void  processSerial();

int main() {

    // Initialize the hardware (laser powers, positions...):
    IO.init();

    // -------------------------------
    // Set the Ethernet port:
    printf("Setting up...\r\n");
    EthernetErr ethErr = eth.setup();
    if (ethErr) {
        printf("Error %d in setup.\r\n", ethErr);
        return -1;
    }
    printf("Setup OK\r\n");

    //(1) Sending message:
    // Set IP and Port:
    sendMes.setIp( destIp );
    sendMes.setPort( destPort );
    // Set data:
    // sendMes.setTopAddress(topAddress);

    //setting osc functionnality:
    //(2) Receiving:
    // recMes.setIp( serverIp ); // not needed?
    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)
    osc.begin(serverPort, &processOSC); // binds the upd (osc) messages to an arbitrary listening port ("server" port), and callback function
    // -------------------------------

    /* // sending seems not to work right after setting the osc object??
    wait(1);
    sendMes.setTopAddress("starting");
    sendMes.setSubAddress("");
    osc.sendOsc( &sendMes );
    */

    // initialize with the desired blob configuration:

    // Tested modes:
    blobconf.clearConfig();
//   blobconf.addOneElasticLoopContractCentral();
//   blobconf.addOneElasticContourFollowing();

//  blobconf.addOneRigidLoopBouncing();
//  blobconf.addOneRigidLoopBouncing();
//  blobconf.addOneRigidLoopBouncing();
//  blobconf.addOneRigidLoopBouncing();
// blobconf.addOneRigidLoopBouncing();

 blobconf.addOneRigidLoopFollowing();

    // Important: first, set the initial position for all the blobs, this will be useful because
    // when changing modes we can use the previous central position...
    // blobconf.setInitialPos(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y);


    // RENRERER (attn: setConfigToRender must be called when the blobconf is set - i.e., the number of blobs and number of points/blob is fixed)
    lsr.setConfigToRender(&blobconf);

    // Timer on the rendering function of the oneLoop object:
    // timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds)
    timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds)

    // Timer for sending OSC data:
   // timerForSendingData.attach(&blobconf, &blobConfig::sendConfData, 0.025); // time in seconds (25ms -> 40Hz)

    //==========================================   INFINITE LOOP (in USER PROGRAM CONTEXT) ===================================================================
#ifdef LOOPTIMECOMPUTE
    int timeCounterNum=1000;
#endif

  measureUpdatePeriod.start();
  measureSendPeriod.start();

    while (true) {


        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)
                                               // with laser rendering ISR every 110us (total loop time 4300us, 3100us of effective loop time, and each laser interrupt about 30us)
            measureUpdatePeriod.stop();
            measureUpdatePeriod.reset();
            
          //  __disable_irq();
            
            // update config dynamics (this also could be threaded?):
            blobconf.update();

            // draw the config (note: each kind of blob renders differently)
            blobconf.draw();
            
           // __enable_irq();
            
            measureUpdatePeriod.start();
        }


        // COMMUNICATION:
        // (a) Reading commands:
        // Ethernet:
        Net::poll(); // this will take care of calling processOSC(UDPSocketEvent e) when a new packet arrives.

        // Serial:
#ifdef SERIAL_COMMANDS
        if (pc.readable()>0) processSerial();
#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();
            
            blobconf.sendConfData();
            
             measureSendPeriod.start();
        }

        // text:
        /*
         sendMes.setTopAddress("/hello");
         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...)
         int x=(long)10;
         sendMes.setArgs( "i", &x);
         osc.sendOsc( &sendMes );
         */

#ifdef LOOPTIMECOMPUTE
        if (timeCounterNum>500)  myled = 0;
       // if (timeCounterNum%10==0) blobconf.sendConfData();
        if (timeCounterNum>1000) {
            myled = 1;
            measureLoopPeriod.stop();
            sendMes.setTopAddress("/timeloop");
            sendMes.setSubAddress("/");
            long x=(long)(int(measureLoopPeriod.read_us()/1000.0));
            sendMes.setArgs( "i", &x);
            osc.sendOsc( &sendMes );
            timeCounterNum=0;
            measureLoopPeriod.reset();
            measureLoopPeriod.start();
        } else timeCounterNum++;
#endif

    }
}

// ================= INTERPRET COMMAND =========================
// NOTE: the following arrays are GLOBAL (used in processOSC and processSerial, as well as in interpretCommand function):
// max of two addresses (top and sub), of a max length of 24 characters:
char address[2][24];
//long auxdata[2]; // to store a max of two arguments (note: we will only use LONGs)
int data[2]; // this is to have -1 as NO DATA, to detect errors.

//interpretCommand(const char& address[2][], const int& data[2]) {
void interpretCommand() {
    // (I) =========================================== SPECIAL FUNCTIONS (reset, rescan LUT, etc) ====================================================
    if ( !strcmp(address[0], "takeSnapshot" ) ) { // will reset all the spots, but the 0, and use it for taking measures:

        // for test:
        for (int i=0; i<2 ; i++) {
            myled = 1;
            wait(0.1);
            myled = 0;
            wait(0.1);
        }

        // First, we need to disable the threaded display for the loop:
        timerForRendering.detach();

        // Then, do the scan (sending values on serial port):
        IO.scan_serial();

        // Finally, start again threaded display:
        timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds)
    }

    else if ( !strcmp(address[0], "mbedReset" ) ) mbed_reset();

    else if ( !strcmp(address[0], "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::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
    }

    // (II) ========================================= GLOBAL CONFIG and HARDWARE COMMANDS ===========================================

    else if ( !strcmp(address[0], "setGreenLaser" ) ) {
        int value=data[0];
        if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
            if (value==0) IO.setGreenPower(0);
            else IO.setGreenPower(1);
        }
    }

    // SIMPLE BEHAVIOUR MODES (to be read from an XML file in the future):
    else if (!strcmp(address[0], "crawling")) { //
        timerForRendering.detach();
        // blobconf.computeBoundingBox();
        blobconf.clearConfig();
        blobconf.addOneElasticContourFollowing();
        lsr.setConfigToRender(&blobconf);
        timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
    } else if (!strcmp(address[0], "loop")) { //
        timerForRendering.detach();
        // blobconf.computeBoundingBox();
        blobconf.clearConfig();
        blobconf.addOneElasticLoopContractCentral();
        lsr.setConfigToRender(&blobconf);
        timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
    }

    else if (!strcmp(address[0], "bouncing")) {
        timerForRendering.detach();
        // blobconf.computeBoundingBox();
        blobconf.clearConfig();
        blobconf.addOneElasticBouncing();
        lsr.setConfigToRender(&blobconf);
        timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL);
    }

    // other:

    else if ( !strcmp(address[0], "standby" ) ) { // will put ALL the spots in stand by mode
        blobconf.allStandBy(); // will avoid the update function
    } else if ( !strcmp(address[0], "resume" ) ) { // will put ALL the spots in stand by mode
        blobconf.allResume(); // will avoid the update function
    }

    // (III) ========================================= Loop control (parameters, etc) ===========================================
    // NOte: for the time being, we only have ONE loop, so there is no "per loop or per config" mode.

    else if (!strcmp( address[0], "sendOSC" ) ) {
        int value=data[0];
        if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
            for (int i=0; i< blobconf.numBlobs; i++) {
                blobconf.blobArray[i]->sendOSC=(value>0);
            }
        }
    }

    else if (!strcmp( address[0], "sendArea" ) ) {
        int value=data[0];
        if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
            for (int i=0; i< blobconf.numBlobs; i++) {
                blobconf.blobArray[i]->sendingBlobArea=(value>0);
            }
        }
    }

    else if (!strcmp( address[0], "sendPos" ) ) {
        int value=data[0];
        if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
            for (int i=0; i< blobconf.numBlobs; i++) {
                blobconf.blobArray[i]->sendingLoopPositions=(value>0);
            }
        }
    }

    else if (!strcmp( address[0], "sendRegions" ) ) {
        int value=data[0];
        if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
            for (int i=0; i< blobconf.numBlobs; i++) {
                blobconf.blobArray[i]->sendingLoopRegions=(value>0);
            }
        }
    }

    else if (!strcmp( address[0], "sendTouched" ) ) {
        int value=data[0];
        if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
            for (int i=0; i< blobconf.numBlobs; i++) {
                blobconf.blobArray[i]->sendingTouched=(value>0);
            }
        }
    }



}

//============= RECEIVE OSC COMMANDS =========================
// This is the callback function called when there are packets on the listening socket. It is not nice to have it
// here, but for the time being having a "wrapping global" is the simplest solution (we cannot pass a member-function pointer
// as handler to the upd object).
void processOSC(UDPSocketEvent e) {
    osc.onUDPSocketEvent(e);

    if (osc.newMessage) {
        // 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
        // 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...

        // Acquire the addresses and arguments and put them in the GLOBAL variables:
        strcpy(address[0],"");
        strcpy(address[1],"");
        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
        // Acquire data:
        data[0]=-1;
        data[1]=-1;
        for (int i=0; i<recMes.getArgNum(); i++) data[i]=(int)recMes.getArgInt(i);

        // Finally, interpret the command:
        interpretCommand();//address, data);

    }
}

//============= RECEIVE SERIAL COMMANDS =========================
//
// NOTE: - NUMERIC PARAMETERS have to be send BEFORE the command word. They must be sent as ASCII DEC, without end character.
//       - Commands words SHOULD NOT have numbers in it. They should be C compliant STRINGS (ended with character '0')
//       - order is irrelevant: we can send 10 RADIUS or RADIUS 10.

// String to store ALPHANUMERIC DATA (i.e., integers, floating point numbers, unsigned ints, etc represented as DEC) sent wirelessly:
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...
int indexStringData=0;//position of the byte in the string

// String to store COMMAND WORDS:
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...
int indexStringCommand=0;
bool commandReady=false; // will become true when receiving the byte 0 (i.e. the '/0' string terminator)

void processSerial() {

    while (pc.readable()>0) {

        char val =pc.getc();
        // pc.printf("Got :%d\n", incomingByte);
        //pc.putc(incomingByte);

        // Save ASCII numeric characters (ASCII 0 - 9) on stringData:
        if ((val >= '0') && (val <= '9')) { // this is 45 to 57 (included)
            stringData[indexStringData] = val;
            indexStringData++;
        }

        // Save ASCII letters in stringCommand:
        if ((val >= 'A') && (val <= 'z')) { // this is 65 to 122 (included)
            stringCommand[indexStringCommand] = val;
            indexStringCommand++;
        }
        // is command ready?
        if (val=='/') {
            commandReady=true;
            stringCommand[indexStringCommand] = 0; // string termination.
            indexStringCommand=0; // reset index string for acquiring next command
            //Serial.println(stringCommand);
        }

        // COMMANDS (with or without numeric parameters):
        if (commandReady==true) { // it means we can interpret the command string:
            commandReady=false;

            stringData[indexStringData] = 0 ;// string termination for numeric values;
            indexStringData=0;

            // PARSE DATA: (TO DO!!!!!!!!!!!!!!):

            // (a) Parse command (get address[0] and address[1]):
            //ex:  "/1/standBy" -- > address[0]="1" and address[1]="standBy"
            // address[2]

            // Serial.println(stringCommand);
            // Serial.println(stringData);

            // (b) Parse data:

            // char address[2][24];
            //long auxdata[2]; // to store a max of two arguments (note: we will only use LONGs)
            //int data[2]; // this is to have -1 as NO DATA, to detect errors.

            // FOR THE TIME BEING there is no parsing for serial commands:

            // SCANNING:
            if (!strcmp(stringCommand , "takeSnapshot")) {
                // First, we need to disable the threaded display for the loop:
                timerForRendering.detach();

                // Then, do the scan (sending values on serial port):
                IO.scan_serial();

                // Finally, start again threaded display:
                timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThreadONEBLOBONLY, RENDER_INTERVAL); // the address of the object, member function, and interval (in seconds)

            }

            if (!strcmp(stringCommand , "REDON"))   IO.setRedPower(1); // pc.printf("%d\n",incomingByte);

            if (!strcmp(stringCommand , "REDOFF"))  IO.setRedPower(0);

            if  (!strcmp(stringCommand , "READVALUE")) pc.printf("Value read: %f", lockin.getSmoothValue());//lockin.getLastValue());/

            // FINALLY, interpret commands (but only after parsing):
            //  interpretCommand();//address, data);

        }
    }
}



// ================ MISCELANEA

/* EXAMPLE SEND/RECEIVE on PROCESSING:

// oscP5sendreceive by andreas schlegel
// example shows how to send and receive osc messages.
// oscP5 website at http://www.sojamo.de/oscP5

import oscP5.*;
import netP5.*;

OscP5 oscP5;
NetAddress myRemoteLocation;

void setup() {
  size(400,400);
  frameRate(25);
  // start oscP5, listening for incoming messages at port 12000
  oscP5 = new OscP5(this,12000);

  // myRemoteLocation is a NetAddress. a NetAddress takes 2 parameters,
  // an ip address and a port number. myRemoteLocation is used as parameter in
  // oscP5.send() when sending osc packets to another computer, device,
  // application. usage see below. for testing purposes the listening port
  // and the port of the remote location address are the same, hence you will
  // send messages back to this sketch.
  myRemoteLocation = new NetAddress("10.0.0.2",10000);
}


void draw() {
  background(0);
}

void mousePressed() {
  // in the following different ways of creating osc messages are shown by example
  OscMessage myMessage = new OscMessage("/mbed/test1");

  myMessage.add(123); // add an int to the osc message

  // send the message
  oscP5.send(myMessage, myRemoteLocation);
}


// incoming osc message are forwarded to the oscEvent method.
void oscEvent(OscMessage theOscMessage) {
  // print the address pattern and the typetag of the received OscMessage
  print("### received an osc message.");
  print(" addrpattern: "+theOscMessage.addrPattern());
  println(" typetag: "+theOscMessage.typetag());
}

*/