File content as of revision 0:345b3bc7a0ea:

#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

//----------  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); 
// ----------------------------------------------------------------------------------------------------------------------

Ticker timerForRendering;
Timer measureLoopPeriod;

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.oneElasticLoopContractCentral();
    blobconf.addOneElasticContourFollowing();
    // 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)

     //==========================================   INFINITE LOOP (in USER PROGRAM CONTEXT) ===================================================================
   #ifdef LOOPTIMECOMPUTE
    int timeCounterNum=100000;
    #endif
    
    
    while(true) {
      
      // update config dynamics (this also could be threaded?):
      blobconf.update();
      
      // draw the config (note: each kind of blob renders differently)
     // blobconf.draw();
    
      // COMMUNICATION:
      // (a) Reading commands:  
      // Ethernet:
      Net::poll(); // this will take care of calling processOSC(UDPSocketEvent e) when a new packet arrives.
    
      // Serial: 
      if(pc.readable()>0) processSerial();
      
      // (b)Sending Data: // PUT THIS IN AN INTERRUPT OR A TIMER!!! it may be TOO FAST...
      blobconf.sendConfData();
      
      // 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>50000)  myled = 0;
      //if (timeCounterNum%100==0) blobconf.sendConfData();
      if (timeCounterNum>100000) {
      myled = 1;
      measureLoopPeriod.stop();
      sendMes.setTopAddress("/timeloop");
      sendMes.setSubAddress("/"); 
      long x=(long)(int(measureLoopPeriod.read_us()/100000));     
      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());
}

*/