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LedEngine.cc Go to the documentation of this file. #include "LedEngine.h" #include "MotionManager.h" #include "Shared/WorldState.h" #include "Shared/ERS210Info.h" #include "Shared/ERS220Info.h" #include "Shared/ERS7Info.h" /*! This is "Mimic the number" style */ const LEDBitMask_t LedEngine::ERS210numMasks[11] = { ERS210Info::BotRLEDMask|ERS210Info::BotLLEDMask|ERS210Info::TopBrLEDMask, //0 ERS210Info::BotLLEDMask|ERS210Info::MidLLEDMask|ERS210Info::TopLLEDMask, //1 ERS210Info::BotRLEDMask|ERS210Info::BotLLEDMask|ERS210Info::TopLLEDMask|ERS210Info::TopBrLEDMask, //2 ERS210Info::BotRLEDMask|ERS210Info::BotLLEDMask|ERS210Info::MidRLEDMask|ERS210Info::TopLLEDMask |ERS210Info::TopBrLEDMask, //3 ERS210Info::BotLLEDMask|ERS210Info::MidLLEDMask|ERS210Info::TopRLEDMask|ERS210Info::TopLLEDMask, //4 ERS210Info::BotRLEDMask|ERS210Info::BotLLEDMask|ERS210Info::TopRLEDMask|ERS210Info::TopBrLEDMask, //5 ERS210Info::BotRLEDMask|ERS210Info::BotLLEDMask|ERS210Info::MidRLEDMask|ERS210Info::MidLLEDMask |ERS210Info::TopRLEDMask|ERS210Info::TopBrLEDMask, //6 ERS210Info::BotLLEDMask|ERS210Info::MidLLEDMask|ERS210Info::TopLLEDMask|ERS210Info::TopBrLEDMask, //7 ERS210Info::BotRLEDMask|ERS210Info::BotLLEDMask|ERS210Info::MidRLEDMask|ERS210Info::MidLLEDMask |ERS210Info::TopRLEDMask|ERS210Info::TopLLEDMask|ERS210Info::TopBrLEDMask, //8 ERS210Info::BotLLEDMask|ERS210Info::MidLLEDMask|ERS210Info::TopRLEDMask|ERS210Info::TopLLEDMask |ERS210Info::TopBrLEDMask, //9 ERS210Info::BotLLEDMask //. }; /*! This is "Count the dots" style */ const LEDBitMask_t LedEngine::ERS220numMasks[11] = { ERS220Info::ModeLEDMask, //0 ERS220Info::FaceBackLeftLEDMask, //1 ERS220Info::FaceBackLeftLEDMask|ERS220Info::FaceCenterLeftLEDMask, //2 ERS220Info::FaceBackLeftLEDMask|ERS220Info::FaceCenterLeftLEDMask|ERS220Info::FaceFrontLeftLEDMask, //3 ERS220Info::FaceBackLeftLEDMask|ERS220Info::FaceCenterLeftLEDMask|ERS220Info::FaceFrontLeftLEDMask |ERS220Info::FaceFrontRightLEDMask, //4 ERS220Info::FaceBackLeftLEDMask|ERS220Info::FaceCenterLeftLEDMask|ERS220Info::FaceFrontLeftLEDMask |ERS220Info::FaceFrontRightLEDMask|ERS220Info::FaceCenterRightLEDMask, //5 ERS220Info::FaceBackLeftLEDMask|ERS220Info::FaceCenterLeftLEDMask|ERS220Info::FaceFrontLeftLEDMask |ERS220Info::FaceFrontRightLEDMask|ERS220Info::FaceCenterRightLEDMask|ERS220Info::FaceBackRightLEDMask, //6 ERS220Info::FaceBackLeftLEDMask|ERS220Info::FaceCenterLeftLEDMask|ERS220Info::FaceFrontLeftLEDMask |ERS220Info::FaceFrontRightLEDMask|ERS220Info::FaceCenterRightLEDMask|ERS220Info::FaceBackRightLEDMask |ERS220Info::FaceFrontALEDMask, //7 ERS220Info::FaceBackLeftLEDMask|ERS220Info::FaceCenterLeftLEDMask|ERS220Info::FaceFrontLeftLEDMask |ERS220Info::FaceFrontRightLEDMask|ERS220Info::FaceCenterRightLEDMask|ERS220Info::FaceBackRightLEDMask |ERS220Info::FaceFrontALEDMask|ERS220Info::FaceFrontBLEDMask, //8 ERS220Info::FaceBackLeftLEDMask|ERS220Info::FaceCenterLeftLEDMask|ERS220Info::FaceFrontLeftLEDMask |ERS220Info::FaceFrontRightLEDMask|ERS220Info::FaceCenterRightLEDMask|ERS220Info::FaceBackRightLEDMask |ERS220Info::FaceFrontALEDMask|ERS220Info::FaceFrontBLEDMask|ERS220Info::FaceFrontCLEDMask, //9 ERS220Info::FaceFrontLeftLEDMask //. }; /* / *! This is "Mimic the number" style * / const LEDBitMask_t LedEngine::ERS7numMasks[11] = { (ERS7Info::FaceLEDPanelMask<< 5)|(ERS7Info::FaceLEDPanelMask<< 3), //0 (ERS7Info::FaceLEDPanelMask<< 7)|(ERS7Info::FaceLEDPanelMask<< 3)|(ERS7Info::FaceLEDPanelMask<< 1), //1 (ERS7Info::FaceLEDPanelMask<<10)|(ERS7Info::FaceLEDPanelMask<< 9)|(ERS7Info::FaceLEDPanelMask<< 5)|(ERS7Info::FaceLEDPanelMask<<3), //2 (ERS7Info::FaceLEDPanelMask<< 7)|(ERS7Info::FaceLEDPanelMask<< 3)|(ERS7Info::FaceLEDPanelMask<< 1)|(ERS7Info::FaceLEDPanelMask<<5), //3 (ERS7Info::FaceLEDPanelMask<<10)|(ERS7Info::FaceLEDPanelMask<<11)|(ERS7Info::FaceLEDPanelMask<< 5)|(ERS7Info::FaceLEDPanelMask<<7)|(ERS7Info::FaceLEDPanelMask<<3)|(ERS7Info::FaceLEDPanelMask<<1), //4 (ERS7Info::FaceLEDPanelMask<< 7)|(ERS7Info::FaceLEDPanelMask<< 9)|(ERS7Info::FaceLEDPanelMask<<11)|(ERS7Info::FaceLEDPanelMask<<5), //5 (ERS7Info::FaceLEDPanelMask<< 9)|(ERS7Info::FaceLEDPanelMask<< 5)|(ERS7Info::FaceLEDPanelMask<< 3), //6 (ERS7Info::FaceLEDPanelMask<< 9)|(ERS7Info::FaceLEDPanelMask<< 7)|(ERS7Info::FaceLEDPanelMask<< 3)|(ERS7Info::FaceLEDPanelMask<<1), //7 (ERS7Info::FaceLEDPanelMask<<10)|(ERS7Info::FaceLEDPanelMask<<11)|(ERS7Info::FaceLEDPanelMask<< 9)|(ERS7Info::FaceLEDPanelMask<<5)|(ERS7Info::FaceLEDPanelMask<<7)|(ERS7Info::FaceLEDPanelMask<<3), //8 (ERS7Info::FaceLEDPanelMask<< 9)|(ERS7Info::FaceLEDPanelMask<< 5)|(ERS7Info::FaceLEDPanelMask<< 7)|(ERS7Info::FaceLEDPanelMask<<3)|(ERS7Info::FaceLEDPanelMask<<1), //9 (ERS7Info::FaceLEDPanelMask<< 1) //. }; */ /*! This is "Count the dots" style */ const LEDBitMask_t LedEngine::ERS7numMasks[11] = { 0, //0 (ERS7Info::FaceLEDPanelMask<<11), //1 (ERS7Info::FaceLEDPanelMask<< 4)|(ERS7Info::FaceLEDPanelMask<< 5), //2 (ERS7Info::FaceLEDPanelMask<< 2)|(ERS7Info::FaceLEDPanelMask<<11)|(ERS7Info::FaceLEDPanelMask<< 3), //3 (ERS7Info::FaceLEDPanelMask<< 2)|(ERS7Info::FaceLEDPanelMask<< 3)|(ERS7Info::FaceLEDPanelMask<< 8) |(ERS7Info::FaceLEDPanelMask<<9), //4 (ERS7Info::FaceLEDPanelMask<< 2)|(ERS7Info::FaceLEDPanelMask<< 3)|(ERS7Info::FaceLEDPanelMask<< 8) |(ERS7Info::FaceLEDPanelMask<<9)|(ERS7Info::FaceLEDPanelMask<<11), //5 (ERS7Info::FaceLEDPanelMask<< 0)|(ERS7Info::FaceLEDPanelMask<< 1)|(ERS7Info::FaceLEDPanelMask<< 4) |(ERS7Info::FaceLEDPanelMask<<5)|(ERS7Info::FaceLEDPanelMask<< 6)|(ERS7Info::FaceLEDPanelMask<< 7), //6 (ERS7Info::FaceLEDPanelMask<< 0)|(ERS7Info::FaceLEDPanelMask<< 1)|(ERS7Info::FaceLEDPanelMask<< 4) |(ERS7Info::FaceLEDPanelMask<<5)|(ERS7Info::FaceLEDPanelMask<< 6)|(ERS7Info::FaceLEDPanelMask<< 7) |(ERS7Info::FaceLEDPanelMask<<11), //7 (ERS7Info::FaceLEDPanelMask<< 2)|(ERS7Info::FaceLEDPanelMask<< 3)|(ERS7Info::FaceLEDPanelMask<< 4) |(ERS7Info::FaceLEDPanelMask<<5)|(ERS7Info::FaceLEDPanelMask<< 6)|(ERS7Info::FaceLEDPanelMask<< 7) |(ERS7Info::FaceLEDPanelMask<< 8)|(ERS7Info::FaceLEDPanelMask<<9), //8 (ERS7Info::FaceLEDPanelMask<< 2)|(ERS7Info::FaceLEDPanelMask<< 3)|(ERS7Info::FaceLEDPanelMask<< 4) |(ERS7Info::FaceLEDPanelMask<<5)|(ERS7Info::FaceLEDPanelMask<< 6)|(ERS7Info::FaceLEDPanelMask<< 7) |(ERS7Info::FaceLEDPanelMask<< 8)|(ERS7Info::FaceLEDPanelMask<<9)|(ERS7Info::FaceLEDPanelMask<<11), //9 (ERS7Info::FaceLEDPanelMask<< 1) //. }; LedEngine::LedEngine() : dirty(true), numCycling(0), nextFlashEnd((unsigned int)-1) { for(unsigned int i=0; i<NumLEDs; i++) { infos[i].flashtime=0; infos[i].starttime=0; } clear(); } void LedEngine::recalcFlashEnd(void) { unsigned int t = get_time(); nextFlashEnd=(unsigned int)-1; for(unsigned int i=0; i<NumLEDs; i++) if(infos[i].flashtime>t && nextFlashEnd>infos[i].flashtime) nextFlashEnd=infos[i].flashtime; } int LedEngine::isDirty() { unsigned int t = get_time(); if(t>nextFlashEnd) { dirty=true; recalcFlashEnd(); }; return dirty; } int LedEngine::updateLEDs(const MotionCommand* caller, LEDBitMask_t mask/*=AllLEDMask*/) { unsigned int t = get_time(); if (t>nextFlashEnd) recalcFlashEnd(); for(unsigned int i=0; i<NumLEDs; i++) if((mask>>i)&1) for(unsigned int f=0; f<NumFrames; f++) motman->setOutput(caller, i+LEDOffset,calcValue(i,t+f*FrameTime),f); bool tmp=dirty; dirty = numCycling>0; return tmp; } int LedEngine::updateLEDs(OutputCmd cmds[NumLEDs]) { unsigned int t = get_time(); if (t>nextFlashEnd) recalcFlashEnd(); for(unsigned int i=0; i<NumLEDs; i++) cmds[i].value=calcValue(i,t); bool tmp=dirty; dirty = numCycling>0; return tmp; } int LedEngine::updateLEDFrames(OutputCmd cmds[NumLEDs][NumFrames]) { unsigned int t = get_time(); if (t>nextFlashEnd) recalcFlashEnd(); for(unsigned int i=0; i<NumLEDs; i++) for(unsigned int f=0; f<NumFrames; f++) cmds[i][f].value=calcValue(i,t+f*FrameTime); bool tmp=dirty; dirty = numCycling>0; return tmp; } void LedEngine::invert(LEDBitMask_t leds) { if(leds!=0) { dirty=true; for(unsigned int i=0; i<NumLEDs; i++) if((leds>>i)&1) if(infos[i].isCycling) infos[i].amp*=-1; else infos[i].value=1-infos[i].value; } } void LedEngine::set(LEDBitMask_t leds, float value) { if(leds!=0) { dirty=true; for(unsigned int i=0; i<NumLEDs; i++) if((leds>>i)&1) { infos[i].value=value; if(infos[i].isCycling) { numCycling--; infos[i].isCycling=false; } } } } void LedEngine::cflash(LEDBitMask_t leds, float value, unsigned int ms) { dirty=true; unsigned int t = get_time(); if(t+ms<nextFlashEnd) nextFlashEnd=t+ms; for(unsigned int i=0; i<NumLEDs; i++) { infos[i].flashvalue=((leds>>i)&1)*value; infos[i].flashtime=t+ms; } } void LedEngine::flash(LEDBitMask_t leds, float value, unsigned int ms) { if(leds!=0) { dirty=true; unsigned int t = get_time(); if(t+ms<nextFlashEnd) nextFlashEnd=t+ms; for(unsigned int i=0; i<NumLEDs; i++) if((leds>>i)&1) { infos[i].flashvalue=value; infos[i].flashtime=t+ms; } } } void LedEngine::flash(LEDBitMask_t leds, unsigned int ms) { if(leds!=0) { dirty=true; unsigned int t = get_time(); if(t+ms<nextFlashEnd) nextFlashEnd=t+ms; for(unsigned int i=0; i<NumLEDs; i++) if((leds>>i)&1) { infos[i].flashvalue=calcFlash(calcValue(i,t)); infos[i].flashtime=t+ms; } } } /*!@param leds the bitmask of leds to apply this to * @param period the period of the cycle (milliseconds), includes an on and off * @param amp the amplitude of the cycle - note that this is clipped at 0 and 1. * @param offset the vertical offset of the cycle - simply shifts the baseline of the cycle up or down * @param phase the phase within the cycle to start at (specify in milliseconds) * * When this function is called, the starting time is stored as current time + phase. * * The equation used is \f[\cos(\frac{2\pi(t-starttime)}{period})*(\frac{-amp}{2})+.5+offset\f] * * The idea is that with a amplitude=1 and offset=0, it will start at * 0, ramp up to 1, and then ramp down again. The arguments to this * function will let you control all parameters of the cycle. * * You can get a blink-on/off instead of cycle on/off by using a very large amplitude. */ void LedEngine::cycle(LEDBitMask_t leds, unsigned int period, float amp, float offset, int phase) { // cout << "cycle("<<leds<<","<<period<<","<<amp<<","<<offset<<","<<phase<<")"<<endl; if(leds!=0) { dirty=true; unsigned int start = get_time()+phase; for(unsigned int i=0; i<NumLEDs; i++) if((leds>>i)&1) { if(!infos[i].isCycling) numCycling++; infos[i].isCycling=true; infos[i].amp=amp; infos[i].period=period; infos[i].starttime=start; infos[i].offset=offset; } } } void LedEngine::clear() { for(unsigned int i=0; i<NumLEDs; i++) { infos[i].value=0; infos[i].flashtime=0; infos[i].isCycling=false; } numCycling=0; dirty=true; } void LedEngine::extendFlash(unsigned int ms) { for(unsigned int i=0; i<NumLEDs; i++) if(infos[i].flashtime!=0) infos[i].flashtime+=ms; if(nextFlashEnd!=0) nextFlashEnd+=ms; dirty=true; } void LedEngine::displayNumber(int x, numStyle_t style) { switch(style) { case onedigit: { const LEDBitMask_t * numMasks=ERS210numMasks; //Default to 210's mask on new models - might not have as many LEDs WorldState * st=WorldState::getCurrent(); if(st->robotDesign & WorldState::ERS220Mask) numMasks=ERS220numMasks; if(st->robotDesign & WorldState::ERS7Mask) numMasks=ERS7numMasks; if(x>9 || x<-9) { ccycle(FaceLEDMask&~TopBrLEDMask,333,10,-5); infos[TopBrLEDOffset-LEDOffset].value=x<0?1:0; } else { clear(); if(x<0) { set(numMasks[-x],1); infos[TopBrLEDOffset-LEDOffset].value=infos[TopBrLEDOffset-LEDOffset].value*.5+.25; } else set(numMasks[x],1); } } break; case twodigit: if(x>99 || x<-99) { ccycle(FaceLEDMask&~TopBrLEDMask,333,10,-5); infos[TopBrLEDOffset-LEDOffset].value=x<0?1:0; } else { clear(); if(x<0) { infos[TopBrLEDOffset-LEDOffset].value=1; x=-x; } setOneOfTwo(x%10,BotLLEDOffset-LEDOffset,MidLLEDOffset-LEDOffset,TopLLEDOffset-LEDOffset); setOneOfTwo(x/10,BotRLEDOffset-LEDOffset,MidRLEDOffset-LEDOffset,TopRLEDOffset-LEDOffset); } break; } } void LedEngine::setOneOfTwo(unsigned int x, unsigned int low, unsigned int mid, unsigned int high) { if(x==0) return; float bg = ((x-1)/3)/3.0; float fg = bg+.333333333; if(WorldState::getCurrent()->robotDesign & WorldState::ERS7Mask) bg*=bg; // dim the background a bit more on ERS7 switch(x%3) { case 1: infos[high].value=bg; infos[mid].value=bg; infos[low].value=fg; break; case 2: infos[high].value=bg; infos[mid].value=fg; infos[low].value=bg; break; case 0: infos[high].value=fg; infos[mid].value=bg; infos[low].value=bg; break; } } void LedEngine::displayPercent(float x, percentStyle_t left_style, percentStyle_t right_style) { clear(); if(x<0) { set(FaceLEDMask,.25); return; } if(x>1) { set(FaceLEDMask,.75); return; } if(left_style==major) setColumn(x,BotLLEDMask,MidLLEDMask,TopLLEDMask,TopBrLEDMask); if(right_style==major) setColumn(x,BotRLEDMask,MidRLEDMask,TopRLEDMask,TopBrLEDMask); x*=4; x-=(int)x; if(left_style==minor) setColumn(x,BotLLEDMask,MidLLEDMask,TopLLEDMask,TopBrLEDMask); if(right_style==minor) setColumn(x,BotRLEDMask,MidRLEDMask,TopRLEDMask,TopBrLEDMask); } void LedEngine::setColumn(float x, unsigned int low, unsigned int mid, unsigned int high, unsigned int top) { LEDBitMask_t solid=0; LEDBitMask_t partial=0; switch((int)(4*x)) { case 4: solid|=top; case 3: solid|=high; case 2: solid|=mid; case 1: solid|=low; } switch((int)(4*x)) { case 3: partial=top; break; case 2: partial=high; break; case 1: partial=mid; break; case 0: partial=low; break; } float partialvalue=(x*4)-(int)(x*4); set(partial,partialvalue); set(solid,1); } /*! @file * @brief Implements LedEngine, which provides basic LED effects to anything that inherits or instantiates it * @author ejt (Creator) * * $Author: ejt $ * $Name: tekkotsu-3_0 $ * $Revision: 1.18 $ * $State: Exp $ * $Date: 2006/08/22 22:23:04 $ */

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