Tekkotsu Homepage

Demos

Overview

Downloads

Dev. Resources

Reference

Credits

LedEngine.h Go to the documentation of this file. #ifndef INCLUDED_LedEngine_h #define INCLUDED_LedEngine_h #include "Shared/RobotInfo.h" #include "Shared/get_time.h" #include "OutputCmd.h" #include <math.h> class MotionCommand; // LEDBitMask_t and associated constants are defined in RobotInfo.h //! Provides basic LED effects via subclassing (e.g. LedMC) or embedding (e.g. EmergencyStopMC) /*! This implements a collection of LED special effects so that the code can be * reused various places as feedback to to the user. * * The basic effects provided are: * - static brightness (set(), cset(), invert(), clear()) * - temporary setting (flash(), cflash()) * - pulsing/blinking (cycle(), ccycle()) * - numeric display (displayNumber(), displayPercent()) * * The 'c' prefix on a function (cset(), cflash(), ccycle()) means it will call clear() before doing its own setting. This is * a quick way to replace whatever is currently displayed with whatever you are about to display. * * A flash() will invert and override the current setting, so that it * will "reset" after the flash. Flashes change mid-range values to * extremes to make the flash visible (ie not just (1-current)) Normal * invert() will do simple inverses (just (1-current)), and doesn't change back automatically. * * Cycling ("pulsing") and single-value setting are mutually exclusive; * one will cut off the other * * getSetting() returns value of last set(); * getValue() returns what's actually being returned to Motion at the moment * * There's some nice functions for using the LEDs to display numbers. * This is handy for when you want to be free of the terminal. * <img src="NumberLEDs.jpg"> * * The ERS-220 and ERS-7 have enough LEDs that they just use a "count * the lights" style of display instead of this pseudo-arabic display. * (look close to see that green bar LED at the top of the 210, which * doesn't show up well in the camera image for some reason. ) * <img src="NumberLEDs-ERS7.jpg"> * * The ERS-7 also has a "mode" which controls how certain face LEDs are * interpreted. By setting ERS7Info::LEDABModeOffset / * ERS7Info::LEDABModeMask, you can switch between the modes -- a value * of 0 is mode "A", and a value of 1 is mode "B". * <img src="ERS7-LED-Modes.png"> * * Things to note for the ERS-7: * - There are many fewer LEDs than there are holes in the "grill" (the holes you see on the face are not the positions of the LEDs. * - Each LED covers several holes. * - Not all holes have LEDs behind them -- some areas of the face panel are always dark. * - Some LEDs (12 and 13) control two symmetrical physical LEDs. * - Some LEDs change color based on mode (0-1), some don't change at all (2-11), and some change position and color (12-13) * - We don't have individual names for all of the LEDs on the panel. Instead you base off of FaceLEDPanelOffset or FaceLEDPanelMask to address the LEDs, e.g., to set the <i>n</i>th led to <i>x</i>: * @code * LedEngine::set(FaceLEDPanelMask << n, x) * @endcode * or (if using other classes, e.g. PostureEngine) * @code * PostureEngine::setOutputCmd(FaceLEDPanelOffset + n, x) * @endcode */ class LedEngine { public: //!constructor - don't forget to call if you inherit LedEngine(); //!destructor virtual ~LedEngine() {} //! call this from a MotionCommand's updateOutputs() - makes calls to MotionManager to update LED values /*! @param caller pass the "parent" motioncommand's address here (usually will pass 'this') * @param mask a bitmask of which leds to update (uses weight of 1) */ int updateLEDs(const MotionCommand* caller,LEDBitMask_t mask=AllLEDMask); //! call this from a MotionCommand's updateOutputs() - performs the calculations to update LEDs' values /*! @param cmds on input, used for weight values - on return, holds the resulting OutputCmd's*/ int updateLEDs(OutputCmd cmds[NumLEDs]); //! call this from a MotionCommand's updateOutputs() - performs the calculations to update LEDs' values /*! @param cmds on input, used for weight values - on return, holds the resulting OutputCmd's*/ int updateLEDFrames(OutputCmd cmds[NumLEDs][NumFrames]); //! recalculates #nextFlashEnd so we can tell when a flash has completed void recalcFlashEnd(); //! returns true if there are changes since the last updateLEDs() int isDirty(); //!sets the leds specified by @a leds to the inverse of their current value void invert(LEDBitMask_t leds); //!sets the leds specified by @a leds to @a value, clears all the rest inline void cset(LEDBitMask_t leds, float value) { clear(); set(leds,value); } //!sets the leds specified by @a leds to @a value void set(LEDBitMask_t leds, float value); //!sets the leds specified by @a leds to @a value for @a ms milliseconds, then sets back. Clears ~leds void cflash(LEDBitMask_t leds, float value, unsigned int ms); //!sets the leds specified by @a leds to @a value for @a ms milliseconds, then sets back. void flash(LEDBitMask_t leds, float value, unsigned int ms); //!sets the leds specified by @a leds to either a much higher or much lower value for @a ms milliseconds, then sets back. void flash(LEDBitMask_t leds, unsigned int ms); //!causes the leds specified by @a leds to cycle between low and high, clears others. See cycle() for parameter documentation. inline void ccycle(LEDBitMask_t leds, unsigned int period, float amp, float offset=0, int phase=0) { clear(); cycle(leds,period,amp,offset,phase); } //!causes the leds specified by @a leds to cycle between low and high; values calculated for cycle will be clipped to [0,1] for more sensible blending of square wave approximations (high amplitude sine wave) void cycle(LEDBitMask_t leds, unsigned int period, float amp, float offset=0, int phase=0); //!sets all leds to 0. void clear(); //!adds @a ms to all flash times (may resurrect previously completed flashes) void extendFlash(unsigned int ms); //!returns the current setting of the LED specified by @a led_id (the value you passed in set()) float getSetting(LEDOffset_t led_id) { return infos[led_id-LEDOffset].value; } //!returns the current value of the LED specified by @a led_id (the value being expressed - may change if cycling for instance) float getValue(LEDOffset_t led_id,unsigned int planahead=0) { return calcValue(led_id-LEDOffset,get_time()+planahead); } //!holds a series of bit masks for the onedigit style of numerical display (-9:9 and '.') /*!the hope is that these actually resemble the shapes of the numbers so people can * recognize them more easily - without converting base 2 in their heads. */ static const LEDBitMask_t ERS210numMasks[11]; static const LEDBitMask_t ERS220numMasks[11]; //!< bit masks for the ondigit style of numberical display - just count the LEDs on the head static const LEDBitMask_t ERS7numMasks[11]; //!< writes a number on the display //!Use these to specify a style for displaying numbers using displayNumber() enum numStyle_t { onedigit, //!< can display a number -9 thru 9, using the current robot model's numMask. For negative numbers, blinks the top bar - fast if it's supposed to be on, slow if it would otherwise be off twodigit //!< can display a number -99 thru 99, using setOneOfTwo(). For negative numbers, sets the top bar to 1 (off otherwise). }; //!Use these to specify a style for displaying a percentage value [0-1] using displayPercent() enum percentStyle_t { major, //!< shows overall value minor, //!< shows value within major tick none //!< if you want to leave blank }; //!Allows convenient display of numerical information to the LEDs on the face. /*!If overflow occurs, the face LEDs are set to flash on and off 3 every 333 milliseconds*/ void displayNumber(int x, numStyle_t style); //!Allows convenient display of percentage information to the LEDs on the face. /*!Besides allowing a two-digit display, the 'edge' bar for each type is blinked to * denote how full it is. So you can get up to a two-digit, base 5 display, with an * extra digit of estimated value. * * If overflow (>1) occurs, sets everything to .75. <br> * If underflow (<0) occurs, sets everything to .25. * * The left and right columns are combined with an OR operation. (they overlap on the top bar) * Left and right designations are <em>dog centric!</em> */ void displayPercent(float x, percentStyle_t left_style, percentStyle_t right_style); protected: //!Performs the 'invert' calculation based on current value (returns 1-value) static float calcInvert(float value) { return 1-value; } //!Performs the 'flash' calculation based on current value (uses calcInvert() if value upper or lower third, 0 or 1 otherwise) static float calcFlash(float value) { if(value>.33333 && value<.66666) return (value<.5 ? 1 : 0); else return calcInvert(value); } //!Performs the 'cycle' calculation based on desired period, amplituted, amplitude offset, and time since start. See cycle() static float calcCycle(unsigned int period, float amp, float offset, unsigned int t) { // cout << period << ',' << amp << ',' << offset << ',' << time << " -> " << x; float x=float(cos(t*2*M_PI/period))*(-amp/2)+.5f+offset; if(x<0) return 0; if(x>1) return 1; return x; } //!Calculates the current value of led @a i for current time t float calcValue(unsigned int i, unsigned int t) { if(t<infos[i].flashtime) return infos[i].flashvalue; else if(infos[i].isCycling) return calcCycle(infos[i].period,infos[i].amp,infos[i].offset,t-infos[i].starttime); else return infos[i].value; } //!used by displayNumber() to determine settings of LEDs when using numStyle_t::twodigit void setOneOfTwo(unsigned int x, unsigned int low, unsigned int mid, unsigned int high); //!used by displayPercent() to determine settings of LEDs void setColumn(float x, unsigned int low, unsigned int mid, unsigned int high, unsigned int top); //!Holds all the information needed by each of the LEDs struct LEDInfo { float value; //!< the current value being expressed float amp; //!< the amplitude of the cycle (if cycling) unsigned int period; //!< the period of the cycle (if cycling) unsigned int starttime; //!< the start time of the cycle (if cycling) float offset; //!< the phase shift from normal of the cycle (if cycling) float flashvalue; //!< the value being 'flashed' (only valid if current time is less than flashtime unsigned int flashtime; //!< the time the 'flash' should retire bool isCycling; //!< true if in cycle mode }; LEDInfo infos[NumLEDs]; //!< the information regarding each of the LEDs bool dirty; //!< true if changes since last updateLEDs: either at least one LED is cycling or a flash has begun/ended unsigned int numCycling;//!< the number of LEDs currently cycling (if non-zero, always dirty) unsigned int nextFlashEnd; //!< the soonest time a flash will end (and we'll become dirty) }; /*! @file * @brief Describes LedEngine, which provides basic LED effects to anything that inherits or instantiates it * @author ejt (Creator) * * $Author: ejt $ * $Name: tekkotsu-3_0 $ * $Revision: 1.28 $ * $State: Exp $ * $Date: 2006/10/03 22:30:36 $ */ #endif

Tekkotsu v3.0

Generated Wed Oct 4 00:03:43 2006 by Doxygen 1.4.7