| 1 | import netP5.*; |
| 2 | import oscP5.*; |
| 3 | |
| 4 | /** |
| 5 | * DOUBLE BLACK DIAMOND DOUBLE BLACK DIAMOND |
| 6 | * |
| 7 | * //\\ //\\ //\\ //\\ |
| 8 | * ///\\\ ///\\\ ///\\\ ///\\\ |
| 9 | * \\\/// \\\/// \\\/// \\\/// |
| 10 | * \\// \\// \\// \\// |
| 11 | * |
| 12 | * EXPERTS ONLY!! EXPERTS ONLY!! |
| 13 | * |
| 14 | * This class implements the output function to the Panda Boards. It |
| 15 | * will be moved into GLucose once stabilized. |
| 16 | */ |
| 17 | public static class PandaDriver { |
| 18 | |
| 19 | // IP address |
| 20 | public final String ip; |
| 21 | |
| 22 | // Address to send to |
| 23 | private final NetAddress address; |
| 24 | |
| 25 | // Whether board output is enabled |
| 26 | private boolean enabled = false; |
| 27 | |
| 28 | // OSC message |
| 29 | private final OscMessage message; |
| 30 | |
| 31 | // List of point indices that get sent to this board |
| 32 | private final int[] points; |
| 33 | |
| 34 | // Packet data |
| 35 | private final byte[] packet = new byte[4*352]; // magic number, our UDP packet size |
| 36 | |
| 37 | private static final int NO_POINT = -1; |
| 38 | |
| 39 | public PandaDriver(String ip) { |
| 40 | this.ip = ip; |
| 41 | |
| 42 | // Initialize our OSC output stuff |
| 43 | address = new NetAddress(ip, 9001); |
| 44 | message = new OscMessage("/shady/pointbuffer"); |
| 45 | |
| 46 | // Build the array of points, initialize all to nothing |
| 47 | points = new int[PandaMapping.PIXELS_PER_BOARD]; |
| 48 | for (int i = 0; i < points.length; ++i) { |
| 49 | points[i] = NO_POINT; |
| 50 | } |
| 51 | } |
| 52 | |
| 53 | private final static int FORWARD = -1; |
| 54 | private final static int BACKWARD = -2; |
| 55 | |
| 56 | /** |
| 57 | * These constant arrays indicate the order in which the strips of a cube |
| 58 | * are wired. There are four different options, depending on which bottom |
| 59 | * corner of the cube the data wire comes in. |
| 60 | */ |
| 61 | private final static int[][] CUBE_STRIP_ORDERINGS = new int[][] { |
| 62 | { 2, 1, 0, 3, 13, 12, 15, 14, 4, 7, 6, 5, 11, 10, 9, 8 }, // FRONT_LEFT |
| 63 | { 6, 5, 4, 7, 1, 0, 3, 2, 8, 11, 10, 9, 15, 14, 13, 12 }, // FRONT_RIGHT |
| 64 | { 14, 13, 12, 15, 9, 8, 11, 10, 0, 3, 2, 1, 7, 6, 5, 4 }, // REAR_LEFT |
| 65 | { 10, 9, 8, 11, 5, 4, 7, 6, 12, 15, 14, 13, 3, 2, 1, 0 }, // REAR_RIGHT |
| 66 | }; |
| 67 | |
| 68 | private final static int[][] BASS_STRIP_ORDERING = { |
| 69 | // front face, counterclockwise from bottom front left |
| 70 | {2, BACKWARD }, |
| 71 | {1, BACKWARD }, |
| 72 | {0, BACKWARD }, |
| 73 | {3, BACKWARD }, |
| 74 | |
| 75 | // left face, counterclockwise from bottom front left |
| 76 | {13, BACKWARD }, |
| 77 | {12, BACKWARD }, |
| 78 | {15, BACKWARD }, |
| 79 | {14, BACKWARD }, |
| 80 | |
| 81 | // back face, counterclockwise from bottom rear left |
| 82 | {9, BACKWARD }, |
| 83 | {8, BACKWARD }, |
| 84 | {11, BACKWARD }, |
| 85 | {10, BACKWARD }, |
| 86 | |
| 87 | // right face, counterclockwise from bottom rear right |
| 88 | {5, BACKWARD }, |
| 89 | {4, BACKWARD }, |
| 90 | {7, BACKWARD }, |
| 91 | {6, BACKWARD }, |
| 92 | }; |
| 93 | |
| 94 | private final static int[][] STRUT_STRIP_ORDERING = { |
| 95 | {6, BACKWARD}, |
| 96 | {5, FORWARD}, |
| 97 | {4, BACKWARD}, |
| 98 | {3, FORWARD}, |
| 99 | {2, BACKWARD}, |
| 100 | {1, FORWARD}, |
| 101 | {0, BACKWARD, /* dummy pixels at the end of string, remove when strip is fixed */ 4}, |
| 102 | {7, FORWARD}, |
| 103 | }; |
| 104 | |
| 105 | private final static int[][] FLOOR_STRIP_ORDERING = { |
| 106 | {0, FORWARD}, |
| 107 | {1, FORWARD}, |
| 108 | {2, FORWARD}, |
| 109 | {3, BACKWARD}, |
| 110 | }; |
| 111 | |
| 112 | // The speakers are currently configured to be wired the same |
| 113 | // as cubes with Wiring.FRONT_LEFT. If this needs to be changed, |
| 114 | // remove this null assignment and change the below to have mappings |
| 115 | // for the LEFT and RIGHT speaker |
| 116 | private final static int[][][] SPEAKER_STRIP_ORDERING = null; /* { |
| 117 | // Left speaker |
| 118 | { |
| 119 | // Front face, counter-clockwise from bottom left |
| 120 | {2, BACKWARD }, |
| 121 | {1, BACKWARD }, |
| 122 | {0, BACKWARD }, |
| 123 | {3, BACKWARD }, |
| 124 | }, |
| 125 | // Right speaker |
| 126 | { |
| 127 | // Front face, counter-clockwise from bottom left |
| 128 | {2, BACKWARD }, |
| 129 | {1, BACKWARD }, |
| 130 | {0, BACKWARD }, |
| 131 | {3, BACKWARD }, |
| 132 | } |
| 133 | };*/ |
| 134 | |
| 135 | private final static int[][] LEFT_SPEAKER_STRIP_ORDERING = { |
| 136 | }; |
| 137 | |
| 138 | public PandaDriver(String ip, Model model, PandaMapping pm) { |
| 139 | this(ip); |
| 140 | |
| 141 | // Ok, we are initialized, time to build the array if points in order to |
| 142 | // send out. We start at the head of our point buffer, and work our way |
| 143 | // down. This is the order in which points will be sent down the wire. |
| 144 | int ci = -1; |
| 145 | |
| 146 | // Iterate through all our channels |
| 147 | for (ChannelMapping channel : pm.channelList) { |
| 148 | ++ci; |
| 149 | int pi = ci * ChannelMapping.PIXELS_PER_CHANNEL; |
| 150 | |
| 151 | switch (channel.mode) { |
| 152 | |
| 153 | case ChannelMapping.MODE_CUBES: |
| 154 | // We have a list of cubes per channel |
| 155 | for (int rawCubeIndex : channel.objectIndices) { |
| 156 | if (rawCubeIndex < 0) { |
| 157 | // No cube here, skip ahead in the buffer |
| 158 | pi += Cube.POINTS_PER_CUBE; |
| 159 | } else { |
| 160 | // The cube exists, check which way it is wired to |
| 161 | // figure out the order of strips. |
| 162 | Cube cube = model.getCubeByRawIndex(rawCubeIndex); |
| 163 | int stripOrderIndex = 0; |
| 164 | switch (cube.wiring) { |
| 165 | case FRONT_LEFT: stripOrderIndex = 0; break; |
| 166 | case FRONT_RIGHT: stripOrderIndex = 1; break; |
| 167 | case REAR_LEFT: stripOrderIndex = 2; break; |
| 168 | case REAR_RIGHT: stripOrderIndex = 3; break; |
| 169 | } |
| 170 | |
| 171 | // Iterate through all the strips on the cube and add the points |
| 172 | for (int stripIndex : CUBE_STRIP_ORDERINGS[stripOrderIndex]) { |
| 173 | // We go backwards here... in the model strips go clockwise, but |
| 174 | // the physical wires are run counter-clockwise |
| 175 | pi = mapStrip(cube.strips.get(stripIndex), BACKWARD, points, pi); |
| 176 | } |
| 177 | } |
| 178 | } |
| 179 | break; |
| 180 | |
| 181 | case ChannelMapping.MODE_BASS: |
| 182 | for (int[] config : BASS_STRIP_ORDERING) { |
| 183 | pi = mapStrip(model.bassBox.strips.get(config[0]), config[1], points, pi); |
| 184 | if (config.length >= 3) pi += config[2]; |
| 185 | } |
| 186 | break; |
| 187 | |
| 188 | case ChannelMapping.MODE_STRUTS_AND_FLOOR: |
| 189 | for (int[] config : STRUT_STRIP_ORDERING) { |
| 190 | pi = mapStrip(model.bassBox.struts.get(config[0]), config[1], points, pi); |
| 191 | if (config.length >= 3) pi += config[2]; |
| 192 | } |
| 193 | for (int[] config : FLOOR_STRIP_ORDERING) { |
| 194 | pi = mapStrip(model.boothFloor.strips.get(config[0]), config[1], points, pi); |
| 195 | if (config.length >= 3) pi += config[2]; |
| 196 | } |
| 197 | break; |
| 198 | |
| 199 | case ChannelMapping.MODE_SPEAKER: |
| 200 | int [][] speakerStripOrdering; |
| 201 | if (SPEAKER_STRIP_ORDERING == null) { |
| 202 | // Copy the cube strip ordering |
| 203 | int[] frontLeftCubeWiring = CUBE_STRIP_ORDERINGS[0]; |
| 204 | speakerStripOrdering = new int[frontLeftCubeWiring.length][]; |
| 205 | for (int i = 0; i < frontLeftCubeWiring.length; ++i) { |
| 206 | speakerStripOrdering[i] = new int[] { frontLeftCubeWiring[0], BACKWARD }; |
| 207 | } |
| 208 | } else { |
| 209 | speakerStripOrdering = SPEAKER_STRIP_ORDERING[channel.objectIndices[0]]; |
| 210 | } |
| 211 | for (int[] config : speakerStripOrdering) { |
| 212 | Speaker speaker = model.speakers.get(channel.objectIndices[0]); |
| 213 | pi = mapStrip(speaker.strips.get(config[0]), config[1], points, pi); |
| 214 | if (config.length >= 3) pi += config[2]; |
| 215 | } |
| 216 | break; |
| 217 | |
| 218 | case ChannelMapping.MODE_NULL: |
| 219 | // No problem, nothing on this channel! |
| 220 | break; |
| 221 | |
| 222 | default: |
| 223 | throw new RuntimeException("Invalid/unhandled channel mapping mode: " + channel.mode); |
| 224 | } |
| 225 | |
| 226 | } |
| 227 | } |
| 228 | |
| 229 | private int mapStrip(Strip s, int direction, int[] points, int pi) { |
| 230 | if (direction == FORWARD) { |
| 231 | for (Point p : s.points) { |
| 232 | points[pi++] = p.index; |
| 233 | } |
| 234 | } else if (direction == BACKWARD) { |
| 235 | for (int i = s.points.size()-1; i >= 0; --i) { |
| 236 | points[pi++] = s.points.get(i).index; |
| 237 | } |
| 238 | } else { |
| 239 | throw new RuntimeException("Unidentified strip mapping direction: " + direction); |
| 240 | } |
| 241 | return pi; |
| 242 | } |
| 243 | |
| 244 | public void disable() { |
| 245 | if (enabled) { |
| 246 | enabled = false; |
| 247 | println("PandaBoard/" + ip + ": OFF"); |
| 248 | } |
| 249 | } |
| 250 | |
| 251 | public void enable() { |
| 252 | if (!enabled) { |
| 253 | enabled = true; |
| 254 | println("PandaBoard/" + ip + ": ON"); |
| 255 | } |
| 256 | } |
| 257 | |
| 258 | public void toggle() { |
| 259 | enabled = !enabled; |
| 260 | println("PandaBoard/" + ip + ": " + (enabled ? "ON" : "OFF")); |
| 261 | } |
| 262 | |
| 263 | public final void send(int[] colors) { |
| 264 | if (!enabled) { |
| 265 | return; |
| 266 | } |
| 267 | int len = 0; |
| 268 | int packetNum = 0; |
| 269 | for (int index : points) { |
| 270 | int c = (index < 0) ? 0 : colors[index]; |
| 271 | byte r = (byte) ((c >> 16) & 0xFF); |
| 272 | byte g = (byte) ((c >> 8) & 0xFF); |
| 273 | byte b = (byte) ((c) & 0xFF); |
| 274 | packet[len++] = 0; // alpha channel, unused but makes for 4-byte alignment |
| 275 | packet[len++] = r; |
| 276 | packet[len++] = g; |
| 277 | packet[len++] = b; |
| 278 | |
| 279 | // Flush once packet is full buffer size |
| 280 | if (len >= packet.length) { |
| 281 | sendPacket(packetNum++); |
| 282 | len = 0; |
| 283 | } |
| 284 | } |
| 285 | |
| 286 | // Flush any remaining data |
| 287 | if (len > 0) { |
| 288 | sendPacket(packetNum++); |
| 289 | } |
| 290 | } |
| 291 | |
| 292 | private void sendPacket(int packetNum) { |
| 293 | message.clearArguments(); |
| 294 | message.add(packetNum); |
| 295 | message.add(packet.length); |
| 296 | message.add(packet); |
| 297 | try { |
| 298 | OscP5.flush(message, address); |
| 299 | } catch (Exception x) { |
| 300 | x.printStackTrace(); |
| 301 | } |
| 302 | } |
| 303 | } |
| 304 | |