- private ArrayList<Integer> buildMappedList(Model model, int[][] channelList) {
- ArrayList<Integer> points = new ArrayList<Integer>();
- for (int chi = 0; chi < CHANNELS_PER_BOARD; ++chi) {
- int[] channel = (chi < channelList.length) ? channelList[chi] : new int[]{};
- for (int ci = 0; ci < CUBES_PER_CHANNEL; ++ci) {
- int cubeNumber = (ci < channel.length) ? channel[ci] : 0;
- if (cubeNumber == 0) {
- for (int i = 0; i < Cube.POINTS_PER_CUBE; ++i) {
- points.add(0);
- }
- } else {
- Cube cube = model.getCubeByRawIndex(cubeNumber);
- if (cube == null) {
- throw new RuntimeException("Non-zero, non-existing cube specified in channel mapping (" + cubeNumber + ")");
- }
- final int[] stripOrder = new int[] {
- 2, 1, 0, 3, 13, 12, 15, 14, 4, 7, 6, 5, 11, 10, 9, 8
- };
- for (int stripIndex : stripOrder) {
- Strip s = cube.strips.get(stripIndex);
- for (int j = s.points.size() - 1; j >= 0; --j) {
- points.add(s.points.get(j).index);
+ /**
+ * These constant arrays indicate the order in which the strips of a cube
+ * are wired. There are four different options, depending on which bottom
+ * corner of the cube the data wire comes in.
+ */
+ private final int[][] CUBE_STRIP_ORDERINGS = new int[][] {
+ { 2, 1, 0, 3, 13, 12, 15, 14, 4, 7, 6, 5, 11, 10, 9, 8 }, // FRONT_LEFT
+ { 6, 5, 4, 7, 1, 0, 3, 2, 8, 11, 10, 9, 15, 14, 13, 12 }, // FRONT_RIGHT
+ { 14, 13, 12, 15, 9, 8, 11, 10, 0, 3, 2, 1, 7, 6, 5, 4 }, // REAR_LEFT
+ { 10, 9, 8, 11, 5, 4, 7, 6, 12, 15, 14, 13, 3, 2, 1, 0 }, // REAR_RIGHT
+ };
+
+ public PandaDriver(String ip, Model model, PandaMapping pm) {
+ this(ip);
+
+ // Ok, we are initialized, time to build the array if points in order to
+ // send out. We start at the head of our point buffer, and work our way
+ // down. This is the order in which points will be sent down the wire.
+ int ci = -1;
+
+ // Iterate through all our channels
+ for (ChannelMapping channel : pm.channelList) {
+ ++ci;
+ int pi = ci * ChannelMapping.PIXELS_PER_CHANNEL;
+
+ switch (channel.mode) {
+
+ case ChannelMapping.MODE_CUBES:
+ // We have a list of cubes per channel
+ for (int rawCubeIndex : channel.objectIndices) {
+ if (rawCubeIndex < 0) {
+ // No cube here, skip ahead in the buffer
+ pi += Cube.POINTS_PER_CUBE;
+ } else {
+ // The cube exists, check which way it is wired to
+ // figure out the order of strips.
+ Cube cube = model.getCubeByRawIndex(rawCubeIndex);
+ int stripOrderIndex = 0;
+ switch (cube.wiring) {
+ case FRONT_LEFT: stripOrderIndex = 0; break;
+ case FRONT_RIGHT: stripOrderIndex = 1; break;
+ case REAR_LEFT: stripOrderIndex = 2; break;
+ case REAR_RIGHT: stripOrderIndex = 3; break;
+ }
+
+ // Iterate through all the strips on the cube and add the points
+ for (int stripIndex : CUBE_STRIP_ORDERINGS[stripOrderIndex]) {
+ // We go backwards here... in the model strips go clockwise, but
+ // the physical wires are run counter-clockwise
+ Strip s = cube.strips.get(stripIndex);
+ for (int j = s.points.size() - 1; j >= 0; --j) {
+ points[pi++] = s.points.get(j).index;
+ }
+ }