Fix mapping output to use correct number of channels/cubes no matter what is in mappi...

diff --git a/_Internals.pde b/_Internals.pde
index fa7ecc1062aac5ec9f0b0a855a94ca15555dd424..d51463c7c070373c6167decca7d2fa6bc927a1d6 100644 (file)
--- a/_Internals.pde
+++ b/_Internals.pde
@@ -213,8 +213,8 @@ void draw() {
   
   // TODO(mcslee): move into GLucose engine
   if (pandaBoardsEnabled) {
-    pandaFront.send(colors);
-    // pandaRear.send(colors);
+    // pandaFront.send(colors);
+    pandaRear.send(colors);
   }
 }
 

diff --git a/_Mappings.pde b/_Mappings.pde
index 20c6db5a56e64dfa0a82d04ecde2d98f01ad7553..47e4d2e41f07c413efe2fd1b01f947f45f05abec 100644 (file)
--- a/_Mappings.pde
+++ b/_Mappings.pde
@@ -131,27 +131,27 @@ class SCMapping implements GLucose.Mapping {
 
   public int[][] buildFrontChannelList() {
     return new int[][] {
-      {  1,  2,  3,  4, 0 }, // ch1
-      {  5,  6,  7,  8, 0 }, // ch2
-      {  9, 10, 11, 12, 0 }, // ch3
-      { 13, 14, 15, 16, 0 }, // ch4
-      { 17, 18, 19, 20, 0 }, // ch5
-      { 21, 22, 23, 24, 0 }, // ch6
-      { 25, 26, 27, 28, 0 }, // ch7
-      { 29, 30, 31, 32, 0 }, // ch8 
+      {  1,  2,  3,  4 }, // ch1
+      {  5,  6,  7,  8 }, // ch2
+      {  9, 10, 11, 12 }, // ch3
+      { 13, 14, 15, 16 }, // ch4
+      { 17, 18, 19, 20 }, // ch5
+      { 21, 22, 23, 24 }, // ch6
+      { 25, 26, 27, 28 }, // ch7
+      { 29, 30, 31, 32 }, // ch8 
     };
   }
 
   public int[][] buildRearChannelList() {
     return new int[][] {
-      { 33, 34, 35, 36, 0 }, // ch9
-      { 37, 38, 39, 40, 0 }, // ch10
-      { 41, 42, 43, 44, 0 }, // ch11
-      { 45, 46, 47, 48, 0 }, // ch12
-      { 49, 50, 51, 52, 0 }, // ch13
-      { 53, 54, 55, 56, 0 }, // ch14
-      { 57, 58, 59, 60, 0 }, // ch15
-      { 61, 62, 63, 64, 0 }, // ch16
+      { 33, 34, 35, 36 }, // ch9
+      { 37, 38, 39, 40 }, // ch10
+      { 41, 42, 43, 44 }, // ch11
+      { 45, 46, 47, 48 }, // ch12
+      { 49, 50, 51, 52 }, // ch13
+      { 53, 54, 55, 56 }, // ch14
+      { 57, 58, 59, 60 }, // ch15
+      { 61, 62, 63, 64 }, // ch16
     };
   }
 }

diff --git a/_PandaDriver.pde b/_PandaDriver.pde
index 01b7169c345f49c5ac8aee12b4c27d370fa9050c..5e37ccb6528612bce0d90b560e041a20825bab5a 100644 (file)
--- a/_PandaDriver.pde
+++ b/_PandaDriver.pde
@@ -24,9 +24,15 @@ public class PandaDriver {
 
   // List of point indices on the board
   private final int[] points;
+  
+  // How many channels are on the panda board
+  private final static int CHANNELS_PER_BOARD = 8;
+  
+  // How many cubes per channel xc_PB is configured for
+  private final static int CUBES_PER_CHANNEL = 4;
 
   // Packet data
-  private final byte[] packet = new byte[4*352]; // TODO: de-magic-number
+  private final byte[] packet = new byte[4*352]; // TODO: de-magic-number, UDP related?
 
   public PandaDriver(NetAddress address, Model model, int[][] channelList) {
     this.address = address;
@@ -41,8 +47,10 @@ public class PandaDriver {
 
   private ArrayList<Integer> buildMappedList(Model model, int[][] channelList) {
     ArrayList<Integer> points = new ArrayList<Integer>();
-    for (int[] channel : channelList) {
-      for (int cubeNumber : channel) {
+    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.FACES_PER_CUBE*Face.STRIPS_PER_FACE*Strip.POINTS_PER_STRIP); ++i) {
             points.add(0);