_PandaDriver.pde

   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 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 on the board
  32   private final int[] points;
  33
  34   // Packet data
  35   private final byte[] packet = new byte[4*352]; // TODO: de-magic-number, UDP related?
  36
  37   public PandaDriver(String ip, Model model, int[][] channelList) {
  38     this.ip = ip;
  39     this.address = new NetAddress(ip, 9001);
  40     message = new OscMessage("/shady/pointbuffer");
  41     List<Integer> pointList = buildMappedList(model, channelList);
  42     points = new int[pointList.size()];
  43     int i = 0;
  44     for (int value : pointList) {
  45       points[i++] = value;
  46     }
  47   }
  48
  49   public void toggle() {
  50     enabled = !enabled;
  51     println("PandaBoard/" + ip + ": " + (enabled ? "ON" : "OFF"));
  52   }
  53
  54   private ArrayList<Integer> buildMappedList(Model model, int[][] channelList) {
  55     ArrayList<Integer> points = new ArrayList<Integer>();
  56     for (int[] channel : channelList) {
  57       for (int cubeNumber : channel) {
  58         if (cubeNumber == 0) {
  59           for (int i = 0; i < Cube.POINTS_PER_CUBE; ++i) {
  60             points.add(0);
  61           }
  62         } else {
  63           Cube cube = model.getCubeByRawIndex(cubeNumber);
  64           if (cube == null) {
  65             throw new RuntimeException("Non-zero, non-existing cube specified in channel mapping (" + cubeNumber + ")");
  66           }
  67           final int[] stripOrder = new int[] {
  68             2, 1, 0, 3, 13, 12, 15, 14, 4, 7, 6, 5, 11, 10, 9, 8
  69           };
  70           for (int stripIndex : stripOrder) {
  71             Strip s = cube.strips.get(stripIndex);
  72             for (int j = s.points.size() - 1; j >= 0; --j) {
  73               points.add(s.points.get(j).index);
  74             }
  75           }
  76         }
  77       }
  78     }
  79     return points;
  80   }
  81
  82   public final void send(int[] colors) {
  83     if (!enabled) {
  84       return;
  85     }
  86     int len = 0;
  87     int packetNum = 0;
  88     for (int index : points) {
  89       int c = colors[index];
  90       byte r = (byte) ((c >> 16) & 0xFF);
  91       byte g = (byte) ((c >> 8) & 0xFF);
  92       byte b = (byte) ((c) & 0xFF);
  93       packet[len++] = 0;
  94       packet[len++] = r;
  95       packet[len++] = g;
  96       packet[len++] = b;
  97
  98       // Flush once packet is full buffer size
  99       if (len >= packet.length) {
 100         sendPacket(packetNum++);
 101         len = 0;
 102       }
 103     }
 104
 105     // Flush any remaining data
 106     if (len > 0) {
 107       sendPacket(packetNum++);
 108     }
 109   }
 110
 111   private void sendPacket(int packetNum) {
 112     message.clearArguments();
 113     message.add(packetNum);
 114     message.add(packet.length);
 115     message.add(packet);
 116     try {
 117       OscP5.flush(message, address);
 118     } catch (Exception x) {
 119       x.printStackTrace();
 120     }
 121   }
 122 }
 123