void SerialComHelper::SendInstruction(HardwareSerial* pSerial, ERUINT8 cmd
,ERFLOAT32 c)
{
ERxParameterStream tempParaStream;
tempParaStream.Write(c);
SendInstruction(pSerial, cmd, tempParaStream);
}
void SerialComHelper::SendInstruction(HardwareSerial* pSerial, ERUINT8 cmd
,const char str[])
{
ERxParameterStream tempParaStream;
tempParaStream.Write((ERINT8*)str);
SendInstruction(pSerial, cmd, tempParaStream);
}
void WatchDogClass::CheckControls()
{
WControls.Update();
SolidSystem = WControls.SolidGrid;
CanTakeDistance = WControls.TakeDistance;
LastTime = CurrentTime;
CurrentTime = glfwGetTime();
DiffTime = CurrentTime - LastTime;
MainMotorsSpeed = WControls.MainMotorsVelocity;
float speed, aspeed;
switch (MainMotorsSpeed)
{
case SPEED1:
speed = Speed1;
aspeed = Angle1;
break;
case SPEED2:
speed = Speed2;
aspeed = Angle2;
break;
case SPEED3:
speed = Speed3;
aspeed = Angle3;
break;
}
if(WControls.MovingForward && !FronCollision)
{
MainMotorsMove = FORWARD;
Position += Vector3f(speed * DiffTime, Angle);
}
else if(WControls.MovingBackward && !BackCollision)
{
MainMotorsMove = BACKWARD;
Position -= Vector3f(speed * DiffTime, Angle);
}
else if(WControls.MovingLeft)
{
MainMotorsMove = RIGHT;
if(Angle>360.0f)Angle-=360.0f;
Angle+=aspeed * DiffTime;
}
else if(WControls.MovingRight)
{
MainMotorsMove = LEFT;
if(Angle<0.0f)Angle+=360.0f;
Angle-=aspeed * DiffTime;
}
else
MainMotorsMove = STOP;
if(WControls.MovingGripperUp)
OtherMove = UP_GRIPPER;
else if(WControls.MovingGripperDown)
OtherMove = DOWN_GRIPPER;
else if(WControls.MovingGripperClose)
OtherMove = CLOSE_GRIPPER;
else if(WControls.MovingGripperOpen)
OtherMove = OPEN_GRIPPER;
else
OtherMove = STOP;
if(WControls.MovingCamUp)
SlaveMove = CAM2_UP;
else if(WControls.MovingCamDown)
SlaveMove= CAM2_DOWN;
else if(WControls.MovingCamLeft)
SlaveMove = CAM2_LEFT;
else if(WControls.MovingCamRight)
SlaveMove = CAM2_RIGHT;
else if(WControls.Laser)
{
if(LaserON)
{
SlaveMove = LASERS_OFF;
LaserON = false;
}
else
{
SlaveMove = LASERS_ON;
LaserON = false;
}
}
else
SlaveMove = IDLE;
if(GetKeyNewpress('P') && (USB->Error || !USB->HIDisOpen))
USB->HIDReOpen();
SendInstruction();
}
void SerialComHelper::SendInstruction(HardwareSerial* pSerial, ERUINT8 cmd
, const ERxParameterStream& parameterStream)
{
SendInstruction(pSerial, DEVICE_BROADCAST, DEVICE_BROADCAST, cmd, parameterStream);
}
void SCLang::Start(){
if(ready) return;
std::string command = Config::Global().path_to_sclang;
if(Utilities::GetFilename(command) != Utilities::OSSCLangBinName){
on_start_completed.Happen(false,"Invalid path to sclang: Selected file is not '" + Utilities::OSSCLangBinName + "'");
return;
}
if(!Utilities::GetFileExists(command)){
on_start_completed.Happen(false,"Invalid path to sclang: File does not exist");
return;
}
subprocess = std::make_unique<SCLangSubprocess>(command);
subprocess->on_any_line_received.SubscribeForever([&](std::string l){
on_line_received.Happen(l);
});
on_start_progress.Happen(1,"Starting SCLang...");
try{
subprocess->Start();
}catch(Exceptions::Subprocess ex){
on_start_completed.Happen(false,"Failed to start sclang subprocess:\n" + Utilities::Trim(ex.what()));
return;
}
subprocess->on_started.SubscribeOnce([](){
// The SC dir should be in current directory.
SetOSCDebug(osc_debug);
on_start_progress.Happen(3,"Loading scripts...");
// TODO: Check if the directories and files exist.
std::string main_script = Utilities::ConvertOSpathToUniPath(Utilities::GetCurrentDir()) + "/sc/main.sc";
if(!Utilities::GetFileExists( Utilities::ConvertUnipathToOSPath(main_script))){
on_start_completed.Happen(false,"Main SC scripts are missing");
return;
}
SendInstruction("(\"" + main_script + "\").loadPaths;");
subprocess->SendInstruction("NetAddr.localAddr.port.postln;", [&](std::string port){
port = Utilities::SplitString(port,"\n")[1];
std::cout << "SCLang is using port " << port << std::endl;
on_start_progress.Happen(4,"Starting OSC...");
osc.reset(); // Resetting the pointer BEFORE creating new. Otherwise, the new OSC server would fail to start because the speficied port would be already in use.
osc = std::make_unique<OSC>("localhost", port);
osc->AddMethodHandler("/algaudio/midiin", ProcessMIDIInput);
osc->AddMethodHandler("/algaudio/sendreply", [](lo::Message msg){SendReplyCatcher(msg.argv()[0]->i32, msg.argv()[1]->i32, msg.argv()[2]->f); });
SendOSCWithEmptyReply("/algaudioSC/hello").Then([](){
on_start_progress.Happen(5,"Booting server...");
BootServer();
on_server_started.SubscribeOnce([&](bool success){
if(success){
ready = true;
on_start_progress.Happen(8,"Installing module templates...");
ModuleCollectionBase::InstallAllTemplatesIntoSC().Then([=](){
on_start_progress.Happen(10,"Complete.");
on_start_completed.Happen(true,"");
});
}else{
// Server failed to boot
on_start_completed.Happen(false,"SC Server failed to start");
}
}); // on_server_started
}); // /algaudioSC/hello
}); // sendinstruction port
}); // subprocess started
}
void SCLang::StopServer(){
SendInstruction("s.quit;");
}
void SCLang::SetOSCDebug(bool enabled){
if(enabled) SendInstruction("OSCFunc.trace(true);");
else SendInstruction("OSCFunc.trace(false);");
osc_debug = enabled;
}
