static void utime_update(const char* name, double* _t0)
{
double t1 = a3d_utime();
#ifdef DEBUG_TIME
LOGI("%s dt=%lf", name, t1 - *_t0);
#endif
*_t0 = t1;
}
void loax_server_resize(loax_server_t* self, int w, int h)
{
assert(self);
LOGI("%ix%i", w, h);
self->w = w;
self->h = h;
int type = LOAX_EVENT_RESIZE;
double utime = a3d_utime();
net_socket_sendall(self->socket_event, (const void*) &type, sizeof(int));
net_socket_sendall(self->socket_event, (const void*) &utime, sizeof(double));
net_socket_sendall(self->socket_event, (const void*) &w, sizeof(int));
net_socket_sendall(self->socket_event, (const void*) &h, sizeof(int));
net_socket_flush(self->socket_event);
}
static void lzs_renderer_step(lzs_renderer_t* self)
{
assert(self);
LOGD("debug");
double t = a3d_utime();
double dt0 = t - self->t0;
++self->frames;
// don't update fps every frame
if(dt0 >= 1.0 * A3D_USEC)
{
double seconds = dt0 / A3D_USEC;
double fps = (double) self->frames / seconds;
// LOGI("%i frames in %.2lf seconds = %.2lf FPS", self->frames, seconds, fps);
a3d_texstring_printf(self->string_fps, "%i fps", (int) fps);
self->t0 = t;
self->frames = 0;
}
}
void lzs_renderer_draw(lzs_renderer_t* self)
{
assert(self);
LOGD("debug");
double t0 = a3d_utime();
// stretch screen to 800x480
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrthof(0.0f, SCREEN_W, SCREEN_H, 0.0f, 0.0f, 2.0f);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
// draw camera
glEnable(GL_TEXTURE_EXTERNAL_OES);
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
glBindTexture(GL_TEXTURE_EXTERNAL_OES, self->texid);
glVertexPointer(3, GL_FLOAT, 0, VERTEX);
glTexCoordPointer(2, GL_FLOAT, 0, COORDS);
glDrawArrays(GL_TRIANGLE_FAN, 0, 4);
glDisableClientState(GL_TEXTURE_COORD_ARRAY);
glDisable(GL_TEXTURE_EXTERNAL_OES);
utime_update("setup", &t0);
// capture buffers
GLint format = TEXGZ_BGRA;
GLint type = GL_UNSIGNED_BYTE;
glGetIntegerv(GL_IMPLEMENTATION_COLOR_READ_FORMAT_OES, &format);
glGetIntegerv(GL_IMPLEMENTATION_COLOR_READ_TYPE_OES, &type);
if((format == TEXGZ_BGRA) && (type == GL_UNSIGNED_BYTE))
{
LOGD("readpixels format=0x%X, type=0x%X", format, type);
// TODO - check for texgz errors
// process buffers
texgz_tex_t* bc = self->buffer_color;
texgz_tex_t* bg = self->buffer_gray;
texgz_tex_t* bsx = self->buffer_sx;
texgz_tex_t* bsy = self->buffer_sy;
glReadPixels(self->sphero_x - RADIUS_BALL, (SCREEN_H - self->sphero_y - 1) - RADIUS_BALL,
bc->width, bc->height, bc->format, bc->type, (void*) bc->pixels);
#ifdef DEBUG_BUFFERS
texgz_tex_export(bc, "/sdcard/laser-shark/color.texgz");
#endif
utime_update("readpixels", &t0);
texgz_tex_computegray(bc, bg);
utime_update("computegray", &t0);
texgz_tex_computeedges3x3(bg, bsx, bsy);
utime_update("computeedges", &t0);
// compute peak
{
int x;
int y;
int peak_x = 0;
int peak_y = 0;
float peak = 0.0f;
float* gpixels = (float*) bg->pixels;
float* xpixels = (float*) bsx->pixels;
float* ypixels = (float*) bsy->pixels;
for(x = 0; x < bg->width; ++x)
{
for(y = 0; y < bg->height; ++y)
{
int idx = bg->width*y + x;
// compute magnitude squared
float magsq = xpixels[idx]*xpixels[idx] + ypixels[idx]*ypixels[idx];
gpixels[idx] = magsq;
if(magsq > peak)
{
peak_x = x;
peak_y = y;
peak = magsq;
}
}
}
LOGD("peak=%f, peak_x=%i, peak_y=%i", peak, peak_x, peak_y);
utime_update("computepeak", &t0);
#ifdef DEBUG_BUFFERS
texgz_tex_export(bg, "/sdcard/laser-shark/peak.texgz");
#endif
// move sphero center to match peak
self->sphero_x += (float) peak_x - (float) bg->width / 2.0f;
self->sphero_y -= (float) peak_y - (float) bg->height / 2.0f;
}
}
else
{
LOGE("unsupported format=0x%X, type=0x%X", format, type);
}
// compute phone X, Y center
compute_position(self, SCREEN_CX, SCREEN_CY, &self->phone_X, &self->phone_Y);
// compute sphero X, Y
compute_position(self, self->sphero_x, self->sphero_y, &self->sphero_X, &self->sphero_Y);
utime_update("computeposition", &t0);
// compute goal
float dx = self->phone_X - self->sphero_X;
float dy = self->phone_Y - self->sphero_Y;
float a = fix_angle(atan2f(dx, dy) * 180.0f / M_PI);
self->sphero_goal = a - self->sphero_heading_offset;
// compute speed
float dotp = cosf((a - self->sphero_heading) * M_PI / 180.0f);
if(dotp > 0.0f)
{
// linearly interpolate speed based on the turning angle
self->sphero_speed = SPEED_MAX*dotp + SPEED_MIN*(1.0f - dotp);
}
else
{
// go slow to turn around
self->sphero_speed = SPEED_MIN;
}
// draw camera cross-hair
{
float x = SCREEN_CX;
float y = SCREEN_CY;
float r = RADIUS_CROSS;
limit_position(r, &x, &y);
lzs_renderer_crosshair(y - r, x - r, y + r, x + r, 1.0f, 0.0f, 0.0f);
}
// draw sphero search box
{
float r = RADIUS_BALL;
limit_position(r, &self->sphero_x, &self->sphero_y);
float x = self->sphero_x;
float y = self->sphero_y;
lzs_renderer_drawbox(y - r, x - r, y + r, x + r, 0.0f, 1.0f, 0.0f, 0);
}
lzs_renderer_step(self);
// draw string
a3d_texstring_printf(self->string_sphero, "sphero: head=%i, x=%0.1f, y=%0.1f, spd=%0.2f, goal=%i", (int) fix_angle(self->sphero_heading + self->sphero_heading_offset), self->sphero_X, self->sphero_Y, self->sphero_speed, (int) fix_angle(self->sphero_goal));
a3d_texstring_printf(self->string_phone, "phone: heading=%i, slope=%i, x=%0.1f, y=%0.1f", (int) fix_angle(self->phone_heading), (int) fix_angle(self->phone_slope), self->phone_X, self->phone_Y);
a3d_texstring_draw(self->string_sphero, 400.0f, 16.0f, 800, 480);
a3d_texstring_draw(self->string_phone, 400.0f, 16.0f + self->string_sphero->size, 800, 480);
a3d_texstring_draw(self->string_fps, (float) SCREEN_W - 16.0f, (float) SCREEN_H - 16.0f, SCREEN_W, SCREEN_H);
utime_update("draw", &t0);
//texgz_tex_t* screen = texgz_tex_new(SCREEN_W, SCREEN_H, SCREEN_W, SCREEN_H, TEXGZ_UNSIGNED_BYTE, TEXGZ_BGRA, NULL);
//glReadPixels(0, 0, screen->width, screen->height, screen->format, screen->type, (void*) screen->pixels);
//texgz_tex_export(screen, "/sdcard/laser-shark/screen.texgz");
//texgz_tex_delete(&screen);
A3D_GL_GETERROR();
}
lzs_renderer_t* lzs_renderer_new(const char* font)
{
assert(s);
LOGD("debug");
lzs_renderer_t* self = (lzs_renderer_t*) malloc(sizeof(lzs_renderer_t));
if(self == NULL)
{
LOGE("malloc failed");
return NULL;
}
self->sphero_x = 400.0f;
self->sphero_y = 240.0f;
self->sphero_X = 0.0f;
self->sphero_Y = 0.0f;
self->sphero_speed = 0.0f;
self->sphero_heading = 0.0f;
self->sphero_heading_offset = 0.0f;
self->sphero_goal = 0.0f;
self->phone_heading = 0.0f;
self->phone_slope = 0.0f;
self->phone_height = 5.0f;
self->t0 = a3d_utime();
self->frames = 0;
// allocate the buffer(s)
GLint bsize = 2 * ((int) RADIUS_BALL);
GLint format = TEXGZ_BGRA;
GLint type = TEXGZ_UNSIGNED_BYTE;
self->buffer_color = texgz_tex_new(bsize, bsize, bsize, bsize, type, format, NULL);
if(self->buffer_color == NULL)
{
goto fail_color;
}
format = TEXGZ_LUMINANCE;
type = TEXGZ_FLOAT;
self->buffer_gray = texgz_tex_new(bsize, bsize, bsize, bsize, type, format, NULL);
if(self->buffer_gray == NULL)
{
goto fail_gray;
}
self->buffer_sx = texgz_tex_new(bsize, bsize, bsize, bsize, type, format, NULL);
if(self->buffer_sx == NULL)
{
goto fail_sx;
}
self->buffer_sy = texgz_tex_new(bsize, bsize, bsize, bsize, type, format, NULL);
if(self->buffer_sy == NULL)
{
goto fail_sy;
}
// create the font
self->font = a3d_texfont_new(font);
if(self->font == NULL)
{
goto fail_font;
}
// create the string(s)
self->string_sphero = a3d_texstring_new(self->font, 64, 24, A3D_TEXSTRING_TOP_CENTER, 1.0f, 1.0f, 0.235f, 1.0f);
if(self->string_sphero == NULL)
{
goto fail_string_sphero;
}
self->string_phone = a3d_texstring_new(self->font, 64, 24, A3D_TEXSTRING_TOP_CENTER, 1.0f, 1.0f, 0.235f, 1.0f);
if(self->string_phone == NULL)
{
goto fail_string_phone;
}
self->string_fps = a3d_texstring_new(self->font, 16, 24, A3D_TEXSTRING_BOTTOM_RIGHT, 1.0f, 1.0f, 0.235f, 1.0f);
if(self->string_fps == NULL)
{
goto fail_string_fps;
}
glGenTextures(1, &self->texid);
glEnableClientState(GL_VERTEX_ARRAY);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glDisable(GL_DEPTH_TEST);
// success
return self;
// failure
fail_string_fps:
a3d_texstring_delete(&self->string_phone);
fail_string_phone:
a3d_texstring_delete(&self->string_sphero);
fail_string_sphero:
a3d_texfont_delete(&self->font);
fail_font:
texgz_tex_delete(&self->buffer_sy);
fail_sy:
texgz_tex_delete(&self->buffer_sx);
fail_sx:
texgz_tex_delete(&self->buffer_gray);
fail_gray:
texgz_tex_delete(&self->buffer_color);
fail_color:
free(self);
return NULL;
}
