BackBuffer& LG::BackBuffer::operator<<( char datum )
{
if( _y_buffer_pointer < 0 ||
_x_buffer_pointer < 0 ||
_y_buffer_pointer > getHeight()-1 ||
_x_buffer_pointer > getWidth()-1 ||
datum == 0 )
return *this;
if(datum == 0)
datum = 32;
Pixel new_one;
new_one.character = datum;
new_one.fore_color = _fore_pointer;
new_one.back_color = _back_pointer;
getBackBuffer()[_y_buffer_pointer][_x_buffer_pointer] = new_one;
if(++_x_buffer_pointer >= getWidth())
{
_x_buffer_pointer = 0;
_y_buffer_pointer++;
}
return *this;
}
void BackBuffer::fill(const Pixel& pixel)
{
Buffer& buf = getBackBuffer();
for(int r=0; r < buf.getLength() ;r++)
for(int c=0; c < buf[r].getLength() ; c++)
buf[r][c] = pixel;
}
int LG::BackBuffer::getWidth() const
{
int min = 99999999;
const Buffer& back = getBackBuffer();
for(int n=0; n < back.getLength() ;n++)
if(back[n].getLength() < min)
min = back[n].getLength();
return min;
}
void FileReader::run()
{
while (!threadShouldExit())
{
if (m_shouldFillBackBuffer.compareAndSetBool(false, true))
{
readAndFillBufferCache(*getBackBuffer());
}
wait(30);
}
}
void LG::BackBuffer::draw()
{
Buffer& front = getFrontBuffer(),
& back = getBackBuffer();
for(int h=0; h < back.getLength() ;h++)
for(int w=0; w < back[h].getLength() ;w++)
{
Pixel& new_p = back[h][w],
& old_p = front[h][w];
bool is_new_one_korean = (new_p.character & 0x80) == 0x80;
// HiddenPixel 조사:
// HiddenPixel이란:
// 2BYTE문자는 앞과 뒤 바이트(= 픽셀)이 한 몸으로 이루어져 있기 때문에,
// 둘 중 하나만 찍히면 제대로 출력이 되지 않는다.
// 그런데 새로 갱신된 문자가 하필히면 앞 바이트가 동일하게 된 경우는
// 뒷 문자만 cout 출력이 되므로 제대로 된 출력이 안된다.
//
// 해결방법:
// 픽셀이 같으면 뛰어넘는 코드에서, 2BYTE 문자라고 추정되는 경우(sign bit이 1)
// next pixel 까지도 검색을 한번에 수행한다.
// 둘 중 하나라도 갱신이 필요한 경우는 둘 모두를 출력한다.
if(is_new_one_korean && w < back[h].getLengthLastIndex())
{
Pixel& next_new = back[h][w+1],
next_old = front[h][w+1];
if( next_new != next_old ||
new_p != old_p )
{
Core::setCursorTo(w, h);
Core::setColor(new_p.fore_color, new_p.back_color);
std::cout << new_p.character << next_new.character;
next_old = next_new;
old_p = new_p;
}
w++;
}
else if(new_p != old_p)
{
Core::setCursorTo(w, h);
Core::setColor(new_p.fore_color, new_p.back_color);
std::cout << new_p.character;
}
}
_swapBuffer();
Core::setColor(LIGHTGRAY, BLACK);
Core::setCursorTo(0, back.getLength()); // means height
}
int LG::BackBuffer::getHeight() const
{
return getBackBuffer().getLength();
}
bool PrintPlanner::queueMove(const Vec3& target) {
BlockBuffer* backBuffer = getBackBuffer();
// Prepare the distance between the current location and the target, and normalize a unit vector for determining incremental extruder positions
Vec3 direction = target - _position;
float distance = direction.mag();
Vec3 unit = direction.normalized();
// Determine the fastest movement profile that this move can use
int moveProfileIndex;
for(moveProfileIndex = 0;
moveProfileIndex < MOVEMENT_PROFILE_MAX &&
_config.movementProfiles[moveProfileIndex].minimumDistance > distance;
moveProfileIndex++) {}
if(moveProfileIndex == MOVEMENT_PROFILE_MAX) {
printf("Error: No movement profile short enough to accomodate move\n");
return false;
} else {
printf("Using movement profile %i\n", moveProfileIndex);
}
MovementProfile* profile = &_config.movementProfiles[moveProfileIndex];
PositionProfile vars;
// Cache some indices for quick lookups
int constSpeedDuration = (distance - profile->minimumDistance) / profile->maxVelocity;
int decelStart = profile->intervals[2] + constSpeedDuration;
int thirdJerkUpper = decelStart + profile->intervals[3];
int fourthJerkLower = decelStart + profile->intervals[4];
int totalBlocks = decelStart + profile->intervals[5];
int blockIndex = 0;
for(int i = 0; i < totalBlocks; i++) {
// Is this block buffer full?
if(blockIndex >= BLOCK_BUFFER_LENGTH) {
// Commit this block buffer and move to the next one
backBuffer->numberOfBlocks = blockIndex;
commitBackBuffer();
backBuffer = getBackBuffer();
}
// Determine whether our acceleration is ramping up, ramping down, or staying constant for this block
float jerkDirection = 0;
if(i < profile->intervals[0] || i >= fourthJerkLower) {
jerkDirection = 1.0f;
} else if(
(i >= profile->intervals[1] && i < profile->intervals[2]) ||
(i >= decelStart && i < thirdJerkUpper)
) {
jerkDirection = -1.0f;
}
// Iterate our position profile
ComputeStep(_config, jerkDirection, vars);
printf("\t[%i] ", i); vars.debug();
// Using our unit vector, project the new extruder location
Vec3 newPosition = _position + (unit * vars.d);
// Determine the new location of the steppers
float heights[NUMBER_OF_AXES];
_solver.getHeightsAt(newPosition, heights);
for(int j = STEPPER_A; j <= STEPPER_C; j++) {
float delta = heights[j] - _stepperPosition[j];
if(fabs(_stepperProgress[j] + delta) >= (_config.zUnitsPerStep * 2)) {
printf("ERROR: Speed too fast for stepper %i (will lag behind)\n", i);
}
_stepperProgress[j] += delta;
_stepperPosition[j] = heights[j];
if (_stepperProgress[j] >= _config.zUnitsPerStep) {
backBuffer->blocks[i].step[j] = true;
backBuffer->blocks[i].forward[j] = true;
_stepperProgress[j] -= _config.zUnitsPerStep;
printf("\t\tStepper %i moves forward\n", j);
} else if(_stepperProgress[j] <= -_config.zUnitsPerStep) {
backBuffer->blocks[i].step[j] = true;
backBuffer->blocks[i].forward[j] = false;
_stepperProgress[j] += _config.zUnitsPerStep;
printf("\t\tStepper %i moves backward\n", j);
} else {
backBuffer->blocks[i].step[j] = false;
}
}
blockIndex++;
}
backBuffer->numberOfBlocks = blockIndex;
commitBackBuffer();
return true;
}
