// initialize the shape display and set up shape display helper objects
void AppManager::setupShapeDisplayManagement() {
// initialize communication with the shape display
switch (SHAPE_DISPLAY_IN_USE) {
case INFORM_DISPLAY:
shapeIOManager = new InformIOManager();
break;
case TRANSFORM_DISPLAY:
shapeIOManager = new TransformIOManager();
break;
case COOPERFORM_DISPLAY:
shapeIOManager = new CooperformIOManager();
break;
default:
throw "unknown setting for `SHAPE_DISPLAY_IN_USE`";
}
// initialize shape display pin configs
PinConfigs pinConfigs;
pinConfigs.timeOfUpdate = elapsedTimeInSeconds();
pinConfigs.gainP = DEFAULT_GAIN_P;
pinConfigs.gainI = DEFAULT_GAIN_I;
pinConfigs.maxI = DEFAULT_MAX_I;
pinConfigs.deadZone = DEFAULT_DEAD_ZONE;
pinConfigs.maxSpeed = DEFAULT_MAX_SPEED;
shapeIOManager->setGlobalPinConfigs(pinConfigs);
timeOfLastPinConfigsUpdate = elapsedTimeInSeconds();
// clear height and pin config buffers
for (int x = 0; x < SHAPE_DISPLAY_SIZE_X; x++) {
for (int y = 0; y < SHAPE_DISPLAY_SIZE_Y; y++) {
heightsForShapeDisplay[x][y] = 0;
heightsFromShapeDisplay[x][y] = 0;
pinConfigsForShapeDisplay[x][y] = pinConfigs;
}
}
// allocate height pixels objects and clear contents
heightPixelsForShapeDisplay.allocate(SHAPE_DISPLAY_SIZE_X, SHAPE_DISPLAY_SIZE_Y, 1);
heightPixelsForShapeDisplay.set(0);
heightPixelsFromShapeDisplay.allocate(SHAPE_DISPLAY_SIZE_X, SHAPE_DISPLAY_SIZE_Y, 1);
heightPixelsFromShapeDisplay.set(0);
// allocate shape display graphics container and clear contents
graphicsForShapeDisplay.allocate(SHAPE_DISPLAY_PROJECTOR_SIZE_X, SHAPE_DISPLAY_PROJECTOR_SIZE_X, GL_RGBA);
graphicsForShapeDisplay.begin();
ofClear(0);
graphicsForShapeDisplay.end();
}
void recordElapsedCmdTime(AsdkCommandRecord*& commandRecord, double startTime)
{
commandRecord->elapsedTime += elapsedTimeInSeconds(getCurTime(),
startTime);
}
void AppManager::update(){
kinectManager->update();
if (kinectManager->isFrameNew()) {
kinectManager->getColorPixels(colorPixels);
kinectManager->getDepthPixels(depthPixels);
}
// time elapsed since last update
float currentTime = elapsedTimeInSeconds();
double dt = currentTime - timeOfLastUpdate;
timeOfLastUpdate = currentTime;
// copy heights from shape display to pixels object
if (shapeIOManager->heightsFromShapeDisplayAvailable) {
shapeIOManager->getHeightsFromShapeDisplay(heightsFromShapeDisplay);
// note: manually looping over all pixels is important! the underlying
// ofPixels char array is stored as unsigned char[y][x], while the
// shape display heights are stored as unsigned char[x][y]
for (int x = 0; x < SHAPE_DISPLAY_SIZE_X; x++) {
for (int y = 0; y < SHAPE_DISPLAY_SIZE_Y; y++) {
int xy = heightPixelsFromShapeDisplay.getPixelIndex(x, y);
heightPixelsFromShapeDisplay[xy] = heightsFromShapeDisplay[x][y];
}
}
}
// copy heights and pin configs from application
bool pinConfigsAreStale;
if (!paused) {
currentApplication->update(dt);
currentApplication->getHeightsForShapeDisplay(heightPixelsForShapeDisplay);
// note: manually looping over all pixels is important! the underlying
// ofPixels char array is stored as unsigned char[y][x], while the
// shape display heights are stored as unsigned char[x][y]
for (int x = 0; x < SHAPE_DISPLAY_SIZE_X; x++) {
for (int y = 0; y < SHAPE_DISPLAY_SIZE_Y; y++) {
int xy = heightPixelsForShapeDisplay.getPixelIndex(x, y);
heightsForShapeDisplay[x][y] = heightPixelsForShapeDisplay[xy];
}
}
pinConfigsAreStale = timeOfLastPinConfigsUpdate < currentApplication->timeOfLastPinConfigsUpdate;
if (pinConfigsAreStale) {
currentApplication->getPinConfigsForShapeDisplay(pinConfigsForShapeDisplay);
}
}
// render graphics
graphicsForShapeDisplay.begin();
ofBackground(0);
ofSetColor(255);
currentApplication->drawGraphicsForShapeDisplay(0, 0, SHAPE_DISPLAY_PROJECTOR_SIZE_X, SHAPE_DISPLAY_PROJECTOR_SIZE_X);
graphicsForShapeDisplay.end();
shapeIOManager->sendHeightsToShapeDisplay(heightsForShapeDisplay);
if (pinConfigsAreStale) {
shapeIOManager->setPinConfigs(pinConfigsForShapeDisplay);
timeOfLastPinConfigsUpdate = elapsedTimeInSeconds();
}
}
void AppManager::setup(){
ofSetFrameRate(30);
// inFORM screen setup
#if SHAPE_DISPLAY_IN_USE==INFORM_DISPLAY
ofSetWindowShape(MONITOR_SCREEN_RESOLUTION_X + SHAPE_DISPLAY_PROJECTOR_RAW_RESOLUTION_X, SHAPE_DISPLAY_PROJECTOR_RAW_RESOLUTION_Y);
projectorOffsetX = MONITOR_SCREEN_RESOLUTION_X + SHAPE_DISPLAY_PROJECTOR_OFFSET_X;
ofSetWindowPosition(0, 0);
#endif
// initialize shape display and set up helper objects
setupShapeDisplayManagement();
// initialize kinect
kinectManager = new KinectManager();
// allocate kinect images
colorPixels.allocate(kinectManager->getImageWidth(), kinectManager->getImageHeight(), OF_IMAGE_COLOR);
colorPixels.set(0);
depthPixels.allocate(kinectManager->getImageWidth(), kinectManager->getImageHeight(), OF_IMAGE_GRAYSCALE);
depthPixels.set(0);
// zero timeOfLastUpdate tracker
timeOfLastUpdate = elapsedTimeInSeconds();
// set up applications
simpleWaveApp = new SimpleWaveApp();
applications["simpleWave"] = simpleWaveApp;
tunableWaveApp = new TunableWaveApp();
applications["tunableWave"] = tunableWaveApp;
leverApp = new LeverApp();
applications["lever"] = leverApp;
metaMaterialsApp = new MetaMaterialsApp();
applications["metaMaterials"] = metaMaterialsApp;
bosApp = new BOSApp();
applications["BOS"] = bosApp;
teleoperationApp = new TeleoperationApp();
applications["teleoperation"] = teleoperationApp;
touchMaterialApp = new TouchMaterialApp();
applications["touchMaterial"] = touchMaterialApp;
waterApp = new WaterApp();
applications["water"] = waterApp;
stretchyApp = new StretchyApp();
applications["stretchy"] = stretchyApp;
// and the debugging apps, too
axisCheckerApp = new AxisCheckerApp();
applications["axisChecker"] = axisCheckerApp;
// give applications read access to input data
for (map<string, Application *>::iterator iter = applications.begin(); iter != applications.end(); iter++) {
Application *app = iter->second;
// kinect color and depth data
app->setPixelsFromKinectRefs(&colorPixels, &depthPixels);
// shape display heights, if they are accessible
if (shapeIOManager->heightsFromShapeDisplayAvailable) {
app->setHeightsFromShapeDisplayRef(&heightPixelsFromShapeDisplay);
}
}
// set default application
setCurrentApplication("simpleWave");
}
