void IceCrystalsMode::init(){
for (int a=0;a<ICE_COUNT;a++){
initializeIce(a);
if(random(0,100)>60){
ice[a].state = ICE_SLEEPING;
ice[a].wakeupTime = millis()+random(1000,2000);
}
}
}
RosImageServer::RosImageServer(int argc, char **argv, std::string nodeName)
{
initializeROS(argc,argv,nodeName);
runROSSpinner();
initializeIce(argc,argv);
addRosImagePublisher("test",1000);
addRosImageSubscriber<RosImageServer>("test",1000,&RosImageServer::rosCallback,this);
addIceProxy("SimpleImage:default -p 10000");
}
void IceCrystalsMode::loop(struct rgb *leds){
struct rgb color;
color.r = random(0,255);
color.g = random(0,255);
color.b = random(0,255);
for(int whiteLed = 0; whiteLed < count; whiteLed = whiteLed + 1) {
leds[whiteLed].g = constrain(9.8*leds[whiteLed].g/10.0-1, 0, 255);
leds[whiteLed].r = constrain(9.8*leds[whiteLed].r/10.0-1, 0, 255);
leds[whiteLed].b = constrain(9.8*leds[whiteLed].b/10.0-1, 0, 255);
}
for (int a=0;a<ICE_COUNT;a++){
struct rgb *led = &leds[(int)round(ice[a].position*count)];
struct rgb *ledr;
struct rgb *ledl;
int r, l;
double npr, npl;
int flicker = random(10,50);
switch(ice[a].state){
case ICE_GROWING:
led->g = ((millis()-ice[a].start)*50)/(ice[a].growingSpeed-ice[a].start+1);
led->r = ((millis()-ice[a].start)*70)/(ice[a].growingSpeed-ice[a].start+1);
led->b = ((millis()-ice[a].start)*200)/(ice[a].growingSpeed-ice[a].start+1);
if (millis()>ice[a].growingSpeed){
ice[a].state = ICE_FLICKERING;
}
break;
case ICE_FLICKERING:
led->g = flicker+50;
led->r = flicker+70;
led->b = flicker+200;
if (millis()>ice[a].flickeringDuration){
ice[a].state = ICE_EXPLODING;
}
break;
case ICE_EXPLODING:
//led->b = 100-((millis()-ice[a].flickeringDuration)*100)/(ice[a].explodingDuration/10-ice[a].flickeringDuration);
//led->r = 100-((millis()-ice[a].flickeringDuration)*100)/(ice[a].explodingDuration/10-ice[a].flickeringDuration);
//led->g = 100-((millis()-ice[a].flickeringDuration)*100)/(ice[a].explodingDuration/10-ice[a].flickeringDuration);
npr = ice[a].position+(ice[a].explodingSpeed*(millis()-ice[a].flickeringDuration));
npl = ice[a].position-(ice[a].explodingSpeed*(millis()-ice[a].flickeringDuration));
r = round(npr*count);
l = round(npl*count);
if(r>=0 && r<count){
ledr = &leds[r];
ledr->g = 0;
ledr->r = 0;
ledr->b = 10;
}
if(l>=0 && l<count){
ledl = &leds[l];
ledl->g = 0;
ledl->r = 0;
ledl->b = 10;
}
if (millis()>ice[a].explodingDuration){
ice[a].state = ICE_SLEEPING;
}
break;
case ICE_SLEEPING:
if (millis()>ice[a].wakeupTime){
initializeIce(a);
}
break;
}
}
}
