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Geom.cpp
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Geom.cpp
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#include "Geom.hpp"
#define MAXBOUND 1.10 // arbitrary # filters/controls sensor updates
#define MINBOUND 0.90 // arbitrary # filters/controls sensor updates
using namespace ldm;
#ifdef PCRUN
//ball shape - PC test only
const char* const ldm::SYM_BALL = "\u25CF";
//mask shape - PC test only
const char* const ldm::SYM_MASK = "\u25A1";
#endif
const unsigned char Locations::HGMASK[] = {
0b00000000,
0b00000000,
0b00000000,
0b00000000,
0b00000000,
0b00000000,
0b00000000,
0b00000000,
0b10000001,
0b11000011,
0b11000011,
0b11100111,
0b11100111,
0b11000011,
0b11000011,
0b10000001,
0b00000000,
0b00000000,
0b00000000,
0b00000000,
0b00000000,
0b00000000,
0b00000000,
0b00000000
};
//TODO -add being start increment finnert arrow? angle name
// gfrl is organized as follows
// gfrl[compas direction][Fall, RollRight, Rollleft][X, Y]
// gfrl[0][ROLLRIGHT][Y] shows the gravity in directionn
// y-axis when object top is pointing North ie sitting upright
const char Grav::gfrl[][3][2] = {
{ { 0, 1}, { 1, 1}, {-1, 1} }, // N
{ { 1, 1}, { 1, 0}, { 0, 1} }, // NW
{ { 1, 0}, { 1,-1}, { 1, 1} }, // W
{ { 1,-1}, {0, -1}, { 1, 0} }, // SW
{ { 0,-1}, {-1,-1}, { 1,-1} }, // S
{ {-1,-1}, {-1, 0}, { 0,-1} }, // SE
{ {-1, 0}, {-1, 1}, {-1,-1} }, // E
{ {-1, 1}, { 0, 1}, {-1, 0} } // NE
};
// this is the array the MPU6050 library exposes
// to read the rotation angles YAW-PITCH-ROLL
extern float ypr[3];
Grav::Grav(){
g = &(gfrl[0][0]); //arbitrarily set it to initial array value "N"
}
int Grav::countl() const{
return mCountl;
}
void Grav::updateGravity(int m){
// TBD change how G values impact ball acceleration
// to avoid adding floats to Ball
// maybe change FInert level for each gravity array
if ( 115 >m && m >= 70)
g = & gfrl[4][0]; // S
else if ( 70 > m && m >= 25 ) {
if (ypr[2] * 180/M_PI >0)
g = & gfrl[3][0]; // SW
else
g = & gfrl[5][0]; // SE
}else if ( (25 > m && m >= 0 ) || (m>0 && m>=-20) ){
if (ypr[2] * 180/M_PI >0)
g = & gfrl[2][0]; // W
else
g = & gfrl[6][0]; // E
}else if ( -20 > m && m >= -65 ) {
if (ypr[2] * 180/M_PI >0)
g = & gfrl[1][0]; // NW
else
g = & gfrl[7][0]; // NE
}else if ( -65 > m && m >= -110 )
g = & gfrl[0][0]; // N
else
// we can disregard this reading no big deal
//PRINTERR("Unexpected reading from MPU6050");
for(int i=0; i< mCountl; i++){
mList[i]->gravityChanged(g);
}
}
void Grav::registerListener(GListener& gl){
if(mCountl<GRAV_LISTENER_COUNT)
mList[mCountl++] = ≷
else
PRINTERR("Unexpected gravity listener trying to register");
}
Ball::Ball(){
#ifdef PCRUN
int rollside = (rand()%2 ? ROLLRIGHT : ROLLLEFT );
#else
int rollside = (random(0,2) ? ROLLRIGHT : ROLLLEFT );
#endif
setRoll(rollside);
}
inline void Ball::setRoll(int rollside){
rollside = (rollside == ROLLLEFT ? 0 : 1);
mFlags.val ^= (-rollside ^ mFlags.val) & (1 << ROLLSIDEBIT);
}
inline int Ball::getRoll(){
//if bit set to 1 roll RIGHT , else (bit set to 0) roll LEFT
return ((mFlags.val >> ROLLSIDEBIT) & 1 ) ? ROLLRIGHT : ROLLLEFT;
}
inline bool Ball::isRolling(){
return ((mFlags.val >> ROLLBIT) & 1 ) ? true : false;
}
inline void Ball::setRolling(bool roll){
int x = ( roll ? 1 : 0 );
mFlags.val ^= (-x ^ mFlags.val) & (1 << ROLLBIT);
}
inline bool Ball::isFalling(){
return ((mFlags.val >> FALLBIT) & 1 ) ? true : false;
}
inline void Ball::setFalling(bool fall){
int x = ( fall ? 1 : 0 );
mFlags.val ^= (-x ^ mFlags.val) & (1 << FALLBIT);
}
void Ball::fall(Locations& gLoc, Grav& gE){
if (gLoc.isAvailable(gE.g[FALL][Y]+mR, gE.g[FALL][X] + mC)){
setFalling(true);
if (++mFcounter > FINERT){
mFcounter = 0;
int r = mR;
int c = mC;
mR += gE.g[FALL][Y];
mC += gE.g[FALL][X];
gLoc.moveBallFrom(r, c);
setFalling(false);
}
}else if (!isFalling()){
int rollR = getRoll();
#ifdef PCRUN
if(!isRolling() && (rand()%2 == 1)){
#else
if(!isRolling() && (random(0,2) == 1)){
#endif
rollR = -1*rollR;
setRoll(rollR);
}
int ridx = (rollR == 1 ? RIGHT : LEFT);
if (gLoc.isAvailable(gE.g[ridx][Y]+mR, gE.g[ridx][X]+mC)){
setRolling(true);
if (++mFcounter > RINERT){
mFcounter =0;
int r = mR;
int c = mC;
mR += gE.g[ridx][Y];
mC += gE.g[ridx][X];
gLoc.moveBallFrom(r, c);
setRolling( false);
}
}
}else{
setFalling(false);
setRolling(false);
mFcounter = 0;
}
}
void Ball::setRC(int r, int c){
mR = r;
mC = c;
}
Locations::Locations(Grav& grav):mGrav(grav){
mGrav.registerListener(*this);
for(int r=0; r <= MAX_ROW; r++){
for (int c=0; c<= MAX_COL; c++){
mBalls[r][c] = nullptr;
}
}
for(int i=0; i<BALLCOUNT; i++){
placeBall(sand[i]);
updateView(-1, -1, sand[i].row(), sand[i].col());
}
PRINTERR("loc all balls placed in locations");
}
void Locations::updateView(int oldr, int oldc, int r, int c){
if(oldr <0 ){
//do nothing, this means we are placing the ball first time
}else{
//turn older location's bit off
ballView[oldr] &= ~(1 << oldc);
}
//turn the new location bit on
ballView[r] |= 1 << c;
}
void Locations::gravityChanged(const char (*g)[2]){
//TODO does this still have any use?
// keep for later
}
void Locations::placeBallNextAvailable(Ball& ball){
for(int i=0; i + ball.row() <= MAX_ROW; i++){
for(int j=0; j + ball.col() <= MAX_COL; j++){
if ( isAvailable(ball.row() + i, ball.col() +j) ){
ball.setRC( ball.row() + i, ball.col() + j);
mBalls[ball.row()][ball.col()] = &ball;
return;
}
}
}
PRINTERR("Unexpected , cannot find a place for the ball");
}
void Locations::placeBall(Ball& ball){
if ( isAvailable(ball.row(), ball.col()) )
mBalls[ball.row()][ball.col()] = &ball;
else
placeBallNextAvailable( ball);
}
void Locations::moveBallFrom(int r, int c){
Ball* b = mBalls[r][c];
if( b != nullptr){
mBalls[r][c] = nullptr;
mBalls[b->row()][b->col()] = b;
updateView(r, c, b->row(), b->col());
}else{
PRINT("unexpected ball location ");
}
}
void Locations::applyGravity(const char (*g)[2]){
// start scanning based on gravity, TBD
if(g[FALL][Y] < 0){
for(int r=0; r <= MAX_ROW; r++){
for (int c=0; c <= MAX_COL; c++){
if(hasBall(r,c)){
mBalls[r][c]->fall(*this, mGrav);
}
}
}
}else if (g[FALL][Y] >= 0){
for(int r = MAX_ROW; r >= 0; r--){
for (int c=MAX_COL; c >= 0; c--){
if(hasBall(r,c)){
mBalls[r][c]->fall(*this, mGrav);
}
}
}
}
}
//for PC TEST only
#ifdef PCRUN
void Locations::display(){
PRINT("\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n");
const char* g = SYM_MASK;
PRINT(g << g << g <<g << g << g <<g << g << g <<g << "\n");
for (int r=0; r <= MAX_ROW; r++){
PRINT(g);
for (int c=0; c <= MAX_COL; c++){
const char* wc =" ";
if(isMask(r, c)){
wc = SYM_MASK;
}else if (hasBall(r, c)) {
wc = SYM_BALL;
}
PRINT(wc);
}
PRINT(g<<" "<<r<<"\n");
}
PRINT(g << g << g <<g << g << g <<g << g << g <<g);
if (mGrav.g[FALL][Y] >0)
PRINT("\u2193\n"); // down arrow
else
PRINT("\u2191\n"); // up arrow
PRINT("\n");
}
#endif