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overte-JulianGro/main.cpp
Philip Rosedale 58f0ea0a65 Commented out broadcast calls, added fullscreen flag
2012-12-13 17:23:39 -08:00

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//
//
// Interface
//
// Show a field of objects rendered in 3D, with yaw and pitch of scene driven
// by accelerometer data
// serial port connected to Maple board/arduino.
//
// Keyboard Commands:
//
// / = toggle stats display
// n = toggle noise in firing on/off
// c = clear all cells and synapses to zero
// s = clear cells to zero but preserve synapse weights
//
#ifdef __APPLE__
#include <GLUT/glut.h>
#include <OpenGL/gl.h>
#include <OpenGL/glext.h>
#else
#include <GL/glut.h>
#endif
#include <iostream>
#include <fstream>
#include <math.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/time.h>
// These includes are for the serial port reading/writing
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include "glm/glm.hpp"
#include <portaudio.h>
#include "SerialInterface.h"
#include "field.h"
#include "world.h"
#include "util.h"
#include "network.h"
#include "audio.h"
#include "head.h"
#include "hand.h"
#include "particle.h"
#include "texture.h"
#include "cloud.h"
#include "agent.h"
using namespace std;
int audio_on = 0; // Whether to turn on the audio support
int simulate_on = 1;
// Network Socket Stuff
// For testing, add milliseconds of delay for received UDP packets
int UDP_socket;
int delay = 0;
char* incoming_packet;
timeval ping_start;
int ping_count = 0;
float ping_msecs = 0.0;
int packetcount = 0;
int packets_per_second = 0;
int bytes_per_second = 0;
int bytescount = 0;
// Getting a target location from other machine (or loopback) to display
int target_x, target_y;
int target_display = 0;
int head_mirror = 1; // Whether to mirror the head when viewing it
int WIDTH = 1200;
int HEIGHT = 800;
int fullscreen = 0;
#define HAND_RADIUS 0.25 // Radius of in-world 'hand' of you
Head myHead; // The rendered head of oneself or others
Hand myHand(HAND_RADIUS,
glm::vec3(0,1,1)); // My hand (used to manipulate things in world)
glm::vec3 box(WORLD_SIZE,WORLD_SIZE,WORLD_SIZE);
ParticleSystem balls(0,
box,
false, // Wrap?
0.02, // Noise
0.3, // Size scale
0.0 // Gravity
);
Cloud cloud(100000, // Particles
box, // Bounding Box
false // Wrap
);
float cubes_position[MAX_CUBES*3];
float cubes_scale[MAX_CUBES];
float cubes_color[MAX_CUBES*3];
int cube_count = 0;
#define RENDER_FRAME_MSECS 8
#define SLEEP 0
int steps_per_frame = 0;
float yaw =0.f; // The yaw, pitch for the avatar head
float pitch = 0.f; //
float start_yaw = 90.0;
float render_yaw = start_yaw;
float render_pitch = 0.f;
float render_yaw_rate = 0.f;
float render_pitch_rate = 0.f;
float lateral_vel = 0.f;
// Manage speed and direction of motion
GLfloat fwd_vec[] = { 0.0, 0.0, 1.0};
GLfloat start_location[] = { WORLD_SIZE*1.5, -WORLD_SIZE/2.0, -WORLD_SIZE/3.0};
GLfloat location[] = {start_location[0], start_location[1], start_location[2]};
float fwd_vel = 0.0f;
#define MAX_FILE_CHARS 100000 // Biggest file size that can be read to the system
int stats_on = 1; // Whether to show onscreen text overlay with stats
int noise_on = 0; // Whether to add random noise
float noise = 1.0; // Overall magnitude scaling for random noise levels
int step_on = 0;
int display_levels = 0;
int display_head = 0;
int display_hand = 0;
int display_field = 0;
int display_head_mouse = 1; // Display sample mouse pointer controlled by head movement
int head_mouse_x, head_mouse_y;
int head_lean_x, head_lean_y;
int mouse_x, mouse_y; // Where is the mouse
int mouse_pressed = 0; // true if mouse has been pressed (clear when finished)
int speed;
//
// Serial USB Variables
//
int serial_on = 0;
int latency_display = 1;
int adc_channels[NUM_CHANNELS];
float avg_adc_channels[NUM_CHANNELS];
int sensor_samples = 0;
int sensor_LED = 0;
glm::vec3 gravity;
int first_measurement = 1;
int samplecount = 0;
// Frame rate Measurement
int framecount = 0;
float FPS = 120.f;
timeval timer_start, timer_end;
timeval last_frame;
double elapsedTime;
// Particles
// To add a new texture:
// 1. Add to the XCode project in the Resources/images group
// (ensure "Copy file" is checked
// 2. Add to the "Copy files" build phase in the project
char texture_filename[] = "./int-texture256-v4.png";
unsigned int texture_width = 256;
unsigned int texture_height = 256;
float particle_attenuation_quadratic[] = { 0.0f, 0.0f, 2.0f }; // larger Z = smaller particles
float pointer_attenuation_quadratic[] = { 1.0f, 0.0f, 0.0f }; // for 2D view
// Every second, check the frame rates and other stuff
void Timer(int extra)
{
gettimeofday(&timer_end, NULL);
FPS = (float)framecount / ((float)diffclock(timer_start,timer_end) / 1000.f);
packets_per_second = (float)packetcount / ((float)diffclock(timer_start,timer_end) / 1000.f);
bytes_per_second = (float)bytescount / ((float)diffclock(timer_start,timer_end) / 1000.f);
framecount = 0;
samplecount = 0;
packetcount = 0;
bytescount = 0;
glutTimerFunc(1000,Timer,0);
gettimeofday(&timer_start, NULL);
// Send a message to the spaceserver telling it we are ALIVE
notify_spaceserver(UDP_socket, location[0], location[1], location[2]);
}
void display_stats(void)
{
// bitmap chars are about 10 pels high
char legend[] = "/ - toggle this display, Q - exit, H - show head, M - show hand, T - test audio";
drawtext(10, 15, 0.10, 0, 1.0, 0, legend);
char stats[200];
sprintf(stats, "FPS = %3.0f, Ping = %4.1f Pkts/s = %d, Bytes/s = %d",
FPS, ping_msecs, packets_per_second, bytes_per_second);
drawtext(10, 30, 0.10, 0, 1.0, 0, stats);
if (serial_on) {
sprintf(stats, "ADC samples = %d, LED = %d",
sensor_samples, sensor_LED);
drawtext(500, 30, 0.10, 0, 1.0, 0, stats);
}
/*
char adc[200];
sprintf(adc, "pitch_rate = %i, yaw_rate = %i, accel_lat = %i, accel_fwd = %i, loc[0] = %3.1f loc[1] = %3.1f, loc[2] = %3.1f",
(int)(adc_channels[0] - avg_adc_channels[0]),
(int)(adc_channels[1] - avg_adc_channels[1]),
(int)(adc_channels[2] - avg_adc_channels[2]),
(int)(adc_channels[3] - avg_adc_channels[3]),
location[0], location[1], location[2]
);
drawtext(10, 50, 0.10, 0, 1.0, 0, adc);
*/
}
void initDisplay(void)
{
// Set up blending function so that we can NOT clear the display
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glShadeModel (GL_SMOOTH);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_DEPTH_TEST);
load_png_as_texture(texture_filename);
if (fullscreen) glutFullScreen();
}
void init(void)
{
int i;
if (audio_on) {
Audio::init();
printf( "Audio started.\n" );
}
// Clear serial channels
for (i = i; i < NUM_CHANNELS; i++)
{
adc_channels[i] = 0;
avg_adc_channels[i] = 0.0;
}
head_mouse_x = WIDTH/2;
head_mouse_y = HEIGHT/2;
head_lean_x = WIDTH/2;
head_lean_y = HEIGHT/2;
// Initialize Field values
field_init();
printf( "Field Initialized.\n" );
if (noise_on)
{
myHand.setNoise(noise);
myHead.setNoise(noise);
}
// turning cubes off for the moment -
// uncomment to re-enable
/*
int index = 0;
while (index < MAX_CUBES) {
cubes_position[index*3] = randFloat()*WORLD_SIZE;
cubes_position[index*3+1] = randFloat()*WORLD_SIZE;
cubes_position[index*3+2] = randFloat()*WORLD_SIZE;
cubes_scale[index] = WORLD_SIZE/powf(2,2+rand()%8);
float color = randFloat();
cubes_color[index*3] = color;
cubes_color[index*3 + 1] = color;
cubes_color[index*3 + 2] = color;
index++;
}
cube_count = index;
// Recursive build
float location[] = {0,0,0};
float scale = 10.0;
int j = 0;
while (index < (MAX_CUBES/2)) {
index = 0;
j++;
makeCubes(location, scale, &index, cubes_position, cubes_scale, cubes_color);
std::cout << "Run " << j << " Made " << index << " cubes\n";
cube_count = index;
}
*/
if (serial_on)
{
// Call readsensors for a while to get stable initial values on sensors
printf( "Stabilizing sensors... " );
gettimeofday(&timer_start, NULL);
read_sensors(1, &avg_adc_channels[0], &adc_channels[0], &sensor_samples, &sensor_LED);
int done = 0;
while (!done)
{
read_sensors(0, &avg_adc_channels[0], &adc_channels[0], &sensor_samples, &sensor_LED);
gettimeofday(&timer_end, NULL);
if (diffclock(timer_start,timer_end) > 1000) done = 1;
}
gravity.x = avg_adc_channels[ACCEL_X];
gravity.y = avg_adc_channels[ACCEL_Y];
gravity.z = avg_adc_channels[ACCEL_Z];
std::cout << "Gravity: " << gravity.x << "," << gravity.y << "," << gravity.z << "\n";
printf( "Done.\n" );
}
gettimeofday(&timer_start, NULL);
gettimeofday(&last_frame, NULL);
}
void terminate () {
// Close serial port
//close(serial_fd);
if (audio_on) {
Audio::terminate();
}
exit(EXIT_SUCCESS);
}
void reset_sensors()
{
//
// Reset serial I/O sensors
//
render_yaw = start_yaw;
yaw = render_yaw_rate = 0;
pitch = render_pitch = render_pitch_rate = 0;
lateral_vel = 0;
location[0] = start_location[0];
location[1] = start_location[1];
location[2] = start_location[2];
fwd_vel = 0.0;
head_mouse_x = WIDTH/2;
head_mouse_y = HEIGHT/2;
head_lean_x = WIDTH/2;
head_lean_y = HEIGHT/2;
myHead.reset();
myHand.reset();
if (serial_on) read_sensors(1, &avg_adc_channels[0], &adc_channels[0], &sensor_samples, &sensor_LED);
}
void update_pos(float frametime)
// Using serial data, update avatar/render position and angles
{
float measured_pitch_rate = adc_channels[PITCH_RATE] - avg_adc_channels[PITCH_RATE];
float measured_yaw_rate = adc_channels[YAW_RATE] - avg_adc_channels[YAW_RATE];
float measured_lateral_accel = adc_channels[ACCEL_X] - avg_adc_channels[ACCEL_X];
float measured_fwd_accel = avg_adc_channels[ACCEL_Z] - adc_channels[ACCEL_Z];
myHead.UpdatePos(frametime, &adc_channels[0], &avg_adc_channels[0], head_mirror, &gravity);
// Update head_mouse model
const float MIN_MOUSE_RATE = 30.0;
const float MOUSE_SENSITIVITY = 0.1;
if (powf(measured_yaw_rate*measured_yaw_rate +
measured_pitch_rate*measured_pitch_rate, 0.5) > MIN_MOUSE_RATE)
{
head_mouse_x -= measured_yaw_rate*MOUSE_SENSITIVITY;
head_mouse_y += measured_pitch_rate*MOUSE_SENSITIVITY*(float)HEIGHT/(float)WIDTH;
}
head_mouse_x = max(head_mouse_x, 0);
head_mouse_x = min(head_mouse_x, WIDTH);
head_mouse_y = max(head_mouse_y, 0);
head_mouse_y = min(head_mouse_y, HEIGHT);
// Update hand/manipulator location for measured forces from serial channel
/*
const float MIN_HAND_ACCEL = 30.0;
const float HAND_FORCE_SCALE = 0.5;
glm::vec3 hand_accel(-(avg_adc_channels[6] - adc_channels[6]),
-(avg_adc_channels[7] - adc_channels[7]),
-(avg_adc_channels[5] - adc_channels[5]));
if (glm::length(hand_accel) > MIN_HAND_ACCEL)
{
myHand.addVel(frametime*hand_accel*HAND_FORCE_SCALE);
}
*/
// Update render direction (pitch/yaw) based on measured gyro rates
const int MIN_YAW_RATE = 300;
const float YAW_SENSITIVITY = 0.03;
const int MIN_PITCH_RATE = 300;
const float PITCH_SENSITIVITY = 0.04;
if (fabs(measured_yaw_rate) > MIN_YAW_RATE)
{
if (measured_yaw_rate > 0)
render_yaw_rate -= (measured_yaw_rate - MIN_YAW_RATE) * YAW_SENSITIVITY * frametime;
else
render_yaw_rate -= (measured_yaw_rate + MIN_YAW_RATE) * YAW_SENSITIVITY * frametime;
}
if (fabs(measured_pitch_rate) > MIN_PITCH_RATE)
{
if (measured_pitch_rate > 0)
render_pitch_rate += (measured_pitch_rate - MIN_PITCH_RATE) * PITCH_SENSITIVITY * frametime;
else
render_pitch_rate += (measured_pitch_rate + MIN_PITCH_RATE) * PITCH_SENSITIVITY * frametime;
}
render_yaw += render_yaw_rate;
render_pitch += render_pitch_rate;
// Decay render_pitch toward zero because we never look constantly up/down
render_pitch *= (1.f - 2.0*frametime);
// Decay angular rates toward zero
render_pitch_rate *= (1.f - 5.0*frametime);
render_yaw_rate *= (1.f - 7.0*frametime);
// Update slide left/right based on accelerometer reading
const int MIN_LATERAL_ACCEL = 20;
const float LATERAL_SENSITIVITY = 0.001;
if (fabs(measured_lateral_accel) > MIN_LATERAL_ACCEL)
{
if (measured_lateral_accel > 0)
lateral_vel += (measured_lateral_accel - MIN_LATERAL_ACCEL) * LATERAL_SENSITIVITY * frametime;
else
lateral_vel += (measured_lateral_accel + MIN_LATERAL_ACCEL) * LATERAL_SENSITIVITY * frametime;
}
//slide += lateral_vel;
lateral_vel *= (1.f - 4.0*frametime);
// Update fwd/back based on accelerometer reading
const int MIN_FWD_ACCEL = 20;
const float FWD_SENSITIVITY = 0.001;
if (fabs(measured_fwd_accel) > MIN_FWD_ACCEL)
{
if (measured_fwd_accel > 0)
fwd_vel += (measured_fwd_accel - MIN_FWD_ACCEL) * FWD_SENSITIVITY * frametime;
else
fwd_vel += (measured_fwd_accel + MIN_FWD_ACCEL) * FWD_SENSITIVITY * frametime;
}
// Decrease forward velocity
fwd_vel *= (1.f - 4.0*frametime);
// Update forward vector based on pitch and yaw
fwd_vec[0] = -sinf(render_yaw*PI/180);
fwd_vec[1] = sinf(render_pitch*PI/180);
fwd_vec[2] = cosf(render_yaw*PI/180);
// Advance location forward
location[0] += fwd_vec[0]*fwd_vel;
location[1] += fwd_vec[1]*fwd_vel;
location[2] += fwd_vec[2]*fwd_vel;
// Slide location sideways
location[0] += fwd_vec[2]*-lateral_vel;
location[2] += fwd_vec[0]*lateral_vel;
// Update head and manipulator objects with object with current location
myHead.setPos(glm::vec3(location[0], location[1], location[2]));
balls.updateHand(myHead.getPos() + myHand.getPos(), glm::vec3(0,0,0), myHand.getRadius());
// Update all this stuff to any agents that are nearby and need to see it!
/*
const int MAX_BROADCAST_STRING = 200;
char broadcast_string[MAX_BROADCAST_STRING];
int broadcast_bytes = myHead.getBroadcastData(broadcast_string);
broadcast_to_agents(UDP_socket, broadcast_string, broadcast_bytes);
*/
}
int render_test_spot = WIDTH/2;
int render_test_direction = 1;
void display(void)
{
glEnable (GL_DEPTH_TEST);
glEnable(GL_LIGHTING);
glEnable(GL_LINE_SMOOTH);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glLoadIdentity();
glEnable(GL_COLOR_MATERIAL);
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
GLfloat light_position0[] = { 1.0, 1.0, 0.0, 0.0 };
glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
GLfloat ambient_color[] = { 0.125, 0.305, 0.5 };
glLightfv(GL_LIGHT0, GL_AMBIENT, ambient_color);
GLfloat diffuse_color[] = { 0.5, 0.42, 0.33 };
glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuse_color);
GLfloat specular_color[] = { 1.0, 1.0, 1.0, 1.0};
glLightfv(GL_LIGHT0, GL_SPECULAR, specular_color);
glMaterialfv(GL_FRONT, GL_SPECULAR, specular_color);
glMateriali(GL_FRONT, GL_SHININESS, 96);
// Rotate, translate to camera location
glRotatef(render_pitch, 1, 0, 0);
glRotatef(render_yaw, 0, 1, 0);
glTranslatef(location[0], location[1], location[2]);
glPushMatrix();
//glTranslatef(-WORLD_SIZE/2, -WORLD_SIZE/2, -WORLD_SIZE/2);
int i = 0;
while (i < cube_count) {
glPushMatrix();
glTranslatef(cubes_position[i*3], cubes_position[i*3+1], cubes_position[i*3+2]);
glColor3fv(&cubes_color[i*3]);
glutSolidCube(cubes_scale[i]);
glPopMatrix();
i++;
}
glPopMatrix();
/* Draw Point Sprites */
glDisable( GL_POINT_SPRITE_ARB );
glDisable( GL_TEXTURE_2D );
if (!display_head) cloud.render();
// Show field vectors
if (display_field) field_render();
// Render my own head
if (display_head) {
glPushMatrix();
glLoadIdentity();
glTranslatef(0.f, 0.f, -7.f);
myHead.render();
glPopMatrix();
}
// Render heads of other agents
if (!display_head) render_agents();
if (display_hand) myHand.render();
if (!display_head) balls.render();
// Render the world box
if (!display_head && stats_on) render_world_box();
//glm::vec3 test(0.5, 0.5, 0.5);
//render_vector(&test);
glPopMatrix();
// Render 2D overlay: I/O level bar graphs and text
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
gluOrtho2D(0, WIDTH, HEIGHT, 0);
glDisable(GL_DEPTH_TEST);
glDisable(GL_LIGHTING);
//drawvec3(100, 100, 0.15, 0, 1.0, 0, myHead.getPos(), 0, 1, 0);
glPointParameterfvARB( GL_POINT_DISTANCE_ATTENUATION_ARB, pointer_attenuation_quadratic );
if (mouse_pressed == 1)
{
glPointSize( 10.0f );
glColor3f(1,1,1);
//glEnable(GL_POINT_SMOOTH);
glBegin(GL_POINTS);
glVertex2f(target_x, target_y);
glEnd();
char val[20];
sprintf(val, "%d,%d", target_x, target_y);
drawtext(target_x, target_y-20, 0.08, 0, 1.0, 0, val, 0, 1, 0);
}
if (display_head_mouse && !display_head && stats_on)
{
glPointSize(10.0f);
glColor4f(1.0, 1.0, 0.0, 0.8);
glEnable(GL_POINT_SMOOTH);
glBegin(GL_POINTS);
glVertex2f(head_mouse_x, head_mouse_y);
glEnd();
}
if (1)
{
glPointSize(50.0f);
glColor4f(1.0, 1.0, 1.0, 1.0);
glEnable(GL_POINT_SMOOTH);
glBegin(GL_POINTS);
glVertex2f(render_test_spot, HEIGHT-100);
glEnd();
render_test_spot += render_test_direction*50;
if ((render_test_spot > WIDTH-100) || (render_test_spot < 100)) render_test_direction *= -1.0;
}
// Show detected levels from the serial I/O ADC channel sensors
if (display_levels)
{
int i;
int disp_x = 10;
const int GAP = 16;
char val[10];
for(i = 0; i < NUM_CHANNELS; i++)
{
// Actual value
glLineWidth(2.0);
glColor4f(1, 1, 1, 1);
glBegin(GL_LINES);
glVertex2f(disp_x, HEIGHT*0.95);
glVertex2f(disp_x, HEIGHT*(0.25 + 0.75f*adc_channels[i]/4096));
glEnd();
// Trailing Average value
glColor4f(1, 1, 0, 1);
glBegin(GL_LINES);
glVertex2f(disp_x + 2, HEIGHT*0.95);
glVertex2f(disp_x + 2, HEIGHT*(0.25 + 0.75f*avg_adc_channels[i]/4096));
glEnd();
glColor3f(1,0,0);
glBegin(GL_LINES);
glLineWidth(2.0);
glVertex2f(disp_x - 10, HEIGHT*0.5 - (adc_channels[i] - avg_adc_channels[i]));
glVertex2f(disp_x + 10, HEIGHT*0.5 - (adc_channels[i] - avg_adc_channels[i]));
glEnd();
sprintf(val, "%d", adc_channels[i]);
drawtext(disp_x-GAP/2, (HEIGHT*0.95)+2, 0.08, 90, 1.0, 0, val, 0, 1, 0);
disp_x += GAP;
}
// Display Serial latency block
if (latency_display && sensor_LED) {
glColor3f(1,0,0);
glBegin(GL_QUADS); {
glVertex2f(WIDTH - 100, HEIGHT - 100);
glVertex2f(WIDTH, HEIGHT - 100);
glVertex2f(WIDTH, HEIGHT);
glVertex2f(WIDTH - 100, HEIGHT);
}
glEnd();
}
}
if (stats_on) display_stats();
glPopMatrix();
glutSwapBuffers();
framecount++;
}
void specialkey(int k, int x, int y)
{
if (k == GLUT_KEY_UP) fwd_vel += 0.05;
if (k == GLUT_KEY_DOWN) fwd_vel -= 0.05;
if (k == GLUT_KEY_LEFT) {
if (glutGetModifiers() == GLUT_ACTIVE_SHIFT) lateral_vel -= 0.02;
else render_yaw_rate -= 0.25;
}
if (k == GLUT_KEY_RIGHT) {
if (glutGetModifiers() == GLUT_ACTIVE_SHIFT) lateral_vel += 0.02;
else render_yaw_rate += 0.25;
}
}
void key(unsigned char k, int x, int y)
{
// Process keypresses
if (k == 'q') ::terminate();
if (k == '/') stats_on = !stats_on; // toggle stats
if (k == 'n')
{
noise_on = !noise_on; // Toggle noise
if (noise_on)
{
myHand.setNoise(noise);
myHead.setNoise(noise);
}
else
{
myHand.setNoise(0);
myHead.setNoise(0);
}
}
if (k == 'h') display_head = !display_head;
if (k == 'b') display_hand = !display_hand;
if (k == 'm') head_mirror = !head_mirror;
if (k == 'f') display_field = !display_field;
if (k == 'l') display_levels = !display_levels;
if (k == 'e') location[1] -= WORLD_SIZE/100.0;
if (k == 'c') location[1] += WORLD_SIZE/100.0;
if (k == 'w') fwd_vel += 0.05;
if (k == 's') fwd_vel -= 0.05;
if (k == ' ') reset_sensors();
if (k == 'a') render_yaw_rate -= 0.25;
if (k == 'd') render_yaw_rate += 0.25;
if (k == 'o') simulate_on = !simulate_on;
if (k == 'p')
{
// Add to field vector
float pos[] = {5,5,5};
float add[] = {0.001, 0.001, 0.001};
field_add(add, pos);
}
if ((k == 't') && (audio_on)) {
Audio::writeTone(0, 400, 1.0f, 0.5f);
}
if (k == '1')
{
myHead.SetNewHeadTarget((randFloat()-0.5)*20.0, (randFloat()-0.5)*20.0);
}
}
//
// Check for and process incoming network packets
//
void read_network()
{
// Receive packets
in_addr from_addr;
int bytes_recvd = network_receive(UDP_socket, &from_addr, incoming_packet, delay);
if (bytes_recvd > 0)
{
packetcount++;
bytescount += bytes_recvd;
// If packet is a Mouse data packet, copy it over
if (incoming_packet[0] == 'M') {
//
// mouse location packet
//
sscanf(incoming_packet, "M %d %d", &target_x, &target_y);
target_display = 1;
printf("X = %d Y = %d\n", target_x, target_y);
} else if (incoming_packet[0] == 'P') {
//
// Ping packet - check time and record
//
timeval check;
gettimeofday(&check, NULL);
ping_msecs = (float)diffclock(ping_start, check);
} else if (incoming_packet[0] == 'S') {
//
// Message from Spaceserver
//
update_agents(&incoming_packet[1], bytes_recvd - 1);
} else if (incoming_packet[0] == 'H') {
//
// Broadcast packet from another agent
//
//update_agent(from_addr, &incoming_packet[1], bytes_recvd - 1);
}
}
}
void idle(void)
{
timeval check;
gettimeofday(&check, NULL);
// Check and render display frame
if (diffclock(last_frame,check) > RENDER_FRAME_MSECS)
{
steps_per_frame++;
// Simulation
update_pos(1.f/FPS);
if (simulate_on) {
field_simulate(1.f/FPS);
myHead.simulate(1.f/FPS);
myHand.simulate(1.f/FPS);
balls.simulate(1.f/FPS);
cloud.simulate(1.f/FPS);
}
if (!step_on) glutPostRedisplay();
last_frame = check;
// Every 30 frames or so, check ping time
ping_count++;
if (ping_count >= 30) {
ping_start = network_send_ping(UDP_socket);
ping_count = 0;
}
}
// Read network packets
read_network();
// Read serial data
if (serial_on) samplecount += read_sensors(0, &avg_adc_channels[0], &adc_channels[0],
&sensor_samples, &sensor_LED);
if (SLEEP)
{
usleep(SLEEP);
}
}
void reshape(int width, int height)
{
WIDTH = width;
HEIGHT = height;
glViewport(0, 0, width, height);
glMatrixMode(GL_PROJECTION); //hello
glLoadIdentity();
gluPerspective(45, //view angle
1.0, //aspect ratio
0.1, //near clip
50.0);//far clip
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
}
void mouseFunc( int button, int state, int x, int y )
{
if( button == GLUT_LEFT_BUTTON && state == GLUT_DOWN )
{
mouse_x = x;
mouse_y = y;
mouse_pressed = 1;
}
if( button == GLUT_LEFT_BUTTON && state == GLUT_UP )
{
mouse_x = x;
mouse_y = y;
mouse_pressed = 0;
}
}
void motionFunc( int x, int y)
{
mouse_x = x;
mouse_y = y;
if (mouse_pressed == 1)
{
// Send network packet containing mouse location
char mouse_string[20];
sprintf(mouse_string, "M %d %d\n", mouse_x, mouse_y);
network_send(UDP_socket, mouse_string, strlen(mouse_string));
}
}
int main(int argc, char** argv)
{
// Create network socket and buffer
UDP_socket = network_init();
if (UDP_socket) printf( "Created UDP socket.\n" );
incoming_packet = new char[MAX_PACKET_SIZE];
// Test network loopback
in_addr from_addr;
char test_data[] = "Test!";
int bytes_sent = network_send(UDP_socket, test_data, 5);
if (bytes_sent) printf("%d bytes sent.", bytes_sent);
int test_recv = network_receive(UDP_socket, &from_addr, incoming_packet, delay);
printf("Received %i bytes\n", test_recv);
// Load textures
//Img.Load("/Users/philip/Downloads/galaxy1.tga");
//
// Try to connect the serial port I/O
//
if(init_port(115200) == -1) {
perror("Unable to open serial port\n");
serial_on = 0;
}
else
{
printf("Serial Port Initialized\n");
serial_on = 1;
}
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH);
glutInitWindowSize(WIDTH, HEIGHT);
glutCreateWindow("Interface");
printf( "Created Display Window.\n" );
initDisplay();
glutDisplayFunc(display);
glutReshapeFunc(reshape);
glutKeyboardFunc(key);
glutSpecialFunc(specialkey);
glutMotionFunc(motionFunc);
glutMouseFunc(mouseFunc);
glutIdleFunc(idle);
printf( "Initialized Display.\n" );
init();
printf( "Init() complete.\n" );
glutTimerFunc(1000,Timer,0);
glutMainLoop();
::terminate();
return EXIT_SUCCESS;
}
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