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/* (C) Guenter Geiger <geiger@epy.co.at> */
#include <m_pd.h>
#include <string.h>
#define DEBUG(x)
/*#define DEBUG(x) x*/
static t_class *serial_bird_class;
#define BIRD_DATA_START 0x80
#define BIRDCMD_MODE_POS 86
#define BIRD_BYTES_POS 6
#define BIRDCMD_MODE_POSANG 89
#define BIRD_BYTES_POSANG 12
#define BIRDCMD_MODE_POSMAT 90
#define BIRD_BYTES_POSMAT 24
#define BIRDCMD_MODE_POSQUAT 93
#define BIRD_BYTES_POSQUAT 14
#define BIRDCMD_MODE_QUAT 92
#define BIRD_BYTES_QUAT 8
#define BIRDCMD_STREAM 64
#define BIRDCMD_POINT 66
#define BIRD_GETDATA(x,y) ((float)((short)(y<<9 | x<<2)))
#define MAXBUFFER 32
typedef struct _serial_bird
{
t_object x_obj;
char x_c[MAXBUFFER];
t_int x_dataformat;
t_int x_maxcount;
t_int x_count;
t_float x_posx;
t_float x_posy;
t_float x_posz;
t_outlet *x_out2;
} t_serial_bird;
static void serial_bird_reset( t_serial_bird* x)
{
x->x_posx=0;
x->x_posy=0;
x->x_count = 0;
outlet_float(x->x_obj.ob_outlet, x->x_posx);
outlet_float(x->x_out2, x->x_posy);
}
static void serial_bird_float( t_serial_bird* x,t_floatarg f)
{
unsigned char c = (unsigned char) f;
t_atom at[BIRD_BYTES_POSMAT];
t_int ac = 0;
if (c&BIRD_DATA_START) {
x->x_count=0;
x->x_c[x->x_count] = c & 0x7f;
}
else
x->x_c[x->x_count] = c;
DEBUG(post("data %d in = %x, start = %d",x->x_count,c,c&BIRD_DATA_START);)
if (x->x_count == x->x_maxcount-1) {
switch (x->x_dataformat) {
case BIRDCMD_MODE_POS:
ac = 3;
SETFLOAT(&at[0], 0.25*BIRD_GETDATA(x->x_c[0],x->x_c[1]));
SETFLOAT(&at[1], 0.25*BIRD_GETDATA(x->x_c[2],x->x_c[3]));
SETFLOAT(&at[2], 0.25*BIRD_GETDATA(x->x_c[4],x->x_c[5]));
break;
case BIRDCMD_MODE_POSANG:
ac = 6;
SETFLOAT(&at[0], 0.25*BIRD_GETDATA(x->x_c[0],x->x_c[1]));
SETFLOAT(&at[1], 0.25*BIRD_GETDATA(x->x_c[2],x->x_c[3]));
SETFLOAT(&at[2], 0.25*BIRD_GETDATA(x->x_c[4],x->x_c[5]));
SETFLOAT(&at[3], BIRD_GETDATA(x->x_c[6],x->x_c[7]));
SETFLOAT(&at[4], BIRD_GETDATA(x->x_c[8],x->x_c[9]));
SETFLOAT(&at[5], BIRD_GETDATA(x->x_c[10],x->x_c[11]));
break;
case BIRDCMD_MODE_POSMAT:
ac = 12;
SETFLOAT(&at[0], BIRD_GETDATA(x->x_c[0],x->x_c[1]));
SETFLOAT(&at[1], BIRD_GETDATA(x->x_c[2],x->x_c[3]));
SETFLOAT(&at[2], BIRD_GETDATA(x->x_c[4],x->x_c[5]));
SETFLOAT(&at[3], BIRD_GETDATA(x->x_c[6],x->x_c[7]));
SETFLOAT(&at[4], BIRD_GETDATA(x->x_c[8],x->x_c[9]));
SETFLOAT(&at[5], BIRD_GETDATA(x->x_c[10],x->x_c[11]));
SETFLOAT(&at[6], BIRD_GETDATA(x->x_c[12],x->x_c[13]));
SETFLOAT(&at[7], BIRD_GETDATA(x->x_c[14],x->x_c[15]));
SETFLOAT(&at[8], BIRD_GETDATA(x->x_c[16],x->x_c[17]));
SETFLOAT(&at[9], BIRD_GETDATA(x->x_c[18],x->x_c[19]));
SETFLOAT(&at[10], BIRD_GETDATA(x->x_c[20],x->x_c[21]));
SETFLOAT(&at[11], BIRD_GETDATA(x->x_c[22],x->x_c[23]));
break;
case BIRDCMD_MODE_POSQUAT:
ac = 7;
SETFLOAT(&at[0], BIRD_GETDATA(x->x_c[0],x->x_c[1]));
SETFLOAT(&at[1], BIRD_GETDATA(x->x_c[2],x->x_c[3]));
SETFLOAT(&at[2], BIRD_GETDATA(x->x_c[4],x->x_c[5]));
SETFLOAT(&at[3], BIRD_GETDATA(x->x_c[6],x->x_c[7]));
SETFLOAT(&at[4], BIRD_GETDATA(x->x_c[8],x->x_c[9]));
SETFLOAT(&at[5], BIRD_GETDATA(x->x_c[10],x->x_c[11]));
SETFLOAT(&at[6], BIRD_GETDATA(x->x_c[12],x->x_c[13]));
break;
case BIRDCMD_MODE_QUAT:
ac = 4;
SETFLOAT(&at[0], BIRD_GETDATA(x->x_c[0],x->x_c[1]));
SETFLOAT(&at[1], BIRD_GETDATA(x->x_c[2],x->x_c[3]));
SETFLOAT(&at[2], BIRD_GETDATA(x->x_c[4],x->x_c[5]));
SETFLOAT(&at[3], BIRD_GETDATA(x->x_c[6],x->x_c[7]));
break;
}
/* post("posx %d, posy %d",x->x_posx,x->x_posy);*/
outlet_list(x->x_obj.ob_outlet,&s_list, ac, at);
}
x->x_count = (++x->x_count)%(x->x_maxcount);
}
static void serial_bird_poll( t_serial_bird* x)
{
post("poll");
/* outlet_float(x->x_out2,(float)x->x_dataformat);*/
outlet_float(x->x_out2,(float)BIRDCMD_POINT);
}
static void serial_bird_mode( t_serial_bird* x,t_symbol* s)
{
post("mode");
/* outlet_float(x->x_out2,(float)x->x_dataformat);*/
if (!strcmp(s->s_name,"position")) {
x->x_dataformat = BIRDCMD_MODE_POS;
x->x_maxcount = BIRD_BYTES_POS;
}
if (!strcmp(s->s_name,"positionangle")) {
x->x_dataformat = BIRDCMD_MODE_POSANG;
x->x_maxcount = BIRD_BYTES_POSANG;
}
if (!strcmp(s->s_name,"positionmatrix")) {
x->x_dataformat = BIRDCMD_MODE_POSMAT;
x->x_maxcount = BIRD_BYTES_POSMAT;
}
if (!strcmp(s->s_name,"positionquat")) {
x->x_dataformat = BIRDCMD_MODE_POSQUAT;
x->x_maxcount = BIRD_BYTES_POSQUAT;
}
if (!strcmp(s->s_name,"quaternion")) {
x->x_dataformat = BIRDCMD_MODE_QUAT;
x->x_maxcount = BIRD_BYTES_QUAT;
}
outlet_float(x->x_out2,(float)x->x_dataformat);
}
static void serial_bird_init( t_serial_bird* x)
{
t_atom cmd[8];
SETFLOAT(cmd,14400.);
outlet_anything(x->x_out2,gensym("speed"),1,cmd);
SETFLOAT(cmd,0.);
SETSYMBOL(cmd+1,gensym("CLOCAL"));
SETSYMBOL(cmd+2,gensym("CREAD"));
SETSYMBOL(cmd+3,gensym("CS8"));
outlet_anything(x->x_out2,gensym("setcontrol"),4,cmd);
SETFLOAT(cmd,0.);
SETSYMBOL(cmd+1,gensym("IXOFF"));
outlet_anything(x->x_out2,gensym("setinput"),2,cmd);
SETFLOAT(cmd,0.);
outlet_anything(x->x_out2,gensym("setlocal"),1,cmd);
SETFLOAT(cmd,0.);
SETFLOAT(cmd+1,20.);
outlet_anything(x->x_out2,gensym("vtime"),2,cmd);
SETSYMBOL(cmd,gensym("RTS"));
SETFLOAT(cmd+1,0.);
outlet_anything(x->x_out2,gensym("setlines"),2,cmd);
SETSYMBOL(cmd,gensym("DTR"));
SETFLOAT(cmd+1,1.);
outlet_anything(x->x_out2,gensym("setlines"),2,cmd);
/* start the polling on the serial device immediately */
outlet_anything(x->x_out2,gensym("start"),0,cmd);
}
static void serial_bird_start( t_serial_bird* x)
{
post("start");
/* outlet_float(x->x_out2,(float)x->x_dataformat);*/
outlet_float(x->x_out2,(float)BIRDCMD_STREAM);
}
static void serial_bird_stop( t_serial_bird* x)
{
post("stop");
outlet_float(x->x_out2,(float)BIRDCMD_POINT);
}
static void *serial_bird_new(t_symbol *s)
{
t_serial_bird *x = (t_serial_bird *)pd_new(serial_bird_class);
x->x_count = 0;
x->x_posx = 0;
x->x_posy = 0;
x->x_dataformat = BIRDCMD_MODE_POSANG;
x->x_maxcount = BIRD_BYTES_POSANG;
outlet_new(&x->x_obj, &s_float);
x->x_out2 = outlet_new(&x->x_obj, &s_float);
return x;
}
void serial_bird_setup(void)
{
serial_bird_class = class_new(gensym("serial_bird"), (t_newmethod)serial_bird_new,
NULL,
sizeof(t_serial_bird), 0,A_DEFSYM,0);
class_addfloat(serial_bird_class,serial_bird_float);
class_addmethod(serial_bird_class,(t_method) serial_bird_reset,gensym("reset"),0);
class_addmethod(serial_bird_class,(t_method) serial_bird_init,gensym("init"),0);
class_addmethod(serial_bird_class,(t_method) serial_bird_start,gensym("start"),0);
class_addmethod(serial_bird_class,(t_method) serial_bird_stop,gensym("stop"),0);
class_addmethod(serial_bird_class,(t_method) serial_bird_poll,gensym("poll"),0);
class_addmethod(serial_bird_class,(t_method) serial_bird_mode,gensym("mode"),A_SYMBOL,NULL);
}
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