Monkeypatching de toAngle et moveServos.

À présent, Processing peut utiliser les mêmes déclarations que celle
utilisées par l'Arduino.

Signed-off-by: Yoan Blanc <[email protected]>

src/make_swig.sh

@@ -5,33 +5,39 @@ set -xe
 
 NAME=shared
 
+mkdir -p swig/build \
+    swig/gen
+
 swig -java -c++ \
-    -outdir swig/src/ \
+    -outdir swig/gen \
     "swig/${NAME}.i"
 
 g++ -c -fpic -fno-strict-aliasing \
-    "programme/${NAME}.cpp"
+    "swig/src/declarations.cpp"
 
 g++ -c -fpic -fno-strict-aliasing \
     "swig/${NAME}_wrap.cxx" \
     -I/usr/lib/jvm/java-8-openjdk/include \
     -I/usr/lib/jvm/java-8-openjdk/include/linux
-rm -r "swig/${NAME}_wrap.cxx"
+rm -r "swig/${NAME}_wrap.cxx" "swig/${NAME}_wrap.h"
 
 g++ -shared \
-    "${NAME}.o" \
     "${NAME}_wrap.o" \
+    "declarations.o" \
     -o "swig/${NAME}.so"
-rm -f "${NAME}.o" "${NAME}_wrap.o"
+rm -f "${NAME}.o" "${NAME}_wrap.o" "declarations.o"
 
 mkdir -p swig/build
 javac -d swig/build \
     -cp /usr/share/processing/core/library/core.jar \
-    swig/src/*.java
-rm -f \
-    "swig/src/${NAME}.java" \
-    "swig/src/${NAME}JNI.java" \
-    swig/src/*_double.java
+    swig/src/*.java \
+    swig/gen/*.java
+echo rm -f \
+    "swig/gen/${NAME}.java" \
+    "swig/gen/${NAME}JNI.java" \
+    "swig/gen/Callback.java" \
+    "swig/gen/Caller.java" \
+    swig/gen/*_double.java
 
 jar cvfm \
     "swig/${NAME}.jar" \

src/programme/cinematique.h

@@ -1,4 +1,3 @@
-
 bool isInside(float x, float y){
   if( x < MIN_X+COR_X ){
     LOG("OUT X", x, "<", MIN_X + COR_X);

src/programme/declarations.h

@@ -30,8 +30,6 @@ bool debug = true;        // Affiche les déplacements dans le moniteur série
 
 // DEBOGGAGE
 
-#define DEBUG
-
 #ifdef DEBUG
   #define LOG(...) logging(__VA_ARGS__)
 

src/programme/dessins.h

@@ -13,26 +13,9 @@ void etoile(float cx, float cy, float r) // étoile à 5 branches
     LOG("HYPO", t, x, y);
   }
 }
-
 */
+
 #include "shared.h"
-#include "declarations.h"
-
-void etoile(double cx=0, double cy=100, double r=50) {
-  double x;
-  double y;
-  double position;
-  double t;
-
-  for(t = 0; t < 6*M_PI; t += par) {
-    position = 6 * M_PI / t;
-    if (_etoile(x, y, cx, cy, r, position)) {
-      toAngle(x, y);
-      moveServos();
-      LOG("HYPO", t, x, y);
-    }
-  }
-}
 
 void etoile() { etoile(0, 100, 50); }
 

src/programme/programme.ino

@@ -1,3 +1,5 @@
+#define DEBUG
+
 #include "declarations.h"
 #include "cinematique.h"
 #include "liste.h"
@@ -16,23 +18,23 @@ void loop() {
   lectureCorrectif();
   dessineListe();
 
-//  spirale(-100, 170, 25);
-//  cercle(-30, 170, 25);
-//  fleur(40, 170, 25);
-//  coeur(-100, 100, 25);
-//  etoile(-30, 100, 25);
-//  maison(-100, 35, 50);
-  
-//  float delta=0.0;
-//  rectangle(MIN_X+delta, MIN_Y+delta, MAX_X-delta, MAX_Y-delta);
-  
-//  cercle(50, 120, 20);
-//  hypotrochoide(0,100,50);
-//  epicycloide(0,130,16,10);
-//  coeur(0,100,50);
+  //  spirale(-100, 170, 25);
+  //  cercle(-30, 170, 25);
+  //  fleur(40, 170, 25);
+  //  coeur(-100, 100, 25);
+  //  etoile(-30, 100, 25);
+  //  maison(-100, 35, 50);
+
+  //  float delta=0.0;
+  //  rectangle(MIN_X+delta, MIN_Y+delta, MAX_X-delta, MAX_Y-delta);
+
+  //  cercle(50, 120, 20);
+  //  hypotrochoide(0,100,50);
+  //  epicycloide(0,130,16,10);
+  //  coeur(0,100,50);
 
   Serial.println("End \n");
   Serial.flush();
   exit(0);
 }
-
+

src/programme/shared.h

@@ -1,5 +1,28 @@
 #include <math.h>
 
-#pragma once
+#ifndef LOG
+#ifndef DEBUG
+#define LOG
+#endif
+#endif
 
-bool _etoile(float& x, float& y, float cx, float cy, float r, float par);
+void etoile(float cx, float cy, float r, float par = -1);
+
+// Étoile à 5 branches
+//
+// https://en.wikipedia.org/wiki/Hypotrochoid
+void etoile(float cx, float cy, float r, float par) // étoile à 5 branches
+{
+  float x, y;
+  float r1 = r, r2 = r * 3 / 5, d = r;
+  if (par <= 0) {
+    par = M_PI / 180;
+  }
+  for (float t = 0; t < 6 * M_PI; t += par) {
+    x = cx + (r1 - r2) * cos(t) + d * cos((r1 - r2) / r2 * t);
+    y = cy + (r1 - r2) * sin(t) - d * sin((r1 - r2) / r2 * t);
+    toAngle(x, y);
+    moveServos();
+    LOG("HYPO", t, x, y);
+  }
+}

src/simulateur/dessins.pde

@@ -2,9 +2,14 @@
 // https://en.wikipedia.org/wiki/Hypotrochoid
 void etoile(float cx, float cy, float r) // étoile à 5 branches
 {
-  for(PVector p : Dessin.etoile(cx, cy, r)) {
-    toAngle(p.x, p.y);
+  float x,y;
+  float r1=r, r2=r*3/5, d=r;
+  for (float t = 0; t<6*PI; t+=par) {
+    x = cx + (r1-r2)*cos(t) + d*cos((r1-r2)/r2 * t);
+    y = cy + (r1-r2)*sin(t) - d*sin((r1-r2)/r2 * t);
+    toAngle(x,y);
     moveServos();
+    if (debug) log("HYPO", t, x, y);
   }
 }
 

src/simulateur/simulateur.pde

@@ -1,6 +1,6 @@
 
-boolean debug = false;    
-    
+boolean debug = false;
+
 int dy=60;
 float xmm, ymm, xold, yold;
 float par = PI/180*1;    // angle en radians entre deux calculs de points (1°)
@@ -9,6 +9,7 @@ float lg1 = 149, lg2 = 130;  // longueur des bras (mm)  lg1 = AB (bras), lg2 = B
 float zoom = 4;
 
 void setup() {
+  Dessin.setPApplet((PApplet) this, zoom);
 //  size(pgWidth, pgHeight, PDF, "simulation.pdf");
   background(255);
   stroke(0);
@@ -21,14 +22,15 @@ void setup() {
 void draw() {  
   translate(width/2, height);
   scale(1, -1);
-  
+
   dessineListe();
-  
+
   //spirale(-100, 170, 25, 5);
   //cercle(-30, 170, 25);
   //fleur(40, 170, 25, 7);
   //coeur(-100, 100, 25);
-  //etoile(-30, 100, 25);
+  shared.etoile(-100, 100, 25);
+  etoile(-30, 100, 25);
   //maison(-100, 35, 50);
 }
 

src/swig/shared.i

@@ -1,29 +1,31 @@
-%module shared
+%module(directors="1") shared;
 
 %include "typemaps.i"
 %apply float *OUTPUT { float& x }
 %apply float *OUTPUT { float& y }
 
 %{
-#include <vector>
+#include "src/declarations.h"
+#include "src/callback.h"
+#include "src/caller.h"
+#include "../programme/shared.h"
 
-extern bool _etoile(
-    float& x,
-    float& y,
-    float cx,
-    float cy,
-    float r,
-    float par=-1);
+#define LOG
 
+extern Caller* caller;
 %}
 
-extern bool _etoile(
-    float& x,
-    float& y,
-    float cx,
-    float cy,
-    float r,
-    float par=-1);
+%feature("director") Callback;
+
+%include "src/caller.h"
+%include "src/callback.h"
+
+extern void etoile(float cx, float cy, float r, float par=-1);
+
+extern void moveServos();
+extern void toAngle(float x, float y);
+
+extern Caller* caller;
 
 %pragma(java) jniclasscode=%{
     static {

src/swig/src/Dessin.java

@@ -1,34 +1,46 @@
+import processing.core.PApplet;
 import processing.core.PVector;
 import java.util.List;
 import java.util.ArrayList;
 
+
 public class Dessin {
     public static String VERSION="0.0.4";
 
     public static void main(String[] argv) {
-        // Ceci est un test.
-        for(PVector p : etoile(0, 0, 100, 16)) {
-            System.out.printf("(%.2f; %.2f)\n", p.x, p.y);
-        }
-    }
+        System.out.println("Ceci est un test");
+        shared.getCaller().setCallback(new Callback(){
+            @Override
+            public void moveServos() {
+                System.out.printf("moveServos\n");
+            }
+
+            @Override
+            public void toAngle(float x, float y) {
+                System.out.printf("toAngle %f, %f\n", x, y);
+            }
+        });
 
-    public static List<PVector> etoile(float cx, float cy, float r) {
-        // Une puissance de deux c'est bien.
-        return etoile(cy, cy, r, 256);
+        shared.etoile(0, 0, 100);
     }
 
-    public static List<PVector> etoile(float cx, float cy, float r, float steps) {
-        List<PVector> points = new ArrayList<PVector>();
-        float[] x = new float[]{0};
-        float[] y = new float[]{0};
-        for(float i=0; i <= 1; i += 1/steps) {
-            if (shared._etoile(x, y, cx, cy, r, i)) {
-                points.add(new PVector(x[0], y[0]));
-            } else {
-                System.err.printf("Appel à etoile(%f, %f, %f, %d) a échoué.", cx, cy, r, i);
-                return points;
+    public static void setPApplet(final PApplet pApplet, final float zoom) {
+        shared.getCaller().setCallback(new Callback(){
+            private PVector old;
+            private PVector current = new PVector(0, 0);
+
+            @Override
+            public void moveServos() {
+                pApplet.line(old.x, old.y, current.x, current.y);
+                //pApplet.delay(100);
+            }
+
+            @Override
+            public void toAngle(float x, float y) {
+                //pApplet.println("to ", x, y);
+                old = current;
+                current = new PVector(x * zoom, y * zoom);
             }
-        }
-        return points;
+        });
     }
 }

src/swig/src/callback.h

@@ -0,0 +1,10 @@
+#pragma once
+
+#include <iostream>
+
+class Callback {
+public:
+    virtual ~Callback() { std::cout << "Callback::Callback" << std::endl; }
+    virtual void moveServos() { std::cout << "Callback::moveServos()" << std::endl; }
+    virtual void toAngle(float x, float y) { std::cout << "Callback::toAngle(" << x << "," << y << ")" << std::endl; }
+};

src/swig/src/caller.cpp

@@ -0,0 +1,4 @@
+#include "caller.h"
+
+// global variable...
+Caller* caller = new Caller();

src/swig/src/caller.h

@@ -0,0 +1,14 @@
+#pragma once
+#include "callback.h"
+
+class Caller {
+    private:
+        Callback* _callback;
+    public:
+        Caller(): _callback(0) {}
+        ~Caller() { delCallback(); }
+        void delCallback() { delete _callback; _callback = 0; }
+        void setCallback(Callback* cb) { delCallback(); _callback = cb; }
+        void moveServos() { if(_callback) { _callback->moveServos(); } }
+        void toAngle(float x, float y) { if(_callback) { _callback->toAngle(x, y); } }
+};