Partage de code entre Arduino et Processing

Makefile

@@ -0,0 +1,69 @@
+ifeq ($(OS),Windows_NT)
+LIBRARY_EXT=dll
+JAVA_INCLUDE=...
+PLATFORM=win32
+else
+LIBRARY_EXT=so
+JAVA_INCLUDE=/usr/lib/jvm/java-8-openjdk/include
+PLATFORM=linux
+endif
+
+SWIG=swig
+CPP=g++
+COPTS=-fpic -fno-strict-aliasing
+
+LIBRARY=Dessin
+PROCESSING_CORE_JAR=/usr/share/processing/core/library/core.jar
+
+SWIGDIR=src/swig
+BUILDDIR=$(SWIGDIR)/build
+LIBDIR=$(SWIGDIR)/lib
+GENDIR=$(SWIGDIR)/gen
+OBJDIR=$(SWIGDIR)/objs
+SRCDIR=$(SWIGDIR)/src
+
+SIMULATEUR=src/simulateur
+
+.PHONY: all
+all: $(LIBDIR)/$(LIBRARY).$(LIBRARY_EXT) $(LIBDIR)/$(LIBRARY).jar
+	mkdir -p $(SIMULATEUR)/code
+	cp $^ $(SIMULATEUR)/code
+
+.PHONY: clean
+clean:
+	rm -rf "$(GENDIR)" "$(OBJDIR)" "$(LIBDIR)" "$(BUILDDIR)" \
+		$(SWIGDIR)/$(LIBRARY)_wrap.*
+
+$(SWIGDIR)/$(LIBRARY)_wrap.cxx: $(SWIGDIR)/$(LIBRARY).i
+	mkdir -p $(GENDIR)
+	$(SWIG) -java -c++ -outdir src/swig/gen "$^"
+
+$(OBJDIR)/declarations.o: $(SRCDIR)/declarations.*
+	mkdir -p $(OBJDIR)
+	$(CPP) -c $(COPTS) $(SRCDIR)/declarations.cpp \
+		-o "$@"
+
+$(OBJDIR)/$(LIBRARY)_wrap.o: $(SWIGDIR)/$(LIBRARY)_wrap.cxx
+	mkdir -p $(OBJDIR)
+	$(CPP) -c $(COPTS) "$^" \
+	    -I$(JAVA_INCLUDE) \
+    	-I$(JAVA_INCLUDE)/$(PLATFORM) \
+		-o "$@"
+
+$(LIBDIR)/$(LIBRARY).$(LIBRARY_EXT): $(OBJDIR)/$(LIBRARY)_wrap.o $(OBJDIR)/declarations.o
+	mkdir -p $(LIBDIR)
+	$(CPP) -shared $^ -o "$@"
+
+$(BUILDDIR)/$(LIBRARY).class: $(SWIGDIR)/$(LIBRARY)_wrap.cxx
+	mkdir -p $(BUILDDIR)
+	javac -d $(BUILDDIR) \
+    	-cp $(PROCESSING_CORE_JAR) \
+		$(GENDIR)/*.java
+
+$(LIBDIR)/$(LIBRARY).jar: $(BUILDDIR)/$(LIBRARY).class
+	mkdir -p $(LIBDIR)
+	jar cvfm \
+		"$@" \
+		"$(SRCDIR)/MANIFEST.MF" \
+		-C $(BUILDDIR) \
+		.

src/programme/cinematique.h

@@ -1,61 +1,43 @@
-
 bool isInside(float x, float y){
-  if( x<MIN_X+COR_X ){
-    Serial.print("OUT X");
-    Serial.print(x); 
-    Serial.print("<");
-    Serial.print(MIN_X+COR_X);
-    Serial.println(); 
+  if( x < MIN_X+COR_X ){
+    LOG("OUT X", x, "<", MIN_X + COR_X);
     return false;
   }
-  if( x>MAX_X+COR_X ){
-    Serial.print("OUT X");
-    Serial.print(x); 
-    Serial.print(">");
-    Serial.print(MAX_X+COR_X);
-    Serial.println(); 
+  if( x > MAX_X+COR_X ){
+    LOG("OUT X", x, ">", MAX_X + COR_X);
     return false;
   }
-  if( y<MIN_Y + COR_Y ){
-    Serial.print("OUT Y");
-    Serial.print(y); 
-    Serial.print("<");
-    Serial.print(MIN_Y);
-    Serial.println();
+  if( y < MIN_Y+COR_Y ){
+    LOG("OUT Y", y, "<", MIN_Y + COR_Y);
     return false;
   }
-  if( y>MAX_Y + COR_Y){
-    Serial.print("OUT Y");
-    Serial.print(y); 
-    Serial.print(">");
-    Serial.print(MAX_Y+ COR_Y);
-    Serial.println(); 
+  if( y > MAX_Y + COR_Y){
+    LOG("OUT Y", y, ">", MAX_Y + COR_Y);
     return false;
   }
   return true;
-
-  if ( (x>MIN_X)&&(x<MAX_X)&&(y>MIN_Y)&&(y<MAX_Y) ) return true;
-  else return false;
 }
 
 bool toAngle(float x, float y){
   // Merci Julien Marchand et François Tièche !!!
-  float r, t, alpha, beta, gamma,  halfPerimeter, angleR1, angleR2;
+  float r, t, alpha, beta, gamma, halfPerimeter, angleR1, angleR2;
   bool lefty = false;   // pas utile avec la config mécanique choisie
 
   old1 = angle1;
   old2 = angle2;
 
-  x+=COR_X;y+=COR_Y;    // Application correctifs translation
+  // Application correctifs translation
+  x+=COR_X;
+  y+=COR_Y;
 
-  r = sqrt(x*x+y*y);  
+  r = sqrt(x*x + y*y);
   alpha = atan2(y, x);
-  halfPerimeter = (lg1+lg2+r)/2;
+  halfPerimeter = (lg1+lg2+r) / 2.;
 
   // sin(beta/2)
   t = (halfPerimeter-lg1)*(halfPerimeter-r)/(lg1*r);
   if (t < 0.0) {
-    Serial.println("INACESSIBLE");
+    LOG("INACCESSIBLE\n");
 
     return false;
   }
@@ -65,7 +47,7 @@ bool toAngle(float x, float y){
   // sin(gamma/2)
   t = (halfPerimeter-lg1)*(halfPerimeter-lg2)/(lg1*lg2);
   if (t < 0.0) {
-     Serial.println("INACCESSIBLE");
+     LOG("INACCESSIBLE\n");
      return false;
   }
 
@@ -78,15 +60,21 @@ bool toAngle(float x, float y){
   if (isInside(x,y)) {
     angle1 = angleR1 * 180 / M_PI;
     angle2 = angleR2 * 180 / M_PI;
-    angle1+=COR_S1;angle2+=COR_S2;            // Application correctifs angles
-    if (angle2<ANGLE_MIN) angle2 = ANGLE_MIN; // Evite les collisionsq
-  }
-  else {
-      Serial.println("HORS DE LA FEUILLE");
-      return false;
+    // Application correctifs angles
+    angle1 += COR_S1;
+    angle2 += COR_S2;
+
+    if (angle2<ANGLE_MIN) {
+      // Evite les collisions
+      angle2 = ANGLE_MIN;
+    }
+
+    LOG(x, y);
+    return true;
   }
-  if (debug) log(x,y);
-  return true;
+
+  LOG("HORS DE LA FEUILLE\n");
+  return false;
 }
 
 void moveServos()
@@ -152,8 +140,8 @@ void initServos()
     s1.write(angle1);
     s2.write(angle2);
     delay(20);
-    if (debug) Serial.print(".");
+    LOG(".");
   }
-  if (debug) Serial.println("INIT");
+  LOG("INIT\n");
 }
-
+

src/programme/declarations.h

@@ -3,6 +3,8 @@
 #include <EEPROM.h>
 #include <math.h>
 
+#pragma once
+
 // CONSTANTES
 const int S1=7, S2=8;               // Sorties arduino S1:bras, S2:avant-bras
 const int VITESSE=0;                // Pause en ms après un mouvement
@@ -16,7 +18,7 @@ const float MAX_X=130;
 const float MIN_Y=10;
 const float MAX_Y=205;
 
-// VARIABLES 
+// VARIABLES
 Servo s1, s2;             // s1: épaule (en A), s2: coude (en B)
 float lg1=149, lg2=130;  // longueur des bras (mm)  lg1 = AB (bras), lg2 = BC (avant-bras)
 float angle1, angle2;    // position servos en degrés de s1 et s2
@@ -26,15 +28,35 @@ float par = M_PI/180;    // angle en radians entre deux calculs de points (1°)
 bool microsec = true;     // Mode précis (0.1°) si true
 bool debug = true;        // Affiche les déplacements dans le moniteur série
 
-void log(char msg[], float t, float x, float y){
-  Serial.print(msg);Serial.print(" - t:");Serial.print(t);Serial.print(":(");Serial.print(x);
-  Serial.print(","); Serial.print(y);Serial.println(")");
-}
+// DEBOGGAGE
 
-void log(float x, float y){
-  Serial.print("angles: S1:");Serial.print(angle1);Serial.print(" S2:");Serial.println(angle2);
-  Serial.print(" (x,y) : (");Serial.print(x);Serial.print(",");Serial.print(y);Serial.println(")\n");
-}
+#ifdef DEBUG
+  #define LOG(...) logging(__VA_ARGS__)
+
+  // Variations autour du logging.
+  void logging(char const msg[], float t, float x, float y){
+    Serial.print(msg);Serial.print(" - t:");Serial.print(t);Serial.print(":(");Serial.print(x);Serial.print(","); Serial.print(y);Serial.println(")");
+    Serial.println();
+  }
+
+  void logging(float x, float y){
+    Serial.print("angles: S1:");Serial.print(angle1);Serial.print(" S2:");Serial.println(angle2);
+    Serial.print(" (x,y) : (");Serial.print(x);Serial.print(",");Serial.print(y);Serial.println(")");
+    Serial.println();
+  }
+
+  void logging(char const msg[], float x, char const op[], float y) {
+    Serial.print("info: ");Serial.print(msg);Serial.print(x);Serial.print(op);Serial.print(y);Serial.println();
+    Serial.println();
+  }
+
+  void logging(char const msg[]) {
+    Serial.print(msg);
+  }
+
+#else
+  #define LOG
+#endif
 
 void lectureCorrectif(){
   delay(500);
@@ -48,7 +70,7 @@ void lectureCorrectif(){
 
   int etendue = MAX_US-MIN_US;
   int cor_epaule = epaule-1500;        // écarts en us
-  int cor_coude = coude-1500; 
+  int cor_coude = coude-1500;
 
   COR_S1 = cor_epaule * 180./etendue +SHIFT_S1_ANGLE;   //écarts en degrés
   COR_S2 = cor_coude * 180./etendue;
@@ -58,4 +80,4 @@ void lectureCorrectif(){
   Serial.print("), Cor en degrés : (");Serial.print(COR_S1);Serial.print(",");Serial.print(COR_S2); Serial.print(")");
 //  Serial.println("ok");Serial.println("ok");Serial.println("ok");Serial.println("ok");Serial.println("ok");Serial.println("ok");
 }
-
+

src/programme/dessine_liste.h

@@ -0,0 +1,18 @@
+// Le code qui suit est propre à dessins.h
+void dessineListe() {
+  int max = sizeof(liste)/sizeof(int);
+  float x,y;
+
+  // tableau de points dans la mémoire programme
+  //  https://www.arduino.cc/en/Reference/PROGMEM
+  x = (int)pgm_read_word(liste)/100;
+  y = (int)pgm_read_word(liste+1)/100;
+  toAngle(x, y);
+  for (int i=0; i<max-1; i+=2) {
+    x = (int)pgm_read_word(liste+i)/100;
+    y = (int)pgm_read_word(liste+i+1/100);
+    toAngle(x, y);
+    moveServos();
+    LOG("LISTE", 0, x, y);
+  }
+}