Merge pull request #24 from Vibrant-Media-Lab/feature--arduino-comm-p…

…rotocol

Arduino comm protocol and full calibration process

.gitignore

@@ -6,6 +6,7 @@ Assets/AssetStoreTools*
 
 # Visual Studio cache directory
 .vs/
+.vscode/
 
 # Autogenerated VS/MD/Consulo solution and project files
 ExportedObj/

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "OdysseyNow/Packages/com.h8man.2d.navmeshplus"]
+	path = OdysseyNow/Packages/com.h8man.2d.navmeshplus
+	url = https://github.com/h8man/NavMeshPlus.git

.vscode/arduino.json

@@ -0,0 +1,6 @@
+{
+    "board": "arduino:avr:mega",
+    "configuration": "cpu=atmega2560",
+    "port": "/dev/cu.usbmodem14401",
+    "sketch": "Arduino/OdysseyConController/OdysseyConController.ino"
+}

.vscode/c_cpp_properties.json

@@ -0,0 +1,24 @@
+{
+    "configurations": [
+        {
+            "name": "Mac",
+            "includePath": [
+                "/Users/graysonwen/Downloads/Arduino.app/Contents/Java/tools/**",
+                "/Users/graysonwen/Downloads/Arduino.app/Contents/Java/hardware/arduino/avr/**",
+                "${workspaceFolder}/**"
+            ],
+            "defines": [],
+            "macFrameworkPath": [
+                "/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/System/Library/Frameworks"
+            ],
+            "compilerPath": "/usr/bin/clang",
+            "cStandard": "c11",
+            "cppStandard": "c++17",
+            "intelliSenseMode": "clang-x64",
+            "forcedInclude": [
+                "/Users/graysonwen/Downloads/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h"
+            ]
+        }
+    ],
+    "version": 4
+}

Arduino/OdysseyConController/OdysseyConController.ino

@@ -0,0 +1,178 @@
+/////////////////////////////////////////////////////////////////////////////////////////
+// Arduino driver for Odysessey Arduino Interface Board R0.3
+// Odyssey Restoration Project
+// University of Pittsburgh
+// 9-24-19
+// History:
+// * 4-21-19 - File copied from R0.2 - Levi Burner
+// * 9-24-19 - Unity adoption - Grayson Wen
+// * 10-4-19 - Communication protocol; Code refactoring;  - Grayson Wen
+/////////////////////////////////////////////////////////////////////////////////////////
+#include "OdysseyHardware.h"
+#include "Sound.h"
+
+#include <ArduinoJson.h>
+#include <StreamUtils.h>
+
+unsigned long update_period = 1000.0f / 50.0f; // in ms
+unsigned long tsLastLoop = millis();
+long tsUsed; // in ms
+
+void setup() {
+    Serial.begin(115200);
+
+    // Initialize for sound
+    if (!init_audio()) {
+        Serial.println("Audio initialization fail (SD card failed).");
+    }
+
+    // Init P1 and P2 pins, all other spots are implicitly read only
+    init_player_as_reading(&p1_spot);
+    init_player_as_reading(&p2_spot);
+}
+
+// Change the size as needed. A handy link for this: https://arduinojson.org/v6/assistant/
+DynamicJsonDocument docIn(JSON_OBJECT_SIZE(12));
+DynamicJsonDocument docOut(JSON_OBJECT_SIZE(12));
+
+// Temp static variables
+static int tmp_x, tmp_y;
+static DeserializationError parseError;
+
+#define MAKE_WRITE(p) ( !p.writing ? init_player_as_writeable(&p) : void() )
+#define MAKE_READ(p) ( p.writing ? init_player_as_reading(&p) : void() )
+
+const char RECV_START = '<';
+const char RECV_END = '>';
+const int RECV_BUF_SIZE = 128;
+char recvBuffer[RECV_BUF_SIZE];
+int currPos = 0;
+bool recvInProgress = false;
+/**
+ *
+ * @return Is data available (in recvBuffer);
+ */
+bool recvSerialWithStartEnd() {
+    while (Serial.available()) {
+        char r = Serial.read();
+        if (recvInProgress) {
+            if (r == RECV_END) {
+                recvInProgress = false;
+                if ( currPos+1 < RECV_BUF_SIZE )
+                    recvBuffer[currPos+1] = '\0';
+                return true;
+            } else {
+                if (currPos >= RECV_BUF_SIZE) {
+                    // error, message too long.
+                    //      TODO what to do? currently we are throwing away all the buffer message and wait for next new start.
+                    recvInProgress = false;
+                } else {
+                    recvBuffer[currPos++] = r;
+                }
+            }
+        } else if (r == RECV_START) {
+            recvInProgress = true;
+            currPos = 0;
+        }
+    }
+    return false;
+}
+
+void processInData() {
+    parseError = deserializeJson(docIn, recvBuffer);
+
+    if (parseError != NULL) {
+        docOut["error"] = parseError.c_str();
+    } else {
+
+        if ( ! docIn["P1W"].isNull() ) {
+            // Re-init the play as input/output, (and make sure we don't do it if it's already in the state)
+            docIn["P1W"].as<bool>() ? MAKE_WRITE(p1_spot) : MAKE_READ(p1_spot);
+            reset_as_player(&p1_spot);
+        }
+        if ( ! docIn["P2W"].isNull() ) {
+            docIn["P2W"].as<bool>() ? MAKE_WRITE(p2_spot) : MAKE_READ(p2_spot);
+            reset_as_player(&p2_spot);
+        }
+
+        if (p1_spot.writing) {
+            if (!(docIn["P1X"].isNull() || docIn["P1X"].isNull())) {
+                tmp_x = docIn["P1X"];
+                tmp_y = docIn["P1Y"];
+                write_player_knobs(&p1_spot, tmp_x, tmp_y, 120); // todo - english
+            } // else { we have insufficient data received }
+        }
+        if (p2_spot.writing) {
+            if (!(docIn["P2X"].isNull() || docIn["P2X"].isNull())) {
+                tmp_x = docIn["P2X"];
+                tmp_y = docIn["P2Y"];
+                write_player_knobs(&p2_spot, tmp_x, tmp_y, 120);
+            } // else { we have insufficient data received }
+        }
+    }
+}
+
+void processOutData() {
+    // Construct one piece of JSON message
+    docOut["P1_IS_WRITING"] = p1_spot.writing;
+    docOut["P2_IS_WRITING"] = p2_spot.writing;
+
+    if ( ! p1_spot.writing ) {
+        // Read mode
+        read_player_position(&p1_spot, &tmp_x, &tmp_y);
+        docOut["P1_X_READ"] = tmp_x;
+        docOut["P1_Y_READ"] = tmp_y;
+        docOut["P1_RESET_READ"] = read_player_reset(&p1_spot);
+    }
+
+    if ( ! p2_spot.writing ) {
+        // Read mode
+        read_player_position(&p2_spot, &tmp_x, &tmp_y);
+        docOut["P2_X_READ"] = tmp_x;
+        docOut["P2_Y_READ"] = tmp_y;
+        docOut["P2_RESET_READ"] = read_player_reset(&p2_spot);
+    }
+
+    read_player_position(&ball_spot, &tmp_x, &tmp_y);
+    docOut["BALL_X_READ"] = tmp_x;
+    docOut["BALL_Y_READ"] = tmp_y;
+
+    read_player_position(&wall_spot, &tmp_x, &tmp_y);
+    docOut["WALL_X_READ"] = tmp_x;
+
+    // Write json message to serial (->Unity3D)
+    serializeJson(docOut, Serial);
+    Serial.println();
+}
+
+void loop() {
+    docOut.remove("error");
+
+    // Serial buffer has only 64-bytes. Gotta read message by blocks
+    if (recvSerialWithStartEnd()) {
+        // We have JSON available in recv_buffer
+        //        Serial.print("JSON available: ");
+        //        Serial.write(recvBuffer, RECV_BUF_SIZE);
+        //        Serial.println("");
+        processInData();
+    }
+
+    processOutData();
+
+    serve_audio();
+    serve_english();
+
+    // Rate limiting | TODO millis() overflow? (approx. 50 days)
+    //    Serial.print("loop time (ms):");
+    //    Serial.println(millis() - tsLastLoop);
+    tsUsed = millis() - tsLastLoop;
+    if (update_period > tsUsed) {
+        // we still have some time remained
+        delay(update_period - tsUsed);
+    } else {
+        Serial.print("too slow: remain_t (ms) =");
+        Serial.println((long)update_period - tsUsed);
+    }
+    tsLastLoop = millis();
+
+}