pixel.ino

/**
*  Polargraph Server. - CORE
*  Written by Sandy Noble
*  Released under GNU License version 3.
*  http://www.polargraph.co.uk
*  http://code.google.com/p/polargraph/

Pixel.

This is one of the core files for the polargraph server program.  

This is a biggie, and has the routines necessary for generating and drawing
the squarewave and scribble pixel styles.

*/

void pixel_drawSquarePixel() 
{
    long originA = multiplier(asLong(inParam1));
    long originB = multiplier(asLong(inParam2));
    int size = multiplier(asInt(inParam3));
    int density = asInt(inParam4);

    int halfSize = size / 2;
    
    long startPointA;
    long startPointB;
    long endPointA;
    long endPointB;

    int calcFullSize = halfSize * 2; // see if there's any rounding errors
    int offsetStart = size - calcFullSize;
    
    if (globalDrawDirectionMode == DIR_MODE_AUTO)
      globalDrawDirection = pixel_getAutoDrawDirection(originA, originB, motorA.currentPosition(), motorB.currentPosition());
      

    if (globalDrawDirection == DIR_SE) 
    {
//      Serial.println(F("d: SE"));
      startPointA = originA - halfSize;
      startPointA += offsetStart;
      startPointB = originB;
      endPointA = originA + halfSize;
      endPointB = originB;
    }
    else if (globalDrawDirection == DIR_SW)
    {
//      Serial.println(F("d: SW"));
      startPointA = originA;
      startPointB = originB - halfSize;
      startPointB += offsetStart;
      endPointA = originA;
      endPointB = originB + halfSize;
    }
    else if (globalDrawDirection == DIR_NW)
    {
//      Serial.println(F("d: NW"));
      startPointA = originA + halfSize;
      startPointA -= offsetStart;
      startPointB = originB;
      endPointA = originA - halfSize;
      endPointB = originB;
    }
    else //(drawDirection == DIR_NE)
    {
//      Serial.println(F("d: NE"));
      startPointA = originA;
      startPointB = originB + halfSize;
      startPointB -= offsetStart;
      endPointA = originA;
      endPointB = originB - halfSize;
    }

    density = pixel_scaleDensity(density, 255, pixel_maxDensity(penWidth, size));
//    Serial.print(F("Start point: "));
//    Serial.print(startPointA);
//    Serial.print(COMMA);
//    Serial.print(startPointB);
//    Serial.print(F(". end point: "));
//    Serial.print(endPointA);
//    Serial.print(COMMA);
//    Serial.print(endPointB);
//    Serial.println(F("."));
    
    changeLength(startPointA, startPointB);
    if (density > 1)
    {
      pixel_drawSquarePixel(size, size, density, globalDrawDirection);
    }
    changeLength(endPointA, endPointB);
    
    //outputAvailableMemory(); 
}

byte pixel_getRandomDrawDirection()
{
  return random(1, 5);
}

byte pixel_getAutoDrawDirection(long targetA, long targetB, long sourceA, long sourceB)
{
  byte dir = DIR_SE;
  
  // some bitchin triangles, I goshed-well love triangles.
//  long diffA = sourceA - targetA;
//  long diffB = sourceB - targetB;
//  long hyp = sqrt(sq(diffA)+sq(diffB));
//  
//  float bearing = atan(hyp/diffA);
  
//  Serial.print("bearing:");
//  Serial.println(bearing);
//  
//  Serial.print(F("TargetA: "));
//  Serial.print(targetA);
//  Serial.print(F(", targetB: "));
//  Serial.print(targetB);
//  Serial.print(F(". SourceA: "));
//  Serial.print(sourceA);
//  Serial.print(F(", sourceB: "));
//  Serial.print(sourceB);
//  Serial.println(F("."));
  
  
  if (targetA<sourceA && targetB<sourceA)
  {
//    Serial.println(F("calculated NW"));
    dir = DIR_NW;
  }
  else if (targetA>sourceA && targetB>sourceB)
  {
//    Serial.println(F("calculated SE"));
    dir = DIR_SE;
  }
  else if (targetA<sourceA && targetB>sourceB)
  {
//    Serial.println(F("calculated SW"));
    dir = DIR_SW;
  }
  else if (targetA>sourceA && targetB<sourceB)
  {
//    Serial.println(F("calculated NE"));
    dir = DIR_NE;
  }
  else if (targetA==sourceA && targetB<sourceB)
  {
//    Serial.println(F("calc NE"));
    dir = DIR_NE;
  }
  else if (targetA==sourceA && targetB>sourceB)
  {
//    Serial.println(F("calc SW"));
    dir = DIR_SW;
  }
  else if (targetA<sourceA && targetB==sourceB)
  {
//    Serial.println(F("calc NW"));
    dir = DIR_NW;
  }
  else if (targetA>sourceA && targetB==sourceB)
  {
//    Serial.println(F("calc SE"));
    dir = DIR_SE;
  }
  else
  {
//    Serial.println("Not calculated - default SE");
  }

  return dir;
}

void pixel_drawScribblePixel() 
{
    long originA = multiplier(asLong(inParam1));
    long originB = multiplier(asLong(inParam2));
    int size = multiplier(asInt(inParam3));
    int density = asInt(inParam4);
    
    int maxDens = pixel_maxDensity(penWidth, size);

    density = pixel_scaleDensity(density, 255, maxDens);
    pixel_drawScribblePixel(originA, originB, size*1.1, density);
    
    outputAvailableMemory(); 
}

void pixel_drawScribblePixel(long originA, long originB, int size, int density) 
{

//  int originA = motorA.currentPosition();
//  int originB = motorB.currentPosition();
  
  long lowLimitA = originA-(size/2);
  long highLimitA = lowLimitA+size;
  long lowLimitB = originB-(size/2);
  long highLimitB = lowLimitB+size;
  int randA;
  int randB;
  
  int inc = 0;
  int currSize = size;
  
  for (int i = 0; i <= density; i++)
  {
    randA = random(0, currSize);
    randB = random(0, currSize);
    changeLength(lowLimitA+randA, lowLimitB+randB);
    
    lowLimitA-=inc;
    highLimitA+=inc;
    currSize+=inc*2;
  }
}

int pixel_minSegmentSizeForPen(float penSize)
{
  float penSizeInSteps = penSize * stepsPerMM;

  int minSegSize = 1;
  if (penSizeInSteps >= 2.0)
    minSegSize = int(penSizeInSteps);
    
//  Serial.print(F("Min segment size for penSize "));
//  Serial.print(penSize);
//  Serial.print(F(": "));
//  Serial.print(minSegSize);
//  Serial.print(F(" steps."));
//  Serial.println();
  
  return minSegSize;
}

int pixel_maxDensity(float penSize, int rowSize)
{
  float rowSizeInMM = mmPerStep * rowSize;
//  Serial.print(F("rowsize in mm: "));
//  Serial.print(rowSizeInMM);
//  Serial.print(F(", mmPerStep: "));
//  Serial.print(mmPerStep);
//  Serial.print(F(", rowsize: "));
//  Serial.println(rowSize);
  
  float numberOfSegments = rowSizeInMM / penSize;
  int maxDens = 1;
  if (numberOfSegments >= 2.0)
    maxDens = int(numberOfSegments);
    
//  Serial.print("num of segments float:");
//  Serial.println(numberOfSegments);
//
//    
//  Serial.print(F("Max density: penSize: "));
//  Serial.print(penSize);
//  Serial.print(F(", rowSize: "));
//  Serial.print(rowSize);
//  Serial.println(maxDens);
  
  return maxDens;
}

int pixel_scaleDensity(int inDens, int inMax, int outMax)
{
  float reducedDens = (float(inDens) / float(inMax)) * float(outMax);
  reducedDens = outMax-reducedDens;
//  Serial.print(F("inDens:"));
//  Serial.print(inDens);
//  Serial.print(F(", inMax:"));
//  Serial.print(inMax);
//  Serial.print(F(", outMax:"));
//  Serial.print(outMax);
//  Serial.print(F(", reduced:"));
//  Serial.println(reducedDens);
  
  // round up if bigger than .5
  int result = int(reducedDens);
  if (reducedDens - (result) > 0.5)
    result ++;
  
  return result;
}

void pixel_drawSquarePixel(int length, int width, int density, byte drawDirection) 
{
  // work out how wide each segment should be
  int segmentLength = 0;

  if (density > 0)
  {
    // work out some segment widths
    int basicSegLength = length / density;
    int basicSegRemainder = length % density;
    float remainderPerSegment = float(basicSegRemainder) / float(density);
    float totalRemainder = 0.0;
    int lengthSoFar = 0;
    
//    Serial.print("Basic seg length:");
//    Serial.print(basicSegLength);
//    Serial.print(", basic seg remainder:");
//    Serial.print(basicSegRemainder);
//    Serial.print(", remainder per seg");
//    Serial.println(remainderPerSegment);
    
    for (int i = 0; i <= density; i++) 
    {
      totalRemainder += remainderPerSegment;

      if (totalRemainder >= 1.0)
      {
        totalRemainder -= 1.0;
        segmentLength = basicSegLength+1;
      }
      else
      {
        segmentLength = basicSegLength;
      }

      if (drawDirection == DIR_SE) {
        pixel_drawSquareWaveAlongA(width, segmentLength, density, i);
      }
      if (drawDirection == DIR_SW) {
        pixel_drawSquareWaveAlongB(width, segmentLength, density, i);
      }
      if (drawDirection == DIR_NW) {
        segmentLength = 0 - segmentLength; // reverse
        pixel_drawSquareWaveAlongA(width, segmentLength, density, i);
      }
      if (drawDirection == DIR_NE) {
        segmentLength = 0 - segmentLength; // reverse
        pixel_drawSquareWaveAlongB(width, segmentLength, density, i);
      }
      lengthSoFar += segmentLength;
    //      Serial.print("distance so far:");
    //      Serial.print(distanceSoFar);
      
      
      reportPosition();
    } // end of loop
  }
}


void pixel_drawSquareWaveAlongA(int waveAmplitude, int waveLength, int totalWaves, int waveNo)
{
  if (waveNo == 0) 
  { 
    // first one, half a line and an along
    Serial.println("First wave half");
    if (lastWaveWasTop) {
      moveB(waveAmplitude/2);
      moveA(waveLength);
    }
    else {
      moveB(0-(waveAmplitude/2));
      moveA(waveLength);
    }
    pixel_flipWaveDirection();
  }
  else if (waveNo == totalWaves) 
  { 
    // last one, half a line with no along
    if (lastWaveWasTop) {
      moveB(waveAmplitude/2);
    }
    else {
      moveB(0-(waveAmplitude/2));
    }
  }
  else 
  { 
    // intervening lines - full lines, and an along
    if (lastWaveWasTop) {
      moveB(waveAmplitude);
      moveA(waveLength);
    }
    else {
      moveB(0-waveAmplitude);
      moveA(waveLength);
    }
    pixel_flipWaveDirection();
  }
}

void pixel_drawSquareWaveAlongB(int waveAmplitude, int waveLength, int totalWaves, int waveNo)
{
  if (waveNo == 0) 
  { 
    // first one, half a line and an along
    if (lastWaveWasTop) {
      moveA(waveAmplitude/2);
      moveB(waveLength);
    }
    else {
      moveA(0-(waveAmplitude/2));
      moveB(waveLength);
    }
    pixel_flipWaveDirection();
  }
  else if (waveNo == totalWaves) 
  { 
    // last one, half a line with no along
    if (lastWaveWasTop) {
      moveA(waveAmplitude/2);
    }
    else {
      moveA(0-(waveAmplitude/2));
    }
  }
  else 
  { 
    // intervening lines - full lines, and an along
    if (lastWaveWasTop) {
      moveA(waveAmplitude);
      moveB(waveLength);
    }
    else {
      moveA(0-waveAmplitude);
      moveB(waveLength);
    }
    pixel_flipWaveDirection();
  }
}


void pixel_flipWaveDirection()
{
  if (lastWaveWasTop)
    lastWaveWasTop = false;
  else
    lastWaveWasTop = true;
}

  void pixel_testPenWidth()
  {
    int rowWidth = multiplier(asInt(inParam1));
    float startWidth = asFloat(inParam2);
    float endWidth = asFloat(inParam3); 
    float incSize = asFloat(inParam4);

    int tempDirectionMode = globalDrawDirectionMode;
    globalDrawDirectionMode = DIR_MODE_PRESET;
    
    float oldPenWidth = penWidth;
    int iterations = 0;
    
    for (float pw = startWidth; pw <= endWidth; pw+=incSize)
    {
      iterations++;
      penWidth = pw;
      int maxDens = pixel_maxDensity(penWidth, rowWidth);
//      Serial.print(F("Penwidth test "));
//      Serial.print(iterations);
//      Serial.print(F(", pen width: "));
//      Serial.print(penWidth);
//      Serial.print(F(", max density: "));
//      Serial.println(maxDens);
      pixel_drawSquarePixel(rowWidth, rowWidth, maxDens, DIR_SE);
    }

    penWidth = oldPenWidth;
    
    moveB(0-rowWidth);
    for (int i = 1; i <= iterations; i++)
    {
      moveB(0-(rowWidth/2));
      moveA(0-rowWidth);
      moveB(rowWidth/2);
    }
    
    penWidth = oldPenWidth;
    globalDrawDirectionMode = tempDirectionMode;
  }