@@ -28,27 +28,22 @@ void AppManager::setup(){
2828 timeOfLastUpdate = elapsedTimeInSeconds ();
2929
3030 // set up applications
31- mqttApp = new MqttTransmissionApp ();
32- mqttApp->setRefForShapeIOManager (m_serialShapeIOManager);
31+ mqttApp = new MqttTransmissionApp (m_serialShapeIOManager);
3332 applications[" mqttTransmission"
3433
35- videoPlayerApp = new VideoPlayerApp ();
36- videoPlayerApp->setRefForShapeIOManager (m_serialShapeIOManager);
34+ videoPlayerApp = new VideoPlayerApp (m_serialShapeIOManager);
3735 applications[" videoPlayer"
3836 videoPlayerApp->setup ();
3937
4038 // set up debugging application
4139 // and the debugging apps, too
42- axisCheckerApp = new AxisCheckerApp ();
43- axisCheckerApp->setRefForShapeIOManager (m_serialShapeIOManager);
40+ axisCheckerApp = new AxisCheckerApp (m_serialShapeIOManager);
4441 applications[" axisChecker"
4542
46- kinectDebugApp = new KinectDebugApp (kinectManager);
47- kinectDebugApp->setRefForShapeIOManager (m_serialShapeIOManager);
43+ kinectDebugApp = new KinectDebugApp (m_serialShapeIOManager, kinectManager);
4844 applications[" kinectDebug"
4945
50- depthDebugApp = new DepthDebugApp ();
51- depthDebugApp->setRefForShapeIOManager (m_serialShapeIOManager);
46+ depthDebugApp = new DepthDebugApp (m_serialShapeIOManager);
5247 applications[" depthDebug"
5348
5449 kinectHandWavy = new KinectHandWavy (m_serialShapeIOManager,kinectManager);
@@ -72,35 +67,41 @@ void AppManager::setup(){
7267void AppManager::setupShapeDisplayManagement () {
7368 // initialize communication with the shape display
7469 // This is where the particulars of the shape display are set (i.e. TRANSFORM, inFORM, or any other physical layout).
75- m_serialShapeIOManager = new TransformIOManager (kinectManager);
70+ string shapeDisplayToUse = " inFORM"
71+
72+ if (shapeDisplayToUse == " TRANSFORM"
73+ m_serialShapeIOManager = new TransformIOManager (kinectManager);
74+ } else if (shapeDisplayToUse == " inFORM"
75+ m_serialShapeIOManager = new InFormIOManager (kinectManager);
76+ } else {
77+ throw " unknown shape display type: "
78+ }
7679
7780 printf (" Setting up Shape Display Management\n "
7881
82+ // Size the pin arrays correctly based on the hardware specific dimension, and initialize them with zero values
83+ heightsForShapeDisplay = std::vector<std::vector<unsigned char >>(m_serialShapeIOManager->shapeDisplaySizeX , std::vector<unsigned char >(m_serialShapeIOManager->shapeDisplaySizeY ));
84+ heightsFromShapeDisplay = std::vector<std::vector<unsigned char >>(m_serialShapeIOManager->shapeDisplaySizeX , std::vector<unsigned char >(m_serialShapeIOManager->shapeDisplaySizeY ));
7985
8086 // initialize shape display pin configs
8187 PinConfigs pinConfigs;
8288 pinConfigs.timeOfUpdate = elapsedTimeInSeconds ();
83- pinConfigs.gainP = DEFAULT_GAIN_P ;
84- pinConfigs.gainI = DEFAULT_GAIN_I ;
85- pinConfigs.maxI = DEFAULT_MAX_I ;
86- pinConfigs.deadZone = DEFAULT_DEAD_ZONE ;
87- pinConfigs.maxSpeed = DEFAULT_MAX_SPEED ;
89+ pinConfigs.gainP = m_serialShapeIOManager-> getGainP () ;
90+ pinConfigs.gainI = m_serialShapeIOManager-> getGainI () ;
91+ pinConfigs.maxI = m_serialShapeIOManager-> getMaxI () ;
92+ pinConfigs.deadZone = m_serialShapeIOManager-> getDeadZone () ;
93+ pinConfigs.maxSpeed = m_serialShapeIOManager-> getMaxSpeed () ;
8894 m_serialShapeIOManager->setGlobalPinConfigs (pinConfigs);
8995 timeOfLastPinConfigsUpdate = elapsedTimeInSeconds ();
9096
91- // clear height and pin config buffers
92- for (int x = 0 ; x < SHAPE_DISPLAY_SIZE_X; x++) {
93- for (int y = 0 ; y < SHAPE_DISPLAY_SIZE_Y; y++) {
94- heightsForShapeDisplay[x][y] = 0 ;
95- heightsFromShapeDisplay[x][y] = 0 ;
96- pinConfigsForShapeDisplay[x][y] = pinConfigs;
97- }
98- }
97+
98+ // Set the dimensions of the pinConfigs
99+ pinConfigsForShapeDisplay.
resize (m_serialShapeIOManager->
shapeDisplaySizeX , std::vector<PinConfigs>(m_serialShapeIOManager->
shapeDisplaySizeY , pinConfigs));
99100
100101 // allocate height pixels objects and clear contents
101- heightPixelsForShapeDisplay.allocate (SHAPE_DISPLAY_SIZE_X, SHAPE_DISPLAY_SIZE_Y , 1 );
102+ heightPixelsForShapeDisplay.allocate (m_serialShapeIOManager-> shapeDisplaySizeX , m_serialShapeIOManager-> shapeDisplaySizeY , 1 );
102103 heightPixelsForShapeDisplay.set (0 );
103- heightPixelsFromShapeDisplay.allocate (SHAPE_DISPLAY_SIZE_X, SHAPE_DISPLAY_SIZE_Y , 1 );
104+ heightPixelsFromShapeDisplay.allocate (m_serialShapeIOManager-> shapeDisplaySizeX , m_serialShapeIOManager-> shapeDisplaySizeY , 1 );
104105 heightPixelsFromShapeDisplay.set (0 );
105106
106107 // allocate shape display graphics container and clear contents
@@ -126,8 +127,8 @@ void AppManager::update(){
126127 // note: manually looping over all pixels is important! the underlying
127128 // ofPixels char array is stored as unsigned char[y][x], while the
128129 // shape display heights are stored as unsigned char[x][y]
129- for (int x = 0 ; x < SHAPE_DISPLAY_SIZE_X ; x++) {
130- for (int y = 0 ; y < SHAPE_DISPLAY_SIZE_Y ; y++) {
130+ for (int x = 0 ; x < m_serialShapeIOManager-> shapeDisplaySizeX ; x++) {
131+ for (int y = 0 ; y < m_serialShapeIOManager-> shapeDisplaySizeY ; y++) {
131132 int xy = heightPixelsFromShapeDisplay.getPixelIndex (x, y);
132133 heightPixelsFromShapeDisplay[xy] = heightsFromShapeDisplay[x][y];
133134 }
@@ -143,8 +144,8 @@ void AppManager::update(){
143144 // note: manually looping over all pixels is important! the underlying
144145 // ofPixels char array is stored as unsigned char[y][x], while the
145146 // shape display heights are stored as unsigned char[x][y]
146- for (int x = 0 ; x < SHAPE_DISPLAY_SIZE_X ; x++) {
147- for (int y = 0 ; y < SHAPE_DISPLAY_SIZE_Y ; y++) {
147+ for (int x = 0 ; x < m_serialShapeIOManager-> shapeDisplaySizeX ; x++) {
148+ for (int y = 0 ; y < m_serialShapeIOManager-> shapeDisplaySizeY ; y++) {
148149 int xy = heightPixelsForShapeDisplay.getPixelIndex (x, y);
149150 heightsForShapeDisplay[x][y] = heightPixelsForShapeDisplay[xy];
150151 }
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