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adafruit_bno055 / examples_processing / cuberotate / cuberotate.pde @ master

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import processing.serial.*;
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import java.awt.datatransfer.*;
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import java.awt.Toolkit;
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import processing.opengl.*;
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import saito.objloader.*;
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import g4p_controls.*;
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float roll  = 0.0F;
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float pitch = 0.0F;
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float yaw   = 0.0F;
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float temp  = 0.0F;
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float alt   = 0.0F;
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OBJModel model;
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// Serial port state.
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Serial       port;
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final String serialConfigFile = "serialconfig.txt";
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boolean      printSerial = false;
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// UI controls.
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GPanel    configPanel;
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GDropList serialList;
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GLabel    serialLabel;
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GLabel    calLabel;
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GCheckbox printSerialCheckbox;
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void setup()
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{
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  size(640, 480, OPENGL);
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  frameRate(30);
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  model = new OBJModel(this);
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  model.load("bunny.obj");
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  model.scale(20);
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  // Serial port setup.
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  // Grab list of serial ports and choose one that was persisted earlier or default to the first port.
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  int selectedPort = 0;
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  String[] availablePorts = Serial.list();
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  if (availablePorts == null) {
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    println("ERROR: No serial ports available!");
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    exit();
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  }
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  String[] serialConfig = loadStrings(serialConfigFile);
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  if (serialConfig != null && serialConfig.length > 0) {
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    String savedPort = serialConfig[0];
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    // Check if saved port is in available ports.
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    for (int i = 0; i < availablePorts.length; ++i) {
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      if (availablePorts[i].equals(savedPort)) {
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        selectedPort = i;
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      } 
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    }
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  }
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  // Build serial config UI.
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  configPanel = new GPanel(this, 10, 10, width-20, 90, "Configuration (click to hide/show)");
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  serialLabel = new GLabel(this,  0, 20, 80, 25, "Serial port:");
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  configPanel.addControl(serialLabel);
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  serialList = new GDropList(this, 90, 20, 200, 200, 6);
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  serialList.setItems(availablePorts, selectedPort);
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  configPanel.addControl(serialList);
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  calLabel = new GLabel(this, 300, 20, 350, 25, "Calibration: Sys=? Gyro=? Accel=? Mag=?");
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  configPanel.addControl(calLabel); 
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  printSerialCheckbox = new GCheckbox(this, 5, 50, 200, 20, "Print serial data");
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  printSerialCheckbox.setSelected(printSerial);
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  configPanel.addControl(printSerialCheckbox);
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  // Set serial port.
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  setSerialPort(serialList.getSelectedText());
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}
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void draw()
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{
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  background(0,0,0);
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  // Set a new co-ordinate space
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  pushMatrix();
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  // Simple 3 point lighting for dramatic effect.
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  // Slightly red light in upper right, slightly blue light in upper left, and white light from behind.
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  pointLight(255, 200, 200,  400, 400,  500);
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  pointLight(200, 200, 255, -400, 400,  500);
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  pointLight(255, 255, 255,    0,   0, -500);
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  // Move bunny from 0,0 in upper left corner to roughly center of screen.
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  translate(300, 380, 0);
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  // Rotate shapes around the X/Y/Z axis (values in radians, 0..Pi*2)
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  //rotateZ(radians(roll));
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  //rotateX(radians(pitch)); // extrinsic rotation
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  //rotateY(radians(yaw));
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  float c1 = cos(radians(roll));
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  float s1 = sin(radians(roll));
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  float c2 = cos(radians(pitch)); // intrinsic rotation
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  float s2 = sin(radians(pitch));
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  float c3 = cos(radians(yaw));
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  float s3 = sin(radians(yaw));
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  applyMatrix( c2*c3, s1*s3+c1*c3*s2, c3*s1*s2-c1*s3, 0,
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               -s2, c1*c2, c2*s1, 0,
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               c2*s3, c1*s2*s3-c3*s1, c1*c3+s1*s2*s3, 0,
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               0, 0, 0, 1);
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  pushMatrix();
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  noStroke();
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  model.draw();
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  popMatrix();
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  popMatrix();
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  //print("draw");
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}
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void serialEvent(Serial p) 
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{
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  String incoming = p.readString();
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  if (printSerial) {
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    println(incoming);
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  }
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  if ((incoming.length() > 8))
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  {
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    String[] list = split(incoming, " ");
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    if ( (list.length > 0) && (list[0].equals("Orientation:")) ) 
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    {
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      roll  = float(list[3]); // Roll = Z
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      pitch = float(list[2]); // Pitch = Y 
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      yaw   = float(list[1]); // Yaw/Heading = X
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    }
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    if ( (list.length > 0) && (list[0].equals("Alt:")) ) 
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    {
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      alt  = float(list[1]);
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    }
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    if ( (list.length > 0) && (list[0].equals("Temp:")) ) 
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    {
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      temp  = float(list[1]);
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    }
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    if ( (list.length > 0) && (list[0].equals("Calibration:")) )
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    {
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      int sysCal   = int(list[1]);
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      int gyroCal  = int(list[2]);
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      int accelCal = int(list[3]);
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      int magCal   = int(trim(list[4]));
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      calLabel.setText("Calibration: Sys=" + sysCal + " Gyro=" + gyroCal + " Accel=" + accelCal + " Mag=" + magCal);
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    }
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  }
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}
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// Set serial port to desired value.
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void setSerialPort(String portName) {
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  // Close the port if it's currently open.
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  if (port != null) {
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    port.stop();
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  }
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  try {
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    // Open port.
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    port = new Serial(this, portName, 115200);
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    port.bufferUntil('\n');
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    // Persist port in configuration.
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    saveStrings(serialConfigFile, new String[] { portName });
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  }
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  catch (RuntimeException ex) {
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    // Swallow error if port can't be opened, keep port closed.
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    port = null; 
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  }
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}
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// UI event handlers
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void handlePanelEvents(GPanel panel, GEvent event) {
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  // Panel events, do nothing.
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}
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void handleDropListEvents(GDropList list, GEvent event) { 
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  // Drop list events, check if new serial port is selected.
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  if (list == serialList) {
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    setSerialPort(serialList.getSelectedText()); 
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  }
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}
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void handleToggleControlEvents(GToggleControl checkbox, GEvent event) { 
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  // Checkbox toggle events, check if print events is toggled.
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  if (checkbox == printSerialCheckbox) {
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    printSerial = printSerialCheckbox.isSelected(); 
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  }
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}