Custom homography per laser

src/bin/render_lines_gui.rs

@@ -8,13 +8,16 @@ use nannou::lyon::geom::euclid::Transform2D;
 use nannou::{geom::Rect, math::map_range as nannou_map_range};
 use nannou::prelude::*;
 use nannou_egui::{self, egui, Egui};
+use nannou_laser::DacId;
 use nannou_laser::{self as laser, util::map_range};
 use serde_json::Result;
+use serde::{Serialize,Deserialize};
 use trap_rust::trap::tracks::CoordinateSpace;
-use trap_rust::trap::{laser::{apply_homography_matrix, python_cv_h_into_mat3, LaserModel, TMP_PYTHON_LASER_H}, tracks::{LaserPoints, RenderableLines}};
+use trap_rust::trap::{laser::{apply_homography_matrix, python_cv_h_into_mat3, LaserModel, TMP_PYTHON_LASER_H, DacConfig}, tracks::{LaserPoints, RenderableLines}};
 use zmq::Socket;
 use std::sync::{mpsc, Arc};
 use std::time::{Instant, Duration};
+use std::collections::HashMap;
 
 fn main() {
     nannou::app(model).update(update).run();
@@ -29,6 +32,7 @@ struct Model {
     laser_model: LaserModel,
     // A copy of the laser settings so that we can control them with the GUI.
     laser_settings: LaserSettings,
+    per_laser_config: DacConfigMap,
     // For receiving newly detected DACs.
     dac_rx: mpsc::Receiver<laser::DetectedDac>,
     // The UI for control over laser parameters and settings.
@@ -153,6 +157,30 @@ fn zmq_receive(model: &mut Model) {
     
 }
 
+
+// #[derive(Serialize, Deserialize)]
+// #[serde(remote = "DacId")]
+// pub enum DacIdSerializable {
+//     EtherDream { mac_address: [u8; 6] },
+//     Helios { id: u32 },
+// }
+
+// DEPRECATED
+
+
+type DacConfigMap = HashMap<DacId, DacConfig>;
+
+// Some hardcoded config. Not spending time on reading/writing config atm.
+fn get_dac_configs() -> DacConfigMap{
+
+    let mut dac_configs: DacConfigMap = HashMap::new();
+    dac_configs.insert(
+        DacId::Helios { id: 926298163 },
+        DacConfig{homography: python_cv_h_into_mat3(TMP_PYTHON_LASER_H)}   
+    );
+    dac_configs
+}
+
 fn model(app: &App) -> Model {
     // Create a window to receive keyboard events.
     let w_id_lasersettings = app
@@ -213,6 +241,9 @@ fn model(app: &App) -> Model {
         {
             let dac = res.expect("error occurred during DAC detection");
             if detected.insert(dac.id()) {
+                
+                // DacId::EtherDream { mac_address: () }
+                dbg!(&detected);
                 println!("{:#?}", dac);
                 if dac_tx.send(dac).is_err() {
                     break;
@@ -244,6 +275,7 @@ fn model(app: &App) -> Model {
         last_update: Instant::now(),
         lost_alpha: 1.,
         connected: true,
+        per_laser_config: get_dac_configs()
         // dimming_factor: 1.,
     }
 }
@@ -263,19 +295,19 @@ fn model(app: &App) -> Model {
 //     frame.add_lines(points);
 // }
 
-const LASER_H: Mat3 = python_cv_h_into_mat3(TMP_PYTHON_LASER_H);
-
 fn laser_frame_producer(model: &mut LaserModel, frame: &mut laser::Frame){
     
     let points: LaserPoints = (&model.current_lines).into();
     let space = &model.current_lines.space;
     let pointno = points.len();
 
+    dbg!(model.config.homography);
+
     let mut new_points = Vec::new();
     for point in points.into_iter() {
         let p = point.position;
         let new_position = match space {
-            CoordinateSpace::World => apply_homography_matrix(LASER_H, &p),  
+            CoordinateSpace::World => apply_homography_matrix(model.config.homography, &p),  
             CoordinateSpace::Laser => p,
             _ => panic!("Invalid coordinate space"),
             
@@ -328,9 +360,13 @@ fn update(_app: &App, model: &mut Model, update: Update) {
     // First, check for new laser DACs.
     for dac in model.dac_rx.try_recv() {
         println!("Detected DAC {:?}!", dac.id());
+        let config = match model.per_laser_config.contains_key(&dac.id()) {
+            true => &model.per_laser_config[&dac.id()],
+            false => &DacConfig::default(),
+        };
         let stream = model
             .laser_api
-            .new_frame_stream(model.laser_model.clone(), laser_frame_producer)
+            .new_frame_stream(model.laser_model.with_config(config), laser_frame_producer)
             .detected_dac(dac)
             .build()
             .expect("failed to establish stream with newly detected DAC");

src/trap/laser.rs

@@ -1,7 +1,7 @@
 use bevy::prelude::*;
 use nannou_laser as laser;
 use std::time::Instant;
-
+use serde::{Deserialize, Serialize};
 use super::tracks::{LaserPoints, RenderableLines};
 
 pub const TMP_PYTHON_LASER_H: [[f32;3];3] = [[ 2.47442963e+02, -7.01714050e+01, -9.71749119e+01],
@@ -34,6 +34,7 @@ pub struct LaserModel{
     pub t: Instant, // register start time, so that animations can be moving
     pub current_lines: RenderableLines,
     pub dimming: f32,
+    pub config: DacConfig, // per dac configuration
 }
 
 impl LaserModel{
@@ -41,9 +42,16 @@ impl LaserModel{
         Self{
             t: Instant::now(),
             current_lines: RenderableLines::new(),
-            dimming: 0.3
+            dimming: 0.3,
+            config: DacConfig::default(),
         }
     }
+
+    pub fn with_config(&self, config: &DacConfig) -> Self{
+        LaserModel{
+            config: config.clone(),
+            .. self.clone()}
+    }
 }
 
 #[derive(Component)]
@@ -58,3 +66,20 @@ pub struct LaserApi{
 pub struct LaserTimer {
     pub timer: Timer,
 }
+
+
+#[derive(Serialize, Deserialize, Clone)]
+pub struct DacConfig{
+    // #[serde(with = "DacIdSerializable")]
+    // id: DacId,
+    pub homography: Mat3
+}
+
+const LASER_H: Mat3 = python_cv_h_into_mat3(TMP_PYTHON_LASER_H);
+
+
+impl Default for DacConfig{
+    fn default() -> DacConfig{
+        DacConfig { homography: Mat3::IDENTITY }
+    }
+}