So I have been working on an Arduino program that sends MIDI data over USB, and I can't seem to figure out how to pass the function that handles sending of midi data to my main class. It worked at some point but for some reason, it doesn't, and I feel like I have tried every combination of things.
Here is my main file, simplified down to just output the MIDI data over serial:
#include "XiaoPiezoDrum.h"
void sendNoteOn(int note, int velocity, int chan) {
Serial.printf("WORKS! %d %d %d\n", note, velocity, chan);
};
XiaoPiezoDrum drum(9, 2, 3, 4);
void setup() {
drum.setNoteComFunctions(sendNoteOn);
}
Here is what that setNoteComFunctions method looks like:
void XiaoPiezoDrum::setNoteComFunctions(const std::function<void(int, int, int)>& onFunc) {
sendNote = [onFunc](auto && PH1, auto && PH2, auto && PH3) { onFunc(PH1, PH2, PH3); };
}
And here is the relevant parts of the main class definition:
class XiaoPiezoDrum {
public:
XiaoPiezoDrum();
XiaoPiezoDrum(int piezoPin, int rPin, int gPin, int bPin);
void setNoteComFunctions(const function<void(int, int, int)>& onFunc);
void RunCycle();
private:
std::function<void(int, int, int)> sendNote;
}
So everything runs just fine until I call sendNote from within RunCycle, which is just called every loop, and then serial communication just stops suddenly. What am I doing wrong? I also tried using bind instead of a lambda, and the same thing happens. When I just copy the same print statement that is in sendNoteOn in the main file into the lambda in setNoteComFunctions, it prints just fine, so I know the issue is all about linking the function from the main file.
Things I have tried:
passing the function in setNoteComFunctions both as a reference and not
using bind rather than lambda
changing the body of sendNoteOn
making the lambda arguments references
making the lambda arguments not references
returning onFunc in the lambda
I have been banging my head against the keyboard for hours with this. If anybody knows what I'm doing wrong, I'd love an explanation!
EDIT
Here is the full code of RunCycle. Many of these variables are instance variables that I left out of the provided class definition, but I know the issue is with the call of sendNote, because if I comment it out, things continue running normally. I have also tried replacing the velocity variable with a fixed integer, and the same thing happened.
void XiaoPiezoDrum::RunCycle() {
double val = sensor.read();
val = (val > 0) ? val : 0;
Serial.println(val);
unsigned long timeElapsed;
int velocity;
MaxVal = (val > MaxVal) ? val : MaxVal;
trigger = val > THRESHOLD && !triggering;
if (val > THRESHOLD && !triggering) trigger = true;
if (trigger) {
triggerTime = millis();
trigger = false;
triggering = true;
triggerBuffer.clear();
}
if (triggering) {
timeElapsed = millis() - triggerTime;
if (timeElapsed < SAMPLE_TIME) {
loopCounter++;
triggerBuffer.addValue(val);
Serial.println(val);
}
else {
velocity = map(round(triggerBuffer.getMax()), 0, 300, THRESHOLD, 127);
Serial.printf("Velocity: %d\n", velocity);
if (comFunctionsSet) sendNote(40, velocity, 1);
noteEndTime = millis();
triggerTime = 0;
triggerBuffer.clear();
triggering = false;
resting = true;
}
}
}
jignatius' answer did it! I should have known I could do that!! Thanks!
I just had to replace
void XiaoPiezoDrum::setNoteComFunctions(const std::function<void(int, int, int)>& onFunc) {
sendNote = [onFunc](auto && PH1, auto && PH2, auto && PH3) { onFunc(PH1, PH2, PH3); };
}
with:
void XiaoPiezoDrum::setNoteComFunctions(const std::function<void(int, int, int)>& onFunc) {
sendNote = onFunc;
}
So glad to have that solved! Thanks!
Related
I'm attempting to use SpawnActor() to spawn random actors from an array of classes. I've spent several years using UE4/UE5 blueprints, but this is my first time working in cpp in a long time. The trouble I'm running into is with the SpawnActor function, maybe I'm hooking up the parameters wrong.
Below is the code for my spawning logic in my cpp file:
void ADS_Generator::SpawnFlora()
{
FHitResult CurrentHit;
FActorSpawnParameters SpawnInfo;
for (int F = 0; F < FloraIterations; ++F)
{
if (SpawnedFlora.Num() <= MaxFlora)
{
CurrentHit = SpawnLineTrace(Vertices[FMath::RandRange(0, Vertices.Num() - 1)]);
if (CurrentHit.bBlockingHit == true)
{
if (FMath::RandRange(1, 100) >= FloraTolerance)
{
AActor* CurrentFlora = GetWorld()->SpawnActor(Flora[0], CurrentHit.ImpactPoint, FVector(0, 0, FMath::RandRange(-180, 180)), SpawnInfo);
SpawnedFlora.Add(CurrentFlora);
}
}
}
}
}
Below is the code for my header file where I declare the array of actor classes:
UPROPERTY(EditAnywhere)
TArray<TSubclassOf<class AActor>> Flora;
UPROPERTY(EditAnywhere)
TArray<TSubclassOf<class AActor>> Fauna;
The specific error I'm getting is this:
"C++ no instance of overloaded function matches the argument list
argument types are: (TSubclassOf<AActor>, FVector_NetQuantize, FVector, FActorSpawnParameters)
object type is: UWorld"
I've tried adding "::StaticClass()" as well as using "->StaticClass" to no avail.
Any thoughts or advice? I definitely need to watch some videos and brush up on my cpp, I'm very rusty.
Note: I'm using Flora[0] as a placeholder instead of randomizing the array index just to test.
Found the issue! The problem was my Rotation was defined as a plain FVector, but it needed to be converted to a rotation and then a quaternion, respectively. Below is the code, but fixed:
void ADS_Generator::SpawnFlora()
{
FHitResult CurrentHit;
FActorSpawnParameters SpawnInfo;
for (int F = 0; F < FloraIterations; ++F)
{
if (SpawnedFlora.Num() <= MaxFlora)
{
CurrentHit = SpawnLineTrace(Vertices[FMath::RandRange(0, Vertices.Num() - 1)]);
if (CurrentHit.bBlockingHit == true)
{
UE_LOG(LogTemp, Warning, TEXT("HIT!"));
if (FMath::RandRange(1, 100) >= FloraTolerance)
{
FTransform SpawnLoc;
SpawnLoc.SetLocation(CurrentHit.ImpactPoint);
SpawnLoc.SetRotation((FVector(0, 0, FMath::RandRange(-180, 180)).Rotation().Quaternion()));
SpawnLoc.SetScale3D(FVector(1, 1, 1));
AActor* CurrentFlora = GetWorld()->SpawnActor<AActor>(Flora[0]->StaticClass(), SpawnLoc, SpawnInfo);
SpawnedFlora.Add(CurrentFlora);
UE_LOG(LogTemp, Warning, TEXT("Spawned Flora!"));
}
}
else if(CurrentHit.bBlockingHit == false)
{
UE_LOG(LogTemp, Warning, TEXT("NO HIT"));
}
}
}
}
TLDR; Locations and Rotations are stored differently and I totally forgot.
I want make function like void loop or void setup like arduino main function which that function can input another execution code.
unsigned long NOW;
void setup() {
}
void loop() {
void doEvery(2){ //do Every 2 second
//Put Code that Execute every 2 second
}
void doEvery(4){ //do Every 4 second
//Put Code that Execute every 4 second
}
}
How to declare/define function doEvery?
i think that function must contain
if(millis()-NOW>=EVERY){
NOW=millis();
//THE LINE CODE
}
Taking THIS as initial idea:
unsigned long previousMillis2 = 0, previousMillis100 = 0;
void setup() {
}
void loop() {
unsigned long currentMillis = millis();
//doEvery 2
if (currentMillis - previousMillis2 >= 2) {
previousMillis2 = currentMillis; //stores last execution's timestamp
//CODE EVERY 2 millis
}
//doEvery 100
if (currentMillis - previousMillis100 >= 100) {
previousMillis100 = currentMillis; //stores last execution's timestamp
//CODE EVERY 100 millis
}
}
With this, you will use millis() to ask for how many millis passed since initialization of Arduino. Then you store last time you executed your code and compare how many time passed since it.
It's not a dynamic function for defining new intervals but if you only need a pair of it, you can code it easily.
EDIT:
If you need something more dynamic, you should use anonymous functions. SEE THIS or THIS The point here is function as parameter.
I've made an animation library out of this for the WS2812 ledstrip:
https://github.com/laurijssen/ledstripanimator/blob/master/ledanim.c
The timing stuff that jabujavi describes happens in the UpdateFrame function where every animation in the list advances to the next frame after it's configured milliseconds.
class AnimList
{
Animation *first = NULL;
Adafruit_NeoPixel strip;
public:
AnimList(int nleds) : strip(nleds, 9, NEO_GRB + NEO_KHZ800)
{
strip.begin();
}
void UpdateFrame()
{
strip.clear();
Animation **anim = &first;
while (*anim)
{
if (millis() - (*anim)->last >= (*anim)->ms)
{
if (!(*anim)->UpdateFrame(strip))
{
*anim = (*anim)->next;
}
else
{
(*anim)->last = millis();
anim = &(*anim)->next;
}
}
}
}
};
Now you just call AnimList::UpdateFrame as fast as possible inside loop()
void loop() {
list->UpdateFrame();
list->Render();
if (!list->Find(&r1))
{
r1 = Rain (rand() % NUMLEDS, rand() % NUMLEDS, {BRIGHTNESS, 0, 15 }) ;
list->AddFirst(&r1);
}
}
edit
So if you want to execute code every 2 seconds you create a class which inherits from Animation and override Updateframe. Then put ms variable at the time you want to pass between frames.
Of course remove all Adafruit and animation references if you just want a task based lib.
class TaskA : public Task
{
public:
TaskA() { ms = 2000; }
bool UpdateFrame()
{
Serial.println("2 seconds passed");
return true;
}
};
TaskA t;
void setup()
{
list->AddTask(&t);
}
void loop()
{
list->UpdateTasks();
}
I'm attempting to execute various functions sequentially n number of times, only moving forward if previous function did not return false (error) otherwise I reset and start all over again.
An example of a sequence would be :
Turn module ON : module.power(true), 3 attempts
Wait for a signal : module.signal(), 10 attempts
Send a message : module.sendSMS('test'), 3 attempts
Turn module OFF : module.power(false), 1 attempt
Each of those actions are done the same way, only changing the DEBUG text and the function to launch :
DEBUG_PRINT("Powering ON"); // This line changes
uint8_t attempts = 0;
uint8_t max_attempts = 3; // max_attempts changes
while(!module.power(true) && attempts < max_attempts){ // This line changes
attempts++;
DEBUG_PRINT(".");
if(attempts == max_attempts) {
DEBUG_PRINTLN(" - Failed.");
soft_reset(); // Start all over again
}
delay(100);
}
DEBUG_PRINTLN(" - Success");
wdt_reset(); // Reset watchdog timer, ready for next action
Is there an elegant way I can put this process in a function I could call to execute the required functions this particular way, for example something like :
void try_this_action(description, function, n_attempts)
Which would make actions 1-4 above like :
try_this_action("Powering ON", module.power(true), 3);
try_this_action("Waiting for signal", module.signal(), 10);
try_this_action("Sending SMS", module.sendSMS('test'), 3);
try_this_action("Powering OFF", module.power(false), 1);
A difficulty I have is that the functions called have different syntax (some take parameters, some other don't...). Is there a more elegant modulable way of doing this besides copy/paste the chunck of code everywhere I need it ?
A difficulty I have is that the functions called have different syntax
(some take parameters, some other don't...).
That is indeed an issue. Along with it you have the possibility of variation in actual function arguments for the same function.
Is there a more elegant
modulable way of doing this besides copy/paste the chunck of code
everywhere I need it ?
I think you could make a variadic function that uses specific knowledge of the functions to dispatch in order to deal with the differing function signatures and actual arguments. I'm doubtful that I would consider the result more elegant, though.
I would be inclined to approach this job via a macro, instead:
// desc: a descriptive string, evaluated once
// action: an expression to (re)try until it evaluates to true in boolean context
// attempts: the maximum number of times the action will be evaluated, itself evaluated once
#define try_this_action(desc, action, attempts) do { \
int _attempts = (attempts); \
DEBUG_PRINT(desc); \
while(_attempts && !(action)) { \
_attempts -= 1; \
DEBUG_PRINT("."); \
delay(100); \
} \
if (_attempts) { \
DEBUG_PRINTLN(" - Success"); \
} else { \
DEBUG_PRINTLN(" - Failed."); \
soft_reset(); \
} \
wdt_reset(); \
} while (0)
Usage would be just as you described:
try_this_action("Powering ON", module.power(true), 3);
etc.. Although the effect is as if you did insert the code for each action in each spot, using a macro such as this would yield code that is much easier to read, and that is not lexically repetitive. Thus, for example, if you ever need to change the the steps for trying actions, you can do it once for all by modifying the macro.
You need to make the function pointers all have the same signature. I would use something like this;
typedef int(*try_func)(void *arg);
And have a try_this_action(...) signature similar to the following;
void try_this_action(char * msg, int max_trys, try_func func, void *arg)
You would then implement your actions similar to this;
int power(void *pv)
{
int *p = pv;
int on_off = *p;
static int try = 0;
if (on_off && try++)
return 1;
return 0;
}
int signal(void *pv)
{
static int try = 0;
if (try++ > 6)
return 1;
return 0;
}
And call them like this;
int main(int c, char *v[])
{
int on_off = 1;
try_this_action("Powering ON", 3, power, &on_off);
try_this_action("Signaling", 10, signal, 0);
}
Functions of different arity may be abstracted with a generic signature (think about main). Instead of each giving each their own unique arguments, you simply supply them all with:
An argument count.
A vector of pointers to the arguments.
This is how your operating system treats all programs it runs anyways. I've given a very basic example below which you can inspect.
#include <stdio.h>
#include <stdlib.h>
/* Define total function count */
#define MAX_FUNC 2
/* Generic function signature */
typedef void (*func)(int, void **, const char *);
/* Function pointer array (NULL - initialized) */
func functions[MAX_FUNC];
/* Example function #1 */
void printName (int argc, void **argv, const char *desc) {
fprintf(stdout, "Running: %s\n", desc);
if (argc != 1 || argv == NULL) {
fprintf(stderr, "Err in %s!\n", desc);
return;
}
const char *name = (const char *)(argv[0]);
fprintf(stdout, "Name: %s\n", name);
}
/* Example function #2 */
void printMax (int argc, void **argv, const char *desc) {
fprintf(stdout, "Running: %s\n", desc);
if (argc != 2 || argv == NULL) {
fprintf(stderr, "Err in %s!\n", desc);
return;
}
int *a = (int *)(argv[0]), *b = (int *)(argv[1]);
fprintf(stdout, "Max: %d\n", (*a > *b) ? *a : *b);
}
int main (void) {
functions[0] = printName; // Set function #0
functions[1] = printMax; // Set function #1
int f_arg_count[2] = {1, 2}; // Function 0 takes 1 argument, function 1 takes 2.
const char *descs[2] = {"printName", "printMax"};
const char *name = "Natasi"; // Args of function 0
int a = 2, b = 3; // Args of function 1
int *args[2] = {&a, &b}; // Args of function 1 in an array.
void **f_args[2] = {(void **)(&name),
(void **)(&args)}; // All function args.
// Invoke all functions.
for (int i = 0; i < MAX_FUNC; i++) {
func f = functions[i];
const char *desc = descs[i];
int n = f_arg_count[i];
void **args = f_args[i];
f(n, args, desc);
}
return EXIT_SUCCESS;
}
You can use a variadic function, declaring in the parameter list first those parameters that are always present, then the variable part.
In following code we define a type for action functions, void returning having as parameter an argument list:
typedef void (*action)(va_list);
Then define the generic action routine that prepare for the action execution:
void try_this_action(char *szActionName, int trials, action fn_action, ...)
{
va_list args;
va_start(args, fn_action); //Init the argument list
DEBUG_PRINT(szActionName); // This line changes
uint8_t attempts = 0;
uint8_t max_attempts = trials; // max_attempts changes
//Here we call our function through the pointer passed as argument
while (!fn_action(args) && attempts < max_attempts)
{ // This line changes
attempts++;
DEBUG_PRINT(".");
if (attempts == max_attempts)
{
DEBUG_PRINTLN(" - Failed.");
soft_reset(); // Start all over again
}
delay(100);
}
DEBUG_PRINTLN(" - Success");
wdt_reset(); // Reset watchdog timer, ready for next action
va_end(args);
}
Each function must be coded to use an argument list:
int power(va_list args)
{
//First recover all our arguments using the va_arg macro
bool cond = va_arg(args, bool);
if (cond == true)
{
... //do something
return true;
}
return false;
}
The usage will be:
try_this_action("Powering ON", 3, module.power, true);
try_this_action("Waiting for signal", 10, module.signal);
try_this_action("Sending SMS", 3, module.sendSMS, "test");
try_this_action("Powering OFF", 1, module.power, false);
If you need more info on variadic functions and usage of stdarg.h macros google the net. Start from here https://en.cppreference.com/w/c/variadic.
It could be coded also as a macro implementation, as the excellent proposal in the John Bollinger answer, but in that case you must consider that each macro usage will instantiate the whole code, that could be eventually even better for speed (avoiding a function call), but could be not suitable on systems with limited memory (embedded), or where you need reference to the function try_this_action (inexistent).
I'm coding a plugin for XPLANE10 which gets a MSG from ROS.
My IDE is QTcreator 4.1.0 based QT 5.7.0 for Ubuntu 64 Bit. I would like to use C++11 Standards
My code explained
The main initializes ROS and creates a map -> container.
ROS spins in a loop till my GUI sends a MSG where my AirPlane should fly.
The MSG contains 3 floats(phi, theta, psi) where "phi" is the AirPlane ID, theta contains the ID for my ETA(Estimated Time of Arrival)
and psi contains the ID for my pose All of the IDs are saved in the ParameterServer(lookuptable).
So at the beginning i look up the activeAirplanes which returns a vector . I would like to store them in a map where the key is the AirCraft ID and the second param is an instance of the Object.
So i have initialized the for example(looked in container while debugging):
[0] first = 1 // Airplane ID1
[0] second = new CObject(freq)
[1] first = 2 // Airplane ID2
[1] second = new CObject(freq)
If i get a MSG from GUI
phi = 1
theta=2
psi=3
,
ROS will callback
MSG(....std::map<i32, CObject> &container)
// if phi is 1 so use the mapkey 1 and trigger the method do_stuff from CObject
do_stuff(phi, theta, psi,freq)
I would like to call the in a function from main
int getPlanes(std::map<i32,CObject>& container)
{
...
getActiveAirplanesFromServer(activePlanes);
}
First Question:
How do i pass the container to my callback?
Second Question:
How do i parallelize do_stuff() so my callback will return to main and i'm able to command more aircrafts while the others are calculated?
Third Question:
How would be the correct syntax for getPlanes to pass the container by reference so getPlanes() can edit it?
Fourth Question:
Is there a difference between
std::map<i32,CObject*> map
std::map<i32,CObject>* map
and
std::map<i32,CObject*>::iterator it=container->begin();
std::map<i32,CObject*>::iterator* it=container->begin();
If yes, what do i want ? #4Solved
// I have to edit stuff 'cause of some restrictions in my company.
#include "Header.h"
int main()
{
f64 freq = 10;
std::map<i32, CObject>* container;
std::map<i32,CObject>::iterator* it=container->begin();
// ROS
if(!ros::isInitialized())
{
int rosargc = 0;
char** rosargv = NULL;
ros::init(rosargc, rosargv, "MainNode");//), ros::init_options::AnonymousName);
}
else
{
printf("Ros has already been initialized.....\n");
}
ros::NodeHandle* mainNodeHandle=new ros::NodeHandle;
ros::AsyncSpinner spinner(2);
ParameterServer * ptrParam= new ParameterServer(mainNodeHandle);
ros::Subscriber airSub=mainNodeHandle->subscribe<own_msgs::ownStruct>("/MSG",
1000,
boost::bind(MSG,
_1,
freq,
container));
std::vector<i32> activePlanes;
i32 retVal=0;
retVal += ptrParam-> ParameterServer::getActiveAirplanesFromServer(activePlanes);
if (retVal == 0 && activePlanes.size()>0)
{
for (u32 j =0; j <activePlanes.size(); j++)
{
container->insert (std::pair<i32,CObject> (activePlanes[j] , new CObject(freq)));
}
}
while (ros::ok())
{
spinner.start(); //spinnt sehr viel :-)
ros::waitForShutdown ();
}
std::cout<<"ENDE"<<std::endl;
int retval = 1;
return retval;
}
void MSG(const own_msgs::ownStruct<std::allocator<void> >::ConstPtr &guiMSG,
f64 freq,
std::map<i32, CObject> &container)
{
if ((guiMSG->phi != 0) && (guiMSG->theta != 0) && (guiMSG->psi != 0))
{
std::string alpha = std::to_string(guiMSG->phi)+std::to_string(guiMSG->theta)+to_string(guiMSG->psi);
container.at(guiMSG->phi) -> do_stuff(guiMSG->phi,guiMSG->theta,guiMSG->psi, freq);
}
else
{
std::cout<<" Did not receive anything\n"<<endl;
}
}
void do_stuff(...)
{
//copy the IDs to private Member of this single Object
//setROS() for this single Object
//callback the current AC pose via ID from XPLANE
//callback the wished AC pose via ID from ParamServer
// do some calculations for optimum flight path
// publish the Route to XPlane
}
EDIT::
Problem is i get it to compile now and if debug it and set a breakpoint at :
void MSG(const own_msgs::ownStruct<std::allocator<void> >::ConstPtr &guiMSG,f64 freq,std::map<i32, CObject*> &container)
{
..
/*->*/ container.at(guiMSG->)...
}
The Container remains empty.
So i read some stuff about pointers and i saw my errors..
I confused * and &
if i want to pass the adress of a variable i have to write like
int main()
{
int a = 0;
AddTwo(&a)
cout<<a<<endl; // Output: 2
}
void AddTwo(int* a)
{
a+=2;
}
I'm creating this library for the ESP8266-Arduino that makes use of the TimeLib.h library.
In my header I have:
WiFiUDP *_UdpNTP = NULL;
void setupTime();
time_t getNtpTime();
void sendNTPpacket(WiFiUDP *u);
And these are my functions:
void Konnec::setupTime() {
setSyncProvider(getNtpTime);
setSyncInterval(NTP_POL_TIME);
}
time_t Konnec::getNtpTime() {
//WiFiUDP udp;
//udp.begin(localPort);
_UdpNTP = new WiFiUDP();
_UdpNTP->begin(localPort);
while (_UdpNTP->parsePacket() > 0); // discard any previously received packets
for (int i = 0; i < 5; i++) { // 5 retries.
sendNTPpacket(_UdpNTP);
uint32_t beginWait = millis();
while (millis() - beginWait < 1000) {
if (_UdpNTP->parsePacket()) {
Serial.println("");
Serial.println("Receive NTP Response");
_UdpNTP->read(packetBuffer, NTP_PACKET_SIZE);
// Extract seconds portion.
unsigned long highWord = word(packetBuffer[40], packetBuffer[41]);
unsigned long lowWord = word(packetBuffer[42], packetBuffer[43]);
unsigned long secSince1900 = highWord << 16 | lowWord;
_UdpNTP->flush();
return secSince1900 - 2208988800UL + TIMEZONE * SECS_PER_HOUR;
}
delay(10);
}
}
Serial.println("");
Serial.println("No NTP Response :-(");
return 0; // return 0 if unable to get the time
}
void Konnec::sendNTPpacket(WiFiUDP *u) {
// Zeroise the buffer.
memset(packetBuffer, 0, NTP_PACKET_SIZE);
memcpy(packetBuffer, sendBuffer, 16);
if (u->beginPacket(timeServer, 123)) {
u->write(packetBuffer, NTP_PACKET_SIZE);
u->endPacket();
}
}
And this is the error I get:
konnec.cpp: 991:28: error: cannot convert 'Konnec::getNtpTime' from type 'time_t (Konnec::)() {aka long int (Konnec::)()}' to type 'getExternalTime {aka long int (*)()}
setSyncProvider(getNtpTime)
Error compiling libraries
Any knows what would be the solution?
The problem seems to be that Konnec::getNtpTime is a class method, and yet setSyncProvider expects a function. A function and a method are different things remember, as a method also needs to know the specific class instance it is operating on.
Looking through your code though, it looks like getNtpTime doesn't rely on anything specific to your class, so you could declare it as:
static time_t Konnec::getNtpTime();
which will let it be used as a function, as it effectively is at that point.