main.cpp

//
//  
//  Interface
//   
//  Show a field of objects rendered in 3D, with yaw and pitch of scene driven 
//  by accelerometer data
//  serial port connected to Maple board/arduino. 
//
//  Keyboard Commands: 
//
//  / = toggle stats display
//  n = toggle noise in firing on/off
//  c = clear all cells and synapses to zero
//  s = clear cells to zero but preserve synapse weights
//

#ifdef __APPLE__
#include <GLUT/glut.h>
#include <OpenGL/gl.h>
#include <OpenGL/glext.h>
#else
#include <GL/glut.h>
#endif
#include <iostream>
#include <fstream>
#include <math.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/time.h>
#include <pthread.h>

//  These includes are for the serial port reading/writing
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include "glm/glm.hpp"
#include <portaudio.h>

// Bring in OpenCV
#include <opencv2/opencv.hpp>

#include "SerialInterface.h"
#include "field.h"
#include "world.h"
#include "util.h"
#include "network.h"
#include "audio.h"
#include "head.h"
#include "hand.h"
#include "particle.h"
#include "texture.h"
#include "cloud.h"
#include "agent.h"
#include "menu.h"


menu menu_items;
#include "markers.h"
#include "marker_acquisition_view.h"

using namespace std;

int audio_on = 0;                   //  Whether to turn on the audio support 
int simulate_on = 1; 

//  Network Socket Stuff
//  For testing, add milliseconds of delay for received UDP packets
int UDP_socket;
int delay = 0;         
char* incoming_packet;
timeval ping_start;
int ping_count = 0;
float ping_msecs = 0.0;  
int packetcount = 0;
int packets_per_second = 0; 
int bytes_per_second = 0;
int bytescount = 0;

//  Getting a target location from other machine (or loopback) to display
int target_x, target_y; 
int target_display = 0;

int head_mirror = 1;                     //  Whether to mirror the head when viewing it

int WIDTH = 1200; 
int HEIGHT = 800; 

#define HAND_RADIUS 0.25             //  Radius of in-world 'hand' of you
Head myHead;                        //  The rendered head of oneself or others 
Hand myHand(HAND_RADIUS, 
            glm::vec3(0,1,1));      //  My hand (used to manipulate things in world)

glm::vec3 box(WORLD_SIZE,WORLD_SIZE,WORLD_SIZE);
ParticleSystem balls(0, 
                     box, 
                     false,                     //  Wrap?
                     0.02,                      //  Noise
                     0.3,                       //  Size scale 
                     0.0                        //  Gravity 
                     );


Cloud cloud(100000,                             //  Particles
            box,                                //  Bounding Box
            false                              //  Wrap
            );

float cubes_position[MAX_CUBES*3];
float cubes_scale[MAX_CUBES];
float cubes_color[MAX_CUBES*3];
int cube_count = 0;

#define RENDER_FRAME_MSECS 5
#define SLEEP 0

float yaw =0.f;                         //  The yaw, pitch for the avatar head
float pitch = 0.f;                      //      
float start_yaw = 90.0;
float render_yaw = start_yaw;
float render_pitch = 0.f;
float render_yaw_rate = 0.f;
float render_pitch_rate = 0.f; 
float lateral_vel = 0.f;

// Manage speed and direction of motion
GLfloat fwd_vec[] = { 0.0, 0.0, 1.0};
GLfloat start_location[] = { WORLD_SIZE*1.5, -WORLD_SIZE/2.0, -WORLD_SIZE/3.0};
GLfloat location[] = {start_location[0], start_location[1], start_location[2]};
float fwd_vel = 0.0f;


#define MAX_FILE_CHARS 100000		//  Biggest file size that can be read to the system

int stats_on = 1;					//  Whether to show onscreen text overlay with stats

int noise_on = 0;					//  Whether to add random noise 
float noise = 1.0;                  //  Overall magnitude scaling for random noise levels 

int step_on = 0;                    
int display_levels = 0;
int display_head = 0;
int display_hand = 0;
int display_field = 0;

int display_head_mouse = 1;         //  Display sample mouse pointer controlled by head movement
int head_mouse_x, head_mouse_y; 
int head_lean_x, head_lean_y;

int mouse_x, mouse_y;				//  Where is the mouse 
int mouse_pressed = 0;				//  true if mouse has been pressed (clear when finished)


int speed;

//  
//  Serial USB Variables
// 

int serial_on = 0; 
int latency_display = 1;
int adc_channels[NUM_CHANNELS];                
float avg_adc_channels[NUM_CHANNELS];
int sensor_samples = 0; 
int sensor_LED = 0; 
glm::vec3 gravity;
int first_measurement = 1;
int samplecount = 0;

//  Frame rate Measurement

int framecount = 0;                  
float FPS = 120.f;
timeval timer_start, timer_end;
timeval last_frame;
double elapsedTime;

// Particles

// To add a new texture:
// 1. Add to the XCode project in the Resources/images group
//    (ensure "Copy file" is checked
// 2. Add to the "Copy files" build phase in the project
char texture_filename[] = "./int-texture256-v4.png";
unsigned int texture_width = 256;
unsigned int texture_height = 256;


float particle_attenuation_quadratic[] =  { 0.0f, 0.0f, 2.0f }; // larger Z = smaller particles
float pointer_attenuation_quadratic[] =  { 1.0f, 0.0f, 0.0f }; // for 2D view


/***  Marker Capture ***/
#define MARKER_CAPTURE_INTERVAL 1
MarkerCapture marker_capturer(CV_CAP_ANY); // Create a new marker capturer, attached to any valid camera.
MarkerAcquisitionView marker_acq_view(&marker_capturer);
bool marker_capture_enabled = true;
bool marker_capture_display = false;
IplImage* marker_capture_frame;
IplImage* marker_capture_blob_frame;
pthread_mutex_t frame_lock;


//  Every second, check the frame rates and other stuff
void Timer(int extra)
{
    gettimeofday(&timer_end, NULL);
    FPS = (float)framecount / ((float)diffclock(timer_start,timer_end) / 1000.f);
    packets_per_second = (float)packetcount / ((float)diffclock(timer_start,timer_end) / 1000.f);
    bytes_per_second = (float)bytescount / ((float)diffclock(timer_start,timer_end) / 1000.f);
   	framecount = 0;
    samplecount = 0; 
    packetcount = 0;
    bytescount = 0;
    
	glutTimerFunc(1000,Timer,0);
    gettimeofday(&timer_start, NULL);
    
    //  Send a message to the spaceserver telling it we are ALIVE 
    notify_spaceserver(UDP_socket, location[0], location[1], location[2]);

}

void display_stats(void)
{
	//  bitmap chars are about 10 pels high 
    char legend[] = "/ - toggle this display, Q - exit, H - show head, M - show hand, T - test audio";
    drawtext(10, 15, 0.10, 0, 1.0, 0, legend);
    
    char stats[200];
    sprintf(stats, "FPS = %3.0f, Ping = %4.1f Pkts/s = %d, Bytes/s = %d", 
            FPS, ping_msecs, packets_per_second,  bytes_per_second);
    drawtext(10, 30, 0.10, 0, 1.0, 0, stats); 
    if (serial_on) {
        sprintf(stats, "ADC samples = %d, LED = %d", 
                sensor_samples, sensor_LED);
        drawtext(500, 30, 0.10, 0, 1.0, 0, stats); 
    }
    if(marker_capture_enabled){
        char marker_stats[200];
        sprintf(marker_stats, "> Marker capture: FPS = %3.0f", marker_capturer.fps);
        drawtext(10, 45, 0.10, 0, 1.0, 0, marker_stats);
    }
    
    /*
    char adc[200];
	sprintf(adc, "pitch_rate = %i, yaw_rate = %i, accel_lat = %i, accel_fwd = %i, loc[0] = %3.1f loc[1] = %3.1f, loc[2] = %3.1f", 
            (int)(adc_channels[0] - avg_adc_channels[0]),
            (int)(adc_channels[1] - avg_adc_channels[1]),
            (int)(adc_channels[2] - avg_adc_channels[2]),
            (int)(adc_channels[3] - avg_adc_channels[3]),
            location[0], location[1], location[2] 
            );
    drawtext(10, 50, 0.10, 0, 1.0, 0, adc);
     */
	
}

void position_updated(MarkerCapture* inst, MarkerPositionEstimate position){
    printf("<Marker(%dx%d, %dx%d) distance:%f angle:%f>\n",
           position.blob0_center.x, position.blob0_center.y,
           position.blob1_center.x, position.blob0_center.y,
           position.distance,
           position.angle);
    myHead.setRoll(position.angle);
}

void marker_frame_available(MarkerCapture* inst, IplImage* image, IplImage* thresh_image){
    if(marker_capture_display){
        pthread_mutex_lock(&frame_lock);
        if(marker_capture_frame){
            cvReleaseImage(&marker_capture_frame);
        }
        if(marker_capture_blob_frame){
            cvReleaseImage(&marker_capture_blob_frame);
        }
        marker_capture_frame = cvCloneImage(image);
        marker_capture_blob_frame = cvCloneImage(thresh_image);
        pthread_mutex_unlock(&frame_lock);
    }
}

void initDisplay(void)
{
    //  Set up blending function so that we can NOT clear the display
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
    glEnable(GL_BLEND);
    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
    glShadeModel (GL_SMOOTH);
    glEnable(GL_LIGHTING);
    glEnable(GL_LIGHT0);
    glEnable(GL_DEPTH_TEST);
    
    load_png_as_texture(texture_filename);
    //glutFullScreen();
    
}

void init(void)
{
    int i;

    if (audio_on) {
        Audio::init();
        printf( "Audio started.\n" );
    }

    //  Clear serial channels 
    for (i = i; i < NUM_CHANNELS; i++)
    {
        adc_channels[i] = 0;
        avg_adc_channels[i] = 0.0;
    }

    head_mouse_x = WIDTH/2;
    head_mouse_y = HEIGHT/2; 
    head_lean_x = WIDTH/2;
    head_lean_y = HEIGHT/2;
    
    //  Initialize Field values 
    field_init();
    printf( "Field Initialized.\n" );

    if (noise_on) 
    {   
        myHand.setNoise(noise);
        myHead.setNoise(noise);
    }
    
    // turning cubes off for the moment -
    // uncomment to re-enable
    /*

    int index = 0;
    while (index < MAX_CUBES) {
        cubes_position[index*3] = randFloat()*WORLD_SIZE;
        cubes_position[index*3+1] = randFloat()*WORLD_SIZE;
        cubes_position[index*3+2] = randFloat()*WORLD_SIZE;
        cubes_scale[index] = WORLD_SIZE/powf(2,2+rand()%8);
        float color = randFloat(); 
        cubes_color[index*3] = color;
        cubes_color[index*3 + 1] = color;
        cubes_color[index*3 + 2] = color;
        index++;
    }
    cube_count = index; 
    
    //  Recursive build
    
    float location[] = {0,0,0};
    float scale = 10.0;
    int j = 0;

    while (index < (MAX_CUBES/2)) {
    
        index = 0;
        j++;
        makeCubes(location, scale, &index, cubes_position, cubes_scale, cubes_color);
        std::cout << "Run " << j << " Made " << index << " cubes\n";
        cube_count = index;
    }
    */
    
    if (serial_on)
    {
        //  Call readsensors for a while to get stable initial values on sensors    
        printf( "Stabilizing sensors... " );
        gettimeofday(&timer_start, NULL);
        read_sensors(1, &avg_adc_channels[0], &adc_channels[0], &sensor_samples, &sensor_LED);
        int done = 0;
        while (!done)
        {
            read_sensors(0, &avg_adc_channels[0], &adc_channels[0], &sensor_samples, &sensor_LED);
            gettimeofday(&timer_end, NULL);
            if (diffclock(timer_start,timer_end) > 1000) done = 1;
        }
        gravity.x = avg_adc_channels[ACCEL_X];
        gravity.y = avg_adc_channels[ACCEL_Y];
        gravity.z = avg_adc_channels[ACCEL_Z];
        
        std::cout << "Gravity:  " << gravity.x << "," << gravity.y << "," << gravity.z << "\n";
        printf( "Done.\n" );

    }
    
    if(marker_capture_enabled){
        marker_capturer.position_updated(&position_updated);
        marker_capturer.frame_updated(&marker_frame_available);
        if(!marker_capturer.init_capture()){
            printf("Camera-based marker capture initialized.\n");
        }else{
            printf("Error initializing camera-based marker capture.\n");
        }
    }
    
    gettimeofday(&timer_start, NULL);
    gettimeofday(&last_frame, NULL);
}

void terminate () {
    // Close serial port
    //close(serial_fd);

    if (audio_on) { 
        Audio::terminate();
    }
    exit(EXIT_SUCCESS);
}

void reset_sensors()
{
    //  
    //   Reset serial I/O sensors 
    // 
    render_yaw = start_yaw;
    yaw = render_yaw_rate = 0; 
    pitch = render_pitch = render_pitch_rate = 0;
    lateral_vel = 0;
    location[0] = start_location[0];
    location[1] = start_location[1];
    location[2] = start_location[2];
    fwd_vel = 0.0;
    head_mouse_x = WIDTH/2;
    head_mouse_y = HEIGHT/2; 
    head_lean_x = WIDTH/2;
    head_lean_y = HEIGHT/2; 
    
    myHead.reset();
    myHand.reset();
    if (serial_on) read_sensors(1, &avg_adc_channels[0], &adc_channels[0], &sensor_samples, &sensor_LED);
}

void update_pos(float frametime)
//  Using serial data, update avatar/render position and angles
{
    float measured_pitch_rate = adc_channels[PITCH_RATE] - avg_adc_channels[PITCH_RATE];
    float measured_yaw_rate = adc_channels[YAW_RATE] - avg_adc_channels[YAW_RATE];
    float measured_lateral_accel = adc_channels[ACCEL_X] - avg_adc_channels[ACCEL_X];
    float measured_fwd_accel = avg_adc_channels[ACCEL_Z] - adc_channels[ACCEL_Z];
    
    myHead.UpdatePos(frametime, &adc_channels[0], &avg_adc_channels[0], head_mirror, &gravity);
    
    //  Update head_mouse model 
    const float MIN_MOUSE_RATE = 30.0;
    const float MOUSE_SENSITIVITY = 0.1;
    if (powf(measured_yaw_rate*measured_yaw_rate + 
             measured_pitch_rate*measured_pitch_rate, 0.5) > MIN_MOUSE_RATE)
    {
        head_mouse_x -= measured_yaw_rate*MOUSE_SENSITIVITY;
        head_mouse_y += measured_pitch_rate*MOUSE_SENSITIVITY*(float)HEIGHT/(float)WIDTH; 
    }
    head_mouse_x = max(head_mouse_x, 0);
    head_mouse_x = min(head_mouse_x, WIDTH);
    head_mouse_y = max(head_mouse_y, 0);
    head_mouse_y = min(head_mouse_y, HEIGHT);
    
    //  Update hand/manipulator location for measured forces from serial channel
    /*
    const float MIN_HAND_ACCEL = 30.0;
    const float HAND_FORCE_SCALE = 0.5;
    glm::vec3 hand_accel(-(avg_adc_channels[6] - adc_channels[6]),
                         -(avg_adc_channels[7] - adc_channels[7]),
                         -(avg_adc_channels[5] - adc_channels[5]));
    
    if (glm::length(hand_accel) > MIN_HAND_ACCEL)
    {
        myHand.addVel(frametime*hand_accel*HAND_FORCE_SCALE);
    }
    */
                       
    //  Update render direction (pitch/yaw) based on measured gyro rates
    const int MIN_YAW_RATE = 300;
    const float YAW_SENSITIVITY = 0.03;
    const int MIN_PITCH_RATE = 300;
    const float PITCH_SENSITIVITY = 0.04;
    
    if (fabs(measured_yaw_rate) > MIN_YAW_RATE) 
    {   
        if (measured_yaw_rate > 0)
            render_yaw_rate -= (measured_yaw_rate - MIN_YAW_RATE) * YAW_SENSITIVITY * frametime;
        else 
            render_yaw_rate -= (measured_yaw_rate + MIN_YAW_RATE) * YAW_SENSITIVITY * frametime;
    }
    if (fabs(measured_pitch_rate) > MIN_PITCH_RATE) 
    {
        if (measured_pitch_rate > 0)
            render_pitch_rate += (measured_pitch_rate - MIN_PITCH_RATE) * PITCH_SENSITIVITY * frametime;
        else 
            render_pitch_rate += (measured_pitch_rate + MIN_PITCH_RATE) * PITCH_SENSITIVITY * frametime;
    }
    render_yaw += render_yaw_rate;
    render_pitch += render_pitch_rate;
    
    // Decay render_pitch toward zero because we never look constantly up/down 
    render_pitch *= (1.f - 2.0*frametime);

    //  Decay angular rates toward zero 
    render_pitch_rate *= (1.f - 5.0*frametime);
    render_yaw_rate *= (1.f - 7.0*frametime);
    
    //  Update slide left/right based on accelerometer reading
    const int MIN_LATERAL_ACCEL = 20;
    const float LATERAL_SENSITIVITY = 0.001;
    if (fabs(measured_lateral_accel) > MIN_LATERAL_ACCEL) 
    {
        if (measured_lateral_accel > 0)
            lateral_vel += (measured_lateral_accel - MIN_LATERAL_ACCEL) * LATERAL_SENSITIVITY * frametime;
        else 
            lateral_vel += (measured_lateral_accel + MIN_LATERAL_ACCEL) * LATERAL_SENSITIVITY * frametime;
    }
 
    //slide += lateral_vel;
    lateral_vel *= (1.f - 4.0*frametime);
    
    //  Update fwd/back based on accelerometer reading
    const int MIN_FWD_ACCEL = 20;
    const float FWD_SENSITIVITY = 0.001;
    
    if (fabs(measured_fwd_accel) > MIN_FWD_ACCEL) 
    {
        if (measured_fwd_accel > 0)
            fwd_vel += (measured_fwd_accel - MIN_FWD_ACCEL) * FWD_SENSITIVITY * frametime;
        else 
            fwd_vel += (measured_fwd_accel + MIN_FWD_ACCEL) * FWD_SENSITIVITY * frametime;

    }
    //  Decrease forward velocity
    fwd_vel *= (1.f - 4.0*frametime);
    

    //  Update forward vector based on pitch and yaw 
    fwd_vec[0] = -sinf(render_yaw*PI/180);
    fwd_vec[1] = sinf(render_pitch*PI/180);
    fwd_vec[2] = cosf(render_yaw*PI/180);
    
    //  Advance location forward
    location[0] += fwd_vec[0]*fwd_vel;
    location[1] += fwd_vec[1]*fwd_vel;
    location[2] += fwd_vec[2]*fwd_vel;
    
    //  Slide location sideways
    location[0] += fwd_vec[2]*-lateral_vel;
    location[2] += fwd_vec[0]*lateral_vel;
    
    //  Update head and manipulator objects with object with current location
    myHead.setPos(glm::vec3(location[0], location[1], location[2]));
    balls.updateHand(myHead.getPos() + myHand.getPos(), glm::vec3(0,0,0), myHand.getRadius());
    
    //  Update all this stuff to any agents that are nearby and need to see it!
    const int MAX_BROADCAST_STRING = 200;
    char broadcast_string[MAX_BROADCAST_STRING];
    int broadcast_bytes = myHead.getBroadcastData(broadcast_string);
    broadcast_to_agents(UDP_socket, broadcast_string, broadcast_bytes);
}

void display(void)
{
    glEnable (GL_DEPTH_TEST);
    glEnable(GL_LIGHTING);
    glEnable(GL_LINE_SMOOTH);
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
    glMatrixMode(GL_MODELVIEW);
    glPushMatrix();
        glLoadIdentity();
        glEnable(GL_COLOR_MATERIAL);
        glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
        
        GLfloat light_position0[] = { 1.0, 1.0, 0.0, 0.0 };
        glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
        GLfloat ambient_color[] = { 0.125, 0.305, 0.5 };  
        glLightfv(GL_LIGHT0, GL_AMBIENT, ambient_color);
        GLfloat diffuse_color[] = { 0.5, 0.42, 0.33 };
        glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuse_color);
        GLfloat specular_color[] = { 1.0, 1.0, 1.0, 1.0};
        glLightfv(GL_LIGHT0, GL_SPECULAR, specular_color);
        
        glMaterialfv(GL_FRONT, GL_SPECULAR, specular_color);
        glMateriali(GL_FRONT, GL_SHININESS, 96);
           
        //  Rotate, translate to camera location 
        glRotatef(render_pitch, 1, 0, 0);
        glRotatef(render_yaw, 0, 1, 0);
        glTranslatef(location[0], location[1], location[2]);
            
        glPushMatrix();
        //glTranslatef(-WORLD_SIZE/2, -WORLD_SIZE/2, -WORLD_SIZE/2);
        int i = 0;
        while (i < cube_count) {
            glPushMatrix();
            glTranslatef(cubes_position[i*3], cubes_position[i*3+1], cubes_position[i*3+2]);
            glColor3fv(&cubes_color[i*3]);
            glutSolidCube(cubes_scale[i]);
            glPopMatrix();
            i++;
        }
        glPopMatrix();
    
    
        /* Draw Point Sprites */
    
        glDisable( GL_POINT_SPRITE_ARB );
        glDisable( GL_TEXTURE_2D );
        if (!display_head) cloud.render();
        //  Show field vectors
        if (display_field) field_render();
        
        //  Render my own head 
        if (display_head) {
            glPushMatrix();
            glLoadIdentity();
            glTranslatef(0.f, 0.f, -7.f);
            myHead.render();
            glPopMatrix();
        }
    
        //  Render heads of other agents 
        if (!display_head) render_agents(); 
        
        if (display_hand) myHand.render();   
     
    
        if (!display_head) balls.render();
            
        //  Render the world box 
        if (!display_head && stats_on) render_world_box();
    
        //glm::vec3 test(0.5, 0.5, 0.5); 
        //render_vector(&test);

    glPopMatrix();

    
    //  Render 2D overlay:  I/O level bar graphs and text  
    glMatrixMode(GL_PROJECTION);
    glPushMatrix();
        glLoadIdentity(); 
        gluOrtho2D(0, WIDTH, HEIGHT, 0);
        glDisable(GL_DEPTH_TEST);
        glDisable(GL_LIGHTING);

        //drawvec3(100, 100, 0.15, 0, 1.0, 0, myHead.getPos(), 0, 1, 0);
        glPointParameterfvARB( GL_POINT_DISTANCE_ATTENUATION_ARB, pointer_attenuation_quadratic );
    menu_items.draw(mouse_x, mouse_y, mouse_pressed);
        if (mouse_pressed == 1)
        {
          if(mouse_x >200){
            glPointSize( 10.0f );
            glColor3f(1,1,1);
            //glEnable(GL_POINT_SMOOTH);
            glBegin(GL_POINTS);
            glVertex2f(target_x, target_y);
            glEnd();
            char val[20];
            sprintf(val, "%d,%d", target_x, target_y); 
            drawtext(target_x, target_y-20, 0.08, 0, 1.0, 0, val, 0, 1, 0);
          }
        }
        if (display_head_mouse && !display_head && stats_on)
        {
            glPointSize(10.0f);
            glColor4f(1.0, 1.0, 0.0, 0.8);
            glEnable(GL_POINT_SMOOTH);
            glBegin(GL_POINTS);
            glVertex2f(head_mouse_x, head_mouse_y);
            glEnd();
        }
        
        //  Show detected levels from the serial I/O ADC channel sensors
        if (display_levels)
        {
            int i;
            int disp_x = 10;
            const int GAP = 16;
            char val[10];
            for(i = 0; i < NUM_CHANNELS; i++)
            {
                //  Actual value 
                glLineWidth(2.0);
                glColor4f(1, 1, 1, 1);
                glBegin(GL_LINES);
                    glVertex2f(disp_x, HEIGHT*0.95);
                    glVertex2f(disp_x, HEIGHT*(0.25 + 0.75f*adc_channels[i]/4096));
                glEnd();
                //  Trailing Average value 
                glColor4f(1, 1, 0, 1);
                glBegin(GL_LINES);
                    glVertex2f(disp_x + 2, HEIGHT*0.95);
                    glVertex2f(disp_x + 2, HEIGHT*(0.25 + 0.75f*avg_adc_channels[i]/4096));
                glEnd();

                glColor3f(1,0,0);
                glBegin(GL_LINES);
                glLineWidth(2.0);
                glVertex2f(disp_x - 10, HEIGHT*0.5 - (adc_channels[i] - avg_adc_channels[i]));
                glVertex2f(disp_x + 10, HEIGHT*0.5 - (adc_channels[i] - avg_adc_channels[i]));
                glEnd();
                sprintf(val, "%d", adc_channels[i]); 
                drawtext(disp_x-GAP/2, (HEIGHT*0.95)+2, 0.08, 90, 1.0, 0, val, 0, 1, 0);

                disp_x += GAP;
            }
            //  Display Serial latency block 
            if (latency_display && sensor_LED) {
                glColor3f(1,0,0);
                glBegin(GL_QUADS); {
                    glVertex2f(WIDTH - 100, HEIGHT - 100);
                    glVertex2f(WIDTH, HEIGHT - 100);
                    glVertex2f(WIDTH, HEIGHT);
                    glVertex2f(WIDTH - 100, HEIGHT);
                }
                glEnd();
            }
        }

        if (stats_on) display_stats();
    
        /* Render marker acquisition stuff */
        pthread_mutex_lock(&frame_lock);
        if(marker_capture_frame){
            marker_acq_view.render(marker_capture_frame); // render the acquisition view, if it's visible.
        }
        // Draw marker images, if requested.
        if (marker_capture_enabled && marker_capture_display && marker_capture_frame){
            marker_capturer.glDrawIplImage(marker_capture_frame, WIDTH - 140, 10, 0.1, -0.1);
            marker_capturer.glDrawIplImage(marker_capture_blob_frame, WIDTH - 280, 10, 0.1, -0.1);
        }
        pthread_mutex_unlock(&frame_lock);
        /* Done rendering marker acquisition stuff */
    
    glPopMatrix();
    
    glutSwapBuffers();
    framecount++;
}
void specialkey(int k, int x, int y)
{
    if (k == GLUT_KEY_UP) fwd_vel += 0.05;
    if (k == GLUT_KEY_DOWN) fwd_vel -= 0.05;
    if (k == GLUT_KEY_LEFT) {
        if (glutGetModifiers() == GLUT_ACTIVE_SHIFT) lateral_vel -= 0.02;
            else render_yaw_rate -= 0.25;
    }
    if (k == GLUT_KEY_RIGHT) {
        if (glutGetModifiers() == GLUT_ACTIVE_SHIFT) lateral_vel += 0.02;
        else render_yaw_rate += 0.25;        
    }
    
}
void key(unsigned char k, int x, int y)
{
    
	//  Process keypresses 
 	if (k == 'q')  ::terminate();
    
    // marker capture
    if(k == 'x'){
        printf("Toggling marker capture display.\n");
        marker_capture_display = !marker_capture_display;
        marker_capture_display ? marker_acq_view.show() : marker_acq_view.hide();
    }
	
    // delegate keypresses to the marker acquisition view when it's visible;
    // override other key mappings by returning...
    if(marker_acq_view.visible){
        marker_acq_view.handle_key(k);
        return;
    }
    
    if (k == '/')  stats_on = !stats_on;		// toggle stats
	if (k == 'n') 
    {
        noise_on = !noise_on;                   // Toggle noise 
        if (noise_on)
        {
            myHand.setNoise(noise);
            myHead.setNoise(noise);
        }
        else 
        {
            myHand.setNoise(0);
            myHead.setNoise(0);
        }

    }
    if (k == 'h') display_head = !display_head;
    if (k == 'b') display_hand = !display_hand;
    if (k == 'm') head_mirror = !head_mirror;
    
    if (k == 'f') display_field = !display_field;
    if (k == 'l') display_levels = !display_levels;
    
    
    if (k == 'e') location[1] -= WORLD_SIZE/100.0;
    if (k == 'c') location[1] += WORLD_SIZE/100.0;
    if (k == 'w') fwd_vel += 0.05;
    if (k == 's') fwd_vel -= 0.05;
    if (k == ' ') reset_sensors();
    if (k == 'a') render_yaw_rate -= 0.25;
    if (k == 'd') render_yaw_rate += 0.25;
    if (k == 'o') simulate_on = !simulate_on;
    if (k == 'p') 
    {
        // Add to field vector 
        float pos[] = {5,5,5};
        float add[] = {0.001, 0.001, 0.001};
        field_add(add, pos);
    }
    if ((k == 't') && (audio_on)) {
        Audio::writeTone(0, 400, 1.0f, 0.5f);
    }
    if (k == '1')
    {
        myHead.SetNewHeadTarget((randFloat()-0.5)*20.0, (randFloat()-0.5)*20.0);
    }
}

// 
//  Check for and process incoming network packets 
// 
void read_network()
{
    //  Receive packets 
    in_addr from_addr;
    int bytes_recvd = network_receive(UDP_socket, &from_addr, incoming_packet, delay);
    if (bytes_recvd > 0)
    {
        packetcount++;
        bytescount += bytes_recvd;
        //  If packet is a Mouse data packet, copy it over 
        if (incoming_packet[0] == 'M') {
            // 
            //  mouse location packet 
            //
            sscanf(incoming_packet, "M %d %d", &target_x, &target_y);
            target_display = 1;
            printf("X = %d Y = %d\n", target_x, target_y);
        } else if (incoming_packet[0] == 'P') {
            // 
            //  Ping packet - check time and record
            //
            timeval check; 
            gettimeofday(&check, NULL);
            ping_msecs = (float)diffclock(ping_start, check);
        } else if (incoming_packet[0] == 'S') {
            //
            //  Message from Spaceserver 
            //
            update_agents(&incoming_packet[1], bytes_recvd - 1);
        } else if (incoming_packet[0] == 'H') {
            //
            //  Broadcast packet from another agent 
            //
            update_agent(from_addr, &incoming_packet[1], bytes_recvd - 1);            
        }
    }
}

void idle(void)
{
    timeval check;
    gettimeofday(&check, NULL);
    
    //  Check and render display frame 
    if (diffclock(last_frame,check) > RENDER_FRAME_MSECS)
    {
        //  Simulation
        update_pos(1.f/FPS);
        if (simulate_on) {
            field_simulate(1.f/FPS);
            myHead.simulate(1.f/FPS);
            myHand.simulate(1.f/FPS);
            balls.simulate(1.f/FPS);
            cloud.simulate(1.f/FPS);
        }

        if (!step_on) glutPostRedisplay();
        last_frame = check;
        
        //  Every 30 frames or so, check ping time 
        ping_count++;
        if (ping_count >= 30) {
            ping_start = network_send_ping(UDP_socket);
            ping_count = 0;
        }
    }
    
    //  Read network packets
    read_network();
    //  Read serial data 
    if (serial_on) samplecount += read_sensors(0, &avg_adc_channels[0], &adc_channels[0], 
                                               &sensor_samples, &sensor_LED);
    
    if (SLEEP)
    {
        usleep(SLEEP);
    }
}

void reshape(int width, int height)
{
    WIDTH = width;
    HEIGHT = height; 
    
    glViewport(0, 0, width, height);

    glMatrixMode(GL_PROJECTION); //hello
    glLoadIdentity();
    gluPerspective(45, //view angle
                   1.0, //aspect ratio
                   0.1, //near clip
                   50.0);//far clip
    glMatrixMode(GL_MODELVIEW);
    glLoadIdentity();

     
}

void mouseFunc( int button, int state, int x, int y ) 
{
    if( button == GLUT_LEFT_BUTTON && state == GLUT_DOWN )
    {
		mouse_x = x;
		mouse_y = y;
		mouse_pressed = 1;
    }
	if( button == GLUT_LEFT_BUTTON && state == GLUT_UP )
    {
		mouse_x = x;
		mouse_y = y;
		mouse_pressed = 0;
    }
	
}

void motionFunc( int x, int y)
{
	mouse_x = x;
	mouse_y = y;
    if (mouse_pressed == 1)
    {
        //  Send network packet containing mouse location
        char mouse_string[20];
        sprintf(mouse_string, "M %d %d\n", mouse_x, mouse_y);
        network_send(UDP_socket, mouse_string, strlen(mouse_string));
    }
	
}

void *poll_marker_capture(void *threadarg){
    while(1){
        marker_capturer.tick();
    }
}

//these are functions called by the menus
void quit(){
    exit(0);
}
void delay_none(){
    delay=0;
}
void delay_50(){
    delay=50;
}
void delay_100(){
    delay=100;
}
void delay_200(){
    delay=200;
}
int main(int argc, char** argv)
{
    //  Create network socket and buffer
    UDP_socket = network_init(); 
    if (UDP_socket) printf( "Created UDP socket.\n" ); 
    incoming_packet = new char[MAX_PACKET_SIZE];



    //initialize menu items
    menu_items.init(80, 70);
    menu_items.add_top_item((char*)"FILE");
    menu_items.add_top_item((char*)"DELAY");
    menu_items.add_menu_item(0, (char*)"QUIT", quit);
    menu_items.add_menu_item(1, (char*)"None", delay_none);
    menu_items.add_menu_item(1, (char*)"50 msecs", delay_50);
    menu_items.add_menu_item(1, (char*)"50 msecs", delay_50);
    menu_items.add_menu_item(1, (char*)"100msecs", delay_100);
    menu_items.add_menu_item(1, (char*)"200msecs", delay_200);


    // Test network loopback
    in_addr from_addr;
    char test_data[] = "Test!";
    int bytes_sent = network_send(UDP_socket, test_data, 5);
    if (bytes_sent) printf("%d bytes sent.", bytes_sent);
    int test_recv = network_receive(UDP_socket, &from_addr, incoming_packet, delay);
    printf("Received %i bytes\n", test_recv);
    
       //  Load textures 
    //Img.Load("/Users/philip/Downloads/galaxy1.tga");

    //
    //  Try to connect the serial port I/O
    //
    if(init_port(115200) == -1) {				
        perror("Unable to open serial port\n");
        serial_on = 0;
    } 
    else 
    {
        printf("Serial Port Initialized\n");
        serial_on = 1; 
    }


    glutInit(&argc, argv);
    glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH);
    glutInitWindowSize(WIDTH, HEIGHT);
    glutCreateWindow("Interface");
    
    printf( "Created Display Window.\n" );
    
    initDisplay();
    
    glutDisplayFunc(display);
    glutReshapeFunc(reshape);
	glutKeyboardFunc(key);
    glutSpecialFunc(specialkey);
	glutMotionFunc(motionFunc);
	glutMouseFunc(mouseFunc);
    glutIdleFunc(idle);
	
    printf( "Initialized Display.\n" );

    init();
    
    printf( "Init() complete.\n" );
    
    glutTimerFunc(1000, Timer, 0);
    
    // start capture thread
    if (pthread_mutex_init(&frame_lock, NULL) != 0){
        printf("Frame lock mutext init failed. Exiting.\n");
        return 1;
    }
    pthread_t capture_thread;
    pthread_create(&capture_thread, NULL, poll_marker_capture, NULL);
    
    glutMainLoop();
    
    pthread_mutex_destroy(&frame_lock);
    pthread_exit(NULL);
    ::terminate();
    return EXIT_SUCCESS;
}