67 lines
1.7 KiB
C++
67 lines
1.7 KiB
C++
#ifndef ANIMATION_FILE_H
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#define ANIMATION_FILE_H
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#include <Arduino.h>
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#include "FS.h"
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#include "FFat.h"
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#include <vector>
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#define NUM_CHANNELS 5
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#define FRAMES_PER_SECOND 50
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#define MAX_DURATION_SECONDS 10
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#define MAX_FRAMES (FRAMES_PER_SECOND * MAX_DURATION_SECONDS)
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struct AnimationHeader {
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char magic[4]; // 0–3 ANIM tag
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uint16_t frameCount; // 4–5 Number of total frames
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uint8_t version; // 6
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uint8_t frameRate; // 7 Frames per second
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uint8_t reserved[8]; // 8–15
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};
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struct __attribute__((packed)) CurveSegment {
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uint8_t motorID;
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uint16_t startTime; // centiseconds (0.01s) MAX 655.35 seconds
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uint16_t endTime;
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// remapped from -1 to 1 → 0–65535
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uint16_t startPoint; // start value
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uint16_t startHandle; // start handle
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uint16_t endPoint; // end value
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uint16_t endHandle; // end handle
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};
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class Animation {
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public:
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Animation();
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void setFrame(uint16_t frameIndex, uint16_t channel, uint16_t value);
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uint16_t getFrame(uint16_t frameIndex, uint16_t channel) const;
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bool getFramePositions(uint16_t frameIndex, uint16_t* outPositions);
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void addCurveSegment(const CurveSegment& segment);
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void clearCurves(uint8_t motorID);
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void clearAllCurves();
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uint16_t getMotorPosition(uint8_t motorID, uint16_t timeCS);
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void clear();
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uint16_t* getRawData(); // Optional: for bulk access
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size_t getSize() const;
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bool saveToFile(const char* filename);
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bool loadFromFile(const char* filename);
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uint16_t getFrameCount() const;
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void createSampleSweep(uint8_t seconds);
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void createStaggeredSweep(uint8_t seconds);
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AnimationHeader header;
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private:
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uint16_t data[MAX_FRAMES][NUM_CHANNELS];
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std::vector<CurveSegment> curves[NUM_CHANNELS]; // One list per motor channel
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};
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#endif
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