120 lines
2.3 KiB
C++
120 lines
2.3 KiB
C++
#pragma once
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#include <vector>
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#include <cstdint>
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#include <queue>
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#include <unordered_map>
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#include <Arduino.h>
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class Animation;
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#define TYPE_NODE 0x01
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#define TYPE_SERVONODE 0x02
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#define TYPE_CURVENODE 0x03
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#define TYPE_NOISENODE 0x04
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#define TYPE_VARIABLENODE 0x05
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#define TYPE_MATHNODE 0x06
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#define TYPE_MAPNODE 0x07
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enum VariableSource {
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VAR_FACE_X,
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VAR_FACE_Y,
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VAR_SINE,
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VAR_ANALOG,
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VAR_SERVO_FEEDBACK
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};
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enum MathOperator {
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OP_MULTIPLY,
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OP_DIVIDE,
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OP_ADD,
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OP_SUBTRACT
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};
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// Base Node class
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struct Node {
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uint8_t id;
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uint8_t type;
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uint16_t x;
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uint16_t y;
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virtual void evaluate(uint32_t tick) = 0;
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virtual ~Node() {}
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uint16_t inputValue;
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uint16_t outputValue = 0;
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};
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// CurveNode: evaluates a curve at a given tick
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struct CurveNode : public Node {
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uint8_t curveID;
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Animation* animation = nullptr; // ✅ no need to include animation.h
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void evaluate(uint32_t tick) override;
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};
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//
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struct NoiseNode : public Node {
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float frequency;
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uint16_t seed;
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void evaluate(uint32_t tick) override;
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};
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// ServoNode: sends a value to a motor
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struct ServoNode : public Node {
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uint8_t motorID;
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void evaluate(uint32_t tick) override;
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};
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struct VariableNode : public Node {
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VariableSource source = VAR_SINE; // default
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uint8_t arg0;
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void evaluate(uint32_t tick) override;
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void setSource(VariableSource src) {
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source = src;
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}
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};
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struct MathNode : public Node {
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MathOperator op = OP_MULTIPLY;
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float value = 1.0f;
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void evaluate(uint32_t tick) override;
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};
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struct MapNode : public Node {
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float inMin = 0;
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float inMax = 1023;
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float outMin = 0;
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float outMax = 255;
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void evaluate(uint32_t tick) override;
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};
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// NodeGraph container
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struct NodeConnection {
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uint8_t fromID;
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uint8_t toID;
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};
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class NodeGraph {
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public:
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std::vector<Node*> nodes;
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std::vector<NodeConnection> connections;
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Node* findNodeByID(uint8_t id) const;
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void tick(uint32_t currentTick, const Animation& animation);
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std::vector<std::pair<uint8_t, uint16_t>> getServoOutputs() const;
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std::vector<Node*> getSortedNodes();
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void bindAnimationContext(Animation* animation);
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std::vector<uint8_t> serialize();
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};
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// Loader function
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void loadNodeGraph(const uint8_t* packet, size_t length, NodeGraph& graph);
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String printNodeGraph(const NodeGraph& graph);
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