[cob_light] added new modes

cob_light/common/include/distApproxMode.h

@@ -67,11 +67,11 @@ class DistApproxMode : public Mode
             sectors.assign(_num_leds, 0.0);
 
             //calculate sector values
-            for(int i = 0; i < _num_leds; i++)
+            for(unsigned int i = 0; i < _num_leds; i++)
             {
                 float sum = std::numeric_limits<float>::max();
                 //float sum = 0;
-                for(int j = i*(int)sector_size; j < (i+1)*(int)sector_size; j++)
+                for(unsigned int j = i*(int)sector_size; j < (i+1)*(int)sector_size; j++)
                 {
                     if(ranges.at(j) != 0){
                         sum = std::min(ranges.at(j), sum);
@@ -80,7 +80,7 @@ class DistApproxMode : public Mode
                 sectors.at(i) = sum;
             }
 
-            for(int i = 0; i < _num_leds; i++)
+            for(unsigned int i = 0; i < _num_leds; i++)
             {
                 color::rgba col;
 

cob_light/common/include/sequenceMode.h

@@ -100,7 +100,7 @@ class SequenceMode : public Mode
 
 private:
   std::vector<seq_t> _seqences;
-  int _seqidx;
+  unsigned int _seqidx;
   bool _init;
   float _int_inc;
   float _int_count;

cob_light/common/include/serialIO.h

@@ -71,6 +71,8 @@ class SerialIO
 	void start();
 	void stop();
 
+	const std::string& getDeviceString() const;
+
 private:
 	//ioQueue
 	ConcurrentQueue<std::vector<struct ioData> > _oQueue;

cob_light/common/include/signalLeftMode.h

@@ -0,0 +1,70 @@
+#ifndef SIGNAL_LEFT_H
+#define SIGNAL_LEFT_H
+
+#include <vector>
+
+#include "mode.h"
+
+class SignalLeft : public Mode
+{
+public:
+  SignalLeft(color::rgba color, uint16_t nLeds, uint8_t priority = 0, double freq = 0.25, uint8_t pulses = 0,
+             double timeout = 0)
+    : Mode(priority, freq, pulses, timeout), _num_leds(nLeds), _toggle(false), _timer_inc(0), leds_margin(5), leds_margin_left(7)
+  {
+    _color = color;
+    if (_pulses != 0)
+    {
+      _pulses *= 2;
+      _pulses += 1;
+    }
+    _inc = (1. / UPDATE_RATE_HZ) * _freq;
+  }
+
+  virtual void execute()
+  {
+    std::vector<color::rgba> cols;
+    color::rgba turnedOff;
+    turnedOff.a = 0;
+
+    for (uint16_t i = 0; i < (_num_leds / 2) + leds_margin; ++i)
+    {
+      cols.push_back(turnedOff);
+    }
+    for (uint16_t i = (_num_leds / 2) + leds_margin; i < _num_leds - leds_margin_left; ++i)
+    {
+      cols.push_back(_color);
+    }
+
+    if (_timer_inc >= 1.0)
+    {
+      for(color::rgba& color : cols)
+      {
+        color.a = color.a * (int)_toggle;
+      }
+      _pulsed++;
+      _toggle = !_toggle;
+      m_sigColorsReady(cols);
+      _timer_inc = 0.0;
+    }
+    else
+    {
+      _timer_inc += _inc;
+    }
+  }
+
+  std::string getName()
+  {
+    return std::string("SignalLeft");
+  }
+
+private:
+  uint16_t _num_leds;
+  bool _toggle;
+  double _timer_inc;
+  double _inc;
+  uint8_t leds_margin;
+  uint8_t leds_margin_left;
+};
+
+#endif  // !SIGNAL_LEFT_H

cob_light/common/include/signalRightMode.h

@@ -0,0 +1,75 @@
+#ifndef SIGNAL_RIGHT_H
+#define SIGNAL_RIGHT_H
+
+#include <vector>
+
+#include "mode.h"
+
+class SignalRight : public Mode
+{
+public:
+  SignalRight(color::rgba color, uint16_t nLeds, uint8_t priority = 0, double freq = 0.25, uint8_t pulses = 0,
+              double timeout = 0)
+    : Mode(priority, freq, pulses, timeout), _num_leds(nLeds), _toggle(false), _timer_inc(0), leds_margin(5)
+  {
+    _color = color;
+    if (_pulses != 0)
+    {
+      _pulses *= 2;
+      _pulses += 1;
+    }
+    _inc = (1. / UPDATE_RATE_HZ) * _freq;
+  }
+
+  virtual void execute()
+  {
+    std::vector<color::rgba> cols;
+    color::rgba turnedOff;
+    turnedOff.a = 0;
+
+    cols.push_back(turnedOff);
+    cols.push_back(turnedOff);
+    cols.push_back(turnedOff);
+    cols.push_back(turnedOff);
+    cols.push_back(turnedOff);
+
+    for (uint16_t i = leds_margin; i < (_num_leds / 2) - leds_margin; ++i)
+    {
+      cols.push_back(_color);
+    }
+    for (uint16_t i = (_num_leds / 2) - leds_margin; i < _num_leds; ++i)
+    {
+      cols.push_back(turnedOff);
+    }
+
+    if (_timer_inc >= 1.0)
+    {
+      for (color::rgba& color : cols)
+      {
+        color.a = color.a * (int)_toggle;
+      }
+      _pulsed++;
+      _toggle = !_toggle;
+      m_sigColorsReady(cols);
+      _timer_inc = 0.0;
+    }
+    else
+    {
+      _timer_inc += _inc;
+    }
+  }
+
+  std::string getName()
+  {
+    return std::string("SignalRIght");
+  }
+
+private:
+  uint16_t _num_leds;
+  bool _toggle;
+  double _timer_inc;
+  double _inc;
+  uint8_t leds_margin;
+};
+
+#endif  // !SIGNAL_RIGHT_H

cob_light/common/include/sweepColorMode.h

@@ -52,7 +52,7 @@ class SweepColorMode : public Mode
   {
     if(_timer_inc >= 1.0)
     {
-      for(int i = _num_leds/2; i < _num_leds; i++)
+      for(unsigned int i = _num_leds/2; i < _num_leds; i++)
       {
         _colors[i].a *= 0.7;
       }
@@ -82,7 +82,7 @@ class SweepColorMode : public Mode
   double _timer_inc;
   double _inc;
   size_t _num_leds;
-  int _pos;
+  unsigned int _pos;
   color::rgba _startcolor;
 };
 

cob_light/common/include/xmasMode.h

@@ -31,10 +31,10 @@ class XMasMode : public Mode
     if(_num_leds >= _chucksize*2)
     {
       int n_chunks = _num_leds / _chucksize + (_num_leds%_chucksize ? 1 : 0);
-      int k = 0;
+      unsigned int k = 0;
       for(int i = 0; i < n_chunks; i++)
       {
-        for(int j = 0; j < _chucksize; j++)
+        for(unsigned int j = 0; j < _chucksize; j++)
         {
           if(k >= _num_leds)
             break;
@@ -52,7 +52,7 @@ class XMasMode : public Mode
     }
     else
     {
-      for(int i = 0; i < _num_leds; i++)
+      for(unsigned int i = 0; i < _num_leds; i++)
       {
         if(i%2==0)
         {