Completed the board manager rewrite

include/BOARD-DEFINITIONS.h

@@ -4,32 +4,60 @@
 */
 
 #pragma once
+#include <cstdint>
+#include <array>
 
 #include "PINOUT.h"
-#include "CubeStack.h"
+#include "BoardDriverTypes.h"
 
 // define the physical dimensions of the board
-#define BOARD_WIDTH 3
+static constexpr uint32_t BOARD_WIDTH{3};
-#define BOARD_LENGTH 3
+static constexpr uint32_t BOARD_LENGTH{3};
-#define BOARD_HEIGHT 3
+static constexpr uint32_t BOARD_HEIGHT{3};
 
 // define the number of stacks
-#define NUMBER_STACKS BOARD_WIDTH * BOARD_LENGTH
+static constexpr uint32_t NUMBER_STACKS{BOARD_WIDTH * BOARD_LENGTH};
 
 // define the CubeStacks
-CubeStack stack1(STACK1_ADC_PIN, STACK1_LED_PIN, BOARD_HEIGHT);
+static BoardDriverTypes::CubeStack stack1{
-CubeStack stack2(STACK2_ADC_PIN, STACK2_LED_PIN, BOARD_HEIGHT);
+    .adcPin=STACK1_ADC_PIN, 
-CubeStack stack3(STACK3_ADC_PIN, STACK3_LED_PIN, BOARD_HEIGHT);
+    .ledPin=STACK1_LED_PIN
-CubeStack stack4(STACK4_ADC_PIN, STACK4_LED_PIN, BOARD_HEIGHT);
+};
-CubeStack stack5(STACK5_ADC_PIN, STACK5_LED_PIN, BOARD_HEIGHT);
+static BoardDriverTypes::CubeStack stack2{
-CubeStack stack6(STACK6_ADC_PIN, STACK6_LED_PIN, BOARD_HEIGHT);
+    .adcPin=STACK2_ADC_PIN, 
-CubeStack stack7(STACK7_ADC_PIN, STACK7_LED_PIN, BOARD_HEIGHT);
+    .ledPin=STACK2_LED_PIN
-CubeStack stack8(STACK8_ADC_PIN, STACK8_LED_PIN, BOARD_HEIGHT);
+};
-CubeStack stack9(STACK9_ADC_PIN, STACK9_LED_PIN, BOARD_HEIGHT);
+static BoardDriverTypes::CubeStack stack3{
-
+    .adcPin=STACK3_ADC_PIN, 
-// define the array of stacks
+    .ledPin=STACK3_LED_PIN
-CubeStack * stacks[] = {
+};
-    &stack1, &stack2, &stack3,
+static BoardDriverTypes::CubeStack stack4{
-    &stack4, &stack5, &stack6,
+    .adcPin=STACK4_ADC_PIN, 
-    &stack7, &stack8, &stack9
+    .ledPin=STACK4_LED_PIN
+};
+static BoardDriverTypes::CubeStack stack5{
+    .adcPin=STACK5_ADC_PIN, 
+    .ledPin=STACK5_LED_PIN
+};
+static BoardDriverTypes::CubeStack stack6{
+    .adcPin=STACK6_ADC_PIN, 
+    .ledPin=STACK6_LED_PIN
+};
+static BoardDriverTypes::CubeStack stack7{
+    .adcPin=STACK7_ADC_PIN, 
+    .ledPin=STACK7_LED_PIN
+};
+static BoardDriverTypes::CubeStack stack8{
+    .adcPin=STACK8_ADC_PIN, 
+    .ledPin=STACK8_LED_PIN
+};
+static BoardDriverTypes::CubeStack stack9{
+    .adcPin=STACK9_ADC_PIN, 
+    .ledPin=STACK9_LED_PIN
+};
+
+static std::array<BoardDriverTypes::CubeStack, NUMBER_STACKS> stacks{
+    stack1, stack2, stack3, 
+    stack4, stack5, stack6, 
+    stack7, stack8, stack9
 };

include/Vector3D.h

@@ -0,0 +1,54 @@
+#pragma once
+
+#include <cstdint>
+#include <cmath>
+
+class V3D{
+    public:
+    V3D(uint32_t x=0, uint32_t y=0, uint32_t z=0): 
+    x(x), 
+    y(y), 
+    z(z){}
+
+    V3D& operator=(const V3D &other){
+        this->x = other.x;
+        this->y = other.y;
+        this->z = other.z;
+        return *this;
+    }
+
+    V3D& operator+(const V3D &other){
+        V3D vector{};
+        vector.x = this->x + other.x;
+        vector.y = this->y + other.y;
+        vector.z = this->z + other.z;
+        return vector;
+    }
+
+    V3D& operator-(const V3D &other){
+        V3D vector{};
+        vector.x = this->x - other.x;
+        vector.y = this->y - other.y;
+        vector.z = this->z - other.z;
+        return vector;
+    }
+
+    V3D operator/(const uint32_t scalar){
+        V3D vector{};
+        vector.x = this->x / scalar;
+        vector.y = this->y / scalar;
+        vector.z = this->z / scalar;
+        return vector;
+    }
+
+    bool operator==(const V3D &other){
+        return this->x == other.x && this->y == other.y && this->z == other.z;
+    }
+
+    float magnitude(){
+        return std::sqrt(this->x * this->x + this->y * this->y + this->z * this-> z);
+    }
+    uint32_t x;
+    uint32_t y;
+    uint32_t z;
+};

lib/Animator/Animator.h

@@ -0,0 +1,353 @@
+#pragma once 
+
+#include <cstdint>
+#include <array>
+#include <chrono>
+#include <cstring>
+#include <cmath>
+#include <climits>
+
+#include "Vector3D.h"
+
+
+class Animation{
+public:
+// for cube spots which aren't defined in a key frame, 
+// you can have the controller automatically interpolate a color
+enum FillInterpolation{
+    NO_FILL, // if not specified, the cube color will be black
+    CLOSEST_COLOR, // The cube color will be the same color as the cube closest to it
+    LINEAR_WEIGHTED_DISTANCE, // the cube color will be an average of all specified cube colors weighted by the linear distance to this cube
+    SQUARE_WEIGHTED_DISTANCE // same as linear, but further colors have exponentially less impact on the color
+};
+
+enum FrameInterpolation{
+    SNAP, // After the delay, snap to the next key frame
+    FADE // over the course of the delay, fade to the next frame
+};
+
+struct Cell{
+    V3D position;
+    V3D color;
+};
+
+// this contains all of the information to specify exactly how a single frame should look and fade to the next frame
+struct AnimationFrame{
+    std::vector<Cell> frame;
+    FillInterpolation fillInterpolation;
+    FrameInterpolation frameInterpolation;
+    std::chrono::milliseconds delay;
+};
+
+typedef std::array<std::array<std::array<V3D, Z_SIZE>, Y_SIZE>, X_SIZE> Frame;
+
+
+void StartAnimation(const std::vector<AnimationFrame> &animationSequence){
+    this->animationSequence = animationSequence;
+    this->animationIndex = 0;
+    this->timeElapsed = std::chrono::milliseconds(0);
+
+    if(animationSequence.size() == 0){
+        return;
+    }
+    else if(animationSequence.size() == 1){
+        this->uncompressFrame(animationSequence[0], this->startFrame);
+        this->uncompressFrame(animationSequence[0], this->endFrame);
+    }
+    else{
+        this->uncompressFrame(animationSequence[0], this->startFrame);
+        this->uncompressFrame(animationSequence[1], this->endFrame);
+    }
+}
+
+Frame &RunAnimation(std::chrono::milliseconds timePassed){
+    auto delayTime = this->animationSequence[this->animationIndex].delay;
+    this->timeElapsed += timePassed;
+    Frame interpolatedFrame;
+    
+    // load in the next frame if we're done with this transition
+    if(this->timeElapsed >= delayTime){
+        this->incrimentAnimationIndex();
+    }
+
+    // don't do frame interpolations if we're doing snap fades
+    if(this->animationSequence[this->animationIndex].frameInterpolation == FrameInterpolation::SNAP){
+        return;
+    }
+
+    // linearly interpolate between the two uncompressed frames
+    for(uint32_t x = 0; x < this->X_SIZE; x++){
+        for(uint32_t y = 0; y < this->Y_SIZE; y++){
+            for(uint32_t z = 0; z < this->Z_SIZE; z++){
+                V3D startColor{this->startFrame[x][y][z]};
+                V3D endColor{this->endFrame[x][y][z]};
+                V3D difference{endColor - startColor};
+                V3D interpolatedColor = this->timeElapsed.count() * difference / delayTime.count() + startColor;
+                interpolatedFrame[x][y][z] = interpolatedColor;
+            }
+        }
+    }
+}
+
+void SetLoop(bool isLooping){
+    this->isLooping = isLooping;
+}
+
+private:
+uint32_t X_SIZE{3};
+uint32_t Y_SIZE{3};
+uint32_t Z_SIZE{3};
+bool isLooping{true};
+// these are the uncompressed frames you get by following the key colors and interpolation instructions of an animation frame
+Frame startFrame;
+Frame endFrame;
+std::chrono::milliseconds timeElapsed;
+
+const std::vector<AnimationFrame> & animationSequence;
+uint32_t animationIndex{0};
+
+void incrimentAnimationIndex(){
+    if(this->animationIndex < animationSequence.size() - 1){
+        this->animationIndex++;
+        this->timeElapsed = std::chrono::millis(0);
+        this->uncompressFrame(this->animationSequence[this->animationIndex], this->startFrame);
+        this->uncompressFrame(this->animationSequence[this->animationIndex + 1], this->endFrame);
+    }
+}
+
+void uncompressFrame(const AnimationFrame &keyFrame, Frame &frameBuffer){
+    for(uint32_t x = 0; x < X_SIZE; x++){
+        for(uint32_t y = 0; y < Y_SIZE; y++){
+            for(uint32_t z = 0; z < Z_SIZE; z++){
+                frameBuffer[x][y][z] = getInterpolatedColor(keyFrame, V3D(x, y, z));
+            }
+        }
+    }
+}
+
+V3D &getInterpolatedColor(const AnimationFrame &keyFrame, V3D position){
+    switch(keyFrame.fillInterpolation){
+        case FillInterpolation::NO_FILL:
+            return noFillInterpolate(keyFrame, position);
+        case FillInterpolation::CLOSEST_COLOR:
+            return closestColorInterpolate(keyFrame, position);
+        case FillInterpolation::LINEAR_WEIGHTED_DISTANCE:
+            return linearInterpolate(keyFrame, position);
+        case FillInterpolation::SQUARE_WEIGHTED_DISTANCE:
+            return squareInterpolate(keyFrame, position);
+        default:
+            return V3D{};
+    }
+}
+
+V3D &keyFrame2BoardCoords(V3D &keyFramePosition){
+    V3D returnValue{};
+    float maxValue{static_cast<float>(std::numeric_limits<uint32_t>::max())};
+    // scale the key frame values down to be within board coordinates
+    float keyFrame_X = static_cast<float>(this->X_SIZE) * static_cast<float>(keyFramePosition.x) / maxValue;
+    float keyFrame_Y = static_cast<float>(this->Y_SIZE) * static_cast<float>(keyFramePosition.y) / maxValue;
+    float keyFrame_Z = static_cast<float>(this->Z_SIZE) * static_cast<float>(keyFramePosition.z) / maxValue;
+
+    // carefully quantize the float values back into ints with a precise rounding operation
+    if(keyFrame_X - std::floor(keyFrame_X) < 0.5f){
+        returnValue.x = static_cast<uint32_t>(keyFrame_X);
+    }
+    else{
+        returnValue.x = static_cast<uint32_t>(keyFrame_X) + 1;
+    }
+
+    if(keyFrame_Y - std::floor(keyFrame_Y) < 0.5f){
+        returnValue.y = static_cast<uint32_t>(keyFrame_Y);
+    }
+    else{
+        returnValue.y = static_cast<uint32_t>(keyFrame_Y) + 1;
+    }
+
+    if(keyFrame_Z - std::floor(keyFrame_Z) < 0.5f){
+        returnValue.z = static_cast<uint32_t>(keyFrame_Z);
+    }
+    else{
+        returnValue.z = static_cast<uint32_t>(keyFrame_Z) + 1;
+    }
+    
+    return returnValue;
+}
+
+V3D &noFillInterpolate(const AnimationFrame &keyFrame, V3D position){
+    V3D returnColor{};
+    for(Cell cell : keyFrame.frame){
+        if(keyFrame2BoardCoords(cell.position) == position){
+            returnColor = cell.color;
+        }
+    }
+
+    return returnColor;
+}
+
+V3D &closestColorInterpolate(const AnimationFrame &keyFrame, V3D position){
+    V3D returnColor{};
+    float closestDistance = (keyframe.frame[0].position - position).mag();
+    for(Cell cell : keyFrame.frame){
+        float distance = (keyFrame2BoardCoords(cell.position) - position).mag();
+        if(distance < closestDistance){
+            returnColor = cell.color;
+            closestDistance = distance;
+        }
+    }
+
+    return returnColor;
+}
+
+V3D &linearInterpolate(const AnimationFrame &keyFrame, V3D position){
+    V3D returnColor{};
+
+    for(Cell cell : keyFrame.frame){
+        uint32_t distance = static_cast<uint32_t>((keyFrame2BoardCoords(cell.position) - position).mag());
+        if(distance == 0) distance = 1;
+        returnColor = returnColor + cell.color / distance;
+    }
+
+    returnColor = returnColor / keyFrame.frame.size();
+
+    return returnColor;
+}
+
+V3D &squareInterpolate(const AnimationFrame &keyFrame, V3D position){
+    V3D returnColor{};
+
+    for(Cell cell : keyFrame.frame){
+        uint32_t distance = static_cast<uint32_t>((keyFrame2BoardCoords(cell.position) - position).mag());
+        distance *= distance;
+        if(distance == 0) distance = 1;
+        returnColor = returnColor + cell.color / distance;
+    }
+
+    returnColor = returnColor / keyFrame.frame.size();
+
+    return returnColor;
+}
+};
+
+// let's make some test animation frames
+
+namespace TestFrames{
+    V3D red{255,0,0};
+    V3D green{0,255,0};
+    V3D blue{0,0,255};
+    uint32_t maxValue{std::numeric_limits<uint32_t>::max()};
+
+    Animation::Cell &CreateCell(float x_percent, float y_percent, float z_percent, V3D &color){
+        float continuousMaxValue{static_cast<float>(std::numeric_limits<uint32_t>::max())};
+        Animation::Cell cell{
+            .position = V3D{
+                static_cast<uint32_t>(continuousMaxValue*x_percent),
+                static_cast<uint32_t>(continuousMaxValue*y_percent),
+                static_cast<uint32_t>(continuousMaxValue*z_percent)
+            },
+            .color = color
+        };
+
+        return cell;
+    }
+
+    Animation::AnimationFrame noFillFrame{
+        .frame = {
+            CreateCell(0,0,0,red),
+            CreateCell(0.5,0.5,0.5,green),
+            CreateCell(1,1,1,blue)
+        };
+        .fillInterpolation = FillInterpolation::NO_FILL;
+        .frameInterpolation = FrameInterpolation::SNAP;
+        .delay = std::chrono::millis(10000);
+    }
+
+    Animation::AnimationFrame closestColorFrame{
+        .frame = {
+            CreateCell(0,0,0,red),
+            CreateCell(0.5,0.5,0.5,green),
+            CreateCell(1,1,1,blue)
+        };
+        .fillInterpolation = FillInterpolation::CLOSEST_COLOR;
+        .frameInterpolation = FrameInterpolation::SNAP;
+        .delay = std::chrono::millis(10000);
+    }
+
+    Animation::AnimationFrame linearFillFrame{
+        .frame = {
+            CreateCell(0,0,0,red),
+            CreateCell(0.5,0.5,0.5,green),
+            CreateCell(1,1,1,blue)
+        };
+        .fillInterpolation = FillInterpolation::LINEAR_WEIGHTED_DISTANCE;
+        .frameInterpolation = FrameInterpolation::SNAP;
+        .delay = std::chrono::millis(10000);
+    }
+
+    Animation::AnimationFrame squareFillFrame{
+        .frame = {
+            CreateCell(0,0,0,red),
+            CreateCell(0.5,0.5,0.5,green),
+            CreateCell(1,1,1,blue)
+        };
+        .fillInterpolation = FillInterpolation::SQUARE_WEIGHTED_DISTANCE;
+        .frameInterpolation = FrameInterpolation::SNAP;
+        .delay = std::chrono::millis(10000);
+    }
+
+    Animation::AnimationFrame noFillFadeFrame{
+        .frame = {
+            CreateCell(0,0,0,red),
+            CreateCell(0.5,0.5,0.5,green),
+            CreateCell(1,1,1,blue)
+        };
+        .fillInterpolation = FillInterpolation::NO_FILL;
+        .frameInterpolation = FrameInterpolation::FADE;
+        .delay = std::chrono::millis(10000);
+    }
+
+    Animation::AnimationFrame closestColorFadeFrame{
+        .frame = {
+            CreateCell(0,0,0,red),
+            CreateCell(0.5,0.5,0.5,green),
+            CreateCell(1,1,1,blue)
+        };
+        .fillInterpolation = FillInterpolation::CLOSEST_COLOR;
+        .frameInterpolation = FrameInterpolation::FADE;
+        .delay = std::chrono::millis(10000);
+    }
+
+    Animation::AnimationFrame linearFillFadeFrame{
+        .frame = {
+            CreateCell(0,0,0,red),
+            CreateCell(0.5,0.5,0.5,green),
+            CreateCell(1,1,1,blue)
+        };
+        .fillInterpolation = FillInterpolation::LINEAR_WEIGHTED_DISTANCE;
+        .frameInterpolation = FrameInterpolation::FADE;
+        .delay = std::chrono::millis(10000);
+    }
+
+    Animation::AnimationFrame squareFillFadeFrame{
+        .frame = {
+            CreateCell(0,0,0,red),
+            CreateCell(0.5,0.5,0.5,green),
+            CreateCell(1,1,1,blue)
+        };
+        .fillInterpolation = FillInterpolation::SQUARE_WEIGHTED_DISTANCE;
+        .frameInterpolation = FrameInterpolation::FADE;
+        .delay = std::chrono::millis(10000);
+    }
+
+    std::vector<AnimationFrame> testAnimationSequence{
+        noFillFrame,
+        closestColorFrame,
+        linearFillFrame,
+        squareFillFrame,
+        noFillFadeFrame,
+        closestFillFadeFrame,
+        linearFillFadeFrame,
+        squareFillFadeFrame
+    };
+}
+
+

lib/Board/Board.h

@@ -2,20 +2,25 @@
 
 #include <cstdint>
 #include <array>
+#include <WString.h>
 
 #include "Cube.h"
-#include "Color.h"
+#include "Vector3D.h"
 
-template <uint32_t X_SIZE, uint32_t Y_SIZE, uint32_t Z_SIZE>
+template <V3D &BOARD_DIMS>
 class Board{
     public:
+    enum PLANE_NORMAL : uint32_t{
+        X = 0,
+        Y,
+        Z
+    };
+
     Board();
     ~Board() = default;
 
-    constexpr uint32_t GetXSize() const{return X_SIZE;}
+    constexpr V3D &GetSize() const{return BOARD_DIMS;}
-    constexpr uint32_t GetYSize() const{return Y_SIZE;}
+    constexpr uint32_t GetNumberCubes() const{return BOARD_DIMS.x * BOARD_DIMS.y * BOARD_DIMS.z;}
-    constexpr uint32_t GetZSize() const {return Z_SIZE;}
-    constexpr uint32_t GetNumberCubes() const{return X_SIZE * Y_SIZE * Z_SIZE;}
 
     /**
      * @brief Returns a string in the format:
@@ -28,13 +33,25 @@ class Board{
     /**
      * @brief Returns a bool array representing the board
      */
-    std::array<uint32_t, X_SIZE * Y_SIZE> &LinearizeBoard() const;
+    std::array<uint32_t, BOARD_DIMS.x * BOARD_DIMS.y> &LinearizeBoard() const;
 
-    void Update();
+    void FillColor(const V3D &color);
 
-    void FillColor(const Color &color);
+    void SetCubeColor(const V3D &position, const V3D &color);
 
-    void SetCubeColor(uint32_t x_coord, uint32_t y_cord, uint32_t z_cord, const Color &color);
+    void SetCubeOccupation(const V3D &position, bool occupation);
+
+    bool BoardStateChanged(){return this->boardStateHasChanged;}
+    void ClearBoardStateChanged(){this->boardStateHasChanged = false;}
+
+    /**
+     * @brief Get a column along any axis
+     * @param column .z specifies the normal direction of the plane (see PLANE_NORMAL), and 
+     * the x,y values specify the location of the column in that plane 
+     * to fill. IE To fill one stack at 0,2 I would say give V3D(0,2,PLANE_NORMAL::Z)
+     * @returns an array of cubes along that column
+     */
+    Cube * SliceBoard(const V3D &column);
 
     private:
     // this is a 3d array of cubes to represent the board. Good luck visualizing it
@@ -53,13 +70,13 @@ class Board{
     bool boardStateHasChanged;
 };
 
-template <uint32_t X_SIZE, uint32_t Y_SIZE, uint32_t Z_SIZE>
+template <V3D &BOARD_DIMS>
-Board<X_SIZE, Y_SIZE, Z_SIZE>::Board(){
+Board<BOARD_DIMS>::Board(){
     this->FillColor(Color(0,0,0));
 }
 
-template <uint32_t X_SIZE, uint32_t Y_SIZE, uint32_t Z_SIZE>
+template <V3D &BOARD_DIMS>
-void Board<X_SIZE, Y_SIZE, Z_SIZE>::ToStackString(String &stringBuffer) const{
+void Board<BOARD_DIMS>::ToStackString(String &stringBuffer) const{
     std::array<uint32_t, X_SIZE*Y_SIZE> linearizedBoard = this->LinearizeBoard();
 
     stringBuffer += "!" + String(linearizedBoard[0]);
@@ -71,10 +88,10 @@ void Board<X_SIZE, Y_SIZE, Z_SIZE>::ToStackString(String &stringBuffer) const{
     stringBuffer += ";";
 }
 
-template <uint32_t X_SIZE, uint32_t Y_SIZE, uint32_t Z_SIZE>
+template <V3D &BOARD_DIMS>
-std::array<uint32_t, X_SIZE * Y_SIZE> & Board<X_SIZE, Y_SIZE, Z_SIZE>::LinearizeBoard() const{
+std::array<uint32_t, BOARD_DIMS.x * BOARD_DIMS.y> & Board<BOARD_DIMS>::LinearizeBoard() const{
     // convert the board into one array where each entry represents the height of one stack
-    std::array<uint32_t, X_SIZE*Y_SIZE> linearizedBoard;
+    std::array<uint32_t, BOARD_DIMS.x * BOARD_DIMS.y> linearizedBoard;
     for(uint32_t x{0}; x < X_SIZE; x++){
         for(uint32_t y{0}; y < Y_SIZE; y++){
             for(uint32_t z{0}; z < Z_SIZE; z++){
@@ -86,24 +103,63 @@ std::array<uint32_t, X_SIZE * Y_SIZE> & Board<X_SIZE, Y_SIZE, Z_SIZE>::Linearize
     return linearizedBoard;
 }
 
-template <uint32_t X_SIZE, uint32_t Y_SIZE, uint32_t Z_SIZE>
+template <V3D &BOARD_DIMS>
-void Board<X_SIZE, Y_SIZE, Z_SIZE>::Update(){
+void Board<BOARD_DIMS>::FillColor(const V3D &color){
-
-}
-
-template <uint32_t X_SIZE, uint32_t Y_SIZE, uint32_t Z_SIZE>
-void Board<X_SIZE, Y_SIZE, Z_SIZE>::FillColor(const Color &color){
     for(uint32_t x{0}; x < X_SIZE; x++){
         for(uint32_t y{0}; y < Y_SIZE; y++){
             for(uint32_t z{0}; z < Z_SIZE; z++){
-                this->cubes[x][y][z].SetColor(color);
+                this->cubes[x][y][z].color = color;
             }
         }
     }
 }
 
-template <uint32_t X_SIZE, uint32_t Y_SIZE, uint32_t Z_SIZE>
+template <V3D &BOARD_DIMS>
-void Board<X_SIZE, Y_SIZE, Z_SIZE>::SetCubeColor(uint32_t x_coord, uint32_t y_cord, uint32_t z_cord, const Color &color){
+void Board<BOARD_DIMS>::SetCubeColor(const V3D &position, const V3D &color){
-    this->cubes[x][y][z].SetColor(color);
+    this->cubes[position.x][position.y][position.z].color = color;
+}
+
+template <V3D &BOARD_DIMS>
+void Board<BOARD_DIMS>::SetCubeOccupation(const V3D &position, bool occupation){
+    bool oldOccupation{this->cubes[position.x][position.y][position.z].occupied};
+    this->cubes[position.x][position.y][position.z].occupied = occupation;
+    if(occupation != oldOccupation) this->boardStateHasChanged = true;
+}
+
+template <V3D &BOARD_DIMS>
+Cube * Board<BOARD_DIMS>::SliceBoard(const V3D &column){
+    uint32_t columnLength{0};
+    V3D indexIncriment{};
+    V3D position{};
+    switch(column.z){
+        case Board::PLANE_NORMAL::X:
+        columnLength = BOARD_DIMS.x;
+        indexIncriment.x = 1;
+        position.z = column.x;
+        position.y = column.y;
+        break;
+        case Board::PLANE_NORMAL::Y:
+        columnLength = BOARD_DIMS.Y;
+        indexIncriment.y = 1;
+        position.x = column.x;
+        position.z = column.y;
+        break;
+
+        default:
+        case Board::PLANE_NORMAL::Z:
+        columnLength = BOARD_DIMS.Z;
+        indexIncriment.z = 1;
+        position.x = column.x;
+        position.y = column.y;
+        break;
+    }
+
+    std::array<Cube *, columnLength> columnSlice;
+    for(uint32_t i = 0; i < columnLength; i++){
+        V3D cubePosition = indexIncriment * i + position;
+        columnSlice[i] = &(this->cubes[cubePosition.x][cubePosition.y][cubePosition.z]);
+    }
+
+    return columnSlice.data();
 }
 

lib/Board/BoardLayout.cpp

@@ -1,38 +0,0 @@
-#include "BoardLayout.h"
-
-uint8_t BoardLayout::GetNumberStacks(){
-    return this->boardWidth * this->boardHeight;
-}
-
-void BoardLayout::SetStackColors(uint8_t stackNum, Color * colors){
-    CubeStack * stack = this->stacks[stackNum];
-    stack->SetLEDColors(colors, this->boardHeight);
-}
-
-bool BoardLayout::BoardStateHasChanged(){
-    uint16_t boardState[this->boardWidth * this->boardLength];
-    this->GetBoardState(boardState);
-
-    // compare the board state to the last board state
-    for(int i = 0; i < (this->boardWidth * this->boardLength); i++){
-        uint16_t stackState = boardState[i];
-        uint16_t lastStackState = (this->lastBoardState)[i];
-        if(stackState != lastStackState){
-            // copy the board state into the last board state
-            for(int k = 0; k < (this->boardWidth * this->boardLength); k++){
-                this->lastBoardState[k] = boardState[k];
-            }
-            return true;
-        }
-    }
-    return false;
-}
-
-void BoardLayout::GetBoardState(uint16_t * boardStateBuffer){
-    for(int i = 0; i < (this->boardLength * this->boardWidth); i++){
-        CubeStack * stack = this->stacks[i];
-        stack->SendLEDData(); // Enable this if you want to constantly stream LED data
-        boardStateBuffer[i] = stack->GetNumberCubes();
-    }
-}
-

lib/Board/BoardLayout.h

@@ -1,69 +0,0 @@
-/**
- * @brief This is the full board manager which handles the state of every stack on the board
-*/
-
-#pragma once
-
-#include "CubeStack.h"
-#include "Color.h"
-
-class BoardLayout{
-    public:
-    /**
-     * @brief BoardLayout COnstructor
-    */
-    BoardLayout(uint8_t boardWidth, uint8_t boardLength, uint8_t boardHeight, CubeStack ** stacks) :
-        boardWidth(boardWidth),
-        boardLength(boardLength),
-        boardHeight(boardHeight),
-        stacks(stacks)
-    {
-      this->lastBoardState = new uint16_t[boardWidth * boardLength];
-    }
-
-    /**
-     * @brief Check if our board state has changed
-     * @return true if the board state has changed, false otherwise
-    */
-    bool BoardStateHasChanged();
-
-    /**
-     * @brief Get the Number of Stacks
-     * @return the number of stacks
-    */
-    uint8_t GetNumberStacks();
-
-    /**
-     * @brief Set the LED Colors
-     * @param stackNum the stack index you would like to address.
-     * From top left to bottom right, the stack numbers are as follows:
-     * | 0 1 2 |
-     * | 3 4 5 |
-     * | 6 7 8 |
-     * @param Colors the array of colors to set the LEDs in a stack to
-    */
-    void SetStackColors(uint8_t stackNum, Color * colors);
-
-    /**
-     * @brief Get the board population state
-     * @param boardStateBuffer the buffer to write the board state to. It must be at least boardWidth * boardLength in length
-     */
-    void GetBoardState(uint16_t * boardStateBuffer);
-
-    private:
-    uint8_t boardWidth;
-    uint8_t boardLength;
-    uint8_t boardHeight;
-    /*
-    An array of arrays of stacks
-    [ [stack1, stack2, stack3],
-      [stack4, stack5, stack6],
-      [stack7, stack8, stack9] ]
-    etc
-    */
-    CubeStack ** stacks;
-
-    // records the last known board state
-    uint16_t * lastBoardState;
-
-};

lib/Board/Color.h

@@ -1,22 +0,0 @@
-/**
- * @file Color.h
- * @brief This file contains the color struct
-*/
-
-#pragma once
-#include <Arduino.h>
-
-// store a color
-struct Color{
-    public:
-    // create a constructor for this struct
-    Color(uint8_t red, uint8_t green, uint8_t blue) :
-        red(red),
-        green(green),
-        blue(blue)
-    {}
-    Color() = default;
-    uint8_t red{0};
-    uint8_t green{0};
-    uint8_t blue{0};
-};

lib/Board/CubeStack.cpp

@@ -1,61 +0,0 @@
-#include "CubeStack.h"
-
-CubeStack::CubeStack(uint16_t ADCPin, uint16_t ledPin, uint8_t numLEDs){
-    this->ADCPin = ADCPin;
-    this->blockLights = *(new Adafruit_NeoPixel(numLEDs*2, ledPin, NEO_GRB + NEO_KHZ800));
-    this->ledColors = new Color[numLEDs];
-    this->numLEDs = numLEDs;
-
-    // initialize the LED colors to off
-    for(int i = 0; i < numLEDs; i++){
-        this->ledColors[i] = *(new Color(0, 0, 0));
-    }
-};
-
-uint32_t CubeStack::GetNumberCubes(Cube &cube){
-    // read the ADC and return the number of cubes
-    /*
-    0 cubes: 1 : 4095-3400
-    1 cube: 1/2 3400-2500
-    2 cubes: 1/3 2500-1850
-    3 cubes: 1/4 1850-0
-    */
-    uint16_t value = analogRead(cube.ADCPin);
-    uint16_t lowPassADCRead = static_cast<uint16_t>((static_cast<float>(cube.lastADCReading) * 0.9) + (static_cast<float>(value) * 0.1));
-
-    // temporary definitions to define value ranges:
-    uint16_t zeroCubesHigh = 4095;
-    uint16_t zeroCubesLow = 3400;
-    uint16_t oneCubeLow = 2500;
-    uint16_t twoCubesLow = 1850;
-    uint16_t threeCubesLow = 0;
-
-    uint8_t stackHeight = 0;
-
-    if(lowPassADCRead >= zeroCubesLow && lowPassADCRead <= zeroCubesHigh){
-        stackHeight = 0;
-    }
-    else if(lowPassADCRead >= oneCubeLow){
-        stackHeight = 1;
-    }
-    else if(lowPassADCRead >= twoCubesLow){
-        stackHeight = 2;
-    }
-    else if(lowPassADCRead >= threeCubesLow){
-        stackHeight = 3;
-    }
-    
-    return stackHeight;
-}
-
-void CubeStack::SendLEDData(){
-    // we always initialize before we do anything because other CubeStacks could be hogging the hardware
-    // between our writes
-    this->blockLights.begin();
-    // set the LED colors
-    for(int i = 0; i < this->numLEDs; i++){
-        this->blockLights.setPixelColor(i*2, this->blockLights.Color(this->ledColors[i].red, this->ledColors[i].green, this->ledColors[i].blue));
-        this->blockLights.setPixelColor((i*2 + 1), this->blockLights.Color(this->ledColors[i].red, this->ledColors[i].green, this->ledColors[i].blue));
-    }
-    this->blockLights.show();
-}

lib/Board/CubeStack.h

@@ -1,31 +0,0 @@
-/**
- * @brief this manages a single cube stack and the lighting / detecting of how many cubes
-*/
-
-#pragma once
-
-#include <Arduino.h>
-#include <Adafruit_NeoPixel.h>
-#include "Color.h"
-#include "Cube.h"
-
-
-namespace CubeStack{
-    /**
-     * @brief Construct a new Cube Stack object
-     * @param ADCPin the pin that the ADC is connected to
-     * @param ledPin the pin that the LED is connected to
-    */
-    CubeStack(uint16_t ADCPin, uint16_t ledPin, uint8_t numLEDs);
-
-    /**
-     * @brief Returns the number of cubes in the stack
-     * @return the number of cubes in the stack
-    */
-    uint32_t GetNumberCubes(Cube &cube);
-
-    /**
-     * @brief sends the LED data to the LED strip
-    */
-    void SendLEDData();
-};

lib/BoardDriver/BoardDriver.h

@@ -4,15 +4,10 @@
 #include <array>
 
 #include <Adafruit_NeoPixel.h>
+#include <Arduino.h>
 
 #include "Cube.h"
-
+#include "BoardDriverTypes.h"
-namespace BoardDriverTypes{
-    struct CubeStack{
-        uint8_t adcPin;
-        uint8_t ledPin;
-    }
-};
 
 template <uint32_t NUM_STACKS>
 class BoardDriver{
@@ -21,6 +16,8 @@ public:
     BoardDriver(std::array<BoardDriverTypes::CubeStack, NUM_STACKS> &stacks, Adafruit_NeoPixel &pixelController);
     ~BoardDriver() = default;
 
+    void Init();
+
     uint32_t GetNumberCubes(uint32_t numXStacks, uint32_t X_COORD, uint32_t Y_COORD);
     uint32_t GetNumberCubes(uint32_t stackIndex);
 
@@ -38,6 +35,16 @@ private:
     }
 };
 
+template<uint32_t NUM_STACKS>
+void BoardDriver<NUM_STACKS>::Init(){
+    for(uint32_t i = 0; i < NUM_STACKS; i++){
+        pinMode(this->stacks[i].ledPin, OUTPUT);
+    }
+
+    // begin doesn't really do anything besides setting the pinmode
+    this->pixelController.begin();
+}
+
 template<uint32_t NUM_STACKS>
 BoardDriver<NUM_STACKS>::BoardDriver(std::array<BoardDriverTypes::CubeStack, NUM_STACKS> &stacks, Adafruit_NeoPixel &pixelController): 
 stacks(stacks),
@@ -45,11 +52,7 @@ pixelController(pixelController)
 {
     for(uint32_t i = 0; i < NUM_STACKS; i++){
         this->filteredReadings[i] = 0;
-        pinMode(this->stacks[i].ledPin, OUTPUT);
     }
-
-    // begin doesn't really do anything besides setting the pinmode
-    this->pixelController.begin();
 }
 
 template<uint32_t NUM_STACKS>

lib/BoardDriver/BoardDriverTypes.h

@@ -0,0 +1,10 @@
+#pragma once
+
+#include <cstdint>
+
+namespace BoardDriverTypes{
+    struct CubeStack{
+        uint8_t adcPin;
+        uint8_t ledPin;
+    };
+};

lib/BoardManager/BoardManager.h

@@ -0,0 +1,102 @@
+#pragma once
+
+#include "Board.h"
+#include "BoardDriver.h"
+#include "Vector3D.h"
+
+template <V3D &BOARD_DIMS>
+class BoardManager{
+    public:
+    BoardManager(BoardDriver<BOARD_WIDTH*BOARD_LENGTH> &boardDriver):
+    driver(boardDriver){};
+
+    ~BoardManager() = default;
+
+    void Init();
+
+    void Update();
+
+    void SetCubeColor(const V3D &position, const V3D &color);
+
+    void SetColumnColor(const V3D &position, const V3D &color);
+
+
+    /**
+     * @brief Fill a column along any axis with a color
+     * @param column .z specifies the normal direction of the plane (see PLANE_NORMAL), and 
+     * the x,y values specify the location of the column in that plane 
+     * to fill. IE To fill one stack at 0,2 I would say give V3D(0,2,PLANE_NORMAL::Z)
+     * @param color the color you want to fill the column with
+     */
+    void FillColumnColor(const V3D &column, const V3D &color);
+
+    bool HasBoardChanged(){return this->hasBoardChanged;}
+
+    private:
+    BoardDriver<BOARD_WIDTH*BOARD_LENGTH> &driver;
+    Board<BOARD_DIMS> board{};
+
+    bool hasBoardChanged{false};
+
+    void updateBoardColors(const V3D &column);
+
+};
+
+template <V3D &BOARD_DIMS>
+void BoardManager<BOARD_DIMS>::Init(){
+    this->driver.Init();
+}
+
+template <V3D &BOARD_DIMS>
+void BoardManager<BOARD_DIMS>::Update(){
+    // update the occupied cubes on the board and the cube colors
+    for(uint32_t x = 0; x <  BOARD_DIMS.x; x++){
+        for(uint32_t y = 0; y < BOARD_DIMS.y; y++){
+            uint32_t numCubes{this->driver.GetNumberCubes(i)};
+            for(uint32_t z = 0; z < BOARD_DIMS.z; z++){
+                V3D cubePosition{x, y, z};
+                bool isOccupied{z < numCubes};
+                if(this->board.SetCubeOccupation(cubePosition, i < numCubes) != isOccupied){
+                    this->board.boardStateHasChanged = true;
+                }
+                cubePosition.z = Board::PLANE_NORMAL::Z;
+                this->driver.UpdateStackLEDs(i, this->board.SliceBoard(cubePosition), BOARD_DIMS.z);
+            }
+        }
+    }
+
+    // update the colors
+    for(uint32_t i = 0; i < BOARD_DIMS.x * BOARD_DIMS.y; i++){
+        
+    }
+
+}
+
+template <V3D &BOARD_DIMS>
+void BoardManager<BOARD_DIMS>::updateBoardColors(const V3D &column){
+    Cube * cubeSlice{this->board.SliceBoard(column)};
+    uint32_t numCubes{0};
+
+    switch(column.z){
+        case Board::PLANE_NORMAL::X:
+        numCubes = BOARD_DIMS.x;
+        break;
+        case Board::PLANE_NORMAL::Y:
+        numCubes = BOARD_DIMS.y;
+        break;
+        case Board::PLANE_NORMAL::Z:
+        numCubes = BOARD_DIMS.z;
+        break;
+        default:
+        break;
+    }
+
+    this->driver.UpdateStackLEDs(BOARD_DIMS.x, cubeSlice, numCubes);
+}
+
+template <V3D &BOARD_DIMS>
+void BoardManager<BOARD_DIMS>::SetCubeColor(const V3D &position, const V3D &color){
+    this->board.SetCubeColor(position, color);
+    V3D slice{position.x, position.y, Board::PLANE_NORMAL::Z};
+    this->updateBoardColors(slice);
+}

lib/ColorManager/ColorManager.cpp

@@ -1,48 +0,0 @@
-#include "ColorManager.h"
-
-void ColorManager::Update(){
-    if(!(this->enabled)){
-        return;
-    }
-    // go through our colors and have them fade from r->g->b->r
-    for(uint8_t i = 0; i < 9; i++){
-        for(uint8_t j = 0; j < 3; j++){
-            Color * color = this->colors[i][j];
-            // fade from red to green
-            if(color->red > 0 && color->green >= 0 && color->blue == 0){
-                color->red--;
-                color->green++;
-            }
-            // fade from green to blue
-            else if(color->green > 0 && color->blue >= 0 && color->red == 0){
-                color->green--;
-                color->blue++;
-            }
-            // fade from blue to red
-            else if(color->blue > 0 && color->red >= 0 && color->green == 0){
-                color->blue--;
-                color->red++;
-            }
-        }
-    }
-
-    // set the colors
-    for(uint8_t i = 0; i < 9; i++){
-        Color temp_colors[3] = {*(this->colors[i][0]), *(this->colors[i][1]), *(this->colors[i][2])};
-        this->board->SetStackColors(i, temp_colors);
-    }
-}
-
-void ColorManager::Enable(bool enable){
-    this->enabled = enable;
-
-    if(this->enabled == false){
-        // set all the colors to black
-        Color black(0, 0, 0);
-        Color temp_colors[3] = {black, black, black};
-        // set the colors
-        for(uint8_t i = 0; i < 9; i++){
-            this->board->SetStackColors(i, temp_colors);
-        }
-    }
-}

lib/ColorManager/ColorManager.h

@@ -1,44 +0,0 @@
-/**
- * @file ColorManager.h
- * @brief Generate pretty colors for the board and make it do something when unity isn't controlling it
-*/
-
-#pragma once
-
-#include "BoardLayout.h"
-#include "Color.h"
-
-class ColorManager{
-    public:
-    ColorManager(BoardLayout * board) :
-        board(board)
-    {}
-
-    /**
-     * @brief Allows the color manager to update the board colors
-    */
-    void Update();
-
-    /**
-     * @brief Enables or disables the color manager
-     * @param enable true to enable, false to disable
-    */
-    void Enable(bool enable);
-
-
-    private:
-    BoardLayout * board;
-    bool enabled{true};
-
-    Color * colors[9][3] = {
-        {new Color(255, 0, 0), new Color(0, 255, 0), new Color(0, 0, 255)},
-        {new Color(255, 0, 0), new Color(0, 255, 0), new Color(0, 0, 255)},
-        {new Color(255, 0, 0), new Color(0, 255, 0), new Color(0, 0, 255)},
-        {new Color(255, 0, 0), new Color(0, 255, 0), new Color(0, 0, 255)},
-        {new Color(255, 0, 0), new Color(0, 255, 0), new Color(0, 0, 255)},
-        {new Color(255, 0, 0), new Color(0, 255, 0), new Color(0, 0, 255)},
-        {new Color(255, 0, 0), new Color(0, 255, 0), new Color(0, 0, 255)},
-        {new Color(255, 0, 0), new Color(0, 255, 0), new Color(0, 0, 255)},
-        {new Color(255, 0, 0), new Color(0, 255, 0), new Color(0, 0, 255)}
-    };
-};

lib/Cube/Cube.cpp

@@ -1,22 +0,0 @@
-#include "Cube.h"
-
-Cube::Cube(uint8_t ADCPin, uint8_t ledPin) 
-    : ADCPin(ADCPin),
-      ledPin(ledPin)
-{
-    Color black(0,0,0);
-    this->SetColor(black);
-}
-
-Cube::Cube(uint8_t ADCPin, uint8_t ledPin, const Color &color)
-    : ADCPin(ADCPin),
-      ledPin(ledPin)
-{
-    this->SetColor(color);
-}
-
-void Cube::SetColor(const Color &color){
-    this->color.red = color.red;
-    this->color.green = color.green;
-    this->color.blue = color.blue;
-}

lib/Cube/Cube.h

@@ -5,17 +5,10 @@
 
 #pragma once
 
-#include "Color.h"
+#include "Vector3D.h"
 
 class Cube{
     public:
-    Cube();
+    V3D color;
-    Cube();
-
-    void SetColor(const Color &color);
-
-    uint16_t lastADCReading{0};
-
-    Color color;
     bool isOccupied{false};
 };

src/main.cpp

@@ -11,9 +11,7 @@
 // project specific libraries
 #include "BluetoothSerial.h"
 #include "SerialMessage.h"
-#include "BoardLayout.h"
 #include "Color.h"
-#include "ColorManager.h"
 #include "GlobalPrint.h"
 
 // --------------------------------------------------
@@ -29,10 +27,6 @@ uint32_t boardStateMaxUpdatePeriod{34}; // this is a little slower than 30fps
 // BluetoothSerial SerialBT;
 // BluetoothSerialMessage serialMessageBT(&SerialBT);
 SerialMessage<500, 10> serialMessage(&Serial);
-BoardLayout board(BOARD_WIDTH, BOARD_LENGTH, BOARD_HEIGHT, stacks);
-
-// Temporary thing until we can get bluetooth color management working on the quest
-ColorManager colorManager(&board);
 
 // --------------------------------------------------
 // ----------------- FUNCTIONS ----------------------