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add export option to skip unchanged positions
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@timhendriks93
timhendriks93 committed Jan 19, 2024
1 parent 018936c commit 7e9c7b6
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Showing 6 changed files with 254 additions and 131 deletions.
39 changes: 27 additions & 12 deletions addon/ops/base_export.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,12 @@ class BaseExport:
COMMAND_END = 0x3E
LINE_BREAK = 10

skip_duplicates: bpy.props.BoolProperty(
name="Skip unchanged positions",
description="Skip positions which haven't changed since the last frame",
default=True
)

@classmethod
def poll(cls, context):
if not context.object or context.object.type != 'ARMATURE':
Expand Down Expand Up @@ -47,28 +53,37 @@ def execute(self, context):

return {'FINISHED'}

@classmethod
def get_command(cls, servo_id, position):
command = [cls.COMMAND_START, servo_id]
command += position.to_bytes(2, 'big')
command += [cls.COMMAND_END]

return command

@classmethod
def get_commands(cls, frames, positions):
def get_commands(self, frames, positions):
commands = []
last_positions = {}

for frame in range(frames):
for servo_id in range(255):
if servo_id not in positions:
continue

if servo_id not in last_positions:
last_positions[servo_id] = None

position = positions[servo_id][frame]
commands += cls.get_command(servo_id, position)
commands.append(cls.LINE_BREAK)

if self.skip_duplicates and last_positions[servo_id] == position:
continue

commands += self.get_command(servo_id, position)
last_positions[servo_id] = position

commands.append(self.LINE_BREAK)

return commands

def get_command(self, servo_id, position):
command = [self.COMMAND_START, servo_id]
command += position.to_bytes(2, 'big')
command += [self.COMMAND_END]

return command

@staticmethod
def get_time_meta(scene):
fps = scene.render.fps
Expand Down
2 changes: 2 additions & 0 deletions addon/ops/json_export.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,8 @@ class JsonExport(Operator, BaseExport, ExportHelper):
maxlen=255
)

skip_duplicates: None

def export(self, positions, filepath, context):
fps, frames, seconds = self.get_time_meta(context.scene)
filename = self.get_blend_filename()
Expand Down
2 changes: 1 addition & 1 deletion addon/utils/live_mode.py
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Original file line number Diff line number Diff line change
Expand Up @@ -91,7 +91,7 @@ def handler(cls, _scene, _depsgraph):
servo_animation = bpy.context.window_manager.servo_animation

for pose_bone in get_active_pose_bones(bpy.context.scene):
position, _angle, in_range = calculate_position(pose_bone, None)
position, _angle, in_range = calculate_position(pose_bone)

if not in_range:
continue
Expand Down
157 changes: 76 additions & 81 deletions examples/IK/ik.h
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@

const byte FPS = 30;
const int FRAMES = 100;
const int LENGTH = 1100;
const int LENGTH = 1040;

const byte PROGMEM ANIMATION_DATA[LENGTH] = {
0x3c, 0x00, 0x01, 0x77, 0x3e, 0x3c, 0x01, 0x01, 0x77, 0x3e, 0x0a, 0x3c,
Expand All @@ -29,84 +29,79 @@ const byte PROGMEM ANIMATION_DATA[LENGTH] = {
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