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State class #20

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b83599e
Integrated State class
nynzzz Oct 13, 2024
78ed02f
Minor changes to .ino files to make sure they compile and work properly
nynzzz Oct 13, 2024
23bc60c
Changes as per last feedback
nynzzz Oct 15, 2024
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3 changes: 2 additions & 1 deletion examples/BLE_reader/BLE_reader.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,8 @@ void setup() {
}

void loop() {
bead.state.setThetaPhi(bead.t_ble, bead.p_ble);
bead.clear();
bead.setBloch_deg_smooth(bead.t_ble, bead.p_ble, bead.c_ble);
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bead.setBloch_deg_smooth(bead.state.getTheta(), bead.state.getPhi(), bead.c_ble);
bead.show();
}
4 changes: 3 additions & 1 deletion examples/IMU_reader/IMU_reader.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,9 @@ void setup() {

void loop() {
bead.readIMU();
bead.state.setXYZ(bead.x, bead.y, bead.z);
bead.clear();
bead.setBloch_deg_smooth(bead.t_acc, bead.p_acc, color(255, 0, 255));
bead.setBloch_deg_smooth(bead.state.getTheta(), bead.state.getPhi(), color(255, 0, 255));
bead.show();
delay(5000);
}
157 changes: 133 additions & 24 deletions src/Qbead.h
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Original file line number Diff line number Diff line change
@@ -1,12 +1,10 @@
#ifndef QBEAD_H
#define QBEAD_H


#include <Arduino.h>
#include <Adafruit_NeoPixel.h>
#include <LSM6DS3.h>
#include <math.h>

#include <bluefruit.h>

// default configs
Expand Down Expand Up @@ -91,8 +89,7 @@ float theta(float x, float y, float z) {
return theta;
}

void connect_callback(uint16_t conn_handle)
{
void connect_callback(uint16_t conn_handle){
// Get the reference to current connection
BLEConnection* connection = Bluefruit.Connection(conn_handle);

Expand All @@ -103,6 +100,111 @@ void connect_callback(uint16_t conn_handle)
Serial.println(central_name);
}

// State Class Definition
class State {
private:
float x, y, z; // Cartesian coordinates
float theta, phi; // Spherical coordinates

void cartesianToSpherical() {
float l = sqrt(x * x + y * y + z * z);
if (l == 0) l = 1;
theta = acos(z / l) * 180 / PI;
phi = atan2(y, x) * 180 / PI;
if (phi < 0) phi += 360;
}

void sphericalToCartesian() {
float r = 1;
x = r * sin(theta * PI / 180.0) * cos(phi * PI / 180.0);
y = r * sin(theta * PI / 180.0) * sin(phi * PI / 180.0);
z = r * cos(theta * PI / 180.0);
}

public:
// Constructors
State() : x(0), y(0), z(1) {
cartesianToSpherical();
}

State(float x_init, float y_init, float z_init) : x(x_init), y(y_init), z(z_init) {
cartesianToSpherical();
}

State(float theta_init, float phi_init) : theta(theta_init), phi(phi_init) {
sphericalToCartesian();
}

// Setters and getters
void setX(float new_x) {
x = new_x;
cartesianToSpherical();
}

void setY(float new_y) {
y = new_y;
cartesianToSpherical();
}

void setZ(float new_z) {
z = new_z;
cartesianToSpherical();
}

void setXYZ(float new_x, float new_y, float new_z) {
x = new_x;
y = new_y;
z = new_z;
cartesianToSpherical();
}

void setTheta(float new_theta) {
theta = new_theta;
sphericalToCartesian();
}

void setPhi(float new_phi) {
phi = new_phi;
sphericalToCartesian();
}

void setThetaPhi(float new_theta, float new_phi) {
theta = new_theta;
phi = new_phi;
sphericalToCartesian();
}

float getX() const {
return x;
}

float getY() const {
return y;
}

float getZ() const {
return z;
}

float getTheta() const {
return theta;
}

float getPhi() const {
return phi;
}

// Method to print the state
void printState() {
Serial.print("Cartesian: x = "); Serial.print(x);
Serial.print(", y = "); Serial.print(y);
Serial.print(", z = "); Serial.println(z);

Serial.print("Spherical: theta = "); Serial.print(theta);
Serial.print(", phi = "); Serial.println(phi);
}
};

namespace Qbead {

class Qbead {
Expand Down Expand Up @@ -152,9 +254,12 @@ class Qbead {
float rbuffer[3];
float x, y, z, rx, ry, rz; // filtered and raw acc, in units of g
float t_acc, p_acc; // theta and phi according to gravity
float T_imu; // last update from the IMU
float T_imu; // last update from the IMU

float t_ble, p_ble; // BLE theta and phi

State state;

@Krastanov Krastanov Oct 15, 2024

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We do not need state to be member of bead. In particular, when we start looking into working with entangled states or mixed states, it would be much easier if they are decoupled

@nynzzz nynzzz Oct 15, 2024

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Hello, thank you for your feedback. However, I dont fully understand, so the state object should not be part of the qbead object? I was thinking that each instance of qbead should include a state, that will manage all the state related functionality. As I understand now, state and qbead should be independent objects, and if a user wants to assign a state to a qbead, first a state obj should be created and then assigned to the qbead? but then both the qbead and the state will hold values of x,y,z,theta,phy, where the values associated to qbead are the once from imu or ble and the values of state are custom assigned?

@nynzzz nynzzz Oct 15, 2024 •
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is it not possible to keep the state as an instance of qbead, and then if a user wants to assigned the values from the imu or ble to the state, do smth like this: eg. bead.state.setXYZ(bead.x, bead.y, bead.z) ?

@nynzzz nynzzz Oct 15, 2024

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Like (as an example IMU_reader) now:

void loop() {
bead.readIMU();
bead.clear();
bead.setBloch_deg_smooth(bead.state.getTheta(), bead.state.getPhi(), color(255, 0, 255));
bead.show();
delay(5000);
}

be something like:

void loop() {
bead.readIMU();
bead.state.setXYZ(bead.x, bead.y, bead.z)
bead.clear();
bead.setBloch_deg_smooth(bead.state.getTheta(), bead.state.getPhi(), color(255, 0, 255));
bead.show();
delay(5000);
}

then all the imu and ble readouts are stored in qbead and assigned to state when needed?

@Krastanov Krastanov Nov 11, 2024

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The issue is when we have more than one qbeads and want to have interesting entangled states.

Is the "state" simply the state of the LEDs? If that is the case, it really should not be a separate objects to begin with and having it tightly coupled as you do is indeed the most reasonable thing to do.

Is the "state" an object that represents a quantum state? Such an object can be plotted on the "output device" that is the LEDs of the qbead, but it is not the state of the LEDs itself. And we need a quantum state object in order to introduce the abstraction of gates and entanglement -- we do not need an LED state object. If we are going for this separation, then it makes more sense to be explicit, because it will not be always the case that there is one-to-one mapping of state-to-qbead -- we might want to have entangled states on multiple qbeads for instance.


float t_ble, p_ble; // theta and phi
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uint32_t c_ble; // color

static void ble_callback_color(uint16_t conn_hdl, BLECharacteristic* chr, uint8_t* data, uint16_t len) {
Expand All @@ -175,11 +280,15 @@ class Qbead {
clear();
setBrightness(10);

state.setXYZ(0, 0, 1); // Ensure the state starts pointing along the z-axis

Serial.println("qbead on XIAO BLE Sense + LSM6DS3 compiled on " __DATE__ " at " __TIME__);
if (!imu.begin()) {
Serial.println("IMU error");
uint16_t imuResult = imu.begin();
if (imuResult != 0) {
Serial.print("IMU error: ");
Serial.println(imuResult);
} else {
Serial.println("IMU OK");
Serial.println("IMU OK");
}
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Bluefruit.begin(QB_MAX_PRPH_CONNECTION, 0);
Expand All @@ -203,9 +312,9 @@ class Qbead {
blecharacc.setProperties(CHR_PROPS_READ | CHR_PROPS_NOTIFY);
blecharacc.setPermission(SECMODE_OPEN, SECMODE_OPEN);
blecharacc.setUserDescriptor("xyz acceleration");
blecharacc.setFixedLen(3*sizeof(float));
blecharacc.setFixedLen(3 * sizeof(float));
blecharacc.begin();
blecharacc.write(zerobuffer20, 3*sizeof(float));
blecharacc.write(zerobuffer20, 3 * sizeof(float));
startBLEadv();
}

Expand All @@ -221,13 +330,13 @@ class Qbead {
leg = nlegs - leg; // invert direction for the phi angle, because the PCB is set up as a left-handed coordinate system
leg = leg % nlegs;
if (leg == 0) {
pixels.setPixelColor(pixel, color);
pixels.setPixelColor(pixel, color);
} else if (pixel == 0) {
pixels.setPixelColor(0, color);
pixels.setPixelColor(0, color);
} else if (pixel == 6) {
pixels.setPixelColor(6, color);
pixels.setPixelColor(6, color);
} else {
pixels.setPixelColor(7 + (leg - 1) * (nsections - 1) + pixel - 1, color);
pixels.setPixelColor(7 + (leg - 1) * (nsections - 1) + pixel - 1, color);
}
}

Expand All @@ -239,17 +348,17 @@ class Qbead {
if (theta < 0 || theta > 180 || phi < 0 || phi > 360) {
return;
}
float theta_section = theta / theta_quant;

@Krastanov Krastanov Nov 11, 2024

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This is a bit weird. Why is this change made? This does not use the input function parameter anymore.

This can probably look better as a new function setBloch_deg(State state)

float theta_section = state.getTheta() / theta_quant;
if (theta_section < 0.5) {
setLegPixelColor(0, 0, color);
} else if (theta_section > nsections - 0.5) {
setLegPixelColor(0, nsections, color);
} else {
float phi_leg = phi / phi_quant;
float phi_leg = state.getPhi() / phi_quant;
int theta_int = theta_section + 0.5;
theta_int = theta_int > nsections - 1 ? nsections - 1 : theta_int; // to avoid precision issues near the end of the range
int phi_int = phi_leg + 0.5;
phi_int = phi_int > nlegs - 1 ? 0 : phi_int;
phi_int = phi_int % nlegs;
setLegPixelColor(phi_int, theta_int, color);
}
}
Expand All @@ -261,9 +370,9 @@ class Qbead {
float theta_section = theta / theta_quant;
float phi_leg = phi / phi_quant;
int theta_int = theta_section + 0.5;
theta_int = theta_int > nsections - 1 ? nsections - 1 : theta_int; // to avoid precision issues near the end of the range
theta_int = theta_int > nsections - 1 ? nsections - 1 : theta_int; // to avoid precision issues near the end of the range
int phi_int = phi_leg + 0.5;
phi_int = phi_int > nlegs - 1 ? 0 : phi_int;
phi_int = phi_int % nlegs;
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float p = (theta_section - theta_int);
int theta_direction = sign(p);
Expand All @@ -273,11 +382,11 @@ class Qbead {
q = q * q;

uint8_t rc = redch(c);
uint8_t bc = bluech(c);
uint8_t gc = greench(c);
uint8_t bc = bluech(c);
Comment on lines 384 to +386

@Krastanov Krastanov Oct 15, 2024

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formatting and reordering comment: if moving this is not necessary, please avoid doing it in a "feature" PR, so that git-blame is easy to use in the future.

I also generally prefer the order to be the standard RGB.


setLegPixelColor(phi_int, theta_int, color(q * rc, q * bc, q * gc));
setLegPixelColor(phi_int, theta_int + theta_direction, color(p * rc, p * bc, p * gc));
setLegPixelColor(phi_int, theta_int, color(q * rc, q * gc, q * bc));
setLegPixelColor(phi_int, theta_int + theta_direction, color(p * rc, p * gc, p * bc));
}

void readIMU() {
Expand Down Expand Up @@ -366,4 +475,4 @@ Qbead *Qbead::singletoninstance = nullptr;

} // end namespace

#endif // QBEAD_H
#endif // QBEAD_H

@Krastanov Krastanov Oct 15, 2024

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avoid these end-of-file modifications