bobbycar/logdata_visualization/logdata_visualization.pde

import processing.serial.*;

int vis_textsize=12; //copy from Visualization class

//String logfile_name="LOG00008_rumfahren_neu.TXT";
String logfile_name="LOG00180_random.TXT";

boolean useSerial=true; //false=read from csv log, true=read from serial port
String serial_port="COM3";
Serial serial;
String serialString=""; //last read string
int serial_endchar=10; //10=ASCII Linefeed

Visualization vis_cmd_FrontL;
Visualization vis_cmd_FrontR;
Visualization vis_cmd_RearL;
Visualization vis_cmd_RearR;

Visualization vis_current_FrontL;
Visualization vis_current_FrontR;
Visualization vis_current_RearL;
Visualization vis_current_RearR;

Visualization vis_speed_FrontL;
Visualization vis_speed_FrontR;
Visualization vis_speed_RearL;
Visualization vis_speed_RearR;

Visualization vis_throttle;
Visualization vis_brake;

Visualization vis_currentAll;

//vis_c means calculated value, not raw value from log
Visualization vis_c_speed_mean;

Visualization vis_graph_currentAll;
Visualization vis_graph_speed_mean;


long lastTimeData=0; //last time data received


Table logdata;
int nextID=0; //next row number to be displayed
long nextTime=0; //time of nextID row

int dataErrorCount=0;

//Data from log
int cmd_FrontL;
int cmd_FrontR;
int cmd_RearL;
int cmd_RearR;
float current_FrontL;
float current_FrontR;
float current_RearL;
float current_RearR;
int speed_FrontL;
int speed_FrontR;
int speed_RearL;
int speed_RearR;
float temp_Front;
float temp_Rear;
float vbat_Front;
float vbat_Rear;
float currentAll;
int throttle;
int brake;

color bg=color(0);

void setup() {
  size(1920, 1080);
  frameRate(100);
  
  if (useSerial) {
    printArray(Serial.list());
    // Open the port you are using at the rate you want:
    serial = new Serial(this, serial_port, 115200);
    
    serial.clear();
    // Throw out the first reading, in case we started reading 
    // in the middle of a string from the sender.
    println("readUntil");
    serialString = serial.readStringUntil(serial_endchar);
    println("read:"+serialString);
    serialString = null;
  }else{
    logdata = loadTable(logfile_name, "header, csv");
  
    println("loaded "+logdata.getRowCount()+" lines. Times: "+logdata.getRow(0).getFloat("time")+"s to "+logdata.getRow(logdata.getRowCount()-1).getFloat("time")+"s");
  }
  
  PVector pos_vis_cmd = new PVector(100,150);
  PVector size_vis_cmd = new PVector(10,100);
  PVector dist_vis_cmd = new PVector(80,150);
  
  colorMode(RGB, 255, 255, 255);
  
  //cmd
  color c_cmd=color(255,50,0);
  vis_cmd_FrontL = new BarV_cmd((int)pos_vis_cmd.x,(int)pos_vis_cmd.y,(int)size_vis_cmd.x,(int)size_vis_cmd.y,-1000,1000);
  
  vis_cmd_FrontR = new BarV_cmd((int)(pos_vis_cmd.x+dist_vis_cmd.x),(int)pos_vis_cmd.y,(int)size_vis_cmd.x,(int)size_vis_cmd.y,-1000,1000);
  vis_cmd_FrontR.setTitle("cmd");  
  
  vis_cmd_RearL = new BarV_cmd((int)pos_vis_cmd.x,(int)(pos_vis_cmd.y+dist_vis_cmd.y),(int)size_vis_cmd.x,(int)size_vis_cmd.y,-1000,1000);
  
  vis_cmd_RearR = new BarV_cmd((int)(pos_vis_cmd.x+dist_vis_cmd.x),(int)(pos_vis_cmd.y+dist_vis_cmd.y),(int)size_vis_cmd.x,(int)size_vis_cmd.y,-1000,1000);
  
  vis_cmd_FrontL.setcmain(c_cmd);
  vis_cmd_FrontR.setcmain(c_cmd);
  vis_cmd_RearL.setcmain(c_cmd);
  vis_cmd_RearR.setcmain(c_cmd);
  
  // Speed
  color c_speed=color(50,50,255);
  vis_speed_FrontL = new BarV_cmd((int)(pos_vis_cmd.x-size_vis_cmd.x*2),(int)pos_vis_cmd.y+vis_textsize,(int)size_vis_cmd.x,(int)size_vis_cmd.y,-100,600); 
  
  vis_speed_FrontR = new BarV_cmd((int)(pos_vis_cmd.x+dist_vis_cmd.x+size_vis_cmd.x*2),(int)pos_vis_cmd.y+vis_textsize,(int)size_vis_cmd.x,(int)size_vis_cmd.y,-100,600);
  vis_speed_FrontR.setTitle("speed");
  
  vis_speed_RearL = new BarV_cmd((int)(pos_vis_cmd.x-size_vis_cmd.x*2),(int)(pos_vis_cmd.y+vis_textsize+dist_vis_cmd.y),(int)size_vis_cmd.x,(int)size_vis_cmd.y,-100,600);
  vis_speed_RearL.setValueUnit("rpm");
  
  vis_speed_RearR = new BarV_cmd((int)(pos_vis_cmd.x+dist_vis_cmd.x+size_vis_cmd.x*2),(int)(pos_vis_cmd.y+vis_textsize+dist_vis_cmd.y),(int)size_vis_cmd.x,(int)size_vis_cmd.y,-100,600);
  
  vis_speed_FrontL.setcmain(c_speed);
  vis_speed_FrontR.setcmain(c_speed);
  vis_speed_RearL.setcmain(c_speed);
  vis_speed_RearR.setcmain(c_speed);
  
  // Current  
  color c_current=color(255,200,50);
  vis_current_FrontL = new BarV_cmd((int)(pos_vis_cmd.x-size_vis_cmd.x*2*2),(int)pos_vis_cmd.y+vis_textsize*2,(int)size_vis_cmd.x,(int)size_vis_cmd.y,-1,10);

  vis_current_FrontR = new BarV_cmd((int)(pos_vis_cmd.x+dist_vis_cmd.x+size_vis_cmd.x*2*2),(int)pos_vis_cmd.y+vis_textsize*2,(int)size_vis_cmd.x,(int)size_vis_cmd.y,-1,10);
  vis_current_FrontR.setTitle("current");
  
  vis_current_RearL = new BarV_cmd((int)(pos_vis_cmd.x-size_vis_cmd.x*2*2),(int)(pos_vis_cmd.y+vis_textsize*2+dist_vis_cmd.y),(int)size_vis_cmd.x,(int)size_vis_cmd.y,-1,10);
  vis_current_RearL.setValueUnit("A");
  
  vis_current_RearR = new BarV_cmd((int)(pos_vis_cmd.x+dist_vis_cmd.x+size_vis_cmd.x*2*2),(int)(pos_vis_cmd.y+vis_textsize*2+dist_vis_cmd.y),(int)size_vis_cmd.x,(int)size_vis_cmd.y,-1,10);
  
  vis_current_FrontL.setcmain(c_current);
  vis_current_FrontR.setcmain(c_current);
  vis_current_RearL.setcmain(c_current);
  vis_current_RearR.setcmain(c_current);
  
  //Inputs
  PVector pos_vis_inputs = new PVector(width/2,height-50); //will be center for x
  PVector size_vis_inputs = new PVector(200,40);
  
  color c_throttle=color(255,150,50);
  vis_throttle = new BarH_cmd((int)pos_vis_inputs.x,(int)pos_vis_inputs.y,(int)size_vis_inputs.x,(int)size_vis_inputs.y,0,1000);
  vis_throttle.setcmain(c_throttle);
  vis_throttle.setTitle("Throttle");
  color c_brake=color(200,200,50);
  vis_brake = new BarH_cmd((int)(pos_vis_inputs.x-size_vis_inputs.x),(int)pos_vis_inputs.y,(int)size_vis_inputs.x,(int)size_vis_inputs.y,-1000,0);
  vis_brake.setcmain(c_brake);
  vis_brake.setTitle("Brake");
  
  
  //Speed mean
  vis_c_speed_mean = new Tacho(width/2-150,height-150,100,-100,600);
  vis_c_speed_mean.setTitle("Speed");
  vis_c_speed_mean.setValueUnit("rpm");
  
  //Current
  vis_currentAll = new Tacho(width/2+150,height-150,100,-1,10);
  vis_currentAll.setTitle("minCurrent");
  vis_currentAll.setValueUnit("A");
  
  //Graph
  vis_graph_speed_mean = new GraphRoll_minimal(700, 250, 400,200,-100,600,1);
  vis_graph_speed_mean.setcborder(c_speed);
  vis_graph_speed_mean.setcmain(c_speed);
  vis_graph_speed_mean.setValueUnit("rpm");
  
  vis_graph_currentAll = new GraphRoll_minimal(700, 250, 400,200,-1,10,1);
  vis_graph_currentAll.setcborder(c_current);
  vis_graph_currentAll.setcmain(c_current);
  vis_graph_currentAll.setValueUnit("A");
  
  
  
  
  
  
}

void draw() {
  long loopmillis=millis()+25000;
  
  if (useSerial) {
    while (serial.available() > 0) {
      serialString = serial.readStringUntil(serial_endchar);
      //println("read:"+serialString);
      if (serialString != null) {
        println(serialString);
        String[] list = split(serialString, ',');
        
        if (list.length==20) {
        lastTimeData=nextTime;
        nextTime=int(parseFloat(list[0])*1000);        
        cmd_FrontL=parseInt(list[1]);
        cmd_FrontR=parseInt(list[2]);
        cmd_RearL=parseInt(list[3]);
        cmd_RearR=parseInt(list[4]);
        current_FrontL=parseFloat(list[5]);
        current_FrontR=parseFloat(list[6]);
        current_RearL=parseFloat(list[7]);
        current_RearR=parseFloat(list[8]);
        speed_FrontL=parseInt(list[9]);
        speed_FrontR=parseInt(list[10]);
        speed_RearL=parseInt(list[11]);
        speed_RearR=parseInt(list[12]);
        temp_Front=parseFloat(list[13]);
        temp_Rear=parseFloat(list[14]);
        vbat_Front=parseFloat(list[15]);
        vbat_Rear=parseFloat(list[16]);
        currentAll=parseFloat(list[17]);    
        throttle=parseInt(list[18]);
        brake=parseInt(list[19]);
        }else{ //data missing or too much 
          dataErrorCount++;
        }
        
      }
    }
  }else{
    if (loopmillis>=nextTime){ //New Data
      TableRow row = logdata.getRow(nextID);
      lastTimeData=nextTime;
      nextTime=(long)(row.getFloat("time")*1000); //get time and convert from seconds to ms
      
      cmd_FrontL=row.getInt("cmd_FrontL");
      cmd_FrontR=row.getInt("cmd_FrontR");
      cmd_RearL=row.getInt("cmd_RearL");
      cmd_RearR=row.getInt("cmd_RearR");
      current_FrontL=row.getFloat("current_FrontL");
      current_FrontR=row.getFloat("current_FrontR");
      current_RearL=row.getFloat("current_RearL");
      current_RearR=row.getFloat("current_RearR");
      speed_FrontL=row.getInt("speed_FrontL");
      speed_FrontR=row.getInt("speed_FrontR");
      speed_RearL=row.getInt("speed_RearL");
      speed_RearR=row.getInt("speed_RearR");
      temp_Front=row.getFloat("temp_Front");
      temp_Rear=row.getFloat("temp_Rear");
      vbat_Front=row.getFloat("vbat_Front");
      vbat_Rear=row.getFloat("vbat_Rear");
      currentAll=row.getFloat("currentAll");    
      throttle=row.getInt("throttle");
      brake=row.getInt("brake");
          
      if (loopmillis-nextTime>1000 && nextTime>lastTimeData) {//too much behind
        long _timestep=nextTime-lastTimeData; //approximated time step
        nextID+=(loopmillis-nextTime)/_timestep* 0.9; //fast forward estimated time steps
      }
      nextID++;
      nextID=nextID%logdata.getRowCount();
    }
  }
  
  
  
  
  background(bg);
  
  vis_cmd_FrontL.setValue(cmd_FrontL); vis_cmd_FrontL.drawVis();
  vis_cmd_FrontR.setValue(cmd_FrontR); vis_cmd_FrontR.drawVis();
  vis_cmd_RearL.setValue(cmd_RearL); vis_cmd_RearL.drawVis();
  vis_cmd_RearR.setValue(cmd_RearR); vis_cmd_RearR.drawVis();
  
  vis_speed_FrontL.setValue(speed_FrontL); vis_speed_FrontL.drawVis();
  vis_speed_FrontR.setValue(speed_FrontR); vis_speed_FrontR.drawVis();
  vis_speed_RearL.setValue(speed_RearL); vis_speed_RearL.drawVis();
  vis_speed_RearR.setValue(speed_RearR); vis_speed_RearR.drawVis();
  
  vis_current_FrontL.setValue(current_FrontL); vis_current_FrontL.drawVis();
  vis_current_FrontR.setValue(current_FrontR); vis_current_FrontR.drawVis();
  vis_current_RearL.setValue(current_RearL); vis_current_RearL.drawVis(); 
  vis_current_RearR.setValue(current_RearR); vis_current_RearR.drawVis(); 
  
  vis_throttle.setValue(throttle); vis_throttle.drawVis();
  vis_brake.setValue(-brake); vis_brake.drawVis();
  
  int speed_mean=int((speed_FrontL+speed_FrontR+speed_RearL+speed_RearR)/4.0);
  vis_c_speed_mean.setValue(speed_mean); vis_c_speed_mean.drawVis();
  
  vis_currentAll.setValue(currentAll); vis_currentAll.drawVis();
  
  vis_graph_speed_mean.setValue(speed_mean); vis_graph_speed_mean.drawVis();
  vis_graph_currentAll.setValue(currentAll); vis_graph_currentAll.drawVis();
  
  
  
  //Temperature
  PVector pos_temperature = new PVector(220,12);
  colorMode(HSB, 360, 100, 100);
  fill(color(map(temp_Front,16,50,180,360),50,100));
  text("temp_Front="+(temp_Front)+"°C", pos_temperature.x,pos_temperature.y);
  fill(color(map(temp_Rear,16,50,180,360),50,100));
  text("temp_Rear="+(temp_Rear)+"°C", pos_temperature.x,pos_temperature.y+12);
  //Voltage
  PVector pos_voltage = new PVector(pos_temperature.x+150,12);
  colorMode(HSB, 360, 100, 100);
  fill(color(map(vbat_Front,12*3,12*4.2,0,120),50,100));
  text("vbat_Front="+(vbat_Front)+"V", pos_voltage.x,pos_voltage.y);
  fill(color(map(vbat_Rear,12*3,12*4.2,0,120),50,100));
  text("vbat_Rear="+(vbat_Rear)+"V",  pos_voltage.x,pos_voltage.y+12);
  
  
  colorMode(RGB, 255, 255, 255);
  fill(color(200,200,200));
  textAlign(LEFT);
  textSize(vis_textsize);
  text("d="+(nextTime-lastTimeData)+"ms", 5+70,12);
  if (!useSerial && loopmillis-lastTimeData>(nextTime-lastTimeData)*10) { //deviation too high when reading from file
    text("ff="+(loopmillis-lastTimeData)+"ms", 5+70+70,12); //show warning
  }
  
  text("t="+(loopmillis/1000.0)+"s", 5,12);
  
  text(""+(dataErrorCount)+" errors", 5,12+vis_textsize);
  
  
}