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implement cmd, speed and current for all four wheels

This commit is contained in:
interfisch 2021-03-21 17:30:07 +01:00
parent 834a2ff757
commit 29a15054a9
2 changed files with 205 additions and 18 deletions
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63
logdata_visualization/Visualization.pde
View File

@ -17,12 +17,12 @@ abstract class Visualization
boolean showMinMax=false; boolean showMinMax=false;
//default colors (not all used by every implementation) //default colors (not all used by every implementation)
color cmain = color(0,0,0); color cmain = color(255,255,255);
color cscale = color(100,100,100); color cscale = color(100,100,100);
color cborder = color(204,104,0); color cborder = color(200,200,200);
color cmin = color(0,150,0); color cmin = color(0,150,0);
color cmax = color(150,0,0); color cmax = color(150,0,0);
color ctext = color(0,0,0); color ctext = color(255,255,255);
int textsize=12; int textsize=12;
float textWidthScale=1.0/2*this.textsize/2; //*text.length()* float textWidthScale=1.0/2*this.textsize/2; //*text.length()*
@ -153,14 +153,67 @@ public class BarV extends Visualization {
fill(super.ctext); fill(super.ctext);
text(super.getFormattedValue(super.valueMin),super.posOrigin.x+this.size.x+1,super.posOrigin.y+super.textsize/2); text(super.getFormattedValue(super.valueMin),super.posOrigin.x+this.size.x+1,super.posOrigin.y+super.textsize/2);
text(super.getFormattedValue(super.valueMax),super.posOrigin.x+this.size.x+1,super.posOrigin.y-this.size.y+super.textsize/2); text(super.getFormattedValue(super.valueMax),super.posOrigin.x+this.size.x+1,super.posOrigin.y-this.size.y+super.textsize/2);
text(super.getFormattedValue(super.value),super.posOrigin.x+this.size.x+1,super.posOrigin.y-this.size.y/2+super.textsize/2); textAlign(LEFT);
text(super.getFormattedValue(super.value),super.posOrigin.x+this.size.x+1,super.posOrigin.y+super.textsize/2-this.size.y/2); //display value
//Title //Title
text(super.title, super.posOrigin.x-super.title.length()*super.textWidthScale, super.posOrigin.y+super.textsize*1.5); textAlign(CENTER);
text(super.title, super.posOrigin.x+this.size.x/2, super.posOrigin.y-this.size.y-1);
} }
} }
public class BarV_cmd extends Visualization {
PVector size = new PVector(10,100);
public BarV_cmd(int px, int py, int pw, int ph, float pvmin, float pvmax) {
super.valueMin=pvmin;
super.valueMax=pvmax;
super.posOrigin= new PVector(px,py); //lower left corner
this.size = new PVector(pw,ph); //to the right and up
}
public void drawVis() {
rectMode(CORNERS);
textSize(super.textsize);
fill(super.cmain); noStroke();
int zeroy=(int)map(0,super.valueMin,super.valueMax,0,this.size.y);
rect(super.posOrigin.x,super.posOrigin.y-zeroy,super.posOrigin.x+this.size.x,super.posOrigin.y-( this.size.y*super.getValueNormalized()) );
if (!Float.isNaN(super.valueMinRecord)){
stroke(super.cmin);
line(super.posOrigin.x,super.posOrigin.y-( this.size.y*super.getValueMinNormalized()) ,super.posOrigin.x+this.size.x,super.posOrigin.y-( this.size.y*super.getValueMinNormalized()) );
}
if (!Float.isNaN(super.valueMaxRecord)){
stroke(super.cmax);
line(super.posOrigin.x, super.posOrigin.y-( this.size.y*super.getValueMaxNormalized()), super.posOrigin.x+this.size.x,super.posOrigin.y-( this.size.y*super.getValueMaxNormalized()) );
}
noFill(); stroke(this.cborder);
rect(super.posOrigin.x,super.posOrigin.y,super.posOrigin.x+this.size.x,super.posOrigin.y- this.size.y );
line(super.posOrigin.x,super.posOrigin.y-zeroy,super.posOrigin.x+this.size.x,super.posOrigin.y-zeroy); //zero line
//text
fill(super.ctext);
//text(super.getFormattedValue(super.valueMin),super.posOrigin.x+this.size.x+1,super.posOrigin.y+super.textsize/2);
//text(super.getFormattedValue(super.valueMax),super.posOrigin.x+this.size.x+1,super.posOrigin.y-this.size.y+super.textsize/2);
textAlign(RIGHT);
text(super.getFormattedValue(super.value),super.posOrigin.x+this.size.x/2+super.textWidthScale*3,super.posOrigin.y+super.textsize); //display value
//Title
textAlign(LEFT);
text(super.title, super.posOrigin.x, super.posOrigin.y-this.size.y-1);
}
}
public class BarH extends Visualization { public class BarH extends Visualization {
PVector size = new PVector(10,100); PVector size = new PVector(10,100);

160
logdata_visualization/logdata_visualization.pde
View File

@ -1,5 +1,20 @@
Visualization visThrottle; int vis_textsize=12; //copy from Visualization class
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;
long lastTimeData=0; //last time data received long lastTimeData=0; //last time data received
@ -10,7 +25,25 @@ int nextID=0; //next row number to be displayed
long nextTime=0; //time of nextID row long nextTime=0; //time of nextID row
//Data from log //Data from log
int throttle=0; 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;
void setup() { void setup() {
size(1920, 1080); size(1920, 1080);
@ -18,22 +51,104 @@ void setup() {
logdata = loadTable("LOG00008_rumfahren_neu.TXT", "header, csv"); logdata = loadTable("LOG00008_rumfahren_neu.TXT", "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);
//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_FrontL.setTitle("");
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_RearL.setTitle("");
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_RearR.setTitle("");
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_FrontL.setTitle("");
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.setTitle("");
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_RearR.setTitle("");
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_FrontL.setTitle("");
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.setTitle("");
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_RearR.setTitle("");
vis_current_FrontL.setcmain(c_current);
vis_current_FrontR.setcmain(c_current);
vis_current_RearL.setcmain(c_current);
vis_current_RearR.setcmain(c_current);
visThrottle = new BarV(20+80,120,10,100,-1000,1000);
visThrottle.setTitle("Throttle");
} }
void draw() { void draw() {
if (millis()>=nextTime){ long loopmillis=millis()+25000;
if (loopmillis>=nextTime){
TableRow row = logdata.getRow(nextID); TableRow row = logdata.getRow(nextID);
lastTimeData=nextTime; lastTimeData=nextTime;
nextTime=(long)(row.getFloat("time")*1000); //get time and convert from seconds to ms 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"); throttle=row.getInt("throttle");
println(nextTime + " throttle:"+throttle); brake=row.getInt("brake");
if (loopmillis-nextTime>1000) {//too much behind
long _timestep=nextTime-lastTimeData; //approximated time step
nextID+=(loopmillis-nextTime)/_timestep* 0.9; //fast forward estimated time steps
}
nextID++; nextID++;
nextID=nextID%logdata.getRowCount(); nextID=nextID%logdata.getRowCount();
} }
@ -41,14 +156,33 @@ void draw() {
background(255); background(0,0,0);
visThrottle.setValue(throttle);
visThrottle.drawVis(); 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();
fill(color(0,0,0)); 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();
fill(color(200,200,200));
textAlign(LEFT);
textSize(12); textSize(12);
text("d="+(nextTime-lastTimeData)+"ms", 5,12*2); text("d="+(nextTime-lastTimeData)+"ms", 5+70,12);
if (loopmillis-lastTimeData>(nextTime-lastTimeData)*10) { //
text("ff="+(loopmillis-lastTimeData)+"ms", 5+70+70,12);
}
text("t="+(millis()/1000.0)+"s", 5,12); text("t="+(loopmillis/1000.0)+"s", 5,12);
} }