implement cmd, speed and current for all four wheels
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834a2ff757
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29a15054a9
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@ -17,12 +17,12 @@ abstract class Visualization
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boolean showMinMax=false;
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//default colors (not all used by every implementation)
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color cmain = color(0,0,0);
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color cmain = color(255,255,255);
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color cscale = color(100,100,100);
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color cborder = color(204,104,0);
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color cborder = color(200,200,200);
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color cmin = color(0,150,0);
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color cmax = color(150,0,0);
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color ctext = color(0,0,0);
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color ctext = color(255,255,255);
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int textsize=12;
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float textWidthScale=1.0/2*this.textsize/2; //*text.length()*
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@ -153,14 +153,67 @@ public class BarV extends Visualization {
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fill(super.ctext);
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text(super.getFormattedValue(super.valueMin),super.posOrigin.x+this.size.x+1,super.posOrigin.y+super.textsize/2);
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text(super.getFormattedValue(super.valueMax),super.posOrigin.x+this.size.x+1,super.posOrigin.y-this.size.y+super.textsize/2);
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text(super.getFormattedValue(super.value),super.posOrigin.x+this.size.x+1,super.posOrigin.y-this.size.y/2+super.textsize/2);
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textAlign(LEFT);
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text(super.getFormattedValue(super.value),super.posOrigin.x+this.size.x+1,super.posOrigin.y+super.textsize/2-this.size.y/2); //display value
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//Title
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text(super.title, super.posOrigin.x-super.title.length()*super.textWidthScale, super.posOrigin.y+super.textsize*1.5);
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textAlign(CENTER);
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text(super.title, super.posOrigin.x+this.size.x/2, super.posOrigin.y-this.size.y-1);
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}
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}
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public class BarV_cmd extends Visualization {
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PVector size = new PVector(10,100);
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public BarV_cmd(int px, int py, int pw, int ph, float pvmin, float pvmax) {
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super.valueMin=pvmin;
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super.valueMax=pvmax;
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super.posOrigin= new PVector(px,py); //lower left corner
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this.size = new PVector(pw,ph); //to the right and up
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}
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public void drawVis() {
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rectMode(CORNERS);
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textSize(super.textsize);
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fill(super.cmain); noStroke();
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int zeroy=(int)map(0,super.valueMin,super.valueMax,0,this.size.y);
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rect(super.posOrigin.x,super.posOrigin.y-zeroy,super.posOrigin.x+this.size.x,super.posOrigin.y-( this.size.y*super.getValueNormalized()) );
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if (!Float.isNaN(super.valueMinRecord)){
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stroke(super.cmin);
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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()) );
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}
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if (!Float.isNaN(super.valueMaxRecord)){
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stroke(super.cmax);
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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()) );
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}
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noFill(); stroke(this.cborder);
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rect(super.posOrigin.x,super.posOrigin.y,super.posOrigin.x+this.size.x,super.posOrigin.y- this.size.y );
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line(super.posOrigin.x,super.posOrigin.y-zeroy,super.posOrigin.x+this.size.x,super.posOrigin.y-zeroy); //zero line
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//text
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fill(super.ctext);
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//text(super.getFormattedValue(super.valueMin),super.posOrigin.x+this.size.x+1,super.posOrigin.y+super.textsize/2);
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//text(super.getFormattedValue(super.valueMax),super.posOrigin.x+this.size.x+1,super.posOrigin.y-this.size.y+super.textsize/2);
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textAlign(RIGHT);
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text(super.getFormattedValue(super.value),super.posOrigin.x+this.size.x/2+super.textWidthScale*3,super.posOrigin.y+super.textsize); //display value
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//Title
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textAlign(LEFT);
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text(super.title, super.posOrigin.x, super.posOrigin.y-this.size.y-1);
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}
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}
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public class BarH extends Visualization {
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PVector size = new PVector(10,100);
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@ -1,5 +1,20 @@
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Visualization visThrottle;
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int vis_textsize=12; //copy from Visualization class
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Visualization vis_cmd_FrontL;
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Visualization vis_cmd_FrontR;
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Visualization vis_cmd_RearL;
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Visualization vis_cmd_RearR;
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Visualization vis_current_FrontL;
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Visualization vis_current_FrontR;
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Visualization vis_current_RearL;
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Visualization vis_current_RearR;
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Visualization vis_speed_FrontL;
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Visualization vis_speed_FrontR;
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Visualization vis_speed_RearL;
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Visualization vis_speed_RearR;
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long lastTimeData=0; //last time data received
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@ -10,7 +25,25 @@ int nextID=0; //next row number to be displayed
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long nextTime=0; //time of nextID row
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//Data from log
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int throttle=0;
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int cmd_FrontL;
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int cmd_FrontR;
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int cmd_RearL;
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int cmd_RearR;
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float current_FrontL;
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float current_FrontR;
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float current_RearL;
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float current_RearR;
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int speed_FrontL;
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int speed_FrontR;
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int speed_RearL;
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int speed_RearR;
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float temp_Front;
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float temp_Rear;
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float vbat_Front;
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float vbat_Rear;
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float currentAll;
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int throttle;
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int brake;
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void setup() {
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size(1920, 1080);
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@ -18,22 +51,104 @@ void setup() {
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logdata = loadTable("LOG00008_rumfahren_neu.TXT", "header, csv");
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println("loaded "+logdata.getRowCount()+" lines. Times: "+logdata.getRow(0).getFloat("time")+"s to "+logdata.getRow(logdata.getRowCount()-1).getFloat("time")+"s");
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PVector pos_vis_cmd = new PVector(100,150);
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PVector size_vis_cmd = new PVector(10,100);
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PVector dist_vis_cmd = new PVector(80,150);
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//cmd
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color c_cmd=color(255,50,0);
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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);
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vis_cmd_FrontL.setTitle("");
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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);
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vis_cmd_FrontR.setTitle("cmd");
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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);
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vis_cmd_RearL.setTitle("");
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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);
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vis_cmd_RearR.setTitle("");
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vis_cmd_FrontL.setcmain(c_cmd);
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vis_cmd_FrontR.setcmain(c_cmd);
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vis_cmd_RearL.setcmain(c_cmd);
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vis_cmd_RearR.setcmain(c_cmd);
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// Speed
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color c_speed=color(50,50,255);
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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);
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vis_speed_FrontL.setTitle("");
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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);
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vis_speed_FrontR.setTitle("speed");
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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);
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vis_speed_RearL.setTitle("");
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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);
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vis_speed_RearR.setTitle("");
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vis_speed_FrontL.setcmain(c_speed);
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vis_speed_FrontR.setcmain(c_speed);
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vis_speed_RearL.setcmain(c_speed);
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vis_speed_RearR.setcmain(c_speed);
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// Current
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color c_current=color(255,200,50);
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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);
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vis_current_FrontL.setTitle("");
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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);
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vis_current_FrontR.setTitle("current");
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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);
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vis_current_RearL.setTitle("");
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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);
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vis_current_RearR.setTitle("");
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vis_current_FrontL.setcmain(c_current);
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vis_current_FrontR.setcmain(c_current);
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vis_current_RearL.setcmain(c_current);
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vis_current_RearR.setcmain(c_current);
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visThrottle = new BarV(20+80,120,10,100,-1000,1000);
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visThrottle.setTitle("Throttle");
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}
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void draw() {
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if (millis()>=nextTime){
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long loopmillis=millis()+25000;
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if (loopmillis>=nextTime){
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TableRow row = logdata.getRow(nextID);
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lastTimeData=nextTime;
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nextTime=(long)(row.getFloat("time")*1000); //get time and convert from seconds to ms
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cmd_FrontL=row.getInt("cmd_FrontL");
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cmd_FrontR=row.getInt("cmd_FrontR");
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cmd_RearL=row.getInt("cmd_RearL");
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cmd_RearR=row.getInt("cmd_RearR");
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current_FrontL=row.getFloat("current_FrontL");
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current_FrontR=row.getFloat("current_FrontR");
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current_RearL=row.getFloat("current_RearL");
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current_RearR=row.getFloat("current_RearR");
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speed_FrontL=row.getInt("speed_FrontL");
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speed_FrontR=row.getInt("speed_FrontR");
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speed_RearL=row.getInt("speed_RearL");
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speed_RearR=row.getInt("speed_RearR");
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temp_Front=row.getFloat("temp_Front");
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temp_Rear=row.getFloat("temp_Rear");
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vbat_Front=row.getFloat("vbat_Front");
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vbat_Rear=row.getFloat("vbat_Rear");
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currentAll=row.getFloat("currentAll");
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throttle=row.getInt("throttle");
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println(nextTime + " throttle:"+throttle);
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brake=row.getInt("brake");
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if (loopmillis-nextTime>1000) {//too much behind
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long _timestep=nextTime-lastTimeData; //approximated time step
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nextID+=(loopmillis-nextTime)/_timestep* 0.9; //fast forward estimated time steps
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}
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nextID++;
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nextID=nextID%logdata.getRowCount();
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}
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@ -41,14 +156,33 @@ void draw() {
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background(255);
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visThrottle.setValue(throttle);
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background(0,0,0);
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visThrottle.drawVis();
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vis_cmd_FrontL.setValue(cmd_FrontL); vis_cmd_FrontL.drawVis();
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vis_cmd_FrontR.setValue(cmd_FrontR); vis_cmd_FrontR.drawVis();
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vis_cmd_RearL.setValue(cmd_RearL); vis_cmd_RearL.drawVis();
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vis_cmd_RearR.setValue(cmd_RearR); vis_cmd_RearR.drawVis();
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fill(color(0,0,0));
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vis_speed_FrontL.setValue(speed_FrontL); vis_speed_FrontL.drawVis();
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vis_speed_FrontR.setValue(speed_FrontR); vis_speed_FrontR.drawVis();
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vis_speed_RearL.setValue(speed_RearL); vis_speed_RearL.drawVis();
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vis_speed_RearR.setValue(speed_RearR); vis_speed_RearR.drawVis();
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vis_current_FrontL.setValue(-current_FrontL); vis_current_FrontL.drawVis();
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vis_current_FrontR.setValue(-current_FrontR); vis_current_FrontR.drawVis();
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vis_current_RearL.setValue(-current_RearL); vis_current_RearL.drawVis();
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vis_current_RearR.setValue(-current_RearR); vis_current_RearR.drawVis();
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fill(color(200,200,200));
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textAlign(LEFT);
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textSize(12);
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text("d="+(nextTime-lastTimeData)+"ms", 5,12*2);
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text("t="+(millis()/1000.0)+"s", 5,12);
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text("d="+(nextTime-lastTimeData)+"ms", 5+70,12);
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if (loopmillis-lastTimeData>(nextTime-lastTimeData)*10) { //
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text("ff="+(loopmillis-lastTimeData)+"ms", 5+70+70,12);
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}
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text("t="+(loopmillis/1000.0)+"s", 5,12);
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}
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