interfisch
/
bobbycar
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

csv loading and live display

This commit is contained in:
interfisch 2021-03-21 16:12:51 +01:00
parent ef0661c0a6
commit 834a2ff757
1 changed files with 31 additions and 141 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

174
logdata_visualization/logdata_visualization.pde
View File

@ -1,164 +1,54 @@
import processing.serial.*;
Serial serialport; Visualization visThrottle;
Visualization visVoltage;
Visualization visCurrent;
Visualization visSpeedl;
Visualization visSpeedr;
Visualization visYaw;
Visualization visGT;
Visualization visGT_Vertical;
int speedl=0;
int speedr=0;
int booleanvalues=0;
float voltage = 50;
float current = 0.0;
float yaw=0;
int gt_length=0;
int gt_horizontal=0;
int gt_vertical=0;
long lastReceive=0; //last time serial received long lastTimeData=0; //last time data received
long lastDelay=0;
Table logdata;
int nextID=0; //next row number to be displayed
long nextTime=0; //time of nextID row
//Data from log
int throttle=0;
void setup() { void setup() {
size(640, 450); size(1920, 1080);
frameRate(100); frameRate(100);
printArray(Serial.list()); logdata = loadTable("LOG00008_rumfahren_neu.TXT", "header, csv");
serialport = new Serial(this, Serial.list()[32], 115200);
visVoltage = new BarV(50,150,10,100,10*3.3,12*4.2);
visVoltage.setcmain(color(100,100,100));
//vis = new BarH(150,150,100,10,0,100);
//visVoltage = new Tacho(150,150,100,0,100);
//vis = new Direction(150,150,100,0,100,0,1,0);
visVoltage.setShowMinMax(true); visThrottle = new BarV(20+80,120,10,100,-1000,1000);
visVoltage.setTitle("Voltage [V]"); visThrottle.setTitle("Throttle");
visCurrent= new Tacho(150+100,150,100,0,100);
visCurrent.setShowMinMax(true);
visCurrent.setTitle("Current [A]");
visSpeedl = new BarV(20+80,120,10,100,-1000,1000);
visSpeedl.setTitle("SpeedL");
visSpeedr = new BarV(20,120,10,100,-1000,1000);
visSpeedr.setTitle("SpeedR");
visYaw = new Direction(150+100,120,100,0,360,0,1,0);
visYaw.setTitle("Yaw");
visGT = new Direction(150+100+220,120,100,-127/30*180,127/30*180,0,2500,PI/2+PI);
visGT.setTitle("Gametrak");
visGT_Vertical = new BarV(150+100+220+110,120+50,10,100,-127,127);
visGT_Vertical.setTitle("Vertical");
} }
void draw() { void draw() {
receive(); if (millis()>=nextTime){
TableRow row = logdata.getRow(nextID);
lastTimeData=nextTime;
nextTime=(long)(row.getFloat("time")*1000); //get time and convert from seconds to ms
throttle=row.getInt("throttle");
println(nextTime + " throttle:"+throttle);
nextID++;
nextID=nextID%logdata.getRowCount();
}
background(255); background(255);
visVoltage.setValue(voltage); visThrottle.setValue(throttle);
visCurrent.setValue(current);
visSpeedl.setValue(speedl);
visSpeedr.setValue(speedr);
visYaw.setValue(yaw);
visGT.setValue(-gt_horizontal);
visGT.setValue2(gt_length);
visGT_Vertical.setValue(gt_vertical);
visThrottle.drawVis();
//visVoltage.drawVis();
//visCurrent.drawVis();
visSpeedl.drawVis();
visSpeedr.drawVis();
visYaw.drawVis();
visGT.drawVis();
visGT_Vertical.drawVis();
fill(color(0,0,0)); fill(color(0,0,0));
textSize(12); textSize(12);
long _delay=lastDelay; text("d="+(nextTime-lastTimeData)+"ms", 5,12*2);
if (millis()-lastReceive>1000){ //show counting up if update too long ago
_delay=millis()-lastReceive; text("t="+(millis()/1000.0)+"s", 5,12);
}
text("Delay="+(_delay), 5,12);
}
public void receive()
{
boolean received=false;
byte[] inBuffer = new byte[17];
while(serialport.available()>0) {
inBuffer = serialport.readBytes();
serialport.readBytes(inBuffer);
if (inBuffer != null && inBuffer.length==17) {
received=true;
int _address=0;
speedl = extract_int16_t(inBuffer,_address); _address+=2;
speedr = extract_int16_t(inBuffer,_address); _address+=2;
booleanvalues = extract_uint8_t(inBuffer,_address); _address+=1;
voltage = extract_float(inBuffer, _address); _address+=4;
//current = extract_float(inBuffer,_address);_address+=4;
yaw = extract_float(inBuffer,_address);_address+=4;
gt_length = extract_uint16_t(inBuffer,_address); _address+=2;
gt_horizontal = extract_int8_t(inBuffer,_address); _address+=1;
gt_vertical = extract_int8_t(inBuffer,_address); _address+=1;
//println("yaw="+yaw);
//println("gt_horizontal="+gt_horizontal);
boolean motorenabled=boolean(booleanvalues & (1<<0)>>0); //check bit 0
int controlmode=(booleanvalues & (3<<1))>>1; //check bit 1 and 2
println("motorenabled="+motorenabled+" controlmode="+controlmode);
}
}
if (received){
lastDelay=millis()-lastReceive;
lastReceive=millis();
}
}
public int extract_int8_t(byte array[], int startbyte) {
if ( ((int)array[startbyte] & 0x80) == 0x00 ) { //2's complement, not negative
return ((int)array[startbyte] & 0xff);
}else{
return -128 + ( (int)array[startbyte] & 0x7f);
}
}
public int extract_uint8_t(byte array[], int startbyte) {
return ((int)array[startbyte] & 0xff);
}
public int extract_uint16_t(byte array[], int startbyte) {
return ((int)array[startbyte] & 0xff) | ((int)array[startbyte+1] & 0xff)<<8;
}
public int extract_int16_t(byte array[], int startbyte) {
if ( ((int)array[startbyte+1] & 0x80) == 0x00 ) { //2's complement, not negative
return ( ((int)array[startbyte] & 0xff) | ((int)array[startbyte+1] & 0x7f)<<8 );
}else{ //value is negative
return -32768 + ( ((int)array[startbyte] & 0xff) | ((int)array[startbyte+1] & 0x7f)<<8 );
}
}
public float extract_float(byte array[], int startbyte) {
int MASK = 0xff;
int bits = 0;
int i = startbyte+3; //+3 because goes backwards and has 4 bytes
for (int shifter = 3; shifter >= 0; shifter--) {
bits |= ((int) array[i] & MASK) << (shifter * 8);
i--;
}
return Float.intBitsToFloat(bits);
} }