csv loading and live display
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ef0661c0a6
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834a2ff757
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@ -1,164 +1,54 @@
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import processing.serial.*;
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Serial serialport;
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Visualization visVoltage;
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Visualization visCurrent;
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Visualization visSpeedl;
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Visualization visSpeedr;
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Visualization visYaw;
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Visualization visGT;
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Visualization visGT_Vertical;
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Visualization visThrottle;
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int speedl=0;
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int speedr=0;
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int booleanvalues=0;
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float voltage = 50;
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float current = 0.0;
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float yaw=0;
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int gt_length=0;
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int gt_horizontal=0;
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int gt_vertical=0;
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long lastReceive=0; //last time serial received
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long lastDelay=0;
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long lastTimeData=0; //last time data received
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Table logdata;
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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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void setup() {
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size(640, 450);
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size(1920, 1080);
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frameRate(100);
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printArray(Serial.list());
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serialport = new Serial(this, Serial.list()[32], 115200);
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logdata = loadTable("LOG00008_rumfahren_neu.TXT", "header, csv");
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visVoltage = new BarV(50,150,10,100,10*3.3,12*4.2);
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visVoltage.setcmain(color(100,100,100));
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//vis = new BarH(150,150,100,10,0,100);
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//visVoltage = new Tacho(150,150,100,0,100);
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//vis = new Direction(150,150,100,0,100,0,1,0);
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visVoltage.setShowMinMax(true);
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visVoltage.setTitle("Voltage [V]");
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visCurrent= new Tacho(150+100,150,100,0,100);
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visCurrent.setShowMinMax(true);
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visCurrent.setTitle("Current [A]");
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visSpeedl = new BarV(20+80,120,10,100,-1000,1000);
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visSpeedl.setTitle("SpeedL");
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visSpeedr = new BarV(20,120,10,100,-1000,1000);
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visSpeedr.setTitle("SpeedR");
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visYaw = new Direction(150+100,120,100,0,360,0,1,0);
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visYaw.setTitle("Yaw");
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visGT = new Direction(150+100+220,120,100,-127/30*180,127/30*180,0,2500,PI/2+PI);
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visGT.setTitle("Gametrak");
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visGT_Vertical = new BarV(150+100+220+110,120+50,10,100,-127,127);
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visGT_Vertical.setTitle("Vertical");
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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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receive();
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if (millis()>=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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throttle=row.getInt("throttle");
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println(nextTime + " throttle:"+throttle);
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nextID++;
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nextID=nextID%logdata.getRowCount();
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}
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background(255);
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visVoltage.setValue(voltage);
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visCurrent.setValue(current);
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visSpeedl.setValue(speedl);
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visSpeedr.setValue(speedr);
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visYaw.setValue(yaw);
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visGT.setValue(-gt_horizontal);
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visGT.setValue2(gt_length);
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visGT_Vertical.setValue(gt_vertical);
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visThrottle.setValue(throttle);
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//visVoltage.drawVis();
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//visCurrent.drawVis();
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visSpeedl.drawVis();
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visSpeedr.drawVis();
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visYaw.drawVis();
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visGT.drawVis();
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visGT_Vertical.drawVis();
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visThrottle.drawVis();
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fill(color(0,0,0));
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textSize(12);
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long _delay=lastDelay;
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if (millis()-lastReceive>1000){ //show counting up if update too long ago
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_delay=millis()-lastReceive;
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}
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text("Delay="+(_delay), 5,12);
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}
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text("d="+(nextTime-lastTimeData)+"ms", 5,12*2);
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public void receive()
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{
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boolean received=false;
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byte[] inBuffer = new byte[17];
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while(serialport.available()>0) {
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inBuffer = serialport.readBytes();
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serialport.readBytes(inBuffer);
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if (inBuffer != null && inBuffer.length==17) {
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received=true;
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int _address=0;
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speedl = extract_int16_t(inBuffer,_address); _address+=2;
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speedr = extract_int16_t(inBuffer,_address); _address+=2;
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booleanvalues = extract_uint8_t(inBuffer,_address); _address+=1;
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voltage = extract_float(inBuffer, _address); _address+=4;
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//current = extract_float(inBuffer,_address);_address+=4;
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yaw = extract_float(inBuffer,_address);_address+=4;
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gt_length = extract_uint16_t(inBuffer,_address); _address+=2;
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gt_horizontal = extract_int8_t(inBuffer,_address); _address+=1;
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gt_vertical = extract_int8_t(inBuffer,_address); _address+=1;
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//println("yaw="+yaw);
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//println("gt_horizontal="+gt_horizontal);
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boolean motorenabled=boolean(booleanvalues & (1<<0)>>0); //check bit 0
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int controlmode=(booleanvalues & (3<<1))>>1; //check bit 1 and 2
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println("motorenabled="+motorenabled+" controlmode="+controlmode);
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}
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}
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if (received){
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lastDelay=millis()-lastReceive;
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lastReceive=millis();
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}
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}
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public int extract_int8_t(byte array[], int startbyte) {
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if ( ((int)array[startbyte] & 0x80) == 0x00 ) { //2's complement, not negative
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return ((int)array[startbyte] & 0xff);
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}else{
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return -128 + ( (int)array[startbyte] & 0x7f);
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}
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}
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public int extract_uint8_t(byte array[], int startbyte) {
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return ((int)array[startbyte] & 0xff);
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}
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public int extract_uint16_t(byte array[], int startbyte) {
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return ((int)array[startbyte] & 0xff) | ((int)array[startbyte+1] & 0xff)<<8;
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}
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public int extract_int16_t(byte array[], int startbyte) {
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if ( ((int)array[startbyte+1] & 0x80) == 0x00 ) { //2's complement, not negative
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return ( ((int)array[startbyte] & 0xff) | ((int)array[startbyte+1] & 0x7f)<<8 );
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}else{ //value is negative
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return -32768 + ( ((int)array[startbyte] & 0xff) | ((int)array[startbyte+1] & 0x7f)<<8 );
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}
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}
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public float extract_float(byte array[], int startbyte) {
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int MASK = 0xff;
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int bits = 0;
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int i = startbyte+3; //+3 because goes backwards and has 4 bytes
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for (int shifter = 3; shifter >= 0; shifter--) {
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bits |= ((int) array[i] & MASK) << (shifter * 8);
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i--;
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}
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return Float.intBitsToFloat(bits);
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text("t="+(millis()/1000.0)+"s", 5,12);
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}
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