This commit is contained in:
interfisch 2021-03-21 19:03:52 +01:00
commit b10c20d8cd
4 changed files with 468 additions and 153 deletions

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@ -0,0 +1,8 @@
# Bobbycar OSD
This processing software can display log information from the bobbycar in realime.
It is used alongside the controller_teensy firmware.
Log information is constantly printed out on one serial interface and can be written either to an sd card or transmitted via rf or bluetooth.
![screenshot](Screenshot.png "Screenshot")

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@ -17,18 +17,19 @@ 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()*
int showdecimals=2; int showdecimals=2;
String title=""; String title="";
String valueUnit="";
public abstract void drawVis(); public abstract void drawVis();
@ -105,6 +106,10 @@ abstract class Visualization
this.title=pt; this.title=pt;
} }
public void setValueUnit(String pt) {
this.valueUnit=pt;
}
public void setshowdecimals(int pd) { public void setshowdecimals(int pd) {
this.showdecimals=pd; this.showdecimals=pd;
} }
@ -151,16 +156,72 @@ public class BarV extends Visualization {
//text //text
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)+valueUnit,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)+valueUnit,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)+valueUnit,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
textAlign(LEFT);
text(valueUnit,super.posOrigin.x+this.size.x/2+super.textWidthScale*3,super.posOrigin.y+super.textsize); //display unit on the right without disturbing alignment
//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);
@ -192,9 +253,9 @@ public class BarH extends Visualization {
//text //text
fill(super.ctext); fill(super.ctext);
text(super.getFormattedValue(super.valueMin),super.posOrigin.x-super.getFormattedValue(super.valueMin).length()*super.textWidthScale,super.posOrigin.y-this.size.y-1); text(super.getFormattedValue(super.valueMin)+valueUnit,super.posOrigin.x-super.getFormattedValue(super.valueMin).length()*super.textWidthScale,super.posOrigin.y-this.size.y-1);
text(super.getFormattedValue(super.valueMax),super.posOrigin.x+this.size.x-super.getFormattedValue(super.valueMax).length()*super.textWidthScale,super.posOrigin.y-this.size.y-1); text(super.getFormattedValue(super.valueMax)+valueUnit,super.posOrigin.x+this.size.x-super.getFormattedValue(super.valueMax).length()*super.textWidthScale,super.posOrigin.y-this.size.y-1);
text(super.getFormattedValue(super.value),super.posOrigin.x+this.size.x/2-super.getFormattedValue(super.value).length()*super.textWidthScale,super.posOrigin.y-this.size.y-1); text(super.getFormattedValue(super.value)+valueUnit,super.posOrigin.x+this.size.x/2-super.getFormattedValue(super.value).length()*super.textWidthScale,super.posOrigin.y-this.size.y-1);
//Title //Title
@ -203,6 +264,53 @@ public class BarH extends Visualization {
} }
} }
public class BarH_cmd extends Visualization {
PVector size = new PVector(10,100);
public BarH_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);
int zerox=(int)map(0,super.valueMin,super.valueMax,0,this.size.x);
fill(super.cmain); noStroke();
rect(super.posOrigin.x+zerox,super.posOrigin.y,super.posOrigin.x+( this.size.x*super.getValueNormalized()),super.posOrigin.y- this.size.y );
if (!Float.isNaN(super.valueMinRecord)){
stroke(super.cmin);
line(super.posOrigin.x+( this.size.x*super.getValueMinNormalized()),super.posOrigin.y,super.posOrigin.x+( this.size.x*super.getValueMinNormalized()),super.posOrigin.y- this.size.y );
}
if (!Float.isNaN(super.valueMaxRecord)){
stroke(super.cmax);
line(super.posOrigin.x+( this.size.x*super.getValueMaxNormalized()),super.posOrigin.y,super.posOrigin.x+( this.size.x*super.getValueMaxNormalized()),super.posOrigin.y- this.size.y );
}
noFill(); stroke(super.cborder);
rect(super.posOrigin.x,super.posOrigin.y,super.posOrigin.x+this.size.x,super.posOrigin.y- this.size.y );
//text
fill(super.ctext);
//text(super.getFormattedValue(super.valueMin),super.posOrigin.x-super.getFormattedValue(super.valueMin).length()*super.textWidthScale,super.posOrigin.y-this.size.y-1);
//text(super.getFormattedValue(super.valueMax),super.posOrigin.x+this.size.x-super.getFormattedValue(super.valueMax).length()*super.textWidthScale,super.posOrigin.y-this.size.y-1);
text(super.getFormattedValue(super.value)+valueUnit,super.posOrigin.x+this.size.x/2-super.getFormattedValue(super.value).length()*super.textWidthScale,super.posOrigin.y-this.size.y-1);
//Title
text(super.title, super.posOrigin.x+this.size.x/2-super.title.length()*super.textWidthScale,super.posOrigin.y+this.textsize+1);
}
}
public class Tacho extends Visualization { public class Tacho extends Visualization {
int size; int size;
@ -244,7 +352,7 @@ public class Tacho extends Visualization {
} }
//text //text
text(super.getFormattedValue(super.value),super.posOrigin.x-super.getFormattedValue(super.value).length()*super.textWidthScale,super.posOrigin.y+super.textsize/2-this.size*0.3); text(super.getFormattedValue(super.value)+valueUnit,super.posOrigin.x-super.getFormattedValue(super.value).length()*super.textWidthScale,super.posOrigin.y+super.textsize/2-this.size*0.3);
//Title //Title
text(super.title, super.posOrigin.x-super.title.length()*super.textWidthScale, super.posOrigin.y+super.textsize*1.5); text(super.title, super.posOrigin.x-super.title.length()*super.textWidthScale, super.posOrigin.y+super.textsize*1.5);
@ -314,9 +422,9 @@ public class Direction extends Visualization {
//text //text
fill(super.ctext); fill(super.ctext);
text(super.getFormattedValue(super.value),super.posOrigin.x-super.getFormattedValue(super.value).length()*super.textWidthScale,super.posOrigin.y+super.textsize*1.5*1); text(super.getFormattedValue(super.value)+valueUnit,super.posOrigin.x-super.getFormattedValue(super.value).length()*super.textWidthScale,super.posOrigin.y+super.textsize*1.5*1);
if (super.value2<super.value2Max){ //display only if in use if (super.value2<super.value2Max){ //display only if in use
text("l="+super.getFormattedValue(super.value2),super.posOrigin.x-("l="+super.getFormattedValue(super.value2)).length()*super.textWidthScale,super.posOrigin.y+super.textsize*1.5*2); text("l="+super.getFormattedValue(super.value2)+valueUnit,super.posOrigin.x-("l="+super.getFormattedValue(super.value2)).length()*super.textWidthScale,super.posOrigin.y+super.textsize*1.5*2);
} }
//Title //Title
@ -376,6 +484,8 @@ public class GraphRoll extends Visualization {
stroke(super.cborder); stroke(super.cborder);
noFill(); noFill();
rect(super.posOrigin.x,super.posOrigin.y,super.posOrigin.x+this.size.x,super.posOrigin.y-this.size.y); rect(super.posOrigin.x,super.posOrigin.y,super.posOrigin.x+this.size.x,super.posOrigin.y-this.size.y);
int zeroy=(int)map(0,super.valueMin,super.valueMax,0,this.size.y);
line(super.posOrigin.x,super.posOrigin.y-zeroy,super.posOrigin.x+this.size.x,super.posOrigin.y-zeroy);
noFill(); noFill();
int _cpos=this.arraypos; int _cpos=this.arraypos;
@ -409,9 +519,109 @@ public class GraphRoll extends Visualization {
//text //text
fill(super.ctext); fill(super.ctext);
text(super.getFormattedValue(super.value), super.posOrigin.x+this.size.x-50, super.posOrigin.y+super.textsize*1.5); text(super.getFormattedValue(super.value)+valueUnit, super.posOrigin.x+this.size.x-50, super.posOrigin.y+super.textsize*1.5);
text(super.getFormattedValue(super.valueMin), super.posOrigin.x+this.size.x+1, super.posOrigin.y+super.textsize*0.5-1); text(super.getFormattedValue(super.valueMin)+valueUnit, super.posOrigin.x+this.size.x+1, super.posOrigin.y+super.textsize*0.5-1);
text(super.getFormattedValue(super.valueMax), super.posOrigin.x+this.size.x+1, super.posOrigin.y-this.size.y+super.textsize*0.5-1); text(super.getFormattedValue(super.valueMax)+valueUnit, super.posOrigin.x+this.size.x+1, super.posOrigin.y-this.size.y+super.textsize*0.5-1);
//Title
text(super.title, super.posOrigin.x, super.posOrigin.y+super.textsize*1.5);
}
}
public class GraphRoll_minimal extends Visualization {
PVector size;
float[] valuearray;
float[] valueMinarray;
float[] valueMaxarray;
int arraypos;
int recordevery=1; //minimum value =1, the higher the slower
int recordevery_counter=0;
public GraphRoll_minimal(int px, int py, int psx, int psy,float pvmin, float pvmax,int precordevery) {
super.valueMin=pvmin;
super.valueMax=pvmax;
super.posOrigin= new PVector(px,py); //center
this.size = new PVector(psx,psy);
this.recordevery= precordevery;
this.valuearray = new float[psx]; //array size equals window width
this.arraypos=0; //points to position to write to next (current value is at arraypos-1)
this.valueMinarray = new float[psx];
this.valueMaxarray = new float[psx];
}
public void drawVis() {
//update history
this.recordevery_counter++;
if (this.recordevery_counter>=this.recordevery){
this.valuearray[this.arraypos]=super.getValueNormalized();
this.arraypos++;
this.arraypos%=this.valuearray.length;
this.recordevery_counter=0;
if (super.showMinMax) {
this.valueMinarray[this.arraypos]=super.getValueMinNormalized();
this.valueMaxarray[this.arraypos]=super.getValueMaxNormalized();
super.valueMinRecord=Float.NaN;
super.valueMaxRecord=Float.NaN;
}
}
rectMode(CORNERS);
textSize(super.textsize);
stroke(super.cborder);
noFill();
rect(super.posOrigin.x,super.posOrigin.y,super.posOrigin.x+this.size.x,super.posOrigin.y-this.size.y);
int zeroy=(int)map(0,super.valueMin,super.valueMax,0,this.size.y);
int dotlength=10;
float dotlengthpercentage=0.2; //0 to 1. the lower the less dot length
for(int _xdot=(int)super.posOrigin.x; _xdot+dotlength<=super.posOrigin.x+this.size.x; _xdot+=dotlength) {
//line(super.posOrigin.x,super.posOrigin.y-zeroy,super.posOrigin.x+this.size.x,super.posOrigin.y-zeroy); //zero line
line(_xdot,super.posOrigin.y-zeroy,_xdot+dotlength*dotlengthpercentage,super.posOrigin.y-zeroy); //zero line
}
noFill();
int _cpos=this.arraypos;
int _x=0; //position of _ya
while (_cpos!=((this.arraypos-1+this.valuearray.length)%this.valuearray.length)) { //go trough all values starting at oldest value
float _ya=this.valuearray[_cpos];
float _yb=this.valuearray[(_cpos+1)%this.valuearray.length];
//float _yaMin=this.valueMinarray[_cpos];
float _ybMin=this.valueMinarray[(_cpos+1)%this.valuearray.length];
float _ybMax=this.valueMaxarray[(_cpos+1)%this.valuearray.length];
if (super.showMinMax) {
stroke(super.cmin);
//line(super.posOrigin.x+_x,super.posOrigin.y-_yaMin*this.size.y, super.posOrigin.x+_x+1,super.posOrigin.y-_ybMin*this.size.y);
line(super.posOrigin.x+_x+1,super.posOrigin.y-_ybMin*this.size.y, super.posOrigin.x+_x+1,super.posOrigin.y-_yb*this.size.y);
stroke(super.cmax);
line(super.posOrigin.x+_x+1,super.posOrigin.y-_yb*this.size.y, super.posOrigin.x+_x+1,super.posOrigin.y-_ybMax*this.size.y);
}
stroke(super.cmain);
line(super.posOrigin.x+_x,super.posOrigin.y-_ya*this.size.y, super.posOrigin.x+_x+1,super.posOrigin.y-_yb*this.size.y);
_x++;
_cpos++;
_cpos%=this.valuearray.length;
}
//text
fill(super.ctext);
text(super.getFormattedValue(super.value)+valueUnit, super.posOrigin.x+this.size.x+1, super.posOrigin.y-this.valuearray[(_cpos)%this.valuearray.length]*this.size.y);
//text(super.getFormattedValue(super.valueMin), super.posOrigin.x+this.size.x+1, super.posOrigin.y+super.textsize*0.5-1);
//text(super.getFormattedValue(super.valueMax), super.posOrigin.x+this.size.x+1, super.posOrigin.y-this.size.y+super.textsize*0.5-1);
//Title //Title
text(super.title, super.posOrigin.x, super.posOrigin.y+super.textsize*1.5); text(super.title, super.posOrigin.x, super.posOrigin.y+super.textsize*1.5);
} }

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@ -1,164 +1,261 @@
import processing.serial.*;
Serial serialport; int vis_textsize=12; //copy from Visualization class
Visualization visVoltage;
Visualization visCurrent;
Visualization visSpeedl;
Visualization visSpeedr;
Visualization visYaw;
Visualization visGT;
Visualization visGT_Vertical;
int speedl=0; Visualization vis_cmd_FrontL;
int speedr=0; Visualization vis_cmd_FrontR;
int booleanvalues=0; Visualization vis_cmd_RearL;
float voltage = 50; Visualization vis_cmd_RearR;
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 Visualization vis_current_FrontL;
long lastDelay=0; 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
//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() { 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);
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");
visVoltage = new BarV(50,150,10,100,10*3.3,12*4.2); //Speed mean
visVoltage.setcmain(color(100,100,100)); vis_c_speed_mean = new Tacho(width/2-150,height-150,100,-100,600);
//vis = new BarH(150,150,100,10,0,100); vis_c_speed_mean.setTitle("Speed");
//visVoltage = new Tacho(150,150,100,0,100); vis_c_speed_mean.setValueUnit("rpm");
//vis = new Direction(150,150,100,0,100,0,1,0);
visVoltage.setShowMinMax(true); //Current
visVoltage.setTitle("Voltage [V]"); 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");
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(); long loopmillis=millis()+25000;
if (loopmillis>=nextTime){
background(255); TableRow row = logdata.getRow(nextID);
visVoltage.setValue(voltage); lastTimeData=nextTime;
visCurrent.setValue(current); nextTime=(long)(row.getFloat("time")*1000); //get time and convert from seconds to ms
visSpeedl.setValue(speedl);
visSpeedr.setValue(speedr); cmd_FrontL=row.getInt("cmd_FrontL");
visYaw.setValue(yaw); cmd_FrontR=row.getInt("cmd_FrontR");
visGT.setValue(-gt_horizontal); cmd_RearL=row.getInt("cmd_RearL");
visGT.setValue2(gt_length); cmd_RearR=row.getInt("cmd_RearR");
visGT_Vertical.setValue(gt_vertical); 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) {//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();
}
//visVoltage.drawVis();
//visCurrent.drawVis();
visSpeedl.drawVis();
visSpeedr.drawVis();
visYaw.drawVis();
visGT.drawVis();
visGT_Vertical.drawVis();
fill(color(0,0,0));
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(); //TODO: remove negative sign
vis_current_FrontR.setValue(-current_FrontR); vis_current_FrontR.drawVis(); //TODO: remove negative sign
vis_current_RearL.setValue(-current_RearL); vis_current_RearL.drawVis(); //TODO: remove negative sign
vis_current_RearR.setValue(-current_RearR); vis_current_RearR.drawVis(); //TODO: remove negative sign
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(); //TODO: remove negative sign
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/100.0)+"V", pos_voltage.x,pos_voltage.y); //TODO: remove /100
fill(color(map(vbat_Rear,12*3,12*4.2,0,120),50,100));
text("vbat_Rear="+(vbat_Rear/100.0)+"V", pos_voltage.x,pos_voltage.y+12); //TODO: remove /100
colorMode(RGB, 255, 255, 255);
fill(color(200,200,200));
textAlign(LEFT);
textSize(12); textSize(12);
long _delay=lastDelay; text("d="+(nextTime-lastTimeData)+"ms", 5+70,12);
if (millis()-lastReceive>1000){ //show counting up if update too long ago if (loopmillis-lastTimeData>(nextTime-lastTimeData)*10) { //deviation too high
_delay=millis()-lastReceive; text("ff="+(loopmillis-lastTimeData)+"ms", 5+70+70,12); //show warning
} }
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) { text("t="+(loopmillis/1000.0)+"s", 5,12);
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);
}