serialVisualization/hoverbrettvisualizer/hoverbrettvisualizer.pde

import processing.serial.*;

Serial serialport;
Visualization visVoltage;
Visualization visCurrent;
Visualization visSteer;
Visualization visSpeed;
Visualization visYaw;

int steer=0;
int speed=0;
float voltage = 50;
float current = 0.0;
float yaw=0;

long lastReceive=0; //last time serial received
long lastDelay=0;


void setup() {
  size(640, 450);
  frameRate(100);
  
  printArray(Serial.list());
  serialport = new Serial(this, Serial.list()[32], 57600);
  
  
  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);
  visVoltage.setTitle("Voltage [V]");
  
  visCurrent= new Tacho(150+250,150,100,0,100);
  visCurrent.setShowMinMax(true);
  visCurrent.setTitle("Current [A]");
  
  visSteer = new BarH(10,340,100,10,-1000,1000);
  visSteer.setTitle("Steer");
  
  visSpeed = new BarV(10+100/2-5,300,10,100,-1000,1000);
  visSpeed.setTitle("Speed");
  
  visYaw = new Direction(150+250,300,100,0,360,0,1,0);
  visYaw.setTitle("Yaw");
  
}

void draw() {
  receive();
  
  background(255);
  visVoltage.setValue(voltage);
  visCurrent.setValue(current);
  visSteer.setValue(steer);
  visSpeed.setValue(speed);
  visYaw.setValue(yaw);
  
  
  visVoltage.drawVis();
  visCurrent.drawVis();
  visSteer.drawVis();
  visSpeed.drawVis();
  visYaw.drawVis();
  
  fill(color(0,0,0));
  textSize(12);
  long _delay=lastDelay;
  if (millis()-lastReceive>1000){ //show counting up if update too long ago
    _delay=millis()-lastReceive;
  }
  text("Delay="+(_delay), 5,12);
}


public void receive()
{
  boolean received=false;
  byte[] inBuffer = new byte[16];
  while(serialport.available()>0) {
    
    inBuffer = serialport.readBytes();
    serialport.readBytes(inBuffer);
    if (inBuffer != null && inBuffer.length==16) {
      received=true;
      
      steer = extract_int16_t(inBuffer,0);
      speed = extract_int16_t(inBuffer,2);
      voltage = extract_float(inBuffer,4);
      current = extract_float(inBuffer,8);
      yaw = extract_float(inBuffer,12);
      //println("yaw="+yaw);
      println("voltage="+voltage);
      
    }
    
  }
  if (received){
    lastDelay=millis()-lastReceive;
    lastReceive=millis();
  }
}
  


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);
}