154 lines
4.2 KiB
Plaintext
154 lines
4.2 KiB
Plaintext
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 visSteer;
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Visualization visSpeed;
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Visualization visYaw;
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Visualization visGT;
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Visualization visGT_Vertical;
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int steer=0;
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int speed=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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void setup() {
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size(640, 450);
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frameRate(100);
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printArray(Serial.list());
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serialport = new Serial(this, Serial.list()[32], 57600);
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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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visSteer = new BarH(10,340,100,10,-1000,1000);
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visSteer.setTitle("Steer");
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visSpeed = new BarV(10+100/2-5,300,10,100,-1000,1000);
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visSpeed.setTitle("Speed");
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visYaw = new Direction(150+100,300,100,0,360,0,1,0);
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visYaw.setTitle("Yaw");
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visGT = new Direction(150+100+220,300,100,-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+110,300+50,10,100,-127,127);
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visGT_Vertical.setTitle("Vertical");
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}
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void draw() {
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receive();
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background(255);
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visVoltage.setValue(voltage);
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visCurrent.setValue(current);
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visSteer.setValue(steer);
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visSpeed.setValue(speed);
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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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visVoltage.drawVis();
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visCurrent.drawVis();
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visSteer.drawVis();
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visSpeed.drawVis();
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visYaw.drawVis();
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visGT.drawVis();
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visGT_Vertical.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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public void receive()
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{
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boolean received=false;
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byte[] inBuffer = new byte[16];
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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==16) {
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received=true;
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int _address=0;
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steer = extract_int16_t(inBuffer,_address); _address+=2;
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speed = extract_int16_t(inBuffer,_address); _address+=2;
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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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}
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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_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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} |