364 lines
13 KiB
Plaintext
364 lines
13 KiB
Plaintext
import processing.serial.*;
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int vis_textsize=12; //copy from Visualization class
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//String logfile_name="LOG00008_rumfahren_neu.TXT";
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String logfile_name="LOG00180_random.TXT";
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boolean useSerial=true; //false=read from csv log, true=read from serial port
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String serial_port="COM3";
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Serial serial;
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String serialString=""; //last read string
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int serial_endchar=10; //10=ASCII Linefeed
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Visualization vis_cmd_FrontL;
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Visualization vis_cmd_FrontR;
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Visualization vis_cmd_RearL;
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Visualization vis_cmd_RearR;
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Visualization vis_current_FrontL;
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Visualization vis_current_FrontR;
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Visualization vis_current_RearL;
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Visualization vis_current_RearR;
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Visualization vis_speed_FrontL;
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Visualization vis_speed_FrontR;
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Visualization vis_speed_RearL;
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Visualization vis_speed_RearR;
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Visualization vis_throttle;
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Visualization vis_brake;
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Visualization vis_currentAll;
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//vis_c means calculated value, not raw value from log
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Visualization vis_c_speed_mean;
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Visualization vis_graph_currentAll;
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Visualization vis_graph_speed_mean;
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Visualization vis_c_graph_receivedelay;
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Table logdata;
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int nextID=0; //next row number to be displayed
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long lastTimeData=0; //last time data received
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long nextTimeData=0; //time of nextID row
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long lastTimeMillis=0; //local time
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long nextTimeMillis=0; //local time
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int dataErrorCount=0;
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//Data from log
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int cmd_FrontL;
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int cmd_FrontR;
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int cmd_RearL;
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int cmd_RearR;
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float current_FrontL;
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float current_FrontR;
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float current_RearL;
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float current_RearR;
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int speed_FrontL;
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int speed_FrontR;
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int speed_RearL;
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int speed_RearR;
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float temp_Front;
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float temp_Rear;
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float vbat_Front;
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float vbat_Rear;
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float currentAll;
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int throttle;
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int brake;
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color bg=color(0);
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void setup() {
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size(1920, 1080);
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frameRate(100);
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if (useSerial) {
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printArray(Serial.list());
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// Open the port you are using at the rate you want:
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serial = new Serial(this, serial_port, 115200);
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serial.clear();
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// Throw out the first reading, in case we started reading
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// in the middle of a string from the sender.
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println("readUntil");
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serialString = serial.readStringUntil(serial_endchar);
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println("read:"+serialString);
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serialString = null;
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}else{
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logdata = loadTable(logfile_name, "header, csv");
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println("loaded "+logdata.getRowCount()+" lines. Times: "+logdata.getRow(0).getFloat("time")+"s to "+logdata.getRow(logdata.getRowCount()-1).getFloat("time")+"s");
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}
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PVector pos_vis_cmd = new PVector(100,200);
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PVector size_vis_cmd = new PVector(10,100);
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PVector dist_vis_cmd = new PVector(80,150);
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colorMode(RGB, 255, 255, 255);
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//cmd
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color c_cmd=color(255,50,0);
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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);
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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);
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vis_cmd_FrontR.setTitle("cmd");
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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);
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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);
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vis_cmd_FrontL.setcmain(c_cmd);
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vis_cmd_FrontR.setcmain(c_cmd);
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vis_cmd_RearL.setcmain(c_cmd);
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vis_cmd_RearR.setcmain(c_cmd);
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// Speed
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color c_speed=color(50,50,255);
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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);
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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);
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vis_speed_FrontR.setTitle("speed");
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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);
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vis_speed_RearL.setValueUnit("rpm");
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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);
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vis_speed_FrontL.setcmain(c_speed);
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vis_speed_FrontR.setcmain(c_speed);
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vis_speed_RearL.setcmain(c_speed);
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vis_speed_RearR.setcmain(c_speed);
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// Current
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color c_current=color(255,200,50);
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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);
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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);
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vis_current_FrontR.setTitle("current");
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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);
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vis_current_RearL.setValueUnit("A");
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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);
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vis_current_FrontL.setcmain(c_current);
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vis_current_FrontR.setcmain(c_current);
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vis_current_RearL.setcmain(c_current);
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vis_current_RearR.setcmain(c_current);
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//Inputs
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PVector pos_vis_inputs = new PVector(width/2,height-50); //will be center for x
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PVector size_vis_inputs = new PVector(200,40);
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color c_throttle=color(255,150,50);
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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);
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vis_throttle.setcmain(c_throttle);
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vis_throttle.setTitle("Throttle");
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color c_brake=color(200,200,50);
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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);
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vis_brake.setcmain(c_brake);
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vis_brake.setTitle("Brake");
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//Speed mean
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vis_c_speed_mean = new Tacho(width/2-150,height-150,100,-100,600);
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vis_c_speed_mean.setTitle("Speed");
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vis_c_speed_mean.setValueUnit("rpm");
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vis_c_speed_mean.setShowMinMax(true);
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//Current
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color c_currentall=color(240,255,50);
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vis_currentAll = new Tacho(width/2+150,height-150,100,-1,10);
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vis_currentAll.setTitle("minCurrent");
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vis_currentAll.setValueUnit("A");
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vis_currentAll.setcmain(c_currentall); //currentAll color
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vis_currentAll.setShowMinMax(true);
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vis_currentAll.setValue2Unit("A");
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vis_currentAll.setTitle2("avgCurrent/wheel");
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vis_currentAll.setcmain2(c_current);
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//Graph
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PVector size_vis_graph1= new PVector(400,200);
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PVector pos_vis_graph1= new PVector(width-size_vis_graph1.x-60,250);
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vis_graph_speed_mean = new GraphRoll_minimal(int(pos_vis_graph1.x), int(pos_vis_graph1.y), int(size_vis_graph1.x),int(size_vis_graph1.y),-100,600,1);
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vis_graph_speed_mean.setcborder(c_speed);
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vis_graph_speed_mean.setcmain(c_speed);
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vis_graph_speed_mean.setValueUnit("rpm");
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vis_graph_currentAll = new GraphRoll_minimal(int(pos_vis_graph1.x), int(pos_vis_graph1.y), int(size_vis_graph1.x),int(size_vis_graph1.y),-1,10,1);
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vis_graph_currentAll.setcborder(c_currentall);
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vis_graph_currentAll.setcmain(c_currentall);
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vis_graph_currentAll.setValueUnit("A");
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color c_receivedelay=color(150,150,150);
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vis_c_graph_receivedelay = new GraphRoll_minimal(5, vis_textsize*2+40, 200,40,0,1000,1);
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vis_c_graph_receivedelay.setcborder(c_receivedelay);
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vis_c_graph_receivedelay.setcmain(c_receivedelay);
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vis_c_graph_receivedelay.setValueUnit("ms");
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vis_c_graph_receivedelay.setTitle("receivedelay");
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}
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void draw() {
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long loopmillis=millis()+25000;
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if (useSerial) {
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if (serial.available() > 0) {
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serialString = serial.readStringUntil(serial_endchar);
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//println("read:"+serialString);
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if (serialString != null) {
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println(serialString);
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String[] list = split(serialString, ',');
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if (list.length==20) { //data ok
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lastTimeMillis=nextTimeMillis;
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nextTimeMillis=loopmillis;
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lastTimeData=nextTimeData;
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nextTimeData=int(parseFloat(list[0])*1000);
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cmd_FrontL=parseInt(list[1]);
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cmd_FrontR=parseInt(list[2]);
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cmd_RearL=parseInt(list[3]);
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cmd_RearR=parseInt(list[4]);
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current_FrontL=parseFloat(list[5]);
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current_FrontR=parseFloat(list[6]);
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current_RearL=parseFloat(list[7]);
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current_RearR=parseFloat(list[8]);
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speed_FrontL=parseInt(list[9]);
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speed_FrontR=parseInt(list[10]);
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speed_RearL=parseInt(list[11]);
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speed_RearR=parseInt(list[12]);
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temp_Front=parseFloat(list[13]);
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temp_Rear=parseFloat(list[14]);
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vbat_Front=parseFloat(list[15]);
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vbat_Rear=parseFloat(list[16]);
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currentAll=parseFloat(list[17]);
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throttle=parseInt(list[18]);
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brake=parseInt(list[19]);
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}else{ //data missing or too much
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dataErrorCount++;
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}
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}
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}
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}else{
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if (loopmillis>=nextTimeData){ //New Data
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TableRow row = logdata.getRow(nextID);
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lastTimeData=nextTimeData;
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nextTimeData=(long)(row.getFloat("time")*1000); //get time and convert from seconds to ms
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lastTimeMillis=nextTimeMillis;
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nextTimeMillis=loopmillis;
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cmd_FrontL=row.getInt("cmd_FrontL");
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cmd_FrontR=row.getInt("cmd_FrontR");
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cmd_RearL=row.getInt("cmd_RearL");
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cmd_RearR=row.getInt("cmd_RearR");
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current_FrontL=row.getFloat("current_FrontL");
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current_FrontR=row.getFloat("current_FrontR");
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current_RearL=row.getFloat("current_RearL");
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current_RearR=row.getFloat("current_RearR");
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speed_FrontL=row.getInt("speed_FrontL");
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speed_FrontR=row.getInt("speed_FrontR");
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speed_RearL=row.getInt("speed_RearL");
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speed_RearR=row.getInt("speed_RearR");
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temp_Front=row.getFloat("temp_Front");
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temp_Rear=row.getFloat("temp_Rear");
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vbat_Front=row.getFloat("vbat_Front");
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vbat_Rear=row.getFloat("vbat_Rear");
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currentAll=row.getFloat("currentAll");
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throttle=row.getInt("throttle");
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brake=row.getInt("brake");
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if (loopmillis-nextTimeData>1000 && nextTimeData>lastTimeData) {//too much behind
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long _timestep=nextTimeData-lastTimeData; //approximated time step
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nextID+=(loopmillis-nextTimeData)/_timestep* 0.9; //fast forward estimated time steps
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}
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nextID++;
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nextID=nextID%logdata.getRowCount();
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}
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}
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background(bg);
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vis_cmd_FrontL.setValue(cmd_FrontL); vis_cmd_FrontL.drawVis();
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vis_cmd_FrontR.setValue(cmd_FrontR); vis_cmd_FrontR.drawVis();
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vis_cmd_RearL.setValue(cmd_RearL); vis_cmd_RearL.drawVis();
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vis_cmd_RearR.setValue(cmd_RearR); vis_cmd_RearR.drawVis();
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vis_speed_FrontL.setValue(speed_FrontL); vis_speed_FrontL.drawVis();
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vis_speed_FrontR.setValue(speed_FrontR); vis_speed_FrontR.drawVis();
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vis_speed_RearL.setValue(speed_RearL); vis_speed_RearL.drawVis();
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vis_speed_RearR.setValue(speed_RearR); vis_speed_RearR.drawVis();
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vis_current_FrontL.setValue(current_FrontL); vis_current_FrontL.drawVis();
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vis_current_FrontR.setValue(current_FrontR); vis_current_FrontR.drawVis();
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vis_current_RearL.setValue(current_RearL); vis_current_RearL.drawVis();
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vis_current_RearR.setValue(current_RearR); vis_current_RearR.drawVis();
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vis_throttle.setValue(throttle); vis_throttle.drawVis();
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vis_brake.setValue(-brake); vis_brake.drawVis();
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int speed_mean=int((speed_FrontL+speed_FrontR+speed_RearL+speed_RearR)/4.0);
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vis_c_speed_mean.setValue(speed_mean); vis_c_speed_mean.drawVis();
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vis_currentAll.setValue(currentAll);
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float current_mean=(current_FrontL+current_FrontR+current_RearL+current_RearR)/4.0;
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vis_currentAll.setValue2(current_mean); vis_currentAll.drawVis();
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vis_graph_speed_mean.setValue(speed_mean); vis_graph_speed_mean.drawVis();
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vis_graph_currentAll.setValue(currentAll); vis_graph_currentAll.drawVis();
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vis_c_graph_receivedelay.setValue(loopmillis-lastTimeMillis); vis_c_graph_receivedelay.drawVis();
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//Temperature
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PVector pos_temperature = new PVector(500,12);
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colorMode(HSB, 360, 100, 100);
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fill(color(map(temp_Front,16,50,180,360),50,100));
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text("temp_Front="+(temp_Front)+"°C", pos_temperature.x,pos_temperature.y);
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fill(color(map(temp_Rear,16,50,180,360),50,100));
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text("temp_Rear="+(temp_Rear)+"°C", pos_temperature.x,pos_temperature.y+12);
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//Voltage
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PVector pos_voltage = new PVector(pos_temperature.x+150,12);
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colorMode(HSB, 360, 100, 100);
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fill(color(map(vbat_Front,12*3,12*4.2,0,120),50,100));
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text("vbat_Front="+(vbat_Front)+"V", pos_voltage.x,pos_voltage.y);
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fill(color(map(vbat_Rear,12*3,12*4.2,0,120),50,100));
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text("vbat_Rear="+(vbat_Rear)+"V", pos_voltage.x,pos_voltage.y+12);
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colorMode(RGB, 255, 255, 255);
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fill(color(200,200,200));
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textAlign(LEFT);
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textSize(vis_textsize);
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text("d="+(nextTimeData-lastTimeData)+"ms", 5+75,12);
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if (!useSerial && loopmillis-lastTimeData>(nextTimeData-lastTimeData)*10) { //deviation too high when reading from file
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text("ff="+(loopmillis-lastTimeData)+"ms", 5+75*2,12); //show warning
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}
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text("t="+(loopmillis/1000.0)+"s", 5,12);
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text(""+(dataErrorCount)+" errors", 5+70*3,12);
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}
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