Four wheel drive bobbycar
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import processing.serial.*;
int vis_textsize=12; //copy from Visualization class
String logfile_name="/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/logdata_visualization/logfixer/20211004_171509.csv";
int columnCount=20;
boolean useSerial=false; //false=read from csv log, true=read from serial port
//String serial_port="COM3";
String serial_port="/dev/ttyUSB0";
Serial serial;
String serialString=""; //last read string
int serial_endchar=10; //10=ASCII Linefeed
float minCurrentDisplayed=-5;
float maxCurrentDisplayed=20;
float minRPMDisplayed=-100;
float maxRPMDisplayed=1200;
//timeline
float logdata_start_time=0;
float logdata_end_time=0;
Visualization vis_cmd_FrontL;
Visualization vis_cmd_FrontR;
Visualization vis_cmd_RearL;
Visualization vis_cmd_RearR;
Visualization vis_current_FrontL;
Visualization vis_current_FrontR;
Visualization vis_current_RearL;
Visualization vis_current_RearR;
Visualization vis_rpm_FrontL;
Visualization vis_rpm_FrontR;
Visualization vis_rpm_RearL;
Visualization vis_rpm_RearR;
Visualization vis_throttle;
Visualization vis_brake;
Visualization vis_currentAll;
Visualization vis_c_speed;
//vis_c means calculated value, not raw value from log
Visualization vis_c_rpm_mean;
Visualization vis_graph_currentAll;
Visualization vis_graph_speed_mean;
Visualization vis_c_graph_receivedelay;
Visualization vis_c_rpmvector;
Visualization vis_c_currentvector;
boolean showTimeline=!useSerial;
Timeline tl;
int timeoffset=0; //for moving timeslider
Table logdata;
int nextID=0; //next row number to be displayed
long lastTimeData=0; //last time data received
int nextTimeData=0; //time of nextID row
int lastTimeMillis=0; //local time
int nextTimeMillis=0; //local time
boolean newdataforced=true;
int dataErrorCount=0;
boolean running=true;
int timePaused=0;
//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 rpm_FrontL;
int rpm_FrontR;
int rpm_RearL;
int rpm_RearR;
float temp_Front;
float temp_Rear;
float vbat_Front;
float vbat_Rear;
float currentAll;
int throttle;
int brake;
float speed;
float trip;
float currentConsumed;
color bg=color(0);
void setup() {
//size(1920, 1080); //Full HD
size(1000, 800); //Laptop Preview
frameRate(100);
if (useSerial) {
printArray(Serial.list());
// Open the port you are using at the rate you want:
serial = new Serial(this, serial_port, 115200);
serial.clear();
// Throw out the first reading, in case we started reading
// in the middle of a string from the sender.
println("readUntil");
serialString = serial.readStringUntil(serial_endchar);
println("read:"+serialString);
serialString = null;
}else{
logdata = loadTable(logfile_name, "header, csv");
float _checkTimeLast=-100;
for (int i=0; i < logdata.getRowCount();i++) {
float _checkTimeCurrent=logdata.getRow(i).getFloat("time")*1000;
if (logdata.getRow(i).getString(0).charAt(0)=='#') { //check if row starts with # (comment)
print("removed comment:");
for (int is=0;is< logdata.getRow(i).getColumnCount() && logdata.getRow(i).getString(is) != null; is++)
{
print(", "+logdata.getRow(i).getString(is));
}
println();
logdata.removeRow(i); i--;
}else if (Float.isNaN(_checkTimeCurrent) || _checkTimeCurrent <= _checkTimeLast) { //check if time is plausible
print("removed unplausible time:");
for (int is=0;is< logdata.getRow(i).getColumnCount() && logdata.getRow(i).getString(is) != null; is++)
{
print(", "+logdata.getRow(i).getString(is));
}
println();
logdata.removeRow(i); i--;
}
}
logdata_start_time=logdata.getRow(0).getFloat("time");
logdata_end_time = logdata.getRow(logdata.getRowCount()-1).getFloat("time");
println("loaded "+logdata.getRowCount()+" lines. Starttime: "+logdata_start_time+"s , Endtime: "+logdata_end_time+"s");
}
PVector pos_vis_cmd = new PVector(100,200);
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_rpm_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,minRPMDisplayed,maxRPMDisplayed);
vis_rpm_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,minRPMDisplayed,maxRPMDisplayed);
vis_rpm_FrontR.setTitle("speed");
vis_rpm_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,minRPMDisplayed,maxRPMDisplayed);
vis_rpm_RearL.setValueUnit("rpm");
vis_rpm_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,minRPMDisplayed,maxRPMDisplayed);
vis_rpm_FrontL.setcmain(c_speed);
vis_rpm_FrontR.setcmain(c_speed);
vis_rpm_RearL.setcmain(c_speed);
vis_rpm_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,minCurrentDisplayed,maxCurrentDisplayed);
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,minCurrentDisplayed,maxCurrentDisplayed);
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,minCurrentDisplayed,maxCurrentDisplayed);
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,minCurrentDisplayed,maxCurrentDisplayed);
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,0,1000);
vis_brake.setcmain(c_brake);
vis_brake.setTitle("Brake");
//Speed
vis_c_speed = new Tacho(width/2-150,height-150,100,-10,50);
vis_c_speed.setTitle("Speed");
vis_c_speed.setValueUnit("km/h");
vis_c_speed.setShowMinMax(true);
//RPM Man
vis_c_rpm_mean = new Tacho(width/2-400,height-150,75,minRPMDisplayed,maxRPMDisplayed);
vis_c_rpm_mean.setTitle("RPM");
vis_c_rpm_mean.setValueUnit("rpm");
vis_c_rpm_mean.setShowMinMax(true);
//Current
color c_currentall=color(240,255,50);
vis_currentAll = new Tacho(width/2+150,height-150,100,minCurrentDisplayed,maxCurrentDisplayed);
vis_currentAll.setTitle("currentAll");
vis_currentAll.setValueUnit("A");
vis_currentAll.setcmain(c_currentall); //currentAll color
vis_currentAll.setShowMinMax(true);
vis_currentAll.setValue2Unit("A");
vis_currentAll.setTitle2("avgCurrent/wheel");
vis_currentAll.setcmain2(c_current);
//Graph
PVector size_vis_graph1= new PVector(400,200);
PVector pos_vis_graph1= new PVector(width-size_vis_graph1.x-60,250);
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),minRPMDisplayed,maxRPMDisplayed,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(int(pos_vis_graph1.x), int(pos_vis_graph1.y), int(size_vis_graph1.x),int(size_vis_graph1.y),minCurrentDisplayed,maxCurrentDisplayed,1);
vis_graph_currentAll.setcborder(c_currentall);
vis_graph_currentAll.setcmain(c_currentall);
vis_graph_currentAll.setValueUnit("A");
color c_receivedelay=color(150,150,150);
vis_c_graph_receivedelay = new GraphRoll_minimal(5, vis_textsize*2+40, 200,40,0,1000,1);
vis_c_graph_receivedelay.setcborder(c_receivedelay);
vis_c_graph_receivedelay.setcmain(c_receivedelay);
vis_c_graph_receivedelay.setValueUnit("ms");
vis_c_graph_receivedelay.setTitle("receivedelay");
vis_c_rpmvector = new VectorDisplay(int(pos_vis_cmd.x+dist_vis_cmd.x/2+size_vis_cmd.x/2), int(pos_vis_cmd.y+dist_vis_cmd.y/2), 50, maxRPMDisplayed/20);
vis_c_rpmvector.setcmain(c_speed);
vis_c_currentvector = new VectorDisplay(int(pos_vis_cmd.x+dist_vis_cmd.x/2+size_vis_cmd.x/2), int(pos_vis_cmd.y+dist_vis_cmd.y/2+50), 50, maxCurrentDisplayed/20);
vis_c_currentvector.setcmain(c_current);
if (showTimeline) {
println("Preparing Timeline");
tl = new Timeline(30,height-30, width-30*2, 28);
tl.setTimes(logdata_start_time,logdata_end_time);
tl.generatePreview(logdata);
println("Timeline prepared");
}
}
void draw() {
int loopmillis=0;
if (running) {
loopmillis=millis()-timeoffset;
}else{ //paused
loopmillis=timePaused-timeoffset;
}
if (useSerial) {
if (serial.available() > 0) {
serialString = serial.readStringUntil(serial_endchar);
//println("read:"+serialString);
if (serialString != null) {
println(serialString);
String[] list = split(serialString, ',');
if (list.length==20) { //data ok
lastTimeMillis=nextTimeMillis;
nextTimeMillis=loopmillis;
lastTimeData=nextTimeData;
nextTimeData=int(parseFloat(list[0])*1000);
cmd_FrontL=parseInt(list[1]);
cmd_FrontR=parseInt(list[2]);
cmd_RearL=parseInt(list[3]);
cmd_RearR=parseInt(list[4]);
current_FrontL=parseFloat(list[5]);
current_FrontR=parseFloat(list[6]);
current_RearL=parseFloat(list[7]);
current_RearR=parseFloat(list[8]);
rpm_FrontL=parseInt(list[9]);
rpm_FrontR=parseInt(list[10]);
rpm_RearL=parseInt(list[11]);
rpm_RearR=parseInt(list[12]);
temp_Front=parseFloat(list[13]);
temp_Rear=parseFloat(list[14]);
vbat_Front=parseFloat(list[15]);
vbat_Rear=parseFloat(list[16]);
currentAll=parseFloat(list[17]);
throttle=parseInt(list[18]);
brake=parseInt(list[19]);
speed=parseFloat(list[20]);
trip=parseFloat(list[21]);
currentConsumed=parseFloat(trim(list[22]));
}else{ //data missing or too much
dataErrorCount++;
}
}
}
}else{
while (newdataforced || loopmillis>=nextTimeData && nextID+1<logdata.getRowCount()){ //New Data
newdataforced=false; //reset flag
if ((nextID+1 < logdata.getRowCount()) && (nextID >= 0)) { //valid row
TableRow row = logdata.getRow(nextID);
lastTimeData=nextTimeData;
nextTimeData=(int)(logdata.getRow(nextID+1).getFloat("time")*1000); //get time and convert from seconds to ms
lastTimeMillis=nextTimeMillis;
nextTimeMillis=loopmillis;
cmd_FrontL=row.getInt("cmd_FrontL");
cmd_FrontR=row.getInt("cmd_FrontR");
cmd_RearL=row.getInt("cmd_RearL");
cmd_RearR=row.getInt("cmd_RearR");
current_FrontL=row.getFloat("current_FrontL");
current_FrontR=row.getFloat("current_FrontR");
current_RearL=row.getFloat("current_RearL");
current_RearR=row.getFloat("current_RearR");
rpm_FrontL=row.getInt("rpm_FrontL");
rpm_FrontR=row.getInt("rpm_FrontR");
rpm_RearL=row.getInt("rpm_RearL");
rpm_RearR=row.getInt("rpm_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");
speed=row.getFloat("speed");
trip=row.getFloat("trip");
currentConsumed=row.getFloat("currentConsumed");
if (loopmillis-nextTimeData>1000 && nextTimeData>lastTimeData) {//too much behind
long _timestep=nextTimeData-lastTimeData; //approximated time step
nextID+=(loopmillis-nextTimeData)/_timestep* 0.9; //fast forward estimated time steps
}
nextID++;
}
}
}
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_rpm_FrontL.setValue(rpm_FrontL); vis_rpm_FrontL.drawVis();
vis_rpm_FrontR.setValue(rpm_FrontR); vis_rpm_FrontR.drawVis();
vis_rpm_RearL.setValue(rpm_RearL); vis_rpm_RearL.drawVis();
vis_rpm_RearR.setValue(rpm_RearR); vis_rpm_RearR.drawVis();
vis_current_FrontL.setValue(current_FrontL); vis_current_FrontL.drawVis();
vis_current_FrontR.setValue(current_FrontR); vis_current_FrontR.drawVis();
vis_current_RearL.setValue(current_RearL); vis_current_RearL.drawVis();
vis_current_RearR.setValue(current_RearR); vis_current_RearR.drawVis();
vis_throttle.setValue(throttle); vis_throttle.drawVis();
vis_brake.setValue(brake); vis_brake.drawVis();
vis_c_speed.setValue(speed*3.6); vis_c_speed.drawVis(); //from m/s in km/h
textAlign(LEFT);
textSize(vis_textsize);
text(trip+" m", width/2-10,height-110); //trip
text(currentConsumed+" Ah", width/2-10,height-110+vis_textsize); //consumed Current
int speed_mean=int((rpm_FrontL+rpm_FrontR+rpm_RearL+rpm_RearR)/4.0);
vis_c_rpm_mean.setValue(speed_mean); vis_c_rpm_mean.drawVis();
vis_currentAll.setValue(currentAll);
float current_mean=(current_FrontL+current_FrontR+current_RearL+current_RearR)/4.0;
vis_currentAll.setValue2(current_mean); vis_currentAll.drawVis();
vis_graph_speed_mean.setValue(speed_mean); vis_graph_speed_mean.drawVis();
vis_graph_currentAll.setValue(currentAll); vis_graph_currentAll.drawVis();
vis_c_graph_receivedelay.setValue(loopmillis-lastTimeMillis); vis_c_graph_receivedelay.drawVis();
vis_c_rpmvector.setValue2((-rpm_FrontL-rpm_FrontR+rpm_RearL+rpm_RearR)/4.0/sqrt(2)); //y component
vis_c_rpmvector.setValue((-rpm_FrontL+rpm_FrontR-rpm_RearL+rpm_RearR)/4.0/sqrt(2)); //x component
vis_c_rpmvector.drawVis();
vis_c_currentvector.setValue2((-current_FrontL-current_FrontR+current_RearL+current_RearR)/4.0/sqrt(2)); //y component
vis_c_currentvector.setValue((-current_FrontL+current_FrontR-current_RearL+current_RearR)/4.0/sqrt(2)); //x component
vis_c_currentvector.drawVis();
//Temperature
PVector pos_temperature = new PVector(500,12);
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)+"V", pos_voltage.x,pos_voltage.y);
fill(color(map(vbat_Rear,12*3,12*4.2,0,120),50,100));
text("vbat_Rear="+(vbat_Rear)+"V", pos_voltage.x,pos_voltage.y+12);
colorMode(RGB, 255, 255, 255);
fill(color(200,200,200));
textAlign(LEFT);
textSize(vis_textsize);
text("d="+(nextTimeData-lastTimeData)+"ms", 5+75,12);
if (!useSerial && loopmillis-lastTimeData>(nextTimeData-lastTimeData)*10) { //deviation too high when reading from file
text("ff="+(loopmillis-lastTimeData)+"ms", 5+75*2,12); //show warning
}
if (!running) {
fill(color(255,100,100));
}
text("t="+(loopmillis/1000.0)+"s", 5,12);
text("nextID="+nextID, 5,12+12);
fill(color(200,200,200));
text(""+(dataErrorCount)+" errors", 5+70*3,12);
if(showTimeline) {
tl.drawTL(loopmillis/1000.0);
}
}
void keyPressed() {
if (key == CODED) {
if (!running) { //paused
if (keyCode == LEFT) {
} else if (keyCode == RIGHT) {
timeoffset=timePaused-nextTimeData;
}
}
} else {
//println("key="+keyCode);
if (keyCode==82) { //82=r
println("restart");
timeoffset=millis(); //rest to time 0
nextID=0;
newdataforced=true;
}
if (keyCode == 32) {
if (running) { //switching from running to pause
timePaused=millis();
}else{ //unpause
timeoffset=+millis()-timePaused+timeoffset;
}
running=!running;
}
}
}
void mouseClicked()
{
if (showTimeline)
{
int temp_timeoffset=(int)(tl.checkMouse(mouseX,mouseY)*1000);
if (temp_timeoffset!=0) {
if (!(nextID+1 < logdata.getRowCount()) && (nextID >= 0) || nextID<0) { //nextID not valid
nextID=0; //rest to good value
}
print("Jump nextID from "+nextID);
//find nextID to jump to
while ((nextID+1 < logdata.getRowCount()) && (nextID >= 0) && (millis()-temp_timeoffset > (long)(logdata.getRow(nextID+1).getFloat("time")*1000))) { //jumped forward
nextID++;
}
print(" over "+nextID);
while ((nextID+1 < logdata.getRowCount()) && (nextID > 0) && (millis()-temp_timeoffset < (long)(logdata.getRow(nextID+1).getFloat("time")*1000))) { //jumped backward
nextID--;
}
println(" to "+nextID);
timeoffset=temp_timeoffset;
newdataforced=true; //force read line for nextID
}
}
}