hbecher/cruise-control-mx5-dotnet
1
0
Fork 0
Code Activity

Compare commits

base: hbecher:86f4edaa558ff4db45330d63088c93c6679102d9
Branches Tags
hbecher:main
...
compare: hbecher:main
Branches Tags
hbecher:main

4 Commits
86f4edaa55 ... main

Author SHA1 Message Date
Hervé BECHER
391cd0939d set color of graph toggles to their respective curves 2025-01-06 00:50:58 +01:00
Hervé BECHER
9d72035abd remove debug println 2025-01-06 00:30:41 +01:00
Hervé BECHER
f77501b559 ignore *.user files 2025-01-06 00:24:18 +01:00
Hervé BECHER
407c3a1731 improve graph curves calculations 2025-01-06 00:21:12 +01:00
4 changed files with 78 additions and 93 deletions
Expand all files Collapse all files

3
.gitignore vendored
View File

@@ -3,4 +3,5 @@ obj/
/packages/
riderModule.iml
/_ReSharper.Caches/
/.idea/
/.idea/
*.user

4
CruiseControllerMX5.csproj.user
View File

@@ -1,4 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<ItemGroup />
</Project>

38
src/App.Designer.cs generated
View File

@@ -69,7 +69,6 @@ partial class App
statusPanel = new System.Windows.Forms.TableLayoutPanel();
stateLabel = new System.Windows.Forms.Label();
brakeLabel = new System.Windows.Forms.Label();
menuStrip1 = new System.Windows.Forms.MenuStrip();
leftPanel.SuspendLayout();
leftFillPanel.SuspendLayout();
((System.ComponentModel.ISupportInitialize)speedGaugeCanvas).BeginInit();
@@ -89,7 +88,7 @@ partial class App
leftPanel.Controls.Add(leftFillPanel);
leftPanel.Controls.Add(leftBottomPanel);
leftPanel.Dock = System.Windows.Forms.DockStyle.Left;
leftPanel.Location = new System.Drawing.Point(0, 24);
leftPanel.Location = new System.Drawing.Point(0, 0);
leftPanel.Name = "leftPanel";
leftPanel.Size = new System.Drawing.Size(300, 480);
leftPanel.TabIndex = 1;
@@ -288,7 +287,7 @@ partial class App
rightPanel.Controls.Add(graphPanel);
rightPanel.Controls.Add(valuesPanel);
rightPanel.Dock = System.Windows.Forms.DockStyle.Fill;
rightPanel.Location = new System.Drawing.Point(300, 24);
rightPanel.Location = new System.Drawing.Point(300, 0);
rightPanel.Name = "rightPanel";
rightPanel.Size = new System.Drawing.Size(1300, 480);
rightPanel.TabIndex = 2;
@@ -330,7 +329,8 @@ partial class App
// servoToggle
//
servoToggle.AutoSize = true;
servoToggle.Location = new System.Drawing.Point(452, 10);
servoToggle.ForeColor = System.Drawing.Color.FromArgb(((int)((byte)255)), ((int)((byte)127)), ((int)((byte)255)));
servoToggle.Location = new System.Drawing.Point(492, 10);
servoToggle.Name = "servoToggle";
servoToggle.Size = new System.Drawing.Size(65, 24);
servoToggle.TabIndex = 5;
@@ -340,7 +340,8 @@ partial class App
// accelerationToggle
//
accelerationToggle.AutoSize = true;
accelerationToggle.Location = new System.Drawing.Point(335, 10);
accelerationToggle.ForeColor = System.Drawing.Color.FromArgb(((int)((byte)127)), ((int)((byte)255)), ((int)((byte)127)));
accelerationToggle.Location = new System.Drawing.Point(367, 10);
accelerationToggle.Name = "accelerationToggle";
accelerationToggle.Size = new System.Drawing.Size(111, 24);
accelerationToggle.TabIndex = 4;
@@ -350,7 +351,8 @@ partial class App
// speedToggle
//
speedToggle.AutoSize = true;
speedToggle.Location = new System.Drawing.Point(255, 10);
speedToggle.ForeColor = System.Drawing.Color.FromArgb(((int)((byte)127)), ((int)((byte)255)), ((int)((byte)255)));
speedToggle.Location = new System.Drawing.Point(279, 10);
speedToggle.Name = "speedToggle";
speedToggle.Size = new System.Drawing.Size(74, 24);
speedToggle.TabIndex = 3;
@@ -360,7 +362,8 @@ partial class App
// derivativeToggle
//
derivativeToggle.AutoSize = true;
derivativeToggle.Location = new System.Drawing.Point(164, 10);
derivativeToggle.ForeColor = System.Drawing.Color.FromArgb(((int)((byte)255)), ((int)((byte)63)), ((int)((byte)63)));
derivativeToggle.Location = new System.Drawing.Point(180, 10);
derivativeToggle.Name = "derivativeToggle";
derivativeToggle.Size = new System.Drawing.Size(85, 24);
derivativeToggle.TabIndex = 2;
@@ -370,7 +373,8 @@ partial class App
// integralToggle
//
integralToggle.AutoSize = true;
integralToggle.Location = new System.Drawing.Point(79, 10);
integralToggle.ForeColor = System.Drawing.Color.Yellow;
integralToggle.Location = new System.Drawing.Point(87, 10);
integralToggle.Name = "integralToggle";
integralToggle.Size = new System.Drawing.Size(79, 24);
integralToggle.TabIndex = 1;
@@ -380,6 +384,7 @@ partial class App
// errorToggle
//
errorToggle.AutoSize = true;
errorToggle.ForeColor = System.Drawing.Color.FromArgb(((int)((byte)127)), ((int)((byte)127)), ((int)((byte)255)));
errorToggle.Location = new System.Drawing.Point(6, 10);
errorToggle.Name = "errorToggle";
errorToggle.Size = new System.Drawing.Size(67, 24);
@@ -671,7 +676,7 @@ partial class App
statusPanel.Controls.Add(stateLabel, 0, 0);
statusPanel.Controls.Add(brakeLabel, 1, 0);
statusPanel.Dock = System.Windows.Forms.DockStyle.Bottom;
statusPanel.Location = new System.Drawing.Point(0, 504);
statusPanel.Location = new System.Drawing.Point(0, 480);
statusPanel.Name = "statusPanel";
statusPanel.RowCount = 1;
statusPanel.RowStyles.Add(new System.Windows.Forms.RowStyle());
@@ -707,28 +712,18 @@ partial class App
brakeLabel.Text = "Frein";
brakeLabel.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
// menuStrip1
//
menuStrip1.Location = new System.Drawing.Point(0, 0);
menuStrip1.Name = "menuStrip1";
menuStrip1.Size = new System.Drawing.Size(1600, 24);
menuStrip1.TabIndex = 4;
menuStrip1.Text = "menuStrip1";
//
// App
//
AutoScaleDimensions = new System.Drawing.SizeF(96F, 96F);
AutoScaleMode = System.Windows.Forms.AutoScaleMode.Dpi;
BackColor = System.Drawing.Color.FromArgb(((int)((byte)30)), ((int)((byte)30)), ((int)((byte)30)));
ClientSize = new System.Drawing.Size(1600, 536);
ClientSize = new System.Drawing.Size(1600, 512);
Controls.Add(rightPanel);
Controls.Add(leftPanel);
Controls.Add(statusPanel);
Controls.Add(menuStrip1);
Font = new System.Drawing.Font("Segoe UI", 11.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)0));
ForeColor = System.Drawing.Color.White;
Location = new System.Drawing.Point(15, 15);
MainMenuStrip = menuStrip1;
MinimumSize = new System.Drawing.Size(1616, 551);
Text = "Cruise Controller MX5";
Load += App_Load;
@@ -750,11 +745,8 @@ partial class App
tableLayoutPanel1.PerformLayout();
statusPanel.ResumeLayout(false);
ResumeLayout(false);
PerformLayout();
}
private System.Windows.Forms.MenuStrip menuStrip1;
private System.Windows.Forms.CheckBox speedToggle;
private System.Windows.Forms.CheckBox accelerationToggle;
private System.Windows.Forms.CheckBox servoToggle;

126
src/App.cs
View File

@@ -11,7 +11,7 @@ public partial class App : Form
private const int MinSampleSize = 50, MaxSampleSize = 600;
private const float MinTimeSpan = 5F, MaxTimeSpan = 60F;
private const double RefreshRateMs = 1000.0 / 60.0;
private const int FramesPerSecond = 30;
private static readonly Color StatusGrayColor = Color.FromArgb(70, 70, 70), GreenColor = Color.FromArgb(0, 255, 0);
@@ -60,7 +60,7 @@ public partial class App : Form
InitializeComponent();
var timer = new System.Timers.Timer(RefreshRateMs);
var timer = new System.Timers.Timer(1000.0 / FramesPerSecond);
timer.SynchronizingObject = this;
timer.Elapsed += delegate { OnDrawTimer(); };
_timer = timer;
@@ -71,7 +71,7 @@ public partial class App : Form
if (disposing)
{
components?.Dispose();
_timer.Stop();
_timer.Close();
_arduinoCom?.Dispose();
_font12.Dispose();
_font14.Dispose();
@@ -123,25 +123,32 @@ public partial class App : Form
arduinoCom.AddSerialObserver(Listener.Create<Sample>(sample => _sampleQueue.Enqueue(sample)));
}
private PointF CalculateGraphPosition(Rectangle graphRect, float graphMargin, int i, int sampleSize, float value,
float minValue, float maxValue, long timestamp, long minTimestamp, long maxTimestamp) =>
CalculateGraphPosition(new RectangleF(graphRect.X, graphRect.Y, graphRect.Width, graphRect.Height), graphMargin,
i, sampleSize, value, minValue, maxValue, timestamp, minTimestamp, maxTimestamp);
private PointF CalculateGraphPosition(RectangleF graphRect, float graphMargin, int i, int sampleSize, float value,
private PointF CalculateGraphPosition(Rectangle curveRect, int sampleIndex, int sampleSize, float value,
float minValue, float maxValue, long timestamp, long minTimestamp, long maxTimestamp)
{
var x = _sampleOrTimeGraph
? Utils.Map<float, float, float>(i, 0, sampleSize - 1, graphRect.Width, 0F)
: Utils.Map<float, float, float>(timestamp, minTimestamp, maxTimestamp, 0F, graphRect.Width);
var y = minValue == maxValue
? graphRect.Height / 2F
: Utils.Map<float, float, float>(value, minValue, maxValue, graphRect.Height - graphMargin, graphMargin);
var x = CalculateGraphPositionX(curveRect, sampleIndex, sampleSize, timestamp, minTimestamp, maxTimestamp);
var y = CalculateGraphPositionY(curveRect, value, minValue, maxValue);
return new PointF(x, y);
}
private float CalculateGraphPositionX(Rectangle curveRect, int sampleIndex, int sampleSize, long timestamp,
long minTimestamp, long maxTimestamp) => _sampleOrTimeGraph
? CalculateGraphPositionX(curveRect, sampleIndex, sampleSize)
: CalculateGraphPositionX(curveRect, timestamp, minTimestamp, maxTimestamp);
private static float CalculateGraphPositionX(Rectangle curveRect, int sampleIndex, int sampleSize) =>
Utils.Map<int, float, float>(sampleIndex, 1, sampleSize, curveRect.Right, curveRect.Left);
private static float CalculateGraphPositionX(Rectangle curveRect, long timestamp, long minTimestamp,
long maxTimestamp) =>
Utils.Map<long, float, float>(timestamp, minTimestamp, maxTimestamp, curveRect.Left, curveRect.Right);
private static float CalculateGraphPositionY(Rectangle curveRect, float value, float minValue, float maxValue) =>
minValue == maxValue
? (curveRect.Top + curveRect.Bottom - 1) / 2F
: Utils.Map<float, float, float>(value, minValue, maxValue, curveRect.Bottom - 1, curveRect.Top);
private void OnDrawTimer()
{
while (_sampleQueue.Count > 0)
@@ -488,15 +495,19 @@ public partial class App : Form
g.TranslateTransform(graphRect.Left, graphRect.Top);
const int graphMargin = 24;
var curveRect = Rectangle.FromLTRB(0, graphMargin, graphRect.Width, graphRect.Height - graphMargin + 1);
ctx.Stroke(100);
ctx.StrokeWeight(1);
ctx.SetDashes(5, 5);
g.DrawLine(ctx.DrawPen, 0, graphMargin - 1, graphRect.Width, graphMargin - 1);
g.DrawLine(ctx.DrawPen, 0, graphRect.Height - graphMargin + 1, graphRect.Width,
graphRect.Height - graphMargin + 1);
g.DrawLine(ctx.DrawPen, 0, curveRect.Top - 1, graphRect.Width, curveRect.Top - 1);
g.DrawLine(ctx.DrawPen, 0, curveRect.Bottom, graphRect.Width,
curveRect.Bottom);
// MARQUEURS DES SECONDES
ctx.SetDashes(3, 7);
g.SetClip(curveRect);
if (_sampleOrTimeGraph)
{
@@ -508,9 +519,9 @@ public partial class App : Form
if (sample.DrawTimeTick)
{
var tickX = Utils.Map<float, float, float>(i, 0, sampleSize, graphRect.Width, 0);
var tickX = CalculateGraphPositionX(curveRect, i, sampleSize);
g.DrawLine(ctx.DrawPen, tickX, graphMargin, tickX, graphRect.Height - graphMargin);
g.DrawLine(ctx.DrawPen, tickX, curveRect.Top, tickX, curveRect.Bottom - 1);
}
}
}
@@ -533,8 +544,11 @@ public partial class App : Form
}
}
g.ResetClip();
ctx.ResetDashes();
// GRAPHES DES VALEURS
var points = new List<PointF>();
// ERREUR
@@ -573,14 +587,11 @@ public partial class App : Form
if (sampleCount > 0)
{
g.SetClip(new RectangleF(0, graphMargin, graphRect.Width, graphRect.Height - 2 * graphMargin + 1));
g.SetClip(curveRect);
if (minValue <= 0 && maxValue >= 0)
{
var zero = minValue == maxValue
? graphRect.Height / 2F
: Utils.Map<float, float, float>(0, minValue, maxValue, graphRect.Height - graphMargin,
graphMargin);
var zero = CalculateGraphPositionY(curveRect, 0, minValue, maxValue);
ctx.Stroke(63, 63, 127);
ctx.StrokeWeight(1);
@@ -620,7 +631,7 @@ public partial class App : Form
continue;
}
var p = CalculateGraphPosition(graphRect, graphMargin, i, sampleSize, sample.Error, minValue,
var p = CalculateGraphPosition(curveRect, i, sampleSize, sample.Error, minValue,
maxValue, sample.Timestamp, minTimestamp, maxTimestamp);
points.Add(p);
@@ -648,9 +659,9 @@ public partial class App : Form
ctx.SetTextAlign(DrawContext.TextHorizontalAlignment.Left, DrawContext.TextVerticalAlignment.Center);
ctx.Fill(127, 127, 255);
g.DrawString(maxValue.ToString("N3", CultureInfo.InvariantCulture), _font12, ctx.FillBrush, 4,
graphMargin / 2f, ctx.TextAlignment);
graphMargin / 2F, ctx.TextAlignment);
g.DrawString(minValue.ToString("N3", CultureInfo.InvariantCulture), _font12, ctx.FillBrush, 4,
graphRect.Height - graphMargin / 2f, ctx.TextAlignment);
graphRect.Height - graphMargin / 2F + 1, ctx.TextAlignment);
ctx.ResetTextAlign();
}
}
@@ -691,7 +702,7 @@ public partial class App : Form
if (sampleCount > 0)
{
g.SetClip(new RectangleF(0, graphMargin, graphRect.Width, graphRect.Height - 2 * graphMargin + 1));
g.SetClip(curveRect);
ctx.Stroke(255, 255, 0);
ctx.StrokeWeight(1);
@@ -724,7 +735,7 @@ public partial class App : Form
continue;
}
var p = CalculateGraphPosition(graphRect, graphMargin, i, sampleSize, sample.Integral, minValue,
var p = CalculateGraphPosition(curveRect, i, sampleSize, sample.Integral, minValue,
maxValue,
sample.Timestamp, minTimestamp, maxTimestamp);
@@ -753,9 +764,9 @@ public partial class App : Form
ctx.SetTextAlign(DrawContext.TextHorizontalAlignment.Left, DrawContext.TextVerticalAlignment.Center);
ctx.Fill(255, 255, 0);
g.DrawString(maxValue.ToString("N3", CultureInfo.InvariantCulture), _font12, ctx.FillBrush, 90,
graphMargin / 2f, ctx.TextAlignment);
graphMargin / 2F, ctx.TextAlignment);
g.DrawString(minValue.ToString("N3", CultureInfo.InvariantCulture), _font12, ctx.FillBrush, 90,
graphRect.Height - graphMargin / 2f, ctx.TextAlignment);
graphRect.Height - graphMargin / 2F + 1, ctx.TextAlignment);
ctx.ResetTextAlign();
}
}
@@ -796,7 +807,7 @@ public partial class App : Form
if (sampleCount > 0)
{
g.SetClip(new RectangleF(0, graphMargin, graphRect.Width, graphRect.Height - 2 * graphMargin + 1));
g.SetClip(curveRect);
ctx.Stroke(255, 63, 63);
ctx.StrokeWeight(1);
@@ -829,7 +840,7 @@ public partial class App : Form
continue;
}
var p = CalculateGraphPosition(graphRect, graphMargin, i, sampleSize, sample.Derivative, minValue,
var p = CalculateGraphPosition(curveRect, i, sampleSize, sample.Derivative, minValue,
maxValue,
sample.Timestamp, minTimestamp, maxTimestamp);
@@ -858,9 +869,9 @@ public partial class App : Form
ctx.SetTextAlign(DrawContext.TextHorizontalAlignment.Left, DrawContext.TextVerticalAlignment.Center);
ctx.Fill(255, 63, 63);
g.DrawString(maxValue.ToString("N3", CultureInfo.InvariantCulture), _font12, ctx.FillBrush, 176,
graphMargin / 2f, ctx.TextAlignment);
graphMargin / 2F, ctx.TextAlignment);
g.DrawString(minValue.ToString("N3", CultureInfo.InvariantCulture), _font12, ctx.FillBrush, 176,
graphRect.Height - graphMargin / 2f, ctx.TextAlignment);
graphRect.Height - graphMargin / 2F + 1, ctx.TextAlignment);
ctx.ResetTextAlign();
}
}
@@ -896,7 +907,7 @@ public partial class App : Form
if (sampleCount > 0)
{
g.SetClip(new RectangleF(0, graphMargin, graphRect.Width, graphRect.Height - 2 * graphMargin + 1));
g.SetClip(curveRect);
// CONSIGNE
@@ -910,22 +921,7 @@ public partial class App : Form
{
i++;
// if (!sample.Active)
// {
// if (points.Count > 0)
// {
// if (points.Count > 1)
// {
// g.DrawLines(ctx.DrawPen, CollectionsMarshal.AsSpan(points));
// }
//
// points.Clear();
// }
//
// continue;
// }
var p = CalculateGraphPosition(graphRect, graphMargin, i, sampleSize, sample.Consigne, minValue,
var p = CalculateGraphPosition(curveRect, i, sampleSize, sample.Consigne, minValue,
maxValue,
sample.Timestamp, minTimestamp, maxTimestamp);
@@ -955,7 +951,7 @@ public partial class App : Form
{
i++;
var p = CalculateGraphPosition(graphRect, graphMargin, i, sampleSize, sample.Speed, minValue,
var p = CalculateGraphPosition(curveRect, i, sampleSize, sample.Speed, minValue,
maxValue,
sample.Timestamp, minTimestamp, maxTimestamp);
@@ -984,9 +980,9 @@ public partial class App : Form
ctx.SetTextAlign(DrawContext.TextHorizontalAlignment.Left, DrawContext.TextVerticalAlignment.Center);
ctx.Fill(127, 255, 255);
g.DrawString(maxValue.ToString("N3", CultureInfo.InvariantCulture), _font12, ctx.FillBrush, 262,
graphMargin / 2f, ctx.TextAlignment);
graphMargin / 2F, ctx.TextAlignment);
g.DrawString(minValue.ToString("N3", CultureInfo.InvariantCulture), _font12, ctx.FillBrush, 262,
graphRect.Height - graphMargin / 2f, ctx.TextAlignment);
graphRect.Height - graphMargin / 2F + 1, ctx.TextAlignment);
ctx.ResetTextAlign();
}
}
@@ -1027,7 +1023,7 @@ public partial class App : Form
if (sampleCount > 0)
{
g.SetClip(new RectangleF(0, graphMargin, graphRect.Width, graphRect.Height - 2 * graphMargin + 1));
g.SetClip(curveRect);
ctx.Stroke(127, 255, 127);
ctx.StrokeWeight(1);
@@ -1060,7 +1056,7 @@ public partial class App : Form
continue;
}
var p = CalculateGraphPosition(graphRect, graphMargin, i, sampleSize, sample.Acceleration, minValue,
var p = CalculateGraphPosition(curveRect, i, sampleSize, sample.Acceleration, minValue,
maxValue,
sample.Timestamp, minTimestamp, maxTimestamp);
@@ -1089,9 +1085,9 @@ public partial class App : Form
ctx.SetTextAlign(DrawContext.TextHorizontalAlignment.Left, DrawContext.TextVerticalAlignment.Center);
ctx.Fill(127, 255, 127);
g.DrawString(maxValue.ToString("N3", CultureInfo.InvariantCulture), _font12, ctx.FillBrush, 348,
graphMargin / 2f, ctx.TextAlignment);
graphMargin / 2F, ctx.TextAlignment);
g.DrawString(minValue.ToString("N3", CultureInfo.InvariantCulture), _font12, ctx.FillBrush, 348,
graphRect.Height - graphMargin / 2f, ctx.TextAlignment);
graphRect.Height - graphMargin / 2F + 1, ctx.TextAlignment);
ctx.ResetTextAlign();
}
}
@@ -1132,7 +1128,7 @@ public partial class App : Form
if (sampleCount > 0)
{
g.SetClip(new RectangleF(0, graphMargin, graphRect.Width, graphRect.Height - 2 * graphMargin + 1));
g.SetClip(curveRect);
ctx.Stroke(255, 127, 255);
ctx.StrokeWeight(1);
@@ -1158,7 +1154,7 @@ public partial class App : Form
continue;
}
var p = CalculateGraphPosition(graphRect, graphMargin, i, sampleSize, sample.Servo, minValue,
var p = CalculateGraphPosition(curveRect, i, sampleSize, sample.Servo, minValue,
maxValue,
sample.Timestamp, minTimestamp, maxTimestamp);
@@ -1180,9 +1176,9 @@ public partial class App : Form
ctx.SetTextAlign(DrawContext.TextHorizontalAlignment.Left, DrawContext.TextVerticalAlignment.Center);
ctx.Fill(255, 127, 255);
g.DrawString(maxValue.ToString(CultureInfo.InvariantCulture), _font12, ctx.FillBrush, 434,
graphMargin / 2f, ctx.TextAlignment);
graphMargin / 2F, ctx.TextAlignment);
g.DrawString(minValue.ToString(CultureInfo.InvariantCulture), _font12, ctx.FillBrush, 434,
graphRect.Height - graphMargin / 2f, ctx.TextAlignment);
graphRect.Height - graphMargin / 2F + 1, ctx.TextAlignment);
ctx.ResetTextAlign();
}
}