New version

CruiseControlMX5.pde

@@ -10,7 +10,7 @@ import java.util.regex.Pattern;
 
 static final Pattern FLOAT_REGEX = Pattern.compile("^-?(?:0|[1-9]\\d*)(?:\\.\\d+)?$");
 
-static final String COM_PORT = "COM7";
+static final String COM_PORT = "COM5";
 static final int speedStart = 0, speedEnd = 240;
 static final int minSampleSize = 50, maxSampleSize = 600;
 static final float minTimeSpan = 5F, maxTimeSpan = 60F;
@@ -31,7 +31,7 @@ Toggle smoothCurvesToggle;
 Rectangle kpArduinoRect, kiArduinoRect, kdArduinoRect;
 Rectangle errorGraphLabelRect, integralGraphLabelRect, derivativeGraphLabelRect, speedGraphLabelRect, accelerationGraphLabelRect, servoGraphLabelRect;
 Rectangle speedGaugeRect, graphRect, statusRect;
-Rectangle stateRect, switchFlagRect, speedDiffFlagRect, minSpeedFlagRect, maxSpeedFlagRect, brakeFlagRect, relayRect, satellitesRect;
+Rectangle stateRect, brakeFlagRect, deltaTRect;
 
 Serial serial;
 boolean hasIgnoredFirstPacket, hasReadSecondPacket;
@@ -52,23 +52,18 @@ boolean drawSmoothCurves;
 
 void setup() {
   size(1600, 512);
-  pixelDensity(1);
+  pixelDensity(displayDensity());
 
   windowTitle("Cruise Controller MX5");
-  
+
   speedGaugeRect = Rectangle.xywh(32, 32, 300, 300);
   graphRect = Rectangle.tlbr(speedGaugeRect.top, speedGaugeRect.right + 32, speedGaugeRect.top + 260, width - 32);
   statusRect = Rectangle.xywh(-1, height - 32, width + 1, 32);
 
-  var splitRect = statusRect.splitVerticallyInto(8);
+  var splitRect = statusRect.splitVerticallyInto(3);
   stateRect = splitRect[0];
-  switchFlagRect = splitRect[1];
+  brakeFlagRect = splitRect[1];
-  speedDiffFlagRect = splitRect[2];
+  deltaTRect = splitRect[2];
-  minSpeedFlagRect = splitRect[3];
-  maxSpeedFlagRect = splitRect[4];
-  brakeFlagRect = splitRect[5];
-  relayRect = splitRect[6];
-  satellitesRect = splitRect[7];
 
   consolas_16 = createFont("Consolas", 16, true);
   consolas_16_bold = createFont("Consolas Bold", 16, true);
@@ -139,12 +134,13 @@ void setup() {
     .setFont(font)
     .setCaptionLabel("");
 
-  //var saveSamplesButton = cp5.addButton("saveSamples")
+  /*var saveSamplesButton = cp5.addButton("saveSamples").
-  //  .setPosition(width - 32 - 80, 8)
+   .setPosition(width - 32 - 80, 8)
-  //  .setSize(80, 20)
+   .setSize(80, 20)
-  //  .setFont(font)
+   .setFont(font)
-  //  .setCaptionLabel("Sauver");
+   .setCaptionLabel("Sauver")
-  //pos = saveSamplesButton.getPosition();
+   .setEnabled(false);
+   pos = saveSamplesButton.getPosition();*/
 
   smoothCurvesToggle = cp5.addToggle("drawSmoothCurves")
     .setPosition(width - 32 - 150, 8)
@@ -323,13 +319,7 @@ void setup() {
   printArray(Serial.list());
   println("Trying %s".formatted(COM_PORT));
 
-  try {
+  openSerial();
-    serial = new Serial(this, COM_PORT, 115200);
-    serial.bufferUntil('\n');
-  }
-  catch (Exception e) {
-    println(e.getMessage());
-  }
 }
 
 void draw() {
@@ -625,7 +615,7 @@ void drawGraph(int frameTimeStart) {
     for (var iterator = samples.cappedIterator(sampleSize); iterator.hasNext(); ) {
       var sample = iterator.next();
 
-      if (sample.state != 2) {
+      if (!sample.state) {
         continue;
       }
 
@@ -665,7 +655,7 @@ void drawGraph(int frameTimeStart) {
         i = iterator.count();
         var sample = iterator.next();
 
-        if (sample.state != 2) {
+        if (!sample.state) {
           if (pointsDrawn > 0) {
             if (drawSmoothCurves && pointsDrawn > 1) {
               var nextSample1 = samples.get(i - 1);
@@ -772,7 +762,7 @@ void drawGraph(int frameTimeStart) {
     for (var iterator = samples.cappedIterator(sampleSize); iterator.hasNext(); ) {
       var sample = iterator.next();
 
-      if (sample.state != 2) {
+      if (!sample.state) {
         continue;
       }
 
@@ -805,7 +795,7 @@ void drawGraph(int frameTimeStart) {
         i = iterator.count();
         var sample = iterator.next();
 
-        if (sample.state != 2) {
+        if (!sample.state) {
           if (pointsDrawn > 0) {
             if (drawSmoothCurves && pointsDrawn > 1) {
               var nextSample1 = samples.get(i - 1);
@@ -913,7 +903,7 @@ void drawGraph(int frameTimeStart) {
     for (var iterator = samples.cappedIterator(sampleSize); iterator.hasNext(); ) {
       var sample = iterator.next();
 
-      if (sample.state != 2) {
+      if (!sample.state) {
         continue;
       }
 
@@ -946,7 +936,7 @@ void drawGraph(int frameTimeStart) {
         i = iterator.count();
         var sample = iterator.next();
 
-        if (sample.state != 2) {
+        if (!sample.state) {
           if (pointsDrawn > 0) {
             if (drawSmoothCurves && pointsDrawn > 1) {
               var nextSample1 = samples.get(i - 1);
@@ -1083,7 +1073,7 @@ void drawGraph(int frameTimeStart) {
         var i = iterator.count();
         var sample = iterator.next();
 
-        if (sample.state == 0) {
+        if (!sample.state) {
           if (isDrawingCurve) {
             dash.endShape();
             isDrawingCurve = false;
@@ -1411,7 +1401,7 @@ void drawValues(Sample sample) {
   var col2 = 200 + 24;
   translate(col2, 0);
 
-  var col3Text = floor(max(textWidth("Vitesse"), max(textWidth("Accélération"), textWidth("Commande servo"))));
+  var col3Text = floor(max(textWidth("Vitesse"), textWidth("Accélération")));
   var col3 = col3Text + 8;
 
   translate(col3Text, 0);
@@ -1420,7 +1410,6 @@ void drawValues(Sample sample) {
   fill(255);
   text("Vitesse", 0, 0);
   text("Accélération", 0, 30);
-  text("Commande servo", 0, 60);
   textAlign(LEFT);
 
   translate(8, 0);
@@ -1430,20 +1419,21 @@ void drawValues(Sample sample) {
   fill(63);
   rect(0, -17, 100, 23);
   rect(0, 13, 100, 23);
-  rect(0, 43, 100, 23);
 
   var col4 = 100 + 24;
   translate(col4, 0);
 
-  var col5Text = floor(max(textWidth("Satellites"), textWidth("Seuil")));
+  var col5Text = floor(max(textWidth("Commande servo"), max(textWidth("Servo min"), max(textWidth("Servo max"), textWidth("Servo neutre")))));
   var col5 = col5Text + 8;
 
   translate(col5Text, 0);
 
   textAlign(RIGHT);
   fill(255);
-  text("Satellites", 0, 0);
+  text("Commande servo", 0, 0);
-  text("Seuil", 0, 30);
+  text("Servo min", 0, 30);
+  text("Servo max", 0, 60);
+  text("Servo neutre", 0, 90);
   textAlign(LEFT);
 
   translate(8, 0);
@@ -1453,6 +1443,8 @@ void drawValues(Sample sample) {
   fill(63);
   rect(0, -17, 50, 23);
   rect(0, 13, 50, 23);
+  rect(0, 43, 50, 23);
+  rect(0, 73, 50, 23);
 
   popMatrix();
 
@@ -1464,36 +1456,39 @@ void drawValues(Sample sample) {
 
     translate(col1, 0);
 
-    clip(0, -18, 200, 23);
+    clip(0, -17, 200, 23);
-    text(str(sample.proportional), 4F, -18F + 23F / 2F);
+    text(str(sample.proportional), 4F, -17F + 23F / 2F);
 
-    clip(0, 12, 200, 23);
+    clip(0, 13, 200, 23);
-    text(str(sample.integral), 4F, 12F + 23F / 2F);
+    text(str(sample.integral), 4F, 13F + 23F / 2F);
 
-    clip(0, 42, 200, 23);
+    clip(0, 43, 200, 23);
-    text(str(sample.derivative), 4F, 42F + 23F / 2F);
+    text(str(sample.derivative), 4F, 43F + 23F / 2F);
 
-    clip(0, 72, 200, 23);
+    clip(0, 73, 200, 23);
-    text(str(sample.error), 4F, 72F + 23F / 2F);
+    text(str(sample.error), 4F, 73F + 23F / 2F);
 
     translate(col2 + col3, 0);
 
-    clip(0, -18, 100, 23);
+    clip(0, -17, 100, 23);
-    text(str(sample.speed), 4F, -18F + 23F / 2F);
+    text(str(sample.speed), 4F, -17F + 23F / 2F);
 
-    clip(0, 12, 100, 23);
+    clip(0, 13, 100, 23);
-    text(str(sample.acceleration), 4F, 12F + 23F / 2F);
+    text(str(sample.acceleration), 4F, 13F + 23F / 2F);
-
-    clip(0, 42, 100, 23);
-    text(sample.servo, 4F, 42F + 23F / 2F);
 
     translate(col4 + col5, 0);
 
-    clip(0, -18, 50, 23);
+    clip(0, -17, 100, 23);
-    text(sample.satellites, 4F, -18F + 23F / 2F);
+    text(str(sample.servo), 4F, -17F + 23F / 2F);
 
-    clip(0, 12, 50, 23);
+    clip(0, 13, 100, 23);
-    text(sample.minSatellites, 4F, 12F + 23F / 2F);
+    text(str(sample.servoMin), 4F, 13F + 23F / 2F);
+
+    clip(0, 43, 100, 23);
+    text(str(sample.servoMax), 4F, 43F + 23F / 2F);
+
+    clip(0, 73, 100, 23);
+    text(str(sample.servoNeutre), 4F, 73F + 23F / 2F);
 
     noClip();
 
@@ -1539,22 +1534,12 @@ void drawStatusBar(Sample sample) {
 
   String stateName;
   if (sample != null) {
-    switch (sample.state) {
+    if (sample.state) {
-    case 0:
-      stateName = "Standby";
-      fill(130, 130, 0);
-      break;
-    case 1:
-      stateName = "Approche";
-      fill(0, 0, 170);
-      break;
-    case 2:
       stateName = "Régulation";
       fill(0, 100, 0);
-      break;
+    } else {
-    default:
+      stateName = "Standby";
-      stateName = "État inconnu [%s]".formatted(sample.state);
+      fill(130, 130, 0);
-      noFill();
     }
   } else {
     stateName = "Déconnecté / OFF";
@@ -1564,50 +1549,6 @@ void drawStatusBar(Sample sample) {
   fill(255);
   text(stateName, stateRect.centerX(), stateRect.centerY());
 
-  if (sample == null) {
-    fill(47);
-  } else if (sample.switchFlag) {
-    fill(170, 0, 0);
-  } else {
-    fill(0, 100, 0);
-  }
-  rect(switchFlagRect.left, switchFlagRect.top, switchFlagRect.width, switchFlagRect.height);
-  fill(255);
-  text("SECU interrupteur", switchFlagRect.centerX(), switchFlagRect.centerY());
-
-  if (sample == null) {
-    fill(47);
-  } else if (sample.speedDiffFlag) {
-    fill(170, 0, 0);
-  } else {
-    fill(0, 100, 0);
-  }
-  rect(speedDiffFlagRect.left, speedDiffFlagRect.top, speedDiffFlagRect.width, speedDiffFlagRect.height);
-  fill(255);
-  text("SECU écart", speedDiffFlagRect.centerX(), speedDiffFlagRect.centerY());
-
-  if (sample == null) {
-    fill(47);
-  } else if (sample.minSpeedFlag) {
-    fill(170, 0, 0);
-  } else {
-    fill(0, 100, 0);
-  }
-  rect(minSpeedFlagRect.left, minSpeedFlagRect.top, minSpeedFlagRect.width, minSpeedFlagRect.height);
-  fill(255);
-  text("SECU vitesse min", minSpeedFlagRect.centerX(), minSpeedFlagRect.centerY());
-
-  if (sample == null) {
-    fill(47);
-  } else if (sample.maxSpeedFlag) {
-    fill(170, 0, 0);
-  } else {
-    fill(0, 100, 0);
-  }
-  rect(maxSpeedFlagRect.left, maxSpeedFlagRect.top, maxSpeedFlagRect.width, maxSpeedFlagRect.height);
-  fill(255);
-  text("SECU vitesse max", maxSpeedFlagRect.centerX(), maxSpeedFlagRect.centerY());
-
   if (sample == null) {
     fill(47);
   } else if (sample.brakeFlag) {
@@ -1621,25 +1562,16 @@ void drawStatusBar(Sample sample) {
 
   if (sample == null) {
     fill(47);
-  } else if (sample.relay) {
-    fill(0, 100, 0);
-  } else {
-    fill(130, 130, 0);
-  }
-  rect(relayRect.left, relayRect.top, relayRect.width, relayRect.height);
-  fill(255);
-  text("Relais", relayRect.centerX(), relayRect.centerY());
-
-  if (sample == null) {
-    fill(47);
-  } else if (sample.satellites < sample.minSatellites) {
-    fill(170, 0, 0);
   } else {
     fill(0, 100, 0);
   }
-  rect(satellitesRect.left, satellitesRect.top, satellitesRect.width, satellitesRect.height);
+  rect(deltaTRect.left, deltaTRect.top, deltaTRect.width, deltaTRect.height);
   fill(255);
-  text("Satellites", satellitesRect.centerX(), satellitesRect.centerY());
+  if (sample != null) {
+    text("%d µs".formatted(sample.deltaT), deltaTRect.centerX(), deltaTRect.centerY());
+  } else {
+    text("∆T (µs)", deltaTRect.centerX(), deltaTRect.centerY());
+  }
 
   pop();
 }
@@ -1800,18 +1732,6 @@ void handlePacket(String packet) {
     var value = split[1];
 
     switch (name) {
-    case "SECUINTER":
-      sample.switchFlag = intToBool(value);
-      break;
-    case "SECUECART":
-      sample.speedDiffFlag = intToBool(value);
-      break;
-    case "SECUVMIN":
-      sample.minSpeedFlag = intToBool(value);
-      break;
-    case "SECUVMAX":
-      sample.maxSpeedFlag = intToBool(value);
-      break;
     case "KP":
       sample.kp = float(value);
       break;
@@ -1827,18 +1747,12 @@ void handlePacket(String packet) {
     case "VITESSEMAX":
       sample.speedMax = int(value);
       break;
-    case "ETAT":
+    case "ACTIF":
-      sample.state = int(value);
+      sample.state = intToBool(value);
       break;
     case "CONSIGNE":
       sample.consigne = float(value);
       break;
-    case "SAT":
-      sample.satellites = int(value);
-      break;
-    case "SATMIN":
-      sample.minSatellites = int(value);
-      break;
     case "VITESSE":
       sample.speed = float(value);
       break;
@@ -1860,14 +1774,20 @@ void handlePacket(String packet) {
     case "SERVO":
       sample.servo = int(value);
       break;
+    case "SERVOMIN":
+      sample.servoMin = int(value);
+      break;
+    case "SERVOMAX":
+      sample.servoMax = int(value);
+      break;
+    case "SERVONEUTRE":
+      sample.servoNeutre = int(value);
+      break;
     case "FREIN":
       sample.brakeFlag = intToBool(value);
       break;
-      //case "MILLIS":
+    case "DELTAT":
-      //  timestamp = int(value);
+      sample.deltaT = int(float(value) * 1e6);
-      //  break;
-    case "RELAIS":
-      sample.relay = intToBool(value);
       break;
     }
   }
@@ -1887,8 +1807,12 @@ void resetSerial() {
   samples.clear();
   sampleQueue.clear();
 
+  openSerial();
+}
+
+void openSerial() {
   try {
-    serial = new Serial(this, COM_PORT, 115200);
+    serial = new Serial(this, COM_PORT, 921600);
     serial.bufferUntil('\n');
   }
   catch (Exception e) {
@@ -1896,66 +1820,64 @@ void resetSerial() {
   }
 }
 
+/*
 void saveSamples() {
-  var table = new Table();
+ var table = new Table();
-
+ 
-  table.addColumn("timestamp");
+ table.addColumn("timestamp");
-  table.addColumn("drawTimeTick");
+ table.addColumn("drawTimeTick");
-  table.addColumn("kp");
+ table.addColumn("kp");
-  table.addColumn("ki");
+ table.addColumn("ki");
-  table.addColumn("kd");
+ table.addColumn("kd");
-  table.addColumn("proportional");
+ table.addColumn("proportional");
-  table.addColumn("integral");
+ table.addColumn("integral");
-  table.addColumn("derivative");
+ table.addColumn("derivative");
-  table.addColumn("speed");
+ table.addColumn("speed");
-  table.addColumn("acceleration");
+ table.addColumn("acceleration");
-  table.addColumn("consigne");
+ table.addColumn("consigne");
-  table.addColumn("error");
+ table.addColumn("error");
-  table.addColumn("servo");
+ table.addColumn("servo");
-  table.addColumn("state");
+ table.addColumn("state");
-  table.addColumn("satellites");
+ table.addColumn("speedMin");
-  table.addColumn("minSatellites");
+ table.addColumn("speedMax");
-  table.addColumn("speedMin");
+ table.addColumn("switchFlag");
-  table.addColumn("speedMax");
+ table.addColumn("speedDiffFlag");
-  table.addColumn("switchFlag");
+ table.addColumn("minSpeedFlag");
-  table.addColumn("speedDiffFlag");
+ table.addColumn("maxSpeedFlag");
-  table.addColumn("minSpeedFlag");
+ table.addColumn("brakeFlag");
-  table.addColumn("maxSpeedFlag");
+ table.addColumn("relay");
-  table.addColumn("brakeFlag");
+ 
-  table.addColumn("relay");
+ var iterator = samples.descendingIterator();
-
+ 
-  var iterator = samples.descendingIterator();
+ while (iterator.hasNext()) {
-
+ var sample = iterator.next();
-  while (iterator.hasNext()) {
+ 
-    var sample = iterator.next();
+ var row = table.addRow();
-
+ 
-    var row = table.addRow();
+ row.setInt("timestamp", sample.timestamp);
-
+ row.setInt("drawTimeTick", toInt(sample.drawTimeTick));
-    row.setInt("timestamp", sample.timestamp);
+ row.setFloat("kp", sample.kp);
-    row.setInt("drawTimeTick", toInt(sample.drawTimeTick));
+ row.setFloat("ki", sample.ki);
-    row.setFloat("kp", sample.kp);
+ row.setFloat("kd", sample.kd);
-    row.setFloat("ki", sample.ki);
+ row.setFloat("proportional", sample.proportional);
-    row.setFloat("kd", sample.kd);
+ row.setFloat("integral", sample.integral);
-    row.setFloat("proportional", sample.proportional);
+ row.setFloat("derivative", sample.derivative);
-    row.setFloat("integral", sample.integral);
+ row.setFloat("speed", sample.speed);
-    row.setFloat("derivative", sample.derivative);
+ row.setFloat("acceleration", sample.acceleration);
-    row.setFloat("speed", sample.speed);
+ row.setFloat("consigne", sample.consigne);
-    row.setFloat("acceleration", sample.acceleration);
+ row.setFloat("error", sample.error);
-    row.setFloat("consigne", sample.consigne);
+ row.setInt("servo", sample.servo);
-    row.setFloat("error", sample.error);
+ row.setInt("state", sample.state);
-    row.setInt("servo", sample.servo);
+ row.setInt("speedMin", sample.speedMin);
-    row.setInt("state", sample.state);
+ row.setInt("speedMax", sample.speedMax);
-    row.setInt("satellites", sample.satellites);
+ row.setInt("switchFlag", toInt(sample.switchFlag));
-    row.setInt("minSatellites", sample.minSatellites);
+ row.setInt("speedDiffFlag", toInt(sample.speedDiffFlag));
-    row.setInt("speedMin", sample.speedMin);
+ row.setInt("minSpeedFlag", toInt(sample.minSpeedFlag));
-    row.setInt("speedMax", sample.speedMax);
+ row.setInt("maxSpeedFlag", toInt(sample.maxSpeedFlag));
-    row.setInt("switchFlag", toInt(sample.switchFlag));
+ row.setInt("brakeFlag", toInt(sample.brakeFlag));
-    row.setInt("speedDiffFlag", toInt(sample.speedDiffFlag));
+ row.setInt("relay", toInt(sample.relay));
-    row.setInt("minSpeedFlag", toInt(sample.minSpeedFlag));
+ }
-    row.setInt("maxSpeedFlag", toInt(sample.maxSpeedFlag));
+ 
-    row.setInt("brakeFlag", toInt(sample.brakeFlag));
+ saveTable(table, "data/samples/%s.csv".formatted(new Date()));
-    row.setInt("relay", toInt(sample.relay));
+ }
-  }
+ */
-
-  saveTable(table, "data/samples.csv");
-}

Sample.pde

@@ -7,13 +7,12 @@ static class Sample {
   float speed, acceleration;
   float consigne;
   float error;
-  int servo;
+  int servo, servoMin, servoMax, servoNeutre;
-  int state;
+  boolean state;
   float kp, ki, kd;
+  int deltaT;
   int speedMin, speedMax;
-  int minSatellites, satellites;
+  boolean brakeFlag;
-  boolean switchFlag, speedDiffFlag, minSpeedFlag, maxSpeedFlag, brakeFlag;
-  boolean relay;
   
   Sample(int timestamp, boolean drawTimeTick) {
     this.timestamp = timestamp;