re add log tools
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6 changed files with 1974 additions and 0 deletions
168
logdata/Timeline.pde
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168
logdata/Timeline.pde
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public class Timeline
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{
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PVector posOrigin;
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PVector size;
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int textsize=12;
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color cborder = color(200,200,200);
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color ctimeslider = color(255,255,255);
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private float time_start; //in seconds
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private float time_end;
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float[] preview_cmd;
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float[] preview_throttle;
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float[] preview_brake;
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float[] preview_currentAll;
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public Timeline(int px, int py, int pw, int ph) {
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this.posOrigin= new PVector(px,py); //lower left corner
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this.size = new PVector(pw,ph); //to the right and up
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preview_cmd=new float[(int)this.size.x];
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preview_throttle=new float[(int)this.size.x];
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preview_brake=new float[(int)this.size.x];
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preview_currentAll=new float[(int)this.size.x];
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}
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public void generatePreview(Table logdata) {
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int cID=0; //current ID for generating preview in datalog
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for (int x=0;x<this.size.x;x++) //for every width pixel of timeline
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{
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float t1=xPosToTimeSeconds(x); //time start for this pixel
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float t2=xPosToTimeSeconds(x+1); //time end for this pixel
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while ((cID+1 < logdata.getRowCount()) && ( t1 > (logdata.getRow(cID+1).getFloat("time")))) { //while starttime not reached
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cID++; //next
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}
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int preview_mean_counter=0;
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float preview_mean_cmd=0;
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float preview_mean_brake=0;
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float preview_mean_throttle=0;
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float preview_mean_currentAll=0;
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while ((cID+1 < logdata.getRowCount()) && ( t2 > (logdata.getRow(cID+1).getFloat("time")))) { //while endtime not reached
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TableRow row = logdata.getRow(cID);
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nextTimeData=(int)(logdata.getRow(cID+1).getFloat("time")*1000); //get time and convert from seconds to ms
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lastTimeMillis=nextTimeMillis;
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preview_mean_cmd += (row.getInt("cmd_FrontL")+row.getInt("cmd_FrontR")+row.getInt("cmd_RearL")+row.getInt("cmd_RearR"))/4.0;
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preview_mean_brake += row.getInt("brake");
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preview_mean_throttle += row.getInt("throttle");
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preview_mean_currentAll += row.getFloat("currentAll");
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/*
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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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preview_mean_counter++;
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cID++; //next
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}
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preview_mean_cmd/=preview_mean_counter;
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preview_mean_brake/=preview_mean_counter;
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preview_mean_throttle/=preview_mean_counter;
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preview_mean_currentAll/=preview_mean_counter;
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preview_cmd[x]=preview_mean_cmd;
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preview_brake[x]=preview_mean_brake;
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preview_throttle[x]=preview_mean_throttle;
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preview_currentAll[x]=preview_mean_currentAll;
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}//next pixel
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}
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public void setTimes(float _start,float _end) {
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this.time_start=_start;
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this.time_end=_end;
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}
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public void drawTL(float _time) {
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//Preview visualization
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for (int x=0;x<this.size.x;x++) //for every width pixel of timeline
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{
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if (!Float.isNaN(preview_cmd[x])) {
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float preview_cmd_scaled=constrain(map(preview_cmd[x],0,1000,0.0,1.0), 0.0,1.0);
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preview_cmd_scaled=sqrt(sqrt(preview_cmd_scaled))+0.1;//more contrast
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float preview_currentAll_scaled=constrain(map(preview_currentAll[x],0,10,0.0,1.0), 0.0,1.0);
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preview_currentAll_scaled=sqrt(sqrt(preview_currentAll_scaled));//more contrast
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colorMode(HSB, 360, 100, 100);
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stroke(color(200-preview_currentAll_scaled*200,100,preview_cmd_scaled*100));
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line(this.posOrigin.x+x,this.posOrigin.y,this.posOrigin.x+x,this.posOrigin.y+this.size.y); //color gradient background
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float preview_throttle_scaled=constrain(map(preview_throttle[x],0,1000,0.0,1.0), 0.0,1.0);
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colorMode(HSB, 360, 100, 100);
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stroke(color(240,100,100));
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line(this.posOrigin.x+x,this.posOrigin.y+this.size.y,this.posOrigin.x+x,this.posOrigin.y+this.size.y*(1-preview_throttle_scaled/2)); //line bottom up
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float preview_brake_scaled=constrain(map(preview_brake[x],0,1000,0.0,1.0), 0.0,1.0);
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colorMode(HSB, 360, 100, 100);
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stroke(color(0,100,100));
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line(this.posOrigin.x+x,this.posOrigin.y,this.posOrigin.x+x,this.posOrigin.y+this.size.y*preview_brake_scaled/2); //line top down
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}
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}
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//Boarder
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rectMode(CORNERS);
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noFill();
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stroke(this.cborder);
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rect(this.posOrigin.x,this.posOrigin.y,this.posOrigin.x+this.size.x,this.posOrigin.y+this.size.y); //border
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//current time
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int timeslider_xpos = (int)( this.posOrigin.x+timeSecondsToXPos(_time) );
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stroke(this.ctimeslider);
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line(timeslider_xpos,this.posOrigin.y-3,timeslider_xpos,this.posOrigin.y+this.size.y+3);
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textSize(this.textsize);
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textAlign(CENTER);
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text(int(this.time_start+0.5)+"s", this.posOrigin.x, this.posOrigin.y-1); //starttime
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text(int(this.time_end+0.5)+"s", this.posOrigin.x+this.size.x, this.posOrigin.y-1); //endtime
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}
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public float checkMouse(int mx, int my)
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{
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if (mx>=this.posOrigin.x && mx <=this.posOrigin.x+this.size.x && my>=this.posOrigin.y && my<=this.posOrigin.y+this.size.y) { //mouse whithin timeline boarder
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float mousetime=xPosToTimeSeconds((int)(mx-this.posOrigin.x));
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//float mousetimesliderpercent=(mx-this.posOrigin.x)/this.size.x;
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//float mousetime=mousetimesliderpercent*(this.time_end-this.time_start)+this.time_start;
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return millis()/1000.0-mousetime;
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}
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return 0;
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}
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private int timeSecondsToXPos(float _time) {
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float timesliderpercent = (_time-this.time_start)/(this.time_end-this.time_start); //0<= x <=1
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return (int)(timesliderpercent*this.size.x);
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}
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private float xPosToTimeSeconds(int _x) {
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float mousetimesliderpercent=_x/this.size.x;
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return mousetimesliderpercent*(this.time_end-this.time_start)+this.time_start;
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}
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}
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691
logdata/Visualization.pde
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691
logdata/Visualization.pde
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@ -0,0 +1,691 @@
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abstract class Visualization
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{
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float value=0;
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float value2=-1000;
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PVector posOrigin = new PVector(100,100);
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float valueMin=0;
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float valueMax=0;
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float value2Min=0; //value 2 for twodimensional visualization or second displayed value
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float value2Max=0;
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float valueMinRecord = Float.NaN; //nan means no value here
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float valueMaxRecord = Float.NaN;
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float value2MinRecord = Float.NaN; //nan means no value here
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float value2MaxRecord = Float.NaN;
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boolean showMinMax=false;
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//default colors (not all used by every implementation)
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color cmain = color(255,255,255);
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color cmain2 = color(255,255,255);
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color cscale = color(100,100,100);
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color cborder = color(200,200,200);
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color cmin = color(0,150,0);
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color cmax = color(150,0,0);
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color ctext = color(255,255,255);
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int textsize=12;
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float textWidthScale=1.0/2*this.textsize/2; //*text.length()*
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int showdecimals=2;
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String title="";
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String title2="";
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String valueUnit="";
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String value2Unit="";
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public abstract void drawVis();
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public void setValue(float pv){
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//this.value=constrain(pv,valueMin,valueMax);
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this.value=pv;
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if (this.showMinMax){
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if (Float.isNaN(this.valueMinRecord) || this.value<this.valueMinRecord){
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this.valueMinRecord=this.value;
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}
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if (Float.isNaN(this.valueMaxRecord) || this.value>this.valueMaxRecord){
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this.valueMaxRecord=this.value;
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}
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}
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}
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public void setValue2(float pv){
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//this.value2=constrain(pv,valueMin,valueMax);
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this.value2=pv;
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if (this.showMinMax){
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if (Float.isNaN(this.value2MinRecord) || this.value2<this.value2MinRecord){
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this.value2MinRecord=this.value2;
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}
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if (Float.isNaN(this.value2MaxRecord) || this.value2>this.value2MaxRecord){
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this.value2MaxRecord=this.value2;
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}
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}
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}
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public float getValueNormalized() {
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return (constrain(this.value,this.valueMin,this.valueMax)-this.valueMin)/(this.valueMax-this.valueMin);
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}
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public float getValueMinNormalized() {
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return (constrain(this.valueMinRecord,this.valueMin,this.valueMax)-this.valueMin)/(this.valueMax-this.valueMin);
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}
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public float getValueMaxNormalized() {
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return (constrain(this.valueMaxRecord,this.valueMin,this.valueMax)-this.valueMin)/(this.valueMax-this.valueMin);
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}
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public float getValue2Normalized() {
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return (constrain(this.value2,this.value2Min,this.value2Max)-this.value2Min)/(this.value2Max-this.value2Min);
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}
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public float getValue2MinNormalized() {
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return (constrain(this.value2MinRecord,this.value2Min,this.value2Max)-this.value2Min)/(this.value2Max-this.value2Min);
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}
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public float getValue2MaxNormalized() {
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return (constrain(this.value2MaxRecord,this.value2Min,this.value2Max)-this.value2Min)/(this.value2Max-this.value2Min);
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}
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public void setShowMinMax(boolean pshowMinMax){
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this.showMinMax = pshowMinMax;
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}
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public void setcmain(color pc){
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this.cmain=pc;
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}
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public void setcmain2(color pc){
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this.cmain2=pc;
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}
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public void setcscale(color pc){
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this.cscale=pc;
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}
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public void setcborder(color pc){
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this.cborder=pc;
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}
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public void setcmin(color pc){
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this.cmin=pc;
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}
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public void setcmax(color pc){
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this.cmax=pc;
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}
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public void setctext(color pc){
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this.ctext=pc;
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}
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public void setTitle(String pt) {
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this.title=pt;
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}
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public void setTitle2(String pt) {
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this.title2=pt;
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}
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public void setValueUnit(String pt) {
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this.valueUnit=pt;
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}
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public void setValue2Unit(String pt) {
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this.value2Unit=pt;
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}
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public void setshowdecimals(int pd) {
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this.showdecimals=pd;
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}
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public String getFormattedValue(double pv){
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if( ( (int)(pv*100)/100.0 )%1==0){
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return ""+(int)pv;
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}else{ //has decimals
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return String.format("%."+this.showdecimals+"f", pv); //limit decimal places
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}
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}
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}
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public class BarV extends Visualization {
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PVector size = new PVector(10,100);
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public BarV(int px, int py, int pw, int ph, float pvmin, float pvmax) {
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super.valueMin=pvmin;
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super.valueMax=pvmax;
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super.posOrigin= new PVector(px,py); //lower left corner
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this.size = new PVector(pw,ph); //to the right and up
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}
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public void drawVis() {
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rectMode(CORNERS);
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textSize(super.textsize);
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fill(super.cmain); noStroke();
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rect(super.posOrigin.x,super.posOrigin.y,super.posOrigin.x+this.size.x,super.posOrigin.y-( this.size.y*super.getValueNormalized()) );
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if (!Float.isNaN(super.valueMinRecord)){
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stroke(super.cmin);
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line(super.posOrigin.x,super.posOrigin.y-( this.size.y*super.getValueMinNormalized()) ,super.posOrigin.x+this.size.x,super.posOrigin.y-( this.size.y*super.getValueMinNormalized()) );
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}
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if (!Float.isNaN(super.valueMaxRecord)){
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stroke(super.cmax);
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line(super.posOrigin.x, super.posOrigin.y-( this.size.y*super.getValueMaxNormalized()), super.posOrigin.x+this.size.x,super.posOrigin.y-( this.size.y*super.getValueMaxNormalized()) );
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}
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noFill(); stroke(this.cborder);
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rect(super.posOrigin.x,super.posOrigin.y,super.posOrigin.x+this.size.x,super.posOrigin.y- this.size.y );
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//text
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textAlign(LEFT);
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fill(super.ctext);
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text(super.getFormattedValue(super.valueMin)+valueUnit,super.posOrigin.x+this.size.x+1,super.posOrigin.y+super.textsize/2);
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text(super.getFormattedValue(super.valueMax)+valueUnit,super.posOrigin.x+this.size.x+1,super.posOrigin.y-this.size.y+super.textsize/2);
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textAlign(LEFT);
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text(super.getFormattedValue(super.value)+valueUnit,super.posOrigin.x+this.size.x+1,super.posOrigin.y+super.textsize/2-this.size.y/2); //display value
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//Title
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textAlign(CENTER);
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text(super.title, super.posOrigin.x+this.size.x/2, super.posOrigin.y-this.size.y-1);
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}
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}
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public class BarV_cmd extends Visualization {
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PVector size = new PVector(10,100);
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public BarV_cmd(int px, int py, int pw, int ph, float pvmin, float pvmax) {
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super.valueMin=pvmin;
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super.valueMax=pvmax;
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super.posOrigin= new PVector(px,py); //lower left corner
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this.size = new PVector(pw,ph); //to the right and up
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}
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public void drawVis() {
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rectMode(CORNERS);
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textSize(super.textsize);
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fill(super.cmain); noStroke();
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int zeroy=(int)map(0,super.valueMin,super.valueMax,0,this.size.y);
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rect(super.posOrigin.x,super.posOrigin.y-zeroy,super.posOrigin.x+this.size.x,super.posOrigin.y-( this.size.y*super.getValueNormalized()) );
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if (!Float.isNaN(super.valueMinRecord)){
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stroke(super.cmin);
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line(super.posOrigin.x,super.posOrigin.y-( this.size.y*super.getValueMinNormalized()) ,super.posOrigin.x+this.size.x,super.posOrigin.y-( this.size.y*super.getValueMinNormalized()) );
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}
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if (!Float.isNaN(super.valueMaxRecord)){
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stroke(super.cmax);
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line(super.posOrigin.x, super.posOrigin.y-( this.size.y*super.getValueMaxNormalized()), super.posOrigin.x+this.size.x,super.posOrigin.y-( this.size.y*super.getValueMaxNormalized()) );
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}
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noFill(); stroke(this.cborder);
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rect(super.posOrigin.x,super.posOrigin.y,super.posOrigin.x+this.size.x,super.posOrigin.y- this.size.y );
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line(super.posOrigin.x,super.posOrigin.y-zeroy,super.posOrigin.x+this.size.x,super.posOrigin.y-zeroy); //zero line
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//text
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textAlign(LEFT);
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fill(super.ctext);
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//text(super.getFormattedValue(super.valueMin),super.posOrigin.x+this.size.x+1,super.posOrigin.y+super.textsize/2);
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//text(super.getFormattedValue(super.valueMax),super.posOrigin.x+this.size.x+1,super.posOrigin.y-this.size.y+super.textsize/2);
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textAlign(RIGHT);
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text(super.getFormattedValue(super.value),super.posOrigin.x+this.size.x/2+super.textWidthScale*3,super.posOrigin.y+super.textsize); //display value
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textAlign(LEFT);
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text(valueUnit,super.posOrigin.x+this.size.x/2+super.textWidthScale*3,super.posOrigin.y+super.textsize); //display unit on the right without disturbing alignment
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//Title
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textAlign(LEFT);
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text(super.title, super.posOrigin.x, super.posOrigin.y-this.size.y-1);
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}
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}
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public class BarH extends Visualization {
|
||||
PVector size = new PVector(10,100);
|
||||
|
||||
public BarH(int px, int py, int pw, int ph,float pvmin, float pvmax) {
|
||||
super.valueMin=pvmin;
|
||||
super.valueMax=pvmax;
|
||||
super.posOrigin= new PVector(px,py); //lower left corner
|
||||
this.size = new PVector(pw,ph); //to the right and up
|
||||
}
|
||||
|
||||
public void drawVis() {
|
||||
rectMode(CORNERS);
|
||||
textSize(super.textsize);
|
||||
|
||||
fill(super.cmain); noStroke();
|
||||
rect(super.posOrigin.x,super.posOrigin.y,super.posOrigin.x+( this.size.x*super.getValueNormalized()),super.posOrigin.y- this.size.y );
|
||||
|
||||
if (!Float.isNaN(super.valueMinRecord)){
|
||||
stroke(super.cmin);
|
||||
line(super.posOrigin.x+( this.size.x*super.getValueMinNormalized()),super.posOrigin.y,super.posOrigin.x+( this.size.x*super.getValueMinNormalized()),super.posOrigin.y- this.size.y );
|
||||
}
|
||||
if (!Float.isNaN(super.valueMaxRecord)){
|
||||
stroke(super.cmax);
|
||||
line(super.posOrigin.x+( this.size.x*super.getValueMaxNormalized()),super.posOrigin.y,super.posOrigin.x+( this.size.x*super.getValueMaxNormalized()),super.posOrigin.y- this.size.y );
|
||||
}
|
||||
|
||||
noFill(); stroke(super.cborder);
|
||||
rect(super.posOrigin.x,super.posOrigin.y,super.posOrigin.x+this.size.x,super.posOrigin.y- this.size.y );
|
||||
|
||||
//text
|
||||
textAlign(LEFT);
|
||||
fill(super.ctext);
|
||||
text(super.getFormattedValue(super.valueMin)+valueUnit,super.posOrigin.x-super.getFormattedValue(super.valueMin).length()*super.textWidthScale,super.posOrigin.y-this.size.y-1);
|
||||
text(super.getFormattedValue(super.valueMax)+valueUnit,super.posOrigin.x+this.size.x-super.getFormattedValue(super.valueMax).length()*super.textWidthScale,super.posOrigin.y-this.size.y-1);
|
||||
text(super.getFormattedValue(super.value)+valueUnit,super.posOrigin.x+this.size.x/2-super.getFormattedValue(super.value).length()*super.textWidthScale,super.posOrigin.y-this.size.y-1);
|
||||
|
||||
|
||||
//Title
|
||||
text(super.title, super.posOrigin.x+this.size.x/2-super.title.length()*super.textWidthScale,super.posOrigin.y+this.size.y+1);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
public class BarH_cmd extends Visualization {
|
||||
PVector size = new PVector(10,100);
|
||||
|
||||
public BarH_cmd(int px, int py, int pw, int ph,float pvmin, float pvmax) {
|
||||
super.valueMin=pvmin;
|
||||
super.valueMax=pvmax;
|
||||
super.posOrigin= new PVector(px,py); //lower left corner
|
||||
this.size = new PVector(pw,ph); //to the right and up
|
||||
}
|
||||
|
||||
public void drawVis() {
|
||||
rectMode(CORNERS);
|
||||
textSize(super.textsize);
|
||||
|
||||
int zerox=(int)map(0,super.valueMin,super.valueMax,0,this.size.x);
|
||||
|
||||
fill(super.cmain); noStroke();
|
||||
rect(super.posOrigin.x+zerox,super.posOrigin.y,super.posOrigin.x+( this.size.x*super.getValueNormalized()),super.posOrigin.y- this.size.y );
|
||||
|
||||
if (!Float.isNaN(super.valueMinRecord)){
|
||||
stroke(super.cmin);
|
||||
line(super.posOrigin.x+( this.size.x*super.getValueMinNormalized()),super.posOrigin.y,super.posOrigin.x+( this.size.x*super.getValueMinNormalized()),super.posOrigin.y- this.size.y );
|
||||
}
|
||||
if (!Float.isNaN(super.valueMaxRecord)){
|
||||
stroke(super.cmax);
|
||||
line(super.posOrigin.x+( this.size.x*super.getValueMaxNormalized()),super.posOrigin.y,super.posOrigin.x+( this.size.x*super.getValueMaxNormalized()),super.posOrigin.y- this.size.y );
|
||||
}
|
||||
|
||||
noFill(); stroke(super.cborder);
|
||||
rect(super.posOrigin.x,super.posOrigin.y,super.posOrigin.x+this.size.x,super.posOrigin.y- this.size.y );
|
||||
|
||||
//text
|
||||
textAlign(LEFT);
|
||||
fill(super.ctext);
|
||||
//text(super.getFormattedValue(super.valueMin),super.posOrigin.x-super.getFormattedValue(super.valueMin).length()*super.textWidthScale,super.posOrigin.y-this.size.y-1);
|
||||
//text(super.getFormattedValue(super.valueMax),super.posOrigin.x+this.size.x-super.getFormattedValue(super.valueMax).length()*super.textWidthScale,super.posOrigin.y-this.size.y-1);
|
||||
text(super.getFormattedValue(super.value)+valueUnit,super.posOrigin.x+this.size.x/2-super.getFormattedValue(super.value).length()*super.textWidthScale,super.posOrigin.y-this.size.y-1);
|
||||
|
||||
|
||||
//Title
|
||||
text(super.title, super.posOrigin.x+this.size.x/2-super.title.length()*super.textWidthScale,super.posOrigin.y+this.textsize+1);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
public class Tacho extends Visualization {
|
||||
int size;
|
||||
|
||||
|
||||
public Tacho(int px, int py, int psize, float pvmin, float pvmax) {
|
||||
super.valueMin=pvmin;
|
||||
super.valueMax=pvmax;
|
||||
super.value2Min=pvmin; //same scale
|
||||
super.value2Max=pvmax; //same scale
|
||||
super.posOrigin= new PVector(px,py); //circle center
|
||||
this.size = psize; //radius from the center
|
||||
}
|
||||
|
||||
public void drawVis() {
|
||||
rectMode(CORNERS);
|
||||
textSize(super.textsize);
|
||||
|
||||
stroke(super.cmain);
|
||||
float angle=PI-super.getValueNormalized()*PI; //0=right, positive=CCW
|
||||
line(super.posOrigin.x,super.posOrigin.y,super.posOrigin.x+cos(angle)*this.size*0.8 ,super.posOrigin.y-sin(angle)*this.size*0.8); //draw tacho needle
|
||||
|
||||
if (super.value2!=-1000) {
|
||||
stroke(super.cmain2);
|
||||
float angle2=PI-super.getValue2Normalized()*PI; //0=right, positive=CCW
|
||||
line(super.posOrigin.x,super.posOrigin.y,super.posOrigin.x+cos(angle2)*this.size*0.8 ,super.posOrigin.y-sin(angle2)*this.size*0.8); //draw tacho needle
|
||||
}
|
||||
|
||||
if (!Float.isNaN(super.valueMinRecord)){
|
||||
stroke(this.cmin);
|
||||
float angleMin=PI-super.getValueMinNormalized()*PI; //0=right, positive=CCW
|
||||
line(super.posOrigin.x+cos(angleMin)*this.size*0.65 ,super.posOrigin.y-sin(angleMin)*this.size*0.65,super.posOrigin.x+cos(angleMin)*this.size*0.75 ,super.posOrigin.y-sin(angleMin)*this.size*0.75); //draw tacho needle min
|
||||
}
|
||||
if (!Float.isNaN(super.valueMaxRecord)){
|
||||
stroke(this.cmax);
|
||||
float angleMax=PI-super.getValueMaxNormalized()*PI; //0=right, positive=CCW
|
||||
line(super.posOrigin.x+cos(angleMax)*this.size*0.65 ,super.posOrigin.y-sin(angleMax)*this.size*0.65,super.posOrigin.x+cos(angleMax)*this.size*0.75 ,super.posOrigin.y-sin(angleMax)*this.size*0.75); //draw tacho needle max
|
||||
}
|
||||
|
||||
stroke(this.cscale);
|
||||
fill(super.ctext);
|
||||
float _steps=0.1;
|
||||
for (float i=0;i<=1+_steps; i+=_steps){
|
||||
float a=PI-PI*i;
|
||||
line(super.posOrigin.x+cos(a)*this.size*0.85 ,super.posOrigin.y-sin(a)*this.size*0.85 ,super.posOrigin.x+cos(a)*this.size ,super.posOrigin.y-sin(a)*this.size);
|
||||
String _text=super.getFormattedValue(super.valueMin+(super.valueMax-super.valueMin)*i);
|
||||
text(_text,super.posOrigin.x+cos(a)*this.size*1.1-_text.length()*super.textWidthScale-1 ,super.posOrigin.y-sin(a)*this.size*1.1+super.textsize/2-1);
|
||||
}
|
||||
|
||||
//text
|
||||
fill(super.cmain);
|
||||
text(super.getFormattedValue(super.value)+valueUnit,super.posOrigin.x-super.getFormattedValue(super.value).length()*super.textWidthScale,super.posOrigin.y+super.textsize/2-this.size*0.3);
|
||||
if (super.value2!=-1000) { //value2 is used
|
||||
fill(super.cmain2);
|
||||
text(super.getFormattedValue(super.value2)+value2Unit,super.posOrigin.x-super.getFormattedValue(super.value).length()*super.textWidthScale,super.posOrigin.y+super.textsize/2*4-this.size*0.3);
|
||||
}
|
||||
|
||||
//Title
|
||||
textAlign(CENTER);
|
||||
fill(super.ctext);
|
||||
text(super.title, super.posOrigin.x, super.posOrigin.y+super.textsize*1.5);
|
||||
if (super.title2!="") {
|
||||
text(super.title2, super.posOrigin.x, super.posOrigin.y+super.textsize*1.5*2);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public class Direction extends Visualization {
|
||||
int size;
|
||||
float angleoffset;
|
||||
float minvisiblevalue;
|
||||
float maxvisiblevalue;
|
||||
|
||||
public Direction(int px, int py, int psize,float pvmin, float pvmax, float pvlmin, float pvlmax, float pangleoffset) {
|
||||
super.valueMin=pvmin;
|
||||
super.valueMax=pvmax;
|
||||
super.posOrigin= new PVector(px,py); //center
|
||||
this.size = psize; //radius from the center
|
||||
|
||||
super.value2Min=pvlmin;
|
||||
super.value2Max=pvlmax;
|
||||
|
||||
this.angleoffset=pangleoffset;
|
||||
|
||||
this.minvisiblevalue=valueMin;
|
||||
this.maxvisiblevalue=valueMax;
|
||||
}
|
||||
|
||||
public Direction(int px, int py, int psize,float pvmin, float pvmax, float pvlmin, float pvlmax, float pangleoffset, float pminvisiblevalue, float pmaxvisiblevalue) {
|
||||
super.valueMin=pvmin;
|
||||
super.valueMax=pvmax;
|
||||
super.posOrigin= new PVector(px,py); //center
|
||||
this.size = psize; //radius from the center
|
||||
|
||||
super.value2Min=pvlmin;
|
||||
super.value2Max=pvlmax;
|
||||
|
||||
this.angleoffset=pangleoffset;
|
||||
|
||||
this.minvisiblevalue=pminvisiblevalue;
|
||||
this.maxvisiblevalue=pmaxvisiblevalue;
|
||||
}
|
||||
|
||||
|
||||
|
||||
public void drawVis() {
|
||||
rectMode(CORNERS);
|
||||
textSize(super.textsize);
|
||||
|
||||
stroke(super.cborder); noFill();
|
||||
if (this.minvisiblevalue==super.valueMin & this.maxvisiblevalue==super.valueMax) {
|
||||
ellipseMode(RADIUS); //centerx, centery, width,height for ellipse
|
||||
ellipse(super.posOrigin.x, super.posOrigin.y, this.size,this.size);
|
||||
}else{
|
||||
arc(super.posOrigin.x, super.posOrigin.y, this.size*2,this.size*2, this.angleoffset+2*PI -this.minvisiblevalue/super.valueMin*PI, 2*PI+this.angleoffset +this.maxvisiblevalue/super.valueMax*PI, PIE);
|
||||
}
|
||||
|
||||
stroke(super.cmain);
|
||||
float angle=map(super.getValueNormalized(),0,1,0,2*PI)+this.angleoffset;
|
||||
//float _vecsize=this.size*( (super.value2-super.value2Min)/(super.value2Max-super.value2Min));
|
||||
float _vecsize=this.size*super.getValue2Normalized();
|
||||
line(super.posOrigin.x,super.posOrigin.y,super.posOrigin.x+cos(angle)*_vecsize,super.posOrigin.y-sin(angle)*_vecsize);
|
||||
|
||||
line(super.posOrigin.x+cos(angle-0.1)*_vecsize*0.9,super.posOrigin.y-sin(angle-0.1)*_vecsize*0.9,super.posOrigin.x+cos(angle)*_vecsize,super.posOrigin.y-sin(angle)*_vecsize); //arrow
|
||||
line(super.posOrigin.x+cos(angle+0.1)*_vecsize*0.9,super.posOrigin.y-sin(angle+0.1)*_vecsize*0.9,super.posOrigin.x+cos(angle)*_vecsize,super.posOrigin.y-sin(angle)*_vecsize);
|
||||
|
||||
//text
|
||||
textAlign(LEFT);
|
||||
fill(super.ctext);
|
||||
text(super.getFormattedValue(super.value)+valueUnit,super.posOrigin.x-super.getFormattedValue(super.value).length()*super.textWidthScale,super.posOrigin.y+super.textsize*1.5*1);
|
||||
if (super.value2<super.value2Max){ //display only if in use
|
||||
text("l="+super.getFormattedValue(super.value2)+valueUnit,super.posOrigin.x-("l="+super.getFormattedValue(super.value2)).length()*super.textWidthScale,super.posOrigin.y+super.textsize*1.5*2);
|
||||
}
|
||||
|
||||
//Title
|
||||
text(super.title, super.posOrigin.x-super.title.length()*super.textWidthScale, super.posOrigin.y+super.textsize*1.5*3);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
public class GraphRoll extends Visualization {
|
||||
PVector size;
|
||||
float[] valuearray;
|
||||
float[] valueMinarray;
|
||||
float[] valueMaxarray;
|
||||
int arraypos;
|
||||
int recordevery=1; //minimum value =1, the higher the slower
|
||||
int recordevery_counter=0;
|
||||
|
||||
public GraphRoll(int px, int py, int psx, int psy,float pvmin, float pvmax,int precordevery) {
|
||||
super.valueMin=pvmin;
|
||||
super.valueMax=pvmax;
|
||||
super.posOrigin= new PVector(px,py); //center
|
||||
this.size = new PVector(psx,psy);
|
||||
|
||||
this.recordevery= precordevery;
|
||||
|
||||
this.valuearray = new float[psx]; //array size equals window width
|
||||
this.arraypos=0; //points to position to write to next (current value is at arraypos-1)
|
||||
this.valueMinarray = new float[psx];
|
||||
this.valueMaxarray = new float[psx];
|
||||
}
|
||||
|
||||
|
||||
|
||||
public void drawVis() {
|
||||
//update history
|
||||
this.recordevery_counter++;
|
||||
if (this.recordevery_counter>=this.recordevery){
|
||||
this.valuearray[this.arraypos]=super.getValueNormalized();
|
||||
this.arraypos++;
|
||||
this.arraypos%=this.valuearray.length;
|
||||
this.recordevery_counter=0;
|
||||
|
||||
if (super.showMinMax) {
|
||||
this.valueMinarray[this.arraypos]=super.getValueMinNormalized();
|
||||
this.valueMaxarray[this.arraypos]=super.getValueMaxNormalized();
|
||||
super.valueMinRecord=Float.NaN;
|
||||
super.valueMaxRecord=Float.NaN;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
rectMode(CORNERS);
|
||||
textSize(super.textsize);
|
||||
|
||||
stroke(super.cborder);
|
||||
noFill();
|
||||
rect(super.posOrigin.x,super.posOrigin.y,super.posOrigin.x+this.size.x,super.posOrigin.y-this.size.y);
|
||||
int zeroy=(int)map(0,super.valueMin,super.valueMax,0,this.size.y);
|
||||
line(super.posOrigin.x,super.posOrigin.y-zeroy,super.posOrigin.x+this.size.x,super.posOrigin.y-zeroy);
|
||||
|
||||
noFill();
|
||||
int _cpos=this.arraypos;
|
||||
int _x=0; //position of _ya
|
||||
while (_cpos!=((this.arraypos-1+this.valuearray.length)%this.valuearray.length)) { //go trough all values starting at oldest value
|
||||
float _ya=this.valuearray[_cpos];
|
||||
float _yb=this.valuearray[(_cpos+1)%this.valuearray.length];
|
||||
|
||||
//float _yaMin=this.valueMinarray[_cpos];
|
||||
float _ybMin=this.valueMinarray[(_cpos+1)%this.valuearray.length];
|
||||
float _ybMax=this.valueMaxarray[(_cpos+1)%this.valuearray.length];
|
||||
|
||||
|
||||
if (super.showMinMax) {
|
||||
stroke(super.cmin);
|
||||
//line(super.posOrigin.x+_x,super.posOrigin.y-_yaMin*this.size.y, super.posOrigin.x+_x+1,super.posOrigin.y-_ybMin*this.size.y);
|
||||
line(super.posOrigin.x+_x+1,super.posOrigin.y-_ybMin*this.size.y, super.posOrigin.x+_x+1,super.posOrigin.y-_yb*this.size.y);
|
||||
stroke(super.cmax);
|
||||
line(super.posOrigin.x+_x+1,super.posOrigin.y-_yb*this.size.y, super.posOrigin.x+_x+1,super.posOrigin.y-_ybMax*this.size.y);
|
||||
}
|
||||
|
||||
stroke(super.cmain);
|
||||
line(super.posOrigin.x+_x,super.posOrigin.y-_ya*this.size.y, super.posOrigin.x+_x+1,super.posOrigin.y-_yb*this.size.y);
|
||||
|
||||
|
||||
|
||||
_x++;
|
||||
_cpos++;
|
||||
_cpos%=this.valuearray.length;
|
||||
}
|
||||
|
||||
//text
|
||||
textAlign(LEFT);
|
||||
fill(super.ctext);
|
||||
text(super.getFormattedValue(super.value)+valueUnit, super.posOrigin.x+this.size.x-50, super.posOrigin.y+super.textsize*1.5);
|
||||
text(super.getFormattedValue(super.valueMin)+valueUnit, super.posOrigin.x+this.size.x+1, super.posOrigin.y+super.textsize*0.5-1);
|
||||
text(super.getFormattedValue(super.valueMax)+valueUnit, super.posOrigin.x+this.size.x+1, super.posOrigin.y-this.size.y+super.textsize*0.5-1);
|
||||
//Title
|
||||
text(super.title, super.posOrigin.x, super.posOrigin.y+super.textsize*1.5);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
public class GraphRoll_minimal extends Visualization {
|
||||
PVector size;
|
||||
float[] valuearray;
|
||||
float[] valueMinarray;
|
||||
float[] valueMaxarray;
|
||||
int arraypos;
|
||||
int recordevery=1; //minimum value =1, the higher the slower
|
||||
int recordevery_counter=0;
|
||||
|
||||
public GraphRoll_minimal(int px, int py, int psx, int psy,float pvmin, float pvmax,int precordevery) {
|
||||
super.valueMin=pvmin;
|
||||
super.valueMax=pvmax;
|
||||
super.posOrigin= new PVector(px,py); //center
|
||||
this.size = new PVector(psx,psy);
|
||||
|
||||
this.recordevery= precordevery;
|
||||
|
||||
this.valuearray = new float[psx]; //array size equals window width
|
||||
this.arraypos=0; //points to position to write to next (current value is at arraypos-1)
|
||||
this.valueMinarray = new float[psx];
|
||||
this.valueMaxarray = new float[psx];
|
||||
}
|
||||
|
||||
|
||||
|
||||
public void drawVis() {
|
||||
//update history
|
||||
this.recordevery_counter++;
|
||||
if (this.recordevery_counter>=this.recordevery){
|
||||
this.valuearray[this.arraypos]=super.getValueNormalized();
|
||||
this.arraypos++;
|
||||
this.arraypos%=this.valuearray.length;
|
||||
this.recordevery_counter=0;
|
||||
|
||||
if (super.showMinMax) {
|
||||
this.valueMinarray[this.arraypos]=super.getValueMinNormalized();
|
||||
this.valueMaxarray[this.arraypos]=super.getValueMaxNormalized();
|
||||
super.valueMinRecord=Float.NaN;
|
||||
super.valueMaxRecord=Float.NaN;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
rectMode(CORNERS);
|
||||
textSize(super.textsize);
|
||||
|
||||
stroke(super.cborder);
|
||||
noFill();
|
||||
rect(super.posOrigin.x,super.posOrigin.y,super.posOrigin.x+this.size.x,super.posOrigin.y-this.size.y);
|
||||
int zeroy=(int)map(0,super.valueMin,super.valueMax,0,this.size.y);
|
||||
int dotlength=10;
|
||||
float dotlengthpercentage=0.2; //0 to 1. the lower the less dot length
|
||||
for(int _xdot=(int)super.posOrigin.x; _xdot+dotlength<=super.posOrigin.x+this.size.x; _xdot+=dotlength) {
|
||||
//line(super.posOrigin.x,super.posOrigin.y-zeroy,super.posOrigin.x+this.size.x,super.posOrigin.y-zeroy); //zero line
|
||||
line(_xdot,super.posOrigin.y-zeroy,_xdot+dotlength*dotlengthpercentage,super.posOrigin.y-zeroy); //zero line
|
||||
}
|
||||
|
||||
noFill();
|
||||
int _cpos=this.arraypos;
|
||||
int _x=0; //position of _ya
|
||||
while (_cpos!=((this.arraypos-1+this.valuearray.length)%this.valuearray.length)) { //go trough all values starting at oldest value
|
||||
float _ya=this.valuearray[_cpos];
|
||||
float _yb=this.valuearray[(_cpos+1)%this.valuearray.length];
|
||||
|
||||
//float _yaMin=this.valueMinarray[_cpos];
|
||||
float _ybMin=this.valueMinarray[(_cpos+1)%this.valuearray.length];
|
||||
float _ybMax=this.valueMaxarray[(_cpos+1)%this.valuearray.length];
|
||||
|
||||
|
||||
if (super.showMinMax) {
|
||||
stroke(super.cmin);
|
||||
//line(super.posOrigin.x+_x,super.posOrigin.y-_yaMin*this.size.y, super.posOrigin.x+_x+1,super.posOrigin.y-_ybMin*this.size.y);
|
||||
line(super.posOrigin.x+_x+1,super.posOrigin.y-_ybMin*this.size.y, super.posOrigin.x+_x+1,super.posOrigin.y-_yb*this.size.y);
|
||||
stroke(super.cmax);
|
||||
line(super.posOrigin.x+_x+1,super.posOrigin.y-_yb*this.size.y, super.posOrigin.x+_x+1,super.posOrigin.y-_ybMax*this.size.y);
|
||||
}
|
||||
|
||||
stroke(super.cmain);
|
||||
line(super.posOrigin.x+_x,super.posOrigin.y-_ya*this.size.y, super.posOrigin.x+_x+1,super.posOrigin.y-_yb*this.size.y);
|
||||
|
||||
|
||||
|
||||
_x++;
|
||||
_cpos++;
|
||||
_cpos%=this.valuearray.length;
|
||||
}
|
||||
|
||||
//text
|
||||
textAlign(LEFT);
|
||||
fill(super.ctext);
|
||||
text(super.getFormattedValue(super.value)+valueUnit, super.posOrigin.x+this.size.x+1, super.posOrigin.y-this.valuearray[(_cpos)%this.valuearray.length]*this.size.y);
|
||||
//text(super.getFormattedValue(super.valueMin), super.posOrigin.x+this.size.x+1, super.posOrigin.y+super.textsize*0.5-1);
|
||||
//text(super.getFormattedValue(super.valueMax), super.posOrigin.x+this.size.x+1, super.posOrigin.y-this.size.y+super.textsize*0.5-1);
|
||||
//Title
|
||||
text(super.title, super.posOrigin.x, super.posOrigin.y-this.size.y+super.textsize);
|
||||
}
|
||||
}
|
||||
|
||||
public class VectorDisplay extends Visualization {
|
||||
int size = 100;
|
||||
|
||||
public VectorDisplay(int px, int py, int psize, float pvmax) {
|
||||
super.valueMax=pvmax;
|
||||
super.posOrigin= new PVector(px,py); //center
|
||||
this.size=psize;
|
||||
}
|
||||
|
||||
public void drawVis() {
|
||||
rectMode(CORNERS);
|
||||
textSize(super.textsize);
|
||||
|
||||
stroke(super.cmain);
|
||||
strokeWeight(4);
|
||||
float _x=super.posOrigin.x+this.value/super.valueMax*this.size;
|
||||
float _y=super.posOrigin.y+this.value2/super.valueMax*this.size;
|
||||
line(super.posOrigin.x,super.posOrigin.y,_x,_y);
|
||||
|
||||
}
|
||||
}
|
||||
114
logdata/analyze.py
Normal file
114
logdata/analyze.py
Normal file
|
|
@ -0,0 +1,114 @@
|
|||
import matplotlib.pyplot as plt
|
||||
#import csv
|
||||
import pandas as pd
|
||||
|
||||
import numpy as np
|
||||
|
||||
|
||||
import argparse
|
||||
|
||||
def mapRange(value, inMin, inMax, outMin, outMax,constrain=False):
|
||||
if constrain:
|
||||
return max(outMin, min(outMax, outMin + (((value - inMin) / (inMax - inMin)) * (outMax - outMin))))
|
||||
else:
|
||||
return outMin + (((value - inMin) / (inMax - inMin)) * (outMax - outMin))
|
||||
|
||||
|
||||
parser = argparse.ArgumentParser(description='Analyzes fixed csv logs from bobbycar')
|
||||
parser.add_argument('-i', '--input', type=argparse.FileType('r'), required=True, help="input csv log file")
|
||||
args = parser.parse_args()
|
||||
|
||||
df = pd.read_csv(args.input.name)
|
||||
|
||||
x = df['timestamp']
|
||||
x = [i-x[0] for i in x] #offset time by starttime
|
||||
|
||||
|
||||
|
||||
def template():
|
||||
scattersize=1
|
||||
scatteralpha=0.1
|
||||
|
||||
|
||||
fig, ax1 = plt.subplots()
|
||||
|
||||
ax2 = ax1.twinx()
|
||||
|
||||
|
||||
#plt.scatter(x,df['rpm_FrontL'], s=scattersize, alpha=scatteralpha, label="rpm_FrontL")
|
||||
ax1.plot(x,np.array(df['temp_Front']), c='#0000ff', alpha=0.5, label="temp_Front")
|
||||
ax1.plot(x,np.array(df['temp_Rear']), c='#ff0000', alpha=0.5, label="temp_Rear")
|
||||
ax1.plot(x,np.array(df['temp_Air']), c='#00ff00', alpha=0.5, label="temp_Air")
|
||||
#ax2.plot(x,np.array(df['throttle']), c='g', alpha=0.5, label="throttle")
|
||||
|
||||
|
||||
#confidence
|
||||
#confidence_FrontL=[abs(x-df['cmd_FrontL'][i-5 if i>4 else 0])+abs(x-df['cmd_FrontL'][i-10 if i>9 else 0])+abs(x-df['cmd_FrontL'][i-20 if i>19 else 0]) for i,x in enumerate(df['cmd_FrontL'])]
|
||||
#confidence_FrontL=[mapRange(x,0,50,1.0,0.0,True) for x in confidence_FrontL]
|
||||
|
||||
|
||||
#ax1.scatter(df['cmd_FrontL'],df['rpm_FrontL'], s=scattersize, alpha=scatteralpha, label="FrontL")
|
||||
#ax1.scatter(df['cmd_FrontR'],df['rpm_FrontR'], s=scattersize, alpha=scatteralpha, label="FrontR")
|
||||
#ax1.scatter(df['cmd_RearL'],df['rpm_RearL'], s=scattersize, alpha=scatteralpha, label="RearL")
|
||||
#ax1.scatter(df['cmd_RearR'],df['rpm_RearR'], s=scattersize, alpha=scatteralpha, label="RearR")
|
||||
|
||||
ax1.set_xlabel('timestamp')
|
||||
#plt.ylabel('data')
|
||||
ax1.set_ylabel('first axis')
|
||||
ax2.set_ylabel('second axis')
|
||||
#plt.title('')
|
||||
ax1.legend(loc='upper left')
|
||||
ax2.legend(loc='upper right')
|
||||
plt.show()
|
||||
|
||||
|
||||
def rpmDifference():
|
||||
scattersize=1
|
||||
scatteralpha=0.1
|
||||
|
||||
|
||||
fig, ax1 = plt.subplots()
|
||||
|
||||
#confidence_FrontL=[abs(x-df['cmd_FrontL'][i-5 if i>4 else 0])+abs(x-df['cmd_FrontL'][i-10 if i>9 else 0])+abs(x-df['cmd_FrontL'][i-20 if i>19 else 0]) for i,x in enumerate(df['cmd_FrontL'])]
|
||||
frontRPMdiff=np.convolve(np.array(df['rpm_FrontL'])-np.array(df['rpm_FrontR']), np.ones(10)/10, mode='same')
|
||||
rearRPMdiff=np.convolve(np.array(df['rpm_RearL'])-np.array(df['rpm_RearR']), np.ones(10)/10, mode='same')
|
||||
|
||||
ax1.plot(x,frontRPMdiff, c='#0000ff', alpha=0.5, label="rpm Difference Front")
|
||||
ax1.plot(x,rearRPMdiff, c='#00ff00', alpha=0.5, label="rpm Difference Rear")
|
||||
|
||||
ax1.set_xlabel('timestamp')
|
||||
ax1.set_ylabel('rpm Difference')
|
||||
ax1.legend(loc='upper left')
|
||||
plt.show()
|
||||
|
||||
|
||||
def plot_rpmVsCurrent():
|
||||
scattersize=2
|
||||
scatteralpha=0.5
|
||||
|
||||
#confidence
|
||||
#confidence_FrontL=[abs(x-df['cmd_FrontL'][i-5 if i>4 else 0])+abs(x-df['cmd_FrontL'][i-10 if i>9 else 0])+abs(x-df['cmd_FrontL'][i-20 if i>19 else 0]) for i,x in enumerate(df['cmd_FrontL'])]
|
||||
#confidence_FrontL=[mapRange(x,0,50,1.0,0.0,True) for x in confidence_FrontL]
|
||||
|
||||
|
||||
|
||||
fig, ax1 = plt.subplots()
|
||||
ax1.scatter(df['rpm_FrontL'],df['current_FrontL'], s=5, alpha=scatteralpha, label="FrontL")
|
||||
ax1.scatter(df['rpm_FrontR'],df['current_FrontR'], s=5, alpha=scatteralpha, label="FrontR")
|
||||
#ax1.scatter(df['cmd_FrontR'],df['rpm_FrontR'], s=scattersize, alpha=scatteralpha, label="FrontR")
|
||||
#ax1.scatter(df['cmd_RearL'],df['rpm_RearL'], s=scattersize, alpha=scatteralpha, label="RearL")
|
||||
#ax1.scatter(df['cmd_RearR'],df['rpm_RearR'], s=scattersize, alpha=scatteralpha, label="RearR")
|
||||
|
||||
ax1.set_xlabel('rpm')
|
||||
ax1.set_ylabel('current (A)')
|
||||
plt.title('rpm vs current')
|
||||
ax1.legend(loc='upper left')
|
||||
plt.show()
|
||||
|
||||
|
||||
#plot_rpmVsCurrent()
|
||||
rpmDifference()
|
||||
|
||||
|
||||
|
||||
exit()
|
||||
232
logdata/copyLogsFromBobbycar.py
Normal file
232
logdata/copyLogsFromBobbycar.py
Normal file
|
|
@ -0,0 +1,232 @@
|
|||
|
||||
import serial
|
||||
import os
|
||||
import time
|
||||
import random
|
||||
import string
|
||||
|
||||
import argparse
|
||||
chunksize=4096
|
||||
|
||||
#LOG0002
|
||||
#32 = 124 kbps
|
||||
#128 = 263 kbps
|
||||
#4096 = 416 kbps
|
||||
#32768 = 427 kbps
|
||||
#65536 = failed
|
||||
|
||||
serialport = serial.Serial(port='/dev/ttyACM0', baudrate=115200, timeout=1)
|
||||
|
||||
def establish_connection():
|
||||
|
||||
serialport.write("\n".encode())
|
||||
|
||||
|
||||
serialport.write("echo off\n".encode())
|
||||
time.sleep(0.1)
|
||||
while len(serialport.readline())>0:
|
||||
continue
|
||||
|
||||
|
||||
serialport.write("test\n".encode())
|
||||
time.sleep(0.1)
|
||||
response = serialport.readline()
|
||||
hrresponse=response.rstrip().decode('ascii')
|
||||
if hrresponse != "OK":
|
||||
print("Unexpected test response:"+str(response))
|
||||
exit()
|
||||
|
||||
def get_filenames():
|
||||
|
||||
filenames=[]
|
||||
|
||||
serialport.write("ls\n".encode())
|
||||
while True:
|
||||
response = serialport.readline()
|
||||
hrresponse=response.rstrip().decode('ascii')
|
||||
if(len(response))>0:
|
||||
#print(hrresponse)
|
||||
filenames.append(hrresponse)
|
||||
|
||||
else:
|
||||
break
|
||||
|
||||
return filenames
|
||||
|
||||
|
||||
def get_filesize(filename):
|
||||
|
||||
filesize=0
|
||||
|
||||
serialport.write(("sizeof "+str(filename)+"\n").encode())
|
||||
time.sleep(0.1)
|
||||
response = serialport.readline()
|
||||
hrresponse=response.rstrip().decode('ascii')
|
||||
if(len(response))>0:
|
||||
filesize=int(hrresponse)
|
||||
|
||||
return filesize
|
||||
|
||||
|
||||
def copy_file(source,destination,expectedsize):
|
||||
os.makedirs(os.path.dirname(writefilename), exist_ok=True)
|
||||
|
||||
|
||||
transferstarttime=time.time()
|
||||
chunkstarttime=time.time()
|
||||
last_print=time.time()
|
||||
|
||||
with open(writefilename, 'wb') as writer:
|
||||
serialport.write(("chunksize "+str(chunksize)+"\n").encode())
|
||||
serialport.write(("get "+filename+"\n").encode())
|
||||
time.sleep(0.1)
|
||||
|
||||
|
||||
acc_datalen=0
|
||||
|
||||
while True:
|
||||
|
||||
'''
|
||||
response = serialport.readline()
|
||||
hrresponse=response.rstrip().decode('ascii')
|
||||
if(len(response))>0:
|
||||
#print(hrresponse)
|
||||
writer.write(response)
|
||||
|
||||
else:
|
||||
break
|
||||
'''
|
||||
|
||||
|
||||
data=serialport.read(chunksize)
|
||||
|
||||
if(len(data))>0: #data received
|
||||
#print("received "+str(len(data))+" bytes")
|
||||
#hrresponse=data.rstrip().decode('ascii')
|
||||
#print(hrresponse)
|
||||
|
||||
acc_datalen+=len(data)
|
||||
|
||||
checksum=(sum(data) & 0xFF)
|
||||
checksumarray=bytearray([checksum])
|
||||
|
||||
writer.write(data)
|
||||
serialport.write(checksumarray) #request next chunk by sending checksum of last chunk
|
||||
|
||||
else:
|
||||
break
|
||||
|
||||
|
||||
if (time.time()-last_print>0.5):
|
||||
last_print=time.time()
|
||||
chunkduration=time.time()-chunkstarttime
|
||||
chunkstarttime=time.time()
|
||||
progress=0
|
||||
if expectedsize>0:
|
||||
progress=acc_datalen/expectedsize
|
||||
print(str(round(progress*100,0))+"% \t"+str(round(chunkduration*1000,3))+" ms for "+str(len(data))+" Byte \t = "+str(round((len(data)/chunkduration)/1000,3))+" kB/s")
|
||||
|
||||
|
||||
fileduration=time.time()-transferstarttime
|
||||
|
||||
file_stats=os.stat(writefilename)
|
||||
print("Finished transfer of "+str(acc_datalen)+" B or "+str(file_stats.st_size)+" (os) Byte in "+str(fileduration)+" s \t = "+str(round(file_stats.st_size/fileduration/1000,3))+" kB/s")
|
||||
|
||||
|
||||
return acc_datalen
|
||||
|
||||
|
||||
|
||||
|
||||
def log_off():
|
||||
serialport.write(("log off\n").encode())
|
||||
time.sleep(0.1)
|
||||
response = serialport.readline()
|
||||
hrresponse=response.rstrip().decode('ascii')
|
||||
if (not hrresponse.startswith("Log disabled")):
|
||||
print("Unexpected response:"+str(response))
|
||||
exit()
|
||||
|
||||
def delete_file(filename):
|
||||
|
||||
|
||||
serialport.write(("rm "+filename+"\n").encode())
|
||||
time.sleep(0.1)
|
||||
response = serialport.readline()
|
||||
hrresponse=response.rstrip().decode('ascii')
|
||||
if hrresponse != "OK":
|
||||
print("Unexpected response:"+str(response))
|
||||
exit()
|
||||
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
|
||||
parser = argparse.ArgumentParser(description='Transfers log files from bobbycar over serial')
|
||||
parser.add_argument('-o', '--output', nargs='?', help="output directory")
|
||||
parser.add_argument('-d','--delete', action="store_true", help="delete files after transfer")
|
||||
args = parser.parse_args()
|
||||
outputfolder="sdcard"
|
||||
if (args.output is not None):
|
||||
outputfolder = args.output
|
||||
if(outputfolder[-1]=='/'):
|
||||
outputfolder=outputfolder[:-1] #remove last slash
|
||||
print("Outputfolder:"+outputfolder)
|
||||
|
||||
|
||||
if serialport.isOpen():
|
||||
|
||||
establish_connection()
|
||||
|
||||
|
||||
|
||||
#Get File List
|
||||
filenames=get_filenames()
|
||||
|
||||
|
||||
#Copy all Files
|
||||
|
||||
failed=0
|
||||
|
||||
for filename in filenames:
|
||||
print("Reading file "+filename)
|
||||
expectedsize=get_filesize(filename)
|
||||
print("Expecting "+str(expectedsize)+" Byte")
|
||||
|
||||
writefilename=outputfolder+'/'+filename
|
||||
receivedsize=copy_file(filename,writefilename,expectedsize)
|
||||
|
||||
if (expectedsize!=receivedsize):
|
||||
print("Warning: Filesize does not match!")
|
||||
failed+=1
|
||||
|
||||
print("")
|
||||
|
||||
print(str(len(filenames))+" Files copied with "+str(failed)+" failed")
|
||||
|
||||
|
||||
|
||||
#Delete all files
|
||||
if (args.delete):
|
||||
if (failed>0):
|
||||
print("Copy not successful. Files won't be deleted!")
|
||||
exit()
|
||||
deletecheckstring=''.join(random.choices(string.ascii_lowercase, k=3))
|
||||
deletecheck=input("Enter "+deletecheckstring+" to confirm deletion of "+str(len(filenames))+" files on bobbycar:")
|
||||
|
||||
if (deletecheck==deletecheckstring):
|
||||
log_off()
|
||||
for filename in filenames:
|
||||
print("Deleting "+filename)
|
||||
delete_file(filename)
|
||||
else:
|
||||
print("Verification failed!")
|
||||
|
||||
|
||||
|
||||
serialport.write("echo on\n".encode())
|
||||
time.sleep(0.1)
|
||||
|
||||
serialport.close()
|
||||
|
||||
532
logdata/logdata_visualization.pde
Normal file
532
logdata/logdata_visualization.pde
Normal file
|
|
@ -0,0 +1,532 @@
|
|||
import processing.serial.*;
|
||||
|
||||
int vis_textsize=12; //copy from Visualization class
|
||||
|
||||
String logfile_name="/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/logdata_visualization/sonstige_fahrten/20220828_154604.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
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
237
logdata/logfix.py
Normal file
237
logdata/logfix.py
Normal file
|
|
@ -0,0 +1,237 @@
|
|||
import numpy as np
|
||||
from datetime import datetime, timezone
|
||||
import pytz
|
||||
import time
|
||||
import argparse
|
||||
import os.path
|
||||
|
||||
parser = argparse.ArgumentParser(description='Copys, renames and fixes logfiles written by bobbycar sd logger.')
|
||||
parser.add_argument('-i', '--input', type=argparse.FileType('r'), nargs='+', required=True, help="list of input log files")
|
||||
parser.add_argument('-o', '--output', nargs='?', type=str, help="output filename")
|
||||
parser.add_argument('-c','--consecutive', action="store_true", help="add consecutive files to input. If the input file ends with a number the following logfiles will be added.")
|
||||
parser.add_argument("-t", "--time", nargs='?', type=int, help="Create new csv file after time without data. In Minutes.")
|
||||
args = parser.parse_args()
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
ok=True
|
||||
|
||||
|
||||
def getTimestamp(plines):
|
||||
timestampline=-1
|
||||
timestampfound=False
|
||||
while not timestampfound:
|
||||
timestampline+=1
|
||||
timestampfound = (plines[timestampline].find('TIMESTAMP:')!=-1)
|
||||
|
||||
timestamp=int(plines[timestampline].split('TIMESTAMP:')[1]) #timestamp when file was created
|
||||
|
||||
if (timestampline==-1):
|
||||
print("Error: Timestamp not found!")
|
||||
exit()
|
||||
|
||||
return timestamp
|
||||
|
||||
|
||||
def filterLines(plines,plinesStarttime=None):
|
||||
|
||||
plines = [x.rstrip("\n") for x in plines] #remove \n
|
||||
pcommentlinesMask = [True if x.startswith('#') else False for x in plines] #generate mask for lines with comments
|
||||
|
||||
|
||||
|
||||
|
||||
plines=np.array(plines)
|
||||
pcommentlinesMask=np.array(pcommentlinesMask)
|
||||
|
||||
if (plinesStarttime is not None): #if starttimelist given, match with pdatalinesOK
|
||||
plinesStarttime = plinesStarttime[pcommentlinesMask==False] #get lines with data
|
||||
|
||||
pdatalines = plines[pcommentlinesMask==False] #get lines with data
|
||||
|
||||
|
||||
|
||||
pheader = pdatalines[0] #header is the first non comment line
|
||||
|
||||
pheaderSize = len(pheader.split(',')) #how many elements are expected per line
|
||||
pdatalinesSize = [len(x.split(',')) for x in pdatalines] #count arraysize for every dataline
|
||||
|
||||
if (plinesStarttime is not None): #if starttimelist given, match with pdatalinesOK
|
||||
plinesStarttime=plinesStarttime[np.array(pdatalinesSize)==pheaderSize]
|
||||
|
||||
pdatalinesOK = pdatalines[np.array(pdatalinesSize)==pheaderSize]
|
||||
|
||||
if (plinesStarttime is not None): #if starttimelist given, match with pdatalinesOK
|
||||
plinesStarttime = [plinesStarttime[i] for i,x in enumerate(pdatalinesOK) if x != pheader]
|
||||
|
||||
pdatalinesOK = [x for x in pdatalinesOK if x != pheader] #exclude header from data lines
|
||||
|
||||
|
||||
|
||||
|
||||
pdatalinesFail = pdatalines[np.array(pdatalinesSize)!=pheaderSize]
|
||||
|
||||
|
||||
plinesSize = [len(x.split(',')) for x in plines] #count arraysize for every dataline
|
||||
plinesOK = np.array(plinesSize)==pheaderSize #mask for okay lines (valid for data lines)
|
||||
|
||||
return plines,pheader,pcommentlinesMask,pdatalines,pdatalinesFail,pdatalinesOK,pheaderSize,plinesOK,plinesStarttime
|
||||
|
||||
|
||||
inputFilenames=[]
|
||||
|
||||
|
||||
if (args.consecutive):
|
||||
if(len(args.input)!=1):
|
||||
parser.error("in consequtive mode exactly one input file is required")
|
||||
exit()
|
||||
|
||||
nextFilename=args.input[0].name
|
||||
while os.path.isfile(nextFilename):
|
||||
print(nextFilename+" exists")
|
||||
inputFilenames.append(nextFilename)
|
||||
|
||||
digitStartpos=len(nextFilename)-1
|
||||
digitEndpos=len(nextFilename)
|
||||
|
||||
|
||||
|
||||
while (not nextFilename[digitStartpos:digitEndpos].isdigit() and digitStartpos>0 and digitEndpos>0):
|
||||
digitStartpos-=1
|
||||
digitEndpos-=1
|
||||
|
||||
while (nextFilename[digitStartpos:digitEndpos].isdigit() and digitStartpos>0 and digitEndpos>0):
|
||||
digitStartpos-=1
|
||||
|
||||
digitStartpos+=1
|
||||
|
||||
|
||||
number=int(nextFilename[digitStartpos:digitEndpos])+1
|
||||
nextFilename=nextFilename[0:digitStartpos]+str(number).zfill(digitEndpos-digitStartpos)+nextFilename[digitEndpos:]
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
else:
|
||||
inputFilenames=[x.name for x in args.input]
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
lines=[]
|
||||
linesStarttime=[] #offset for every line with timestamp. will be combined to new column
|
||||
header=""
|
||||
for inputFilename in inputFilenames:
|
||||
print("Reading "+str(inputFilename))
|
||||
inputlines=[]
|
||||
with open(inputFilename, 'r') as reader:
|
||||
inputlines = reader.readlines()
|
||||
|
||||
lines+=inputlines
|
||||
|
||||
#Check Headers
|
||||
_lines,_header,_,_,_,_,_,_,_=filterLines(inputlines)
|
||||
|
||||
if (header==""): #is first header
|
||||
header=_header
|
||||
|
||||
assert header==_header, "Header is different!"
|
||||
|
||||
_timestamp=getTimestamp(_lines)
|
||||
print("Timestamp="+str(_timestamp))
|
||||
_linesStarttime=[_timestamp for x in inputlines] #create as many entries with start timestamp as there are lines in the current file
|
||||
|
||||
linesStarttime+=_linesStarttime
|
||||
|
||||
print("Lines in file="+str(len(inputlines)))
|
||||
|
||||
assert len(lines)==len(linesStarttime), "Length of lines and linesStarttime does not match"
|
||||
|
||||
linesStarttime=np.array(linesStarttime)
|
||||
lines,header,commentlinesMask,datalines,datalinesFail,datalinesOK,headerSize,linesOK,linesStarttime=filterLines(lines,linesStarttime)
|
||||
|
||||
print("Found "+str(len(lines))+" lines")
|
||||
print(str(np.sum(commentlinesMask))+" comments")
|
||||
print(str(len(datalinesFail))+" Datalines Failed")
|
||||
print(str(len(datalinesOK))+" Datalines OK")
|
||||
print("Header Size is "+str(headerSize))
|
||||
|
||||
|
||||
|
||||
|
||||
timestamp=getTimestamp(lines) #get first timestamp
|
||||
|
||||
# Divide in sets for separate files based on off time between logs
|
||||
last_timestamp=timestamp
|
||||
next_timestamp=timestamp
|
||||
|
||||
|
||||
|
||||
set_datalinesOK=[]
|
||||
set_linesStarttime=[]
|
||||
|
||||
last_idata=0
|
||||
|
||||
if args.time is not None:
|
||||
newfile_timestamp_difference=args.time
|
||||
for idata,data in enumerate(datalinesOK):
|
||||
last_timestamp=next_timestamp
|
||||
next_timestamp=linesStarttime[idata]+float(datalinesOK[idata].split(',')[0])
|
||||
if next_timestamp-last_timestamp>newfile_timestamp_difference: #diff too high, create new file
|
||||
set_datalinesOK.append(datalinesOK[last_idata:idata])
|
||||
set_linesStarttime.append(linesStarttime[last_idata:idata])
|
||||
last_idata=idata
|
||||
|
||||
set_datalinesOK.append(datalinesOK[last_idata:]) #append last set
|
||||
set_linesStarttime.append(linesStarttime[last_idata:]) #append last set
|
||||
|
||||
|
||||
for iset,current_datalinesOK in enumerate(set_datalinesOK):
|
||||
print("Creating Output for set "+str(iset))
|
||||
current_linesStarttime=set_linesStarttime[iset]
|
||||
|
||||
timestamp=current_linesStarttime[0] #first line is start timestamp for this file
|
||||
|
||||
#filetime = datetime.fromtimestamp(timestamp).astimezone(pytz.timezone('Europe/Berlin')).strftime('%Y%m%d_%H%M%S')
|
||||
filetime = datetime.utcfromtimestamp(timestamp).astimezone(pytz.timezone('Europe/Berlin')).strftime('%Y%m%d_%H%M%S') #Check if this still works in dst
|
||||
#filetime = datetime.fromtimestamp(timestamp, tz=timezone.utc).astimezone(pytz.timezone('Europe/Berlin')).strftime('%Y%m%d_%H%M%S') #is +2h at least in summer
|
||||
|
||||
|
||||
outputFilename=""
|
||||
if args.output is not None:
|
||||
outputFilename="_"+args.output
|
||||
|
||||
outputFilename = filetime+outputFilename+".csv"
|
||||
|
||||
#is_dst(datetime(2019, 4, 1), timezone="US/Pacific")
|
||||
print("Timestamp:"+str(timestamp)+" -> "+str(filetime))
|
||||
print("UTC: "+ datetime.utcfromtimestamp(timestamp).strftime('%A, %Y-%m-%d %H:%M:%S'))
|
||||
#print("Local Time:"+time.strftime('%A, %Y-%m-%d %H:%M:%S', time.localtime(timestamp)))
|
||||
|
||||
|
||||
print("Writing to: "+str(outputFilename))
|
||||
|
||||
|
||||
header="timestamp,"+header #add timestamp column
|
||||
|
||||
writelines = [str(current_linesStarttime[i]+float(x.split(',')[0]))+","+x for i,x in enumerate(current_datalinesOK)] #add file timestamp to line time and add column to data
|
||||
|
||||
linesWritten = 0
|
||||
if ok:
|
||||
with open(outputFilename, 'w') as writer:
|
||||
writer.write(header+"\n") #write header
|
||||
for i,line in enumerate(writelines):
|
||||
writer.write(line+"\n")
|
||||
linesWritten+=1
|
||||
|
||||
print(str(linesWritten)+" lines written to "+str(outputFilename))
|
||||
else:
|
||||
print("Failed!")
|
||||
|
||||
Loading…
Add table
Reference in a new issue