public void InitSerial(float portValue) {
// initialize the serial port selected in the listBox
println(
"initializing serial "
+ PApplet.parseInt(portValue)
+ " in serial.list()"); // for debugging
// grab the name of the serial port
String portPos = Serial.list()[PApplet.parseInt(portValue)];
// initialize the port
serial = new Serial(this, portPos, 115200);
// read bytes into a buffer until you get a linefeed (ASCII 10):
serial.bufferUntil('\n');
println("done init serial");
// initialized com port flag
init_com = 1;
}
public void controlEvent(ControlEvent theEvent) {
// PulldownMenu is if type ControlGroup.
// A controlEvent will be triggered from within the ControlGroup.
// therefore you need to check the originator of the Event with
// if (theEvent.isGroup())
// to avoid an error message from controlP5.
if (theEvent.isGroup()) {
if (theEvent.group().name() == "ruleChoiceList") {
// println(theEvent.group().value()+" from "+theEvent.group());
selectedRule = PApplet.parseInt(theEvent.group().value());
// has to be here for the controlp5 library
}
} else if (theEvent.isController()) {
// println(theEvent.controller().value()+" from "+theEvent.controller());
}
// switch(theEvent.controller().id()) {
// case(1):
// myColorRect = (int)(theEvent.controller().value());
// break;
// case(2):
// myColorBackground = (int)(theEvent.controller().value());
// break;
// case(3):
// println(theEvent.controller().stringValue());
// break;
// }
}
/**
* Part of the MessageConsumer interface, this is called
* whenever a piece (usually a line) of error message is spewed
* out from the compiler. The errors are parsed for their contents
* and line number, which is then reported back to Editor.
*/
public void message(String s) {
int i;
System.out.println("**************[ROBOTIS]***********************************");
// remove the build path so people only see the filename
// can't use replaceAll() because the path may have characters in it which
// have meaning in a regular expression.
if (!verbose) {
while ((i = s.indexOf(buildPath + File.separator)) != -1) {
s = s.substring(0, i) + s.substring(i + (buildPath + File.separator).length());
}
}
// look for error line, which contains file name, line number,
// and at least the first line of the error message
String errorFormat = "([\\w\\d_]+.\\w+):(\\d+):\\s*error:\\s*(.*)\\s*";
String[] pieces = PApplet.match(s, errorFormat);
// if (pieces != null && exception == null) {
// exception = sketch.placeException(pieces[3], pieces[1], PApplet.parseInt(pieces[2]) - 1);
// if (exception != null) exception.hideStackTrace();
// }
if (pieces != null) {
String error = pieces[3], msg = "";
if (pieces[3].trim().equals("SPI.h: No such file or directory")) {
error = _("Please import the SPI library from the Sketch > Import Library menu.");
msg = _("\nAs of Arduino 0019, the Ethernet library depends on the SPI library." +
"\nYou appear to be using it or another library that depends on the SPI library.\n\n");
}
if (pieces[3].trim().equals("'BYTE' was not declared in this scope")) {
error = _("The 'BYTE' keyword is no longer supported.");
msg = _("\nAs of Arduino 1.0, the 'BYTE' keyword is no longer supported." +
"\nPlease use Serial.write() instead.\n\n");
}
if (pieces[3].trim().equals("no matching function for call to 'Server::Server(int)'")) {
error = _("The Server class has been renamed EthernetServer.");
msg = _("\nAs of Arduino 1.0, the Server class in the Ethernet library " +
"has been renamed to EthernetServer.\n\n");
}
if (pieces[3].trim().equals("no matching function for call to 'Client::Client(byte [4], int)'")) {
error = _("The Client class has been renamed EthernetClient.");
msg = _("\nAs of Arduino 1.0, the Client class in the Ethernet library " +
"has been renamed to EthernetClient.\n\n");
}
if (pieces[3].trim().equals("'Udp' was not declared in this scope")) {
error = _("The Udp class has been renamed EthernetUdp.");
msg = _("\nAs of Arduino 1.0, the Udp class in the Ethernet library " +
"has been renamed to EthernetUdp.\n\n");
}
if (pieces[3].trim().equals("'class TwoWire' has no member named 'send'")) {
error = _("Wire.send() has been renamed Wire.write().");
msg = _("\nAs of Arduino 1.0, the Wire.send() function was renamed " +
"to Wire.write() for consistency with other libraries.\n\n");
}
if (pieces[3].trim().equals("'class TwoWire' has no member named 'receive'")) {
error = _("Wire.receive() has been renamed Wire.read().");
msg = _("\nAs of Arduino 1.0, the Wire.receive() function was renamed " +
"to Wire.read() for consistency with other libraries.\n\n");
}
if (pieces[3].trim().equals("'Mouse' was not declared in this scope")) {
error = _("'Mouse' only supported on the Arduino Leonardo");
//msg = _("\nThe 'Mouse' class is only supported on the Arduino Leonardo.\n\n");
}
if (pieces[3].trim().equals("'Keyboard' was not declared in this scope")) {
error = _("'Keyboard' only supported on the Arduino Leonardo");
//msg = _("\nThe 'Keyboard' class is only supported on the Arduino Leonardo.\n\n");
}
RunnerException e = null;
if (!sketchIsCompiled) {
// Place errors when compiling the sketch, but never while compiling libraries
// or the core. The user's sketch might contain the same filename!
e = sketch.placeException(error, pieces[1], PApplet.parseInt(pieces[2]) - 1);
}
// replace full file path with the name of the sketch tab (unless we're
// in verbose mode, in which case don't modify the compiler output)
if (e != null && !verbose) {
SketchCode code = sketch.getCode(e.getCodeIndex());
String fileName = (code.isExtension("ino") || code.isExtension("pde")) ? code.getPrettyName() : code.getFileName();
int lineNum = e.getCodeLine() + 1;
s = fileName + ":" + lineNum + ": error: " + pieces[3] + msg;
}
if (exception == null && e != null) {
exception = e;
exception.hideStackTrace();
}
}
System.err.print(s);
}
public void draw() {
background(0);
// Strings composition
textFont(createFont("Arial bold", 24));
fill(c_red);
stroke(255);
text("OpenWheels GUI V1.0", 20, 30);
textSize(16);
// textAlign(CENTER);
fill(c_azure);
text("Acc_RAW: " + Acc_RAW, 150, 65);
AccSlider.setValue(Acc_RAW);
text("Gyro_RAW: " + Gyro_RAW, 150, 90);
GyroSlider.setValue(Gyro_RAW);
text("Acc_Angle: " + Acc_Angle + "\u00b0", 150, 115);
text("Gyro_Rate: " + Gyro_Rate + "\u00b0/sec", 150, 140);
text("Drive: " + Drive, 150, 165);
text("Steer: " + Steer, 150, 190);
text("BatLevel: " + nf(BatLevel, 1, 1) + "V", 150, 215);
text("Status: " + statusFlag, 150, 240);
graphGauge();
graphGrid();
// call the function that plot the angular of acc, with few screen settings
graphRoll(PApplet.parseFloat(Acc_Angle), VideoBuffer2, c_red); // xPos, YPos, YSpan
// call the function that plot the estimate angular, with few screen settings
graphRoll(Angle, VideoBuffer1, c_yellow); // xPos, YPos, YSpan
// call arduino for data every timePolling [msec]
int timePolling = 50; // 50msec=20Hz
time1 = millis();
if (init_com == 1) {
while (serial.available() > 0) processSerialData();
if ((time1 - time2) > timePolling) {
if (requestPID == true) {
serial.write('E');
requestPID = false;
} else if (writePID == true) {
int P = PApplet.parseInt(conf_KP.value());
int I = PApplet.parseInt(conf_KI.value());
int D = PApplet.parseInt(conf_KD.value());
char data[] = {0, 0, 0, 0, 0};
data[0] = 'W';
data[1] = PApplet.parseChar(P);
data[2] = PApplet.parseChar(I);
data[3] = PApplet.parseChar(D);
data[4] = ' ';
String str = new String(data);
serial.write(str);
println(str);
// println(" P=" + P + " I=" + I + " D=" + D);
writePID = false;
}
// else if (RUN==true ) {serial.write('A');}
else {
serial.write('A');
}
time2 = time1;
}
}
}
public void setup() {
minim = new Minim(this);
size(winWidth, winHeight, OPENGL);
background(bGround);
sm = new SceneManager(minim);
rulesChecker = new RulesChecker();
controlP5 = new ControlP5(this);
// ruleChoiceList = controlP5.addDropdownList("ruleChoiceList",850,100,100,100);
// customize(ruleChoiceList);
selectedRule = 0;
selectedCamera = 0;
gl = ((PGraphicsOpenGL) g).gl;
picker = new Picker(this);
oscP5 = new OscP5(this, port);
// TODO(sanjeet): Change the address
interfaceAddr = new NetAddress("127.0.0.1", port);
noStroke();
lines = loadStrings("fileFriedrich.txt"); // Hardcoded input file name
String[] tokens = split(lines[0], " ");
if (tokens.length != 1) {
println("Incorrect file format for number of cameras");
return;
}
int numOfCams = PApplet.parseInt(tokens[0]);
for (int i = 1; i < numOfCams + 1; i++) {
tokens = split(lines[i], " ");
float[] matrix = new float[16];
for (int j = 0; j < tokens.length; j++) {
matrix[j] = PApplet.parseFloat(tokens[j]);
}
cameras.add(new Cam(FloatBuffer.wrap(matrix))); // add all the cameras
}
tokens = split(lines[1 + numOfCams], " ");
if (tokens.length != 1) {
println("Incorrect file format for number of characters");
return;
}
int numOfChars = PApplet.parseInt(tokens[0]);
for (int i = 2 + numOfCams; i < lines.length; i++) {
tokens = split(lines[i], " ");
float[] matrix = new float[16];
for (int j = 0; j < tokens.length; j++) {
matrix[j] = PApplet.parseFloat(tokens[j]);
}
characters.add(new Character(FloatBuffer.wrap(matrix))); // add all the characters
}
characters.get(0).col = color(255, 255, 0);
characters.get(1).col = color(255, 0, 255);
timeline = new Timeline(sm);
// add initial tick to the begining of the timeline
timeline.addTick(cameras.get(0));
debug = new Debug(controlP5);
// title, start, end, initVal, xpos, ypos, width, height
// controlP5.addSlider("Timeline", 0,120,0,100,winHeight-50,winWidth-200,30);
}