122 lines
2.6 KiB
Plaintext
122 lines
2.6 KiB
Plaintext
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import java.nio.ByteBuffer;
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import java.nio.ByteOrder;
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// Maximum distance displayed.
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int max_distance = 3000;
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// The serial port used.
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String port = "/dev/tty.usbserial-00000000";
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// Request method
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// PDAT returns all detected points, including reflections and noise
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// TDAT tries to track the strongest signal and returns only one point per request
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byte request_method = Radar.REQUEST_TYPE_TDAT;
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int w_1_2 = 383;
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boolean waitingForData = false;
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boolean logSerial = false;
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int dataSets = 0;
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PrintWriter tsv;
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Radar radar;
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Detection[] detections;
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void settings() {
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size(w_1_2*2, 500);
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}
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void setup() {
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frameRate(10);
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radar = new Radar(this, port);
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radar
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.setMaximumSpeed(Radar.MAXIMUM_SPEED_100)
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.setMaximumRange(Radar.MAXIMUM_RANGE_30)
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.setThresholdOffset((byte)20)
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.setTrackingFilterType(Radar.TRACKING_FILTER_TYPE_FAST_DETECTION)
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.setMaximumDetectionDistance((byte)100)
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.setRangeThreshold((byte)0)
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.setSpeedThreshold((byte)100)
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.setHoldTime(1);
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tsv = createWriter("log.tsv");
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background(200);
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fill(255);
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distanceArc(max_distance, PIE);
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noFill();
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for (int i = 1000; i<max_distance; i+=1000) {
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distanceArc(i, OPEN);
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}
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tsv.println("timestamp\tdistance\tspeed\tangle\tmagnitude\tx\ty");
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System.out.println("timestamp\tdistance\tspeed\tangle\tmagnitude\tx\ty");
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}
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void stop() {
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radar.stop();
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tsv.close();
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}
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void draw() {
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fill(200);
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rect(0, 0, 20, 20);
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if (dataSets % 4 == 0) {
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circle(5, 5, 5);
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}
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if (dataSets % 4 == 1) {
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circle(10, 5, 5);
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}
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if (dataSets % 4 == 2) {
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circle(10, 10, 5);
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}
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if (dataSets % 4 == 3) {
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circle(5, 10, 5);
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}
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radar.readResponse();
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drawData();
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if (!waitingForData) {
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try { Thread.sleep(10); } catch(InterruptedException e) {}
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requestData();
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}
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}
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void drawData() {
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if (detections!=null && detections.length > 0) { //<>//
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for (Detection d: detections) {
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if (d.freshData) {
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System.out.println(d.toString());
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tsv.println(d.toString());
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tsv.flush();
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drawPoint(d.x, d.y, d.speed, d.magnitude);
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d.freshData = false;
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}
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}
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}
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}
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void distanceArc(int distance, int mode) {
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arc(w_1_2, 500, 500.0/max_distance*distance*2, 500.0/max_distance*distance*2, radians(-40 - 90), radians(40 - 90), mode);
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}
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void requestData() {
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radar.requestDataFrame(request_method);
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waitingForData = true;
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}
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void drawPoint(int x, int y, float speed, float magnitude) {
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int dia;
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if (magnitude < 20) {
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noFill();
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dia = 2;
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} else {
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fill(220 - (magnitude-20)*10);
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dia = 15;
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}
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circle(x, y, dia);
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fill(0);
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textAlign(CENTER, BOTTOM);
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//text(speed, x, y-7);
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}
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