summaryrefslogtreecommitdiffstats
path: root/Kod
diff options
context:
space:
mode:
Diffstat (limited to 'Kod')
-rw-r--r--Kod/bilbana/privete/LaptimeTest.m63
-rw-r--r--Kod/bilbana/privete/Test2.m21
-rw-r--r--Kod/bilbana/privete/test.m22
-rw-r--r--Kod/bilbana/yc4/display/clear_display.m3
-rw-r--r--Kod/bilbana/yc4/display/draw_single_line.m4
-rw-r--r--Kod/bilbana/yc4/display/get_package.m10
-rw-r--r--Kod/bilbana/yc4/display/put_text.m9
-rw-r--r--Kod/bilbana/yc4/display/send_data_to_display.m27
-rw-r--r--Kod/bilbana/yc4/display/set_text_font.m3
-rw-r--r--Kod/bilbana/yc4/get_time_as_string.m10
-rw-r--r--Kod/bilbana/yc4/main.m61
-rw-r--r--Kod/display/display_exempel.m114
12 files changed, 169 insertions, 178 deletions
diff --git a/Kod/bilbana/privete/LaptimeTest.m b/Kod/bilbana/privete/LaptimeTest.m
deleted file mode 100644
index 0cf1422..0000000
--- a/Kod/bilbana/privete/LaptimeTest.m
+++ /dev/null
@@ -1,63 +0,0 @@
-%{
-GRAPHS: Efter avslutad körning skall plottar som sammanfattar körningen
-visas på styrdatorns skärm. Nödvändiga plottar är:
-• En graf som visar varv och varvtider där referenstiden och
-maximalt tillåtna avvikelser är utmärkta. Figuren skall också inkludera en
-text som anger standardavvikelsen.
-• Gaspådrag mot tid/hastighet för varje segment.
-%}
-disp('Startar test av grafer')
-%% IN
-ref_lap_time = 14;
-track = 1;
-%% Figur
-figure(1);
-clf;
-subplot(10,1,1:9);
-%% Raka streck
-ref_lap_time_vector = ref_lap_time*ones(1,length(car1.lap_times));
-
-Min_c = ref_lap_time-0.5;
-Max_c = ref_lap_time+0.5;
-InD_c = ref_lap_time-1;
-InU_c = ref_lap_time+1;
-
-Min = Min_c*ones(1,length(car1.lap_times));
-Max = Max_c*ones(1,length(car1.lap_times));
-InU = InU_c*ones(1,length(car1.lap_times));
-InD = InD_c*ones(1,length(car1.lap_times));
-%% Varvtider
-disp(car1.lap_times);
-disp(ref_lap_time_vector);
-plot1 = stairs(car1.lap_times);
-plot1.Marker = 'o';
-plot1.MarkerFaceColor = 'k';
-plot1.LineStyle = 'none';
-hold on
-%% Referenstid
-plot2 = stairs(ref_lap_time_vector);
-plot2.LineWidth = 2;
-plot2.Color = 'k';
-%% Tillåten avvikelse
-plotMax = stairs(Max);
-plotMin = stairs(Min);
-plotMax.Color = 'k';
-plotMin.Color = 'k';
-%% Osynliga hjälpstreck
-plotInU = stairs(InU);
-plotInD = stairs(InD);
-plotInU.LineStyle = 'none';
-plotInD.LineStyle = 'none';
-
-hold off
-%% Standardavvkielse
-sigma = std(car1.lap_times);
-sigma = round(sigma, 2);
-sig_str = string(sigma);
-%% Text
-xlabel('Varv');
-ylabel('Tid [s]');
-title('Varvtider'); %Todo vilken bana?
-txt = join(['Standardavvikelse:',sig_str, 's']);
-annotation('textbox',[.1 0.05 .4 .05],'String',txt,'EdgeColor','none')
-disp(sig_str); \ No newline at end of file
diff --git a/Kod/bilbana/privete/Test2.m b/Kod/bilbana/privete/Test2.m
deleted file mode 100644
index d0ca5fe..0000000
--- a/Kod/bilbana/privete/Test2.m
+++ /dev/null
@@ -1,21 +0,0 @@
-%{
-GRAPHS: Efter avslutad körning skall plottar som sammanfattar körningen
-visas på styrdatorns skärm. Nödvändiga plottar är:
-• En graf som visar varv och varvtider där referenstiden och
-maximalt tillåtna avvikelser är utmärkta. Figuren skall också inkludera en
-text som anger standardavvikelsen.
-• Gaspådrag mot tid/hastighet för varje segment.
-%}
-disp('Startar test av grafer')
-%% Bana 1
-figure(2);
-%% Varvtid
-subplot(1,1,1);
-plot1 = stairs(car1.lap_times);
-
-plot1(1).Marker = 'o';
-plot1(1).MarkerFaceColor = 'k';
-plot1(1).LineStyle = 'none';
-xlabel('Varv');
-ylabel('Tid [s]');
-title('Varvtider'); \ No newline at end of file
diff --git a/Kod/bilbana/privete/test.m b/Kod/bilbana/privete/test.m
deleted file mode 100644
index c64d753..0000000
--- a/Kod/bilbana/privete/test.m
+++ /dev/null
@@ -1,22 +0,0 @@
-a = [0,1.5,3,2,2,3,4,5,5,4,3,2,1];
-time = [0,0.01,0.015,0.02,0.04,0.05,0.06,0.07,0.08,0.09,0.10,0.11,0.12];
-
-%% Test plot 1
-figure(1)
-subplot(3,1,1)
-
-stairs(time,a,'LineWidth', 2) % Gör en trappstegsplot
-
-xlabel('Time [s]')
-ylabel('a')
-title('Test plot')
-
-grid on
-
-%% Test plot 2
-subplot(3,1,2:3)
-stairs(time,a*2,'Marker', '*', 'MarkerFaceColor', 'm')
-
-xlabel('Time [s]')
-ylabel('2a')
-title('Test plot 2') \ No newline at end of file
diff --git a/Kod/bilbana/yc4/display/clear_display.m b/Kod/bilbana/yc4/display/clear_display.m
new file mode 100644
index 0000000..32fdac1
--- /dev/null
+++ b/Kod/bilbana/yc4/display/clear_display.m
@@ -0,0 +1,3 @@
+function pkg = clear_display()
+ pkg = get_package('DL', [])
+end
diff --git a/Kod/bilbana/yc4/display/draw_single_line.m b/Kod/bilbana/yc4/display/draw_single_line.m
new file mode 100644
index 0000000..ca13293
--- /dev/null
+++ b/Kod/bilbana/yc4/display/draw_single_line.m
@@ -0,0 +1,4 @@
+function pkg = draw_single_line(x1, y1, x2, y2)
+ arg = [mod(x1, 255), fix(x1 / 255), y1, 0, mod(x2, 255), fix(x2 / 255), y2, 0];
+ pkg = get_package('GD', arg);
+end
diff --git a/Kod/bilbana/yc4/display/get_package.m b/Kod/bilbana/yc4/display/get_package.m
new file mode 100644
index 0000000..7c3a01e
--- /dev/null
+++ b/Kod/bilbana/yc4/display/get_package.m
@@ -0,0 +1,10 @@
+function [pkg] = get_package(code, args)
+ DC1 = 17;
+ ESC = 27;
+
+ data = [ESC, double(code), args];
+ len = length(data);
+ initStr = [DC1, len, data];
+ bcc = mod(sum(initStr), 256);
+ pkg = [initStr, bcc];
+end
diff --git a/Kod/bilbana/yc4/display/put_text.m b/Kod/bilbana/yc4/display/put_text.m
new file mode 100644
index 0000000..5b80192
--- /dev/null
+++ b/Kod/bilbana/yc4/display/put_text.m
@@ -0,0 +1,9 @@
+function [pkg] = put_text(x, y, justification, text)
+ code = double(strjoin({'Z', justification}, ''));
+
+ arg1 = [x, 0, y, 0];
+ arg2 = text;
+ arg3 = 0;
+
+ pkg = get_package(code, [arg1 double(arg2) arg3]);
+end
diff --git a/Kod/bilbana/yc4/display/send_data_to_display.m b/Kod/bilbana/yc4/display/send_data_to_display.m
new file mode 100644
index 0000000..c5d70c7
--- /dev/null
+++ b/Kod/bilbana/yc4/display/send_data_to_display.m
@@ -0,0 +1,27 @@
+function [] = send_data_to_display()
+%SEND_DATA_TO_DISPLAY sends available data to display if last send was
+% more than 0.5 seconds ago.
+ persistent last_send;
+ global display_data;
+
+ if isempty(display_data)
+ return
+ end
+ % disp(last_send);
+ % disp(clock);
+ if isempty(last_send) % first send
+ %% SEND DATA
+ % disp('sending data');
+ % disp(display_data)
+ matlabclient(1, display_data{1});
+ last_send = clock;
+ display_data(1) = [];
+ elseif (etime(clock, last_send) >= 0.5)
+ %% SEND DATA
+ % disp('sending data');
+ % disp(display_data)
+ matlabclient(1, display_data{1});
+ last_send = clock;
+ display_data(1) = [];
+ end
+end
diff --git a/Kod/bilbana/yc4/display/set_text_font.m b/Kod/bilbana/yc4/display/set_text_font.m
new file mode 100644
index 0000000..768d16b
--- /dev/null
+++ b/Kod/bilbana/yc4/display/set_text_font.m
@@ -0,0 +1,3 @@
+function pkg = set_text_font(font_num)
+ pkg = get_package('ZF', [font_num])
+end
diff --git a/Kod/bilbana/yc4/get_time_as_string.m b/Kod/bilbana/yc4/get_time_as_string.m
new file mode 100644
index 0000000..24b6bc5
--- /dev/null
+++ b/Kod/bilbana/yc4/get_time_as_string.m
@@ -0,0 +1,10 @@
+function num_as_str = get_time_as_string(millis)
+%GET_TIME_AS_STRING Number of milliseconds, formatted mm:ss.s and rounded
+% Detailed explanation goes here
+minutes = num2str(fix(millis / (1000*60)));
+seconds = mod(millis, 1000*60);
+seconds_str = sprintf('%02d', fix(seconds / 1000));
+rest_str = num2str(round(mod(seconds, 1000), -2) / 100);
+num_as_str = strjoin({minutes, ':', seconds_str, '.', rest_str}, '');
+end
+
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 53c6f00..4c700bb 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -1,5 +1,14 @@
%% INIT
-% TODO init display
+% INIT DISPLAY
+addpath display/ClientServerApp/Release
+cd display/ClientServerApp/Release
+!startServer
+cd ../../..
+
+global display_data;
+display_data = {};
+display_data = {display_data clear_display()};
+pause(1);
disp('Startar bilbanan. Avsluta med q.')
hf=figure('position',[0 0 eps eps],'menubar','none');
@@ -28,6 +37,7 @@ tocs = [];
%% MAIN LOOP
while 1
+ tic;
%% PRE-LOOP
if strcmp(get(hf,'currentcharacter'),'q')
close(hf)
@@ -45,19 +55,28 @@ while 1
if car1.new_check_point == true
% beep;
if car1.lap ~= 0
- car1.seg_times(car1.lap, car1.segment) = -1; % TODO
+ car1.seg_times(car1.lap, car1.segment) = toc(car1.seg_tic);
end
car1.segment = car1.segment + 1;
- elseif car1.new_lap == true
- % beep;
+ car1.seg_tic = tic;
+ end
+ if car1.new_lap == true
if car1.lap == 0
% dont save time for first lap
car1.segment = 1;
car1.lap = car1.lap + 1;
+ car1.seg_tic = tic;
+ car1.lap_tic = tic;
continue;
end
- car1.seg_times(car1.lap, car1.segment) = -1; % TODO
- car1.lap_times(car1.lap) = -1; % TODO
+ beep;
+ car1.seg_times(car1.lap, car1.segment) = toc(car1.seg_tic);
+ car1.seg_tic = tic;
+ car1.lap_times(car1.lap) = toc(car1.lap_tic);
+ car1.lap_tic = tic;
+
+ display_data = {display_data, put_text(100, 32, 'L', strjoin({num2str(car1.lap), get_time_as_string(round(car1.lap_times(car1.lap) * 1000))}, ' '))};
+
car1.segment = 1;
car1.lap = car1.lap + 1;
end
@@ -66,19 +85,30 @@ while 1
if car2.new_check_point == true
% beep;
if car2.lap ~= 0
- car2.seg_times(car2.lap, car2.segment) = -1; % TODO
+ car2.seg_times(car2.lap, car2.segment) = toc(car2.seg_tic);
end
car2.segment = car2.segment + 1;
- elseif car2.new_lap == true
- % beep;
+ car2.seg_tic = tic;
+ end
+ if car2.new_lap == true
if car2.lap == 0
% dont save time for first lap
car2.segment = 1;
car2.lap = car2.lap + 1;
+ car2.seg_tic = tic;
+ car2.lap_tic = tic;
+ disp('continuing');
continue;
end
- car2.seg_times(car2.lap, car2.segment) = -1; % TODO
- car2.lap_times(car2.lap) = -1; % TODO
+ beep;
+
+ car2.seg_times(car2.lap, car2.segment) = toc(car2.seg_tic);
+ car2.seg_tic = tic;
+ car2.lap_times(car2.lap) = toc(car2.lap_tic);
+ car2.lap_tic = tic;
+
+ display_data = {display_data, put_text(100, 48, 'L', strjoin({num2str(car2.lap), get_time_as_string(round(car2.lap_times(car2.lap) * 1000))}, ' '))};
+
car2.segment = 1;
car2.lap = car2.lap + 1;
end
@@ -102,11 +132,11 @@ while 1
%% DISPLAY
%% END OF LOOP
- tocs(end + 1) = toc;
pause(0.1)
- tic;
+ tocs(end + 1) = toc;
+ send_data_to_display();
end
-
+
%% END OF PROGRAM
disp(tocs);
disp(car1);
@@ -114,4 +144,5 @@ disp(car2);
terminate(1);
terminate(2);
-% TODO terminate display \ No newline at end of file
+
+matlabclient(3);
diff --git a/Kod/display/display_exempel.m b/Kod/display/display_exempel.m
index c920087..5ac7cb0 100644
--- a/Kod/display/display_exempel.m
+++ b/Kod/display/display_exempel.m
@@ -10,24 +10,24 @@ cd ClientServerApp\Release
!startServer
cd ../..
%% Diagonal linje
-DC1 = 17;
-ESC = 27;
-Code = 'GD';
-
-% x1, y1, x2, y2, (320 x 240 pixlar)
-% minst signifikanta bitar till vänster
-% mest signifikanta bitar till höger
-arg = [0, 0, 0, 0, 63, 1, 239, 0];
-
-% Save the 'small package' as a string
-data = [ESC, double(Code), arg];
-len = length(data);
-initStr = [DC1, len, data];
-bcc = mod(sum(initStr), 256);
-str = [initStr, bcc];
-
-% Skriv
-matlabclient(1, str')
+% DC1 = 17;
+% ESC = 27;
+% Code = 'GD';
+%
+% % x1, y1, x2, y2, (320 x 240 pixlar)
+% % minst signifikanta bitar till vänster
+% % mest signifikanta bitar till höger
+% arg = [0, 0, 0, 0, 63, 1, 239, 0];
+%
+% % Save the 'small package' as a string
+% data = [ESC, double(Code), arg];
+% len = length(data);
+% initStr = [DC1, len, data];
+% bcc = mod(sum(initStr), 256);
+% str = [initStr, bcc];
+%
+% % Skriv
+% matlabclient(1, str')
%% Rita en rektangel som är fylld med mönster
DC1 = 17;
@@ -53,30 +53,30 @@ str = [initStr, bcc];
matlabclient(1, str')
%% Skriv en Test-sträng
-DC1 = 17;
-ESC = 27;
-Code = double('ZL');
-
-% x1, y1, (320 x 240 pixlar)
-% minst signifikanta bitar till vänster
-% mest signifikanta bitar till höger
-arg1 = [117, 0, 32, 0];
-
-% Textsträng
-%arg2 = 'Test';
-
-arg2 = 'DISPLAY!!!!!';
-
-% Null
-arg3 = 0;
-
-
-% Save the 'small package' as a string
-data = [ESC, double(Code), arg1, double(arg2), arg3];
-len = length(data);
-initStr = [DC1, len, data];
-bcc = mod(sum(initStr), 256);
-str = [initStr, bcc];
+% DC1 = 17;
+% ESC = 27;
+% Code = double('ZL');
+%
+% % x1, y1, (320 x 240 pixlar)
+% % minst signifikanta bitar till vänster
+% % mest signifikanta bitar till höger
+% arg1 = [117, 0, 32, 0];
+%
+% % Textsträng
+% %arg2 = 'Test';
+%
+% arg2 = 'DISPLAY!!!!!';
+%
+% % Null
+% arg3 = 0;
+%
+%
+% % Save the 'small package' as a string
+% data = [ESC, double(Code), arg1, double(arg2), arg3];
+% len = length(data);
+% initStr = [DC1, len, data];
+% bcc = mod(sum(initStr), 256);
+% str = [initStr, bcc];
% Skriv
matlabclient(1, str')
@@ -142,20 +142,20 @@ matlabclient(1, str')
%fwrite(lcd, str)
%% Radera Displayen
-DC1 = 17;
-ESC = 27;
-Code = 'DL';
-
-% Save the 'small package' as a string
-data = [ESC, double(Code)];
-len = length(data);
-initStr = [DC1, len, data];
-bcc = mod(sum(initStr), 256);
-str = [initStr, bcc];
-
-% Skriv
-matlabclient(1, str')
-%fwrite(lcd, str)
+% DC1 = 17;
+% ESC = 27;
+% Code = 'DL';
+%
+% % Save the 'small package' as a string
+% data = [ESC, double(Code)];
+% len = length(data);
+% initStr = [DC1, len, data];
+% bcc = mod(sum(initStr), 256);
+% str = [initStr, bcc];
+%
+% % Skriv
+% matlabclient(1, str')
+% %fwrite(lcd, str)
%% Avsluta kommunikation med display
-matlabclient(3); \ No newline at end of file
+matlabclient(3);
generated by cgit v1.2.1 (git 2.18.0) at 2025-12-14 10:29:30 +0100