Processing sketch to visualize robo's debug data graphically

source-code/processing/visualize/visualize.pde

@@ -0,0 +1,93 @@
+/**
+ * Simple Read
+ * 
+ * Read data from the serial port and change the color of a rectangle
+ * when a switch connected to a Wiring or Arduino board is pressed and released.
+ * This example works with the Wiring / Arduino program that follows below.
+ */
+
+float angle  =0;
+float p_angle=0;
+import processing.serial.*;
+PShape robot;
+PShape robot2;
+Serial myPort;  // Create object from Serial class
+String val;      // Data received from the serial port
+
+
+int sizex=700;
+int sizey=700;
+void setup() 
+{
+  size(700, 700);
+
+  // I know that the first port in the serial list on my mac
+  // is always my  FTDI adaptor, so I open Serial.list()[0].
+  // On Windows machines, this generally opens COM1.
+  // Open whatever port is the one you're using.
+   printArray(Serial.list());
+  String portName = Serial.list()[8];
+  myPort = new Serial(this, portName, 230400);
+
+
+  robot = loadShape("robot.svg");
+
+
+}
+
+void draw(){
+
+  rectMode(CENTER);
+  translate(width/2, height/2);
+  rotate(radians(angle));
+
+  background(225);
+
+
+  frame.setTitle(mouseX + ", " + mouseY);
+  float posx= -robot.width/2;
+  float posy= robot.height/2;
+
+
+  shape(robot, posx, posy);  
+
+  rect(posx,posy,5,5); //left bottom
+  rect(posx+robot.width,posy,5,5); //left right
+  rect(posx,posy-robot.height,5,5);
+  rect(posx+robot.width,posy-robot.height,5,5);
+
+  strokeWeight(4);
+  stroke(255,0,0);
+
+  if (myPort.available() > 0) {  // If data is available,
+    val = myPort.readStringUntil(10);        // read it and store it in val
+    myPort.clear();
+    try{
+
+    String c=val;
+
+
+    if(c.length()<=18 && c.length()>13 && c.charAt(0)=='T'){ //got ToF line info list
+      //print(c); 
+      String[] list = split(c,":"); //split by :
+
+      line(posx+robot.width+float(list[3]),posy-100,posx+robot.width+float(list[3]),posy-80);
+      line(posx-float(list[1]),posy-100,posx-float(list[1]),posy-80);
+    }else if(c.length()>35 && c.charAt(0)=='a'){ //got ToF line info list
+      print(c); 
+      String[] list = split(c,":"); //split by :
+
+      angle=float(list[5]);
+
+    }
+
+
+    }catch (NullPointerException e) {
+    }
+
+  }
+
+
+
+
+}