B4J Code Snippet Arduino Radar

Here is a radar display for use with an Arduino, servo motor and a HC-SR04. Its not yet perfect as the window resize is not working properly, except maximise window. Libraries required are at the top of the code. Sorry about the GIF, I am still trying to get to grips with ShareX.

The Arduino code is also included. I have not yet converted it to B4R.

#Region Project Attributes
    #MainFormWidth: 1000
    #MainFormHeight: 800
#End Region


' This simulates a radar screen using data from an Arduino and HC-SR04 ultrasound sensor
'mounted on a servo motor. The servo has an angle from approx. 15 to 165 degrees. The sensor can
'detect objects up to 40 cm away. The Arduino is connected to an USB port on the PC.
'
' The Arduino generates the angle and distance as a string in the form "angle, distance." ("85, 10.")
'
' Two canvases have been used: One for the background and one for the data. The window can
' be re-sized as required.
'
'Libraries: jCore, jFX, jRandonAccessFile, jSerial, jXUI


Sub Process_Globals
    Private fx As JFX
    Private MainForm As Form
    Private xui As XUI
       
    Dim RPane As B4XView
    Private RadarBackground, RadarData As B4XCanvas
    Private rOriginx, rOriginy As Double                                'new origin for the radar
    Private Screeny As Double                                            'Canvas origin
    Private Offset As Double=50                                            'Move radar origin up
    Private Rect As B4XRect
    Private MyFont As Font=fx.CreateFont("Arial",20,False,False)
   
    Private iAngle, iLength, iDistance As Int
   
    Private BaudRate As Int=9600
    Private myserial As Serial
    Private astream As AsyncStreams
    Private rcvStr As String
    Private InfoText As String=""
End Sub

Sub AppStart (Form1 As Form, Args() As String)
    MainForm = Form1
    MainForm.RootPane.LoadLayout("Layout1")
    MainForm.Show
    RPane = MainForm.RootPane
    RPane.Height=MainForm.Height
    RPane.Width=MainForm.Width
    myserial.Initialize("")
    myserial.Close
    DrawRadarBackground
    ConnectToSerial
   
End Sub

Sub ConnectToSerial
    myserial.Open("COM5")                        ' Change accordingly!
    myserial.SetParams(BaudRate,8,1,0)
    astream.Initialize(myserial.GetInputStream,myserial.GetOutputStream,"astream")
End Sub

' Called when serial port gets new data
Sub astream_NewData (Buffer() As Byte)
    rcvStr = BytesToString(Buffer, 0, Buffer.Length, "UTF8")
    'Log("Received: " & rcvStr)
    iAngle=rcvStr.SubString2(0,rcvStr.IndexOf(","))
    iDistance=rcvStr.SubString(rcvStr.IndexOf(",")+1)
   
    'Log("Angle: " & iAngle & "  Distance: " & iDistance)
    ReactToData
End Sub


Sub ReactToData
    'Reset after a full sweep
    If iAngle=165 Or iAngle=15 Then
        Rect.Initialize(0,0,RPane.Width, RPane.Height)
        RadarData.ClearRect(Rect)
        InfoText="No Object found:"
        RadarData.DrawText(InfoText,10,20,MyFont,xui.Color_Green,"LEFT")
    End If
   
    If iDistance<40 Then
        iLength=iDistance*rOriginx/40
        'Draw first part of line greeen and rest red to show object
        RadarData.DrawLine(rOriginx,rOriginy,rOriginx-iLength*CosD(iAngle),rOriginy-iLength*SinD(iAngle),xui.Color_Green,2)
        RadarData.DrawLine(rOriginx-iLength*CosD(iAngle),rOriginy-iLength*SinD(iAngle),rOriginx-rOriginx*CosD(iAngle),rOriginy-rOriginx*SinD(iAngle),xui.Color_Red,2)
       
        Rect.Initialize(0,0,RPane.Width, 50)
        RadarData.ClearRect(Rect)
        InfoText="Object found at : " & iDistance & " cm"
        RadarData.DrawText(InfoText,10,20,MyFont,xui.Color_Green,"LEFT")
    Else
        RadarData.DrawLine(rOriginx,rOriginy,rOriginx-rOriginx*CosD(iAngle),rOriginy-rOriginx*SinD(iAngle),xui.Color_Green,2)
       
    End If
   
   
    'This can be used to test
   
'    Rect.Initialize(0,0,RPane.Width, RPane.Height)
'    RadarData.ClearRect(Rect)
'    For i=0 To 180 Step 2
'        RadarData.DrawLine(rOriginx,rOriginy,rOriginx-rOriginx*CosD(i),rOriginy-rOriginx*SinD(i),xui.Color_Green,2)
'        Sleep(100)
'    Next
'    RadarData.ClearRect(Rect)
'  
'    For i=180 To 0 Step -2
'        RadarData.DrawLine(rOriginx,rOriginy,rOriginx-rOriginx*CosD(i),rOriginy-rOriginx*SinD(i),xui.Color_Green,2)
'        Sleep(100)
'    Next
'    ReactToData
   
End Sub

Sub DrawRadarBackground  
    RadarBackground.Initialize(RPane)
    'Define new origin for drawing
    rOriginx=RPane.Width/2
    rOriginy=RPane.Height-Offset
    Screeny=RPane.Height
    RPane.Color=xui.Color_Black  
   
    'Draw arcs representing 10, 20 30 and 40 cm distance
    For I=1 To 4
        RadarBackground.DrawCircle(rOriginx,rOriginy,(rOriginx*i/4),xui.Color_Green,False,2)
        RadarBackground.DrawText(I*10,(rOriginx*(4-i)/4)+10,Screeny,MyFont,xui.Color_Green,"LEFT")
    Next
   
    'Draw the angle lines
    RadarBackground.DrawLine(-rOriginx,rOriginy,rOriginx*2,rOriginy,xui.Color_Green,2)
    For i=30 To 150 Step 30
        RadarBackground.DrawLine(rOriginx,rOriginy,rOriginx-rOriginx*CosD(i),rOriginy-(rOriginx)*SinD(i),xui.Color_Green,2)
    Next
   
    'Add data canvas
    RadarData.Initialize(RPane)
    InfoText="No Object found:"
    RadarData.DrawText(InfoText,10,20,MyFont,xui.Color_Green,"LEFT")
End Sub

Sub MainForm_Resize (Width As Double, Height As Double)
    RPane.Height=MainForm.Height
    RPane.Width=MainForm.Width
    'remove old background and redraw
    Rect.Initialize(0,0,RPane.Width, RPane.Height)
    RadarBackground.ClearRect(Rect)
    RadarData.ClearRect(Rect)
    DrawRadarBackground  
End Sub