private void trackK4_MouseUp(object sender, MouseEventArgs e)
{
if (K4 != trackK4.Value)
{
K4 = trackK4.Value;
string str = K4.ToString();
textK4.Text = str;
koshiClient.uartWrite("#d" + str + "$");
}
}
private void trackK4_MouseUp(object sender, MouseEventArgs e)
{
if (K4 != trackK4.Value)
{
K4 = trackK4.Value;
string str = K4.ToString();
textK4.Text = str;
gpduinoClient.send("#d" + str + "$");
}
}
private void SerialComGyro_callback(char[] rxBuff)
{
string data = new string(rxBuff);
if (data.Length < 1)
{
return;
}
switch (data[0])
{
// ログデータ
case 'd':
try
{
int t, y;
float theta, omega, x, v;
float y1, y2, y3, y4;
t = Convert.ToInt32(data.Substring(1, 4), 16);
theta = (float)Convert.ToInt16(data.Substring(5, 4), 16) / 100.0F;
omega = (float)Convert.ToInt16(data.Substring(9, 4), 16) / 100.0F;
x = (float)Convert.ToInt16(data.Substring(13, 4), 16) / 100.0F;
v = (float)Convert.ToInt16(data.Substring(17, 4), 16) / 100.0F;
y = Convert.ToInt16(data.Substring(21, 4), 16);
y1 = K1 * theta;
y2 = K2 * omega;
y3 = K3 * x / 100;
y4 = K4 * v / 100;
this.BeginInvoke((Action)(() => {
textTheta.Text = theta.ToString("F1");
textOmega.Text = omega.ToString("F1");
textX.Text = x.ToString("F1");
textV.Text = v.ToString("F1");
textK1Theta.Text = y1.ToString("F1");
textK2Omega.Text = y2.ToString("F1");
textK3X.Text = y3.ToString("F1");
textK4V.Text = y4.ToString("F1");
textY.Text = y.ToString();
if (t < time)
{
chart1.Series[0].Points.Clear();
chart1.Series[1].Points.Clear();
chart2.Series[0].Points.Clear();
chart2.Series[1].Points.Clear();
chart3.Series[0].Points.Clear();
chart3.Series[1].Points.Clear();
chart3.Series[2].Points.Clear();
chart3.Series[3].Points.Clear();
chart3.Series[4].Points.Clear();
}
time = t;
if (time < 30000)
{
chart1.ChartAreas[0].AxisX.Minimum = 0;
chart1.ChartAreas[0].AxisX.Maximum = 30000;
chart2.ChartAreas[0].AxisX.Minimum = 0;
chart2.ChartAreas[0].AxisX.Maximum = 30000;
chart3.ChartAreas[0].AxisX.Minimum = 0;
chart3.ChartAreas[0].AxisX.Maximum = 30000;
}
else
{
chart1.ChartAreas[0].AxisX.Minimum = time - 30000;
chart1.ChartAreas[0].AxisX.Maximum = time;
chart2.ChartAreas[0].AxisX.Minimum = time - 30000;
chart2.ChartAreas[0].AxisX.Maximum = time;
chart3.ChartAreas[0].AxisX.Minimum = time - 30000;
chart3.ChartAreas[0].AxisX.Maximum = time;
}
double max;
max = Math.Abs(theta);
if (max > MAX_THETA)
{
chart1.ChartAreas[0].AxisY.Maximum = MAX_THETA * 2;
chart1.ChartAreas[0].AxisY.Minimum = -MAX_THETA * 2;
chart1.ChartAreas[0].AxisY.Interval = MAX_THETA;
time1 = time;
}
if (time > time1 + 30000)
{
chart1.ChartAreas[0].AxisY.Maximum = MAX_THETA;
chart1.ChartAreas[0].AxisY.Minimum = -MAX_THETA;
chart1.ChartAreas[0].AxisY.Interval = MAX_THETA / 2;
}
max = Math.Abs(omega);
if (max > MAX_OMEGA)
{
chart1.ChartAreas[0].AxisY2.Maximum = MAX_OMEGA * 2;
chart1.ChartAreas[0].AxisY2.Minimum = -MAX_OMEGA * 2;
chart1.ChartAreas[0].AxisY2.Interval = MAX_OMEGA;
time2 = time;
}
if (time > time2 + 30000)
{
chart1.ChartAreas[0].AxisY2.Maximum = MAX_OMEGA;
chart1.ChartAreas[0].AxisY2.Minimum = -MAX_OMEGA;
chart1.ChartAreas[0].AxisY2.Interval = MAX_OMEGA / 2;
}
max = Math.Abs(x);
if (max > MAX_X)
{
chart2.ChartAreas[0].AxisY.Maximum = MAX_X * 2;
chart2.ChartAreas[0].AxisY.Minimum = -MAX_X * 2;
chart2.ChartAreas[0].AxisY.Interval = MAX_X;
time3 = time;
}
if (time > time3 + 30000)
{
chart2.ChartAreas[0].AxisY.Maximum = MAX_X;
chart2.ChartAreas[0].AxisY.Minimum = -MAX_X;
chart2.ChartAreas[0].AxisY.Interval = MAX_X / 2;
}
max = Math.Abs(v);
if (max > MAX_V)
{
chart2.ChartAreas[0].AxisY2.Maximum = MAX_V * 2;
chart2.ChartAreas[0].AxisY2.Minimum = -MAX_V * 2;
chart2.ChartAreas[0].AxisY2.Interval = MAX_V;
time4 = time;
}
if (time > time4 + 30000)
{
chart2.ChartAreas[0].AxisY2.Maximum = MAX_V;
chart2.ChartAreas[0].AxisY2.Minimum = -MAX_V;
chart2.ChartAreas[0].AxisY2.Interval = MAX_V / 2;
}
chart1.Series[0].Points.AddXY(t, theta);
chart1.Series[1].Points.AddXY(t, omega);
chart2.Series[0].Points.AddXY(t, x);
chart2.Series[1].Points.AddXY(t, v);
chart3.Series[0].Points.AddXY(t, y1);
chart3.Series[1].Points.AddXY(t, y2);
chart3.Series[2].Points.AddXY(t, y3);
chart3.Series[3].Points.AddXY(t, y4);
chart3.Series[4].Points.AddXY(t, y);
}));
logCsv.write(
t.ToString() + "," +
theta.ToString("F2") + "," +
omega.ToString("F2") + "," +
x.ToString("F2") + "," +
v.ToString("F2") + "," +
y.ToString()
);
}
catch
{
}
break;
// 設定値読み出し応答
case 'l':
try
{
K1 = Convert.ToInt32(data.Substring(1, 4), 16);
K2 = Convert.ToInt32(data.Substring(5, 4), 16);
K3 = Convert.ToInt32(data.Substring(9, 4), 16);
K4 = Convert.ToInt32(data.Substring(13, 4), 16);
Th0 = Convert.ToInt32(data.Substring(17, 4), 16);
int on = Convert.ToInt32(data.Substring(21, 2), 16);
this.BeginInvoke((Action)(() => {
try
{
trackK1.Value = K1;
textK1.Text = K1.ToString();
trackK2.Value = K2;
textK2.Text = K2.ToString();
trackK3.Value = K3;
textK3.Text = K3.ToString();
trackK4.Value = K4;
textK4.Text = K4.ToString();
trackTheta0.Value = Th0;
textTheta0.Text = ((float)Th0 / 10.0).ToString("F1");
if (on == 0x00)
{
buttonCtrl.Text = "制御ON";
}
else
{
buttonCtrl.Text = "制御OFF";
}
}
catch
{
MessageBox.Show("異常なパラメータがありました");
}
}));
}
catch
{
MessageBox.Show("設定値の読み出しに失敗しました");
}
break;
}
}
public Form1()
{
InitializeComponent();
rxState = STATE_READY;
rxPtr = 0;
rxBuff = new char[5000];
koshiClient = new KoshiClient();
koshiClientUI.setKoshiClient(koshiClient);
koshiClient.onConnect += onConnect;
koshiClient.onDisconnect += onDisconnect;
koshiClient.onUpdateUartRx += onUpdateUartRx;
K1 = trackK1.Value;
textK1.Text = K1.ToString();
K2 = trackK2.Value;
textK2.Text = K2.ToString();
K3 = trackK3.Value;
textK3.Text = K3.ToString();
K4 = trackK4.Value;
textK4.Text = K4.ToString();
Th0 = trackTheta0.Value;
textTheta0.Text = ((float)Th0 / 10.0).ToString("F1");
chart1.ChartAreas[0].Position.X = 0;
chart1.ChartAreas[0].Position.Y = 0;
chart1.ChartAreas[0].Position.Width = 85;
chart1.ChartAreas[0].Position.Height = 100;
chart1.ChartAreas[0].InnerPlotPosition.X = 10;
chart1.ChartAreas[0].InnerPlotPosition.Y = 5;
chart1.ChartAreas[0].InnerPlotPosition.Width = 80;
chart1.ChartAreas[0].InnerPlotPosition.Height = 80;
chart1.Legends[0].Position.X = 85;
chart1.Legends[0].Position.Y = 3;
chart1.Legends[0].Position.Width = 15;
chart1.Legends[0].Position.Height = 50;
chart2.ChartAreas[0].Position.X = 0;
chart2.ChartAreas[0].Position.Y = 0;
chart2.ChartAreas[0].Position.Width = 85;
chart2.ChartAreas[0].Position.Height = 100;
chart2.ChartAreas[0].InnerPlotPosition.X = 10;
chart2.ChartAreas[0].InnerPlotPosition.Y = 5;
chart2.ChartAreas[0].InnerPlotPosition.Width = 80;
chart2.ChartAreas[0].InnerPlotPosition.Height = 80;
chart2.Legends[0].Position.X = 85;
chart2.Legends[0].Position.Y = 3;
chart2.Legends[0].Position.Width = 15;
chart2.Legends[0].Position.Height = 50;
chart3.ChartAreas[0].Position.X = 0;
chart3.ChartAreas[0].Position.Y = 0;
chart3.ChartAreas[0].Position.Width = 85;
chart3.ChartAreas[0].Position.Height = 100;
chart3.ChartAreas[0].InnerPlotPosition.X = 10;
chart3.ChartAreas[0].InnerPlotPosition.Y = 5;
chart3.ChartAreas[0].InnerPlotPosition.Width = 80;
chart3.ChartAreas[0].InnerPlotPosition.Height = 80;
chart3.Legends[0].Position.X = 80;
chart3.Legends[0].Position.Y = 3;
chart3.Legends[0].Position.Width = 20;
chart3.Legends[0].Position.Height = 50;
chart1.Series.Clear();
chart1.Series.Add("θ");
chart1.Series.Add("ω");
chart1.Series[0].ChartType = System.Windows.Forms.DataVisualization.Charting.SeriesChartType.Line;
chart1.Series[1].ChartType = System.Windows.Forms.DataVisualization.Charting.SeriesChartType.Line;
chart1.Series[0].YAxisType = AxisType.Primary;
chart1.Series[1].YAxisType = AxisType.Secondary;
chart2.Series.Clear();
chart2.Series.Add("x");
chart2.Series.Add("v");
chart2.Series[0].ChartType = System.Windows.Forms.DataVisualization.Charting.SeriesChartType.Line;
chart2.Series[1].ChartType = System.Windows.Forms.DataVisualization.Charting.SeriesChartType.Line;
chart2.Series[0].YAxisType = AxisType.Primary;
chart2.Series[1].YAxisType = AxisType.Secondary;
chart3.Series.Clear();
chart3.Series.Add("K1･θ");
chart3.Series.Add("K2･ω");
chart3.Series.Add("K3･x");
chart3.Series.Add("K4･v");
chart3.Series.Add("y");
chart3.Series[0].ChartType = System.Windows.Forms.DataVisualization.Charting.SeriesChartType.Line;
chart3.Series[1].ChartType = System.Windows.Forms.DataVisualization.Charting.SeriesChartType.Line;
chart3.Series[2].ChartType = System.Windows.Forms.DataVisualization.Charting.SeriesChartType.Line;
chart3.Series[3].ChartType = System.Windows.Forms.DataVisualization.Charting.SeriesChartType.Line;
chart3.Series[4].ChartType = System.Windows.Forms.DataVisualization.Charting.SeriesChartType.Line;
chart1.ChartAreas[0].AxisY.Maximum = MAX_THETA;
chart1.ChartAreas[0].AxisY.Minimum = -MAX_THETA;
chart1.ChartAreas[0].AxisY.Interval = MAX_THETA / 2;
chart1.ChartAreas[0].AxisY.LabelStyle.Format = "F2";
chart1.ChartAreas[0].AxisY2.Maximum = MAX_OMEGA;
chart1.ChartAreas[0].AxisY2.Minimum = -MAX_OMEGA;
chart1.ChartAreas[0].AxisY2.Interval = MAX_OMEGA / 2;
chart1.ChartAreas[0].AxisY2.LabelStyle.Format = "F1";
chart2.ChartAreas[0].AxisY.Maximum = MAX_X;
chart2.ChartAreas[0].AxisY.Minimum = -MAX_X;
chart2.ChartAreas[0].AxisY.Interval = MAX_X / 2;
chart2.ChartAreas[0].AxisY.LabelStyle.Format = "F1";
chart2.ChartAreas[0].AxisY2.Maximum = MAX_V;
chart2.ChartAreas[0].AxisY2.Minimum = -MAX_V;
chart2.ChartAreas[0].AxisY2.Interval = MAX_V / 2;
chart2.ChartAreas[0].AxisY2.LabelStyle.Format = "F1";
chart3.ChartAreas[0].AxisY.Maximum = 128;
chart3.ChartAreas[0].AxisY.Minimum = -128;
chart3.ChartAreas[0].AxisY.Interval = 32;
logCsv = new LogCsv();
logCsv.setHeader("t,theta,omega,x,v,y1,y2,y3,y4,y");
sw = System.Diagnostics.Stopwatch.StartNew();
time = 0;
time1 = time2 = time3 = time4 = 0;
}
private void CheckHealthB_Click(object sender, EventArgs e) // определения состояния здоровья
{
vozrast_temp = Convert.ToInt32(textBox1.Text); // переменная возраста
heartbeat_temp = Convert.ToDouble(textBox3.Text); // переменная биения сердца в нормальном режиме
heartbeat_f_temp = Convert.ToDouble(textBox4.Text);
//подключение к бд
ConnectionString = @"Data Source = C:\Users\HomePC\Documents\Visual Studio 2015\Projects\DilplomChildDB\DilplomChildDB\bin\Debug\child_db.db; Version = 3 ";
using (SQLiteConnection con = new SQLiteConnection(ConnectionString))
{
SQLiteCommand command = new SQLiteCommand("SELECT Id, Vozrast, Nagruzka FROM Age where [Vozrast] = " + vozrast_temp, con);
con.Open();
//поиск возраста
SQLiteDataReader reader = command.ExecuteReader();
if (reader.HasRows)
{
while (reader.Read())
{
label16.Text = reader["Nagruzka"].ToString();
age_temp = Convert.ToInt32(reader["Vozrast"]);
}
}
else
{
label16.Text = "No rows found.";
}
////////////// поиск переменной К1. Поиск идёт через сравнение возрастапеременной возраста
if (age_temp >= 3 && age_temp <= 5)
{
SQLiteCommand command_02 = new SQLiteCommand("SELECT Id, start, end, K_n_3_5 FROM Age_n_3_5 where (start <= @heartbeat) and (end >= @heartbeat)", con);
command_02.Parameters.AddWithValue("@heartbeat", heartbeat_temp);
SQLiteDataReader reader_02 = command_02.ExecuteReader();
if (reader_02.HasRows)
{
while (reader_02.Read())
{
label17.Text = reader_02["K_n_3_5"].ToString();
K1 = Convert.ToDouble(label17.Text);
}
}
else
{
label17.Text = "No rows found.";
}
}
else
{
if (age_temp >= 6 && age_temp <= 8)
{
SQLiteCommand command_03 = new SQLiteCommand("SELECT Id, start, end, K_n_6_8 FROM Age_n_6_8 where (start <= @heartbeat) and (end >= @heartbeat)", con);
command_03.Parameters.AddWithValue("@heartbeat", heartbeat_temp);
SQLiteDataReader reader_03 = command_03.ExecuteReader();
if (reader_03.HasRows)
{
while (reader_03.Read())
{
label18.Text = reader_03["K_n_6_8"].ToString();
K1 = Convert.ToDouble(label18.Text);
}
}
else
{
label18.Text = "No rows found.";
}
}
else
{
if (age_temp >= 9 && age_temp <= 11)
{
SQLiteCommand command_04 = new SQLiteCommand("SELECT Id, start, end, K_n_9_11 FROM Age_n_9_11 where (start <= @heartbeat) and (end >= @heartbeat)", con);
command_04.Parameters.AddWithValue("@heartbeat", heartbeat_temp);
SQLiteDataReader reader_04 = command_04.ExecuteReader();
if (reader_04.HasRows)
{
while (reader_04.Read())
{
label19.Text = reader_04["K_n_9_11"].ToString();
K1 = Convert.ToDouble(label19.Text);
}
}
else
{
label19.Text = "No rows found.";
}
}
else
{
if (age_temp >= 12)
{
SQLiteCommand command_05 = new SQLiteCommand("SELECT Id, start, end, K_n_12_18 FROM Age_n_12_18 where (start <= @heartbeat) and (end >= @heartbeat)", con);
command_05.Parameters.AddWithValue("@heartbeat", heartbeat_temp);
SQLiteDataReader reader_05 = command_05.ExecuteReader();
if (reader_05.HasRows)
{
while (reader_05.Read())
{
label20.Text = reader_05["K_n_12_18"].ToString();
K1 = Convert.ToDouble(label20.Text);
}
}
else
{
label20.Text = "No rows found.";
}
}
else
{
if (age_temp < 3)
{
MessageBox.Show("Возраст не должен быть меньше 3 лет!");
}
else
{
return;
}
}
}
}
}
///////////////////////////////////поиск переменной К2
if (age_temp >= 3 && age_temp <= 5)
{
SQLiteCommand command_06 = new SQLiteCommand("SELECT Id, start, end, K_t_3_5 FROM Age_t_3_5 where (start <= @heartbeat) and (end >= @heartbeat)", con);
command_06.Parameters.AddWithValue("@heartbeat", heartbeat_f_temp);
SQLiteDataReader reader_06 = command_06.ExecuteReader();
if (reader_06.HasRows)
{
while (reader_06.Read())
{
label21.Text = reader_06["K_t_3_5"].ToString();
K2 = Convert.ToDouble(label21.Text);
}
}
else
{
label21.Text = "No rows found.";
}
}
else
{
if (age_temp >= 6 && age_temp <= 8)
{
SQLiteCommand command_07 = new SQLiteCommand("SELECT Id, start, end, K_t_6_8 FROM Age_t_6_8 where (start <= @heartbeat) and (end >= @heartbeat)", con);
command_07.Parameters.AddWithValue("@heartbeat", heartbeat_f_temp);
SQLiteDataReader reader_07 = command_07.ExecuteReader();
if (reader_07.HasRows)
{
while (reader_07.Read())
{
label22.Text = reader_07["K_t_6_8"].ToString();
K2 = Convert.ToDouble(label22.Text);
}
}
else
{
label22.Text = "No rows found.";
}
}
else
{
if (age_temp >= 9 && age_temp <= 11)
{
SQLiteCommand command_08 = new SQLiteCommand("SELECT Id, start, end, K_t_9_11 FROM Age_t_9_11 where (start <= @heartbeat) and (end >= @heartbeat)", con);
command_08.Parameters.AddWithValue("@heartbeat", heartbeat_f_temp);
SQLiteDataReader reader_08 = command_08.ExecuteReader();
if (reader_08.HasRows)
{
while (reader_08.Read())
{
label23.Text = reader_08["K_t_9_11"].ToString();
K2 = Convert.ToDouble(label23.Text);
}
}
else
{
label23.Text = "No rows found.";
}
}
else
{
if (age_temp >= 12)
{
SQLiteCommand command_09 = new SQLiteCommand("SELECT Id, start, end, K_t_12_18 FROM Age_t_12_18 where (start <= @heartbeat) and (end >= @heartbeat)", con);
command_09.Parameters.AddWithValue("@heartbeat", heartbeat_f_temp);
SQLiteDataReader reader_09 = command_09.ExecuteReader();
if (reader_09.HasRows)
{
while (reader_09.Read())
{
label24.Text = reader_09["K_t_12_18"].ToString();
K2 = Convert.ToDouble(label24.Text);
}
}
else
{
label24.Text = "No rows found.";
}
}
else
{
if (age_temp < 3)
{
MessageBox.Show("Возраст не должен быть меньше 3 лет!");
}
else
{
return;
}
}
}
}
}
///////////////////////////////////////////////////////
///////////////// выбор травмы
k_travma_s = listBox1.SelectedItem.ToString();
SQLiteCommand command_10 = new SQLiteCommand("SELECT Id, Travma, K_travma FROM Injury where Travma = @k_travma_s", con);
command_10.Parameters.AddWithValue("@k_travma_s", k_travma_s);
SQLiteDataReader reader_10 = command_10.ExecuteReader();
if (reader_10.HasRows)
{
while (reader_10.Read())
{
label25.Text = reader_10["K_travma"].ToString();
K3 = Convert.ToDouble(label25.Text);
}
}
else
{
label25.Text = "No rows found.";
}
///////////////////////
K4 = ((K1 + K2 + K3) / 3); // переменная K4
K4 = Math.Round(K4, 1); // округление до одной переменной после запятой
label26.Text = K4.ToString();
///////////////////////////
SQLiteCommand command_11 = new SQLiteCommand("SELECT Id, K4_start, K4_end, UserText FROM Health where (K4_start <= @k4) and (K4_end >= @k4)", con);
command_11.Parameters.AddWithValue("@k4", K4);
SQLiteDataReader reader_11 = command_11.ExecuteReader();
if (reader_11.HasRows)
{
while (reader_11.Read())
{
label8.Text = reader_11["UserText"].ToString();
}
}
else
{
label8.Text = "bug.";
}
}
}