// 添加ListView项
private void ListView_AddItem(PosNode node)
{
var item = new ListViewItem(new[] { "" });
item.Tag = node.Id;
item.BackColor = node.Color;
item.Checked = true;
listView1.Items.Insert(0, item);
int id = node.Id;
string desc = node.Id.ToString();
if (id == 0)
{
desc = "里程计";
}
else if (id < 1000)
{
switch (id % 10)
{
case 0:
desc = id / 10 + "原始";
break;
case 1:
desc = id / 10 + "滤波";
break;
case 2:
desc = id / 10 + "Kalman";
break;
case 3:
desc = id / 10 + "融合";
break;
default:
break;
}
}
else if (id > 1000000)
{
desc = id / 1000000 + "(" + id % 1000000 / 10000 + "," +
id % 10000 / 100 + "," + id % 100 + ")";
}
item = new ListViewItem(new[] { desc });
item.Tag = node.Id;
listView2.Items.Insert(0, item);
MapBox_Resize(null, null);
}
/// <summary>
/// 更新定位
/// </summary>
public void UpdatePos(List <Node> nodeList)
{
Invoke(new Action <List <Node> >(nodes =>
{
foreach (var node in nodes)
{
PosNode posNode = null;
foreach (var pos in posList)
{
if (pos.Id == node.Id)
{
posNode = pos;
break;
}
}
if (posNode == null) // 无则新建
{
posNode = new PosNode(node);
posList.Add(posNode);
ListView_AddItem(posNode);
}
else // 有则更新
{
// 轨迹录点
if (record)
{
posNode.PosList.Add(new Node(posNode));
for (var i = posNode.PosList.Count - 2; i >= 0; i--)
{
if (posNode.PosList[i].Tag >= 0)
{
if (posNode.PosList[i].distance(posNode) < MinSpacing)
{
posNode.PosList.Last().Tag -= 101;
}
break;
}
}
}
// 更新
posNode.Set(node.X, node.Y, node.Tag, node.Yaw);
}
}
}), nodeList);
Invalidate();
}