private void 示教路径_Click(object sender, EventArgs e)
{
if (示教路径.Text == "示教路径")
{
if (Usart.IsOpen == false)
{
MessageBox.Show("请开启串口！", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
//清空txt文档
FileStream fs = new FileStream(RecieveTeachingPathInf, FileMode.Create, FileAccess.Write);
fs.Close();
示教路径.Text = "完成接收";
usartMode = "示教路径";
实时路径.Enabled = false;
TimeReadCom.Enabled = true;
}
else
{
PathClear = "示教路径";
NoticeInformation.Text = "";
示教路径.Text = "示教路径";
usartMode = "";
TimeReadCom.Enabled = false;
实时路径.Enabled = true;
FileTxt.FileTxtCopy(RecieveTeachingPathInf, PathAllInf);
viewControl.Refresh();
}
}
//计算所绘制B样条曲线关键点路径长度，并存在txt文件中,用于切分姿态角度所用
static public void CalculateBsplineInfo(string txtAdress)
{
//创建临时文件
StreamWriter tempFile = new StreamWriter(Directory.GetCurrentDirectory() + "\\eeww.txt", true);
//////////////////////////////////从TXT文档读取数据点/////////////////////////////////////
//数据读取
StreamReader pathFile = File.OpenText(txtAdress);
List <string> tempString = new List <string>();
while (!pathFile.EndOfStream)
{
tempString.Add(pathFile.ReadLine());
}
pathFile.Close();
//如果点数小于2，不能规划出轨迹
if (tempString.Count() < 2)
{
return;
}
List <PointF> tempPnts = new List <PointF>();
Pen myPen = new Pen(Color.Black, 1);
foreach (string str in tempString)
{
string[] sArray = str.Split(',');
tempPnts.Add(new PointF(float.Parse(sArray[0]), float.Parse(sArray[1])));
}
System.Drawing.PointF[] tempPoint = tempPnts.ToArray();
//////////////////////////////////////////////////////////////////////////////////////////////
int num = tempPoint.Count();
float[] pntLen = new float[num];
//系数矩阵对角列
float[] a = new float[num];
//系数矩阵对角上列
float[] b = new float[num];
//系数矩阵对角下列
float[] c = new float[num];
//定义soluctionX、soluctionY为线性方程的解
float[] soluctionX = new float[num];
float[] soluctionY = new float[num];
//定义dataX和dataY,用来存放inPoint里的X和Y坐标
float[] dataX = new float[num];
float[] dataY = new float[num];
//定义controlPoint用来存放控制点
PointF[] controlPoint = new PointF[num + 4];
//存放画线的两个使用点
PointF[] lines = new PointF[2];
//初始化 a,b,c
a[0] = 18;
a[num - 1] = 18;
for (int i = 1; i < num - 1; i++)
{
a[i] = 4;
}
for (int i = 1; i < num - 1; i++)
{
b[i] = 1;
c[i] = 1;
}
c[num - 1] = -9;
b[0] = -9;
for (int i = 0; i < num; i++)
{
dataX[i] = 6.0f * tempPnts[i].X;
dataY[i] = 6.0f * tempPnts[i].Y;
}
dataX[0] *= 1.5f;
dataY[0] *= 1.5f;
dataX[num - 1] *= 1.5f;
dataY[num - 1] *= 1.5f;
//计算outdataX,outdataY;
Calculate math = new Calculate();
//调用Matrix用追赶法求解线性方程
math.Matrix(dataX, num, ref a, ref b, ref c, ref soluctionX);
math.Matrix(dataY, num, ref a, ref b, ref c, ref soluctionY);
controlPoint[num + 3].X = dataX[num - 1] / 9;
controlPoint[num + 2].X = dataX[num - 1] / 9;
controlPoint[0].X = dataX[0] / 9;
controlPoint[1].X = dataX[0] / 9;
for (int i = 0; i < num; i++)
{
controlPoint[i + 2].X = soluctionX[i];
}
controlPoint[num + 3].Y = dataY[num - 1] / 9;
controlPoint[num + 2].Y = dataY[num - 1] / 9;
controlPoint[0].Y = dataY[0] / 9;
controlPoint[1].Y = dataY[0] / 9;
for (int i = 0; i < num; i++)
{
controlPoint[i + 2].Y = soluctionY[i];
}
float threshold = 1.0f;
while (true)
{
//计算型值点，画出曲线
//从初始点开始
lines[0] = tempPoint[0];
pntLen[0] = 0.0f;
int count = 1;
float length = 0.0f;
for (int i = 0; i < num + 1; i++)
{
for (float u = 0.01f; u <= 1; u += 0.01f)
{
float b0 = 1.0f / 6 * (1 - u) * (1 - u) * (1 - u);
float b1 = 1.0f / 6 * (3 * u * u * u - 6 * u * u + 4);
float b2 = 1.0f / 6 * (-3 * u * u * u + 3 * u * u + 3 * u + 1);
float b3 = 1.0f / 6 * u * u * u;
lines[1].X = (b0 * controlPoint[i].X + b1 * controlPoint[i + 1].X + b2 * controlPoint[i + 2].X + b3 * controlPoint[i + 3].X);
lines[1].Y = (b0 * controlPoint[i].Y + b1 * controlPoint[i + 1].Y + b2 * controlPoint[i + 2].Y + b3 * controlPoint[i + 3].Y);
length += Bspline.CalculatePnt2Pnt(lines[0], lines[1]);
if (Bspline.CalculatePnt2Pnt(lines[1], tempPnts[count]) < threshold)
{
pntLen[count++] = length;
}
lines[0] = lines[1];
}
}
if (count == num - 1)
{
length += Bspline.CalculatePnt2Pnt(lines[0], tempPoint[num - 1]);
pntLen[num - 1] = length;
break;
}
else
{
threshold *= 2.0f;
}
}
int ii = 0;
foreach (string str in tempString)
{
tempFile.WriteLine(str + "," + pntLen[ii++].ToString());
}
tempFile.Close();
//清空txt文档
FileStream fs = new FileStream(txtAdress, FileMode.Create, FileAccess.Write);
fs.Close();
FileTxt.FileTxtCopy(Directory.GetCurrentDirectory() + "\\eeww.txt", txtAdress);
//删除临时文件
System.IO.File.Delete(Directory.GetCurrentDirectory() + "\\eeww.txt");
}
//将自由端点的b样条曲线分割为每段15cm的曲线
static public void BsplineSegment(string BsplineWithoutDirTxt, string BsplineWithDirTxt)
{
//将端点长度写入文件，便于姿态角度拟合
Bspline.CalculateBsplineInfo(BsplineWithoutDirTxt);
//数据读取
StreamReader pathFile = File.OpenText(BsplineWithoutDirTxt);
List <string> tempString = new List <string>();
while (!pathFile.EndOfStream)
{
tempString.Add(pathFile.ReadLine());
}
pathFile.Close();
List <PointF> tempPnts = new List <PointF>();
List <PointF> posAnglePoints = new List <PointF>();
foreach (string str in tempString)
{
string[] sArray = str.Split(',');
tempPnts.Add(new PointF(float.Parse(sArray[0]), float.Parse(sArray[1])));
posAnglePoints.Add(new PointF(float.Parse(sArray[3]), float.Parse(sArray[2])));
}
System.Drawing.PointF[] tempPoint = tempPnts.ToArray();
System.Drawing.PointF[] posAnglePoint = posAnglePoints.ToArray();
//创建临时文件
StreamWriter posAngleFile = new StreamWriter(Directory.GetCurrentDirectory() + "\\23423.txt", false);
//创建临时文件
StreamWriter lengthFile = new StreamWriter(Directory.GetCurrentDirectory() + "\\325.txt", false);
//创建临时文件
StreamWriter lengthSegmentFile = new StreamWriter(Directory.GetCurrentDirectory() + "\\3424ds.txt", false);
//每15cm分一段，计算端点切线方向 ,以无方向b样条的长度15cm一段进行切分
Segment(tempPoint, BsplineWithDirTxt, lengthSegmentFile);
lengthSegmentFile.Close();
//数据读取
StreamReader lengthSegmentFileR = File.OpenText(Directory.GetCurrentDirectory() + "\\3424ds.txt");
//每15cm分一段，计算端点姿态方向
Segment2(posAnglePoint, posAngleFile, lengthSegmentFileR);
lengthSegmentFileR.Close();
System.IO.File.Delete(Directory.GetCurrentDirectory() + "\\3424ds.txt");
//计算每一段的长度
Segment3(BsplineWithDirTxt, lengthFile);
lengthFile.Close();
posAngleFile.Close();
//将三个文件合在一起///////////////////////////////////////////////////////////////////
//数据读取
StreamReader file1 = File.OpenText(BsplineWithDirTxt);
List <string> tempString1 = new List <string>();
while (!file1.EndOfStream)
{
tempString1.Add(file1.ReadLine());
}
file1.Close();
//数据读取 posAngleFile
StreamReader file2 = File.OpenText(Directory.GetCurrentDirectory() + "\\23423.txt");
List <string> tempString2 = new List <string>();
while (!file2.EndOfStream)
{
tempString2.Add(file2.ReadLine());
}
file2.Close();
//数据读取 lengthFile
StreamReader file3 = File.OpenText(Directory.GetCurrentDirectory() + "\\325.txt");
List <string> tempString3 = new List <string>();
while (!file3.EndOfStream)
{
tempString3.Add(file3.ReadLine());
}
file3.Close();
Console.WriteLine(tempString1.Count());
Console.WriteLine(tempString2.Count());
Console.WriteLine(tempString3.Count());
//创建临时文件
StreamWriter tempAllInfoFile = new StreamWriter(Directory.GetCurrentDirectory() + "\\asdgfas.txt", true);
for (int i = 0; i < tempString2.Count(); i++)
{
tempAllInfoFile.WriteLine(tempString1[i] + "," + tempString2[i] + "," + tempString3[i]);
}
tempAllInfoFile.Close();
FileTxt.FileTxtCopy(Directory.GetCurrentDirectory() + "\\asdgfas.txt", BsplineWithDirTxt);
//删除文件
System.IO.File.Delete(Directory.GetCurrentDirectory() + "\\asdgfas.txt");
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
lengthFile.Close();
posAngleFile.Close();
System.IO.File.Delete(Directory.GetCurrentDirectory() + "\\23423.txt");
System.IO.File.Delete(Directory.GetCurrentDirectory() + "\\325.txt");
}
