private void write_data(packet[] source, int index)
{
int length = source.Length;
saveBox.Text = "Сохранение файла " + index;
saveBox.Update();
progressBar.Value = 0;
progressBar.Maximum = length;
string additional = "";
double[] magn_c = new double[12];
double[] accl_c = new double[12];
double[] gyro_c = new double[12];
double Mk = 1;
double Wk = 1;
double Ak = 1;
switch (index)
{
case 1:
additional = "left_oar";
double[] temp1 = { 0.021012275928952, 0.067860169975568, 0.000127689343889, 0.045296151352541,
-0.009324017077391, 0.026722923577867, 0.008307857594568, 0.005284287915262,
-0.035947192687517, -0.012542925115207, 0.061512131892943, 0.004409782721854 };
accl_c = temp1;
Ak = 0.996259867299029;
double[] temp11 = { 0.002873025761360, -0.000277783847693, -0.008949237789463, 0.024839518300883,
0.018134114269133, 0.004957678597933, 0.059903966032509, -0.020001702990621,
-0.048455202844697, 0.040007724599001, -0.002723436449578, 0.028657182612509 };
magn_c = temp11;
Mk = 1.989928230657113;
Wk = 1.024951581925949;
break;
case 2:
additional = "right_oar";
double[] temp2 = { 0.006489103530672, 0.007711972047671, 0.008910927008256, 0.004526628966860,
-0.030613701020120, 0.009733926042102, 0.000520434141698, -0.020438431372878,
-0.000690207812167, 0.003527827615877, 0.003268096379523, -0.009084146831565 };
accl_c = temp2;
Ak = 0.993917643789002;
double[] temp22 = {-0.004338472524034, -0.007279143920897, -0.016596561254121, -0.040100105586272,
0.026447190185438, 0.062723828297715, 0.014235202706375, -0.032778454891706,
-0.016686216543873, 0.049183804843751, -0.170661765769371, 0.174784618340082 };
magn_c = temp22;
Mk = 1.981050375613622;
Wk = 0.999473669119779;
break;
case 3:
additional = "first_hand";
double[] temp3 = { 0.012248789806271, 0.010963952889031, 0.010082940049261, 0.017732310046796,
-0.010807018986018, -0.017866987099261, -0.038976713533177, 0.011937965171044,
0.017418474194167, 0.010157002539499, 0.006639710879831, -0.008997250633174 };
accl_c = temp3;
Ak = 0.995116429313122;
double[] temp33 = {-0.024902579646778, -0.020478721707093, -0.026353375666180, -0.001744353714878,
0.001038721251414, -0.008552827405651, 0.000013148017514, 0.005334631470956,
-0.004628038571913, -0.041660570389140, 0.203013174006507, 0.110944181992475 };
magn_c = temp33;
Mk = 2.000804739331122;
Wk = 1.005957834380545;
break;
case 4:
additional = "second_hand";
double[] temp4 = { 0.009773445955991, 0.010515969102165, 0.046332523300049, -0.009734857220358,
0.088901575635824, 0.011068909952491, -0.012572850762404, 0.170713670954205,
-0.008974449587517, 0.001063872406408, -0.005104328004269, -0.003338723771119 };
accl_c = temp4;
Ak = 0.995096553223738;
double[] temp44 = { 0.014780841871083, 0.018746310904878, 0.009620181136691, -0.006116082059700,
-0.000324924134046, -0.004326570176434, -0.007611544691470, 0.009652319917883,
0.002813293660957, 0.093081170636918, 0.035125384985654, -0.014316950547061 };
magn_c = temp44;
Mk = 2.063752665877927;
Wk = 1.013532577606638;
break;
case 5:
additional = "seat";
double[] temp5 = { 0.018860976044349, 0.012994456079329, -0.017726498806178, 0.014155888603851,
0.135660705289298, -0.005517590513633, -0.006515740524433, 0.089222505526992,
0.007556195473340, -0.034224056011697, -0.032625814493799, -0.091725250270515 };
accl_c = temp5;
Ak = 0.990392687940513;
break;
}
FileStream fs_imu = File.Create(saveFileDialog.FileName + "_" + additional + ".imu", 2048, FileOptions.None);
BinaryWriter str_imu = new BinaryWriter(fs_imu);
Int16 buf16; Byte buf8; Int32 buf32;
Double bufD; Single bufS; UInt32 bufU32;
DenseVector Magn_coefs = new DenseVector(12);
DenseVector Accl_coefs = new DenseVector(12);
DenseVector Gyro_coefs = new DenseVector(12);
Kalman_class.Parameters Parameters = new Kalman_class.Parameters(Accl_coefs, Magn_coefs, Gyro_coefs);
Kalman_class.Sensors Sensors = new Kalman_class.Sensors(new DenseMatrix(1, 3, 0), new DenseMatrix(1, 3, 0), new DenseMatrix(1, 3, 0));
Matrix Initia_quat = new DenseMatrix(1, 4, 0);
Initia_quat.At(0, 0, 1);
Kalman_class.State State = new Kalman_class.State(Kalman_class.ACCLERATION_NOISE, Kalman_class.MAGNETIC_FIELD_NOISE, Kalman_class.ANGULAR_VELOCITY_NOISE,
Math.Pow(10, -6), Math.Pow(10, -15), Math.Pow(10, -15), Initia_quat);
double[] angles = new double[3];
double[] mw, ma, mm;
ma = new double[3];
mw = new double[3];
mm = new double[3];
Tuple<Vector, Kalman_class.Sensors, Kalman_class.State> AHRS_result;
double[] w_helper = new double[source.Length];
double[] anglex = new double[source.Length];
double[] angley = new double[source.Length];
double[] anglez = new double[source.Length];
//for (int i = 0; i < w_helper.Length; i++) w_helper[i] = source[i].w[0];
//anglex = Signal_processing.Zero_average_corr(w_helper, w_helper.Length);
//for (int i = 0; i < w_helper.Length; i++) w_helper[i] = source[i].w[1];
//angley = Signal_processing.Zero_average_corr(w_helper, w_helper.Length);
//for (int i = 0; i < w_helper.Length; i++) w_helper[i] = source[i].w[2];
//anglez = Signal_processing.Zero_average_corr(w_helper, w_helper.Length);
double[] read_coefs = new double[0];
double additional_mult = 1;
switch (source[0].type)
{
case 0x41:
double[] tempc1 = { 0.000833, 0.04 * Math.PI / 180F, 0.00014286, 0.00002, 31, 0.07386, 0, 0 };
read_coefs = tempc1;
break;
case 0x51:
double[] tempc2 = { 0.0039, 0, 0, 0, 0, 0, 0, 0 };
read_coefs = tempc2;
break;
case 0x61:
double[] tempc3 = { 0.0008, 0.02 * Math.PI / 180F, 0.0001, 0.00004, 25, 0.00565, 0.0055, 0.000030518 };
read_coefs = tempc3;
additional_mult = -1;
break;
}
double[] quats = new double[4];
DenseMatrix quat_m = new DenseMatrix(1, 4);
Matrix DCM = new DenseMatrix(3, 3);
Matrix sens = new DenseMatrix(1, 3);
Matrix res = new DenseMatrix(1, 3);
double tempr = new double();
double sqr = new double();
for (int i = 0; i < length; i++)
{
progressBar.Value++;
// умножены на -1 для того чтобы оси соответствовали правой тройке
// и осям на датчиках
mw[0] = source[i].w[0] * read_coefs[1]*Wk;// *-1;
mw[1] = source[i].w[1] * read_coefs[1]*Wk;// * -1;
mw[2] = source[i].w[2] * read_coefs[1]*Wk;// * -1;
ma[0] = source[i].a[0] * read_coefs[0]*Ak;// * -1;
ma[1] = source[i].a[1] * read_coefs[0]*Ak;// * -1;
ma[2] = source[i].a[2] * read_coefs[0]*Ak;// * -1;
mm[0] = source[i].m[0] * read_coefs[2]*Mk;// * -1;
mm[1] = source[i].m[1] * read_coefs[2]*Mk;// * -1;
mm[2] = source[i].m[2] * read_coefs[2]*Mk;// * -1;
//mw = single_correction(gyro_c, w[i, 0], w[i, 1], w[i, 2]);
Sensors.a.At(0, 0, ma[0]);
Sensors.a.At(0, 1, ma[1]);
Sensors.a.At(0, 2, ma[2]);
Sensors.w.At(0, 0, mw[0]);
Sensors.w.At(0, 1, mw[1]);
Sensors.w.At(0, 2, mw[2]);
Sensors.m.At(0, 0, mm[0]);
Sensors.m.At(0, 1, mm[1]);
Sensors.m.At(0, 2, mm[2]);
AHRS_result = Kalman_class.AHRS_LKF_EULER(Sensors, State, Parameters);
State = AHRS_result.Item3;
mm = single_correction(magn_c, mm[0], mm[1], mm[2]);
ma = single_correction(accl_c, ma[0], ma[1], ma[2]);
//------------------------------------------------------------------------
//mm = single_correction(magn_c, m[i, 0], m[i, 1], m[i, 2]);
//ma = single_correction(accl_c, a[i, 0], a[i, 1], a[i, 2]);
//mw = single_correction(gyro_c, w[i, 0], w[i, 1], w[i, 2]);
//----------------------------------------------------------------------
//----------------------------------------------------------------------
angles[0] = (AHRS_result.Item1.At(0));
angles[1] = (AHRS_result.Item1.At(1));
angles[2] = (AHRS_result.Item1.At(2));
//angles[0] = (anglez[i]);
//angles[1] = (angley[i]);
//angles[2] = (anglex[i]);
//sqr = Math.Sqrt(mm[0]*mm[0] + mm[1]*mm[1] + mm[2]*mm[2]);
//mm[0] = mm[0] / sqr;
//mm[1] = mm[1] / sqr;
//mm[2] = mm[2] / sqr;
//sqr = sqr;
//if (source[i].quat[1] != 0)
//{
// quats[0] = source[i].quat[0] * read_coefs[6];
// quats[1] = source[i].quat[1] * read_coefs[7];
// quats[2] = source[i].quat[2] * read_coefs[7];
// quats[3] = source[i].quat[3] * read_coefs[7];
// quat_m.At(0, 0, quats[0]);
// quat_m.At(0, 1, quats[1]);
// quat_m.At(0, 2, quats[2]);
// quat_m.At(0, 3, quats[3]);
// DCM = Kalman_class.quat_to_DCM(quat_m);
// res = Kalman_class.dcm2angle(DCM);
// //angles = quat2angle(quats);
// //DCM = Kalman_class.Matrix_Transpose(quat2dcm(quats));
// angles[0] = res.At(0, 0);
// angles[1] = res.At(0, 1);
// angles[2] = res.At(0, 2);
// //DMC = Kalman_class.Matrix_Transpose(DMC);
// /*sens.At(0, 0, ma[0]);
// sens.At(0, 1, ma[1]);
// sens.At(0, 2, ma[2]);
// res = Kalman_class.Matrix_Mult(sens, DCM);
// ma[0] = res.At(0, 0);
// ma[1] = res.At(0, 1);
// ma[2] = res.At(0, 2);
// sens.At(0, 0, mw[0]);
// sens.At(0, 1, mw[1]);
// sens.At(0, 2, mw[2]);
// res = Kalman_class.Matrix_Mult(sens, DCM);
// mw[0] = res.At(0, 0);
// mw[1] = res.At(0, 1);
// mw[2] = res.At(0, 2);
// sens.At(0, 0, mm[0]);
// sens.At(0, 1, mm[1]);
// sens.At(0, 2, mm[2]);
// res = Kalman_class.Matrix_Mult(sens, DCM);
// mm[0] = res.At(0, 0);
// mm[1] = res.At(0, 1);
// mm[2] = res.At(0, 2);*/
//}
tempr = read_coefs[4] + source[i].temper * read_coefs[5];
// IMU
// QQ
buf16 = (Int16)(angles[0] * 10000);
str_imu.Write(buf16);
buf16 = (Int16)(angles[1] * 10000);
str_imu.Write(buf16);
buf16 = (Int16)(angles[2] * 10000);
str_imu.Write(buf16);
// w
buf16 = (Int16)(mw[0] * 3000);
str_imu.Write(buf16);
buf16 = (Int16)(mw[1] * 3000);
str_imu.Write(buf16);
buf16 = (Int16)(mw[2] * 3000);
str_imu.Write(buf16);
// a
buf16 = (Int16)(ma[0] * 3000);
str_imu.Write(buf16);
buf16 = (Int16)(ma[1] * 3000);
str_imu.Write(buf16);
buf16 = (Int16)(ma[2] * 3000);
str_imu.Write(buf16);
// m
buf16 = (Int16)(mm[0] * 3000);
str_imu.Write(buf16);
buf16 = (Int16)(mm[1] * 3000);
str_imu.Write(buf16);
buf16 = (Int16)(mm[2] * 3000);
str_imu.Write(buf16);
buf16 = (Int16)(tempr); // t
str_imu.Write(buf16);
//buf32 = (Int32)(counter[i]);
buf32 = (Int32)(source[i].ticks); // pps_imu
str_imu.Write(buf32);
buf8 = (Byte)(0); // check_sum
str_imu.Write(buf8);
}
str_imu.Flush();
str_imu.Close();
}
private void write_data_raw(int index)
{
byte[] full_file = new byte[byte2read[index].Count];
//byte[] full_file = File.ReadAllBytes("D:\\Projects\\КСК синхронизация\\3 этап\\rec2_3.log");
string[] name = saveFileDialog.FileName.Split('\\');
string path = "";
for (int i = 0; i < name.Length - 1; i++)
path += name[i] + "\\";
FileStream fs_log = File.Create(path + "raw_data\\" + name[name.Length - 1] + "_" + index + ".log", 2048, FileOptions.None);
BinaryWriter str_log = new BinaryWriter(fs_log);
packet pack = new packet();
GPS_packet gps_pack = new GPS_packet();
byte[] pack2 = new byte[26];
byte[] buffer = new byte[2];
byte[] buffer2 = new byte[4];
byte[] temp = new byte[2];
int crc;
progressBar.Value = 0;
byte type_flag = 0;
bool first_init = true;
double[] read_coefs = new double[10];
if (full_file.Length != 0)
{
for (int i = 0; i < full_file.Length; i++)
{
full_file[i] = (byte)byte2read[index].Dequeue();
}
str_log.Write(full_file);
str_log.Flush();
str_log.Close();
progressBar.Maximum = full_file.Length - 39;
for (int i = 0; i < full_file.Length - 39; i++)
{
if (i % 50 == 0)
progressBar.Value += 49;
if ((full_file[i] == 0x10) && (full_file[i + 38] == 0x10) && (full_file[i + 39] == 0x03) &&
((full_file[i + 1] == 0x41) || (full_file[i + 1] == 0x51) || (full_file[i + 1] == 0x61)))
{
type_flag = full_file[i + 1];
crc = 0;
for (int j = i + 1; j < i + 37; j++)
{
crc = crc ^ full_file[j];
}
//crc = full_file[i + 37];
if (crc == full_file[i + 37])
{
pack = new packet();
pack.frame1 = full_file[i];
pack.type = full_file[i + 1];
pack.ticks = BitConverter.ToUInt32(full_file, i + 2);
//0.833F/1000, 0.04, 142.9F
pack.a = new short[3];
pack.a[0] = BitConverter.ToInt16(full_file, i + 6);
pack.a[1] = BitConverter.ToInt16(full_file, i + 8);
pack.a[2] = BitConverter.ToInt16(full_file, i + 10);
pack.w = new short[3];
pack.w[0] = BitConverter.ToInt16(full_file, i + 12);
pack.w[1] = BitConverter.ToInt16(full_file, i + 14);
pack.w[2] = BitConverter.ToInt16(full_file, i + 16);
//temp[0] = full_file[i + 13];
//temp[1] = full_file[i + 12];
//pack.w[0] = BitConverter.ToInt16(temp, 0);
//temp[0] = full_file[i + 15];
//temp[1] = full_file[i + 14];
//pack.w[1] = BitConverter.ToInt16(temp,0);
//temp[0] = full_file[i + 17];
//temp[1] = full_file[i + 16];
//pack.w[2] = BitConverter.ToInt16(temp, 0);
pack.m = new short[3];
pack.m[0] = BitConverter.ToInt16(full_file, i + 18);
pack.m[1] = BitConverter.ToInt16(full_file, i + 20);
pack.m[2] = BitConverter.ToInt16(full_file, i + 22);
pack.quat = new short[4];
pack.quat[0] = BitConverter.ToInt16(full_file, i + 24);
pack.quat[1] = BitConverter.ToInt16(full_file, i + 26);
pack.quat[2] = BitConverter.ToInt16(full_file, i + 28);
pack.quat[3] = BitConverter.ToInt16(full_file, i + 30);
pack.bar = BitConverter.ToInt16(full_file, i + 32);
pack.temper = BitConverter.ToInt16(full_file, i + 34);
pack.snum = full_file[i + 36];
pack.crc = full_file[i + 37];
pack.frame2 = full_file[i + 38];
pack.frame3 = full_file[i + 39];
switch (type_flag)
{
case 0x41:
if (pack.snum == (0xF0 ^ 1))
read_queue[0].Enqueue(pack); // left oar
else if (pack.snum == (0xE0 ^ 1))
read_queue[1].Enqueue(pack); // right oar
break;
case 0x51:
if (pack.snum == 1)
read_queue[4].Enqueue(pack); // seat
break;
case 0x61:
if (pack.snum == (0xF0 ^ 1))
read_queue[2].Enqueue(pack); // first hand
else if (pack.snum == (0xE0 ^ 1))
read_queue[3].Enqueue(pack); // second hand
break;
}
}
}
if ((full_file[i + 29] == 3) && (full_file[i + 28] == 16) && (full_file[i] == 16) &&
(full_file[i + 1] == 50)) // условие начала GPS пакета
{
crc = 50;
for (int j = 0; j < 26; j++)
{
pack2[j] = full_file[i + j + 2];
if (j < 25)
crc = crc ^ pack2[j];
}
if (crc == pack2[pack2.Length - 1])
{
gps_pack = new GPS_packet();
//ticks2[k2] = pack2[3] + pack2[2] * (int)Math.Pow(2, 8) +
// pack2[1] * (int)Math.Pow(2, 16) + pack2[0] * (int)Math.Pow(2, 24);
gps_pack.ticks_gps = BitConverter.ToUInt32(pack2, 0);
buffer2[0] = pack2[4]; buffer2[1] = pack2[5]; buffer2[2] = pack2[6]; buffer2[3] = pack2[7];
gps_pack.lat = ((double)BitConverter.ToInt32(buffer2, 0)) / 600000;
buffer2[0] = pack2[8]; buffer2[1] = pack2[9]; buffer2[2] = pack2[10]; buffer2[3] = pack2[11];
gps_pack.lon = ((double)BitConverter.ToInt32(buffer2, 0)) / 600000;
buffer[0] = pack2[12]; buffer[1] = pack2[13];
gps_pack.speed = (double)BitConverter.ToInt16(buffer, 0) / 100;
buffer[0] = pack2[14]; buffer[1] = pack2[15];
gps_pack.course = (double)BitConverter.ToInt16(buffer, 0) / 160;
buffer2[0] = pack2[16]; buffer2[1] = pack2[17]; buffer2[2] = pack2[18]; buffer2[3] = pack2[19];
gps_pack.time = ((double)BitConverter.ToInt32(buffer2, 0)) / 10;
gps_pack.stat = pack2[20];
buffer2[0] = pack2[21]; buffer2[1] = pack2[22]; buffer2[2] = pack2[23]; buffer2[3] = pack2[24];
gps_pack.date = ((double)BitConverter.ToInt32(buffer2, 0));
GPS_queue.Enqueue(gps_pack);
}
}
}
}
}
private void readButton_Click(object sender, EventArgs e)
{
Button source = (Button)sender;
switch (source.Text)
{
case "Начать считывание":
Connect();
source.Text = "Остановить чтение";
stop_reading = false;
Thread[] reading = new Thread[ports_total];
for (int i = 0; i < 5; i++)
{
read_queue[i] = new Queue();
}
for (int i = 0; i < ports_total; i++)
{
//read_queue[i] = new Queue();
//reading[i] = new Thread(thread_read_flexible);
reading[i] = new Thread(thread_read_raw);
reading[i].Start();
}
control.Restart();
break;
case "Остановить чтение":
stop_reading = true;
control.Stop();
//read_queue[4] = new Queue();
//MessageBox.Show("Чтение завершено.");
MessageBox.Show("Количество байт принятых с СОМ портов:\n" + byte2read[0].Count + " " + byte2read[1].Count + " " + byte2read[2].Count +
" " + byte2read[3].Count);
for (int i = 0; i < ports_total; i++)
write_data_raw(i);
source.Text = "Начать считывание";
progressBar.Value = 0;
thread_counter = 0;
int[] length = {read_queue[0].Count, read_queue[1].Count,
read_queue[2].Count, read_queue[3].Count, read_queue[4].Count};
packet[] sensor_1 = new packet[length[0]];
packet[] sensor_2 = new packet[length[1]];
packet[] sensor_3 = new packet[length[2]];
packet[] sensor_4 = new packet[length[3]];
packet[] sensor_5 = new packet[length[4]];
int counter = 0;
bool[] finished = new bool[4 + 1];
while (true)
{
if ((!finished[0])&&(counter < length[0]))
sensor_1[counter] = (packet)read_queue[0].Dequeue();
else
finished[0] = true;
if ((!finished[1]) && (counter < length[1]))
sensor_2[counter] = (packet)read_queue[1].Dequeue();
else
finished[1] = true;
if ((!finished[2]) && (counter < length[2]))
sensor_3[counter] = (packet)read_queue[2].Dequeue();
else
finished[2] = true;
if ((!finished[3]) && (counter < length[3]))
sensor_4[counter] = (packet)read_queue[3].Dequeue();
else
finished[3] = true;
if ((!finished[4]) && (counter < length[4]))
sensor_5[counter] = (packet)read_queue[4].Dequeue();
else
finished[4] = true;
counter++;
if (finished[0] && finished[1] && finished[2] && finished[3] && finished[4])
break;
}
MessageBox.Show("Количество пакетов принятых с датчиков:\n" + sensor_1.Length + " " + sensor_2.Length + " " + sensor_3.Length
+ " " + sensor_4.Length + " " + sensor_5.Length);
if (sensor_1.Length != 0)
write_data(sensor_1, 1);
if (sensor_2.Length != 0)
write_data(sensor_2, 2);
if (sensor_3.Length != 0)
write_data(sensor_3, 3);
if (sensor_4.Length != 0)
write_data(sensor_4, 4);
if (sensor_5.Length != 0)
write_data(sensor_5, 5);
int glen = GPS_queue.Count;
GPS_packet[] pack1 = new GPS_packet[glen];
for (int i = 0; i < glen; i++)
pack1[i] = (GPS_packet)GPS_queue.Dequeue();
if (pack1.Length != 0)
write_gps(pack1, 1);
//MessageBox.Show("Сохранение завершено.");
saveBox.Text = "Сохранение завершено";
break;
}
}