private void ReverseWinding()
{
//reverse the boundary
int cnt = bndLine.Count;
CBndPt[] arr = new CBndPt[cnt];
cnt--;
bndLine.CopyTo(arr);
bndLine.Clear();
for (int i = cnt; i >= 0; i--)
{
arr[i].heading -= Math.PI;
if (arr[i].heading < 0)
{
arr[i].heading += glm.twoPI;
}
bndLine.Add(arr[i]);
}
}
public void CalculateBoundaryHeadings()
{
//to calc heading based on next and previous points to give an average heading.
int cnt = bndLine.Count;
CBndPt[] arr = new CBndPt[cnt];
cnt--;
bndLine.CopyTo(arr);
bndLine.Clear();
//first point needs last, first, second points
CBndPt pt3 = arr[0];
pt3.heading = Math.Atan2(arr[1].easting - arr[cnt].easting, arr[1].northing - arr[cnt].northing);
if (pt3.heading < 0)
{
pt3.heading += glm.twoPI;
}
bndLine.Add(pt3);
//middle points
for (int i = 1; i < cnt; i++)
{
pt3 = arr[i];
pt3.heading = Math.Atan2(arr[i + 1].easting - arr[i - 1].easting, arr[i + 1].northing - arr[i - 1].northing);
if (pt3.heading < 0)
{
pt3.heading += glm.twoPI;
}
bndLine.Add(pt3);
}
//last and first point
pt3 = arr[cnt];
pt3.heading = Math.Atan2(arr[0].easting - arr[cnt - 1].easting, arr[0].northing - arr[cnt - 1].northing);
if (pt3.heading < 0)
{
pt3.heading += glm.twoPI;
}
bndLine.Add(pt3);
}
private void btnLoadBoundaryFromGE_Click(object sender, EventArgs e)
{
string fileAndDirectory;
{
//create the dialog instance
OpenFileDialog ofd = new OpenFileDialog
{
//set the filter to text KML only
Filter = "KML files (*.KML)|*.KML",
//the initial directory, fields, for the open dialog
InitialDirectory = mf.fieldsDirectory + mf.currentFieldDirectory
};
//was a file selected
if (ofd.ShowDialog() == DialogResult.Cancel)
{
return;
}
else
{
fileAndDirectory = ofd.FileName;
}
}
//start to read the file
string line = null;
int index;
using (System.IO.StreamReader reader = new System.IO.StreamReader(fileAndDirectory))
{
//int count = 0;
//while (!reader.EndOfStream)
//{
// line = reader.ReadLine();
// index = line.IndexOf("<coordinates>");
// if (index != -1) count++;
//}
//reader.DiscardBufferedData();
//reader.BaseStream.Seek(0, SeekOrigin.Begin);
//reader.BaseStream.Position = 0;
bool done = false;
try
{
while (!reader.EndOfStream && !done)
{
line = reader.ReadLine();
index = line.IndexOf("coord");
if (index != -1)
{
line = reader.ReadLine();
line = line.Trim();
char[] delimiterChars = { ' ', '\t', '\r', '\n' };
string[] numberSets = line.Split(delimiterChars);
done = true;
//at least 3 points
if (numberSets.Length > 2)
{
//reset boundary
mf.bnd.bndArr[mf.bnd.boundarySelected].ResetBoundary();
foreach (var item in numberSets)
{
string[] fix = item.Split(',');
double.TryParse(fix[0], NumberStyles.Float, CultureInfo.InvariantCulture, out lonK);
double.TryParse(fix[1], NumberStyles.Float, CultureInfo.InvariantCulture, out latK);
double[] xy = mf.pn.DecDeg2UTM(latK, lonK);
//match new fix to current position
easting = xy[0] - mf.pn.utmEast;
northing = xy[1] - mf.pn.utmNorth;
//fix the azimuth error
easting = (Math.Cos(-mf.pn.convergenceAngle) * easting) - (Math.Sin(-mf.pn.convergenceAngle) * northing);
northing = (Math.Sin(-mf.pn.convergenceAngle) * easting) + (Math.Cos(-mf.pn.convergenceAngle) * northing);
//add the point to boundary
CBndPt bndPt = new CBndPt(easting, northing, 0);
mf.bnd.bndArr[mf.bnd.boundarySelected].bndLine.Add(bndPt);
}
//fix the points if there are gaps bigger then
mf.bnd.bndArr[mf.bnd.boundarySelected].CalculateBoundaryHeadings();
mf.bnd.bndArr[mf.bnd.boundarySelected].PreCalcBoundaryLines();
mf.bnd.bndArr[mf.bnd.boundarySelected].FixBoundaryLine(mf.bnd.boundarySelected);
//boundary area, pre calcs etc
mf.bnd.bndArr[mf.bnd.boundarySelected].CalculateBoundaryArea();
mf.bnd.bndArr[mf.bnd.boundarySelected].PreCalcBoundaryLines();
mf.bnd.bndArr[mf.bnd.boundarySelected].isSet = true;
{
mf.FileSaveBoundary();
}
}
else
{
mf.TimedMessageBox(2000, "Error reading KML", "Choose or Build a Different one");
}
}
}
UpdateChart();
cboxSelectBoundary.Enabled = true;
}
catch (Exception)
{
return;
}
}
}
public void FixBoundaryLine(int bndNum)
{
//count the points from the boundary
int ptCount = bndLine.Count;
//first find out which side is inside the boundary
double oneSide = glm.PIBy2;
vec3 point = new vec3(bndLine[3].easting - (Math.Sin(oneSide + bndLine[3].heading) * 2.0),
bndLine[3].northing - (Math.Cos(oneSide + bndLine[3].heading) * 2.0), 0.0);
double spacing = 4;
//make sure boundaries are wound correctly
if (bndNum == 0)
{
//outside an outer boundary means its wound clockwise
if (!IsPointInsideBoundary(point))
{
ReverseWinding();
}
}
else
{
//inside an inner boundary means its wound clockwise
if (IsPointInsideBoundary(point))
{
ReverseWinding();
}
spacing = 3;
}
//make sure distance isn't too small between points on headland
int bndCount = bndLine.Count;
double distance;
for (int i = 0; i < bndCount - 1; i++)
{
distance = glm.Distance(bndLine[i], bndLine[i + 1]);
if (distance < spacing)
{
bndLine.RemoveAt(i + 1);
bndCount = bndLine.Count;
i--;
}
}
//make sure distance isn't too big between points on boundary
bndCount = bndLine.Count;
spacing *= 1.33;
for (int i = 0; i < bndCount; i++)
{
int j = i + 1;
if (j == bndCount)
{
j = 0;
}
distance = glm.Distance(bndLine[i], bndLine[j]);
if (distance > spacing)
{
CBndPt pointB = new CBndPt((bndLine[i].easting + bndLine[j].easting) / 2.0,
(bndLine[i].northing + bndLine[j].northing) / 2.0, bndLine[i].heading);
bndLine.Insert(j, pointB);
bndCount = bndLine.Count;
i--;
}
}
//make sure distance isn't too big between points on boundary
bndCount = bndLine.Count;
spacing *= 1.33;
for (int i = 0; i < bndCount; i++)
{
int j = i + 1;
if (j == bndCount)
{
j = 0;
}
distance = glm.Distance(bndLine[i], bndLine[j]);
if (distance > spacing)
{
CBndPt pointB = new CBndPt((bndLine[i].easting + bndLine[j].easting) / 2.0,
(bndLine[i].northing + bndLine[j].northing) / 2.0, bndLine[i].heading);
bndLine.Insert(j, pointB);
bndCount = bndLine.Count;
i--;
}
}
//make sure headings are correct for calculated points
CalculateBoundaryHeadings();
}
public static double Distance(CBndPt first, CTurnPt second)
{
return(Math.Sqrt(
Math.Pow(first.easting - second.easting, 2)
+ Math.Pow(first.northing - second.northing, 2)));
}
private void btnLoadBoundaryFromGE_Click(object sender, EventArgs e)
{
if (sender is Button button)
{
Selectedreset = true;
btnLoadBoundaryFromGE.Enabled = false;
btnDelete.Enabled = false;
string fileAndDirectory;
{
//create the dialog instance
OpenFileDialog ofd = new OpenFileDialog
{
//set the filter to text KML only
Filter = "KML files (*.KML)|*.KML",
//the initial directory, fields, for the open dialog
InitialDirectory = mf.fieldsDirectory + mf.currentFieldDirectory
};
//was a file selected
if (ofd.ShowDialog() == DialogResult.Cancel)
{
return;
}
else
{
fileAndDirectory = ofd.FileName;
}
}
//start to read the file
string line = null;
string coordinates = null;
int startIndex;
int i = 0;
using (System.IO.StreamReader reader = new System.IO.StreamReader(fileAndDirectory))
{
if (button.Name == "btnLoadMultiBoundaryFromGE")
{
ResetAllBoundary();
}
else
{
i = mf.bnd.boundarySelected;
}
try
{
while (!reader.EndOfStream)
{
line = reader.ReadLine();
startIndex = line.IndexOf("<coordinates>");
if (startIndex != -1)
{
while (true)
{
int endIndex = line.IndexOf("</coordinates>");
if (endIndex == -1)
{
//just add the line
if (startIndex == -1)
{
coordinates = coordinates + line.Substring(0);
}
else
{
coordinates = coordinates + line.Substring(startIndex + 13);
}
}
else
{
if (startIndex == -1)
{
coordinates = coordinates + line.Substring(0, endIndex);
}
else
{
coordinates = coordinates + line.Substring(startIndex + 13, endIndex - (startIndex + 13));
}
break;
}
line = reader.ReadLine();
line = line.Trim();
startIndex = -1;
}
line = coordinates;
char[] delimiterChars = { ' ', '\t', '\r', '\n' };
string[] numberSets = line.Split(delimiterChars);
//at least 3 points
if (numberSets.Length > 2)
{
mf.bnd.bndArr.Add(new CBoundaryLines());
mf.turn.turnArr.Add(new CTurnLines());
mf.gf.geoFenceArr.Add(new CGeoFenceLines());
foreach (var item in numberSets)
{
string[] fix = item.Split(',');
double.TryParse(fix[0], NumberStyles.Float, CultureInfo.InvariantCulture, out lonK);
double.TryParse(fix[1], NumberStyles.Float, CultureInfo.InvariantCulture, out latK);
double[] xy = mf.pn.DecDeg2UTM(latK, lonK);
//match new fix to current position
easting = xy[0] - mf.pn.utmEast;
northing = xy[1] - mf.pn.utmNorth;
double east = easting;
double nort = northing;
//fix the azimuth error
easting = (Math.Cos(-mf.pn.convergenceAngle) * east) - (Math.Sin(-mf.pn.convergenceAngle) * nort);
northing = (Math.Sin(-mf.pn.convergenceAngle) * east) + (Math.Cos(-mf.pn.convergenceAngle) * nort);
//add the point to boundary
CBndPt bndPt = new CBndPt(easting, northing, 0);
mf.bnd.bndArr[i].bndLine.Add(bndPt);
}
//fix the points if there are gaps bigger then
mf.bnd.bndArr[i].CalculateBoundaryHeadings();
mf.bnd.bndArr[i].PreCalcBoundaryLines();
mf.bnd.bndArr[i].FixBoundaryLine(i, mf.vehicle.toolWidth);
//boundary area, pre calcs etc
mf.bnd.bndArr[i].CalculateBoundaryArea();
mf.bnd.bndArr[i].PreCalcBoundaryLines();
mf.bnd.bndArr[i].isSet = true;
//if (i == 0) mf.bnd.bndArr[i].isOwnField = true;
//else mf.bnd.bndArr[i].isOwnField = false;
coordinates = "";
i++;
}
else
{
mf.TimedMessageBox(2000, gStr.gsErrorreadingKML, gStr.gsChooseBuildDifferentone);
}
if (button.Name == "btnLoadBoundaryFromGE")
{
break;
}
}
}
mf.FileSaveBoundary();
mf.fd.UpdateFieldBoundaryGUIAreas();
UpdateChart();
}
catch (Exception)
{
return;
}
}
}
}
