/// <summary>
/// 再生する
/// </summary>
public void play()
{
int count = dataGridView.Rows.Count;
uint wait = 0;
for(int ii = 0; ii < count; ii++)
{
LogData logData = new LogData();
logData.SysTick = ConvUtil.toUInt32(dataGridView.Rows[ii].Cells[0].Value);
logData.MotorCnt1 = ConvUtil.toInt32(dataGridView.Rows[ii].Cells[5].Value);
logData.MotorCnt2 = ConvUtil.toInt32(dataGridView.Rows[ii].Cells[6].Value);
gpsUpdateDelegate.Invoke(logData);
currentRow++;
// 再生スピード制御（Tickの差分だけWait）
// 初回は4ms固定とする
wait = logData.SysTick - saveTick;
if (wait == logData.SysTick || logData.SysTick == 0)
{
wait = 4;
}
saveTick = logData.SysTick;
System.Threading.Thread.Sleep((int)(wait / speed));
}
}
/// <summary>
/// 取得したログをGrid、Chartに出力する
/// </summary>
/// <param name="logData"></param>
private void bufferingLog(LogData logData)
{
DataGridViewRow row = new DataGridViewRow();
row.CreateCells(dataGridView);
row.Cells[0].Value = logData.RelTick;
row.Cells[1].Value = logData.DataLeft;
row.Cells[2].Value = logData.DataRight;
row.Cells[3].Value = logData.Light;
row.Cells[4].Value = logData.MotorCnt0;
row.Cells[5].Value = logData.MotorCnt1;
row.Cells[6].Value = logData.MotorCnt2;
row.Cells[7].Value = logData.SensorAdc0;
row.Cells[8].Value = logData.SensorAdc1;
row.Cells[9].Value = logData.SensorAdc2;
row.Cells[10].Value = logData.SensorAdc3;
row.Cells[11].Value = logData.I2c;
logBufferList.Add(row);
if (stopwatch4Grid.ElapsedMilliseconds > 1000 || logBufferList.Count > 100)
{
outputGrid();
stopwatch4Grid.Restart();
logBufferList.Clear();
}
}
/// <summary>
/// １行分のログデータから現在位置を演算し、位置を再表示する
/// </summary>
/// <param name="logData"></param>
private void movePoint(LogData logData)
{
Position pos = gps.getPosition(logData.MotorCnt2, logData.MotorCnt1);
Position currentNxtPoint = convScaleAndMuki(pos.X, pos.Y);
Graphics graphics = panelCourse.CreateGraphics();
Rectangle rectangle = new Rectangle(
Convert.ToInt32(currentNxtPoint.X),
Convert.ToInt32(currentNxtPoint.Y), 1, 1);
graphics.DrawRectangle(Pens.Red, rectangle);
redrawStripLine(logData.SysTick);
}
/// <summary>
/// １行分のログデータから走行位置を演算する
/// </summary>
/// <param name="logData"></param>
private void gpsUpdate(LogData logData)
{
MovePointDelegate movePointDelegate = new MovePointDelegate(movePoint);
this.BeginInvoke(movePointDelegate, logData);
}
/// <summary>
/// 本体部読み込み
/// </summary>
/// <param name="data"></param>
private void readBody(Byte data)
{
packetBody[currentBytePos++ - PACKET_HEADER_LENGTH] = data;
// １パケット分に達していない場合は次の受信待ち
if (currentBytePos != PACKET_LENGTH)
{
return;
}
LogData logData = new LogData();
// パケットをフィールドに変換
logData.SysTick = BitConverter.ToUInt32(packetBody, 0);
logData.DataLeft = (SByte)packetBody[4];
logData.DataRight = (SByte)packetBody[5];
logData.Light = BitConverter.ToUInt16(packetBody, 6);
logData.MotorCnt0 = BitConverter.ToInt32(packetBody, 8);
logData.MotorCnt1 = BitConverter.ToInt32(packetBody, 12);
logData.MotorCnt2 = BitConverter.ToInt32(packetBody, 16);
logData.SensorAdc0 = BitConverter.ToInt16(packetBody, 20);
logData.SensorAdc1 = BitConverter.ToInt16(packetBody, 22);
logData.SensorAdc2 = BitConverter.ToInt16(packetBody, 24);
logData.SensorAdc3 = BitConverter.ToInt16(packetBody, 26);
logData.I2c = BitConverter.ToInt32(packetBody, 28);
logData.RelTick = getTick(logData.SysTick);
// データ受信を通知
this.logReceiveDelegate.Invoke(logData);
// 全部読み終わったので、読み込み位置を先頭に戻す
currentBytePos = 0;
}
/// <summary>
/// 取得したログをGrid、Chartに出力する
/// </summary>
/// <param name="logData"></param>
private void receiveLog(LogData logData)
{
// SerialからはControl部品の操作はできないので、Formで再度Invoke
LogReceiveDelegate bufferingLogDelegate = new LogReceiveDelegate(bufferingLog);
this.BeginInvoke(bufferingLogDelegate, logData);
}
