public bool CalcPosition(SettleSoundFile settleSoundFile, SonarConfig sc, RawPositionInfo raw, float longitude, float latitude)
{
if (settleSoundFile != null && sc != null && raw!=null)
{
try
{
scConfig = sc;
this.raw = raw;
USBL_GuiWei Position_Guiwei = new USBL_GuiWei(raw.XDistance, raw.YDistance, raw.ZDistance, raw.Heave, raw.Heading, raw.Pitch, raw.Roll, longitude, latitude, sc.SonarGPSx, sc.SonarGPSy, sc.SonarGPSz, raw.TravelTime, sc.SonarDepth, settleSoundFile.SVPd, settleSoundFile.SVPc);
//USBL_GuiWei Position_Guiwei = new USBL_GuiWei((float)0.4785, (float)-0.5465, (float)-6.7128, raw.Heave, (float)48.7943, (float)0.1944, 0, longitude, latitude, sc.SonarGPSx, sc.SonarGPSy, sc.SonarGPSz, (float)0.0045, sc.SonarDepth, settleSoundFile.SVPd, settleSoundFile.SVPc);
//USBL_GuiWei Position_Guiwei = new USBL_GuiWei((float)0.6391, (float)-0.0549, (float)-6.9063, raw.Heave, (float)48.73, (float)0.19, 0, longitude, latitude, sc.SonarGPSx, sc.SonarGPSy, sc.SonarGPSz, (float)0.0046, sc.SonarDepth, settleSoundFile.SVPd, settleSoundFile.SVPc);
AjustLat = (float)Position_Guiwei.LatTarget;
AjustLong = (float)Position_Guiwei.LonTarget;
Noise = raw.Noise;
Status = raw.Status;
XAjust = (float)Position_Guiwei.x_local;
YAjust = (float)Position_Guiwei.y_local;
ZAjust = (float)Position_Guiwei.z_local;
}
catch (Exception)
{
return false;
}
return true;
}
return false;
}
public bool CalcPosition(SettleSoundFile settleSoundFile, SonarConfig sc, RawPositionInfo raw, float longitude, float latitude)
{
if (settleSoundFile != null && sc != null && raw != null)
{
try
{
scConfig = sc;
this.raw = raw;
USBL_GuiWei Position_Guiwei = new USBL_GuiWei(raw.XDistance, raw.YDistance, raw.ZDistance, raw.Heave, raw.Heading, raw.Pitch, raw.Roll, longitude, latitude, sc.SonarGPSx, sc.SonarGPSy, sc.SonarGPSz, raw.TravelTime, sc.SonarDepth, settleSoundFile.SVPd, settleSoundFile.SVPc);
//USBL_GuiWei Position_Guiwei = new USBL_GuiWei((float)0.4785, (float)-0.5465, (float)-6.7128, raw.Heave, (float)48.7943, (float)0.1944, 0, longitude, latitude, sc.SonarGPSx, sc.SonarGPSy, sc.SonarGPSz, (float)0.0045, sc.SonarDepth, settleSoundFile.SVPd, settleSoundFile.SVPc);
//USBL_GuiWei Position_Guiwei = new USBL_GuiWei((float)0.6391, (float)-0.0549, (float)-6.9063, raw.Heave, (float)48.73, (float)0.19, 0, longitude, latitude, sc.SonarGPSx, sc.SonarGPSy, sc.SonarGPSz, (float)0.0046, sc.SonarDepth, settleSoundFile.SVPd, settleSoundFile.SVPc);
AjustLat = (float)Position_Guiwei.LatTarget;
AjustLong = (float)Position_Guiwei.LonTarget;
Noise = raw.Noise;
Status = raw.Status;
XAjust = (float)Position_Guiwei.x_local;
YAjust = (float)Position_Guiwei.y_local;
ZAjust = (float)Position_Guiwei.z_local;
}
catch (Exception)
{
return(false);
}
return(true);
}
return(false);
}
public AjustPositionInfo()
{
scConfig = new SonarConfig();
raw = new RawPositionInfo();
}
private void ExecuteSaveAsCommand(object sender, ExecutedRoutedEventArgs eventArgs)
{
try
{
var sc = new SonarConfig();
sc.VelCmd = SurVelSrcIndex;
if (AvgVelIndex == 1)
sc.VelCmd = sc.VelCmd | 0x04;
sc.SurVel = SurVel;
sc.AvgVel = AvgVel;
sc.FixedGain = FixedGain;
sc.TVGCmd = TVGCmd;
sc.FixedTVG = FixedTVG;
sc.TVGSampling = TVGSampling;
sc.TVGSamples = TVGSamples;
sc.TVGA1 = TVGA1;
sc.TVGA2 = TVGA2;
sc.TVGA3 = TVGA3;
sc.PingPeriod = PingPeriod;
sc.ADSaved = ADSaved;
sc.PoseSaved = PoseSaved;
sc.PosSaved = PosSaved;
sc.SonarDepth = SonarDepth;
sc.SonarGPSx = SonarGPSx;
sc.SonarGPSy = SonarGPSy;
sc.SonarGPSz = SonarGPSz;
sc.Pitchfixed = Pitchfixed;
sc.Rollfixed = Rollfixed;
sc.Headingfixed = Headingfixed;
/////////////////////////////////////////////////////////////////////////////////////
SaveFileDialog saveFileDialog = new SaveFileDialog();
saveFileDialog.Filter = "参数文件 (*.dat)|*.dat";
saveFileDialog.FilterIndex = 2;
saveFileDialog.Title = "保存参数文件";
saveFileDialog.RestoreDirectory = true;
saveFileDialog.OverwritePrompt = true;
saveFileDialog.ValidateNames = true;
if (saveFileDialog.ShowDialog() == DialogResult.OK)
{
if (saveFileDialog.FileName!="")
{
var bw = new FileStream(saveFileDialog.FileName, FileMode.OpenOrCreate);
bw.Write(sc.SavePackage(), 0, sc.SavePackage().Length);
bw.Close();
}
}
}
catch (Exception ex)
{
UnitCore.Instance.EventAggregator.PublishMessage(new ErrorEvent(ex, LogType.Both));
return;
}
}
private void ExecuteLoadCommand(object sender, ExecutedRoutedEventArgs eventArgs)
{
try
{
var sc = new SonarConfig();
Microsoft.Win32.OpenFileDialog openFileDialog = new OpenFileDialog();
openFileDialog.CheckFileExists = true;
openFileDialog.CheckPathExists = true;
openFileDialog.Title = "选择参数文件";
openFileDialog.Filter = "参数文件 (*.dat)|*.dat";
if (openFileDialog.ShowDialog() == true)
{
if (!sc.Parse(File.ReadAllBytes(openFileDialog.FileName))) throw new Exception("声纳参数读取失败");
}
else
{
return;
}
uint velcmd = sc.VelCmd;
SurVelSrcIndex = velcmd & 0x03;
AvgVelIndex = (velcmd>>2) & 0x01;
SurVel = sc.SurVel;
AvgVel = sc.AvgVel;
FixedGain = sc.FixedGain;
TVGCmd = sc.TVGCmd;
FixedTVG = sc.FixedTVG;
TVGSampling = sc.TVGSampling;
TVGSamples = sc.TVGSamples;
TVGA1 = sc.TVGA1;
TVGA2 = sc.TVGA2;
TVGA3 = sc.TVGA3;
PingPeriod = sc.PingPeriod;
ADSaved = sc.ADSaved;
PoseSaved = sc.PoseSaved;
PosSaved = sc.PosSaved;
SonarDepth = sc.SonarDepth;
SonarGPSx = sc.SonarGPSx;
SonarGPSy = sc.SonarGPSy;
SonarGPSz = sc.SonarGPSz;
Pitchfixed = sc.Pitchfixed;
Rollfixed = sc.Rollfixed;
Headingfixed = sc.Headingfixed;
}
catch (Exception ex)
{
UnitCore.Instance.EventAggregator.PublishMessage(new ErrorEvent(ex, LogType.Both));
return;
}
}
public void SaveSonarSetting(SonarConfig scConfig)
{
if (SonarSetting == null)
{
var MyExecPath = System.IO.Path.GetDirectoryName(
System.Reflection.Assembly.GetExecutingAssembly().GetModules()[0].FullyQualifiedName);
MyExecPath += "SonarConfig";
SonarSetting = new FileStream(MyExecPath,FileMode.OpenOrCreate);
}
SonarSetting.Write(scConfig.SavePackage(), 0, 288);
}
public AjustPositionInfo()
{
scConfig = new SonarConfig();
raw = new RawPositionInfo();
}
public void SaveSonarSetting(SonarConfig scConfig)
{
TraceFile.Instance.SaveSonarSetting(scConfig);
}
