static void doDXF(List<Polyline3dVertex> vertexes, double[] x)
{
// create a dxf for those who want to "see" the calibration
DxfDocument dxf = new DxfDocument();
Polyline3d polyline = new Polyline3d(vertexes, true);
polyline.Layer = new Layer("polyline3d");
polyline.Layer.Color.Index = 24;
dxf.AddEntity(polyline);
var pnt = new Point(new Vector3f(-(float) x[0], -(float) x[1], -(float) x[2]));
pnt.Layer = new Layer("new offset");
pnt.Layer.Color.Index = 21;
dxf.AddEntity(pnt);
dxf.Save("magoffset.dxf", DxfVersion.AutoCad2000);
log.Info("dxf Done " + DateTime.Now);
}
/// <summary>
/// Processes a tlog to get the offsets - creates dxf of data
/// </summary>
/// <param name="fn">Filename</param>
/// <returns>Offsets</returns>
public static double[] getOffsets(string fn, int throttleThreshold = 0)
{
// based off tridge's work
string logfile = fn;
// old method
float minx = 0;
float maxx = 0;
float miny = 0;
float maxy = 0;
float minz = 0;
float maxz = 0;
// this is for a dxf
Polyline3dVertex vertex;
List<Polyline3dVertex> vertexes = new List<Polyline3dVertex>();
// data storage
Tuple<float, float, float> offset = new Tuple<float, float, float>(0, 0, 0);
List<Tuple<float, float, float>> data = new List<Tuple<float, float, float>>();
Hashtable filter = new Hashtable();
// track data to use
bool useData = false;
log.Info("Start log: " + DateTime.Now);
MAVLink mine = new MAVLink();
try
{
mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
}
catch (Exception ex) { log.Debug(ex.ToString()); CustomMessageBox.Show("Log Can not be opened. Are you still connected?"); return new double[] {0}; }
mine.logreadmode = true;
mine.MAV.packets.Initialize(); // clear
// gather data
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
byte[] packetraw = mine.readPacket();
var packet = mine.DebugPacket(packetraw, false);
// this is for packets we dont know about
if (packet == null)
continue;
if (packet.GetType() == typeof(MAVLink.mavlink_vfr_hud_t))
{
if (((MAVLink.mavlink_vfr_hud_t)packet).throttle >= throttleThreshold)
{
useData = true;
}
else
{
useData = false;
}
}
if (packet.GetType() == typeof(MAVLink.mavlink_sensor_offsets_t))
{
offset = new Tuple<float, float, float>(
((MAVLink.mavlink_sensor_offsets_t)packet).mag_ofs_x,
((MAVLink.mavlink_sensor_offsets_t)packet).mag_ofs_y,
((MAVLink.mavlink_sensor_offsets_t)packet).mag_ofs_z);
}
else if (packet.GetType() == typeof(MAVLink.mavlink_raw_imu_t) && useData)
{
int div = 20;
// fox dxf
vertex = new Polyline3dVertex(new Vector3f(
((MAVLink.mavlink_raw_imu_t)packet).xmag - offset.Item1,
((MAVLink.mavlink_raw_imu_t)packet).ymag - offset.Item2,
((MAVLink.mavlink_raw_imu_t)packet).zmag - offset.Item3)
);
vertexes.Add(vertex);
// for old method
setMinorMax(((MAVLink.mavlink_raw_imu_t)packet).xmag - offset.Item1, ref minx, ref maxx);
setMinorMax(((MAVLink.mavlink_raw_imu_t)packet).ymag - offset.Item2, ref miny, ref maxy);
setMinorMax(((MAVLink.mavlink_raw_imu_t)packet).zmag - offset.Item3, ref minz, ref maxz);
// for new lease sq
string item = (int)(((MAVLink.mavlink_raw_imu_t)packet).xmag / div) + "," +
(int)(((MAVLink.mavlink_raw_imu_t)packet).ymag / div) + "," +
(int)(((MAVLink.mavlink_raw_imu_t)packet).zmag / div);
if (filter.ContainsKey(item))
{
filter[item] = (int)filter[item] + 1;
if ((int)filter[item] > 3)
continue;
}
else
{
filter[item] = 1;
}
data.Add(new Tuple<float, float, float>(
((MAVLink.mavlink_raw_imu_t)packet).xmag - offset.Item1,
((MAVLink.mavlink_raw_imu_t)packet).ymag - offset.Item2,
((MAVLink.mavlink_raw_imu_t)packet).zmag - offset.Item3));
}
}
log.Info("Log Processed " + DateTime.Now);
Console.WriteLine("Extracted " + data.Count + " data points");
Console.WriteLine("Current offset: " + offset);
mine.logreadmode = false;
mine.logplaybackfile.Close();
mine.logplaybackfile = null;
if (data.Count < 10)
{
CustomMessageBox.Show("Log does not contain enough data");
throw new Exception("Not Enough Data");
}
data.Sort(
delegate(Tuple<float, float, float> d1, Tuple<float, float, float> d2)
{
// get distance from 0,0,0
double ans1 = Math.Sqrt(d1.Item1 * d1.Item1 + d1.Item2 * d1.Item2+ d1.Item3 * d1.Item3);
double ans2 = Math.Sqrt(d2.Item1 * d2.Item1 + d2.Item2 * d2.Item2+ d2.Item3 * d2.Item3);
if (ans1 > ans2)
return 1;
if (ans1 < ans2)
return -1;
return 0;
}
);
data.RemoveRange(data.Count - (data.Count / 16), data.Count / 16);
double[] x = LeastSq(data);
System.Console.WriteLine("Old Method {0} {1} {2}", -(maxx + minx) / 2, -(maxy + miny) / 2, -(maxz + minz) / 2);
log.Info("Least Sq Done " + DateTime.Now);
// create a dxf for those who want to "see" the calibration
DxfDocument dxf = new DxfDocument();
Polyline3d polyline = new Polyline3d(vertexes, true);
polyline.Layer = new Layer("polyline3d");
polyline.Layer.Color.Index = 24;
dxf.AddEntity(polyline);
Point pnt = new Point(new Vector3f(-offset.Item1, -offset.Item2, -offset.Item3));
pnt.Layer = new Layer("old offset");
pnt.Layer.Color.Index = 22;
dxf.AddEntity(pnt);
pnt = new Point(new Vector3f(-(float)x[0], -(float)x[1], -(float)x[2]));
pnt.Layer = new Layer("new offset");
pnt.Layer.Color.Index = 21;
dxf.AddEntity(pnt);
dxf.Save("magoffset.dxf", DxfVersion.AutoCad2000);
log.Info("dxf Done " + DateTime.Now);
Array.Resize<double>(ref x, 3);
return x;
}
private void WritePolyline3d(Polyline3d polyline)
{
if (this.activeSection != StringCode.EntitiesSection && !this.isBlockEntities)
{
throw new InvalidDxfSectionException(this.activeSection, this.file);
}
this.WriteCodePair(0, polyline.CodeName);
this.WriteCodePair(100, SubclassMarker.Entity);
this.WriteEntityCommonCodes(polyline);
this.WriteCodePair(5, polyline.Handle);
this.WriteCodePair(100, SubclassMarker.Polyline3d);
this.WriteCodePair(70, (int) polyline.Flags);
//dummy point
this.WriteCodePair(10, 0.0);
this.WriteCodePair(20, 0.0);
this.WriteCodePair(30, 0.0);
//Obsolete; formerly an “entities follow flag” (optional; ignore if present)
//but its needed to load the dxf file in AutoCAD
this.WriteCodePair(66, "1");
this.WriteXData(polyline.XData);
foreach (Polyline3dVertex v in polyline.Vertexes)
{
this.WriteCodePair(0, v.CodeName);
this.WriteCodePair(5, v.Handle);
this.WriteCodePair(100, SubclassMarker.Entity);
this.WriteCodePair(8, v.Layer);
this.WriteCodePair(100, SubclassMarker.Vertex);
this.WriteCodePair(100, SubclassMarker.Polyline3dVertex);
this.WriteCodePair(70, (int) v.Flags);
this.WriteCodePair(10, v.Location.X);
this.WriteCodePair(20, v.Location.Y);
this.WriteCodePair(30, v.Location.Z);
this.WriteXData(v.XData);
}
this.WriteCodePair(0, polyline.EndSequence.CodeName);
this.WriteCodePair(5, polyline.EndSequence.Handle);
this.WriteCodePair(100, SubclassMarker.Entity);
this.WriteCodePair(8, polyline.EndSequence.Layer);
}
private IPolyline ReadPolyline(ref CodeValuePair code)
{
string handle = string.Empty;
Layer layer = Layer.Default;
AciColor color = AciColor.ByLayer;
LineType lineType = LineType.ByLayer;
PolylineTypeFlags flags = PolylineTypeFlags.OpenPolyline;
double elevation = 0.0;
float thickness = 0.0f;
Vector3d normal = Vector3d.UnitZ;
List<Vertex> vertexes = new List<Vertex>();
Dictionary<ApplicationRegistry, XData> xData = new Dictionary<ApplicationRegistry, XData>();
//int numVertexes = -1;
//int numFaces = -1;
code = this.ReadCodePair();
while (code.Code != 0)
{
switch (code.Code)
{
case 5:
handle = code.Value;
code = this.ReadCodePair();
break;
case 8:
layer = this.GetLayer(code.Value);
code = this.ReadCodePair();
break;
case 62:
color = new AciColor(short.Parse(code.Value));
code = this.ReadCodePair();
break;
case 6:
lineType = this.GetLineType(code.Value);
code = this.ReadCodePair();
break;
case 30:
elevation = double.Parse(code.Value);
code = this.ReadCodePair();
break;
case 39:
thickness = float.Parse(code.Value);
code = this.ReadCodePair();
break;
case 70:
flags = (PolylineTypeFlags) (int.Parse(code.Value));
code = this.ReadCodePair();
break;
case 71:
//this field might not exist for polyface meshes, we cannot depend on it
//numVertexes = int.Parse(code.Value); code = this.ReadCodePair();
code = this.ReadCodePair();
break;
case 72:
//this field might not exist for polyface meshes, we cannot depend on it
//numFaces = int.Parse(code.Value);
code = this.ReadCodePair();
break;
case 210:
normal.X = double.Parse(code.Value);
code = this.ReadCodePair();
break;
case 220:
normal.Y = double.Parse(code.Value);
code = this.ReadCodePair();
break;
case 230:
normal.Z = double.Parse(code.Value);
code = this.ReadCodePair();
break;
case 1001:
XData xDataItem = this.ReadXDataRecord(code.Value, ref code);
xData.Add(xDataItem.ApplicationRegistry, xDataItem);
break;
default:
if (code.Code >= 1000 && code.Code <= 1071)
throw new DxfInvalidCodeValueEntityException(code.Code, code.Value, this.file,
"The extended data of an entity must start with the application registry code " + this.fileLine);
code = this.ReadCodePair();
break;
}
}
//begin to read the vertex list
if (code.Value != DxfObjectCode.Vertex)
throw new DxfEntityException(DxfObjectCode.Polyline, this.file, "Vertex not found in line " + this.fileLine);
while (code.Value != StringCode.EndSequence)
{
if (code.Value == DxfObjectCode.Vertex)
{
Debug.Assert(code.Code == 0);
Vertex vertex = this.ReadVertex(ref code);
vertexes.Add(vertex);
}
}
// read the end end sequence object until a new element is found
if (code.Value != StringCode.EndSequence)
throw new DxfEntityException(DxfObjectCode.Polyline, this.file, "End sequence entity not found in line " + this.fileLine);
code = this.ReadCodePair();
string endSequenceHandle = string.Empty;
Layer endSequenceLayer = layer;
while (code.Code != 0)
{
switch (code.Code)
{
case 5:
endSequenceHandle = code.Value;
code = this.ReadCodePair();
break;
case 8:
endSequenceLayer = this.GetLayer(code.Value);
code = this.ReadCodePair();
break;
default:
code = this.ReadCodePair();
break;
}
}
IPolyline pol;
bool isClosed = false;
if ((flags & PolylineTypeFlags.ClosedPolylineOrClosedPolygonMeshInM) == PolylineTypeFlags.ClosedPolylineOrClosedPolygonMeshInM)
{
isClosed = true;
}
//to avoid possible error between the vertex type and the polyline type
//the polyline type will decide which information to use from the read vertex
if ((flags & PolylineTypeFlags.Polyline3D) == PolylineTypeFlags.Polyline3D)
{
List<Polyline3dVertex> polyline3dVertexes = new List<Polyline3dVertex>();
foreach (Vertex v in vertexes)
{
Polyline3dVertex vertex = new Polyline3dVertex
{
Color = v.Color,
Layer = v.Layer,
LineType = v.LineType,
Location = v.Location,
Handle = v.Handle
};
vertex.XData = v.XData;
polyline3dVertexes.Add(vertex);
}
////posible error avoidance, the polyline is marked as polyline3d code:(70,8) but the vertex is marked as PolylineVertex code:(70,0)
//if (v.Type == EntityType.PolylineVertex)
//{
// Polyline3dVertex polyline3dVertex = new Polyline3dVertex(((PolylineVertex)v).Location.X, ((PolylineVertex)v).Location.Y,0);
// polyline3dVertexes.Add(polyline3dVertex);
//}
//else
//{
// polyline3dVertexes.Add((Polyline3dVertex)v);
//}
//}
pol = new Polyline3d(polyline3dVertexes, isClosed)
{
Handle = handle
};
((Polyline3d) pol).EndSequence.Handle = endSequenceHandle;
((Polyline3d) pol).EndSequence.Layer = endSequenceLayer;
}
else if ((flags & PolylineTypeFlags.PolyfaceMesh) == PolylineTypeFlags.PolyfaceMesh)
{
//the vertex list created contains vertex and face information
List<PolyfaceMeshVertex> polyfaceVertexes = new List<PolyfaceMeshVertex>();
List<PolyfaceMeshFace> polyfaceFaces = new List<PolyfaceMeshFace>();
foreach (Vertex v in vertexes)
{
if ((v.Flags & (VertexTypeFlags.PolyfaceMeshVertex | VertexTypeFlags.Polygon3dMesh)) == (VertexTypeFlags.PolyfaceMeshVertex | VertexTypeFlags.Polygon3dMesh))
{
PolyfaceMeshVertex vertex = new PolyfaceMeshVertex
{
Color = v.Color,
Layer = v.Layer,
LineType = v.LineType,
Location = v.Location,
Handle = v.Handle
};
vertex.XData = xData;
polyfaceVertexes.Add(vertex);
}
else if ((v.Flags & (VertexTypeFlags.PolyfaceMeshVertex)) == (VertexTypeFlags.PolyfaceMeshVertex))
{
PolyfaceMeshFace vertex = new PolyfaceMeshFace
{
Color = v.Color,
Layer = v.Layer,
LineType = v.LineType,
VertexIndexes = v.VertexIndexes,
Handle = v.Handle
};
vertex.XData = xData;
polyfaceFaces.Add(vertex);
}
//if (v.Type == EntityType.PolyfaceMeshVertex)
//{
// polyfaceVertexes.Add((PolyfaceMeshVertex) v);
//}
//else if (v.Type == EntityType.PolyfaceMeshFace)
//{
// polyfaceFaces.Add((PolyfaceMeshFace) v);
//}
//else
//{
// throw new EntityDxfException(v.Type.ToString(), this.file, "Error in vertex type.");
//}
}
pol = new PolyfaceMesh(polyfaceVertexes, polyfaceFaces)
{
Handle = handle
};
((PolyfaceMesh) pol).EndSequence.Handle = endSequenceHandle;
((PolyfaceMesh) pol).EndSequence.Layer = endSequenceLayer;
}
else
{
List<PolylineVertex> polylineVertexes = new List<PolylineVertex>();
foreach (Vertex v in vertexes)
{
PolylineVertex vertex = new PolylineVertex
{
Location = new Vector2d(v.Location.X, v.Location.Y),
BeginThickness = v.BeginThickness,
Bulge = v.Bulge,
Color = v.Color,
EndThickness = v.EndThickness,
Layer = v.Layer,
LineType = v.LineType,
Handle = v.Handle
};
vertex.XData = xData;
////posible error avoidance, the polyline is marked as polyline code:(70,0) but the vertex is marked as Polyline3dVertex code:(70,32)
//if (v.Type==EntityType.Polyline3dVertex)
//{
// PolylineVertex polylineVertex = new PolylineVertex(((Polyline3dVertex)v).Location.X, ((Polyline3dVertex)v).Location.Y);
// polylineVertexes.Add(polylineVertex);
//}
//else
//{
// polylineVertexes.Add((PolylineVertex) v);
//}
polylineVertexes.Add(vertex);
}
pol = new Polyline(polylineVertexes, isClosed)
{
Thickness = thickness,
Elevation = elevation,
Normal = normal,
Handle = handle
};
((Polyline) pol).EndSequence.Handle = endSequenceHandle;
((Polyline) pol).EndSequence.Layer = endSequenceLayer;
}
pol.Color = color;
pol.Layer = layer;
pol.LineType = lineType;
pol.XData = xData;
return pol;
}
private static void WriteDxfFile()
{
DxfDocument dxf = new DxfDocument();
//arc
Arc arc = new Arc(new Vector3d(10, 10, 0), 10, 45, 135);
arc.Layer = new Layer("arc");
arc.Layer.Color.Index = 1;
dxf.AddEntity(arc);
//xData sample
XData xdata = new XData(new ApplicationRegistry("netDxf"));
xdata.XDataRecord.Add(new XDataRecord(XDataCode.String, "extended data with netDxf"));
xdata.XDataRecord.Add(XDataRecord.OpenControlString);
xdata.XDataRecord.Add(new XDataRecord(XDataCode.WorldSpacePositionX, 0));
xdata.XDataRecord.Add(new XDataRecord(XDataCode.WorldSpacePositionY, 0));
xdata.XDataRecord.Add(new XDataRecord(XDataCode.WorldSpacePositionZ, 0));
xdata.XDataRecord.Add(XDataRecord.CloseControlString);
XData xdata2 = new XData(new ApplicationRegistry("other application"));
xdata2.XDataRecord.Add(new XDataRecord(XDataCode.String, "extended data with netDxf"));
xdata2.XDataRecord.Add(XDataRecord.OpenControlString);
xdata2.XDataRecord.Add(new XDataRecord(XDataCode.String, "string record"));
xdata2.XDataRecord.Add(new XDataRecord(XDataCode.Real, 15.5));
xdata2.XDataRecord.Add(new XDataRecord(XDataCode.Long, 350));
xdata2.XDataRecord.Add(XDataRecord.CloseControlString);
//circle
Vector3d extrusion = new Vector3d(1, 1, 1);
Vector3d centerWCS = new Vector3d(1, 1, 1);
Vector3d centerOCS = MathHelper.Transform(centerWCS,
extrusion,
MathHelper.CoordinateSystem.World,
MathHelper.CoordinateSystem.Object);
Circle circle = new Circle(centerOCS, 5);
circle.Layer = new Layer("circle with spaces");
circle.Layer.Color=AciColor.Yellow;
circle.LineType = LineType.Dashed;
circle.Normal = extrusion;
circle.XData=new Dictionary<ApplicationRegistry, XData>
{
{xdata.ApplicationRegistry, xdata},
{xdata2.ApplicationRegistry, xdata2}
};
dxf.AddEntity(circle);
//points
Point point1 = new Point(new Vector3d(-3, -3, 0));
point1.Layer = new Layer("point");
point1.Color = new AciColor(30);
Point point2 = new Point(new Vector3d(1, 1, 1));
point2.Layer = point1.Layer;
point2.Layer.Color.Index = 9;
point2.Normal = new Vector3d(1, 1, 1);
dxf.AddEntity(point1);
dxf.AddEntity(point2);
//3dface
Face3d face3D = new Face3d(new Vector3d(-5, -5, 5),
new Vector3d(5, -5, 5),
new Vector3d(5, 5, 5),
new Vector3d(-5, 5, 5));
face3D.Layer = new Layer("3dface");
face3D.Layer.Color.Index = 3;
dxf.AddEntity(face3D);
//polyline
PolylineVertex polyVertex;
List<PolylineVertex> polyVertexes = new List<PolylineVertex>();
polyVertex = new PolylineVertex(new Vector2d(-50, -50));
polyVertex.BeginThickness = 2;
polyVertexes.Add(polyVertex);
polyVertex = new PolylineVertex(new Vector2d(50, -50));
polyVertex.BeginThickness = 1;
polyVertexes.Add(polyVertex);
polyVertex = new PolylineVertex(new Vector2d(50, 50));
polyVertex.Bulge = 1;
polyVertexes.Add(polyVertex);
polyVertex = new PolylineVertex(new Vector2d(-50, 50));
polyVertexes.Add(polyVertex);
Polyline polyline2d = new Polyline(polyVertexes, true);
polyline2d.Layer = new Layer("polyline2d");
polyline2d.Layer.Color.Index = 5;
polyline2d.Normal = new Vector3d(1, 1, 1);
polyline2d.Elevation = 100.0;
dxf.AddEntity(polyline2d);
//lightweight polyline
LightWeightPolylineVertex lwVertex;
List<LightWeightPolylineVertex> lwVertexes = new List<LightWeightPolylineVertex>();
lwVertex = new LightWeightPolylineVertex(new Vector2d(-25, -25));
lwVertex.BeginThickness = 2;
lwVertexes.Add(lwVertex);
lwVertex = new LightWeightPolylineVertex(new Vector2d(25, -25));
lwVertex.BeginThickness = 1;
lwVertexes.Add(lwVertex);
lwVertex = new LightWeightPolylineVertex(new Vector2d(25, 25));
lwVertex.Bulge = 1;
lwVertexes.Add(lwVertex);
lwVertex = new LightWeightPolylineVertex(new Vector2d(-25, 25));
lwVertexes.Add(lwVertex);
LightWeightPolyline lwPolyline = new LightWeightPolyline(lwVertexes, true);
lwPolyline.Layer = new Layer("lwpolyline");
lwPolyline.Layer.Color.Index = 5;
lwPolyline.Normal = new Vector3d(1, 1, 1);
lwPolyline.Elevation = 100.0;
dxf.AddEntity(lwPolyline);
//line
Line line = new Line(new Vector3d(0, 0, 0), new Vector3d(10, 10, 10));
line.Layer = new Layer("line");
line.Layer.Color.Index = 6;
dxf.AddEntity(line);
//3d polyline
Polyline3dVertex vertex;
List<Polyline3dVertex> vertexes = new List<Polyline3dVertex>();
vertex = new Polyline3dVertex(new Vector3d(-50, -50, 0));
vertexes.Add(vertex);
vertex = new Polyline3dVertex(new Vector3d(50, -50, 10));
vertexes.Add(vertex);
vertex = new Polyline3dVertex(new Vector3d(50, 50, 25));
vertexes.Add(vertex);
vertex = new Polyline3dVertex(new Vector3d(-50, 50, 50));
vertexes.Add(vertex);
Polyline3d polyline = new Polyline3d(vertexes, true);
polyline.Layer = new Layer("polyline3d");
polyline.Layer.Color.Index = 24;
dxf.AddEntity(polyline);
//block definition
Block block = new Block("TestBlock");
block.Entities.Add(new Line(new Vector3d(-5, -5, 5), new Vector3d(5, 5, 5)));
block.Entities.Add(new Line(new Vector3d(5, -5, 5), new Vector3d(-5, 5, 5)));
//insert
Insert insert = new Insert(block, new Vector3d(5, 5, 5));
insert.Layer = new Layer("insert");
insert.Layer.Color.Index = 4;
dxf.AddEntity(insert);
//text
TextStyle style=new TextStyle("True type font","Arial.ttf");
Text text = new Text("Hello world!", Vector3d.Zero, 10.0f,style);
text.Layer = new Layer("text");
text.Layer.Color.Index = 8;
text.Alignment = TextAlignment.TopRight;
dxf.AddEntity(text);
dxf.Save("AutoCad2007.dxf", DxfVersion.AutoCad2007);
dxf.Save("AutoCad2004.dxf", DxfVersion.AutoCad2004);
dxf.Save("AutoCad2000.dxf", DxfVersion.AutoCad2000);
dxf.Save("AutoCad12.dxf", DxfVersion.AutoCad12);
}
