private static void WriteDxfFile()
{
DxfDocument dxf = new DxfDocument();
//arc
Arc arc = new Arc(new Vector3(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.Int32, 350));
xdata2.XDataRecord.Add(XDataRecord.CloseControlString);
//circle
Vector3 extrusion = new Vector3(1, 1, 1);
Vector3 centerWCS = new Vector3(1, 1, 1);
Vector3 centerOCS = MathHelper.Transform(centerWCS,
extrusion,
CoordinateSystem.World,
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.Add(xdata);
circle.XData.Add(xdata2);
dxf.AddEntity(circle);
//points
Point point1 = new Point(new Vector3(-3, -3, 0));
point1.Layer = new Layer("point");
point1.Color = new AciColor(30);
Point point2 = new Point(new Vector3(1, 1, 1));
point2.Layer = point1.Layer;
point2.Layer.Color.Index = 9;
point2.Normal = new Vector3(1, 1, 1);
dxf.AddEntity(point1);
dxf.AddEntity(point2);
//3dface
Face3d face3D = new Face3d(new Vector3(-5, -5, 5),
new Vector3(5, -5, 5),
new Vector3(5, 5, 5),
new Vector3(-5, 5, 5));
face3D.Layer = new Layer("3dface");
face3D.Layer.Color.Index = 3;
dxf.AddEntity(face3D);
//polyline
LwPolylineVertex polyVertex;
List<LwPolylineVertex> polyVertexes = new List<LwPolylineVertex>();
polyVertex = new LwPolylineVertex(new Vector2(-50, -50));
polyVertex.StartWidth = 2;
polyVertexes.Add(polyVertex);
polyVertex = new LwPolylineVertex(new Vector2(50, -50));
polyVertex.StartWidth = 1;
polyVertexes.Add(polyVertex);
polyVertex = new LwPolylineVertex(new Vector2(50, 50));
polyVertex.Bulge = 1;
polyVertexes.Add(polyVertex);
polyVertex = new LwPolylineVertex(new Vector2(-50, 50));
polyVertexes.Add(polyVertex);
LwPolyline polyline2d = new LwPolyline(polyVertexes, true);
polyline2d.Layer = new Layer("polyline2d");
polyline2d.Layer.Color.Index = 5;
polyline2d.Normal = new Vector3(1, 1, 1);
polyline2d.Elevation = 100.0f;
dxf.AddEntity(polyline2d);
//lightweight polyline
LwPolylineVertex lwVertex;
List<LwPolylineVertex> lwVertexes = new List<LwPolylineVertex>();
lwVertex = new LwPolylineVertex(new Vector2(-25, -25));
lwVertex.StartWidth = 2;
lwVertexes.Add(lwVertex);
lwVertex = new LwPolylineVertex(new Vector2(25, -25));
lwVertex.StartWidth = 1;
lwVertexes.Add(lwVertex);
lwVertex = new LwPolylineVertex(new Vector2(25, 25));
lwVertex.Bulge = 1;
lwVertexes.Add(lwVertex);
lwVertex = new LwPolylineVertex(new Vector2(-25, 25));
lwVertexes.Add(lwVertex);
LwPolyline lwPolyline = new LwPolyline(lwVertexes, true);
lwPolyline.Layer = new Layer("lwpolyline");
lwPolyline.Layer.Color.Index = 5;
lwPolyline.Normal = new Vector3(1, 1, 1);
lwPolyline.Elevation = 100.0f;
dxf.AddEntity(lwPolyline);
// polyfaceMesh
List<PolyfaceMeshVertex> meshVertexes = new List<PolyfaceMeshVertex>
{
new PolyfaceMeshVertex(0, 0, 0),
new PolyfaceMeshVertex(10, 0, 0),
new PolyfaceMeshVertex(10, 10, 0),
new PolyfaceMeshVertex(5, 15, 0),
new PolyfaceMeshVertex(0, 10, 0)
};
List<PolyfaceMeshFace> faces = new List<PolyfaceMeshFace>
{
new PolyfaceMeshFace(new short[] {1, 2, -3}),
new PolyfaceMeshFace(new short[] {-1, 3, -4}),
new PolyfaceMeshFace(new short[] {-1, 4, 5})
};
PolyfaceMesh mesh = new PolyfaceMesh(meshVertexes, faces);
mesh.Layer = new Layer("polyfacemesh");
mesh.Layer.Color.Index = 104;
dxf.AddEntity(mesh);
//line
Line line = new Line(new Vector3(0, 0, 0), new Vector3(10, 10, 10));
line.Layer = new Layer("line");
line.Layer.Color.Index = 6;
dxf.AddEntity(line);
//3d polyline
PolylineVertex vertex;
List<PolylineVertex> vertexes = new List<PolylineVertex>();
vertex = new PolylineVertex(new Vector3(-50, -50, 0));
vertexes.Add(vertex);
vertex = new PolylineVertex(new Vector3(50, -50, 10));
vertexes.Add(vertex);
vertex = new PolylineVertex(new Vector3(50, 50, 25));
vertexes.Add(vertex);
vertex = new PolylineVertex(new Vector3(-50, 50, 50));
vertexes.Add(vertex);
Polyline polyline = new Polyline(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 Vector3(-5, -5, 5), new Vector3(5, 5, 5)));
block.Entities.Add(new Line(new Vector3(5, -5, 5), new Vector3(-5, 5, 5)));
//insert
Insert insert = new Insert(block, new Vector3(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!", Vector3.Zero, 10.0f,style);
text.Layer = new Layer("text");
text.Layer.Color.Index = 8;
text.Alignment = TextAlignment.TopRight;
dxf.AddEntity(text);
dxf.DrawingVariables.AcadVer = DxfVersion.AutoCad2010;
dxf.Save("AutoCad2010.dxf");
dxf.DrawingVariables.AcadVer = DxfVersion.AutoCad2007;
dxf.Save("AutoCad2007.dxf");
dxf.DrawingVariables.AcadVer = DxfVersion.AutoCad2004;
dxf.Save("AutoCad2004.dxf");
dxf.DrawingVariables.AcadVer = DxfVersion.AutoCad2000;
dxf.Save("AutoCad2000.dxf");
dxf = DxfDocument.Load("AutoCad2000.dxf");
dxf.Save("AutoCad2000 result.dxf");
}
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 EntityObject ReadPolyline()
{
// the entity Polyline in dxf can actually hold three kinds of entities
// 3d polyline is the generic polyline
// polyface mesh
// polylines 2d is the old way of writing polylines the AutoCAD2000 and newer always use LwPolylines to define a 2d polyline
// this way of reading 2d polylines is here for compatibility reasons with older dxf versions.
PolylinetypeFlags flags = PolylinetypeFlags.OpenPolyline;
PolylineSmoothType smoothType = PolylineSmoothType.NoSmooth;
double elevation = 0.0;
double thickness = 0.0;
Vector3 normal = Vector3.UnitZ;
List<Vertex> vertexes = new List<Vertex>();
List<XData> xData = new List<XData>();
this.chunk.Next();
while (this.chunk.Code != 0)
{
switch (this.chunk.Code)
{
case 30:
elevation = this.chunk.ReadDouble();
this.chunk.Next();
break;
case 39:
thickness = this.chunk.ReadDouble();
this.chunk.Next();
break;
case 70:
flags = (PolylinetypeFlags) this.chunk.ReadShort();
this.chunk.Next();
break;
case 75:
smoothType = (PolylineSmoothType) this.chunk.ReadShort();
this.chunk.Next();
break;
case 71:
//this field might not exist for polyface meshes, we cannot depend on it
//numVertexes = int.Parse(code.Value); code = this.ReadCodePair();
this.chunk.Next();
break;
case 72:
//this field might not exist for polyface meshes, we cannot depend on it
this.chunk.Next();
break;
case 210:
normal.X = this.chunk.ReadDouble();
this.chunk.Next();
break;
case 220:
normal.Y = this.chunk.ReadDouble();
this.chunk.Next();
break;
case 230:
normal.Z = this.chunk.ReadDouble();
this.chunk.Next();
break;
case 1001:
string appId = this.DecodeEncodedNonAsciiCharacters(this.chunk.ReadString());
XData data = this.ReadXDataRecord(this.GetApplicationRegistry(appId));
xData.Add(data);
break;
default:
if (this.chunk.Code >= 1000 && this.chunk.Code <= 1071)
throw new Exception("The extended data of an entity must start with the application registry code.");
this.chunk.Next();
break;
}
}
//begin to read the vertex list (although it is not recommended the vertex list might have 0 entries)
while (this.chunk.ReadString() != DxfObjectCode.EndSequence)
{
if (this.chunk.ReadString() == DxfObjectCode.Vertex)
{
Vertex vertex = this.ReadVertex();
vertexes.Add(vertex);
}
}
// read the end sequence object until a new element is found
this.chunk.Next();
string endSequenceHandle = null;
while (this.chunk.Code != 0)
{
switch (this.chunk.Code)
{
case 5:
endSequenceHandle = this.chunk.ReadHex();
this.chunk.Next();
break;
case 8:
// the polyline EndSequence layer should be the same as the polyline layer
this.chunk.Next();
break;
default:
this.chunk.Next();
break;
}
}
EntityObject pol;
bool isClosed = flags.HasFlag(PolylinetypeFlags.ClosedPolylineOrClosedPolygonMeshInM);
//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.HasFlag(PolylinetypeFlags.Polyline3D))
{
List<PolylineVertex> polyline3dVertexes = new List<PolylineVertex>();
foreach (Vertex v in vertexes)
{
PolylineVertex vertex = new PolylineVertex
{
Flags = v.Flags,
Position = v.Position,
Handle = v.Handle,
};
polyline3dVertexes.Add(vertex);
}
pol = new Polyline(polyline3dVertexes, isClosed)
{
Flags = flags,
SmoothType = smoothType,
Normal = normal
};
((Polyline) pol).EndSequence.Handle = endSequenceHandle;
}
else if (flags.HasFlag(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.HasFlag(VertexTypeFlags.PolyfaceMeshVertex | VertexTypeFlags.Polygon3dMesh))
{
PolyfaceMeshVertex vertex = new PolyfaceMeshVertex
{
Location = v.Position,
Handle = v.Handle,
};
polyfaceVertexes.Add(vertex);
}
else if (v.Flags.HasFlag(VertexTypeFlags.PolyfaceMeshVertex))
{
PolyfaceMeshFace vertex = new PolyfaceMeshFace(v.VertexIndexes)
{
Handle = v.Handle
};
polyfaceFaces.Add(vertex);
}
}
pol = new PolyfaceMesh(polyfaceVertexes, polyfaceFaces)
{
Normal = normal
};
((PolyfaceMesh) pol).EndSequence.Handle = endSequenceHandle;
}
else
{
List<LwPolylineVertex> polylineVertexes = new List<LwPolylineVertex>();
foreach (Vertex v in vertexes)
{
LwPolylineVertex vertex = new LwPolylineVertex
{
Position = new Vector2(v.Position.X, v.Position.Y),
StartWidth = v.StartWidth,
Bulge = v.Bulge,
EndWidth = v.EndWidth,
};
polylineVertexes.Add(vertex);
}
pol = new LwPolyline(polylineVertexes, isClosed)
{
Flags = flags,
Thickness = thickness,
Elevation = elevation,
Normal = normal,
};
}
pol.XData.AddRange(xData);
return pol;
}
/// <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
PolylineVertex vertex;
List<PolylineVertex> vertexes = new List<PolylineVertex>();
// 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;
if (throttleThreshold <= 0)
useData = true;
log.Info("Start log: " + DateTime.Now);
using (MAVLinkInterface mine = new MAVLinkInterface())
{
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;
// gather data
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
MAVLink.MAVLinkMessage 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 PolylineVertex(new netDxf.Vector3(
((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);
System.Console.WriteLine("Old Method {0} {1} {2}", -(maxx + minx)/2, -(maxy + miny)/2, -(maxz + minz)/2);
double[] x = LeastSq(data);
log.Info("Least Sq Done " + DateTime.Now);
doDXF(vertexes, x);
Array.Resize<double>(ref x, 3);
return x;
}
public static double[] getOffsetsLog(string fn)
{
// this is for a dxf
PolylineVertex vertex;
List<PolylineVertex> vertexes = new List<PolylineVertex>();
List<Tuple<float, float, float>> data = new List<Tuple<float, float, float>>();
List<Tuple<float, float, float>> data2 = new List<Tuple<float, float, float>>();
List<Tuple<float, float, float>> data3 = new List<Tuple<float, float, float>>();
double[] ofsDoubles = new double[3];
double[] ofsDoubles2 = new double[3];
double[] ofsDoubles3 = new double[3];
CollectionBuffer logdata = new CollectionBuffer(File.OpenRead(fn));
var dflog = logdata.dflog;
foreach (var line in logdata.GetEnumeratorType(new[]{"MAG","MAG2","MAG3"}))
{
if (line.msgtype == "MAG" || line.msgtype == "MAG2" || line.msgtype == "MAG3")
{
int indexmagx = dflog.FindMessageOffset(line.msgtype, "MagX");
int indexmagy = dflog.FindMessageOffset(line.msgtype, "MagY");
int indexmagz = dflog.FindMessageOffset(line.msgtype, "MagZ");
int indexoffsetx = dflog.FindMessageOffset(line.msgtype, "OfsX");
int indexoffsety = dflog.FindMessageOffset(line.msgtype, "OfsY");
int indexoffsetz = dflog.FindMessageOffset(line.msgtype, "OfsZ");
if (indexmagx != -1 && indexoffsetx != -1)
{
float magx = float.Parse(line.items[indexmagx]);
float magy = float.Parse(line.items[indexmagy]);
float magz = float.Parse(line.items[indexmagz]);
float offsetx = float.Parse(line.items[indexoffsetx]);
float offsety = float.Parse(line.items[indexoffsety]);
float offsetz = float.Parse(line.items[indexoffsetz]);
//offsetx = offsety = offsetz = 0;
if (line.msgtype == "MAG")
{
data.Add(new Tuple<float, float, float>(
magx - offsetx,
magy - offsety,
magz - offsetz));
ofsDoubles[0] = offsetx;
ofsDoubles[1] = offsety;
ofsDoubles[2] = offsetz;
// fox dxf
vertex = new PolylineVertex(new netDxf.Vector3(magx - offsetx,
magy - offsety,
magz - offsetz)
);
vertexes.Add(vertex);
}
else if (line.msgtype == "MAG2")
{
data2.Add(new Tuple<float, float, float>(
magx - offsetx,
magy - offsety,
magz - offsetz));
ofsDoubles2[0] = offsetx;
ofsDoubles2[1] = offsety;
ofsDoubles2[2] = offsetz;
}
else if (line.msgtype == "MAG3")
{
data3.Add(new Tuple<float, float, float>(
magx - offsetx,
magy - offsety,
magz - offsetz));
ofsDoubles3[0] = offsetx;
ofsDoubles3[1] = offsety;
ofsDoubles3[2] = offsetz;
}
}
}
}
double[] x = LeastSq(data, false);
log.InfoFormat("magcal 1 ofs {0},{1},{2} strength {3} old ofs {4},{5},{6}", x[0], x[1], x[2], x[3], ofsDoubles[0], ofsDoubles[1], ofsDoubles[2]);
x = LeastSq(data,true);
log.InfoFormat("magcalel 1 ofs {0},{1},{2} strength {3} old ofs {4},{5},{6}", x[0], x[1], x[2], x[3], ofsDoubles[0], ofsDoubles[1], ofsDoubles[2]);
if (data2.Count > 0)
{
double[] x2 = LeastSq(data2, false);
log.InfoFormat("magcal 2 ofs {0},{1},{2} strength {3} old ofs {4},{5},{6}", x2[0], x2[1], x2[2], x2[3], ofsDoubles2[0], ofsDoubles2[1], ofsDoubles2[2]);
x2 = LeastSq(data2, true);
log.InfoFormat("magcalel 2 ofs {0},{1},{2} strength {3} old ofs {4},{5},{6}", x2[0], x2[1], x2[2], x2[3], ofsDoubles2[0], ofsDoubles2[1], ofsDoubles2[2]);
}
if (data3.Count > 0)
{
double[] x3 = LeastSq(data3, false);
log.InfoFormat("magcal 3 ofs {0},{1},{2} strength {3} old ofs {4},{5},{6}", x3[0], x3[1], x3[2], x3[3], ofsDoubles3[0], ofsDoubles3[1], ofsDoubles3[2]);
x3 = LeastSq(data3, true);
log.InfoFormat("magcalel 3 ofs {0},{1},{2} strength {3} old ofs {4},{5},{6}", x3[0], x3[1], x3[2], x3[3], ofsDoubles3[0], ofsDoubles3[1], ofsDoubles3[2]);
}
log.Info("Least Sq Done " + DateTime.Now);
doDXF(vertexes, x);
Array.Resize<double>(ref x, 3);
return x;
}
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);
}