private void OnLog(IP2PNode node, String text)
{
if (Log != null)
{
Log(node, text);
}
}
private void OnReceivedData(IP2PNode node, Byte[] data)
{
if (ReceivedData != null)
{
ReceivedData(node, data);
}
}
private bool TryGetCurrentEdgeIndex(double distance, out IP2PNode currentNode, out int edgeIndex)
{
edgeIndex = 0;
var distanceSum = 0.0;
foreach (var edge in _edges)
{
currentNode = edge.NodeFrom;
var length = edge.Edge.Length();
if (distanceSum + length > distance)
{
return(true);
}
else if (distanceSum + length == distance)
{
currentNode = edge.NodeTo;
return(true);
}
distanceSum += length;
edgeIndex++;
}
currentNode = null;
return(false);
}
public UI()
{
InitializeComponent();
this.comboBox1.Items.Add(new ComboBoxItem("精确匹配（单关键字）", "Precise"));
this.comboBox1.Items.Add(new ComboBoxItem("模糊匹配（单关键字）", "fuzzy"));
//this.comboBox1.Items.Add(new ComboBoxItem("多关键字匹配", "multiple-key"));
this.comboBox1.SelectedIndex = 0;
IP2P = new EasyNode(show);
CreateMyListView();
}
public UI()
{
InitializeComponent();
this.comboBox1.Items.Add(new ComboBoxItem("精确匹配（单关键字）", "Precise"));
this.comboBox1.Items.Add(new ComboBoxItem("模糊匹配（单关键字）", "fuzzy"));
//this.comboBox1.Items.Add(new ComboBoxItem("多关键字匹配", "multiple-key"));
this.comboBox1.SelectedIndex = 0;
IP2P = new EasyNode(show);
CreateMyListView();
}
public void GetStatus(double t, out double a, out double v, out double s, out IP2PNode currentNode, out int currentEdgeIndex)
{
if (_jointMotionProfile != null)
{
_jointMotionProfile.GetStatus(t - _jointMotionProfileCreatedTime, out a, out v, out s);
s += _jointMotionProfileCreatedDistance;
TryGetCurrentEdgeIndex(s, out currentNode, out currentEdgeIndex);
}
else
{
a = 0;
v = 0;
s = 0;
currentNode = null;
currentEdgeIndex = 0;
}
}
public MyUI()
{
InitializeComponent();
// 初始化窗体
this.comboBox1.Items.Add(new ComboBoxItem("精确匹配（单关键字）", "Precise"));
this.comboBox1.Items.Add(new ComboBoxItem("模糊匹配（单关键字）", "fuzzy"));
//this.comboBox1.Items.Add(new ComboBoxItem("多关键字匹配", "multiple-key"));
this.comboBox1.SelectedIndex = 0;
this.listView1.GridLines = true; //显示行与行之间的分隔线
this.listView1.FullRowSelect = true; //要选择就是一行
this.listView1.View = View.Details; //定义列表显示的方式
this.listView1.Scrollable = true; //需要时候显示滚动条
this.listView1.MultiSelect = false; // 不可以多行选择
this.listView1.HeaderStyle = ColumnHeaderStyle.Clickable;
this.listView1.Visible = true; //lstView可见
this.listView1.Columns.Add("文件名", 80);
this.listView1.Columns.Add("目标地址IP", 90);
this.listView1.Columns.Add("目标地址文件路径", 230);
this.listView1.Columns.Add("文件说明", 360);
this.skinEngine1.SkinFile = Application.StartupPath + @"\ssk\MP10.ssk";
IP2P = new EasyNode(show);
// 初始化定义蓝牙相关参数
string ativeDir = @"D:\";
string newPath = System.IO.Path.Combine(ativeDir, "HomeWork");
System.IO.Directory.CreateDirectory(newPath);
// 检查蓝牙设备是否已经打开
if (!checkBluetooth())
{
MessageBox.Show("请打开电脑端蓝牙设备");
}
// 启动监听蓝牙设备连接的服务
Listen();
// 初始化图片压缩数据
imageCompression();
}
public MyUI()
{
InitializeComponent();
// 初始化窗体
this.comboBox1.Items.Add(new ComboBoxItem("精确匹配（单关键字）", "Precise"));
this.comboBox1.Items.Add(new ComboBoxItem("模糊匹配（单关键字）", "fuzzy"));
//this.comboBox1.Items.Add(new ComboBoxItem("多关键字匹配", "multiple-key"));
this.comboBox1.SelectedIndex = 0;
this.listView1.GridLines = true; //显示行与行之间的分隔线
this.listView1.FullRowSelect = true; //要选择就是一行
this.listView1.View = View.Details; //定义列表显示的方式
this.listView1.Scrollable = true; //需要时候显示滚动条
this.listView1.MultiSelect = false; // 不可以多行选择
this.listView1.HeaderStyle = ColumnHeaderStyle.Clickable;
this.listView1.Visible = true; //lstView可见
this.listView1.Columns.Add("文件名", 80);
this.listView1.Columns.Add("目标地址IP", 90);
this.listView1.Columns.Add("目标地址文件路径", 230);
this.listView1.Columns.Add("文件说明", 360);
this.skinEngine1.SkinFile = Application.StartupPath + @"\ssk\MP10.ssk";
IP2P = new EasyNode(show);
// 初始化定义蓝牙相关参数
string ativeDir = @"D:\";
string newPath = System.IO.Path.Combine(ativeDir, "HomeWork");
System.IO.Directory.CreateDirectory(newPath);
// 检查蓝牙设备是否已经打开
if (!checkBluetooth())
{
MessageBox.Show("请打开电脑端蓝牙设备");
}
// 启动监听蓝牙设备连接的服务
Listen();
// 初始化图片压缩数据
imageCompression();
}
public IPose GetPose(TimeSpan time, out double acceleration, out double velocity, out double distance, out IP2PNode currentNode, out int currentEdgeIndex)
{
var t = (time - Created).TotalSeconds;
_motionProfile.GetStatus(t, out acceleration, out velocity, out distance, out currentNode, out currentEdgeIndex);
var pose = DirectedEdges.GetCurrentPose((float)distance);
return(pose);
}