/// <summary>
 /// отрисовать все три центра
 /// отрисовать радиусы для scan0 и scan1
 /// </summary>
 /// <param name="preciseMapBmp"></param>
 /// <param name="graphics"></param>
 private void interfaceDrawing(Bitmap preciseMapBmp, Graphics graphics)
 {
     try
     {
         Pen pen;
         int X0 = currentRobotPosX;
         int Y0 = currentRobotPosY;
         int X1 = crosslinker.getXY1()[0];
         int Y1 = crosslinker.getXY1()[1];
         int X2 = crosslinker.getXY2()[0];
         int Y2 = crosslinker.getXY2()[1];
         if ((X0 >= 0) && (Y0 >= 0))
         {
             preciseMapBmp.SetPixel(X0, Y0, Parameters.startColor);
             pen = new Pen(Parameters.startColor);
             graphics.DrawEllipse(pen, X0 - Parameters.getR_scan(), Y0 - Parameters.getR_scan(), Parameters.getD_scan(), Parameters.getD_scan());
             graphics.DrawEllipse(pen, X0 - Parameters.getR_robot(), Y0 - Parameters.getR_robot(), Parameters.getD_robot(), Parameters.getD_robot());
         }
         if ((X1 >= 0) && (Y1 >= 0))
         {
             preciseMapBmp.SetPixel(X1, Y1, Parameters.finishColor);
             pen = new Pen(Parameters.finishColor);
             graphics.DrawEllipse(pen, X1 - Parameters.getR_scan(), Y1 - Parameters.getR_scan(), Parameters.getD_scan(), Parameters.getD_scan());
             graphics.DrawEllipse(pen, X1 - Parameters.getR_robot(), Y1 - Parameters.getR_robot(), Parameters.getD_robot(), Parameters.getD_robot());
         }
         if ((X2 >= 0) && (Y2 >= 0))
         {
             preciseMapBmp.SetPixel(X2, Y2, Parameters.routeColor);
         }
     }
     catch (Exception ex) { }
     mainForm.drawBitmapOnPictureBox1(preciseMapBmp);
 }