private void button2_Click(object sender, EventArgs e)
{
Parameters.setN_phi((int)numericUpDown6n_phi.Value);
if (Parameters.getR_robot() != (int)numericUpDown2r_robot.Value)
{
Parameters.setR_robot((int)numericUpDown2r_robot.Value);
environment.recalculateIndoorMap();
}
Parameters.setR_scan((int)numericUpDown1r_scan.Value);
Parameters.setSgm_lmax((int)numericUpDown3sgm_lmax.Value);
Parameters.setSgm_psi_deg((int)numericUpDown4sgm_psi.Value);
Environment.setR_scanNoiseMode((byte)numericUpDown5scan_noise.Value);
switch (currentMode)
{
case 1:
setMode1();
break;
case 2:
setMode2();
break;
case 3:
setMode3();
break;
}
}
/// <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 = crosslinker.getXY0()[0];
int Y0 = crosslinker.getXY0()[1];
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) { }
mouseMoveMap = new PixelMap(preciseMapBmp);
mainForm.drawBitmapOnPictureBox1(preciseMapBmp);
}
/// <summary>
/// Рассчитывает карту indoor-среды для заданной карты.
/// </summary>
/// <param name="map"></param>
/// <returns></returns>
private static PixelMap calculateIndoorMap(PixelMap map)
{
Bitmap preciseIndoorMapBmp = map.GetBitmap();
Pen pen = new Pen(Parameters.wallColor);
SolidBrush brush = new SolidBrush(Parameters.wallColor);
Graphics graphics = Graphics.FromImage(preciseIndoorMapBmp);
int r = Parameters.getR_robot() + Parameters.getR_robot() / 2; //увеличенные размеры робота, для того, чтобы на угловых участках траектории сглаживание происходило без проблем
int d = Parameters.getD_robot() + Parameters.getR_robot();
for (int i = 0; i < map.Width; i++)
{
for (int j = 0; j < map.Height; j++)
{
if (map[i, j].Color == Parameters.wallColor)
{
try
{
FillCircle(ref graphics, ref pen, ref brush, r, d, ref i, ref j);
}
catch (Exception ex) { }
}
}
}
// preciseIndoorMapBmp.Save("C:\\Adocuments\\Library\\Clapeyron_ind\\task6 map creation\\PreciseIndoorMap13.png");
PixelMap preciseIndoorMap = new PixelMap(preciseIndoorMapBmp);
return(preciseIndoorMap);
}
/// <summary>
/// Требуемый метод для поддержки конструктора — не изменяйте
/// содержимое этого метода с помощью редактора кода.
/// </summary>
private void InitializeComponent()
{
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainForm));
this.panel1 = new System.Windows.Forms.Panel();
this.panel3 = new System.Windows.Forms.Panel();
this.label8 = new System.Windows.Forms.Label();
this.numericUpDown4sgm_psi = new System.Windows.Forms.NumericUpDown();
this.numericUpDown5scan_noise = new System.Windows.Forms.NumericUpDown();
this.numericUpDown6n_phi = new System.Windows.Forms.NumericUpDown();
this.numericUpDown3sgm_lmax = new System.Windows.Forms.NumericUpDown();
this.numericUpDown2r_robot = new System.Windows.Forms.NumericUpDown();
this.numericUpDown1r_scan = new System.Windows.Forms.NumericUpDown();
this.label7 = new System.Windows.Forms.Label();
this.label6 = new System.Windows.Forms.Label();
this.label5 = new System.Windows.Forms.Label();
this.label4 = new System.Windows.Forms.Label();
this.label3 = new System.Windows.Forms.Label();
this.label2 = new System.Windows.Forms.Label();
this.button2 = new System.Windows.Forms.Button();
this.label1 = new System.Windows.Forms.Label();
this.pictureBox1 = new System.Windows.Forms.PictureBox();
this.button1 = new System.Windows.Forms.Button();
this.radioButton3 = new System.Windows.Forms.RadioButton();
this.radioButton2 = new System.Windows.Forms.RadioButton();
this.radioButton1 = new System.Windows.Forms.RadioButton();
this.panel2 = new System.Windows.Forms.Panel();
this.panel1.SuspendLayout();
this.panel3.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown4sgm_psi)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown5scan_noise)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown6n_phi)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown3sgm_lmax)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown2r_robot)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown1r_scan)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit();
this.SuspendLayout();
//
// panel1
//
this.panel1.BackColor = System.Drawing.SystemColors.GradientActiveCaption;
this.panel1.Controls.Add(this.panel3);
this.panel1.Controls.Add(this.label1);
this.panel1.Controls.Add(this.pictureBox1);
this.panel1.Controls.Add(this.button1);
this.panel1.Controls.Add(this.radioButton3);
this.panel1.Controls.Add(this.radioButton2);
this.panel1.Controls.Add(this.radioButton1);
resources.ApplyResources(this.panel1, "panel1");
this.panel1.Name = "panel1";
//
// panel3
//
this.panel3.BackColor = System.Drawing.SystemColors.ScrollBar;
this.panel3.Controls.Add(this.label8);
this.panel3.Controls.Add(this.numericUpDown4sgm_psi);
this.panel3.Controls.Add(this.numericUpDown5scan_noise);
this.panel3.Controls.Add(this.numericUpDown6n_phi);
this.panel3.Controls.Add(this.numericUpDown3sgm_lmax);
this.panel3.Controls.Add(this.numericUpDown2r_robot);
this.panel3.Controls.Add(this.numericUpDown1r_scan);
this.panel3.Controls.Add(this.label7);
this.panel3.Controls.Add(this.label6);
this.panel3.Controls.Add(this.label5);
this.panel3.Controls.Add(this.label4);
this.panel3.Controls.Add(this.label3);
this.panel3.Controls.Add(this.label2);
this.panel3.Controls.Add(this.button2);
resources.ApplyResources(this.panel3, "panel3");
this.panel3.Name = "panel3";
//
// label8
//
resources.ApplyResources(this.label8, "label8");
this.label8.BackColor = System.Drawing.SystemColors.InactiveCaption;
this.label8.Name = "label8";
//
// numericUpDown6n_phi
//
resources.ApplyResources(this.numericUpDown6n_phi, "numericUpDown6n_phi");
this.numericUpDown6n_phi.Name = "numericUpDown6n_phi";
this.numericUpDown6n_phi.Maximum = 500;
this.numericUpDown6n_phi.Minimum = 10;
this.numericUpDown6n_phi.Value = Parameters.getN_phi();
//
// numericUpDown2r_robot
//
resources.ApplyResources(this.numericUpDown2r_robot, "numericUpDown2r_robot");
this.numericUpDown2r_robot.Name = "numericUpDown2r_robot";
this.numericUpDown2r_robot.Maximum = 100;
this.numericUpDown2r_robot.Minimum = 0;
this.numericUpDown2r_robot.Value = Parameters.getR_robot();
//
// numericUpDown1r_scan
//
resources.ApplyResources(this.numericUpDown1r_scan, "numericUpDown1r_scan");
this.numericUpDown1r_scan.Name = "numericUpDown1r_scan";
this.numericUpDown1r_scan.Maximum = 300;
this.numericUpDown1r_scan.Minimum = 0;
this.numericUpDown1r_scan.Value = Parameters.getR_scan();
//
// numericUpDown4sgm_psi
//
resources.ApplyResources(this.numericUpDown4sgm_psi, "numericUpDown4sgm_psi");
this.numericUpDown4sgm_psi.Name = "numericUpDown4sgm_psi";
this.numericUpDown4sgm_psi.Maximum = 300;
this.numericUpDown4sgm_psi.Minimum = 0;
this.numericUpDown4sgm_psi.Value = Parameters.getSgm_psi_deg();
//
// numericUpDown5scan_noise
//
resources.ApplyResources(this.numericUpDown5scan_noise, "numericUpDown5scan_noise");
this.numericUpDown5scan_noise.Name = "numericUpDown5scan_noise";
this.numericUpDown5scan_noise.Maximum = 3;
this.numericUpDown5scan_noise.Minimum = 0;
this.numericUpDown5scan_noise.Value = Environment.getR_scanNoiseMode();
//
// numericUpDown3sgm_lmax
//
resources.ApplyResources(this.numericUpDown3sgm_lmax, "numericUpDown3sgm_lmax");
this.numericUpDown3sgm_lmax.Name = "numericUpDown3sgm_lmax";
this.numericUpDown3sgm_lmax.Maximum = 50;
this.numericUpDown3sgm_lmax.Minimum = 0;
this.numericUpDown3sgm_lmax.Value = Parameters.getSgm_lmax();
//
// label7
//
resources.ApplyResources(this.label7, "label7");
this.label7.Name = "label7";
//
// label6
//
resources.ApplyResources(this.label6, "label6");
this.label6.Name = "label6";
//
// label5
//
resources.ApplyResources(this.label5, "label5");
this.label5.Name = "label5";
//
// label4
//
resources.ApplyResources(this.label4, "label4");
this.label4.Name = "label4";
//
// label3
//
resources.ApplyResources(this.label3, "label3");
this.label3.Name = "label3";
//
// label2
//
resources.ApplyResources(this.label2, "label2");
this.label2.Name = "label2";
//
// button2
//
resources.ApplyResources(this.button2, "button2");
this.button2.Name = "button2";
this.button2.UseVisualStyleBackColor = true;
this.button2.Click += new System.EventHandler(this.button2_Click);
//
// label1
//
resources.ApplyResources(this.label1, "label1");
this.label1.Name = "label1";
//
// pictureBox1
//
this.pictureBox1.BackColor = System.Drawing.SystemColors.ControlDark;
resources.ApplyResources(this.pictureBox1, "pictureBox1");
this.pictureBox1.Name = "pictureBox1";
this.pictureBox1.TabStop = false;
//
// button1
//
resources.ApplyResources(this.button1, "button1");
this.button1.BackColor = System.Drawing.SystemColors.ControlLight;
this.button1.Name = "button1";
this.button1.UseVisualStyleBackColor = false;
//
// radioButton3
//
resources.ApplyResources(this.radioButton3, "radioButton3");
this.radioButton3.Name = "radioButton3";
this.radioButton3.TabStop = true;
this.radioButton3.UseVisualStyleBackColor = true;
radioButton3.CheckedChanged += radioButton3_CheckedChanged;
//
// radioButton2
//
resources.ApplyResources(this.radioButton2, "radioButton2");
this.radioButton2.Name = "radioButton2";
this.radioButton2.TabStop = true;
this.radioButton2.UseVisualStyleBackColor = true;
radioButton2.CheckedChanged += radioButton2_CheckedChanged;
//
// radioButton1
//
resources.ApplyResources(this.radioButton1, "radioButton1");
this.radioButton1.Name = "radioButton1";
this.radioButton1.TabStop = true;
this.radioButton1.UseVisualStyleBackColor = true;
radioButton1.Checked = true;
radioButton1.CheckedChanged += radioButton1_CheckedChanged;
//
// panel2
//
resources.ApplyResources(this.panel2, "panel2");
this.panel2.Name = "panel2";
//
// MainForm
//
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
this.BackColor = System.Drawing.SystemColors.ActiveCaption;
resources.ApplyResources(this, "$this");
this.Controls.Add(this.panel1);
this.Controls.Add(this.panel2);
this.Name = "MainForm";
this.WindowState = System.Windows.Forms.FormWindowState.Maximized;
this.panel1.ResumeLayout(false);
this.panel1.PerformLayout();
this.panel3.ResumeLayout(false);
this.panel3.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown4sgm_psi)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown5scan_noise)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown6n_phi)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown3sgm_lmax)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown2r_robot)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown1r_scan)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit();
this.ResumeLayout(false);
}