private void but_ISBH_Click(object sender, EventArgs e)
{
Utilities.FFT2 fft = new FFT2();
using (
OpenFileDialog ofd = new OpenFileDialog())
{
ofd.Filter = "*.log;*.bin|*.log;*.bin";
ofd.ShowDialog();
if (!File.Exists(ofd.FileName))
{
return;
}
var file = new CollectionBuffer(File.OpenRead(ofd.FileName));
int bins = (int)NUM_bins.Value;
int N = 1 << bins;
Color[] color = new Color[]
{ Color.Red, Color.Green, Color.Blue, Color.Black, Color.Violet, Color.Orange };
ZedGraphControl[] ctls = new ZedGraphControl[]
{
zedGraphControl1, zedGraphControl2, zedGraphControl3, zedGraphControl4, zedGraphControl5,
zedGraphControl6
};
// 3 imus * 2 sets of measurements(gyr/acc)
FFT2.datastate[] alldata = new FFT2.datastate[3 * 2];
for (int a = 0; a < alldata.Length; a++)
{
alldata[a] = new FFT2.datastate();
}
// state cache
int Ns = 0;
int type = 0;
int instance = 0;
int sensorno = 0;
foreach (var item in file.GetEnumeratorType(new string[] { "ISBH", "ISBD" }))
{
if (item.msgtype == null)
{
continue;
}
if (item.msgtype.StartsWith("ISBH"))
{
Ns = int.Parse(item.items[file.dflog.FindMessageOffset(item.msgtype, "N")],
CultureInfo.InvariantCulture);
type = int.Parse(item.items[file.dflog.FindMessageOffset(item.msgtype, "type")],
CultureInfo.InvariantCulture);
instance = int.Parse(item.items[file.dflog.FindMessageOffset(item.msgtype, "instance")],
CultureInfo.InvariantCulture);
sensorno = type * 3 + instance;
alldata[sensorno].sample_rate = double.Parse(item.items[file.dflog.FindMessageOffset(item.msgtype, "smp_rate")],
CultureInfo.InvariantCulture);
if (type == 0)
{
alldata[sensorno].type = "ACC" + instance.ToString();
}
if (type == 1)
{
alldata[sensorno].type = "GYR" + instance.ToString();
}
}
else if (item.msgtype.StartsWith("ISBD"))
{
var Nsdata = int.Parse(item.items[file.dflog.FindMessageOffset(item.msgtype, "N")],
CultureInfo.InvariantCulture);
if (Ns != Nsdata)
{
continue;
}
int offsetX = file.dflog.FindMessageOffset(item.msgtype, "x");
int offsetY = file.dflog.FindMessageOffset(item.msgtype, "y");
int offsetZ = file.dflog.FindMessageOffset(item.msgtype, "z");
int offsetTime = file.dflog.FindMessageOffset(item.msgtype, "TimeUS");
double time = double.Parse(item.items[offsetTime],
CultureInfo.InvariantCulture) / 1000.0;
if (time < alldata[sensorno].lasttime)
{
continue;
}
if (time != alldata[sensorno].lasttime)
{
alldata[sensorno].timedelta = alldata[sensorno].timedelta * 0.99 +
(time - alldata[sensorno].lasttime) * 0.01;
}
alldata[sensorno].lasttime = time;
item.items[offsetX].Split(new[] { ' ', '[', ']' }, StringSplitOptions.RemoveEmptyEntries).ForEach(aa => { alldata[sensorno].datax.Add(double.Parse(aa,
CultureInfo.InvariantCulture)); });
item.items[offsetY].Split(new[] { ' ', '[', ']' }, StringSplitOptions.RemoveEmptyEntries).ForEach(aa => { alldata[sensorno].datay.Add(double.Parse(aa,
CultureInfo.InvariantCulture)); });
item.items[offsetZ].Split(new[] { ' ', '[', ']' }, StringSplitOptions.RemoveEmptyEntries).ForEach(aa => { alldata[sensorno].dataz.Add(double.Parse(aa,
CultureInfo.InvariantCulture)); });
}
}
int controlindex = 0;
foreach (var sensordata in alldata)
{
if (sensordata.datax.Count <= N)
{
continue;
}
double samplerate = 0;
samplerate = sensordata.sample_rate;// Math.Round(1000 / sensordata.timedelta, 1);
double[] freqt = fft.FreqTable(N, (int)samplerate);
double[] avgx = new double[N / 2];
double[] avgy = new double[N / 2];
double[] avgz = new double[N / 2];
int totalsamples = sensordata.datax.Count;
int count = totalsamples / N;
int done = 0;
while (count > 1) // skip last part
{
var fftanswerx = fft.rin(sensordata.datax.Skip(N * done).Take(N).ToArray(), (uint)bins);
var fftanswery = fft.rin(sensordata.datay.Skip(N * done).Take(N).ToArray(), (uint)bins);
var fftanswerz = fft.rin(sensordata.dataz.Skip(N * done).Take(N).ToArray(), (uint)bins);
for (int b = 0; b < N / 2; b++)
{
if (freqt[b] < (double)NUM_startfreq.Value)
{
continue;
}
avgx[b] += fftanswerx[b] / (done + count);
avgy[b] += fftanswery[b] / (done + count);
avgz[b] += fftanswerz[b] / (done + count);
}
count--;
done++;
}
ZedGraph.PointPairList pplx = new ZedGraph.PointPairList(freqt, avgx);
ZedGraph.PointPairList pply = new ZedGraph.PointPairList(freqt, avgy);
ZedGraph.PointPairList pplz = new ZedGraph.PointPairList(freqt, avgz);
var curvex = new LineItem(sensordata.type + " x", pplx, color[0], SymbolType.None);
var curvey = new LineItem(sensordata.type + " y", pply, color[1], SymbolType.None);
var curvez = new LineItem(sensordata.type + " z", pplz, color[2], SymbolType.None);
ctls[controlindex].GraphPane.Legend.IsVisible = true;
ctls[controlindex].GraphPane.XAxis.Title.Text = "Freq Hz";
ctls[controlindex].GraphPane.YAxis.Title.Text = "Amplitude";
ctls[controlindex].GraphPane.Title.Text = "FFT " + sensordata.type + " - " +
Path.GetFileName(ofd.FileName) + " - " + samplerate +
"hz input";
ctls[controlindex].GraphPane.CurveList.Clear();
ctls[controlindex].GraphPane.CurveList.Add(curvex);
ctls[controlindex].GraphPane.CurveList.Add(curvey);
ctls[controlindex].GraphPane.CurveList.Add(curvez);
ctls[controlindex].Invalidate();
ctls[controlindex].AxisChange();
ctls[controlindex].GraphPane.XAxis.Scale.Max = samplerate / 2;
ctls[controlindex].Refresh();
controlindex++;
}
SetScale(ctls);
}
}
private void but_fftimu_Click(object sender, EventArgs e)
{
Utilities.FFT2 fft = new FFT2();
using (
OpenFileDialog ofd = new OpenFileDialog())
{
ofd.Filter = "*.log;*.bin|*.log;*.bin;*.BIN;*.LOG";
ofd.ShowDialog();
if (!File.Exists(ofd.FileName))
{
return;
}
var file = new CollectionBuffer(File.OpenRead(ofd.FileName));
int bins = (int)NUM_bins.Value;
int N = 1 << bins;
Color[] color = new Color[] { Color.Red, Color.Green, Color.Blue, Color.Black, Color.Violet, Color.Orange };
ZedGraphControl[] ctls = new ZedGraphControl[]
{
zedGraphControl1, zedGraphControl2, zedGraphControl3, zedGraphControl4, zedGraphControl5,
zedGraphControl6
};
// 3 imus * 2 sets of measurements(gyr/acc)
FFT2.datastate[] alldata = new FFT2.datastate[3 * 2];
for (int a = 0; a < alldata.Length; a++)
{
alldata[a] = new FFT2.datastate();
}
foreach (var item in file.GetEnumeratorType(new string[] { "IMU", "IMU2", "IMU3" }))
{
if (item.msgtype == null)
{
continue;
}
if (item.msgtype.StartsWith("IMU"))
{
int sensorno = 0;
if (item.msgtype == "IMU")
{
sensorno = 0;
}
if (item.msgtype == "IMU2")
{
sensorno = 1;
}
if (item.msgtype == "IMU3")
{
sensorno = 2;
}
alldata[sensorno + 3].type = item.msgtype + " ACC";
int offsetAX = file.dflog.FindMessageOffset(item.msgtype, "AccX");
int offsetAY = file.dflog.FindMessageOffset(item.msgtype, "AccY");
int offsetAZ = file.dflog.FindMessageOffset(item.msgtype, "AccZ");
int offsetTime = file.dflog.FindMessageOffset(item.msgtype, "TimeUS");
double time = double.Parse(item.items[offsetTime],
CultureInfo.InvariantCulture) / 1000.0;
if (time != alldata[sensorno + 3].lasttime)
{
alldata[sensorno + 3].timedelta = alldata[sensorno + 3].timedelta * 0.99 +
(time - alldata[sensorno + 3].lasttime) * 0.01;
}
alldata[sensorno + 3].lasttime = time;
alldata[sensorno + 3].datax.Add(double.Parse(item.items[offsetAX],
CultureInfo.InvariantCulture));
alldata[sensorno + 3].datay.Add(double.Parse(item.items[offsetAY],
CultureInfo.InvariantCulture));
alldata[sensorno + 3].dataz.Add(double.Parse(item.items[offsetAZ],
CultureInfo.InvariantCulture));
//gyro
alldata[sensorno].type = item.msgtype + " GYR";
int offsetGX = file.dflog.FindMessageOffset(item.msgtype, "GyrX");
int offsetGY = file.dflog.FindMessageOffset(item.msgtype, "GyrY");
int offsetGZ = file.dflog.FindMessageOffset(item.msgtype, "GyrZ");
if (time != alldata[sensorno].lasttime)
{
alldata[sensorno].timedelta = alldata[sensorno].timedelta * 0.99 +
(time - alldata[sensorno].lasttime) * 0.01;
}
alldata[sensorno].lasttime = time;
alldata[sensorno].datax.Add(double.Parse(item.items[offsetGX],
CultureInfo.InvariantCulture));
alldata[sensorno].datay.Add(double.Parse(item.items[offsetGY],
CultureInfo.InvariantCulture));
alldata[sensorno].dataz.Add(double.Parse(item.items[offsetGZ],
CultureInfo.InvariantCulture));
}
}
int controlindex = 0;
foreach (var sensordata in alldata)
{
if (sensordata.datax.Count <= N)
{
continue;
}
double samplerate = 0;
samplerate = Math.Round(1000 / sensordata.timedelta, 1);
double[] freqt = fft.FreqTable(N, (int)samplerate);
double[] avgx = new double[N / 2];
double[] avgy = new double[N / 2];
double[] avgz = new double[N / 2];
int totalsamples = sensordata.datax.Count;
int count = totalsamples / N;
int done = 0;
while (count > 1) // skip last part
{
var fftanswerx = fft.rin(sensordata.datax.Skip(N * done).Take(N).ToArray(), (uint)bins);
var fftanswery = fft.rin(sensordata.datay.Skip(N * done).Take(N).ToArray(), (uint)bins);
var fftanswerz = fft.rin(sensordata.dataz.Skip(N * done).Take(N).ToArray(), (uint)bins);
for (int b = 0; b < N / 2; b++)
{
if (freqt[b] < (double)NUM_startfreq.Value)
{
continue;
}
avgx[b] += fftanswerx[b] / (done + count);
avgy[b] += fftanswery[b] / (done + count);
avgz[b] += fftanswerz[b] / (done + count);
}
count--;
done++;
}
ZedGraph.PointPairList pplx = new ZedGraph.PointPairList(freqt, avgx);
ZedGraph.PointPairList pply = new ZedGraph.PointPairList(freqt, avgy);
ZedGraph.PointPairList pplz = new ZedGraph.PointPairList(freqt, avgz);
var curvex = new LineItem(sensordata.type + " x", pplx, color[0], SymbolType.None);
var curvey = new LineItem(sensordata.type + " y", pply, color[1], SymbolType.None);
var curvez = new LineItem(sensordata.type + " z", pplz, color[2], SymbolType.None);
ctls[controlindex].GraphPane.Legend.IsVisible = true;
ctls[controlindex].GraphPane.XAxis.Title.Text = "Freq Hz";
ctls[controlindex].GraphPane.YAxis.Title.Text = "Amplitude";
ctls[controlindex].GraphPane.Title.Text = "FFT " + sensordata.type + " - " +
Path.GetFileName(ofd.FileName) + " - " + samplerate +
"hz input";
ctls[controlindex].GraphPane.CurveList.Clear();
ctls[controlindex].GraphPane.CurveList.Add(curvex);
ctls[controlindex].GraphPane.CurveList.Add(curvey);
ctls[controlindex].GraphPane.CurveList.Add(curvez);
ctls[controlindex].Invalidate();
ctls[controlindex].AxisChange();
ctls[controlindex].GraphPane.XAxis.Scale.Max = samplerate / 2;
ctls[controlindex].Refresh();
controlindex++;
}
SetScale(ctls);
}
}
