static void Main(string[] args)
{
bool bRet = SetConsoleCtrlHandler(newDelegate, true);
UdpClient x = new UdpClient(0);
x.Connect("localhost", 3333); //将雷达的数据通过udp的方式传给应用，默认端口为3333
int oneRadarMaxnumber = 3000; //设置单个雷达单次采样的最大点数
List <Radar> radars = radarSet(oneRadarMaxnumber);
Cursor2DManagement management = new Cursor2DManagement(); //管理通过雷达生成的触摸点
int mergeDistance = 50, maxX = 3560, maxY = 2000; //maxX和maxY分别为屏幕坐标的最大距离（最终传输数据限制在0到1之间）
//mergeDistance为两个点融合为一个点的最小距离
//（因为物体有体积，一个物体往往在雷达里会生成多个靠近的点）
grid pointGrid = new grid(mergeDistance, Math.Max(maxX, maxY), oneRadarMaxnumber * radars.Count);
Cursor2D.set(maxX, maxY); //设置融合操作
int frame = 0;
way.dtime = 1000.0f / 60.0f; //雷达数据的更新频率，为60帧每秒
for (int i = 0; i < radars.Count; i++)
{
radars[i].start(); //雷达开启扫描
}
while (true) //雷达获取数据和数据的操作
{
way.operation(ref radars, pointGrid, management, ref x, ref frame, oneRadarMaxnumber);
}
for (int i = 0; i < radars.Count; i++)
{
radars[i].close();
}
}
public byte[] setCur2DMessage(Cursor2D x) //根据cursor2D的值设置message为set类型的消息
{
return(setCur2DMessage(x.ID(), x.xPos(true), x.yPos(true), x.xSpeed(true), x.ySpeed(true), x.Accel(true)));
}
public void update(ref List <XYPoint> currentPoint) //利用currentPoint里的数据更新Cursor2Dset里的鼠标
{
float dTime = getTime();
int i, j;
bool[] if_have_point = new bool[currentPoint.Count];
bool[] if_have_cursor = new bool[cursor2Dset.Count];
float x, y;
for (i = 0; i < currentPoint.Count; i++)
{
if_have_point[i] = false;
}
for (i = 0; i < if_have_cursor.Length; i++)
{
if_have_cursor[i] = false;
}
for (i = 0; i < cursor2Dset.Count; i++)
{
x = cursor2Dset[i].xPos() + cursor2Dset[i].xSpeed() * dTime + cursor2Dset[i].xAccel() * dTime * dTime;
y = cursor2Dset[i].yPos() + cursor2Dset[i].ySpeed() * dTime + cursor2Dset[i].yAccel() * dTime * dTime;
for (j = 0; j < currentPoint.Count; j++)
{
if ((Math.Abs(x - currentPoint[j].x) < distance) && (Math.Abs(y - currentPoint[j].y) < distance) && (!if_have_point[j]))
{
if_have_cursor[i] = true;
cursor2Dset[i].update(currentPoint[j]);
if_have_point[j] = true;
break;
}
}
}//每个cursor2D对象根据当前位置、流逝时间、速度和加速度计算预估位置，公式为pos + speed * dtime + accel * dtime * dtime
//然后在以这个位置为中心，半径为distance的圆内查找是否存在currentPoint内的点
//以第一个匹配到的点作为cursor2D最新的位置。如果没有匹配的点，则删除这个cursor2D对象。
newCursor.Clear();
for (i = 0; i < cursor2Dset.Count; i++)
{
if (!if_have_cursor[i])
{
IDprovide.freeID(cursor2Dset[i].ID());
}
else
{
newCursor.Add(cursor2Dset[i]);
}
}
//最后没有与任何cursor2D匹配的currentPoint里的点作为新生成的cursor2D的位置
cursor2Dset.Clear();
for (i = 0; i < newCursor.Count; i++)
{
cursor2Dset.Add(newCursor[i]);
}
newCursor.Clear();
Cursor2D m;
for (i = 0; i < currentPoint.Count; i++)
{
if (!if_have_point[i])
{
m = new Cursor2D(currentPoint[i].x, currentPoint[i].y, 0.0f, 0.0f, 0.0f, 0.0f);
m.setID(IDprovide.getID());
cursor2Dset.Add(m);
newCursor.Add(m);
}
}
}
