public static void Process(string filename)
{
using (CollectionBuffer file = new CollectionBuffer(File.OpenRead(filename)))
{
List <Value> rc = new List <Value>();
for (int i = 1; i <= 14; i++)
{
rc.Add(new Value());
}
var roll = new Value();
var pitch = new Value();
foreach (var DFMSG in file.GetEnumeratorType(new string[] { "ATT", "RCOU" }))
{
if (DFMSG.msgtype == "ATT")
{
var desroll = Double.Parse(DFMSG["DesRoll"], CultureInfo.InvariantCulture);
var actroll = Double.Parse(DFMSG["Roll"], CultureInfo.InvariantCulture);
var despitch = Double.Parse(DFMSG["DesPitch"], CultureInfo.InvariantCulture);
var actpitch = Double.Parse(DFMSG["Pitch"], CultureInfo.InvariantCulture);
var rolldelta = desroll - actroll;
var pitchdelta = despitch - actpitch;
roll.AddSample(rolldelta);
pitch.AddSample(pitchdelta);
}
else if (DFMSG.msgtype == "RCOU")
{
for (int i = 1; i <= 14; i++)
{
foreach (var name in new string[] { "C" + i, "Ch" + i, "Chan" + i })
{
if (DFMSG.parent.logformat["RCOU"].FieldNames.Contains(name))
{
var C = Double.Parse(DFMSG[name], CultureInfo.InvariantCulture);
rc[i - 1].AddSample(C);
break;
}
}
}
}
}
Console.WriteLine(roll);
Console.WriteLine(pitch);
Value avg = new Value();
for (int i = 1; i <= 14; i++)
{
if (rc[i - 1].min > 800)
{
avg.AddSample(rc[i - 1].avg);
}
}
if (avg.maxdelta > 100)
{
Console.Beep();
Console.WriteLine("Signs of motor failure");
}
for (int i = 1; i <= 14; i++)
{
Console.WriteLine(rc[i - 1]);
}
}
}
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";
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)
datastate[] alldata = new datastate[3 * 2];
for (int a = 0; a < alldata.Length; a++)
alldata[a] = new datastate();
Log.DFLog dflog = new Log.DFLog();
foreach (var item in file.GetEnumeratorType(new string[] {"FMT","IMU","IMU2","IMU3"}))
{
if (item.msgtype == null)
{
continue;
}
if (item.msgtype == "FMT")
{
dflog.FMTLine(file[item.lineno]);
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 +" A";
int offsetAX = dflog.FindMessageOffset(item.msgtype, "AccX");
int offsetAY = dflog.FindMessageOffset(item.msgtype, "AccY");
int offsetAZ = dflog.FindMessageOffset(item.msgtype, "AccZ");
int offsetTime = dflog.FindMessageOffset(item.msgtype, "TimeUS");
double time = double.Parse(item.items[offsetTime]) / 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]));
alldata[sensorno + 3].datay.Add(double.Parse(item.items[offsetAY]));
alldata[sensorno + 3].dataz.Add(double.Parse(item.items[offsetAZ]));
//gyro
alldata[sensorno].type = item.msgtype + " G";
int offsetGX = dflog.FindMessageOffset(item.msgtype, "GyrX");
int offsetGY = dflog.FindMessageOffset(item.msgtype, "GyrY");
int offsetGZ = 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]));
alldata[sensorno].datay.Add(double.Parse(item.items[offsetGY]));
alldata[sensorno].dataz.Add(double.Parse(item.items[offsetGZ]));
}
}
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] / (N / 2);
avgy[b] += fftanswery[b] / (N / 2);
avgz[b] += fftanswerz[b] / (N / 2);
}
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++;
}
}
}
private Dictionary<long, VehicleLocation> readTRIGMsgInLog(string fn)
{
Dictionary<long, VehicleLocation> list = new Dictionary<long, VehicleLocation>();
float currentSAlt = 0;
using (var sr = new CollectionBuffer(File.OpenRead(fn)))
{
foreach (var item in sr.GetEnumeratorType(new string[] { "TRIG", "RFND" }))
{
if (item.msgtype == "TRIG")
{
int latindex = sr.dflog.FindMessageOffset("TRIG", "Lat");
int lngindex = sr.dflog.FindMessageOffset("TRIG", "Lng");
int altindex = sr.dflog.FindMessageOffset("TRIG", "Alt");
int raltindex = sr.dflog.FindMessageOffset("TRIG", "RelAlt");
int rindex = sr.dflog.FindMessageOffset("TRIG", "Roll");
int pindex = sr.dflog.FindMessageOffset("TRIG", "Pitch");
int yindex = sr.dflog.FindMessageOffset("TRIG", "Yaw");
int gtimeindex = sr.dflog.FindMessageOffset("TRIG", "GPSTime");
int gweekindex = sr.dflog.FindMessageOffset("TRIG", "GPSWeek");
VehicleLocation p = new VehicleLocation();
p.Time = GetTimeFromGps(int.Parse(item.items[gweekindex], CultureInfo.InvariantCulture),
int.Parse(item.items[gtimeindex], CultureInfo.InvariantCulture));
p.Lat = double.Parse(item.items[latindex], CultureInfo.InvariantCulture);
p.Lon = double.Parse(item.items[lngindex], CultureInfo.InvariantCulture);
p.AltAMSL = double.Parse(item.items[altindex], CultureInfo.InvariantCulture);
if (raltindex != -1)
p.RelAlt = double.Parse(item.items[raltindex], CultureInfo.InvariantCulture);
p.Pitch = float.Parse(item.items[pindex], CultureInfo.InvariantCulture);
p.Roll = float.Parse(item.items[rindex], CultureInfo.InvariantCulture);
p.Yaw = float.Parse(item.items[yindex], CultureInfo.InvariantCulture);
p.SAlt = currentSAlt;
list[ToMilliseconds(p.Time)] = p;
}
else if (item.msgtype == "RFND")
{
int SAltindex = sr.dflog.FindMessageOffset("RFND", "Dist1");
if (SAltindex != -1)
{
currentSAlt = float.Parse(item.items[SAltindex], CultureInfo.InvariantCulture);
}
}
}
}
return list;
}
public static PointPairList ProcessExpression(ref DFLog dflog, ref CollectionBuffer logdata, string expression)
{
PointPairList answer = new PointPairList();
//earth_accel_df(IMU2,ATT).x
if (expression.Contains("earth_accel_df"))
{
var matchs = Regex.Matches(expression, @"([A-z0-9_]+),([A-z0-9_]+)");
List<string> msglist = new List<string>();
foreach (Match match in matchs)
{
foreach (var item in match.Groups)
{
msglist.Add(item.ToString());
}
}
foreach (var item in logdata.GetEnumeratorType(msglist.ToArray()))
{
IMU imu = new IMU();
ATT att = new ATT();
if (item.msgtype == "ATT")
{
ATT.Roll = double.Parse(item.items[dflog.FindMessageOffset("ATT", "Roll")]);
ATT.Pitch = double.Parse(item.items[dflog.FindMessageOffset("ATT", "Pitch")]);
ATT.Yaw = double.Parse(item.items[dflog.FindMessageOffset("ATT", "Yaw")]);
}
else if (item.msgtype == "IMU")
{
IMU.AccX = double.Parse(item.items[dflog.FindMessageOffset("IMU", "AccX")]);
IMU.AccY = double.Parse(item.items[dflog.FindMessageOffset("IMU", "AccY")]);
IMU.AccZ = double.Parse(item.items[dflog.FindMessageOffset("IMU", "AccZ")]);
}
else if (item.msgtype == "IMU2")
{
IMU.AccX = double.Parse(item.items[dflog.FindMessageOffset("IMU2", "AccX")]);
IMU.AccY = double.Parse(item.items[dflog.FindMessageOffset("IMU2", "AccY")]);
IMU.AccZ = double.Parse(item.items[dflog.FindMessageOffset("IMU2", "AccZ")]);
}
if (expression.Contains(".x"))
{
answer.Add(item.lineno, earth_accel_df(imu, att).x);
}
if (expression.Contains(".y"))
{
answer.Add(item.lineno,earth_accel_df(imu, att).y);
}
if (expression.Contains(".z"))
{
answer.Add(item.lineno,earth_accel_df(imu, att).z);
}
}
} // delta(gps_velocity_df(GPS).x,'x',GPS.TimeUS)
else if (expression.Contains("delta(gps_velocity_df(GPS)"))
{
foreach (var item in logdata.GetEnumeratorType("GPS"))
{
var gps = new GPS();
if (item.msgtype == "GPS")
{
GPS.Spd = double.Parse(item.items[dflog.FindMessageOffset("GPS", "Spd")]);
GPS.GCrs = double.Parse(item.items[dflog.FindMessageOffset("GPS", "GCrs")]);
GPS.VZ = double.Parse(item.items[dflog.FindMessageOffset("GPS", "VZ")]);
}
if (expression.Contains(".x"))
{
answer.Add(item.lineno,delta(gps_velocity_df(gps).x, "x", item.timems * 1000));
}
else if (expression.Contains(".y"))
{
answer.Add(item.lineno,delta(gps_velocity_df(gps).y, "y", item.timems * 1000));
}
else if (expression.Contains(".z"))
{
answer.Add(item.lineno, delta(gps_velocity_df(gps).z, "z", item.timems * 1000) - 9.8);
}
}
}
else if (expression.StartsWith("degrees"))
{
var matchs = Regex.Matches(expression, @"([A-z0-9_]+)\.([A-z0-9_]+)");
if (matchs.Count > 0)
{
var type = matchs[0].Groups[1].Value.ToString();
var field = matchs[0].Groups[2].Value.ToString();
foreach (var item in logdata.GetEnumeratorType(type))
{
answer.Add(item.lineno, degrees(double.Parse(item.items[dflog.FindMessageOffset(type, field)])));
}
}
}
else if (expression.StartsWith("sqrt"))
{
// there are alot of assumptions made in this code
Dictionary<int,double> work = new Dictionary<int, double>();
List<KeyValuePair<string, string>> types = new EventList<KeyValuePair<string, string>>();
var matchs = Regex.Matches(expression, @"(([A-z0-9_]+)\.([A-z0-9_]+)\*\*2)");
if (matchs.Count > 0)
{
foreach (Match match in matchs)
{
var type = match.Groups[2].Value.ToString();
var field = match.Groups[3].Value.ToString();
types.Add(new KeyValuePair<string, string>(type,field));
}
List<string> keyarray = new List<string>();
types.ForEach(g => { keyarray.Add(g.Key); });
List<string> valuearray= new List<string>();
types.ForEach(g => { valuearray.Add(g.Value); });
foreach (var item in logdata.GetEnumeratorType(keyarray.ToArray()))
{
for (int a = 0; a < types.Count; a++)
{
var key = keyarray[a];
var value = valuearray[a];
var offset = dflog.FindMessageOffset(key, value);
if (offset == -1)
continue;
work[a] = double.Parse(item.items[offset]);
}
double workanswer = 0;
foreach (var value in work.Values)
{
workanswer += Math.Pow(value, 2);
}
answer.Add(item.lineno, Math.Sqrt(workanswer));
}
}
}
return answer;
}
/// <summary>
/// Return a list of all gps messages with there timestamp from the log
/// </summary>
/// <param name="fn"></param>
/// <returns></returns>
private Dictionary<long, VehicleLocation> readGPSMsgInLog(string fn)
{
Dictionary<long, VehicleLocation> vehiclePositionList = new Dictionary<long, VehicleLocation>();
// Telemetry Log
if (fn.ToLower().EndsWith("tlog"))
{
using (MAVLinkInterface mine = new MAVLinkInterface())
{
mine.logplaybackfile =
new BinaryReader(File.Open(fn, FileMode.Open, FileAccess.Read, FileShare.Read));
mine.logreadmode = true;
CurrentState cs = new CurrentState();
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
MAVLink.MAVLinkMessage packet = mine.readPacket();
cs.datetime = mine.lastlogread;
cs.UpdateCurrentSettings(null, true, mine);
// check for valid lock
if (!(cs.gpsstatus >=3 || cs.gpsstatus2 >= 3))
continue;
VehicleLocation location = new VehicleLocation();
location.Time = cs.datetime;
location.Lat = cs.lat;
location.Lon = cs.lng;
location.RelAlt = cs.alt;
location.AltAMSL = cs.altasl;
location.Roll = cs.roll;
location.Pitch = cs.pitch;
location.Yaw = cs.yaw;
location.SAlt = cs.sonarrange;
vehiclePositionList[ToMilliseconds(location.Time)] = location;
// 4 5 7
Console.Write((mine.logplaybackfile.BaseStream.Position*100/
mine.logplaybackfile.BaseStream.Length) + " \r");
}
mine.logplaybackfile.Close();
}
}
// DataFlash Log
else
{
using (var sr = new CollectionBuffer(File.OpenRead(fn)))
{
// Will hold the last seen Attitude information in order to incorporate them into the GPS Info
float currentYaw = 0f;
float currentRoll = 0f;
float currentPitch = 0f;
float currentSAlt = 0f;
foreach (var item in sr.GetEnumeratorType(new string[] { "GPS", "GPS2", "ATT", "CTUN", "RFND" }))
{
// Look for GPS Messages. However GPS Messages do not have Roll, Pitch and Yaw
// So we have to look for one ATT message after having read a GPS one
var gpstouse = UseGpsorGPS2();
if (item.msgtype == gpstouse)
{
if (!sr.dflog.logformat.ContainsKey(gpstouse))
continue;
int latindex = sr.dflog.FindMessageOffset(gpstouse, "Lat");
int lngindex = sr.dflog.FindMessageOffset(gpstouse, "Lng");
int altindex = sr.dflog.FindMessageOffset(gpstouse, "Alt");
int statusindex = sr.dflog.FindMessageOffset(gpstouse, "Status");
int raltindex = sr.dflog.FindMessageOffset(gpstouse, "RAlt");
if (raltindex == -1)
raltindex = sr.dflog.FindMessageOffset(gpstouse, "RelAlt");
VehicleLocation location = new VehicleLocation();
try
{
location.Time = item.time;
if (statusindex != -1)
{
// check for valid lock
if (double.Parse(item.items[statusindex], CultureInfo.InvariantCulture) < 3)
continue;
}
if (latindex != -1)
location.Lat = double.Parse(item.items[latindex], CultureInfo.InvariantCulture);
if (lngindex != -1)
location.Lon = double.Parse(item.items[lngindex], CultureInfo.InvariantCulture);
if (raltindex != -1)
location.RelAlt = double.Parse(item.items[raltindex], CultureInfo.InvariantCulture);
if (altindex != -1)
location.AltAMSL = double.Parse(item.items[altindex], CultureInfo.InvariantCulture);
location.Roll = currentRoll;
location.Pitch = currentPitch;
location.Yaw = currentYaw;
location.SAlt = currentSAlt;
long millis = ToMilliseconds(location.Time);
//System.Diagnostics.Debug.WriteLine("GPS MSG - UTCMillis = " + millis + " GPS Week = " + getValueFromStringArray(gpsLineValues, gpsweekpos) + " TimeMS = " + getValueFromStringArray(gpsLineValues, timepos));
if (!vehiclePositionList.ContainsKey(millis) && (location.Time != DateTime.MinValue))
vehiclePositionList[millis] = location;
}
catch
{
Console.WriteLine("Bad "+gpstouse+" Line");
}
}
else if (item.msgtype == "ATT")
{
int Rindex = sr.dflog.FindMessageOffset("ATT", "Roll");
int Pindex = sr.dflog.FindMessageOffset("ATT", "Pitch");
int Yindex = sr.dflog.FindMessageOffset("ATT", "Yaw");
if (Rindex != -1)
currentRoll = float.Parse(item.items[Rindex], CultureInfo.InvariantCulture);
if (Pindex != -1)
currentPitch = float.Parse(item.items[Pindex], CultureInfo.InvariantCulture);
if (Yindex != -1)
currentYaw = float.Parse(item.items[Yindex], CultureInfo.InvariantCulture);
}
else if (item.msgtype == "CTUN")
{
int SAltindex = sr.dflog.FindMessageOffset("CTUN", "SAlt");
if (SAltindex != -1)
{
currentSAlt = float.Parse(item.items[SAltindex], CultureInfo.InvariantCulture);
}
}
else if (item.msgtype == "RFND")
{
int SAltindex = sr.dflog.FindMessageOffset("RFND", "Dist1");
if (SAltindex != -1)
{
currentSAlt = float.Parse(item.items[SAltindex], CultureInfo.InvariantCulture);
}
}
}
}
}
return vehiclePositionList;
}
/// <summary>
/// Return a list of all cam messages in a log with timestamp
/// </summary>
/// <param name="fn"></param>
/// <returns></returns>
private Dictionary<long, VehicleLocation> readCAMMsgInLog(string fn)
{
Dictionary<long, VehicleLocation> list = new Dictionary<long, VehicleLocation>();
// Telemetry Log
if (fn.ToLower().EndsWith("tlog"))
{
TXT_outputlog.AppendText("Warning: tlogs are not fully supported when using CAM Messages\n");
using (MAVLinkInterface mine = new MAVLinkInterface())
{
mine.logplaybackfile =
new BinaryReader(File.Open(fn, FileMode.Open, FileAccess.Read, FileShare.Read));
mine.logreadmode = true;
CurrentState cs = new CurrentState();
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
MAVLink.MAVLinkMessage packet = mine.readPacket();
cs.datetime = mine.lastlogread;
cs.UpdateCurrentSettings(null, true, mine);
if (packet.msgid == (uint)MAVLink.MAVLINK_MSG_ID.CAMERA_FEEDBACK)
{
var msg = (MAVLink.mavlink_camera_feedback_t)packet.data;
VehicleLocation location = new VehicleLocation();
location.Time = FromUTCTimeMilliseconds((long)(msg.time_usec / 1000));// cs.datetime;
location.Lat = msg.lat;
location.Lon = msg.lng;
location.RelAlt = msg.alt_rel;
location.AltAMSL = msg.alt_msl;
location.Roll = msg.roll;
location.Pitch = msg.pitch;
location.Yaw = msg.yaw;
location.SAlt = cs.sonarrange;
list[ToMilliseconds(location.Time)] = location;
Console.Write((mine.logplaybackfile.BaseStream.Position*100/
mine.logplaybackfile.BaseStream.Length) + " \r");
}
}
mine.logplaybackfile.Close();
}
}
// DataFlash Log
else
{
float currentSAlt = 0;
using (var sr = new CollectionBuffer(File.OpenRead(fn)))
{
foreach (var item in sr.GetEnumeratorType(new string[] { "CAM", "RFND" }))
{
if (item.msgtype == "CAM")
{
int latindex = sr.dflog.FindMessageOffset("CAM", "Lat");
int lngindex = sr.dflog.FindMessageOffset("CAM", "Lng");
int altindex = sr.dflog.FindMessageOffset("CAM", "Alt");
int raltindex = sr.dflog.FindMessageOffset("CAM", "RelAlt");
int rindex = sr.dflog.FindMessageOffset("CAM", "Roll");
int pindex = sr.dflog.FindMessageOffset("CAM", "Pitch");
int yindex = sr.dflog.FindMessageOffset("CAM", "Yaw");
int gtimeindex = sr.dflog.FindMessageOffset("CAM", "GPSTime");
int gweekindex = sr.dflog.FindMessageOffset("CAM", "GPSWeek");
VehicleLocation p = new VehicleLocation();
p.Time = GetTimeFromGps(int.Parse(item.items[gweekindex], CultureInfo.InvariantCulture),
int.Parse(item.items[gtimeindex], CultureInfo.InvariantCulture));
p.Lat = double.Parse(item.items[latindex], CultureInfo.InvariantCulture);
p.Lon = double.Parse(item.items[lngindex], CultureInfo.InvariantCulture);
p.AltAMSL = double.Parse(item.items[altindex], CultureInfo.InvariantCulture);
if (raltindex != -1)
p.RelAlt = double.Parse(item.items[raltindex], CultureInfo.InvariantCulture);
p.Pitch = float.Parse(item.items[pindex], CultureInfo.InvariantCulture);
p.Roll = float.Parse(item.items[rindex], CultureInfo.InvariantCulture);
p.Yaw = float.Parse(item.items[yindex], CultureInfo.InvariantCulture);
p.SAlt = currentSAlt;
list[ToMilliseconds(p.Time)] = p;
}
else if (item.msgtype == "RFND")
{
int SAltindex = sr.dflog.FindMessageOffset("RFND", "Dist1");
if (SAltindex != -1)
{
currentSAlt = float.Parse(item.items[SAltindex], CultureInfo.InvariantCulture);
}
}
}
}
}
return list;
}
public static double[] getOffsetsLog(string fn)
{
// this is for a dxf
PolylineVertex vertex;
List<PolylineVertex> vertexes = new List<PolylineVertex>();
List<Tuple<float, float, float>> data = new List<Tuple<float, float, float>>();
List<Tuple<float, float, float>> data2 = new List<Tuple<float, float, float>>();
List<Tuple<float, float, float>> data3 = new List<Tuple<float, float, float>>();
double[] ofsDoubles = new double[3];
double[] ofsDoubles2 = new double[3];
double[] ofsDoubles3 = new double[3];
CollectionBuffer logdata = new CollectionBuffer(File.OpenRead(fn));
var dflog = logdata.dflog;
foreach (var line in logdata.GetEnumeratorType(new[]{"MAG","MAG2","MAG3"}))
{
if (line.msgtype == "MAG" || line.msgtype == "MAG2" || line.msgtype == "MAG3")
{
int indexmagx = dflog.FindMessageOffset(line.msgtype, "MagX");
int indexmagy = dflog.FindMessageOffset(line.msgtype, "MagY");
int indexmagz = dflog.FindMessageOffset(line.msgtype, "MagZ");
int indexoffsetx = dflog.FindMessageOffset(line.msgtype, "OfsX");
int indexoffsety = dflog.FindMessageOffset(line.msgtype, "OfsY");
int indexoffsetz = dflog.FindMessageOffset(line.msgtype, "OfsZ");
if (indexmagx != -1 && indexoffsetx != -1)
{
float magx = float.Parse(line.items[indexmagx]);
float magy = float.Parse(line.items[indexmagy]);
float magz = float.Parse(line.items[indexmagz]);
float offsetx = float.Parse(line.items[indexoffsetx]);
float offsety = float.Parse(line.items[indexoffsety]);
float offsetz = float.Parse(line.items[indexoffsetz]);
//offsetx = offsety = offsetz = 0;
if (line.msgtype == "MAG")
{
data.Add(new Tuple<float, float, float>(
magx - offsetx,
magy - offsety,
magz - offsetz));
ofsDoubles[0] = offsetx;
ofsDoubles[1] = offsety;
ofsDoubles[2] = offsetz;
// fox dxf
vertex = new PolylineVertex(new netDxf.Vector3(magx - offsetx,
magy - offsety,
magz - offsetz)
);
vertexes.Add(vertex);
}
else if (line.msgtype == "MAG2")
{
data2.Add(new Tuple<float, float, float>(
magx - offsetx,
magy - offsety,
magz - offsetz));
ofsDoubles2[0] = offsetx;
ofsDoubles2[1] = offsety;
ofsDoubles2[2] = offsetz;
}
else if (line.msgtype == "MAG3")
{
data3.Add(new Tuple<float, float, float>(
magx - offsetx,
magy - offsety,
magz - offsetz));
ofsDoubles3[0] = offsetx;
ofsDoubles3[1] = offsety;
ofsDoubles3[2] = offsetz;
}
}
}
}
double[] x = LeastSq(data, false);
log.InfoFormat("magcal 1 ofs {0},{1},{2} strength {3} old ofs {4},{5},{6}", x[0], x[1], x[2], x[3], ofsDoubles[0], ofsDoubles[1], ofsDoubles[2]);
x = LeastSq(data,true);
log.InfoFormat("magcalel 1 ofs {0},{1},{2} strength {3} old ofs {4},{5},{6}", x[0], x[1], x[2], x[3], ofsDoubles[0], ofsDoubles[1], ofsDoubles[2]);
if (data2.Count > 0)
{
double[] x2 = LeastSq(data2, false);
log.InfoFormat("magcal 2 ofs {0},{1},{2} strength {3} old ofs {4},{5},{6}", x2[0], x2[1], x2[2], x2[3], ofsDoubles2[0], ofsDoubles2[1], ofsDoubles2[2]);
x2 = LeastSq(data2, true);
log.InfoFormat("magcalel 2 ofs {0},{1},{2} strength {3} old ofs {4},{5},{6}", x2[0], x2[1], x2[2], x2[3], ofsDoubles2[0], ofsDoubles2[1], ofsDoubles2[2]);
}
if (data3.Count > 0)
{
double[] x3 = LeastSq(data3, false);
log.InfoFormat("magcal 3 ofs {0},{1},{2} strength {3} old ofs {4},{5},{6}", x3[0], x3[1], x3[2], x3[3], ofsDoubles3[0], ofsDoubles3[1], ofsDoubles3[2]);
x3 = LeastSq(data3, true);
log.InfoFormat("magcalel 3 ofs {0},{1},{2} strength {3} old ofs {4},{5},{6}", x3[0], x3[1], x3[2], x3[3], ofsDoubles3[0], ofsDoubles3[1], ofsDoubles3[2]);
}
log.Info("Least Sq Done " + DateTime.Now);
doDXF(vertexes, x);
Array.Resize<double>(ref x, 3);
return x;
}
public static void ProcessFile(string logfile)
{
if (File.Exists(logfile + ".jpg"))
return;
double minx = 99999;
double maxx = -99999;
double miny = 99999;
double maxy = -99999;
bool sitl = false;
Dictionary<int, List<PointLatLngAlt>> loc_list = new Dictionary<int, List<PointLatLngAlt>>();
try
{
if (logfile.ToLower().EndsWith(".tlog"))
{
using (MAVLinkInterface mine = new MAVLinkInterface())
using (
mine.logplaybackfile =
new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.ReadWrite))
)
{
mine.logreadmode = true;
mine.speechenabled = false;
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
MAVLink.MAVLinkMessage packet = mine.readPacket();
if (packet.Length < 5)
continue;
if (packet.msgid == (byte) MAVLink.MAVLINK_MSG_ID.SIM_STATE ||
packet.msgid == (byte) MAVLink.MAVLINK_MSG_ID.SIMSTATE)
{
sitl = true;
}
if (packet.msgid == (byte) MAVLink.MAVLINK_MSG_ID.GLOBAL_POSITION_INT)
{
var loc = packet.ToStructure<MAVLink.mavlink_global_position_int_t>();
if (loc.lat == 0 || loc.lon == 0)
continue;
var id = MAVList.GetID(packet.sysid, packet.compid);
if (!loc_list.ContainsKey(id))
loc_list[id] = new List<PointLatLngAlt>();
loc_list[id].Add(new PointLatLngAlt(loc.lat/10000000.0f, loc.lon/10000000.0f));
minx = Math.Min(minx, loc.lon/10000000.0f);
maxx = Math.Max(maxx, loc.lon/10000000.0f);
miny = Math.Min(miny, loc.lat/10000000.0f);
maxy = Math.Max(maxy, loc.lat/10000000.0f);
}
}
}
}
else if (logfile.ToLower().EndsWith(".bin") || logfile.ToLower().EndsWith(".log"))
{
using (
CollectionBuffer colbuf =
new CollectionBuffer(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.ReadWrite))
)
{
loc_list[0] = new List<PointLatLngAlt>();
foreach (var item in colbuf.GetEnumeratorType("GPS"))
{
if (item.msgtype.StartsWith("GPS"))
{
if (!colbuf.dflog.logformat.ContainsKey("GPS"))
continue;
var status =
double.Parse(item.items[colbuf.dflog.FindMessageOffset(item.msgtype, "Status")]);
var lat = double.Parse(item.items[colbuf.dflog.FindMessageOffset(item.msgtype, "Lat")]);
var lon = double.Parse(item.items[colbuf.dflog.FindMessageOffset(item.msgtype, "Lng")]);
if (lat == 0 || lon == 0 || status < 3)
continue;
loc_list[0].Add(new PointLatLngAlt(lat, lon));
minx = Math.Min(minx, lon);
maxx = Math.Max(maxx, lon);
miny = Math.Min(miny, lat);
maxy = Math.Max(maxy, lat);
}
}
}
}
if (loc_list.Count > 0 && loc_list.First().Value.Count > 10)
{
// add a bit of buffer
var area = RectLatLng.FromLTRB(minx - 0.001, maxy + 0.001, maxx + 0.001, miny - 0.001);
var map = GetMap(area);
var grap = Graphics.FromImage(map);
if (sitl)
{
AddTextToMap(grap, "SITL");
}
Color[] colours =
{
Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue, Color.Indigo,
Color.Violet, Color.Pink
};
int a = 0;
foreach (var locs in loc_list.Values)
{
PointF lastpoint = new PointF();
var pen = new Pen(colours[a%(colours.Length - 1)]);
foreach (var loc in locs)
{
PointF newpoint = GetPixel(area, loc, map.Size);
if (!lastpoint.IsEmpty)
grap.DrawLine(pen, lastpoint, newpoint);
lastpoint = newpoint;
}
a++;
}
map.Save(logfile + ".jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
map.Dispose();
map = null;
}
else
{
DoTextMap(logfile + ".jpg", "No gps data");
}
}
catch (Exception ex)
{
if (ex.ToString().Contains("Mavlink 0.9"))
DoTextMap(logfile + ".jpg", "Old log\nMavlink 0.9");
return;
}
}
//FMT, 131, 43, IMU, IffffffIIf, TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp
//FMT, 135, 43, IMU2, IffffffIIf, TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp
//FMT, 149, 43, IMU3, IffffffIIf, TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp
//FMT, 172, 23, ACC1, IIfff, TimeMS,TimeUS,AccX,AccY,AccZ
//FMT, 173, 23, ACC2, IIfff, TimeMS,TimeUS,AccX,AccY,AccZ
//FMT, 174, 23, ACC3, IIfff, TimeMS,TimeUS,AccX,AccY,AccZ
//FMT, 175, 23, GYR1, IIfff, TimeMS,TimeUS,GyrX,GyrY,GyrZ
//FMT, 176, 23, GYR2, IIfff, TimeMS,TimeUS,GyrX,GyrY,GyrZ
//FMT, 177, 23, GYR3, IIfff, TimeMS,TimeUS,GyrX,GyrY,GyrZ
private void myButton1_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;
double[] datainGX = new double[N];
double[] datainGY = new double[N];
double[] datainGZ = new double[N];
double[] datainAX = new double[N];
double[] datainAY = new double[N];
double[] datainAZ = new double[N];
List<double[]> avg = new List<double[]>();
// 6
avg.Add(new double[N/2]);
avg.Add(new double[N/2]);
avg.Add(new double[N/2]);
avg.Add(new double[N/2]);
avg.Add(new double[N/2]);
avg.Add(new double[N/2]);
object[] datas = new object[] {datainGX, datainGY, datainGZ, datainAX, datainAY, datainAZ};
string[] datashead = new string[]
{"GYR1-GyrX", "GYR1-GyrY", "GYR1-GyrZ", "ACC1-AccX", "ACC1-AccY", "ACC1-AccZ"};
Color[] color = new Color[]
{Color.Red, Color.Green, Color.Black, Color.Violet, Color.Blue, Color.Orange};
ZedGraphControl[] ctls = new ZedGraphControl[]
{
zedGraphControl1, zedGraphControl2, zedGraphControl3, zedGraphControl4, zedGraphControl5,
zedGraphControl6
};
int samplecounta = 0;
int samplecountg = 0;
double lasttime = 0;
double timedelta = 0;
double[] freqt = null;
double samplerate = 0;
foreach (var item in file.GetEnumeratorType(new string[] { "ACC1", "GYR1" }))
{
if (item.msgtype == "ACC1")
{
int offsetAX = file.dflog.FindMessageOffset("ACC1", "AccX");
int offsetAY = file.dflog.FindMessageOffset("ACC1", "AccY");
int offsetAZ = file.dflog.FindMessageOffset("ACC1", "AccZ");
int offsetTime = file.dflog.FindMessageOffset("ACC1", "TimeUS");
double time = double.Parse(item.items[offsetTime])/1000.0;
timedelta = timedelta*0.99 + (time - lasttime)*0.01;
// we missed gyro data
if (samplecounta >= N)
continue;
datainAX[samplecounta] = double.Parse(item.items[offsetAX]);
datainAY[samplecounta] = double.Parse(item.items[offsetAY]);
datainAZ[samplecounta] = double.Parse(item.items[offsetAZ]);
samplecounta++;
lasttime = time;
}
else if (item.msgtype == "GYR1")
{
int offsetGX = file.dflog.FindMessageOffset("GYR1", "GyrX");
int offsetGY = file.dflog.FindMessageOffset("GYR1", "GyrY");
int offsetGZ = file.dflog.FindMessageOffset("GYR1", "GyrZ");
int offsetTime = file.dflog.FindMessageOffset("ACC1", "TimeUS");
double time = double.Parse(item.items[offsetTime])/1000.0;
// we missed accel data
if (samplecountg >= N)
continue;
datainGX[samplecountg] = double.Parse(item.items[offsetGX]);
datainGY[samplecountg] = double.Parse(item.items[offsetGY]);
datainGZ[samplecountg] = double.Parse(item.items[offsetGZ]);
samplecountg++;
}
if (samplecounta >= N && samplecountg >= N)
{
int inputdataindex = 0;
foreach (var itemlist in datas)
{
var fftanswer = fft.rin((double[]) itemlist, (uint) bins);
for (int b = 0; b < N/2; b++)
{
avg[inputdataindex][b] += fftanswer[b]*(1.0/(N/2.0));
}
samplecounta = 0;
samplecountg = 0;
inputdataindex++;
}
}
}
if (freqt == null)
{
samplerate = Math.Round(1000/timedelta, 1);
freqt = fft.FreqTable(N, (int) samplerate);
}
// 0 out all data befor cutoff
for (int inputdataindex = 0; inputdataindex < 6; inputdataindex++)
{
for (int b = 0; b < N/2; b++)
{
if (freqt[b] < (double) NUM_startfreq.Value)
{
avg[inputdataindex][b] = 0;
continue;
}
break;
}
}
int controlindex = 0;
foreach (var item in avg)
{
ZedGraph.PointPairList ppl = new ZedGraph.PointPairList(freqt, item);
//double xMin, xMax, yMin, yMax;
var curve = new LineItem(datashead[controlindex], ppl, color[controlindex], SymbolType.None);
//curve.GetRange(out xMin, out xMax, out yMin, out yMax, true, false, ctls[c].GraphPane);
ctls[controlindex].GraphPane.Legend.IsVisible = false;
ctls[controlindex].GraphPane.XAxis.Title.Text = "Freq Hz";
ctls[controlindex].GraphPane.YAxis.Title.Text = "Amplitude";
ctls[controlindex].GraphPane.Title.Text = "FFT " + datashead[controlindex] + " - " +
Path.GetFileName(ofd.FileName) + " - " + samplerate +
"hz input";
ctls[controlindex].GraphPane.CurveList.Clear();
ctls[controlindex].GraphPane.CurveList.Add(curve);
ctls[controlindex].Invalidate();
ctls[controlindex].AxisChange();
ctls[controlindex].Refresh();
controlindex++;
}
}
}
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;*.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();
}
// 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);
}
}
//FMT, 131, 43, IMU, IffffffIIf, TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp
//FMT, 135, 43, IMU2, IffffffIIf, TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp
//FMT, 149, 43, IMU3, IffffffIIf, TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp
//FMT, 172, 23, ACC1, IIfff, TimeMS,TimeUS,AccX,AccY,AccZ
//FMT, 173, 23, ACC2, IIfff, TimeMS,TimeUS,AccX,AccY,AccZ
//FMT, 174, 23, ACC3, IIfff, TimeMS,TimeUS,AccX,AccY,AccZ
//FMT, 175, 23, GYR1, IIfff, TimeMS,TimeUS,GyrX,GyrY,GyrZ
//FMT, 176, 23, GYR2, IIfff, TimeMS,TimeUS,GyrX,GyrY,GyrZ
//FMT, 177, 23, GYR3, IIfff, TimeMS,TimeUS,GyrX,GyrY,GyrZ
private void myButton1_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;
double[] datainGX = new double[N];
double[] datainGY = new double[N];
double[] datainGZ = new double[N];
double[] datainAX = new double[N];
double[] datainAY = new double[N];
double[] datainAZ = new double[N];
List <double[]> avg = new List <double[]>
{
// 6
new double[N / 2],
new double[N / 2],
new double[N / 2],
new double[N / 2],
new double[N / 2],
new double[N / 2]
};
object[] datas = new object[] { datainGX, datainGY, datainGZ, datainAX, datainAY, datainAZ };
string[] datashead = new string[]
{ "GYR1-GyrX", "GYR1-GyrY", "GYR1-GyrZ", "ACC1-AccX", "ACC1-AccY", "ACC1-AccZ" };
Color[] color = new Color[]
{ Color.Red, Color.Green, Color.Black, Color.Violet, Color.Blue, Color.Orange };
ZedGraphControl[] ctls = new ZedGraphControl[]
{
zedGraphControl1, zedGraphControl2, zedGraphControl3, zedGraphControl4, zedGraphControl5,
zedGraphControl6
};
int samplecounta = 0;
int samplecountg = 0;
double lasttime = 0;
double timedelta = 0;
double[] freqt = null;
double samplerate = 0;
foreach (var item in file.GetEnumeratorType(new string[] { "ACC1", "GYR1" }))
{
if (item.msgtype == "ACC1")
{
int offsetAX = file.dflog.FindMessageOffset("ACC1", "AccX");
int offsetAY = file.dflog.FindMessageOffset("ACC1", "AccY");
int offsetAZ = file.dflog.FindMessageOffset("ACC1", "AccZ");
int offsetTime = file.dflog.FindMessageOffset("ACC1", "TimeUS");
double time = double.Parse(item.items[offsetTime],
CultureInfo.InvariantCulture) / 1000.0;
timedelta = timedelta * 0.99 + (time - lasttime) * 0.01;
// we missed gyro data
if (samplecounta >= N)
{
continue;
}
datainAX[samplecounta] = double.Parse(item.items[offsetAX],
CultureInfo.InvariantCulture);
datainAY[samplecounta] = double.Parse(item.items[offsetAY],
CultureInfo.InvariantCulture);
datainAZ[samplecounta] = double.Parse(item.items[offsetAZ],
CultureInfo.InvariantCulture);
samplecounta++;
lasttime = time;
}
else if (item.msgtype == "GYR1")
{
int offsetGX = file.dflog.FindMessageOffset("GYR1", "GyrX");
int offsetGY = file.dflog.FindMessageOffset("GYR1", "GyrY");
int offsetGZ = file.dflog.FindMessageOffset("GYR1", "GyrZ");
int offsetTime = file.dflog.FindMessageOffset("ACC1", "TimeUS");
double time = double.Parse(item.items[offsetTime],
CultureInfo.InvariantCulture) / 1000.0;
// we missed accel data
if (samplecountg >= N)
{
continue;
}
datainGX[samplecountg] = double.Parse(item.items[offsetGX],
CultureInfo.InvariantCulture);
datainGY[samplecountg] = double.Parse(item.items[offsetGY],
CultureInfo.InvariantCulture);
datainGZ[samplecountg] = double.Parse(item.items[offsetGZ],
CultureInfo.InvariantCulture);
samplecountg++;
}
if (samplecounta >= N && samplecountg >= N)
{
int inputdataindex = 0;
foreach (var itemlist in datas)
{
var fftanswer = fft.rin((double[])itemlist, (uint)bins);
for (int b = 0; b < N / 2; b++)
{
avg[inputdataindex][b] += fftanswer[b] * (1.0 / (N / 2.0));
}
samplecounta = 0;
samplecountg = 0;
inputdataindex++;
}
}
}
if (freqt == null)
{
samplerate = Math.Round(1000 / timedelta, 1);
freqt = fft.FreqTable(N, (int)samplerate);
}
// 0 out all data befor cutoff
for (int inputdataindex = 0; inputdataindex < 6; inputdataindex++)
{
for (int b = 0; b < N / 2; b++)
{
if (freqt[b] < (double)NUM_startfreq.Value)
{
avg[inputdataindex][b] = 0;
continue;
}
break;
}
}
int controlindex = 0;
foreach (var item in avg)
{
ZedGraph.PointPairList ppl = new ZedGraph.PointPairList(freqt, item);
//double xMin, xMax, yMin, yMax;
var curve = new LineItem(datashead[controlindex], ppl, color[controlindex], SymbolType.None);
//curve.GetRange(out xMin, out xMax, out yMin, out yMax, true, false, ctls[c].GraphPane);
ctls[controlindex].GraphPane.Legend.IsVisible = false;
ctls[controlindex].GraphPane.XAxis.Title.Text = "Freq Hz";
ctls[controlindex].GraphPane.YAxis.Title.Text = "Amplitude";
ctls[controlindex].GraphPane.Title.Text = "FFT " + datashead[controlindex] + " - " +
Path.GetFileName(ofd.FileName) + " - " + samplerate +
"hz input";
ctls[controlindex].GraphPane.CurveList.Clear();
ctls[controlindex].GraphPane.CurveList.Add(curve);
ctls[controlindex].Invalidate();
ctls[controlindex].AxisChange();
ctls[controlindex].Refresh();
controlindex++;
}
SetScale(ctls);
}
}