private void readOnePage(BinaryReader br)
{
byte head = br.ReadByte();
if (head == A_Page.header)
{
pages.a.Update(br);
lock (fileSemaphore) { pages.DumpA(csv_A); }
Console.Write("[A page]:");
Console.WriteLine(
pages.a.ax + "," + pages.a.ay + "," + pages.a.az + "," +
pages.a.gx + "," + pages.a.gy + "," + pages.a.gz);
AHRS.Update(
(float)pages.a.cal_gx / 180 * (float)Math.PI,
(float)pages.a.cal_gy / 180 * (float)Math.PI,
(float)pages.a.cal_gz / 180 * (float)Math.PI,
(float)pages.a.cal_ax, (float)pages.a.cal_ay, (float)pages.a.cal_az);
//AHRS.Update((float)gx, (float)gy, (float)gz, (float)ax, (float)ay, (float)az, (float)mx, (float)my, (float)mz);
AHRS.Quaternion2Euler(AHRS.Quaternion);
}
else if (head == P_Page.header)
{
pages.p.Update(br);
lock (fileSemaphore) { pages.DumpP(csv_P); }
Console.Write("[P page]:");
Console.WriteLine(pages.p.pressure * 0.01 + "(hPa)");
}
else if (head == M_Page.header)
{
pages.m.Update(br);
lock (fileSemaphore) { pages.DumpM(csv_M); }
double conv = 0.1;
Console.Write("[M page]:");
Console.WriteLine(pages.m.mx * conv + "," + pages.m.my * conv + "," + pages.m.mz * conv);
}
else if (head == G_Page.header)
{
pages.g.Update(br);
lock (fileSemaphore) { pages.DumpG(nmea_G, ubx_G); }
Console.Write("[G page]:");
Console.WriteLine(pages.g.ubx_raw);
}
}
private void buttonSDConvert_Click(object sender, EventArgs e)
{
string input_file = textBox3.Text;
string output_folder = textBox1.Text;
string file_name = textBox4.Text;
string A_file = output_folder + "\\" + file_name + "_A.csv";
string P_file = output_folder + "\\" + file_name + "_P.csv";
string M_file = output_folder + "\\" + file_name + "_M.csv";
string G_file = output_folder + "\\" + file_name + "_G.nmea";
string UBX_file = output_folder + "\\" + file_name + ".ubx";
// ファイルが既に存在していたら警告を出す。キャンセルボタンを押すとメソッドを抜ける
if (File.Exists(A_file) || File.Exists(P_file) ||
File.Exists(M_file) || File.Exists(G_file) || File.Exists(UBX_file))
{
DialogResult res = MessageBox.Show("Are you sure you want to overwrite the files?",
"Overwrite save",
MessageBoxButtons.OKCancel,
MessageBoxIcon.Exclamation);
if (res == DialogResult.Cancel)
{
MessageBox.Show("Abort overwrite save", "Information",
MessageBoxButtons.OK,
MessageBoxIcon.Information);
return;
}
}
BinaryReader br = new BinaryReader(File.OpenRead(input_file));
StreamWriter csv_A_sd = new StreamWriter(A_file, false);
StreamWriter csv_P_sd = new StreamWriter(P_file, false);
StreamWriter csv_M_sd = new StreamWriter(M_file, false);
StreamWriter nmea_G_sd = new StreamWriter(G_file, false);
BinaryWriter ubx_G_sd = new BinaryWriter(File.OpenWrite(UBX_file));
SylphidePages.WriteCSVHeaderA(csv_A_sd);
SylphidePages.WriteCSVHeaderM(csv_M_sd);
SylphidePages.WriteCSVHeaderP(csv_P_sd);
var tokenSource = new CancellationTokenSource();
var token = tokenSource.Token;
convertingTask = Task.Factory.StartNew(() =>
{
SylphidePages pages_sd = new SylphidePages();
while (true)
{
token.ThrowIfCancellationRequested();
// LOG.DATの場合はProtocolのheaderの頭出しは必要ない
byte head = br.ReadByte();
if (head == A_Page.header)
{
pages_sd.a.Update(br);
pages_sd.DumpA(csv_A_sd);
}
else if (head == P_Page.header)
{
pages_sd.p.Update(br);
pages_sd.DumpP(csv_P_sd);
}
else if (head == M_Page.header)
{
pages_sd.m.Update(br);
pages_sd.DumpM(csv_M_sd);
}
else if (head == G_Page.header)
{
pages_sd.g.Update(br);
pages_sd.DumpG(nmea_G_sd, ubx_G_sd);
}
}
}, token).ContinueWith(t =>
{
csv_A_sd.Close();
csv_P_sd.Close();
csv_M_sd.Close();
nmea_G_sd.Close();
ubx_G_sd.Close();
cancelConvertTokenSource.Dispose();
cancelConvertTokenSource = null;
loggingTask = null;
if (closing)
{
return;
}
DialogResult result = MessageBox.Show("Complete to output CSV files");
Invoke((MethodInvoker)(() =>
{
buttonSDConvert.Text = "Convert";
buttonSDConvert.Enabled = true;
}));
});
cancelConvertTokenSource = tokenSource;
buttonSDConvert.Enabled = false;
buttonSDConvert.Text = "Converting...";
}