/// <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 = currentRobotPosX;
int Y0 = currentRobotPosY;
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) { }
mainForm.drawBitmapOnPictureBox1(preciseMapBmp);
}