private void btReSendMin_Click(object sender, EventArgs e)
{
ZProtocolProcessObj.WriteFrame(byte.Parse(tbSourceShow.Text), byte.Parse(tbTargetShow.Text), byte.Parse(tbReserveShow.Text));//TODO:Try
foreach (var b in BlocksMin)
{
bool IsLock = false;
foreach (var p in b.Value.Parts)
{
if (p.IsLocked)
{
IsLock = true;
break;
}
}
if (IsLock == true)
{
ZBlockDescribe zBlockDescribeMin = ZDescribeProcessObjMin.Lookup(b.Key);
ZBlock zBlockMin = Converter.GetZBlock(b.Value, zBlockDescribeMin);
ZProtocolProcessObj.AddBlock(zBlockMin);
foreach (var p in b.Value.Parts)
{
p.Unlock();
}
if (ZProtocolProcessObj.PackageNumWaitToSend == ZProtocolProcess.BlockNumMax)
{
ZProtocolProcessObj.Send();
}
}
}
if (ZProtocolProcessObj.PackageNumWaitToSend > 0)
{
ZProtocolProcessObj.Send();
}
}
private static DataString CreateDataString(ZBlockDescribe zBlockDescribe)
{
DataString dataString = new DataString();
dataString.BlockWord = zBlockDescribe.BlockWord;
dataString.Data = new string[zBlockDescribe.ZParts.Length];
dataString.Value = new float[zBlockDescribe.ZParts.Length];
return(dataString);
}
private void Convert()
{
dataString = new DataString();
dataString.BlockWord = byte.Parse(dataWidget1.DataString);
zBlockDescribe = new ZBlockDescribe();
zBlockDescribe.BlockName = dataWidget3.DataString;
zBlockDescribe.BlockWord = byte.Parse(dataWidget1.DataString);
if (dataWidget2.DataString == "")
{
dataString.Data = new string[list.Count];
dataString.Value = new float[list.Count];
zBlockDescribe.ZParts = new ZPartDescribe[list.Count];
//zBlockDescribe.ZPartNum = list.Count;
for (int i = 0; i < list.Count; i++)
{
zBlockDescribe.ZParts[i].Name = list[i].DataName;
zBlockDescribe.ZParts[i].DataType = ConvertType(list[i].DataType);
zBlockDescribe.ZParts[i].Index = (byte)i;
dataString.Data[i] = list[i].DataString;
}
}
else
{
dataString.Data = new string[list.Count + 1];
dataString.Value = new float[list.Count + 1];
zBlockDescribe.ZParts = new ZPartDescribe[list.Count + 1];
//zBlockDescribe.ZPartNum = list.Count + 1;
dataString.Data[0] = dataWidget2.DataString;
zBlockDescribe.ZParts[0].DataType = DataTypeEnum.Reserve;
zBlockDescribe.ZParts[0].Index = 0;
zBlockDescribe.ZParts[0].Name = "保留位";
zBlockDescribe.ZParts[0].BlockWord = zBlockDescribe.BlockWord;
for (int i = 1; i < list.Count + 1; i++)
{
zBlockDescribe.ZParts[i].BlockWord = zBlockDescribe.BlockWord;
zBlockDescribe.ZParts[i].Name = list[i - 1].DataName;
zBlockDescribe.ZParts[i].DataType = ConvertType(list[i - 1].DataType);
zBlockDescribe.ZParts[i].Index = (byte)i;
dataString.Data[i] = list[i - 1].DataString;
}
}
}
/// <summary>
/// 解析协议包描述文件
/// </summary>
/// <param name="File">待解析文件的路径及文件名</param>
/// <returns>成功解析的条数</returns>
public int LoadDescribesFile(string File)
{
ZPackageDescribes.Clear(); //清空
StreamReader SR = new StreamReader(File); //描述文件对象
//循环读取解析
while (SR.EndOfStream == false)
{
string s = SR.ReadLine(); //读取一行
if (s.Length == 0) //忽略空行
{
continue;
}
if (s[0] == '#')//忽略注释行
{
continue;
}
char[] c1 = { '$' };
string[] s1 = s.Split(c1, StringSplitOptions.RemoveEmptyEntries);
int k = 0; //记录读取的Part个数
ZBlockDescribe zpd = new ZBlockDescribe(); //描述信息结构
zpd.ZParts = new ZPartDescribe[s1.Length - 1]; //初始化Part储存空间
//循环解析每一段
for (int i = 0; i < s1.Length; i++)
{
ZPartDescribe z = GetPartInfo(s1[i]); //解析段信息
if (i == 0) //保存头信息
{
zpd.BlockWord = z.BlockWord;
zpd.BlockName = z.Name;
}
else//保存保留位及数据区信息
{
z.BlockWord = zpd.BlockWord;
z.Index = (byte)k;
zpd.ZParts[k] = z;
k++;
}
}
//zpd.ZPartNum = k;//储存Part个数信息
ZPackageDescribes.Add(zpd.BlockWord, zpd);//添加到字典中
}
SR.Close();
return(ZPackageDescribes.Count);
}
public static DataBlock CreateDataBlock(ZBlockDescribe zBlockDescribe)
{
DataBlock dataBlock = new DataBlock();
dataBlock.Title = zBlockDescribe.BlockName;
dataBlock.TitleTips = "0x" + zBlockDescribe.BlockWord.ToString("X");
for (int i = 0; i < zBlockDescribe.ZParts.Length; i++)
{
DataWidget dataWidget = new DataWidget();
dataWidget.Title = zBlockDescribe.ZParts[i].Name;
dataWidget.TitleTips = zBlockDescribe.ZParts[i].DataType.ToString();
dataWidget.TextTips = zBlockDescribe.ZParts[i].ShowType.ToString();
dataWidget.DataString = "0";
dataBlock.AddDataWidget(dataWidget);
}
dataBlock.SetPartsWidth(100);
return(dataBlock);
}
public static DataString GetDataString(ZBlock zBlock, ZBlockDescribe zBlockDescribe)
{
DataString dataString = CreateDataString(zBlockDescribe);
int p = 0;
for (int i = 0; i < zBlockDescribe.ZParts.Length; i++)//根据描述信息及数据,循环完成数据的读取及格式化.
{
int I; uint U; float F; string S;
switch (zBlockDescribe.ZParts[i].DataType)
{
case DataTypeEnum.U8:
U = zBlock.Data[p]; p += 1; F = U;
S = ToStr(U, zBlockDescribe.ZParts[i].ShowType);
break;
case DataTypeEnum.U16:
U = BitConverter.ToUInt16(zBlock.Data, p); p += 2; F = U;
S = ToStr(U, zBlockDescribe.ZParts[i].ShowType);
break;
case DataTypeEnum.U32:
U = BitConverter.ToUInt32(zBlock.Data, p); p += 4; F = U;
S = ToStr(U, zBlockDescribe.ZParts[i].ShowType);
break;
case DataTypeEnum.S16:
I = BitConverter.ToInt16(zBlock.Data, p); p += 2; F = I;
S = ToStr(I, zBlockDescribe.ZParts[i].ShowType);
break;
case DataTypeEnum.S32:
I = BitConverter.ToInt32(zBlock.Data, p); p += 4; F = I;
S = ToStr(I, zBlockDescribe.ZParts[i].ShowType);
break;
case DataTypeEnum.F32:
F = BitConverter.ToSingle(zBlock.Data, p); p += 4;
S = ToStr(F, zBlockDescribe.ZParts[i].ShowType);
break;
case DataTypeEnum.C:
F = 0;
char[] cs = new char[12];
int n = 0;
for (n = 0; n < zBlockDescribe.ZParts[i].CharLength / 8; n++)
{
char c = (char)zBlock.Data[n];
if (c == 0)
{
break;
}
cs[n] = c;
}
S = new string(cs, 0, n);
break;
case DataTypeEnum.Reserve:
U = zBlock.Reserve; F = U;
S = ToStr(U, zBlockDescribe.ZParts[i].ShowType);
break;
default:
F = 0;
S = "";
break;
}
dataString.Data[i] = S;
dataString.Value[i] = F;
}
return(dataString);
}
public static ZBlock GetZBlock(DataBlock dataBlock, ZBlockDescribe zBlockDescribe)
{
ZBlock zBlock = new ZBlock();
zBlock.Data = new byte[12];
zBlock.Word = zBlockDescribe.BlockWord;
int p = 0;
for (int i = 0; i < zBlockDescribe.ZParts.Length; i++)
{
if (zBlockDescribe.ZParts[i].DataType == DataTypeEnum.C)//认为显示类型也为C
{
for (int j = 0; j < dataBlock.Parts[i].DataString.Length && j < zBlockDescribe.ZParts[i].CharLength; j++)
{
zBlock.Data[p] = (byte)dataBlock.Parts[i].DataString[j];
p++;
}
}
else if (zBlockDescribe.ZParts[i].DataType == DataTypeEnum.F32)
{
float f = float.Parse(dataBlock.Parts[i].DataString);//TODO:异常处理,取值分析
byte[] bs = BitConverter.GetBytes(f);
for (int j = 0; j < bs.Length; j++)
{
zBlock.Data[p] = bs[j];
p++;
}
}
else if (zBlockDescribe.ZParts[i].DataType == DataTypeEnum.Reserve)
{
byte b = 0;
if (zBlockDescribe.ZParts[i].ShowType == ShowTypeEnum.C)
{
b = (byte)dataBlock.Parts[i].DataString[0];
}
else if (zBlockDescribe.ZParts[i].ShowType == ShowTypeEnum.D)
{
b = byte.Parse(dataBlock.Parts[i].DataString);
}
else if (zBlockDescribe.ZParts[i].ShowType == ShowTypeEnum.X)
{
b = byte.Parse(dataBlock.Parts[i].DataString, System.Globalization.NumberStyles.HexNumber);
}
zBlock.Reserve = b;
}
else if (zBlockDescribe.ZParts[i].DataType == DataTypeEnum.U8)
{
byte b = 0;
if (zBlockDescribe.ZParts[i].ShowType == ShowTypeEnum.C)
{
b = (byte)dataBlock.Parts[i].DataString[0];
}
else if (zBlockDescribe.ZParts[i].ShowType == ShowTypeEnum.D)
{
b = byte.Parse(dataBlock.Parts[i].DataString);
}
else if (zBlockDescribe.ZParts[i].ShowType == ShowTypeEnum.X)
{
b = byte.Parse(dataBlock.Parts[i].DataString, System.Globalization.NumberStyles.HexNumber);
}
zBlock.Data[p] = b;
p++;
}
else if (zBlockDescribe.ZParts[i].DataType == DataTypeEnum.U16)
{
UInt16 u = 0;
if (zBlockDescribe.ZParts[i].ShowType == ShowTypeEnum.D)
{
u = UInt16.Parse(dataBlock.Parts[i].DataString);
}
else if (zBlockDescribe.ZParts[i].ShowType == ShowTypeEnum.X)
{
u = UInt16.Parse(dataBlock.Parts[i].DataString, System.Globalization.NumberStyles.HexNumber);
}
byte[] bs = BitConverter.GetBytes(u);
for (int j = 0; j < bs.Length; j++)
{
zBlock.Data[p] = bs[j];
p++;
}
}
else if (zBlockDescribe.ZParts[i].DataType == DataTypeEnum.U32)
{
UInt32 u = 0;
if (zBlockDescribe.ZParts[i].ShowType == ShowTypeEnum.D)
{
u = UInt32.Parse(dataBlock.Parts[i].DataString);
}
else if (zBlockDescribe.ZParts[i].ShowType == ShowTypeEnum.X)
{
u = UInt32.Parse(dataBlock.Parts[i].DataString, System.Globalization.NumberStyles.HexNumber);
}
byte[] bs = BitConverter.GetBytes(u);
for (int j = 0; j < bs.Length; j++)
{
zBlock.Data[p] = bs[j];
p++;
}
}
else if (zBlockDescribe.ZParts[i].DataType == DataTypeEnum.S16)//认为其只有十进制显示模式
{
Int16 u = Int16.Parse(dataBlock.Parts[i].DataString);
byte[] bs = BitConverter.GetBytes(u);
for (int j = 0; j < bs.Length; j++)
{
zBlock.Data[p] = bs[j];
p++;
}
}
else if (zBlockDescribe.ZParts[i].DataType == DataTypeEnum.S32)//认为其只有十进制显示模式
{
Int32 u = Int32.Parse(dataBlock.Parts[i].DataString);
byte[] bs = BitConverter.GetBytes(u);
for (int j = 0; j < bs.Length; j++)
{
zBlock.Data[p] = bs[j];
p++;
}
}
}
return(zBlock);
}
void ZProtocolProcessObj_OnReceviceBlock()
{
while (ZProtocolProcessObj.BufferBlockNum > 0)
{
ZBlock zBlock = ZProtocolProcessObj.FetchBlock();//取出数据
ZBlockDescribe zBlockDescribe = new ZBlockDescribe();
try
{
zBlockDescribe = ZDescribeProcessObj.Lookup(zBlock.Word);//查询描述
if (zBlockDescribe.BlockWord != 0 && zBlockDescribe.BlockWord == zBlock.Word)
{
DataString dataString = Converter.GetDataString(zBlock, zBlockDescribe); //格式化数据
Converter.UpdateDataBlock(Blocks[zBlock.Word], dataString); //更新显示
//附加处理
//记录飞行状态数据
if (cbFlyRec.Checked == true)
{
FlyRec(dataString);
}
//TODO:特定命令字处理
//显示消息
ShowMessage(ref zBlock);
}
}
catch
{
// WriteLine("Undefine Word:0x" + zBlock.Word.ToString("X"));
}
try
{
zBlockDescribe = ZDescribeProcessObjMin.Lookup(zBlock.Word);//查询描述
if (zBlockDescribe.BlockWord != 0 && zBlockDescribe.BlockWord == zBlock.Word)
{
DataString dataString = Converter.GetDataString(zBlock, zBlockDescribe); //格式化数据
Converter.UpdateDataBlock(BlocksMin[zBlock.Word], dataString); //更新显示
switch (dataString.BlockWord)
{
case 0x5B:
dataGraphics1.AddData(dataString.Value[0]); //x位置
dataGraphics2.AddData(dataString.Value[1]); //y位置
dataGraphics3.AddData(dataString.Value[2]); //高度
break;
case 0x5C:
dataGraphics4.AddData(dataString.Value[0]); //x速度
dataGraphics6.AddData(dataString.Value[1]); //y速度
dataGraphics10.AddData(dataString.Value[2]); //z速度
break;
case 0x59:
dataGraphics5.AddData(dataString.Value[0]); //俯仰角
dataGraphics7.AddData(dataString.Value[1]); //滚转角
dataGraphics9.AddData(dataString.Value[2]); //航向角
break;
case 0x5A:
dataGraphics8.AddData(dataString.Value[2]); //航向角速度
break;
case 0x52:
dataGraphicsTwoLine1.AddData(dataString.Value[0], 0); //算法舵量A
dataGraphicsTwoLine2.AddData(dataString.Value[1], 0); //算法舵量B
dataGraphicsTwoLine3.AddData(dataString.Value[2], 0); //算法舵量C
break;
case 0x53:
dataGraphicsTwoLine4.AddData(dataString.Value[0], 0); //算法舵量D
dataGraphicsTwoLine5.AddData(dataString.Value[1], 0); //算法舵量E
break;
case 0x54:
dataGraphicsTwoLine1.AddData(dataString.Value[0], 1); //遥控舵量A
dataGraphicsTwoLine2.AddData(dataString.Value[1], 1); //遥控舵量B
dataGraphicsTwoLine3.AddData(dataString.Value[2], 1); //遥控舵量C
break;
case 0x55:
dataGraphicsTwoLine4.AddData(dataString.Value[0], 1); //遥控舵量D
dataGraphicsTwoLine5.AddData(dataString.Value[1], 1); //遥控舵量E
break;
default:
break;
}
}
}
catch
{
// WriteLine("Undefine Word:0x" + zBlock.Word.ToString("X"));
}
}
}