float theta = 35 + 90; //角度值 4f->64
private void check_uwb(byte Response1, byte Response2, int Check) //02,10,F3,02,4F,4B,E5,
{
RX_Counter = 0;
theta = Convert.ToInt32(textBox2.Text) + 90;
label32.Text = Convert.ToString(theta);
double radian = theta * Math.PI / 180;//轉換弧度值
//Thread.Sleep(1300);
//label10.Text = Response[0].ToString("X2") + " " + Response[1].ToString("X2") + " ";
if (Response[0] == Response1 && Response[1] == Response2)
{
label9.Text = "UWB OK";
/*
* label10.Text = Response[0].ToString("X2") + " " + Response[24].ToString("X2") + " " + Response[25].ToString("X2") + " " + Response[26].ToString("X2") + " ";
* float Tag_dis1 = ((Response[26] << 16) | (Response[25] << 8) | (Response[24] << 0)) / 256000.0f;
* label12.Text = Convert.ToString(Tag_dis1);*/
Anchor_x = ((Response[6] << 24) | (Response[5] << 16) | (Response[4] << 8) | (0x00 << 0)) / 256000.0f;
label26.Text = Convert.ToString(Anchor_x);
Anchor_y = ((Response[9] << 24) | (Response[8] << 16) | (Response[7] << 8) | (0x00 << 0)) / 256000.0f;
label27.Text = Convert.ToString(Anchor_y);
Anchor_z = ((Response[12] << 24) | (Response[11] << 16) | (Response[10] << 8) | (0x00 << 0)) / 256000.0f;
//Anchor_z = Anchor_z + 0.3;
label28.Text = Convert.ToString(Anchor_z);
if (Anchor_z < 1)
{
Anchor_z = Anchor_z + 0.2; //4f-> 0.3
}
//processFrameData();
if (send_flag)
{
long cur_ms = stopwatch.ElapsedMilliseconds;
MAVLink.mavlink_att_pos_mocap_t att_pos = new MAVLink.mavlink_att_pos_mocap_t();
//att_pos.time_usec = (ulong)(((DateTime.UtcNow - unix_epoch).TotalMilliseconds - 10) * 1000);
att_pos.time_usec = (ulong)(cur_ms * 1000);
//att_pos.x = Anchor_y; //north Anchor_y
//att_pos.y = Anchor_x; //east Anchor_x
att_pos.x = (float)(Anchor_x * Math.Cos(radian) + Anchor_y * Math.Sin(radian)); //north
att_pos.y = (float)-((-Anchor_x * Math.Sin(radian)) + Anchor_y * Math.Cos(radian)); //east
att_pos.z = (float)-Anchor_z; //down
Anchor_x = att_pos.x;
Anchor_y = att_pos.y;
Anchor_z = att_pos.z;
label7.Text = Convert.ToString(att_pos.x);
label13.Text = Convert.ToString(att_pos.y);
label22.Text = Convert.ToString(att_pos.z);
//att_pos.q = new float[4] { rbData.qw, rbData.qx, rbData.qz, -rbData.qy };
DroneData drone = drones["bebop2"];
drone.lost_count = 0;
byte[] pkt;
pkt = mavlinkParse.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.ATT_POS_MOCAP, att_pos);
mavSock.SendTo(pkt, drone.ep);
}
// for (int i = 0; i < 23; i++ )
// richTextBox1.Text += Response[i].ToString("X2") + " ";
if (log_flag)
{
Log_Counter = Log_Counter + 1;
try
{
wSheet = (Excel._Worksheet)wBook.Worksheets[1]; // 引用第一個工作表
wSheet.Name = "UWB Sensor Value Log"; // 命名工作表的名稱
wSheet.Activate(); // 設定工作表焦點
//excelApp.Cells[1, 1] = "Excel測試";
excelApp.Cells[Log_Counter, 1] = Anchor_x; //att_pos.x
excelApp.Cells[Log_Counter, 2] = Anchor_y; //att_pos.y
excelApp.Cells[Log_Counter, 3] = Anchor_z; //att_pos.z
}
catch (Exception ex)
{
Console.WriteLine("產生報表時出錯！" + Environment.NewLine + ex.Message);
}
if (log_flag_set)
{
try
{
//另存活頁簿
wBook.SaveAs(pathFile, Type.Missing, Type.Missing, Type.Missing, Type.Missing, Type.Missing, Excel.XlSaveAsAccessMode.xlNoChange, Type.Missing, Type.Missing, Type.Missing, Type.Missing, Type.Missing);
Console.WriteLine("儲存文件於 " + Environment.NewLine + pathFile);
}
catch (Exception ex)
{
Console.WriteLine("儲存檔案出錯，檔案可能正在使用" + Environment.NewLine + ex.Message);
}
wBook.Close(false, Type.Missing, Type.Missing); //關閉活頁簿
excelApp.Quit(); //關閉Excel
System.Runtime.InteropServices.Marshal.ReleaseComObject(excelApp); //釋放Excel資源
wBook = null;
wSheet = null;
excelApp = null;
GC.Collect();
Console.Read();
log_flag = false;
log_flag_set = false;
Log_Counter = 0;
}
}
}
}
//static uint GPS_LEAPSECONDS_MILLIS = 18000;
static void processFrameData(NatNetML.FrameOfMocapData data)
{
bool data_gogo = true;
/* Parsing Rigid Body Frame Data */
for (int i = 0; i < mRigidBodies.Count; i++)
{
int rbID = mRigidBodies[i].ID; // Fetching rigid body IDs from the saved descriptions
for (int j = 0; j < data.nRigidBodies; j++)
{
if (rbID == data.RigidBodies[j].ID) // When rigid body ID of the descriptions matches rigid body ID of the frame data.
{
NatNetML.RigidBody rb = mRigidBodies[i]; // Saved rigid body descriptions
NatNetML.RigidBodyData rbData = data.RigidBodies[j]; // Received rigid body descriptions
if (rbData.Tracked == true)
{
#if DEBUG_MSG
Console.WriteLine("\tRigidBody ({0}):", rb.Name);
Console.WriteLine("\t\tpos ({0:N3}, {1:N3}, {2:N3})", rbData.x, rbData.y, rbData.z);
// Rigid Body Euler Orientation
float[] quat = new float[4] {
rbData.qx, rbData.qy, rbData.qz, rbData.qw
};
float[] eulers = new float[3];
eulers = NatNetClientML.QuatToEuler(quat, NATEulerOrder.NAT_XYZr); //Converting quat orientation into XYZ Euler representation.
double xrot = RadiansToDegrees(eulers[0]);
double yrot = RadiansToDegrees(eulers[1]);
double zrot = RadiansToDegrees(eulers[2]);
Console.WriteLine("\t\tori ({0:N3}, {1:N3}, {2:N3})", xrot, yrot, zrot);
#endif
if (drones.ContainsKey(rb.Name))
{
DroneData drone = drones[rb.Name];
drone.lost_count = 0;
long cur_ms = stopwatch.ElapsedMilliseconds;
if (drone.send_count > 0)
{
drone.send_count--;
}
else if (data_gogo)
{
drone.send_count = 10;
data_gogo = false;
MAVLink.mavlink_att_pos_mocap_t att_pos = new MAVLink.mavlink_att_pos_mocap_t();
att_pos.time_usec = (ulong)(cur_ms * 1000);
att_pos.x = rbData.x; //north
att_pos.y = rbData.z; //east
att_pos.z = -rbData.y; //down
att_pos.q = new float[4] {
rbData.qw, rbData.qx, rbData.qz, -rbData.qy
};
byte[] pkt = mavlinkParse.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.ATT_POS_MOCAP, att_pos);
if (drone.lastTime >= 0)
{
MAVLink.mavlink_vision_speed_estimate_t vis_speed = new MAVLink.mavlink_vision_speed_estimate_t();
float total_s = (cur_ms - drone.lastTime) * 0.001f;
vis_speed.x = (rbData.x - drone.lastPosN) / total_s;
vis_speed.y = (rbData.z - drone.lastPosE) / total_s;
vis_speed.z = (-rbData.y - drone.lastPosD) / total_s;
vis_speed.usec = (ulong)(cur_ms * 1000);
byte[] pkt2 = mavlinkParse.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.VISION_SPEED_ESTIMATE, vis_speed);
int total_len = pkt.Length + pkt2.Length;
byte[] uwb_data = new byte[10 + total_len + 1];
uwb_data[0] = 0x54;
uwb_data[1] = 0xf1;
uwb_data[2] = 0xff;
uwb_data[3] = 0xff;
uwb_data[4] = 0xff;
uwb_data[5] = 0xff;
uwb_data[6] = 2;
uwb_data[7] = drone.uwb_tag_id;
uwb_data[8] = (byte)(total_len & 0xff);
uwb_data[9] = (byte)(total_len >> 16);
Array.Copy(pkt, 0, uwb_data, 10, pkt.Length);
Array.Copy(pkt2, 0, uwb_data, 10 + pkt.Length, pkt2.Length);
byte chk_sum = 0;
foreach (byte uwb_data_byte in uwb_data)
{
chk_sum += uwb_data_byte;
}
uwb_data[uwb_data.Length - 1] = chk_sum;
mavSock.SendTo(uwb_data, drone.ep);
}
}
drone.lastTime = cur_ms;
drone.lastPosN = rbData.x;
drone.lastPosE = rbData.z;
drone.lastPosD = -rbData.y;
}
}
else
{
Console.WriteLine("\t{0} is not tracked in current frame", rb.Name);
/*if (drones.ContainsKey(rb.Name))
* {
* DroneData drone = drones[rb.Name];
* drone.lost_count++;
* if (drone.lost_count > 3)
* {
* drone.lost_count = 0;
* MAVLink.mavlink_gps_input_t gps_input = new MAVLink.mavlink_gps_input_t();
* gps_input.gps_id = 0;
* gps_input.fix_type = (byte)MAVLink.GPS_FIX_TYPE.NO_FIX;
* byte[] pkt = mavlinkParse.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.GPS_INPUT, gps_input);
* mavSock.SendTo(pkt, drone.ep);
* }
* }*/
}
}
}
}
/* Parsing Skeleton Frame Data */
for (int i = 0; i < mSkeletons.Count; i++) // Fetching skeleton IDs from the saved descriptions
{
int sklID = mSkeletons[i].ID;
for (int j = 0; j < data.nSkeletons; j++)
{
if (sklID == data.Skeletons[j].ID) // When skeleton ID of the description matches skeleton ID of the frame data.
{
NatNetML.Skeleton skl = mSkeletons[i]; // Saved skeleton descriptions
NatNetML.SkeletonData sklData = data.Skeletons[j]; // Received skeleton frame data
Console.WriteLine("\tSkeleton ({0}):", skl.Name);
Console.WriteLine("\t\tSegment count: {0}", sklData.nRigidBodies);
/* Now, for each of the skeleton segments */
for (int k = 0; k < sklData.nRigidBodies; k++)
{
NatNetML.RigidBodyData boneData = sklData.RigidBodies[k];
/* Decoding skeleton bone ID */
int skeletonID = HighWord(boneData.ID);
int rigidBodyID = LowWord(boneData.ID);
int uniqueID = skeletonID * 1000 + rigidBodyID;
int key = uniqueID.GetHashCode();
NatNetML.RigidBody bone = (RigidBody)mHtSkelRBs[key]; //Fetching saved skeleton bone descriptions
//Outputting only the hip segment data for the purpose of this sample.
if (k == 0)
{
Console.WriteLine("\t\t{0:N3}: pos({1:N3}, {2:N3}, {3:N3})", bone.Name, boneData.x, boneData.y, boneData.z);
}
}
}
}
}
/* Parsing Force Plate Frame Data */
for (int i = 0; i < mForcePlates.Count; i++)
{
int fpID = mForcePlates[i].ID; // Fetching force plate IDs from the saved descriptions
for (int j = 0; j < data.nForcePlates; j++)
{
if (fpID == data.ForcePlates[j].ID) // When force plate ID of the descriptions matches force plate ID of the frame data.
{
NatNetML.ForcePlate fp = mForcePlates[i]; // Saved force plate descriptions
NatNetML.ForcePlateData fpData = data.ForcePlates[i]; // Received forceplate frame data
Console.WriteLine("\tForce Plate ({0}):", fp.Serial);
// Here we will be printing out only the first force plate "subsample" (index 0) that was collected with the mocap frame.
for (int k = 0; k < fpData.nChannels; k++)
{
Console.WriteLine("\t\tChannel {0}: {1}", fp.ChannelNames[k], fpData.ChannelData[k].Values[0]);
}
}
}
}
#if DEBUG_MSG
Console.WriteLine("\n");
#endif
}
