private static void WriteDxfFile() { DxfDocument dxf = new DxfDocument(); //arc Arc arc = new Arc(new Vector3(10, 10, 0), 10, 45, 135); arc.Layer = new Layer("arc"); arc.Layer.Color.Index = 1; dxf.AddEntity(arc); //xData sample XData xdata = new XData(new ApplicationRegistry("netDxf")); xdata.XDataRecord.Add(new XDataRecord(XDataCode.String, "extended data with netDxf")); xdata.XDataRecord.Add(XDataRecord.OpenControlString); xdata.XDataRecord.Add(new XDataRecord(XDataCode.WorldSpacePositionX, 0)); xdata.XDataRecord.Add(new XDataRecord(XDataCode.WorldSpacePositionY, 0)); xdata.XDataRecord.Add(new XDataRecord(XDataCode.WorldSpacePositionZ, 0)); xdata.XDataRecord.Add(XDataRecord.CloseControlString); XData xdata2 = new XData(new ApplicationRegistry("other application")); xdata2.XDataRecord.Add(new XDataRecord(XDataCode.String, "extended data with netDxf")); xdata2.XDataRecord.Add(XDataRecord.OpenControlString); xdata2.XDataRecord.Add(new XDataRecord(XDataCode.String, "string record")); xdata2.XDataRecord.Add(new XDataRecord(XDataCode.Real, 15.5)); xdata2.XDataRecord.Add(new XDataRecord(XDataCode.Int32, 350)); xdata2.XDataRecord.Add(XDataRecord.CloseControlString); //circle Vector3 extrusion = new Vector3(1, 1, 1); Vector3 centerWCS = new Vector3(1, 1, 1); Vector3 centerOCS = MathHelper.Transform(centerWCS, extrusion, CoordinateSystem.World, CoordinateSystem.Object); Circle circle = new Circle(centerOCS, 5); circle.Layer = new Layer("circle with spaces"); circle.Layer.Color=AciColor.Yellow; circle.LineType = LineType.Dashed; circle.Normal = extrusion; circle.XData.Add(xdata); circle.XData.Add(xdata2); dxf.AddEntity(circle); //points Point point1 = new Point(new Vector3(-3, -3, 0)); point1.Layer = new Layer("point"); point1.Color = new AciColor(30); Point point2 = new Point(new Vector3(1, 1, 1)); point2.Layer = point1.Layer; point2.Layer.Color.Index = 9; point2.Normal = new Vector3(1, 1, 1); dxf.AddEntity(point1); dxf.AddEntity(point2); //3dface Face3d face3D = new Face3d(new Vector3(-5, -5, 5), new Vector3(5, -5, 5), new Vector3(5, 5, 5), new Vector3(-5, 5, 5)); face3D.Layer = new Layer("3dface"); face3D.Layer.Color.Index = 3; dxf.AddEntity(face3D); //polyline LwPolylineVertex polyVertex; List<LwPolylineVertex> polyVertexes = new List<LwPolylineVertex>(); polyVertex = new LwPolylineVertex(new Vector2(-50, -50)); polyVertex.StartWidth = 2; polyVertexes.Add(polyVertex); polyVertex = new LwPolylineVertex(new Vector2(50, -50)); polyVertex.StartWidth = 1; polyVertexes.Add(polyVertex); polyVertex = new LwPolylineVertex(new Vector2(50, 50)); polyVertex.Bulge = 1; polyVertexes.Add(polyVertex); polyVertex = new LwPolylineVertex(new Vector2(-50, 50)); polyVertexes.Add(polyVertex); LwPolyline polyline2d = new LwPolyline(polyVertexes, true); polyline2d.Layer = new Layer("polyline2d"); polyline2d.Layer.Color.Index = 5; polyline2d.Normal = new Vector3(1, 1, 1); polyline2d.Elevation = 100.0f; dxf.AddEntity(polyline2d); //lightweight polyline LwPolylineVertex lwVertex; List<LwPolylineVertex> lwVertexes = new List<LwPolylineVertex>(); lwVertex = new LwPolylineVertex(new Vector2(-25, -25)); lwVertex.StartWidth = 2; lwVertexes.Add(lwVertex); lwVertex = new LwPolylineVertex(new Vector2(25, -25)); lwVertex.StartWidth = 1; lwVertexes.Add(lwVertex); lwVertex = new LwPolylineVertex(new Vector2(25, 25)); lwVertex.Bulge = 1; lwVertexes.Add(lwVertex); lwVertex = new LwPolylineVertex(new Vector2(-25, 25)); lwVertexes.Add(lwVertex); LwPolyline lwPolyline = new LwPolyline(lwVertexes, true); lwPolyline.Layer = new Layer("lwpolyline"); lwPolyline.Layer.Color.Index = 5; lwPolyline.Normal = new Vector3(1, 1, 1); lwPolyline.Elevation = 100.0f; dxf.AddEntity(lwPolyline); // polyfaceMesh List<PolyfaceMeshVertex> meshVertexes = new List<PolyfaceMeshVertex> { new PolyfaceMeshVertex(0, 0, 0), new PolyfaceMeshVertex(10, 0, 0), new PolyfaceMeshVertex(10, 10, 0), new PolyfaceMeshVertex(5, 15, 0), new PolyfaceMeshVertex(0, 10, 0) }; List<PolyfaceMeshFace> faces = new List<PolyfaceMeshFace> { new PolyfaceMeshFace(new short[] {1, 2, -3}), new PolyfaceMeshFace(new short[] {-1, 3, -4}), new PolyfaceMeshFace(new short[] {-1, 4, 5}) }; PolyfaceMesh mesh = new PolyfaceMesh(meshVertexes, faces); mesh.Layer = new Layer("polyfacemesh"); mesh.Layer.Color.Index = 104; dxf.AddEntity(mesh); //line Line line = new Line(new Vector3(0, 0, 0), new Vector3(10, 10, 10)); line.Layer = new Layer("line"); line.Layer.Color.Index = 6; dxf.AddEntity(line); //3d polyline PolylineVertex vertex; List<PolylineVertex> vertexes = new List<PolylineVertex>(); vertex = new PolylineVertex(new Vector3(-50, -50, 0)); vertexes.Add(vertex); vertex = new PolylineVertex(new Vector3(50, -50, 10)); vertexes.Add(vertex); vertex = new PolylineVertex(new Vector3(50, 50, 25)); vertexes.Add(vertex); vertex = new PolylineVertex(new Vector3(-50, 50, 50)); vertexes.Add(vertex); Polyline polyline = new Polyline(vertexes, true); polyline.Layer = new Layer("polyline3d"); polyline.Layer.Color.Index = 24; dxf.AddEntity(polyline); //block definition Block block = new Block("TestBlock"); block.Entities.Add(new Line(new Vector3(-5, -5, 5), new Vector3(5, 5, 5))); block.Entities.Add(new Line(new Vector3(5, -5, 5), new Vector3(-5, 5, 5))); //insert Insert insert = new Insert(block, new Vector3(5, 5, 5)); insert.Layer = new Layer("insert"); insert.Layer.Color.Index = 4; dxf.AddEntity(insert); //text TextStyle style=new TextStyle("True type font","Arial.ttf"); Text text = new Text("Hello world!", Vector3.Zero, 10.0f,style); text.Layer = new Layer("text"); text.Layer.Color.Index = 8; text.Alignment = TextAlignment.TopRight; dxf.AddEntity(text); dxf.DrawingVariables.AcadVer = DxfVersion.AutoCad2010; dxf.Save("AutoCad2010.dxf"); dxf.DrawingVariables.AcadVer = DxfVersion.AutoCad2007; dxf.Save("AutoCad2007.dxf"); dxf.DrawingVariables.AcadVer = DxfVersion.AutoCad2004; dxf.Save("AutoCad2004.dxf"); dxf.DrawingVariables.AcadVer = DxfVersion.AutoCad2000; dxf.Save("AutoCad2000.dxf"); dxf = DxfDocument.Load("AutoCad2000.dxf"); dxf.Save("AutoCad2000 result.dxf"); }
private IPolyline ReadPolyline(ref CodeValuePair code) { string handle = string.Empty; Layer layer = Layer.Default; AciColor color = AciColor.ByLayer; LineType lineType = LineType.ByLayer; PolylineTypeFlags flags = PolylineTypeFlags.OpenPolyline; double elevation = 0.0; float thickness = 0.0f; Vector3d normal = Vector3d.UnitZ; List<Vertex> vertexes = new List<Vertex>(); Dictionary<ApplicationRegistry, XData> xData = new Dictionary<ApplicationRegistry, XData>(); //int numVertexes = -1; //int numFaces = -1; code = this.ReadCodePair(); while (code.Code != 0) { switch (code.Code) { case 5: handle = code.Value; code = this.ReadCodePair(); break; case 8: layer = this.GetLayer(code.Value); code = this.ReadCodePair(); break; case 62: color = new AciColor(short.Parse(code.Value)); code = this.ReadCodePair(); break; case 6: lineType = this.GetLineType(code.Value); code = this.ReadCodePair(); break; case 30: elevation = double.Parse(code.Value); code = this.ReadCodePair(); break; case 39: thickness = float.Parse(code.Value); code = this.ReadCodePair(); break; case 70: flags = (PolylineTypeFlags) (int.Parse(code.Value)); code = this.ReadCodePair(); break; case 71: //this field might not exist for polyface meshes, we cannot depend on it //numVertexes = int.Parse(code.Value); code = this.ReadCodePair(); code = this.ReadCodePair(); break; case 72: //this field might not exist for polyface meshes, we cannot depend on it //numFaces = int.Parse(code.Value); code = this.ReadCodePair(); break; case 210: normal.X = double.Parse(code.Value); code = this.ReadCodePair(); break; case 220: normal.Y = double.Parse(code.Value); code = this.ReadCodePair(); break; case 230: normal.Z = double.Parse(code.Value); code = this.ReadCodePair(); break; case 1001: XData xDataItem = this.ReadXDataRecord(code.Value, ref code); xData.Add(xDataItem.ApplicationRegistry, xDataItem); break; default: if (code.Code >= 1000 && code.Code <= 1071) throw new DxfInvalidCodeValueEntityException(code.Code, code.Value, this.file, "The extended data of an entity must start with the application registry code " + this.fileLine); code = this.ReadCodePair(); break; } } //begin to read the vertex list if (code.Value != DxfObjectCode.Vertex) throw new DxfEntityException(DxfObjectCode.Polyline, this.file, "Vertex not found in line " + this.fileLine); while (code.Value != StringCode.EndSequence) { if (code.Value == DxfObjectCode.Vertex) { Debug.Assert(code.Code == 0); Vertex vertex = this.ReadVertex(ref code); vertexes.Add(vertex); } } // read the end end sequence object until a new element is found if (code.Value != StringCode.EndSequence) throw new DxfEntityException(DxfObjectCode.Polyline, this.file, "End sequence entity not found in line " + this.fileLine); code = this.ReadCodePair(); string endSequenceHandle = string.Empty; Layer endSequenceLayer = layer; while (code.Code != 0) { switch (code.Code) { case 5: endSequenceHandle = code.Value; code = this.ReadCodePair(); break; case 8: endSequenceLayer = this.GetLayer(code.Value); code = this.ReadCodePair(); break; default: code = this.ReadCodePair(); break; } } IPolyline pol; bool isClosed = false; if ((flags & PolylineTypeFlags.ClosedPolylineOrClosedPolygonMeshInM) == PolylineTypeFlags.ClosedPolylineOrClosedPolygonMeshInM) { isClosed = true; } //to avoid possible error between the vertex type and the polyline type //the polyline type will decide which information to use from the read vertex if ((flags & PolylineTypeFlags.Polyline3D) == PolylineTypeFlags.Polyline3D) { List<Polyline3dVertex> polyline3dVertexes = new List<Polyline3dVertex>(); foreach (Vertex v in vertexes) { Polyline3dVertex vertex = new Polyline3dVertex { Color = v.Color, Layer = v.Layer, LineType = v.LineType, Location = v.Location, Handle = v.Handle }; vertex.XData = v.XData; polyline3dVertexes.Add(vertex); } ////posible error avoidance, the polyline is marked as polyline3d code:(70,8) but the vertex is marked as PolylineVertex code:(70,0) //if (v.Type == EntityType.PolylineVertex) //{ // Polyline3dVertex polyline3dVertex = new Polyline3dVertex(((PolylineVertex)v).Location.X, ((PolylineVertex)v).Location.Y,0); // polyline3dVertexes.Add(polyline3dVertex); //} //else //{ // polyline3dVertexes.Add((Polyline3dVertex)v); //} //} pol = new Polyline3d(polyline3dVertexes, isClosed) { Handle = handle }; ((Polyline3d) pol).EndSequence.Handle = endSequenceHandle; ((Polyline3d) pol).EndSequence.Layer = endSequenceLayer; } else if ((flags & PolylineTypeFlags.PolyfaceMesh) == PolylineTypeFlags.PolyfaceMesh) { //the vertex list created contains vertex and face information List<PolyfaceMeshVertex> polyfaceVertexes = new List<PolyfaceMeshVertex>(); List<PolyfaceMeshFace> polyfaceFaces = new List<PolyfaceMeshFace>(); foreach (Vertex v in vertexes) { if ((v.Flags & (VertexTypeFlags.PolyfaceMeshVertex | VertexTypeFlags.Polygon3dMesh)) == (VertexTypeFlags.PolyfaceMeshVertex | VertexTypeFlags.Polygon3dMesh)) { PolyfaceMeshVertex vertex = new PolyfaceMeshVertex { Color = v.Color, Layer = v.Layer, LineType = v.LineType, Location = v.Location, Handle = v.Handle }; vertex.XData = xData; polyfaceVertexes.Add(vertex); } else if ((v.Flags & (VertexTypeFlags.PolyfaceMeshVertex)) == (VertexTypeFlags.PolyfaceMeshVertex)) { PolyfaceMeshFace vertex = new PolyfaceMeshFace { Color = v.Color, Layer = v.Layer, LineType = v.LineType, VertexIndexes = v.VertexIndexes, Handle = v.Handle }; vertex.XData = xData; polyfaceFaces.Add(vertex); } //if (v.Type == EntityType.PolyfaceMeshVertex) //{ // polyfaceVertexes.Add((PolyfaceMeshVertex) v); //} //else if (v.Type == EntityType.PolyfaceMeshFace) //{ // polyfaceFaces.Add((PolyfaceMeshFace) v); //} //else //{ // throw new EntityDxfException(v.Type.ToString(), this.file, "Error in vertex type."); //} } pol = new PolyfaceMesh(polyfaceVertexes, polyfaceFaces) { Handle = handle }; ((PolyfaceMesh) pol).EndSequence.Handle = endSequenceHandle; ((PolyfaceMesh) pol).EndSequence.Layer = endSequenceLayer; } else { List<PolylineVertex> polylineVertexes = new List<PolylineVertex>(); foreach (Vertex v in vertexes) { PolylineVertex vertex = new PolylineVertex { Location = new Vector2d(v.Location.X, v.Location.Y), BeginThickness = v.BeginThickness, Bulge = v.Bulge, Color = v.Color, EndThickness = v.EndThickness, Layer = v.Layer, LineType = v.LineType, Handle = v.Handle }; vertex.XData = xData; ////posible error avoidance, the polyline is marked as polyline code:(70,0) but the vertex is marked as Polyline3dVertex code:(70,32) //if (v.Type==EntityType.Polyline3dVertex) //{ // PolylineVertex polylineVertex = new PolylineVertex(((Polyline3dVertex)v).Location.X, ((Polyline3dVertex)v).Location.Y); // polylineVertexes.Add(polylineVertex); //} //else //{ // polylineVertexes.Add((PolylineVertex) v); //} polylineVertexes.Add(vertex); } pol = new Polyline(polylineVertexes, isClosed) { Thickness = thickness, Elevation = elevation, Normal = normal, Handle = handle }; ((Polyline) pol).EndSequence.Handle = endSequenceHandle; ((Polyline) pol).EndSequence.Layer = endSequenceLayer; } pol.Color = color; pol.Layer = layer; pol.LineType = lineType; pol.XData = xData; return pol; }
private EntityObject ReadPolyline() { // the entity Polyline in dxf can actually hold three kinds of entities // 3d polyline is the generic polyline // polyface mesh // polylines 2d is the old way of writing polylines the AutoCAD2000 and newer always use LwPolylines to define a 2d polyline // this way of reading 2d polylines is here for compatibility reasons with older dxf versions. PolylinetypeFlags flags = PolylinetypeFlags.OpenPolyline; PolylineSmoothType smoothType = PolylineSmoothType.NoSmooth; double elevation = 0.0; double thickness = 0.0; Vector3 normal = Vector3.UnitZ; List<Vertex> vertexes = new List<Vertex>(); List<XData> xData = new List<XData>(); this.chunk.Next(); while (this.chunk.Code != 0) { switch (this.chunk.Code) { case 30: elevation = this.chunk.ReadDouble(); this.chunk.Next(); break; case 39: thickness = this.chunk.ReadDouble(); this.chunk.Next(); break; case 70: flags = (PolylinetypeFlags) this.chunk.ReadShort(); this.chunk.Next(); break; case 75: smoothType = (PolylineSmoothType) this.chunk.ReadShort(); this.chunk.Next(); break; case 71: //this field might not exist for polyface meshes, we cannot depend on it //numVertexes = int.Parse(code.Value); code = this.ReadCodePair(); this.chunk.Next(); break; case 72: //this field might not exist for polyface meshes, we cannot depend on it this.chunk.Next(); break; case 210: normal.X = this.chunk.ReadDouble(); this.chunk.Next(); break; case 220: normal.Y = this.chunk.ReadDouble(); this.chunk.Next(); break; case 230: normal.Z = this.chunk.ReadDouble(); this.chunk.Next(); break; case 1001: string appId = this.DecodeEncodedNonAsciiCharacters(this.chunk.ReadString()); XData data = this.ReadXDataRecord(this.GetApplicationRegistry(appId)); xData.Add(data); break; default: if (this.chunk.Code >= 1000 && this.chunk.Code <= 1071) throw new Exception("The extended data of an entity must start with the application registry code."); this.chunk.Next(); break; } } //begin to read the vertex list (although it is not recommended the vertex list might have 0 entries) while (this.chunk.ReadString() != DxfObjectCode.EndSequence) { if (this.chunk.ReadString() == DxfObjectCode.Vertex) { Vertex vertex = this.ReadVertex(); vertexes.Add(vertex); } } // read the end sequence object until a new element is found this.chunk.Next(); string endSequenceHandle = null; while (this.chunk.Code != 0) { switch (this.chunk.Code) { case 5: endSequenceHandle = this.chunk.ReadHex(); this.chunk.Next(); break; case 8: // the polyline EndSequence layer should be the same as the polyline layer this.chunk.Next(); break; default: this.chunk.Next(); break; } } EntityObject pol; bool isClosed = flags.HasFlag(PolylinetypeFlags.ClosedPolylineOrClosedPolygonMeshInM); //to avoid possible error between the vertex type and the polyline type //the polyline type will decide which information to use from the read vertex if (flags.HasFlag(PolylinetypeFlags.Polyline3D)) { List<PolylineVertex> polyline3dVertexes = new List<PolylineVertex>(); foreach (Vertex v in vertexes) { PolylineVertex vertex = new PolylineVertex { Flags = v.Flags, Position = v.Position, Handle = v.Handle, }; polyline3dVertexes.Add(vertex); } pol = new Polyline(polyline3dVertexes, isClosed) { Flags = flags, SmoothType = smoothType, Normal = normal }; ((Polyline) pol).EndSequence.Handle = endSequenceHandle; } else if (flags.HasFlag(PolylinetypeFlags.PolyfaceMesh)) { //the vertex list created contains vertex and face information List<PolyfaceMeshVertex> polyfaceVertexes = new List<PolyfaceMeshVertex>(); List<PolyfaceMeshFace> polyfaceFaces = new List<PolyfaceMeshFace>(); foreach (Vertex v in vertexes) { if (v.Flags.HasFlag(VertexTypeFlags.PolyfaceMeshVertex | VertexTypeFlags.Polygon3dMesh)) { PolyfaceMeshVertex vertex = new PolyfaceMeshVertex { Location = v.Position, Handle = v.Handle, }; polyfaceVertexes.Add(vertex); } else if (v.Flags.HasFlag(VertexTypeFlags.PolyfaceMeshVertex)) { PolyfaceMeshFace vertex = new PolyfaceMeshFace(v.VertexIndexes) { Handle = v.Handle }; polyfaceFaces.Add(vertex); } } pol = new PolyfaceMesh(polyfaceVertexes, polyfaceFaces) { Normal = normal }; ((PolyfaceMesh) pol).EndSequence.Handle = endSequenceHandle; } else { List<LwPolylineVertex> polylineVertexes = new List<LwPolylineVertex>(); foreach (Vertex v in vertexes) { LwPolylineVertex vertex = new LwPolylineVertex { Position = new Vector2(v.Position.X, v.Position.Y), StartWidth = v.StartWidth, Bulge = v.Bulge, EndWidth = v.EndWidth, }; polylineVertexes.Add(vertex); } pol = new LwPolyline(polylineVertexes, isClosed) { Flags = flags, Thickness = thickness, Elevation = elevation, Normal = normal, }; } pol.XData.AddRange(xData); return pol; }
/// <summary> /// Processes a tlog to get the offsets - creates dxf of data /// </summary> /// <param name="fn">Filename</param> /// <returns>Offsets</returns> public static double[] getOffsets(string fn, int throttleThreshold = 0) { // based off tridge's work string logfile = fn; // old method float minx = 0; float maxx = 0; float miny = 0; float maxy = 0; float minz = 0; float maxz = 0; // this is for a dxf PolylineVertex vertex; List<PolylineVertex> vertexes = new List<PolylineVertex>(); // data storage Tuple<float, float, float> offset = new Tuple<float, float, float>(0, 0, 0); List<Tuple<float, float, float>> data = new List<Tuple<float, float, float>>(); Hashtable filter = new Hashtable(); // track data to use bool useData = false; if (throttleThreshold <= 0) useData = true; log.Info("Start log: " + DateTime.Now); using (MAVLinkInterface mine = new MAVLinkInterface()) { try { mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read)); } catch (Exception ex) { log.Debug(ex.ToString()); CustomMessageBox.Show("Log Can not be opened. Are you still connected?"); return new double[] {0}; } mine.logreadmode = true; // gather data while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length) { MAVLink.MAVLinkMessage packetraw = mine.readPacket(); var packet = mine.DebugPacket(packetraw, false); // this is for packets we dont know about if (packet == null) continue; if (packet.GetType() == typeof (MAVLink.mavlink_vfr_hud_t)) { if (((MAVLink.mavlink_vfr_hud_t) packet).throttle >= throttleThreshold) { useData = true; } else { useData = false; } } if (packet.GetType() == typeof (MAVLink.mavlink_sensor_offsets_t)) { offset = new Tuple<float, float, float>( ((MAVLink.mavlink_sensor_offsets_t) packet).mag_ofs_x, ((MAVLink.mavlink_sensor_offsets_t) packet).mag_ofs_y, ((MAVLink.mavlink_sensor_offsets_t) packet).mag_ofs_z); } else if (packet.GetType() == typeof (MAVLink.mavlink_raw_imu_t) && useData) { int div = 20; // fox dxf vertex = new PolylineVertex(new netDxf.Vector3( ((MAVLink.mavlink_raw_imu_t) packet).xmag - offset.Item1, ((MAVLink.mavlink_raw_imu_t) packet).ymag - offset.Item2, ((MAVLink.mavlink_raw_imu_t) packet).zmag - offset.Item3) ); vertexes.Add(vertex); // for old method setMinorMax(((MAVLink.mavlink_raw_imu_t) packet).xmag - offset.Item1, ref minx, ref maxx); setMinorMax(((MAVLink.mavlink_raw_imu_t) packet).ymag - offset.Item2, ref miny, ref maxy); setMinorMax(((MAVLink.mavlink_raw_imu_t) packet).zmag - offset.Item3, ref minz, ref maxz); // for new lease sq string item = (int) (((MAVLink.mavlink_raw_imu_t) packet).xmag/div) + "," + (int) (((MAVLink.mavlink_raw_imu_t) packet).ymag/div) + "," + (int) (((MAVLink.mavlink_raw_imu_t) packet).zmag/div); if (filter.ContainsKey(item)) { filter[item] = (int) filter[item] + 1; if ((int) filter[item] > 3) continue; } else { filter[item] = 1; } data.Add(new Tuple<float, float, float>( ((MAVLink.mavlink_raw_imu_t) packet).xmag - offset.Item1, ((MAVLink.mavlink_raw_imu_t) packet).ymag - offset.Item2, ((MAVLink.mavlink_raw_imu_t) packet).zmag - offset.Item3)); } } log.Info("Log Processed " + DateTime.Now); Console.WriteLine("Extracted " + data.Count + " data points"); Console.WriteLine("Current offset: " + offset); mine.logreadmode = false; mine.logplaybackfile.Close(); mine.logplaybackfile = null; } if (data.Count < 10) { CustomMessageBox.Show("Log does not contain enough data"); throw new Exception("Not Enough Data"); } data.Sort( delegate(Tuple<float, float, float> d1, Tuple<float, float, float> d2) { // get distance from 0,0,0 double ans1 = Math.Sqrt(d1.Item1*d1.Item1 + d1.Item2*d1.Item2 + d1.Item3*d1.Item3); double ans2 = Math.Sqrt(d2.Item1*d2.Item1 + d2.Item2*d2.Item2 + d2.Item3*d2.Item3); if (ans1 > ans2) return 1; if (ans1 < ans2) return -1; return 0; } ); data.RemoveRange(data.Count - (data.Count/16), data.Count/16); System.Console.WriteLine("Old Method {0} {1} {2}", -(maxx + minx)/2, -(maxy + miny)/2, -(maxz + minz)/2); double[] x = LeastSq(data); log.Info("Least Sq Done " + DateTime.Now); doDXF(vertexes, x); Array.Resize<double>(ref x, 3); return x; }
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; }
private static void WriteDxfFile() { DxfDocument dxf = new DxfDocument(); //arc Arc arc = new Arc(new Vector3d(10, 10, 0), 10, 45, 135); arc.Layer = new Layer("arc"); arc.Layer.Color.Index = 1; dxf.AddEntity(arc); //xData sample XData xdata = new XData(new ApplicationRegistry("netDxf")); xdata.XDataRecord.Add(new XDataRecord(XDataCode.String, "extended data with netDxf")); xdata.XDataRecord.Add(XDataRecord.OpenControlString); xdata.XDataRecord.Add(new XDataRecord(XDataCode.WorldSpacePositionX, 0)); xdata.XDataRecord.Add(new XDataRecord(XDataCode.WorldSpacePositionY, 0)); xdata.XDataRecord.Add(new XDataRecord(XDataCode.WorldSpacePositionZ, 0)); xdata.XDataRecord.Add(XDataRecord.CloseControlString); XData xdata2 = new XData(new ApplicationRegistry("other application")); xdata2.XDataRecord.Add(new XDataRecord(XDataCode.String, "extended data with netDxf")); xdata2.XDataRecord.Add(XDataRecord.OpenControlString); xdata2.XDataRecord.Add(new XDataRecord(XDataCode.String, "string record")); xdata2.XDataRecord.Add(new XDataRecord(XDataCode.Real, 15.5)); xdata2.XDataRecord.Add(new XDataRecord(XDataCode.Long, 350)); xdata2.XDataRecord.Add(XDataRecord.CloseControlString); //circle Vector3d extrusion = new Vector3d(1, 1, 1); Vector3d centerWCS = new Vector3d(1, 1, 1); Vector3d centerOCS = MathHelper.Transform(centerWCS, extrusion, MathHelper.CoordinateSystem.World, MathHelper.CoordinateSystem.Object); Circle circle = new Circle(centerOCS, 5); circle.Layer = new Layer("circle with spaces"); circle.Layer.Color=AciColor.Yellow; circle.LineType = LineType.Dashed; circle.Normal = extrusion; circle.XData=new Dictionary<ApplicationRegistry, XData> { {xdata.ApplicationRegistry, xdata}, {xdata2.ApplicationRegistry, xdata2} }; dxf.AddEntity(circle); //points Point point1 = new Point(new Vector3d(-3, -3, 0)); point1.Layer = new Layer("point"); point1.Color = new AciColor(30); Point point2 = new Point(new Vector3d(1, 1, 1)); point2.Layer = point1.Layer; point2.Layer.Color.Index = 9; point2.Normal = new Vector3d(1, 1, 1); dxf.AddEntity(point1); dxf.AddEntity(point2); //3dface Face3d face3D = new Face3d(new Vector3d(-5, -5, 5), new Vector3d(5, -5, 5), new Vector3d(5, 5, 5), new Vector3d(-5, 5, 5)); face3D.Layer = new Layer("3dface"); face3D.Layer.Color.Index = 3; dxf.AddEntity(face3D); //polyline PolylineVertex polyVertex; List<PolylineVertex> polyVertexes = new List<PolylineVertex>(); polyVertex = new PolylineVertex(new Vector2d(-50, -50)); polyVertex.BeginThickness = 2; polyVertexes.Add(polyVertex); polyVertex = new PolylineVertex(new Vector2d(50, -50)); polyVertex.BeginThickness = 1; polyVertexes.Add(polyVertex); polyVertex = new PolylineVertex(new Vector2d(50, 50)); polyVertex.Bulge = 1; polyVertexes.Add(polyVertex); polyVertex = new PolylineVertex(new Vector2d(-50, 50)); polyVertexes.Add(polyVertex); Polyline polyline2d = new Polyline(polyVertexes, true); polyline2d.Layer = new Layer("polyline2d"); polyline2d.Layer.Color.Index = 5; polyline2d.Normal = new Vector3d(1, 1, 1); polyline2d.Elevation = 100.0; dxf.AddEntity(polyline2d); //lightweight polyline LightWeightPolylineVertex lwVertex; List<LightWeightPolylineVertex> lwVertexes = new List<LightWeightPolylineVertex>(); lwVertex = new LightWeightPolylineVertex(new Vector2d(-25, -25)); lwVertex.BeginThickness = 2; lwVertexes.Add(lwVertex); lwVertex = new LightWeightPolylineVertex(new Vector2d(25, -25)); lwVertex.BeginThickness = 1; lwVertexes.Add(lwVertex); lwVertex = new LightWeightPolylineVertex(new Vector2d(25, 25)); lwVertex.Bulge = 1; lwVertexes.Add(lwVertex); lwVertex = new LightWeightPolylineVertex(new Vector2d(-25, 25)); lwVertexes.Add(lwVertex); LightWeightPolyline lwPolyline = new LightWeightPolyline(lwVertexes, true); lwPolyline.Layer = new Layer("lwpolyline"); lwPolyline.Layer.Color.Index = 5; lwPolyline.Normal = new Vector3d(1, 1, 1); lwPolyline.Elevation = 100.0; dxf.AddEntity(lwPolyline); //line Line line = new Line(new Vector3d(0, 0, 0), new Vector3d(10, 10, 10)); line.Layer = new Layer("line"); line.Layer.Color.Index = 6; dxf.AddEntity(line); //3d polyline Polyline3dVertex vertex; List<Polyline3dVertex> vertexes = new List<Polyline3dVertex>(); vertex = new Polyline3dVertex(new Vector3d(-50, -50, 0)); vertexes.Add(vertex); vertex = new Polyline3dVertex(new Vector3d(50, -50, 10)); vertexes.Add(vertex); vertex = new Polyline3dVertex(new Vector3d(50, 50, 25)); vertexes.Add(vertex); vertex = new Polyline3dVertex(new Vector3d(-50, 50, 50)); vertexes.Add(vertex); Polyline3d polyline = new Polyline3d(vertexes, true); polyline.Layer = new Layer("polyline3d"); polyline.Layer.Color.Index = 24; dxf.AddEntity(polyline); //block definition Block block = new Block("TestBlock"); block.Entities.Add(new Line(new Vector3d(-5, -5, 5), new Vector3d(5, 5, 5))); block.Entities.Add(new Line(new Vector3d(5, -5, 5), new Vector3d(-5, 5, 5))); //insert Insert insert = new Insert(block, new Vector3d(5, 5, 5)); insert.Layer = new Layer("insert"); insert.Layer.Color.Index = 4; dxf.AddEntity(insert); //text TextStyle style=new TextStyle("True type font","Arial.ttf"); Text text = new Text("Hello world!", Vector3d.Zero, 10.0f,style); text.Layer = new Layer("text"); text.Layer.Color.Index = 8; text.Alignment = TextAlignment.TopRight; dxf.AddEntity(text); dxf.Save("AutoCad2007.dxf", DxfVersion.AutoCad2007); dxf.Save("AutoCad2004.dxf", DxfVersion.AutoCad2004); dxf.Save("AutoCad2000.dxf", DxfVersion.AutoCad2000); dxf.Save("AutoCad12.dxf", DxfVersion.AutoCad12); }