private string ViewLimit(Module.LimitSW limitSW)
{
string str = "";
for (int i = 0; i < limitSW.sw.Count; i++)
{
if (limitSW.sw[i])
{
//1
str += "1 ";
}
else
{
//0
str += "0 ";
}
}
return(str);
}
public void ViewStats(bool zone, bool match, Module.Display display, Module.Motor motorDriver, Module.Servo servo, Module.Gyro gyro, Module.LimitSW limitSW, Module.LRF lrfFront, Module.LRF lrfBack, Robot.Stats robot)
{
string nowMatch;
if (match == Flag.MATCH_FINAL)
{
//決勝
nowMatch = "[Final]";
}
else
{
//予選
nowMatch = "[Qual]";
}
//ロボットの現在の状態を表示
Mat frame = new Mat(350, 600, MatType.CV_8UC3, new Scalar(255, 255, 255));
//ロボットの状態
Cv2.PutText(frame, "Robot : " + robot.message + nowMatch, new OpenCvSharp.Point(0, 30), HersheyFonts.HersheyComplexSmall, 1, new Scalar(0, 0, 0), 1, LineTypes.AntiAlias);
//ロボットの移動方向、速度
Cv2.PutText(frame, "Speed :" + robot.speed + "%, Angle : " + robot.angle + "[deg]", new OpenCvSharp.Point(0, 60), HersheyFonts.HersheyComplexSmall, 1, new Scalar(0, 0, 0), 1, LineTypes.AntiAlias);
//ジャイロセンサのデータ
Cv2.PutText(frame, "Yaw : " + Math.Round(gyro.yaw, 2) + "[deg]", new OpenCvSharp.Point(0, 90), HersheyFonts.HersheyComplexSmall, 1, new Scalar(0, 0, 0), 1, LineTypes.AntiAlias);
//リミットスイッチのデータ
Cv2.PutText(frame, "Limit : " + ViewLimit(limitSW), new OpenCvSharp.Point(0, 120), HersheyFonts.HersheyComplexSmall, 1, new Scalar(0, 0, 0), 1, LineTypes.AntiAlias);
//LRF右 0度
Cv2.PutText(frame, "LRF_F[0deg]", new OpenCvSharp.Point(0, 150), HersheyFonts.HersheyComplexSmall, 1, new Scalar(0, 0, 0), 1, LineTypes.AntiAlias);
Cv2.PutText(frame, lrfFront.GetLen(0) + "[mm]", new OpenCvSharp.Point(220, 150), HersheyFonts.HersheyComplexSmall, 1, new Scalar(0, 0, 0), 1, LineTypes.AntiAlias);
//LRF右 90度
Cv2.PutText(frame, "LRF_F[90deg]", new OpenCvSharp.Point(0, 180), HersheyFonts.HersheyComplexSmall, 1, new Scalar(0, 0, 0), 1, LineTypes.AntiAlias);
Cv2.PutText(frame, lrfFront.GetLen(90) + "[mm]", new OpenCvSharp.Point(220, 180), HersheyFonts.HersheyComplexSmall, 1, new Scalar(0, 0, 0), 1, LineTypes.AntiAlias);
//LRF右 -90度
Cv2.PutText(frame, "LRF_F[-90deg]", new OpenCvSharp.Point(0, 210), HersheyFonts.HersheyComplexSmall, 1, new Scalar(0, 0, 0), 1, LineTypes.AntiAlias);
Cv2.PutText(frame, lrfFront.GetLen(-90) + "[mm]", new OpenCvSharp.Point(220, 210), HersheyFonts.HersheyComplexSmall, 1, new Scalar(0, 0, 0), 1, LineTypes.AntiAlias);
//LRF左 0度
Cv2.PutText(frame, "LRF_B[0deg]", new OpenCvSharp.Point(0, 240), HersheyFonts.HersheyComplexSmall, 1, new Scalar(0, 0, 0), 1, LineTypes.AntiAlias);
Cv2.PutText(frame, lrfBack.GetLen(0) + "[mm]", new OpenCvSharp.Point(220, 240), HersheyFonts.HersheyComplexSmall, 1, new Scalar(0, 0, 0), 1, LineTypes.AntiAlias);
//LRF左 90度
Cv2.PutText(frame, "LRF_B[90deg]", new OpenCvSharp.Point(0, 270), HersheyFonts.HersheyComplexSmall, 1, new Scalar(0, 0, 0), 1, LineTypes.AntiAlias);
Cv2.PutText(frame, lrfBack.GetLen(90) + "[mm]", new OpenCvSharp.Point(220, 270), HersheyFonts.HersheyComplexSmall, 1, new Scalar(0, 0, 0), 1, LineTypes.AntiAlias);
//LRF左 -90度
Cv2.PutText(frame, "LRF_B[-90deg]", new OpenCvSharp.Point(0, 300), HersheyFonts.HersheyComplexSmall, 1, new Scalar(0, 0, 0), 1, LineTypes.AntiAlias);
Cv2.PutText(frame, lrfBack.GetLen(-90) + "[mm]", new OpenCvSharp.Point(220, 300), HersheyFonts.HersheyComplexSmall, 1, new Scalar(0, 0, 0), 1, LineTypes.AntiAlias);
//足回りの描画
SetRobotModel(frame, zone, motorDriver, new OpenCvSharp.Point(360, 120), 200, 20);
//画面表示
Cv2.ImShow("Progress", frame);
Cv2.MoveWindow("Progress", 750, 0);
Cv2.ImShow("Stats", ViewConnect(display, motorDriver, servo, gyro, limitSW, lrfFront, lrfBack));
Cv2.MoveWindow("Stats", 750, frame.Size().Height + 50);
Cv2.WaitKey(1);
}
private Mat ViewConnect(Module.Display display, Module.Motor motorDriver, Module.Servo servo, Module.Gyro gyro, Module.LimitSW limitSW, Module.LRF lrfFront, Module.LRF lrfBack)
{
//センサーの接続状況画面
//センサーのリスト
string[,] sensorList =
{
//名前, ポート番号, 状態
{ "LRF[F]", lrfFront.portNo, lrfFront.message },
{ "LRF[B]", lrfBack.portNo, lrfBack.message },
{ "Motor", motorDriver.portNo, motorDriver.message },
{ "Servo", servo.portNo, servo.message },
{ "Gyro", gyro.portNo, gyro.message },
{ "Limit", limitSW.portNo, limitSW.message },
{ "Display", display.portNo, display.message }
};
//ディスプレイのサイズを作成
Mat serialStats = new Mat(((sensorList.Length + 3) * 10), 600, MatType.CV_8UC3, new Scalar(255, 255, 255));
//センサの各情報を表示
for (int i = 0; i < (sensorList.Length / 3); i++)
{
Cv2.PutText(serialStats, sensorList[i, 0], new OpenCvSharp.Point(0, ((i + 1) * 30)), HersheyFonts.HersheyComplexSmall, 1, new Scalar(0, 0, 0), 1, LineTypes.AntiAlias);
Cv2.PutText(serialStats, sensorList[i, 1], new OpenCvSharp.Point(100, ((i + 1) * 30)), HersheyFonts.HersheyComplexSmall, 1, new Scalar(0, 0, 0), 1, LineTypes.AntiAlias);
Cv2.PutText(serialStats, "[ " + sensorList[i, 2] + " ]", new OpenCvSharp.Point(200, ((i + 1) * 30)), HersheyFonts.HersheyComplexSmall, 1, new Scalar(0, 0, 0), 1, LineTypes.AntiAlias);
}
//結果を返却
return(serialStats);
}