public SimulationModeItemManager(ContextMenuStrip contextMenuStrip, CarModelGraphicControl graphicControl)
{
model = new CarModel(new CarModelState(new PointD(ComMath.Normal(0, 0, 1, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X),
ComMath.Normal(0, 0, 1, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y)),
new PointD(0, 1)));
finish = new FinishModel(new PointD(ComMath.Normal(0.5, 0, 1, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X),
ComMath.Normal(0.5, 0, 1, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y)),
0);
obstacles = new List <ObstacleModel>();
dragables = new List <IDragable>();
sampledCarState = model.state;
dragables.Add(model);
dragables.Add(finish);
dragged = null;
state = State.NONE;
this.contextMenuStrip = contextMenuStrip;
this.graphicControl = graphicControl;
contextMenuStrip.Items[0].Click += new EventHandler(newObstacle);
contextMenuStrip.Items[1].Click += new EventHandler(deleteObstacle);
}
///发送数据
public void SendCommand(string command)
{
byte[] sendData = ComMath.Hex16StringToByteArry(command);
if (ComDevice.IsOpen)
{
try
{
ComDevice.Write(sendData, 0, sendData.Length);//发送数据
}
catch (Exception ex)
{
MessageBox.Show("发送失败：" + ex.Message);
}
}
}
public static GridObstacleState FromObstacleState(ObstacleState obst, GridCarModelState state)
{
double d = ComMath.Normal(Math.Sqrt(obst.pp.position.X * obst.pp.position.X + obst.pp.position.Y * obst.pp.position.Y), GridCarModelState.MIN_DIST, GridCarModelState.MAX_DIST, 0, 1);
double a = ComMath.Normal(state.TargetDist, GridCarModelState.MIN_DIST, GridCarModelState.MAX_DIST, 0, 1);
double ang = Math.PI - (Math.Atan2(obst.pp.position.Y, obst.pp.position.X) + Math.PI) + state.TargetAngle - state.TargetFinishAngle;
if (ang > Math.PI)
{
ang -= 2 * Math.PI;
}
if (ang < -Math.PI)
{
ang += 2 * Math.PI;
}
double AA = -2 * d * Math.Cos(ang);
double BB = d * d;
double obstdist = Math.Sqrt(a * a + BB + AA * a);
double obstang = state.TargetAngle + Math.Sign(ang) * Math.Acos((a * a + obstdist * obstdist - d * d) / (2 * a * obstdist));
GridObstacleState gos = new GridObstacleState(obstdist, obstang, obst.radius);
return(gos);
}
public Bitmap Visualize(int width, int height, RectangleF rect, int xindex, int yindex, double[] otherargs, int outpindex, double minNeuronOutp, double maxNeuronOutp)
{
lock (this)
{
uint[] buf = new uint[width * height];
for (int x = 0; x < width; ++x)
{
for (int y = 0; y < height; ++y)
{
double[] inp = new double[otherargs.Length];
for (int i = 0; i < otherargs.Length; ++i)
{
inp[i] = otherargs[i];
}
inp[xindex] = ComMath.Normal(x, 0, width - 1, rect.Left, rect.Right);
inp[yindex] = ComMath.Normal(y, 0, height - 1, rect.Top, rect.Bottom);
double[] outp = this.Output(inp);
int blue = 0;
int green = 0;
int red = 0;
blue = (int)ComMath.Normal(outp[outpindex], minNeuronOutp, maxNeuronOutp, 255, 0);
//if (outp[outpindex] >= -1)
//else { blue = 255; green = 255; }
green = (int)ComMath.Normal(outp[outpindex], minNeuronOutp, maxNeuronOutp, 0, 255);
//if (outp[outpindex] <= 1)
//else { red = 255; green = 255; }
if (blue > 255)
{
blue = 255;
}
if (blue < 0)
{
blue = 0;
}
if (red > 255)
{
red = 255;
}
if (red < 0)
{
red = 0;
}
if (green > 255)
{
green = 255;
}
if (green < 0)
{
green = 0;
}
buf[y * width + x] = 0xFF000000 + (uint)(red * 256 * 256 + green * 256 + blue);
}
}
Bitmap bm = new Bitmap(width, height);
BitmapData bmData = bm.LockBits(new Rectangle(0, 0, width, height), ImageLockMode.ReadWrite, PixelFormat.Format32bppRgb);
int len = bmData.Width * bmData.Height;
unsafe
{
uint *cim = (uint *)bmData.Scan0.ToPointer();//direkt bitmap memoriaba rajzolunk, gyors
for (int i = 0; i < len; ++i)
{
cim[i] = buf[i];
}
}
bm.UnlockBits(bmData);
return(bm);
}
}
