protected override void OnPaint(PaintEventArgs pe)
{
Graphics g = pe.Graphics;
g.Clear(Color.White);
if (transform == null)
{
CalcTransform();
}
g.Transform = transform;
int w = (int)((CarModelState.MAX_POS_X - CarModelState.MIN_POS_X) / CarModel.MM_PER_PIXEL);
int h = (int)((CarModelState.MAX_POS_Y - CarModelState.MIN_POS_Y) / CarModel.MM_PER_PIXEL);
if (neuralController != null)
{
double orix = Math.Cos(carPositionProvider.GetCarState().Angle);
double oriy = Math.Sin(carPositionProvider.GetCarState().Angle);
PointF[] pp = new PointF[] { new PointF(0, 0), new PointF(Width - 1, Height - 1) };
itransform.TransformPoints(pp);
pp[0].X = (float)ComMath.Normal((pp[0].X - CarModel.OFFSET_X) * CarModel.MM_PER_PIXEL, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE);
pp[0].Y = (float)ComMath.Normal((pp[0].Y - CarModel.OFFSET_Y) * CarModel.MM_PER_PIXEL, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE);
pp[1].X = (float)ComMath.Normal((pp[1].X - CarModel.OFFSET_X) * CarModel.MM_PER_PIXEL, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE);
pp[1].Y = (float)ComMath.Normal((pp[1].Y - CarModel.OFFSET_Y) * CarModel.MM_PER_PIXEL, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE);
Bitmap background = neuralController.controller.Visualize(20, 20, new RectangleF(pp[0].X, pp[0].Y, pp[1].X - pp[0].X, pp[1].Y - pp[0].Y), 0, 1, new double[] { 0, 0, orix, oriy }, 0, -10, 10);
pp = new PointF[] { new PointF(0, 0), new PointF(Width - 1, Height - 1) };
itransform.TransformPoints(pp);
g.DrawImage(background, new RectangleF(pp[0].X, pp[0].Y, pp[1].X - pp[0].X, pp[1].Y - pp[0].Y), new RectangleF(0, 0, background.Width - 1, background.Height - 1), GraphicsUnit.Pixel);
}
if (cameraCarPos != null)
{
Image im = cameraCarPos.GetImage();
if (im != null)
{
g.DrawImage(im, new Rectangle(0, 0, w, h), new Rectangle(0, 0, im.Width, im.Height), GraphicsUnit.Pixel);
}
}
//g.DrawRectangle(new Pen(Color.Blue, 3), new Rectangle(0, 0, w, h));
if (obstacleProvider != null)
{
List <ObstacleModel> obstacles = obstacleProvider.GetObstacleModels(0);
foreach (ObstacleModel om in obstacles)
{
om.Render(g);
}
}
if (finishPositionProvider != null)
{
finishPositionProvider.GetFinishModel(0).Render(g);
}
if (trainingModels != null)
{
lock (trainingModels)
{
foreach (CarModel m in trainingModels)
{
if (m != null)
{
m.Render(g, 120, false);
}
}
}
}
if (carPositionProvider != null)
{
CarModel model = carPositionProvider.GetCarModel();
model.Render(g, 255, true);
if (recv)
{
g.FillEllipse(new SolidBrush(Color.Red), new Rectangle((int)(model.state.Position.X / CarModel.MM_PER_PIXEL + CarModel.OFFSET_X) - 2, (int)(model.state.Position.Y / CarModel.MM_PER_PIXEL + CarModel.OFFSET_Y) - 2, 4, 4));
recv = false;
}
}
// Calling the base class OnPaint
base.OnPaint(pe);
if (OnRefreshed != null)
{
OnRefreshed.Invoke();
}
}
