private void PathDisplayForm_Load(object sender, EventArgs e)
{
for (int i = 0; i < 10; i++)
{
Mapz[i] = new Coor();
Mapz[i].X = 36000 - i * 3600;
//Map[i].y=-800+1600/9*i;
// Map[i].y = -90;
Mapz[i].Y = -80;
}
for ( int i = 0; i < 10; i = i + 2)
{
Mapz[i].Y = +80;
}
for (int i = 0; i < 10; i++)
{
Maps[i] = new Coor();
Maps[i].X = 36000 - i * 3600;
//Map[i].y=-800+1600/9*i;
// Map[i].y = -90;
Maps[i].Y = 450;
}
path_list = new ArrayList();
DrawAxis(OrgX, OrgY, 1000, Color.Blue);
}
private void button1_Click_1(object sender, EventArgs e)
{
FileStream fs1;
if (!File.Exists("D:\\processed.txt"))
{
//StreamWriter sw = new StreamWriter("D:\\processed.txt", false);
fs1 = new FileStream("D:\\processed.txt", FileMode.Create, FileAccess.Write);//创建写入文件
}
else
{
fs1 = new FileStream("D:\\processed.txt", FileMode.Open, FileAccess.Write);
}
StreamWriter sw = new StreamWriter(fs1);
System.Windows.Forms.OpenFileDialog openFileDialog1 = new System.Windows.Forms.OpenFileDialog();
//StreamWriter sw = new StreamWriter("txtwriter.txt", false);
openFileDialog1.Filter = "文本文件(*.txt)|*.txt|所有文件(*.*)|*.*";
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
string FileName = openFileDialog1.FileName;
// your file-processing code
StreamReader sr = new StreamReader(FileName);
fileContent = sr.ReadToEnd();
String[] path_points = fileContent.Split('<', '>');
path_list.Clear();
for (int i = 0; i < path_points.GetLength(0); i++)
{
if (path_points[i] != null && path_points[i] != "")
{
path_list.Add(path_points[i]);
}
}
DrawAxis(OrgX, OrgY, 1000, Color.Blue);
for (int i = 0; i < path_list.Count; i++)
{
Coor Apoint = new Coor();
String[] x_y = new String[2];
if (path_list[i].ToString().Contains("Map"))
{
path_list[i] = path_list[i].ToString().Replace("Map", "");
x_y = path_list[i].ToString().Split(' ');
DrawCoorodinates_withColor(Convert.ToInt32(x_y[1]), Convert.ToInt32(x_y[3]), Color.Blue);
}
else
{
path_list[i] = path_list[i].ToString().Replace("Real ", "");
x_y = path_list[i].ToString().Split(' ');
if (x_y.GetLength(0) >= 4)
{
if (x_y[1]!=""&&!x_y[1].Contains("\n")&&x_y[3]!=""&&!x_y[3].Contains("\n"))
{
if (Convert.ToInt32( x_y[1])>Convert.ToInt32( x_y[3]))
{
String tempswap = "";
tempswap = x_y[3];
x_y[3] = x_y[1];
x_y[1]=tempswap;
}
DrawCoorodinates_withColor(Convert.ToInt32(x_y[1])/100+OrgX, Convert.ToInt32(x_y[3])/100+OrgY, Color.Black);
writebuf = x_y[1] + " " + x_y[3] ;
sw.WriteLine(writebuf);
}
}
}
}
}
sw.Close();
fs1.Close();
//sw.Close();
}
/// <summary>
/// timer's tick in which we recive and update the data sent to the PC then update them to the htable
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void timerRecieve_Tick(object sender, EventArgs e)
{
PVCI_CAN_OBJ[] sendbuf = new PVCI_CAN_OBJ[200];
int NumValue = 0;
NumValue = VCI_Receive(2, 0, 0, sendbuf);/////////////////Get the msg from the CAN NetWork
showCan(0, 1, sendbuf, NumValue);
int len=sendbuf.GetLength(0);
if (sendbuf[0].DataLen > 0)
{
CurrentBuff = sendbuf[0];
for (int i = 0; i < CurrentBuff.ID.GetLength(0); i++)
{
CurrentBuff.ID[i] = (byte)((CurrentBuff.ID[i])>> 3);
}
////////////////Recive the data from the dsp /////recive data of valid distance and draw on board ////the ID is 00 11 12 19
if (CurrentBuff.ID[0] == 0x00 && CurrentBuff.ID[1] == 0x11 && CurrentBuff.ID[2] == 0x12 && CurrentBuff.ID[3] == 0x19)
{
Int32[] temp = new Int32[8];
CurrentBuff = sendbuf[0];
for (int i = 0; i < 6; i++)
{
temp[i] = CurrentBuff.Data[i];
}
temp[0] = (temp[0] << 16);
temp[1] = (temp[1] << 8);
temp[2] = (temp[2]);
distance = temp[0] + temp[1] + temp[2];
angle = (temp[3]<<16) + (temp[4]<<8) + temp[5];
angle = angle * 360 /1152000;
valid_coord = new Coor();
valid_coord= pollor_to_Descart(distance, angle);
file_txt+="<Real X " + valid_coord.X.ToString() + " Y " + valid_coord.Y.ToString() + ">\n\r ";
//write_file("E:\\trail.txt","","X "+valid_coord.X.ToString()+"Y "+valid_coord.Y.ToString()+"\n\r");
//"D:\\trail.txt"
DrawCoorodinates( ORG_X+ (valid_coord.X)/100,ORG_Y+ (valid_coord.Y)/100);
}
////////////////Recive the data from the dsp /////valid aim map point 00 11 12 1a
if (CurrentBuff.ID[0] == 0x00 && CurrentBuff.ID[1] == 0x11 && CurrentBuff.ID[2] == 0x12 && CurrentBuff.ID[3] == 0x1a)
{
Int32[] temp = new Int32[8];
CurrentBuff = sendbuf[0];
for (int i = 0; i < 6; i++)
{
temp[i] = CurrentBuff.Data[i];
}
temp[0] = (temp[0] << 16);
temp[1] = (temp[1] << 8);
temp[2] = (temp[2]);
x_map = temp[0] + temp[1] + temp[2];
y_map = (temp[3] << 16) + (temp[4] << 8) + temp[5];
//angle = angle * 360 / 1152000;
valid_coord = new Coor();
valid_coord = pollor_to_Descart(distance, angle);
file_txt += "<Map :X " + valid_coord.X.ToString() + " Y " + valid_coord.Y.ToString() + ">\n\r ";
//write_file("E:\\trail.txt","","X "+valid_coord.X.ToString()+"Y "+valid_coord.Y.ToString()+"\n\r");
//"D:\\trail.txt"
DrawCoorodinates_with_pen(ORG_X + (valid_coord.X) / 100, ORG_Y + (valid_coord.Y) / 100,new Pen(Color.Red));
}
}
// TempVpOnMain.Value = (int)Form1.htable[pressure]/TempVpOnMain.Maximum;
//DrawBar(sendbuf[sendbuf.GetLength(0)-1]);
}
Coor pollor_to_Descart(float dis, float angle)
{
Coor tempCoor = new Coor();
tempCoor.X = (int)(dis *(float)Math.Cos(3.14159*angle/180));
tempCoor.Y = (int)(dis * (float)Math.Sin(3.14159*angle/180));
return tempCoor;
}
