public static void UpdateDataBlock(DataBlock dataBlock, DataString dataString)
{
for (int i = 0; i < dataString.Data.Length; i++)
{
dataBlock.Parts[i].DataString = dataString.Data[i];
}
}
private static DataString CreateDataString(ZBlockDescribe zBlockDescribe)
{
DataString dataString = new DataString();
dataString.BlockWord = zBlockDescribe.BlockWord;
dataString.Data = new string[zBlockDescribe.ZParts.Length];
dataString.Value = new float[zBlockDescribe.ZParts.Length];
return(dataString);
}
private void Convert()
{
dataString = new DataString();
dataString.BlockWord = byte.Parse(dataWidget1.DataString);
zBlockDescribe = new ZBlockDescribe();
zBlockDescribe.BlockName = dataWidget3.DataString;
zBlockDescribe.BlockWord = byte.Parse(dataWidget1.DataString);
if (dataWidget2.DataString == "")
{
dataString.Data = new string[list.Count];
dataString.Value = new float[list.Count];
zBlockDescribe.ZParts = new ZPartDescribe[list.Count];
//zBlockDescribe.ZPartNum = list.Count;
for (int i = 0; i < list.Count; i++)
{
zBlockDescribe.ZParts[i].Name = list[i].DataName;
zBlockDescribe.ZParts[i].DataType = ConvertType(list[i].DataType);
zBlockDescribe.ZParts[i].Index = (byte)i;
dataString.Data[i] = list[i].DataString;
}
}
else
{
dataString.Data = new string[list.Count + 1];
dataString.Value = new float[list.Count + 1];
zBlockDescribe.ZParts = new ZPartDescribe[list.Count + 1];
//zBlockDescribe.ZPartNum = list.Count + 1;
dataString.Data[0] = dataWidget2.DataString;
zBlockDescribe.ZParts[0].DataType = DataTypeEnum.Reserve;
zBlockDescribe.ZParts[0].Index = 0;
zBlockDescribe.ZParts[0].Name = "保留位";
zBlockDescribe.ZParts[0].BlockWord = zBlockDescribe.BlockWord;
for (int i = 1; i < list.Count + 1; i++)
{
zBlockDescribe.ZParts[i].BlockWord = zBlockDescribe.BlockWord;
zBlockDescribe.ZParts[i].Name = list[i - 1].DataName;
zBlockDescribe.ZParts[i].DataType = ConvertType(list[i - 1].DataType);
zBlockDescribe.ZParts[i].Index = (byte)i;
dataString.Data[i] = list[i - 1].DataString;
}
}
}
private void FlyRec(DataString dataString)
{
if (FlyRecStream != null)
{
StringBuilder sb = new StringBuilder(100);
sb.Append("0x");
sb.Append(dataString.BlockWord.ToString("X"));
for (int i = 0; i < dataString.Data.Length; i++)
{
sb.Append(" ");
sb.Append(dataString.Data[i]);
}
FlyRecStream.WriteLine(sb.ToString());
}
}
private void Convert()
{
dataString = new DataString();
dataString.BlockWord = byte.Parse(dataWidget1.DataString);
zBlockDescribe = new ZBlockDescribe();
zBlockDescribe.BlockName = dataWidget3.DataString;
zBlockDescribe.BlockWord = byte.Parse(dataWidget1.DataString);
if (dataWidget2.DataString == "")
{
dataString.Data = new string[list.Count];
dataString.Value = new float[list.Count];
zBlockDescribe.ZParts = new ZPartDescribe[list.Count];
//zBlockDescribe.ZPartNum = list.Count;
for (int i = 0; i < list.Count; i++)
{
zBlockDescribe.ZParts[i].Name = list[i].DataName;
zBlockDescribe.ZParts[i].DataType = ConvertType(list[i].DataType);
zBlockDescribe.ZParts[i].Index = (byte)i;
dataString.Data[i] = list[i].DataString;
}
}
else
{
dataString.Data = new string[list.Count + 1];
dataString.Value = new float[list.Count + 1];
zBlockDescribe.ZParts = new ZPartDescribe[list.Count + 1];
//zBlockDescribe.ZPartNum = list.Count + 1;
dataString.Data[0] = dataWidget2.DataString;
zBlockDescribe.ZParts[0].DataType = DataTypeEnum.Reserve;
zBlockDescribe.ZParts[0].Index = 0;
zBlockDescribe.ZParts[0].Name = "保留位";
zBlockDescribe.ZParts[0].BlockWord = zBlockDescribe.BlockWord;
for (int i = 1; i < list.Count + 1; i++)
{
zBlockDescribe.ZParts[i].BlockWord = zBlockDescribe.BlockWord;
zBlockDescribe.ZParts[i].Name = list[i-1].DataName;
zBlockDescribe.ZParts[i].DataType = ConvertType(list[i-1].DataType);
zBlockDescribe.ZParts[i].Index = (byte)i;
dataString.Data[i] = list[i-1].DataString;
}
}
}
public static DataString GetDataString(ZBlock zBlock, ZBlockDescribe zBlockDescribe)
{
DataString dataString = CreateDataString(zBlockDescribe);
int p = 0;
for (int i = 0; i < zBlockDescribe.ZParts.Length; i++)//根据描述信息及数据,循环完成数据的读取及格式化.
{
int I; uint U; float F; string S;
switch (zBlockDescribe.ZParts[i].DataType)
{
case DataTypeEnum.U8:
U = zBlock.Data[p]; p += 1; F = U;
S = ToStr(U, zBlockDescribe.ZParts[i].ShowType);
break;
case DataTypeEnum.U16:
U = BitConverter.ToUInt16(zBlock.Data, p); p += 2; F = U;
S = ToStr(U, zBlockDescribe.ZParts[i].ShowType);
break;
case DataTypeEnum.U32:
U = BitConverter.ToUInt32(zBlock.Data, p); p += 4; F = U;
S = ToStr(U, zBlockDescribe.ZParts[i].ShowType);
break;
case DataTypeEnum.S16:
I = BitConverter.ToInt16(zBlock.Data, p); p += 2; F = I;
S = ToStr(I, zBlockDescribe.ZParts[i].ShowType);
break;
case DataTypeEnum.S32:
I = BitConverter.ToInt32(zBlock.Data, p); p += 4; F = I;
S = ToStr(I, zBlockDescribe.ZParts[i].ShowType);
break;
case DataTypeEnum.F32:
F = BitConverter.ToSingle(zBlock.Data, p); p += 4;
S = ToStr(F, zBlockDescribe.ZParts[i].ShowType);
break;
case DataTypeEnum.C:
F = 0;
char[] cs = new char[12];
int n = 0;
for (n = 0; n < zBlockDescribe.ZParts[i].CharLength / 8; n++)
{
char c = (char)zBlock.Data[n];
if (c == 0)
{
break;
}
cs[n] = c;
}
S = new string(cs, 0, n);
break;
case DataTypeEnum.Reserve:
U = zBlock.Reserve; F = U;
S = ToStr(U, zBlockDescribe.ZParts[i].ShowType);
break;
default:
F = 0;
S = "";
break;
}
dataString.Data[i] = S;
dataString.Value[i] = F;
}
return(dataString);
}
private void FlyRec(DataString dataString)
{
if (FlyRecStream != null)
{
StringBuilder sb = new StringBuilder(100);
sb.Append("0x");
sb.Append(dataString.BlockWord.ToString("X"));
for (int i = 0; i < dataString.Data.Length; i++)
{
sb.Append(" ");
sb.Append(dataString.Data[i]);
}
FlyRecStream.WriteLine(sb.ToString());
}
}
private static DataString CreateDataString(ZBlockDescribe zBlockDescribe)
{
DataString dataString = new DataString();
dataString.BlockWord = zBlockDescribe.BlockWord;
dataString.Data = new string[zBlockDescribe.ZParts.Length];
dataString.Value = new float[zBlockDescribe.ZParts.Length];
return dataString;
}
public static void UpdateDataBlock(DataBlock dataBlock, DataString dataString)
{
for (int i = 0; i < dataString.Data.Length; i++)
{
dataBlock.Parts[i].DataString=dataString.Data[i];
}
}
void ZProtocolProcessObj_OnReceviceBlock()
{
while (ZProtocolProcessObj.BufferBlockNum > 0)
{
ZBlock zBlock = ZProtocolProcessObj.FetchBlock();//取出数据
ZBlockDescribe zBlockDescribe = new ZBlockDescribe();
try
{
zBlockDescribe = ZDescribeProcessObj.Lookup(zBlock.Word);//查询描述
if (zBlockDescribe.BlockWord != 0 && zBlockDescribe.BlockWord == zBlock.Word)
{
DataString dataString = Converter.GetDataString(zBlock, zBlockDescribe); //格式化数据
Converter.UpdateDataBlock(Blocks[zBlock.Word], dataString); //更新显示
//附加处理
//记录飞行状态数据
if (cbFlyRec.Checked == true)
{
FlyRec(dataString);
}
//TODO:特定命令字处理
//显示消息
ShowMessage(ref zBlock);
}
}
catch
{
// WriteLine("Undefine Word:0x" + zBlock.Word.ToString("X"));
}
try
{
zBlockDescribe = ZDescribeProcessObjMin.Lookup(zBlock.Word);//查询描述
if (zBlockDescribe.BlockWord != 0 && zBlockDescribe.BlockWord == zBlock.Word)
{
DataString dataString = Converter.GetDataString(zBlock, zBlockDescribe); //格式化数据
Converter.UpdateDataBlock(BlocksMin[zBlock.Word], dataString); //更新显示
switch (dataString.BlockWord)
{
case 0x5B:
dataGraphics1.AddData(dataString.Value[0]); //x位置
dataGraphics2.AddData(dataString.Value[1]); //y位置
dataGraphics3.AddData(dataString.Value[2]); //高度
break;
case 0x5C:
dataGraphics4.AddData(dataString.Value[0]); //x速度
dataGraphics6.AddData(dataString.Value[1]); //y速度
dataGraphics10.AddData(dataString.Value[2]); //z速度
break;
case 0x59:
dataGraphics5.AddData(dataString.Value[0]); //俯仰角
dataGraphics7.AddData(dataString.Value[1]); //滚转角
dataGraphics9.AddData(dataString.Value[2]); //航向角
break;
case 0x5A:
dataGraphics8.AddData(dataString.Value[2]); //航向角速度
break;
case 0x52:
dataGraphicsTwoLine1.AddData(dataString.Value[0], 0); //算法舵量A
dataGraphicsTwoLine2.AddData(dataString.Value[1], 0); //算法舵量B
dataGraphicsTwoLine3.AddData(dataString.Value[2], 0); //算法舵量C
break;
case 0x53:
dataGraphicsTwoLine4.AddData(dataString.Value[0], 0); //算法舵量D
dataGraphicsTwoLine5.AddData(dataString.Value[1], 0); //算法舵量E
break;
case 0x54:
dataGraphicsTwoLine1.AddData(dataString.Value[0], 1); //遥控舵量A
dataGraphicsTwoLine2.AddData(dataString.Value[1], 1); //遥控舵量B
dataGraphicsTwoLine3.AddData(dataString.Value[2], 1); //遥控舵量C
break;
case 0x55:
dataGraphicsTwoLine4.AddData(dataString.Value[0], 1); //遥控舵量D
dataGraphicsTwoLine5.AddData(dataString.Value[1], 1); //遥控舵量E
break;
default:
break;
}
}
}
catch
{
// WriteLine("Undefine Word:0x" + zBlock.Word.ToString("X"));
}
}
}
