/// <summary>
/// 绘制一条边界线
/// </summary>
/// <param name="st">起始点</param>
/// <param name="et">终止点</param>
private void draw1line(MapKeyPoint st, MapKeyPoint et)
{
Graphics g = this.MapPictureBox.CreateGraphics();
this.Show();
//Pen p = new Pen(Color.White, 1);
//g.DrawRectangle(p, e.X - size / 2, e.Y - size / 2, size, size);
Pen b;
//Pen pen = new Pen(Color.Red, 5);
if (st.t != et.t)
{
MessageBox.Show("点类型不一致");
return;
}
//int size = 100;
switch (st.t)
{
case MapKeyPoint.ptype.地形边界点:
b = new Pen(Color.Gray, size);
break;
case MapKeyPoint.ptype.障碍边界点:
b = new Pen(Color.AliceBlue, size);
break;
case MapKeyPoint.ptype.导航路标点:
b = new Pen(Color.Green, size);
break;
case MapKeyPoint.ptype.路径路标点:
b = new Pen(Color.YellowGreen, size);
break;
case MapKeyPoint.ptype.定位点:
b = new Pen(Color.Red, size);
break;
case MapKeyPoint.ptype.NULL:
b = new Pen(Color.White, size);
break;
default:
b = new Pen(Color.White, size);
break;
}
//g.FillRectangle(b, pfd.p.X - size / 2, pfd.p.Y - size / 2, size, size);
//g.FillPolygon(b, ps);
g.DrawLine(b, st.p, et.p);
LineStr ls = new LineStr(st, et);
map.linestrlst.Add(ls);
}
private void MapLoadBtn_Click(object sender, EventArgs e)
{
//地图数据由XML编写
#region 默认数据
MapClass defaultmap = new MapClass(); //临时地图
map.Posptlst.Clear(); //清空地图
map.linestrlst.Clear(); //清空地图
double scale = 18; //地图缩放比例
double Xoffset = 10;
double Yoffset = 10;
//[wall,point,xy]
double[,,] defaultMapWallData = { { { 0, 0 }, { 0, 15 } },
{ { 0, 15 }, { 25, 15 } },
{ { 25, 15 }, { 25, 0 } },
{ { 25, 0 }, { 0, 0 } },
{ { 0, 0 }, { 0, 15 } },
{ { 8.5, 15 }, { 8.5, 10 } },
{ { 8.5, 10 }, { 7.5, 10 } },
{ { 0, 7.5 }, { 5, 7.5 } },
{ { 5, 7.5 }, { 5.0, 10 } },
{ { 0.0, 10 }, { 2.5, 10 } },
{ { 4.5, 10 }, { 5, 10 } },
{ { 7.5, 7.5 }, { 8.5, 7.5 } },
{ { 8.5, 7.5 }, { 8.5, 4.5 } },
{ { 8.5, 2.5 }, { 8.5, 0 } },
{ { 8.5, 1.5 }, { 9, 1.5 } },
{ { 8.5, 5.5 }, { 14.5, 5.5 } },
{ { 11, 5.5 }, { 11, 1.5 } },
{ { 11, 1.5 }, { 10.5, 1.5 } },
{ { 16.5, 5.5 }, { 20, 5.5 } },
{ { 17.5, 5.5 }, { 17.5, 0 } },
{ { 10.5, 1.5 }, { 11, 1.5 } },
{ { 11, 1.5 }, { 11.0, 0 } },
{ { 15.5, 15 }, { 15.5, 12.5 } },
{ { 15.5, 10.5 }, { 19.5, 10.5 } },
{ { 19.5, 10.5 }, { 19.5, 8 } },
{ { 19.5, 8 }, { 15.5, 8 } },
{ { 15.5, 8 }, { 15.5, 10.5 } } };
MapKeyPoint st = new MapKeyPoint();
MapKeyPoint et = new MapKeyPoint();
for (int i = 0; i < defaultMapWallData.GetLength(0); i++)
{
for (int j = 0; j < defaultMapWallData.GetLength(1); j++)
{
PointF p = new PointF();
for (int k = 0; k < defaultMapWallData.GetLength(2); k++)
{
if (k == 0)
{
p.X = (float)(defaultMapWallData[i, j, k] * scale + Xoffset);
}
else
{
p.Y = (float)(defaultMapWallData[i, j, k] * scale + Yoffset);
}
}
MapKeyPoint mkp = new MapKeyPoint(p, MapKeyPoint.ptype.地形边界点);
defaultmap.Posptlst.Add(mkp);
if (j == 0)
{
st = mkp;
}
else
{
et = mkp;
}
}
LineStr ls = new LineStr(st, et);
defaultmap.linestrlst.Add(ls);
}
#endregion
#region 画布重绘，加载地图
for (int i = 0; i < defaultmap.Posptlst.Count; i++)
{
add1point(defaultmap.Posptlst[i]);
}
for (int i = 0; i < defaultmap.linestrlst.Count; i++)
{
draw1line(defaultmap.linestrlst[i].startpt, defaultmap.linestrlst[i].endpt);
}
#endregion
}