├── .gitignore ├── .travis.yml ├── .vs └── Freescale_debug │ └── v14 │ └── .suo ├── FreescalePlatformTest ├── FreescalePlatformTest.csproj ├── Properties │ └── AssemblyInfo.cs ├── UnitTest1.cs ├── bin │ └── Debug │ │ ├── FreescalePlatformTest.dll │ │ ├── FreescalePlatformTest.pdb │ │ ├── Freescale_debug.exe │ │ ├── Freescale_debug.pdb │ │ ├── Leomon.dll │ │ ├── Microsoft.VisualStudio.QualityTools.UnitTestFramework.dll │ │ ├── ZedGraph.dll │ │ ├── log4net.dll │ │ └── zh-Hans │ │ └── Microsoft.VisualStudio.QualityTools.UnitTestFramework.resources.dll └── obj │ └── Debug │ ├── DesignTimeResolveAssemblyReferencesInput.cache │ ├── FreescalePlatformTest.csproj.FileListAbsolute.txt │ ├── FreescalePlatformTest.csprojResolveAssemblyReference.cache │ ├── FreescalePlatformTest.dll │ ├── FreescalePlatformTest.pdb │ ├── TemporaryGeneratedFile_036C0B5B-1481-4323-8D20-8F5ADCB23D92.cs │ ├── TemporaryGeneratedFile_5937a670-0e60-4077-877b-f7221da3dda1.cs │ ├── TemporaryGeneratedFile_E7A71F73-0F8D-4B9B-B56E-8E70B10BC5D3.cs │ └── build.force ├── Freescale_debug.sln ├── Freescale_debug.sln.DotSettings.user ├── Freescale_debug.v12.suo ├── Freescale_debug ├── 20150627125704915_easyicon_net_128.ico ├── App.config ├── CCDAlgorithm.cs ├── CameraAlgorithm.cs ├── ClassDiagram1.cd ├── Configuration.cs ├── Form1.Designer.cs ├── Form1.cs ├── Form1.resx ├── Freescale_debug.csproj ├── Freescale_debug.csproj.user ├── Libs │ ├── Leomon.dll │ ├── ZedGraph.dll │ └── log4net.dll ├── LoadingPage.Designer.cs ├── LoadingPage.cs ├── LoadingPage.resx ├── LogHelper.cs ├── PID.cs ├── Program.cs ├── Properties │ ├── AssemblyInfo.cs │ ├── Resources.Designer.cs │ ├── Resources.resx │ ├── Settings.Designer.cs │ └── Settings.settings ├── Source │ ├── 1796091826490712038.png │ ├── 20150627125330911_easyicon_net_96.ico │ ├── 20150627125704915_easyicon_net_128.ico │ ├── logo.png │ ├── logo_1.png │ ├── logo_2.png │ └── master.png ├── SugarTransfer.cs ├── ZedGraphPoint.cs ├── ZedGraph_SingleWindow.Designer.cs ├── ZedGraph_SingleWindow.cs └── ZedGraph_SingleWindow.resx ├── README.md ├── TestResults └── 6c960e3f-1116-4806-b074-034ccbb003ff │ └── MY_MY-PC 2016-03-16 16_09_41.coverage ├── 智能车调试平台使用手册.pdf └── 通讯格式.doc /.gitignore: -------------------------------------------------------------------------------- 1 | TestResults/* 2 | Freescale_debug/bin 3 | Freescale_debug/obj 4 | Freescale_debug/bin/* 5 | Freescale_debug/obj/* -------------------------------------------------------------------------------- /.travis.yml: -------------------------------------------------------------------------------- 1 | language: csharp #语言种类 2 | xcode_project: Freescale_debug.sln # 项目文件相对于.travis.yml文件的路径 3 | mono: none 4 | dotnet: 2.1 5 | script: 6 | - dotnet restore 7 | ... -------------------------------------------------------------------------------- /.vs/Freescale_debug/v14/.suo: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Sudouble/SmartCarPlatform/a40e60b0e71dda96117a2303510e3b65667c3802/.vs/Freescale_debug/v14/.suo -------------------------------------------------------------------------------- /FreescalePlatformTest/FreescalePlatformTest.csproj: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | Debug 5 | AnyCPU 6 | {6F8827B1-74E5-4172-A45D-73A468F8D780} 7 | Library 8 | Properties 9 | FreescalePlatformTest 10 | FreescalePlatformTest 11 | v4.5 12 | 512 13 | {3AC096D0-A1C2-E12C-1390-A8335801FDAB};{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC} 14 | 10.0 15 | $(MSBuildExtensionsPath32)\Microsoft\VisualStudio\v$(VisualStudioVersion) 16 | $(ProgramFiles)\Common Files\microsoft shared\VSTT\$(VisualStudioVersion)\UITestExtensionPackages 17 | False 18 | UnitTest 19 | 20 | 21 | true 22 | full 23 | false 24 | bin\Debug\ 25 | DEBUG;TRACE 26 | prompt 27 | 4 28 | true 29 | 30 | 31 | pdbonly 32 | true 33 | bin\Release\ 34 | TRACE 35 | prompt 36 | 4 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | {5c73f5b7-1a8d-459f-afbd-ef5c5ae9ae51} 58 | Freescale_debug 59 | 60 | 61 | 62 | 63 | 64 | 65 | False 66 | 67 | 68 | False 69 | 70 | 71 | False 72 | 73 | 74 | False 75 | 76 | 77 | 78 | 79 | 80 | 81 | 88 | -------------------------------------------------------------------------------- /FreescalePlatformTest/Properties/AssemblyInfo.cs: -------------------------------------------------------------------------------- 1 | using System.Reflection; 2 | using System.Runtime.CompilerServices; 3 | using System.Runtime.InteropServices; 4 | 5 | // 有关程序集的常规信息通过以下特性集 6 | // 控制。更改这些特性值可修改 7 | // 与程序集关联的信息。 8 | [assembly: AssemblyTitle("FreescalePlatformTest")] 9 | [assembly: AssemblyDescription("")] 10 | [assembly: AssemblyConfiguration("")] 11 | [assembly: AssemblyCompany("")] 12 | [assembly: AssemblyProduct("FreescalePlatformTest")] 13 | [assembly: AssemblyCopyright("Copyright © 2016")] 14 | [assembly: AssemblyTrademark("")] 15 | [assembly: AssemblyCulture("")] 16 | 17 | // 将 ComVisible 设置为 false 会使此程序集中的类型 18 | // 对 COM 组件不可见。 如果需要从 COM 访问此程序集中的类型， 19 | // 请将该类型上的 ComVisible 特性设置为 true。 20 | [assembly: ComVisible(false)] 21 | 22 | // 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID 23 | [assembly: Guid("a1f743e8-0d23-413f-98a5-e511fdc06dce")] 24 | 25 | // 程序集的版本信息由以下四个值组成: 26 | // 27 | // 主版本 28 | // 次版本 29 | // 生成号 30 | // 修订号 31 | // 32 | // 可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值， 33 | // 方法是按如下所示使用“*”: 34 | // [assembly: AssemblyVersion("1.0.*")] 35 | [assembly: AssemblyVersion("1.0.0.0")] 36 | [assembly: AssemblyFileVersion("1.0.0.0")] 37 | -------------------------------------------------------------------------------- /FreescalePlatformTest/UnitTest1.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using Freescale_debug; 3 | using Microsoft.VisualStudio.TestTools.UnitTesting; 4 | using System.Text.RegularExpressions; 5 | 6 | 7 | namespace FreescalePlatformTest 8 | { 9 | [TestClass] 10 | public class UnitTest1 11 | { 12 | [TestMethod] 13 | public void TestMethod1() 14 | { 15 | Regex re = new Regex(@"\d+", RegexOptions.Compiled); 16 | string str = "aa"; 17 | } 18 | } 19 | } 20 | -------------------------------------------------------------------------------- /FreescalePlatformTest/bin/Debug/FreescalePlatformTest.dll: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Sudouble/SmartCarPlatform/a40e60b0e71dda96117a2303510e3b65667c3802/FreescalePlatformTest/bin/Debug/FreescalePlatformTest.dll -------------------------------------------------------------------------------- /FreescalePlatformTest/bin/Debug/FreescalePlatformTest.pdb: -------------------------------------------------------------------------------- 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F:\Project_Compotition\6.MyFreescal_10th\New_for_platform\FreescalePlatform\FreescalePlatformTest\bin\Debug\Freescale_debug.exe 4 | F:\Project_Compotition\6.MyFreescal_10th\New_for_platform\FreescalePlatform\FreescalePlatformTest\bin\Debug\Leomon.dll 5 | F:\Project_Compotition\6.MyFreescal_10th\New_for_platform\FreescalePlatform\FreescalePlatformTest\bin\Debug\ZedGraph.dll 6 | F:\Project_Compotition\6.MyFreescal_10th\New_for_platform\FreescalePlatform\FreescalePlatformTest\bin\Debug\log4net.dll 7 | F:\Project_Compotition\6.MyFreescal_10th\New_for_platform\FreescalePlatform\FreescalePlatformTest\bin\Debug\Freescale_debug.pdb 8 | F:\Project_Compotition\6.MyFreescal_10th\New_for_platform\FreescalePlatform\FreescalePlatformTest\obj\Debug\FreescalePlatformTest.csprojResolveAssemblyReference.cache 9 | F:\Project_Compotition\6.MyFreescal_10th\New_for_platform\FreescalePlatform\FreescalePlatformTest\obj\Debug\FreescalePlatformTest.dll 10 | F:\Project_Compotition\6.MyFreescal_10th\New_for_platform\FreescalePlatform\FreescalePlatformTest\obj\Debug\FreescalePlatformTest.pdb 11 | F:\Project_Compotition\6.MyFreescal_10th\New_for_platform\FreescalePlatform\FreescalePlatformTest\bin\Debug\Microsoft.VisualStudio.QualityTools.UnitTestFramework.dll 12 | F:\Project_Compotition\6.MyFreescal_10th\New_for_platform\FreescalePlatform\FreescalePlatformTest\bin\Debug\zh-Hans\Microsoft.VisualStudio.QualityTools.UnitTestFramework.resources.dll 13 | -------------------------------------------------------------------------------- /FreescalePlatformTest/obj/Debug/FreescalePlatformTest.csprojResolveAssemblyReference.cache: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Sudouble/SmartCarPlatform/a40e60b0e71dda96117a2303510e3b65667c3802/FreescalePlatformTest/obj/Debug/FreescalePlatformTest.csprojResolveAssemblyReference.cache 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"Freescale_debug\Freescale_debug.csproj", "{5C73F5B7-1A8D-459F-AFBD-EF5C5AE9AE51}" 7 | EndProject 8 | Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "FreescalePlatformTest", "FreescalePlatformTest\FreescalePlatformTest.csproj", "{6F8827B1-74E5-4172-A45D-73A468F8D780}" 9 | EndProject 10 | Global 11 | GlobalSection(SolutionConfigurationPlatforms) = preSolution 12 | Debug|Any CPU = Debug|Any CPU 13 | Release|Any CPU = Release|Any CPU 14 | EndGlobalSection 15 | GlobalSection(ProjectConfigurationPlatforms) = postSolution 16 | {5C73F5B7-1A8D-459F-AFBD-EF5C5AE9AE51}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 17 | {5C73F5B7-1A8D-459F-AFBD-EF5C5AE9AE51}.Debug|Any CPU.Build.0 = Debug|Any CPU 18 | {5C73F5B7-1A8D-459F-AFBD-EF5C5AE9AE51}.Release|Any CPU.ActiveCfg = Release|Any CPU 19 | {5C73F5B7-1A8D-459F-AFBD-EF5C5AE9AE51}.Release|Any CPU.Build.0 = Release|Any CPU 20 | {6F8827B1-74E5-4172-A45D-73A468F8D780}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 21 | {6F8827B1-74E5-4172-A45D-73A468F8D780}.Debug|Any CPU.Build.0 = Debug|Any CPU 22 | {6F8827B1-74E5-4172-A45D-73A468F8D780}.Release|Any CPU.ActiveCfg = Release|Any CPU 23 | {6F8827B1-74E5-4172-A45D-73A468F8D780}.Release|Any CPU.Build.0 = Release|Any CPU 24 | EndGlobalSection 25 | GlobalSection(SolutionProperties) = preSolution 26 | HideSolutionNode = FALSE 27 | EndGlobalSection 28 | EndGlobal 29 | -------------------------------------------------------------------------------- /Freescale_debug.sln.DotSettings.user: -------------------------------------------------------------------------------- 1 |  2 | <AssemblyExplorer> 3 | <Assembly Path="F:\Project_Compotition\6.MyFreescal_10th\FreeScale_debug_platform\Freescale_debug\Freescale_debug\obj\Debug\Interop.Office.dll" /> 4 | <Assembly Path="F:\Project_Compotition\6.MyFreescal_10th\New_for_platform\FreescalePlatform\Freescale_debug\Libs\log4net.dll" /> 5 | </AssemblyExplorer> -------------------------------------------------------------------------------- /Freescale_debug.v12.suo: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Sudouble/SmartCarPlatform/a40e60b0e71dda96117a2303510e3b65667c3802/Freescale_debug.v12.suo -------------------------------------------------------------------------------- /Freescale_debug/20150627125704915_easyicon_net_128.ico: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Sudouble/SmartCarPlatform/a40e60b0e71dda96117a2303510e3b65667c3802/Freescale_debug/20150627125704915_easyicon_net_128.ico -------------------------------------------------------------------------------- /Freescale_debug/App.config: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 5 |
6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | -------------------------------------------------------------------------------- /Freescale_debug/CCDAlgorithm.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections.Generic; 3 | using System.Drawing; 4 | using System.Drawing.Imaging; 5 | using System.Linq; 6 | using System.Runtime.InteropServices; 7 | using System.Windows.Forms; 8 | 9 | namespace Freescale_debug 10 | { 11 | internal class CCDAlgorithm 12 | { 13 | private List CCDBuff = new List(); 14 | private int ccdLength; 15 | 16 | private string ccdStr = ""; 17 | private int height = 0; 18 | private readonly List originCCDBuff; 19 | private readonly string originCCDStr = ""; 20 | 21 | public CCDAlgorithm(string orginStr, List recvBuff) 22 | { 23 | originCCDStr = orginStr; 24 | originCCDBuff = recvBuff; 25 | } 26 | 27 | public void ApartMessage() 28 | { 29 | ApartMessageString(); 30 | ApartMessageList(); 31 | } 32 | 33 | private void ApartMessageString() 34 | { 35 | var firstRightIndex = originCCDStr.IndexOf('('); 36 | var indexEnd = originCCDStr.LastIndexOf('|'); 37 | var ccdMessgageAdd = originCCDStr.Substring(firstRightIndex, 38 | indexEnd - firstRightIndex); 39 | 40 | var leftIndex = ccdMessgageAdd.IndexOf('('); 41 | var rightIndex = ccdMessgageAdd.IndexOf(')'); 42 | var length = Convert.ToInt16(ccdMessgageAdd.Substring(leftIndex + 1, rightIndex - leftIndex - 1)); 43 | var ccdData = ccdMessgageAdd.Substring(rightIndex + 1); 44 | 45 | ccdStr = ccdData; 46 | ccdLength = length; 47 | } 48 | 49 | private void ApartMessageList() 50 | { 51 | //找到recvBuff中的相应段 52 | for (var i = 0; i < originCCDBuff.Count - 6; i++) 53 | { 54 | if (originCCDBuff.ElementAt(i) == '#' && 55 | originCCDBuff.ElementAt(i + 1) == '|' && 56 | originCCDBuff.ElementAt(i + 2) == '2' && 57 | originCCDBuff.ElementAt(i + 3) == '|' && 58 | originCCDBuff.ElementAt(i + 5) == '|' && 59 | originCCDBuff.ElementAt(i + 6) == '(') 60 | { 61 | for (var j = i + 11; j < ccdLength + i + 11; j++) 62 | { 63 | CCDBuff.Add(originCCDBuff[j]); 64 | } 65 | break; 66 | } 67 | } 68 | } 69 | 70 | public int GetCCDLength() 71 | { 72 | return ccdLength; 73 | } 74 | 75 | public string GetCCDStr() 76 | { 77 | return ccdStr; 78 | } 79 | 80 | public List GetCCDGreyValue() 81 | { 82 | return CCDBuff; 83 | } 84 | 85 | private string testCCD_Image() 86 | { 87 | var randInts = new int[128]; 88 | var result = ""; 89 | var rand = new Random(); 90 | for (var i = 0; i < 128; i++) 91 | { 92 | randInts[i] = rand.Next(1, 255); 93 | result += Convert.ToChar(randInts[i]).ToString(); 94 | //result += Convert.ToChar(0).ToString(); 95 | } 96 | return result; 97 | } 98 | 99 | private int Average_ccd(List p) 100 | { 101 | var sum = p.Select((t, i) => p.ElementAt(i)).Sum(); 102 | 103 | var thresold = sum/p.Count; 104 | 105 | if (thresold > 230) 106 | thresold = 100; 107 | else if (thresold < 150) 108 | thresold = 200; 109 | else 110 | { 111 | thresold = Otsu(p); 112 | } 113 | 114 | return thresold; 115 | } 116 | 117 | private int Otsu(List p) 118 | { 119 | //处理全是黑色时候的情况 120 | 121 | var threshold = 0; 122 | int g = 0, max = 0; 123 | int total = 0, total_low = 0; 124 | int u0 = 0, u1 = 0, count = 0, cnt = 0; 125 | var tmpData = new int[256]; 126 | var j = 0; 127 | for (j = 5; j <= 122; j++) 128 | { 129 | tmpData[p.ElementAt(j)]++; 130 | total += p.ElementAt(j); 131 | } 132 | for (j = 0; j <= 254; j++) 133 | { 134 | cnt = tmpData[j]; 135 | if (cnt == 0) continue; // 优化加速 136 | count += tmpData[j]; 137 | total_low += cnt*j; 138 | u0 = total_low/count; 139 | if (count >= 118) break; // 优化加速 122 - 5+1 140 | u1 = (total - total_low)/(118 - count); 141 | g = (u0 - u1)*(u0 - u1)*count*(118 - count)/16384; 142 | if (g > max) 143 | { 144 | max = g; 145 | threshold = j; 146 | } 147 | } 148 | return threshold; 149 | } 150 | 151 | private string CCD_FindBoard(List p) 152 | { 153 | var black = "Border"; 154 | for (var i = 0; i < p.Count - 1; i++) 155 | { 156 | if ((p.ElementAt(i) == 255 && p.ElementAt(i + 1) == 0) || 157 | (p.ElementAt(i) == 0 && p.ElementAt(i + 1) == 255)) 158 | { 159 | black += i + " "; 160 | } 161 | } 162 | return black; 163 | } 164 | 165 | #region 6.CCD图像 166 | 167 | public void DrawCCDPicture(PictureBox pictureBoxImage) 168 | { 169 | if (ccdStr.Length != ccdLength) 170 | return; 171 | 172 | var bitmap = new Bitmap(ccdStr.Length, pictureBoxImage.Height); 173 | var bitmapData = 174 | bitmap.LockBits(new Rectangle(0, 0, bitmap.Width, bitmap.Height), 175 | ImageLockMode.ReadWrite, bitmap.PixelFormat); 176 | 177 | var bytesPerPixel = Image.GetPixelFormatSize(bitmap.PixelFormat)/8; 178 | var byteCount = bitmapData.Stride*bitmap.Height; 179 | var pixels = new byte[byteCount]; 180 | var ptrFirstPixel = bitmapData.Scan0; 181 | Marshal.Copy(ptrFirstPixel, pixels, 0, pixels.Length); 182 | var heightInPixels = bitmapData.Height; 183 | var widthInBytes = bitmapData.Width*bytesPerPixel; 184 | 185 | for (var y = 0; y < heightInPixels; y++) 186 | { 187 | var currentLine = y*bitmapData.Stride; 188 | 189 | for (var x = 0; x < widthInBytes; x = x + bytesPerPixel) 190 | { 191 | var grey = CCDBuff.ElementAt(Convert.ToInt16(x/4)); 192 | 193 | // calculate new pixel value 194 | pixels[currentLine + x] = (byte) grey; 195 | pixels[currentLine + x + 1] = (byte) grey; 196 | pixels[currentLine + x + 2] = (byte) grey; 197 | pixels[currentLine + x + 3] = 255; 198 | } 199 | } 200 | // copy modified bytes back 201 | Marshal.Copy(pixels, 0, ptrFirstPixel, pixels.Length); 202 | bitmap.UnlockBits(bitmapData); 203 | 204 | pictureBoxImage.Image = bitmap; 205 | } 206 | 207 | public void DrawCCDPath(Bitmap bitmap, PictureBox pictureBoxImage) 208 | { 209 | if (ccdStr.Length != ccdLength) 210 | return; 211 | 212 | var bitmapData = 213 | bitmap.LockBits(new Rectangle(0, 0, bitmap.Width, bitmap.Height), 214 | ImageLockMode.ReadWrite, bitmap.PixelFormat); 215 | 216 | var bytesPerPixel = Image.GetPixelFormatSize(bitmap.PixelFormat)/8; 217 | var byteCount = bitmapData.Stride*bitmap.Height; 218 | var pixels = new byte[byteCount]; 219 | var ptrFirstPixel = bitmapData.Scan0; 220 | Marshal.Copy(ptrFirstPixel, pixels, 0, pixels.Length); 221 | var heightInPixels = bitmapData.Height; 222 | var widthInBytes = bitmapData.Width*bytesPerPixel; 223 | 224 | for (var y = 1; y < heightInPixels; y++) 225 | { 226 | var currentLine = y*bitmapData.Stride; 227 | var formerLine = (y - 1)*bitmapData.Stride; 228 | 229 | for (var x = 0; x < widthInBytes; x = x + bytesPerPixel) 230 | { 231 | int oldBlue = pixels[currentLine + x]; 232 | int oldGreen = pixels[currentLine + x + 1]; 233 | int oldRed = pixels[currentLine + x + 2]; 234 | 235 | pixels[formerLine + x] = (byte) oldBlue; 236 | pixels[formerLine + x + 1] = (byte) oldGreen; 237 | pixels[formerLine + x + 2] = (byte) oldRed; 238 | pixels[formerLine + x + 3] = 255; 239 | } 240 | } 241 | 242 | for (var y = heightInPixels - 1; y < heightInPixels; y++) 243 | { 244 | var currentLine = y*bitmapData.Stride; 245 | 246 | for (var x = 0; x < widthInBytes; x = x + bytesPerPixel) 247 | { 248 | var leng = CCDBuff.Count; 249 | var grey = CCDBuff.ElementAt(Convert.ToInt16(x/4)); 250 | 251 | // calculate new pixel value 252 | pixels[currentLine + x] = (byte) grey; 253 | pixels[currentLine + x + 1] = (byte) grey; 254 | pixels[currentLine + x + 2] = (byte) grey; 255 | pixels[currentLine + x + 3] = 255; 256 | } 257 | } 258 | // copy modified bytes back 259 | Marshal.Copy(pixels, 0, ptrFirstPixel, pixels.Length); 260 | bitmap.UnlockBits(bitmapData); 261 | 262 | pictureBoxImage.Image = bitmap; 263 | } 264 | 265 | #endregion 266 | } 267 | } -------------------------------------------------------------------------------- /Freescale_debug/CameraAlgorithm.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections.Generic; 3 | using System.Drawing; 4 | using System.Drawing.Imaging; 5 | using System.Linq; 6 | using System.Runtime.InteropServices; 7 | using System.Windows.Forms; 8 | 9 | namespace Freescale_debug 10 | { 11 | internal class CameraAlgorithm 12 | { 13 | private readonly List originBuff; 14 | private List> cameraBuff = new List>(); 15 | 16 | private string cameraStr = ""; 17 | private readonly string originCameraStr = ""; 18 | private int height; 19 | private int width; 20 | 21 | public CameraAlgorithm(string orginStr, List recvBuff) 22 | { 23 | originCameraStr = orginStr; 24 | originBuff = recvBuff; 25 | } 26 | 27 | private List> opticalflow = new List>(); 28 | private List> prevframe = new List>(); 29 | private List> output = new List>(); 30 | 31 | private List> initList(int height, int width, int initValue) 32 | { 33 | List> aa = new List>(); 34 | List a = new List(); 35 | for (int j = 0; j < height; j++) 36 | { 37 | for (int i = 0; i < width; i++) 38 | { 39 | a.Add(initValue); 40 | } 41 | aa.Add(a); 42 | } 43 | return aa; 44 | } 45 | 46 | public List> OPFlow(List> buf) 47 | { 48 | int Ex, Ey, Et; 49 | int gray1, gray2; 50 | int u; 51 | int i, j; 52 | // opticalflow 需要清零 53 | opticalflow = initList(height, width, 0); 54 | // memset(output, 255, size); 55 | output = initList(height, width, 255); 56 | 57 | for (i = 0; i < height; i++) 58 | { 59 | for (j = 0; j < width; j++) 60 | { 61 | if (buf[i][j] == 0) 62 | buf[i][j] = 0; 63 | else 64 | buf[i][j] = 255; 65 | } 66 | } 67 | 68 | for (i = 2; i < height - 2; i++) 69 | { 70 | for (j = 2; j < width - 2; j++) 71 | { 72 | gray1 = (int)(buf[i][j]); 73 | gray2 = (int)(prevframe[i][j]); 74 | Et = gray1 - gray2; 75 | 76 | gray2 = (int)(buf[i][j+1]); //右边一点 77 | Ex = gray2 - gray1; 78 | gray2 = (int)(buf[i+1][j]); //下边一点 79 | Ey = gray2 - gray1; 80 | Ex = ((int)(Ex / 10)) * 10; 81 | Ey = ((int)(Ey / 10)) * 10; 82 | Et = ((int)(Et / 10)) * 10; 83 | u = (int)((Et * 10.0) / (Math.Sqrt((Ex * Ex + Ey * Ey) * 1.0)) + 0.1); 84 | opticalflow[i][j] = u; 85 | if (Math.Abs(u) > 10) 86 | { 87 | output[i][j] = 0; 88 | } 89 | } 90 | } 91 | prevframe = buf; 92 | 93 | return output; 94 | } 95 | 96 | public void ApartMessage() 97 | { 98 | var firstRightIndex = originCameraStr.IndexOf('('); 99 | var indexEnd = originCameraStr.LastIndexOf('|'); 100 | 101 | if (firstRightIndex > indexEnd) 102 | return; 103 | 104 | var cameraMessgageAdd = originCameraStr.Substring(firstRightIndex, 105 | indexEnd - firstRightIndex); 106 | 107 | var leftIndex = cameraMessgageAdd.IndexOf('('); 108 | var middleIndex = cameraMessgageAdd.IndexOf('+'); 109 | var rightIndex = cameraMessgageAdd.IndexOf(')'); 110 | 111 | if (leftIndex > middleIndex || middleIndex > rightIndex) 112 | return; 113 | 114 | int widthCamera = 115 | Convert.ToInt16(cameraMessgageAdd.Substring(leftIndex + 1, middleIndex - leftIndex - 1)); 116 | int heightCamera = 117 | Convert.ToInt16(cameraMessgageAdd.Substring(middleIndex + 1, 118 | rightIndex - middleIndex - 1)); 119 | var cameraData = cameraMessgageAdd.Substring(rightIndex + 1); 120 | 121 | height = heightCamera; 122 | width = widthCamera; 123 | cameraStr = cameraData; 124 | 125 | //找到recvBuff中的相应段 126 | for (var i = 0; i < originBuff.Count - 12; i++) 127 | { 128 | if (originBuff.ElementAt(i) == '#' && 129 | originBuff.ElementAt(i + 1) == '|' && 130 | originBuff.ElementAt(i + 2) == '1' && 131 | originBuff.ElementAt(i + 3) == '|' && 132 | originBuff.ElementAt(i + 5) == '|' && 133 | originBuff.ElementAt(i + 6) == '(' && 134 | originBuff.ElementAt(i + 7) == '8' && 135 | originBuff.ElementAt(i + 8) == '0' && 136 | originBuff.ElementAt(i + 9) == '+' && 137 | originBuff.ElementAt(i + 10) == '6' && 138 | originBuff.ElementAt(i + 11) == '0' && 139 | originBuff.ElementAt(i + 12) == ')') 140 | { 141 | List cameraBuffOneLine = new List(); 142 | for (var j = i + 13; j < width*height/8 + i + 13; j++) 143 | { 144 | cameraBuffOneLine.Add(originBuff[j]); 145 | } 146 | 147 | List cameraBuffColumn = new List(); 148 | for (int j = 0; j < width*height/8; j++) 149 | { 150 | int currentBuff = cameraBuffOneLine.ElementAt(j); 151 | for (int k = 7; k >= 0; k--) 152 | cameraBuffColumn.Add(currentBuff>>k & 0x01); 153 | if ((j+1)%10 == 0) 154 | { 155 | cameraBuff.Add(cameraBuffColumn); 156 | cameraBuffColumn = new List(); 157 | } 158 | } 159 | 160 | break; 161 | } 162 | } 163 | } 164 | 165 | public void DrawCameraPicture(PictureBox pictureBoxCamera) 166 | { 167 | if (isValidData()) 168 | { 169 | int amplify = 5; 170 | var bitmap = new Bitmap(width*amplify, height*amplify); 171 | 172 | var bitmapData = 173 | bitmap.LockBits(new Rectangle(0, 0, bitmap.Width, bitmap.Height), 174 | ImageLockMode.ReadWrite, bitmap.PixelFormat); 175 | 176 | var bytesPerPixel = Image.GetPixelFormatSize(bitmap.PixelFormat)/8; 177 | var byteCount = bitmapData.Stride*bitmap.Height; 178 | var pixels = new byte[byteCount]; 179 | var ptrFirstPixel = bitmapData.Scan0; 180 | Marshal.Copy(ptrFirstPixel, pixels, 0, pixels.Length); 181 | var heightInPixels = bitmapData.Height; 182 | var widthInBytes = bitmapData.Width*bytesPerPixel; 183 | 184 | for (var y = 0; y < heightInPixels; y++) 185 | { 186 | var currentLine = y*bitmapData.Stride; 187 | 188 | for (var x = 0; x < widthInBytes; x = x + bytesPerPixel) 189 | { 190 | int grey = cameraBuff.ElementAt(y/amplify).ElementAt(x/4/amplify); 191 | 192 | // calculate new pixel value 193 | pixels[currentLine + x] = (byte)(grey == 1 ? 0 : 255); 194 | pixels[currentLine + x + 1] = (byte)(grey == 1 ? 0 : 255); 195 | pixels[currentLine + x + 2] = (byte)(grey == 1 ? 0 : 255); 196 | pixels[currentLine + x + 3] = 255; 197 | } 198 | } 199 | // copy modified bytes back 200 | Marshal.Copy(pixels, 0, ptrFirstPixel, pixels.Length); 201 | bitmap.UnlockBits(bitmapData); 202 | 203 | pictureBoxCamera.Image = bitmap; 204 | } 205 | } 206 | 207 | private bool isValidData() 208 | { 209 | if (cameraBuff.Count*cameraBuff.First().Count == width*height) 210 | return true; 211 | return false; 212 | } 213 | 214 | public int GetHeight() 215 | { 216 | return height; 217 | } 218 | 219 | public int GetWidth() 220 | { 221 | return width; 222 | } 223 | 224 | public string GetCameraStr() 225 | { 226 | return cameraStr; 227 | } 228 | } 229 | } -------------------------------------------------------------------------------- /Freescale_debug/ClassDiagram1.cd: -------------------------------------------------------------------------------- 1 |  2 | -------------------------------------------------------------------------------- /Freescale_debug/Configuration.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Windows.Forms; 3 | using leomon; 4 | 5 | namespace Freescale_debug 6 | { 7 | //class Configuration 8 | public partial class Form1 : Form 9 | { 10 | private void SaveConfig(string fileName) 11 | { 12 | var editor = new Editor(); 13 | 14 | WritePortSetup(editor); 15 | WritePidSetup(editor); 16 | WriteRealTimeSetup(editor); 17 | WriteDiySetup(editor); 18 | WriteScopeSetup(editor); 19 | WriteOthers(editor); 20 | 21 | WriteToFile(fileName, editor); 22 | } 23 | 24 | private void LoadConfig(string fileName) 25 | { 26 | var sp = new SharedPreferences(fileName); 27 | if (sp.ConfigFileExists) 28 | { 29 | ReadPortSetup(sp); 30 | ReadPIDSetup(sp); 31 | ReadDIYNumberSetup(sp); 32 | ReadRealTimeSetup(sp); 33 | ReadOthers(sp); 34 | 35 | textBox_receive.Clear(); 36 | } 37 | else 38 | { 39 | //载入默认设置 40 | ResetToDefaultSettings(); 41 | } 42 | } 43 | 44 | private void WritePortSetup(Editor editor) 45 | { 46 | if (_hasPorts) 47 | { 48 | //保存选中的端口 49 | editor.PutInt32("selectedPort", comboBox_port.SelectedIndex); 50 | //保存设置的波特率 51 | editor.PutInt32("baudRate", comboBox_baudrate.SelectedIndex); 52 | //保存设置的校验方式 53 | editor.PutInt32("parity", comboBox_parity.SelectedIndex); 54 | //保存设置的数据位 55 | editor.PutInt32("dataBits", comboBox_databit.SelectedIndex); 56 | //保存设置的停止位 57 | editor.PutInt32("stopBits", comboBox_stopbit.SelectedIndex); 58 | //保存自动发送数据时间间隔 59 | editor.PutInt32("intervalTime", Convert.ToInt32(textBox_sendPeriod.Text)); 60 | //保存接收方式 61 | editor.PutBoolean("acceptChar", checkBox_receiveHex.Checked); 62 | //保存标志变量，即是否在接收框中显示信息。 63 | editor.PutBoolean("showInfo", showInfo); 64 | } 65 | } 66 | 67 | private void WritePidSetup(Editor editor) 68 | { 69 | //保存PID参数选择情况 70 | editor.PutBoolean("radioButton_carType", radioButton_FourWheel.Checked); 71 | 72 | if (radioButton_FourWheel.Checked) //四轮车PID 73 | { 74 | WritePidFourWheel(editor); 75 | } 76 | else if (radioButton_BalanceCar.Checked) //直立车PID参数的获取 77 | { 78 | WritePidBalance(editor); 79 | } 80 | } 81 | 82 | private void WritePidFourWheel(Editor editor) 83 | { 84 | //舵机PID参数 85 | editor.PutString("Steer_P", textBox_Steer_P.Text); 86 | editor.PutString("Steer_I", textBox_Steer_I.Text); 87 | editor.PutString("Steer_D", textBox_Steer_D.Text); 88 | 89 | //电机PID参数 90 | editor.PutString("Motor_P", textBox_Motor_P.Text); 91 | editor.PutString("Motor_I", textBox_Motor_I.Text); 92 | editor.PutString("Motor_D", textBox_Motor_D.Text); 93 | } 94 | 95 | private void WritePidBalance(Editor editor) 96 | { 97 | //直立PID 98 | editor.PutString("Stand_P", textBox_Stand_P.Text); 99 | editor.PutString("Stand_I", textBox_Stand_I.Text); 100 | editor.PutString("Stand_D", textBox_Stand_D.Text); 101 | 102 | //速度PID 103 | editor.PutString("Speed_P", textBox_Speed_P.Text); 104 | editor.PutString("Speed_I", textBox_Speed_I.Text); 105 | editor.PutString("Speed_D", textBox_Speed_D.Text); 106 | 107 | //方向PID 108 | editor.PutString("Direction_P", textBox_Direction_P.Text); 109 | editor.PutString("Direction_I", textBox_Direction_I.Text); 110 | editor.PutString("Direction_D", textBox_Direction_D.Text); 111 | } 112 | 113 | private void WriteDiySetup(Editor editor) 114 | { 115 | //保存自定义参数的数量 116 | editor.PutInt32("DIY_Number", Convert.ToInt32(textBox_DIY_Number.Text)); 117 | 118 | //保存自定义参数的其他信息 119 | var total = Convert.ToInt32(textBox_DIY_Number.Text); 120 | for (var i = 0; i < total; i++) 121 | { 122 | var controlCheckState = panel_add_DIYControls.Controls.Find("checkBox_Def" + Convert.ToString(i + 1), true); 123 | if (controlCheckState.Length > 0) 124 | { 125 | var checkboxSelect = (CheckBox)controlCheckState[0]; 126 | 127 | var checkState = string.Format("DIY_CheckState{0}", i + 1); 128 | editor.PutBoolean(checkState, checkboxSelect.Checked); 129 | } 130 | 131 | var controlName = panel_add_DIYControls.Controls.Find("txtName" + Convert.ToString(i + 1), true); 132 | if (controlName.Length > 0) 133 | { 134 | var txtBox = (TextBox)controlName[0]; 135 | 136 | var txtName = string.Format("DIY_TextName{0}", i + 1); 137 | editor.PutString(txtName, txtBox.Text); 138 | } 139 | 140 | var controlValue = panel_add_DIYControls.Controls.Find("txtValue" + Convert.ToString(i + 1), true); 141 | if (controlValue.Length > 0) 142 | { 143 | var txtBox = (TextBox)controlValue[0]; 144 | 145 | var txtValue = string.Format("DIY_TextValue{0}", i + 1); 146 | editor.PutString(txtValue, txtBox.Text); 147 | } 148 | 149 | var controlButton = panel_add_DIYControls.Controls.Find("buttonSubmit" + Convert.ToString(i + 1), true); 150 | if (controlButton.Length > 0) 151 | { 152 | var button = (Button)controlButton[0]; 153 | 154 | var buttonName = string.Format("buttonSubmit{0}", i + 1); 155 | editor.PutString(buttonName, "修改"); 156 | } 157 | } 158 | } 159 | 160 | private void WriteRealTimeSetup(Editor editor) 161 | { 162 | //保存实时变量数量 163 | editor.PutString("RealtimeNum", textBox_Realtime_Number.Text); 164 | 165 | //保存实时变量的其他信息 166 | var total = Convert.ToInt32(textBox_Realtime_Number.Text); 167 | for (var i = 0; i < total; i++) 168 | { 169 | var controlName = panel_Electricity.Controls.Find("txtElectName" + Convert.ToString(i + 1), true); 170 | if (controlName.Length > 0) 171 | { 172 | var txtBox = (TextBox)controlName[0]; 173 | 174 | var txtNameElect = string.Format("textElectName{0}", i + 1); 175 | editor.PutString(txtNameElect, txtBox.Text); 176 | } 177 | 178 | var controlValue = panel_Electricity.Controls.Find("txtElectValue" + Convert.ToString(i + 1), true); 179 | if (controlValue.Length > 0) 180 | { 181 | var txtBox = (TextBox) controlValue[0]; 182 | var txtValueElect = string.Format("txtElectValue{0}", i + 1); 183 | editor.PutString(txtValueElect, txtBox.Text); 184 | } 185 | } 186 | } 187 | 188 | private void WriteScopeSetup(Editor editor) 189 | { 190 | //保存虚拟示波器的变量情况 191 | var totalScope = ScopeNumber; 192 | for (var i = 0; i < totalScope; i++) 193 | { 194 | 195 | var controlCheckState = panel_Scope.Controls.Find("checkBox_Def" + Convert.ToString(i + 1), true); 196 | if (controlCheckState.Length > 0) 197 | { 198 | var checkboxSelect = (CheckBox)controlCheckState[0]; 199 | 200 | var checkState = string.Format("SCOPE_CheckState{0}", i + 1); 201 | editor.PutBoolean(checkState, checkboxSelect.Checked); 202 | } 203 | 204 | 205 | var controlName = panel_Scope.Controls.Find("txtName" + Convert.ToString(i + 1), true); 206 | if (controlName.Length > 0) 207 | { 208 | var txtBox = (TextBox)controlName[0]; 209 | 210 | var txtName = string.Format("SCOPE_TextName{0}", i + 1); 211 | editor.PutString(txtName, txtBox.Text); 212 | } 213 | } 214 | } 215 | 216 | private void WriteOthers(Editor editor) 217 | { 218 | editor.PutInt32("comboboxCCDPath", comboBoxCCDPath.SelectedIndex); 219 | } 220 | 221 | private static void WriteToFile(string fileName, Editor editor) 222 | { 223 | //================================================================= 224 | var sp = new SharedPreferences(fileName); 225 | sp.Save(editor); 226 | } 227 | 228 | private void ReadPortSetup(SharedPreferences sp) 229 | { 230 | //读取选中的端口 231 | if (_hasPorts) 232 | { 233 | //判断当前端口的数量，小于则表示是OK。 234 | if (sp.GetInt32("selectedPort", 0) < comboBox_port.Items.Count) 235 | comboBox_port.SelectedIndex = sp.GetInt32("selectedPort", 0); 236 | else 237 | { 238 | comboBox_port.SelectedIndex = 0; 239 | } 240 | } 241 | //读取设置的波特率 242 | comboBox_baudrate.SelectedIndex = sp.GetInt32("baudRate", 0); 243 | //读取设置的校验方式 244 | comboBox_parity.SelectedIndex = sp.GetInt32("parity", 0); 245 | //读取设置的数据位 246 | comboBox_databit.SelectedIndex = sp.GetInt32("dataBits", 0); 247 | //读取设置的停止位 248 | comboBox_stopbit.SelectedIndex = sp.GetInt32("stopBits", 0); 249 | //读取自动发送数据时间间隔 250 | textBox_sendPeriod.Text = sp.GetInt32("intervalTime", 500).ToString(); 251 | //读取接收方式 252 | checkBox_receiveHex.Checked = sp.GetBoolean("acceptChar", true); 253 | //读取标志变量，即是否在接收框中显示信息。 254 | showInfo = sp.GetBoolean("showInfo", true); 255 | button_receivepause.Text = showInfo ? "暂停接收显示" : "继续接收显示"; 256 | } 257 | 258 | private void ReadPIDSetup(SharedPreferences sp) 259 | { 260 | //保存的车型 261 | radioButton_FourWheel.Checked = sp.GetBoolean("radioButton_carType", true); 262 | if (!radioButton_FourWheel.Checked) 263 | radioButton_BalanceCar.Checked = true; 264 | 265 | if (radioButton_FourWheel.Checked) //四轮车PID 266 | ReadPIDFourWheel(sp); 267 | else if (radioButton_BalanceCar.Checked) //直立车PID参数的获取 268 | ReadPIDBalanceCar(sp); 269 | } 270 | 271 | private void ReadPIDFourWheel(SharedPreferences sp) 272 | { 273 | //舵机PID参数 274 | textBox_Steer_P.Text = sp.GetString("Steer_P", "1.0"); 275 | textBox_Steer_I.Text = sp.GetString("Steer_I", "1.0"); 276 | textBox_Steer_D.Text = sp.GetString("Steer_D", "1.0"); 277 | 278 | //电机PID参数 279 | textBox_Motor_P.Text = sp.GetString("Motor_P", "1.0"); 280 | textBox_Motor_I.Text = sp.GetString("Motor_I", "1.0"); 281 | textBox_Motor_D.Text = sp.GetString("Motor_D", "1.0"); 282 | } 283 | 284 | private void ReadPIDBalanceCar(SharedPreferences sp) 285 | { 286 | //直立PID 287 | textBox_Stand_P.Text = sp.GetString("Stand_P", "1.0"); 288 | textBox_Stand_I.Text = sp.GetString("Stand_I", "1.0"); 289 | textBox_Stand_D.Text = sp.GetString("Stand_D", "1.0"); 290 | 291 | //速度PID 292 | textBox_Speed_P.Text = sp.GetString("Speed_P", "1.0"); 293 | textBox_Speed_I.Text = sp.GetString("Speed_I", "1.0"); 294 | textBox_Speed_D.Text = sp.GetString("Speed_D", "1.0"); 295 | 296 | //方向PID 297 | textBox_Direction_P.Text = sp.GetString("Direction_P", "1.0"); 298 | textBox_Direction_I.Text = sp.GetString("Direction_I", "1.0"); 299 | textBox_Direction_D.Text = sp.GetString("Direction_D", "1.0"); 300 | } 301 | 302 | private void ReadDIYNumberSetup(SharedPreferences sp) 303 | { 304 | textBox_DIY_Number.Text = sp.GetInt32("DIY_Number", 1).ToString(); 305 | } 306 | 307 | private void ReadRealTimeSetup(SharedPreferences sp) 308 | { 309 | textBox_Realtime_Number.Text = sp.GetString("RealtimeNum", "1"); 310 | } 311 | 312 | private void ReadOthers(SharedPreferences sp) 313 | { 314 | comboBoxCCDPath.SelectedIndex = sp.GetInt32("comboboxCCDPath", 0); 315 | } 316 | 317 | private void ResetToDefaultSettings() 318 | { 319 | var editor = new Editor(); 320 | 321 | ResetPortSetup(); 322 | ResetPIDSetup(editor); 323 | ResetCustomSetup(editor); 324 | ResetRealTimeSetup(editor); 325 | ResetScopeSetup(editor); 326 | 327 | WriteToFile(SavefileName, editor); 328 | LoadConfig(SavefileName); 329 | } 330 | 331 | private void ResetPortSetup() 332 | { 333 | //默认波特率 334 | comboBox_baudrate.SelectedItem = "9600"; 335 | //默认不校验 336 | comboBox_parity.SelectedIndex = 0; 337 | //默认数据位设置为8位 338 | comboBox_databit.SelectedIndex = 0; 339 | //默认停止位设置为1位 340 | comboBox_stopbit.SelectedIndex = 0; 341 | } 342 | 343 | private void ResetPIDSetup(Editor editor) 344 | { 345 | editor.PutBoolean("radioButton_carType", false); 346 | 347 | //舵机PID参数 348 | editor.PutString("Steer_P", "1.0"); 349 | editor.PutString("Steer_I", "1.0"); 350 | editor.PutString("Steer_D", "1.0"); 351 | 352 | //电机PID参数 353 | editor.PutString("Motor_P", "1.0"); 354 | editor.PutString("Motor_I", "1.0"); 355 | editor.PutString("Motor_D", "1.0"); 356 | 357 | //直立PID 358 | editor.PutString("Stand_P", "1.0"); 359 | editor.PutString("Stand_I", "1.0"); 360 | editor.PutString("Stand_D", "1.0"); 361 | 362 | //速度PID 363 | editor.PutString("Speed_P", "1.0"); 364 | editor.PutString("Speed_I", "1.0"); 365 | editor.PutString("Speed_D", "1.0"); 366 | 367 | //方向PID 368 | editor.PutString("Direction_P", "1.0"); 369 | editor.PutString("Direction_I", "1.0"); 370 | editor.PutString("Direction_D", "1.0"); 371 | } 372 | 373 | private void ResetCustomSetup(Editor editor) 374 | { 375 | int diyNumber = 1; 376 | editor.PutInt32("DIY_Number", diyNumber); 377 | 378 | for (var i = 0; i < diyNumber; i++) 379 | { 380 | var checkState = string.Format("DIY_CheckState{0}", i + 1); 381 | editor.PutBoolean(checkState, false); 382 | 383 | var txtNameDIY = string.Format("DIY_TextName{0}", i + 1); 384 | editor.PutString(txtNameDIY, "Names"); 385 | 386 | var txtValueDIY = string.Format("DIY_TextValue{0}", i + 1); 387 | editor.PutString(txtValueDIY, "1.0"); 388 | 389 | var buttonDIY = string.Format("buttonSubmit{0}", i + 1); 390 | editor.PutString(buttonDIY, @"修改"); 391 | } 392 | } 393 | 394 | private void ResetRealTimeSetup(Editor editor) 395 | { 396 | int realtimeNumber = 1; 397 | editor.PutInt32("RealtimeNum", realtimeNumber); 398 | 399 | for (var i = 0; i < realtimeNumber; i++) 400 | { 401 | var txtName = string.Format("textElectName{0}", i + 1); 402 | editor.PutString(txtName, "Name"); 403 | 404 | var txtValue = string.Format("txtElectValue{0}", i + 1); 405 | editor.PutString(txtValue, "0"); 406 | } 407 | } 408 | 409 | private void ResetScopeSetup(Editor editor) 410 | { 411 | var totalScope = ScopeNumber; 412 | 413 | for (var i = 0; i < totalScope; i++) 414 | { 415 | var checkState = string.Format("SCOPE_CheckState{0}", i + 1); 416 | editor.PutBoolean(checkState, false); 417 | 418 | var txtNameDIY = string.Format("SCOPE_TextName{0}", i + 1); 419 | editor.PutString(txtNameDIY, "波形" + (i+1)); 420 | } 421 | } 422 | } 423 | } -------------------------------------------------------------------------------- /Freescale_debug/Form1.cs: -------------------------------------------------------------------------------- 1 | #define MULTITHREAD //多线程收发模式，注释本句则使用单线程模式 2 | //相对单线收发模式，占用系统资源稍微大些，但是执行效果更好，尤其是在大数据收发时的UI反应尤其明显 3 | 4 | using System; 5 | using System.Collections; 6 | using System.Collections.Generic; 7 | using System.Drawing; 8 | using System.Globalization; 9 | using System.IO; 10 | using System.IO.Ports; 11 | using System.Linq; 12 | using System.Text; 13 | using System.Text.RegularExpressions; 14 | using System.Windows.Forms; 15 | using leomon; 16 | using TestLog4Net; 17 | using ZedGraph; 18 | 19 | namespace Freescale_debug 20 | { 21 | public partial class Form1 : Form 22 | { 23 | public delegate void UpdateAcceptTextBoxTextHandler(string text); 24 | 25 | //ZedGraph 26 | private const int ScopeNumber = 8; //示波器能画曲线的数量 27 | private const string SavefileName = "串口助手配置.xml"; 28 | private readonly ZedGrpahName[] zedGrpahNames = new ZedGrpahName[ScopeNumber]; 29 | 30 | private readonly Color[] _colorLine = 31 | { 32 | Color.Green, Color.DodgerBlue, Color.Brown, Color.Chartreuse, 33 | Color.CornflowerBlue, Color.Red, Color.Yellow, Color.Gray 34 | }; 35 | 36 | //发送串口数据的队列，直到收到有效数据为止 37 | private readonly Queue _queueEchoControl = new Queue(); //根据这个来判断是不是要进行重发 38 | private GetEchoForm tmpSendHandle = new GetEchoForm(1, ""); 39 | private Bitmap _bitmapOld; 40 | 41 | private bool _isLoadHistory; 42 | //自定义参数的一些变量 43 | private bool _listening; //是否没有执行完invoke相关操作 44 | private int _xmaxScale = 100; 45 | private double _xminScale = 0; 46 | private double _ymaxScale = 100; 47 | private double _yminScale = -10; 48 | //ZedGraph 窗体间传参 49 | public CallObject[] coOb = new CallObject[ScopeNumber]; 50 | 51 | private readonly List _recieveBuff = new List(); 52 | //SerialPort Flags 53 | private bool _closing; //是否正在关闭串口，执行Application.DoEvents，并阻止再次 54 | 55 | private ReceivedDataType myReceivedDataType = ReceivedDataType.CharType; 56 | private SendDataType mySendDataType = SendDataType.CharType; 57 | private string RecievedStringAdd = ""; //接收到的数据 58 | private int retryCount; 59 | private bool showInfo = true; 60 | 61 | private int totalReceivedBytes; 62 | public UpdateAcceptTextBoxTextHandler UpdateTextHandler; 63 | 64 | //线程的委托//使线程可以改变控件的值 65 | private delegate void DoWorkUiThreadDelegate(string recvString, List recvByte); 66 | 67 | private enum ReceivedDataType 68 | { 69 | CharType, 70 | HexType 71 | } 72 | 73 | private enum SendDataType 74 | { 75 | CharType, 76 | HexType 77 | } 78 | 79 | #region Form 80 | 81 | public Form1() 82 | { 83 | InitializeComponent(); 84 | UpdateTextHandler = UpdateText; 85 | textBox_receive.ScrollToCaret(); 86 | } 87 | 88 | private void Form1_Load(object sender, EventArgs e) 89 | { 90 | _bitmapOld = new Bitmap(128, pictureBox_CCD_Path.Height); 91 | for (var i = 0; i < 128; i++) 92 | { 93 | for (var j = 0; j < pictureBox_CCD_Path.Height; j++) 94 | { 95 | _bitmapOld.SetPixel(i, j, Color.FromArgb(255, 255, 255)); 96 | } 97 | } 98 | comboBoxCCDPath.SelectedIndex = 0; 99 | 100 | CheckAvailablePorts(); 101 | 102 | LoadConfig(SavefileName); 103 | 104 | Init_TablePagePIDSettings(); 105 | Init_CustomPara_DynamicControls(); 106 | InitRealtime(); 107 | InitzedGraph(); 108 | Init_pane_Scope(); 109 | } 110 | 111 | private void Form1_Activated(object sender, EventArgs e) 112 | { 113 | } 114 | 115 | private void Form1_FormClosed(object sender, FormClosedEventArgs e) 116 | { 117 | _closing = true; 118 | while (_listening) Application.DoEvents(); 119 | 120 | timer_Send2GetEcho.Stop(); 121 | 122 | SaveConfig(SavefileName); 123 | } 124 | 125 | private void Form1_SizeChanged(object sender, EventArgs e) 126 | { 127 | if (WindowState == FormWindowState.Normal || 128 | WindowState == FormWindowState.Maximized) 129 | { 130 | pictureBox_CameraActual.Height = pictureBox_CameraActual.Width /4*3; 131 | } 132 | } 133 | 134 | private void comboBoxCCDPath_SelectedIndexChanged(object sender, EventArgs e) 135 | { 136 | labelPathName.Text = string.Format("图像{0}路径：", comboBoxCCDPath.SelectedItem.ToString()); 137 | } 138 | 139 | #endregion 140 | 141 | #region 串口设置相关 1 142 | 143 | private int _totalSendBytes; 144 | private bool _autoSend; 145 | 146 | private void button_openPort_Click(object sender, EventArgs e) //打开关闭串口 147 | { 148 | if (button_openPort.Text == @"打开串口") 149 | { 150 | button_freshPort.Enabled = false; 151 | 152 | textBox_receive.Clear(); 153 | OpenSelectedPort(); 154 | //更改配置信息 155 | SetSerialPortPropertiesBeforeSending(); 156 | } 157 | else 158 | { 159 | timer_Send2GetEcho.Stop(); 160 | 161 | //清除队列中所有元素 162 | label28.Text = @"QueueLength Cleared"; 163 | _queueEchoControl.Clear(); 164 | retryCount = 0; 165 | 166 | CloseCurrentPort(); 167 | button_freshPort.Enabled = true; 168 | } 169 | } 170 | 171 | private void button_freshPort_Click(object sender, EventArgs e) 172 | { 173 | comboBox_port.Items.Clear(); 174 | var allAvailablePorts = SerialPort.GetPortNames(); 175 | //判断是否有可用的端口 176 | if (allAvailablePorts.Length > 0) 177 | { 178 | _hasPorts = true; 179 | //使能控件portNamesComboBox，openOrCloseButton 180 | button_openPort.Enabled = true; 181 | comboBox_port.Enabled = true; 182 | comboBox_baudrate.Enabled = true; 183 | comboBox_databit.Enabled = true; 184 | comboBox_parity.Enabled = true; 185 | comboBox_stopbit.Enabled = true; 186 | //依次添加可用的串口 187 | comboBox_port.Items.AddRange(allAvailablePorts); 188 | //默认选中第一个项 189 | comboBox_port.SelectedIndex = 0; 190 | //显示相应的状态信息 191 | //statusDisplayToolStripStatusLabel.Text = string.Format(" 欢迎使用！自动查找到该计算机可用端口数：{0}，当前选中端口号{1} :)", 192 | // allAvailablePorts.Length, portNameComboBox.SelectedItem.ToString()); 193 | } 194 | else 195 | { 196 | _hasPorts = false; 197 | checkBox_sendAuto.Enabled = false; 198 | button_sendmessage.Enabled = false; 199 | //stopSendButton.Enabled = false; 200 | button_openPort.Enabled = false; 201 | //清空所有项 202 | comboBox_port.Items.Clear(); 203 | comboBox_port.Enabled = false; 204 | //statusDisplayToolStripStatusLabel.Text = " 抱歉，未查找到当前计算机中可用端口。"; 205 | //同时弹出警告对话框，提示是否进行再次检查？! 206 | ShowWarningMessageBox(); 207 | } 208 | } 209 | 210 | private void button_countclear_Click(object sender, EventArgs e) 211 | { 212 | _totalSendBytes = 0; 213 | totalReceivedBytes = 0; 214 | 215 | label_receiveCount.Text = @"接受区计数：" + totalReceivedBytes; 216 | label_sendCount.Text = @"发送区计数：" + _totalSendBytes; 217 | } 218 | 219 | private void UpdateText(string text) 220 | { 221 | //if (showInfo) 222 | { 223 | textBox_receive.AppendText(text); 224 | 225 | if (textBox_receive.GetLineFromCharIndex(textBox_receive.TextLength) > 100) //超过100行清零 226 | { 227 | textBox_receive.Clear(); 228 | } 229 | 230 | if (checkBox_receiveAnotherline.Checked) //自动添加换行符 231 | textBox_receive.Text += @"\r\n"; 232 | 233 | label_receiveCount.Text = @"接受区计数：" + totalReceivedBytes; 234 | } 235 | } 236 | 237 | /// 238 | /// 每次从SerialPort接收数据时发生，由于运行在辅助线程 239 | /// 所以必须要通过委托来实现跨线程。 240 | /// 241 | /// 242 | /// 243 | private void mySerialPort_DataReceived(object sender, SerialDataReceivedEventArgs e) 244 | { 245 | if (_closing) return; //如果正在关闭，忽略操作，直接返回，尽快的完成串口监听线程的一次循环 246 | try 247 | { 248 | _listening = true; 249 | var sp = (SerialPort) sender; 250 | var text = string.Empty; 251 | var size = sp.BytesToRead; 252 | if (myReceivedDataType == ReceivedDataType.HexType) 253 | { 254 | for (var i = 0; i < size; i++) 255 | { 256 | var tempByte = sp.ReadByte(); 257 | var tempStr = "0X"; 258 | if (tempByte <= 0X0F) 259 | { 260 | tempStr = "0X0"; 261 | } 262 | text += 263 | tempStr + Convert.ToString(tempByte, 16).ToUpper() + " "; 264 | } 265 | } 266 | else 267 | { 268 | var n = sp.BytesToRead; 269 | var builder = new StringBuilder(); 270 | var buf = new byte[n]; 271 | sp.Read(buf, 0, n); 272 | builder.Append(Encoding.ASCII.GetString(buf)); 273 | 274 | text = builder.ToString(); 275 | RecievedStringAdd += text; 276 | 277 | for (var i = 0; i < n; i++) 278 | { 279 | _recieveBuff.Add(buf.ElementAt(i)); 280 | } 281 | 282 | //在这里判断是不是收到了合适的数据 283 | //判断数据头尾 284 | if (RecievedStringAdd.Contains("#|") && RecievedStringAdd.Contains("|$")) 285 | { 286 | var headCheck = RecievedStringAdd.IndexOf('#'); 287 | var endCheck = RecievedStringAdd.LastIndexOf('$'); 288 | if (headCheck != -1 && endCheck != -1 && endCheck - headCheck > 10) 289 | { 290 | if (InvokeRequired) 291 | { 292 | Invoke(new DoWorkUiThreadDelegate(UnPakegeReceived), RecievedStringAdd, _recieveBuff); 293 | } 294 | RecievedStringAdd = null; 295 | _recieveBuff.Clear(); 296 | } 297 | } 298 | } 299 | totalReceivedBytes += size; 300 | Invoke(UpdateTextHandler, text); 301 | } 302 | catch (Exception ex) 303 | { 304 | LogHelper.WriteLog(typeof (Form1), ex); 305 | } 306 | 307 | finally 308 | { 309 | _listening = false; //我用完了，ui可以关闭串口了。 310 | } 311 | } 312 | 313 | #region 数据包格式解析部分 314 | 315 | public class GetEchoForm 316 | { 317 | public GetEchoForm() 318 | { 319 | Messgae = ""; 320 | Flag = 0; 321 | } 322 | 323 | public GetEchoForm(int flag, string msg) 324 | { 325 | Flag = flag; 326 | Messgae = msg; 327 | } 328 | 329 | public string Messgae { get; set; } 330 | public int Flag { get; set; } 331 | } 332 | 333 | private void timer_Send2GetEcho_Tick(object sender, EventArgs e) 334 | { 335 | try 336 | { 337 | DequeueAndSendport(); 338 | } 339 | catch (Exception ee) 340 | { 341 | MessageBox.Show(ee.Message); 342 | } 343 | } 344 | 345 | private void DequeueAndSendport() 346 | { 347 | if (tmpSendHandle.Flag == 1 && _queueEchoControl.Count > 0) 348 | { 349 | var send_message = (GetEchoForm) _queueEchoControl.Dequeue(); 350 | tmpSendHandle = send_message; 351 | } 352 | 353 | if (tmpSendHandle.Flag == 0) 354 | { 355 | mySerialPort.Write(tmpSendHandle.Messgae); 356 | label28.Text = @"重试：" + retryCount + @" 次，" + 357 | @"发送队列：" + _queueEchoControl.Count; 358 | retryCount++; 359 | } 360 | } 361 | 362 | private void UnPakegeReceived(string recvStr, List recBuff) 363 | { 364 | // 1 2 3 45 6 7 8 365 | //#|1|3.31|0||1|1|P1200I2100D3310|$ 366 | try 367 | { 368 | if (ReceiveValidateCheck(recvStr)) 369 | { 370 | var headCheck = recvStr.IndexOf("#|", StringComparison.Ordinal); 371 | var endCheck = recvStr.LastIndexOf("|$", StringComparison.Ordinal); 372 | var messagePack = recvStr.Substring(headCheck, endCheck - headCheck + 2); 373 | 374 | var splittedMessage = messagePack.Split('|'); 375 | 376 | if (SingleMessageValidateCheck(splittedMessage)) 377 | { 378 | DeliveryReceivedToControls(splittedMessage, messagePack, recBuff); 379 | } 380 | } 381 | } 382 | catch (Exception ex) 383 | { 384 | LogHelper.WriteLog(typeof(Form1), ex); 385 | } 386 | } 387 | 388 | private bool ReceiveValidateCheck(string recvStr) 389 | { 390 | var headCheck = recvStr.IndexOf("#|", StringComparison.Ordinal); 391 | var endCheck = recvStr.LastIndexOf("|$", StringComparison.Ordinal); 392 | return headCheck != -1 && endCheck != -1; 393 | } 394 | 395 | private bool SingleMessageValidateCheck(string[] splittedMessage) 396 | { 397 | for (var i = 0; 4*(i + 1) < splittedMessage.Length; i++) 398 | { 399 | //加入是空字符串，舍弃本次 400 | if (splittedMessage.ElementAt(1 + 4*i).Trim() == "" || 401 | splittedMessage.ElementAt(2 + 4*i).Trim() == "") 402 | return false; 403 | 404 | int father = splittedMessage.ElementAt(1 + 4*i).toInt32(); 405 | int child = splittedMessage.ElementAt(2 + 4*i).toInt32(); 406 | 407 | //表示不符合数据格式要求 408 | if ((father < 0 || father > 8) && (child < 0 || child > 200)) 409 | { 410 | return false; 411 | } 412 | } 413 | return true; 414 | } 415 | 416 | private void DeliveryReceivedToControls(string[] splittedMessage, string neededStr, List recBuff) 417 | { 418 | var countLength = 0; 419 | const int EACH_MESSAGE_NUMBER = 4; 420 | countLength += neededStr.Where((t, i) => neededStr.ElementAt(i) == '|').Count(); 421 | countLength = countLength/EACH_MESSAGE_NUMBER; 422 | 423 | for (var k = 0; k < countLength; k++) 424 | { 425 | int father = splittedMessage.ElementAt(1 + EACH_MESSAGE_NUMBER*k).toInt32(); 426 | 427 | if (father == 1 && checkBox_Camera_ONOFF.Checked) 428 | //摄像头数据 429 | { 430 | var cameraAlgorithm = new CameraAlgorithm(neededStr, recBuff); 431 | cameraAlgorithm.ApartMessage(); 432 | cameraAlgorithm.DrawCameraPicture(pictureBox_CameraActual); 433 | 434 | textBoxCameraWidth.Text = cameraAlgorithm.GetWidth().ToString(); 435 | textBoxCameraHeight.Text = cameraAlgorithm.GetHeight().ToString(); 436 | } 437 | else if (father == 2 && checkBox_CCD_ONOFF.Checked) 438 | //CCD数据 439 | { 440 | var ccdAlgorithm = new CCDAlgorithm(neededStr, recBuff); 441 | 442 | ccdAlgorithm.ApartMessage(); 443 | 444 | var length = ccdAlgorithm.GetCCDLength(); 445 | label_CCD_Width.Text = @"CCD宽度：" + length; 446 | 447 | int child = splittedMessage.ElementAt(2 + 4*k).toInt32(); 448 | if (child == 1) //CCD1 449 | { 450 | ccdAlgorithm.DrawCCDPicture(pictureBox_CCD1); 451 | } 452 | else if (child == 2) //CCD2 453 | { 454 | ccdAlgorithm.DrawCCDPicture(pictureBox_CCD2); 455 | } 456 | else if (child == 3) //CCD3 457 | { 458 | ccdAlgorithm.DrawCCDPicture(pictureBox_CCD3); 459 | } 460 | 461 | //绘制路径曲线 462 | if (comboBoxCCDPath.SelectedItem.ToString() == child.ToString()) 463 | { 464 | ccdAlgorithm.DrawCCDPath(_bitmapOld, pictureBox_CCD_Path); 465 | } 466 | } 467 | else if (father == 3) //实时参数 468 | { 469 | int electNum = splittedMessage.ElementAt(2 + 4*k).toInt32(); 470 | var realTimeValue = splittedMessage.ElementAt(3 + 4*k); 471 | 472 | ReadRealtimeFromChip(electNum, realTimeValue); 473 | } 474 | else if (father == 4) //传送到示波器的数据 475 | { 476 | int id = (splittedMessage.ElementAt(2 + 4*k)).toInt32(); 477 | var value = Convert.ToDouble(splittedMessage.ElementAt(3 + 4*k))/1000; 478 | 479 | ReadFromChipAndDrawToScope(id, value); 480 | } 481 | else if (father == 5) //读取参数值(PID) 482 | { 483 | int type = (splittedMessage.ElementAt(2 + 4 * k)).toInt32(); 484 | var valuePID = splittedMessage.ElementAt(3 + 4*k); 485 | 486 | ReadPIDFromChip(type, valuePID); 487 | } 488 | else if (father == 6) //读取参数值(CustomPara) 489 | { 490 | int child = (splittedMessage.ElementAt(2 + 4*k)).toInt32(); 491 | var valueCustomPara = 492 | (Convert.ToDouble(splittedMessage.ElementAt(3 + 4*k))/1000.0).ToString(CultureInfo.CurrentCulture); 493 | 494 | ReadCustomParaFromChip(child, valueCustomPara); 495 | } 496 | else if (father == 7 || //PID返回的设置信息 497 | father == 8 || //自定义参数返回的设置信息 498 | father == 9) //紧急停车 499 | { 500 | // ReSharper disable once InconsistentNaming 501 | var isContainsACK = splittedMessage.ElementAt(3 + 4*k).Contains("ACK"); 502 | 503 | if (isContainsACK) 504 | { 505 | StopSendCurrentQueueAndUpdateState(); 506 | } 507 | } 508 | 509 | if (father == 5 || //PID返回的ECHO信息 510 | father == 6) //自定义参数返回的ECHO信息 511 | { 512 | StopSendCurrentQueueAndUpdateState(); 513 | } 514 | } 515 | } 516 | 517 | private void ReadRealtimeFromChip(int electNum, string realTimeStr) 518 | { 519 | int totalContolsNum = (textBox_Realtime_Number.Text).toInt32(); 520 | if (electNum <= totalContolsNum) //发送的传感器数据比现有的小 521 | { 522 | var txtBox = (TextBox) 523 | panel_Electricity.Controls.Find( 524 | "txtElectValue" + Convert.ToString(electNum), true)[0]; 525 | 526 | //将参数赋值到相应的版块 527 | var value = Convert.ToDouble(realTimeStr)/1000; 528 | txtBox.Text = value.ToString(CultureInfo.InvariantCulture); 529 | } 530 | } 531 | 532 | private void ReadFromChipAndDrawToScope(int id, double value) 533 | { 534 | var total = ScopeNumber; 535 | var checkDrawing = new CheckBox[ScopeNumber]; 536 | 537 | if (_isLoadHistory) 538 | { 539 | ClearCurves(); 540 | } 541 | 542 | InitCheckboxAndStartReflesh(checkDrawing, total); 543 | 544 | ChangeAxisAndPlotToScope(id, value, checkDrawing); 545 | } 546 | 547 | private void InitCheckboxAndStartReflesh(CheckBox[] checkDrawing, int total) 548 | { 549 | for (var i = 0; i < total; i++) 550 | { 551 | checkDrawing[i] = 552 | (CheckBox) 553 | panel_Scope.Controls.Find("checkBox_Def" + Convert.ToString(i + 1), true)[0]; 554 | 555 | if (checkDrawing[i].Checked && !timer_fresh.Enabled) 556 | { 557 | timer_fresh.Start(); 558 | } 559 | } 560 | } 561 | 562 | private void ChangeAxisAndPlotToScope(int id, double value, CheckBox[] checkDrawing) 563 | { 564 | var total = ScopeNumber; 565 | for (var i = 0; i < total; i++) 566 | { 567 | if (checkDrawing[i].Checked && 568 | id == i + 1) 569 | { 570 | zedGrpahNames[i].ValueZed = value; 571 | 572 | ChangeAxis(i); 573 | DrawScope(i, value); 574 | } 575 | } 576 | } 577 | 578 | private void ChangeAxis(int i) 579 | { 580 | if (_xmaxScale - zedGrpahNames[i].x < _xmaxScale/5) //改变XMax坐标轴范围 581 | { 582 | _xmaxScale += _xmaxScale/5; 583 | zedGraph_local.GraphPane.XAxis.Scale.Max = _xmaxScale; 584 | } 585 | if (_ymaxScale - zedGrpahNames[i].ValueZed < _ymaxScale/5) //改变YMax坐标轴范围 586 | { 587 | _ymaxScale += -_ymaxScale + 1.3*zedGrpahNames[i].ValueZed; 588 | zedGraph_local.GraphPane.YAxis.Scale.Max = _ymaxScale; 589 | } 590 | if (_yminScale - zedGrpahNames[i].ValueZed > _yminScale/5) //改变YMin坐标轴范围 591 | { 592 | _yminScale += _yminScale/5; 593 | zedGraph_local.GraphPane.YAxis.Scale.Min = _yminScale; 594 | } 595 | } 596 | 597 | private void DrawScope(int i, double value) 598 | { 599 | zedGrpahNames[i].x += 1; 600 | 601 | zedGrpahNames[i].listZed.Add(Convert.ToDouble(zedGrpahNames[i].x), value); 602 | zedGrpahNames[i].ZedPoint.ZedListX.Add(Convert.ToDouble(zedGrpahNames[i].x)); 603 | zedGrpahNames[i].ZedPoint.ZedListY.Add(value); 604 | 605 | if (zedGrpahNames[i].IsSingleWindowShowed) 606 | coOb[i].CallEvent(zedGrpahNames[i].x, value); 607 | } 608 | 609 | private void ClearCurves() 610 | { 611 | _isLoadHistory = false; 612 | for (var i = 0; i < ScopeNumber; i++) //首先清除所有的曲线数据 613 | { 614 | zedGrpahNames[i].listZed.RemoveRange(0, zedGrpahNames[i].listZed.Count); 615 | zedGrpahNames[i].x = -1; 616 | } 617 | } 618 | 619 | private void ReadPIDFromChip(int type, string PIDStrings) 620 | { 621 | var indexP = PIDStrings.IndexOf('P'); 622 | var indexI = PIDStrings.IndexOf("I", StringComparison.Ordinal); 623 | var indexD = PIDStrings.IndexOf("D", StringComparison.Ordinal); 624 | 625 | if (indexP != -1 && indexI != -1 && indexD != -1) 626 | { 627 | var valueP = 628 | ((PIDStrings.Substring(indexP + 1, indexI - indexP - 1).toInt32())/1000.0) 629 | .ToString(CultureInfo.InvariantCulture); 630 | var valueI = 631 | ((PIDStrings.Substring(indexI + 1, indexD - indexI - 1).toInt32())/1000.0) 632 | .ToString(CultureInfo.InvariantCulture); 633 | var valueD = 634 | ((PIDStrings.Substring(indexD + 1).toInt32())/1000.0).ToString( 635 | CultureInfo.InvariantCulture); 636 | 637 | if (type == 1) 638 | { 639 | textBox_Steer_P.Text = valueP; 640 | textBox_Steer_I.Text = valueI; 641 | textBox_Steer_D.Text = valueD; 642 | } 643 | else if (type == 2) 644 | { 645 | textBox_Motor_P.Text = valueP; 646 | textBox_Motor_I.Text = valueI; 647 | textBox_Motor_D.Text = valueD; 648 | } 649 | else if (type == 3) 650 | { 651 | textBox_Stand_P.Text = valueP; 652 | textBox_Stand_I.Text = valueI; 653 | textBox_Stand_D.Text = valueD; 654 | } 655 | else if (type == 4) 656 | { 657 | textBox_Speed_P.Text = valueP; 658 | textBox_Speed_I.Text = valueI; 659 | textBox_Speed_D.Text = valueD; 660 | } 661 | else if (type == 5) 662 | { 663 | textBox_Direction_P.Text = valueP; 664 | textBox_Direction_I.Text = valueI; 665 | textBox_Direction_D.Text = valueD; 666 | } 667 | } 668 | } 669 | 670 | private void ReadCustomParaFromChip(int child, string customParaStrings) 671 | { 672 | var total = (textBox_DIY_Number.Text).toInt32(); 673 | 674 | if (child < total) 675 | { 676 | var checkboxSelect = (CheckBox) panel_add_DIYControls.Controls.Find("checkBox_Def" + 677 | Convert.ToString(child), true)[0]; 678 | var txtBox = (TextBox) panel_add_DIYControls.Controls.Find("txtValue" + 679 | Convert.ToString(child), true)[0]; 680 | 681 | if (checkboxSelect.Checked) 682 | { 683 | txtBox.Text = customParaStrings; 684 | } 685 | } 686 | } 687 | 688 | private void StopSendCurrentQueueAndUpdateState() 689 | { 690 | if (_queueEchoControl.Count == 0) //队列中无元素 691 | { 692 | tmpSendHandle.Flag = 1; 693 | timer_Send2GetEcho.Stop(); 694 | } 695 | else 696 | { 697 | tmpSendHandle.Flag = 1; 698 | } 699 | 700 | label28.Text = @"OK!! + 剩余数量:" + _queueEchoControl.Count; 701 | retryCount = 0; 702 | } 703 | 704 | #endregion 705 | 706 | private void CloseCurrentPort() 707 | { 708 | _autoSend = false; 709 | checkBox_sendAuto.Checked = false; 710 | 711 | _closing = true; 712 | while (_listening) Application.DoEvents(); 713 | 714 | try 715 | { 716 | //关闭选中串口 717 | mySerialPort.Close(); 718 | } 719 | catch (Exception ee) 720 | { 721 | MessageBox.Show(ee.Message); 722 | } 723 | //do something 724 | button_openPort.Text = @"打开串口"; 725 | //更新状态栏的显示 726 | //statusDisplayToolStripStatusLabel.Text = string.Format(" 关闭端口 {0}成功！", 727 | // mySerialPort.PortName); 728 | //所有设置控件非使能态 729 | CloseSelectedPortSuccessfully(); 730 | } 731 | 732 | private void CloseSelectedPortSuccessfully() 733 | { 734 | comboBox_port.Enabled = true; 735 | textBox_receive.Enabled = true; 736 | textBox_send.Enabled = true; 737 | comboBox_baudrate.Enabled = true; 738 | comboBox_databit.Enabled = true; 739 | comboBox_stopbit.Enabled = true; 740 | comboBox_parity.Enabled = true; 741 | //sendSettingGroupBox.Enabled = false; 742 | totalReceivedBytes = 0; 743 | _totalSendBytes = 0; 744 | } 745 | 746 | private void SetSerialPortPropertiesBeforeSending() 747 | { 748 | mySerialPort.Encoding = Encoding.Default; 749 | //设置成为选中的波特率 750 | mySerialPort.BaudRate = GetSelectedBaudRate(); 751 | //设置成为选中的奇偶校验位 752 | mySerialPort.Parity = GetSelectedParity(); 753 | //设置成为选中的数据位 754 | mySerialPort.DataBits = GetSelectedDataBits(); 755 | //设置成为选中的端口停止位 756 | try 757 | { 758 | mySerialPort.StopBits = GetSelectedStopBits(); 759 | } 760 | catch (IOException ee) 761 | { 762 | MessageBox.Show(ee.Message + @"已经将 停止位 设置为 默认一位 了！", 763 | @"提示！", MessageBoxButtons.OK, MessageBoxIcon.Error); 764 | mySerialPort.StopBits = StopBits.One; 765 | comboBox_stopbit.SelectedItem = "1"; 766 | } 767 | } 768 | 769 | private StopBits GetSelectedStopBits() 770 | { 771 | StopBits stopBits; 772 | switch (comboBox_stopbit.SelectedItem.ToString()) 773 | { 774 | case "1": 775 | { 776 | stopBits = StopBits.One; 777 | } 778 | break; 779 | case "2": 780 | { 781 | stopBits = StopBits.Two; 782 | } 783 | break; 784 | case "1.5": 785 | { 786 | stopBits = StopBits.OnePointFive; 787 | } 788 | break; 789 | default: 790 | stopBits = StopBits.One; 791 | break; 792 | } 793 | return stopBits; 794 | } 795 | 796 | private int GetSelectedBaudRate() 797 | { 798 | int baudRate; 799 | if (!int.TryParse(comboBox_baudrate.SelectedItem.ToString(), out baudRate)) 800 | { 801 | baudRate = 9600; 802 | } 803 | return baudRate; 804 | } 805 | 806 | private int GetSelectedDataBits() 807 | { 808 | var dataBits = 8; 809 | if (!int.TryParse(comboBox_databit.SelectedItem.ToString(), out dataBits)) 810 | { 811 | MessageBox.Show("转换失败！"); 812 | } 813 | return dataBits; 814 | } 815 | 816 | private Parity GetSelectedParity() 817 | { 818 | Parity parity; 819 | var selectedParityWay = comboBox_parity.SelectedItem.ToString(); 820 | switch (selectedParityWay) 821 | { 822 | case "偶校验(Even)": 823 | { 824 | parity = Parity.Even; 825 | } 826 | break; 827 | case "奇校验(Odd)": 828 | { 829 | parity = Parity.Odd; 830 | } 831 | break; 832 | case "保留为0(Space)": 833 | { 834 | parity = Parity.Space; 835 | } 836 | break; 837 | case "保留为1(Mark)": 838 | { 839 | parity = Parity.Mark; 840 | } 841 | break; 842 | default: 843 | { 844 | parity = Parity.None; 845 | } 846 | break; 847 | } 848 | return parity; 849 | } 850 | 851 | private void OpenSelectedPort() 852 | { 853 | _closing = false; 854 | try 855 | { 856 | //if(mySerialPort == null) 857 | // mySerialPort = new SerialPort(); 858 | 859 | //设置打开的端口号 860 | mySerialPort.PortName = comboBox_port.SelectedItem.ToString(); 861 | //打开选中串口 862 | mySerialPort.Open(); 863 | 864 | mySerialPort.NewLine = "/r/n"; 865 | mySerialPort.RtsEnable = true; 866 | mySerialPort.DataReceived += mySerialPort_DataReceived; 867 | 868 | //更新状态栏的显示 869 | //statusDisplayToolStripStatusLabel.Text = string.Format(" 打开端口 {0}成功！", 870 | // mySerialPort.PortName); 871 | button_openPort.Text = @"关闭串口"; 872 | //打开串口成功后 873 | OpenSelectedPortSuccessfully(); 874 | } 875 | catch (Exception ee) 876 | { 877 | mySerialPort = new SerialPort(); 878 | MessageBox.Show(ee.Message); 879 | } 880 | } 881 | 882 | private void OpenSelectedPortSuccessfully() 883 | { 884 | comboBox_port.Enabled = false; 885 | comboBox_databit.Enabled = false; 886 | comboBox_stopbit.Enabled = false; 887 | comboBox_parity.Enabled = false; 888 | comboBox_baudrate.Enabled = false; 889 | groupBox_send.Enabled = true; 890 | //acceptZoneSettingGroupBox.Enabled = true; 891 | //sendZoneSettingGroupBox.Enabled = true; 892 | textBox_receive.Enabled = true; 893 | textBox_send.Enabled = true; 894 | } 895 | 896 | private bool _hasPorts; 897 | 898 | /// 899 | /// 获取可用的端口名，并添加到选择框中，同时设置相关 900 | /// 默认项。 901 | /// 902 | private void CheckAvailablePorts() 903 | { 904 | comboBox_port.Items.Clear(); 905 | var allAvailablePorts = SerialPort.GetPortNames(); 906 | //判断是否有可用的端口 907 | if (allAvailablePorts.Length > 0) 908 | { 909 | _hasPorts = true; 910 | //使能控件portNamesComboBox，openOrCloseButton 911 | button_openPort.Enabled = true; 912 | comboBox_port.Enabled = true; 913 | //依次添加可用的串口 914 | comboBox_port.Items.AddRange(allAvailablePorts); 915 | //默认选中第一个项 916 | comboBox_port.SelectedIndex = 0; 917 | //显示相应的状态信息 918 | //statusDisplayToolStripStatusLabel.Text = string.Format(" 欢迎使用！自动查找到该计算机可用端口数：{0}，当前选中端口号{1} :)", 919 | // allAvailablePorts.Length, portNameComboBox.SelectedItem.ToString()); 920 | } 921 | else 922 | { 923 | _hasPorts = false; 924 | checkBox_sendAuto.Enabled = false; 925 | button_sendmessage.Enabled = false; 926 | //stopSendButton.Enabled = false; 927 | button_openPort.Enabled = false; 928 | //清空所有项 929 | comboBox_port.Items.Clear(); 930 | comboBox_port.Enabled = false; 931 | //statusDisplayToolStripStatusLabel.Text = " 抱歉，未查找到当前计算机中可用端口。"; 932 | //同时弹出警告对话框，提示是否进行再次检查？! 933 | ShowWarningMessageBox(); 934 | } 935 | } 936 | 937 | private void ShowWarningMessageBox() 938 | { 939 | var result = MessageBox.Show(@"抱歉，没有检测到当前计算机中可用端口，请插入相关设备或者检查有关驱动是否安装？" + 940 | Environment.NewLine + @"提示：您可以取消后单击“查找可用端口”按钮重新查找。", 941 | @"自动查找计算机可用端口", MessageBoxButtons.RetryCancel, MessageBoxIcon.Warning); 942 | if (result == DialogResult.Retry) 943 | { 944 | //重新运行检测方法 945 | CheckAvailablePorts(); 946 | } 947 | } 948 | 949 | private void button_receivepause_Click(object sender, EventArgs e) 950 | { 951 | if (button_receivepause.Text == "暂停接收显示") 952 | { 953 | showInfo = false; 954 | button_receivepause.Text = "继续接收显示"; 955 | } 956 | else 957 | { 958 | showInfo = true; 959 | button_receivepause.Text = "暂停接收显示"; 960 | // 961 | } 962 | } 963 | 964 | private void textBox_receive_TextChanged(object sender, EventArgs e) 965 | { 966 | //textBox_receive.SelectionStart = textBox_receive.Text.Length; 967 | 968 | //textBox_receive.ScrollToCaret(); 969 | } 970 | 971 | private void button_receiveclear_Click(object sender, EventArgs e) 972 | { 973 | textBox_receive.Clear(); 974 | //acceptStatusLabel.Text = "0字节"; 975 | totalReceivedBytes = 0; 976 | } 977 | 978 | private void checkBox_receiveHex_CheckedChanged(object sender, EventArgs e) 979 | { 980 | textBox_receive.Clear(); 981 | var rb = sender as CheckBox; 982 | if (rb != null) 983 | { 984 | if (!rb.Checked) 985 | { 986 | myReceivedDataType = ReceivedDataType.CharType; 987 | } 988 | else 989 | { 990 | myReceivedDataType = ReceivedDataType.HexType; 991 | } 992 | } 993 | } 994 | 995 | private void button_sendmessage_Click(object sender, EventArgs e) 996 | { 997 | if (textBox_send.TextLength != 0) 998 | { 999 | if (checkBox_sendAuto.Checked) 1000 | { 1001 | _autoSend = true; 1002 | checkBox_sendAuto.Enabled = false; 1003 | button_sendmessage.Text = "自动发送中"; 1004 | 1005 | timer_autoSend.Enabled = true; 1006 | timer_autoSend.Interval = (textBox_sendPeriod.Text).toInt32(); 1007 | timer_autoSend.Start(); 1008 | } 1009 | else 1010 | { 1011 | _autoSend = false; 1012 | checkBox_sendAuto.Enabled = true; 1013 | button_sendmessage.Text = "发送数据"; 1014 | try 1015 | { 1016 | SerialPortSendChar(textBox_send.Text); 1017 | } 1018 | catch (Exception ex) 1019 | { 1020 | MessageBox.Show(ex.Message); 1021 | } 1022 | } 1023 | } 1024 | else 1025 | { 1026 | MessageBox.Show("发送区为空"); 1027 | } 1028 | } 1029 | 1030 | private void SerialPortSendChar(string str) 1031 | { 1032 | var ch = str.ToCharArray(); 1033 | foreach (var item in ch) 1034 | { 1035 | if (item <= 255) 1036 | { 1037 | _totalSendBytes += 1; 1038 | } 1039 | else 1040 | { 1041 | _totalSendBytes += 2; 1042 | } 1043 | } 1044 | if (mySerialPort == null || mySerialPort.IsOpen == false) 1045 | { 1046 | MessageBox.Show("拒绝操作，没有任何串口被开启，无法发送数据！", "发送数据"); 1047 | } 1048 | else 1049 | { 1050 | try 1051 | { 1052 | mySerialPort.Write(ch, 0, ch.Length); 1053 | label_sendCount.Text = "发送区计数：" + _totalSendBytes; 1054 | } 1055 | catch (Exception ee) 1056 | { 1057 | MessageBox.Show(ee.Message); 1058 | } 1059 | } 1060 | } 1061 | 1062 | private void timer_autoSend_Tick(object sender, EventArgs e) 1063 | { 1064 | if (_autoSend) 1065 | { 1066 | try 1067 | { 1068 | SerialPortSendChar(textBox_send.Text); 1069 | } 1070 | catch 1071 | { 1072 | } 1073 | } 1074 | } 1075 | 1076 | private void checkBox_sendAuto_CheckedChanged(object sender, EventArgs e) 1077 | { 1078 | if (textBox_send.TextLength == 0) 1079 | { 1080 | checkBox_sendAuto.Checked = false; 1081 | _autoSend = false; 1082 | MessageBox.Show("没有需要发送的内容 >_<"); 1083 | } 1084 | } 1085 | 1086 | #endregion 1087 | 1088 | #region PID参数设置 2 1089 | 1090 | private void Init_TablePagePIDSettings() 1091 | { 1092 | //车的类型选择 1093 | if (radioButton_FourWheel.Checked) 1094 | { 1095 | groupBox_BalanceCar.Visible = false; 1096 | groupBox_fourWheels.Visible = true; 1097 | } 1098 | if (radioButton_BalanceCar.Checked) 1099 | { 1100 | groupBox_BalanceCar.Visible = true; 1101 | groupBox_fourWheels.Visible = false; 1102 | } 1103 | } 1104 | 1105 | private void checkBox_IsUsePID_CheckedChanged(object sender, EventArgs e) 1106 | { 1107 | if (checkBox_IsUsePID.Checked) 1108 | { 1109 | groupBox_BalanceCar.Enabled = true; 1110 | groupBox_fourWheels.Enabled = true; 1111 | } 1112 | else 1113 | { 1114 | groupBox_BalanceCar.Enabled = false; 1115 | groupBox_fourWheels.Enabled = false; 1116 | } 1117 | } 1118 | 1119 | private void radioButton_FourWheel_Click(object sender, EventArgs e) 1120 | { 1121 | var rb = (RadioButton) sender; 1122 | if (rb.Checked) 1123 | { 1124 | groupBox_BalanceCar.Visible = false; 1125 | groupBox_fourWheels.Visible = true; 1126 | } 1127 | else 1128 | { 1129 | groupBox_BalanceCar.Visible = true; 1130 | groupBox_fourWheels.Visible = false; 1131 | } 1132 | } 1133 | 1134 | private void radioButton_BalanceCar_CheckedChanged(object sender, EventArgs e) 1135 | { 1136 | var rb = (RadioButton) sender; 1137 | if (!rb.Checked) 1138 | { 1139 | groupBox_BalanceCar.Visible = false; 1140 | groupBox_fourWheels.Visible = true; 1141 | } 1142 | else 1143 | { 1144 | groupBox_BalanceCar.Visible = true; 1145 | groupBox_fourWheels.Visible = false; 1146 | } 1147 | } 1148 | 1149 | //生成需要发送控制指令的字符串 1150 | 1151 | private void button_ModifyPID_Motor_Click(object sender, EventArgs e) 1152 | { 1153 | //电机PID参数 1154 | var Motor_P = Convert.ToDouble(textBox_Motor_P.Text)*1000; 1155 | var Motor_I = Convert.ToDouble(textBox_Motor_I.Text)*1000; 1156 | var Motor_D = Convert.ToDouble(textBox_Motor_D.Text)*1000; 1157 | 1158 | 1159 | var tmpMessageSteer = "P" + Math.Floor(Motor_P) + 1160 | "I" + Math.Floor(Motor_I) + 1161 | "D" + Math.Floor(Motor_D); 1162 | 1163 | try 1164 | { 1165 | SaveConfig(SavefileName); 1166 | SendMessageAndEnqueue(1, 2, tmpMessageSteer); 1167 | } 1168 | catch (Exception ee) 1169 | { 1170 | MessageBox.Show(ee.Message); 1171 | } 1172 | } 1173 | 1174 | private void button_ModifyPID_Steer_Click(object sender, EventArgs e) 1175 | { 1176 | //舵机PID参数 1177 | var steer_P = Convert.ToDouble(textBox_Steer_P.Text)*1000; 1178 | var steer_I = Convert.ToDouble(textBox_Steer_I.Text)*1000; 1179 | var steer_D = Convert.ToDouble(textBox_Steer_D.Text)*1000; 1180 | 1181 | 1182 | var tmpMessageSteer = "P" + Math.Floor(steer_P).ToString(CultureInfo.InvariantCulture) + 1183 | "I" + Math.Floor(steer_I).ToString(CultureInfo.InvariantCulture) + 1184 | "D" + Math.Floor(steer_D).ToString(CultureInfo.InvariantCulture); 1185 | 1186 | try 1187 | { 1188 | SaveConfig(SavefileName); 1189 | SendMessageAndEnqueue(1, 1, tmpMessageSteer); 1190 | } 1191 | catch (Exception ee) 1192 | { 1193 | MessageBox.Show(ee.Message); 1194 | } 1195 | } 1196 | 1197 | private void button_ModifyPID_Stand_Click(object sender, EventArgs e) 1198 | { 1199 | //直立PID 1200 | var stand_P = Convert.ToDouble(textBox_Stand_P.Text)*1000; 1201 | var stand_I = Convert.ToDouble(textBox_Stand_I.Text)*1000; 1202 | var stand_D = Convert.ToDouble(textBox_Stand_D.Text)*1000; 1203 | 1204 | var tmpMessageStand = "P" + Math.Floor(stand_P) + 1205 | "I" + Math.Floor(stand_I) + 1206 | "D" + Math.Floor(stand_D); 1207 | 1208 | try 1209 | { 1210 | SaveConfig(SavefileName); 1211 | SendMessageAndEnqueue(1, 3, tmpMessageStand); 1212 | } 1213 | catch (Exception ee) 1214 | { 1215 | MessageBox.Show(ee.Message); 1216 | } 1217 | } 1218 | 1219 | private void button_ModifyPID_Speed_Click(object sender, EventArgs e) 1220 | { 1221 | //速度PID 1222 | var speed_P = Convert.ToDouble(textBox_Speed_P.Text)*1000; 1223 | var speed_I = Convert.ToDouble(textBox_Speed_I.Text)*1000; 1224 | var speed_D = Convert.ToDouble(textBox_Speed_D.Text)*1000; 1225 | 1226 | var tmpMessageSpeed = "P" + Math.Floor(speed_P) + 1227 | "I" + Math.Floor(speed_I) + 1228 | "D" + Math.Floor(speed_D); 1229 | try 1230 | { 1231 | SaveConfig(SavefileName); 1232 | SendMessageAndEnqueue(1, 4, tmpMessageSpeed); 1233 | } 1234 | catch (Exception ee) 1235 | { 1236 | MessageBox.Show(ee.Message); 1237 | } 1238 | } 1239 | 1240 | private void button_ModifyPID_Direction_Click(object sender, EventArgs e) 1241 | { 1242 | //方向PID 1243 | var direction_P = Convert.ToDouble(textBox_Direction_P.Text)*1000; 1244 | var direction_I = Convert.ToDouble(textBox_Direction_I.Text)*1000; 1245 | var direction_D = Convert.ToDouble(textBox_Direction_D.Text)*1000; 1246 | 1247 | var tmpMessageDirection = "P" + Math.Floor(direction_P) + 1248 | "I" + Math.Floor(direction_I) + 1249 | "D" + Math.Floor(direction_D); 1250 | 1251 | try 1252 | { 1253 | SaveConfig(SavefileName); 1254 | SendMessageAndEnqueue(1, 5, tmpMessageDirection); 1255 | } 1256 | catch (Exception ee) 1257 | { 1258 | MessageBox.Show(ee.Message); 1259 | } 1260 | } 1261 | 1262 | #endregion 1263 | 1264 | #region 3. 自定义算法参数 1265 | 1266 | private void button_DIY_NumConfirm_Click(object sender, EventArgs e) 1267 | { 1268 | if (isCustomParaValidate()) 1269 | { 1270 | var result = MessageBox.Show(@"确认更改数量？", @"修改", MessageBoxButtons.OKCancel); 1271 | if (result == DialogResult.OK) 1272 | { 1273 | List state = new List(); 1274 | List names = new List(); 1275 | List value = new List(); 1276 | GetCustomOldNames(state, names, value); 1277 | 1278 | DrawCustomParaPannel(false); 1279 | 1280 | SetCustomNewNames(state, names, value); 1281 | } 1282 | SaveConfig(SavefileName); 1283 | } 1284 | } 1285 | 1286 | private void button_DIY_ResetNames_Click(object sender, EventArgs e) 1287 | { 1288 | if (isCustomParaValidate()) 1289 | { 1290 | var result = MessageBox.Show(@"确认更改数量？", @"修改", MessageBoxButtons.OKCancel); 1291 | if (result == DialogResult.OK) 1292 | { 1293 | DrawCustomParaPannel(false); 1294 | } 1295 | SaveConfig(SavefileName); 1296 | } 1297 | } 1298 | 1299 | private void GetCustomOldNames(List state, List names, List value) 1300 | { 1301 | SharedPreferences sp = new SharedPreferences(SavefileName); 1302 | int oldNumber = 0; 1303 | if(sp.ConfigFileExists) 1304 | oldNumber = sp.GetInt32("DIY_Number", 1); 1305 | 1306 | for (var i = 0; i < oldNumber; i++) 1307 | { 1308 | var checkboxSelect = (CheckBox)panel_add_DIYControls.Controls.Find("checkBox_Def" + 1309 | Convert.ToString(i + 1), true)[0]; 1310 | state.Add(checkboxSelect.Checked); 1311 | 1312 | var txtBoxValue = (TextBox) panel_add_DIYControls.Controls.Find("txtValue" + 1313 | Convert.ToString(i + 1), true)[0]; 1314 | value.Add(txtBoxValue.Text); 1315 | 1316 | var txtBoxName = (TextBox)panel_add_DIYControls.Controls.Find("txtName" + 1317 | Convert.ToString(i + 1), true)[0]; 1318 | names.Add(txtBoxName.Text); 1319 | } 1320 | } 1321 | 1322 | private void SetCustomNewNames(List state, List names, List value) 1323 | { 1324 | var total = int.Parse(textBox_DIY_Number.Text); 1325 | 1326 | if (state.Count < total) 1327 | { 1328 | total = state.Count; 1329 | } 1330 | 1331 | for (var i = 0; i < total; i++) 1332 | { 1333 | var checkboxSelect = (CheckBox)panel_add_DIYControls.Controls.Find("checkBox_Def" + 1334 | Convert.ToString(i + 1), true)[0]; 1335 | checkboxSelect.Checked = state[i]; 1336 | 1337 | var txtBoxValue = (TextBox)panel_add_DIYControls.Controls.Find("txtValue" + 1338 | Convert.ToString(i + 1), true)[0]; 1339 | txtBoxValue.Text = value[i]; 1340 | 1341 | var txtBoxName = (TextBox)panel_add_DIYControls.Controls.Find("txtName" + 1342 | Convert.ToString(i + 1), true)[0]; 1343 | txtBoxName.Text = names[i]; 1344 | } 1345 | } 1346 | 1347 | private void Init_CustomPara_DynamicControls() 1348 | { 1349 | var sp = new SharedPreferences(SavefileName); 1350 | if (sp.ConfigFileExists && isCustomParaValidate()) 1351 | { 1352 | DrawCustomParaPannel(true); 1353 | } 1354 | } 1355 | 1356 | private void DrawCustomParaPannel(bool byInit) 1357 | { 1358 | panel_add_DIYControls.AutoScroll = true; 1359 | panel_add_DIYControls.Controls.Clear(); 1360 | var total = int.Parse(textBox_DIY_Number.Text); 1361 | 1362 | var sp = new SharedPreferences(SavefileName); 1363 | if (sp.ConfigFileExists) 1364 | { 1365 | AddControlsToPannel(sp, 0, total, byInit); 1366 | } 1367 | } 1368 | 1369 | private Boolean isCustomParaValidate() 1370 | { 1371 | var total = int.Parse(textBox_DIY_Number.Text); 1372 | if (total < 1) 1373 | { 1374 | MessageBox.Show(@"请输入需要的参数数量！", @"错误"); 1375 | return false; 1376 | } 1377 | return true; 1378 | } 1379 | 1380 | private void textBox_DIY_Number_TextChanged(object sender, EventArgs e) 1381 | { 1382 | var t = sender as TextBox; 1383 | 1384 | if (t != null && !IsIntegerCheck(t.Text)) 1385 | t.Text = @"10"; 1386 | } 1387 | 1388 | private void AddControlsToPannel(SharedPreferences sp, int start, int end, bool byInit) 1389 | { 1390 | for (var i = start; i < end; i++) 1391 | { 1392 | var checkboxSelect = new CheckBox(); 1393 | checkboxSelect.Size = new Size(50, 20); 1394 | checkboxSelect.Location = new Point(30 + 70*0, 30*(i + 1)); 1395 | checkboxSelect.Name = "checkBox_Def" + Convert.ToString(i + 1); 1396 | checkboxSelect.Text = (i + 1).ToString(); 1397 | if (byInit) 1398 | { 1399 | var checkState = string.Format("DIY_CheckState{0}", i + 1); 1400 | checkboxSelect.Checked = sp.GetBoolean(checkState, true); 1401 | } 1402 | checkboxSelect.CheckedChanged += CheckboxSelectOnCheckedChanged; 1403 | 1404 | var txtBoxName = new TextBox(); 1405 | txtBoxName.Size = new Size(50, 50); //textbox大小 1406 | txtBoxName.Location = new Point(30 + 70*1, 30*(i + 1)); 1407 | txtBoxName.Name = @"txtName" + Convert.ToString(i + 1); 1408 | txtBoxName.Text = @"Name" + Convert.ToString(i + 1); 1409 | txtBoxName.TextAlign = HorizontalAlignment.Center; 1410 | if (byInit) 1411 | { 1412 | var txtName_CustomPara = string.Format("DIY_TextName{0}", i + 1); 1413 | txtBoxName.Text = sp.GetString(txtName_CustomPara, "数据"); 1414 | } 1415 | else 1416 | { 1417 | txtBoxName.Enabled = false; 1418 | } 1419 | 1420 | var txtBoxValue = new TextBox(); 1421 | txtBoxValue.Size = new Size(50, 50); //textbox大小 1422 | txtBoxValue.Location = new Point(30 + 70*2, 30*(i + 1)); 1423 | txtBoxValue.Name = "txtValue" + Convert.ToString(i + 1); 1424 | txtBoxValue.Text = @"1.0"; 1425 | txtBoxValue.TextAlign = HorizontalAlignment.Center; 1426 | if (byInit) 1427 | { 1428 | var txtValue_CustomPara = string.Format("DIY_TextValue{0}", i + 1); 1429 | txtBoxValue.Text = sp.GetString(txtValue_CustomPara, "1.0"); 1430 | } 1431 | else 1432 | { 1433 | txtBoxValue.Enabled = false; 1434 | } 1435 | txtBoxValue.TextChanged += DIYTextboxValueChanged; 1436 | 1437 | var submitButton = new Button(); 1438 | submitButton.Size = new Size(50, 20); //textbox大小 1439 | submitButton.Location = new Point(30 + 70*3, 30*(i + 1)); 1440 | submitButton.Name = "buttonSubmit" + Convert.ToString(i + 1); 1441 | submitButton.Text = @"修改"; 1442 | submitButton.Click += SubmitButtonOnClick; 1443 | if (!byInit) 1444 | { 1445 | submitButton.Enabled = false; 1446 | } 1447 | 1448 | if (!checkboxSelect.Checked) 1449 | { 1450 | txtBoxName.Enabled = false; 1451 | txtBoxValue.Enabled = false; 1452 | submitButton.Enabled = false; 1453 | } 1454 | 1455 | panel_add_DIYControls.Controls.Add(checkboxSelect); 1456 | panel_add_DIYControls.Controls.Add(txtBoxName); 1457 | panel_add_DIYControls.Controls.Add(txtBoxValue); 1458 | panel_add_DIYControls.Controls.Add(submitButton); 1459 | } 1460 | } 1461 | 1462 | private void SubmitButtonOnClick(object sender, EventArgs eventArgs) 1463 | { 1464 | var btnClk = (Button)sender; 1465 | 1466 | var id = GetNumber(btnClk.Name) - 1; 1467 | 1468 | var txtBox = (TextBox)panel_add_DIYControls.Controls.Find("txtValue" + 1469 | Convert.ToString(id + 1), true)[0]; 1470 | 1471 | var value = Convert.ToDouble(txtBox.Text) * 1000.0; 1472 | try 1473 | { 1474 | var tmpMessageStand = Math.Floor(value).ToString(); 1475 | SendMessageAndEnqueue(2, id+1, tmpMessageStand); 1476 | 1477 | label28.Text = "Loading..."; 1478 | } 1479 | catch (Exception ee) 1480 | { 1481 | MessageBox.Show(ee.Message); 1482 | } 1483 | } 1484 | 1485 | private void DIYTextboxValueChanged(object sender, EventArgs eventArgs) 1486 | { 1487 | var t = sender as TextBox; 1488 | 1489 | if (t != null && !IsFloatCheck(t.Text)) 1490 | t.Text = @"1"; 1491 | } 1492 | 1493 | private void CheckboxSelectOnCheckedChanged(object sender, EventArgs eventArgs) 1494 | { 1495 | if (isCustomParaValidate()) 1496 | { 1497 | var total = (textBox_DIY_Number.Text).toInt32(); 1498 | for (var i = 0; i < total; i++) 1499 | { 1500 | var checkboxSelect = (CheckBox)panel_add_DIYControls.Controls.Find("checkBox_Def" + 1501 | Convert.ToString(i + 1), true)[0]; 1502 | 1503 | var txtBox = new TextBox[2]; //用控件数组来定义每一行的TextBox,总共3个TextBox 1504 | txtBox[0] = (TextBox)panel_add_DIYControls.Controls.Find("txtName" + 1505 | Convert.ToString(i + 1), true)[0]; 1506 | txtBox[1] = (TextBox)panel_add_DIYControls.Controls.Find("txtValue" + 1507 | Convert.ToString(i + 1), true)[0]; 1508 | 1509 | var btn = (Button)panel_add_DIYControls.Controls.Find("buttonSubmit" + 1510 | Convert.ToString(i + 1), true)[0]; 1511 | 1512 | if (checkboxSelect.Checked) 1513 | { 1514 | txtBox[0].Enabled = true; 1515 | txtBox[1].Enabled = true; 1516 | btn.Enabled = true; 1517 | } 1518 | else 1519 | { 1520 | txtBox[0].Enabled = false; 1521 | txtBox[1].Enabled = false; 1522 | btn.Enabled = false; 1523 | } 1524 | } 1525 | } 1526 | 1527 | } 1528 | 1529 | private void button_DIY_Modify_Click(object sender, EventArgs e) 1530 | { 1531 | //===================================== 1532 | //数据头和封包 1533 | var NeedSend = ""; 1534 | var head = "#"; 1535 | var end = "$"; 1536 | //===================================== 1537 | try 1538 | { 1539 | var combinedString = SendCustomParaAll(); 1540 | NeedSend = head + combinedString + end; 1541 | 1542 | mySerialPort.Write(NeedSend); 1543 | 1544 | var tmpHandle = new GetEchoForm(0, NeedSend); 1545 | _queueEchoControl.Enqueue(tmpHandle); 1546 | timer_Send2GetEcho.Start(); 1547 | } 1548 | catch (Exception ee) 1549 | { 1550 | MessageBox.Show(ee.Message); 1551 | } 1552 | } 1553 | 1554 | private string SendCustomParaAll() 1555 | { 1556 | var NeedSend = ""; 1557 | var total = (textBox_DIY_Number.Text).toInt32(); 1558 | for (var i = 0; i < total; i++) 1559 | { 1560 | var checkboxSelect = (CheckBox) panel_add_DIYControls.Controls.Find("checkBox_Def" + 1561 | Convert.ToString(i + 1), true)[0]; 1562 | 1563 | var txtBox = new TextBox[2]; //用控件数组来定义每一行的TextBox,总共3个TextBox 1564 | txtBox[0] = (TextBox) panel_add_DIYControls.Controls.Find("txtName" + Convert.ToString(i + 1), true)[0]; 1565 | txtBox[1] = (TextBox) panel_add_DIYControls.Controls.Find("txtValue" + Convert.ToString(i + 1), true)[0]; 1566 | 1567 | var tmpMessageStand = txtBox[1].Text; 1568 | 1569 | if (checkboxSelect.Checked) 1570 | { 1571 | NeedSend += FormPackage_NOHead_NOEnd(2, i + 1, tmpMessageStand); 1572 | } 1573 | } 1574 | return NeedSend; 1575 | } 1576 | 1577 | #endregion 1578 | 1579 | #region 4.实时变量参数 1580 | 1581 | private void InitRealtime() 1582 | { 1583 | var sp = new SharedPreferences(SavefileName); 1584 | if (sp.ConfigFileExists && isRealTimeValide()) 1585 | { 1586 | DrawRealTimePannel(sp, true); 1587 | } 1588 | } 1589 | 1590 | private void button_electricity_NumConfirm_Click(object sender, EventArgs e) 1591 | { 1592 | if (isRealTimeValide()) 1593 | { 1594 | var sp = new SharedPreferences(SavefileName); 1595 | if (sp.ConfigFileExists) 1596 | { 1597 | DrawRealTimePannel(sp, false); 1598 | } 1599 | SaveConfig(SavefileName); 1600 | } 1601 | } 1602 | 1603 | private void DrawRealTimePannel(SharedPreferences sp, bool byInit) 1604 | { 1605 | panel_Electricity.AutoScroll = true; 1606 | panel_Electricity.Controls.Clear(); 1607 | var total = int.Parse(textBox_Realtime_Number.Text); 1608 | 1609 | for (var i = 0; i < total; i++) 1610 | { 1611 | var labelElect = new TextBox(); 1612 | labelElect.Size = new Size(100, 20); //label大小 1613 | labelElect.Location = new Point(30 + 120*0, 30*(i + 1)); 1614 | labelElect.Name = "txtElectName" + Convert.ToString(i + 1); 1615 | labelElect.Text = @"实时变量" + Convert.ToString(i + 1); 1616 | labelElect.TextAlign = HorizontalAlignment.Center; 1617 | if (byInit) 1618 | { 1619 | var elecName = string.Format("textElectName{0}", i + 1); 1620 | labelElect.Text = sp.GetString(elecName, "1.0"); 1621 | } 1622 | 1623 | var txtBoxValue = new TextBox(); 1624 | txtBoxValue.Size = new Size(50, 50); 1625 | txtBoxValue.Location = new Point(30 + 120*1, 30*(i + 1)); 1626 | txtBoxValue.Name = "txtElectValue" + Convert.ToString(i + 1); 1627 | txtBoxValue.TextAlign = HorizontalAlignment.Center; 1628 | if (byInit) 1629 | { 1630 | var elecValue = string.Format("txtElectValue{0}", i + 1); 1631 | txtBoxValue.Text = sp.GetString(elecValue, "1.0"); 1632 | } 1633 | 1634 | panel_Electricity.Controls.Add(labelElect); 1635 | panel_Electricity.Controls.Add(txtBoxValue); 1636 | } 1637 | } 1638 | 1639 | private void textBox_Realtime_Number_TextChanged(object sender, EventArgs e) 1640 | { 1641 | var t = sender as TextBox; 1642 | 1643 | if (t != null && !IsIntegerCheck(t.Text)) 1644 | t.Text = @"10"; 1645 | } 1646 | 1647 | private bool isRealTimeValide() 1648 | { 1649 | int number = (textBox_Realtime_Number.Text).toInt32(); 1650 | if (number < 1) 1651 | { 1652 | MessageBox.Show(@"请输入需要的参数数量！", @"错误"); 1653 | return false; 1654 | } 1655 | return true; 1656 | } 1657 | 1658 | #endregion 1659 | 1660 | #region 7.虚拟示波器 1661 | 1662 | private void InitzedGraph() 1663 | { 1664 | var myPane = zedGraph_local.GraphPane; 1665 | myPane.Title.IsVisible = false; 1666 | myPane.XAxis.Title.Text = "time"; 1667 | myPane.YAxis.Title.Text = "Value"; 1668 | 1669 | //show grid 1670 | myPane.XAxis.MajorGrid.IsVisible = true; 1671 | myPane.YAxis.MajorGrid.IsVisible = true; 1672 | 1673 | // Align the Y axis labels so they are flush to the axis 1674 | myPane.YAxis.Scale.Align = AlignP.Inside; 1675 | 1676 | // Manually set the axis range 1677 | myPane.XAxis.Scale.Min = _xminScale; 1678 | myPane.XAxis.Scale.Max = _xmaxScale; 1679 | myPane.YAxis.Scale.Min = _yminScale; 1680 | myPane.YAxis.Scale.Max = _ymaxScale; 1681 | 1682 | // Fill the axis background with a gradient 1683 | myPane.Chart.Fill = new Fill(Color.White, Color.LightGray, 45.0f); 1684 | 1685 | // OPTIONAL: Show tooltips when the mouse hovers over a point 1686 | zedGraph_local.IsShowPointValues = true; 1687 | zedGraph_local.PointValueEvent += MyPointValueHandler; 1688 | 1689 | for (var i = 0; i < ScopeNumber; i++) 1690 | { 1691 | zedGrpahNames[i] = new ZedGrpahName(); 1692 | coOb[i] = new CallObject(); 1693 | } 1694 | 1695 | var sp = new SharedPreferences(SavefileName); 1696 | for (var i = 0; i < ScopeNumber; i++) 1697 | { 1698 | zedGrpahNames[i].listZed.Add(Convert.ToDouble(zedGrpahNames[i].x), 0); 1699 | var curve = string.Format("波形{0}", i + 1); 1700 | 1701 | //自己定义的变量名称 1702 | var txtName_CustomPara = string.Format("SCOPE_TextName{0}", i + 1); 1703 | var getName = sp.GetString(txtName_CustomPara, @"波形" + Convert.ToString(i + 1)); 1704 | zedGraph_local.GraphPane.AddCurve(getName.Trim() != "" ? getName : curve, zedGrpahNames[i].listZed, 1705 | _colorLine[i%8], 1706 | SymbolType.None); 1707 | } 1708 | 1709 | refleshZedPane(zedGraph_local); 1710 | } 1711 | 1712 | private void Init_pane_Scope() 1713 | { 1714 | var sp = new SharedPreferences(SavefileName); 1715 | 1716 | panel_Scope.AutoScroll = true; 1717 | var total = ScopeNumber; 1718 | for (var i = 0; i < total; i++) 1719 | { 1720 | var checkDrawing = new CheckBox(); 1721 | checkDrawing.Size = new Size(15, 15); 1722 | checkDrawing.Location = new Point(20 + i%8*77, 10 + i/8*60); 1723 | checkDrawing.Name = "checkBox_Def" + Convert.ToString(i + 1); 1724 | checkDrawing.Text = ""; 1725 | 1726 | var checkState = string.Format("SCOPE_CheckState{0}", i + 1); 1727 | checkDrawing.Checked = sp.GetBoolean(checkState, false); 1728 | checkDrawing.CheckedChanged += CheckDrawingOnCheckedChanged; 1729 | 1730 | var txtBoxName = new TextBox(); 1731 | txtBoxName.Size = new Size(50, 20); //textbox大小 1732 | txtBoxName.Location = new Point(41 + i%8*77, 7 + i/8*60); 1733 | txtBoxName.Name = "txtName" + Convert.ToString(i + 1); 1734 | txtBoxName.TextAlign = HorizontalAlignment.Center; 1735 | var txtName_CustomPara = string.Format("SCOPE_TextName{0}", i + 1); 1736 | var getName = sp.GetString(txtName_CustomPara, @"波形" + Convert.ToString(i + 1)); 1737 | txtBoxName.Text = getName.Trim() != "" ? getName : string.Format("波形{0}", i + 1); 1738 | txtBoxName.BackColor = _colorLine[i%8]; 1739 | txtBoxName.TextChanged += ScopeTextNameChanged; 1740 | txtBoxName.Enabled = checkDrawing.Checked; 1741 | 1742 | var buttonNewForm = new Button(); 1743 | buttonNewForm.Size = new Size(66, 23); 1744 | buttonNewForm.Location = new Point(25 + i%8*77, 34 + i/8*60); 1745 | buttonNewForm.Name = "buttonDraw" + Convert.ToString(i + 1); 1746 | buttonNewForm.Text = @"独立图像"; 1747 | buttonNewForm.Click += ButtonNewFormOnClick; 1748 | buttonNewForm.Enabled = checkDrawing.Checked; 1749 | 1750 | panel_Scope.Controls.Add(checkDrawing); 1751 | panel_Scope.Controls.Add(txtBoxName); 1752 | panel_Scope.Controls.Add(buttonNewForm); 1753 | } 1754 | } 1755 | 1756 | private void timer_fresh_Tick(object sender, EventArgs e) 1757 | { 1758 | refleshZedPane(zedGraph_local); 1759 | } 1760 | 1761 | private string MyPointValueHandler(ZedGraphControl control, GraphPane pane, 1762 | CurveItem curve, int iPt) 1763 | { 1764 | var pt = curve[iPt]; 1765 | return curve.Label.Text + " is " + pt.Y.ToString("f2") + " units at " + pt.X.ToString("f1"); 1766 | } 1767 | 1768 | private void refleshZedPane(ZedGraphControl zedGraph) 1769 | { 1770 | zedGraph.AxisChange(); 1771 | zedGraph.Invalidate(); 1772 | } 1773 | 1774 | private void ButtonNewFormOnClick(object sender, EventArgs eventArgs) 1775 | { 1776 | var btnClk = (Button) sender; 1777 | 1778 | var id = GetNumber(btnClk.Name) - 1; 1779 | if (zedGrpahNames[id].IsSingleWindowShowed == false) 1780 | { 1781 | zedGrpahNames[id].IsSingleWindowShowed = true; 1782 | 1783 | FindTextboxAndShowWindow(id); 1784 | 1785 | if (_isLoadHistory) 1786 | { 1787 | coOb[id].CallPointPairEvent(zedGrpahNames[id].listZed); 1788 | } 1789 | } 1790 | else 1791 | { 1792 | MessageBox.Show(@"不能重复创建！已经有了一个窗口！"); 1793 | } 1794 | } 1795 | 1796 | private void FindTextboxAndShowWindow(int id) 1797 | { 1798 | var txtBox = (TextBox) panel_Scope.Controls.Find("txtName" + 1799 | Convert.ToString(id + 1), true)[0]; 1800 | 1801 | var singleWindow = new ZedGraphSingleWindow(id, coOb[id], txtBox.Text); 1802 | singleWindow.SignalClosedEvent += SingleWindowClosed_RecvInfo; 1803 | singleWindow.SignalLoadEvent += delegate(ZedGraphSingleWindow window, int i) 1804 | { 1805 | window.PauseFlag = false; 1806 | }; 1807 | 1808 | singleWindow.Show(); 1809 | } 1810 | 1811 | private static int GetNumber(string str) 1812 | { 1813 | var result = 0; 1814 | if (!string.IsNullOrEmpty(str)) 1815 | { 1816 | // 正则表达式剔除非数字字符（不包含小数点.） 1817 | str = Regex.Replace(str, @"[^\d.\d]", ""); 1818 | // 如果是数字，则转换为decimal类型 1819 | if (Regex.IsMatch(str, @"^[+-]?\d*[.]?\d*$")) 1820 | { 1821 | result = int.Parse(str); 1822 | } 1823 | } 1824 | return result; 1825 | } 1826 | 1827 | #region Event 1828 | 1829 | private void ScopeTextNameChanged(object sender, EventArgs eventArgs) 1830 | { 1831 | var txtBox = sender as TextBox; 1832 | 1833 | var id = GetNumber(txtBox.Name) - 1; 1834 | 1835 | zedGraph_local.GraphPane.CurveList[id].Label.Text = txtBox.Text; 1836 | 1837 | refleshZedPane(zedGraph_local); 1838 | } 1839 | 1840 | private void CheckDrawingOnCheckedChanged(object sender, EventArgs eventArgs) 1841 | { 1842 | var checkchangBox = (CheckBox) sender; 1843 | var id = GetNumber(checkchangBox.Name) - 1; 1844 | 1845 | var txtBox = (TextBox) panel_Scope.Controls.Find("txtName" + 1846 | Convert.ToString(id + 1), true)[0]; 1847 | 1848 | var buttonNewForm = new Button(); 1849 | buttonNewForm = (Button) panel_Scope.Controls.Find("buttonDraw" + 1850 | Convert.ToString(id + 1), true)[0]; 1851 | 1852 | if (checkchangBox.Checked) 1853 | { 1854 | txtBox.Enabled = true; 1855 | buttonNewForm.Enabled = true; 1856 | 1857 | if (mySerialPort.IsOpen) 1858 | { 1859 | timer_fresh.Start(); 1860 | } 1861 | else 1862 | { 1863 | for (var j = 0; j < zedGrpahNames[id].ZedPoint.ZedListX.Count; j++) 1864 | { 1865 | var x = zedGrpahNames[id].ZedPoint.ZedListX.ElementAt(j); 1866 | var y = zedGrpahNames[id].ZedPoint.ZedListY.ElementAt(j); 1867 | zedGrpahNames[id].listZed.Add(x, y); 1868 | } 1869 | } 1870 | } 1871 | else 1872 | { 1873 | txtBox.Enabled = false; 1874 | buttonNewForm.Enabled = false; 1875 | 1876 | if (!mySerialPort.IsOpen) 1877 | { 1878 | var upLimit = zedGrpahNames[id].listZed.Count; 1879 | zedGrpahNames[id].listZed.RemoveRange(0, upLimit); 1880 | } 1881 | } 1882 | 1883 | refleshZedPane(zedGraph_local); 1884 | } 1885 | 1886 | private void button_ClearDrawing_Click(object sender, EventArgs e) 1887 | { 1888 | for (var i = 0; i < ScopeNumber; i++) //首先清除所有的曲线数据 1889 | { 1890 | zedGrpahNames[i].listZed.RemoveRange(0, zedGrpahNames[i].listZed.Count); 1891 | zedGrpahNames[i].x = -1; 1892 | } 1893 | 1894 | zedGraph_local.GraphPane.XAxis.Scale.MinAuto = true; 1895 | zedGraph_local.GraphPane.XAxis.Scale.MaxAuto = true; 1896 | zedGraph_local.GraphPane.YAxis.Scale.MinAuto = true; 1897 | zedGraph_local.GraphPane.YAxis.Scale.MaxAuto = true; 1898 | 1899 | refleshZedPane(zedGraph_local); 1900 | } 1901 | 1902 | private void SingleWindowClosed_RecvInfo(int id) 1903 | { 1904 | zedGrpahNames[id].IsSingleWindowShowed = false; 1905 | } 1906 | 1907 | #endregion 1908 | 1909 | #endregion 1910 | 1911 | #region 8.全局参数 1912 | 1913 | private void button_ReadAllSettings_Click(object sender, EventArgs e) 1914 | { 1915 | try 1916 | { 1917 | label28.Text = @"Loading...."; 1918 | var noMeaning = "0"; 1919 | 1920 | SendMessageAndEnqueue(3, 1, noMeaning); 1921 | } 1922 | catch (Exception ee) 1923 | { 1924 | MessageBox.Show(ee.Message); 1925 | } 1926 | } 1927 | 1928 | private void button_force_stop_Click(object sender, EventArgs e) 1929 | { 1930 | //清空现在的所有队列 1931 | _queueEchoControl.Clear(); 1932 | tmpSendHandle.Flag = 1; 1933 | 1934 | try 1935 | { 1936 | var noMeaning = "0"; 1937 | SendMessageAndEnqueue(3, 2, noMeaning); 1938 | 1939 | label28.Text = @"停车指令发送中..."; 1940 | } 1941 | catch (Exception ee) 1942 | { 1943 | MessageBox.Show(ee.Message); 1944 | } 1945 | } 1946 | 1947 | private void button_ExportMatlab_Click(object sender, EventArgs e) 1948 | { 1949 | saveFileDialog_History.Title = @"导出曲线数据"; 1950 | saveFileDialog_History.Filter = @"配置文件(*.m)|*.m|所有类型(*.*)|(*.*)"; 1951 | saveFileDialog_History.RestoreDirectory = true; 1952 | if (saveFileDialog_History.ShowDialog() == DialogResult.OK) 1953 | { 1954 | var fileName = saveFileDialog_History.FileName; 1955 | saveFileDialog_History.FileName = fileName.Substring(fileName.LastIndexOf("\\", 1956 | StringComparison.Ordinal) + 1); 1957 | //MessageBox.Show(fileName + filter); 1958 | var fs = new FileStream(fileName, FileMode.Create, FileAccess.Write); 1959 | var sw = new StreamWriter(fs, Encoding.Default); 1960 | 1961 | WriteToMatlabFile(sw, fileName); 1962 | 1963 | sw.Close(); 1964 | } 1965 | } 1966 | 1967 | private void WriteToMatlabFile(StreamWriter sw, string fileName) 1968 | { 1969 | //示波器参数 1970 | var countScope = 0; 1971 | var checkDrawing = new CheckBox[ScopeNumber]; 1972 | var txtBoxScope = new TextBox[ScopeNumber]; 1973 | var buttonNewForm = new Button[ScopeNumber]; 1974 | 1975 | for (var i = 0; i < ScopeNumber; i++) 1976 | { 1977 | checkDrawing[i] = 1978 | (CheckBox) 1979 | panel_Scope.Controls.Find("checkBox_Def" + Convert.ToString(i + 1), true)[0]; 1980 | 1981 | txtBoxScope[i] = 1982 | (TextBox)panel_Scope.Controls.Find("txtName" + Convert.ToString(i + 1), true)[0]; 1983 | 1984 | buttonNewForm[i] = 1985 | (Button)panel_Scope.Controls.Find("buttonDraw" + Convert.ToString(i + 1), true)[0]; 1986 | 1987 | if (checkDrawing[i].Checked) 1988 | ++countScope; 1989 | } 1990 | 1991 | sw.WriteLine("clc"); 1992 | sw.WriteLine("clear all"); 1993 | sw.WriteLine("close all"); 1994 | sw.WriteLine("\r\n"); 1995 | sw.WriteLine("ScopeLineNumber = {0};", countScope); 1996 | 1997 | for (var i = 0; i < ScopeNumber; i++) 1998 | { 1999 | if (checkDrawing[i].Checked) 2000 | { 2001 | sw.WriteLine("%%"); 2002 | sw.WriteLine("size{0}_{1} = 1:{2};", i+1, txtBoxScope[i].Text, zedGrpahNames[i].listZed.Count); 2003 | sw.Write("Scope{0}_{1} = ", i+1, txtBoxScope[i].Text); 2004 | sw.Write("["); 2005 | 2006 | int perLineCount = 0; 2007 | int perLineThresold = 20; 2008 | for (var j = 0; j < zedGrpahNames[i].listZed.Count; j++) 2009 | { 2010 | sw.Write("{0},", zedGrpahNames[i].listZed.ElementAt(j).Y); 2011 | 2012 | perLineCount++; 2013 | if (perLineCount > perLineThresold) 2014 | { 2015 | perLineCount = 0; 2016 | 2017 | sw.Write("...\r\n"); 2018 | } 2019 | } 2020 | sw.Write("];"); 2021 | sw.WriteLine("\r\n%%"); 2022 | sw.WriteLine("\r\n"); 2023 | } 2024 | } 2025 | 2026 | sw.WriteLine("%% 示波器中变量名称："); 2027 | for (var i = 0; i < ScopeNumber; i++) 2028 | { 2029 | if (checkDrawing[i].Checked) 2030 | { 2031 | sw.Write("%% {0}. size{0}_{1}; ", i+1, txtBoxScope[i].Text); 2032 | sw.Write("Scope{0}_{1}\r\n", i+1, txtBoxScope[i].Text); 2033 | } 2034 | } 2035 | } 2036 | 2037 | #endregion 2038 | 2039 | #region 历史数据 2040 | 2041 | private void button_History_Click(object sender, EventArgs e) //如果可能请使用多线程！！！ 2042 | { 2043 | saveFileDialog_History.Title = "导出配置"; 2044 | saveFileDialog_History.Filter = "配置文件(*.ini)|*.ini|所有类型(*.*)|(*.*)"; 2045 | saveFileDialog_History.RestoreDirectory = true; 2046 | if (saveFileDialog_History.ShowDialog() == DialogResult.OK) 2047 | { 2048 | var fileName = saveFileDialog_History.FileName; 2049 | saveFileDialog_History.FileName = fileName.Substring(fileName.LastIndexOf("\\") + 1); 2050 | //MessageBox.Show(fileName + filter); 2051 | var fs = new FileStream(fileName, FileMode.Create, FileAccess.Write); 2052 | var sw = new StreamWriter(fs, Encoding.Default); 2053 | 2054 | WritePIDValueToText(sw, fileName); 2055 | WriteCustomParaSetupToText(sw, fileName); 2056 | WriteScopeSetupToText(sw, fileName); 2057 | 2058 | //... 2059 | sw.Close(); 2060 | } 2061 | } 2062 | 2063 | private void button_loadHistory_Click(object sender, EventArgs e) 2064 | { 2065 | openFileDialog_History.Title = "导入配置文件"; 2066 | openFileDialog_History.Filter = "配置文件(*.ini)|*.ini|所有类型(*.*)|(*.*)"; 2067 | openFileDialog_History.RestoreDirectory = true; 2068 | openFileDialog_History.FileName = ""; 2069 | if (openFileDialog_History.ShowDialog() == DialogResult.OK) 2070 | { 2071 | var fileName = openFileDialog_History.FileName; 2072 | openFileDialog_History.FileName = fileName.Substring(fileName.LastIndexOf("\\") + 1); 2073 | //MessageBox.Show(fileName + filter); 2074 | var fs = new FileStream(fileName, FileMode.Open, FileAccess.Read); 2075 | var sr = new StreamReader(fs, Encoding.Default); 2076 | 2077 | var lines = new List(); 2078 | 2079 | while (sr.Peek() > -1) 2080 | { 2081 | lines.Add(sr.ReadLine()); 2082 | } 2083 | 2084 | if (lines.ElementAt(0).Contains("CarType")) 2085 | { 2086 | var countLine = 0; 2087 | 2088 | countLine = ReadPIDFromText(lines, countLine); 2089 | countLine = ReadCustomParaFromText(lines, countLine); 2090 | countLine = ReadScopeFromText(lines, countLine); 2091 | } 2092 | _isLoadHistory = true; 2093 | 2094 | sr.Close(); 2095 | } 2096 | } 2097 | 2098 | private void WritePIDValueToText(StreamWriter sw, string filename) 2099 | { 2100 | //小车参数 2101 | sw.WriteLine("CarType:{0}", radioButton_FourWheel.Checked ? "1" : "0"); 2102 | if (radioButton_FourWheel.Checked) //四轮车PID 2103 | { 2104 | //舵机PID参数 2105 | var strSteer = "P" + textBox_Steer_P.Text + " I" + textBox_Steer_I.Text + " D" + 2106 | textBox_Steer_D.Text; 2107 | sw.WriteLine("Steer:{0}", strSteer); 2108 | 2109 | //电机PID参数 2110 | var strMotor = "P" + textBox_Motor_P.Text + " I" + textBox_Motor_I.Text + " D" + 2111 | textBox_Motor_D.Text; 2112 | sw.WriteLine("Motor:{0}", strMotor); 2113 | } 2114 | else if (radioButton_BalanceCar.Checked) //直立车PID参数的获取 2115 | { 2116 | //直立PID 2117 | var strStand = "P" + textBox_Stand_P.Text + " I" + textBox_Stand_I.Text + " D" + 2118 | textBox_Stand_D.Text; 2119 | sw.WriteLine("Stand:{0}", strStand); 2120 | 2121 | //速度PID 2122 | var strSpeed = "P" + textBox_Speed_P.Text + " I" + textBox_Speed_I.Text + " D" + 2123 | textBox_Speed_D.Text; 2124 | sw.WriteLine("Speed:{0}", strSpeed); 2125 | 2126 | //方向PID 2127 | var strDirection = "P" + textBox_Direction_P.Text + " I" + textBox_Direction_I.Text + " D" + 2128 | textBox_Direction_D.Text; 2129 | sw.WriteLine("Direction:{0}", strDirection); 2130 | } 2131 | } 2132 | 2133 | private void WriteCustomParaSetupToText(StreamWriter sw, string fileName) 2134 | { 2135 | //自定义参数 2136 | var totalCustomPara = 0; 2137 | if (textBox_DIY_Number.Text == "") 2138 | { 2139 | //essageBox.Show(@"请重新输入需要的参数数量！", @"错误"); 2140 | totalCustomPara = 0; 2141 | } 2142 | totalCustomPara = (textBox_DIY_Number.Text).toInt32(); 2143 | 2144 | sw.WriteLine("DIY_Num:{0}", totalCustomPara); 2145 | 2146 | for (var i = 0; i < totalCustomPara; i++) 2147 | { 2148 | var txtBox = new TextBox[2]; //用控件数组来定义每一行的TextBox,总共3个TextBox 2149 | txtBox[0] = 2150 | (TextBox) panel_add_DIYControls.Controls.Find("txtName" + Convert.ToString(i + 1), true)[0]; 2151 | txtBox[1] = 2152 | (TextBox) panel_add_DIYControls.Controls.Find("txtValue" + Convert.ToString(i + 1), true)[0]; 2153 | 2154 | var strName = txtBox[0].Text; 2155 | var strValue = txtBox[1].Text; 2156 | 2157 | sw.WriteLine("{0}:{1}", strName, strValue); 2158 | } 2159 | } 2160 | 2161 | private void WriteScopeSetupToText(StreamWriter sw, string fileName) 2162 | { 2163 | //示波器参数 2164 | var countScope = 0; 2165 | var checkDrawing = new CheckBox[ScopeNumber]; 2166 | var txtBoxScope = new TextBox[ScopeNumber]; 2167 | var buttonNewForm = new Button[ScopeNumber]; 2168 | 2169 | for (var i = 0; i < ScopeNumber; i++) 2170 | { 2171 | checkDrawing[i] = 2172 | (CheckBox) 2173 | panel_Scope.Controls.Find("checkBox_Def" + Convert.ToString(i + 1), true)[0]; 2174 | 2175 | txtBoxScope[i] = 2176 | (TextBox) panel_Scope.Controls.Find("txtName" + Convert.ToString(i + 1), true)[0]; 2177 | 2178 | buttonNewForm[i] = 2179 | (Button) panel_Scope.Controls.Find("buttonDraw" + Convert.ToString(i + 1), true)[0]; 2180 | 2181 | if (checkDrawing[i].Checked) 2182 | ++countScope; 2183 | } 2184 | sw.WriteLine("ScopeLineNumber:{0}", countScope); 2185 | 2186 | for (var i = 0; i < ScopeNumber; i++) 2187 | { 2188 | if (checkDrawing[i].Checked) 2189 | { 2190 | sw.WriteLine("ScopeLineOrder:{0}", i); 2191 | sw.WriteLine("CurrenScopeName:{0}", txtBoxScope[i].Text); 2192 | sw.WriteLine("PointNumber:{0}", zedGrpahNames[i].listZed.Count); 2193 | 2194 | for (var j = 0; j < zedGrpahNames[i].listZed.Count; j++) 2195 | { 2196 | sw.Write("{0}", zedGrpahNames[i].listZed.ElementAt(j).ToString().Replace(" ", "")); 2197 | } 2198 | sw.WriteLine(""); 2199 | } 2200 | } 2201 | } 2202 | 2203 | private int ReadPIDFromText(List lines, int countLine) 2204 | { 2205 | int carType = (lines.ElementAt(countLine).Split(':').ElementAt(1)).toInt32(); 2206 | countLine++; 2207 | 2208 | if (carType == 0) //直立车 2209 | { 2210 | countLine = ReadBalancePIDFromText(lines, countLine); 2211 | } 2212 | else if (carType == 1) //四轮车 2213 | { 2214 | countLine = ReadFourwheelPIDFromText(lines, countLine); 2215 | } 2216 | return countLine; 2217 | } 2218 | 2219 | private int ReadBalancePIDFromText(List lines, int countLine) 2220 | { 2221 | var indexP = lines.ElementAt(countLine).IndexOf('P'); 2222 | var indexI = lines.ElementAt(countLine).IndexOf(" I", StringComparison.Ordinal); 2223 | var indexD = lines.ElementAt(countLine).IndexOf(" D", StringComparison.Ordinal); 2224 | 2225 | //直立 2226 | var standP = lines.ElementAt(countLine).Substring(indexP + 1, indexI - indexP - 1); 2227 | var standI = lines.ElementAt(countLine).Substring(indexI + 2, indexD - indexI - 1).Trim(); 2228 | var standD = lines.ElementAt(countLine).Substring(indexD + 2); 2229 | textBox_Stand_P.Text = standP; 2230 | textBox_Stand_I.Text = standI; 2231 | textBox_Stand_D.Text = standD; 2232 | ++countLine; 2233 | 2234 | //速度 2235 | indexP = lines.ElementAt(countLine).IndexOf('P'); 2236 | indexI = lines.ElementAt(countLine).IndexOf(" I", StringComparison.Ordinal); 2237 | indexD = lines.ElementAt(countLine).IndexOf(" D", StringComparison.Ordinal); 2238 | var speedP = lines.ElementAt(countLine).Substring(indexP + 1, indexI - indexP - 1); 2239 | var speedI = lines.ElementAt(countLine).Substring(indexI + 2, indexD - indexI - 1).Trim(); 2240 | var speedD = lines.ElementAt(countLine).Substring(indexD + 2); 2241 | textBox_Speed_P.Text = speedP; 2242 | textBox_Speed_I.Text = speedI; 2243 | textBox_Speed_D.Text = speedD; 2244 | ++countLine; 2245 | 2246 | //方向 2247 | indexP = lines.ElementAt(countLine).IndexOf('P'); 2248 | indexI = lines.ElementAt(countLine).IndexOf(" I", StringComparison.Ordinal); 2249 | indexD = lines.ElementAt(countLine).IndexOf(" D", StringComparison.Ordinal); 2250 | var directionP = lines.ElementAt(countLine).Substring(indexP + 1, indexI - indexP - 1); 2251 | var directionI = lines.ElementAt(countLine).Substring(indexI + 2, indexD - indexI - 1).Trim(); 2252 | var directionD = lines.ElementAt(countLine).Substring(indexD + 2); 2253 | textBox_Direction_P.Text = directionP; 2254 | textBox_Direction_I.Text = directionI; 2255 | textBox_Direction_D.Text = directionD; 2256 | ++countLine; 2257 | 2258 | return countLine; 2259 | } 2260 | 2261 | private int ReadFourwheelPIDFromText(List lines, int countLine) 2262 | { 2263 | var indexP = lines.ElementAt(countLine).IndexOf('P'); 2264 | var indexI = lines.ElementAt(countLine).IndexOf(" I", StringComparison.Ordinal); 2265 | var indexD = lines.ElementAt(countLine).IndexOf(" D", StringComparison.Ordinal); 2266 | 2267 | //舵机 2268 | var steerP = lines.ElementAt(countLine).Substring(indexP + 1, indexI - indexP - 1); 2269 | var steerI = lines.ElementAt(countLine).Substring(indexI + 2, indexD - indexI - 1).Trim(); 2270 | var steerD = lines.ElementAt(countLine).Substring(indexD + 2); 2271 | textBox_Steer_P.Text = steerP; 2272 | textBox_Steer_I.Text = steerI; 2273 | textBox_Steer_D.Text = steerD; 2274 | ++countLine; 2275 | 2276 | //电机 2277 | indexP = lines.ElementAt(countLine).IndexOf('P'); 2278 | indexI = lines.ElementAt(countLine).IndexOf(" I", StringComparison.Ordinal); 2279 | indexD = lines.ElementAt(countLine).IndexOf(" D", StringComparison.Ordinal); 2280 | var motorP = lines.ElementAt(countLine).Substring(indexP + 1, indexI - indexP - 1); 2281 | var motorI = lines.ElementAt(countLine).Substring(indexI + 2, indexD - indexI - 1).Trim(); 2282 | var motorD = lines.ElementAt(countLine).Substring(indexD + 2); 2283 | textBox_Motor_P.Text = motorP; 2284 | textBox_Motor_I.Text = motorI; 2285 | textBox_Motor_D.Text = motorD; 2286 | ++countLine; 2287 | 2288 | return countLine; 2289 | } 2290 | 2291 | private int ReadCustomParaFromText(List lines, int countLine) 2292 | { 2293 | //自定义参数 2294 | if (lines.ElementAt(countLine).Contains("DIY_Num")) 2295 | { 2296 | int CustomParaNum = lines.ElementAt(countLine).Split(':').ElementAt(1).toInt32(); 2297 | ++countLine; 2298 | 2299 | if (CustomParaNum == (textBox_DIY_Number.Text).toInt32()) 2300 | { 2301 | for (var i = 0; i < CustomParaNum; i++) 2302 | { 2303 | var checkboxSelect = new CheckBox(); 2304 | checkboxSelect = 2305 | (CheckBox) 2306 | panel_add_DIYControls.Controls.Find("checkBox_Def" + Convert.ToString(i + 1), 2307 | true)[0]; 2308 | 2309 | var txtBox = new TextBox[2]; //用控件数组来定义每一行的TextBox,总共3个TextBox 2310 | txtBox[0] = 2311 | (TextBox) 2312 | panel_add_DIYControls.Controls.Find("txtName" + Convert.ToString(i + 1), true)[0 2313 | ]; 2314 | txtBox[1] = 2315 | (TextBox) 2316 | panel_add_DIYControls.Controls.Find("txtValue" + Convert.ToString(i + 1), true)[ 2317 | 0]; 2318 | 2319 | var numberName = lines.ElementAt(countLine).Split(':').ElementAt(0); 2320 | var numberValue = lines.ElementAt(countLine).Split(':').ElementAt(1); 2321 | 2322 | txtBox[0].Text = numberName; 2323 | txtBox[1].Text = numberValue; 2324 | 2325 | ++countLine; 2326 | } 2327 | } 2328 | else 2329 | { 2330 | var txtBoxName = new TextBox(); 2331 | var txtBoxValue = new TextBox(); 2332 | var checkboxSelect = new CheckBox(); 2333 | 2334 | for (var i = 0; i < CustomParaNum; i++) 2335 | { 2336 | //是否启用的选项 2337 | checkboxSelect = new CheckBox(); 2338 | checkboxSelect.Size = new Size(50, 20); 2339 | checkboxSelect.Location = new Point(10 + 70*0, 30*i); //textbox坐标 2340 | checkboxSelect.Name = "checkBox_Def" + Convert.ToString(i + 1); 2341 | checkboxSelect.Text = ""; 2342 | checkboxSelect.CheckedChanged += CheckboxSelectOnCheckedChanged; 2343 | checkboxSelect.Checked = true; 2344 | 2345 | //名字 2346 | txtBoxName = new TextBox(); 2347 | txtBoxName.Size = new Size(50, 50); //textbox大小 2348 | txtBoxName.Location = new Point(10 + 70*1, 30*i); //textbox坐标 2349 | txtBoxName.Name = "txtName" + Convert.ToString(i + 1); //设定控件名称 2350 | txtBoxName.TextAlign = HorizontalAlignment.Center; 2351 | txtBoxName.Text = lines.ElementAt(countLine).Split(':').ElementAt(0); 2352 | txtBoxName.Enabled = true; 2353 | 2354 | //值 2355 | txtBoxValue = new TextBox(); 2356 | txtBoxValue.Size = new Size(50, 50); //textbox大小 2357 | txtBoxValue.Location = new Point(10 + 70*2, 30*i); //textbox坐标 2358 | txtBoxValue.Name = "txtValue" + Convert.ToString(i + 1); //设定控件名称 2359 | txtBoxValue.Text = "1.00"; 2360 | txtBoxValue.TextAlign = HorizontalAlignment.Center; 2361 | txtBoxValue.Enabled = true; 2362 | txtBoxValue.Text = lines.ElementAt(countLine).Split(':').ElementAt(1); 2363 | 2364 | ++countLine; 2365 | 2366 | panel_add_DIYControls.Controls.Add(checkboxSelect); 2367 | panel_add_DIYControls.Controls.Add(txtBoxName); //把"名字"加入到panel中 2368 | panel_add_DIYControls.Controls.Add(txtBoxValue); //把"值"加入到panel中 2369 | } 2370 | } 2371 | } 2372 | 2373 | return countLine; 2374 | } 2375 | 2376 | private int ReadScopeFromText(List lines, int countLine) 2377 | { 2378 | //Scope 2379 | for (var i = 0; i < ScopeNumber; i++) //首先清除所有的曲线数据 2380 | { 2381 | zedGrpahNames[i].listZed.RemoveRange(0, zedGrpahNames[i].listZed.Count); 2382 | } 2383 | 2384 | if (lines.ElementAt(countLine).Contains("ScopeLineNumber")) 2385 | { 2386 | int scopeNum = (lines.ElementAt(countLine).Split(':').ElementAt(1)).toInt32(); 2387 | ++countLine; 2388 | 2389 | for (var i = 0; i < scopeNum; i++) 2390 | { 2391 | if (lines.ElementAt(countLine).Contains("ScopeLineOrder")) //第几个曲线 2392 | { 2393 | int scopeOrder = (lines.ElementAt(countLine).Split(':').ElementAt(1)).toInt32(); 2394 | ++countLine; 2395 | 2396 | if (lines.ElementAt(countLine).Contains("CurrenScopeName")) //之前的名字,没有这一条就不加 2397 | { 2398 | try 2399 | { 2400 | string scopeName = lines.ElementAt(countLine).Split(':').ElementAt(1); 2401 | ++countLine; 2402 | 2403 | var txtBox_Scope = (TextBox)panel_Scope.Controls.Find("txtName" + 2404 | Convert.ToString(scopeOrder + 1), true)[0]; 2405 | txtBox_Scope.Text = scopeName; 2406 | } 2407 | catch 2408 | { 2409 | } 2410 | } 2411 | 2412 | if (lines.ElementAt(countLine).Contains("PointNumber")) //点数量 2413 | { 2414 | int scopePointNum = 2415 | (lines.ElementAt(countLine).Split(':').ElementAt(1)).toInt32(); 2416 | ++countLine; 2417 | 2418 | char[] charsplit = {'(', ',', ')'}; 2419 | var xyPoint = lines.ElementAt(countLine) 2420 | .Split(charsplit, StringSplitOptions.RemoveEmptyEntries); 2421 | ++countLine; 2422 | 2423 | for (var j = 0; j < scopePointNum; j++) 2424 | { 2425 | var x = Convert.ToDouble(xyPoint[j*2]); 2426 | var y = Convert.ToDouble(xyPoint[j*2 + 1]); 2427 | zedGrpahNames[scopeOrder].listZed.Add(x, y); 2428 | zedGrpahNames[scopeOrder].ZedPoint.ZedListX.Add(x); 2429 | zedGrpahNames[scopeOrder].ZedPoint.ZedListY.Add(y); 2430 | } 2431 | } 2432 | } 2433 | } 2434 | //UpdateScope Here 2435 | zedGraph_local.GraphPane.XAxis.Scale.MaxAuto = true; 2436 | zedGraph_local.GraphPane.XAxis.Scale.MinAuto = true; 2437 | zedGraph_local.GraphPane.YAxis.Scale.MaxAuto = true; 2438 | zedGraph_local.GraphPane.YAxis.Scale.MinAuto = true; 2439 | 2440 | refleshZedPane(zedGraph_local); 2441 | } //Scope End 2442 | return countLine; 2443 | } 2444 | #endregion 2445 | 2446 | #region 9.匹配性判断工具 2447 | 2448 | private string FormPackage(int father, int child, string sendMessgage) 2449 | { 2450 | var result = ""; 2451 | 2452 | var head = "#"; 2453 | var end = "$"; 2454 | var sFather = father.ToString(); 2455 | var sChild = child.ToString(); 2456 | 2457 | result = head + "|" + sFather + "|" + sChild + "|" + sendMessgage + "|" + end; 2458 | 2459 | return result; 2460 | } 2461 | 2462 | private string FormPackage_NOHead_NOEnd(int father, int child, string sendMessgage) 2463 | { 2464 | var result = ""; 2465 | 2466 | var sFather = father.ToString(); 2467 | var sChild = child.ToString(); 2468 | 2469 | result = "|" + sFather + "|" + sChild + "|" + sendMessgage + "|"; 2470 | 2471 | return result; 2472 | } 2473 | 2474 | private void SendMessageAndEnqueue(int father, int child, string messgae) 2475 | { 2476 | messgae = FormPackage(father, child, messgae); 2477 | mySerialPort.Write(messgae); 2478 | 2479 | var tmpHandle = new GetEchoForm(0, messgae); 2480 | _queueEchoControl.Enqueue(tmpHandle); 2481 | 2482 | if (!timer_Send2GetEcho.Enabled) 2483 | timer_Send2GetEcho.Start(); 2484 | } 2485 | 2486 | private Boolean IsIntegerCheck(string text) 2487 | { 2488 | var reg = new Regex("^[0-9]{1,}$"); 2489 | 2490 | if (!reg.IsMatch(text)) 2491 | { 2492 | MessageBox.Show(@"请输入整数！"); 2493 | return false; 2494 | } 2495 | return true; 2496 | } 2497 | 2498 | private Boolean IsFloatCheck(string text) 2499 | { 2500 | var reg = new Regex("^((-{0,1}[0-9]+[\\.]?[0-9]{0,3})|-{0,1}[0-9]{1,})$"); 2501 | 2502 | if (!reg.IsMatch(text)) 2503 | { 2504 | MessageBox.Show(@"请输入精度为3的浮点或整数！"); 2505 | return false; 2506 | } 2507 | return true; 2508 | } 2509 | 2510 | #endregion 2511 | } 2512 | } -------------------------------------------------------------------------------- /Freescale_debug/Freescale_debug.csproj: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 5 | Debug 6 | AnyCPU 7 | {5C73F5B7-1A8D-459F-AFBD-EF5C5AE9AE51} 8 | WinExe 9 | Properties 10 | Freescale_debug 11 | Freescale_debug 12 | v4.5 13 | 512 14 | 15 | 16 | AnyCPU 17 | true 18 | full 19 | false 20 | bin\Debug\ 21 | DEBUG;TRACE 22 | prompt 23 | 4 24 | true 25 | true 26 | 27 | 28 | AnyCPU 29 | none 30 | true 31 | bin\Release\ 32 | TRACE 33 | prompt 34 | 4 35 | false 36 | 37 | 38 | 20150627125704915_easyicon_net_128.ico 39 | 40 | 41 | 42 | Libs\Leomon.dll 43 | 44 | 45 | Libs\log4net.dll 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | Libs\ZedGraph.dll 60 | 61 | 62 | 63 | 64 | 65 | 66 | Form 67 | 68 | 69 | Form 70 | 71 | 72 | Form1.cs 73 | 74 | 75 | Form 76 | 77 | 78 | LoadingPage.cs 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | Form 88 | 89 | 90 | ZedGraph_SingleWindow.cs 91 | 92 | 93 | Form1.cs 94 | 95 | 96 | LoadingPage.cs 97 | 98 | 99 | ResXFileCodeGenerator 100 | Resources.Designer.cs 101 | Designer 102 | 103 | 104 | True 105 | Resources.resx 106 | 107 | 108 | ZedGraph_SingleWindow.cs 109 | 110 | 111 | 112 | SettingsSingleFileGenerator 113 | Settings.Designer.cs 114 | 115 | 116 | True 117 | Settings.settings 118 | True 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | {2DF8D04C-5BFA-101B-BDE5-00AA0044DE52} 127 | 99 128 | 1 129 | 0 130 | tlbimp 131 | False 132 | True 133 | 134 | 135 | {00020430-0000-0000-C000-000000000046} 136 | 2 137 | 0 138 | 0 139 | primary 140 | False 141 | True 142 | 143 | 144 | 145 | 146 | 147 | 148 | 155 | -------------------------------------------------------------------------------- /Freescale_debug/Freescale_debug.csproj.user: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | ShowAllFiles 5 | 6 | -------------------------------------------------------------------------------- /Freescale_debug/Libs/Leomon.dll: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Sudouble/SmartCarPlatform/a40e60b0e71dda96117a2303510e3b65667c3802/Freescale_debug/Libs/Leomon.dll -------------------------------------------------------------------------------- /Freescale_debug/Libs/ZedGraph.dll: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Sudouble/SmartCarPlatform/a40e60b0e71dda96117a2303510e3b65667c3802/Freescale_debug/Libs/ZedGraph.dll -------------------------------------------------------------------------------- /Freescale_debug/Libs/log4net.dll: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Sudouble/SmartCarPlatform/a40e60b0e71dda96117a2303510e3b65667c3802/Freescale_debug/Libs/log4net.dll -------------------------------------------------------------------------------- /Freescale_debug/LoadingPage.Designer.cs: -------------------------------------------------------------------------------- 1 | using System.ComponentModel; 2 | 3 | namespace Freescale_debug 4 | { 5 | partial class LoadingPage 6 | { 7 | /// 8 | /// Required designer variable. 9 | /// 10 | private IContainer components = null; 11 | 12 | /// 13 | /// Clean up any resources being used. 14 | /// 15 | /// true if managed resources should be disposed; otherwise, false. 16 | protected override void Dispose(bool disposing) 17 | { 18 | if (disposing && (components != null)) 19 | { 20 | components.Dispose(); 21 | } 22 | base.Dispose(disposing); 23 | } 24 | 25 | #region Windows Form Designer generated code 26 | 27 | /// 28 | /// Required method for Designer support - do not modify 29 | /// the contents of this method with the code editor. 30 | /// 31 | private void InitializeComponent() 32 | { 33 | this.SuspendLayout(); 34 | // 35 | // LoadingPage 36 | // 37 | this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F); 38 | this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; 39 | this.ClientSize = new System.Drawing.Size(301, 252); 40 | this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.None; 41 | this.Name = "LoadingPage"; 42 | this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen; 43 | this.Text = "LoadingPage"; 44 | this.ResumeLayout(false); 45 | 46 | } 47 | 48 | #endregion 49 | } 50 | } -------------------------------------------------------------------------------- /Freescale_debug/LoadingPage.cs: -------------------------------------------------------------------------------- 1 | using System.Windows.Forms; 2 | 3 | namespace Freescale_debug 4 | { 5 | public partial class LoadingPage : Form 6 | { 7 | public LoadingPage() 8 | { 9 | InitializeComponent(); 10 | } 11 | } 12 | } -------------------------------------------------------------------------------- /Freescale_debug/LoadingPage.resx: -------------------------------------------------------------------------------- 1 |  2 | 3 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | text/microsoft-resx 110 | 111 | 112 | 2.0 113 | 114 | 115 | System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 116 | 117 | 118 | System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 119 | 120 | -------------------------------------------------------------------------------- /Freescale_debug/LogHelper.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using log4net; 3 | using log4net.Config; 4 | 5 | [assembly: XmlConfigurator(Watch = true)] 6 | 7 | namespace TestLog4Net 8 | { 9 | public class LogHelper 10 | { 11 | /// 12 | /// 输出日志到Log4Net 13 | /// 14 | /// 15 | /// 16 | 17 | #region static void WriteLog(Type t, Exception ex) 18 | public static void WriteLog(Type t, Exception ex) 19 | { 20 | var log = LogManager.GetLogger(t); 21 | log.Error("Error", ex); 22 | } 23 | 24 | #endregion 25 | 26 | /// 27 | /// 输出日志到Log4Net 28 | /// 29 | /// 30 | /// 31 | 32 | #region static void WriteLog(Type t, string msg) 33 | public static void WriteLog(Type t, string msg) 34 | { 35 | var log = LogManager.GetLogger(t); 36 | log.Error(msg); 37 | } 38 | 39 | #endregion 40 | } 41 | } -------------------------------------------------------------------------------- /Freescale_debug/PID.cs: -------------------------------------------------------------------------------- 1 | namespace Freescale_debug 2 | { 3 | internal class FourWheelPID 4 | { 5 | public PID motorPID { get; set; } 6 | public PID steerPID { get; set; } 7 | } 8 | 9 | internal class BalancePID 10 | { 11 | public PID speedPID { get; set; } 12 | public PID directionPID { get; set; } 13 | public PID standPID { get; set; } 14 | } 15 | 16 | internal class PID 17 | { 18 | public int P { get; set; } 19 | public int I { get; set; } 20 | public int D { get; set; } 21 | } 22 | } -------------------------------------------------------------------------------- /Freescale_debug/Program.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Windows.Forms; 3 | 4 | namespace Freescale_debug 5 | { 6 | internal static class Program 7 | { 8 | /// 9 | /// 应用程序的主入口点。 10 | /// 11 | [STAThread] 12 | private static void Main() 13 | { 14 | Application.EnableVisualStyles(); 15 | Application.SetCompatibleTextRenderingDefault(false); 16 | Application.Run(new Form1()); 17 | } 18 | } 19 | } -------------------------------------------------------------------------------- /Freescale_debug/Properties/AssemblyInfo.cs: -------------------------------------------------------------------------------- 1 | using System.Reflection; 2 | using System.Runtime.InteropServices; 3 | 4 | // 有关程序集的常规信息通过以下 5 | // 特性集控制。更改这些特性值可修改 6 | // 与程序集关联的信息。 7 | 8 | [assembly: AssemblyTitle("Freescale_debug")] 9 | [assembly: AssemblyDescription("")] 10 | [assembly: AssemblyConfiguration("")] 11 | [assembly: AssemblyCompany("Microsoft")] 12 | [assembly: AssemblyProduct("Freescale_debug")] 13 | [assembly: AssemblyCopyright("Copyright © Microsoft 2015")] 14 | [assembly: AssemblyTrademark("")] 15 | [assembly: AssemblyCulture("")] 16 | 17 | // 将 ComVisible 设置为 false 使此程序集中的类型 18 | // 对 COM 组件不可见。 如果需要从 COM 访问此程序集中的类型， 19 | // 则将该类型上的 ComVisible 特性设置为 true。 20 | 21 | [assembly: ComVisible(false)] 22 | 23 | // 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID 24 | 25 | [assembly: Guid("ac14c91e-e99f-46aa-8013-98226c1cfcec")] 26 | 27 | // 程序集的版本信息由下面四个值组成: 28 | // 29 | // 主版本 30 | // 次版本 31 | // 生成号 32 | // 修订号 33 | // 34 | // 可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值， 35 | // 方法是按如下所示使用“*”: 36 | // [assembly: AssemblyVersion("1.0.*")] 37 | 38 | [assembly: AssemblyVersion("1.0.0.0")] 39 | [assembly: AssemblyFileVersion("1.0.0.0")] -------------------------------------------------------------------------------- /Freescale_debug/Properties/Resources.Designer.cs: -------------------------------------------------------------------------------- 1 | //------------------------------------------------------------------------------ 2 | // 3 | // 此代码由工具生成。 4 | // 运行时版本: 4.0.30319.18408 5 | // 6 | // 对此文件的更改可能会导致不正确的行为，并且如果 7 | // 重新生成代码，这些更改将丢失。 8 | // 9 | //------------------------------------------------------------------------------ 10 | 11 | using System.CodeDom.Compiler; 12 | using System.ComponentModel; 13 | using System.Diagnostics; 14 | using System.Diagnostics.CodeAnalysis; 15 | using System.Globalization; 16 | using System.Resources; 17 | using System.Runtime.CompilerServices; 18 | 19 | namespace Freescale_debug.Properties 20 | { 21 | 22 | 23 | /// 24 | /// 一个强类型的资源类，用于查找本地化的字符串等。 25 | /// 26 | // 此类是由 StronglyTypedResourceBuilder 27 | // 类通过类似于 ResGen 或 Visual Studio 的工具自动生成的。 28 | // 若要添加或移除成员，请编辑 .ResX 文件，然后重新运行 ResGen 29 | // (以 /str 作为命令选项)，或重新生成 VS 项目。 30 | [GeneratedCode("System.Resources.Tools.StronglyTypedResourceBuilder", "4.0.0.0")] 31 | [DebuggerNonUserCode()] 32 | [CompilerGenerated()] 33 | internal class Resources 34 | { 35 | 36 | private static ResourceManager resourceMan; 37 | 38 | private static CultureInfo resourceCulture; 39 | 40 | [SuppressMessage("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")] 41 | internal Resources() 42 | { 43 | } 44 | 45 | /// 46 | /// 返回此类使用的、缓存的 ResourceManager 实例。 47 | /// 48 | [EditorBrowsable(EditorBrowsableState.Advanced)] 49 | internal static ResourceManager ResourceManager 50 | { 51 | get 52 | { 53 | if ((resourceMan == null)) 54 | { 55 | ResourceManager temp = new ResourceManager("Freescale_debug.Properties.Resources", typeof(Resources).Assembly); 56 | resourceMan = temp; 57 | } 58 | return resourceMan; 59 | } 60 | } 61 | 62 | /// 63 | /// 为所有资源查找重写当前线程的 CurrentUICulture 属性， 64 | /// 方法是使用此强类型资源类。 65 | /// 66 | [EditorBrowsable(EditorBrowsableState.Advanced)] 67 | internal static CultureInfo Culture 68 | { 69 | get 70 | { 71 | return resourceCulture; 72 | } 73 | set 74 | { 75 | resourceCulture = value; 76 | } 77 | } 78 | } 79 | } 80 | -------------------------------------------------------------------------------- /Freescale_debug/Properties/Resources.resx: -------------------------------------------------------------------------------- 1 |  2 | 3 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | text/microsoft-resx 107 | 108 | 109 | 2.0 110 | 111 | 112 | System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 113 | 114 | 115 | System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 116 | 117 | -------------------------------------------------------------------------------- /Freescale_debug/Properties/Settings.Designer.cs: -------------------------------------------------------------------------------- 1 | //------------------------------------------------------------------------------ 2 | // 3 | // This code was generated by a tool. 4 | // Runtime Version:4.0.30319.18408 5 | // 6 | // Changes to this file may cause incorrect behavior and will be lost if 7 | // the code is regenerated. 8 | // 9 | //------------------------------------------------------------------------------ 10 | 11 | using System.CodeDom.Compiler; 12 | using System.Configuration; 13 | using System.Runtime.CompilerServices; 14 | 15 | namespace Freescale_debug.Properties 16 | { 17 | 18 | 19 | [CompilerGenerated()] 20 | [GeneratedCode("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "11.0.0.0")] 21 | internal sealed partial class Settings : ApplicationSettingsBase 22 | { 23 | 24 | private static Settings defaultInstance = ((Settings)(Synchronized(new Settings()))); 25 | 26 | public static Settings Default 27 | { 28 | get 29 | { 30 | return defaultInstance; 31 | } 32 | } 33 | } 34 | } 35 | -------------------------------------------------------------------------------- /Freescale_debug/Properties/Settings.settings: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /Freescale_debug/Source/1796091826490712038.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Sudouble/SmartCarPlatform/a40e60b0e71dda96117a2303510e3b65667c3802/Freescale_debug/Source/1796091826490712038.png -------------------------------------------------------------------------------- /Freescale_debug/Source/20150627125330911_easyicon_net_96.ico: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Sudouble/SmartCarPlatform/a40e60b0e71dda96117a2303510e3b65667c3802/Freescale_debug/Source/20150627125330911_easyicon_net_96.ico -------------------------------------------------------------------------------- /Freescale_debug/Source/20150627125704915_easyicon_net_128.ico: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Sudouble/SmartCarPlatform/a40e60b0e71dda96117a2303510e3b65667c3802/Freescale_debug/Source/20150627125704915_easyicon_net_128.ico -------------------------------------------------------------------------------- /Freescale_debug/Source/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Sudouble/SmartCarPlatform/a40e60b0e71dda96117a2303510e3b65667c3802/Freescale_debug/Source/logo.png -------------------------------------------------------------------------------- /Freescale_debug/Source/logo_1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Sudouble/SmartCarPlatform/a40e60b0e71dda96117a2303510e3b65667c3802/Freescale_debug/Source/logo_1.png -------------------------------------------------------------------------------- /Freescale_debug/Source/logo_2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Sudouble/SmartCarPlatform/a40e60b0e71dda96117a2303510e3b65667c3802/Freescale_debug/Source/logo_2.png -------------------------------------------------------------------------------- /Freescale_debug/Source/master.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Sudouble/SmartCarPlatform/a40e60b0e71dda96117a2303510e3b65667c3802/Freescale_debug/Source/master.png -------------------------------------------------------------------------------- /Freescale_debug/SugarTransfer.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections.Generic; 3 | using System.Linq; 4 | using System.Text; 5 | using System.Threading.Tasks; 6 | using System.Text.RegularExpressions; 7 | 8 | namespace Freescale_debug 9 | { 10 | public static class SugarTransfer 11 | { 12 | private static Regex re = new Regex("/d+", RegexOptions.Compiled); 13 | static public Int32 toInt32(this string str) 14 | { 15 | try 16 | { 17 | return Convert.ToInt32(str); 18 | } 19 | catch 20 | { 21 | return -1; 22 | } 23 | } 24 | 25 | 26 | } 27 | } 28 | -------------------------------------------------------------------------------- /Freescale_debug/ZedGraphPoint.cs: -------------------------------------------------------------------------------- 1 | using System.Collections.Generic; 2 | using ZedGraph; 3 | 4 | namespace Freescale_debug 5 | { 6 | internal class ZedGrpahName 7 | { 8 | public PointPairList listZed = new PointPairList(); 9 | public bool IsSingleWindowShowed { get; set; } 10 | public double ValueZed { get; set; } 11 | public int x { get; set; } 12 | 13 | public PointPairList ListZed 14 | { 15 | get { return listZed; } 16 | set { ListZed = value; } 17 | } 18 | 19 | private ZedGraphPoint zedPoint = new ZedGraphPoint(); 20 | public ZedGraphPoint ZedPoint 21 | { 22 | get { return zedPoint; } 23 | set { zedPoint = value; } 24 | } 25 | 26 | } 27 | 28 | internal class ZedGraphPoint 29 | { 30 | public List ZedListX = new List(); 31 | public List ZedListY = new List(); 32 | 33 | public List zedListX 34 | { 35 | get { return ZedListX; } 36 | set { ZedListX = value; } 37 | } 38 | 39 | public List zedListY 40 | { 41 | get { return ZedListY; } 42 | set { ZedListY = value; } 43 | } 44 | } 45 | } -------------------------------------------------------------------------------- /Freescale_debug/ZedGraph_SingleWindow.Designer.cs: -------------------------------------------------------------------------------- 1 | using System.ComponentModel; 2 | using System.Windows.Forms; 3 | using ZedGraph; 4 | using Label = System.Windows.Forms.Label; 5 | 6 | namespace Freescale_debug 7 | { 8 | partial class ZedGraphSingleWindow 9 | { 10 | /// 11 | /// Required designer variable. 12 | /// 13 | private IContainer components = null; 14 | 15 | /// 16 | /// Clean up any resources being used. 17 | /// 18 | /// true if managed resources should be disposed; otherwise, false. 19 | protected override void Dispose(bool disposing) 20 | { 21 | if (disposing && (components != null)) 22 | { 23 | components.Dispose(); 24 | } 25 | base.Dispose(disposing); 26 | } 27 | 28 | #region Windows Form Designer generated code 29 | 30 | /// 31 | /// Required method for Designer support - do not modify 32 | /// the contents of this method with the code editor. 33 | /// 34 | private void InitializeComponent() 35 | { 36 | this.components = new System.ComponentModel.Container(); 37 | System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(ZedGraphSingleWindow)); 38 | this.zedGraph_Single = new ZedGraph.ZedGraphControl(); 39 | this.button_ClearData = new System.Windows.Forms.Button(); 40 | this.timer_fresh = new System.Windows.Forms.Timer(this.components); 41 | this.button_ShowRange = new System.Windows.Forms.Button(); 42 | this.textBox1 = new System.Windows.Forms.TextBox(); 43 | this.label1 = new System.Windows.Forms.Label(); 44 | this.button_pause = new System.Windows.Forms.Button(); 45 | this.buttonSetting = new System.Windows.Forms.Button(); 46 | this.SuspendLayout(); 47 | // 48 | // zedGraph_Single 49 | // 50 | this.zedGraph_Single.IsShowHScrollBar = true; 51 | this.zedGraph_Single.IsShowVScrollBar = true; 52 | this.zedGraph_Single.Location = new System.Drawing.Point(0, 0); 53 | this.zedGraph_Single.Name = "zedGraph_Single"; 54 | this.zedGraph_Single.ScrollGrace = 0D; 55 | this.zedGraph_Single.ScrollMaxX = 0D; 56 | this.zedGraph_Single.ScrollMaxY = 0D; 57 | this.zedGraph_Single.ScrollMaxY2 = 0D; 58 | this.zedGraph_Single.ScrollMinX = 0D; 59 | this.zedGraph_Single.ScrollMinY = 0D; 60 | this.zedGraph_Single.ScrollMinY2 = 0D; 61 | this.zedGraph_Single.Size = new System.Drawing.Size(522, 403); 62 | this.zedGraph_Single.TabIndex = 0; 63 | // 64 | // button_ClearData 65 | // 66 | this.button_ClearData.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right))); 67 | this.button_ClearData.Location = new System.Drawing.Point(560, 173); 68 | this.button_ClearData.Name = "button_ClearData"; 69 | this.button_ClearData.Size = new System.Drawing.Size(63, 23); 70 | this.button_ClearData.TabIndex = 1; 71 | this.button_ClearData.Text = "清除数据"; 72 | this.button_ClearData.UseVisualStyleBackColor = true; 73 | this.button_ClearData.Click += new System.EventHandler(this.button_ClearData_Click); 74 | // 75 | // timer_fresh 76 | // 77 | this.timer_fresh.Interval = 50; 78 | this.timer_fresh.Tick += new System.EventHandler(this.timer_fresh_Tick); 79 | // 80 | // button_ShowRange 81 | // 82 | this.button_ShowRange.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right))); 83 | this.button_ShowRange.Location = new System.Drawing.Point(560, 92); 84 | this.button_ShowRange.Name = "button_ShowRange"; 85 | this.button_ShowRange.Size = new System.Drawing.Size(63, 23); 86 | this.button_ShowRange.TabIndex = 2; 87 | this.button_ShowRange.Text = "确认"; 88 | this.button_ShowRange.UseVisualStyleBackColor = true; 89 | this.button_ShowRange.Click += new System.EventHandler(this.button_ShowRange_Click); 90 | // 91 | // textBox1 92 | // 93 | this.textBox1.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right))); 94 | this.textBox1.ForeColor = System.Drawing.SystemColors.GrayText; 95 | this.textBox1.Location = new System.Drawing.Point(528, 44); 96 | this.textBox1.Name = "textBox1"; 97 | this.textBox1.Size = new System.Drawing.Size(95, 21); 98 | this.textBox1.TabIndex = 3; 99 | this.textBox1.Text = "请输入X轴宽度"; 100 | this.textBox1.TextAlign = System.Windows.Forms.HorizontalAlignment.Right; 101 | this.textBox1.Enter += new System.EventHandler(this.textBox1_Enter); 102 | this.textBox1.Leave += new System.EventHandler(this.textBox1_Leave); 103 | // 104 | // label1 105 | // 106 | this.label1.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right))); 107 | this.label1.AutoSize = true; 108 | this.label1.Location = new System.Drawing.Point(528, 29); 109 | this.label1.Name = "label1"; 110 | this.label1.Size = new System.Drawing.Size(95, 12); 111 | this.label1.TabIndex = 4; 112 | this.label1.Text = "0表示无宽度限制"; 113 | // 114 | // button_pause 115 | // 116 | this.button_pause.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right))); 117 | this.button_pause.Location = new System.Drawing.Point(560, 133); 118 | this.button_pause.Name = "button_pause"; 119 | this.button_pause.Size = new System.Drawing.Size(63, 23); 120 | this.button_pause.TabIndex = 5; 121 | this.button_pause.Text = "暂停"; 122 | this.button_pause.UseVisualStyleBackColor = true; 123 | this.button_pause.Click += new System.EventHandler(this.button_pause_Click); 124 | // 125 | // buttonSetting 126 | // 127 | this.buttonSetting.Location = new System.Drawing.Point(547, 358); 128 | this.buttonSetting.Name = "buttonSetting"; 129 | this.buttonSetting.Size = new System.Drawing.Size(76, 23); 130 | this.buttonSetting.TabIndex = 6; 131 | this.buttonSetting.Text = "设置（无）"; 132 | this.buttonSetting.UseVisualStyleBackColor = true; 133 | this.buttonSetting.Click += new System.EventHandler(this.buttonSetting_Click); 134 | // 135 | // ZedGraphSingleWindow 136 | // 137 | this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F); 138 | this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; 139 | this.ClientSize = new System.Drawing.Size(635, 403); 140 | this.Controls.Add(this.buttonSetting); 141 | this.Controls.Add(this.button_pause); 142 | this.Controls.Add(this.label1); 143 | this.Controls.Add(this.textBox1); 144 | this.Controls.Add(this.button_ShowRange); 145 | this.Controls.Add(this.button_ClearData); 146 | this.Controls.Add(this.zedGraph_Single); 147 | this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon"))); 148 | this.Name = "ZedGraphSingleWindow"; 149 | this.Text = "Graph"; 150 | this.FormClosed += new System.Windows.Forms.FormClosedEventHandler(this.ZedGraph_SingleWindow_FormClosed); 151 | this.Load += new System.EventHandler(this.ZedGraph_SingleWindow_Load); 152 | this.Resize += new System.EventHandler(this.ZedGraph_SingleWindow_Resize); 153 | this.ResumeLayout(false); 154 | this.PerformLayout(); 155 | 156 | } 157 | 158 | #endregion 159 | 160 | private ZedGraphControl zedGraph_Single; 161 | private Button button_ClearData; 162 | private Timer timer_fresh; 163 | private Button button_ShowRange; 164 | private TextBox textBox1; 165 | private Label label1; 166 | private Button button_pause; 167 | private Button buttonSetting; 168 | } 169 | } -------------------------------------------------------------------------------- /Freescale_debug/ZedGraph_SingleWindow.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Drawing; 3 | using System.Windows.Forms; 4 | using ZedGraph; 5 | 6 | namespace Freescale_debug 7 | { 8 | public delegate void SingleWindowClosedDelegate(int id); 9 | public delegate void SingleWindowLoadDelegate(ZedGraphSingleWindow window, int id); 10 | 11 | public partial class ZedGraphSingleWindow : Form 12 | { 13 | private readonly Color[] _colorLine = 14 | { 15 | Color.Green, Color.DodgerBlue, Color.Brown, Color.Chartreuse, 16 | Color.CornflowerBlue, Color.Red, Color.Yellow, Color.Gray 17 | }; 18 | 19 | private PointPairList _listZed = new PointPairList(); 20 | private readonly string curveName; //曲线命 21 | private bool isLoadHistory = false; 22 | 23 | private readonly int curveNumber; //曲线号 24 | private bool _pauseFlag = true; 25 | private double _valueXStart; 26 | private int _zedWidth; 27 | 28 | public ZedGraphSingleWindow(int id, CallObject coV, string name) 29 | { 30 | InitializeComponent(); 31 | 32 | coV.ValueUpdatedEvent += co_UpdateCurveEvent; 33 | coV.PointListUpdateEvent += CoVOnPointListUpdateEvent; 34 | curveNumber = id; 35 | curveName = name; 36 | Text = curveName + @"——曲线" + (curveNumber + 1) + @"——" + @"飞思卡尔调试平台 V1.2.1"; 37 | } 38 | 39 | public sealed override string Text 40 | { 41 | get { return base.Text; } 42 | set { base.Text = value; } 43 | } 44 | 45 | public bool PauseFlag 46 | { 47 | get { return _pauseFlag; } 48 | set { _pauseFlag = value; } 49 | } 50 | 51 | public event SingleWindowClosedDelegate SignalClosedEvent; 52 | 53 | public event SingleWindowLoadDelegate SignalLoadEvent; 54 | 55 | private void ZedGraph_SingleWindow_Load(object sender, EventArgs e) 56 | { 57 | InitzedGraph(); 58 | 59 | if (SignalLoadEvent != null) 60 | SignalLoadEvent(this, curveNumber); 61 | } 62 | 63 | private void ZedGraph_SingleWindow_FormClosed(object sender, FormClosedEventArgs e) 64 | { 65 | if (SignalClosedEvent != null) 66 | SignalClosedEvent(curveNumber); 67 | 68 | DialogResult = DialogResult.OK; 69 | } 70 | 71 | private void ZedGraph_SingleWindow_Resize(object sender, EventArgs e) 72 | { 73 | zedGraph_Single.Location = new Point(10, 10); 74 | // Leave a small margin around the outside of the control 75 | zedGraph_Single.Size = new Size(ClientRectangle.Width - 100, 76 | ClientRectangle.Height - 20); 77 | } 78 | 79 | private void InitzedGraph() 80 | { 81 | var myPane = zedGraph_Single.GraphPane; 82 | 83 | myPane.Title.IsVisible = false; 84 | myPane.XAxis.Title.Text = "time"; 85 | myPane.YAxis.Title.Text = "Value"; 86 | 87 | //show grid 88 | myPane.XAxis.MajorGrid.IsVisible = true; 89 | myPane.YAxis.MajorGrid.IsVisible = true; 90 | 91 | // Align the Y axis labels so they are flush to the axis 92 | myPane.YAxis.Scale.Align = AlignP.Inside; 93 | 94 | // Fill the axis background with a gradient 95 | myPane.Chart.Fill = new Fill(Color.White, Color.LightGray, 45.0f); 96 | 97 | // OPTIONAL: Add a custom context menu item 98 | // OPTIONAL: Show tooltips when the mouse hovers over a point 99 | zedGraph_Single.IsShowPointValues = true; 100 | zedGraph_Single.PointValueEvent += MyPointValueHandler; 101 | 102 | zedGraph_Single.GraphPane.AddCurve(curveName, _listZed, _colorLine[curveNumber], 103 | SymbolType.None); 104 | 105 | refleshZedPane(zedGraph_Single); 106 | } 107 | 108 | private void refleshZedPane(ZedGraphControl zedGraph) 109 | { 110 | zedGraph.AxisChange(); 111 | zedGraph.Invalidate(); 112 | } 113 | 114 | /// 115 | /// Display customized tooltips when the mouse hovers over a point 116 | /// 117 | private string MyPointValueHandler(ZedGraphControl control, GraphPane pane, 118 | CurveItem curve, int iPt) 119 | { 120 | // Get the PointPair that is under the mouse 121 | var pt = curve[iPt]; 122 | 123 | return curve.Label.Text + " is " + pt.Y.ToString("f2") + " units at " + pt.X.ToString("f1") + " days"; 124 | } 125 | 126 | public void co_UpdateCurveEvent(double x, double y) 127 | { 128 | if (isLoadHistory) 129 | { 130 | isLoadHistory = false; 131 | _listZed.RemoveRange(0, _listZed.Count); 132 | } 133 | 134 | if (!_pauseFlag) 135 | { 136 | if (_zedWidth == 0) 137 | { 138 | //x轴无限制 139 | _listZed.Add(_valueXStart++, y); 140 | } 141 | else 142 | { 143 | //x轴宽度有限制 144 | if (_valueXStart < _zedWidth) 145 | { 146 | _listZed.Add(_valueXStart++, y); 147 | } 148 | else 149 | { 150 | zedGraph_Single.GraphPane.XAxis.Scale.Min = (int) _valueXStart - _zedWidth < 0 151 | ? 0 152 | : (int) _valueXStart - _zedWidth; 153 | zedGraph_Single.GraphPane.XAxis.Scale.Max = (int) _valueXStart + 0.2*_zedWidth; 154 | _listZed.Add(_valueXStart++, y); 155 | } 156 | } 157 | 158 | refleshZedPane(zedGraph_Single); 159 | } 160 | } 161 | 162 | private void CoVOnPointListUpdateEvent(PointPairList points) 163 | { 164 | isLoadHistory = true; 165 | 166 | foreach (PointPair t in points) 167 | { 168 | _listZed.Add(t); 169 | } 170 | 171 | refleshZedPane(zedGraph_Single); 172 | } 173 | 174 | private void button_ClearData_Click(object sender, EventArgs e) 175 | { 176 | _listZed.RemoveRange(0, _listZed.Count); 177 | _valueXStart = 0; 178 | zedGraph_Single.GraphPane.XAxis.Scale.MinAuto = true; 179 | zedGraph_Single.GraphPane.XAxis.Scale.MaxAuto = true; 180 | 181 | zedGraph_Single.GraphPane.YAxis.Scale.MinAuto = true; 182 | zedGraph_Single.GraphPane.YAxis.Scale.MaxAuto = true; 183 | 184 | refleshZedPane(zedGraph_Single); 185 | } 186 | 187 | private void timer_fresh_Tick(object sender, EventArgs e) 188 | { 189 | refleshZedPane(zedGraph_Single); 190 | } 191 | 192 | private void textBox1_Leave(object sender, EventArgs e) 193 | { 194 | var txtbox = sender as TextBox; 195 | if (txtbox != null && txtbox.Text.Trim() == @"") 196 | { 197 | txtbox.Text = @"请输入X轴宽度"; 198 | txtbox.ForeColor = Color.Gray; 199 | } 200 | } 201 | 202 | private void textBox1_Enter(object sender, EventArgs e) 203 | { 204 | var txtbox = sender as TextBox; 205 | if (txtbox != null && txtbox.Text.Trim() == @"请输入X轴宽度") 206 | { 207 | txtbox.Text = @""; 208 | txtbox.ForeColor = Color.Black; 209 | } 210 | } 211 | 212 | private void button_ShowRange_Click(object sender, EventArgs e) 213 | { 214 | //对x的范围进行更改 215 | if (textBox1.Text.Trim() != @"请输入X轴宽度") 216 | { 217 | _zedWidth = Convert.ToInt16(textBox1.Text); 218 | } 219 | else 220 | MessageBox.Show(@"无数字输入，请重新输入"); 221 | } 222 | 223 | private void button_pause_Click(object sender, EventArgs e) 224 | { 225 | if (button_pause.Text == @"暂停") 226 | { 227 | _pauseFlag = true; 228 | button_pause.Text = @"继续"; 229 | } 230 | else 231 | { 232 | _pauseFlag = false; 233 | button_pause.Text = @"暂停"; 234 | } 235 | } 236 | 237 | private void buttonSetting_Click(object sender, EventArgs e) 238 | { 239 | 240 | } 241 | } 242 | 243 | //进行窗体间传参的公共接口 244 | public delegate void ValueUpdatedHandler(double x, double y); 245 | 246 | public delegate void PointListUpdateHander(PointPairList points); 247 | 248 | public class CallObject 249 | { 250 | public event ValueUpdatedHandler ValueUpdatedEvent; 251 | 252 | public event PointListUpdateHander PointListUpdateEvent; 253 | 254 | public void CallEvent(double x, double y) 255 | { 256 | var onValueUpdatedEvent = ValueUpdatedEvent; 257 | if (onValueUpdatedEvent != null) onValueUpdatedEvent(x, y); 258 | } 259 | 260 | public void CallPointPairEvent(PointPairList points) 261 | { 262 | var onValueUpdatedEvent = PointListUpdateEvent; 263 | if (onValueUpdatedEvent != null) onValueUpdatedEvent(points); 264 | } 265 | } 266 | } -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # SmartcarPlatform [![Build Status](https://travis-ci.com/potterhere/SmartCarPlatform.svg?branch=master)](https://travis-ci.com/potterhere/SmartCarPlatform) 2 | 智能车调试平台，主要为了解决普通智能车参数调试效率低的问题，在此基础上提出的一个解决方案。 3 | 4 | ![上位机](./Freescale_debug/Source/master.png) 5 | 6 | **主要功能：** 7 | 8 | - 实时绘制运行数据、显示变量数值 9 | - 修改PID参数 10 | - 修改自定义参数 11 | - 绘制CCD图像（最大支持三个CCD，单个CCD数据大小1*128） 12 | - **绘制摄像头图像（目前仅支持分辨率80*60）** 13 | 14 | **Todo:** 15 | 16 | - [ ] 代码重构，优化软件结构 17 | - [ ] 数据分析（模仿Mission Planner的Log分析） 18 | - [ ] 可调用自定义算法 19 | - [x] 优化调试方法（如Log4Net控件等） 20 | 21 | 22 | **对应的下位机程序见Github：[K60以及KL26](https://github.com/potterhere/Freescale_K60-KL26_NRF)，使用NRF进行通讯** 23 | 24 | 上位机与下位机如何配置、使用，请参考：[智能车调试平台使用手册.pdf](./智能车调试平台使用手册.pdf) 25 | -------------------------------------------------------------------------------- /TestResults/6c960e3f-1116-4806-b074-034ccbb003ff/MY_MY-PC 2016-03-16 16_09_41.coverage: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Sudouble/SmartCarPlatform/a40e60b0e71dda96117a2303510e3b65667c3802/TestResults/6c960e3f-1116-4806-b074-034ccbb003ff/MY_MY-PC 2016-03-16 16_09_41.coverage -------------------------------------------------------------------------------- /智能车调试平台使用手册.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Sudouble/SmartCarPlatform/a40e60b0e71dda96117a2303510e3b65667c3802/智能车调试平台使用手册.pdf -------------------------------------------------------------------------------- /通讯格式.doc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Sudouble/SmartCarPlatform/a40e60b0e71dda96117a2303510e3b65667c3802/通讯格式.doc --------------------------------------------------------------------------------