代码拉取完成，页面将自动刷新
/*
* Created by SharpDevelop.
* User: ZJUCAOBIN
* Date: 2019/3/18
* Time: 11:57
*
* To change this template use Tools | Options | Coding | Edit Standard Headers.
*/
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Windows.Forms;
using Newtonsoft .Json ;
using System.Data ;
using System .Linq ;
using System .Net .Sockets ;
using System .Net ;
using System .Web;
using Steema.TeeChart;
using System .Text ;
using Microsoft .Win32 ;
using System .IO ;
using System .Resources ;
using System .Xml ;
using System .Net .Sockets;
using System .Net .NetworkInformation ;
using LidarSeverData ;
using LidarInterface ;
using System.Threading;
using System .Collections .Generic;
namespace P_F_Interface
{
/// <summary>
/// Description of MainForm.
/// </summary>
public partial class Main_Form : Form
{
static System.Timers.Timer timer = new System.Timers.Timer();
static CreateMark getmark=new CreateMark ();
static bool LidarScanState=true ;
static LidarSever lidarclient=new LidarSever ();
DataTable Dt =new DataTable ();
static OBJ jij=new OBJ ();
ceshi ce=new ceshi ( jij );
public static double jce=0;
static Int64 mmm = 0;
/// </summary>
List <string >listre=new List<string>();
public static string handle;
public static string ss;
private System.Windows.Forms.MenuStrip menuStrip1;
private System.Windows.Forms.ToolStripMenuItem 设置ToolStripMenuItem;
private System.Windows.Forms.ToolStripMenuItem 编辑ToolStripMenuItem;
private System.Windows.Forms.ToolStripMenuItem 查看ToolStripMenuItem;
private System.Windows.Forms.SplitContainer splitContainer1;
private System.Windows.Forms.TabControl tabControl1;
private System.Windows.Forms.TabPage tabPage1;
private System.Windows.Forms.TabPage tabPage2;
private System.Windows.Forms.ListBox msgreceived;
private System.Windows.Forms.GroupBox groupBox1;
private System.Windows.Forms.Button button1;
private System.Windows.Forms.TextBox URLstr;
private System.Windows.Forms.Label label1;
private System.Windows.Forms.GroupBox groupBox2;
private System.Windows.Forms.Button button3;
private System.Windows.Forms.Button button2;
private System.Windows.Forms.GroupBox groupBox3;
private System.Windows.Forms.Button button4;
private System.Windows.Forms.Button button5;
private System.Windows.Forms.DataGridView markdgv;
private System.Windows.Forms.DataGridViewTextBoxColumn NumberNo;
private System.Windows.Forms.DataGridViewTextBoxColumn X;
private System.Windows.Forms.DataGridViewTextBoxColumn Y;
private System.Windows.Forms.GroupBox groupBox4;
private System.Windows.Forms.Button button6;
private System.Windows.Forms.TextBox agv_angle;
private System.Windows.Forms.Label label4;
private System.Windows.Forms.TextBox agv_y;
private System.Windows.Forms.Label label5;
private System.Windows.Forms.TextBox agv_x;
public Steema.TeeChart.TChart get_location;
private Steema.TeeChart.Styles.Points points1;
private Button button7;
private System.ComponentModel.IContainer components;
private System.Windows.Forms.Label label2;
private System.Windows.Forms.TabPage tabPage3;
private System.Windows.Forms.PictureBox cloudgraph;
private System.Windows.Forms.Button button8;
private System.Windows.Forms.DataGridViewTextBoxColumn Angle;
private System.Windows.Forms.Timer timer1;
private System.IO.Ports.SerialPort serialPort1;
private System.Windows.Forms.ToolStripMenuItem 激光雷达参数设置ToolStripMenuItem;
private System.Windows.Forms.ToolStripMenuItem 串口发送定位数据ToolStripMenuItem;
private System.Windows.Forms.Timer timer2;
private System.Windows.Forms.TextBox lidarmode;
private System.Windows.Forms.Label CurrentLidarMode;
private System.Windows.Forms.Button button9;
private System.Windows.Forms.ToolStripMenuItem 点云图ToolStripMenuItem;
private System.Windows.Forms.ToolStripMenuItem aGV定位测试ToolStripMenuItem;
private System.Windows.Forms.Button button10;
private System.Windows.Forms.DataGridViewButtonColumn Column1;
public Main_Form()
{
//
// The InitializeComponent() call is required for Windows Forms designer support.
//
InitializeComponent();
iNiDt();
//
// TODO: Add constructor code after the InitializeComponent() call.
//
}
void iNiDt()
{
Dt .Columns .Add ("NumberNo",typeof (string ));
Dt .Columns .Add ("X",typeof (string ));
Dt .Columns .Add ("Y",typeof (string ));
}
/// <summary>
/// 序列化练习
/// </summary>
/// <returns></returns>
string JSONstr()
{
ExampleClass itr=new ExampleClass (1);
itr .Name ="caobin";
itr .CardID ="201725183";
itr .msgclass =new InforClass ();
itr .msgclass .ID =2;
itr .msgclass .Name ="wangyufei";
string chaer=JsonConvert .SerializeObject (itr );
ss =chaer ;
return chaer ;
}
/// <summary>
///
/// </summary>
/// <param name="ss"></param>
/// <returns></returns>
string JSONfna(string sss)
{ string msg="";
if (sss!="")
{
ExampleClass obj = JsonConvert .DeserializeObject <ExampleClass >(sss );
msg = obj .Name .ToString ();
}
return msg ;
}
void tEMPLOA()
{
// string[] read = File.ReadAllLines(Application .StartupPath+@"\TheLightInformation.ini");
// lidarclient .agv .Polar =new int[read .Length +1] ;
// lidarclient .agv .Angle =new float[read .Length+1] ;
// lidarclient .Polar_Value =new int[read .Length+1] ;
// lidarclient .Angle_Value =new float[read .Length+1] ;
// for (int I=0;I<3 ;I++)
// {
// TheLightNode NODE=JsonConvert .DeserializeObject <TheLightNode >(read [I]);
// if (I==0)
// {
// lidarclient .agv .Polar[I] =(int )(NODE .Polar) ;
// lidarclient .agv .Angle [I]=(float )(NODE .Angle );
// lidarclient .Polar_Value [I]=(int )(NODE .Polar);
// lidarclient .Angle_Value [I]=(float )(NODE .Angle );
//
// }
// else
// {
// lidarclient .agv .Polar[I+1] =(int )(NODE .Polar) ;
// lidarclient .agv .Angle [I+1]=(float )(NODE .Angle );
// lidarclient .Polar_Value [I+1]=(int )(NODE .Polar);
// lidarclient .Angle_Value [I+1]=(float )(NODE .Angle );
// }
// lidarclient .agv .Polar[1] =(int )(1231) ;
// lidarclient .agv .Angle [1]=(float )(122 );
// lidarclient .Polar_Value [1]=(int )(1231);
// lidarclient .Angle_Value [1]=(float )(122 );
// }
}
/// <summary>
///
/// </summary>
void DisplayRawData()
{
foreach (string item in listre )
{
AddMsg ( msgreceived ,item );
}
listre .Clear ();
}
void DeleHandleListItem(string ip)
{
for (int i=0; i<lidarclient.HandleList.Count ;i++)
{
if (lidarclient.HandleList [i].IP ==ip )
{
lidarclient.HandleList .RemoveAt (i );
}
}
}
string FindHandle(string ip)
{
string haldle="";
foreach (HttpHandle item in lidarclient.HandleList)
{
if (item .IP ==ip )
{
haldle =item .Handle;
break ;
}
}
return haldle ;
}
void Button1Click(object sender, EventArgs e)
{
if (lidarclient.judgeNetConnent (URLstr.Text))
{
if (lidarclient.LidarConnState)
{
lidarclient.ConnentOrDisconnent();
HttpQuary qual = new HttpQuary(string.Format("http://{0}/cmd/stop_scanoutput?handle={1}", URLstr.Text, FindHandle(URLstr.Text)));
listre.Add(qual.JsonStr);
HttpQuary qio = new HttpQuary(string.Format("http://{0}/cmd/release_handle?handle={1}", URLstr.Text, FindHandle(URLstr.Text)));
listre.Add(qio.JsonStr);
timer .Stop ();
button7 .Enabled =false ;
button5.Enabled =false ;
button4.Enabled =false ;
button1.Text = "连接";
button10 .Enabled =false ;
}
else
{
string URLconnStr = "http://" + URLstr.Text + "/cmd/request_handle_tcp?packet_type="+Para .PackType +"&watchdogtimeout="+Para .WathchDogTimeOut .ToString ()+"&start_angle=0";
HttpQuary quary = new HttpQuary(URLconnStr);
HttpHandle item = new HttpHandle(quary.JsonStr, URLstr.Text);
if (item.State)
{
listre.Add(item.JsonData);
listre.Add(item.Handle);
listre.Add(item.Port.ToString());
lidarclient.Port = (int)item.Port;
if (lidarclient.ConnentOrDisconnent())
{
string sset1 = string.Format("http://" + URLstr.Text + "/cmd/set_scanoutput_config?handle={0}&max_num_points_scan={1}", item.Handle,lidarclient.TheorySize );
HttpQuary setnum1 = new HttpQuary(sset1);
listre .Add (setnum1 .JsonStr );
string sset2 = string.Format("http://" + URLstr.Text + "/cmd/set_parameter?filter_type={0}", Para .FilterType );
HttpQuary setnum2 = new HttpQuary(sset2);
listre .Add (setnum2 .JsonStr );
string sset3 = string.Format("http://" + URLstr.Text + "/cmd/set_parameter?filter_width={0}", Para .FilterWidth );
HttpQuary setnum3 = new HttpQuary(sset2);
listre .Add (setnum3 .JsonStr );
string ss = string.Format("http://" + URLstr.Text + "/cmd/start_scanoutput?handle={0}", item.Handle);
HttpQuary qu = new HttpQuary(ss);
Serialize ii = new Serialize(qu.JsonStr);
if (ii.State)
{
MessageBox.Show("已连接");
button7 .Text ="扫描轮廓数据";
button5.Text ="开始靶标探测";
button7 .Enabled =true ;
button5 .Enabled =true ;
button4 .Enabled =true ;
button1.Text = "断开";
button10 .Enabled =true ;
lidarclient.HandleList.Add(item);
listre.Add(ii.JsonData);
listre.Add(ii.Error_Text);
}
else
{
MessageBox.Show(ii.Error_Code.ToString() + "--" + ii.Error_Text);
DeleHandleListItem(item.Handle);
}
}
else
{
MessageBox.Show("连接失败");
}
}
else
{
MessageBox.Show(item.Error_Code.ToString() + "--" + item.Error_Text);
}
DisplayRawData();
}
}
else
{
MessageBox.Show("网络已经中断，请检查网络!");
}
}
/// <summary>
/// GET发送请求方式
/// </summary>
void Button2Click(object sender, EventArgs e)
{
if (MessageBox.Show("是否要保存反光柱信息！", "注意！！！" , MessageBoxButtons.YesNo) == DialogResult.Yes)
{
List <TheLightNode >thelist=new List<TheLightNode> ();
byte inde =1;
for (int i=0;i<markdgv .Rows .Count -1;i++)
{
if(markdgv .Rows [i].Cells [1].Value .ToString ()!="-"&&markdgv .Rows [i].Cells [2].Value .ToString ()!="-")
{
TheLightNode baocun =new TheLightNode ();
//baocun .NumberNo =(byte )markdgv .Rows [i].Cells [0].Value;
baocun .NumberNo =inde ;
baocun .X =(double )markdgv .Rows [i].Cells [1].Value;
baocun .Y =(double )markdgv .Rows [i].Cells [2].Value;
baocun .Polar =Math .Sqrt (Math .Pow (baocun .X ,2)+Math .Pow (baocun .Y ,2));
if ((baocun .X <0 && baocun .Y >0)||(baocun .X <0 && baocun . Y <0))
{
baocun .Angle =180-(double )Math .Asin (baocun .Y /baocun .Polar ) * 180 /Math .PI ;
}
else if (baocun .X >0 && baocun .Y <0)
{
baocun .Angle =360+(double )Math .Asin (baocun .Y /baocun .Polar ) * 180 /Math .PI;
}
else
{
baocun .Angle =(double )Math .Asin (baocun .Y /baocun .Polar ) * 180 /Math .PI;
}
thelist .Add (baocun );
inde ++;
}
}
if (getmark .WriteTxt (thelist))
{
MessageBox .Show ("靶标信息保存成功！");
}
}
}
void 点云ToolStripMenuItemClick(object sender, EventArgs e)
{
PointGraph en =new PointGraph ();
en .Show ();
}
void Main_FormFormClosing(object sender, FormClosingEventArgs e)
{
if (lidarclient.LidarConnState )
{
lidarclient .ConnentOrDisconnent();
HttpQuary qual=new HttpQuary (string .Format ("http://{0}/cmd/stop_scanoutput?handle={1}",URLstr .Text,FindHandle(URLstr .Text)));
listre .Add (qual .JsonStr );
HttpQuary qio=new HttpQuary (string .Format ("http://{0}/cmd/release_handle?handle={1}",URLstr .Text,FindHandle(URLstr .Text)));
listre .Add (qio .JsonStr );
}
if (serialPort1 .IsOpen)
{
serialPort1 .Close ();
}
}
/// <summary>
/// 加载激光雷达参数
/// </summary>
public void LoadParameter()
{
string path= Application .StartupPath +@"\ParameterSet.ini";
ParameterClass item =new ParameterClass ();
item .GetParaJson (path );
}
/// <summary>
///
/// </summary>
/// <returns></returns>
bool GetLidarWorkPara()
{
try
{
timer1 .Stop ();
timer2 .Stop ();
lidarclient .IP =URLstr .Text;
LoadParameter();
lidarclient .SendMsgTimeStep =100;
lidarclient .TheorySize =Para .TheoryPointNum ;//15260/980
lidarclient .InialPara ();
URLstr .Text =Para .LidarIP ;
cloudgraph .Width =700;
cloudgraph .Height =700;
cloudgraph .BackColor =Color .LightGray ;
button7 .Enabled =false ;
button6.Enabled =false ;
button5.Enabled =false ;
button4 .Enabled =false ;
// lidarmode .Enabled =false ;
button10 .Enabled =false ;
timer.Elapsed += GraphDraw;
if (LidarMode .IsNavicationMode )
{
lidarmode.Text ="导航模式";
timer.Interval = 400;
}
else
{
lidarmode.Text ="轮廓数据";
timer.Interval = 200;
}
lidarmode .ForeColor =Color .Red ;
}
catch (Exception ex)
{
return false ;
}
return true ;
}
void Main_FormLoad(object sender, EventArgs e)
{
GetLidarWorkPara();
Inidgv();
CreateCoordinate obj=new CreateCoordinate ();
obj .DrawXY (cloudgraph );
tEMPLOA();
}
void MsgreceivedMouseDoubleClick(object sender, MouseEventArgs e)
{
msgreceived .Items .Clear ();
}
void 模拟机器人定位ToolStripMenuItemClick(object sender, EventArgs e)
{
}
void Button3Click(object sender, EventArgs e)
{
GraphAevironment g=RWTheLight .LoadTheLightMsg ();
for (int i=0;i<markdgv .Rows .Count ;i++)
{
markdgv .Rows[i].Cells [0].Value ="-";
markdgv .Rows[i].Cells [1].Value ="-";
markdgv .Rows[i].Cells [2].Value ="-";
markdgv .Rows[i].Cells [3].Value ="-";
markdgv .Rows [i].DefaultCellStyle .BackColor =Color .White ;
}
for (int i=0;i<g .NODE .Length ;i++)
{
markdgv .Rows [i].Cells [0].Value =g .NODE[i].NumberNo ;
markdgv .Rows [i].Cells [1].Value =g .NODE [i].X ;
markdgv .Rows [i].Cells [2].Value =g .NODE [i].Y ;
markdgv .Rows [i].Cells [3].Value =g .NODE [i].Angle ;
markdgv .Rows [i].DefaultCellStyle .BackColor =Color .Red ;
}
}
void Button4Click(object sender, EventArgs e)
{
if(button4 .Text =="开启导航模式")
{
LidarMode .GraphCreateState =false ;
LidarMode .TargetDetectionState=false ;
LidarMode .IsNavicationMode =true ;
lidarmode .Text ="导航模式";
timer .Start ();
lidarclient .World .QuartTimer .Start ();
button6.Enabled =true ;
button4 .Text ="停止导航模式";
return ;
}
if (button4 .Text =="停止导航模式")
{
LidarMode .IsNavicationMode =false ;
timer .Stop ();
lidarclient .World .QuartTimer .Stop ();
button6.Enabled =false ;
button4 .Text ="开启导航模式";
return ;
}
}
private void InitializeComponent()
{
this.components = new System.ComponentModel.Container();
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Main_Form));
this.menuStrip1 = new System.Windows.Forms.MenuStrip();
this.设置ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.激光雷达参数设置ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.串口发送定位数据ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.编辑ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.查看ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.点云图ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.aGV定位测试ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.splitContainer1 = new System.Windows.Forms.SplitContainer();
this.groupBox4 = new System.Windows.Forms.GroupBox();
this.button6 = new System.Windows.Forms.Button();
this.agv_angle = new System.Windows.Forms.TextBox();
this.label4 = new System.Windows.Forms.Label();
this.agv_y = new System.Windows.Forms.TextBox();
this.label5 = new System.Windows.Forms.Label();
this.agv_x = new System.Windows.Forms.TextBox();
this.label2 = new System.Windows.Forms.Label();
this.markdgv = new System.Windows.Forms.DataGridView();
this.NumberNo = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.X = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Y = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Angle = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column1 = new System.Windows.Forms.DataGridViewButtonColumn();
this.groupBox3 = new System.Windows.Forms.GroupBox();
this.button10 = new System.Windows.Forms.Button();
this.button7 = new System.Windows.Forms.Button();
this.button4 = new System.Windows.Forms.Button();
this.button5 = new System.Windows.Forms.Button();
this.groupBox2 = new System.Windows.Forms.GroupBox();
this.button9 = new System.Windows.Forms.Button();
this.button3 = new System.Windows.Forms.Button();
this.button2 = new System.Windows.Forms.Button();
this.groupBox1 = new System.Windows.Forms.GroupBox();
this.lidarmode = new System.Windows.Forms.TextBox();
this.CurrentLidarMode = new System.Windows.Forms.Label();
this.button1 = new System.Windows.Forms.Button();
this.URLstr = new System.Windows.Forms.TextBox();
this.label1 = new System.Windows.Forms.Label();
this.tabControl1 = new System.Windows.Forms.TabControl();
this.tabPage3 = new System.Windows.Forms.TabPage();
this.button8 = new System.Windows.Forms.Button();
this.cloudgraph = new System.Windows.Forms.PictureBox();
this.tabPage1 = new System.Windows.Forms.TabPage();
this.get_location = new Steema.TeeChart.TChart();
this.points1 = new Steema.TeeChart.Styles.Points();
this.tabPage2 = new System.Windows.Forms.TabPage();
this.msgreceived = new System.Windows.Forms.ListBox();
this.timer1 = new System.Windows.Forms.Timer(this.components);
this.serialPort1 = new System.IO.Ports.SerialPort(this.components);
this.timer2 = new System.Windows.Forms.Timer(this.components);
this.menuStrip1.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.splitContainer1)).BeginInit();
this.splitContainer1.Panel1.SuspendLayout();
this.splitContainer1.Panel2.SuspendLayout();
this.splitContainer1.SuspendLayout();
this.groupBox4.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.markdgv)).BeginInit();
this.groupBox3.SuspendLayout();
this.groupBox2.SuspendLayout();
this.groupBox1.SuspendLayout();
this.tabControl1.SuspendLayout();
this.tabPage3.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.cloudgraph)).BeginInit();
this.tabPage1.SuspendLayout();
this.tabPage2.SuspendLayout();
this.SuspendLayout();
//
// menuStrip1
//
this.menuStrip1.BackColor = System.Drawing.Color.White;
this.menuStrip1.ImageScalingSize = new System.Drawing.Size(20, 20);
this.menuStrip1.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
this.设置ToolStripMenuItem,
this.编辑ToolStripMenuItem,
this.查看ToolStripMenuItem});
this.menuStrip1.Location = new System.Drawing.Point(0, 0);
this.menuStrip1.Name = "menuStrip1";
this.menuStrip1.Size = new System.Drawing.Size(1513, 28);
this.menuStrip1.TabIndex = 0;
this.menuStrip1.Text = "menuStrip1";
this.menuStrip1.ItemClicked += new System.Windows.Forms.ToolStripItemClickedEventHandler(this.MenuStrip1ItemClicked);
//
// 设置ToolStripMenuItem
//
this.设置ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
this.激光雷达参数设置ToolStripMenuItem,
this.串口发送定位数据ToolStripMenuItem});
this.设置ToolStripMenuItem.Image = ((System.Drawing.Image)(resources.GetObject("设置ToolStripMenuItem.Image")));
this.设置ToolStripMenuItem.Name = "设置ToolStripMenuItem";
this.设置ToolStripMenuItem.Size = new System.Drawing.Size(71, 24);
this.设置ToolStripMenuItem.Text = "设置";
//
// 激光雷达参数设置ToolStripMenuItem
//
this.激光雷达参数设置ToolStripMenuItem.Name = "激光雷达参数设置ToolStripMenuItem";
this.激光雷达参数设置ToolStripMenuItem.Size = new System.Drawing.Size(204, 26);
this.激光雷达参数设置ToolStripMenuItem.Text = "激光雷达参数设置";
this.激光雷达参数设置ToolStripMenuItem.Click += new System.EventHandler(this.激光雷达参数设置ToolStripMenuItemClick);
//
// 串口发送定位数据ToolStripMenuItem
//
this.串口发送定位数据ToolStripMenuItem.Name = "串口发送定位数据ToolStripMenuItem";
this.串口发送定位数据ToolStripMenuItem.Size = new System.Drawing.Size(204, 26);
this.串口发送定位数据ToolStripMenuItem.Text = "串口发送定位数据";
this.串口发送定位数据ToolStripMenuItem.Click += new System.EventHandler(this.串口发送定位数据ToolStripMenuItemClick);
//
// 编辑ToolStripMenuItem
//
this.编辑ToolStripMenuItem.Image = ((System.Drawing.Image)(resources.GetObject("编辑ToolStripMenuItem.Image")));
this.编辑ToolStripMenuItem.Name = "编辑ToolStripMenuItem";
this.编辑ToolStripMenuItem.Size = new System.Drawing.Size(71, 24);
this.编辑ToolStripMenuItem.Text = "编辑";
//
// 查看ToolStripMenuItem
//
this.查看ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
this.点云图ToolStripMenuItem,
this.aGV定位测试ToolStripMenuItem});
this.查看ToolStripMenuItem.Image = ((System.Drawing.Image)(resources.GetObject("查看ToolStripMenuItem.Image")));
this.查看ToolStripMenuItem.Name = "查看ToolStripMenuItem";
this.查看ToolStripMenuItem.Size = new System.Drawing.Size(71, 24);
this.查看ToolStripMenuItem.Text = "查看";
//
// 点云图ToolStripMenuItem
//
this.点云图ToolStripMenuItem.Name = "点云图ToolStripMenuItem";
this.点云图ToolStripMenuItem.Size = new System.Drawing.Size(176, 26);
this.点云图ToolStripMenuItem.Text = "点云图";
this.点云图ToolStripMenuItem.Click += new System.EventHandler(this.点云图ToolStripMenuItemClick);
//
// aGV定位测试ToolStripMenuItem
//
this.aGV定位测试ToolStripMenuItem.Name = "aGV定位测试ToolStripMenuItem";
this.aGV定位测试ToolStripMenuItem.Size = new System.Drawing.Size(176, 26);
this.aGV定位测试ToolStripMenuItem.Text = "AGV定位测试";
this.aGV定位测试ToolStripMenuItem.Click += new System.EventHandler(this.AGV定位测试ToolStripMenuItemClick);
//
// splitContainer1
//
this.splitContainer1.BackColor = System.Drawing.Color.White;
this.splitContainer1.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D;
this.splitContainer1.Dock = System.Windows.Forms.DockStyle.Fill;
this.splitContainer1.Location = new System.Drawing.Point(0, 28);
this.splitContainer1.Name = "splitContainer1";
//
// splitContainer1.Panel1
//
this.splitContainer1.Panel1.Controls.Add(this.groupBox4);
this.splitContainer1.Panel1.Controls.Add(this.markdgv);
this.splitContainer1.Panel1.Controls.Add(this.groupBox3);
this.splitContainer1.Panel1.Controls.Add(this.groupBox2);
this.splitContainer1.Panel1.Controls.Add(this.groupBox1);
//
// splitContainer1.Panel2
//
this.splitContainer1.Panel2.Controls.Add(this.tabControl1);
this.splitContainer1.Size = new System.Drawing.Size(1513, 772);
this.splitContainer1.SplitterDistance = 371;
this.splitContainer1.TabIndex = 1;
//
// groupBox4
//
this.groupBox4.Controls.Add(this.button6);
this.groupBox4.Controls.Add(this.agv_angle);
this.groupBox4.Controls.Add(this.label4);
this.groupBox4.Controls.Add(this.agv_y);
this.groupBox4.Controls.Add(this.label5);
this.groupBox4.Controls.Add(this.agv_x);
this.groupBox4.Controls.Add(this.label2);
this.groupBox4.Location = new System.Drawing.Point(3, 331);
this.groupBox4.Name = "groupBox4";
this.groupBox4.Size = new System.Drawing.Size(352, 114);
this.groupBox4.TabIndex = 5;
this.groupBox4.TabStop = false;
this.groupBox4.Text = "CurrentRobotLocation";
//
// button6
//
this.button6.Location = new System.Drawing.Point(235, 46);
this.button6.Name = "button6";
this.button6.Size = new System.Drawing.Size(91, 35);
this.button6.TabIndex = 4;
this.button6.Text = "连续定位";
this.button6.UseVisualStyleBackColor = true;
this.button6.Click += new System.EventHandler(this.Button6Click);
//
// agv_angle
//
this.agv_angle.Location = new System.Drawing.Point(101, 82);
this.agv_angle.Name = "agv_angle";
this.agv_angle.Size = new System.Drawing.Size(118, 25);
this.agv_angle.TabIndex = 7;
//
// label4
//
this.label4.Location = new System.Drawing.Point(44, 85);
this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(100, 23);
this.label4.TabIndex = 6;
this.label4.Text = "Angle:";
//
// agv_y
//
this.agv_y.Location = new System.Drawing.Point(101, 51);
this.agv_y.Name = "agv_y";
this.agv_y.Size = new System.Drawing.Size(118, 25);
this.agv_y.TabIndex = 5;
//
// label5
//
this.label5.Location = new System.Drawing.Point(76, 54);
this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(100, 23);
this.label5.TabIndex = 4;
this.label5.Text = "Y:";
//
// agv_x
//
this.agv_x.Location = new System.Drawing.Point(101, 20);
this.agv_x.Name = "agv_x";
this.agv_x.Size = new System.Drawing.Size(118, 25);
this.agv_x.TabIndex = 3;
//
// label2
//
this.label2.Location = new System.Drawing.Point(76, 22);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(100, 23);
this.label2.TabIndex = 2;
this.label2.Text = "X:";
//
// markdgv
//
this.markdgv.BackgroundColor = System.Drawing.SystemColors.ButtonHighlight;
this.markdgv.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
this.markdgv.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
this.NumberNo,
this.X,
this.Y,
this.Angle,
this.Column1});
this.markdgv.Location = new System.Drawing.Point(6, 451);
this.markdgv.Name = "markdgv";
this.markdgv.RowHeadersVisible = false;
this.markdgv.RowTemplate.Height = 27;
this.markdgv.Size = new System.Drawing.Size(352, 329);
this.markdgv.TabIndex = 5;
this.markdgv.CellContentClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.MarkdgvCellContentClick);
//
// NumberNo
//
this.NumberNo.DataPropertyName = "NumberNo";
this.NumberNo.HeaderText = "序号";
this.NumberNo.Name = "NumberNo";
this.NumberNo.Width = 50;
//
// X
//
this.X.DataPropertyName = "X";
this.X.HeaderText = "X";
this.X.Name = "X";
this.X.Width = 70;
//
// Y
//
this.Y.DataPropertyName = "Y";
this.Y.HeaderText = "Y";
this.Y.Name = "Y";
this.Y.Width = 70;
//
// Angle
//
this.Angle.HeaderText = "Angle";
this.Angle.Name = "Angle";
this.Angle.Width = 70;
//
// Column1
//
this.Column1.HeaderText = "操作";
this.Column1.Name = "Column1";
this.Column1.Resizable = System.Windows.Forms.DataGridViewTriState.True;
this.Column1.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.Automatic;
this.Column1.Text = "删除";
this.Column1.Width = 70;
//
// groupBox3
//
this.groupBox3.Controls.Add(this.button10);
this.groupBox3.Controls.Add(this.button7);
this.groupBox3.Controls.Add(this.button4);
this.groupBox3.Controls.Add(this.button5);
this.groupBox3.Location = new System.Drawing.Point(6, 225);
this.groupBox3.Name = "groupBox3";
this.groupBox3.Size = new System.Drawing.Size(352, 103);
this.groupBox3.TabIndex = 4;
this.groupBox3.TabStop = false;
this.groupBox3.Text = "工作模式";
//
// button10
//
this.button10.Location = new System.Drawing.Point(189, 65);
this.button10.Name = "button10";
this.button10.Size = new System.Drawing.Size(137, 29);
this.button10.TabIndex = 5;
this.button10.Text = "开启建图模式";
this.button10.UseVisualStyleBackColor = true;
this.button10.Click += new System.EventHandler(this.Button10Click);
//
// button7
//
this.button7.Location = new System.Drawing.Point(189, 24);
this.button7.Name = "button7";
this.button7.Size = new System.Drawing.Size(137, 29);
this.button7.TabIndex = 4;
this.button7.Text = "扫描轮廓数据";
this.button7.UseVisualStyleBackColor = true;
this.button7.Click += new System.EventHandler(this.button7_Click);
//
// button4
//
this.button4.Location = new System.Drawing.Point(15, 24);
this.button4.Name = "button4";
this.button4.Size = new System.Drawing.Size(137, 29);
this.button4.TabIndex = 3;
this.button4.Text = "开启导航模式";
this.button4.UseVisualStyleBackColor = true;
this.button4.Click += new System.EventHandler(this.Button4Click);
//
// button5
//
this.button5.Location = new System.Drawing.Point(15, 65);
this.button5.Name = "button5";
this.button5.Size = new System.Drawing.Size(137, 29);
this.button5.TabIndex = 2;
this.button5.Text = "开始靶标探测";
this.button5.UseVisualStyleBackColor = true;
this.button5.Click += new System.EventHandler(this.Button5Click);
//
// groupBox2
//
this.groupBox2.Controls.Add(this.button9);
this.groupBox2.Controls.Add(this.button3);
this.groupBox2.Controls.Add(this.button2);
this.groupBox2.Location = new System.Drawing.Point(6, 114);
this.groupBox2.Name = "groupBox2";
this.groupBox2.Size = new System.Drawing.Size(352, 111);
this.groupBox2.TabIndex = 1;
this.groupBox2.TabStop = false;
this.groupBox2.Text = "靶标信息设置";
//
// button9
//
this.button9.Location = new System.Drawing.Point(15, 65);
this.button9.Name = "button9";
this.button9.Size = new System.Drawing.Size(137, 29);
this.button9.TabIndex = 5;
this.button9.Text = "读取雷达工作模式";
this.button9.UseVisualStyleBackColor = true;
this.button9.Click += new System.EventHandler(this.Button9Click);
//
// button3
//
this.button3.Location = new System.Drawing.Point(188, 20);
this.button3.Name = "button3";
this.button3.Size = new System.Drawing.Size(137, 29);
this.button3.TabIndex = 3;
this.button3.Text = "靶标信息读取";
this.button3.UseVisualStyleBackColor = true;
this.button3.Click += new System.EventHandler(this.Button3Click);
//
// button2
//
this.button2.Location = new System.Drawing.Point(14, 21);
this.button2.Name = "button2";
this.button2.Size = new System.Drawing.Size(137, 29);
this.button2.TabIndex = 2;
this.button2.Text = "靶标信息保存";
this.button2.UseVisualStyleBackColor = true;
this.button2.Click += new System.EventHandler(this.Button2Click);
//
// groupBox1
//
this.groupBox1.Controls.Add(this.lidarmode);
this.groupBox1.Controls.Add(this.CurrentLidarMode);
this.groupBox1.Controls.Add(this.button1);
this.groupBox1.Controls.Add(this.URLstr);
this.groupBox1.Controls.Add(this.label1);
this.groupBox1.Location = new System.Drawing.Point(7, 3);
this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(352, 110);
this.groupBox1.TabIndex = 0;
this.groupBox1.TabStop = false;
this.groupBox1.Text = "连接雷达服务器";
//
// lidarmode
//
this.lidarmode.BackColor = System.Drawing.Color.White;
this.lidarmode.BorderStyle = System.Windows.Forms.BorderStyle.None;
this.lidarmode.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lidarmode.ForeColor = System.Drawing.Color.Red;
this.lidarmode.Location = new System.Drawing.Point(162, 65);
this.lidarmode.Name = "lidarmode";
this.lidarmode.Size = new System.Drawing.Size(165, 27);
this.lidarmode.TabIndex = 4;
//
// CurrentLidarMode
//
this.CurrentLidarMode.Location = new System.Drawing.Point(13, 71);
this.CurrentLidarMode.Name = "CurrentLidarMode";
this.CurrentLidarMode.Size = new System.Drawing.Size(169, 23);
this.CurrentLidarMode.TabIndex = 3;
this.CurrentLidarMode.Text = "CurrentLidarMode:";
//
// button1
//
this.button1.Location = new System.Drawing.Point(214, 19);
this.button1.Name = "button1";
this.button1.Size = new System.Drawing.Size(111, 29);
this.button1.TabIndex = 2;
this.button1.Text = "连接";
this.button1.UseVisualStyleBackColor = true;
this.button1.Click += new System.EventHandler(this.Button1Click);
//
// URLstr
//
this.URLstr.Location = new System.Drawing.Point(38, 21);
this.URLstr.Name = "URLstr";
this.URLstr.Size = new System.Drawing.Size(165, 25);
this.URLstr.TabIndex = 1;
this.URLstr.Text = "192.168.0.3";
//
// label1
//
this.label1.Location = new System.Drawing.Point(9, 24);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(100, 23);
this.label1.TabIndex = 0;
this.label1.Text = "IP:";
//
// tabControl1
//
this.tabControl1.Controls.Add(this.tabPage3);
this.tabControl1.Controls.Add(this.tabPage1);
this.tabControl1.Controls.Add(this.tabPage2);
this.tabControl1.Location = new System.Drawing.Point(3, 3);
this.tabControl1.Name = "tabControl1";
this.tabControl1.SelectedIndex = 0;
this.tabControl1.Size = new System.Drawing.Size(1121, 762);
this.tabControl1.TabIndex = 0;
//
// tabPage3
//
this.tabPage3.Controls.Add(this.button8);
this.tabPage3.Controls.Add(this.cloudgraph);
this.tabPage3.Location = new System.Drawing.Point(4, 25);
this.tabPage3.Name = "tabPage3";
this.tabPage3.Size = new System.Drawing.Size(1113, 733);
this.tabPage3.TabIndex = 2;
this.tabPage3.Text = "反光柱定位";
this.tabPage3.UseVisualStyleBackColor = true;
this.tabPage3.Click += new System.EventHandler(this.TabPage3Click);
this.tabPage3.MouseDoubleClick += new System.Windows.Forms.MouseEventHandler(this.TabPage3MouseDoubleClick);
//
// button8
//
this.button8.Location = new System.Drawing.Point(706, 3);
this.button8.Name = "button8";
this.button8.Size = new System.Drawing.Size(111, 35);
this.button8.TabIndex = 13;
this.button8.Text = "清除";
this.button8.UseVisualStyleBackColor = true;
this.button8.Click += new System.EventHandler(this.Button8Click);
//
// cloudgraph
//
this.cloudgraph.BackColor = System.Drawing.Color.White;
this.cloudgraph.Location = new System.Drawing.Point(0, 0);
this.cloudgraph.Name = "cloudgraph";
this.cloudgraph.Size = new System.Drawing.Size(700, 700);
this.cloudgraph.SizeMode = System.Windows.Forms.PictureBoxSizeMode.CenterImage;
this.cloudgraph.TabIndex = 12;
this.cloudgraph.TabStop = false;
this.cloudgraph.Click += new System.EventHandler(this.CloudgraphClick);
this.cloudgraph.MouseDoubleClick += new System.Windows.Forms.MouseEventHandler(this.CloudgraphMouseDoubleClick);
//
// tabPage1
//
this.tabPage1.Controls.Add(this.get_location);
this.tabPage1.Location = new System.Drawing.Point(4, 25);
this.tabPage1.Name = "tabPage1";
this.tabPage1.Padding = new System.Windows.Forms.Padding(3);
this.tabPage1.Size = new System.Drawing.Size(1113, 733);
this.tabPage1.TabIndex = 0;
this.tabPage1.Text = "轮廓数据";
this.tabPage1.UseVisualStyleBackColor = true;
this.tabPage1.Click += new System.EventHandler(this.TabPage1Click);
//
// get_location
//
this.get_location.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
//
//
//
this.get_location.Aspect.View3D = false;
this.get_location.Aspect.ZOffset = 0D;
//
//
//
//
//
//
this.get_location.Axes.Right.Visible = false;
this.get_location.BackColor = System.Drawing.Color.Transparent;
//
//
//
//
//
//
this.get_location.Header.Bevel.ColorTwo = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(255)))), ((int)(((byte)(255)))));
//
//
//
this.get_location.Header.Brush.Color = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(255)))), ((int)(((byte)(255)))));
//
//
//
this.get_location.Header.Font.Bold = true;
//
//
//
this.get_location.Header.Font.Brush.Color = System.Drawing.Color.Black;
this.get_location.Header.Font.Size = 10;
this.get_location.Header.Font.SizeFloat = 10F;
this.get_location.Header.Lines = new string[] {
"轮廓数据"};
//
//
//
this.get_location.Legend.Visible = false;
this.get_location.Location = new System.Drawing.Point(3, 4);
this.get_location.Margin = new System.Windows.Forms.Padding(4);
this.get_location.Name = "get_location";
//
//
//
//
//
//
this.get_location.Panel.Brush.Color = System.Drawing.Color.FromArgb(((int)(((byte)(0)))), ((int)(((byte)(255)))), ((int)(((byte)(255)))), ((int)(((byte)(255)))));
//
//
//
this.get_location.Printer.Landscape = true;
this.get_location.Series.Add(this.points1);
this.get_location.Size = new System.Drawing.Size(1106, 722);
//
//
//
//
//
//
this.get_location.SubFooter.Bevel.ColorTwo = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(255)))), ((int)(((byte)(255)))));
//
//
//
this.get_location.SubFooter.Brush.Color = System.Drawing.Color.FromArgb(((int)(((byte)(0)))), ((int)(((byte)(128)))), ((int)(((byte)(255)))), ((int)(((byte)(128)))));
//
//
//
this.get_location.SubFooter.Brush.Gradient.Transparency = 100;
//
//
//
//
//
//
this.get_location.SubFooter.Font.Brush.Color = System.Drawing.Color.Green;
this.get_location.SubFooter.Font.Size = 7;
this.get_location.SubFooter.Font.SizeFloat = 7F;
//
//
//
//
//
//
this.get_location.SubFooter.Shadow.Brush.Color = System.Drawing.Color.FromArgb(((int)(((byte)(0)))), ((int)(((byte)(169)))), ((int)(((byte)(169)))), ((int)(((byte)(169)))));
//
//
//
this.get_location.SubFooter.Shadow.Brush.Gradient.Transparency = 100;
this.get_location.TabIndex = 39;
//
//
//
//
//
//
this.get_location.Walls.Left.Visible = false;
//
// points1
//
this.points1.Color = System.Drawing.Color.Red;
this.points1.ColorEach = false;
this.points1.HorizAxis = Steema.TeeChart.Styles.HorizontalAxis.Both;
//
//
//
this.points1.LinePen.Color = System.Drawing.Color.FromArgb(((int)(((byte)(41)))), ((int)(((byte)(61)))), ((int)(((byte)(98)))));
//
//
//
//
//
//
this.points1.Marks.Callout.ArrowHead = Steema.TeeChart.Styles.ArrowHeadStyles.None;
this.points1.Marks.Callout.ArrowHeadSize = 8;
//
//
//
this.points1.Marks.Callout.Brush.Color = System.Drawing.Color.Black;
this.points1.Marks.Callout.Distance = 0;
this.points1.Marks.Callout.Draw3D = false;
this.points1.Marks.Callout.Length = 0;
this.points1.Marks.Callout.Style = Steema.TeeChart.Styles.PointerStyles.Rectangle;
//
//
//
//
//
//
this.points1.Pointer.Brush.Color = System.Drawing.Color.Red;
//
//
//
this.points1.Pointer.Brush.Gradient.EndColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(0)))), ((int)(((byte)(0)))));
this.points1.Pointer.Brush.Gradient.MiddleColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(0)))), ((int)(((byte)(0)))));
this.points1.Pointer.Brush.Gradient.StartColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(0)))), ((int)(((byte)(0)))));
this.points1.Pointer.Brush.Gradient.UseMiddle = true;
this.points1.Pointer.Dark3D = false;
this.points1.Pointer.Draw3D = false;
this.points1.Pointer.HorizSize = 1;
this.points1.Pointer.InflateMargins = false;
//
//
//
this.points1.Pointer.Pen.Color = System.Drawing.Color.Red;
this.points1.Pointer.Pen.Style = System.Drawing.Drawing2D.DashStyle.Dash;
this.points1.Pointer.Style = Steema.TeeChart.Styles.PointerStyles.Circle;
this.points1.Pointer.VertSize = 1;
this.points1.SeriesData = resources.GetString("points1.SeriesData");
this.points1.ShowInLegend = false;
this.points1.Title = "points1";
//
//
//
this.points1.XValues.DataMember = "X";
this.points1.XValues.Order = Steema.TeeChart.Styles.ValueListOrder.Ascending;
//
//
//
this.points1.YValues.DataMember = "Y";
//
// tabPage2
//
this.tabPage2.Controls.Add(this.msgreceived);
this.tabPage2.Location = new System.Drawing.Point(4, 25);
this.tabPage2.Name = "tabPage2";
this.tabPage2.Padding = new System.Windows.Forms.Padding(3);
this.tabPage2.Size = new System.Drawing.Size(1113, 733);
this.tabPage2.TabIndex = 1;
this.tabPage2.Text = "监听后台";
this.tabPage2.UseVisualStyleBackColor = true;
//
// msgreceived
//
this.msgreceived.FormattingEnabled = true;
this.msgreceived.ItemHeight = 15;
this.msgreceived.Location = new System.Drawing.Point(0, 0);
this.msgreceived.Name = "msgreceived";
this.msgreceived.Size = new System.Drawing.Size(1107, 724);
this.msgreceived.TabIndex = 1;
this.msgreceived.MouseDoubleClick += new System.Windows.Forms.MouseEventHandler(this.MsgreceivedMouseDoubleClick);
//
// timer1
//
this.timer1.Enabled = true;
this.timer1.Interval = 50;
this.timer1.Tick += new System.EventHandler(this.Timer1Tick);
//
// serialPort1
//
this.serialPort1.PortName = "COM4";
this.serialPort1.DataReceived += new System.IO.Ports.SerialDataReceivedEventHandler(this.SerialPort1DataReceived);
//
// timer2
//
this.timer2.Enabled = true;
this.timer2.Tick += new System.EventHandler(this.Timer2Tick);
//
// Main_Form
//
this.BackColor = System.Drawing.Color.White;
this.ClientSize = new System.Drawing.Size(1513, 800);
this.Controls.Add(this.splitContainer1);
this.Controls.Add(this.menuStrip1);
this.Name = "Main_Form";
this.Text = "P+F R2000 2D Laser Scanner";
this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.Main_FormFormClosing);
this.Load += new System.EventHandler(this.Main_FormLoad);
this.Paint += new System.Windows.Forms.PaintEventHandler(this.Main_FormPaint);
this.menuStrip1.ResumeLayout(false);
this.menuStrip1.PerformLayout();
this.splitContainer1.Panel1.ResumeLayout(false);
this.splitContainer1.Panel2.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.splitContainer1)).EndInit();
this.splitContainer1.ResumeLayout(false);
this.groupBox4.ResumeLayout(false);
this.groupBox4.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.markdgv)).EndInit();
this.groupBox3.ResumeLayout(false);
this.groupBox2.ResumeLayout(false);
this.groupBox1.ResumeLayout(false);
this.groupBox1.PerformLayout();
this.tabControl1.ResumeLayout(false);
this.tabPage3.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.cloudgraph)).EndInit();
this.tabPage1.ResumeLayout(false);
this.tabPage2.ResumeLayout(false);
this.ResumeLayout(false);
this.PerformLayout();
}
void TabPage1Click(object sender, EventArgs e)
{
}
void AGV定位ToolStripMenuItemClick(object sender, EventArgs e)
{
}
void 点云图ToolStripMenuItemClick(object sender, EventArgs e)
{
PointGraph en =new PointGraph ();
en .Show ();
}
void Button6Click(object sender, EventArgs e)
{
if (button6 .Text =="连续定位")
{
timer1 .Start ();
button6.Text ="停止定位";
return ;
}
if (button6.Text =="停止定位")
{
timer1 .Stop ();
button6.Text ="连续定位";
return ;
}
}
public class OBJ
{
public double Mark{get ;set ;}
}
public class ceshi
{
private OBJ obj;
private double mark
{
get {return obj.Mark ;}
}
public ceshi ( OBJ nn)
{
this .obj =nn ;
}
public void display()
{
MessageBox .Show (mark. ToString ());
}
}
public delegate void DiaplayXYAngle(TextBox box,string ss);
public static void DisplayValue(TextBox box ,string ss)
{
try
{
if (box .InvokeRequired )
{
box.BeginInvoke(new DiaplayXYAngle (DisplayValue ),new object[] { box ,ss });
}
else
{
box.Text = ss;
}
}
catch (Exception ex)
{
throw ex;
}
}
public delegate void AddLISTBOX(ListBox BOX, String SS);
public static void AddReceiveMsg(ListBox BOX, String SS)
{
try
{
if (BOX .InvokeRequired )
{
BOX.BeginInvoke(new AddLISTBOX (AddReceiveMsg ),new object[] { BOX ,SS });
}
else
{
BOX.Items.Add(SS );
}
}
catch (Exception ex)
{
}
}
void Inidgv()
{
for (int i=0;i<100;i++)
{
markdgv .Rows .Add ();
markdgv .Rows [i].Cells[0].Value ="-";
markdgv .Rows [i].Cells[1].Value ="-";
markdgv .Rows [i].Cells[2].Value ="-";
markdgv .Rows [i].Cells[3].Value ="-";
markdgv .Rows [i].Cells[4].Value ="删除";
}
}
public delegate void AddBAb(DataGridView dgv,List <TheLightNode > nodelist,List <TheLightNode >notlist);
public static void AddDtValue(DataGridView dgv,List <TheLightNode > nodelist,List <TheLightNode >notlist)
{
try
{
if (dgv .InvokeRequired )
{
dgv .BeginInvoke (new AddBAb (AddDtValue),dgv ,nodelist );
}
else{
if (LidarMode .GraphCreateState)
{
for(int i=0;i<nodelist .Count ;i++)
{
if (nodelist [i].X==0&&nodelist [i].Y ==0)
{
dgv .Rows [i].Cells [0].Value ="-" ;
dgv .Rows [i].Cells [1].Value ="-";
dgv .Rows [i].Cells [2].Value ="-" ;
dgv .Rows [i].Cells [3].Value ="-" ;
}
else
{
dgv .Rows [i].Cells [0].Value =nodelist [i].NumberNo ;
dgv .Rows [i].Cells [1].Value =nodelist [i].X ;
dgv .Rows [i].Cells [2].Value =nodelist [i].Y ;
dgv .Rows [i].Cells [3].Value =nodelist [i].Angle ;
dgv .Rows [i].DefaultCellStyle .BackColor =Color .Green ;
}
for (int j=nodelist .Count ;j<dgv .Rows .Count ;j++)
{
dgv .Rows [j].Cells [0].Value ="-" ;
dgv .Rows [j].Cells [1].Value ="-";
dgv .Rows [j].Cells [2].Value ="-" ;
dgv .Rows [j].Cells [3].Value ="-" ;
dgv .Rows [j].DefaultCellStyle .BackColor =Color.White ;
}
}
getmark .nodelist.Clear ();
}
else{
if (LidarMode .IsNavicationMode )
{
for (int i=0;i<nodelist .Count ;i++)
{
if (nodelist [i].X!=0&&nodelist [i].Y !=0)
dgv .Rows [i].Cells [0].Value =nodelist [i].NumberNo ;
dgv .Rows [i].Cells [1].Value =nodelist [i].X ;
dgv .Rows [i].Cells [2].Value =nodelist [i].Y ;
dgv .Rows [i].Cells [3].Value =nodelist [i].Angle ;
dgv .Rows [i].DefaultCellStyle .BackColor =Color .Red ;
}
for (int j=nodelist .Count ;j<dgv .Rows .Count ;j++)
{
dgv .Rows [j].Cells [0].Value ="-" ;
dgv .Rows [j].Cells [1].Value ="-";
dgv .Rows [j].Cells [2].Value ="-" ;
dgv .Rows [j].Cells [3].Value ="-" ;
dgv .Rows [j].DefaultCellStyle .BackColor =Color.White ;
}
getmark .isnodelist.Clear ();
}
if (LidarMode .TargetDetectionState )
{
for (int i=0;i<nodelist .Count ;i++)
{
dgv .Rows [i].Cells [0].Value =nodelist [i].NumberNo ;
dgv .Rows [i].Cells [1].Value =nodelist [i].X ;
dgv .Rows [i].Cells [2].Value =nodelist [i].Y ;
dgv .Rows [i].Cells [3].Value =nodelist [i].Angle ;
dgv .Rows [i].DefaultCellStyle .BackColor =Color .Red ;
}
for (int k=nodelist .Count ,p=0;p<notlist .Count ;k++,p++)
{
dgv .Rows [k].Cells [0].Value =notlist [p].NumberNo ;
dgv .Rows [k].Cells [1].Value =notlist [p].X ;
dgv .Rows [k].Cells [2].Value =notlist [p].Y ;
dgv .Rows [k].Cells [3].Value =notlist [p].Angle ;
dgv .Rows [k].DefaultCellStyle .BackColor =Color .Green ;
}
for (int j=nodelist .Count +notlist .Count;j<dgv .Rows .Count ;j++)
{
dgv .Rows [j].Cells [0].Value ="-" ;
dgv .Rows [j].Cells [1].Value ="-";
dgv .Rows [j].Cells [2].Value ="-" ;
dgv .Rows [j].Cells [3].Value ="-" ;
dgv .Rows [j].DefaultCellStyle .BackColor =Color.White ;
}
getmark .isnodelist .Clear ();
getmark .nodelist .Clear ();
}
}
}
}
catch (Exception ex)
{
MessageBox .Show (ex .ToString ());
}
}
/// <summary>
/// 靶标探测
/// </summary>
/// <param name="dgv"></param>
/// <param name="dt"></param>
/// <param name="nodelist"></param>
public delegate void AddDtBaBiao(ref DataGridView dgv,ref DataTable dt,List <TheLightNode>nodelist);
public static void AddDtValue(ref DataGridView dgv,ref DataTable dt,List <TheLightNode > nodelist)
{
try
{
if (dgv .InvokeRequired )
{
dgv .BeginInvoke (new AddDtBaBiao(AddDtValue ),new object [] {dgv ,dt ,nodelist });
}
else
{
for(int i=0;i<nodelist .Count ;i++)
{
if (nodelist [i].X==0&&nodelist [i].Y ==0)
{
dgv .Rows [i].Cells [0].Value ="-" ;
dgv .Rows [i].Cells [1].Value ="-";
dgv .Rows [i].Cells [2].Value ="-" ;
dgv .Rows [i].Cells [3].Value ="-" ;
}
else
{
dgv .Rows [i].Cells [0].Value =nodelist [i].NumberNo ;
dgv .Rows [i].Cells [1].Value =nodelist [i].X ;
dgv .Rows [i].Cells [2].Value =nodelist [i].Y ;
dgv .Rows [i].Cells [3].Value =nodelist [i].Angle ;
}
for (int j=nodelist .Count ;j<dgv .Rows .Count ;j++)
{
dgv .Rows [j].Cells [0].Value ="-" ;
dgv .Rows [j].Cells [1].Value ="-";
dgv .Rows [j].Cells [2].Value ="-" ;
dgv .Rows [j].Cells [3].Value ="-" ;
}
}
getmark .nodelist.Clear ();
}
}
catch (Exception ex)
{
MessageBox .Show (ex .ToString ());
}
}
private int[] X_VALUE{get ;set ;}
private int []Y_VALUE{get ;set ;}
private float [] ANGLE_VALUE{get ;set ;}
void DealGraph()
{
try
{
if (lidarclient .X_Value != null && lidarclient .Y_Value!=null )
{
if (LidarMode .IsNavicationMode ||LidarMode .GraphCreateState ||LidarMode .TargetDetectionState )
{
AGV agv=new AGV ();
CreateCoordinate obj =new CreateCoordinate ();
agv .AgvLocation_X =350;
agv .AgvLocation_Y =350;
agv .AgvNo =1;
agv.Polar=new int[lidarclient .Polar_Value.Length ];
agv.Angle=new float[lidarclient .Angle_Value .Length ] ;
Array .Copy (lidarclient .Angle_Value ,0,agv.Angle ,0,lidarclient .Angle_Value .Length );
for (int i=0;i<lidarclient .Polar_Value .Length ;i++)
{
agv .Polar [i]=lidarclient .Polar_Value [i]/27;
}
// getmark.GetBaBiao (lidarclient .Polar_Value,lidarclient .Angle_Value,lidarclient .agv );
// AddDtValue (ref markdgv ,ref Dt ,getmark .nodelist );
ThreadDraw(agv);
Graphics G =cloudgraph.CreateGraphics ();
G .Clear (Color .LightGray );
obj .DrawXY (cloudgraph );
}
else
{
//非导航模式，获取显示轮廓数据
LidarSever.DrawScanPoint(get_location ,lidarclient .X_Value,lidarclient .Y_Value);
}
GC .Collect ();
Application .DoEvents ();
}
}
catch (Exception ex)
{
MessageBox.Show(ex .ToString ());
}
}
public delegate void AddLooking(ListBox boxlist,string str);
public void AddMsg(ListBox boxlist,string str)
{
try{
if (boxlist .InvokeRequired )
{
boxlist .BeginInvoke (new AddLooking (AddMsg),new object []{boxlist ,str });
}
else
{
boxlist .Items .Add (str );
}
}
catch (Exception ex)
{
MessageBox .Show (ex .ToString ());
}
}
public void ThreadDraw(object obj)
{
Thread th=new Thread (new ParameterizedThreadStart (DrawPIC));
th .IsBackground =true ;
th .Start (obj);
}
public void DrawPIC(object obj)
{
AGV agv=obj as AGV ;
CreateCoordinate .CreatePoint (cloudgraph,agv ,5,Color .Red ,1);
}
private void button7_Click(object sender, EventArgs e)
{
if (button7 .Text =="扫描轮廓数据")
{
timer .Start ();
button7 .Text ="停止扫描";
return;
}
if (button7 .Text =="停止扫描")
{
timer .Stop ();
button7 .Text ="扫描轮廓数据";
return ;
}
}
public void GraphDraw(object SENDER ,EventArgs E )
{
Thread th=new Thread (DealGraph);
th.IsBackground =true ;
th .Start ();
}
private void timer1_Tick(object sender, EventArgs e)
{
agv_x.Text = lidarclient.Robot_X.ToString();
agv_y.Text = lidarclient.Robot_Y.ToString();
agv_angle.Text = lidarclient.Robot_Angle.ToString();
}
void Main_FormPaint(object sender, PaintEventArgs e)
{
CreateCoordinate obj=new CreateCoordinate ();
obj .DrawXY (cloudgraph );
}
void CloudgraphMouseDoubleClick(object sender, MouseEventArgs e)
{
CreateCoordinate obj=new CreateCoordinate ();
obj .DrawXY (cloudgraph );
}
void CloudgraphClick(object sender, EventArgs e)
{
}
void TabPage3Click(object sender, EventArgs e)
{
}
void Button8Click(object sender, EventArgs e)
{
Graphics G =cloudgraph.CreateGraphics ();
G .Clear (Color .LightGray );
CreateCoordinate obj=new CreateCoordinate ();
obj .DrawXY (cloudgraph );
}
void TabPage3MouseDoubleClick(object sender, MouseEventArgs e)
{
AGV agv=new AGV ();
agv .AgvLocation_X =350;
agv .AgvLocation_Y =350;
agv .AgvNo =1;
agv.Polar=new int[350];
agv.Angle=new float[350] ;
int j =0,k =360;
int index =0;
for (int i=0;i<350;i+=1)
{
agv .Polar [index]=i ;
agv .Angle [index]=j ;
j+=2;
index ++;
}
CreateCoordinate obj =new CreateCoordinate ();
CreateCoordinate .CreatePoint (cloudgraph,agv ,2,Color .Red ,1);
}
void Button5Click(object sender, EventArgs e)
{
if (button5 .Text =="开始靶标探测")
{
LidarMode .GraphCreateState =false ;
LidarMode .IsNavicationMode =false ;
LidarMode .TargetDetectionState=true ;
lidarmode .Text ="靶标探测模式";
timer.Start ();
timer1 .Start ();
button5 .Text ="停止靶标探测";
lidarclient .World .QuartTimer .Start ();
return ;
}
if (button5.Text =="停止靶标探测")
{
LidarMode .TargetDetectionState=false ;
timer .Stop ();
timer1 .Stop ();
button5 .Text ="开始靶标探测";
lidarclient .World .QuartTimer .Stop();
return ;
}
}
void MarkdgvCellContentClick(object sender, DataGridViewCellEventArgs e)
{
if (MessageBox.Show("是否要删除此反光柱信息！", "询问", MessageBoxButtons.YesNo) == DialogResult.Yes)
{
if (markdgv .Columns [e.ColumnIndex ]is DataGridViewButtonColumn )
{
if (e.RowIndex >-1)
{
int index =e .RowIndex ;
markdgv .Rows [index ].Cells [0].Value ="-";
markdgv .Rows [index ].Cells [1].Value ="-";
markdgv .Rows [index ].Cells [2].Value ="-";
markdgv .Rows [index ].Cells [3].Value ="-";
markdgv .Rows [index ].DefaultCellStyle .BackColor =Color .White ;
}
}
}
}
void MenuStrip1ItemClicked(object sender, ToolStripItemClickedEventArgs e)
{
}
void Timer1Tick(object sender, EventArgs e)
{
if (lidarclient .Polar_Value!=null && lidarclient .Angle_Value !=null )
{
if (LidarMode .IsNavicationMode ||LidarMode .TargetDetectionState )
{
DisplayValue(agv_x ,lidarclient .Robot_X .ToString ());
DisplayValue(agv_y ,lidarclient .Robot_Y .ToString ());
DisplayValue(agv_angle ,(lidarclient .Robot_Angle/1000) .ToString ());
}
// Thread th =new Thread (Displaydgv);
// th .IsBackground =true ;
// th .Start ();
Displaydgv();
}
}
void Displaydgv()
{
getmark .GetBaBiao (lidarclient.agv );
if (LidarMode .GraphCreateState )
{
AddDtValue(markdgv ,getmark .nodelist ,null );
}
else if (LidarMode .IsNavicationMode )
{
AddDtValue(markdgv ,getmark .isnodelist ,null );
}
else if (LidarMode .TargetDetectionState )
{
AddDtValue(markdgv ,getmark .isnodelist ,getmark .notnodelist );
}
}
void SendLocationData(double x ,double y ,double angle )
{
if (serialPort1 .IsOpen )
{
string send_x =Convert .ToString ((int )(x ),16).PadLeft (8,'0');
string send_y =Convert.ToString ((int )(y),16).PadLeft (8,'0');
string send_angle=Convert .ToString ((int )(angle ),16).PadLeft (8,'0');
byte []senddata = { 0xdd,0xff,0x01,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00};
for (int i=0,j=0;i<send_x .Length ;i +=2,j++)
{
senddata[3+j]=Convert .ToByte (send_x.Substring (i,2),16);
senddata[7+j]=Convert .ToByte (send_y.Substring (i,2),16);
senddata[11+j]=Convert .ToByte (send_angle.Substring (i,2),16);
}
int sum=0;
for (int i=0;i<senddata .Length -1;i++)
{
sum +=senddata [i];
}
string ssd=(sum %256).ToString ();
senddata [18]=Convert .ToByte (ssd) ;
serialPort1 .Write (senddata ,0,senddata .Length );
BytetoStringAdd(senddata );
}
}
void BytetoStringAdd(byte[] data)
{
string ss="";
foreach(byte item in data )
{
ss +=Convert .ToString (item,16) +" ";
}
msgreceived .Items .Add (ss +"["+System .DateTime.Now .ToString ()+"]");
}
void GetSerialPort()
{
string name =serialPort1.PortName;
if (name ==null )
{
MessageBox.Show ("本计算机无此端口！");
return ;
}
else
{
serialPort1 .Open ();
msgreceived .Items .Add ("串口"+name +"已经打开！");
timer2 .Enabled=true ;
timer2 .Start ();
}
}
void SerialPort1DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
{
}
void 串口发送定位数据ToolStripMenuItemClick(object sender, EventArgs e)
{
GetSerialPort ();
}
void 激光雷达参数设置ToolStripMenuItemClick(object sender, EventArgs e)
{
ParameterSet_Form en =new ParameterSet_Form ();
en .Show ();
}
void Timer2Tick(object sender, EventArgs e)
{
SendLocationData(lidarclient .agv .AgvLocation_X ,lidarclient .agv .AgvLocation_X ,lidarclient .agv .rotationangle);
}
void Button9Click(object sender, EventArgs e)
{
if (MessageBox.Show("是否要读取雷达工作模式！", "注意！！！" , MessageBoxButtons.YesNo) == DialogResult.Yes)
{
if(GetLidarWorkPara())
{
MessageBox .Show ("读取成功！");
}
else
{
MessageBox .Show ("读取失败！");
}
}
}
void AGV定位测试ToolStripMenuItemClick(object sender, EventArgs e)
{
double[] a = new double[5];
double[] b = new double[5];
double[] c = new double[5];
double[] d = new double[5];
double[] f= new double[5];
a[0] = 0;
a[1] = 12;
a[2] = 32;
a[3] = 24;
a[4] = 23;
a[0] = 1;
b[1] = 17;
b[2] = 22;
b[3] = 23;
b[4] = 40;
c[0] = 2;
c[1] = 16;
c[2] = 39;
c[3] = 23;
c[4] = 20;
d[0] = 3;
d[1] = 45;
d[2] = 76;
d[3] = 23;
d[4] = 67;
c[0] = 4;
c[1] = 19;
c[2] = 35;
c[3] = 30;
c[4] = 32;
AGV agv=new AGV ();
List<double[]> iet = new List<double[]>();
agv .IsBatter .Clear ();
iet.Add(a);
iet.Add(b);
iet.Add(c);
iet.Add(d);
agv .IsBatter .AddRange (iet );
AgvAbsoluteLocation jj = new AgvAbsoluteLocation(ref agv );
MessageBox.Show(agv.AgvLocation_X .ToString ()+";"+agv .AgvLocation_Y .ToString ()+";"+agv .rotationangle .ToString ());
}
void Button10Click(object sender, EventArgs e)
{
if (button10 .Text =="开启建图模式")
{
LidarMode .GraphCreateState =true ;
LidarMode .IsNavicationMode =false ;
LidarMode .TargetDetectionState =false ;
lidarmode .Text ="建图模式";
timer.Start ();
timer1 .Start ();
button10.Text ="停止建图模式";
MessageBox .Show ("已开启！");
return ;
}
else
{
LidarMode .GraphCreateState =false ;
timer .Stop ();
timer1 .Stop ();
button10.Text ="开启建图模式";
MessageBox .Show ("已停止！");
return ;
}
}
}
}
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