实例介绍
【实例简介】
【实例截图】
【核心代码】
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927 928 929 930 931 932 933 934 935 936 937 938 939 940 941 942 943 944 945 946 947 948 949 950 951 952 953 954 955 956 957 958 959 960 961 962 963 964 965 966 967 968 969 970 971 972 973 974 975 976 977 978 979 980 981 982 983 984 985 986 987 988 989 990 991 | /*****************************************************************************//* Project : AvionicsInstrumentControlDemo *//* File : DemoWondow.cs *//* Version : 1 *//* Language : C# *//* Summary : Start window of the project, use to test the instruments *//* Creation : 30/06/2008 *//* Autor : Guillaume CHOUTEAU *//* History : *//*****************************************************************************/using System;using System.Collections.Generic;using System.ComponentModel;using System.Data;using System.Drawing;using System.Text;using System.Windows.Forms;using System.IO.Ports;using System.Runtime.InteropServices;namespace AvionicsInstrumentControlDemo{ public partial class DemoWinow : Form { #region /*********************变量定义****************************/ private Form_3Dcuboid form_3Dcuboid; private SerialPort Serial_Port = new SerialPort(); private bool closing = false; private bool listening = false; private Color[] MsgTypeColor = new Color[] { Color.Blue, Color.Green, Color.Black, Color.Orange, Color.Red }; private bool StopDisFlag = false; private long ReceiveCount = 0L; private long SendCount = 0L; private long FrameCount = 0L; private List<byte> Data_Buffer = new List<byte>(0x800); private byte[] Euler_Data = new byte[16]; private byte[] Acc_Gyr_Data = new byte[23]; private byte[] RC_Data = new byte[25]; private byte[] Temp_Data = new byte[50]; public Int16 Rol_P, Rol_I, Rol_D, Pit_P, Pit_I, Pit_D, Yaw_P, Yaw_I, Yaw_D; public Int16 S_acc_x, S_acc_y, S_acc_z, S_gyr_x, S_gyr_y, S_gyr_z, S_mag_x, S_mag_y, S_mag_z; public float D_ang_rol, D_ang_pit, D_ang_yaw, D_alt_csb, D_alt_prs; public Int16 Rc_thr, Rc_yaw, Rc_rol, Rc_pit, Rc_aux_1, Rc_aux_2, Rc_aux_3, Rc_aux_4, Rc_aux_5, Rc_aux_6; public Int16 Moto_1, Moto_2, Moto_3, Moto_4, Moto_5, Moto_6, Moto_7, Moto_8; string CMD_Acc = "AAAF0101015C", CMD_Gyro = "AAAF0101025D", CMD_Acc_Gyro = "AAAF0101035E", CMD_Mag = "", CMD_Pid = "AAAF0201015D", CMD_Offset = "AAAF0201025E"; private float fly_roll; public bool B_armed = true;//FLY private bool GesShowFlag = false; private bool Pid_flag = false; private int xCount = 0; private bool ZedCollectFlag = false; private string s; private int t; #endregion #region /*******************写入数据文件**************************/ //声明读写INI文件的API函数 [DllImport("kernel32")] private static extern bool WritePrivateProfileString(string section, string key, string val, string filePath); [DllImport("kernel32")] private static extern int GetPrivateProfileString(string section, string key, string def, byte[] retVal, int size, string filePath); static string FileName = Application.StartupPath "\\Mini4RotorsSetUPConfig.ini"; //写INI文件 public void WriteIni(string Section, string Ident, string Value) { if (!WritePrivateProfileString(Section, Ident, Value, FileName)) { throw (new ApplicationException("写入配置文件出错")); } } //读取INI文件指定 public string ReadIni(string Section, string Ident, string Default) { Byte[] Buffer = new Byte[65535]; int bufLen = GetPrivateProfileString(Section, Ident, Default, Buffer, Buffer.GetUpperBound(0), FileName); //必须设定0（系统默认的代码页）的编码方式，否则无法支持中文 string s = Encoding.GetEncoding(0).GetString(Buffer); s = s.Substring(0, bufLen); return s.Trim(); } private void GetIni() { roll_P.Value = int.Parse(ReadIni("Roll", "P", "")); roll_I.Value = int.Parse(ReadIni("Roll", "I", "")); roll_D.Value = int.Parse(ReadIni("Roll", "D", "")); pitch_P.Value=int.Parse(ReadIni("Pit", "P", "")); pitch_I.Value=int.Parse(ReadIni("Pit", "I", "")); pitch_D.Value=int.Parse(ReadIni("Pit", "D", "")); yaw_P.Value=int.Parse(ReadIni("Yaw", "P", "")); yaw_I.Value=int.Parse(ReadIni("Yaw", "I", "")); yaw_D.Value=int.Parse(ReadIni("Yaw", "D", "")); } private void SaveSetting() { WriteIni("Roll", "P", roll_P.Value.ToString()); WriteIni("Roll", "I", roll_I.Value.ToString()); WriteIni("Roll", "D", roll_D.Value.ToString()); WriteIni("Pit", "P", pitch_P.Value.ToString()); WriteIni("Pit", "I", pitch_I.Value.ToString()); WriteIni("Pit", "D", pitch_D.Value.ToString()); WriteIni("Yaw", "P", yaw_P.Value.ToString()); WriteIni("Yaw", "I", yaw_I.Value.ToString()); WriteIni("Yaw", "D", yaw_D.Value.ToString()); } #endregion #region /*******************曲线变量定义**************************/ public List<float> x1 = new List<float>(); public List<float> y1 = new List<float>(); public List<float> x2 = new List<float>(); public List<float> y2 = new List<float>(); public List<float> x3 = new List<float>(); public List<float> y3 = new List<float>(); public List<float> x4 = new List<float>(); public List<float> y4 = new List<float>(); public List<float> x5 = new List<float>(); public List<float> y5 = new List<float>(); public List<float> x6 = new List<float>(); public List<float> y6 = new List<float>(); #endregion public DemoWinow() { InitializeComponent(); } private void trackBarVerticalSpeed_Scroll(object sender, EventArgs e) { verticalSpeedInstrumentControl1.SetVerticalSpeedIndicatorParameters(trackBarVerticalSpeed.Value); } private void trackPitchAngle_Scroll(object sender, EventArgs e) { horizonInstrumentControl1.SetAttitudeIndicatorParameters(trackPitchAngle.Value, trackBarRollAngle.Value); } private void trackBarRollAngle_Scroll(object sender, EventArgs e) { horizonInstrumentControl1.SetAttitudeIndicatorParameters(trackPitchAngle.Value, trackBarRollAngle.Value); } private void trackBarHeading_Scroll(object sender, EventArgs e) { headingIndicatorInstrumentControl1.SetHeadingIndicatorParameters(trackBarHeading.Value); } private void DemoWinow_Load(object sender, EventArgs e) { this.form_3Dcuboid = new Form_3Dcuboid(); this.form_3Dcuboid.MinimizeInsteadOfClose = true; this.InitCtlVal(); //SendData.Enabled = false; //this.ZGraph = new ZGraph(); this.trackBarHeading.Scroll = new EventHandler(this.trackBar_Scroll); this.trackPitchAngle.Scroll = new EventHandler(this.trackBar_Scroll); this.trackBarRollAngle.Scroll = new EventHandler(this.trackBar_Scroll); this.Serial_Port.DataReceived = new SerialDataReceivedEventHandler(this.SerialDataDis); StartShowCube.Enabled = false; StartCollect.Enabled = false; dlBaudRate.SelectedIndex = 11; dlDataByte.SelectedIndex = 0; dlParity.SelectedIndex = 0; dlStopByte.SelectedIndex = 0; dlControl.SelectedIndex = 0; } private void InitCtlVal() { string[] ports = SerialPort.GetPortNames(); foreach (string port in ports) { dlPortName.Items.Add(port); } if (this.dlPortName.Items.Count > 0) { dlPortName.SelectedIndex = 0; dlBaudRate.SelectedIndex = 11; dlDataByte.SelectedIndex = 0; dlParity.SelectedIndex = 0; dlStopByte.SelectedIndex = 0; dlControl.SelectedIndex = 0; } else { this.AppStateDis(MsgType.Outgoing, "计算机没有串口"); } this.SetCtlState(); } private void SetCtlState() { this.SerialPortSet.Enabled = !this.Serial_Port.IsOpen; // this.OpenPort.Text = this.Serial_Port.IsOpen ? "&关闭串口" : "&打开串口"; } private void trackBar_Scroll(object sender, EventArgs e) { form_3Dcuboid.Roll = this.trackBarRollAngle.Value; form_3Dcuboid.Pitch = this.trackPitchAngle.Value; form_3Dcuboid.Yaw = this.trackBarHeading.Value; this.horizonInstrumentControl1.SetAttitudeIndicatorParameters((double)this.form_3Dcuboid.Pitch, (double)this.form_3Dcuboid.Roll); //this.attitudeIndicatorInstrumentControl1.SetAttitudeIndicatorParameters((double)this.trackBar1.Value, (double)this.trackBar2.Value); } private void tabControl1_SelectedIndexChanged(object sender, EventArgs e) { if (tabControl1.SelectedTab == tabPage3) { form_3Dcuboid.FormBorderStyle = FormBorderStyle.None; form_3Dcuboid.Visible = true; form_3Dcuboid.TopLevel = false; form_3Dcuboid.Parent = tabPage3; form_3Dcuboid.ControlBox = false; form_3Dcuboid.Dock = System.Windows.Forms.DockStyle.Fill; form_3Dcuboid.Show(); } } private void DemoWinow_FormClosing(object sender, FormClosingEventArgs e) { this.closing = true; while (this.listening) { Application.DoEvents(); } this.Serial_Port.Close(); } private void AppStateDis(MsgType msgtype, string msg) { this.AppState.ForeColor = this.MsgTypeColor[(int)msgtype]; this.AppState.Text = msg; } public enum MsgType { Incoming, Outgoing, Normal, Warning, Error } private string ByteArrayToHexString(byte[] data) { StringBuilder builder = new StringBuilder(data.Length * 3); foreach (byte num in data) { builder.Append(Convert.ToString(num, 0x10).PadLeft(2, '0').PadRight(3, ' ')); } return builder.ToString().ToUpper(); } private byte[] HexStringToByteArray(string s) { s = s.Replace(" ", ""); byte[] buffer = new byte[s.Length / 2]; for (int i = 0; i < s.Length; i = 2) { buffer[i / 2] = Convert.ToByte(s.Substring(i, 2), 0x10); } return buffer; } private void SerialDataDis(object sender, SerialDataReceivedEventArgs e) { EventHandler method = null; if (!this.StopDisFlag && !this.closing) { try { this.listening = true;//设置标记，说明我已经开始处理数据，一会儿要使用系统UI的。 int bytesToRead = this.Serial_Port.BytesToRead;//先记录下来，避免某种原因，人为的原因，操作几次之间时间长，缓存不一致 this.ReceiveCount = bytesToRead;//增加接收计数 byte[] buffer = new byte[bytesToRead];//声明一个临时数组存储当前来的串口数据 this.Serial_Port.Read(buffer, 0, bytesToRead);//读取缓冲数据 bool flag = false; this.Data_Buffer.AddRange(buffer); //1.缓存数据 //2.完整性判断 while (this.Data_Buffer.Count >= 5)//至少要包含头（2字节） FUN（1字节） 长度（1字节） 校验（1字节） { //2.1 查找数据头 if (Data_Buffer[0] == 0xAA && Data_Buffer[1] == 0xAA && Data_Buffer[3] < 51) { int len = this.Data_Buffer[3];//数据长度 int fun = this.Data_Buffer[2]; //数据完整判断第一步，长度是否足够 //len是数据段长度,4个字节是while行注释的3部分长度 if (Data_Buffer.Count < len 5) break; //2.3 校验数据，确认数据正确 //异或校验，逐个字节异或得到校验码 byte checksum = 0; for (int i = 0; i <= (len 3); i )//checksum表示校验之前的求和 { checksum = Data_Buffer[i]; } if (checksum == Data_Buffer[len 4]) //如果数据校验正确，继续分析FUN字节 { this.Data_Buffer.CopyTo(0, Temp_Data, 0, len 5);//复制一条完整数据到具体的数据缓存 this.Data_Buffer.RemoveRange(0, len 5);//正确分析一条数据，从缓存中移除数据。 switch (fun) { case 1://欧拉角 Euler_Data = Temp_Data; D_ang_rol = (float)((Int16)(Temp_Data[4] << 8 | Temp_Data[5])) / 100; D_ang_pit = (float)((Int16)(Temp_Data[6] << 8 | Temp_Data[7])) / 100; D_ang_yaw = (float)((Int16)(Temp_Data[8] << 8 | Temp_Data[9])) / 100; D_alt_csb = (Int16)(Temp_Data[10] << 8 | Temp_Data[11]); D_alt_prs = (Int32)(Temp_Data[12] << 24 | Temp_Data[13] << 16 | Temp_Data[14] << 8 | Temp_Data[15]); if (Temp_Data[16] == 0xa1) B_armed = false; else B_armed = true; break; case 2://传感器数据 Acc_Gyr_Data = Temp_Data; S_acc_x = (Int16)(Temp_Data[4] << 8 | Temp_Data[5]); S_acc_y = (Int16)(Temp_Data[6] << 8 | Temp_Data[7]); S_acc_z = (Int16)(Temp_Data[8] << 8 | Temp_Data[9]); S_gyr_x = (Int16)(Temp_Data[10] << 8 | Temp_Data[11]); S_gyr_y = (Int16)(Temp_Data[12] << 8 | Temp_Data[13]); S_gyr_z = (Int16)(Temp_Data[14] << 8 | Temp_Data[15]); S_mag_x = (Int16)(Temp_Data[16] << 8 | Temp_Data[17]); S_mag_y = (Int16)(Temp_Data[18] << 8 | Temp_Data[19]); S_mag_z = (Int16)(Temp_Data[20] << 8 | Temp_Data[21]); break; case 3: RC_Data = Temp_Data; Rc_thr = (Int16)(Temp_Data[4] << 8 | Temp_Data[5]); Rc_yaw = (Int16)(Temp_Data[6] << 8 | Temp_Data[7]); Rc_rol = (Int16)(Temp_Data[8] << 8 | Temp_Data[9]); Rc_pit = (Int16)(Temp_Data[10] << 8 | Temp_Data[11]); Rc_aux_1 = (Int16)(Temp_Data[12] << 8 | Temp_Data[13]); Rc_aux_2 = (Int16)(Temp_Data[14] << 8 | Temp_Data[15]); Rc_aux_3 = (Int16)(Temp_Data[16] << 8 | Temp_Data[17]); Rc_aux_4 = (Int16)(Temp_Data[18] << 8 | Temp_Data[19]); Rc_aux_5 = (Int16)(Temp_Data[20] << 8 | Temp_Data[21]); Rc_aux_6 = (Int16)(Temp_Data[22] << 8 | Temp_Data[23]); break; case 16: Rol_P = (Int16)(Temp_Data[4] << 8 | Temp_Data[5]); Rol_I = (Int16)(Temp_Data[6] << 8 | Temp_Data[7]); Rol_D = (Int16)(Temp_Data[8] << 8 | Temp_Data[9]); Pit_P = (Int16)(Temp_Data[10] << 8 | Temp_Data[11]); Pit_I = (Int16)(Temp_Data[12] << 8 | Temp_Data[13]); Pit_D = (Int16)(Temp_Data[14] << 8 | Temp_Data[15]); Yaw_P = (Int16)(Temp_Data[16] << 8 | Temp_Data[17]); Yaw_I = (Int16)(Temp_Data[18] << 8 | Temp_Data[19]); Yaw_D = (Int16)(Temp_Data[20] << 8 | Temp_Data[21]); Pid_flag = true; break; default: break; } flag = true; } //至此，已经被找到了一条完整数据。我们将数据直接分析，或是缓存起来一起分析 //我们这里采用的办法是缓存一次，好处就是如果你某种原因，数据堆积在缓存buffer中 //已经很多了，那你需要循环的找到最后一组，只分析最新数据，过往数据你已经处理不及时 //了，就不要浪费更多时间了，这也是考虑到系统负载能够降低。 else this.Data_Buffer.RemoveRange(0, len 5);//从缓存中删除错误数据 } else { //这里是很重要的，如果数据开始不是头，则删除数据 Data_Buffer.RemoveAt(0); } } if (flag) { if (method == null) { method = delegate { this.FrameCount = 1L; Application.DoEvents(); this.FrameNum.Text = this.FrameCount.ToString(); string Euler_data = " roll: " this.D_ang_rol.ToString() " pitch; " this.D_ang_pit.ToString() " yaw: " this.D_ang_yaw.ToString(); string Acc_data = " Acc_x: " this.S_acc_x.ToString() " Acc_y; " this.S_acc_y.ToString() " Acc_z: " this.S_acc_z.ToString(); string Gyr_data = " Gyr_x: " this.S_gyr_x.ToString() " Gyr_y; " this.S_gyr_y.ToString() " Gyr_z: " this.S_gyr_z.ToString(); this.Invoke((EventHandler)(delegate { eulerdatalabel.Text = Euler_data; })); this.Invoke((EventHandler)(delegate { accdatalabel.Text = Acc_data; })); this.Invoke((EventHandler)(delegate { gyrdatalabel.Text = Gyr_data; })); horizonInstrumentControl1.SetAttitudeIndicatorParameters((double)D_ang_pit, (double)D_ang_rol); headingIndicatorInstrumentControl1.SetHeadingIndicatorParameters(((int)D_ang_yaw) 180); Application.DoEvents(); fly_roll = D_ang_rol; if (fly_roll <= 0) { if (fly_roll <= -60) { fly_roll = 60; turnCoordinatorInstrumentControl1.SetTurnCoordinatorParameters(-6, 0); } else turnCoordinatorInstrumentControl1.SetTurnCoordinatorParameters((fly_roll / 10), 0); } else if (fly_roll >= 60) { fly_roll = 60; turnCoordinatorInstrumentControl1.SetTurnCoordinatorParameters(6, 0); } else turnCoordinatorInstrumentControl1.SetTurnCoordinatorParameters((fly_roll / 10), 0); if (GesShowFlag) { form_3Dcuboid.Roll = D_ang_pit; form_3Dcuboid.Yaw = D_ang_yaw; form_3Dcuboid.Pitch = -D_ang_rol; Application.DoEvents(); } if (ZedCollectFlag) { if (xCount >= 400) { xCount = 0; if (eulerwaveradio.Checked) { x1.Clear(); y1.Clear(); x2.Clear(); y2.Clear(); x3.Clear(); y3.Clear(); } else { x1.Clear(); y1.Clear(); x2.Clear(); y2.Clear(); x3.Clear(); y3.Clear(); x4.Clear(); y4.Clear(); x5.Clear(); y5.Clear(); x6.Clear(); y6.Clear(); } } else { xCount ; if (eulerwaveradio.Checked) { x1.Add((float)xCount); x2.Add((float)xCount); x3.Add((float)xCount); } else { x1.Add((float)xCount); x2.Add((float)xCount); x3.Add((float)xCount); x4.Add((float)xCount); x5.Add((float)xCount); x6.Add((float)xCount); } } if (eulerwaveradio.Checked) { y1.Add((float)D_ang_rol); y2.Add((float)D_ang_pit); y3.Add((float)D_ang_yaw); } else { y1.Add((float)S_acc_x); y2.Add((float)S_acc_y); y3.Add((float)S_acc_z); y4.Add((float)S_gyr_x); y5.Add((float)S_gyr_y); y6.Add((float)S_gyr_z); } ZGraph.f_Refresh(); } }; } base.Invoke(method); } base.Invoke(new MethodInvoker(delegate { if (SerialCheckOutButton.Checked) { if (HexDis.Checked) { DataDisBox.AppendText(ByteArrayToHexString(buffer) "\r\n"); DataDisBox.ScrollToCaret();//可以将滚动条定位到当前光标处 } else { DataDisBox.AppendText(Encoding.ASCII.GetString(buffer)); DataDisBox.ScrollToCaret(); } } else ReceiveNum.Text = ReceiveCount.ToString(); })); } finally { listening = false; } } } private void Start_Collect() { if (eulerwaveradio.Checked) { x1.Clear(); y1.Clear(); x2.Clear(); y2.Clear(); x3.Clear(); y3.Clear(); ZGraph.f_ClearAllPix(); ZGraph.f_reXY(); ZGraph.f_LoadOnePix(ref x1, ref y1, Color.FromArgb(255, 0, 0), 1);//ROLL ZGraph.f_AddPix(ref x2, ref y2, Color.FromArgb(0, 255, 0), 1);//YAW ZGraph.f_AddPix(ref x3, ref y3, Color.FromArgb(0, 0, 255), 1);//PITCH Application.DoEvents(); } else { x1.Clear(); y1.Clear(); x2.Clear(); y2.Clear(); x3.Clear(); y3.Clear(); x4.Clear(); y4.Clear(); x5.Clear(); y5.Clear(); x6.Clear(); y6.Clear(); ZGraph.f_ClearAllPix(); ZGraph.f_reXY(); ZGraph.f_LoadOnePix(ref x1, ref y1, Color.FromArgb(255, 128, 0), 1);//acc_x ZGraph.f_AddPix(ref x2, ref y2, Color.FromArgb(255, 255, 0), 1);//acc_y ZGraph.f_AddPix(ref x3, ref y3, Color.FromArgb(154, 205, 50), 1);//acc_z ZGraph.f_AddPix(ref x4, ref y4, Color.FromArgb(0, 255, 255), 1);//gyr_x ZGraph.f_AddPix(ref x5, ref y5, Color.FromArgb(65, 105, 225), 1);//gyr_y ZGraph.f_AddPix(ref x6, ref y6, Color.FromArgb(186, 85, 211), 1);//gyr_z Application.DoEvents(); } } private void SerialSendData() { if (this.HexSend.Checked) { try { byte[] buffer = this.HexStringToByteArray(this.SendDataBox.Text); this.Serial_Port.Write(buffer, 0, buffer.Length); } catch (FormatException) { this.AppStateDis(MsgType.Error, "数据格式不正确 "); } } else { this.Serial_Port.Write(this.SendDataBox.Text); this.AppStateDis(MsgType.Outgoing, "消息已发送"); } int length = this.SendDataBox.Text.Length; this.SendCount = length; this.SendNum.Text = this.SendCount.ToString(); this.SendDataBox.SelectAll(); } private void StopSend_Click(object sender, EventArgs e) { this.StopDisFlag = !this.StopDisFlag; if (this.StopDisFlag) { StopSend.Text = "继续显示"; this.AppStateDis(MsgType.Error, "已停止显示"); } else { StopSend.Text = "停止显示"; this.AppStateDis(MsgType.Error, "继续显示数据"); } } public int cubeX { get; set; } public int cubeY { get; set; } public int cubeZ { get; set; } /*USB事件处理函数*/ public const int WM_DEVICECHANGE = 0x219; public const int DBT_DEVICEARRIVAL = 0x8000; public const int DBT_DEVICEREMOVECOMPLETE = 0x8004; public bool IsCopy = false; protected override void WndProc(ref Message m) { try { if (m.Msg == WM_DEVICECHANGE) { switch (m.WParam.ToInt32()) { // USB插上 case DBT_DEVICEARRIVAL: if (!IsCopy) // 如果不用这个判断，会被多次调用，原因不明 { IsCopy = true; // 其他处理 InitCtlVal(); } break; // USB移除 case DBT_DEVICEREMOVECOMPLETE: IsCopy = false; //InitCtlVal(); break; default: break; } } } catch (Exception ex) { MessageBox.Show("出错！" ex.Message, "请检查串口", MessageBoxButtons.OK, MessageBoxIcon.Error); return; } base.WndProc(ref m); } private void TimingSend_CheckedChanged(object sender, EventArgs e) { if (this.TimingSend.Checked) { this.timer_send.Start(); this.AppStateDis(MsgType.Error, "已开启定时发送 "); } else { this.timer_send.Stop(); this.AppStateDis(MsgType.Error, "关闭定时发送"); } } private void clearRecBtn_Click(object sender, EventArgs e) { this.DataDisBox.Clear(); } private void button9_Click(object sender, EventArgs e) { Application.DoEvents(); tabControl1.SelectedTab = tabPage3; } private void button8_Click(object sender, EventArgs e) { tabControl1.SelectedTab = tabPage1; } private void button7_Click(object sender, EventArgs e) { tabControl1.SelectedTab = tabPage2; } private void AccCheck_Click(object sender, EventArgs e) { byte[] AccBuffer = this.HexStringToByteArray(CMD_Acc); this.Serial_Port.Write(AccBuffer, 0, AccBuffer.Length); this.AppStateDis(MsgType.Error, "加速度校正 "); } private void GyroCheck_Click(object sender, EventArgs e) { byte[] GyroBuffer = this.HexStringToByteArray(CMD_Gyro); this.Serial_Port.Write(GyroBuffer, 0, GyroBuffer.Length); this.AppStateDis(MsgType.Error, "陀螺仪校正 "); } private void MagCheck_Click(object sender, EventArgs e) { byte[] GyroBuffer = this.HexStringToByteArray(CMD_Mag); this.Serial_Port.Write(GyroBuffer, 0, GyroBuffer.Length); this.AppStateDis(MsgType.Error, "磁力计校正 "); } private void OpenPort_Click(object sender, EventArgs e) { if (this.dlPortName.Items.Count > 0) { if (this.Serial_Port.IsOpen) { this.closing = true; while (this.listening) { Application.DoEvents(); } this.Serial_Port.DiscardInBuffer(); this.Serial_Port.Close(); SendData.Enabled = false; this.OpenPort.BackgroundImage = Properties.Resources.usb; this.AppStateDis(MsgType.Outgoing, "串口关闭"); this.serialPortlabel.Text = "串口关闭"; } else { this.closing = false; this.Serial_Port.BaudRate = int.Parse(this.dlBaudRate.Text); this.Serial_Port.DataBits = int.Parse(this.dlDataByte.Text); this.Serial_Port.StopBits = (StopBits)Enum.Parse(typeof(StopBits), this.dlStopByte.Text); this.Serial_Port.Parity = (Parity)Enum.Parse(typeof(Parity), this.dlParity.Text); this.Serial_Port.PortName = this.dlPortName.Text; this.Serial_Port.Open(); StartShowCube.Enabled = true; StartCollect.Enabled = true; SendData.Enabled = true; //Reset3DButton.Enabled = true; this.OpenPort.BackgroundImage = Properties.Resources.usbon; this.AppStateDis(MsgType.Outgoing, "串口打开"); this.serialPortlabel.Text = "串口打开"; } this.SetCtlState(); } else { MessageBox.Show(this, "计算机没有串口,请连接设备"); this.InitCtlVal(); } } private void FlySetButton_Click(object sender, EventArgs e) { tabControl1.SelectedTab = tabPage4; } private void StartCollect_Click(object sender, EventArgs e) { if (!this.ZedCollectFlag) { this.ZedCollectFlag = true; this.Start_Collect(); this.waveLabel.Text = "停止采集"; } else { this.ZedCollectFlag = false; this.waveLabel.Text = "开始采集"; xCount = 0; ZGraph.f_ClearAllPix(); //ZGraph.f_reXY(); } } private void StartShowCube_Click(object sender, EventArgs e) { if (!this.GesShowFlag) { this.GesShowFlag = true; this.plane3dLabel.Text = "停止显示"; } else { this.GesShowFlag = false; this.plane3dLabel.Text = "开始显示"; } } private void Reset3DButton_Click(object sender, EventArgs e) { this.cubeX = 0; this.cubeY = 0; this.cubeZ = 0; trackBarVerticalSpeed.Value = 0; verticalSpeedInstrumentControl1.SetVerticalSpeedIndicatorParameters(0); this.form_3Dcuboid.Roll = this.trackBarRollAngle.Value = 0; this.form_3Dcuboid.Pitch = this.trackPitchAngle.Value = 0; horizonInstrumentControl1.SetAttitudeIndicatorParameters(0, 0); this.form_3Dcuboid.Yaw = this.trackBarHeading.Value = 0; headingIndicatorInstrumentControl1.SetHeadingIndicatorParameters(0); } private void SendData_Click(object sender, EventArgs e) { try { this.SerialSendData(); } catch { this.AppStateDis(MsgType.Error, "数据格式不正确或串口没有打开"); } } private void clearRXTXbutton_Click(object sender, EventArgs e) { this.ReceiveCount = 0L; this.ReceiveNum.Text = this.ReceiveCount.ToString(); this.SendCount = 0L; this.SendNum.Text = this.SendCount.ToString(); } private void clearSendBoxbtn_Click(object sender, EventArgs e) { SendDataBox.Text = ""; } private void timer_UI_Tick(object sender, EventArgs e) { if (eulerwaveradio.Checked) { rol_label.Text = "roll :一"; pit_label.Text = "pitch :一"; yaw_label.Text = "yaw :一"; acc_x_label.Text = ""; acc_y_label.Text = ""; acc_z_label.Text = ""; gyr_x_label.Text = ""; gyr_y_label.Text = ""; gyr_z_label.Text = ""; } if (basicwaveradio.Checked) { rol_label.Text = ""; pit_label.Text = ""; yaw_label.Text = ""; acc_x_label.Text = "Acc_x :一"; acc_y_label.Text = "Acc_y :一"; acc_z_label.Text = "Acc_z :一"; gyr_x_label.Text = "Gyr_x :一"; gyr_y_label.Text = "Gyr_y :一"; gyr_z_label.Text = "Gyr_z :一"; } //修改接收计数 acc_x.Text = S_acc_x.ToString(); acc_y.Text = S_acc_y.ToString(); acc_z.Text = S_acc_z.ToString(); gyr_x.Text = S_gyr_x.ToString(); gyr_y.Text = S_gyr_y.ToString(); gyr_z.Text = S_gyr_z.ToString(); mag_x.Text = S_mag_x.ToString(); mag_y.Text = S_mag_y.ToString(); mag_z.Text = S_mag_z.ToString(); if(Pid_flag) { roll_P.Value = Rol_P; roll_I.Value = Rol_I; roll_D.Value = Rol_D; pitch_P.Value = Pit_P; pitch_I.Value = Pit_I; pitch_D.Value = Pit_D; yaw_P.Value = Yaw_P; yaw_I.Value = Yaw_I; yaw_D.Value = Yaw_D; Pid_flag = false; } //alt_csb.Text = D_alt_csb.ToString(); //alt_prs.Text = D_alt_prs.ToString(); if (B_armed) { plane3dLabel.Text = "飞机锁定"; lockctrlfly.Checked = false; } else { plane3dLabel.Text = "飞机解锁"; lockctrlfly.Checked = true; } } private void save_data_button_Click(object sender, EventArgs e) { SaveSetting(); } private void read_data_button_Click(object sender, EventArgs e) { GetIni(); } private void timer_send_Tick(object sender, EventArgs e) { if (this.SendSet.Enabled) { this.s = this.SendTim.Text; if (this.s == "") { this.t = 1; } else { int.TryParse(this.s, out this.t); } this.timer_send.Interval = this.t; this.SerialSendData(); } else { this.timer_send.Stop(); } } private void Read_Pid_button_Click(object sender, EventArgs e) { byte[] PidBuffer = this.HexStringToByteArray(CMD_Pid); this.Serial_Port.Write(PidBuffer, 0, PidBuffer.Length); this.AppStateDis(MsgType.Error, "读取PID"); } private byte[] CreateData(Int16 rol_p, Int16 rol_i, Int16 rol_d, Int16 pit_p, Int16 pit_i, Int16 pit_d, Int16 yaw_p, Int16 yaw_i, Int16 yaw_d) //构建数据包 { byte checksum = 0; byte[] data = new byte[23]; data[0] = 0xaa; data[1] = 0xaf; data[2] = 0x10; data[3] = 0x12; data[4] = (byte)((rol_p & 0xff00)>>8); data[5] = (byte)(rol_p & 0xff); data[6] = (byte)((rol_i & 0xff00) >> 8); data[7] = (byte)(rol_i & 0xff); data[8] = (byte)((rol_d & 0xff00) >> 8); data[9] = (byte)(rol_d & 0xff); data[10] = (byte)((pit_p & 0xff00) >> 8); data[11] = (byte)(pit_p & 0xff); data[12] = (byte)((pit_i & 0xff00) >> 8); data[13] = (byte)(pit_i & 0xff); data[14] = (byte)((pit_d & 0xff00) >> 8); data[15] = (byte)(pit_d & 0xff); data[16] = (byte)((yaw_p & 0xff00) >> 8); data[17] = (byte)(yaw_p & 0xff); data[18] = (byte)((yaw_i & 0xff00) >> 8); data[19] = (byte)(yaw_i & 0xff); data[20] = (byte)((yaw_d & 0xff00) >> 8); data[21] = (byte)(yaw_d & 0xff); for (int i = 0; i < 18; i ) checksum = data[i 4]; data[22] = checksum; return data; } private void Save_Pid_button_Click(object sender, EventArgs e) { byte[] Pid_data = CreateData( Convert.ToInt16(roll_P.Value),Convert.ToInt16(roll_I.Value),Convert.ToInt16( roll_D.Value), Convert.ToInt16( pitch_P.Value),Convert.ToInt16( pitch_I.Value),Convert.ToInt16( pitch_D.Value), Convert.ToInt16( yaw_P.Value),Convert.ToInt16( yaw_I.Value),Convert.ToInt16( yaw_D.Value)); this.Serial_Port.Write(Pid_data, 0, Pid_data.Length); this.AppStateDis(MsgType.Error, "写入PID数据到飞控 "); } }} |
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