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0de214c9a1488d02889ab269166bf9fc78d25b0a
WoodDrone/Graph/Telemetry/HexapodControl/Form1.h
Dana Markova 0de214c9a1 first commit
2025-07-28 13:21:36 +03:00

863 lines
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#pragma once
#include <windows.h>
#include <stdio.h>
#include <math.h>
#include <string.h>
#include "Converter.h"
#include "ConvNorm.h"
struct PointG { double Latitude; double Longitude; };
float GPS_LocalDistance(PointG p1, PointG p2, float& dx, float& dy) // light formula
{
const float pi = 3.14159265359;
const float er = 6371000; // Radius of the earth in m
float lat = p1.Latitude - p2.Latitude;
float lon = p1.Longitude - p2.Longitude;
float y = er / 360 * (lat * pi * 2); // lat
dy = y;
float l = ((float)(p1.Latitude + p2.Latitude)) / 2;
float r = cosf(l * pi / 180) * er;
float x = r / 360 * (lon * pi * 2); // long
dx = x;
float d = sqrtf(x * x + y * y);
return d;
}
//------------------------------------------------------------------------------
float PlotsData[7];
bool PlotsReady = false;
HANDLE PortCOM;
HANDLE FileLOG;
HANDLE MainThread;
void SaveLogFile(HANDLE file, unsigned char data[28], unsigned long size)
{
float table[7];
memcpy(table, data, size);
memcpy(PlotsData, data, size);
PlotsReady = true;
if (!file) return;
char buf[1024];
sprintf(buf, "%d|%f|%f|%f|%f|%f|%f\r\n", (int)table[0], table[1], table[2], table[3], table[4], table[5], table[6]);
WriteFile(file, buf, strlen(buf), 0, 0);
}
unsigned long __stdcall RecvThread(void*)
{
long wait = 0;
private enum class RecvModeEnum : char { Begin, Data };
bool mode = false;
unsigned char data[29];
unsigned long size;
unsigned long len;
while (1)
{
if (!PortCOM)
{
CloseHandle(MainThread);
CloseHandle(FileLOG);
MainThread = 0;
return 0;
}
if (wait < GetTickCount()) mode = false;
if(!mode)
{
wait = GetTickCount() + 20;
ReadFile(PortCOM, data, 1, &len, 0);
if (!len) continue;
if (data[0] == 'Z') mode = true;
size = 0;
}
if(mode)
{
ReadFile(PortCOM, data + size, sizeof(data) - size, &len, 0);
if (!len) continue;
size += len;
if (size < sizeof(data)) continue;
if (data[28] == 'V') SaveLogFile(FileLOG, data, sizeof(data) - 1);
mode = false;
}
}
}
namespace HexapodControl
{
using namespace System;
using namespace System::ComponentModel;
using namespace System::Collections;
using namespace System::Windows::Forms;
using namespace System::Data;
using namespace System::Drawing;
using namespace System::IO;
/// <summary>
/// Summary for Form1
///
/// WARNING: If you change the name of this class, you will need to change the
/// 'Resource File Name' property for the managed resource compiler tool
/// associated with all .resx files this class depends on. Otherwise,
/// the designers will not be able to interact properly with localized
/// resources associated with this form.
/// </summary>
public ref class Form1 : public System::Windows::Forms::Form
{
public:
Form1(void)
{
InitializeComponent();
//
}
protected:
/// <summary>
/// Clean up any resources being used.
String^ RecordsFolder = "";
private: System::Windows::Forms::OpenFileDialog^ openFileDialog_Open;
private: System::Windows::Forms::Button^ button_File;
private: System::Windows::Forms::GroupBox^ groupBox1;
private: System::Windows::Forms::CheckedListBox^ checkedListBox_List;
private: System::Windows::Forms::CheckBox^ checkBox_Auto;
private: System::Windows::Forms::Label^ label2;
private: System::Windows::Forms::Label^ label1;
private: System::Windows::Forms::NumericUpDown^ numericUpDown_Graph_MinY;
private: System::Windows::Forms::NumericUpDown^ numericUpDown_Track;
private: System::Windows::Forms::Label^ label3;
private: System::Windows::Forms::Panel^ panel_Opt;
private: System::Windows::Forms::NumericUpDown^ numericUpDown_Gain;
private: System::Windows::Forms::Label^ label4;
private: System::Windows::Forms::Button^ button_Gain_Clear;
private: System::Windows::Forms::NumericUpDown^ numericUpDown_Shift;
private: System::Windows::Forms::Label^ label5;
private: System::Windows::Forms::NumericUpDown^ numericUpDown_Graph_MaxY;
protected:
protected:
/// </summary>
~Form1()
{
if (components)
{
delete components;
}
}
private: System::Windows::Forms::DataVisualization::Charting::Chart^ chart_Graph;
protected:
private: System::Windows::Forms::Panel^ panel1;
private: System::Windows::Forms::Timer^ timer_Tick;
private: System::Windows::Forms::Button^ button_Start;
private: System::Windows::Forms::GroupBox^ groupBox_P1;
private: System::Windows::Forms::ComboBox^ comboBox_Port;
private: System::Windows::Forms::Button^ button_Connect;
private: System::ComponentModel::IContainer^ components;
private:
/// <summary>
/// Required designer variable.
/// </summary>
#pragma region Windows Form Designer generated code
/// <summary>
/// Required method for Designer support - do not modify
/// the contents of this method with the code editor.
/// </summary>
void InitializeComponent(void)
{
this->components = (gcnew System::ComponentModel::Container());
System::Windows::Forms::DataVisualization::Charting::ChartArea^ chartArea1 = (gcnew System::Windows::Forms::DataVisualization::Charting::ChartArea());
System::Windows::Forms::DataVisualization::Charting::Legend^ legend1 = (gcnew System::Windows::Forms::DataVisualization::Charting::Legend());
System::Windows::Forms::DataVisualization::Charting::Series^ series1 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
System::Windows::Forms::DataVisualization::Charting::Series^ series2 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
System::Windows::Forms::DataVisualization::Charting::Series^ series3 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
System::Windows::Forms::DataVisualization::Charting::Series^ series4 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
System::Windows::Forms::DataVisualization::Charting::Series^ series5 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
System::Windows::Forms::DataVisualization::Charting::Series^ series6 = (gcnew System::Windows::Forms::DataVisualization::Charting::Series());
this->chart_Graph = (gcnew System::Windows::Forms::DataVisualization::Charting::Chart());
this->panel1 = (gcnew System::Windows::Forms::Panel());
this->button_File = (gcnew System::Windows::Forms::Button());
this->comboBox_Port = (gcnew System::Windows::Forms::ComboBox());
this->button_Connect = (gcnew System::Windows::Forms::Button());
this->button_Start = (gcnew System::Windows::Forms::Button());
this->timer_Tick = (gcnew System::Windows::Forms::Timer(this->components));
this->groupBox_P1 = (gcnew System::Windows::Forms::GroupBox());
this->openFileDialog_Open = (gcnew System::Windows::Forms::OpenFileDialog());
this->groupBox1 = (gcnew System::Windows::Forms::GroupBox());
this->panel_Opt = (gcnew System::Windows::Forms::Panel());
this->numericUpDown_Shift = (gcnew System::Windows::Forms::NumericUpDown());
this->label5 = (gcnew System::Windows::Forms::Label());
this->button_Gain_Clear = (gcnew System::Windows::Forms::Button());
this->numericUpDown_Gain = (gcnew System::Windows::Forms::NumericUpDown());
this->label4 = (gcnew System::Windows::Forms::Label());
this->numericUpDown_Track = (gcnew System::Windows::Forms::NumericUpDown());
this->label3 = (gcnew System::Windows::Forms::Label());
this->label2 = (gcnew System::Windows::Forms::Label());
this->label1 = (gcnew System::Windows::Forms::Label());
this->numericUpDown_Graph_MinY = (gcnew System::Windows::Forms::NumericUpDown());
this->numericUpDown_Graph_MaxY = (gcnew System::Windows::Forms::NumericUpDown());
this->checkBox_Auto = (gcnew System::Windows::Forms::CheckBox());
this->checkedListBox_List = (gcnew System::Windows::Forms::CheckedListBox());
(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->chart_Graph))->BeginInit();
this->panel1->SuspendLayout();
this->groupBox_P1->SuspendLayout();
this->groupBox1->SuspendLayout();
this->panel_Opt->SuspendLayout();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->numericUpDown_Shift))->BeginInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->numericUpDown_Gain))->BeginInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->numericUpDown_Track))->BeginInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->numericUpDown_Graph_MinY))->BeginInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->numericUpDown_Graph_MaxY))->BeginInit();
this->SuspendLayout();
//
// chart_Graph
//
chartArea1->Name = L"ChartArea1";
this->chart_Graph->ChartAreas->Add(chartArea1);
this->chart_Graph->Dock = System::Windows::Forms::DockStyle::Fill;
legend1->Name = L"Legend1";
this->chart_Graph->Legends->Add(legend1);
this->chart_Graph->Location = System::Drawing::Point(3, 16);
this->chart_Graph->Name = L"chart_Graph";
series1->BorderWidth = 2;
series1->ChartArea = L"ChartArea1";
series1->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
series1->Color = System::Drawing::Color::Red;
series1->Legend = L"Legend1";
series1->Name = L"gX";
series1->XValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
series1->YValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
series2->BorderWidth = 2;
series2->ChartArea = L"ChartArea1";
series2->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
series2->Color = System::Drawing::Color::Blue;
series2->Legend = L"Legend1";
series2->Name = L"gY";
series2->XValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
series2->YValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
series3->BorderWidth = 2;
series3->ChartArea = L"ChartArea1";
series3->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
series3->Color = System::Drawing::Color::Green;
series3->Legend = L"Legend1";
series3->Name = L"gZ";
series3->XValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
series3->YValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
series4->ChartArea = L"ChartArea1";
series4->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
series4->Legend = L"Legend1";
series4->Name = L"iX";
series4->XValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
series4->YValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
series5->ChartArea = L"ChartArea1";
series5->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
series5->Legend = L"Legend1";
series5->Name = L"iY";
series5->XValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
series5->YValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
series6->ChartArea = L"ChartArea1";
series6->ChartType = System::Windows::Forms::DataVisualization::Charting::SeriesChartType::FastLine;
series6->Legend = L"Legend1";
series6->Name = L"iZ";
series6->XValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
series6->YValueType = System::Windows::Forms::DataVisualization::Charting::ChartValueType::Double;
this->chart_Graph->Series->Add(series1);
this->chart_Graph->Series->Add(series2);
this->chart_Graph->Series->Add(series3);
this->chart_Graph->Series->Add(series4);
this->chart_Graph->Series->Add(series5);
this->chart_Graph->Series->Add(series6);
this->chart_Graph->Size = System::Drawing::Size(689, 669);
this->chart_Graph->TabIndex = 1;
this->chart_Graph->Text = L"chart1";
//
// panel1
//
this->panel1->Controls->Add(this->button_File);
this->panel1->Controls->Add(this->comboBox_Port);
this->panel1->Controls->Add(this->button_Connect);
this->panel1->Controls->Add(this->button_Start);
this->panel1->Dock = System::Windows::Forms::DockStyle::Left;
this->panel1->Location = System::Drawing::Point(0, 0);
this->panel1->Name = L"panel1";
this->panel1->Size = System::Drawing::Size(135, 688);
this->panel1->TabIndex = 2;
//
// button_File
//
this->button_File->Location = System::Drawing::Point(29, 611);
this->button_File->Name = L"button_File";
this->button_File->Size = System::Drawing::Size(75, 23);
this->button_File->TabIndex = 4;
this->button_File->Text = L"File";
this->button_File->UseVisualStyleBackColor = true;
this->button_File->Click += gcnew System::EventHandler(this, &Form1::button_File_Click);
//
// comboBox_Port
//
this->comboBox_Port->FormattingEnabled = true;
this->comboBox_Port->Location = System::Drawing::Point(8, 12);
this->comboBox_Port->Name = L"comboBox_Port";
this->comboBox_Port->Size = System::Drawing::Size(121, 21);
this->comboBox_Port->TabIndex = 3;
this->comboBox_Port->DropDown += gcnew System::EventHandler(this, &Form1::comboBox_Port_DropDown);
//
// button_Connect
//
this->button_Connect->Location = System::Drawing::Point(8, 39);
this->button_Connect->Name = L"button_Connect";
this->button_Connect->Size = System::Drawing::Size(121, 23);
this->button_Connect->TabIndex = 2;
this->button_Connect->Text = L"Connect";
this->button_Connect->UseVisualStyleBackColor = true;
this->button_Connect->Click += gcnew System::EventHandler(this, &Form1::button_Connect_Click);
//
// button_Start
//
this->button_Start->Dock = System::Windows::Forms::DockStyle::Bottom;
this->button_Start->Location = System::Drawing::Point(0, 653);
this->button_Start->Name = L"button_Start";
this->button_Start->Size = System::Drawing::Size(135, 35);
this->button_Start->TabIndex = 1;
this->button_Start->Text = L"Start";
this->button_Start->UseVisualStyleBackColor = true;
this->button_Start->Click += gcnew System::EventHandler(this, &Form1::button_Start_Click);
//
// timer_Tick
//
this->timer_Tick->Interval = 10;
this->timer_Tick->Tick += gcnew System::EventHandler(this, &Form1::timer_Tick_Tick);
//
// groupBox_P1
//
this->groupBox_P1->Controls->Add(this->chart_Graph);
this->groupBox_P1->Dock = System::Windows::Forms::DockStyle::Fill;
this->groupBox_P1->Location = System::Drawing::Point(135, 0);
this->groupBox_P1->MinimumSize = System::Drawing::Size(676, 688);
this->groupBox_P1->Name = L"groupBox_P1";
this->groupBox_P1->Size = System::Drawing::Size(695, 688);
this->groupBox_P1->TabIndex = 3;
this->groupBox_P1->TabStop = false;
//
// openFileDialog_Open
//
this->openFileDialog_Open->FileName = L"openFileDialog1";
this->openFileDialog_Open->Multiselect = true;
//
// groupBox1
//
this->groupBox1->Controls->Add(this->panel_Opt);
this->groupBox1->Controls->Add(this->numericUpDown_Track);
this->groupBox1->Controls->Add(this->label3);
this->groupBox1->Controls->Add(this->label2);
this->groupBox1->Controls->Add(this->label1);
this->groupBox1->Controls->Add(this->numericUpDown_Graph_MinY);
this->groupBox1->Controls->Add(this->numericUpDown_Graph_MaxY);
this->groupBox1->Controls->Add(this->checkBox_Auto);
this->groupBox1->Controls->Add(this->checkedListBox_List);
this->groupBox1->Dock = System::Windows::Forms::DockStyle::Right;
this->groupBox1->Location = System::Drawing::Point(830, 0);
this->groupBox1->Name = L"groupBox1";
this->groupBox1->Size = System::Drawing::Size(128, 688);
this->groupBox1->TabIndex = 4;
this->groupBox1->TabStop = false;
this->groupBox1->Text = L" options ";
//
// panel_Opt
//
this->panel_Opt->BorderStyle = System::Windows::Forms::BorderStyle::Fixed3D;
this->panel_Opt->Controls->Add(this->numericUpDown_Shift);
this->panel_Opt->Controls->Add(this->label5);
this->panel_Opt->Controls->Add(this->button_Gain_Clear);
this->panel_Opt->Controls->Add(this->numericUpDown_Gain);
this->panel_Opt->Controls->Add(this->label4);
this->panel_Opt->Dock = System::Windows::Forms::DockStyle::Bottom;
this->panel_Opt->Enabled = false;
this->panel_Opt->Location = System::Drawing::Point(3, 245);
this->panel_Opt->Name = L"panel_Opt";
this->panel_Opt->Size = System::Drawing::Size(122, 440);
this->panel_Opt->TabIndex = 8;
//
// numericUpDown_Shift
//
this->numericUpDown_Shift->DecimalPlaces = 3;
this->numericUpDown_Shift->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 65536 });
this->numericUpDown_Shift->Location = System::Drawing::Point(36, 8);
this->numericUpDown_Shift->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 32000, 0, 0, 0 });
this->numericUpDown_Shift->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 32000, 0, 0, System::Int32::MinValue });
this->numericUpDown_Shift->Name = L"numericUpDown_Shift";
this->numericUpDown_Shift->Size = System::Drawing::Size(75, 20);
this->numericUpDown_Shift->TabIndex = 6;
this->numericUpDown_Shift->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Gain_ValueChanged);
//
// label5
//
this->label5->AutoSize = true;
this->label5->Location = System::Drawing::Point(6, 10);
this->label5->Name = L"label5";
this->label5->Size = System::Drawing::Size(31, 13);
this->label5->TabIndex = 5;
this->label5->Text = L"Shift:";
//
// button_Gain_Clear
//
this->button_Gain_Clear->Location = System::Drawing::Point(9, 60);
this->button_Gain_Clear->Name = L"button_Gain_Clear";
this->button_Gain_Clear->Size = System::Drawing::Size(102, 23);
this->button_Gain_Clear->TabIndex = 4;
this->button_Gain_Clear->Text = L"clean";
this->button_Gain_Clear->UseVisualStyleBackColor = true;
this->button_Gain_Clear->Click += gcnew System::EventHandler(this, &Form1::button_Gain_Clear_Click);
//
// numericUpDown_Gain
//
this->numericUpDown_Gain->DecimalPlaces = 3;
this->numericUpDown_Gain->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 131072 });
this->numericUpDown_Gain->Location = System::Drawing::Point(36, 34);
this->numericUpDown_Gain->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1000, 0, 0, 0 });
this->numericUpDown_Gain->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 196608 });
this->numericUpDown_Gain->Name = L"numericUpDown_Gain";
this->numericUpDown_Gain->Size = System::Drawing::Size(75, 20);
this->numericUpDown_Gain->TabIndex = 3;
this->numericUpDown_Gain->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 0 });
this->numericUpDown_Gain->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Gain_ValueChanged);
//
// label4
//
this->label4->AutoSize = true;
this->label4->Location = System::Drawing::Point(6, 36);
this->label4->Name = L"label4";
this->label4->Size = System::Drawing::Size(32, 13);
this->label4->TabIndex = 0;
this->label4->Text = L"Gain:";
//
// numericUpDown_Track
//
this->numericUpDown_Track->Location = System::Drawing::Point(41, 219);
this->numericUpDown_Track->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1, 0, 0, 0 });
this->numericUpDown_Track->Name = L"numericUpDown_Track";
this->numericUpDown_Track->Size = System::Drawing::Size(57, 20);
this->numericUpDown_Track->TabIndex = 7;
this->numericUpDown_Track->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 10, 0, 0, 0 });
//
// label3
//
this->label3->AutoSize = true;
this->label3->Location = System::Drawing::Point(3, 221);
this->label3->Name = L"label3";
this->label3->Size = System::Drawing::Size(38, 13);
this->label3->TabIndex = 6;
this->label3->Text = L"Track:";
//
// label2
//
this->label2->AutoSize = true;
this->label2->Location = System::Drawing::Point(6, 187);
this->label2->Name = L"label2";
this->label2->Size = System::Drawing::Size(37, 13);
this->label2->TabIndex = 5;
this->label2->Text = L"Min Y:";
//
// label1
//
this->label1->AutoSize = true;
this->label1->Location = System::Drawing::Point(3, 161);
this->label1->Name = L"label1";
this->label1->Size = System::Drawing::Size(40, 13);
this->label1->TabIndex = 4;
this->label1->Text = L"Max Y:";
//
// numericUpDown_Graph_MinY
//
this->numericUpDown_Graph_MinY->Location = System::Drawing::Point(50, 185);
this->numericUpDown_Graph_MinY->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 32000, 0, 0, 0 });
this->numericUpDown_Graph_MinY->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 32000, 0, 0, System::Int32::MinValue });
this->numericUpDown_Graph_MinY->Name = L"numericUpDown_Graph_MinY";
this->numericUpDown_Graph_MinY->Size = System::Drawing::Size(75, 20);
this->numericUpDown_Graph_MinY->TabIndex = 3;
this->numericUpDown_Graph_MinY->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1000, 0, 0, System::Int32::MinValue });
this->numericUpDown_Graph_MinY->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Graph_MaxY_ValueChanged);
//
// numericUpDown_Graph_MaxY
//
this->numericUpDown_Graph_MaxY->Location = System::Drawing::Point(50, 159);
this->numericUpDown_Graph_MaxY->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 32000, 0, 0, 0 });
this->numericUpDown_Graph_MaxY->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) { 32000, 0, 0, System::Int32::MinValue });
this->numericUpDown_Graph_MaxY->Name = L"numericUpDown_Graph_MaxY";
this->numericUpDown_Graph_MaxY->Size = System::Drawing::Size(75, 20);
this->numericUpDown_Graph_MaxY->TabIndex = 2;
this->numericUpDown_Graph_MaxY->Value = System::Decimal(gcnew cli::array< System::Int32 >(4) { 1000, 0, 0, 0 });
this->numericUpDown_Graph_MaxY->ValueChanged += gcnew System::EventHandler(this, &Form1::numericUpDown_Graph_MaxY_ValueChanged);
//
// checkBox_Auto
//
this->checkBox_Auto->AutoSize = true;
this->checkBox_Auto->Location = System::Drawing::Point(17, 134);
this->checkBox_Auto->Name = L"checkBox_Auto";
this->checkBox_Auto->Size = System::Drawing::Size(47, 17);
this->checkBox_Auto->TabIndex = 1;
this->checkBox_Auto->Text = L"auto";
this->checkBox_Auto->UseVisualStyleBackColor = true;
this->checkBox_Auto->CheckedChanged += gcnew System::EventHandler(this, &Form1::checkBox_Auto_CheckedChanged);
//
// checkedListBox_List
//
this->checkedListBox_List->Dock = System::Windows::Forms::DockStyle::Top;
this->checkedListBox_List->FormattingEnabled = true;
this->checkedListBox_List->Location = System::Drawing::Point(3, 16);
this->checkedListBox_List->Name = L"checkedListBox_List";
this->checkedListBox_List->Size = System::Drawing::Size(122, 109);
this->checkedListBox_List->TabIndex = 0;
this->checkedListBox_List->SelectedIndexChanged += gcnew System::EventHandler(this, &Form1::checkedListBox_List_SelectedIndexChanged);
this->checkedListBox_List->DoubleClick += gcnew System::EventHandler(this, &Form1::checkedListBox_List_SelectedIndexChanged);
//
// Form1
//
this->AutoScaleDimensions = System::Drawing::SizeF(6, 13);
this->AutoScaleMode = System::Windows::Forms::AutoScaleMode::Font;
this->ClientSize = System::Drawing::Size(958, 688);
this->Controls->Add(this->groupBox_P1);
this->Controls->Add(this->groupBox1);
this->Controls->Add(this->panel1);
this->MinimumSize = System::Drawing::Size(974, 727);
this->Name = L"Form1";
this->Text = L"Telemetry";
this->Load += gcnew System::EventHandler(this, &Form1::Form1_Load);
(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->chart_Graph))->EndInit();
this->panel1->ResumeLayout(false);
this->groupBox_P1->ResumeLayout(false);
this->groupBox1->ResumeLayout(false);
this->groupBox1->PerformLayout();
this->panel_Opt->ResumeLayout(false);
this->panel_Opt->PerformLayout();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->numericUpDown_Shift))->EndInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->numericUpDown_Gain))->EndInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->numericUpDown_Track))->EndInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->numericUpDown_Graph_MinY))->EndInit();
(cli::safe_cast<System::ComponentModel::ISupportInitialize^>(this->numericUpDown_Graph_MaxY))->EndInit();
this->ResumeLayout(false);
}
#pragma endregion
private: void ToCharString(String^ str1, char* str2)
{
for (int a = 0; a < str1->Length; a++) *str2++ = str1[a];
*str2 = '\0';
}
private: System::Void button_Connect_Click(System::Object^ sender, System::EventArgs^ e)
{
if (button_Connect->Text == "Connect")
{
char text[128] = "\\\\.\\";
ToCharString(comboBox_Port->Text, text + 4);
PortCOM = CreateFileA(text, GENERIC_READ | GENERIC_WRITE, 0, 0, OPEN_EXISTING, 0, 0);
if (PortCOM == INVALID_HANDLE_VALUE)
{
PortCOM = 0;
MessageBox::Show("Error to connect", "Error", MessageBoxButtons::OK, MessageBoxIcon::Error);
return;
}
//---
DCB serial = { sizeof(serial) };
GetCommState(PortCOM, &serial);
serial.BaudRate = 460800;
serial.ByteSize = 8;
serial.StopBits = ONESTOPBIT;
serial.Parity = NOPARITY;
SetCommState(PortCOM, &serial);
//---
COMMTIMEOUTS tim;
GetCommTimeouts(PortCOM, &tim);
tim.ReadIntervalTimeout = 1;
tim.ReadTotalTimeoutConstant = 1;
tim.ReadTotalTimeoutMultiplier = 1;
SetCommTimeouts(PortCOM, &tim);
//---
timer_Tick->Enabled = true;
button_Connect->Text = "Disonnect";
//---
for (int a = 0; a < chart_Graph->Series->Count; a++) chart_Graph->Series[a]->Points->Clear();
//---
MainThread = CreateThread(0, 0, RecvThread, 0, 0, 0);
}
else
{
CloseHandle(PortCOM);
PortCOM = 0;
timer_Tick->Enabled = false;
button_Connect->Text = "Connect";
}
}
private: System::Void comboBox_Port_DropDown(System::Object^ sender, System::EventArgs^ e)
{
comboBox_Port->Items->Clear();
for each (String ^ p in System::IO::Ports::SerialPort::GetPortNames())
{
comboBox_Port->Items->Add(p);
}
}
private: System::Void timer_Tick_Tick(System::Object^ sender, System::EventArgs^ e)
{
if (!PlotsReady) return;
PlotsReady = false;
for (int a = 0; a < chart_Graph->Series->Count; a++)
{
chart_Graph->Series[a]->Points->AddY((double)PlotsData[a + 1]);
while (chart_Graph->Series[a]->Points->Count > numericUpDown_Track->Value * 100) chart_Graph->Series[a]->Points->RemoveAt(0);
}
}
private: System::Void button_Start_Click(System::Object^ sender, System::EventArgs^ e)
{
if (button_Start->Text=="Stop")
{
if (FileLOG) CloseHandle(FileLOG);
FileLOG = 0;
button_Start->Text = "Start";
return;
}
DateTime dt = DateTime::Now;
String^ file = Path::Combine(RecordsFolder, "record=" + dt.ToString("yyyy-MM-dd+HH_mm_ss") + ".tel");
try
{
char text[256];
ToCharString(file, text);
FileLOG = CreateFileA(text, GENERIC_READ | GENERIC_WRITE, 0, 0, CREATE_NEW, 0, 0);
if (FileLOG == INVALID_HANDLE_VALUE)
{
FileLOG = 0;
MessageBox::Show("Error to create file", "Error", MessageBoxButtons::OK, MessageBoxIcon::Error);
return;
}
button_Start->Text = "Stop";
}
catch(...)
{
MessageBox::Show("Incorrect save file!", "Error", MessageBoxButtons::OK, MessageBoxIcon::Error);
}
}
private: System::Void Form1_Load(System::Object^ sender, System::EventArgs^ e)
{
try
{
String^ folder = Environment::GetFolderPath(Environment::SpecialFolder::ApplicationData);
String^ specificFolder = Path::Combine(folder, "Telem");
//---
RecordsFolder = Path::Combine(specificFolder, "Records");
Directory::CreateDirectory(RecordsFolder);
openFileDialog_Open->InitialDirectory = RecordsFolder;
}
catch(...) { }
for each (auto s in chart_Graph->Series)
{
checkedListBox_List->Items->Add(s->Name, true);
}
MainDataRecord->Clear();
for (int a = 0; a < 6; a++) { MainDataGain[a] = 1; MainDataShift[a] = 0; }
numericUpDown_Graph_MaxY_ValueChanged(sender, e);
}
private: System::Collections::Generic::List<array<double>^>^ MainDataRecord = gcnew System::Collections::Generic::List<array<double>^>();
private: array<double>^ MainDataGain = gcnew array<double>(6);
private: array<double>^ MainDataShift = gcnew array<double>(6);
private: System::Void button_File_Click(System::Object^ sender, System::EventArgs^ e)
{
if (openFileDialog_Open->ShowDialog() != System::Windows::Forms::DialogResult::OK) return;
CloseHandle(PortCOM);
PortCOM = 0;
timer_Tick->Enabled = false;
button_Connect->Text = "Connect";
for (int a = 0; a < chart_Graph->Series->Count; a++)
{
chart_Graph->Series[a]->Points->Clear();
}
MainDataRecord->Clear();
for (int a = 0; a < 6; a++) { MainDataGain[a] = 1; MainDataShift[a] = 0; }
panel_Opt->Enabled = true;
System::Globalization::CultureInfo^ nonInvariantCulture = gcnew System::Globalization::CultureInfo("en-US");
nonInvariantCulture->NumberFormat->NumberDecimalSeparator = ".";
System::Threading::Thread::CurrentThread->CurrentCulture = nonInvariantCulture;
array<String^>^ text = File::ReadAllLines(openFileDialog_Open->FileName);
static bool first = false;
static PointG fff = { 47.31941467, 38.78046767 };
static int counter = 0;
for each (String ^ line in text)
{
array<String^>^ elems =line->Split(',');
if (elems->Length < 6) continue;
if (elems[0][0] == 'G')
{
PointG g;
for (int a = 3, b=0; a < 6; a++, b++)
{
double v = Convert::ToDouble(elems[a]);
if (b == 1) g.Latitude = v;
if (b == 2) g.Longitude = v;
}
if (!first)
{
first = true;
fff = g;
}
static float ldx=0, ldy=0;
float dx, dy;
static float cdx = 0, cdy = 0;
float dis = GPS_LocalDistance(fff, g, dx, dy);
/*if (counter > 1)
{
cdx = (cdx*2 + (dx - ldx)) / 3;
cdy = (cdy*2 + (dy - ldy)) / 3;
chart_Graph->Series[0]->Points->AddY(cdx);
chart_Graph->Series[1]->Points->AddY(cdy);
ldx = dx;
ldy = dy;
counter = 0;
}
else counter++;*/
chart_Graph->Series[0]->Points->AddY(dx);
chart_Graph->Series[1]->Points->AddY(dy);
chart_Graph->Series[2]->Points->AddY(dis);
}
}
}
private: System::Void checkedListBox_List_SelectedIndexChanged(System::Object^ sender, System::EventArgs^ e)
{
for (int a = 0; a < checkedListBox_List->Items->Count; a++)
{
chart_Graph->Series[a]->Enabled = checkedListBox_List->GetItemChecked(a);
}
int index = checkedListBox_List->SelectedIndex;
if (index == -1) return;
numericUpDown_Gain->Value = (Decimal)MainDataGain[index];
numericUpDown_Shift->Value = (Decimal)MainDataShift[index];
}
private: System::Void checkBox_Auto_CheckedChanged(System::Object^ sender, System::EventArgs^ e)
{
if (checkBox_Auto->Checked)
{
chart_Graph->ChartAreas[0]->AxisY->Minimum = double::NaN;
chart_Graph->ChartAreas[0]->AxisY->Maximum = double::NaN;
numericUpDown_Graph_MinY->Enabled = false;
numericUpDown_Graph_MaxY->Enabled = false;
}
else
{
numericUpDown_Graph_MaxY_ValueChanged(sender, e);
numericUpDown_Graph_MinY->Enabled = true;
numericUpDown_Graph_MaxY->Enabled = true;
}
}
private: System::Void numericUpDown_Graph_MaxY_ValueChanged(System::Object^ sender, System::EventArgs^ e)
{
chart_Graph->ChartAreas[0]->AxisY->Minimum = (double)numericUpDown_Graph_MinY->Value;
chart_Graph->ChartAreas[0]->AxisY->Maximum = (double)numericUpDown_Graph_MaxY->Value;
}
private: System::Void numericUpDown_Gain_ValueChanged(System::Object^ sender, System::EventArgs^ e)
{
int index = checkedListBox_List->SelectedIndex;
if (index == -1) return;
chart_Graph->Series[index]->Points->Clear();
for (int a = 0; a < MainDataRecord->Count; a++)
{
array<double>^ values = MainDataRecord[a];
chart_Graph->Series[index]->Points->AddY((Convert::ToDouble(numericUpDown_Shift->Value) + values[index]) * Convert::ToDouble(numericUpDown_Gain->Value));
}
MainDataGain[index] = Convert::ToDouble(numericUpDown_Gain->Value);
MainDataShift[index] = Convert::ToDouble(numericUpDown_Shift->Value);
}
private: System::Void button_Gain_Clear_Click(System::Object^ sender, System::EventArgs^ e)
{
for (int a = 0; a < 6; a++)
{
MainDataGain[a] = 1;
MainDataShift[a] = 0;
chart_Graph->Series[a]->Points->Clear();
}
for (int a = 0; a < 6; a++)
{
for (int b = 0; b < MainDataRecord->Count; b++)
{
array<double>^ values = MainDataRecord[b];
chart_Graph->Series[a]->Points->AddY(values[a]);
}
}
numericUpDown_Gain->Value = 1;
numericUpDown_Shift->Value = 0;
}
};
}
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