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C# RTK skiMonitor FLowGraph for analysys
Raw
STA23_SerialMonitor_rev06
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.IO;
using System.IO.Ports;
using System.Diagnostics;
using System.Threading;
using static System.Windows.Forms.VisualStyles.VisualStyleElement;
using static System.Windows.Forms.VisualStyles.VisualStyleElement.Button;
using static System.Windows.Forms.AxHost;
using System.Drawing.Drawing2D;
using System.Drawing.Text;
using System.Xml.Linq;
using static System.Net.Mime.MediaTypeNames;
using static System.Windows.Forms.LinkLabel;
//using System.Runtime.Remoting.Channels;
using System.Security.Policy;
using System.Text.RegularExpressions;
using System.Security.Cryptography;
using static System.Net.WebRequestMethods;
using File = System.IO.File;
using System.Runtime.Intrinsics.X86;
namespace STA23_SerialMonitor_rev06
{
//......................................................................................................................................................
public partial class Form1 : Form
{
//converts string/char into ASCII
byte[] encoding = System.Text.ASCIIEncoding.ASCII.GetBytes("Hello, World!");
int j, rN;
int stopflag = 0;
int selectPos, stopPos;//richtextbox 行位置
string mode, modeset;
string[] row0, row1, row2, row3, row4;//data 格納
int writeflag;
String name;//filename
string[] sline;// = new string[150000];
//****************************dgvデータ構造体**************************************
//生データを検査して、有効データ範囲を得る
struct dgvchk
{
public int maxrow;//Row.Count
public int startrow;//
public int endrow;//
public int maxrn;//data エポック数
public int startrn;//有効スタートrn
public int endrn;//有効エンドrn
public int miss;//itow飛び個数
public double missper;//miss%
public int[] fmiss;//smode[]範囲内でのflag 67未満の個数
public double[] fmissper;//fmiss%
// mode
public int[] smode_startNo;//=new int[10];//s] modeの開始番号　配列
public int[] smode_endNo;//=new int[10];//s] modeの終了番号　配列
public int smodeN;//測定ファイル内のsmode範囲の個数
//time
public int[] smode_startitow;
public int[] smode_enditow;
public int[] smode_time;//sec
// digit error
public string [,] digit_err;//itow+err.string
public int[] digit_errN;//[smodeN]
//itow error
public string[,] itow_error;// 足りないitow.Tostring()
public int[] itow_errN;//[smodeN]
public double[] itow_errper;//% err
};
dgvchk dc;//1測定dgvに一個
//****************************位置ポイント構造体************************************
struct basep
{
public double Ny;
public double Ex;
public double Dz;
public double Height;
public double gSpeed;
public double headMot;
public double mHead;
public int flags;
public double pdop;
//data n
public int rn;
public int itow;
public int tp;
public int miss;
};
struct rovrp
{
public double Ny;
public double Ex;
public double Dz;
public double Height;
public double gSpeed;
public double headMot;
public double mHead;
public int flags;
public double pdop;
//data n
public int rn;
public int itow;
public int tp;
public int miss;
};
basep[] bp = new basep[50000];
rovrp[] rp = new rovrp[50000];
//******************* ターン構造体　turns********************************************************
struct Turns
{
//Public rNturnNo() ;// Integer //rNturnNo(rN)=turnNo
public string skiRL; //左右スキーの指定(0)番に収納
public int turnNo; //ターン番号
public string direction;// //ターン方向 R L
public int lastNo;// //ターンの数(0)番に収納
public int startNo, endNo;// //開始データ行No
public double[] NY;
public double[] EX;
public double[] EZ;
public int initX, initY, endX, endY;// //開始座標、終了座標　X:lon Y:lat
public double turnTime;// //ターン時間
public double turnTimesum;// //累積ターン経過時間
//ターン弧
public double Radius;// //簡易円近似半径
public double theta;////fallLine 角度
public int minorDia, majorDia;// //ターン半円の縦短径、横長径
public double　Aspectratio; //pectratio;// //ターン弧のアスペクト比
public double fallen;// //fallLine長さ
public double fallensum;// // fallLineの累計
public double initHeight, endHeight;//
public double fallHeight;// //fallLineの標高差
public double fallHeightsum;////fallLine標高差の累計
public double Slopedeg;// //fallLineの斜度deg
public double Arclen;// //円弧長
public double Arclensum;////円弧長の累計
//Speed
public double[] Speed;////Speed配列
public double inSpeed, outSpeed, aveSpeed, maxSpeed, minSpeed;////ターン中の速度各種
//Heading Skidding
public double[] headMot;////headMot角配列
public double[] headSki;// //ski角配列
public double[] Skid;// //Skid角配列
public double maxHeadmot, minHeadmot, dHeadmot;// //headMot角各種
public double maxSkid, minSkid, aveSkid, dSkid;//
//G Acceleration
public double[] Gacc;////平均加速度
public double Gaccmax, Gaccmin, Gaccave;//
//Slope　ターン開始点標高と終了点標高と傾斜角
public double startHeight;
public double lastHeight;
public double tSlope;
public int xdot;//makeATurnBitmap()で使ったドット分解能dot/data tR[0].xdotに収納
};
//-----------Turns 構造体配列定義-------------------------------
Turns[] tR = new Turns[1000];////右スキーのターン構造体配列宣言２００個まで収納
Turns[] tL = new Turns[1000];////左スキーのターン構造体配列宣言２００個まで収納
//************************************Graphic parameters*************************************************************************
const int blen = 3000;//処理データ単位３０００行を１ブロックにしてBitmapメモリー節約
//int rN;
int rowN;//dgv rowCount
String fname;
public double[] f;
public double[] fout;
public double[] fkekka;
//
int[,] dgv = new int[50000, 16];
double[,] dgv16_MA = new double[50000, 5];//FilteredData：M9N_gSpeed_MA(16),M9N_headMot_MA(17),M9N_velN_MA(18),M9N_velE_MA(19),M9N_velD(20)
double[,] dgv21_Igr = new double[50000, 8];//積分要素F9P：igr_F9P_gSpeed(21),igr_F9P_velN(22),igr_F9P_velE(23),igr_F9P_velD(24)
//積分要素M9N：igr_M9N_gSpeed_MA(25),igr_M9N_velN_MA(26),igr_M9N_velE_MA(27),igr_M9N_velD_MA(28)
//bitmap definition
//picturebox size-----------
const int pic1w = 1000;//pictrueBox1　 幅
const int pic1h = 500;//pictureBox1 　高さ
const int pic2w = 500;
const int pic2h = 500;
const int pic3w = 500;
const int pic3h = 500;
const int bw = 20000;// blen;//180000 ;
const int xysize = 10000;
int wakuflag = 0;
Bitmap sourceBitmap = new Bitmap(bw, pic1h);//X軸bw個 data(10msec周期で300秒） Y軸
Bitmap trimmedBitmap = new Bitmap(pic1w, pic1h);//PictuerBox1に貼りこむBitmap
Bitmap xyBitmap = new Bitmap(xysize, xysize);//xyプロットのソース
Bitmap xysBitmap = new Bitmap(xysize, xysize);//xyプロットのソース拡大用Bitmapとしてポイントサイズを１に最小化した
Bitmap p2Bitmap = new Bitmap(pic2w, pic2h);//picturebox2のBitmap
Bitmap p2sBitmap = new Bitmap(pic2w, pic2h);//picturebox2の拡大用Bitmapとしてポイントサイズを１に最小化した
Bitmap p2wBitmap = new Bitmap(pic2w, pic2h);//picturebox2の枠用Bitmap
Bitmap p3Bitmap = new Bitmap(pic3w, pic3h);//picturebox2のBitmap
//-XYPLOT-----------------
double scalex, scaley;
double scale0 = 1;
int blockn = 0;//データブロックNo ComboBox7のINDEX値
int blockn_1 = 0;//1個前のブロックNo
long lonW, latH;
long[] maxlon = new long[10];
long[] minlon = new long[10];
long[] maxlat = new long[10];
long[] minlat = new long[10];
int a = 1;
int a_1 = 1;
double wheelPos = 0;// Mouse Wheel Position
double wheelVal;
//xycut
int lefttopx;//= (int)(cutcenterx - (pic2w / 2) / magni);//切り取り四角座標計算
int lefttopy;//= (int)(cutcentery - (pic2h / 2) / magni);
int pointrowN;//pictureBox3 クリックで得た指定行No
//-------------------データブロック構造体----------------------------
public struct data_block
{
public int blockSize;
public int blockNo;
public int startRow;
public int endRow;
public long maxlon;
public long minlon;
public long maxlat;
public long minlat;
public long lonW;//全幅
public long latH;//全高
public int[] nutralN;//ニュートラルポイントの行No　配列
}
data_block[] dbk;
int alln;//全ブロック数
//--------------------------------------------------------------------
int px_1, py_1;
//prown 　クリック座標逆引き配列
int[] prownx;
int[] prowny;
struct lines
{
public string name;//LIne名　選択されたデータ名
public bool available;//Lineが有効：true 無効：false
public int colN;//Column番号
public Color clr;
public int sa;//data 間隔
public int rN_avail;
public int period;
public int x;
public int x_1;
public int y;
public int y_1;
public int max;
public int min;
public int baseL;//Graph base Line 1/2 1/1
public int uscale;//headMot=100000
}
//Struct GraphLine
public Color[] samples = new Color[] { Color.Red, Color.Blue, Color.Green, Color.Yellow, Color.Aqua, Color.DeepPink, Color.BlanchedAlmond,Color.Orange };
lines[] gline;//gline global
//**********************Graphic parameter END **********************************************************
public Form1()
{
InitializeComponent();
}
//......................................................................................................................................................
private void button1_Click(object sender, EventArgs e)
{
/*
stopflag = 0;
serialPort1.BaudRate = 115200;
serialPort1.Parity = Parity.None;
serialPort1.DataBits = 8;
serialPort1.StopBits = StopBits.One;
serialPort1.Handshake = Handshake.None;
serialPort1.PortName = portComboBox.Text;
serialPort1.Open();
*/
}
//......................................................................................................................................................
private void Form1_Load(object sender, EventArgs e)
{
this.Text = "STA23_SerialMonitor_rev06";
richTextBox1.Visible = false;
dgv1.Visible = false;
/*
string[] ports = SerialPort.GetPortNames();
foreach (string port in ports)
{
portComboBox.Items.Add(port);
}
if (portComboBox.Items.Count > 0)
{
// portComboBox.SelectedIndex = 1;
rN = 0;
}
writeflag = 0;
*/
//------------------------------
// serialPort1.Encoding = System.Text.Encoding.GetEncoding(932);
}
//..... .................................................................................................................................................
private void button2_Click(object sender, EventArgs e)
{
/*
stopflag = 0;
if (serialPort1.IsOpen)
{
serialPort1.Write(textBox2.Text + "\n");
}
*/
}
//......................................................................................................................................................
delegate void SetTextCallback(string text);
//......................................................................................................................................................
/*
private void Response(string text)
{
if (textBox1.InvokeRequired)
{
SetTextCallback d = new SetTextCallback(Response);
BeginInvoke(d, new object[] { text });
}
else
{
string[] data = (text).Split(',');//,//);//カンマ区切りにばらす
int dnum = data.Length;
label6.Text = data[0];
//char[] chararray = text.ToCharArray();
//File.AppendAllLines(@"d:\mydata.csv",chararray, Encoding.GetEncoding("shift-jis"));
if (writeflag == 0)
{
DateTime dt = DateTime.Now;
name = dt.ToString($"{dt:MMddHHmmss}");
}
using (StreamWriter sw = new StreamWriter(@"C:\RTK_LOG\" + name + ".csv", true, Encoding.GetEncoding("shift-jis")))
{
writeflag = 1;
// sw.WriteLine(text);
sw.Write(text);
}
rN++;
textBox1.Text = text;
if (checkBox1.Checked == true)
{
//if (data[0] == "[m]")
//{
richTextBox1.AppendText(text + "<" + dnum.ToString() + ">");
//}
}
}
}
*/
private void checkBox2_CheckedChanged(object sender, EventArgs e)
{
if (checkBox2.Checked == true)
{
checkBox2.Checked = false;
selectPos = richTextBox1.Text.Length;
textBox1.Text = "selectPos=" + selectPos.ToString();
}
else
{
checkBox2.Checked = true;
stopPos = richTextBox1.SelectionStart;
textBox1.Text = "stopPos=" + stopPos.ToString();
}
}
/*
//......................................................................................................................................................
private void serialPort1_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
if (stopflag == 0)
{
string str = serialPort1.ReadLine();
Response(str);
}
}
*/
//......................................................................................................................................................
/*
private void serialPort2_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
if (stopflag == 0)
{
string str2 = serialPort2.ReadLine();
Response(str2);
}
}
*/
//......................................................................................................................................................
private void button4_Click(object sender, EventArgs e)
{
/*
if (serialPort1.IsOpen)
{
serialPort1.Write("s");//Start Log
label6.Text = "Save modeset";
}
*/
}
//......................................................................................................................................................
private void button5_Click(object sender, EventArgs e)
{
/*
if (serialPort1.IsOpen)
{
serialPort1.Write("q");//Quit log
label6.Text = "Quit modeset";
}
*/
}
private void textBox1_TextChanged(object sender, EventArgs e)
{
string mes = textBox1.Text;
string head = mes.Substring(0, 3);
// richTextBox1.AppendText(head);
//Status行　md,flagsB,flagsR,pdopB,pdopR,haccB,haccR,miscount0,count_upB,count_upB0,tp,tp0
/*
if (mes.IndexOf("m")>=0)
{
string[] mdata = (mes + ",\n").Split(//,//);//カンマ区切りにばらす
label6.Text = "m";
textBox6.Text = mdata[0];
textBox3.Text = mdata[1];
textBox4.Text = mdata[3];
textBox5.Text = mdata[7];
textBox7.Text = mdata[8];
}
Debug.Print("indexof [p]=" + mes.IndexOf("p").ToString());
if (mes.IndexOf("p") >= 0)
{
string[] pdata = (mes + ",\n").Split(//,//);//カンマ区切りにばらす
label6.Text = "p";// pdata[0] + ":" + pdata[1] + ":" + pdata[2] + ":" + pdata[3];
textBox6.Text = pdata[0];
textBox3.Text = pdata[1];
textBox4.Text = pdata[3];
textBox5.Text = pdata[7];
textBox7.Text = pdata[8];
}
if (mes.IndexOf("s") >= 0)
{
string[] sdata = (mes + ",\n").Split(//,//);//カンマ区切りにばらす
label6.Text = "s";// sdata[0] + ":" + sdata[1] + ":" + sdata[2] + ":" + sdata[3];
textBox6.Text = sdata[0];
textBox3.Text = sdata[1];
textBox4.Text = sdata[3];
textBox5.Text = sdata[7];
textBox7.Text = sdata[8];
}
*/
}
//......................................................................................................................................................
private void button6_Click(object sender, EventArgs e)
{
/*
if (serialPort1.IsOpen)
{
serialPort1.Write("p");//Pre Averaging Statistic
label6.Text = "Preprocess modeset";
}
*/
}
private void checkBox1_CheckedChanged(object sender, EventArgs e)
{
if (checkBox1.Checked == true)
{
richTextBox1.Visible = true;
}
else
{
richTextBox1.Visible = false;
}
}
//......................................................................................................................................................
private void button3_Click(object sender, EventArgs e)
{
/*
stopflag = 1;
Thread.Sleep(1000);//Serial.close前のバッファ待ち時間
writeflag = 0;
serialPort1.Close();
*/
}
private void button7_Click(object sender, EventArgs e)
{
/*
if (serialPort1.IsOpen)
{
serialPort1.Write("d");//Pre Averaging Statistic
label6.Text = "Dir modeset";
}
*/
}
private void checkBox3_CheckedChanged(object sender, EventArgs e)
{
dgv1.Visible = true;
}
private void button8_Click(object sender, EventArgs e)
{
/*
if (serialPort1.IsOpen)
{
serialPort1.Write("b");//Pre Averaging Statistic
label6.Text = "BnoHoisei modeset";
}
*/
}
//read file
private void button9_Click(object sender, EventArgs e)
{
//dgv1.Visible = true;
ReadDialog();
}
//-----------------Read File ----------------------------------------------------
private void ReadDialog()
{
sline = new string[150000];
int irn = 0;
string sizes = null;
var swtch = new System.Diagnostics.Stopwatch();
dgv1.AutoSizeColumnsMode = DataGridViewAutoSizeColumnsMode.None;
dgv1.AutoSizeRowsMode = DataGridViewAutoSizeRowsMode.None;
dgv1.ColumnHeadersHeightSizeMode = DataGridViewColumnHeadersHeightSizeMode.DisableResizing;
//sourceBitmap_clear();
//OpenFileDialogクラスのインスタンスを作成
OpenFileDialog ofd = new OpenFileDialog();
//ダイアログを表示する
if (ofd.ShowDialog() == DialogResult.OK)
{
// DataGridView初期化（データクリア）
dgv1.Columns.Clear();
dgv1.Rows.Clear();
// dgv1 set
dgv1.ColumnCount = 40;
dgv1.RowCount = 2;
//dgv1.RowHeadersWidth = 80;
// dgv1.Columns[0].DefaultCellStyle.WrapMode = DataGridViewTriState.True;
// DataGridViewColumn target_item = dgv1.Columns[0];
// target_item.AutoSizeMode = DataGridViewAutoSizeColumnMode.NotSet;
// headerName();
int rowN = 0;
int i;
int fi = 0;
int ic = 0;
//OKボタンがクリックされたとき、選択されたファイルを読み取り専用で開く
textBox2.Text = ofd.FileName;
//====================================ASCII read start========================================================
//dgvの受信データをパラメータに代入
//("[%c],%d,%d,%4.2f,%4.2f,%d,%d,%d,%d,%d,%d,%d\n\r",md,flagsB,flagsR,pdopB,pdopR,haccB,haccR,miscount0,count_upB,count_upB-count_upB0,tp,tp0);
//"[Base],%d,%4.2f,%4.2f,%4.2f,%d,%d,\n\r",itowB,NYB,EXB,DZB,gSpeedB,headMotB);
//"[Rover],%d,%4.2f,%4.2f,%4.2f,%d,%4.2f,%4.2f,%4.1f\n\r",itowR,NYR,EXR,DZR,gSpeedR,mHead,bnHosei+eX[0],relLm);
//"[BNO],%4.1f,%4.1f,%4.1f,%4.1f,%4.1f,%4.1f,%4.1f,%4.1f,%4.1f%,\n\r",eX[0],eY[0],eZ[0],eX[1],eY[1],eZ[1],eX[2],eY[2],eZ[2]);
//
string head0 = "md, flagsB, flagsR, pdopB, pdopR, haccB, haccR, miscount0, count_upB,count_upB0,tp,tp0";
string head1 = ",[Base],itowB, NYB, EXB, DZB, gSpeedB, headMotBZ";
string head2 = ",[Rover] ,itowR,NYR,EXR,DZR,gSpeedR,mHead,bnHosei+eX[0],relLm]";
string head3 = ",BNO],yaw1,pitch1,roll1,yaw2,pitch2,roll2,yaw3,pitch3,roll3";
string headall = head0 + head1 + head2 + head3;
string[] headArr = headall.Split(',');
int headlen = headArr.Length;
// string head0 = "md(0), flagsB(1), flagsR(2), pdopB(3), pdopR(4), haccB(5), haccR(6), miscount0(7), count_upB(8),count_upB0(9),tp(10),tp0(11)";
//string head1 = ",[Base](12),itowB(13), NYB(14), EXB(15), DZB(16), gSpeedB(17), headMotBZ(18)";
//string head2 = ",[Rover](19) ,itowR(20),NYR(21),EXR(22),DZR(23),gSpeedR(24),mHead(25),bnHosei+eX[0](26),relLm](27)";
//string head3 = ",BNO](28),yaw1(29),pitch1(30),roll1(31),yaw2(32),pitch2(33),roll2(34),yaw3(35),pitch3(36),roll3(37)"
for (i = 0; i < headlen; i++)
{
dgv1.Columns[i].HeaderText = headArr[i]; ;
dgv1.Rows[0].Cells[i].Value = i;
}
FileInfo filesize = new FileInfo(ofd.FileName);
swtch.Start();
//-----readAllText-----
// シフトJISのファイルの読み込み
//System.Text.Encoding.RegisterProvider(System.Text.CodePagesEncodingProvider.Instance); // memo: Shift-JISを扱うためのおまじない
//string alldata = File.ReadAllText(ofd.FileName, System.Text.Encoding.GetEncoding("Shift_JIS"));
string alldata = File.ReadAllText(ofd.FileName);
// var wordList = alldata.Replace("\r\n", "\n").Split(new[] { //\n//, //\r// });
string[] sline = alldata.Split('[');
int ni=0;
for (ic = 1; ic < (int)(sline.Length - 2); ic++)
{
//Debug.Print("sline[" + ic.ToString() + "]=" + sline[ic]);
string [] tsline = sline[ic].Split("\r\n");//行内に複数ある\r\nと余計なコメントを除去
sline[ic] = tsline[0];//再度sline[]に代入
/*
for (ni = 0; ni < tsline.Length; ni++)
{
Debug.Print("tsline[" + ni.ToString() + "]=" + tsline[ni]);
}
*/
}
//string[] sline = alldata.Split("\r\n");
//Debug.Print("sline[0]=" + sline[0]);
// Debug.Print("sline[1]=" + sline[1]);
swtch.Stop();
sizes = sline.Length + "行," + filesize.Length.ToString() + "byte Ellapsed Time=" + swtch.ElapsedMilliseconds.ToString() + "msec";
label8.Text = sizes;
if (checkBox3.Checked == true)//dgv visible
{
dgv1.Visible = true;
dgv1.RowHeadersWidth = 60;
//dgv1.TopLeftHeaderCell.Value = "左上";
// richTextBox1.Visible = true;
swtch.Reset();
swtch.Start();
Debug.Print("sline.Length=" + sline.Length.ToString());
string ss = "0";
int cr = 0;
string datas0 ="";
string datas1 = "";
string datas2="";
for (ic = 1; ic < (int)(sline.Length - 2); ic++)
{
//Debug.Print("sline["+ic.ToString()+"]=" + sline[ic].Substring(0, 3).ToString());
if (sline[ic].Length > 2)
{
sline[ic] = sline[ic].Replace("\r\n", "");
// string tsline = sline[ic].Replace(Environment.NewLine, "");
//string[] tsline = sline[ic].Split("\r\n");
// Debug.Print("ic=" + ic.ToString() + "sline[0]=" + sline[0]);
if (sline[ic].Substring(0, 2) == "Ba")
{
dgv1.Rows[cr].HeaderCell.Value = cr.ToString();
/*
sline[ic - 1] = sline[ic - 1].Substring(0, sline[ic - 1].Length - 2);
sline[ic] = sline[ic].Substring(0, sline[ic].Length - 2);
sline[ic + 1] = sline[ic + 1].Substring(0, sline[ic + 1].Length - 2);
sline[ic + 2] = sline[ic + 2].Substring(0, sline[ic + 2].Length - 3);
*/
datas2 = datas1;
datas1 = datas0;
ss = sline[ic - 1] + "," + sline[ic] + sline[ic + 1] + "," + sline[ic + 2];
string[] datas = ss.Split(','); // カンマで区切って配列に格
//Debug.Print("datas[0]=" + datas[0],"datas1="+datas1);
datas0 = datas[0];
if (datas[0] == "s]")
{
dgv1.Rows.Add(datas);//dgv1書き込み
cr++;
}
if(datas1=="s]" && datas0=="m]")
{
dgv1.Rows.Add(datas);//dgv1書き込み
cr++;
//Debug.Print("[m] cr=" + cr.ToString());
}
}
}
}
swtch.Stop();
// TimeSpan tst = swtch.ElapsedMilliseconds;
label8.Text = sizes + "dgv:" + swtch.ElapsedMilliseconds.ToString() + "msec";
}
}//File read End 　*******************************************************************************************************************
} //ReadDialog() end
//==============================================Parameter set=======================================================================
//dgvの受信データをパラメータに代入
//("[%c],%d,%d,%4.2f,%4.2f,%d,%d,%d,%d,%d,%d,%d\n\r",md,flagsB,flagsR,pdopB,pdopR,haccB,haccR,miscount0,count_upB,count_upB-count_upB0,tp,tp0);
//"[Base],%d,%4.2f,%4.2f,%4.2f,%d,%d,\n\r",itowB,NYB,EXB,DZB,gSpeedB,headMotB);
//"[Rover],%d,%4.2f,%4.2f,%4.2f,%d,%4.2f,%4.2f,%4.1f\n\r",itowR,NYR,EXR,DZR,gSpeedR,mHead,bnHosei+eX[0],relLm);
//"[BNO],%4.1f,%4.1f,%4.1f,%4.1f,%4.1f,%4.1f,%4.1f,%4.1f,%4.1f%,\n\r",eX[0],eY[0],eZ[0],eX[1],eY[1],eZ[1],eX[2],eY[2],eZ[2]);
//
//struct basep/rovrp basep=bp[] rovrp=rp[]
/*
struct basep
{
public double Ny;
public double Ex;
public double Dz;
public double Height;
public double gSpeed;
public double headMot;
public double mHead;
public int flags;
public double pdop;
//data n
public int rn;
public int itow;
public int tp;
public int miss;
};
*/
void bpset(int n)//構造体配列bp[n]作成
{
}
void rpset(int n)//構造体配列rp[n]作成
{
}
/*==================datachk=========================================
struct dgvchk
{
public int maxrow;//Row.Count
public int startrow;//
public int endrow;//
public int maxrn;//data エポック数
public int startrn;//有効スタートrn
public int endrn;//有効エンドrn
public int miss;//itow飛び個数
public double missper;//miss%
public int[] fmiss;//smode[]範囲内でのflag 67未満の個数
public double[] fmissper;//fmiss%
// mode
public int[] smode_startNo;//=new int[10];//s] modeの開始番号　配列
public int[] smode_endNo;//=new int[10];//s] modeの終了番号　配列
public int smodeN;//測定ファイル内のsmode範囲の個数
//time
public int[] smode_startitow;
public int[] smode_enditow;
public int[] smode_time;//sec
// digit error
public string [,] digit_err;//itow+err.string
public int[] digit_errN;//[smodeN]
//itow error
public string[,] itow_error;// 足りないitow.Tostring()
public int[] itow_errN;//[smodeN]
public double[] itow_errper;//% err
};
dgvchk dc;//1測定dgvに一個
// string head0 = "md(0), flagsB(1), flagsR(2), pdopB(3), pdopR(4), haccB(5), haccR(6), miscount0(7), count_upB(8),count_upB0(9),tp(10),tp0(11)";
//string head1 = ",[Base](12),itowB(13), NYB(14), EXB(15), DZB(16), gSpeedB(17), headMotBZ(18)";
//string head2 = ",[Rover](19) ,itowR(20),NYR(21),EXR(22),DZR(23),gSpeedR(24),mHead(25),bnHosei+eX[0](26),relLm](27)";
//string head3 = ",BNO](28),yaw1(29),pitch1(30),roll1(31),yaw2(32),pitch2(33),roll2(34),yaw3(35),pitch3(36),roll3(37)"
*/
private void button11_Click(object sender, EventArgs e)//sortdgv 起動
{
sortdgv();
button12.Enabled = true;
int im;
//richTextBox1 write
richTextBox1.Visible = true;
for(im=0;im<dc.smodeN;im++)
{
string mes = "smodeNo=" + im.ToString() + "startRow=" + dc.smode_startNo[im].ToString() + "endRow=" + dc.smode_endNo[im].ToString() + "time=" + dc.smode_time[im].ToString()+"\r\n";
richTextBox1.AppendText(mes);
}
//slip 追加 DZB反転単位m
for (im=0;im<dc.maxrow;im++)//slipを全dgvデータ計算代入
{
double slipd = -(Convert.ToDouble(dgv1.Rows[im].Cells[18].Value) - Convert.ToDouble(dgv1.Rows[im ].Cells[25].Value));
dgv1.Rows[im].Cells[28].Value = slipd.ToString();//28列のslip値代入
//DZB標高差正負反転
double DZBm = -Convert.ToDouble(dgv1.Rows[im].Cells[16].Value)/100;
dgv1.Rows[im].Cells[16].Value = DZBm.ToString("F2");//16列のSZB正負反転代入
//Debug.Print("slip=" + slipd.ToString() + "slip dgv[" + (irn + startrowN).ToString() + "][28]=" + dgv1.Rows[irn + startrowN].Cells[28].Value.ToString());
}
}
void sortdgv()//生データを整理してから各有効データの行番号を抽出
{
var swtch0 = new System.Diagnostics.Stopwatch();
swtch0.Reset();
swtch0.Start();
dgv1.DefaultCellStyle.NullValue = "0";
dgv1.DefaultCellStyle.DataSourceNullValue = "0";
DateTime now = DateTime.Now;
Debug.Print("sortdgv In:" + now.ToString());
//行チェック 列ごとに前後チェック
//string[,] itow_error = new string[10, 1000];//エラー行列を記録[smodeN,irr]
int colitowb = 13;//itowBの列番号
int colitowr = 20;//itowRの列番号
int iir = 0;
int iic = 1;
int erri = 0;
int itowB0, itowB0_1;
dc.digit_err = new string[10, 1000];
dc.itow_error= new string[10, 1000];//エラー行列を記録[smodeN,irr]
dc.itow_errN = new int[10];
dc.itow_errper = new double[10];
dc.smode_startNo = new int[10];
dc.smode_endNo = new int[10];
dc.smode_startitow = new int[10];
dc.smode_enditow = new int[10];
dc.smode_time = new int[10];
//*********Null削除****************************
dc.maxrow = dgv1.RowCount;
for (iir = 1; iir < dc.maxrow - 2; iir++)//行ループ
{
for (iic = 0; iic < 38; iic++)
{
if (dgv1.Rows[iir].Cells[iic].Value == null)
{
dgv1.Rows[iir].Cells[iic].Value = "0";
//dgv1.Rows[iir].Cells[iic].Value = dgv1.Rows[iir - 1].Cells[iic].Value;
Debug.Print("null repaired 0 [" + iir.ToString() + "],[" + iic.ToString() + "]" + millis());
}
}
// if (dgv1.Rows[iir].Cells[0].Value == null)
// {
// dgv1.Rows.RemoveAt(iir);
// Debug.Print("Null Remove iir=" + iir.ToString() + "Cells[0]=Null");
//}
}
//**********Null削除END*******************************:
//各データの異常反転基準値配列を作る、<criteria[]は正数、>criteria[]は負数
double[] criteria = new double[38] { 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 };
//1:flags 131 67 変化
dc.maxrow = dgv1.RowCount;
//最初にmHeadを１８０度回転補正
mhead180(25, 2, dgv1.Rows.Count - 2);//mHead
mhead180(26, 2, dgv1.Rows.Count - 2);//BNHOSEI yaw1
mhead180(29, 2, dgv1.Rows.Count - 2);//yaw1
mhead180(32, 2, dgv1.Rows.Count - 2);//yaw2
mhead180(35, 2, dgv1.Rows.Count - 2);//yaw3
hmotd();//headMotをDoubleに変換
//************************smode範囲 check*****************************************************
//dc.smode_startNo[], dc.smode_endNo[],dc.smodeNを得る
string modes = "+[s]";
int smodenum = 0;
int mode_startflag = 0;
int mode_startNo = 0;
int mode_endNo = 0;
//smode Range Count itowが1秒以上離れたら別範囲**************************************
smodesearch();
Debug.Print("smode count dc.smode_endNo[" + smodenum.ToString() + "]=" + dc.smode_endNo[smodenum].ToString() + "dc_smodeN=" + dc.smodeN.ToString());
mode_endNo = dc.maxrow - 2;
DateTime now1 = DateTime.Now;
Debug.Print("smode SearchFinished :" + now1.ToString());
//Smode end***********************************************************************************************************************************
//Digit error repaire***********************************************************************************************
//処理１：nullセルは０代入
//処理２：文字が数値でないセルは、前の行データ代入
int smodeitr = 0;
while (smodeitr <= dc.smodeN)//smodeの個数だけスキャン
{
DateTime now3 = DateTime.Now;
// Debug.Print("loop end :" +now3.ToString()+ now3.Millisecond.ToString());
for (iir = dc.smode_startNo[smodeitr]; iir < dc.smode_endNo[smodeitr]; iir++)//行ループ 2行から開始してiir-1行目とiir行目比較
{ // public static bool TryParse( string s, out データ型名 result)を使って文字から数値変換できるかチェック
//nullチェック
string itows = dgv1.Rows[iir].Cells[13].Value.ToString();
for (iic = 1; iic < 38; iic++)
{
if (dgv1.Rows[iir].Cells[iic].Value == null)//nullチェック
{
//dgv1.Rows[iir].Cells[iic].Value = "0";
dgv1.Rows[iir].Cells[iic].Value = dgv1.Rows[iir - 1].Cells[iic].Value;
Debug.Print("null repaired 0 [" + iir.ToString() + "],[" + iic.ToString() + "]"+millis());
}
}
int derr = 0;
for (iic = 1; iic < 38; iic++)
{
if (iic != 12 && iic != 19 && iic != 28)
{
double i;
//string cellstr = dgv1.Rows[iir].Cells[iic].Value.ToString();
if (double.TryParse(dgv1.Rows[iir].Cells[iic].Value.ToString(), out i))//文字セルが数値かどうかチェック
{
//itow_error[smodeitr, erri] = iir.ToString() + "," + itowsa.ToString();
//Debug.Print("Inseted:itow_erri[" + smodeitr.ToString() + "," + erri.ToString() + "] =" + itow_error[smodeitr, erri] + ", itowB=" + dgv1.Rows[iir].Cells[13].Value + "," + dgv1.Rows[iir - 1].Cells[13].Value);
}
else
{
// Debug.Print("数値に変換できません=" + "Rows[" + iir.ToString() + "]Cells[" + iic.ToString() + "]=" + dgv1.Rows[iir].Cells[iic].Value.ToString()+","+millis());
//非数値異常値は、１個上のデータで置き換え
dc.digit_err[smodeitr, derr] = itows+","+dgv1.Rows[iir].Cells[iic].Value.ToString();
// Debug.Print("dc_err="+dc.digit_err[smodeitr, derr]);
derr++;
if (checkBox4.Checked == true)
{
int iiic;
for (iiic = 1; iiic < 38; iiic++)
{
// Debug.Print("Rows[" + iir.ToString() + "]Cells[" + iiic.ToString() + "]=" + dgv1.Rows[iir].Cells[iiic].Value.ToString() + "=>Repaired=" + dgv1.Rows[iir].Cells[iiic].Value.ToString());
dgv1.Rows[iir].Cells[iiic].Value = dgv1.Rows[iir - 1].Cells[iiic].Value;
}
}
// erri++;//エラー扱い
// iir++;//１個飛ばし
}
}
}
}
//increment
smodeitr++;
erri = 0;
}//while modeitr end
//===============================itow Insert===========================================================
//if (checkBox4.Checked == true)
//{
smodeitr = 0;
while (smodeitr < dc.smodeN)//smodeの個数だけスキャン
{
Debug.Print("itowInsert START");
for (iir = dc.smode_startNo[smodeitr]+1; iir < dc.smode_endNo[smodeitr]; iir++)//行ループ 2行から開始してiir-1行目とiir行目比較
{
itowB0 = Convert.ToInt32(dgv1.Rows[iir].Cells[13].Value);
itowB0_1 = Convert.ToInt32(dgv1.Rows[iir - 1].Cells[13].Value);
int itowsa = itowB0 - itowB0_1;
if (itowsa > 124 && itowsa<244)
{
dc.itow_error[smodeitr, erri] = (itowB0 + 120).ToString() + "," + itowsa.ToString();
dc.itow_errN[smodeitr] = erri;
　rinsert(iir, itowsa);
//Debug.Print("124<<244iir="+iir.ToString()+"sa="+itowsa.ToString()+"Inserted:itow_erri[" + smodeitr.ToString() + "," + erri.ToString() + "] =" + dc.itow_error[smodeitr, erri] + ", itowB=" + dgv1.Rows[iir].Cells[13].Value + "," + dgv1.Rows[iir - 1].Cells[13].Value + "," + millis());
erri++;
}
else if(itowsa>244)
{
// Debug.Print(">244]iir=" + iir.ToString() + "sa=" + itowsa.ToString() + "Inserted:itow_erri[" + smodeitr.ToString() + "," + erri.ToString() + "] =" + dc.itow_error[smodeitr, erri] + ", itowB=" + dgv1.Rows[iir].Cells[13].Value + "," + dgv1.Rows[iir - 1].Cells[13].Value + "," + millis());
}
}
smodeitr++;
erri = 0;
// }//itow insert end
}
smodesearch();//最後の行数でsmode再実施
//Percent 計算
//itow error
//public string[,] itow_error;// 足りないitow.Tostring()
//public int[] itow_errN;//[smodeN]
//public double[] itow_errper;//% err
for(smodeitr=0;smodeitr<dc.smodeN;smodeitr++)
{
dc.itow_errper[smodeitr] = (double)dc.itow_errN[smodeitr] / (dc.smode_endNo[smodeitr] - dc.smode_startNo[smodeitr])*100;
// Debug.Print("dc.itow_errper[" + smodeitr.ToString() + "]=" + dc.itow_errper[smodeitr].ToString("F2")+"%");
dc.smode_startitow[smodeitr] = Convert.ToInt32(dgv1.Rows[dc.smode_startNo[smodeitr]].Cells[13].Value);
dc.smode_enditow[smodeitr] = Convert.ToInt32(dgv1.Rows[dc.smode_endNo[smodeitr]].Cells[13].Value);
dc.smode_time[smodeitr] = dc.smode_enditow[smodeitr] - dc.smode_startitow[smodeitr];
}
//}//checkbox4 end
Debug.Print("Sort dgv FINISHED");
//finished
label9.Text="sortdgv:smodeN="+dc.smodeN.ToString()+"erri="+erri.ToString();
}//sortdgv end
//********************************************************************************************************************************************
private void smodesearch()
{
//*********************smode Range Count itowが1秒以上離れたら別範囲**************************************
int iir;
int mode_startflag = 0;
int mode_startNo=0;
int smodenum=0;
int mode_endNo = 0;
dc.maxrow = dgv1.RowCount;
for (iir = 1; iir < dc.maxrow - 2; iir++)//行ループ
{
int itowd = Convert.ToInt32(dgv1.Rows[iir].Cells[13].Value);
int itowd_1 = Convert.ToInt32(dgv1.Rows[iir - 1].Cells[13].Value);
//if (md.Substring(0, 2) == "s]" && mode_startflag == 0)
if (itowd - itowd_1 < 124 && mode_startflag == 0 && iir<=dc.maxrow-4)
{
mode_startflag = 1;
mode_startNo = iir;
dc.smode_startNo[smodenum] = iir;
dc.smodeN = smodenum;
//Debug.Print("dc.smode_startNo[" + smodenum.ToString() + "]=" + dc.smode_startNo[smodenum].ToString());
}
else if ((itowd - itowd_1 > 1000 || iir>=dc.maxrow-4 )&& mode_startflag == 1)
{
mode_endNo = iir;
mode_startflag = 0;
dc.smode_endNo[smodenum] = iir;
dc.smodeN = smodenum + 1;
Debug.Print("dc.smode_endNo[" + smodenum.ToString() + "]=" + dc.smode_endNo[smodenum].ToString() + "dc_smodeN=" + dc.smodeN.ToString());
smodenum++;
}
/*
else
{
mode_endNo = iir;
mode_startflag = 1;
dc.smode_endNo[smodenum] = iir;
dc.smodeN = smodenum + 1;
//Debug.Print("dc.smode_endNo[" + smodenum.ToString() + "]=" + dc.smode_endNo[smodenum].ToString() + "dc_smodeN=" + dc.smodeN.ToString());
//smodenum++;
}
*/
//dc.maxrow = dgv1.RowCount;
}
}
private string millis()
{
DateTime now3 = DateTime.Now;
string mil= now3.ToString() +":"+ now3.Millisecond.ToString();
return mil;
}
private void rinsert(int rn, int sa)
{
//itow
if (sa <= 240)
{
try
{
int cii;
dgv1.Rows.Insert(rn);
//Debug.Print("rinsert [=" + rn.ToString() + "]");
dgv1.Rows[rn].Cells[13].Value = Convert.ToInt32(dgv1.Rows[rn - 1].Cells[13].Value) + 120;//抜けたitow
for (cii = 14; cii < 19; cii++)
{
double ave = (Convert.ToDouble(dgv1.Rows[rn - 1].Cells[cii].Value) + Convert.ToDouble(dgv1.Rows[rn + 1].Cells[cii].Value)) / 2;
dgv1.Rows[rn].Cells[cii].Value = ave.ToString("F2");
}
for (cii = 20; cii < 28; cii++)
{
double ave = (Convert.ToDouble(dgv1.Rows[rn - 1].Cells[cii].Value) + Convert.ToDouble(dgv1.Rows[rn + 1].Cells[cii].Value)) / 2;
dgv1.Rows[rn].Cells[cii].Value = ave.ToString("F2");
}
for (cii = 29; cii < 38; cii++)
{
double ave = (Convert.ToDouble(dgv1.Rows[rn - 1].Cells[cii].Value) + Convert.ToDouble(dgv1.Rows[rn + 1].Cells[cii].Value)) / 2;
dgv1.Rows[rn].Cells[cii].Value = ave.ToString("F2");
}
}
catch(Exception e)
{
}
}
}
private void mhead180(int col, int startr, int endr)//rover haeding 180度回転
{
int hii;
for (hii = startr; hii < endr; hii++)
{
double d;
string sh = dgv1.Rows[hii].Cells[col].Value.ToString();
if (double.TryParse(sh, out d))
{
double head = Convert.ToDouble(dgv1.Rows[hii].Cells[col].Value) + 180;
if (head > 360)
{
head = head - 360;
}
dgv1.Rows[hii].Cells[col].Value = head.ToString("F2");
//変換出来たら、dにその数値が入る
// Console.WriteLine("{0} は数値 {1} に変換できます。", sh, d);
}
else
{
//Console.WriteLine("{0} は数字ではありません。", sh);
Debug.Print("Not Numerical format Cell= " + hii.ToString() + "sh=" + sh);
}
}
}
private void hmotd()//headMotを小数点５桁に変換
{
int ir;
double d;
for (ir = 1; ir < dc.maxrow - 2; ir++)//行ループ
{
string sh = dgv1.Rows[ir].Cells[18].Value.ToString();
if (double.TryParse(sh, out d))
{
double hmotd = Convert.ToDouble(dgv1.Rows[ir].Cells[18].Value) * 0.00001;
dgv1.Rows[ir].Cells[18].Value = hmotd.ToString("F2");
//変換出来たら、dにその数値が入る
Console.WriteLine("{0} は数値 {1} に変換できます。", sh, d);
}
else
{
Console.WriteLine("{0} は数字ではありません。", sh);
Debug.Print("Not Numerical format Cell= " + ir.ToString() + "sh=" + sh);
}
//double hmotd = Convert.ToDouble(dgv1.Rows[ir].Cells[18].Value) * 0.00001;
//dgv1.Rows[ir].Cells[18].Value = hmotd.ToString();
}
}
private void dgv1_CellClick(object sender, DataGridViewCellEventArgs e)//セル座標表示
{
label7.Text = "row=" + dgv1.CurrentCell.RowIndex.ToString() + "column=" + dgv1.CurrentCell.ColumnIndex.ToString();
}
//======================================================
//===========dgvSave===================================
//====================================================
private void button10_Click(object sender, EventArgs e)
{
dgvsave();
}
private void dgvsave()
{
int i, j;
//Filename Timestamp
DateTime dt = DateTime.Now;
string fn = dt.ToString($"{dt:MMddHHmmss}");
string fnstrng = "c:/RTK_Log/dgv_" + fn + ".csv";
string hdstrng = "c:/RTK_Log/head_" + fn + ".csv";
int dgvron = dgv1.RowCount;
int dgvcln = dgv1.ColumnCount;
Debug.Print("dgvron=" + dgvron.ToString() + ",dgvcln=" + dgvcln.ToString());
using (StreamWriter sw = new StreamWriter(@fnstrng, false, Encoding.UTF8))
{
for (i = 1; i < dgvron - 1; i++)
{
string dgvrow = "";
for (j = 0; j < dgvcln; j++)
{
dgvrow = dgvrow + dgv1.Rows[i].Cells[j].Value + ",";
}
sw.WriteLine(dgvrow);
}
}
//-----------HeaderText save----------------------
//DataGridView1.Columns[0].HeaderTex
if (dgv1.Columns[2].HeaderText !="")
{
using (StreamWriter sw = new StreamWriter(@hdstrng, false, Encoding.UTF8))
{
string dgvhead = "";
for (j = 0; j < dgvcln; j++)
{
dgvhead = dgvhead + dgv1.Columns[j].HeaderCell.Value + ",";
//Debug.Print("i=" + i.ToString() + ",dgvhead=" + dgvhead);
}
sw.WriteLine(dgvhead);
}
}
}
//@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
//@@@@@@@@@@@@@@@@@@@@@@@@@@@@GRAPH @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
//-------------------------ターン構造体全ターンプロット makeATurnBitmap()------------------------------
//@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
//
private void button13_Click(object sender, EventArgs e)//sourceBitmap作成してプロット
{
dgv1.Visible = false;
hScrollBar1.Visible = true;
pictureBox1.Visible = true;
makeATurnBitmap(28);
//int ir;
//pictureBox1.Visible = true;
hScrollBar1.Minimum = 0;// tR[1].startNo;位置をゼロとする
Debug.Print("PLOT RANGE:tR[1].startNo"+tR[1].startNo.ToString() + "tR["+tR[0].lastNo.ToString()+"].endNo=" + tR[tR[0].lastNo].endNo.ToString() + "tR[0].xdot=" + tR[0].xdot.ToString());
//int xdot = 1;// timeScale();
hScrollBar1.Maximum =( tR[tR[0].lastNo].endNo- tR[1].startNo) * tR[0].xdot;//sourceBitmapの全ドット数
hScrollBar1.Value = (tR[tR[0].lastNo].endNo - tR[1].startNo) * tR[0].xdot;//初期設定は、最大値右端にセット
textBox3.Text = Convert.ToInt32(hScrollBar1.Value / tR[0].xdot).ToString();
Debug.Print("plot:hscro;;Bar.minimum=0=" + tR[1].startNo.ToString() + "hscrollBar.Max=" + hScrollBar1.Maximum.ToString()+"hscrollBar.Value=cx="+ hScrollBar1.Value.ToString());
sourceCut(hScrollBar1.Value);
//xyplot
//xyplot();
}
//--------------makeATurnBitmap() ------------------------------------------------
private void makeATurnBitmap(int xdot)//seleNターン番号の展開時系列グラフ
{
int mi;
int psa = 1;//120msec 1行
gline = new lines[8];
int gsel=0;//gline selector 0:headMot,1:mHead,2:gSpeed,3:pitch,4:yaw,5:DZB,6:relLm
//------
tR[0].xdot = Convert.ToInt32(textBox8.Text);
//周期
gline[0].period = 120;//headMot RED
gline[1].period = 120;//mHead BLUE
gline[2].period = 120;//gSpeed GREEN
gline[3].period = 40;//pitch YELLOW
gline[4].period = 40;//yaw AQUA
gline[5].period = 120;//DZB DEEP PINK
gline[6].period = 120;//roll1 //relLm ALMOND
gline[7].period = 120;//slip Orange
//列番号
gline[0].colN = 18;//headMot
gline[1].colN = 25;//mHead
gline[2].colN = 17;//gSpeed
gline[3l].colN =30;//pitch1=30,pitch2=33,pitch3=36
gline[4].colN = 29;//bnhosei26ダメ yaw129;//yaw1=29,yaw2=32,yaw3=35
gline[5].colN = 16;//DZB
gline[6].colN = 31;//roll 1 //relLm
gline[7].colN = 28;//slipを新たに作成 BNO0をつぶす
//max値
gline[0].max = 360;//headMot1deg
gline[1].max = 360;//mHead1deg
gline[2].max = 12000;//gSpeed 43kmh=
gline[3].max = 90;//pitch IMU EulerAngle 0.1deg
gline[4].max = 360;//yaw IMU EulerAngle 0.1deg
gline[5].max =300;//DZB 30000cm落差±300m上マイナス下プラス
gline[6].max = 90;//roll1 relLm Length 115cmave ma150cm
gline[7].max =180;//slipを新たに作成 BNO0をつぶす
//min値
gline[0].min = 0;//headMot
gline[1].min = 0;//mHead
gline[2].min = 0;//gSpeed 43kmh
gline[3].min =-90;//pitch1=30,pitch2=33,pitch3=36
gline[4].min = 0;//yaw1=29,yaw2=32,yaw3=35
gline[5].min = -200;//DZB 30000cm落差±300m上マイナス下プラス
gline[6].min =-90;//roll1 //relLm Length 115cmave ma150cm
gline[7].max = -180;//slipを新たに作成 BNO0をつぶす
for (mi=0;mi<8;mi++)
{
gline[mi].baseL =1;
}
gline[3].baseL = 2;
gline[5].baseL = 2;//DZB
gline[6].baseL = 2;//roll
gline[7].baseL = 2;//slip ベースラインセンター
//-----------------------------------------------------------
int irn;
int pw = 1000;// pictureBox1.Width;//1000dot
int ph = 500;// pictureBox1.Height;//500dot
int velMax = 10000;//mm/sec
int velMin = -10000;
int headMax = 36000000;
int headMin = 0;
//int xdot = 10;// timeScale();
// double yscale = (double)ph / (velMax - velMin);
//Bitmap分解能　X軸10msec/dot=>1000dot10sec
// public Color[] samples = new Color[] { 0Color.Red, 1Color.Blue, 2Color.Green, 3Color.Yellow, 4Color.Aqua,5Color.DeepPink, 6Color.BlanchedAlmond };
//Graphics g1 = Graphics.FromImage(trimmedBitmap);//188行 Bitmap sourceBitmap = new Bitmap(bw, pic1h);//(20000,500)軸bw個 data(10msec周期で300秒） Y軸
Graphics g1 = Graphics.FromImage(sourceBitmap);
g1.Clear(Color.Black);
for (gsel = 0; gsel <8; gsel++)
{
// if (gline[gsel].available == true)
//{
//Turn構造体から範囲取得
int pmsec = gline[gsel].period;
// int psa = gline[gsel].sa;
int pcoln = gline[gsel].colN;
double yscale = (double)ph / (gline[gsel].max - gline[gsel].min);//500/(360-0)=
//Debug.Print("gline[" + gsel.ToString() + "].colN=" + gline[gsel].colN.ToString());
int itow0 = 0;
int y0, y0_1;
int startrowN = tR[1].startNo;//ターンNo1のスタートからプロット
int endrowN = tR[tR[0].lastNo].endNo;// tR[seleN+0].endNo;
for (irn = 1; irn < endrowN-startrowN; irn++)
{
//Debug.Print("itow0=" + itow0.ToString() + "gline[" + gsel.ToString() + "].colN=" + gline[gsel].colN.ToString());
Pen p = new Pen(samples[gsel], 1);
Brush b1 = new SolidBrush(samples[gsel]);
//if (itow0 % pmsec == 0 && irn > psa)
// {
// Debug.Print("irn=" + irn.ToString() + "psa=" + psa.ToString());
// if (checkBox1.Checked == true)
//{
double yd = Convert.ToDouble(dgv1.Rows[irn+startrowN].Cells[pcoln].Value);
double yd_1 = Convert.ToDouble(dgv1.Rows[irn+startrowN-1].Cells[pcoln].Value);
y0 = Convert.ToInt32(yd);
y0_1 = Convert.ToInt32(yd_1);
// Debug.Print("yscale="+yscale.ToString()+"yd,yd_1=" + yd.ToString() + "," + yd_1.ToString() + "y0,y0_1=" + y0.ToString() + "," + y0_1.ToString());
//}
//else
//{
// y0 = dgv[irn, pcoln];
// y0_1 = dgv[irn - psa, pcoln];
//}
int px = irn * tR[0].xdot;
int px_1 = (irn - psa) * tR[0].xdot;
int py0 = ph / gline[gsel].baseL - (int)((double)y0 * yscale);
int py0_1 = ph / gline[gsel].baseL - (int)((double)y0_1 * yscale);
// g1.DrawLine(Pens.Blue, px, py0, px - 1, py0_1);
// Debug.Print("irn+startrowN="+(irn+startrowN).ToString()+"[px,py]=[" + px.ToString() + "," + py0.ToString() + "],px_1,py0_1=[" + px_1.ToString() + "," + py0_1.ToString()+"]");
g1.DrawLine(p, px, py0, px_1, py0_1);
Color c = samples[gsel];
// pictureBox1.Image = trimmedBitmap;
// if (CKarry[gsel].Checked == true) { g1.FillEllipse(b1, px, py0, 5, 5); }
//Debug.Print("itow0="+itow0.ToString()+"px=" + px.ToString()+"py0="+py0.ToString()+"px_1="+px_1.ToString()+"py0_1="+py0_1.ToString());
//}
}
// }
}
// pictureBox1.Image = trimmedBitmap;
}//makeATurnBitmap() end
//***************TimeScale Graph Source Bit Map make*******************************************************************************
/*参照構造体　lines[] gline
struct lines
{
public string name;//LIne名　選択されたデータ名
public bool available;//Lineが有効：true 無効：false
public int colN;//Column番号
public Color clr;
public int sa;//data 間隔
public int rN_avail;
public int period;
public int x;
public int x_1;
public int y;
public int y_1;
public int max;
public int min;
public int baseL;//Graph base Line 1/2 1/1
public int uscale;//headMot=100000
}
//Struct GraphLine
public Color[] samples = new Color[] { Color.Red, Color.Blue, Color.Green, Color.Yellow, Color.Aqua, Color.DeepPink, Color.BlanchedAlmond };
lines[] gline;//gline global
*/
//*******************gline naming******************************************
// soukrceBitamapを切り取って
private void hScrollBar1_Scroll(object sender, ScrollEventArgs e)
{
int cx = hScrollBar1.Value;
int pW = pictureBox1.Width;
// int dot = 1;// Convert.ToInt32(textBox10.Text);
// int posn = (int)cx / dot;
//textBox3.Text = posn.ToString();
int xdot = timeScale();
// int rcx = (int)((cx - pW / 2) / xdot);
//textBox13.Text = rcx.ToString();
// Debug.Print("cx=" + cx.ToString() + "pW=" + pW.ToString() + "dot=" + dot.ToString() + "posn=" + posn.ToString() + "xdot=" + xdot.ToString() + "rcx=" + rcx.ToString());
sourceCut(cx);//sourceBitmapからcxからcx-1000ドット切り取って、目盛り線と文字を書き込んでpictureBox1に表示
/*
//----------センターカーソルのY値読み込み　表示--------------------------------------------------------
string g0s = (Convert.ToDouble(dgv1.Rows[rcx].Cells[gline[0].colN].Value) / gline[0].uscale).ToString();
string g1s = (Convert.ToDouble(dgv1.Rows[rcx].Cells[gline[1].colN].Value) / gline[1].uscale).ToString();
string g2s = (Convert.ToDouble(dgv1.Rows[rcx].Cells[gline[2].colN].Value) / gline[2].uscale).ToString();
string g3s = (Convert.ToDouble(dgv1.Rows[rcx].Cells[gline[3].colN].Value) / gline[3].uscale).ToString();
string g4s = (Convert.ToDouble(dgv1.Rows[rcx].Cells[gline[4].colN].Value) / gline[4].uscale).ToString();
string g5s = (Convert.ToDouble(dgv1.Rows[rcx].Cells[gline[5].colN].Value) / gline[5].uscale).ToString();
*/
}
private void sourceCut(int cx)//cxはスクロールバー現在位置
{
Graphics g2 = Graphics.FromImage(trimmedBitmap);
g2.Clear(Color.Black);
int pW = 1000;
int startX = 0;
if (cx > pW)
{
startX = cx - pW;
}
else
{
startX = 0;
}
/*
if (checkBox10.Checked == true)
{
pictureBox1.Visible = true;
}
else
{
pictureBox1.Visible = false;
}
*/
Rectangle srcRect = new Rectangle(startX, 0, pW, 500);
Rectangle desRect = new Rectangle(0, 0, pW, 500);
g2.DrawImage(sourceBitmap, desRect, srcRect, GraphicsUnit.Pixel);
//Center Cursor
g2.DrawLine(Pens.White, pW / 2, 0, pW / 2, pictureBox1.Height);
g2.DrawLine(Pens.White, 0, pictureBox1.Height / 2, pW , pictureBox1.Height/2);
// =================センターカーソル座標での各数値表示====================================
//0:headMot,1:mHead,2:gSpeed,3:pitch,4:yaw1,5:DZB,6:relLm,7:slip
//----sourceBitmapX座標の cxから行番号を計算　([0].endNo-[1]startNo)*xdotが全幅 cx=0がtR[1].startNo行になる------
int rncx = (int)(cx / tR[0].xdot) - (int)(500 / tR[0].xdot) + tR[1].startNo;// (int)(cx / tR[0].xdot);
double hmot = Convert.ToDouble(dgv1.Rows[rncx].Cells[18].Value);
double mhead = Convert.ToDouble(dgv1.Rows[rncx].Cells[25].Value);
double slip = hmot - mhead;
double gspd = Convert.ToDouble(dgv1.Rows[rncx].Cells[17].Value)/1000000*3600;//mm/sec=>kmh
double pit = Convert.ToDouble(dgv1.Rows[rncx].Cells[30].Value);
double yw = Convert.ToDouble(dgv1.Rows[rncx].Cells[29].Value);
double roll = Convert.ToDouble(dgv1.Rows[rncx].Cells[31].Value);
double dzb = Convert.ToDouble(dgv1.Rows[rncx].Cells[16].Value);
double lens = Convert.ToDouble(dgv1.Rows[rncx].Cells[27].Value);
//
Debug.Print("rncx=" + rncx.ToString() + "hmot=" + hmot.ToString());
//文字列を表示する範囲を指定する
// 0:headMot,1:mHead,2:gSpeed,3:pitch,4:yaw1,5:DZB,6:relLm
int haba = 110;
RectangleF rectall = new RectangleF(0, 0,1000, 20);//行全体
RectangleF rect = new RectangleF(500,470,240, 20);//行番号をセンターライン下に表示
RectangleF rect0 = new RectangleF(0,0,haba, 20);//hMot位置
RectangleF rect1 = new RectangleF(haba, 0, haba, 20);//slip位置
RectangleF rect2 = new RectangleF(haba*2, 0, haba, 20);//gspd位置
RectangleF rect3 = new RectangleF(haba*3, 0, haba, 20);//pit位置
RectangleF rect4 = new RectangleF(haba*4, 0, haba, 20);//mhead位置
RectangleF rect5 = new RectangleF(haba * 5, 0, haba, 20);//yw位置
RectangleF rect6 = new RectangleF(haba*6, 0, haba, 20);//roll位置
RectangleF rect7 = new RectangleF(haba * 7, 0, haba, 20);//dzb位置
RectangleF rect8 = new RectangleF(haba * 8, 0, haba, 20);//length位置
g2.FillRectangle(Brushes.Black, rect);//rectの四角を描く
g2.FillRectangle(Brushes.Black, rectall);//rectの四角を描く
//フォントオブジェクトの作成
Font fnt = new Font("MS UI Gothic", 16);
// string
//itowから経過時間表示をrncxの後に追加
double timeitow =(Convert.ToDouble(dgv1.Rows[rncx].Cells[13].Value)- Convert.ToDouble(dgv1.Rows[2].Cells[13].Value)) /1000;
string timeitows = timeitow.ToString("F2");
//-----------------------------------
string strrowN = timeitows + "sec"+ "[" + rncx.ToString() + "]";
string strhmot = "hmot=" + hmot.ToString("F1");
string strmhead = "mhed=" + mhead.ToString("F1");
string strslip = "slip=" +slip.ToString("F1");
string strgspd = "gspd=" + gspd.ToString("F1");
string strpit = "pit1=" + pit.ToString("F1");
string stryw = "yaw1=" + yw.ToString("F1");
string strroll = "rol1=" + roll.ToString("F1");
string strdzb = "dzb =" + dzb.ToString("F1");
string strlens = "lens =" + lens.ToString("F1");
//描画 public Color[] samples = new Color[] { Color.Red, Color.Blue, Color.Green, Color.Yellow, Color.Aqua, Color.DeepPink, Color.BlanchedAlmond };
g2.DrawString(strrowN, fnt, Brushes.White, rect);//rowN描画
g2.DrawString(strhmot, fnt, Brushes.Red, rect0);//hMot描画
g2.DrawString(strslip, fnt, Brushes.Orange, rect1);
g2.DrawString(strgspd, fnt, Brushes.Green, rect2);
g2.DrawString(strpit, fnt, Brushes.Yellow, rect3);
g2.DrawString(strmhead, fnt, Brushes.Blue, rect4);
g2.DrawString(stryw, fnt, Brushes.Aqua, rect5);
g2.DrawString(strroll, fnt, Brushes.BlanchedAlmond, rect6);
g2.DrawString(strdzb, fnt, Brushes.DeepPink, rect7);
g2.DrawString(strlens, fnt, Brushes.White, rect8);
/*
// Font fnt = new Font("MS UI Gothic", 15);
//文字列を表示する範囲を指定する
// RectangleF rect = new RectangleF(10, 30, 150, 100);
//rectの四角を描く
g2.FillRectangle(Brushes.Black, rect);
//dgv　ブロックNo　行番号
string gyon = "rowN=" + pointrowN.ToString("D");
g2.DrawString(gyon, fnt, Brushes.White, rect);
//gSpeed
float gspeedkph = (float)dgv[pointrowN, 2] / 1000000 * 3600;
float gspeedmps = (float)dgv[pointrowN, 2] / 1000;
string speeds = "gSpeed=" + ((float)dgv[pointrowN, 2] / 100000).ToString();
g2.DrawString(gspeedkph.ToString("F2") + " km/h", fnt, Brushes.White, 10, 50);
g2.DrawString(gspeedmps.ToString("F2") + " m/sec", fnt, Brushes.White, 10, 70);
*/
pictureBox1.Image = trimmedBitmap;
}
//*******************************************************************************************************
//@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
//@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
//@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
private int timeScale()
{
int dot = 1;// Convert.ToInt32(textBox1.Text);
// if (dot * dgv1.RowCount >bw)
if (dot * rowN > bw)
{
//dot = (int)(bw / dgv1.RowCount);
dot = (int)(bw / rowN);
if (dot == 0) { dot = 1; }
}
return dot;
}
//===========================================================================================================================
//======================TURNカット　Nutral()=================================================================================
//headMOTの極値をニュートラル（切り替え）ポイントとして抽出して、配列データとしてもって、ターングラフに重ねる
//headMOTを5回MAして　微分してプラスマイナス変化点をポイントとする
//===========================================================================================================================
//===========================================================================================================================
private void button12_Click(object sender, EventArgs e)
{
int tsNo = Convert.ToInt32(textBox10.Text);
Nutral(dc.smode_startNo[tsNo], dc.smode_endNo[tsNo]);
button13.Enabled = true;
}
private void Nutral(int stNo,int endNo)//Turn NutralPointを探す
{
// int stNo = Convert.ToInt32(textBox1.Text);
// int endNo = Convert.ToInt32(textBox2.Text);
int ic, i5;
int icR_1, icL_1;
double sum5R, sum5L;
double headR =0;
double headL=0;
string gspeedRs ="";
int nuNR, nuNL ;
int numN = 0;
int num = endNo - stNo;
double[] MA5headR= new double[endNo] ;
double[] DifheadR=new double[endNo];
double[] MA5headL= new double[endNo] ;
double[] DifheadL= new double[endNo] ;
int turnCountR, turnCountL ;
int pared = 0;
turnCountR = 0;
turnCountL = 0;
nuNR = 0;
nuNL = 0;
icR_1 = -8;
icL_1 = -8;
int[] NutralR=new int[endNo];
int[] NutralL = new int[endNo];
int[] turnNoR = new int[endNo];
int[] turnNoL = new int[endNo];
int TurnNumR, TurnNumL;
//loop ic-------------------------------
for ( ic = stNo; ic< endNo - 5;ic++)
{
numN += 1;
sum5R = 0;
sum5L = 0;
for( i5 = ic;i5< 4 + ic;i5++)//５回の移動平均でheadMotを平均化
{
int col_lon = 0;
int col2_lon = 0;
int headMotBR = 18;
int headMotBL = 25;
// headR = (double)(dgv1.Rows[i5].Cells[col_lon + 10].Value )* 0.00001;
// headL = (double)(dgv1.Rows[i5].Cells[col2_lon + 10].Value)* 0.00001;
headR = Convert.ToDouble(dgv1.Rows[i5].Cells[headMotBR].Value);
headL = Convert.ToDouble(dgv1.Rows[i5].Cells[headMotBL].Value);
sum5R = sum5R + headR;
sum5L = sum5L + headL;
}// for i5 end
MA5headR[ic] = sum5R / 5;
MA5headL[ic] = sum5L / 5;
// gspeedRs = dgv1.Rows[i5].Cells[24].Value.ToString();
{
DifheadR[ic] = MA5headR[ic] - MA5headR[ic - 1];
DifheadL[ic] = MA5headL[ic] - MA5headL[ic- 1];
// Debug.Print("DifheadR[,"+ic.ToString()+",]=,"+DifheadR[ic].ToString()+",hedR=,"+headR.ToString()+",gSpeedRs=,"+gspeedRs);
//*******************************************ターン判定**********************************************************
//　微分正負変化点&&ターン長７データ&&gspeed >5000 時速18kmh以上で切る
double gsp = Convert.ToDouble(dgv1.Rows[ic].Cells[17].Value);
if ((DifheadR[ic] * DifheadR[ic - 1]) < 0 && ic - icR_1 > 7 && gsp>5000) //前回から8個以上離れて正負逆転した場合NutralPointと判断
{
Debug.Print("ifNUTRAL:gsp=" + gsp.ToString());
icR_1 = ic;
if (DifheadR[ic] < 0 )
{
NutralR[ic] = -1; //左ターン
tR[turnCountR].direction = "Rturn";
}
else
{
NutralR[ic] = 1;//右ターン
tR[turnCountR].direction = "Lturn";
}
// Debug.Print("NutralR=," + tR[turnCountR].direction);
//CheckBox12.Checked = True;
turnNoR[nuNR] = ic ;//ニュートラルポイントでの行番号記録
//*****ターン構造体記録****************************
//nuNR=1でtr.turnNo=0,nuNR=2でtr.turnNo=1
if (nuNR > 0 )
{
tR[turnCountR].turnNo = turnCountR; //構造体へターン番号記録
tR[turnCountR].startNo = turnNoR[nuNR - 1];//構造体へスタート行番号記録
tR[turnCountR].endNo = turnNoR[nuNR]; //構造体へスタート行番号記録
//RichTextBox2.AppendText("tR(" + CStr(turnCountR) + ") = " + CStr(turnCountR) + ":tr.startNo=" + CStr(tR(turnCountR).startNo) + ",tr.endNo=" + CStr(tR(turnCountR).endNo) + vbCrLf);
// Debug.Print("turnNoR[," + nuNR.ToString() + ",]=," + turnNoR[nuNR].ToString());
Debug.Print("tR.turnNo=," + tR[turnCountR].turnNo.ToString() + ",tR.startNo=," + tR[turnCountR].startNo.ToString() + ",tR.endNo=," + tR[turnCountR].endNo.ToString());
turnCountR++;
}
else
{
NutralR[ic] = turnCountR + 2;// // ターンNOを2個多く記憶
}
nuNR += 1;
}//if DifheadR end
/*
if (DifheadL[ic] * DifheadL[ic - 1] < 0 && ic - icL_1 > 7 )// //前回から8個以上離れて正負逆転した場合NutralPointと判断
{
icL_1 = ic;
if( DifheadL[ic] < 0 )
{
NutralL[ic-stNo] = -1;
tL[turnCountL].direction = "Rturn";
}
else
{
NutralL[ic-stNo] = 1;
tL[turnCountL].direction = "Lturn";
}
//CheckBox12.Checked = True;
turnNoL[nuNL-stNo] = ic;
//*****ターン構造体記録****************************
//nuNR=1でtr.turnNo=0,nuNR=2でtr.turnNo=1
if (nuNL > 0 )
{
tL[turnCountL].turnNo = turnCountL;// //構造体へターン番号記録
tL[turnCountL].startNo = turnNoL[nuNL - 1];// //構造体へスタート行番号記録
tL[turnCountL].endNo = turnNoL[nuNL];// //構造体へスタート行番号記録
//RichTextBox2.AppendText("tL(" + CStr(turnCountL) + ") = " + CStr(turnCountL) + ":tL.startNo=" + CStr(tL(turnCountL).startNo) + ",tL.endNo=" + CStr(tL(turnCountL).endNo) + vbCrLf)
turnCountL += 1;
}
//*************************************************
//RichTextBox2.AppendText("NutralheadL(" + CStr(ic) + ")=" + CStr(1) + "TurnNoL(" + CStr(nuNL) + ")=" + CStr(ic) + "DifheadL(ic)=" + CStr(DifheadL(ic)) + vbCrLf)
nuNL += 1;
}//if DifheadL
else
{
NutralL[ic-stNo] = turnCountL + 2;// // ターンNOを2個多く記憶
}//if DifheadL end
*/
TurnNumR = nuNR;
tR[0].lastNo = turnCountR - 1;// //ターン最後番号をtR(0).lastNoに収納
textBox9.Text = tR[0].lastNo.ToString();
TurnNumL = nuNL;
tL[0].lastNo = turnCountL - 1;// //ターン最後番号をtL(0).lastNoに収納
}//if DifheadL end
}//if C>0 end
}//for ic end
}// Nutral end
/*VB.NETでつくってある　２０２２年最終
https://gist.github.com/dj1711572002/3fd4a496dda9140cd027f68a687ba482
http://shinshu-makers.net/shinshu_makers/2022/02/12/%e3%80%90sta22%e3%80%91rtk%e3%83%87%e3%83%bc%e3%82%bf%e8%a7%a3%e6%9e%90%e7%94%a8%e3%82%b0%e3%83%a9%e3%83%95%e3%82%a3%e3%83%83%e3%82%af%e6%a9%9f%e8%83%bd%e9%96%8b%e7%99%ba%e3%83%bc%e3%81%9d%e3%81%ae5/
//========================TURN Calculation============================================================================
Private void turnCalc(int tN ) //ターン構造体型配列番号を引き渡して左右ターンをまとめて計算する
//Nutral() //Nutral点をカウントしておく
//***************************TURN パラメータリスト****************************************************
//==========================TURNの各パラメータ計算========
int it, iu ;// Integer
int RturnstartNo, RturnendNo ;// Integer
int LturnstartNo, LturnendNo ;// Integer
int initXR, initYR, endXR, endYR ;// Integer
int initXL, initYL, endXL, endYL ;// Integer
double initHiR, initHiL, endHiR, endHiL ;// Double
RpybMax = 0
RpyrMax = 0
LpybMax = 0
LpyrMax = 0
//ターン番号を回しながら左右同時ターンパラメータ計算して得る-----------------
//For it = 0 To tR(0).lastNo - 1 //TurnNumR - 2 //Nutral番号のitとit+1の間のターン番号がitとする:右ターン番号基準=
RturnstartNo = tR(tN).startNo //turnNoR(it)
RturnendNo = tR(tN).endNo //turnNoR(it + 1)
LturnstartNo = tL(tN).startNo //turnNoR(it)
LturnendNo = tL(tN).endNo //turnNoR(it + 1)
int tNumR ;// Integer = RturnendNo - RturnstartNo + 1 //Rターン内のデータ数
intm tNumL ;// Integer = LturnendNo - LturnstartNo + 1 //Lターン内のデータ数
ReDim Rpxb(tNumR), Rpyb(tNumR), Rpxr(tNumR), Rpyr(tNumR) //座標配列再宣言
ReDim Lpxb(tNumL), Lpyb(tNumL), Lpxr(tNumL), Lpyr(tNumL) //座標配列再宣言
ReDim tR(tN).Speed(tNumR), tR(tN).headMot(tNumR), tR(tN).headSki(tNumR), tR(tN).Skid(tNumR)
ReDim tL(tN).Speed(tNumL), tL(tN).headMot(tNumL), tL(tN).headSki(tNumL), tL(tN).Skid(tNumL)
ReDim tR(tN).Gacc(tNumR), tL(tN).Gacc(tNumL) //加速度配列
//====================TURN 時間計算=============================
tR(tN).turnTime = (RturnendNo - RturnstartNo - 1) * 0.125
tL(tN).turnTime = (LturnendNo - LturnstartNo - 1) * 0.125
If tN > 0 Then
tR(tN).turnTimesum = tR(tN - 1).turnTimesum + tR(tN).turnTime
tL(tN).turnTimesum = tL(tN - 1).turnTimesum + tL(tN).turnTime
Else //tN=0の時
tR(tN).turnTimesum = tR(tN).turnTime
tL(tN).turnTimesum = tL(tN).turnTime
End If
//---------フォールライン回転角度と距離-------------------------------------------------
//Debug.Print("turnCald 1stgetpos")
GetPos(RturnstartNo) //RNlon,RNlat,RNheight,RNrelN,RNrelE,RNreLD
initXR = RNlon
initYR = RNlat
initHiR = RNheight / 10 //Height mm=> cm
initXL = LNlon
initYL = LNlat
initHiL = LNheight / 10 //Height mm=> cm
tR(tN).initX = initXR
tR(tN).initY = initYR
tR(tN).initHeight = initHiR
tL(tN).initX = initXL
tL(tN).initY = initYL
tL(tN).initHeight = initHiL
//Debug.Print("turnCald 2nd getpos ")
GetPos(RturnendNo)
endXR = RNlon
endYR = RNlat
endHiR = RNheight / 10 //Height mm=> cm
endXL = LNlon
endYL = LNlat
endHiL = LNheight / 10 //Height mm=> cm
tR(tN).endX = endXR
tR(tN).endY = endYR
tR(tN).endHeight = endHiR
tL(tN).endX = endXL
tL(tN).endY = endYL
tL(tN).endHeight = endHiL
//Debug.Print("RturnstartNo=," + CStr(RturnstartNo) + ",RturnendNo=," + CStr(RturnendNo) + ",initX=," + CStr(initX) + ",initY=," + CStr(initY) + ",endX=," + CStr(endX) + ",endY=," + CStr(endY))
Dim thetaR ;// Double = Math.Atan((endYR - initYR) / (endXR - initXR))
tR(tN).theta = thetaR
Dim SinthR ;// Double = Math.Sin(-thetaR)
Dim CosthR ;// Double = Math.Cos(-thetaR)
Dim fallR ;// Double = Math.Sqrt((endXR - initXR) ^ 2 + (endYR - initYR) ^ 2)
Dim fallL ;// Double = Math.Sqrt((endXL - initXL) ^ 2 + (endYL - initYL) ^ 2)
//================================================================================
//Dim minorDia, majorDia ;// Integer
Dim fallRX, fallLX ;// Double //回転正規化後のfallRの長さ検算
//横滑り角度Skidの最大最小
Dim SkidRsum ;// Double = 0
Dim SkidLsum ;// Double = 0
Dim ArcsumR ;// Double = 0
Dim ArcsumL ;// Double = 0
Dim speedsumR ;// Double = 0
Dim speedsumL ;// Double = 0
Dim GaccsumR ;// Double = 0
Dim GaccmaxR ;// Double = 0
Dim GaccminR ;// Double = 10000
Dim GaccsumL ;// Double = 0
Dim GaccmaxL ;// Double = 0
Dim GaccminL ;// Double = 10000
//大小比較初期値
tR(tN).maxSkid = 0
tR(tN).minSkid = 360
tL(tN).maxSkid = 0
tL(tN).minSkid = 360
//--------------------------------------------------------------------------------------------------------------------
// Debug.Print("======TurnNo it=" + CStr(it) + "thetaR=" + CStr(thetaR) + "fallR=" + CStr(fallR))
//正規化座標計算 iuがターン内のデータ番号スタートが0,エンドが tNR-1
//==========================================================================================================
//Rスキー計算===============================================================================================
//==========================================================================================================
For iu = 0 To tNumR - 1
// Debug.Print("turnCald 3rd getpos iu= " + CStr(iu))
GetPos(iu + RturnstartNo) //dgv1からRTK座標,角度、速度読取り
//turnNOとrNの配列作成
//--Right Ski---------------
Rpxb(iu) = CInt((RNlon * CosthR - RNlat * SinthR))// theata だけ座標回転
Rpyb(iu) = CInt((RNlon * SinthR + RNlat * CosthR)) // theata だけ座標回転
Rpxr(iu) = CInt(((RNlon + RNrelE) * CosthR - (RNlat + RNrelN) * SinthR)) // theata だけ座標回転
Rpyr(iu) = CInt(((RNlon + RNrelE) * SinthR + (RNlat + RNrelN) * CosthR)) // theata だけ座標回転
If iu > 0 Then
Dim rR ;// Double = Math.Sqrt((Rpxb(iu) - Rpxb(iu - 1)) ^ 2 + (Rpyb(iu) - Rpyb(iu - 1)) ^ 2)
ArcsumR = ArcsumR + rR
//Debug.Print("ArcR:rR=" + CStr(rR) + "ArcsumR=" + CStr(ArcsumR))
End If
//Right head角度 Speed 配列代入
tR(tN).headMot(iu) = RNheadmot
tR(tN).headSki(iu) = RNskihead
tR(tN).Speed(iu) = speedR
speedsumR = speedsumR + speedR
tR(tN).Skid(iu) = slipAngleR // RNheadmot - (RNskihead) //Math.Abs(RNheadmot - RNskihead)
SkidRsum = SkidRsum + tR(tN).Skid(iu)
If Math.Abs(tR(tN).maxSkid) <= Math.Abs(tR(tN).Skid(iu)) Then
tR(tN).maxSkid = Math.Abs(tR(tN).Skid(iu))
End If
If Math.Abs(tR(tN).minSkid) >= Math.Abs(tR(tN).Skid(iu)) Then
tR(tN).minSkid = Math.Abs(tR(tN).Skid(iu))
End If
//-Max check------------
If Math.Abs(Rpyb(iu) - Rpyb(0)) > RpybMax Then
RpybMax = Math.Abs(Rpyb(iu) - Rpyb(0))
End If
fallRX = Rpxb(iu) - Rpxb(0)
//----------------------------Gacc計算--------------------------------------
If iu > 0 Then
Dim Alfa ;// Double = Math.Abs(tR(tN).headMot(iu) - tR(tN).headMot(iu - 1))
Dim Alfarad ;// Double = Alfa * Math.PI / 180
Dim cosAlfa ;// Double = Math.Cos(Alfarad)
Dim sinAlfa ;// Double = Math.Sin(Alfarad)
Dim V0 ;// Double = tR(tN).Speed(iu) * 0.277778 //kmh=>m/sec
Dim V1 ;// Double = tR(tN).Speed(iu - 1) * 0.277778 //kmh=>m/sec
Dim L ;// Double = V0 * sinAlfa
Dim m ;// Double = V1 - V0 * cosAlfa
Dim deltaV ;// Double = Math.Sqrt(L ^ 2 + m ^ 2)
Dim G01R ;// Double = deltaV / 0.125
tR(tN).Gacc(iu) = G01R
GaccsumR = GaccsumR + G01R
If G01R > GaccmaxR Then
GaccmaxR = G01R
End If
If G01R < GaccminR Then
GaccminR = G01R
End If
End If
Next iu
//====GaccR加速度代入==========================================
tR(tN).Gaccave = GaccsumR / (tNumR - 1)
tR(tN).Gaccmax = GaccmaxR
tR(tN).Gaccmin = GaccminR
//==============================================================================
//tR() 代入
//==============================================================================
//フォールライン距離fallen
tR(tN).fallen = fallR
//==============標高差:fallHeightと斜度計算:Slopedeg================================================
tR(tN).fallHeight = initHiR - endHiR
tR(tN).Slopedeg = Math.Atan((initHiR - endHiR) / fallR) * 180 / Math.PI
//=========ForLoopの結果===================================
tR(tN).aveSpeed = speedsumR / tNumR
tR(tN).Arclen = CInt(ArcsumR)
If tN > 0 Then
tR(tN).fallensum = tR(tN - 1).fallensum + tR(tN).fallen //フォールラインの距離累計
tR(tN).Arclensum = tR(tN - 1).Arclensum + tR(tN).Arclen //ターン弧の距離累計
tR(tN).fallHeightsum = tR(tN - 1).fallHeightsum + tR(tN).fallHeight //累積標高差
Else //tN=0の時
tR(tN).Arclensum = tR(tN).fallen
tR(tN).Arclensum = tR(tN).Arclen
tR(tN).fallHeightsum = tR(tN).fallHeight
End If
tR(tN).aveSpeed = speedsumR / tNumR
tR(tN).aveSkid = SkidRsum / tNumR
tR(tN).inSpeed = tR(tN).Speed(0)
tR(tN).outSpeed = tR(tN).Speed(tNumR)
//右円弧寸法
tR(tN).fallen = fallRX
tR(tN).minorDia = RpybMax
tR(tN).majorDia = Rpxb(tNumR - 1) - Rpxb(0)
tR(tN).;//pectratio = tR(tN).minorDia / tR(tN).majorDia
tR(tN).Radius = (tR(tN).majorDia ^ 2 / 4 + tR(tN).minorDia ^ 2) / (2 * tR(tN).minorDia * 100) //cm=>m
//===================================================================================================
//Lスキーの計算======================================================================================
//===================================================================================================
For iu = 0 To tNumL - 1
//Debug.Print("tuenCald 4th getpos iu= " + CStr(iu))
GetPos(iu + LturnstartNo) //dgv1からRTK座標読取り
//--Left Ski---------------
Lpxb(iu) = CInt((LNlon * CosthR - LNlat * SinthR)) // theata だけ座標回転
Lpyb(iu) = CInt((LNlon * SinthR + LNlat * CosthR)) // theata だけ座標回転
Lpxr(iu) = CInt(((LNlon + LNrelE) * CosthR - (LNlat + LNrelN) * SinthR))// theata だけ座標回転
Lpyr(iu) = CInt(((LNlon + LNrelE) * SinthR + (LNlat + LNrelN) * CosthR)) // theata だけ座標回転
If iu > 0 Then
ArcsumL = ArcsumL + Math.Sqrt((Lpxb(iu) - Lpxb(iu - 1)) ^ 2 + (Lpyb(iu) - Lpyb(iu - 1)) ^ 2)
End If
//Left head角度 Speed 配列代入
tL(tN).headMot(iu) = LNheadmot
tL(tN).headSki(iu) = LNskihead
tL(tN).Speed(iu) = speedL
speedsumL = speedsumL + speedL
tL(tN).Skid(iu) = slipAngleL//LNheadmot - (LNskihead) //Math.Abs(LNheadmot - LNskihead)
SkidLsum = SkidLsum + tL(tN).Skid(iu)
If Math.Abs(tL(tN).maxSkid) <= Math.Abs(tL(tN).Skid(iu)) Then
tL(tN).maxSkid = Math.Abs(tL(tN).Skid(iu))
End If
If Math.Abs(tL(tN).minSkid) >= Math.Abs(tL(tN).Skid(iu)) Then
tL(tN).minSkid = Math.Abs(tL(tN).Skid(iu))
End If
//--Max check------------
If Math.Abs(Lpyb(iu) - Lpyb(0)) > LpybMax Then
LpybMax = Math.Abs(Lpyb(iu) - Lpyb(0))
End If
fallLX = Lpxb(iu) - Lpxb(0)
//-----------------------------Gacc計算--------------------------------------
If iu > 0 Then
Dim Alfa ;// Double = Math.Abs(tL(tN).headMot(iu) - tL(tN).headMot(iu - 1))
Dim Alfarad ;// Double = Alfa * Math.PI / 180
Dim cosAlfa ;// Double = Math.Cos(Alfarad)
Dim sinAlfa ;// Double = Math.Sin(Alfarad)
Dim V0 ;// Double = tL(tN).Speed(iu) * 0.277778 //kmh=>m/sec
Dim V1 ;// Double = tL(tN).Speed(iu - 1) * 0.277778 //kmh=>m/sec
Dim L ;// Double = V0 * sinAlfa
Dim m ;// Double = V1 - V0 * cosAlfa
Dim deltaV ;// Double = Math.Sqrt(L ^ 2 + m ^ 2)
Dim G01L ;// Double = deltaV / 0.125
tL(tN).Gacc(iu) = G01L
GaccsumL = GaccsumL + G01L
If G01L > GaccmaxL Then
GaccmaxL = G01L
End If
If G01L < GaccminL Then
GaccminL = G01L
End If
// Debug.Print("L:tL(" + CStr(tN) + ").Gacc(" + CStr(iu) + ")=" + CStr(tL(tN).Gacc(iu)) + "GaccmaxL=" + CStr(GaccmaxL))
End If
Next iu
//====GaccR加速度代入==========================================
tL(tN).Gaccave = GaccsumL / (tNumL - 1)
tL(tN).Gaccmax = GaccmaxL
tL(tN).Gaccmin = GaccminL
//==============================================================================
//tL() 代入
//==============================================================================
//フォールライン距離fallen
tL(tN).fallen = fallL
//==============標高差:fallHeightと斜度計算:Slopedeg================================================
tL(tN).fallHeight = initHiL - endHiL
tL(tN).Slopedeg = Math.Atan((initHiL - endHiL) / fallL) * 180 / Math.PI
//=========ForLoopの結果===================================
tL(tN).aveSpeed = speedsumL / tNumL
tL(tN).Arclen = CInt(ArcsumL)
If tN > 0 Then
tL(tN).fallensum = tL(tN - 1).fallensum + tL(tN).fallen //フォールラインの距離累計
tL(tN).Arclensum = tL(tN - 1).Arclensum + tL(tN).Arclen //ターン弧の距離累計
tL(tN).fallHeightsum = tL(tN - 1).fallHeightsum + tL(tN).fallHeight //累積標高差
Else //tN=0の時
tL(tN).Arclensum = tL(tN).fallen
tL(tN).Arclensum = tL(tN).Arclen
tL(tN).fallHeightsum = tL(tN).fallHeight
End If
tL(tN).aveSpeed = speedsumL / tNumL
tL(tN).Arclen = CInt(ArcsumL)
tL(tN).aveSkid = SkidLsum / tNumL
SkidLsum = 0
tL(tN).inSpeed = tL(tN).Speed(0)
tL(tN).outSpeed = tL(tN).Speed(tNumL)
//左円弧寸法
tL(tN).fallen = fallLX
tL(tN).minorDia = LpybMax
tL(tN).majorDia = Lpxb(tNumL - 1) - Lpxb(0)
tL(tN).;//pectratio = tL(tN).minorDia / tL(tN).majorDia
tL(tN).Radius = (tL(tN).majorDia ^ 2 / 4 + tL(tN).minorDia ^ 2) / (2 * tL(tN).minorDia * 100) //cm=>m
//------------------------------------------------------------
// Debug.Print("TURN Calc: ,minorDia=," + CStr(minorDia) + "cm,majorDia =," + CStr(majorDia) + "cm, ;//pectRatio=," + (minorDia / majorDia).ToString("0.00") + "===============================")
//------------------------------dgv2へ書き込み------------------------
dgv2.ColumnCount = 100
headText()
If dgv2.Rows.Count = 0 Then
End If
dgv2.Rows.Add(tR(tN).turnNo, "Rski", tR(tN).direction, tR(tN).Radius.ToString("0.0"), tR(tN).aveSkid.ToString("0.0"), tR(tN).aveSpeed.ToString("0.0"), tR(tN).Gaccmax.ToString("0.00"), tR(tN).Slopedeg.ToString("0.0"), tR(tN).;//pectratio.ToString("0.00"), (tR(tN).fallensum / 100).ToString("0.0"), (tR(tN).Arclensum / 100).ToString("0.0"), (tR(tN).fallHeightsum / 100).ToString("0.0"), tR(tN).turnTime, tR(tN).turnTimesum)
dgv2.Rows.Add(tL(tN).turnNo, "Lski", tL(tN).direction, tL(tN).Radius.ToString("0.0"), tL(tN).aveSkid.ToString("0.0"), tL(tN).aveSpeed.ToString("0.0"), tL(tN).Gaccmax.ToString("0.00"), tL(tN).Slopedeg.ToString("0.0"), tL(tN).;//pectratio.ToString("0.00"), (tL(tN).fallensum / 100).ToString("0.0"), (tL(tN).Arclensum / 100).ToString("0.0"), (tL(tN).fallHeightsum / 100).ToString("0.0"), tL(tN).turnTime, tL(tN).turnTimesum)
dgv2.AutoSizeColumnsMode = DataGridViewAutoSizeColumnsMode.AllCells
dgv2.AutoSizeRowsMode = DataGridViewAutoSizeRowsMode.None
End Sub
*/
//****************************************************************************************************************************
/*************xyplot***********************************************
private void xyplot()
{
Graphics srcxy = Graphics.FromImage(xyBitmap);
Graphics srcsxy = Graphics.FromImage(xysBitmap);
Graphics desxy = Graphics.FromImage(p2Bitmap);
srcxy.Clear(Color.Black);
srcsxy.Clear(Color.Black);
int ix, irow;
int px = 0;
int py = 0;
//prown 　クリック座標逆引き配列 宣言
prownx = new int[blen];
prowny = new int[blen];
// int pic2w = 300;
// int PIC2H = 300;
int bitxyw = xysize;// 3000;
int bitxyh = xysize;// 3000;
int nutralflag = 0;
long valx, valy;
long valxi, valyi;
//
blockn_1 = blockn;
blockn = comboBox7.SelectedIndex + 1;//blen個毎にブロック切り替え
Debug.Print("XYPLOT:blockn=" + blockn.ToString() + "dbk[].minlon=" + dbk[blockn].minlon.ToString() + "dbk[].minlat=" + dbk[blockn].minlat.ToString());
// int startrow = (blockn - 2) * blen;
//---------------Nutral Point Array set Block指定のみ----------------------------------------------------
if (blockn < comboBox7.Items.Count)
{
for (irow = dbk[blockn].startRow; irow < dbk[blockn].endRow - 2; irow++)//dgv1.RowCount - 3; irow++)
{
int ni = irow - dbk[blockn].startRow;
long sa = dgv[irow + 1, 3] - dgv[irow, 3];
long sa_1 = dgv[irow + 2, 3] - dgv[irow + 1, 3];
if (sa * sa_1 < 0 && irow > 2)//headmotの極値変化
{
dbk[blockn].nutralN[ni] = 1;//ニポイントを１
//Debug.Print("Nutral ON:headMot="+dgv[irow,3].ToString()+"irow=" + irow.ToString() + ",dbk[blockn].nutralN[" + ni.ToString() + "]=" + dbk[blockn].nutralN[ni].ToString());
}
else if (irow > 2)
{
dbk[blockn].nutralN[ni] = 0;//ニュートラルポイントでない０
// Debug.Print("Nutral Off:headMot="+dgv[irow,3].ToString()+"irow=" + irow.ToString() + ",dbk[blockn].nutralN[" + ni.ToString() + "]=" + dbk[blockn].nutralN[ni].ToString());
}
}
}
//-------------------------------------------------------------------------------------------------
// if (blockn == comboBox7.Items.Count)//all
//{
// startrow = 1;
// }
//
lonW = dbk[blockn].lonW; //maxlon[blockn] - minlon[blockn];
latH = dbk[blockn].latH;//maxlat[blockn] - minlat[blockn];
//Debug.Print("lonW=" + lonW.ToString() + ",latH=" + latH.ToString());
//------------------------ソースxybitmap へ縮小プロット---------------------------------
scalex = (double)(lonW * 1.1 / bitxyw);//lonWは、xysize 20000全幅cm/dot
scaley = (double)(latH * 1.1 / bitxyh);//latHは全高cm/dot
if (scalex > scaley) { scale0 = scalex; }//大きいスケールを採用
if (scalex < scaley) { scale0 = scaley; }
//textBox14.Text = scale0.ToString();
label3.Text = "縦=" + (latH / 100).ToString() + "m,横=" + (lonW / 100).ToString() + "m, 縮尺" + scale0.ToString("n2") + "cm/dot";
//int endblock = 0;
//if (rowN > (blockn - 1) * blen) //最後のブロックでない場合のエンド行No
//{
// endblock = (blockn - 1) * blen;
//}
//else
//{
// endblock = rowN - 2;
//}
for (irow = dbk[blockn].startRow; irow < dbk[blockn].endRow; irow++)//dgv1.RowCount - 3; irow++)
{
if (dgv[irow, 4] > 0 && dgv[irow, 5] > 0)
{
if (checkBox1.Checked == true)
{
valx = Convert.ToInt32(dgv1.Rows[irow].Cells[4].Value);//lon
valy = Convert.ToInt32(dgv1.Rows[irow].Cells[5].Value);//lat
}
else
{
valx = dgv[irow, 4];//Convert.ToInt32(dgv1.Rows[irow].Cells[4].Value);//lon
valy = dgv[irow, 5];//Convert.ToInt32(dgv1.Rows[irow].Cells[5].Value);//lat
}
valxi = valx - dbk[blockn].minlon;
valyi = valy - dbk[blockn].minlat;
px_1 = px;
px = Convert.ToInt32((double)valxi / scale0);
py_1 = py;
py = Convert.ToInt32((double)valyi / scale0);
//prown 逆弾き代入
if (blockn < comboBox7.Items.Count)//AllBlock 以外
{
prownx[irow - dbk[blockn].startRow] = px;
prowny[irow - dbk[blockn].startRow] = py;
}
//
// All block での色分け
Color cxy;
if (blockn > alln)
{
a = Convert.ToInt32(Math.Ceiling((double)irow / blen));
cxy = samples[a - 1];
}
else
{
cxy = samples[blockn - 1];
}
//
if (checkBox11.Checked == true)
{
// Pen p = new Pen(Color.LawnGreen, 2);
Pen p = new Pen(cxy, 4);
srcxy.DrawLine(p, px, py, px_1, py_1);
Pen p1 = new Pen(cxy, 1);
srcsxy.DrawLine(p1, px, py, px_1, py_1);//拡大用ソース
}
// Brush b1 = new SolidBrush(samples[blockn - 1]);
Brush b1 = new SolidBrush(cxy);
Brush b2 = new SolidBrush(Color.White);
//Nutral Point White
if (blockn < comboBox7.Items.Count)//AllBlock 以外
{
//Debug.Print("colorWhite:irow=" + irow.ToString() + "nutralN=" + dbk[blockn].nutralN[irow - dbk[blockn].startRow].ToString());
if (dbk[blockn].nutralN[irow - dbk[blockn].startRow] == 1)
{
nutralflag = 1;
}
}
// Debug.Print("irow=" + irow.ToString() + ",px=" + px.ToString() + "py=" + py.ToString());
if (dgv[irow, 1] % 100 == 0)//F9P 100msec
{
int diam = 16;
int pxd = px - diam / 2;
int pyd = py - diam / 2;
if (nutralflag == 1) { b1 = b2; }
srcxy.FillEllipse(b1, pxd, pyd, 24, 24);
srcsxy.FillEllipse(b1, pxd, pyd, 4, 4);
nutralflag = 0;
}
}
}
// Debug.Print("irow="+irow.otring()+"px,py="+px.ToString() +","+ py.ToString());
//縮小表示　3000x3000を300x300へ縮小表示-------------------------------------------------
Rectangle srcrect = new Rectangle(0, 0, xysize, xysize);
Rectangle desrect = new Rectangle(0, 0, pic2w, pic2h);
desxy.DrawImage(xyBitmap, desrect, srcrect, GraphicsUnit.Pixel);
//p2sBitmap = p2Bitmap;
pictureBox2.Image = p2Bitmap;
Debug.Print("scale0=" + scale0.ToString() + "px,py=" + px.ToString() + "," + py.ToString());
}//Picturebox2 xyplot******************************************************************************************************
*//////////////////////
}
/*
if (checkBox2.Checked == true)
{
//-----------------------------BinaryFilevread----------------------------------------------
FileStream fs = new FileStream(ofd.FileName, FileMode.Open, FileAccess.Read);
int fileSize = (int)fs.Length; // ファイルのサイズ
byte[] buf = new byte[fileSize]; // データ格納用配列
int readSize; // Readメソッドで読み込んだバイト数
int remain = fileSize; // 読み込むべき残りのバイト数
int bufPos = 0; // データ格納用配列内の追加位置
int bm = 0;
int bi;
while (remain > 0)
{
// 1024Bytesずつ読み込む
readSize = fs.Read(buf, bufPos, Math.Min(1024, remain));
bm++;
bufPos += readSize;
remain -= readSize;
//Debug.Print("bm=" + bm.ToString());
}
fs.Dispose();
int i;
for (i = 0; i < 200; i++)
{
Debug.Print("fileSize=" + fileSize.ToString() + "buf[" + i.ToString() + "]=" + buf[i].ToString("X"));
}
// ubxcnv(buf, fileSize, ofd.FileName);//ubx 一括変換して、配列格納とファイルセーブ　任意でdgv,richtext表示
}// binary read end
*/
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