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dj1711572002/NAV-PVT_RELPOSNED_GraphicPlot_rev002.vb

Created December 13, 2020 14:42
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F9P_MovingBase8Hz_GraphicMonitor_RealTImeGraph_Logging rev02
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NAV-PVT_RELPOSNED_GraphicPlot_rev002.vb
'Serial Port Recieve Sample Program
'Form1 Object must create ,button1,2 & textbox 1,2　
Imports System.Drawing
Imports System.IO.Ports
Imports Microsoft.VisualBasic.FileIO
Imports System.IO
Imports System.Text
Imports System.Collections
Public Class Form1
'Dim bdat As Byte()
Dim sdat As String()
Dim i, j, k, l As Integer
Dim NN As Integer
Dim NVC As Integer = 0 'NAV data Counter
Dim NVi As Integer = 0
Dim PVTflag As Integer = 0
Dim RELPflag As Integer = 0
Dim startIndex As Integer
Dim strPVT As String
Dim sbPVT As String()
Dim bPVT As Byte(,)
Dim strRELP As String
Dim sbRELP As String()
Dim bRELP As Byte(,)
Dim sw As New System.Diagnostics.Stopwatch()
'================PVT RELP Paramers============================
Dim parPVT As Long()
Dim parRELP As Long()
Public headPVT As String
Public headRELP As String
'=============File declarations ================
Public file As System.IO.StreamWriter
Public file1 As System.IO.StreamWriter
Public fileH As System.IO.StreamWriter
Public file_dgv As System.IO.StreamWriter
'------file para------------
Public cindex As Integer
Public dreadata(1000, 1000) As String
Public dcIndex As Integer
Public dcIndex_max As Integer
Public rdataN As Integer
Public fopen As Integer
Public f1open As Integer
Public fnameH As String
Public fStr1, fstr2 As String
'---plotC parameters------------
Public startrowN As Integer
Public plotrowN As Integer
Public zLon, zLat, zHeight As Integer '緯度経度高度plot 中心基準点
Public zRelN, zRelE, zRelD As Integer 'RELPOSNED 基準点
Public zsetFlag As Integer
'=============================START PROGRM=================================================================================================
Delegate Sub DataDelegate(ByVal sdata As String)
'==========================================================================================================================================
Private Sub PrintData(ByVal sdata As String)
k = k + 1
'Debug.Print("slen=" & CStr(sdata.Length) & "sdata(" & CStr(k) & ")=" & sdata)
startIndex = sdata.IndexOf("B5-62-01-07")
If startIndex >= 0 And sdata.Length >= 299 Then
sw.Stop()
Debug.Print("--------------PVT_time=" & sw.ElapsedMilliseconds)
sw.Start()
strPVT = sdata.Substring(startIndex, 299) 'PVT 100bytex3=300 最後のデリミタが無いから299
sbPVT = strPVT.Split("-")
' Debug.Print("PVT:start=" & CStr(startIndex) & "len=" & CStr(sdata.Length) & "strPVT=" & strPVT)
PVTflag = 1
End If
startIndex = sdata.IndexOf("B5-62-01-3C")
If startIndex >= 0 And sdata.Length >= 215 Then
sw.Stop()
Debug.Print("--------------RELPOSNED_time=" & sw.ElapsedMilliseconds)
sw.Start()
strRELP = sdata.Substring(startIndex, 215) ' RELPOSNED 72bytex3=216 最後のデリミタが無いから215
sbRELP = strRELP.Split("-")
' Debug.Print("RELPOSNED:start=" & CStr(startIndex) & "len=" & CStr(sdata.Length) & "strRELP=" & strRELP)
RELPflag = 1
End If
If PVTflag = 1 And RELPflag = 1 Then
NVC += 1 'NAV data set Counter
' Debug.Print("NVC=" & CStr(NVC))
'--------PVTとRELPOSNED16進数string配列を2次元Byte配列に変換--------------------------------------------
For i = 0 To 99
bPVT(NVC, i) = Convert.ToByte(sbPVT(i), 16)
' Debug.Print("bPVT(" & CStr(NVC) & "," & CStr(i) & ")=" & CStr(bPVT(NVC, i)) & ":" & sbPVT(i))
Next
For i = 0 To 71
bRELP(NVC, i) = Convert.ToByte(sbRELP(i), 16)
' Debug.Print("bRELP(" & CStr(NVC) & "," & CStr(i) & ")=" & CStr(bRELP(NVC, i)) & ":" & sbRELP(i))
Next
'-------------------------------------------------------------------------------------------------------
'===========================================================================================================================================================
'DGVデータ表示=============================================================================================================================================
'===========================================================================================================================================================
Dim rowN As Integer
rowN = (NVC - 1) 'Data Printing 繰り返し行指定
'----------------変換　SUB-----------------------------------------------
PVT_Trans(NVC) ' PVT Binary を実数データに変換　parPVT(1-33) as integer
RELP_Trans(NVC) ' RELPOSNED Binary を実数データに変換　parRELP(1-15) as integer
'--------------ファイルWrite parPVTとparRELP dgv表示ではなく全データ保存----------------------------------------------------
If fopen = 1 Then
Label2.Text = "-Logging-"
Dim fStr As String
fStr = CStr(NVC)
For i = 1 To 33 'parPVT(1-33) to fStr
fStr = fStr + "," + CStr(parPVT(i))
Next
For i = 1 To 15 'parRELP(1-15) to fStr
fStr = fStr + "," + CStr(parRELP(i))
Next
fStr = fStr + vbCrLf
file.Write(fStr)
End If
'-------------DGV1 サイズ決め-------------------------------
dgv1.ColumnCount = 23
'----Rows(0)=time sec
dgv1.Columns(0).HeaderText = "Sec"
dgv1.Columns(0).Width = 40
Dim tSec As Single = NVC * 0.125 ' Sampling time sec
'--PVTヘッダー
dgv1.Columns(1).HeaderText = "iTow"
Dim iTow As Integer = parPVT(1)
dgv1.Columns(1).Width = 60
dgv1.Columns(2).HeaderText = "fixType"
Dim fixType As Integer = parPVT(11)
dgv1.Columns(3).HeaderText = "numSV"
Dim numSV As Integer = parPVT(14)
dgv1.Columns(4).HeaderText = "lon"
Dim lon As Integer = parPVT(15)
dgv1.Columns(5).HeaderText = "lat"
Dim lat As Integer = parPVT(16)
dgv1.Columns(6).HeaderText = "height"
Dim height As Integer = parPVT(17)
dgv1.Columns(7).HeaderText = "hAcc"
Dim hAcc As Integer = parPVT(19)
dgv1.Columns(8).HeaderText = "vAcc"
Dim vAcc As Integer = parPVT(20)
dgv1.Columns(9).HeaderText = "velN"
Dim velN As Integer = parPVT(21)
dgv1.Columns(10).HeaderText = "velE"
Dim velE As Integer = parPVT(22)
dgv1.Columns(11).HeaderText = "velD"
Dim velD As Integer = parPVT(23)
'--RELPOSNED ヘッダー
dgv1.Columns(12).HeaderText = "RELP_iTow"
Dim RELP_iTOW As Integer = parRELP(1)
dgv1.Columns(13).HeaderText = "relPosN"
Dim relPosN As Single = parRELP(2) + parRELP(7) * 0.1
dgv1.Columns(14).HeaderText = "relPosE"
Dim relPosE As Single = parRELP(3) + parRELP(8) * 0.1
dgv1.Columns(15).HeaderText = "relPosD"
Dim relPosD As Single = parRELP(4) + parRELP(9) * 0.1
dgv1.Columns(16).HeaderText = "relPosLength"
Dim relPosLength As Single = parRELP(5) + parRELP(10) * 0.1
dgv1.Columns(17).HeaderText = "relPosHeading"
Dim relPosHeading As Single = parRELP(6) * 0.00001
dgv1.Columns(18).HeaderText = "accN"
Dim accN As Single = parRELP(11) * 0.01
dgv1.Columns(19).HeaderText = "accE"
Dim accE As Single = parRELP(12) * 0.01
dgv1.Columns(20).HeaderText = "accD"
Dim accD As Single = parRELP(13) * 0.01
dgv1.Columns(21).HeaderText = "accLength"
Dim accLength As Single = parRELP(14) * 0.01
dgv1.Columns(22).HeaderText = "accHeading"
Dim accHeading As Single = parRELP(15) * 0.00001
'===================行追加と一括書き込み===============================
'PVT=1:iTow,11:fixType,14:numSV,15:lon,16:lat,17:height,19:hAcc ,20:vAcc,21:velN,22:velE,23:velD
'RELPOSNED=1:iTOW,2:relPosN,3:relPosE,4:relPosD,5:relPosLength,6:relPosHeading,
'11:accN,12:accE,13:accD,14:accLength,15:accHeading
dgv1.Rows.Add(tSec, iTow, fixType, numSV, lon, lat, height, hAcc, vAcc, velN, velE, velD,
RELP_iTOW, relPosN, relPosE, relPosD, relPosLength, relPosHeading,
accN, accE, accD, accLength, accHeading)
'------------dgv1 行ヘッダー番号　--------------------------------
dgv1.Rows(rowN).HeaderCell.Value = NVC.ToString() '行ヘッダーにデータ番号NVC
dgv1.RowHeadersWidth = 60
'-----Focus Row------------------------------------
If rowN > 5 Then
dgv1.FirstDisplayedScrollingRowIndex = rowN
End If
PVTflag = 0
RELPflag = 0
'================================================================================================================================================
'================================================================================================================================================
'plotC 　グラフィック描画=======================================================================================================================
'================================================================================================================================================
'================================================================================================================================================
'------wait 時間制御 NVCカウントする hscrollbar1でwait時間調整
' waitN=0停止で手動プロットモード waitN=10で実速度0.125sec
Dim waitN As Integer
Dim ctime As Integer
Dim ctime_1 As Integer = 0
TextBox1.Text = waitN
'RealTimeMotion
If CheckBox2.Checked = True Then
plotC(NVC - 1)
End If
End If
End Sub
'------------手動モーション位置マウスクリック指定
Private Sub dgv1_CellClick(sender As Object, e As DataGridViewCellEventArgs) Handles dgv1.CellClick
If zsetFlag = 1 Then
plotrowN = dgv1.CurrentCell.RowIndex
Label4.Text = plotrowN + 1
plotC(plotrowN)
End If
End Sub
'---------------センタリングボタン　現在セル位置をスタート座標とする---------------
Private Sub Button7_Click(sender As Object, e As EventArgs) Handles Button7.Click
centering()
End Sub
Private Sub centering()
startrowN = NVC - 1 'dgv1.CurrentCell.RowIndex
zLon = dgv1.Rows(startrowN).Cells(4).Value '基準Long
zLat = dgv1.Rows(startrowN).Cells(5).Value '基準Lati
zHeight = dgv1.Rows(startrowN).Cells(6).Value '基準Lati
zRelN = dgv1.Rows(startrowN).Cells(13).Value '基準Lati
zRelE = dgv1.Rows(startrowN).Cells(14).Value '基準Lati
zRelD = dgv1.Rows(startrowN).Cells(15).Value '基準Lati
TextBox3.Text = startrowN + 1 '行ヘッダー番号に合わせると＋１
zsetFlag = 1
End Sub
'=============================================================================================================================================
Private Sub Button1_Click(sender As Object, e As EventArgs) Handles Button1.Click
SerialPort1.PortName = ComboBox1.SelectedItem ' "COM18" ' TextBox1.Text 'オープンするポート名を格納
SerialPort1.Open() 'ポートオープン
End Sub
Private Sub Button2_Click(sender As Object, e As EventArgs) Handles Button2.Click
If fopen = 1 Then
file.Close()
End If
Label2.Text = ""
If SerialPort1.IsOpen = True Then 'ポートオープン済み
SerialPort1.Close() 'ポートクローズ
End If
End Sub
Private Sub SerialPort1_DataReceived(sender As Object, e As SerialDataReceivedEventArgs) Handles SerialPort1.DataReceived
Dim ReceivedData As String = "" '受信データ用変数を宣言します
If CheckBox1.Checked = True Then
Try
Dim arrByte As Byte() = New Byte(SerialPort1.BytesToRead - 1) {}
SerialPort1.Read(arrByte, 0, arrByte.GetLength(0)) 'Binary Receive
ReceivedData = BitConverter.ToString(arrByte) ' & vbCrLf
Catch ex As Exception
ReceivedData = ex.Message '例外処理を行います
End Try
'Invokeメソッドにより実行されるメソッドへのデリゲートの宣言を行い、受信データを表示します
Dim adre As New DataDelegate(AddressOf PrintData)
Me.Invoke(adre, ReceivedData)
End If
End Sub
Private Sub Form1_Activated(sender As Object, e As EventArgs) Handles Me.Activated
'============DIM initialize===============================
ReDim sbPVT(100)
ReDim sbRELP(72)
ReDim bPVT(30000, 100)
ReDim bRELP(30000, 72)
'dgv1.ColumnCount = 172
'dgv1.RowCount = 2000
ReDim parPVT(100)
ReDim parRELP(72)
For Each sp As String In My.Computer.Ports.SerialPortNames
ComboBox1.Items.Add(sp)
Next
'dgv1.AutoSizeColumnsMode = DataGridViewAutoSizeColumnsMode.AllCells
'For i = 0 To dgv1.ColumnCount - 1
' dgv1.Columns(i).Width = 40
'Next
headPVT = "iTOW,Year,month,day,hour,min,sec,valid,tAcc,nano,fixType,flags,flags2,numSV,lon,lat,height,hMSL,hAcc,vAcc,velN,velE,velD,gSpeed,headMot,sAcc,headAcc,pDOP,flags3,reserved1,headVeh,magDec,magAcc"
headRELP = "R_iTOW,relPosN,relPosE,relPosD,relPosLength,relPosHeading,relPosHPN,relPosHPE,relPosHPD,relPosHPLength,accN,accE,accD,accLength,accHeading"
End Sub
'=======================UBX Translation=============================================================================
Private Sub PVT_Trans(ByVal NVC As Integer)
'----------------PVT Trans---------------------------------------
' headPVT = "iTOW,Year,month,day,hour,min,sec,valid,tAcc,nano,fixType,flags,flags2,numSV,lon,lat,height,hMSL,hAcc,vAcc,velN,velE,velD,gSpeed,headMot,sAcc,headAcc,pDOP,flags3,reserved1,headVeh,magDec,magAcc"
'Byte OFFSET=5 (header: B5,62,01,07,5C 5 Byte)
Dim off As Integer = 6
'1:iTOW 0-3
parPVT(1) = pvtI4(NVC, 0 + off)
' Debug.Print("parPVT(1)=" & CStr(parPVT(1)))
'2:Year 4-5
parPVT(2) = pvtI2(NVC, 4 + off)
' Debug.Print("parPVT(2)=" & CStr(parPVT(2)))
'3:month 6
parPVT(3) = CInt(bPVT(NVC, 6 + off))
' Debug.Print("parPVT(3)=" & CStr(parPVT(3)))
'4:day 7
parPVT(4) = CInt(bPVT(NVC, 7 + off))
' Debug.Print("parPVT(4)=" & CStr(parPVT(4)))
'5:hour 8
parPVT(5) = CInt(bPVT(NVC, 8 + off))
' Debug.Print("parPVT(5)=" & CStr(parPVT(5)))
'6:min 9
parPVT(6) = CInt(bPVT(NVC, 9 + off))
' Debug.Print("parPVT(6)=" & CStr(parPVT(6)))
'7:sec 10
parPVT(7) = CInt(bPVT(NVC, 10 + off))
Debug.Print("parPVT(7)=" & CStr(parPVT(7)))
'8:valid 11
parPVT(8) = CInt(bPVT(NVC, 11 + off))
'Debug.Print("parPVT(8)=" & CStr(parPVT(8)))
'9:tAcc 12,13,14,15
parPVT(9) = pvtI4(NVC, 12 + off)
' Debug.Print("parPVT(9)=" & CStr(parPVT(9)))
'10:nano 16
parPVT(10) = CInt(bPVT(NVC, 16 + off))
'Debug.Print("parPVT(10)=" & CStr(parPVT(10)))
'11:fixType 20
parPVT(11) = CInt(bPVT(NVC, 20 + off))
'Debug.Print("parPVT(11)=" & CStr(parPVT(11)))
'12:flags 21
parPVT(12) = CInt(bPVT(NVC, 21 + off))
' Debug.Print("parPVT(12)=" & CStr(parPVT(12)))
'13:flags2 22
parPVT(13) = CInt(bPVT(NVC, 22 + off))
' Debug.Print("parPVT(13)=" & CStr(parPVT(13)))
'14:numSV 23
parPVT(14) = CInt(bPVT(NVC, 23 + off))
' Debug.Print("parPVT(14)=" & CStr(parPVT(14)))
'15:lon'24,25,26,27
parPVT(15) = pvtI4(NVC, 24 + off)
' Debug.Print("parPVT(15)=" & CStr(parPVT(15)))
'16:lat 28,29,30,31
parPVT(16) = pvtI4(NVC, 28 + off)
' Debug.Print("parPVT(16)=" & CStr(parPVT(16)))
'17:height 32,33,34,35
parPVT(17) = pvtI4(NVC, 32 + off)
' Debug.Print("parPVT(17)=" & CStr(parPVT(17)))
'18:hMSL 36,37,38,39
parPVT(18) = pvtI4(NVC, 36 + off)
' Debug.Print("parPVT(18)=" & CStr(parPVT(18)))
'19:hAcc 40,41,42,43
parPVT(19) = pvtI4(NVC, 40 + off)
' Debug.Print("parPVT(19)=" & CStr(parPVT(19)))
'20:vAcc 44,45,46,47
parPVT(20) = pvtI4(NVC, 44 + off)
' Debug.Print("parPVT(20)=" & CStr(parPVT(20)))
'21:velN 48,49,50,51
parPVT(21) = pvtI4(NVC, 48 + off)
' Debug.Print("parPVT(21)=" & CStr(parPVT(21)))
'22:velE 52,53,54,55
parPVT(22) = pvtI4(NVC, 52 + off)
' Debug.Print("parPVT(22)=" & CStr(parPVT(22)))
'23:velD 56,57,58,59
parPVT(23) = pvtI4(NVC, 56 + off)
' Debug.Print("parPVT(23)=" & CStr(parPVT(23)))
'24:gSpeed 60,61,62,63
parPVT(24) = pvtI4(NVC, 60 + off)
'Debug.Print("parPVT(24)=" & CStr(parPVT(24)))
'25:headMot 64,65,66,67
parPVT(25) = pvtI4(NVC, 64 + off)
' Debug.Print("parPVT(25)=" & CStr(parPVT(25)))
'26:sAcc 68,69,70,71
parPVT(26) = pvtI4(NVC, 68 + off)
' Debug.Print("parPVT(26)=" & CStr(parPVT(26)))
'27:headAcc 72,73,74,75
parPVT(27) = pvtI4(NVC, 72 + off)
' Debug.Print("parPVT(27)=" & CStr(parPVT(27)))
'28:pDOP 76,77
parPVT(28) = pvtI2(NVC, 76 + off)
' Debug.Print("parPVT(28)=" & CStr(parPVT(28)))
'29:flags3 78
parPVT(29) = CInt(bPVT(NVC, 78 + off))
' Debug.Print("parPVT(29)=" & CStr(parPVT(29)))
'30:reserved1 79,80,81,82
parPVT(30) = pvtI4(NVC, 79 + off)
' Debug.Print("parPVT(30)=" & CStr(parPVT(30)))
'31:headVeh 83,84,85,86
parPVT(31) = pvtI4(NVC, 83 + off)
'Debug.Print("parPVT(31)=" & CStr(parPVT(31)))
'32:magDec 88,89
parPVT(32) = pvtI2(NVC, 88 + off)
' Debug.Print("parPVT(32)=" & CStr(parPVT(32)))
'33:magAcc 90,91
parPVT(33) = pvtI2(NVC, 90 + off)
' Debug.Print("parPVT(33)=" & CStr(parPVT(33)))
End Sub
Private Sub RELP_Trans(ByVal NVC As Integer)
'----------------PVT Trans---------------------------------------
' headRELP = "R_iTOW,relPosN,relPosE,relPosD,relPosLength,relPosHeading,relPosHPN,relPosHPE,relPosHPD,relPosHPLength,accN,accE,accD,accLength,accHeading"
'Byte OFFSET=5 (header: B5,62,01,07,5C 5 Byte)
Dim off As Integer = 6
'---------1:iTOW 4-7
parRELP(1) = relpI4(NVC, 4 + off)
'Debug.Print("parRELP(1)=" & CStr(parRELP(1)))
'---------2:relPosN 8-11
parRELP(2) = relpI4(NVC, 8 + off)
'Debug.Print("parRELP(2)=" & CStr(parRELP(2)))
'---------3:relPosE 12-15
parRELP(3) = relpI4(NVC, 12 + off)
'Debug.Print("parRELP(3)=" & CStr(parRELP(3)))
'---------4:relPosD 16-19
parRELP(4) = relpI4(NVC, 16 + off)
'Debug.Print("parRELP(4)=" & CStr(parRELP(4)))
'---------5:relPosLength 20-23
parRELP(5) = relpI4(NVC, 20 + off)
'Debug.Print("parRELP(5)=" & CStr(parRELP(5)))
'---------6:relPosHeading 24-27
parRELP(6) = relpI4(NVC, 24 + off)
'Debug.Print("parRELP(6)=" & CStr(parRELP(6)))
'---------7:relPosHPN 32
parRELP(7) = CInt(bRELP(NVC, 32 + off))
'Debug.Print("parRELP(7)=" & CStr(parRELP(7)))
'---------8:relPosHPE 33
parRELP(8) = CInt(bPVT(NVC, 36 + off))
'Debug.Print("parRELP(8)=" & CStr(parRELP(8)))
'---------9:relPosHPD 34
parPVT(9) = CInt(bPVT(NVC, 34 + off))
'Debug.Print("parRELP(9)=" & CStr(parRELP(9)))
'--------10:relPosHPLength 35
parRELP(10) = CInt(bPVT(NVC, 35 + off))
'Debug.Print("parRELP(10)=" & CStr(parRELP(10)))
'--------11:accN 36-39
parRELP(11) = relpI4(NVC, 36 + off)
'Debug.Print("parRELP(11)=" & CStr(parRELP(11)))
'--------12:accE 40-43
parRELP(12) = relpI4(NVC, 40 + off)
'Debug.Print("parRELP(12)=" & CStr(parRELP(12)))
'--------13:accD 44-47
parRELP(13) = relpI4(NVC, 44 + off)
'Debug.Print("parRELP(13)=" & CStr(parRELP(13)))
'--------14:accLength 48-51
parRELP(14) = relpI4(NVC, 48 + off)
'Debug.Print("parRELP(14)=" & CStr(parRELP(14)))
'--------15:accHeading 52-55
parRELP(15) = relpI4(NVC, 52 + off)
'Debug.Print("parRELP(15)=" & CStr(parRELP(15)))
End Sub
'=====================================================BInary To Decimal ===============================================================================
'-------------------------------PVT----------------------------------------------------
Private Function pvtI4(ByVal dnum As Integer, ByVal sN As Integer) As Integer
Dim i4 As Integer
Debug.Print("In_pvtI4:bPVT()=" & CStr(sN) & "::" & CStr(bPVT(dnum, sN)) & "," & CStr(bPVT(dnum, sN + 1)) & "," & CStr(bPVT(dnum, sN + 2)) & "," & CStr(bPVT(dnum, sN + 3)))
If (bPVT(dnum, sN + 3) And &H80) And &H80 Then '{//4番目のBYTEの最上位ビットたっていればマイナス
'Debug.Print("-bPVT*65536=" & CStr(CLng((bPVT(dnum, sN + 2) * 65536))))
'Debug.Print("-bPVT*256*256*256=" & CStr(CLng(255 - bPVT(dnum, sN + 3)) * 16777216))
i4 = -CLng(256 - (bPVT(dnum, sN)) + CLng(255 - bPVT(dnum, sN + 1)) * 256 + CLng(255 - bPVT(dnum, sN + 2)) * 65536 + CLng(255 - bPVT(dnum, sN + 3)) * 16777216)
Else
'Debug.Print("+bPVT*65536=" & CStr(sN) & "::" & CStr(bPVT(dnum, sN + 2) * 65536))
'Debug.Print("+bPVT*256*256*256=" & CStr(sN) & "::" & CStr(bPVT(dnum, sN + 3) * 256 * 256 * 256))
i4 = CLng(bPVT(dnum, sN) * 1 + CLng(bPVT(dnum, sN + 1)) * 256 + CLng(bPVT(dnum, sN + 2)) * 65536 + CLng(bPVT(dnum, sN + 3)) * 256 * 256 * 256)
End If
Return i4
End Function
Private Function pvtI2(ByVal dnum As Integer, ByVal sN As Integer) As Integer
Dim i2 As Integer
i2 = bPVT(dnum, sN + 1) * 1 + bPVT(dnum, sN) * 256
Return i2
End Function
'------------------RELPOSNED --------------------------------------------------
Private Function relpI4(ByVal dnum As Integer, ByVal sN As Integer) As Integer
Dim i4 As Integer
If (bRELP(dnum, sN + 3) And &H80) And &H80 Then '{//4番目のBYTEの最上位ビットたっていればマイナス
i4 = -CLng(256 - (bRELP(dnum, sN)) + CLng(255 - bRELP(dnum, sN + 1)) * 256 + CLng(255 - bRELP(dnum, sN + 2)) * 65536 + CLng(255 - bRELP(dnum, sN + 3)) * 16777216)
Else
i4 = CLng(bRELP(dnum, sN) * 1 + CLng(bRELP(dnum, sN + 1)) * 256 + CLng(bRELP(dnum, sN + 2)) * 65536 + CLng(bRELP(dnum, sN + 3)) * 256 * 256 * 256)
End If
Return i4
End Function
Private Function relpI2(ByVal dnum As Integer, ByVal sN As Integer) As Integer
Dim i2 As Integer
i2 = bRELP(dnum, sN + 1) * 1 + bRELP(dnum, sN) * 256
Return i2
End Function
'=========================================================================================================================================================
'=========================================================================================================================================================
'FILE READ /Write Sub
'=========================================================================================================================================================
'========================================================================================================================================================
'【MB_LogFile名指定ボタン 3 file Open 】
Private Sub Button3_Click(sender As Object, e As EventArgs) Handles Button3.Click
'===================FILE Name=================
'------FILE SAVE----------------------
Dim sfd As New SaveFileDialog()
Dim fname As String
fname = Format(Now, "yyyyMMdd_HHmmss")
' 'debug.Print("fname=" & fname)
sfd.FileName = "MB_" + fname
sfd.Filter = "TXTファイル|*.txt|CSVファイル|*.csv|すべてのファイル|*.*"
sfd.InitialDirectory = "C:\RTK_Log "
sfd.FilterIndex = 2
sfd.Title = "保存先のファイルを選択してください"
' ダイアログボックスを閉じる前に現在のディレクトリを復元する (初期値 False)
sfd.RestoreDirectory = True
If sfd.ShowDialog() = DialogResult.OK Then
'OKボタンがクリックされたとき、選択されたファイル名を表示する
Console.WriteLine(sfd.FileName)
TextBox2.Text = sfd.FileName
End If
fname = TextBox2.Text
' fname = "C:\RTK_Log\MB_" & fname & ".csv"
'TextBox2.Text = fname
'---MS Example------------------------------
'Dim file As System.IO.StreamWriter
'file = My.Computer.FileSystem.OpenTextFileWriter("c:\test.txt", True)
'file.WriteLine("Here is the first string.")
'file.Close()
'------------------------------------------
Dim enc As System.Text.Encoding = System.Text.Encoding.GetEncoding(“Shift_JIS”)
file = My.Computer.FileSystem.OpenTextFileWriter(fname, False, enc)
fopen = 1 'file Open Flag
file.Write(fname + vbCrLf) 'File Name write
' file.Close()
'------Header text write----------------------
file.Write("NVC," + headPVT + "," + headRELP + vbCrLf)
End Sub
'=============================CSVファイル READ ボタン=======================================
Private Sub Button4_Click(sender As Object, e As EventArgs) Handles Button4.Click
CSV_DGV(1)
End Sub
Private Sub CSV_DGV(dN As Integer)
Dim datasu As Integer
Dim maxRowCSV As Integer
Dim headerFlg As Integer
Dim rIndex As Integer
'dgN = dN
''---------dgv サイズ表示-------
'TextBox4.Text = dgv1.Columns.Count
'TextBox5.Text = dgv1.Rows.Count
''----------------------------------
'If CheckBox26.Checked = True Then
'-----dgvに表示------------
'------dgv初期化--------------
dgv1.Columns.Clear（）
dgv1.DataSource = Nothing
'------File名Path-------------------
Dim Path As String = readfile() 'Dialogから読み込むファイル名指定
Label3.Text = Path
'-------ファイルの行数----------------
maxRowCSV = GetLinesOfTextFile(Path)
'Label1.Text = CStr(maxRowCSV) & "行"
'--------CSVァイル読み込み-----------------
Label2.Text = "CSV File Loaded"
datasu = CSV_crlf(Path) 'ファイルの改行数なのでHeader行も含まれる行数なのでRowではない
'Label2.Text = "CSV File Read Finished"
'--------dgv ヘッダー処理--------------------
Dim hIndex As Integer = 0
If dreadata(0, 0).IndexOf(".csv") >= 0 Then
hIndex = 1
End If
If IsNumeric(dreadata(hIndex, 0)) = False Then 'ヘッダーあり
' Label1.Text = "ヘッダーあり"
dgv1.RowCount = datasu - 1 'ヘッダー行を差し引いてDGVの行を作る
'debug.Print("dcIndex_max=" & CStr(dcIndex_max))
dgv1.ColumnCount = dcIndex_max
headerFlg = 1
End If
If IsNumeric(dreadata(hIndex, 0)) = True Then 'ヘッダーなし
'Label1.Text = "ヘッダーなし"
dgv1.RowCount = datasu 'データ数分DGVの行を作る
'debug.Print("dcIndex_max=" & CStr(dcIndex_max))
dgv1.ColumnCount = dcIndex_max
headerFlg = 0
End If
''========================Header Col作成=================
If IsNumeric(dreadata(hIndex, 0)) = False Then 'ヘッダーがある場合
For j = 0 To dcIndex_max - 1
dgv1.Columns(j).HeaderText = dreadata(hIndex, j) 'dgvの列Header　Property定義
Next
End If
'=========CSVから全データ配列 redata(maxRowCSV,cIndex)==========
rIndex += 1
For i = 0 To dgv1.RowCount - 1
For j = 0 To dgv1.ColumnCount - 1 '1その行の列数は、dreadata(行,0)に格納されている
''debug.Print("DGV_rdata(" & CStr(i) & "," & CStr(j) & ")=" & CStr(dreadata(i, j)))
dgv1.Rows(i).Cells(j).Value = dreadata(i + headerFlg + hIndex, j)
Next j
Next i
'End If
'maxRowCol()
End Sub
Private Sub CheckBox1_CheckedChanged(sender As Object, e As EventArgs) Handles CheckBox1.CheckedChanged
If CheckBox1.Checked = False Then
Button2.Enabled = True
Else
Button2.Enabled = False
End If
End Sub
Private Sub HScrollBar1_Scroll(sender As Object, e As ScrollEventArgs) Handles HScrollBar1.Scroll
End Sub
Private Function readfile() As String
Dim ofd As New OpenFileDialog()
'はじめのファイル名を指定する
'はじめに「ファイル名」で表示される文字列を指定する
ofd.FileName = "yyyyMMdd_HHmmss" '"default.html"
'はじめに表示されるフォルダを指定する
'指定しない（空の文字列）の時は、現在のディレクトリが表示される
ofd.InitialDirectory = "C:\RTK_Log "
'[ファイルの種類]に表示される選択肢を指定する
'指定しないとすべてのファイルが表示される
ofd.Filter = "TXTファイル|*.txt|CSVファイル|*.csv|すべてのファイル|*.*"
'[ファイルの種類]ではじめに選択されるものを指定する
'2番目の「すべてのファイル」が選択されているようにする
ofd.FilterIndex = 2
'タイトルを設定する
ofd.Title = "開くファイルを選択してください"
'ダイアログボックスを閉じる前に現在のディレクトリを復元するようにする
ofd.RestoreDirectory = True
'存在しないファイルの名前が指定されたとき警告を表示する
'デフォルトでTrueなので指定する必要はない
ofd.CheckFileExists = True
'存在しないパスが指定されたとき警告を表示する
'デフォルトでTrueなので指定する必要はない
ofd.CheckPathExists = True
If ofd.ShowDialog() = DialogResult.OK Then
'OKボタンがクリックされたとき、選択されたファイル名を表示する
'debug.Print(ofd.FileName)
End If
Return ofd.FileName
End Function
'==========================================================================================
'===================CSVファイル読み込み ＣｒＬｆ付 FILE Read Function=================================================
'======================================================================================
Private Function CSV_crlf(ByVal fnm As String) As Integer '戻り値はデータ行数 データはdreadata(rdataN,dcindex)
Using parser As New TextFieldParser(fnm, System.Text.Encoding.GetEncoding("Shift_JIS"))
parser.TextFieldType = FieldType.Delimited
parser.SetDelimiters(",") ' 区切り文字はコンマ
' parser.HasFieldsEnclosedInQuotes = False
' parser.TrimWhiteSpace = False
dcIndex = 0
dcIndex_max = 0
rdataN = 0
While Not parser.EndOfData
Dim row As String() = parser.ReadFields() ' 1行読み込み
For Each field As String In row
dreadata(rdataN, dcIndex) = field
Debug.Print("field=" & field)
Debug.Print("dreadata(" & CStr(rdataN) & "," & CStr(dcIndex) & ")=" & dreadata(rdataN, dcIndex))
dcIndex += 1
Next
If dcIndex > dcIndex_max Then
dcIndex_max = dcIndex
End If
dcIndex = 0
rdataN += 1
End While
End Using
Return rdataN
End Function
'============================CSVファイル　総行数カウントFunction==============================
Public Function GetLinesOfTextFile(ByVal FileName As String) As Integer
Dim StReader As New System.IO.StreamReader(FileName)
Dim LineCount As Integer
While (StReader.Peek() >= 0)
StReader.ReadLine()
LineCount += 1
End While
Return LineCount
End Function
'【DGV まるごとSave】
Private Sub Button5_Click(sender As Object, e As EventArgs) Handles Button5.Click
'---------dgv SCPmode保存ファイル準備------------------------------
fnameH = Format(Now, "yyyyMMdd_HHmmss")
fStr1 = "DGV_" 'ComboBox9.SelectedItem.ToString()
fnameH = "C:\RTK_Log\" & fStr1 & fnameH & ".csv"
fstr2 = "FileOpen:" + fnameH
' RichTextBox1.AppendText(fStr2)
' RichTextBox1.ScrollToCaret()
Dim enc As System.Text.Encoding = System.Text.Encoding.GetEncoding(“Shift_JIS”)
file_dgv = My.Computer.FileSystem.OpenTextFileWriter(fnameH, False, enc)
f1open = 1
Label1.Text = fnameH
'dgN = ComboBox37.SelectedIndex
'--------dgvから読んでファイル保存-----------------------
Dim SCPheadstr As String = ""
'---Header Str Save------------------
For i = 0 To dgv1.ColumnCount - 1
SCPheadstr += dgv1.Columns(i).HeaderText + ","
Next i
SCPheadstr += vbCrLf
file_dgv.Write(SCPheadstr)
'----------LoadNo,X,Y,Z save------------
Dim SCPstr As String = ""
For i = 0 To dgv1.RowCount - 1
'If CStr(dgv(dgN).Rows(i).Cells(0).Value) <> "" Then
'---Header Str Save------------------
For j = 0 To dgv1.ColumnCount - 1
SCPstr += CStr(dgv1.Rows(i).Cells(j).Value) + ","
'End If
Next j
SCPstr += vbCrLf
file_dgv.Write(SCPstr)
SCPstr = ""
Next i
file_dgv.Close()
f1open = 0
End Sub
'=================== Graphic Start =================================================================
Private Sub CheckBox2_CheckedChanged(sender As Object, e As EventArgs) Handles CheckBox2.CheckedChanged
If CheckBox2.Checked = True Then
PictureBox1.Visible = True
centering()
plotC(plotrowN)
End If
If CheckBox2.Checked = False Then
PictureBox1.Visible = False
End If
End Sub
'=========================Graph Clear===================================
Private Sub Button6_Click(sender As Object, e As EventArgs) Handles Button6.Click
PictureBox1.Image = Nothing
End Sub
Sub plotC(ByVal rN As Integer) 'ByVal dataNo As Integer, ByVal value As Integer, ByVal value_1 As Integer, ByVal colorN As Integer)
Dim xsize As Integer = 1200
Dim ysize As Integer = 400
Dim xCenter As Integer = xsize / 2
Dim yCenter As Integer = ysize / 2
If PictureBox1.Image Is Nothing Then '初回だけＢＩＴＭＡＰを定義する　Picture1.imageという名称をつかうこと
PictureBox1.Image = New Bitmap(xsize, ysize)
End If
'If PictureBox2.Image Is Nothing Then '初回だけＢＩＴＭＡＰを定義する　Picture2.imageという名称をつかうこと
' PictureBox2.Image = New Bitmap(720, 240)
'End If
Dim g As Graphics = Graphics.FromImage(PictureBox1.Image)
'Dim g2 As Graphics = Graphics.FromImage(PictureBox2.Image)
'g.FillRectangle(Brushes.Black, 0, 0, xsize, ysize)
'lon=4,lat=5,height=6,relN=13,relE=14,relD=15
Dim scale As Single
scale = HScrollBar1.Value / 10
TextBox1.Text = scale
Dim rNlon As Integer = dgv1.Rows(rN).Cells(4).Value
Dim rNlat As Integer = dgv1.Rows(rN).Cells(5).Value
Dim rNheight As Integer = dgv1.Rows(rN).Cells(6).Value
Dim rNrelN As Integer = dgv1.Rows(rN).Cells(13).Value
Dim rNrelE As Integer = dgv1.Rows(rN).Cells(14).Value
Dim rNrelD As Integer = dgv1.Rows(rN).Cells(15).Value
Dim pxb As Integer = (CInt((rNlon - zLon) * scale) + xCenter)
Dim pyb As Integer = ysize - (CInt((rNlat - zLat) * scale) + yCenter)
Dim pxr As Integer = (CInt(((rNlon - zLon + rNrelE)) * scale) + xCenter)
Dim pyr As Integer = ysize - (CInt(((rNlat - zLat + rNrelN)) * scale) + yCenter)
Dim p As New Pen(Color.White)
p.Width = 0.1
If pxb < xsize And pyb < ysize And pxr < xsize And pyr < ysize Then
g.FillEllipse(Brushes.LawnGreen, pxb, pyb, 3, 3)
g.FillEllipse(Brushes.Red, pxr, pyr, 3, 3)
If CheckBox3.Checked = True Then
g.DrawLine(p, pxb, pyb, pxr, pyr)
End If
End If
Label5.Text = "pxb=" & CStr(pxb)
Label6.Text = "pyb=" & CStr(pyb)
Label7.Text = "pxr=" & CStr(pxr)
Label8.Text = "pyr=" & CStr(pyr)
g.Dispose()
'b.Dispose()
PictureBox1.Invalidate()
End Sub ' plotC end
Private Function Hubeny(ByVal Lon1 As Double, ByVal Lat1 As Double, ByVal Lon2 As Double, ByVal Lat2 As Double) As Double
End Function
End Class
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