commit 7bccc55044660b8238c0c44c4b4cc9176e2f8b30 Author: Денис Кузнецов Date: Mon Mar 20 11:20:13 2023 +0300 first commit diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..f410d5c --- /dev/null +++ b/.gitignore @@ -0,0 +1,16 @@ +lib/ +ImageDraw/ +packages/ +ipch/ +*.zip +*.pdf +*.rar +*.txt +*.pdb +obj/ +Debug/ +*.html +*.*~ +*.suo +*.sdf +.vs/ diff --git a/AboutBox1.Designer.cs b/AboutBox1.Designer.cs new file mode 100644 index 0000000..19db4fa --- /dev/null +++ b/AboutBox1.Designer.cs @@ -0,0 +1,224 @@ +namespace AB +{ + partial class AboutBox1 + { + /// + /// Требуется переменная конструктора. + /// + private System.ComponentModel.IContainer components = null; + + /// + /// Освободить все используемые ресурсы. + /// + protected override void Dispose(bool disposing) + { + if (disposing && (components != null)) + { + components.Dispose(); + } + base.Dispose(disposing); + } + + #region Код, автоматически созданный конструктором форм Windows + + /// + /// Обязательный метод для поддержки конструктора - не изменяйте + /// содержимое данного метода при помощи редактора кода. + /// + private void InitializeComponent() + { + this.components = new System.ComponentModel.Container(); + System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(AboutBox1)); + this.tableLayoutPanel = new System.Windows.Forms.TableLayoutPanel(); + this.logoPictureBox = new System.Windows.Forms.PictureBox(); + this.labelProductName = new System.Windows.Forms.Label(); + this.labelVersion = new System.Windows.Forms.Label(); + this.labelCopyright = new System.Windows.Forms.Label(); + this.labelCompanyName = new System.Windows.Forms.Label(); + this.textBoxDescription = new System.Windows.Forms.TextBox(); + this.label1 = new System.Windows.Forms.Label(); + this.okButton = new System.Windows.Forms.Button(); + this.imageList1 = new System.Windows.Forms.ImageList(this.components); + this.timer1 = new System.Windows.Forms.Timer(this.components); + this.tableLayoutPanel.SuspendLayout(); + ((System.ComponentModel.ISupportInitialize)(this.logoPictureBox)).BeginInit(); + this.SuspendLayout(); + // + // tableLayoutPanel + // + this.tableLayoutPanel.ColumnCount = 2; + this.tableLayoutPanel.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Absolute, 220F)); + this.tableLayoutPanel.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Absolute, 269F)); + this.tableLayoutPanel.Controls.Add(this.logoPictureBox, 0, 0); + this.tableLayoutPanel.Controls.Add(this.labelProductName, 1, 0); + this.tableLayoutPanel.Controls.Add(this.labelVersion, 1, 1); + this.tableLayoutPanel.Controls.Add(this.labelCopyright, 1, 2); + this.tableLayoutPanel.Controls.Add(this.labelCompanyName, 1, 3); + this.tableLayoutPanel.Controls.Add(this.textBoxDescription, 1, 5); + this.tableLayoutPanel.Controls.Add(this.label1, 1, 4); + this.tableLayoutPanel.Controls.Add(this.okButton, 1, 6); + this.tableLayoutPanel.Dock = System.Windows.Forms.DockStyle.Fill; + this.tableLayoutPanel.Location = new System.Drawing.Point(9, 9); + this.tableLayoutPanel.Name = "tableLayoutPanel"; + this.tableLayoutPanel.RowCount = 7; + this.tableLayoutPanel.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 20F)); + this.tableLayoutPanel.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 20F)); + this.tableLayoutPanel.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 20F)); + this.tableLayoutPanel.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 20F)); + this.tableLayoutPanel.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 20F)); + this.tableLayoutPanel.RowStyles.Add(new System.Windows.Forms.RowStyle()); + this.tableLayoutPanel.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 30F)); + this.tableLayoutPanel.Size = new System.Drawing.Size(489, 222); + this.tableLayoutPanel.TabIndex = 0; + // + // logoPictureBox + // + this.logoPictureBox.Dock = System.Windows.Forms.DockStyle.Fill; + this.logoPictureBox.Image = ((System.Drawing.Image)(resources.GetObject("logoPictureBox.Image"))); + this.logoPictureBox.Location = new System.Drawing.Point(3, 3); + this.logoPictureBox.Name = "logoPictureBox"; + this.tableLayoutPanel.SetRowSpan(this.logoPictureBox, 7); + this.logoPictureBox.Size = new System.Drawing.Size(214, 216); + this.logoPictureBox.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage; + this.logoPictureBox.TabIndex = 12; + this.logoPictureBox.TabStop = false; + this.logoPictureBox.MouseEnter += new System.EventHandler(this.logoPictureBox_MouseEnter); + this.logoPictureBox.MouseLeave += new System.EventHandler(this.logoPictureBox_MouseLeave); + // + // labelProductName + // + this.labelProductName.Dock = System.Windows.Forms.DockStyle.Fill; + this.labelProductName.Location = new System.Drawing.Point(226, 0); + this.labelProductName.Margin = new System.Windows.Forms.Padding(6, 0, 3, 0); + this.labelProductName.MaximumSize = new System.Drawing.Size(0, 17); + this.labelProductName.Name = "labelProductName"; + this.labelProductName.Size = new System.Drawing.Size(260, 17); + this.labelProductName.TabIndex = 19; + this.labelProductName.Text = "Название продукта"; + this.labelProductName.TextAlign = System.Drawing.ContentAlignment.MiddleLeft; + // + // labelVersion + // + this.labelVersion.Dock = System.Windows.Forms.DockStyle.Fill; + this.labelVersion.Location = new System.Drawing.Point(226, 20); + this.labelVersion.Margin = new System.Windows.Forms.Padding(6, 0, 3, 0); + this.labelVersion.MaximumSize = new System.Drawing.Size(0, 17); + this.labelVersion.Name = "labelVersion"; + this.labelVersion.Size = new System.Drawing.Size(260, 17); + this.labelVersion.TabIndex = 0; + this.labelVersion.Text = "Версия"; + this.labelVersion.TextAlign = System.Drawing.ContentAlignment.MiddleLeft; + // + // labelCopyright + // + this.labelCopyright.Dock = System.Windows.Forms.DockStyle.Fill; + this.labelCopyright.Location = new System.Drawing.Point(226, 40); + this.labelCopyright.Margin = new System.Windows.Forms.Padding(6, 0, 3, 0); + this.labelCopyright.MaximumSize = new System.Drawing.Size(0, 17); + this.labelCopyright.Name = "labelCopyright"; + this.labelCopyright.Size = new System.Drawing.Size(260, 17); + this.labelCopyright.TabIndex = 21; + this.labelCopyright.Text = "Авторские права"; + this.labelCopyright.TextAlign = System.Drawing.ContentAlignment.MiddleLeft; + // + // labelCompanyName + // + this.labelCompanyName.Dock = System.Windows.Forms.DockStyle.Fill; + this.labelCompanyName.Location = new System.Drawing.Point(226, 60); + this.labelCompanyName.Margin = new System.Windows.Forms.Padding(6, 0, 3, 0); + this.labelCompanyName.MaximumSize = new System.Drawing.Size(0, 17); + this.labelCompanyName.Name = "labelCompanyName"; + this.labelCompanyName.Size = new System.Drawing.Size(260, 17); + this.labelCompanyName.TabIndex = 22; + this.labelCompanyName.Text = "Название организации"; + this.labelCompanyName.TextAlign = System.Drawing.ContentAlignment.MiddleLeft; + // + // textBoxDescription + // + this.textBoxDescription.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) + | System.Windows.Forms.AnchorStyles.Left) + | System.Windows.Forms.AnchorStyles.Right))); + this.textBoxDescription.Location = new System.Drawing.Point(226, 103); + this.textBoxDescription.Margin = new System.Windows.Forms.Padding(6, 3, 3, 3); + this.textBoxDescription.Multiline = true; + this.textBoxDescription.Name = "textBoxDescription"; + this.textBoxDescription.ReadOnly = true; + this.textBoxDescription.ScrollBars = System.Windows.Forms.ScrollBars.Both; + this.textBoxDescription.Size = new System.Drawing.Size(260, 86); + this.textBoxDescription.TabIndex = 23; + this.textBoxDescription.TabStop = false; + this.textBoxDescription.Text = "Описание"; + // + // label1 + // + this.label1.Dock = System.Windows.Forms.DockStyle.Fill; + this.label1.Location = new System.Drawing.Point(226, 80); + this.label1.Margin = new System.Windows.Forms.Padding(6, 0, 3, 0); + this.label1.MaximumSize = new System.Drawing.Size(0, 17); + this.label1.Name = "label1"; + this.label1.Size = new System.Drawing.Size(260, 17); + this.label1.TabIndex = 25; + this.label1.Text = "Описание"; + this.label1.TextAlign = System.Drawing.ContentAlignment.MiddleLeft; + // + // okButton + // + this.okButton.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Right))); + this.okButton.DialogResult = System.Windows.Forms.DialogResult.Cancel; + this.okButton.Location = new System.Drawing.Point(411, 196); + this.okButton.Name = "okButton"; + this.okButton.Size = new System.Drawing.Size(75, 23); + this.okButton.TabIndex = 24; + this.okButton.Text = "&ОК"; + // + // imageList1 + // + this.imageList1.ImageStream = ((System.Windows.Forms.ImageListStreamer)(resources.GetObject("imageList1.ImageStream"))); + this.imageList1.TransparentColor = System.Drawing.Color.Transparent; + this.imageList1.Images.SetKeyName(0, "im1.gif"); + this.imageList1.Images.SetKeyName(1, "im2.gif"); + // + // timer1 + // + this.timer1.Interval = 200; + this.timer1.Tick += new System.EventHandler(this.timer1_Tick); + // + // AboutBox1 + // + this.AcceptButton = this.okButton; + this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F); + this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; + this.ClientSize = new System.Drawing.Size(507, 240); + this.Controls.Add(this.tableLayoutPanel); + this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedDialog; + this.MaximizeBox = false; + this.MinimizeBox = false; + this.Name = "AboutBox1"; + this.Padding = new System.Windows.Forms.Padding(9); + this.ShowIcon = false; + this.ShowInTaskbar = false; + this.StartPosition = System.Windows.Forms.FormStartPosition.CenterParent; + this.Text = "AboutBox1"; + this.Load += new System.EventHandler(this.AboutBox1_Load); + this.tableLayoutPanel.ResumeLayout(false); + this.tableLayoutPanel.PerformLayout(); + ((System.ComponentModel.ISupportInitialize)(this.logoPictureBox)).EndInit(); + this.ResumeLayout(false); + + } + + #endregion + + private System.Windows.Forms.TableLayoutPanel tableLayoutPanel; + private System.Windows.Forms.ImageList imageList1; + private System.Windows.Forms.PictureBox logoPictureBox; + private System.Windows.Forms.Timer timer1; + private System.Windows.Forms.Button okButton; + public System.Windows.Forms.Label labelProductName; + public System.Windows.Forms.Label labelVersion; + public System.Windows.Forms.Label labelCopyright; + public System.Windows.Forms.Label labelCompanyName; + public System.Windows.Forms.TextBox textBoxDescription; + public System.Windows.Forms.Label label1; + } +} diff --git a/AboutBox1.cs b/AboutBox1.cs new file mode 100644 index 0000000..87e3cee --- /dev/null +++ b/AboutBox1.cs @@ -0,0 +1,181 @@ +using System; +using System.Collections.Generic; +using System.ComponentModel; +using System.Drawing; +using System.Linq; +using System.Reflection; +using System.Threading.Tasks; +using System.Windows.Forms; +using UTIL; + +namespace AB +{ + partial class AboutBox1 : Form + { + int sw = 0; + #region Комментарий + + public String comment = + "v.1.1.1.56" + "\r\n" + + " - Добавлен класс MESS для системных сообщений/команд (без данных)." + "\r\n" + + "v.1.1.1.55" + "\r\n" + + " - Первая работающая (надеюсь) сборка под новый ПИВ." + "\r\n" + + "v.1.1.0.51" + "\r\n" + + " - Первая сборка под новый ПИВ." + "\r\n" + + "v.1.0.5.50" + "\r\n" + + " - Походу, крайняя версия под старый ПИВ." + "\r\n" + + " - Полезли непонятные глюки с выводом статистики на статусбар. Выкинул, заменил на простые метки. Не так красиво, но глюки ушли." + "\r\n" + + "v.1.0.5.37" + "\r\n" + + " - Переделан прием RS. Работает быстрее." + "\r\n" + + "v.1.0.5.34" + "\r\n" + + " - В вывод картинки на экран добавлена замазка (закрашивает пропущенные строки)." + "\r\n" + + " - Добавлена функция пропуска дефектных кадров (включено по умолчанию." + "\r\n" + + " - Опять переделан прием UDP. Вариант 3-й, надеюсь, последний. Работает быстрее и надежнее." + "\r\n" + + "v.1.0.4.21" + "\r\n" + + " - Опять переделан прием. Проверить не на чем." + "\r\n" + + "v.1.0.3.13" + "\r\n" + + " - Временно бросаю прием, перехожу на АС." + "\r\n" + + " - Прием UDP заработал лучше (переделка на очереди)." + "\r\n" + + "v.1.0.2.8" + "\r\n" + + " - Прием UDP заработал." + "\r\n" + + "v.1.0.1.6" + "\r\n" + + " - Релиз версии без приема UDP." + "\r\n" + + " - Прием и передача данных не зависит от номера порта." + "\r\n" + + "v.1.0.0.4" + "\r\n" + + " - Исправлены парочка мелких ошибок. Теперь данные в БОН пересылаются корректно." + "\r\n" + + "v.1.0.0.3" + "\r\n" + + " - Заработала отправка измененных данных в БОН." + "\r\n" + + " - Устранено несколько косяков. И добавлены новые... Пока не найдены." + "\r\n" + + "v.1.0.0.2" + "\r\n" + + " - Добавлена панель с информацией, полученной ПУ" + "\r\n" + + " - Добавлена панель с вкладками. На второй вкладке ручной ввод навигационной информации" + "\r\n" + + " - Сделано чтение информации из пакетов от БОН и отправка измененных данных в БОН" + "\r\n" + + "v.1.0.0.0" + "\r\n" + + " - Индикация обмена по шине RS-485" + "\r\n" + + ""; + #endregion + public string ccc = ""; + public AboutBox1(String comm) + { + InitializeComponent(); + this.Text = String.Format("О программе {0}", ASMBL.AssemblyTitle); + this.labelProductName.Text = ASMBL.AssemblyProduct; + this.labelVersion.Text = String.Format("Версия {0}", ASMBL.AssemblyVersion); + this.labelCopyright.Text = ASMBL.AssemblyCopyright; + this.labelCompanyName.Text = ASMBL.AssemblyCompany; + this.label1.Text = ASMBL.AssemblyDescription; + // this.textBoxDescription.Text = comment; + this.textBoxDescription.Text = comm; + } + /* + #region Методы доступа к атрибутам сборки + + public string AssemblyTitle + { + get + { + object[] attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyTitleAttribute), false); + if (attributes.Length > 0) + { + AssemblyTitleAttribute titleAttribute = (AssemblyTitleAttribute)attributes[0]; + if (titleAttribute.Title != "") + { + return titleAttribute.Title; + } + } + return System.IO.Path.GetFileNameWithoutExtension(Assembly.GetExecutingAssembly().CodeBase); + } + } + + public string AssemblyVersion + { + get + { + return Assembly.GetExecutingAssembly().GetName().Version.ToString(); + } + } + + public string AssemblyDescription + { + get + { + object[] attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyDescriptionAttribute), false); + if (attributes.Length == 0) + { + return ""; + } + return ((AssemblyDescriptionAttribute)attributes[0]).Description; + } + } + + public string AssemblyProduct + { + get + { + object[] attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyProductAttribute), false); + if (attributes.Length == 0) + { + return ""; + } + return ((AssemblyProductAttribute)attributes[0]).Product; + } + } + + public string AssemblyCopyright + { + get + { + object[] attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyCopyrightAttribute), false); + if (attributes.Length == 0) + { + return ""; + } + return ((AssemblyCopyrightAttribute)attributes[0]).Copyright; + } + } + + public string AssemblyCompany + { + get + { + object[] attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyCompanyAttribute), false); + if (attributes.Length == 0) + { + return ""; + } + return ((AssemblyCompanyAttribute)attributes[0]).Company; + } + } + #endregion + + */ + private void AboutBox1_Load(object sender, EventArgs e) + { + + } + + private void logoPictureBox_MouseEnter(object sender, EventArgs e) + { + timer1.Enabled = true; + } + + private void logoPictureBox_MouseLeave(object sender, EventArgs e) + { + timer1.Enabled = false; + } + + private void timer1_Tick(object sender, EventArgs e) + { + if (sw == 0) + { + logoPictureBox.Image = imageList1.Images[sw]; + sw = 1; + } + else + { + logoPictureBox.Image = imageList1.Images[sw]; + sw = 0; + } + } + } +} diff --git a/AboutBox1.resx b/AboutBox1.resx new file mode 100644 index 0000000..f7afe6f --- /dev/null +++ b/AboutBox1.resx @@ -0,0 +1,3463 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + text/microsoft-resx + + + 2.0 + + + System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 + + + System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 + + + + + R0lGODlhtAC0AIcAAAAAAAAAMwAAZgAAmQAAzAAA/wArAAArMwArZgArmQArzAAr/wBVAABVMwBVZgBV + mQBVzABV/wCAAACAMwCAZgCAmQCAzACA/wCqAACqMwCqZgCqmQCqzACq/wDVAADVMwDVZgDVmQDVzADV + /wD/AAD/MwD/ZgD/mQD/zAD//zMAADMAMzMAZjMAmTMAzDMA/zMrADMrMzMrZjMrmTMrzDMr/zNVADNV + 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/wD/AP8A/wD/AP8A/wD/AP8A/wD/AP8A8QAL + + + + 124, 14 + + \ No newline at end of file diff --git a/AdvancedRadioButton.cs b/AdvancedRadioButton.cs new file mode 100644 index 0000000..bb8197f --- /dev/null +++ b/AdvancedRadioButton.cs @@ -0,0 +1,98 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Windows.Forms; +using System.Diagnostics; +using System.Windows.Forms.VisualStyles; +using System.Drawing; +using System.ComponentModel; + +namespace ARB +{ + public class AdvancedRadioButton : CheckBox + { + public enum Level { Parent, Form }; + + [Category("AdvancedRadioButton"), + Description("Gets or sets the level that specifies which RadioButton controls are affected."), + DefaultValue(Level.Parent)] + public Level GroupNameLevel { get; set; } + + [Category("AdvancedRadioButton"), + Description("Gets or sets the name that specifies which RadioButton controls are mutually exclusive.")] + public string GroupName { get; set; } + + protected override void OnCheckedChanged(EventArgs e) + { + base.OnCheckedChanged(e); + + if (Checked) + { + var arbControls = (dynamic)null; + switch (GroupNameLevel) + { + case Level.Parent: + if (this.Parent != null) + arbControls = GetAll(this.Parent, typeof(AdvancedRadioButton)); + break; + case Level.Form: + Form form = this.FindForm(); + if (form != null) + arbControls = GetAll(this.FindForm(), typeof(AdvancedRadioButton)); + break; + } + if (arbControls != null) + foreach (Control control in arbControls) + if (control != this && + (control as AdvancedRadioButton).GroupName == this.GroupName) + (control as AdvancedRadioButton).Checked = false; + } + } + + protected override void OnClick(EventArgs e) + { + if (!Checked) + base.OnClick(e); + } + + protected override void OnPaint(PaintEventArgs pevent) + { + CheckBoxRenderer.DrawParentBackground(pevent.Graphics, pevent.ClipRectangle, this); + + RadioButtonState radioButtonState; + if (Checked) + { + radioButtonState = RadioButtonState.CheckedNormal; + if (Focused) + radioButtonState = RadioButtonState.CheckedHot; + if (!Enabled) + radioButtonState = RadioButtonState.CheckedDisabled; + } + else + { + radioButtonState = RadioButtonState.UncheckedNormal; + if (Focused) + radioButtonState = RadioButtonState.UncheckedHot; + if (!Enabled) + radioButtonState = RadioButtonState.UncheckedDisabled; + } + + Size glyphSize = RadioButtonRenderer.GetGlyphSize(pevent.Graphics, radioButtonState); + Rectangle rect = pevent.ClipRectangle; + rect.Width -= glyphSize.Width; + rect.Location = new Point(rect.Left + glyphSize.Width, rect.Top); + + RadioButtonRenderer.DrawRadioButton(pevent.Graphics, new System.Drawing.Point(0, rect.Height / 2 - glyphSize.Height / 2), rect, this.Text, this.Font, this.Focused, radioButtonState); + } + + private IEnumerable GetAll(Control control, Type type) + { + var controls = control.Controls.Cast(); + + return controls.SelectMany(ctrl => GetAll(ctrl, type)) + .Concat(controls) + .Where(c => c.GetType() == type); + } + } +} \ No newline at end of file diff --git a/Class1.cs b/Class1.cs new file mode 100644 index 0000000..1394490 --- /dev/null +++ b/Class1.cs @@ -0,0 +1,56 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Runtime.InteropServices; +using System.Text; +using System.Threading.Tasks; + +namespace INI +{ + public class IniFile + { + [DllImport("kernel32.dll")] + private extern static int GetPrivateProfileString(String AppName, String KeyName, String Default, StringBuilder ReturnedString, UInt32 Size, String FileName); + [DllImport("kernel32.dll")] + private extern static int WritePrivateProfileString(String AppName, String KeyName, String Str, String FileName); + public IniFile(string filename) + { + IniFileName = filename; + } + public String IniFileName + { + get; + set; + } + public String _GetString(String section, String key) + { + StringBuilder s1 = new StringBuilder(128); + GetPrivateProfileString(section, key, "", s1, 128, IniFileName); + return s1.ToString(); + } + public Int64 _GetInt(String section, String key) + { + StringBuilder s1 = new StringBuilder(100); + GetPrivateProfileString(section, key, "", s1, 100, IniFileName); + return Int64.Parse(s1.ToString()); + } + public Double _GetDouble(String section, String key) + { + StringBuilder s1 = new StringBuilder(100); + GetPrivateProfileString(section, key, "", s1, 100, IniFileName); + return Double.Parse(s1.ToString()); + } + public void _SetString(String section, String key, String val) + { + WritePrivateProfileString(section, key, val, IniFileName); + } + public void _SetInt(String section, String key, Int64 val) + { + WritePrivateProfileString(section, key, val.ToString(), IniFileName); + } + public void _SetDouble(String section, String key, Double val) + { + WritePrivateProfileString(section, key, val.ToString(), IniFileName); + } + } +} diff --git a/Class2.cs b/Class2.cs new file mode 100644 index 0000000..befe7ba --- /dev/null +++ b/Class2.cs @@ -0,0 +1,51 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace GKalman +{ + public class GKalman + { + double _err_measure = 0.0F; + double _err_estimate = 0.0F; + double _q = 0.0F; + double _last_estimate = 0.0F; + public GKalman(float mea_e, float est_e, float q) + { + setParameters(mea_e, est_e, q); + } + + // разброс измерения, скорость изменения значений (разброс измерения принимается равным разбросу оценки) + public GKalman(float mea_e, float q) + { + setParameters(mea_e, mea_e, q); + } + + // разброс измерения, разброс оценки, скорость изменения значений + public void setParameters(float mea_e, float est_e, float q) + { + _err_measure = mea_e; + _err_estimate = est_e; + _q = q; + } + + // разброс измерения, скорость изменения значений (разброс измерения принимается равным разбросу оценки) + public void setParameters(float mea_e, float q) + { + setParameters(mea_e, mea_e, q); + } + + // возвращает фильтрованное значение + public float filtered(float value) + { + double _kalman_gain, _current_estimate; + _kalman_gain = _err_estimate / (_err_estimate + _err_measure); + _current_estimate = _last_estimate + _kalman_gain * (value - _last_estimate); + _err_estimate = (1.0 - _kalman_gain) * _err_estimate + Math.Abs(_last_estimate - _current_estimate) * _q; + _last_estimate = _current_estimate; + return (float)_current_estimate; + } + } +} diff --git a/RichTextBoxExtensions.cs b/RichTextBoxExtensions.cs new file mode 100644 index 0000000..72ab62e --- /dev/null +++ b/RichTextBoxExtensions.cs @@ -0,0 +1,66 @@ +using System; +using System.Collections.Generic; +using System.Drawing; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using System.Windows.Forms; + +namespace Extensions +{ + public static class RichTextBoxExtensions + { + public static void AppendText(this RichTextBox box, string text, Color color) + { + if (box.InvokeRequired) + { + box.Invoke((MethodInvoker)(delegate + { + box.SelectionStart = box.TextLength; + box.SelectionLength = 0; + box.SelectionColor = color; + box.AppendText(text); + box.SelectionColor = box.ForeColor; + box.ScrollToCaret(); + })); + } + else + { + box.SelectionStart = box.TextLength; + box.SelectionLength = 0; + box.SelectionColor = color; + box.AppendText(text); + box.SelectionColor = box.ForeColor; + box.ScrollToCaret(); + } + } + public static void AppendText(this RichTextBox box, string text, Color bgcolor, Color fgcolor) + { + if (box.InvokeRequired) + { + box.Invoke((MethodInvoker)(delegate + { + box.SelectionStart = box.TextLength; + box.SelectionLength = 0; + box.SelectionColor = fgcolor; + box.SelectionBackColor = bgcolor; + box.AppendText(text); + box.SelectionColor = box.ForeColor; + box.SelectionBackColor = box.BackColor; + box.ScrollToCaret(); + })); + } + else + { + box.SelectionStart = box.TextLength; + box.SelectionLength = 0; + box.SelectionColor = fgcolor; + box.SelectionBackColor = bgcolor; + box.AppendText(text); + box.SelectionColor = box.ForeColor; + box.SelectionBackColor = box.BackColor; + box.ScrollToCaret(); + } + } + } +} diff --git a/UnsafeBitmap.cs b/UnsafeBitmap.cs new file mode 100644 index 0000000..a4e316f --- /dev/null +++ b/UnsafeBitmap.cs @@ -0,0 +1,97 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using System.Drawing; +using System.Drawing.Imaging; + +namespace Grav01 +{ + public unsafe class UnsafeBitmap + { + Bitmap bitmap; + // three elements used for MakeGreyUnsafe + int width; + BitmapData bitmapData = null; + Byte* pBase = null; + public UnsafeBitmap(Bitmap bitmap) + { + this.bitmap = new Bitmap(bitmap); + } + public UnsafeBitmap(int width, int height) + { + this.bitmap = new Bitmap(width, height, PixelFormat.Format24bppRgb); + } + public void Dispose() + { + bitmap.Dispose(); + } + public Bitmap Bitmap + { + get + { + return (bitmap); + } + } + private Point PixelSize + { + get + { + GraphicsUnit unit = GraphicsUnit.Pixel; + RectangleF bounds = bitmap.GetBounds(ref unit); + + return new Point((int)bounds.Width, (int)bounds.Height); + } + } + public void LockBitmap() + { + GraphicsUnit unit = GraphicsUnit.Pixel; + RectangleF boundsF = bitmap.GetBounds(ref unit); + Rectangle bounds = new Rectangle((int)boundsF.X, + (int)boundsF.Y, + (int)boundsF.Width, + (int)boundsF.Height); + + // Figure out the number of bytes in a row + // This is rounded up to be a multiple of 4 + // bytes, since a scan line in an image must always be a multiple of 4 bytes + // in length. + width = (int)boundsF.Width * sizeof(PixelData); + if (width % 4 != 0) + { + width = 4 * (width / 4 + 1); + } + bitmapData = + bitmap.LockBits(bounds, ImageLockMode.ReadWrite, PixelFormat.Format24bppRgb); + pBase = (Byte*)bitmapData.Scan0.ToPointer(); + } + public PixelData GetPixel(int x, int y) + { + PixelData returnValue = *PixelAt(x, y); + return returnValue; + } + public void SetPixel(int x, int y, PixelData colour) + { + PixelData* pixel = PixelAt(x, y); + *pixel = colour; + } + public void UnlockBitmap() + { + bitmap.UnlockBits(bitmapData); + bitmapData = null; + pBase = null; + } + public PixelData* PixelAt(int x, int y) + { + return (PixelData*)(pBase + y * width + x * sizeof(PixelData)); + } + } + + public struct PixelData + { + public byte blue; + public byte green; + public byte red; + } +} diff --git a/asmbl.cs b/asmbl.cs new file mode 100644 index 0000000..056a785 --- /dev/null +++ b/asmbl.cs @@ -0,0 +1,182 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Reflection; +using System.Reflection.Emit; + +namespace ASM +{ + public static class ASMBL + { + #region Методы доступа к атрибутам сборки + + public static string AssemblyTitle + { + get + { + object[] attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyTitleAttribute), false); + if (attributes.Length > 0) + { + AssemblyTitleAttribute titleAttribute = (AssemblyTitleAttribute)attributes[0]; + if (titleAttribute.Title != "") + { + return titleAttribute.Title; + } + } + return System.IO.Path.GetFileNameWithoutExtension(Assembly.GetExecutingAssembly().CodeBase); + } + } + + public static string AssemblyVersion + { + get + { + return Assembly.GetExecutingAssembly().GetName().Version.ToString(); + } + } + + public static string AssemblyDescription + { + get + { + object[] attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyDescriptionAttribute), false); + if (attributes.Length == 0) + { + return ""; + } + return ((AssemblyDescriptionAttribute)attributes[0]).Description; + } + } + + public static string AssemblyProduct + { + get + { + object[] attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyProductAttribute), false); + if (attributes.Length == 0) + { + return ""; + } +#if DEBUG + return ((AssemblyProductAttribute)attributes[0]).Product + " Debug version"; +#else + return ((AssemblyProductAttribute)attributes[0]).Product + " Release version"; +#endif + } + } + + public static string AssemblyCopyright + { + get + { + object[] attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyCopyrightAttribute), false); + if (attributes.Length == 0) + { + return ""; + } + return ((AssemblyCopyrightAttribute)attributes[0]).Copyright; + } + } + + public static string AssemblyCompany + { + get + { + object[] attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyCompanyAttribute), false); + if (attributes.Length == 0) + { + return ""; + } + return ((AssemblyCompanyAttribute)attributes[0]).Company; + } + } + public static string AssemblyConfiguration + { + get + { +#if DEBUG + return "Debug version"; +#else + return "Release version"; +#endif + } + } + public static string[] AssemblyConf + { + get + { + string[] s = new string[11]; + + object[] attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyConfigurationAttribute), false); +#if DEBUG + s[0] = "Debug version"; +#else + s[0] = "Release version"; +#endif + attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyAlgorithmIdAttribute), false); + if (attributes.Length == 0) + s[1] = "AssemblyAlgorithmId = "; + else + s[1] = "AssemblyAlgorithmId = " + ((AssemblyAlgorithmIdAttribute)attributes[0]).AlgorithmId; + + attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyCompanyAttribute), false); + if (attributes.Length == 0) + s[2] = "AssemblyCompany = "; + else + s[2] = "AssemblyCompany = " + ((AssemblyCompanyAttribute)attributes[0]).Company; + + attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyCopyrightAttribute), false); + if (attributes.Length == 0) + s[3] = "AssemblyCopyright = "; + else + s[3] = "AssemblyCopyright = " + ((AssemblyCopyrightAttribute)attributes[0]).Copyright; + + attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyDescriptionAttribute), false); + if (attributes.Length == 0) + s[4] = "AssemblyDescription = "; + else + s[4] = "AssemblyDescription = " + ((AssemblyDescriptionAttribute)attributes[0]).Description; + + attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyFileVersionAttribute), false); + if (attributes.Length == 0) + s[5] = "AssemblyFileVersion = "; + else + s[5] = "AssemblyFileVersion = " + ((AssemblyFileVersionAttribute)attributes[0]).Version; + + attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyInformationalVersionAttribute), false); + if (attributes.Length == 0) + s[6] = "AssemblyInformationalVersion = "; + else + s[6] = "AssemblyInformationalVersion = " + ((AssemblyInformationalVersionAttribute)attributes[0]).InformationalVersion; + + attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyProductAttribute), false); + if (attributes.Length == 0) + s[7] = "AssemblyProduct = "; + else + s[7] = "AssemblyProduct = " + ((AssemblyProductAttribute)attributes[0]).Product; + + attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyTitleAttribute), false); + if (attributes.Length == 0) + s[8] = "AssemblyTitle = "; + else + s[8] = "AssemblyTitle = " + ((AssemblyTitleAttribute)attributes[0]).Title; + + attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyTrademarkAttribute), false); + if (attributes.Length == 0) + s[9] = "AssemblyTrademark = "; + else + s[9] = "AssemblyTrademark = " + ((AssemblyTrademarkAttribute)attributes[0]).Trademark; + + attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyVersionAttribute), false); + if (attributes.Length == 0) + s[10] = "AssemblyVersion = "; + else + s[10] = "AssemblyVersion = " + ((AssemblyVersionAttribute)attributes[0]).Version; + + return s; + } + } + #endregion + } +} diff --git a/gkalman.cs b/gkalman.cs new file mode 100644 index 0000000..60fc8c9 --- /dev/null +++ b/gkalman.cs @@ -0,0 +1,51 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace GKalman +{ + public class GKalman + { + double _err_measure = 0.0F; + double _err_estimate = 0.0F; + double _q = 0.0F; + double _last_estimate = 0.0F; + public GKalman(double mea_e, double est_e, double q) + { + setParameters(mea_e, est_e, q); + } + + // разброс измерения, скорость изменения значений (разброс измерения принимается равным разбросу оценки) + public GKalman(double mea_e, double q) + { + setParameters(mea_e, mea_e, q); + } + + // разброс измерения, разброс оценки, скорость изменения значений + public void setParameters(double mea_e, double est_e, double q) + { + _err_measure = mea_e; + _err_estimate = est_e; + _q = q; + } + + // разброс измерения, скорость изменения значений (разброс измерения принимается равным разбросу оценки) + public void setParameters(double mea_e, double q) + { + setParameters(mea_e, mea_e, q); + } + + // возвращает фильтрованное значение + public double filtered(double value) + { + double _kalman_gain, _current_estimate; + _kalman_gain = _err_estimate / (_err_estimate + _err_measure); + _current_estimate = _last_estimate + _kalman_gain * (value - _last_estimate); + _err_estimate = (1.0 - _kalman_gain) * _err_estimate + Math.Abs(_last_estimate - _current_estimate) * _q; + _last_estimate = _current_estimate; + return (double)_current_estimate; + } + } +} diff --git a/gravity2.ico b/gravity2.ico new file mode 100644 index 0000000..c120103 Binary files /dev/null and b/gravity2.ico differ diff --git a/inifile.cs b/inifile.cs new file mode 100644 index 0000000..4328b6a --- /dev/null +++ b/inifile.cs @@ -0,0 +1,66 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Runtime.InteropServices; +using System.Text; +using System.Threading.Tasks; + +namespace INI +{ + public class IniFile + { + [DllImport("kernel32.dll")] + private extern static int GetPrivateProfileString(String AppName, String KeyName, String Default, StringBuilder ReturnedString, UInt32 Size, String FileName); + [DllImport("kernel32.dll")] + private extern static int WritePrivateProfileString(String AppName, String KeyName, String Str, String FileName); + public IniFile(string filename) + { + IniFileName = filename; + } + public String IniFileName + { + get; + set; + } + public String _GetString(String section, String key) + { + StringBuilder s1 = new StringBuilder(128); + GetPrivateProfileString(section, key, "", s1, 128, IniFileName); + return s1.ToString(); + } + public Int64 _GetInt(String section, String key) + { + StringBuilder s1 = new StringBuilder(100); + GetPrivateProfileString(section, key, "", s1, 100, IniFileName); + return Int64.Parse(s1.ToString()); + } + public Boolean _GetBool(String section, String key) + { + StringBuilder s1 = new StringBuilder(100); + GetPrivateProfileString(section, key, "", s1, 100, IniFileName); + return Boolean.Parse(s1.ToString()); + } + public Double _GetDouble(String section, String key) + { + StringBuilder s1 = new StringBuilder(100); + GetPrivateProfileString(section, key, "", s1, 100, IniFileName); + return Double.Parse(s1.ToString()); + } + public void _SetString(String section, String key, String val) + { + WritePrivateProfileString(section, key, val, IniFileName); + } + public void _SetInt(String section, String key, Int64 val) + { + WritePrivateProfileString(section, key, val.ToString(), IniFileName); + } + public void _SetDouble(String section, String key, Double val) + { + WritePrivateProfileString(section, key, val.ToString(), IniFileName); + } + public void _SetBool(String section, String key, Boolean val) + { + WritePrivateProfileString(section, key, val.ToString(), IniFileName); + } + } +} diff --git a/inv.snippet b/inv.snippet new file mode 100644 index 0000000..c210bcd --- /dev/null +++ b/inv.snippet @@ -0,0 +1,20 @@ + + + +
+ Invoke + inv + Code snippet Invoke +
+ + + this.pictureBox3.Image = crop)); +]]> + + + + \ No newline at end of file diff --git a/loadstruct.cs b/loadstruct.cs new file mode 100644 index 0000000..17e61ca --- /dev/null +++ b/loadstruct.cs @@ -0,0 +1,49 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Runtime.InteropServices; +using System.Text; +using System.Threading.Tasks; + +namespace LoadStruct +{ + public static class S2B + { + #region Загрузка/выгрузка данных в структуру + public static T BuffToStruct(byte[] arr) + { + GCHandle gch = GCHandle.Alloc(arr, GCHandleType.Pinned); + IntPtr ptr = Marshal.UnsafeAddrOfPinnedArrayElement(arr, 0); + T ret = (T)Marshal.PtrToStructure(ptr, typeof(T)); + gch.Free(); + return default(T); + } + public static T BuffToClass(byte[] arr) + { + GCHandle gch = GCHandle.Alloc(arr, GCHandleType.Pinned); + IntPtr ptr = Marshal.UnsafeAddrOfPinnedArrayElement(arr, 0); + T ret = (T)Marshal.PtrToStructure(ptr, typeof(T)); + gch.Free(); + return default(T); + } + public static byte[] StructToBuff(T value) where T : struct + { + byte[] arr = new byte[Marshal.SizeOf(value)]; // создать массив + GCHandle gch = GCHandle.Alloc(arr, GCHandleType.Pinned); // зафиксировать в памяти + IntPtr ptr = Marshal.UnsafeAddrOfPinnedArrayElement(arr, 0); // и взять его адрес + Marshal.StructureToPtr(value, ptr, true); // копировать в массив + gch.Free(); // снять фиксацию + return arr; + } + public static byte[] ClassToBuff(T value) where T : class + { + byte[] arr = new byte[Marshal.SizeOf(value)]; // создать массив + GCHandle gch = GCHandle.Alloc(arr, GCHandleType.Pinned); // зафиксировать в памяти + IntPtr ptr = Marshal.UnsafeAddrOfPinnedArrayElement(arr, 0); // и взять его адрес + Marshal.StructureToPtr(value, ptr, true); // копировать в массив + gch.Free(); // снять фиксацию + return arr; + } + #endregion + } +} diff --git a/piv.cs b/piv.cs new file mode 100644 index 0000000..4ecab07 --- /dev/null +++ b/piv.cs @@ -0,0 +1,2347 @@ +using System; +using System.Collections.Generic; +using System.Drawing; +using System.Linq; +using System.Text; + +/// +/// Ноавя версия ПИВ 1.22 +/// + +namespace PIV +{ + public static class CONST + { + public static Byte START = 0x3A; + public const Byte STARTTOBON = 0x3C; + public const Byte STARTTOBON0322 = 0x3D; + public const Byte STARTTOBON0323 = 0x3E; + public enum ADDR : UInt16 + { + addrBVM = 0x0001, + addrOES = 0x0002, + addrBON = 0x0004, + addrPU = 0x0008, + addrPR = 0x0020 + }; + public enum CODE : Byte +{ + msgNOTHING_TO_SEND = 0x01, + msgRECEIVE_DATA = 0x03, + msgSEND_DATA = 0x05, + msgCONDITION_EQUIPMENT = 0x06, + msgIN_ORDER = 0x07, + msgOUT_ORDER = 0x08 + }; + public static Byte[] auchCRCHi = new Byte[] + { + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, + 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, + 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, + 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, + 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, + 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, + 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, + 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, + 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, + 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, + 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, + 0x40 + }; + public static Byte[] auchCRCLo = new Byte[] + { + 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4, + 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, + 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, + 0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, + 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7, + 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, + 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, + 0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, + 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2, + 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, + 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, + 0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5, + 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x50, 0x90, 0x91, + 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, + 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, + 0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C, + 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80, + 0x40 + }; + public static UInt16 CRC16(ref Byte[] d, UInt16 len) + { + Byte crc_hi = 0xFF; + Byte crc_lo = 0xFF; + Byte j = 0; + do + { + Byte i = (Byte)(crc_hi ^ d[j++]); + crc_hi = (Byte)(crc_lo ^ (Byte)auchCRCHi[i]); + crc_lo = (Byte)(auchCRCLo[i]); + } while (--len != 0); + + return (UInt16)((crc_hi << 8) | crc_lo); + } + } + public static class TOBON + { + private static Byte _infoword = 0; + private static Byte _i_vstr_kontr = 0; + private static Byte _i_neispr_bon = 0; + private static Byte _i_vystavka = 0; + private static Byte _i_gotovnost = 0; + private static Byte _i_ots_massiv_NV = 0; + private static Byte _i_rejim_nav = 0; + + private static UInt16 _dostovernost = 0; + private static UInt16 _d_kren = 0; + private static UInt16 _d_tangaj = 0; + private static UInt16 _d_kurs = 0; + private static UInt16 _d_usX = 0; + private static UInt16 _d_usY = 0; + private static UInt16 _d_usZ = 0; + private static UInt16 _d_uskX = 0; + private static UInt16 _d_uskY = 0; + private static UInt16 _d_uskZ = 0; + + private static Byte _rejim_SNS = 0; + private static Byte _rejim_2D = 0; + private static Byte _rejim_3dfix = 0; + private static Byte _rejim_RTK = 0; + + private static UInt16 _kod_oshibki = 0; + private static UInt16 _ko_nedop_dvij = 0; + private static UInt16 _ko_sboy = 0; + private static UInt16 _ko_ots_dannyh_sns = 0; + private static UInt16 _ko_ots_dannyh_bch = 0; + private static UInt16 _ko_prev_dop_gyro = 0; + private static UInt16 _ko_prev_dop = 0; + + public static Byte Start = CONST.STARTTOBON; + public static Byte InfoWord + { + get + { + _infoword = (Byte)(_i_vstr_kontr); + _infoword |= (Byte)(_i_neispr_bon << 1); + _infoword |= (Byte)(_i_vystavka << 2); + _infoword |= (Byte)(_i_gotovnost << 3); + _infoword |= (Byte)(_i_ots_massiv_NV << 4); + _infoword |= (Byte)(_i_rejim_nav << 5); + return _infoword; + } + set + { + _infoword = value; + _i_vstr_kontr = (Byte)(value & 0x01); + _i_neispr_bon = (Byte)((value & 0x02) >> 1); + _i_vystavka = (Byte)((value & 0x04) >> 2); + _i_gotovnost = (Byte)((value & 0x08) >> 3); + _i_ots_massiv_NV = (Byte)((value & 0x10) >> 4); + _i_rejim_nav = (Byte)((value & 0x20) >> 5); + } + } + public static Byte vstr_kontr { get => _i_vstr_kontr; set => _i_vstr_kontr = value; } + public static Byte neispr_bon { get => _i_neispr_bon; set => _i_neispr_bon = value; } + public static Byte vystavka { get => _i_vystavka; set => _i_vystavka = value; } + public static Byte gotovnost { get => _i_gotovnost; set => _i_gotovnost = value; } + public static Byte ots_massiv_NV { get => _i_ots_massiv_NV; set => _i_ots_massiv_NV = value; } + public static Byte rejim_nav { get => _i_rejim_nav; set => _i_rejim_nav = value; } + public static UInt16 Dostovernost + { + get + { + _dostovernost = (UInt16)(_d_kren); + _dostovernost |= (UInt16)(_d_tangaj << 1); + _dostovernost |= (UInt16)(_d_kurs << 2); + _dostovernost |= (UInt16)(_d_usX << 3); + _dostovernost |= (UInt16)(_d_usY << 4); + _dostovernost |= (UInt16)(_d_usZ << 5); + _dostovernost |= (UInt16)(_d_uskX << 6); + _dostovernost |= (UInt16)(_d_uskY << 7); + _dostovernost |= (UInt16)(_d_uskZ << 8); + return _dostovernost; + } + set + { + _dostovernost = value; + _d_kren = (UInt16)(value & 0x01); + _d_tangaj = (UInt16)((value & 0x0002) >> 1); + _d_kurs = (UInt16)((value & 0x0004) >> 2); + _d_usX = (UInt16)((value & 0x0008) >> 3); + _d_usY = (UInt16)((value & 0x0010) >> 4); + _d_usZ = (UInt16)((value & 0x0020) >> 5); + _d_uskX = (UInt16)((value & 0x0040) >> 6); + _d_uskY = (UInt16)((value & 0x0080) >> 7); + _d_uskZ = (UInt16)((value & 0x0100) >> 8); + } + } + public static UInt16 d_kren { get => _d_kren; set => _d_kren = value; } + public static UInt16 d_tangaj { get => _d_tangaj; set => _d_tangaj = value; } + public static UInt16 d_kurs { get => _d_kurs; set => _d_kurs = value; } + public static UInt16 d_usX { get => _d_usX; set => _d_usX = value; } + public static UInt16 d_usY { get => _d_usY; set => _d_usY = value; } + public static UInt16 d_usZ { get => _d_usZ; set => _d_usZ = value; } + public static UInt16 d_uskX { get => _d_uskX; set => _d_uskX = value; } + public static UInt16 d_uskY { get => _d_uskY; set => _d_uskY = value; } + public static UInt16 d_uskZ { get => _d_uskZ; set => _d_uskZ = value; } + public static Int16 Kren; + public static Int16 Tangaj; + public static Int16 Kurs; + public static Int16 Vost_sk; + public static Int16 Sev_sk; + public static Int16 Vert_sk; + public static UInt16 Modul_sk; + public static Int32 Shirota; + public static Int32 Dolgota; + public static Int32 Vysota; + public static Int16 UsX; + public static Int16 UsY; + public static Int16 UsZ; + public static Int16 UskX; + public static Int16 UskY; + public static Int16 UskZ; + public static UInt32 Time_GPS; + public static Int32 Shirota_GPS; + public static Int32 Dolgota_GPS; + public static Int32 Vysota_GPS; + public static UInt16 Put_ugol_GPS; + public static Byte Sputnik_GPS; + + public static Byte Rejim_SNS + { + get + { + _rejim_SNS = _rejim_2D; + _rejim_SNS |= (Byte)(_rejim_3dfix << 1); + _rejim_SNS |= (Byte)(_rejim_RTK << 2); + return _rejim_SNS; + } + set + { + _rejim_SNS = value; + _rejim_2D = (Byte)(value & 0x01); + _rejim_3dfix = (Byte)((value & 0x02) >> 1); + _rejim_RTK = (Byte)((value & 0x04) >> 2); + } + } + public static Byte rejim_2D { get => _rejim_2D; set => _rejim_2D = value; } + public static Byte rejim_3dfix { get => _rejim_3dfix; set => _rejim_3dfix = value; } + public static Byte rejim_RTK { get => _rejim_RTK; set => _rejim_RTK = value; } + public static UInt16 Kod_Oshibki + { + get + { + _kod_oshibki = (UInt16)(_ko_nedop_dvij << 2); + _kod_oshibki |= (UInt16)(_ko_sboy << 3); + _kod_oshibki |= (UInt16)(_ko_ots_dannyh_sns << 4); + _kod_oshibki |= (UInt16)(_ko_ots_dannyh_bch << 5); + _kod_oshibki |= (UInt16)(_ko_prev_dop_gyro << 6); + _kod_oshibki |= (UInt16)(_ko_prev_dop << 7); + return _kod_oshibki; + } + set + { + _kod_oshibki = value; + _ko_nedop_dvij = (UInt16)((value & 0x0004) >> 2); + _ko_sboy = (UInt16)((value & 0x0008) >> 3); + _ko_ots_dannyh_sns = (UInt16)((value & 0x0010) >> 4); + _ko_ots_dannyh_bch = (UInt16)((value & 0x0020) >> 5); + _ko_prev_dop_gyro = (UInt16)((value & 0x0040) >> 6); + _ko_prev_dop = (UInt16)((value & 0x0080) >> 7); + } + } + public static UInt16 ko_nedop_dvij { get => _ko_nedop_dvij; set => _ko_nedop_dvij = value; } + public static UInt16 ko_sboy { get => _ko_sboy; set => _ko_sboy = value; } + public static UInt16 ko_ots_dannyh_sns { get => _ko_ots_dannyh_sns; set => _ko_ots_dannyh_sns = value; } + public static UInt16 ko_ots_dannyh_bch { get => _ko_ots_dannyh_bch; set => _ko_ots_dannyh_bch = value; } + public static UInt16 ko_prev_dop_gyro { get => _ko_prev_dop_gyro; set => _ko_prev_dop_gyro = value; } + public static UInt16 ko_prev_dop { get => _ko_prev_dop; set => _ko_prev_dop = value; } + + public static Byte[] Data = new Byte[64]; + public static void MakeData() + { + Array.Copy(BitConverter.GetBytes(Start), 0, Data, 0, 1); + Array.Copy(BitConverter.GetBytes(InfoWord), 0, Data, 1, 1); + Array.Copy(BitConverter.GetBytes(Dostovernost), 0, Data, 2, 2); + Array.Copy(BitConverter.GetBytes(Kren), 0, Data, 4, 2); + Array.Copy(BitConverter.GetBytes(Tangaj), 0, Data, 6, 2); + Array.Copy(BitConverter.GetBytes(Kurs), 0, Data, 8, 2); + Array.Copy(BitConverter.GetBytes(Vost_sk), 0, Data, 10, 2); + Array.Copy(BitConverter.GetBytes(Sev_sk), 0, Data, 12, 2); + Array.Copy(BitConverter.GetBytes(Vert_sk), 0, Data, 14, 2); + Array.Copy(BitConverter.GetBytes(Modul_sk), 0, Data, 16, 2); + Array.Copy(BitConverter.GetBytes(Shirota), 0, Data, 18, 4); + Array.Copy(BitConverter.GetBytes(Dolgota), 0, Data, 22, 4); + Array.Copy(BitConverter.GetBytes(Vysota), 0, Data, 26, 4); + Array.Copy(BitConverter.GetBytes(UsX), 0, Data, 30, 2); + Array.Copy(BitConverter.GetBytes(UsY), 0, Data, 32, 2); + Array.Copy(BitConverter.GetBytes(UsZ), 0, Data, 34, 2); + Array.Copy(BitConverter.GetBytes(UskX), 0, Data, 36, 2); + Array.Copy(BitConverter.GetBytes(UskY), 0, Data, 38, 2); + Array.Copy(BitConverter.GetBytes(UskZ), 0, Data, 40, 2); + Array.Copy(BitConverter.GetBytes(Time_GPS), 0, Data, 42, 4); + Array.Copy(BitConverter.GetBytes(Shirota_GPS), 0, Data, 46, 4); + Array.Copy(BitConverter.GetBytes(Dolgota_GPS), 0, Data, 50, 4); + Array.Copy(BitConverter.GetBytes(Vysota_GPS), 0, Data, 54, 4); + Array.Copy(BitConverter.GetBytes(Put_ugol_GPS), 0, Data, 58, 2); + Array.Copy(BitConverter.GetBytes(Sputnik_GPS), 0, Data, 60, 1); + Array.Copy(BitConverter.GetBytes(Rejim_SNS), 0, Data, 61, 1); + Array.Copy(BitConverter.GetBytes(Kod_Oshibki), 0, Data, 62, 2); + } + public static void GetData() + { +/* Start = Data[0]; + Address = (UInt16)(Data[2] << 8 | Data[1]); + Code = Data[3]; + Lenght = BitConverter.ToUInt16(Data, 4); + Id_Pack = BitConverter.ToUInt16(Data, 6); + Schetchik = BitConverter.ToUInt32(Data, 8); + InfoWord = Data[12]; + Time_Sys = BitConverter.ToUInt32(Data, 13); + Time_Nav = BitConverter.ToUInt32(Data, 27); + Dostovernost = BitConverter.ToUInt16(Data, 21); + Kren = BitConverter.ToInt16(Data, 23); + Tangaj = BitConverter.ToInt16(Data, 25); + Kurs = BitConverter.ToInt16(Data, 27); + Vost_sk = BitConverter.ToInt16(Data, 29); + Sev_sk = BitConverter.ToInt16(Data, 31); + Vert_sk = BitConverter.ToInt16(Data, 33); + Modul_sk = BitConverter.ToUInt16(Data, 35); + Shirota = BitConverter.ToInt32(Data, 37); + Dolgota = BitConverter.ToInt32(Data, 41); + Vysota = BitConverter.ToInt32(Data, 45); + UsX = BitConverter.ToInt16(Data, 49); + UsY = BitConverter.ToInt16(Data, 51); + UsZ = BitConverter.ToInt16(Data, 53); + UskX = BitConverter.ToInt16(Data, 55); + UskY = BitConverter.ToInt16(Data, 57); + UskZ = BitConverter.ToInt16(Data, 59); + Time_GPS = BitConverter.ToUInt32(Data, 61); + Shirota_GPS = BitConverter.ToInt32(Data, 65); + Dolgota_GPS = BitConverter.ToInt32(Data, 69); + Vysota_GPS = BitConverter.ToInt32(Data, 73); + Put_ugol_GPS = BitConverter.ToUInt16(Data, 77); + Sputnik_GPS = Data[79]; + Rejim_SNS = Data[80]; + Kod_Oshibki = BitConverter.ToUInt16(Data, 81); + CRC16 = BitConverter.ToUInt16(Data, 83); +*/ } + } + /// + /// Новый класс пакет 0322 в БОН + /// + public static class TOBON0322 + { + private const UInt16 _len_pack = 74; + private static UInt16 _len_data = _len_pack - 8; + private static UInt16 _len_crc = _len_pack - 2; + + private static Byte _num_pack = 2; + private static Byte _dir_pack = 2; + private static Byte _addr_pack = 3; + private static UInt16 _id_pack = 0x0322; + + private static UInt32 _schetchik; + + private static UInt16 _infoword = 0; + private static UInt16 _i_vstr_kontr = 0; + private static UInt16 _i_neispr_bon = 0; + private static UInt16 _i_vystavka = 0; + private static UInt16 _i_gotovnost = 0; + private static UInt16 _i_ots_massiv_NV = 0; + private static UInt16 _i_rejim_nav = 0; + private static UInt16 _i_korr_nosit = 0; + private static UInt16 _i_korr_sns = 0; + + private static UInt32 _time_sys; + private static UInt32 _time_nav; + + private static UInt16 _dostovernost = 0; + private static UInt16 _d_kren_tangaj = 0; + private static UInt16 _d_kurs = 0; + private static UInt16 _d_ugl_sk = 0; + private static UInt16 _d_lin_usk = 0; + private static UInt16 _d_in_coord = 0; + private static UInt16 _d_baro = 0; + private static UInt16 _d_inerc_sk = 0; + private static UInt16 _d_vrem_rabot = 0; + + private static Int16 _kren; + private static Int16 _tangaj; + private static Int16 _kurs; + private static Int16 _vost_sk; + private static Int16 _sev_sk; + private static Int16 _vert_sk; + private static UInt16 _modul_sk; + private static Int32 _shirota; + private static Int32 _dolgota; + private static Int32 _vysota; + private static Int32 _vysota_baro; + private static Int16 _usx; + private static Int16 _usy; + private static Int16 _usz; + private static Int16 _uskx; + private static Int16 _usky; + private static Int16 _uskz; + + private static UInt16 _kod_oshibki; + private static UInt16 _ko_nedop_dvij; + private static UInt16 _ko_sboy; + private static UInt16 _ko_ots_dannyh_sns; + private static UInt16 _ko_ots_dannyh_bch; + private static UInt16 _ko_prev_dop_gyro; + private static UInt16 _ko_prev_dop_axel; + + private static Int32 _vremya_ustar; + private static UInt16 _CRC16; + + public static Byte Start = CONST.STARTTOBON0322; + public static UInt16 Address = (UInt16)CONST.ADDR.addrBVM | (UInt16)CONST.ADDR.addrOES | (UInt16)CONST.ADDR.addrPR | (UInt16)CONST.ADDR.addrPU; + public static Byte Code = (Byte)CONST.CODE.msgRECEIVE_DATA; + public static UInt16 Lenght { get => _len_data; set => _len_data = value; } + /// + /// Идентификатор пакета + /// + public static UInt16 Id_Pack + { + get + { + _id_pack = (ushort)(_addr_pack << 8); + _id_pack |= (ushort)(_dir_pack << 4); + _id_pack |= (ushort)_num_pack; + return _id_pack; + } + set + { + _id_pack = value; + _num_pack = (Byte)(value & 0x000F); + _dir_pack = (Byte)((value & 0x00F0) >> 4); + _addr_pack = (Byte)((value & 0xFF00) >> 8); + } + } + public static Byte num_pack { get => _num_pack; set => _num_pack = value; } + public static Byte dir_pack1 { get => _dir_pack; set => _dir_pack = value; } + public static Byte addr_pack { get => _addr_pack; set => _addr_pack = value; } + /// + /// Счетчик + /// + public static UInt32 Schetchik { get => _schetchik; set => _schetchik = value; } + /// + /// Слово информационное + /// + public static UInt16 InfoWord + { + get + { + _infoword = (UInt16)(_i_vstr_kontr << 0); + _infoword |= (UInt16)(_i_neispr_bon << 1); + _infoword |= (UInt16)(_i_vystavka << 2); + _infoword |= (UInt16)(_i_gotovnost << 3); + _infoword |= (UInt16)(_i_ots_massiv_NV << 4); + _infoword |= (UInt16)(_i_rejim_nav << 5); + _infoword |= (UInt16)(_i_korr_nosit << 6); + _infoword |= (UInt16)(_i_korr_sns << 7); + return _infoword; + } + set + { + _infoword = value; + _i_vstr_kontr = (UInt16)(value & 0x01 >> 0); + _i_neispr_bon = (UInt16)((value & 0x02) >> 1); + _i_vystavka = (UInt16)((value & 0x04) >> 2); + _i_gotovnost = (UInt16)((value & 0x08) >> 3); + _i_ots_massiv_NV = (UInt16)((value & 0x10) >> 4); + _i_rejim_nav = (UInt16)((value & 0x20) >> 5); + _i_korr_nosit = (UInt16)((value & 0x40) >> 6); + _i_korr_sns = (UInt16)((value & 0x80) >> 7); + } + } + public static UInt16 I_vstr_kontr { get => _i_vstr_kontr; set => _i_vstr_kontr = value; } + public static UInt16 I_neispr_bon { get => _i_neispr_bon; set => _i_neispr_bon = value; } + public static UInt16 I_vystavka { get => _i_vystavka; set => _i_vystavka = value; } + public static UInt16 I_gotovnost { get => _i_gotovnost; set => _i_gotovnost = value; } + public static UInt16 I_ots_massiv_NV { get => _i_ots_massiv_NV; set => _i_ots_massiv_NV = value; } + public static UInt16 I_rejim_nav { get => _i_rejim_nav; set => _i_rejim_nav = value; } + public static UInt16 I_korr_nosit { get => _i_korr_nosit; set => _i_korr_nosit = value; } + public static UInt16 I_korr_sns { get => _i_korr_sns; set => _i_korr_sns = value; } + /// + /// Время с подачи питания + /// + public static UInt32 Time_Sys { get => _time_sys; set => _time_sys = value; } + /// + /// Время в режме навигация + /// + public static UInt32 Time_Nav { get => _time_nav; set => _time_nav = value; } + /// + /// Достоверность данных + /// + public static UInt16 Dostovernost + { + get + { + _dostovernost = (UInt16)(_d_kren_tangaj); + _dostovernost |= (UInt16)(_d_kurs << 1); + _dostovernost |= (UInt16)(_d_ugl_sk << 2); + _dostovernost |= (UInt16)(_d_lin_usk << 3); + _dostovernost |= (UInt16)(_d_in_coord << 4); + _dostovernost |= (UInt16)(_d_baro << 5); + _dostovernost |= (UInt16)(_d_inerc_sk << 6); + _dostovernost |= (UInt16)(_d_vrem_rabot << 7); + return _dostovernost; + } + set + { + _dostovernost = value; + _d_kren_tangaj = (UInt16)((value & 0x0001) >> 0); + _d_kurs = (UInt16)((value & 0x0002) >> 1); + _d_ugl_sk = (UInt16)((value & 0x0004) >> 2); + _d_lin_usk = (UInt16)((value & 0x0008) >> 3); + _d_in_coord = (UInt16)((value & 0x0010) >> 4); + _d_baro = (UInt16)((value & 0x0020) >> 5); + _d_inerc_sk = (UInt16)((value & 0x0040) >> 6); + _d_vrem_rabot = (UInt16)((value & 0x0080) >> 7); + } + } + public static UInt16 D_kren_tangaj { get => _d_kren_tangaj; set => _d_kren_tangaj = value; } + public static UInt16 D_kurs { get => _d_kurs; set => _d_kurs = value; } + public static UInt16 D_ugl_sk { get => _d_ugl_sk; set => _d_ugl_sk = value; } + public static UInt16 D_lin_usk { get => _d_lin_usk; set => _d_lin_usk = value; } + public static UInt16 D_in_coord { get => _d_in_coord; set => _d_in_coord = value; } + public static UInt16 D_baro { get => _d_baro; set => _d_baro = value; } + public static UInt16 D_inerc_sk { get => _d_inerc_sk; set => _d_inerc_sk = value; } + public static UInt16 D_vrem_rabot { get => _d_vrem_rabot; set => _d_vrem_rabot = value; } + public static Int16 Kren { get => _kren; set => _kren = value; } + public static Int16 Tangaj { get => _tangaj; set => _tangaj = value; } + public static Int16 Kurs { get => _kurs; set => _kurs = value; } + public static Int16 Vost_sk { get => _vost_sk; set => _vost_sk = value; } + public static Int16 Sev_sk { get => _sev_sk; set => _sev_sk = value; } + public static Int16 Vert_sk { get => _vert_sk; set => _vert_sk = value; } + public static UInt16 Modul_sk { get => _modul_sk; set => _modul_sk = value; } + public static Int32 Shirota { get => _shirota; set => _shirota = value; } + public static Int32 Dolgota { get => _dolgota; set => _dolgota = value; } + public static Int32 Vysota { get => _vysota; set => _vysota = value; } + public static Int32 Vysota_baro { get => _vysota_baro; set => _vysota_baro = value; } + public static Int16 UsX { get => _usx; set => _usx = value; } + public static Int16 UsY { get => _usy; set => _usy = value; } + public static Int16 UsZ { get => _usz; set => _usz = value; } + public static Int16 UskX { get => _uskx; set => _uskx = value; } + public static Int16 UskY { get => _usky; set => _usky = value; } + public static Int16 UskZ { get => _uskz; set => _uskz = value; } + /// + /// Код ошибки БИНС + /// + public static UInt16 Kod_Oshibki + { + get + { + _kod_oshibki = (UInt16)(_ko_nedop_dvij << 2); + _kod_oshibki |= (UInt16)(_ko_sboy << 3); + _kod_oshibki |= (UInt16)(_ko_ots_dannyh_sns << 4); + _kod_oshibki |= (UInt16)(_ko_ots_dannyh_bch << 5); + _kod_oshibki |= (UInt16)(_ko_prev_dop_gyro << 6); + _kod_oshibki |= (UInt16)(_ko_prev_dop_axel << 7); + return _kod_oshibki; + } + set + { + _kod_oshibki = value; + _ko_nedop_dvij = (UInt16)((value & 0x0004) >> 2); + _ko_sboy = (UInt16)((value & 0x0008) >> 3); + _ko_ots_dannyh_sns = (UInt16)((value & 0x0010) >> 4); + _ko_ots_dannyh_bch = (UInt16)((value & 0x0020) >> 5); + _ko_prev_dop_gyro = (UInt16)((value & 0x0040) >> 6); + _ko_prev_dop_axel = (UInt16)((value & 0x0080) >> 7); + } + } + public static UInt16 Ko_nedop_dvij { get => _ko_nedop_dvij; set => _ko_nedop_dvij = value; } + public static UInt16 Ko_sboy { get => _ko_sboy; set => _ko_sboy = value; } + public static UInt16 Ko_ots_dannyh_sns { get => _ko_ots_dannyh_sns; set => _ko_ots_dannyh_sns = value; } + public static UInt16 Ko_ots_dannyh_bch { get => _ko_ots_dannyh_bch; set => _ko_ots_dannyh_bch = value; } + public static UInt16 Ko_prev_dop_gyro { get => _ko_prev_dop_gyro; set => _ko_prev_dop_gyro = value; } + public static UInt16 Ko_prev_dop_axel { get => _ko_prev_dop_axel; set => _ko_prev_dop_axel = value; } + /// + /// Время устаревания информации от комплекса + /// + public static Int32 Vremya_ustar { get => _vremya_ustar; set => _vremya_ustar = value; } + public static UInt16 CRC16; + + public static Byte[] Data = new Byte[_len_pack]; + /// + /// Функция формирования массива с пакетом + /// + public static void MakeData() + { + Array.Copy(BitConverter.GetBytes(Start), 0, Data, 0, 1); + Array.Copy(BitConverter.GetBytes(Address), 0, Data, 1, 2); + Array.Copy(BitConverter.GetBytes(Code), 0, Data, 3, 1); + Array.Copy(BitConverter.GetBytes(Lenght), 0, Data, 4, 2); + Array.Copy(BitConverter.GetBytes(Id_Pack), 0, Data, 6, 2); + + Array.Copy(BitConverter.GetBytes(Schetchik), 0, Data, 8, 4); + Array.Copy(BitConverter.GetBytes(InfoWord), 0, Data, 12, 2); + + Array.Copy(BitConverter.GetBytes(Time_Sys), 0, Data, 14, 4); + Array.Copy(BitConverter.GetBytes(Time_Nav), 0, Data, 18, 4); + + Array.Copy(BitConverter.GetBytes(Dostovernost), 0, Data, 22, 2); + + Array.Copy(BitConverter.GetBytes(Kren), 0, Data, 24, 2); + Array.Copy(BitConverter.GetBytes(Tangaj), 0, Data, 26, 2); + Array.Copy(BitConverter.GetBytes(Kurs), 0, Data, 28, 2); + Array.Copy(BitConverter.GetBytes(Vost_sk), 0, Data, 30, 2); + Array.Copy(BitConverter.GetBytes(Sev_sk), 0, Data, 32, 2); + Array.Copy(BitConverter.GetBytes(Vert_sk), 0, Data, 34, 2); + Array.Copy(BitConverter.GetBytes(Modul_sk), 0, Data, 36, 2); + Array.Copy(BitConverter.GetBytes(Shirota), 0, Data, 38, 4); + Array.Copy(BitConverter.GetBytes(Dolgota), 0, Data, 42, 4); + Array.Copy(BitConverter.GetBytes(Vysota), 0, Data, 46, 4); + Array.Copy(BitConverter.GetBytes(Vysota_baro), 0, Data, 50, 4); + Array.Copy(BitConverter.GetBytes(UsX), 0, Data, 54, 2); + Array.Copy(BitConverter.GetBytes(UsY), 0, Data, 56, 2); + Array.Copy(BitConverter.GetBytes(UsZ), 0, Data, 58, 2); + Array.Copy(BitConverter.GetBytes(UskX), 0, Data, 60, 2); + Array.Copy(BitConverter.GetBytes(UskY), 0, Data, 62, 2); + Array.Copy(BitConverter.GetBytes(UskZ), 0, Data, 64, 2); + + Array.Copy(BitConverter.GetBytes(Kod_Oshibki), 0, Data, 66, 2); + + Array.Copy(BitConverter.GetBytes(Vremya_ustar), 0, Data, 68, 4); + + UInt16 _crc16 = CONST.CRC16(ref Data, _len_crc); + Array.Copy(BitConverter.GetBytes(_crc16), 0, Data, _len_crc, 2); + } + /// + /// Функция извлечения данных из массива + /// + public static void GetData() + { + } + } + /// + /// Новый класс пакет 0323 в БОН + /// + public static class TOBON0323 + { + private const UInt16 _len_pack = 50; + private static UInt16 _len_data = _len_pack - 8; + private static UInt16 _len_crc = _len_pack - 2; + + private static Byte _num_pack = 3; + private static Byte _dir_pack = 2; + private static Byte _addr_pack = 3; + private static UInt16 _id_pack = 0x0323; + + private static UInt32 _schetchik; + + private static UInt16 _rejim_SNS = 0; + private static UInt16 _rejim_2D = 0; + private static UInt16 _rejim_3dfix = 0; + private static UInt16 _rejim_RTK = 0; + + private static UInt32 _time_sys; + private static UInt32 _time_nav; + + private static UInt16 _dostovernost = 0; + private static UInt16 _d_coord = 0; + private static UInt16 _d_vysota = 0; + private static UInt16 _d_skorost = 0; + private static UInt16 _d_vremya = 0; + private static UInt16 _d_gf_sputnik = 0; + + private static UInt32 _time_sns; + private static Int32 _shirota_sns; + private static Int32 _dolgota_sns; + private static Int32 _vysota_sns; + private static UInt16 _put_ugol_sns; + private static UInt16 _sputnik_sns; + + private static Int32 _vremya_ustar; + + private static UInt16 _CRC16; + + public static Byte Start = CONST.STARTTOBON0323; + public static UInt16 Address = (UInt16)CONST.ADDR.addrBVM | (UInt16)CONST.ADDR.addrOES | (UInt16)CONST.ADDR.addrPR | (UInt16)CONST.ADDR.addrPU; + public static Byte Code = (Byte)CONST.CODE.msgRECEIVE_DATA; + public static UInt16 Lenght { get => _len_data; set => _len_data = value; } + public static UInt16 Id_Pack + { + get + { + _id_pack = (ushort)(_addr_pack << 8); + _id_pack |= (ushort)(_dir_pack << 4); + _id_pack |= (ushort)_num_pack; + return _id_pack; + } + set + { + _id_pack = value; + _num_pack = (Byte)(value & 0x000F); + _dir_pack = (Byte)((value & 0x00F0) >> 4); + _addr_pack = (Byte)((value & 0xFF00) >> 8); + } + } + public static Byte num_pack { get => _num_pack; set => _num_pack = value; } + public static Byte dir_pack1 { get => _dir_pack; set => _dir_pack = value; } + public static Byte addr_pack { get => _addr_pack; set => _addr_pack = value; } + public static UInt32 Schetchik { get => _schetchik; set => _schetchik = value; } + public static UInt16 Rejim_SNS + { + get + { + _rejim_SNS = (UInt16)_rejim_2D; + _rejim_SNS |= (UInt16)(_rejim_3dfix << 1); + _rejim_SNS |= (UInt16)(_rejim_RTK << 2); + return _rejim_SNS; + } + set + { + _rejim_SNS = (UInt16)(value); + _rejim_2D = (UInt16)(value & 0x01); + _rejim_3dfix = (UInt16)((value & 0x02) >> 1); + _rejim_RTK = (UInt16)((value & 0x04) >> 2); + } + } + public static UInt16 rejim_2D { get => _rejim_2D; set => _rejim_2D = value; } + public static UInt16 rejim_3dfix { get => _rejim_3dfix; set => _rejim_3dfix = value; } + public static UInt16 rejim_RTK { get => _rejim_RTK; set => _rejim_RTK = value; } + /// + /// Время с подачи питания + /// + public static UInt32 Time_Sys { get => _time_sys; set => _time_sys = value; } + /// + /// Время в режме навигация + /// + public static UInt32 Time_Nav { get => _time_nav; set => _time_nav = value; } + public static UInt16 Dostovernost + { + get + { + _dostovernost = (UInt16)(_d_coord); + _dostovernost |= (UInt16)(_d_vysota << 1); + _dostovernost |= (UInt16)(_d_skorost << 2); + _dostovernost |= (UInt16)(_d_vremya << 3); + _dostovernost |= (UInt16)(_d_gf_sputnik << 4); + return _dostovernost; + } + set + { + _dostovernost = value; + _d_coord = (UInt16)(value & 0x0001); + _d_vysota = (UInt16)((value & 0x0002) >> 1); + _d_skorost = (UInt16)((value & 0x0004) >> 2); + _d_vremya = (UInt16)((value & 0x0008) >> 3); + _d_gf_sputnik = (UInt16)((value & 0x0010) >> 4); + } + } + public static UInt16 D_coord { get => _d_coord; set => _d_coord = value; } + public static UInt16 D_vysota { get => _d_vysota; set => _d_vysota = value; } + public static UInt16 D_skorost { get => _d_skorost; set => _d_skorost = value; } + public static UInt16 D_vremya { get => _d_vremya; set => _d_vremya = value; } + public static UInt16 D_gf_sputnik { get => _d_gf_sputnik; set => _d_gf_sputnik = value; } + public static UInt32 Time_sns { get => _time_sns; set => _time_sns = value; } + public static Int32 Shirota_sns { get => _shirota_sns; set => _shirota_sns = value; } + public static Int32 Dolgota_sns { get => _dolgota_sns; set => _dolgota_sns = value; } + public static Int32 Vysota_sns { get => _vysota_sns; set => _vysota_sns = value; } + public static UInt16 Put_ugol_sns { get => _put_ugol_sns; set => _put_ugol_sns = value; } + public static UInt16 Sputnik_sns { get => _sputnik_sns; set => _sputnik_sns = value; } + public static Int32 Vremya_ustar { get => _vremya_ustar; set => _vremya_ustar = value; } + + public static UInt16 CRC16; + + public static Byte[] Data = new Byte[_len_pack]; + /// + /// Функция формирования массива с пакетом + /// + public static void MakeData() + { + Array.Copy(BitConverter.GetBytes(Start), 0, Data, 0, 1); + Array.Copy(BitConverter.GetBytes(Address), 0, Data, 1, 2); + Array.Copy(BitConverter.GetBytes(Code), 0, Data, 3, 1); + Array.Copy(BitConverter.GetBytes(Lenght), 0, Data, 4, 2); + Array.Copy(BitConverter.GetBytes(Id_Pack), 0, Data, 6, 2); + Array.Copy(BitConverter.GetBytes(Schetchik), 0, Data, 8, 4); + Array.Copy(BitConverter.GetBytes(Rejim_SNS), 0, Data, 12, 2); + Array.Copy(BitConverter.GetBytes(Time_Sys), 0, Data, 14, 4); + Array.Copy(BitConverter.GetBytes(Time_Nav), 0, Data, 18, 4); + Array.Copy(BitConverter.GetBytes(Dostovernost), 0, Data, 22, 2); + Array.Copy(BitConverter.GetBytes(Time_sns), 0, Data, 24, 4); + Array.Copy(BitConverter.GetBytes(Shirota_sns), 0, Data, 28, 4); + Array.Copy(BitConverter.GetBytes(Dolgota_sns), 0, Data, 32, 4); + Array.Copy(BitConverter.GetBytes(Vysota_sns), 0, Data, 36, 4); + Array.Copy(BitConverter.GetBytes(Put_ugol_sns), 0, Data, 40, 2); + Array.Copy(BitConverter.GetBytes(Sputnik_sns), 0, Data, 42, 2); + Array.Copy(BitConverter.GetBytes(Vremya_ustar), 0, Data, 44, 2); + + UInt16 _crc16 = CONST.CRC16(ref Data, _len_crc); + Array.Copy(BitConverter.GetBytes(_crc16), 0, Data, _len_crc, 2); + } + /// + /// Функция извлечения данных из массива + /// + public static void GetData() + { + Start = Data[0]; + Address = (UInt16)(Data[2] << 8 | Data[1]); + Code = Data[3]; + Lenght = BitConverter.ToUInt16(Data, 4); + Id_Pack = BitConverter.ToUInt16(Data, 6); + Schetchik = BitConverter.ToUInt32(Data, 8); + Rejim_SNS = BitConverter.ToUInt16(Data, 12); + Time_Sys = BitConverter.ToUInt32(Data, 14); + Time_Nav = BitConverter.ToUInt32(Data, 18); + Dostovernost = BitConverter.ToUInt16(Data, 22); + Time_sns = BitConverter.ToUInt32(Data, 24); + Shirota_sns = BitConverter.ToInt32(Data, 28); + Dolgota_sns = BitConverter.ToInt32(Data, 32); + Vysota_sns = BitConverter.ToInt32(Data, 36); + Put_ugol_sns = BitConverter.ToUInt16(Data, 40); + Sputnik_sns = BitConverter.ToUInt16(Data, 42); + Vremya_ustar = BitConverter.ToInt32(Data, 44); + CRC16 = BitConverter.ToUInt16(Data, 48); + } + } + public static class OES2BVM + { + private static Byte _num_pack = 1; + private static Byte _dir_pack = 2; + private static Byte _addr_pack = 2; + private static UInt16 _id_pack = 0x0221; + + private static UInt16 _rejim = 0; + private static UInt16 _r_ioes = 0; + private static UInt16 _r_zahvat = 0; + private static UInt16 _r_rejimoes = 0; + private static UInt16 _r_sostoes = 0; + private static UInt16 _r_vsktk = 0; + private static UInt16 _r_rks = 0; + private static UInt16 _r_eizo_recv = 0; + private static UInt16 _r_eizo = 0; + + public static Byte Start = CONST.START; + public static UInt16 Address = (UInt16)CONST.ADDR.addrBVM | (UInt16)CONST.ADDR.addrPU | (UInt16)CONST.ADDR.addrPR; + public static Byte Code = (Byte)CONST.CODE.msgRECEIVE_DATA; + public static UInt16 Lenght = 24; + public static UInt16 Id_Pack + { + get + { + _id_pack = (ushort)(_addr_pack << 8); + _id_pack |= (ushort)(_dir_pack << 4); + _id_pack |= (ushort)_num_pack; + return _id_pack; + } + set + { + _id_pack = value; + _num_pack = (Byte)(value & 0x000F); + _dir_pack = (Byte)((value & 0x00F0) >> 4); + _addr_pack = (Byte)((value & 0xFF00) >> 8); + } + } + public static Byte num_pack { get => _num_pack; set => _num_pack = value; } + public static Byte dir_pack { get => _dir_pack; set => _dir_pack = value; } + public static Byte addr_pack { get => _addr_pack; set => _addr_pack = value; } + public static UInt32 Schetchik; + public static UInt16 Rejim + { + get + { + _rejim = (UInt16)(_r_ioes); + _rejim |= (UInt16)(_r_zahvat << 1); + _rejim |= (UInt16)(_r_rejimoes << 3); + _rejim |= (UInt16)(_r_sostoes << 5); + _rejim |= (UInt16)(_r_vsktk << 6); + _rejim |= (UInt16)(_r_rks << 7); + _rejim |= (UInt16)(_r_eizo_recv << 8); + _rejim |= (UInt16)(_r_eizo << 9); + return _rejim; + } + set + { + _rejim = value; + _r_ioes = (UInt16)(value & 0x0001); + _r_zahvat = (UInt16)((value & 0x0002) >> 1); + _r_rejimoes = (UInt16)((value & 0x000C) >> 2); + _r_sostoes = (UInt16)((value & 0x0030) >> 4); + _r_vsktk = (UInt16)((value & 0x0040) >> 6); + _r_rks = (UInt16)((value & 0x0080) >> 7); + _r_eizo_recv = (UInt16)((value & 0x0100) >> 8); + _r_eizo = (UInt16)((value & 0x0200) >> 9); + } + } + public static UInt16 r_ioes { get => _r_ioes; set => _r_ioes = value; } + public static UInt16 r_zahvat { get => _r_zahvat; set => _r_zahvat = value; } + public static UInt16 r_rejimoes { get => _r_rejimoes; set => _r_rejimoes = value; } + public static UInt16 r_sostoes { get => _r_sostoes; set => _r_sostoes = value; } + public static UInt16 r_vsktk { get => _r_vsktk; set => _r_vsktk = value; } + public static UInt16 r_rks { get => _r_rks; set => _r_rks = value; } + public static UInt16 r_eizo_recv { get => _r_eizo_recv; set => _r_eizo_recv = value; } + public static UInt16 r_eizo { get => _r_eizo; set => _r_eizo = value; } + public static String RejimOES + { + get + { + switch (_r_rejimoes) + { + case 0: + return "Ожидание"; + case 1: + return "Обзор"; + case 2: + return " АС "; + default: + return "Ожидание"; + } + } + } + public static String SostOES + { + get + { + switch (_r_sostoes) + { + case 0: + return "Подготовка"; + case 1: + return "Работа"; + case 2: + return "Технология"; + case 3: + return "Отказ"; + default: + return "Подготовка"; + } + } + } + + public static float AZ; + public static float UM; + public static float usAZ; + public static float usUM; + public static UInt16 CRC16; + + public static Byte[] Data = new Byte[32]; + public static void MakeData() + { + Array.Copy(BitConverter.GetBytes(Start), 0, Data, 0, 1); + Array.Copy(BitConverter.GetBytes(Address), 0, Data, 1, 2); + Array.Copy(BitConverter.GetBytes(Code), 0, Data, 3, 1); + Array.Copy(BitConverter.GetBytes(Lenght), 0, Data, 4, 2); + Array.Copy(BitConverter.GetBytes(Id_Pack), 0, Data, 6, 2); + Array.Copy(BitConverter.GetBytes(Schetchik), 0, Data, 8, 4); + Array.Copy(BitConverter.GetBytes(Rejim), 0, Data, 12, 2); + Array.Copy(BitConverter.GetBytes(AZ), 0, Data, 14, 4); + Array.Copy(BitConverter.GetBytes(UM), 0, Data, 18, 4); + Array.Copy(BitConverter.GetBytes(usAZ), 0, Data, 22, 4); + Array.Copy(BitConverter.GetBytes(usUM), 0, Data, 26, 4); + + UInt16 _crc16 = CONST.CRC16(ref Data, 30); + Array.Copy(BitConverter.GetBytes(_crc16), 0, Data, 30, 2); + } + public static void GetData() + { + Start = Data[0]; + Address = (UInt16)(Data[2] << 8 | Data[1]); + Code = Data[3]; + Lenght = BitConverter.ToUInt16(Data, 4); + Id_Pack = BitConverter.ToUInt16(Data, 6); + Schetchik = BitConverter.ToUInt32(Data, 8); + Rejim = BitConverter.ToUInt16(Data, 12); + AZ = BitConverter.ToSingle(Data, 14); + UM = BitConverter.ToSingle(Data, 18); + usAZ = BitConverter.ToSingle(Data, 22); + usUM = BitConverter.ToSingle(Data, 26); + CRC16 = BitConverter.ToUInt16(Data, 30); + } + } + public static class BVM2OES + { + private static Byte _num_pack = 1; + private static Byte _dir_pack = 1; + private static Byte _addr_pack = 2; + private static UInt16 _id_pack = 0x0211; + + private static UInt16 _rejim = 0; + private static UInt16 _r_crc = 0; + private static UInt16 _r_rejimoes = 0; + private static UInt16 _r_tk = 0; + private static UInt16 _r_rks = 0; + private static UInt16 _r_eizo = 0; + + public static Byte Start = CONST.START; + public static UInt16 Address = (UInt16)CONST.ADDR.addrOES; + public static Byte Code = (Byte)CONST.CODE.msgRECEIVE_DATA; + public static UInt16 Lenght = 34; + public static UInt16 Id_Pack + { + get + { + if (_id_pack != 0) + { + return _id_pack; + } + _id_pack = (ushort)(_addr_pack << 8); + _id_pack |= (ushort)(_dir_pack << 4); + _id_pack |= (ushort)_num_pack; + return _id_pack; + } + set + { + _id_pack = value; + _num_pack = (Byte)(value & 0x000F); + _dir_pack = (Byte)((value & 0x00F0) >> 4); + _addr_pack = (Byte)((value & 0xFF00) >> 8); + } + } + public static Byte num_pack + { + get => _num_pack; + set + { + _num_pack = value; + } + } + public static Byte dir_pack + { + get => _dir_pack; + set + { + _dir_pack = value; + } + } + public static Byte addr_pack + { + get => _addr_pack; + set + { + _addr_pack = value; + } + } + public static UInt32 Schetchik; + public static UInt16 Rejim + { + get + { + _rejim = 0; + _rejim |= (UInt16)(_r_crc << 0); + _rejim |= (UInt16)(_r_rejimoes << 1); + _rejim |= (UInt16)(_r_tk << 3); + _rejim |= (UInt16)(_r_rks << 4); + _rejim |= (UInt16)(_r_eizo << 5); + return _rejim; + } + set + { + _rejim = value; + _r_crc = (UInt16)((value & 0x0001) >> 0); + _r_rejimoes = (UInt16)((value & 0x0006) >> 1); + _r_tk = (UInt16)((value & 0x0008) >> 3); + _r_rks = (UInt16)((value & 0x0010) >> 4); + _r_eizo = (UInt16)((value & 0x0020) >> 5); + } + } + public static UInt16 r_crc { get => _r_crc; set => _r_crc = value; } + public static UInt16 r_rejimoes { get => _r_rejimoes; set => _r_rejimoes = value; } + public static UInt16 r_tk { get => _r_tk; set => _r_tk = value; } + public static UInt16 r_rks { get => _r_rks; set => _r_rks = value; } + public static UInt16 r_eizo { get => _r_eizo; set => _r_eizo = value; } + public static String RejimOES + { + get + { + switch (_r_rejimoes) + { + case 0: + return "Ожидание"; + case 1: + return "Обзор"; + case 2: + return "АС"; + default: + return "Ожидание"; + } + } + } + public static float ustAZ; + public static float ustUM; + public static UInt16 X; + public static UInt16 Y; + public static Byte lx; + public static Byte ly; + public static float AZ; + public static float UM; + public static Int16 Xrks; + public static Int16 Yrks; + public static UInt16 CRC16; + + public static Byte[] Data = new Byte[42]; + public static void MakeData() + { + Array.Copy(BitConverter.GetBytes(Start), 0, Data, 0, 1); + Array.Copy(BitConverter.GetBytes(Address), 0, Data, 1, 2); + Array.Copy(BitConverter.GetBytes(Code), 0, Data, 3, 1); + Array.Copy(BitConverter.GetBytes(Lenght), 0, Data, 4, 2); + Array.Copy(BitConverter.GetBytes(Id_Pack), 0, Data, 6, 2); + Array.Copy(BitConverter.GetBytes(Schetchik), 0, Data, 8, 4); + Array.Copy(BitConverter.GetBytes(Rejim), 0, Data, 12, 2); + Array.Copy(BitConverter.GetBytes(ustAZ), 0, Data, 14, 4); + Array.Copy(BitConverter.GetBytes(ustUM), 0, Data, 18, 4); + Array.Copy(BitConverter.GetBytes(X), 0, Data, 22, 2); + Array.Copy(BitConverter.GetBytes(Y), 0, Data, 24, 2); + Array.Copy(BitConverter.GetBytes(lx), 0, Data, 26, 1); + Array.Copy(BitConverter.GetBytes(ly), 0, Data, 27, 1); + Array.Copy(BitConverter.GetBytes(AZ), 0, Data, 28, 4); + Array.Copy(BitConverter.GetBytes(UM), 0, Data, 32, 4); + Array.Copy(BitConverter.GetBytes(Xrks), 0, Data, 36, 2); + Array.Copy(BitConverter.GetBytes(Yrks), 0, Data, 38, 2); + UInt16 _crc16 = CONST.CRC16(ref Data, 40); + Array.Copy(BitConverter.GetBytes(_crc16), 0, Data, 40, 2); + } + public static void GetData() + { + Start = Data[0]; + Address = (UInt16)(Data[2] << 8 | Data[1]); + Code = Data[3]; + Lenght = BitConverter.ToUInt16(Data, 4); + Id_Pack = BitConverter.ToUInt16(Data, 6); + Schetchik = BitConverter.ToUInt32(Data, 8); + Rejim = BitConverter.ToUInt16(Data, 12); + ustAZ = BitConverter.ToSingle(Data, 14); + ustUM = BitConverter.ToSingle(Data, 18); + X = BitConverter.ToUInt16(Data, 22); + Y = BitConverter.ToUInt16(Data, 24); + lx = Data[26]; + ly = Data[27]; + AZ = BitConverter.ToSingle(Data, 28); + UM = BitConverter.ToSingle(Data, 32); + Xrks = BitConverter.ToInt16(Data, 36); + Yrks = BitConverter.ToInt16(Data, 38); + CRC16 = BitConverter.ToUInt16(Data, 40); + } + } + public static class BON2BVM + { + private static Byte _num_pack = 1; + private static Byte _dir_pack = 2; + private static Byte _addr_pack = 3; + private static UInt16 _id_pack = 0x0321; + + private static Byte _infoword = 0; + private static Byte _i_vstr_kontr = 0; + private static Byte _i_neispr_bon = 0; + private static Byte _i_vystavka = 0; + private static Byte _i_gotovnost = 0; + private static Byte _i_ots_massiv_NV = 0; + private static Byte _i_rejim_nav = 0; + + private static UInt16 _dostovernost = 0; + private static UInt16 _d_kren = 0; + private static UInt16 _d_tangaj = 0; + private static UInt16 _d_kurs = 0; + private static UInt16 _d_usX = 0; + private static UInt16 _d_usY = 0; + private static UInt16 _d_usZ = 0; + private static UInt16 _d_uskX = 0; + private static UInt16 _d_uskY = 0; + private static UInt16 _d_uskZ = 0; + + private static Byte _rejim_SNS = 0; + private static Byte _rejim_2D = 0; + private static Byte _rejim_3dfix = 0; + private static Byte _rejim_RTK = 0; + + private static UInt16 _kod_oshibki; + private static UInt16 _ko_nedop_dvij; + private static UInt16 _ko_sboy; + private static UInt16 _ko_ots_dannyh_sns; + private static UInt16 _ko_ots_dannyh_bch; + private static UInt16 _ko_prev_dop_gyro; + private static UInt16 _ko_prev_dop; + + public static Byte Start = CONST.START; + public static UInt16 Address = (UInt16)CONST.ADDR.addrBVM | (UInt16)CONST.ADDR.addrOES; + public static Byte Code = (Byte)CONST.CODE.msgRECEIVE_DATA; + public static UInt16 Lenght = 77; + public static UInt16 Id_Pack + { + get + { + _id_pack = (ushort)(_addr_pack << 8); + _id_pack |= (ushort)(_dir_pack << 4); + _id_pack |= (ushort)_num_pack; + return _id_pack; + } + set + { + _id_pack = value; + _num_pack = (Byte)(value & 0x000F); + _dir_pack = (Byte)((value & 0x00F0) >> 4); + _addr_pack = (Byte)((value & 0xFF00) >> 8); + } + } + public static Byte num_pack { get => _num_pack; set => _num_pack = value; } + public static Byte dir_pack1 { get => _dir_pack; set => _dir_pack = value; } + public static Byte addr_pack { get => _addr_pack; set => _addr_pack = value; } + + public static UInt32 Schetchik; + public static Byte InfoWord + { + get + { + _infoword = (Byte)(_i_vstr_kontr); + _infoword |= (Byte)(_i_neispr_bon << 1); + _infoword |= (Byte)(_i_vystavka << 2); + _infoword |= (Byte)(_i_gotovnost << 3); + _infoword |= (Byte)(_i_ots_massiv_NV << 4); + _infoword |= (Byte)(_i_rejim_nav << 5); + return _infoword; + } + set + { + _infoword = value; + _i_vstr_kontr = (Byte)(value & 0x01); + _i_neispr_bon = (Byte)((value & 0x02) >> 1); + _i_vystavka = (Byte)((value & 0x04) >> 2); + _i_gotovnost = (Byte)((value & 0x08) >> 3); + _i_ots_massiv_NV = (Byte)((value & 0x10) >> 4); + _i_rejim_nav = (Byte)((value & 0x20) >> 5); + } + } + public static Byte vstr_kontr { get => _i_vstr_kontr; set => _i_vstr_kontr = value; } + public static Byte neispr_bon { get => _i_neispr_bon; set => _i_neispr_bon = value; } + public static Byte vystavka { get => _i_vystavka; set => _i_vystavka = value; } + public static Byte gotovnost { get => _i_gotovnost; set => _i_gotovnost = value; } + public static Byte ots_massiv_NV { get => _i_ots_massiv_NV; set => _i_ots_massiv_NV = value; } + public static Byte rejim_nav { get => _i_rejim_nav; set => _i_rejim_nav = value; } + public static UInt32 Time_Sys; + public static UInt32 Time_Nav; + public static UInt16 Dostovernost + { + get + { + _dostovernost = (UInt16)(_d_kren); + _dostovernost |= (UInt16)(_d_tangaj << 1); + _dostovernost |= (UInt16)(_d_kurs << 2); + _dostovernost |= (UInt16)(_d_usX << 3); + _dostovernost |= (UInt16)(_d_usY << 4); + _dostovernost |= (UInt16)(_d_usZ << 5); + _dostovernost |= (UInt16)(_d_uskX << 6); + _dostovernost |= (UInt16)(_d_uskY << 7); + _dostovernost |= (UInt16)(_d_uskZ << 8); + return _dostovernost; + } + set + { + _dostovernost = value; + _d_kren = (UInt16)(value & 0x01); + _d_tangaj = (UInt16)((value & 0x0002) >> 1); + _d_kurs = (UInt16)((value & 0x0004) >> 2); + _d_usX = (UInt16)((value & 0x0008) >> 3); + _d_usY = (UInt16)((value & 0x0010) >> 4); + _d_usZ = (UInt16)((value & 0x0020) >> 5); + _d_uskX = (UInt16)((value & 0x0040) >> 6); + _d_uskY = (UInt16)((value & 0x0080) >> 7); + _d_uskZ = (UInt16)((value & 0x0100) >> 8); + } + } + public static UInt16 d_kren { get => _d_kren; set => _d_kren = value; } + public static UInt16 d_tangaj { get => _d_tangaj; set => _d_tangaj = value; } + public static UInt16 d_kurs { get => _d_kurs; set => _d_kurs = value; } + public static UInt16 d_usX { get => _d_usX; set => _d_usX = value; } + public static UInt16 d_usY { get => _d_usY; set => _d_usY = value; } + public static UInt16 d_usZ { get => _d_usZ; set => _d_usZ = value; } + public static UInt16 d_uskX { get => _d_uskX; set => _d_uskX = value; } + public static UInt16 d_uskY { get => _d_uskY; set => _d_uskY = value; } + public static UInt16 d_uskZ { get => _d_uskZ; set => _d_uskZ = value; } + public static Int16 Kren; + public static Int16 Tangaj; + public static Int16 Kurs; + public static Int16 Vost_sk; + public static Int16 Sev_sk; + public static Int16 Vert_sk; + public static UInt16 Modul_sk; + public static Int32 Shirota; + public static Int32 Dolgota; + public static Int32 Vysota; + public static Int16 UsX; + public static Int16 UsY; + public static Int16 UsZ; + public static Int16 UskX; + public static Int16 UskY; + public static Int16 UskZ; + public static UInt32 Time_GPS; + public static Int32 Shirota_GPS; + public static Int32 Dolgota_GPS; + public static Int32 Vysota_GPS; + public static UInt16 Put_ugol_GPS; + public static Byte Sputnik_GPS; + public static Byte Rejim_SNS + { + get + { + _rejim_SNS = _rejim_2D; + _rejim_SNS |= (Byte)(_rejim_3dfix << 1); + _rejim_SNS |= (Byte)(_rejim_RTK << 2); + return _rejim_SNS; + } + set + { + _rejim_SNS = value; + _rejim_2D = (Byte)(value & 0x01); + _rejim_3dfix = (Byte)((value & 0x02) >> 1); + _rejim_RTK = (Byte)((value & 0x04) >> 2); + } + } + public static Byte rejim_2D { get => _rejim_2D; set => _rejim_2D = value; } + public static Byte rejim_3dfix { get => _rejim_3dfix; set => _rejim_3dfix = value; } + public static Byte rejim_RTK { get => _rejim_RTK; set => _rejim_RTK = value; } + public static UInt16 Kod_Oshibki + { + get + { + _kod_oshibki = (UInt16)(_ko_nedop_dvij << 2); + _kod_oshibki |= (UInt16)(_ko_sboy << 3); + _kod_oshibki |= (UInt16)(_ko_ots_dannyh_sns << 4); + _kod_oshibki |= (UInt16)(_ko_ots_dannyh_bch << 5); + _kod_oshibki |= (UInt16)(_ko_prev_dop_gyro << 6); + _kod_oshibki |= (UInt16)(_ko_prev_dop << 7); + return _kod_oshibki; + } + set + { + _kod_oshibki = value; + _ko_nedop_dvij = (UInt16)((value & 0x0004) >> 2); + _ko_sboy = (UInt16)((value & 0x0008) >> 3); + _ko_ots_dannyh_sns = (UInt16)((value & 0x0010) >> 4); + _ko_ots_dannyh_bch = (UInt16)((value & 0x0020) >> 5); + _ko_prev_dop_gyro = (UInt16)((value & 0x0040) >> 6); + _ko_prev_dop = (UInt16)((value & 0x0080) >> 7); + } + } + public static UInt16 ko_nedop_dvij { get => _ko_nedop_dvij; set => _ko_nedop_dvij = value; } + public static UInt16 ko_sboy { get => _ko_sboy; set => _ko_sboy = value; } + public static UInt16 ko_ots_dannyh_sns { get => _ko_ots_dannyh_sns; set => _ko_ots_dannyh_sns = value; } + public static UInt16 ko_ots_dannyh_bch { get => _ko_ots_dannyh_bch; set => _ko_ots_dannyh_bch = value; } + public static UInt16 ko_prev_dop_gyro { get => _ko_prev_dop_gyro; set => _ko_prev_dop_gyro = value; } + public static UInt16 ko_prev_dop { get => _ko_prev_dop; set => _ko_prev_dop = value; } + public static UInt16 CRC16; + + public static Byte[] Data = new Byte[85]; + public static void MakeData() + { + Array.Copy(BitConverter.GetBytes(Start), 0, Data, 0, 1); + Array.Copy(BitConverter.GetBytes(Address), 0, Data, 1, 2); + Array.Copy(BitConverter.GetBytes(Code), 0, Data, 3, 1); + Array.Copy(BitConverter.GetBytes(Lenght), 0, Data, 4, 2); + Array.Copy(BitConverter.GetBytes(Id_Pack), 0, Data, 6, 2); + Array.Copy(BitConverter.GetBytes(Schetchik), 0, Data, 8, 4); + Array.Copy(BitConverter.GetBytes(InfoWord), 0, Data, 12, 1); + Array.Copy(BitConverter.GetBytes(Time_Sys), 0, Data, 13, 4); + Array.Copy(BitConverter.GetBytes(Time_Nav), 0, Data, 17, 4); + Array.Copy(BitConverter.GetBytes(Dostovernost), 0, Data, 21, 2); + Array.Copy(BitConverter.GetBytes(Kren), 0, Data, 23, 2); + Array.Copy(BitConverter.GetBytes(Tangaj), 0, Data, 25, 2); + Array.Copy(BitConverter.GetBytes(Kurs), 0, Data, 27, 2); + Array.Copy(BitConverter.GetBytes(Vost_sk), 0, Data, 29, 2); + Array.Copy(BitConverter.GetBytes(Sev_sk), 0, Data, 31, 2); + Array.Copy(BitConverter.GetBytes(Vert_sk), 0, Data, 33, 2); + Array.Copy(BitConverter.GetBytes(Modul_sk), 0, Data, 35, 2); + Array.Copy(BitConverter.GetBytes(Shirota), 0, Data, 37, 4); + Array.Copy(BitConverter.GetBytes(Dolgota), 0, Data, 41, 4); + Array.Copy(BitConverter.GetBytes(Vysota), 0, Data, 45, 4); + Array.Copy(BitConverter.GetBytes(UsX), 0, Data, 49, 2); + Array.Copy(BitConverter.GetBytes(UsY), 0, Data, 51, 2); + Array.Copy(BitConverter.GetBytes(UsZ), 0, Data, 53, 2); + Array.Copy(BitConverter.GetBytes(UskX), 0, Data, 55, 2); + Array.Copy(BitConverter.GetBytes(UskY), 0, Data, 57, 2); + Array.Copy(BitConverter.GetBytes(UskZ), 0, Data, 59, 2); + Array.Copy(BitConverter.GetBytes(Time_GPS), 0, Data, 61, 4); + Array.Copy(BitConverter.GetBytes(Shirota_GPS), 0, Data, 65, 4); + Array.Copy(BitConverter.GetBytes(Dolgota_GPS), 0, Data, 69, 4); + Array.Copy(BitConverter.GetBytes(Vysota_GPS), 0, Data, 73, 4); + Array.Copy(BitConverter.GetBytes(Put_ugol_GPS), 0, Data, 77, 2); + Array.Copy(BitConverter.GetBytes(Sputnik_GPS), 0, Data, 79, 1); + Array.Copy(BitConverter.GetBytes(Rejim_SNS), 0, Data, 80, 1); + Array.Copy(BitConverter.GetBytes(Kod_Oshibki), 0, Data, 81, 2); + + UInt16 _crc16 = CONST.CRC16(ref Data, 83); + Array.Copy(BitConverter.GetBytes(_crc16), 0, Data, 83, 2); + } + public static void GetData() + { + Start = Data[0]; + Address = (UInt16)(Data[2] << 8 | Data[1]); + Code = Data[3]; + Lenght = BitConverter.ToUInt16(Data, 4); + Id_Pack = BitConverter.ToUInt16(Data, 6); + Schetchik = BitConverter.ToUInt32(Data, 8); + InfoWord = Data[12]; + Time_Sys = BitConverter.ToUInt32(Data, 13); + Time_Nav = BitConverter.ToUInt32(Data, 17); + Dostovernost = BitConverter.ToUInt16(Data, 21); + Kren = BitConverter.ToInt16(Data, 23); + Tangaj = BitConverter.ToInt16(Data, 25); + Kurs = BitConverter.ToInt16(Data, 27); + Vost_sk = BitConverter.ToInt16(Data, 29); + Sev_sk = BitConverter.ToInt16(Data, 31); + Vert_sk = BitConverter.ToInt16(Data, 33); + Modul_sk = BitConverter.ToUInt16(Data, 35); + Shirota = BitConverter.ToInt32(Data, 37); + Dolgota = BitConverter.ToInt32(Data, 41); + Vysota = BitConverter.ToInt32(Data, 45); + UsX = BitConverter.ToInt16(Data, 49); + UsY = BitConverter.ToInt16(Data, 51); + UsZ = BitConverter.ToInt16(Data, 53); + UskX = BitConverter.ToInt16(Data, 55); + UskY = BitConverter.ToInt16(Data, 57); + UskZ = BitConverter.ToInt16(Data, 59); + Time_GPS = BitConverter.ToUInt32(Data, 61); + Shirota_GPS = BitConverter.ToInt32(Data, 65); + Dolgota_GPS = BitConverter.ToInt32(Data, 69); + Vysota_GPS = BitConverter.ToInt32(Data, 73); + Put_ugol_GPS = BitConverter.ToUInt16(Data, 77); + Sputnik_GPS = Data[79]; + Rejim_SNS = Data[80]; + Kod_Oshibki = BitConverter.ToUInt16(Data, 81); + CRC16 = BitConverter.ToUInt16(Data, 83); + } + } + /// + /// Новый класс пакет обмена данных ИНС от БОН + /// + public static class BONINS2BVM + { + private const UInt16 _len_pack = 74; + private static UInt16 _len_data = _len_pack - 8; + private static UInt16 _len_crc = _len_pack - 2; + + private static Byte _num_pack = 2; + private static Byte _dir_pack = 2; + private static Byte _addr_pack = 3; + private static UInt16 _id_pack = 0x0322; + + private static UInt32 _schetchik; + + private static UInt16 _infoword = 0; + private static UInt16 _i_vstr_kontr = 0; + private static UInt16 _i_neispr_bon = 0; + private static UInt16 _i_vystavka = 0; + private static UInt16 _i_gotovnost = 0; + private static UInt16 _i_ots_massiv_NV = 0; + private static UInt16 _i_rejim_nav = 0; + private static UInt16 _i_korr_nosit = 0; + private static UInt16 _i_korr_sns = 0; + + private static UInt32 _time_sys; + private static UInt32 _time_nav; + + private static UInt16 _dostovernost = 0; + private static UInt16 _d_kren_tangaj = 0; + private static UInt16 _d_kurs = 0; + private static UInt16 _d_ugl_sk = 0; + private static UInt16 _d_lin_usk = 0; + private static UInt16 _d_in_coord = 0; + private static UInt16 _d_baro = 0; + private static UInt16 _d_inerc_sk = 0; + private static UInt16 _d_vrem_rabot = 0; + + private static Int16 _kren; + private static Int16 _tangaj; + private static Int16 _kurs; + private static Int16 _vost_sk; + private static Int16 _sev_sk; + private static Int16 _vert_sk; + private static UInt16 _modul_sk; + private static Int32 _shirota; + private static Int32 _dolgota; + private static Int32 _vysota; + private static Int32 _vysota_baro; + private static Int16 _usx; + private static Int16 _usy; + private static Int16 _usz; + private static Int16 _uskx; + private static Int16 _usky; + private static Int16 _uskz; + + private static UInt16 _kod_oshibki; + private static UInt16 _ko_nedop_dvij; + private static UInt16 _ko_sboy; + private static UInt16 _ko_ots_dannyh_sns; + private static UInt16 _ko_ots_dannyh_bch; + private static UInt16 _ko_prev_dop_gyro; + private static UInt16 _ko_prev_dop; + + private static Int32 _vremya_ustar; + private static UInt16 _CRC16; + + public static Byte Start = CONST.START; + public static UInt16 Address = (UInt16)CONST.ADDR.addrBVM | (UInt16)CONST.ADDR.addrOES | (UInt16)CONST.ADDR.addrPR | (UInt16)CONST.ADDR.addrPU; + public static Byte Code = (Byte)CONST.CODE.msgRECEIVE_DATA; + public static UInt16 Lenght { get => _len_data; set => _len_data = value; } + /// + /// Идентификатор пакета + /// + public static UInt16 Id_Pack + { + get + { + _id_pack = (ushort)(_addr_pack << 8); + _id_pack |= (ushort)(_dir_pack << 4); + _id_pack |= (ushort)_num_pack; + return _id_pack; + } + set + { + _id_pack = value; + _num_pack = (Byte)(value & 0x000F); + _dir_pack = (Byte)((value & 0x00F0) >> 4); + _addr_pack = (Byte)((value & 0xFF00) >> 8); + } + } + public static Byte num_pack { get => _num_pack; set => _num_pack = value; } + public static Byte dir_pack1 { get => _dir_pack; set => _dir_pack = value; } + public static Byte addr_pack { get => _addr_pack; set => _addr_pack = value; } + /// + /// Счетчик + /// + public static UInt32 Schetchik { get => _schetchik; set => _schetchik = value; } + /// + /// Слово информационное + /// + public static UInt16 InfoWord + { + get + { + _infoword = (UInt16)(_i_vstr_kontr << 0); + _infoword |= (UInt16)(_i_neispr_bon << 1); + _infoword |= (UInt16)(_i_vystavka << 2); + _infoword |= (UInt16)(_i_gotovnost << 3); + _infoword |= (UInt16)(_i_ots_massiv_NV << 4); + _infoword |= (UInt16)(_i_rejim_nav << 5); + _infoword |= (UInt16)(_i_korr_nosit << 6); + _infoword |= (UInt16)(_i_korr_sns << 7); + return _infoword; + } + set + { + _infoword = value; + _i_vstr_kontr = (UInt16)(value & 0x01 >> 0); + _i_neispr_bon = (UInt16)((value & 0x02) >> 1); + _i_vystavka = (UInt16)((value & 0x04) >> 2); + _i_gotovnost = (UInt16)((value & 0x08) >> 3); + _i_ots_massiv_NV = (UInt16)((value & 0x10) >> 4); + _i_rejim_nav = (UInt16)((value & 0x20) >> 5); + _i_korr_nosit = (UInt16)((value & 0x40) >> 6); + _i_korr_sns = (UInt16)((value & 0x80) >> 7); + } + } + public static UInt16 I_vstr_kontr { get => _i_vstr_kontr; set => _i_vstr_kontr = value; } + public static UInt16 I_neispr_bon { get => _i_neispr_bon; set => _i_neispr_bon = value; } + public static UInt16 I_vystavka { get => _i_vystavka; set => _i_vystavka = value; } + public static UInt16 I_gotovnost { get => _i_gotovnost; set => _i_gotovnost = value; } + public static UInt16 I_ots_massiv_NV { get => _i_ots_massiv_NV; set => _i_ots_massiv_NV = value; } + public static UInt16 I_rejim_nav { get => _i_rejim_nav; set => _i_rejim_nav = value; } + public static UInt16 I_korr_nosit { get => _i_korr_nosit; set => _i_korr_nosit = value; } + public static UInt16 I_korr_sns { get => _i_korr_sns; set => _i_korr_sns = value; } + /// + /// Время с подачи питания + /// + public static UInt32 Time_Sys { get => _time_sys; set => _time_sys = value; } + /// + /// Время в режме навигация + /// + public static UInt32 Time_Nav { get => _time_nav; set => _time_nav = value; } + /// + /// Достоверность данных + /// + public static UInt16 Dostovernost + { + get + { + _dostovernost = (UInt16)(_d_kren_tangaj); + _dostovernost |= (UInt16)(_d_kurs << 1); + _dostovernost |= (UInt16)(_d_ugl_sk << 2); + _dostovernost |= (UInt16)(_d_lin_usk << 3); + _dostovernost |= (UInt16)(_d_in_coord << 4); + _dostovernost |= (UInt16)(_d_baro << 5); + _dostovernost |= (UInt16)(_d_inerc_sk << 6); + _dostovernost |= (UInt16)(_d_vrem_rabot << 7); + return _dostovernost; + } + set + { + _dostovernost = value; + _d_kren_tangaj = (UInt16)((value & 0x0001) >> 0); + _d_kurs = (UInt16)((value & 0x0002) >> 1); + _d_ugl_sk = (UInt16)((value & 0x0004) >> 2); + _d_lin_usk = (UInt16)((value & 0x0008) >> 3); + _d_in_coord = (UInt16)((value & 0x0010) >> 4); + _d_baro = (UInt16)((value & 0x0020) >> 5); + _d_inerc_sk = (UInt16)((value & 0x0040) >> 6); + _d_vrem_rabot = (UInt16)((value & 0x0080) >> 7); + } + } + public static UInt16 D_kren_tangaj { get => _d_kren_tangaj; set => _d_kren_tangaj = value; } + public static UInt16 D_kurs { get => _d_kurs; set => _d_kurs = value; } + public static UInt16 D_ugl_sk { get => _d_ugl_sk; set => _d_ugl_sk = value; } + public static UInt16 D_lin_usk { get => _d_lin_usk; set => _d_lin_usk = value; } + public static UInt16 D_in_coord { get => _d_in_coord; set => _d_in_coord = value; } + public static UInt16 D_baro { get => _d_baro; set => _d_baro = value; } + public static UInt16 D_inerc_sk { get => _d_inerc_sk; set => _d_inerc_sk = value; } + public static UInt16 D_vrem_rabot { get => _d_vrem_rabot; set => _d_vrem_rabot = value; } + public static Int16 Kren { get => _kren; set => _kren = value; } + public static Int16 Tangaj { get => _tangaj; set => _tangaj = value; } + public static Int16 Kurs { get => _kurs; set => _kurs = value; } + public static Int16 Vost_sk { get => _vost_sk; set => _vost_sk = value; } + public static Int16 Sev_sk { get => _sev_sk; set => _sev_sk = value; } + public static Int16 Vert_sk { get => _vert_sk; set => _vert_sk = value; } + public static UInt16 Modul_sk { get => _modul_sk; set => _modul_sk = value; } + public static Int32 Shirota { get => _shirota; set => _shirota = value; } + public static Int32 Dolgota { get => _dolgota; set => _dolgota = value; } + public static Int32 Vysota { get => _vysota; set => _vysota = value; } + public static Int32 Vysota_baro { get => _vysota_baro; set => _vysota_baro = value; } + public static Int16 UsX { get => _usx; set => _usx = value; } + public static Int16 UsY { get => _usy; set => _usy = value; } + public static Int16 UsZ { get => _usz; set => _usz = value; } + public static Int16 UskX { get => _uskx; set => _uskx = value; } + public static Int16 UskY { get => _usky; set => _usky = value; } + public static Int16 UskZ { get => _uskz; set => _uskz = value; } + /// + /// Код ошибки БИНС + /// + public static UInt16 Kod_Oshibki + { + get + { + _kod_oshibki = (UInt16)(_ko_nedop_dvij << 2); + _kod_oshibki |= (UInt16)(_ko_sboy << 3); + _kod_oshibki |= (UInt16)(_ko_ots_dannyh_sns << 4); + _kod_oshibki |= (UInt16)(_ko_ots_dannyh_bch << 5); + _kod_oshibki |= (UInt16)(_ko_prev_dop_gyro << 6); + _kod_oshibki |= (UInt16)(_ko_prev_dop << 7); + return _kod_oshibki; + } + set + { + _kod_oshibki = value; + _ko_nedop_dvij = (UInt16)((value & 0x0004) >> 2); + _ko_sboy = (UInt16)((value & 0x0008) >> 3); + _ko_ots_dannyh_sns = (UInt16)((value & 0x0010) >> 4); + _ko_ots_dannyh_bch = (UInt16)((value & 0x0020) >> 5); + _ko_prev_dop_gyro = (UInt16)((value & 0x0040) >> 6); + _ko_prev_dop = (UInt16)((value & 0x0080) >> 7); + } + } + public static UInt16 Ko_nedop_dvij { get => _ko_nedop_dvij; set => _ko_nedop_dvij = value; } + public static UInt16 Ko_sboy { get => _ko_sboy; set => _ko_sboy = value; } + public static UInt16 Ko_ots_dannyh_sns { get => _ko_ots_dannyh_sns; set => _ko_ots_dannyh_sns = value; } + public static UInt16 Ko_ots_dannyh_bch { get => _ko_ots_dannyh_bch; set => _ko_ots_dannyh_bch = value; } + public static UInt16 Ko_prev_dop_gyro { get => _ko_prev_dop_gyro; set => _ko_prev_dop_gyro = value; } + public static UInt16 Ko_prev_dop_axel { get => _ko_prev_dop; set => _ko_prev_dop = value; } + /// + /// Время устаревания информации от комплекса + /// + public static Int32 Vremya_ustar { get => _vremya_ustar; set => _vremya_ustar = value; } + public static UInt16 CRC16; + + public static Byte[] Data = new Byte[_len_pack]; + /// + /// Функция формирования массива с пакетом + /// + public static void MakeData() + { + Array.Copy(BitConverter.GetBytes(Start), 0, Data, 0, 1); + Array.Copy(BitConverter.GetBytes(Address), 0, Data, 1, 2); + Array.Copy(BitConverter.GetBytes(Code), 0, Data, 3, 1); + Array.Copy(BitConverter.GetBytes(Lenght), 0, Data, 4, 2); + Array.Copy(BitConverter.GetBytes(Id_Pack), 0, Data, 6, 2); + + Array.Copy(BitConverter.GetBytes(Schetchik), 0, Data, 8, 4); + Array.Copy(BitConverter.GetBytes(InfoWord), 0, Data, 12, 2); + + Array.Copy(BitConverter.GetBytes(Time_Sys), 0, Data, 14, 4); + Array.Copy(BitConverter.GetBytes(Time_Nav), 0, Data, 18, 4); + + Array.Copy(BitConverter.GetBytes(Dostovernost), 0, Data, 22, 2); + + Array.Copy(BitConverter.GetBytes(Kren), 0, Data, 24, 2); + Array.Copy(BitConverter.GetBytes(Tangaj), 0, Data, 26, 2); + Array.Copy(BitConverter.GetBytes(Kurs), 0, Data, 28, 2); + Array.Copy(BitConverter.GetBytes(Vost_sk), 0, Data, 30, 2); + Array.Copy(BitConverter.GetBytes(Sev_sk), 0, Data, 32, 2); + Array.Copy(BitConverter.GetBytes(Vert_sk), 0, Data, 34, 2); + Array.Copy(BitConverter.GetBytes(Modul_sk), 0, Data, 36, 2); + Array.Copy(BitConverter.GetBytes(Shirota), 0, Data, 38, 4); + Array.Copy(BitConverter.GetBytes(Dolgota), 0, Data, 42, 4); + Array.Copy(BitConverter.GetBytes(Vysota), 0, Data, 46, 4); + Array.Copy(BitConverter.GetBytes(Vysota_baro), 0, Data, 50, 4); + Array.Copy(BitConverter.GetBytes(UsX), 0, Data, 54, 2); + Array.Copy(BitConverter.GetBytes(UsY), 0, Data, 56, 2); + Array.Copy(BitConverter.GetBytes(UsZ), 0, Data, 58, 2); + Array.Copy(BitConverter.GetBytes(UskX), 0, Data, 60, 2); + Array.Copy(BitConverter.GetBytes(UskY), 0, Data, 62, 2); + Array.Copy(BitConverter.GetBytes(UskZ), 0, Data, 64, 2); + + Array.Copy(BitConverter.GetBytes(Kod_Oshibki), 0, Data, 66, 2); + + Array.Copy(BitConverter.GetBytes(Vremya_ustar), 0, Data, 68, 4); + + UInt16 _crc16 = CONST.CRC16(ref Data, _len_crc); + Array.Copy(BitConverter.GetBytes(_crc16), 0, Data, _len_crc, 2); + } + /// + /// Функция извлечения данных из массива + /// + public static void GetData() + { + Start = Data[0]; + Address = (UInt16)(Data[2] << 8 | Data[1]); + Code = Data[3]; + Lenght = BitConverter.ToUInt16(Data, 4); + Id_Pack = BitConverter.ToUInt16(Data, 6); + Schetchik = BitConverter.ToUInt32(Data, 8); + InfoWord = Data[12]; + Time_Sys = BitConverter.ToUInt32(Data, 14); + Time_Nav = BitConverter.ToUInt32(Data, 18); + Dostovernost = BitConverter.ToUInt16(Data, 22); + Kren = BitConverter.ToInt16(Data, 24); + Tangaj = BitConverter.ToInt16(Data, 26); + Kurs = BitConverter.ToInt16(Data, 28); + Vost_sk = BitConverter.ToInt16(Data, 30); + Sev_sk = BitConverter.ToInt16(Data, 32); + Vert_sk = BitConverter.ToInt16(Data, 34); + Modul_sk = BitConverter.ToUInt16(Data, 36); + Shirota = BitConverter.ToInt32(Data, 38); + Dolgota = BitConverter.ToInt32(Data, 42); + Vysota = BitConverter.ToInt32(Data, 46); + Vysota_baro = BitConverter.ToInt32(Data, 50); + UsX = BitConverter.ToInt16(Data, 54); + UsY = BitConverter.ToInt16(Data, 56); + UsZ = BitConverter.ToInt16(Data, 58); + UskX = BitConverter.ToInt16(Data, 60); + UskY = BitConverter.ToInt16(Data, 62); + UskZ = BitConverter.ToInt16(Data, 64); + Kod_Oshibki = BitConverter.ToUInt16(Data, 66); + Vremya_ustar = BitConverter.ToInt32(Data, 68); + CRC16 = BitConverter.ToUInt16(Data, 72); + } + } + /// + /// Новый класс пакет обмена данных СНС от БОН + /// + public static class BONSNS2BVM + { + private const UInt16 _len_pack = 50; + private static UInt16 _len_data = _len_pack - 8; + private static UInt16 _len_crc = _len_pack - 2; + + private static Byte _num_pack = 3; + private static Byte _dir_pack = 2; + private static Byte _addr_pack = 3; + private static UInt16 _id_pack = 0x0323; + + private static UInt32 _schetchik; + + private static UInt16 _rejim_SNS = 0; + private static UInt16 _rejim_2D = 0; + private static UInt16 _rejim_3dfix = 0; + private static UInt16 _rejim_RTK = 0; + + private static UInt32 _time_sys; + private static UInt32 _time_nav; + + private static UInt16 _dostovernost = 0; + private static UInt16 _d_coord = 0; + private static UInt16 _d_vysota = 0; + private static UInt16 _d_skorost = 0; + private static UInt16 _d_vremya = 0; + private static UInt16 _d_gf_sputnik = 0; + + private static UInt32 _time_sns; + private static Int32 _shirota_sns; + private static Int32 _dolgota_sns; + private static Int32 _vysota_sns; + private static UInt16 _put_ugol_sns; + private static UInt16 _sputnik_sns; + + private static Int32 _vremya_ustar; + + private static UInt16 _CRC16; + + public static Byte Start = CONST.START; + public static UInt16 Address = (UInt16)CONST.ADDR.addrBVM | (UInt16)CONST.ADDR.addrOES | (UInt16)CONST.ADDR.addrPR | (UInt16)CONST.ADDR.addrPU; + public static Byte Code = (Byte)CONST.CODE.msgRECEIVE_DATA; + public static UInt16 Lenght { get => _len_data; set => _len_data = value; } + public static UInt16 Id_Pack + { + get + { + _id_pack = (ushort)(_addr_pack << 8); + _id_pack |= (ushort)(_dir_pack << 4); + _id_pack |= (ushort)_num_pack; + return _id_pack; + } + set + { + _id_pack = value; + _num_pack = (Byte)(value & 0x000F); + _dir_pack = (Byte)((value & 0x00F0) >> 4); + _addr_pack = (Byte)((value & 0xFF00) >> 8); + } + } + public static Byte num_pack { get => _num_pack; set => _num_pack = value; } + public static Byte dir_pack1 { get => _dir_pack; set => _dir_pack = value; } + public static Byte addr_pack { get => _addr_pack; set => _addr_pack = value; } + public static UInt32 Schetchik { get => _schetchik; set => _schetchik = value; } + public static UInt16 Rejim_SNS + { + get + { + _rejim_SNS = (UInt16)_rejim_2D; + _rejim_SNS |= (UInt16)(_rejim_3dfix << 1); + _rejim_SNS |= (UInt16)(_rejim_RTK << 2); + return _rejim_SNS; + } + set + { + _rejim_SNS = (UInt16)(value); + _rejim_2D = (UInt16)(value & 0x01); + _rejim_3dfix = (UInt16)((value & 0x02) >> 1); + _rejim_RTK = (UInt16)((value & 0x04) >> 2); + } + } + public static UInt16 rejim_2D { get => _rejim_2D; set => _rejim_2D = value; } + public static UInt16 rejim_3dfix { get => _rejim_3dfix; set => _rejim_3dfix = value; } + public static UInt16 rejim_RTK { get => _rejim_RTK; set => _rejim_RTK = value; } + /// + /// Время с подачи питания + /// + public static UInt32 Time_Sys { get => _time_sys; set => _time_sys = value; } + /// + /// Время в режме навигация + /// + public static UInt32 Time_Nav { get => _time_nav; set => _time_nav = value; } + public static UInt16 Dostovernost + { + get + { + _dostovernost = (UInt16)(_d_coord); + _dostovernost |= (UInt16)(_d_vysota << 1); + _dostovernost |= (UInt16)(_d_skorost << 2); + _dostovernost |= (UInt16)(_d_vremya << 3); + _dostovernost |= (UInt16)(_d_gf_sputnik << 4); + return _dostovernost; + } + set + { + _dostovernost = value; + _d_coord = (UInt16)(value & 0x0001); + _d_vysota = (UInt16)((value & 0x0002) >> 1); + _d_skorost = (UInt16)((value & 0x0004) >> 2); + _d_vremya = (UInt16)((value & 0x0008) >> 3); + _d_gf_sputnik = (UInt16)((value & 0x0010) >> 4); + } + } + public static UInt16 D_coord { get => _d_coord; set => _d_coord = value; } + public static UInt16 D_vysota { get => _d_vysota; set => _d_vysota = value; } + public static UInt16 D_skorost { get => _d_skorost; set => _d_skorost = value; } + public static UInt16 D_vremya { get => _d_vremya; set => _d_vremya = value; } + public static UInt16 D_gf_sputnik { get => _d_gf_sputnik; set => _d_gf_sputnik = value; } + public static UInt32 Time_sns { get => _time_sns; set => _time_sns = value; } + public static Int32 Shirota_sns { get => _shirota_sns; set => _shirota_sns = value; } + public static Int32 Dolgota_sns { get => _dolgota_sns; set => _dolgota_sns = value; } + public static Int32 Vysota_sns { get => _vysota_sns; set => _vysota_sns = value; } + public static UInt16 Put_ugol_sns { get => _put_ugol_sns; set => _put_ugol_sns = value; } + public static UInt16 Sputnik_sns { get => _sputnik_sns; set => _sputnik_sns = value; } + public static Int32 Vremya_ustar { get => _vremya_ustar; set => _vremya_ustar = value; } + + public static UInt16 CRC16; + + public static Byte[] Data = new Byte[_len_pack]; + /// + /// Функция формирования массива с пакетом + /// + public static void MakeData() + { + Array.Copy(BitConverter.GetBytes(Start), 0, Data, 0, 1); + Array.Copy(BitConverter.GetBytes(Address), 0, Data, 1, 2); + Array.Copy(BitConverter.GetBytes(Code), 0, Data, 3, 1); + Array.Copy(BitConverter.GetBytes(Lenght), 0, Data, 4, 2); + Array.Copy(BitConverter.GetBytes(Id_Pack), 0, Data, 6, 2); + Array.Copy(BitConverter.GetBytes(Schetchik), 0, Data, 8, 4); + Array.Copy(BitConverter.GetBytes(Rejim_SNS), 0, Data, 12, 2); + Array.Copy(BitConverter.GetBytes(Time_Sys), 0, Data, 14, 4); + Array.Copy(BitConverter.GetBytes(Time_Nav), 0, Data, 18, 4); + Array.Copy(BitConverter.GetBytes(Dostovernost), 0, Data, 22, 2); + Array.Copy(BitConverter.GetBytes(Time_sns), 0, Data, 24, 4); + Array.Copy(BitConverter.GetBytes(Shirota_sns), 0, Data, 28, 4); + Array.Copy(BitConverter.GetBytes(Dolgota_sns), 0, Data, 32, 4); + Array.Copy(BitConverter.GetBytes(Vysota_sns), 0, Data, 36, 4); + Array.Copy(BitConverter.GetBytes(Put_ugol_sns), 0, Data, 40, 2); + Array.Copy(BitConverter.GetBytes(Sputnik_sns), 0, Data, 42, 2); + Array.Copy(BitConverter.GetBytes(Vremya_ustar), 0, Data, 44, 2); + + UInt16 _crc16 = CONST.CRC16(ref Data, _len_crc); + Array.Copy(BitConverter.GetBytes(_crc16), 0, Data, _len_crc, 2); + } + /// + /// Функция извлечения данных из массива + /// + public static void GetData() + { + Start = Data[0]; + Address = (UInt16)(Data[2] << 8 | Data[1]); + Code = Data[3]; + Lenght = BitConverter.ToUInt16(Data, 4); + Id_Pack = BitConverter.ToUInt16(Data, 6); + Schetchik = BitConverter.ToUInt32(Data, 8); + Rejim_SNS = BitConverter.ToUInt16(Data, 12); + Time_Sys = BitConverter.ToUInt32(Data, 14); + Time_Nav = BitConverter.ToUInt32(Data, 18); + Dostovernost = BitConverter.ToUInt16(Data, 22); + Time_sns = BitConverter.ToUInt32(Data, 24); + Shirota_sns = BitConverter.ToInt32(Data, 28); + Dolgota_sns = BitConverter.ToInt32(Data, 32); + Vysota_sns = BitConverter.ToInt32(Data, 36); + Put_ugol_sns = BitConverter.ToUInt16(Data, 40); + Sputnik_sns = BitConverter.ToUInt16(Data, 42); + Vremya_ustar = BitConverter.ToInt32(Data, 44); + CRC16 = BitConverter.ToUInt16(Data, 48); + } + } + /// + /// Класс служебных сообщений + /// + public static class MESS + { + public static Byte Start = CONST.START; + public static UInt16 Address = 0; + public static Byte Code = 0; + public static UInt16 Lenght = 0; + public static UInt16 CRC16; + + public static Byte[] Data = new Byte[8]; + /// + /// Функция формирования массива с пакетом + /// + public static void MakeData() + { + Array.Copy(BitConverter.GetBytes(Start), 0, Data, 0, 1); + Array.Copy(BitConverter.GetBytes(Address), 0, Data, 1, 2); + Array.Copy(BitConverter.GetBytes(Code), 0, Data, 3, 1); + Array.Copy(BitConverter.GetBytes(Lenght), 0, Data, 4, 2); + UInt16 _crc16 = CONST.CRC16(ref Data, 6); + Array.Copy(BitConverter.GetBytes(_crc16), 0, Data, 6, 2); + } + /// + /// Функция извлечения данных из массива + /// + public static void GetData() + { + Start = Data[0]; + Address = (UInt16)(Data[2] << 8 | Data[1]); + Code = Data[3]; + Lenght = BitConverter.ToUInt16(Data, 4); + CRC16 = BitConverter.ToUInt16(Data, 6); + } + } + /// + /// Класс служебных сообщений + /// + public static class MESS2 + { + private const UInt16 _len_pack = 10; + private static UInt16 _len_data = _len_pack - 8; + private static UInt16 _len_crc = _len_pack - 2; + + private static Byte _num_pack = 1; + private static Byte _dir_pack = 2; + private static Byte _addr_pack = 3; + private static UInt16 _id_pack = 0; + + public static Byte Start = CONST.START; + public static UInt16 Address = 0; + public static Byte Code = 0; + public static UInt16 Lenght = 2; + /// + /// Идентификатор пакета + /// + public static UInt16 Id_Pack + { + get + { + _id_pack = (ushort)(_addr_pack << 8); + _id_pack |= (ushort)(_dir_pack << 4); + _id_pack |= (ushort)_num_pack; + return _id_pack; + } + set + { + _id_pack = value; + _num_pack = (Byte)(value & 0x000F); + _dir_pack = (Byte)((value & 0x00F0) >> 4); + _addr_pack = (Byte)((value & 0xFF00) >> 8); + } + } + public static Byte num_pack { get => _num_pack; set => _num_pack = value; } + public static Byte dir_pack1 { get => _dir_pack; set => _dir_pack = value; } + public static Byte addr_pack { get => _addr_pack; set => _addr_pack = value; } + public static UInt16 CRC16; + + public static Byte[] Data = new Byte[_len_pack]; + /// + /// Функция формирования массива с пакетом + /// + public static void MakeData() + { + Array.Copy(BitConverter.GetBytes(Start), 0, Data, 0, 1); + Array.Copy(BitConverter.GetBytes(Address), 0, Data, 1, 2); + Array.Copy(BitConverter.GetBytes(Code), 0, Data, 3, 1); + Array.Copy(BitConverter.GetBytes(Lenght), 0, Data, 4, 2); + UInt16 _crc16 = CONST.CRC16(ref Data, _len_crc); + Array.Copy(BitConverter.GetBytes(_crc16), 0, Data, _len_crc, 2); + } + /// + /// Функция извлечения данных из массива + /// + public static void GetData() + { + Start = Data[0]; + Address = (UInt16)(Data[2] << 8 | Data[1]); + Code = Data[3]; + Lenght = BitConverter.ToUInt16(Data, 4); + Id_Pack = BitConverter.ToUInt16(Data, 6); + CRC16 = BitConverter.ToUInt16(Data, _len_crc); + } + } + /// + /// Служебный класс для пересчета угловых координат + /// + public static class AZUM + { + /* + private static void pix2ang() + { + //% (x, y) - координаты центра пикселя изображения + //% начало O = (0, 0) системы координат изображения находится + //% в центре левого верхнего пикселя + //% ось OX направлена вправо по возрастанию номеров столбцов + //% ось OY направлена вниз по возрастанию номеров строк + //% + //% w - количество столбцов изображения + //% h - количество строк изображения + //sAZUM retu; + + Double w_full = 4072.0; + Double h_full = 3064.0; + + Double focus_meters = 12e-3f; + Double pixel_size_meters = 1.55e-6f; + + Double rad2deg = (180.0 / (Double)Math.PI); + + Double f = focus_meters / pixel_size_meters; + Double xc_full = 0.5f * w_full; + Double yc_full = 0.5f * h_full; + + Double x_full = (_xy.X + 0.5) * w_full / _wh.W; + Double y_full = (_xy.Y + 0.5) * h_full / _wh.H; + + Double x_ohf = x_full - xc_full; + Double y_ohf = y_full - yc_full; + Double z_ohf = f; + + Double rho = (Double)Math.Sqrt(x_ohf * x_ohf + z_ohf * z_ohf); + _au.A = (Double)Math.Atan2(x_ohf, z_ohf) * rad2deg; + _au.U = (Double)(-Math.Atan2(y_ohf, rho) * rad2deg); + } + private static void ang2pix() + { + // calc_xy result_; + // (x, y) - координаты центра пикселя изображения + // начало O = (0, 0) системы координат изображения находится + //% в центре левого верхнего пикселя, double + //% ось OX направлена вправо по возрастанию номеров столбцов + // ось OY направлена вниз по возрастанию номеров строк + + //% az - азимутальный угол (отсчитывается вправо), градусы, double + //% el - угол места (отсчитывается вверх), градусы, double + //% w - количество столбцов изображения, double + //% h - количество строк изображения, double + + Double w_full = (Double)(4072); + Double h_full = (Double)(3064); + + Double focus_meters = (Double)(12e-3); + Double pixel_size_meters = (Double)(1.55e-6); + + Double deg2rad = (Double)(Math.PI / 180.0); //% pi = 3.14... + //float rad2deg = (180.0f /3.1415926f); + Double f = focus_meters / pixel_size_meters; + Double xc_full = 0.5 * w_full; + Double yc_full = 0.5 * h_full; + + //_au.A = _au.A * deg2rad; + //_au.U = _au.U * deg2rad; + + //double x_ohf = cos(el) * sin(az); + //double z_ohf = cos(el) * cos(az); + //double y_ohf = -sin(el); + + //double x_full = x_ohf / z_ohf * f + xc_full; + //double y_full = y_ohf / z_ohf * f + yc_full; + + Double x_full = xc_full + f * Math.Tan(_au.A * deg2rad); + Double y_full = yc_full - f * Math.Tan(_au.U * deg2rad) / Math.Cos(_au.A * deg2rad); + + _xy.X = x_full * _wh.W / w_full - 0.5; + _xy.Y = y_full * _wh.H / h_full - 0.5; + } + */ + public static void pix2ang(ref Double A, ref Double U, Double W, Double H, Double X, Double Y) + { + //% (x, y) - координаты центра пикселя изображения + //% начало O = (0, 0) системы координат изображения находится + //% в центре левого верхнего пикселя + //% ось OX направлена вправо по возрастанию номеров столбцов + //% ось OY направлена вниз по возрастанию номеров строк + //% + //% w - количество столбцов изображения + //% h - количество строк изображения + //sAZUM retu; + + Double w_full = 4072.0; + Double h_full = 3064.0; + + Double focus_meters = 12e-3; + Double pixel_size_meters = 1.55e-6; + + Double rad2deg = (180.0 / (Double)Math.PI); + + Double f = focus_meters / pixel_size_meters; + Double xc_full = 0.5f * w_full; + Double yc_full = 0.5f * h_full; + + Double x_full = (X + 0.5) * w_full / W; + Double y_full = (Y + 0.5) * h_full / H; + + Double x_ohf = x_full - xc_full; + Double y_ohf = y_full - yc_full; + Double z_ohf = f; + + Double rho = (Double)Math.Sqrt(x_ohf * x_ohf + z_ohf * z_ohf); + A = (Double)Math.Atan2(x_ohf, z_ohf) * rad2deg; + U = (Double)(-Math.Atan2(y_ohf, rho) * rad2deg); + } + public static void pix2ang(ref float A, ref float U, float W, float H, float X, float Y) + { + //% (x, y) - координаты центра пикселя изображения + //% начало O = (0, 0) системы координат изображения находится + //% в центре левого верхнего пикселя + //% ось OX направлена вправо по возрастанию номеров столбцов + //% ось OY направлена вниз по возрастанию номеров строк + //% + //% w - количество столбцов изображения + //% h - количество строк изображения + //sAZUM retu; + + float w_full = (float)4072.0; + float h_full = (float)3064.0; + + float focus_meters = 12e-3F; + float pixel_size_meters = 1.55e-6F; + + float rad2deg = (180.0F / (float)Math.PI); + + float f = focus_meters / pixel_size_meters; + float xc_full = 0.5f * w_full; + float yc_full = 0.5f * h_full; + + float x_full = (float)(X + 0.5) * w_full / W; + float y_full = (float)(Y + 0.5) * h_full / H; + + float x_ohf = x_full - xc_full; + float y_ohf = y_full - yc_full; + float z_ohf = f; + + float rho = (float)Math.Sqrt(x_ohf * x_ohf + z_ohf * z_ohf); + A = (float)Math.Atan2(x_ohf, z_ohf) * rad2deg; + U = (float)(-Math.Atan2(y_ohf, rho) * rad2deg); + } + public static void ang2pix(ref Double X, ref Double Y, Double W, Double H, Double A, Double U) + { + // calc_xy result_; + // (x, y) - координаты центра пикселя изображения + // начало O = (0, 0) системы координат изображения находится + //% в центре левого верхнего пикселя, double + //% ось OX направлена вправо по возрастанию номеров столбцов + // ось OY направлена вниз по возрастанию номеров строк + + //% az - азимутальный угол (отсчитывается вправо), градусы, double + //% el - угол места (отсчитывается вверх), градусы, double + //% w - количество столбцов изображения, double + //% h - количество строк изображения, double + + Double w_full = (Double)(4072); + Double h_full = (Double)(3064); + + Double focus_meters = (Double)(12e-3); + Double pixel_size_meters = (Double)(1.55e-6); + + Double deg2rad = (Double)(Math.PI / 180.0); //% pi = 3.14... + //float rad2deg = (180.0f /3.1415926f); + Double f = focus_meters / pixel_size_meters; + Double xc_full = 0.5 * w_full; + Double yc_full = 0.5 * h_full; + + //_au.A = _au.A * deg2rad; + //_au.U = _au.U * deg2rad; + + //double x_ohf = cos(el) * sin(az); + //double z_ohf = cos(el) * cos(az); + //double y_ohf = -sin(el); + + //double x_full = x_ohf / z_ohf * f + xc_full; + //double y_full = y_ohf / z_ohf * f + yc_full; + + Double x_full = xc_full + f * Math.Tan(A * deg2rad); + Double y_full = yc_full - f * Math.Tan(U * deg2rad) / Math.Cos(A * deg2rad); + + X = x_full * W / w_full - 0.5; + Y = y_full * H / h_full - 0.5; + } + public static void ang2pix(ref float X, ref float Y, float W, float H, float A, float U) + { + // calc_xy result_; + // (x, y) - координаты центра пикселя изображения + // начало O = (0, 0) системы координат изображения находится + //% в центре левого верхнего пикселя, double + //% ось OX направлена вправо по возрастанию номеров столбцов + // ось OY направлена вниз по возрастанию номеров строк + + //% az - азимутальный угол (отсчитывается вправо), градусы, double + //% el - угол места (отсчитывается вверх), градусы, double + //% w - количество столбцов изображения, double + //% h - количество строк изображения, double + + float w_full = 4072F; + float h_full = 3064F; + + float focus_meters = 12e-3F; + float pixel_size_meters = 1.55e-6F; + + float deg2rad = (float)(Math.PI / 180.0); //% pi = 3.14... + //float rad2deg = (180.0f /3.1415926f); + float f = focus_meters / pixel_size_meters; + float xc_full = 0.5F * w_full; + float yc_full = 0.5F * h_full; + + //_au.A = _au.A * deg2rad; + //_au.U = _au.U * deg2rad; + + //double x_ohf = cos(el) * sin(az); + //double z_ohf = cos(el) * cos(az); + //double y_ohf = -sin(el); + + //double x_full = x_ohf / z_ohf * f + xc_full; + //double y_full = y_ohf / z_ohf * f + yc_full; + + float x_full = xc_full + f * (float)Math.Tan(A * deg2rad); + float y_full = yc_full - f * (float)Math.Tan(U * deg2rad) / (float)Math.Cos(A * deg2rad); + + X = x_full * W / w_full - 0.5F; + Y = y_full * H / h_full - 0.5F; + } + public static Double minmax(Double min, Double max, Double val) + { + if (val <= min) + return min; + if (val >= max) + return max; + return val; + } + public static float minmax(float min, float max, float val) + { + if (val <= min) + return min; + if (val >= max) + return max; + return val; + } + public static UInt16 minmax(UInt16 min, UInt16 max, UInt16 val) + { + if (val <= min) + return min; + if (val >= max) + return max; + return val; + } + public static UInt16 minmaxUS(UInt16 min, UInt16 max, UInt16 val) + { + if (val <= min) + return min; + if (val >= max) + return max; + return val; + } + + } + /// + /// Класс для разбора заголовка + /// + public static class HEAD + { + private static Byte _num_pack = 1; + private static Byte _dir_pack = 2; + private static Byte _addr_pack = 3; + private static UInt16 _id_pack = 0x0321; + + public static Byte Start = CONST.START; + public static UInt16 Address = 0; + public static Byte Code = 0; + public static UInt16 Lenght = 0; + public static UInt16 Id_Pack + { + get + { + _id_pack = (ushort)(_addr_pack << 8); + _id_pack |= (ushort)(_dir_pack << 4); + _id_pack |= (ushort)_num_pack; + return _id_pack; + } + set + { + _id_pack = value; + _num_pack = (Byte)(value & 0x000F); + _dir_pack = (Byte)((value & 0x00F0) >> 4); + _addr_pack = (Byte)((value & 0xFF00) >> 8); + } + } + public static Byte num_pack { get => _num_pack; } + public static Byte dir_pack { get => _dir_pack; } + public static Byte addr_pack { get => _addr_pack; } + /// + /// Функция извлечения данных из массива + /// + public static void GetData(Byte[] arr) + { + Byte[] data = new Byte[8]; + Array.Copy(arr, data, 8); + Start = data[0]; + Address = (UInt16)(data[2] << 8 | data[1]); + Code = data[3]; + Lenght = BitConverter.ToUInt16(data, 4); + Id_Pack = BitConverter.ToUInt16(data, 6); + } + } + + +} diff --git a/rtp.cs b/rtp.cs new file mode 100644 index 0000000..df8e970 --- /dev/null +++ b/rtp.cs @@ -0,0 +1,207 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Net; +using System.Text; + +namespace nRTP +{ + public static class RTP + { + //RTPMsgHeader + private static Byte _VerPXCC = 2; + private static Byte _Ver = 2; // версия протокола (текущая версия 2) + private static Byte _P = 0; // = 0 (не используется заполнение в конце пакета) + private static Byte _X = 0; // = 0 (не используются дополнительные заголовки) + private static Byte _CC = 0; // = 0 (CSRC - идентификаторы не используются); + private static Byte _MPT; + private static Byte _M; // маркерный бит. + private static Byte _PT = 99; // поле идентифицирует формат трафика RTP и определяет его интерпретацию. Задается 99 + private static UInt32 _Seqcounter = 0; + private static UInt16 _SeqCounter_Hi; + private static UInt16 _SeqCounter_Low; + public static Byte MH_VerPXCC + { + get => _VerPXCC; + set + { + _VerPXCC = value; + _Ver = (Byte)(value & 0x03); + _P = (Byte)((value >> 2) & 0x01); + _X = (Byte)((value >> 3) & 0x01); + _CC = (Byte)((value >> 4) & 0x0F); + } + } + public static Byte MH_MPT + { + get + { + return (Byte)((_PT << 1) | _M); + } + set + { + _MPT = value; + _M = (Byte)(value & 0x01); + _PT = (Byte)((value >> 1) & 0x7F); + } + } + public static Byte MH_M // маркерный бит. + { + get => _M; + set + { + _M = value; + } + } + public static Byte MH_PT // поле идентифицирует формат трафика RTP и определяет его интерпретацию. Задается 99 + { + get => _PT; + set + { + _PT = value; + } + } + public static UInt16 MH_SeqCounter_Low // Номер последовательности (младшие 16 бит) + { + get => _SeqCounter_Low; + set + { + _SeqCounter_Low = value; + } + } + public static UInt32 MH_Timestamp; // Метка времени (90 кГц отсчеты), одинакова для всех пакетов кадра + public static UInt32 MH_SSRC; // 12345678 (идентификатор источника информации) + public static UInt16 MH_SeqCounter_Hi // Номер последовательности (старшие 16 бит) + { + get => _SeqCounter_Hi; + set + { + _SeqCounter_Hi = value; + } + } + public static UInt16 MH_DataLen; // Количество байт данных строки, включенной в пакет + public static UInt16 MH_RowNumber; // Номер строки + public static UInt16 MH_Offset; // Смещение первого пиксела в строке (= 0) + + //RTPVideoSupplementalData + public static UInt16 SD_Width; // Ширина (пиксели) + public static UInt16 SD_Height; // Высота (пиксели) + public static float SD_AzUpr; // (град) + public static float SD_ElUpr; // (град) + public static Int16 SD_Course; // Курс БЛА (0,01 град) + public static Int16 SD_Roll; // Крен БЛА (0,01 град) + public static Int16 SD_Pitch; // Тангаж БЛА (0,01 град) + public static Int16 SD_FrameId; + + //RTPVideoSupplementalDataExtra + public static UInt32 DE_TLV_X; // Линия визирования цели в растроввых координатах + public static UInt32 DE_TLV_Y; // + public static UInt32 DE_TLV_dX; // поправки для линии визирования цели в растроввых координатах + public static UInt32 DE_TLV_dY; // + + public static UInt32 SeqCounter + { + get + { + return (UInt32)((_SeqCounter_Hi << 16) | _SeqCounter_Low); + } + set + { + _SeqCounter_Low = (UInt16)value; + _SeqCounter_Hi = (UInt16)((value >> 16) & 0xFFFF); + } + } + + public static Byte[] DataH0 = new Byte[56]; + public static Byte[] DataH1 = new Byte[20]; + + public static void MakeDataH0() + { + Array.Copy(BitConverter.GetBytes(RTP.MH_VerPXCC), 0, DataH0, 0, 1); + Array.Copy(BitConverter.GetBytes(RTP.MH_MPT), 0, DataH0, 1, 1); + Array.Copy(BitConverter.GetBytes(RTP.MH_SeqCounter_Low), 0, DataH0, 2, 2); + Array.Copy(BitConverter.GetBytes(RTP.MH_Timestamp), 0, DataH0, 4, 4); + Array.Copy(BitConverter.GetBytes(RTP.MH_SSRC), 0, DataH0, 8, 4); + Array.Copy(BitConverter.GetBytes(RTP.MH_SeqCounter_Hi), 0, DataH0, 12, 2); + Array.Copy(BitConverter.GetBytes(RTP.MH_DataLen), 0, DataH0, 14, 2); + Array.Copy(BitConverter.GetBytes(RTP.MH_RowNumber), 0, DataH0, 16, 2); + Array.Copy(BitConverter.GetBytes(RTP.MH_Offset), 0, DataH0, 18, 2); + + Array.Copy(BitConverter.GetBytes(RTP.SD_Width), 0, DataH0, 20, 2); + Array.Copy(BitConverter.GetBytes(RTP.SD_Height), 0, DataH0, 22, 2); + Array.Copy(BitConverter.GetBytes(RTP.SD_AzUpr), 0, DataH0, 24, 4); + Array.Copy(BitConverter.GetBytes(RTP.SD_ElUpr), 0, DataH0, 28, 4); + Array.Copy(BitConverter.GetBytes(RTP.SD_Course), 0, DataH0, 32, 2); + Array.Copy(BitConverter.GetBytes(RTP.SD_Roll), 0, DataH0, 34, 2); + Array.Copy(BitConverter.GetBytes(RTP.SD_Pitch), 0, DataH0, 36, 2); + Array.Copy(BitConverter.GetBytes(RTP.SD_FrameId), 0, DataH0, 38, 2); + + Array.Copy(BitConverter.GetBytes(RTP.DE_TLV_X), 0, DataH0, 40, 4); + Array.Copy(BitConverter.GetBytes(RTP.DE_TLV_Y), 0, DataH0, 44, 4); + Array.Copy(BitConverter.GetBytes(RTP.DE_TLV_dX), 0, DataH0, 48, 4); + Array.Copy(BitConverter.GetBytes(RTP.DE_TLV_dY), 0, DataH0, 52, 4); + } + public static void MakeDataH1() + { + Array.Copy(BitConverter.GetBytes(RTP.MH_VerPXCC), 0, DataH1, 0, 1); + Array.Copy(BitConverter.GetBytes(RTP.MH_MPT), 0, DataH1, 1, 1); + Array.Copy(BitConverter.GetBytes(RTP.MH_SeqCounter_Low), 0, DataH1, 2, 2); + Array.Copy(BitConverter.GetBytes(RTP.MH_Timestamp), 0, DataH1, 4, 4); + Array.Copy(BitConverter.GetBytes(RTP.MH_SSRC), 0, DataH1, 8, 4); + Array.Copy(BitConverter.GetBytes(RTP.MH_SeqCounter_Hi), 0, DataH1, 12, 2); + Array.Copy(BitConverter.GetBytes(RTP.MH_DataLen), 0, DataH1, 14, 2); + Array.Copy(BitConverter.GetBytes(RTP.MH_RowNumber), 0, DataH1, 16, 2); + Array.Copy(BitConverter.GetBytes(RTP.MH_Offset), 0, DataH1, 18, 2); + } + + /* + struct RTPMsgHeader + { + uint8_t Ver : 2; // версия протокола (текущая версия 2) + uint8_t P : 1; // = 0 (не используется заполнение в конце пакета) + uint8_t X : 1; // = 0 (не используются дополнительные заголовки) + uint8_t CC : 4; // = 0 (CSRC - идентификаторы не используются); + + uint8_t M : 1; // маркерный бит. Установка этого бита в 1 свидетельствует о том, что данный UDP – пакет содержит последнюю строку кадра, для всех остальных пакетов задается 0 + uint8_t PT : 7; // поле идентифицирует формат трафика RTP и определяет его интерпретацию. Задается 99 + + uint16_t SeqCounter_Low; // Номер последовательности (младшие 16 бит) + uint32_t Timestamp; // Метка времени (90 кГц отсчеты), одинакова для всех пакетов кадра + uint32_t SSRC; // 12345678 (идентификатор источника информации) + uint16_t SeqCounter_Hi; // Номер последовательности (старшие 16 бит) + uint16_t DataLen; // Количество байт данных строки, включенной в пакет + uint16_t RowNumber; // Номер строки + uint16_t Offset; // Смещение первого пиксела в строке (= 0) + + uint32_t get_seqcounter() { return ((SeqCounter_Hi << 16) | SeqCounter_Low); } + }; + //------------------------------------------------------------------------------------------------------------ + struct RTPVideoSupplementalData + { + uint16_t Width; // Ширина (пиксели) + uint16_t Height; // Высота (пиксели) + + float AzUpr; // (град) + float ElUpr; // (град) + int16_t Course; // Курс БЛА (0,01 град) + int16_t Roll; // Крен БЛА (0,01 град) + int16_t Pitch; // Тангаж БЛА (0,01 град) + int16_t FrameId; + + RTPVideoSupplementalData() + { + ::memset(this, 0, sizeof(RTPVideoSupplementalData)); + } + }; + //------------------------------------------------------------------------------------------------------------ + // Дополнительные данные нулевой строки выходящие за рамки ПИВ + struct RTPVideoSupplementalDataExtra + { + uint32_t TLV_X; // Линия визирования цели в растроввых координатах + uint32_t TLV_Y; // + uint32_t TLV_dX; // поправки для линии визирования цели в растроввых координатах + uint32_t TLV_dY; // + }; + */ + } +} diff --git a/util.cs b/util.cs new file mode 100644 index 0000000..b0cf15b --- /dev/null +++ b/util.cs @@ -0,0 +1,558 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Reflection; +using System.Text; +using System.Runtime.InteropServices; +using System.Drawing; +using System.Windows.Forms; +using System.Windows.Forms.VisualStyles; +using System.ComponentModel; +using System.Drawing.Imaging; + + +namespace UTIL +{ + public static class ASMBL + { + #region Методы доступа к атрибутам сборки + + public static string AssemblyTitle + { + get + { + object[] attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyTitleAttribute), false); + if (attributes.Length > 0) + { + AssemblyTitleAttribute titleAttribute = (AssemblyTitleAttribute)attributes[0]; + if (titleAttribute.Title != "") + { + return titleAttribute.Title; + } + } + return System.IO.Path.GetFileNameWithoutExtension(Assembly.GetExecutingAssembly().CodeBase); + } + } + + public static string AssemblyVersion + { + get + { + return Assembly.GetExecutingAssembly().GetName().Version.ToString(); + } + } + + public static string AssemblyDescription + { + get + { + object[] attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyDescriptionAttribute), false); + if (attributes.Length == 0) + { + return ""; + } + return ((AssemblyDescriptionAttribute)attributes[0]).Description; + } + } + + public static string AssemblyProduct + { + get + { + object[] attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyProductAttribute), false); + if (attributes.Length == 0) + { + return ""; + } +#if DEBUG + return ((AssemblyProductAttribute)attributes[0]).Product + " Debug version"; +#else + return ((AssemblyProductAttribute)attributes[0]).Product + " Release version"; +#endif + } + } + + public static string AssemblyCopyright + { + get + { + object[] attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyCopyrightAttribute), false); + if (attributes.Length == 0) + { + return ""; + } + return ((AssemblyCopyrightAttribute)attributes[0]).Copyright; + } + } + + public static string AssemblyCompany + { + get + { + object[] attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyCompanyAttribute), false); + if (attributes.Length == 0) + { + return ""; + } + return ((AssemblyCompanyAttribute)attributes[0]).Company; + } + } + public static string AssemblyConfiguration + { + get + { +#if DEBUG + return "Debug version"; +#else + return "Release version"; +#endif + } + } + public static string[] AssemblyConf + { + get + { + string[] s = new string[11]; + + object[] attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyConfigurationAttribute), false); +#if DEBUG + s[0] = "Debug version"; +#else + s[0] = "Release version"; +#endif + attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyAlgorithmIdAttribute), false); + if (attributes.Length == 0) + s[1] = "AssemblyAlgorithmId = "; + else + s[1] = "AssemblyAlgorithmId = " + ((AssemblyAlgorithmIdAttribute)attributes[0]).AlgorithmId; + + attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyCompanyAttribute), false); + if (attributes.Length == 0) + s[2] = "AssemblyCompany = "; + else + s[2] = "AssemblyCompany = " + ((AssemblyCompanyAttribute)attributes[0]).Company; + + attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyCopyrightAttribute), false); + if (attributes.Length == 0) + s[3] = "AssemblyCopyright = "; + else + s[3] = "AssemblyCopyright = " + ((AssemblyCopyrightAttribute)attributes[0]).Copyright; + + attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyDescriptionAttribute), false); + if (attributes.Length == 0) + s[4] = "AssemblyDescription = "; + else + s[4] = "AssemblyDescription = " + ((AssemblyDescriptionAttribute)attributes[0]).Description; + + attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyFileVersionAttribute), false); + if (attributes.Length == 0) + s[5] = "AssemblyFileVersion = "; + else + s[5] = "AssemblyFileVersion = " + ((AssemblyFileVersionAttribute)attributes[0]).Version; + + attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyInformationalVersionAttribute), false); + if (attributes.Length == 0) + s[6] = "AssemblyInformationalVersion = "; + else + s[6] = "AssemblyInformationalVersion = " + ((AssemblyInformationalVersionAttribute)attributes[0]).InformationalVersion; + + attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyProductAttribute), false); + if (attributes.Length == 0) + s[7] = "AssemblyProduct = "; + else + s[7] = "AssemblyProduct = " + ((AssemblyProductAttribute)attributes[0]).Product; + + attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyTitleAttribute), false); + if (attributes.Length == 0) + s[8] = "AssemblyTitle = "; + else + s[8] = "AssemblyTitle = " + ((AssemblyTitleAttribute)attributes[0]).Title; + + attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyTrademarkAttribute), false); + if (attributes.Length == 0) + s[9] = "AssemblyTrademark = "; + else + s[9] = "AssemblyTrademark = " + ((AssemblyTrademarkAttribute)attributes[0]).Trademark; + + attributes = Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(AssemblyVersionAttribute), false); + if (attributes.Length == 0) + s[10] = "AssemblyVersion = "; + else + s[10] = "AssemblyVersion = " + ((AssemblyVersionAttribute)attributes[0]).Version; + + return s; + } + } + #endregion + } + + public class IniFile + { + [DllImport("kernel32.dll")] + private extern static int GetPrivateProfileString(String AppName, String KeyName, String Default, StringBuilder ReturnedString, UInt32 Size, String FileName); + [DllImport("kernel32.dll")] + private extern static int WritePrivateProfileString(String AppName, String KeyName, String Str, String FileName); + public IniFile(string filename) + { + IniFileName = filename; + } + public String IniFileName + { + get; + set; + } + public String _GetString(String section, String key) + { + StringBuilder s1 = new StringBuilder(128); + GetPrivateProfileString(section, key, "", s1, 128, IniFileName); + return s1.ToString(); + } + public Int64 _GetInt(String section, String key) + { + StringBuilder s1 = new StringBuilder(100); + GetPrivateProfileString(section, key, "", s1, 100, IniFileName); + return Int64.Parse(s1.ToString()); + } + public Boolean _GetBool(String section, String key) + { + StringBuilder s1 = new StringBuilder(100); + GetPrivateProfileString(section, key, "", s1, 100, IniFileName); + return Boolean.Parse(s1.ToString()); + } + public Double _GetDouble(String section, String key) + { + StringBuilder s1 = new StringBuilder(100); + GetPrivateProfileString(section, key, "", s1, 100, IniFileName); + return Double.Parse(s1.ToString()); + } + public void _SetString(String section, String key, String val) + { + WritePrivateProfileString(section, key, val, IniFileName); + } + public void _SetInt(String section, String key, Int64 val) + { + WritePrivateProfileString(section, key, val.ToString(), IniFileName); + } + public void _SetDouble(String section, String key, Double val) + { + WritePrivateProfileString(section, key, val.ToString(), IniFileName); + } + public void _SetBool(String section, String key, Boolean val) + { + WritePrivateProfileString(section, key, val.ToString(), IniFileName); + } + } + + public static class S2B + { + #region Загрузка/выгрузка данных в структуру + public static T BuffToStruct(byte[] arr) + { + GCHandle gch = GCHandle.Alloc(arr, GCHandleType.Pinned); + IntPtr ptr = Marshal.UnsafeAddrOfPinnedArrayElement(arr, 0); + T ret = (T)Marshal.PtrToStructure(ptr, typeof(T)); + gch.Free(); + return default(T); + } + public static T BuffToClass(byte[] arr) + { + GCHandle gch = GCHandle.Alloc(arr, GCHandleType.Pinned); + IntPtr ptr = Marshal.UnsafeAddrOfPinnedArrayElement(arr, 0); + T ret = (T)Marshal.PtrToStructure(ptr, typeof(T)); + gch.Free(); + return default(T); + } + public static byte[] StructToBuff(T value) where T : struct + { + byte[] arr = new byte[Marshal.SizeOf(value)]; // создать массив + GCHandle gch = GCHandle.Alloc(arr, GCHandleType.Pinned); // зафиксировать в памяти + IntPtr ptr = Marshal.UnsafeAddrOfPinnedArrayElement(arr, 0); // и взять его адрес + Marshal.StructureToPtr(value, ptr, true); // копировать в массив + gch.Free(); // снять фиксацию + return arr; + } + public static byte[] ClassToBuff(T value) where T : class + { + byte[] arr = new byte[Marshal.SizeOf(value)]; // создать массив + GCHandle gch = GCHandle.Alloc(arr, GCHandleType.Pinned); // зафиксировать в памяти + IntPtr ptr = Marshal.UnsafeAddrOfPinnedArrayElement(arr, 0); // и взять его адрес + Marshal.StructureToPtr(value, ptr, true); // копировать в массив + gch.Free(); // снять фиксацию + return arr; + } + #endregion + } + + public static class RichTextBoxExtensions + { + public static void AppendText(this RichTextBox box, string text, Color color) + { + if (box.InvokeRequired) + { + box.Invoke((MethodInvoker)(delegate + { + box.SelectionStart = box.TextLength; + box.SelectionLength = 0; + box.SelectionColor = color; + box.AppendText(text); + box.SelectionColor = box.ForeColor; + box.ScrollToCaret(); + })); + } + else + { + box.SelectionStart = box.TextLength; + box.SelectionLength = 0; + box.SelectionColor = color; + box.AppendText(text); + box.SelectionColor = box.ForeColor; + box.ScrollToCaret(); + } + } + public static void AppendText(this RichTextBox box, string text, Color bgcolor, Color fgcolor) + { + if (box.InvokeRequired) + { + box.Invoke((MethodInvoker)(delegate + { + box.SelectionStart = box.TextLength; + box.SelectionLength = 0; + box.SelectionColor = fgcolor; + box.SelectionBackColor = bgcolor; + box.AppendText(text); + box.SelectionColor = box.ForeColor; + box.SelectionBackColor = box.BackColor; + box.ScrollToCaret(); + })); + } + else + { + box.SelectionStart = box.TextLength; + box.SelectionLength = 0; + box.SelectionColor = fgcolor; + box.SelectionBackColor = bgcolor; + box.AppendText(text); + box.SelectionColor = box.ForeColor; + box.SelectionBackColor = box.BackColor; + box.ScrollToCaret(); + } + } + } + + public class AdvancedRadioButton : CheckBox + { + public enum Level { Parent, Form }; + + [Category("AdvancedRadioButton"), + Description("Gets or sets the level that specifies which RadioButton controls are affected."), + DefaultValue(Level.Parent)] + public Level GroupNameLevel { get; set; } + + [Category("AdvancedRadioButton"), + Description("Gets or sets the name that specifies which RadioButton controls are mutually exclusive.")] + public string GroupName { get; set; } + + protected override void OnCheckedChanged(EventArgs e) + { + base.OnCheckedChanged(e); + + if (Checked) + { + var arbControls = (dynamic)null; + switch (GroupNameLevel) + { + case Level.Parent: + if (this.Parent != null) + arbControls = GetAll(this.Parent, typeof(AdvancedRadioButton)); + break; + case Level.Form: + Form form = this.FindForm(); + if (form != null) + arbControls = GetAll(this.FindForm(), typeof(AdvancedRadioButton)); + break; + } + if (arbControls != null) + foreach (Control control in arbControls) + if (control != this && + (control as AdvancedRadioButton).GroupName == this.GroupName) + (control as AdvancedRadioButton).Checked = false; + } + } + + protected override void OnClick(EventArgs e) + { + if (!Checked) + base.OnClick(e); + } + + protected override void OnPaint(PaintEventArgs pevent) + { + CheckBoxRenderer.DrawParentBackground(pevent.Graphics, pevent.ClipRectangle, this); + + RadioButtonState radioButtonState; + if (Checked) + { + radioButtonState = RadioButtonState.CheckedNormal; + if (Focused) + radioButtonState = RadioButtonState.CheckedHot; + if (!Enabled) + radioButtonState = RadioButtonState.CheckedDisabled; + } + else + { + radioButtonState = RadioButtonState.UncheckedNormal; + if (Focused) + radioButtonState = RadioButtonState.UncheckedHot; + if (!Enabled) + radioButtonState = RadioButtonState.UncheckedDisabled; + } + + Size glyphSize = RadioButtonRenderer.GetGlyphSize(pevent.Graphics, radioButtonState); + Rectangle rect = pevent.ClipRectangle; + rect.Width -= glyphSize.Width; + rect.Location = new Point(rect.Left + glyphSize.Width, rect.Top); + + RadioButtonRenderer.DrawRadioButton(pevent.Graphics, new System.Drawing.Point(0, rect.Height / 2 - glyphSize.Height / 2), rect, this.Text, this.Font, this.Focused, radioButtonState); + } + + private IEnumerable GetAll(Control control, Type type) + { + var controls = control.Controls.Cast(); + + return controls.SelectMany(ctrl => GetAll(ctrl, type)) + .Concat(controls) + .Where(c => c.GetType() == type); + } + } + + public class GKalman + { + double _err_measure = 0.0F; + double _err_estimate = 0.0F; + double _q = 0.0F; + double _last_estimate = 0.0F; + public GKalman(double mea_e, double est_e, double q) + { + setParameters(mea_e, est_e, q); + } + + // разброс измерения, скорость изменения значений (разброс измерения принимается равным разбросу оценки) + public GKalman(double mea_e, double q) + { + setParameters(mea_e, mea_e, q); + } + + // разброс измерения, разброс оценки, скорость изменения значений + public void setParameters(double mea_e, double est_e, double q) + { + _err_measure = mea_e; + _err_estimate = est_e; + _q = q; + } + + // разброс измерения, скорость изменения значений (разброс измерения принимается равным разбросу оценки) + public void setParameters(double mea_e, double q) + { + setParameters(mea_e, mea_e, q); + } + + // возвращает фильтрованное значение + public double filtered(double value) + { + double _kalman_gain, _current_estimate; + _kalman_gain = _err_estimate / (_err_estimate + _err_measure); + _current_estimate = _last_estimate + _kalman_gain * (value - _last_estimate); + _err_estimate = (1.0 - _kalman_gain) * _err_estimate + Math.Abs(_last_estimate - _current_estimate) * _q; + _last_estimate = _current_estimate; + return (double)_current_estimate; + } + } + + public unsafe class UnsafeBitmap + { + Bitmap bitmap; + // three elements used for MakeGreyUnsafe + int width; + BitmapData bitmapData = null; + Byte* pBase = null; + public UnsafeBitmap(Bitmap bitmap) + { + this.bitmap = new Bitmap(bitmap); + } + public UnsafeBitmap(int width, int height) + { + this.bitmap = new Bitmap(width, height, PixelFormat.Format24bppRgb); + } + public void Dispose() + { + bitmap.Dispose(); + } + public Bitmap Bitmap + { + get + { + return (bitmap); + } + } + private Point PixelSize + { + get + { + GraphicsUnit unit = GraphicsUnit.Pixel; + RectangleF bounds = bitmap.GetBounds(ref unit); + + return new Point((int)bounds.Width, (int)bounds.Height); + } + } + public void LockBitmap() + { + GraphicsUnit unit = GraphicsUnit.Pixel; + RectangleF boundsF = bitmap.GetBounds(ref unit); + Rectangle bounds = new Rectangle((int)boundsF.X, + (int)boundsF.Y, + (int)boundsF.Width, + (int)boundsF.Height); + + // Figure out the number of bytes in a row + // This is rounded up to be a multiple of 4 + // bytes, since a scan line in an image must always be a multiple of 4 bytes + // in length. + width = (int)boundsF.Width * sizeof(PixelData); + if (width % 4 != 0) + { + width = 4 * (width / 4 + 1); + } + bitmapData = + bitmap.LockBits(bounds, ImageLockMode.ReadWrite, PixelFormat.Format24bppRgb); + pBase = (Byte*)bitmapData.Scan0.ToPointer(); + } + public PixelData GetPixel(int x, int y) + { + PixelData returnValue = *PixelAt(x, y); + return returnValue; + } + public void SetPixel(int x, int y, PixelData colour) + { + PixelData* pixel = PixelAt(x, y); + *pixel = colour; + } + public void UnlockBitmap() + { + bitmap.UnlockBits(bitmapData); + bitmapData = null; + pBase = null; + } + public PixelData* PixelAt(int x, int y) + { + return (PixelData*)(pBase + y * width + x * sizeof(PixelData)); + } + } + + public struct PixelData + { + public byte blue; + public byte green; + public byte red; + } + +}