From 7bccc55044660b8238c0c44c4b4cc9176e2f8b30 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=94=D0=B5=D0=BD=D0=B8=D1=81=20=D0=9A=D1=83=D0=B7=D0=BD?= =?UTF-8?q?=D0=B5=D1=86=D0=BE=D0=B2?= Date: Mon, 20 Mar 2023 11:20:13 +0300 Subject: [PATCH] first commit --- .gitignore | 16 + AboutBox1.Designer.cs | 224 +++ AboutBox1.cs | 181 ++ AboutBox1.resx | 3463 ++++++++++++++++++++++++++++++++++++++ AdvancedRadioButton.cs | 98 ++ Class1.cs | 56 + Class2.cs | 51 + RichTextBoxExtensions.cs | 66 + UnsafeBitmap.cs | 97 ++ asmbl.cs | 182 ++ gkalman.cs | 51 + gravity2.ico | Bin 0 -> 46686 bytes inifile.cs | 66 + inv.snippet | 20 + loadstruct.cs | 49 + piv.cs | 2347 ++++++++++++++++++++++++++ rtp.cs | 207 +++ util.cs | 558 ++++++ 18 files changed, 7732 insertions(+) create mode 100644 .gitignore create mode 100644 AboutBox1.Designer.cs create mode 100644 AboutBox1.cs create mode 100644 AboutBox1.resx create mode 100644 AdvancedRadioButton.cs create mode 100644 Class1.cs create mode 100644 Class2.cs create mode 100644 RichTextBoxExtensions.cs create mode 100644 UnsafeBitmap.cs create mode 100644 asmbl.cs create mode 100644 gkalman.cs create mode 100644 gravity2.ico create mode 100644 inifile.cs create mode 100644 inv.snippet create mode 100644 loadstruct.cs create mode 100644 piv.cs create mode 100644 rtp.cs create mode 100644 util.cs 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 0000000000000000000000000000000000000000..c120103e60809c571ef8a8419af7080b89dfe319 GIT binary patch literal 46686 zcmYhj4_s6A{y%<9;q(Usw6dW%ryj*^Y;eSX=!8v}=9nF#Xb9~x9lK>CTq$rvx|5hn z#-^>Zd$lj$F7QP;b#u&rVK@0x*U~%8$}5G}bjw>e$$d^`*KWV^`+Oa`kKgw&aNrp4 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z*rg(F|7x{ofQQrhYNX2?*y=%z^S7g|VZlx%R!AXHM%p3bt+%{v%9V|dbv4As!I3|@ z*x#OP-*f*~kW0B_^`Z}Ka-}rBy$X`q+c+Z80W$(!Y&Oq{0+A-V1|1V&|3z-H`Z)7y z!Ii#OM1&V8yXJ%ZW2L#8PtJ@?HA^hcEqxrFiVo3z^dv%-okwXdfq;s6mC35!mwnjF zN||ND>1D`aT2DHjRQIG|F?%uo&%`_j2KnwarG2?<-;MvsFKg~XYqGrKN7-0weF~%m-ECX zu8SkpV}}uF6k%hv_uo8e+9_7jP~2Hk3v>Y9MO+mLi%U*KXS~)jtu)9u|80j&+8dO< zYp=atISrGVV_hsFR1^=WwJW2>zbn5@$RbFxjk literal 0 HcmV?d00001 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; + } + +}