{
                  發現傳感器數據包
                  }
                  else if (curStr='fd') and (not GpsDataFlag)
                        and (not ADDataFlag)and (not ParaDataFlag) then
                  begin
                         ADDataFlag:=True;
                         ADDataCount:=0;
                         GpsNewDataFlag:=True;
                         ADNewDataFlag:=True;
                         ADStr:=ADStr+chr(13) + chr(10);//保存數據
                  end
                  {
                    截取參數數據包
                  }
                  else if ParaDataFlag then
                  begin
                         ParaDataArray[ParaDataCount]:=tmpInt;
                         ParaDataCount:=ParaDataCount+1;
                         if ParaDataCount=ParaDataCountMax then
                         begin
                               ParaDataFlag:=False;//截取結束
                               ParaNewDataFlag:=True;
                               ParaDataCount:=0;
                        end;
                  end
                 {
                  截取GPS數據包
                 }
                  else if GpsDataFlag then
                  begin
                         GpsDataArray[GpsDataCount]:=tmpInt;
                         GpsDataCount:=GpsDataCount+1;
                         GpsStr:=GpsStr+curStr+' ';
                         if GpsDataCount=GpsDataCountMax then
                         begin
                                GpsDataFlag:=False;//截取結束
                                GpsNewDataFlag:=True;
                                GpsDataCount:=0;
                         end;
                  end
                {
                  截取傳感器數據包
                }
                  else if ADDataFlag then
                  begin
                         ADDataArray[ADDataCount]:=tmpInt;
                         ADDataCount:=ADDataCount+1;
                         ADStr:=ADStr+curStr+' ';
                         if ADDataCount=ADDataCountMax then
                         begin
                                ADDataFlag:=False;//截取結束
                                ADNewDataFlag:=True;
                                ADDataCount:=0;
                         end;
                  end;
                end;
           {
               處理成字符串
           }
           TransToStr;
          end;
        end;
     end;
           {
           顯示數據
           }              
//           Synchronize(PostData);
     PostData;
     ReleaseMutex(hMutex);//釋放互斥對象的句柄
end;

procedure TForm1.FormCreate(Sender: TObject);
begin
     hMutex:=CreateMutex(nil,False,nil);  //創建互斥對象
     hMutex2:=CreateMutex(nil,False,nil);
     gpsMeta := TMetaFile.Create;
     posLength := 0;                      //初始化軌跡點數組
     SetLength(posXArray,1000);
     SetLength(posYArray,1000);
     posLengthLoad := 0;
     SetLength(posXArrayLOad,0);
     SetLength(posYArrayLoad,0);
     DrawAxis;
end;

procedure TForm1.btRecStartClick(Sender: TObject);
var
   i:Integer;

begin
   //初始化串口
   if MSCommIn.PortOpen then
       MSCommIn.PortOpen :=False;
   MSCommIn.CommPort :=cmbbxSerialIn.ItemIndex +1;
   MSCommIn.Settings :=cmbbxBaudIn.Items[cmbbxBaudIn.ItemIndex]+',n,8,1';
   {
   確定當前數據發送方式
   }
   if (cmbbxTypeIn.ItemIndex=1) then
   begin
           MSCommIn.InputMode  :=0;  //文本形式，只是在調試時
           ReceiveCharFlag :=True;
   end
   else
   begin
           MSCommIn.InputMode  :=1;  //數據形式，默認
           ReceiveCharFlag :=False;
   end;
   MSCommIn.PortOpen := True;

   //初始化保存數據的全局變量
   ADStr:='';
   GpsStr:='';
   DownStr:='';

   //初始化軌跡圖像 ，原點為當前點
   posLength:=0;
   posXArray[posLength] := 0;
   posYArray[posLength] := 0;
   inc(posLength);
   DrawAxis;

   //初始化截取數據包的變量        
   ParaDataFlag:=False;
   ParaNewDataFlag:=False;
   ParaDataCount:=0;
   GPSDataFlag:=False;
   GPSNewDataFlag:=False;
   GpsDataCount:=0;
   ADDataFlag:=False;
   ADNewDataFlag:=False;
   ADDataCount:=0;
   for i:=0 to 13 do        //傳感器未初試化
        ADDataArrayMean[i]:=0;
   InitADDataFlag:=False;
   
   //初始化參數數據顯示
   lbShowPara0.Caption :='0';
   lbShowPara1.Caption :='0';
   lbShowPara2.Caption :='0';
   lbShowPara3.Caption :='0';
   lbShowPara4.Caption :='0';
   lbShowPara5.Caption :='0';
   lbShowPara6.Caption :='0';
   lbShowPara7.Caption :='0';

   //初始化GPS數據顯示
   lbShowGps0.Caption :='0';
   lbShowGps1.Caption :='0';
   lbShowGps2.Caption :='0';
   lbShowGps3.Caption :='0';
   lbShowGps4.Caption :='0';
   lbShowGps5.Caption :='0';
   lbShowGps6.Caption :='0';

   //初始化傳感器數據顯示
   lbShowAd0.Caption :='0';
   lbShowAd1.Caption :='0';
   lbShowAd2.Caption :='0';
   lbShowAd3.Caption :='0';
   lbShowAd4.Caption :='0';
   lbShowAd5.Caption :='0';
   lbShowAd6.Caption :='0';
   lbShowAd7.Caption :='0';

   //初始化模式顯示
   lbShowModel.Caption :='0';
   
   //初始化指令碼顯示
   lbCode1.Caption :='0';
   lbCode2.Caption :='0';
   lbCode3.Caption :='0';
   lbCode4.Caption :='0';
   dtCode1.Text :='0';
   dtCode2.Text :='0';
   dtCode3.Text :='0';
   dtCode4.Text :='0';

   rchdtSerialIn.Text :='';
   rchdtSerialOut.Text :='';
   tmrSerialIn .Enabled :=True;       //打開定時器
   btRecStop .Enabled :=True;         // 激活"停止接受"按鈕
   btRecSave .Enabled :=False;       //關閉"保存數據"按鈕
   btRecStart .Enabled :=False;     //關閉"開始接收"按鈕
end;

procedure TForm1.btRecStopClick(Sender: TObject);
begin
   tmrSerialIn .Enabled :=False;   　//關閉定時器
   btRecStop .Enabled :=False;     　// 關閉"停止接受"按鈕
   btRecSave .Enabled :=True;       　//"保存數據"按鈕使能
   btRecStart .Enabled :=True;       //"開始接收"按鈕使能
end;
/////////////////////////////////////////////////////////////////
{
        如果串口接受到數據，就保存ADStr,GpsStr,DownStr。便于分析機載系統
}        
procedure TForm1.btRecSaveClick(Sender: TObject);
var
   fileName:String;
   i:integer;
begin
    if Length(DownStr)<>0 then
    begin
        fileName := 'Exp';
        if dlgSaveData.Execute then//打開數據保存的對話框
        begin
            fileName:=dlgSaveData .FileName ;
            rchdtTmp .Text :=ADStr;
            rchdtTmp .Lines.SaveToFile(filename+'_AD_All'+'.txt');
            rchdtTmp .Text :=DownStr;
            rchdtTmp .Lines.SaveToFile(filename+'_Down'+'.txt');
            rchdtTmp .Text :=GpsStr;
            rchdtTmp .Lines.SaveToFile(filename+'_Gps'+'.txt');
            rchdtTmp .Text :='';
        end
     end
     else
        ShowMessage('沒有數據!');     
end;

procedure TForm1.btSendOutClick(Sender: TObject);
begin
   if MSCommOut.PortOpen then
           MSCommOut.PortOpen :=False;
   MSCommOut.CommPort :=cmbbxSerialOut.ItemIndex +1;
   MSCommOut.Settings :=cmbbxBaudOut.Items[cmbbxBaudIn.ItemIndex]+',n,8,1';

　 //如果直接以文本形式發送數據，
   if (cmbbxTypeOut.ItemIndex=1) then
   begin
           MSCommOut.InputMode :=0;
           MSCommOut.PortOpen := True;
           MSCommOut.Output :=rchdtSerialOut.Text;
   end  else
  //使用串口線程發送數據      
   begin
           MSCommOut.InputMode  :=1;
           MSCommOut.PortOpen := True;
           btSendOut.Enabled :=False;
           TSerialOutThread.Create(False);
   end;
end;

procedure TForm1.tmrSerialInTimer(Sender: TObject);
begin
        TSerialInThread.Create(False);
end;

procedure TForm1.btSetModelClick(Sender: TObject);
begin
        dtCode1.Text :=cmbbxModel.Items[cmbbxModel.ItemIndex];
        dtCode2.Text :='11';
        dtCode3.Text :='66';
        dtCode4.Text :='66';
        btSendOutClick(Sender);
end;

procedure TForm1.btSetParaClick(Sender: TObject);
begin
        dtCode1.Text :='66';
        dtCode2.Text :='11';
        dtCode3.Text :=cmbbxParaNo.Items[cmbbxParaNo.ItemIndex];
        dtCode4.Text :=IntToHex(StrToInt(dtParaValue.Text),2);
        btSendOutClick(Sender);
end;

procedure TForm1.FormDestroy(Sender: TObject);
begin
        CloseHandle(hMutex);
        CloseHandle(hMutex2);
        gpsMeta.Free;
end;

procedure TForm1.btSaveTraceClick(Sender: TObject);
var
  str: TStrings;
  temp,filename: String;
  i : Integer;

begin
  if dlgSaveTrace.Execute then
  begin
    filename := dlgSaveTrace.FileName;
    str := TStringList.Create;
    for i:=0 to posLength-1 do
    begin
      temp := FloatToStr(posXArray[i])+','+FloatToStr(posYArray[i]);
      str.Add(temp);
    end;
    str.SaveToFile(filename);
    str.Free;
    posLength := 0;
    SetLength(posXArray,1000);
    SetLength(posYArray,1000);    
end;
end;
////////////////////////////////////////////////////////////////////////////////
{
  載入原來保存的飛行軌跡點的文本      
}
procedure TForm1.btLoadTraceClick(Sender: TObject);
var
  str: TStrings;
  temp,filename: String;
  i,st : Integer;
begin
  if dlgLoadTrace.Execute then
  begin
    str := TStringList.Create;
    filename := dlgLoadTrace.FileName;
    str.LoadFromFile(filename);
    posLengthLoad := str.Count;              //軌跡點的個數
    setLength(posXArrayLoad,str.Count);      //設置數據的大小
    setLength(posYArrayLoad,str.Count);
    for i:=0 to str.Count-1 do
    begin
      st := pos(',',str[i]);
      temp := copy(str[i],0,st-1);               //截取X坐標值
      posXArrayLoad[i] := StrToFloat(temp);
      temp := copy(str[i],st+1,length(str[i])-st);
      posYArrayLoad[i] := StrToFloat(temp);       //截取Y坐標值
    end;
    str.Free;
    DrawAxis;
  end;
end;

procedure TForm1.btADInitClick(Sender: TObject);
var
    i:integer;
begin
    {
    如果已經初試化
    }
    if InitADDataFlag then
    begin
        InitADDataFlag:=False;
        btADInit.Caption:='傳感器初始化';
        for i:=0 to 13 do
            ADDataArrayMean[i]:=0;
    end else
    {
    如果未初試化
    }
    begin
        InitADDataFlag:=True;    
        btADInit.Caption:='放棄初始化';
        for i:=0 to 13 do
            ADDataArrayMean[i]:=ADDataArray[i];
    end;
end;

procedure TForm1.btSaveDataClick(Sender: TObject);
begin
        btRecSaveClick(Sender);
end;

procedure TForm1.btCharClearClick(Sender: TObject);
begin
        srsGyroX.Clear;
        srsGyroY.Clear;
        srsGyroZ.Clear;
        srsAcc1.Clear;
        srsAcc2.Clear;
        srsHeight.Clear;
end;

procedure TForm1.dtCode1Change(Sender: TObject);
begin
    if Length(dtCode1.Text)>2 then
       dtCode1.Text:='ff';
end;

procedure TForm1.dtCode2Change(Sender: TObject);
begin
    if Length(dtCode2.Text)>2 then
       dtCode2.Text:='ff';
end;

procedure TForm1.dtCode3Change(Sender: TObject);
begin
    if Length(dtCode3.Text)>2 then
       dtCode3.Text:='ff';
end;

procedure TForm1.dtCode4Change(Sender: TObject);
begin
    if Length(dtCode4.Text)>2 then
       dtCode4.Text:='ff';
end;

end.