unit Unit1;

interface

uses
  Windows, Messages, SysUtils, Variants, Classes, Graphics, Controls, Forms,
  Dialogs, StdCtrls, ComCtrls, TeEngine, Series, ExtCtrls, TeeProcs, Chart,
  OleCtrls, MSCommLib_TLB;

type
  TForm1 = class(TForm)
    tbshtSignalChart: TPageControl;
    tbshtDebug: TTabSheet;
    rchdtSerialIn: TRichEdit;
    cmbbxSerialIn: TComboBox;
    Label7: TLabel;
    btRecStart: TButton;
    btRecStop: TButton;
    cmbbxBaudIn: TComboBox;
    Label8: TLabel;
    Label9: TLabel;
    Label10: TLabel;
    Label11: TLabel;
    btRecSave: TButton;
    cmbbxTypeIn: TComboBox;
    cmbbxSerialOut: TComboBox;
    Label13: TLabel;
    cmbbxBaudOut: TComboBox;
    rchdtSerialOut: TRichEdit;
    btSendOut: TButton;
    dtCode1: TEdit;
    lbCode1: TLabel;
    lbCode2: TLabel;
    dtCode3: TEdit;
    cmbbxTypeOut: TComboBox;
    Label16: TLabel;
    Label51: TLabel;
    tmrSerialIn: TTimer;
    MSCommOut: TMSComm;
    MSCommIn: TMSComm;
    dtCode2: TEdit;
    dtCode4: TEdit;
    lbCode3: TLabel;
    lbCode4: TLabel;
    ImgTrace: TImage;
    Label17: TLabel;
    Label18: TLabel;
    Label19: TLabel;
    Label20: TLabel;
    Label21: TLabel;
    Label22: TLabel;
    Label23: TLabel;
    Label24: TLabel;
    Label25: TLabel;
    Label26: TLabel;
    lbShowAd0: TLabel;
    lbShowAd1: TLabel;
    lbShowAd4: TLabel;
    lbShowAd5: TLabel;
    lbShowAd2: TLabel;
    lbShowGps5: TLabel;
    lbShowGps1: TLabel;
    lbShowAd7: TLabel;
    lbShowAd6: TLabel;
    lbShowAd3: TLabel;
    Label37: TLabel;
    lbShowGps6: TLabel;
    lbShowGps4: TLabel;
    Label53: TLabel;
    Label54: TLabel;
    Label55: TLabel;
    lbShowGps0: TLabel;
    btSaveTrace: TButton;
    btLoadTrace: TButton;
    btSaveData: TButton;
    Label1: TLabel;
    lbShowModel: TLabel;
    Label3: TLabel;
    Label4: TLabel;
    Label5: TLabel;
    Label6: TLabel;
    Label14: TLabel;
    Label15: TLabel;
    Label39: TLabel;
    Label40: TLabel;
    lbShowPara0: TLabel;
    lbShowPara1: TLabel;
    lbShowPara2: TLabel;
    lbShowPara3: TLabel;
    lbShowPara4: TLabel;
    lbShowPara5: TLabel;
    lbShowPara6: TLabel;
    lbShowPara7: TLabel;
    Label49: TLabel;
    lbShowGps2: TLabel;
    Label57: TLabel;
    lbShowGps3: TLabel;
    Label59: TLabel;
    cmbbxModel: TComboBox;
    btSetModel: TButton;
    cmbbxParaNo: TComboBox;
    Label38: TLabel;
    Label60: TLabel;
    Label61: TLabel;
    dtParaValue: TEdit;
    btADInit: TButton;
    btSetPara: TButton;
    Label62: TLabel;
    rdgrpDataCode: TRadioGroup;
    dlgSaveData: TSaveDialog;
    dlgLoadTrace: TOpenDialog;
    dlgSaveTrace: TSaveDialog;
    rchdtTmp: TRichEdit;
    Label2: TLabel;
    TabSheet1: TTabSheet;
    chrtAcc: TChart;
    chrtGyro: TChart;
    srsGyroY: TFastLineSeries;
    srsGyroX: TFastLineSeries;
    srsGyroZ: TFastLineSeries;
    srsAcc1: TFastLineSeries;
    srsAcc2: TFastLineSeries;
    chrtHeight: TChart;
    srsHeight: TFastLineSeries;
    Label12: TLabel;
    btCharClear: TButton;
    tbshtSignal: TTabSheet;
    procedure FormCreate(Sender: TObject);
    procedure btRecStartClick(Sender: TObject);
    procedure btRecStopClick(Sender: TObject);
    procedure btRecSaveClick(Sender: TObject);
    procedure btSendOutClick(Sender: TObject);
    procedure tmrSerialInTimer(Sender: TObject);
    procedure btSetModelClick(Sender: TObject);
    procedure btSetParaClick(Sender: TObject);
    procedure FormDestroy(Sender: TObject);
    procedure btSaveTraceClick(Sender: TObject);
    procedure btLoadTraceClick(Sender: TObject);
    procedure btADInitClick(Sender: TObject);
    procedure btSaveDataClick(Sender: TObject);
    procedure btCharClearClick(Sender: TObject);
    procedure dtCode1Change(Sender: TObject);
    procedure dtCode2Change(Sender: TObject);
    procedure dtCode3Change(Sender: TObject);
    procedure dtCode4Change(Sender: TObject);
  private
    { Private declarations }
  public
    { Public declarations }
    InitADDataFlag:Boolean;    
  end;
 /////////////////////////////////////////////////////////////////
{
串口接受線程
}
  TSerialInThread =class(TThread)
  private
        SerialInput:Variant;           //保存該線程從串口獲取得到的數據矩陣
        Seriallength : integer;        //該線程需要處理的數據的個數
        SerialStr:String;              //用于保存處理后數據的字符串變量

  protected
        procedure Execute; override;    //需要重載
        procedure GetData;              //從串口獲取數據的過程
        procedure TransToStr;              //轉換為適合顯示的字符串的過程
        procedure PostData ;            //顯示在用戶界面的過程
  end;
  /////////////////////////////////////////////////////////////////
  { 
  串口發送線程
  }
  TSerialOutThread =class(TThread)
  private
        DataOrCode:Boolean;             //是否要求輸出指令，False表明輸出數據
        SerialOutput:String;            //發送數據時的數據矩陣
        Seriallength : integer;         //發送數據時，數據長度
        tmpVar:Variant;                 //發送指令時的數據矩陣
        CheckOk:Boolean;                //用戶確定的數據或是指令是否有錯誤

  protected
        procedure Execute; override;    //需要重載
        procedure GetData;              //從用戶界面獲取需要輸出的數據或是指令代碼
        procedure PackData;             //根據協議打包數據
        procedure PackCode;             //根據協議打包指令
        procedure PostData;             //發送給串口控件，實現數據的發送                
  end;

var
  Form1: TForm1;

implementation

{$R *.dfm}
const
        GpsDataCountMax : integer = 20;         //GPS數據包中數據的個數
        ParaDataCountMax: integer = 9;          //參數數據包中數據的個數
        ADDataCountMax:integer =16;             //傳感器數據包中數據的個數

var
        {
        實現線程互斥的句柄。
        }
        hMutex:THandle =0;                      //串口接受數據的線程使用的互斥句柄
        hMutex2:THandle =0;                      //串口發送數據的線程使用的互斥句柄
        {
        用于指令上下傳的全局變量
        }
        ReceiveCharFlag:Boolean;                 //是否以字符接受串口，False表示以數據接受
        ParaDataFlag:Boolean;                  //正在截取參數數據包的標志
        GPSDataFlag:Boolean;                    //正在截取GPS數據包的標志
        ADDataFlag:Boolean;                     //正在截取傳感器數據包的標志

        ParaNewDataFlag:Boolean;                //截取完參數的標志
        GPSNewDataFlag:Boolean;                 //截取完GPS數據包的標志
        ADNewDataFlag:Boolean;                  //截取完傳感器數據包的標志

        ParaDataCount:Integer;                  //截取參數數據包的計數器
        ADDataCount:Integer;                    //截取傳感器數據包的計數器
        GpsDataCount:Integer;                   //截取GPS數據包的計數器
        
        DownStr:String;                         //用于保存串口下傳的所有數據
        GpsStr:String;                          //保存GPS數據包的數據
        ADStr:String;                           //保存傳感器數據包的數據

        ParaDataArray:array[0..8] of Byte;      //接受參數數據包的數組
        GpsDataArray:array[0..19] of Byte;      //接受GPS數據包的數組
        ADDataArray:array[0..15] of Byte;       //接受傳感器數據包的數組
        ADDataDblArray:array[0..7] of double;   //傳感器實際的采樣值        
        ADDataArrayMean:array[0..13] of Byte;   //保存傳感器靜態均值的數組。
        　　　　　　　　　　　　　　　　　　　　//不考慮系統電壓。　

        ParaStrArray:array[0..3] of String;     //顯示參數數據的字符串數組
        GpsStrArray:array[0..6] of String;      //顯示GPS數據的字符串數組
        ADStrArray:array[0..7] of String;       //顯示傳感器的字符串數組
        {
        用于指令上下傳的全局變量
        }
        CodeOutStr:array[1..4] of String;       //當前上傳的指令代碼
        CodeInStr:array[0..3] of String;        //下傳返回的指令代碼      
        {
        用于繪圖的全局變量
        }
        gpsMeta: TMetaFile;                             //用于保存軌跡圖像的對象
        posXArray,posYArray: array of double;           //保存當前飛行軌跡點的數組
        posXArrayLoad,posYArrayLoad: array of double;   //保存載入的軌跡點的數組
        posLength: Integer;                             //當前飛行軌跡點的總數
        posLengthLoad: Integer;                         //當前飛行軌跡點的總數

      {
      函數hex()是將0～f字符轉換為0～15的整數。
      }
      function hex(c:String):Integer ;
       var
         x:integer;
       begin
          if (c='0') or (c=' ') then
            x:=0
          else if c='1' then
            x:=1
          else if c = '2' then
            x:=2
          else if c='3' then
            x:=3
          else if c='4' then
            x:=4
          else if c='5' then
            x:=5
          else if c='6' then
            x:=6
          else if c='7' then
            x:=7
          else if c='8' then
            x:=8
          else if c='9' then
            x:=9
         else if ((c='a') or (c='A')) then
            x:=10
         else if (c='b') or (c='B') then
            x:=11
         else if (c='c') or (c='C') then
            x:=12
         else if (c='d') or (c='D') then
            x:=13
         else if (c='e') or (c='E') then
            x:=14
         else if (c='f') or (c='F') then
            x:=15
         else
            x:=-1;
          Result:=x;
       end;

       function HexToInt(S:String): Integer;
       var
          tmpInt1,tmpInt2:Integer ;
       begin
          if Length(S)=1 then
          begin
             Result:=hex(S[1]);
          end
          else if Length(S)=2 then
          begin
            tmpInt1:=hex(S[1]);
            tmpInt2:=hex(S[2]);
            if (tmpInt1=-1) or (tmpInt2=-1) then
               Result:=-1
            else
               Result:= tmpInt1*16+tmpInt2;
          end
          else
               Result:=-1;
       end;        

function GetMaxValue(x,y,x1,y1: Array of Double;len,len1: Integer): double;
var
  i: Integer;
begin
  result := 0;
  for i:=0 to len-1 do
  begin
    if abs(x[i])>result then
      result := abs(x[i]);
    if abs(y[i]) > result then
      result := abs(y[i]);
  end;
  for i:=0 to len1-1 do
  begin
    if abs(x1[i])>result then
      result := abs(x1[i]);
    if abs(y1[i]) > result then
      result := abs(y1[i]);
  end;
end;
/////////////////////////////////////////////////////////////////
{   繪制飛行軌跡的函數

     紅色軌跡是載入的，
     藍色的軌跡是當前軌跡點
     
 1.  posXArray，posYArray 是當前軌跡點的坐標，
     posLength是當前軌跡點的個數
 2.  posXArrayLoad，posYArrayLoad 是載入的軌跡點的坐標，
     posLengthLoad是載入的軌跡點的個數
     
}
procedure DrawAxis;
var
  i,x,y,wid,h: Integer;
  pstep,ratio,maxV : double;
  can: TMetaFileCanvas;
begin
  can := TMetaFileCanvas.Create(gpsMeta,0);             //建立一個畫布對象
  gpsMeta.Width := Form1.ImgTrace.Width;                //確定畫布對應圖像的大小
  gpsMeta.Height := Form1.ImgTrace.Height;
  wid := gpsMeta.Width;
  h := gpsMeta.Height;
  {
  確定直角坐標的最大值，取10,100,200,500,1000,2000,5000,10000,50000,100000 的最小值
  缺省狀態取 100
  }
  maxV := GetMaxValue(posXArray,posYArray,posXArrayLoad,posYArrayLoad,posLength,posLengthLoad);
  if maxV = 0 then
    maxV := 100;
  if maxV <= 10 then
  begin
    maxV := 10;
  end
  else if maxV <= 100 then
  begin
    maxV := 100;
  end
  else if maxV <= 200 then
    maxV := 200
  else if maxV<= 500 then
    maxV := 500
  else if maxV <= 1000 then
  begin
    maxV := 1000;
  end
  else if maxV<= 2000 then
    maxV := 2000
  else if maxV<= 5000 then
    maxV := 5000
  else if maxV <= 10000 then
  begin
    maxV := 10000;
  end
  else if maxV<= 50000 then
    maxV := 50000
  else if maxV <=100000 then
  begin
    maxV := 100000;
  end
  else
  begin
    maxV := 1000000;
  end;