2020年10月12日星期一

C#实例(经典):四路光电开关激光雷达数据采集和波形图绘制

前言：本文全部纯手工打造，如有疏漏之处，还请谅解！

如果需要查看更多文章，请微信搜索公众号 csharp编程大全，需要进C#交流群群请加微信z438679770，备注进群， 我邀请你进群！ ！ ！

 

这篇文章涉及较多C#重要知识点，如果都能看懂，你至少可以算得上入门了！有兴趣的同志可以下载源码调试.

开始吧：

-》指令格式介绍

激光测距模块

UDP: 192.168.1.200  8008发往8010；192.168.1.201    8008发往8011；

协议：C3 00为195cm

 

 

 

光电开关模块

UDP：192.168.1.202  8008发往8012

帧头59 59

数据 01 01 01 01 为4个光电开关状态，依次为安检通道入口光电开关、安检门光电开关1、安检门光电开关2，安检通道出口光电开关。其中1为无人遮挡状态，0为有人遮挡状态

填充 44 55 66 77 88 99 00 12 23 34 45 56 67 ee

 

 

4个光电开关均无人

 

1、2、3光电开关有人 4光电开关无人

开发软硬件环境：

硬件：1. 4路光电开关，4路测距雷达，数据通过udp发送到主机192.168.1.119

 软件：1. vs2017 + win10 

 

-》重要知识点：

1. 多线程操作：thread和task的使用

2. winform的chart控件使用

3.队列Queue和list使用

4.双缓冲用法

5.定时器操作

6.线程中操作主窗体控件：

this.Invoke((EventHandler)delegate

 {

 richTextBoxEx1.Text += stringData + "\r\n";

}):

7.通过循环的方式遍历操作控件

8.数据类型转换：

 Byte[] recv = client.Receive(ref endpoint);

 string stringData = "0x" + BitConverter.ToString(recv).Replace("-", " 0x").ToLower();

-》开发难点：

1. chart需要绘制所有采集上来的数据点，光电开关1毫秒就一组数据，绘图时间得跟得上

2. 多线程的灵活使用

全部代码：

using System;using System.Collections.Generic;using System.Diagnostics;using System.Drawing;using System.IO;using System.Linq;using System.Net;using System.Net.Sockets;using System.Threading;using System.Threading.Tasks;using System.Windows.Forms;using System.Windows.Forms.DataVisualization.Charting;namespace lidarTest{ public partial class mainForm : DevComponents.DotNetBar.Office2007Form {  public mainForm(){   this.DoubleBuffered = true;//设置本窗体   SetStyle(ControlStyles.UserPaint, true);   SetStyle(ControlStyles.AllPaintingInWmPaint, true); // 禁止擦除背景.   SetStyle(ControlStyles.DoubleBuffer, true); // 双缓冲   this.EnableGlass = false;   InitializeComponent();   InitChart();   checkBox2.Checked = false;   checkBox1.Checked = false;  }  private Queue<int>[] dataQueue = new Queue<int>[8];//把Queue<double>看成一个类型 int[] a=new int [8]  private List<int>[] dataList = new List<int>[8];  private Queue<string> dQueue = new Queue<string>();  bool isStart = false;  int count = 0;  private static readonly object Lock = new object();  Stopwatch elapsetime = new Stopwatch();  private void mainForm_Load(object sender, EventArgs e){   dataQueue[0] = new Queue<int>();   dataQueue[1] = new Queue<int>();   dataQueue[2] = new Queue<int>();   dataQueue[3] = new Queue<int>();   dataQueue[4] = new Queue<int>();   dataQueue[5] = new Queue<int>();   dataQueue[6] = new Queue<int>();   dataQueue[7] = new Queue<int>();   dataList[0] = new List<int>();   dataList[1] = new List<int>();   dataList[2] = new List<int>();   dataList[3] = new List<int>();   dataList[4] = new List<int>();   dataList[5] = new List<int>();   dataList[6] = new List<int>();   dataList[7] = new List<int>();   this.WindowState = FormWindowState.Normal;   this.FormBorderStyle = FormBorderStyle.Sizable;   this.Top = 0;   this.Left = 0;   this.Width = Screen.PrimaryScreen.WorkingArea.Width;   this.Height = Screen.PrimaryScreen.WorkingArea.Height;   Start();   //MessageBox.Show( DateTime.Now.ToString("yyyy_MM_dd_hh_mm_ss_fff"));  }  // 防止闪屏    //protected override CreateParams CreateParams  //{  // get  // {  //  CreateParams cp = base.CreateParams;  //  cp.ExStyle |= 0x02000000;  //  return cp;  // }  //}  public void Start(){   Thread t1 = new Thread(StartDataRevThread1); //第一路激光雷达数据接收线程   t1.Start();   t1.IsBackground = true;   Thread t2 = new Thread(StartDataRevThread2); //第二路激光雷达数据接收线程   t2.Start();   t2.IsBackground = true;   Thread t3 = new Thread(StartDataRevThread3);//第三路激光雷达数据接收线程   t3.Start();   t3.IsBackground = true;   Thread t4 = new Thread(StartDataRevThread4);////第四路激光雷达数据接收线程   t4.Start();   t4.IsBackground = true;   Thread t5 = new Thread(StartDataRevThread5);//四个广电开关数据接受线程   t5.Start();   t5.IsBackground = true;   Thread t6 = new Thread(dataSaveThread6);//数据写入线程   t6.Start();   t6.IsBackground = true;  }  private void StartDataRevThread1(){   try   {    UdpClient client = new UdpClient(8021);    //IPEndPoint endpoint = new IPEndPoint(IPAddress.Any, 0);//    IPEndPoint endpoint = new IPEndPoint(IPAddress.Parse("192.168.1.30"), 8008);    //client.Client.ReceiveBufferSize = 40960;//40960 默认值是8192    while (true)    {     Byte[] recv = client.Receive(ref endpoint);     string stringData = "0x" + BitConverter.ToString(recv).Replace("-", " 0x").ToLower();     this.Invoke((EventHandler)delegate      {       //richTextBoxEx1.Text += stringData + "\r\n";       chartShow( recv[2] + (recv[3]<<8),1);      }      );    }   }   catch(Exception ex)   {    MessageBox.Show(ex.Message + "\n" + ex.StackTrace) ;   }  }  private void StartDataRevThread2(){   try   {    UdpClient client = new UdpClient(8022);    IPEndPoint endpoint = new IPEndPoint(IPAddress.Parse("192.168.1.40"), 8008);    while (true)    {     Byte[] recv = client.Receive(ref endpoint);     string stringData = "0x" + BitConverter.ToString(recv).Replace("-", " 0x").ToLower();     this.Invoke((EventHandler)delegate     {      //richTextBoxEx2.Text += stringData + "\r\n";      chartShow(recv[2] + (recv[3] << 8),2);     }      );    }   }   catch (Exception ex)   {    MessageBox.Show(ex.Message + "\n" + ex.StackTrace);   }  }  private void StartDataRevThread3(){   try   {    UdpClient client = new UdpClient(8023);    IPEndPoint endpoint = new IPEndPoint(IPAddress.Parse("192.168.1.100"), 8008);    while (true)    {     Byte[] recv = client.Receive(ref endpoint);     string stringData = "0x" + BitConverter.ToString(recv).Replace("-", " 0x").ToLower();     this.Invoke((EventHandler)delegate     {      //richTextBoxEx3.Text += stringData + "\r\n";      chartShow( recv[2] + (recv[3] << 8),3);     }      );    }   }   catch (Exception ex)   {    MessageBox.Show(ex.Message + "\n" + ex.StackTrace);   }  }  private void StartDataRevThread4(){   try   {    UdpClient client = new UdpClient(8024);    IPEndPoint endpoint = new IPEndPoint(IPAddress.Parse("192.168.1.200"), 8008);    while (true)    {     Byte[] recv = client.Receive(ref endpoint);     string stringData = "0x" + BitConverter.ToString(recv).Replace("-", " 0x").ToLower();     this.Invoke((EventHandler)delegate     {      //richTextBoxEx4.Text += stringData + "\r\n";      chartShow( recv[2] + (recv[3] << 8),4);     }      );    }   }   catch (Exception ex)   {    MessageBox.Show(ex.Message + "\n" + ex.StackTrace);   }  }  private void StartDataRevThread5(){   try   {    UdpClient client = new UdpClient(8012);    IPEndPoint endpoint = new IPEndPoint(IPAddress.Parse("192.168.1.202"), 8008);    client.Client.ReceiveBufferSize = 1024*1024;//默认值是8192    while (true)    {     Byte[] recv = client.Receive(ref endpoint);     elapsetime.Restart();//计时开始     this.Invoke((EventHandler)delegate     {      //if (count >= 100)      {       count = 0;       Task.Run(() =>       {        chartShow(recv[2], 5);       }       );       Task.Run(() =>       {        chartShow(recv[3], 6);       }       );       Task.Run(() =>       {        chartShow(recv[4], 7);       }       );       Task.Run(() =>       {        chartShow(recv[5], 8);       }       );       //chartShow(recv[2], 5);       //chartShow(recv[3], 6);       //chartShow(recv[4], 7);       //chartShow(recv[5], 8);       if (checkBox2.Checked == true)       {        string stringData = "0x" + BitConverter.ToString(recv).Replace("-", " 0x").ToLower();        dQueue.Enqueue(DateTime.Now.ToString("yyyy-MM-dd_HH:mm:ss:fff") + " " + stringData);       }             }      count++;     } );     elapsetime.Stop();//计时结束     this.Invoke((EventHandler)delegate     {      label1.Text = "接收数据耗时："+ elapsetime.ElapsedMilliseconds.ToString("0000");     });    }   }   catch (Exception ex)   {    MessageBox.Show(ex.Message + "\n" + ex.StackTrace);   }  }  private void dataSaveThread6(){   while (true)   {    if (checkBox2.Checked == true)    {     String LogPath = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "Log");     if (dQueue.Count() > 0)      strWrite(dQueue.Dequeue(), LogPath, "log.txt");    }   }  }  private void InitChart(){   Chart[] ch = new Chart[12] { chart1, chart2, chart3, chart4,chart5, chart6, chart7, chart8 , chart_1, chart_2, chart_3, chart_4 };   for (int i = 0; i < 4 ; i++)   {    ch[i].ChartAreas.Clear();    ChartArea chartArea1 = new ChartArea("C1");    ch[i].ChartAreas.Add(chartArea1);    //定义存储和显示点的容器    ch[i].Series.Clear();    Series series1 = new Series("S1");    series1.ChartArea = "C1";    ch[i].Series.Add(series1);    ch[i].ChartAreas[0].AxisY.IsStartedFromZero = false;    ch[i].Legends[0].Enabled = false;    ch[i].ChartAreas[0].AxisX.Interval = 100;    ch[i].ChartAreas[0].AxisX.Maximum = 1000;    //ch[i].ChartAreas[0].AxisX.ScaleView.Size = 8;//设置图表可视区域数据点数，说白了一次可以看到多少个X轴区域    ch[i].ChartAreas[0].Axes[0].MajorGrid.Enabled = false;    ch[i].ChartAreas[0].Axes[1].MajorGrid.Enabled = false;    //y轴上网格    //ct.ChartAreas[0].Axes[1].MajorGrid.Enabled = false;     //ch[i].ChartAreas[0].AxisX.IsStartedFromZero = false;    //ch[i].ChartAreas[0].AxisX.MajorGrid.LineColor = System.Drawing.Color.Silver;    //ch[i].ChartAreas[0].AxisY.MajorGrid.LineColor = System.Drawing.Color.Silver;    //设置标题    ch[i].Titles.Clear();    //ch[i].Titles.Add("S01");    //ch[i].Titles[0].Text = "通道" + (i + 1) + " 折线图显示";    //ch[i].Titles[0].ForeColor = Color.RoyalBlue;    //ch[i].Titles[0].Font = new System.Drawing.Font("Microsoft Sans Serif", 12F);    //设置图表显示样式    ch[i].Series[0].Color = Color.Red;    //this.chart1.Titles[0].Text = string.Format("{0}折线图显示", );    ch[i].Series[0].ChartType = SeriesChartType.FastLine;    ch[i].Series[0].Points.Clear();   }   for (int i = 4; i < 12; i++)   {    ch[i].ChartAreas.Clear();    ChartArea chartArea1 = new ChartArea("C1");    ch[i].ChartAreas.Add(chartArea1);    //定义存储和显示点的容器    ch[i].Series.Clear();    Series series1 = new Series("S1");    series1.ChartArea = "C1";    ch[i].Series.Add(series1);    ch[i].ChartAreas[0].AxisY.IsStartedFromZero = false;    ch[i].Legends[0].Enabled = false;    //ch[i].ChartAreas[0].AxisX.Interval = 100;    //ch[i].ChartAreas[0].AxisX.Maximum = 10000;    //ch[i].ChartAreas[0].AxisX.ScaleView.Size = 8;//设置图表可视区域数据点数，说白了一次可以看到多少个X轴区域    ch[i].ChartAreas[0].Axes[0].MajorGrid.Enabled = false;    ch[i].ChartAreas[0].Axes[1].MajorGrid.Enabled = false;    //y轴上网格    //ct.ChartAreas[0].Axes[1].MajorGrid.Enabled = false;     //ch[i].ChartAreas[0].AxisX.IsStartedFromZero = false;    //ch[i].ChartAreas[0].AxisX.MajorGrid.LineColor = System.Drawing.Color.Silver;    //ch[i].ChartAreas[0].AxisY.MajorGrid.LineColor = System.Drawing.Color.Silver;    //设置标题    ch[i].Titles.Clear();    //ch[i].Titles.Add("S01");    //ch[i].Titles[0].Text = "通道" + (i + 1) + " 折线图显示";    //ch[i].Titles[0].ForeColor = Color.RoyalBlue;    //ch[i].Titles[0].Font = new System.Drawing.Font("Microsoft Sans Serif", 12F);    //设置图表显示样式    ch[i].Series[0].Color = Color.Red;    //this.chart1.Titles[0].Text = string.Format("{0}折线图显示", );    ch[i].Series[0].ChartType = SeriesChartType.FastLine;    ch[i].Series[0].Points.Clear();   }  }  public void chartShow(int y, int ch){   Chart[] chNum = new Chart[8] { chart_1, chart_2, chart_3, chart_4, chart5, chart6, chart7, chart8 };   if (ch <= 8)    chartDisplay(chNum[ch - 1], ch, y);  }  delegate void ChartDelegate(Chart chart, int ch, int y);  private void chartDisplay(Chart chart, int ch, int y){   if (chart.InvokeRequired)   {    ChartDelegate chartDelegate = chartDisplay;    chart.Invoke(chartDelegate, new object[] { chart, ch, y });   }   else   {    lock (Lock)    {     if (isStart == true)      UpdateQueueValue(ch, y);//点击开启按钮后，开始采集收集数据，并更新到队列或列表中         }   }  }  private void UpdateQueueValue(int ch, int y){   lock (Lock)   {    if (dataQueue[ch - 1].Count > 1000)     //先出列     dataQueue[ch - 1].Dequeue();    dataQueue[ch - 1].Enqueue(y);    //方法二 用list    //if (dataList[ch - 1].Count > 20000)    //  dataList[ch - 1].RemoveAt(0);        //dataList[ch - 1-4].Add(2);    dataList[ch - 1].Add(y);   }  }  private void btnStart_Click(object sender, EventArgs e){   if (!isStart)   {    dataQueue[0] = new Queue<int>();    dataQueue[1] = new Queue<int>();    dataQueue[2] = new Queue<int>();    dataQueue[3] = new Queue<int>();    dataQueue[4] = new Queue<int>();    dataQueue[5] = new Queue<int>();    dataQueue[6] = new Queue<int>();    dataQueue[7] = new Queue<int>();    dataList[0] = new List<int>();    dataList[1] = new List<int>();    dataList[2] = new List<int>();    dataList[3] = new List<int>();    dataList[4] = new List<int>();    dataList[5] = new List<int>();    dataList[6] = new List<int>();    dataList[7] = new List<int>();    chart_1.Series[0].Points.Clear();    chart_2.Series[0].Points.Clear();    chart_3.Series[0].Points.Clear();    chart_4.Series[0].Points.Clear();    chart5.Series[0].Points.Clear();    chart6.Series[0].Points.Clear();    chart7.Series[0].Points.Clear();    chart8.Series[0].Points.Clear();    btnStart.Text = @"停止采集";    btnStart.DisabledImage = btnStart.Image;    btnStart.Image = (Image)btnStart.PressedImage.Clone();    isStart = !isStart;   }   else   {    btnStart.Text = @"开始采集";    btnStart.Image = btnStart.DisabledImage;    isStart = !isStart;   }  }  /*************文件写入函数**************/  private void strWrite(string str, string filePath, string fileName){   lock (Lock)   {    if (!Directory.Exists(filePath))     Directory.CreateDirectory(filePath);    if (!File.Exists(filePath + "\\" + fileName))     File.Create(filePath + "\\" + fileName).Close(); //.Close 很关键，不然会有问题    StreamWriter sw = new StreamWriter(filePath + "\\" + fileName, true);//true 追加数据    sw.WriteLine(str);    sw.Close();   }     }  /*************chart图片保存函数**************/  private void imageSave( Chart chart, string filePath, string fileName){   lock (Lock)   {    if (!Directory.Exists(filePath))     Directory.CreateDirectory(filePath);    chart.SaveImage(filePath +"\\" + fileName, ChartImageFormat.Png);   }  }  /*************定时器中更新chart**************/  private void timer1_Tick(object sender, EventArgs e){   Chart[] ch = new Chart[8] { chart1, chart2, chart3, chart4, chart5, chart6, chart7, chart8 };   Chart[] cha = new Chart[4] { chart_1, chart_2, chart_3, chart_4 };   string[] str = new string[8] { "chart1", "chart2", "chart3", "chart4", "chart5", "chart6", "chart7", "chart8" };   string[] stri = new string[4] { "chart_1", "chart_2", "chart_3", "chart_4", };   Label[] lb = new Label[4] { label2, label3, label4, label5 };      for (int j = 4; j < 8; j++)   {    Stopwatch sw = new Stopwatch();    var k = j;//参数需要传入task中，不然j一直是7    Task.Run(() =>   {    sw.Start();    this.Invoke((EventHandler)delegate    {     //chart5.Series[0].Points.Clear();     for (int i = 0; i < dataList[k].Count; i++)      ch[k].Series[0].Points.AddY(dataList[k][i]);//光电开关波形图-所有点     dataList[k].Clear();     ch[k-4].Series[0].Points.Clear();     for (int i = 0; i < dataQueue[k].Count; i++)      ch[k - 4].Series[0].Points.AddY(dataQueue[k].ElementAt(i));//光电开关波形图-最近1000个点     for (int i = 0; i < dataList[k-4].Count; i++)      cha[k - 4].Series[0].Points.AddY(dataList[k-4][i]);//激光测距雷达波形图--所有点     dataList[k-4].Clear();     if (checkBox1.Checked == true)     {      //保存曲线图片      String imagePath = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "image//" + str[k]);      imageSave(ch[k], imagePath, DateTime.Now.ToString("yyyy_MM_dd_hh_mm_ss_fff") + ".png");     }     sw.Stop();     lb[k - 4].Text = sw.ElapsedMilliseconds.ToString(str[k] + "耗时：" + "0000");//记录chart绘制的好事呢    });   });   }  }  }}

　　运行结果：

 

 

项目源码下载地址：

链接：https://pan.baidu.com/s/1QfoIVNarj-rgK449JM40yQ 

提取码：v2nu 

------------------------------------------------------------------------

如果需要查看更多文章，请微信搜索公众号 csharp编程大全，需要进C#交流群群请加微信z438679770，备注进群， 我邀请你进群！ ！ ！

原文转载：http://www.shaoqun.com/a/480983.html

naning9韩国官网：https://www.ikjzd.com/w/2401

欧苏丹：https://www.ikjzd.com/w/1756

csa认证：https://www.ikjzd.com/w/904


前言：本文全部纯手工打造，如有疏漏之处，还请谅解！如果需要查看更多文章，请微信搜索公众号csharp编程大全，需要进C#交流群群请加微信z438679770，备注进群，我邀请你进群！！！这篇文章涉及较多C#重要知识点，如果都能看懂，你至少可以算得上入门了！有兴趣的同志可以下载源码调试.开始吧：-》指令格式介绍激光测距模块UDP:192.168.1.2008008发往8010；192.168.1.2
skyee：https://www.ikjzd.com/w/290
c88是什么：https://www.ikjzd.com/w/1017.html
诚邀您体验一把新鲜版跨境知道！：https://www.ikjzd.com/home/17507
减税约2250亿元，进口增值税税率下调影响重大：https://www.ikjzd.com/home/20456
选品趋势|Q4"最长假日季"，最适合热卖的产品了解一下：https://www.ikjzd.com/home/10434
发帖者 时间：

没有评论:

发表评论

订阅： 博文评论 (Atom)