C# winfrom实例:四路激光测距雷达数据采集和波形图绘制

1.所述产品产品型号：TFmini Plus

相关资料下载地址：http://www.benewake.com/download

产品名称：TFmini Plus激光雷达模组
制造商
公司：北醒（北京）光子科技有限公司

2.产品功能：TFmini Plus是基于TFmini的升级项目，它是一款小型化，单点测距的产品，基于TOF（飞行时间）原理，配合独特的光学、电学、算法设计，主要实现稳定、精准、高灵敏度和高速的距离测量的功能。产品本身除了具有TFmini的低成本、小体积、测距远等特点外，还增加了IP65等级防护，测距精度更高，对于室外强光、不同温度、不同反射率等不同环境下适应性更强，更低功耗，探测频率也更加灵活。产品同时兼容UART和I2C通信接口，可通过指令进行切换

3. 串口数据通信 TFmini Plus串口数据通信，详见表 66。
表 6 TFmini Plus数据通信协议——UART

通信接口 UART 默认波特率 115200 数据位 8 停止位 1 奇偶校验 None
4. 串口数据输出格式及编码

TFmini Plus 有两种数据输出格式，标准数据输出格式和字符串数据格式，两种格式可通过指令代码相互切换。

-。标准数据输出格式（默认）：数据结构：数据帧长度为9字节。包含距离信息（Distance）、信号强度信息（Strength）、温度（Temp）、数据校验字节（Checksum）等。数据格式为16进制（HEX）。具体数据编码详见下表：

-。字符串数据格式(Pix Mode) 以字符串形式输出，单位为m，比如测距为1.21m，则输出字符串1.21，后跟转义字符\r\n。此数据格式针对Ardupilot固件版本v3.6.2以下。如果您的Ardupilot固件版本大于或等于v3.6.2 可以直接使用标准数据格式。
5 输出数据说明

Dist(Distance)：

代表TFmini Plus测量输出的距离值，默认单位为cm，解析为十进制的值范围为0-1200。实际使用过程中，当信号强度值Strength<100或等于65535时，Dist的测量值被认为不可信，默认输出0。

Strength：

指信号强度，默认输出值会在0-65535之间。当测距档位一定时，测距越远，信号强度越低；目标物反射率越低，信号强度越低。当Strength大于100且不等于65535时，认为Dist 的测量值可信，客户可以根据使用场景自行调整。

Temp(Temperature)：

表征芯片内部温度值。摄氏度 = Temp / 8 - 256

实例说明：开启四个线程分别接收四路激光测距雷达的数据并生成chart波形图

实例代码：

using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Net;
using System.Net.Sockets;
using System.Threading;
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();}private Queue<double>[] dataQueue = new Queue<double>[4];//把Queue<double>看成一个类型 int[] a=new int [8]bool isStart = false;private void mainForm_Load(object sender, EventArgs e)
{dataQueue[0] = new Queue<double>(100);dataQueue[1] = new Queue<double>(100);dataQueue[2] = new Queue<double>(100);dataQueue[3] = new Queue<double>(100);//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();}// 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);             t1.Start();t1.IsBackground = true;Thread t2 = new Thread(StartDataRevThread2);t2.Start();t2.IsBackground = true;Thread t3 = new Thread(StartDataRevThread3);t3.Start();t3.IsBackground = true;Thread t4 = new Thread(StartDataRevThread4);t4.Start();t4.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8192while (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 InitChart()
{Chart[] ch = new Chart[4] { chart1, chart2, chart3, chart4};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 = 5;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.Line;ch[i].Series[0].Points.Clear();}}public void chartShow(Double y, int ch)
{Chart[] chNum = new Chart[4] { chart1, chart2, chart3, chart4 };if (ch <= 8)chartDisplay(chNum[ch - 1], ch, y);}delegate void ChartDelegate(Chart chart, int ch, Double y);private void chartDisplay(Chart chart, int ch, Double y)
{if (chart.InvokeRequired){ChartDelegate chartDelegate = chartDisplay;chart.Invoke(chartDelegate, new object[] { chart, ch, y });}else{if (isStart == true)UpdateQueueValue(ch, y);chart.Series[0].Points.Clear();for (int i = 0; i < dataQueue[ch - 1].Count; i++)chart.Series[0].Points.AddXY((i + 1), dataQueue[ch - 1].ElementAt(i));}}private void UpdateQueueValue(int ch, Double y)
{if (dataQueue[ch - 1].Count > 100)//先出列dataQueue[ch - 1].Dequeue();dataQueue[ch - 1].Enqueue(y);}private void btnStart_Click(object sender, EventArgs e)
{if (!isStart){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;}}}
}

运行结果：