Đồ án Mô phỏng hiển thị mục tiêu Radar trên mà hình máy tính PC

//k=1,2,3,4,5,6.... //x(t)=150.t.. //y(t)=235.t.... //z(t)=10.t... int i,j,k; float x,y,z; int pb; k=4;//muc tieu so 4 ////////////////////////////////////////////// //mang len mot don vi x=-2*t+250-0.0001*t*t;//dinh nghia cac ham tai day y=3*t-100;//dinh nghia cac ham tai day z=20;//dinh nghia cac ham tai day { //tinh khoang cach////////////////////////// if( sqrt(x*x+y*y+z*z)>300) data_vi_tri[k-1][dung_luong][0]=-0.001; else data_vi_tri[k-1][dung_luong][0]=sqrt(x*x+y*y+z*z); //tinh vi tri moi, trong thuc te thi la so lieu moi nhan duoc if((x>=0)&(y>=0)) data_vi_tri[k-1][dung_luong][1]=pi-asin(x/sqrt(y*y+x*x)); else if((x>=0)&(y<0))data_vi_tri[k-1][dung_luong][1]=asin(x/sqrt(y*y+x*x)); else if((x=0))data_vi_tri[k-1][dung_luong][1]=pi-asin(x/sqrt(y*y+x*x)); if((x<0)&(y<0)) data_vi_tri[k-1][dung_luong][1]=2*pi+asin(x/sqrt(y*y+x*x)); //doi sang do data_vi_tri[k-1][dung_luong][1]=data_vi_tri[k-1][dung_luong][1]*180/pi; //tinh teta data_vi_tri[k-1][dung_luong][2] =asin(z/data_vi_tri[k-1][dung_luong][0])*180/pi; //tinh do cao h data_vi_tri[k-1][dung_luong][3]=z; //toinh van toc van_toc(k , dung_luong, dung_luong-1); data_vi_tri[k-1][dung_luong][4]=vxt; ///////////////////////////////////////////////////// } float fmax, fmin,tg; fmax=data_thanh_quet_phi; fmin=fmax+phan_giai*tt_chieu_quet; if(fmin>=360)fmin=fmin-360; if(fmin<0)fmin=fmin+360; if(fmax<fmin){tg=fmax;fmax=fmin;fmin=tg;}; pb=0; if((fmax-fmin)fmin)&(data_vi_tri[k-1][dung_luong][1]<fmax)) pb=1; if((fmax-fmin)>180) if((data_vi_tri[k-1][dung_luong][1]fmax)) pb=1; //////////////////////////////////////////////////////dung_luong+1 r so phan tu mang if(pb==0) {trang_thai_truoc_nua[k-1]=trang_thai_truoc[k-1]; trang_thai_truoc[k-1]=trang_thai_hien_thoi[k-1]; trang_thai_hien_thoi[k-1]=0;} ///////////////////////////////////////////////////////////////////// if(pb==1) { trang_thai_truoc_nua[k-1]=trang_thai_truoc[k-1]; trang_thai_truoc[k-1]=trang_thai_hien_thoi[k-1]; trang_thai_hien_thoi[k-1]=1; //dich cac ngan du lieu len tren 1 don vi for(i=1;i<=dung_luong;i++) for (j=0;j<=4;j++)data_vi_tri[k-1][i-1][j] = data_vi_tri[k-1][i][j];//dich du lieu tu day } } ////////////////////////////////////////////////////////////////////////////////////////////// void CRada2Dlg::toa_do_m5(float t) { //k=1,2,3,4,5,6.... //x(t)=150.t.. //y(t)=235.t.... //z(t)=10.t... int i,j,k; float x,y,z; int pb; k=5;//muc tieu so 5 ////////////////////////////////////////////// //mang len mot don vi x=-2*t+250-0.0001*t*t;//dinh nghia cac ham tai day y=3*t-300;//dinh nghia cac ham tai day z=20;//dinh nghia cac ham tai day { //tinh khoang cach////////////////////////// data_vi_tri[k-1][dung_luong][0]=sqrt(x*x+y*y+z*z); if( sqrt(x*x+y*y+z*z)>300) data_vi_tri[k-1][dung_luong][0]=-0.001; else //tinh vi tri moi, trong thuc te thi la so lieu moi nhan duoc if((x>=0)&(y>=0)) data_vi_tri[k-1][dung_luong][1]=pi-asin(x/sqrt(y*y+x*x)); else if((x>=0)&(y<0))data_vi_tri[k-1][dung_luong][1]=asin(x/sqrt(y*y+x*x)); else if((x=0))data_vi_tri[k-1][dung_luong][1]=pi-asin(x/sqrt(y*y+x*x)); if((x<0)&(y<0)) data_vi_tri[k-1][dung_luong][1]=2*pi+asin(x/sqrt(y*y+x*x)); //doi sang do data_vi_tri[k-1][dung_luong][1]=data_vi_tri[k-1][dung_luong][1]*180/pi; //tinh teta data_vi_tri[k-1][dung_luong][2] =asin(z/data_vi_tri[k-1][dung_luong][0])*180/pi; //tinh do cao h data_vi_tri[k-1][dung_luong][3]=z; //toinh van toc van_toc(k , dung_luong, dung_luong-1); data_vi_tri[k-1][dung_luong][4]=vxt; ///////////////////////////////////////////////////// } float fmax, fmin,tg; fmax=data_thanh_quet_phi; fmin=fmax+phan_giai*tt_chieu_quet; if(fmin>=360)fmin=fmin-360; if(fmin<0)fmin=fmin+360; if(fmax<fmin){tg=fmax;fmax=fmin;fmin=tg;}; pb=0; if((fmax-fmin)fmin)&(data_vi_tri[k-1][dung_luong][1]<fmax)) pb=1; if((fmax-fmin)>180) if((data_vi_tri[k-1][dung_luong][1]fmax)) pb=1; //////////////////////////////////////////////////////dung_luong+1 r so phan tu mang if(pb==0) {trang_thai_truoc_nua[k-1]=trang_thai_truoc[k-1]; trang_thai_truoc[k-1]=trang_thai_hien_thoi[k-1]; trang_thai_hien_thoi[k-1]=0;} ///////////////////////////////////////////////////////////////////// if(pb==1) { trang_thai_truoc_nua[k-1]=trang_thai_truoc[k-1]; trang_thai_truoc[k-1]=trang_thai_hien_thoi[k-1]; trang_thai_hien_thoi[k-1]=1; //dich cac ngan du lieu len tren 1 don vi for(i=1;i<=dung_luong;i++) for (j=0;j<=4;j++)data_vi_tri[k-1][i-1][j] = data_vi_tri[k-1][i][j];//dich du lieu tu day } } ///////////////////////////////////////////////////////////////////////////////////////////// void CRada2Dlg::toa_do_m6(float t) { //k=1,2,3,4,5,6.... //x(t)=150.t.. //y(t)=235.t.... //z(t)=10.t... int i,j,k; float x,y,z; int pb; k=6;//muc tieu so 6 ////////////////////////////////////////////// //mang len mot don vi x=-2*t+250-0.0001*t*t;//dinh nghia cac ham tai day y=3*t-150;//dinh nghia cac ham tai day z=20;//dinh nghia cac ham tai day { //tinh khoang cach////////////////////////// data_vi_tri[k-1][dung_luong][0]=sqrt(x*x+y*y+z*z); if( sqrt(x*x+y*y+z*z)>300) data_vi_tri[k-1][dung_luong][0]=-0.001; else //tinh vi tri moi, trong thuc te thi la so lieu moi nhan duoc if((x>=0)&(y>=0)) data_vi_tri[k-1][dung_luong][1]=pi-asin(x/sqrt(y*y+x*x)); else if((x>=0)&(y<0))data_vi_tri[k-1][dung_luong][1]=asin(x/sqrt(y*y+x*x)); else if((x=0))data_vi_tri[k-1][dung_luong][1]=pi-asin(x/sqrt(y*y+x*x)); if((x<0)&(y<0)) data_vi_tri[k-1][dung_luong][1]=2*pi+asin(x/sqrt(y*y+x*x)); //doi sang do data_vi_tri[k-1][dung_luong][1]=data_vi_tri[k-1][dung_luong][1]*180/pi; //tinh teta data_vi_tri[k-1][dung_luong][2] =asin(z/data_vi_tri[k-1][dung_luong][0])*180/pi; //tinh do cao h data_vi_tri[k-1][dung_luong][3]=z; //toinh van toc van_toc(k , dung_luong, dung_luong-1); data_vi_tri[k-1][dung_luong][4]=vxt; ///////////////////////////////////////////////////// } float fmax, fmin,tg; fmax=data_thanh_quet_phi; fmin=fmax+phan_giai*tt_chieu_quet; if(fmin>=360)fmin=fmin-360; if(fmin<0)fmin=fmin+360; if(fmax<fmin){tg=fmax;fmax=fmin;fmin=tg;}; pb=0; if((fmax-fmin)fmin)&(data_vi_tri[k-1][dung_luong][1]<fmax)) pb=1; if((fmax-fmin)>180) if((data_vi_tri[k-1][dung_luong][1]fmax)) pb=1; //////////////////////////////////////////////////////dung_luong+1 r so phan tu mang if(pb==0) {trang_thai_truoc_nua[k-1]=trang_thai_truoc[k-1]; trang_thai_truoc[k-1]=trang_thai_hien_thoi[k-1]; trang_thai_hien_thoi[k-1]=0;} ///////////////////////////////////////////////////////////////////// if(pb==1) { trang_thai_truoc_nua[k-1]=trang_thai_truoc[k-1]; trang_thai_truoc[k-1]=trang_thai_hien_thoi[k-1]; trang_thai_hien_thoi[k-1]=1; //dich cac ngan du lieu len tren 1 don vi for(i=1;i<=dung_luong;i++) for (j=0;j<=4;j++)data_vi_tri[k-1][i-1][j] = data_vi_tri[k-1][i][j];//dich du lieu tu day } } //////////////////////////////////////////////////////////////////////////////////////////// void CRada2Dlg::ve_diem(int kieu_xem,int sa,int ch,float v_t,float radius,float d1,float phi,float teta,int mr,int mg,int mb)//de hien thi lai cac may bay moi khi ve lai man hinh, tham khao gia tri //trong mang data, vi tri tuong doi voi thanh_quet_phi { ////////////////////// int d; if((d10))d=(int)floor(d1/dmax*maxx/4.0);else {d=0;radius=0;}; float fmax,fmin,tg; int tg1; if((d10))if(sa) { ve_tung_diem(radius+2,d,phi,teta,240,240,0); Beep(523,50); } else ve_tung_diem(radius,d,phi,teta,mr,mg,mb); /////////////////////// } //////////////////////////////////////////////////////////////////////////////////////////////// void CRada2Dlg::ve_dai_quat(float r_c, float v_t, int ch, int mr, int mg, int mb) { //khai but CPen pPen(PS_SOLID,0,RGB(mr,mg,mb)); //chon but ve CClientDC pdc(this); pdc.SelectObject(pPen); ////////////////////// //ch chi co gia tri1 hoac -1 float r_c1,v_t1; int R,bn; int xmin,xmax,ymin,ymax,tg; r_c1=(float)r_c*pi/180; v_t1=(float)v_t*pi/180; R=(int)floor (maxx/4); for(bn=0;bn<=20;bn++) { xmin=(int)floor(R*sin(v_t1+ch*r_c1*bn/20)); ymin=(int)floor(R*cos(v_t1+ch*r_c1*bn/20))*-1; pdc.MoveTo(gocx,gocy); pdc.LineTo(gocx+xmin,gocy+ymin); } } ///////////////////////////////////////////////////////////////////////////////////////////// void CRada2Dlg::ve_thanh_quet(int kieu_xem,float v_t1 ,float r_c1,int phan_giai,int mr,int mg,int mb,int ch)//de hien thi lai thanh quet moi khi ve lai man hinh,ham nay co tham //khao bien trang thai chieu quet, va denta phi dich chuyen thay //doi no se lam thay doi toc do quet, { int i,mr1,mg1,mb1; float v_t2,anpha; anpha=1.02; for(i=0;i<phan_giai;i++) {//doi mau mr1=floor(mr/pow(anpha,phan_giai-i)); mg1=floor(mg/pow(anpha,phan_giai-i)); mb1=floor(mb/pow(anpha,phan_giai-i)); v_t2=v_t1+r_c1*ch*i; ve_dai_quat(r_c1,v_t2,ch,mr1,mg1,mb1); } } ////////////////////////////////////////////////////////////////////////////////////////////// void CRada2Dlg::DrawScreen(CDC *pDC)//de hien len xoa man hinh cu di man chan nay cho la mau trang { CBrush*pBrush,*pOldBrush,*pB;//choi ve va choi backup pBrush=new CBrush(RGB(150,150,255));//Tao choi ve mau 255,250,230 pOldBrush=pDC->SelectObject(pBrush);//lwu choi /////////////////////////////////// int i=0; CPen pPen15(PS_SOLID,8,RGB(data_mau[i][0],data_mau[i][1],data_mau[i][2])); i++; CPen pPen25(PS_SOLID,8,RGB(data_mau[i][0],data_mau[i][1],data_mau[i][2])); i++; CPen pPen35(PS_SOLID,8,RGB(data_mau[i][0],data_mau[i][1],data_mau[i][2])); i++; CPen pPen45(PS_SOLID,8,RGB(data_mau[i][0],data_mau[i][1],data_mau[i][2])); i++; CPen pPen55(PS_SOLID,8,RGB(data_mau[i][0],data_mau[i][1],data_mau[i][2])); i++; CPen pPen65(PS_SOLID,8,RGB(data_mau[i][0],data_mau[i][1],data_mau[i][2])); i++; // cac Pen nay co do rong la 8 pixel ////////////////////////////////////////// CRect rect2(35+5,maxy*2/3-5,maxx-35-5,10+5); //dung choi to mau pDC->FillRect(&rect2,pBrush); //CRect rect1(gocx-maxx/4,gocy-maxx/4,gocx+maxx/4,gocy+maxx/4); //pDC->FillRect(&rect,pBrush); //pDC->Ellipse(&rect1); CClientDC pdc(this); //them hinh tron-------------- CPen pens(PS_SOLID,2,RGB(0,0,0)); pDC->SelectObject(pens); pDC->Ellipse(gocx-maxx/4,gocy-maxx/4,gocx+maxx/4,gocy+maxx/4); pDC->Ellipse(gocx-maxx/8,gocy-maxx/8,gocx+maxx/8,gocy+maxx/8); //pDC->Ellipse(gocx-maxx/16-maxx/8,gocy-maxx/16-maxx/8,gocx+maxx/16+maxx/8,gocy+maxx/16+maxx/8); pDC->Ellipse(gocx-maxx/16,gocy-maxx/16,gocx+maxx/16,gocy+maxx/16); pDC->Ellipse(gocx-maxx/32,gocy-maxx/32,gocx+maxx/32,gocy+maxx/32); //ve cac truc toa do pDC->MoveTo(gocx-maxx/4*sin(pi/4),gocy-maxx/4*sin(pi/4)); pDC->LineTo(gocx+maxx/4*sin(pi/4),gocy+maxx/4*sin(pi/4)); pDC->MoveTo(gocx+maxx/4*sin(pi/4),gocy-maxx/4*sin(pi/4)); pDC->LineTo(gocx-maxx/4*sin(pi/4),gocy+maxx/4*sin(pi/4)); pDC->MoveTo(gocx-maxx/4,gocy); pDC->LineTo(gocx+maxx/4,gocy); pDC->MoveTo(gocx,gocy-maxx/4); pDC->LineTo(gocx,gocy+maxx/4); //dua text ra man hinh pDC->SetBkColor(RGB(150,150,255)); pDC->TextOut(gocx-10,gocy-maxx/4,"N 0"); pDC->TextOut(gocx-10,gocy+maxx/4-20,"S 180"); pDC->TextOut(gocx-maxx/4,gocy-20,"W 270"); pDC->TextOut(gocx+maxx/4-40,gocy-20,"E 90"); pDC->TextOut(gocx+maxx/4-20,gocy+10,"300Km"); pDC->TextOut(gocx+maxx/8-15,gocy+10,"150Km"); pDC->TextOut(gocx+maxx/16-15,gocy+10,"75Km"); //////////////////////////////////// i=0;int di=120,dj=0;//hai bien vi tri quyet dinh vi tri khoi chu // di giam thi khoi chu dich sang trai pdc.SetBkColor(RGB(150,150,255)); pdc.SelectObject(pPen15); pdc.MoveTo(di+maxx-35-150,dj+40+i*15); pdc.LineTo(di+maxx-35-150+20,dj+40+i*15); pdc.TextOut(di+maxx-35-190,dj+30+i*15,"Tar1:"); i++; pdc.SelectObject(pPen25); pdc.MoveTo(di+maxx-35-150,dj+40+i*15); pdc.LineTo(di+maxx-35-150+20,dj+40+i*15); pdc.TextOut(di+maxx-35-190,dj+30+i*15,"Tar2:"); i++; pdc.SelectObject(pPen35); pdc.MoveTo(di+maxx-35-150,dj+40+i*15); pdc.LineTo(di+maxx-35-150+20,dj+40+i*15); pdc.TextOut(di+maxx-35-190,dj+30+i*15,"Tar3:"); i++; pdc.SelectObject(pPen45); pdc.MoveTo(di+maxx-35-150,dj+40+i*15); pdc.LineTo(di+maxx-35-150+20,dj+40+i*15); pdc.TextOut(di+maxx-35-190,dj+30+i*15,"Tar4:"); i++; pdc.SelectObject(pPen55); pdc.MoveTo(di+maxx-35-150,dj+40+i*15); pdc.LineTo(di+maxx-35-150+20,dj+40+i*15); pdc.TextOut(di+maxx-35-190,dj+30+i*15,"Tar5:"); i++; pdc.SelectObject(pPen65); pdc.MoveTo(di+maxx-35-150,dj+40+i*15); pdc.LineTo(di+maxx-35-150+20,dj+40+i*15); pdc.TextOut(di+maxx-35-190,dj+30+i*15,"Tar6:"); i++; //xoa choi ve di delete pDC->SelectObject(pOldBrush); // ham nay chi ve 4 hinh tron cac truc toa do va cac Tar } /////////////////////////////////////////////////////////////////////// void CRada2Dlg::OnSize(UINT nType, int cx, int cy) { CDialog::OnSize(nType, cx, cy); // TODO: Add your message handler code here maxx=cx; maxy=cy; } //////////////////////////////////////////////////////////////////////// void CRada2Dlg::OnBUTTONStart() { // TODO: Add your control notification handler code here if(start==1)start=0;else start=1; } void CRada2Dlg::OnBUTTONSpeed() { // TODO: Add your control notification handler code here if(thang_toc_do<100) thang_toc_do++; tt_toc_do_quet=(floor)(1+thang_toc_do*0.3); CString str; str.Format("Toc do cap:%d",thang_toc_do+3); m_RSpeed=str; UpdateData(FALSE); } void CRada2Dlg::ve_tung_diem(float radius, float d, float phi, float teta, int mr, int mg, int mb) { CClientDC pdc(this); CBrush*pBrush,*pOldBrush; pBrush =new CBrush(RGB(mr,mg,mb)); //chon choi ve pOldBrush=pdc.SelectObject(pBrush); //khai but CPen pPen(PS_SOLID,1,RGB(mr,mg,mb)); //chon but ve pdc.SelectObject(pPen); //ma ve trong phan nay///////////////////////////////////////////////// int xtam,ytam; float phi1=phi*pi/180; xtam=((int)floor(d*sin(phi1))); ytam=((int)floor(d*cos(phi1)))*(-1);//toa do tam diem xtam=xtam+gocx; ytam=ytam+gocy;//hieu chinh toa do CRect rect(xtam-radius,ytam-radius,xtam+radius,ytam+radius); pdc.FillRect(&rect,pBrush); delete pdc.SelectObject(pOldBrush); ////////////////////////////////////////////////////////////////////// } void CRada2Dlg::OnTimer(UINT nIDEvent) { switch(nhin_thang) { case 1: introduce(); break; case 2: cap_nhat(); break; case 3: cap_nhat_nhin_thang(); break; case 4: cap_nhat_nhin_vong(); break; case 5: xoan_oc(); break; } //////////////////////////////////////////////////////////////////////// //cap nhat thong tin chung CString str; str.Format("Toc do cap:%d",thang_toc_do+3); m_RSpeed=str; UpdateData(FALSE); ////////////////////////////////////////////////////////////////// //////----------- CClientDC pdc(this); //////---------- CString m_str[6],tmp; for(int count =0;count<6;count++) { if((data_vi_tri[count][dung_luong-1][0]>dmax)|(data_vi_tri[count][dung_luong-1][0]<dmin)) m_str[count].Format("Out of range"); else m_str[count].Format("D:%3.2f Phi:%3.2f Teta:%2.2f H:%3.2f Vxt:%4.2f ",data_vi_tri[count][dung_luong-1][0],data_vi_tri[count][dung_luong-1][1],data_vi_tri[count][dung_luong-1][2],data_vi_tri[count][dung_luong-1][3],data_vi_tri[count][dung_luong-1][4]); /////------------------------------- switch(count) { case 0: m_m1 = m_str[count]; break; case 1: m_m2 = m_str[count]; break; case 2: m_m3 = m_str[count]; break; case 3: m_m4 = m_str[count]; break; case 4: m_m5 = m_str[count]; break; case 5: m_m6 = m_str[count]; break; } } UpdateData(FALSE); m_toa_do1++; giay=m_toa_do1*time_update/(float)1000; if(giay>=60){phut++;giay=m_toa_do1=0;}; if(phut>=60){gio++;phut=0;}; if(gio>=24){gio=0;}; tmp.Format("Time : %d : %d : %2.2f ",gio,phut,m_toa_do1*time_update/(float)1000); //cap nhat thoi gian he thong m_toa_do=tmp; UpdateData(FALSE); ////////////////////////////////////////// //chuan bi cho chu ki sau if(start) { timeo=timeo+time_update/(float)1000; data_thanh_quet_phi=data_thanh_quet_phi-tt_chieu_quet*tt_toc_do_quet; if (data_thanh_quet_phi>360) data_thanh_quet_phi=data_thanh_quet_phi-360; if(data_thanh_quet_phi<0)data_thanh_quet_phi=data_thanh_quet_phi+360; toa_do_m1(timeo); toa_do_m2(timeo); toa_do_m3(timeo); toa_do_m4(timeo); toa_do_m5(timeo); toa_do_m6(timeo); //che do bam sat if(tt_bam_sat==1) bam_sat(dt_bam); } /////////////////////////////////////////////////////////////////////// CDialog::OnTimer(nIDEvent); } void CRada2Dlg::OnBUTTONInv() { // TODO: Add your control notification handler code here //if(tt_chieu_quet==1) tt_chieu_quet=-1; //else tt_chieu_quet=1; invert(); } void CRada2Dlg::OnButtonRc() { // TODO: Add your control notification handler code here if(phan_giai<100) phan_giai++; } void CRada2Dlg::OnBUTTONNWave() { // TODO: Add your control notification handler code here if(phan_giai>1)phan_giai--; printf("\a"); } void CRada2Dlg::OnBUTTONDSpeed() { // TODO: Add your control notification handler code here if(thang_toc_do>-2)thang_toc_do--; tt_toc_do_quet=1+thang_toc_do*0.3; CString str; str.Format("Toc do cap:%d",thang_toc_do+3); m_RSpeed=str; UpdateData(FALSE); } void CRada2Dlg::bam_sat(int dt_bam) { float den_ta_phi; if((data_vi_tri[dt_bam][dung_luong-1][0] dmax -40 thi them vao sau (data_vi_tri[dt_bam][dung_luong-1][0]>dmax-40))//them vao sau //phan_giai=30; { time_out[0][1]=0;//trang thai truy tim if (tt_toc_do_quet<0) tt_toc_do_quet=-(1+25*0.3);//thang toc do cao else tt_toc_do_quet=(1+10*0.3); } float van_toc_dt;// van toc cua doi tuong bam sat //trang thai on dinh---------------------------------------------------- if((trang_thai_hien_thoi[dt_bam-1]==1)&(trang_thai_truoc[dt_bam-1]==1)) { den_ta_phi=data_vi_tri[dt_bam-1][dung_luong-1][1]-data_vi_tri[dt_bam-1][dung_luong-2][1]; if(fabs(den_ta_phi)>180){if(den_ta_phi<0)den_ta_phi=den_ta_phi+360; else den_ta_phi=-360+den_ta_phi; } if(den_ta_phi*tt_toc_do_quet*-1*tt_chieu_quet<0)invert(); //tt_toc_do_quet=fabs(den_ta_phi)*1.5; //tinh toa do vi tri chinh giua duong quet float trungg=data_thanh_quet_phi +(float)tt_chieu_quet*phan_giai/2; if(trungg<0)trungg=360+trungg; if(trungg>360)trungg=trungg-360; // tinh vi tri tuong doi cua thanh quet va doi tuong float den= data_vi_tri[dt_bam-1][dung_luong-1][1]- trungg; if(fabs(den)>180) { if(den<0) den=360+den; if(den>0)den=den-360; } //hieu chinh toc do duoi bam // int co_bam=0; if(fabs(den)<=8) {tt_toc_do_quet=fabs(den_ta_phi);time_out[0][1]=1;} if((fabs(den)>2)&time_out[0][1]) {if(den_ta_phi>=0)if (den>0) tt_toc_do_quet=den_ta_phi+0.2;else tt_toc_do_quet=den_ta_phi-0.2; if(den_ta_phi0) tt_toc_do_quet=den_ta_phi+0.2;else tt_toc_do_quet=fabs(den_ta_phi-0.2); } //thu gon canh song neu thich hop //if(fabs(den)<10) phan_giai=15; } //Trang thai truy tim--------------------------------------------------------- if((!trang_thai_hien_thoi[dt_bam-1])&(!trang_thai_truoc[dt_bam-1])) { //phan_giai=30; time_out[0][1]=0;//trang thai truy tim if (tt_toc_do_quet<0) tt_toc_do_quet=-(1+25*0.3);//thang toc do cao else tt_toc_do_quet=(1+10*0.3); } thang_toc_do=floor((tt_toc_do_quet-1)/0.3); } //--------------------------------------------------- void CRada2Dlg::OnBUTTONTrak() { CString str; // TODO: Add your control notification handler code here if(tt_bam_sat==0)tt_bam_sat=1; else {tt_bam_sat=0; //tt_toc_do_quet=(floor)(1+thang_toc_do*0.3); } int i; for(i=0;i<=5;i++)trang_thai_hien_thoi[i]=0; for(i=0;i<=5;i++)trang_thai_truoc[i]=0; if(tt_bam_sat){str.Format("Tracking Tar %d",dt_bam);}else {str.Format("None");} m_tt_bam=str; UpdateData(FALSE); //thang_toc_do=dt_bam; } //------------------------------------------------------------- void CRada2Dlg::OnKeyDown(UINT nChar, UINT nRepCnt, UINT nFlags) { // TODO: Add your message handler code here and/or call default char Ischar; Ischar=(char)nChar; if(Ischar=='z') dt_bam=1; if(Ischar=='2') dt_bam=2; if(Ischar=='3') dt_bam=3; if(Ischar=='4') dt_bam=4; if(Ischar=='5') dt_bam=5; if(Ischar=='6') dt_bam=6; //else dt_bam=2; //---------------------------------------------------------------- CDialog::OnKeyDown(nChar, nRepCnt, nFlags); } void CRada2Dlg::invert() { if(tt_chieu_quet==-1){tt_chieu_quet=1; data_thanh_quet_phi=data_thanh_quet_phi-phan_giai; } else {tt_chieu_quet=-1;data_thanh_quet_phi=data_thanh_quet_phi+phan_giai;} } void CRada2Dlg::van_toc(int dt_bam ,int dung_luong1, int dung_luong2) { vxt=(data_vi_tri[dt_bam-1][dung_luong1][0]-data_vi_tri[dt_bam-1][dung_luong2][0])/time_update/(dung_luong1-dung_luong2)*1000*1000; v_teta=cos(data_vi_tri[dt_bam-1][dung_luong1][2]-data_vi_tri[dt_bam-1][dung_luong2][2])*data_vi_tri[dt_bam-1][dung_luong1][0]/time_update/(dung_luong1-dung_luong2); v_phi=sin(data_vi_tri[dt_bam-1][dung_luong1][2])*(data_vi_tri[dt_bam-1][dung_luong1][1]-data_vi_tri[dt_bam-1][dung_luong2][1])*data_vi_tri[dt_bam-1][dung_luong1][0]/time_update/(dung_luong1-dung_luong2); } void CRada2Dlg::cap_nhat_nhin_thang() { int i;int toa_do,sa; int gocx1,dai; //khai but int mr=200, mg=0, mb=0; CPen pPen(PS_SOLID,2,RGB(mr,mg,mb)); CPen pPen1(PS_SOLID,8,RGB(mr,mg,mb)); CPen pPen2(PS_SOLID,8,RGB(20,200,200)); CPen pPen3(PS_SOLID,1,RGB(255,0,0));//vang i=0; CPen pPen15(PS_SOLID,8,RGB(data_mau[i][0],data_mau[i][1],data_mau[i][2])); i++; CPen pPen25(PS_SOLID,8,RGB(data_mau[i][0],data_mau[i][1],data_mau[i][2])); i++; CPen pPen35(PS_SOLID,8,RGB(data_mau[i][0],data_mau[i][1],data_mau[i][2])); i++; CPen pPen45(PS_SOLID,8,RGB(data_mau[i][0],data_mau[i][1],data_mau[i][2])); i++; CPen pPen55(PS_SOLID,8,RGB(data_mau[i][0],data_mau[i][1],data_mau[i][2])); i++; CPen pPen65(PS_SOLID,8,RGB(data_mau[i][0],data_mau[i][1],data_mau[i][2])); i++; //chon but ve CClientDC pdc(this); pdc.SelectObject(pPen); ////////////////////////////// // CBrush*pBrush,*pOldBrush;//choi ve va choi backup pBrush=new CBrush(RGB(150,150,255));//Tao choi ve mau 255,250,230 pOldBrush=pdc.SelectObject(pBrush);//lwu choi //xac dinh vung ve cua man hinh CRect rect(35,maxy*2/3,maxx-35,10); //dung choi to mau pdc.FillRect(&rect,pBrush); int dd,yy,dd1,yy1,yy2,dd2,dtq; //int sa=0; dtq=maxy*2/3-10; dd=maxy*1/6; dd1=maxy*1/8; dd2=maxy*1/12; yy=(int)floor(maxy*6/20.0); yy1=(int)floor(maxy*9/20.0); yy2=(int)floor(maxy*12/20.0); //hien hinh cac doi tuong //chinh xac cap 1 for(i=0;i<=5;i++) { gocx1=floor(data_vi_tri[i][dung_luong-1][0]*(maxx-70)/dmax); gocx1=gocx1+35; if ( (data_vi_tri[i][dung_luong-1][0]>300)|(data_vi_tri[i][dung_luong-1][0]<0))dai=0; else dai=floor((dmax-data_vi_tri[i][dung_luong-1][0])*dd/dmax); //-------------------------------------------- if(trang_thai_hien_thoi[i]==1) sa=1;else sa=0; if(dai!=0) ve_doan_thang(sa,dai,5,gocx1,yy,data_mau[i][0],data_mau[i][1],data_mau[i][2]); } ///chinh xac cap2 for(i=0;i<=5;i++) { gocx1=(int)floor(data_vi_tri[i][dung_luong-1][0]*(maxx-70)/dmax)%(int)floor((maxx-70)/10.0); gocx1=gocx1*10+35; if( (data_vi_tri[i][dung_luong-1][0]>300)|(data_vi_tri[i][dung_luong-1][0]<0))dai=0; else dai=floor((dmax-data_vi_tri[i][dung_luong-1][0])*dd1/dmax); if(trang_thai_hien_thoi[i]==1) sa=1;else sa=0; if(dai!=0) ve_doan_thang(sa,dai,5,gocx1,yy1,data_mau[i][0],data_mau[i][1],data_mau[i][2]); } //chinh xac cap3 for(i=0;i<=5;i++) { gocx1=(int)floor(data_vi_tri[i][dung_luong-1][0]*(maxx-70)/dmax)%(int)floor((maxx-70)/10.0); gocx1=gocx1*10; gocx1=gocx1%(int)(floor((maxx-70)/10.0)); gocx1=gocx1*10+35; if( (data_vi_tri[i][dung_luong-1][0]>300)|(data_vi_tri[i][dung_luong-1][0]<0))dai=0; else dai=floor((dmax-data_vi_tri[i][dung_luong-1][0])*dd1/dmax); if(trang_thai_hien_thoi[i]==1) sa=1;else sa=0; if(dai!=0) ve_doan_thang(sa,dai,5,gocx1,yy2,data_mau[i][0],data_mau[i][1],data_mau[i][2]); } //ve thanh quet bieu thi pha gocx1=floor(data_thanh_quet_phi*(maxx-70)/360.0); gocx1=gocx1+35; ve_doan_thang(0,dtq,1,gocx1,maxy*2/3,255,255,255); ///////////ki hieu qui uoc pdc.SetBkColor(RGB(150,150,255)); i=0;int di,dj;di=120;dj=0;//hai bien vi tri quyet dinh vi tri khoi chu pdc.SelectObject(pPen15); pdc.MoveTo(di+maxx-35-150,dj+40+i*15); pdc.LineTo(di+maxx-35-150+20,dj+40+i*15); pdc.TextOut(di+maxx-35-190,dj+30+i*15,"Tar1:"); i++; pdc.SelectObject(pPen25); pdc.MoveTo(di+maxx-35-150,dj+40+i*15); pdc.LineTo(di+maxx-35-150+20,dj+40+i*15); pdc.TextOut(di+maxx-35-190,dj+30+i*15,"Tar2:"); i++; pdc.SelectObject(pPen35); pdc.MoveTo(di+maxx-35-150,dj+40+i*15); pdc.LineTo(di+maxx-35-150+20,dj+40+i*15); pdc.TextOut(di+maxx-35-190,dj+30+i*15,"Tar3:"); i++; pdc.SelectObject(pPen45); pdc.MoveTo(di+maxx-35-150,dj+40+i*15); pdc.LineTo(di+maxx-35-150+20,dj+40+i*15); pdc.TextOut(di+maxx-35-190,dj+30+i*15,"Tar4:"); i++; pdc.SelectObject(pPen55); pdc.MoveTo(di+maxx-35-150,dj+40+i*15); pdc.LineTo(di+maxx-35-150+20,dj+40+i*15); pdc.TextOut(