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！ ！ ！