C:/Documents and Settings/student/My Documents/robo_magellan/visual_studio_(system_controller)/system_controller/SystemController/RacePlotterStrategy.cs

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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using UtmConvert;
using System.Drawing;

namespace system_controller {
        class RacePlotterStrategy {

                List<UtmPoint> _fiducials;
                List<UtmPoint> _waypoints;

                System.Drawing.Point _click1, _click2;
                UtmPoint _utmPoint1, _utmPoint2;

                float _scaleDeltaX;
                public float ScaleDeltaX {
                        get { return _scaleDeltaX; }
                }

                float _scaleDeltaY;
                public float ScaleDeltaY {
                        get { return _scaleDeltaY; }
                }

                float _scaleX;
                public float ScaleX {
                        get { return _scaleX; }
                }

                float _scaleY;
                public float ScaleY {
                        get { return _scaleY; }
                }

                public RacePlotterStrategy() {
                        _click1 = new System.Drawing.Point();
                        _click2 = new System.Drawing.Point();
                        _utmPoint1 = new UtmPoint();
                        _utmPoint2 = new UtmPoint();
                }

                public void drawRacePath(ref Bitmap map) {
                        float deltaClickX = (float)_click2.X - (float)_click1.X;
                        float deltaClickY = (float)_click2.Y - (float)_click1.Y;
                        float deltaUtmX = (float)(_utmPoint2.Point.X - _utmPoint1.Point.X);
                        float deltaUtmY = (float)(_utmPoint2.Point.Y - _utmPoint1.Point.Y);
                        _scaleDeltaX = deltaClickX / deltaUtmX;
                        _scaleDeltaY = deltaClickY / deltaUtmY;
                        _scaleX = (float)_click1.X / (float)_utmPoint1.Point.X;
                        _scaleY = (float)_click1.Y / (float)_utmPoint1.Point.Y;
                        Graphics g = Graphics.FromImage(map);
                        Pen pen = new Pen(Color.Red, 8);
                        SolidBrush brush = new SolidBrush(Color.Orange);
                        SolidBrush gBrush = new SolidBrush(Color.Gray);
                        float nextX = 0, nextY = 0;
                        for (int i = 0; i < _parser.UtmPointSetList[0].Points.Count; ++i) {
                                float deltaX = (float)(_parser.UtmPointSetList[0].Points[i].Point.X)
                                        - (float)(_utmPoint1.Point.X);
                                float deltaY = (float)(_parser.UtmPointSetList[0].Points[i].Point.Y)
                                        - (float)(_utmPoint1.Point.Y);
                                float x1 = (float)(_parser.UtmPointSetList[0].Points[i].Point.X);
                                float y1 = (float)(_parser.UtmPointSetList[0].Points[i].Point.Y);
                                if (_parser.UtmPointSetList[0].Points[i].Note == "dummy")
                                        g.FillEllipse(gBrush, x1 * _scaleX + deltaX * _scaleDeltaX
                                                - 16, y1 * _scaleY + deltaY * _scaleDeltaY - 16, 32, 32);
                                else
                                        g.FillEllipse(brush, x1 * _scaleX + deltaX * _scaleDeltaX
                                                - 16, y1 * _scaleY + deltaY * _scaleDeltaY - 16, 32, 32);
                                g.DrawLine(pen, x1 * _scaleX + nextX, y1 * _scaleY + nextY
                                        , x1 * _scaleX + deltaX * _scaleDeltaX
                                        , y1 * _scaleY + deltaY * _scaleDeltaY);
                                nextX = _scaleX + deltaX * _scaleDeltaX;
                                nextY = _scaleY + deltaY * _scaleDeltaY;
                        }
                }

                public void drawClickedWaypoint(ref Bitmap map, int x, int y) {
                        if (_click1.IsEmpty) { _click1.X = x; _click1.Y = y; } else { _click2.X = x; _click2.Y = y; }
                        Graphics g = Graphics.FromImage(map);
                        SolidBrush brush = new SolidBrush(Color.Green);
                        g.FillEllipse(brush, x - 16, y - 16, 32, 32);
                }

        }
}

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