using?System;
using?System.Collections.Generic;
using?System.ComponentModel;
using?System.Data;
using?System.Drawing;
using?System.Linq;
using?System.Text;
using?System.Threading.Tasks;
using?System.Windows.Forms;
using?System.IO.Ports;
using?System.Threading;
using?System.Runtime.InteropServices;
using?System.Diagnostics;???

namespace?RPLIDAR
{
????public?partial?class?Form1?:?Form
????{
????????#region?--?Load?value?--
????????Thread?read;
????????Thread?calcirclethread;

????????SerialPort?comm?=?new?SerialPort（）;
????????int?showfre?=?31;
????????ScanPoint[]?ScanData;

????????Byte[]?STARTSCAN?=?new?Byte[9]?{?0xA5?0x82?0x05?0x00?0x00?0x00?0x00?0x00?0x22?};
????????Byte[]?STOPSCAN?=?new?Byte[2]?{?0xA5?0x25};
????????Byte[]?STARTROTATE?=?new?Byte[6]?{?0xA5?0xF0?0x02?0xC4?0x02?0x91};
????????Byte[]?STOPROTATE?=?new?Byte[6]?{?0xA5?0xF0?0x02?0x00?0x00?0x57?};
????????string?input?=?““;

????????int?loop?=?0;

????????string?angle?=?““;
????????string?lastangle?=?““;
????????int?startalready?=?0;

????????int?startangle?=?0;
????????bool?StartOfNewScan?=?true;
????????int?typei?=?0;
????????double?typed?=?0;

????????readonly?string[]?HealtStatusStrings?=?{?“Good“?“Poor“?“Critical“?“Unknown“?};

????????Bitmap?m_bmp;
????????????????????????????????????//畫布中的圖像
????????Point?m_ptCanvas;???????????//畫布原點在設備上的坐標
????????Point?m_ptBmp;??????????????//圖像位于畫布坐標系中的坐標
????????float?m_nScale?=?1.0F;??????//縮放比例

????????Point?m_ptMouseMove;????????//鼠標移動是在設備坐標上的坐標
????????int?showangle?=?0;
????????bool?startshow?=?false;
????????int?oldangle?=?0;
????????float?olddistance?=?0;

????????bool?sendalready?=?false;
????????bool?startscan?=?false;
????????int?length?=?7;
????????int?checklen?=?0;
????????byte[]?buffer;
????????int?errornumber?=?1;
????????bool?checkalready?=?false;
????????string[]?lastdeg?=?new?string[2?16];
????????int?group?=?0;
????????static?string?port?=?“COM5“;
????????Stopwatch?watch?=?new?Stopwatch（）;
????????double?deltatime?=?0;
????????bool?DRAWCIRCLE?=?false;

????????Circle?nicecircle;
????????int[]?recordx?=?new?int[3231];
????????int[]?recordy?=?new?int[3231];

????????public?Form1（）
????????{
????????????InitializeComponent（）;
????????????this.StartPosition?=?FormStartPosition.CenterScreen;
????????????this.pictureBox1.Borderstyle?=?Borderstyle.FixedSingle;
????????????this.pictureBox1.MouseWheel?+=?new?MouseEventHandler（pictureBox1_MouseWheel）;
????????}

????????//Form?Load
????????private?void?Form1_Load（object?sender?EventArgs?e）
????????{
????????????read?=?new?Thread（new?ThreadStart（readvalue））;
????????????read.IsBackground?=?true;
????????????calcirclethread?=?new?Thread（new?ThreadStart（circlethread））;
????????????calcirclethread.IsBackground?=?true;
????????????m_bmp?=?new?Bitmap（pictureBox1.Width?pictureBox1.Height）;
????????????m_ptCanvas?=?new?Point（pictureBox1.Width?/?2?pictureBox1.Height?/?2

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件?????????15??2019-03-20?22:54??RPLIDAR\.git\COMMIT_EDITMSG

?????文件????????302??2019-03-20?22:55??RPLIDAR\.git\config

?????文件?????????25??2019-03-20?22:54??RPLIDAR\.git\description

?????文件?????????97??2020-02-26?03:41??RPLIDAR\.git\FETCH_HEAD

?????文件?????????23??2019-03-20?22:54??RPLIDAR\.git\HEAD

?????文件????????478??2019-03-20?22:54??RPLIDAR\.git\hooks\applypatch-msg.sample

?????文件????????896??2019-03-20?22:54??RPLIDAR\.git\hooks\commit-msg.sample

?????文件???????3327??2019-03-20?22:54??RPLIDAR\.git\hooks\fsmonitor-watchman.sample

?????文件????????189??2019-03-20?22:54??RPLIDAR\.git\hooks\post-update.sample

?????文件????????424??2019-03-20?22:54??RPLIDAR\.git\hooks\pre-applypatch.sample

?????文件???????1638??2019-03-20?22:54??RPLIDAR\.git\hooks\pre-commit.sample

?????文件???????1348??2019-03-20?22:54??RPLIDAR\.git\hooks\pre-push.sample

?????文件???????4898??2019-03-20?22:54??RPLIDAR\.git\hooks\pre-rebase.sample

?????文件????????544??2019-03-20?22:54??RPLIDAR\.git\hooks\pre-receive.sample

?????文件???????1492??2019-03-20?22:54??RPLIDAR\.git\hooks\prepare-commit-msg.sample

?????文件???????3610??2019-03-20?22:54??RPLIDAR\.git\hooks\update.sample

?????文件???????4897??2020-02-21?00:28??RPLIDAR\.git\index

?????文件????????240??2019-03-20?22:54??RPLIDAR\.git\info\exclude

?????文件????????340??2020-02-21?00:28??RPLIDAR\.git\logs\HEAD

?????文件????????340??2020-02-21?00:28??RPLIDAR\.git\logs\refs\heads\master

?????文件????????331??2019-03-20?23:36??RPLIDAR\.git\logs\refs\remotes\origin\master

?????文件????????443??2019-03-20?22:54??RPLIDAR\.git\objects\01\a58e3b2b4236120c7c90b3234807daa5ce1633

?????文件???????1352??2019-03-20?22:54??RPLIDAR\.git\objects\05\9b4b6ed3aef9a8b7a147f901405be38a13ad01

?????文件?????????49??2019-03-20?22:54??RPLIDAR\.git\objects\06\e71cb453a058fce71d8be76f08b343fb89a4d8

?????文件????????558??2019-03-20?23:36??RPLIDAR\.git\objects\09\d565a48b530a5280803c10bcf955a5d3ed53c9

?????文件???????2638??2019-03-20?22:54??RPLIDAR\.git\objects\15\d98f0ebb6d4a4d2175dc49c1aceb6ad99fcf8e

?????文件???????3299??2019-03-20?22:54??RPLIDAR\.git\objects\22\cbb758b8f242aecca0aaa7e37312deadd1f109

?????文件????????721??2019-03-20?22:54??RPLIDAR\.git\objects\23\7d8571a893b027a6bb89462ff94bd9e623a2ab

?????文件????????117??2019-03-20?22:54??RPLIDAR\.git\objects\23\da663311e6eccc1f01537db0f67d96705b53bc

?????文件????????420??2019-03-20?22:54??RPLIDAR\.git\objects\25\0afc3716ef0910c904af46bc24114b3cf3cae4

............此處省略171個文件信息