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?BinHeap;
using?System.IO.Ports;
using?System.IO;
using?System.Threading;
namespace?Astar
{
?
????public?partial?class?Form1?:?Form
????{
????????public?int?setStartPointFlag?=?0;
????????public?int?setEndPointFlag?=?0;
????????public?Point?startPoint;
????????public?Point?goalPoint;
????????public?Graphics?g?;
????????public?Graphics?g2;
????????public?Pen?p;
????????public?Stack?keyPoints;
????????Navigate?nav;
????????PgmFile?pgmFile;
????????FileStream?keyPoints_fs;
????????FileStream?calcResult_fs;
????????FileStream?laserData_fs;

????????StreamWriter?keyPoints_sw;
????????StreamWriter?calcResult_sw;
????????StreamWriter?laserData_sw;

????????Rplidar?rplidar;
????????
????????int?obsWidth?=?5;
????????int?obsHeight?=?5;
???????//?int?obsNum?=?50;

????????public?Form1（）
????????{
????????????InitializeComponent（）;???????????
????????}
????????private?void?Form1_Load（object?sender?EventArgs?e）
????????{

????????????string?logFIlePath;
????????????//創建日志文件
????????????logFIlePath?=?Environment.CurrentDirectory.ToString（）?+?“\\KeyPoints.log“;
????????????keyPoints_fs?=?new?FileStream（logFIlePath?System.IO.FileMode.Append）;
????????????keyPoints_sw?=?new?StreamWriter（keyPoints_fs?System.Text.Encoding.Default）;
????????????keyPoints_sw.WriteLine（DateTime.Now.ToString（））;

????????????logFIlePath?=?Environment.CurrentDirectory.ToString（）?+?“\\CalcResult.log“;
????????????calcResult_fs?=?new?FileStream（logFIlePath?System.IO.FileMode.Append）;
????????????calcResult_sw?=?new?StreamWriter（calcResult_fs?System.Text.Encoding.Default）;
????????????calcResult_sw.WriteLine（DateTime.Now.ToString（））;

????????????logFIlePath?=?Environment.CurrentDirectory.ToString（）?+?“\\LaserData.log“;
????????????laserData_fs?=?new?FileStream（logFIlePath?System.IO.FileMode.Create）;
????????????laserData_sw?=?new?StreamWriter（laserData_fs?System.Text.Encoding.Default）;
????????????laserData_sw.WriteLine（DateTime.Now.ToString（））;

????????????//讀取pgm格式地圖
????????????string?path?=?“C:\\Users\\10025\\Desktop\\激光雷達\\Astar\\Astar\\mymap.pgm“;
????????????pgmFile?=?new?PgmFile（path）;
????????????pgmFile.Read_FileData（）;


????????????//重繪窗口
????????????//float?scaleX?=?（float）（pgmFile.map.width-300）?/?this.pictureBox1.Width;
????????????//float?scaleY?=?（float）（pgmFile.map.height-350）?/?this.pictureBox1.Height;
????????????int?disX?=?this.Width?-?this.pictureBox1.Width;
????????????int?disY?=?this.Height?-?this.pictureBox1.Height;
????????????this.pictureBox1.Width?=?pgmFile.map.width;
????????????this.pictureBox1.Height?=?pgmFile.map.height;
????????????this.pictureBox2.Width?=?this.pictureBox1.Width;
????????????this.pictureBox2.Height?=?this.pictureBox1.Height;
????

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-08-23?11:18??Astar\
?????目錄???????????0??2017-09-11?10:26??Astar\.git\
?????文件???????????6??2017-08-23?11:19??Astar\.git\COMMIT_EDITMSG
?????文件?????????303??2017-08-23?11:19??Astar\.git\config
?????文件??????????98??2018-01-29?14:00??Astar\.git\FETCH_HEAD
?????文件??????????23??2017-08-23?11:18??Astar\.git\HEAD
?????文件????????9526??2017-08-26?16:04??Astar\.git\index
?????目錄???????????0??2017-08-23?11:19??Astar\.git\logs\
?????文件?????????166??2017-08-23?11:19??Astar\.git\logs\HEAD
?????目錄???????????0??2017-08-23?11:19??Astar\.git\logs\refs\
?????目錄???????????0??2017-08-23?11:19??Astar\.git\logs\refs\heads\
?????文件?????????166??2017-08-23?11:19??Astar\.git\logs\refs\heads\master
?????目錄???????????0??2017-08-23?11:19??Astar\.git\logs\refs\remotes\
?????目錄???????????0??2017-08-23?11:19??Astar\.git\logs\refs\remotes\origin\
?????文件?????????157??2017-08-23?11:19??Astar\.git\logs\refs\remotes\origin\master
?????目錄???????????0??2017-08-23?15:24??Astar\.git\objects\
?????目錄???????????0??2017-08-23?11:18??Astar\.git\objects\01\
?????文件????????2448??2017-08-23?11:18??Astar\.git\objects\01\5b266faf9a81a97321e4f1b4e2962f296c12e5
?????目錄???????????0??2017-08-23?11:18??Astar\.git\objects\03\
?????文件???????19518??2017-08-23?11:18??Astar\.git\objects\03\5f91f29ee2e86466c2dc539a7f79a2531656ce
?????目錄???????????0??2017-08-23?11:18??Astar\.git\objects\06\
?????文件?????????278??2017-08-23?11:18??Astar\.git\objects\06\1c9ca950d0e8bb952c52799fb401a6614ad640
?????目錄???????????0??2017-08-23?11:18??Astar\.git\objects\08\
?????文件?????????392??2017-08-23?11:18??Astar\.git\objects\08\12373cde17f453f750e3cdcc47b4f361a503e1
?????目錄???????????0??2017-08-23?11:18??Astar\.git\objects\0f\
?????文件?????????580??2017-08-23?11:18??Astar\.git\objects\0f\b50e773862af33d79ecc37ac61e3909f2fd13e
?????文件?????????425??2017-08-23?11:18??Astar\.git\objects\0f\e8235a9793581f55072d66c772be2e7e3db85a
?????目錄???????????0??2017-08-23?11:18??Astar\.git\objects\11\
?????文件????????1330??2017-08-23?11:18??Astar\.git\objects\11\4ac1f26edbd3815e3b3f593d5cd53513c0f2f3
?????文件????????1684??2017-08-23?11:18??Astar\.git\objects\11\f5aa28227235c6dccd92e64f9fd5ec7a1014e9
?????目錄???????????0??2017-08-23?11:18??Astar\.git\objects\12\
............此處省略254個文件信息