using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.IO;

namespace WindowsFormsApplication1
{
    public partial class Form1 : Form
    {
        MistINS INS;
        Boolean Is_F = false;
        Matrix OurF;

        public Form1()
        {
            InitializeComponent();
        }

        private void button1_Click(object sender, EventArgs e)
        {
                INS = new MistINS(double.Parse(textBox1.Text), double.Parse(textBox2.Text),
                    double.Parse(textBox3.Text), double.Parse(textBox4.Text));//вычисляем новые значения матриц по введеным данным
                if (Is_F)
                    INS.F = OurF;

            Measuring.R = Math.Sqrt(double.Parse(textBox6.Text));

            Kalman Filtr = new Kalman(double.Parse(textBox7.Text), double.Parse(textBox8.Text), INS.F);
            
            insKalmanV.Series[0].Points.Clear();
            insKalmanF.Series[0].Points.Clear();
            insKalmanE.Series[0].Points.Clear();
			insKalmanV.Series[2].Points.Clear();
			insKalmanV.Series[3].Points.Clear();
			insKalmanV.Series[4].Points.Clear();
			insKalmanF.Series[2].Points.Clear();
			insKalmanE.Series[2].Points.Clear();
			insKalmanF.Series[3].Points.Clear();
			insKalmanE.Series[3].Points.Clear();

            //строим граффик за время t
            int time = int.Parse(textBox5.Text);
            double t1 = 0;
            for (int i = 0; i < time/INS.Period; i++)
            {
                double t = i * INS.Period;
                INS.Next();
                insKalmanV.Series[0].Points.AddXY(t, INS.Xk1.Mbody[0, 0]);
				insKalmanF.Series[0].Points.AddXY(t, INS.Xk1.Mbody[1, 0]);
				insKalmanE.Series[0].Points.AddXY(t, INS.Xk1.Mbody[2, 0]);
                t1 = Measuring.z(INS.Xk1.Mbody[0, 0]);
                Filtr.Next(t1);
                if (i > 50)
                {
					insKalmanV.Series[3].Points.AddXY(t, INS.Xk1.Mbody[0, 0]);//t1);
					insKalmanF.Series[3].Points.AddXY(t, INS.Xk1.Mbody[1, 0]);
					insKalmanE.Series[3].Points.AddXY(t, INS.Xk1.Mbody[2, 0]);

					insKalmanV.Series[2].Points.AddXY(t, Filtr.Xk.Mbody[0, 0]);
					insKalmanF.Series[2].Points.AddXY(t, Filtr.Xk.Mbody[1, 0]);
					insKalmanE.Series[2].Points.AddXY(t, Filtr.Xk.Mbody[2, 0]);

					insKalmanV.Series[4].Points.AddXY(t, t1);
                }
            }

        }

        private void button2_Click(object sender, EventArgs e)
        {
            INS = new MistINS(double.Parse(textBox1.Text), double.Parse(textBox2.Text),
                double.Parse(textBox3.Text), double.Parse(textBox4.Text));
            saveFileDialog1.Filter = "Текстовые файлы|*.txt";
            if (saveFileDialog1.ShowDialog() != DialogResult.OK)
                return;
            INS.SaveToFile(saveFileDialog1.FileName);
        }

        private void Form1_Shown(object sender, EventArgs e)
        {
            INS = new MistINS(double.Parse(textBox1.Text), double.Parse(textBox2.Text),
               double.Parse(textBox3.Text), double.Parse(textBox4.Text));//вычисляем новые значения матриц по введеным данным
        }

        private void button3_Click(object sender, EventArgs e)
        {
            INS = new MistINS(double.Parse(textBox1.Text), double.Parse(textBox2.Text),
                double.Parse(textBox3.Text), double.Parse(textBox4.Text));
            openFileDialog1.Filter = "Текстовые файлы|*.txt";
            if (openFileDialog1.ShowDialog() != DialogResult.OK)
                return;
            INS.LoadFromFile(openFileDialog1.FileName);
            textBox1.Text = INS.Bias_x.ToString("e");
            textBox2.Text = INS.Betta.ToString("e");
            textBox3.Text = INS.Drift_y.ToString("e");
            textBox4.Text = INS.Period.ToString("e");
        }

        private void button4_Click_1(object sender, EventArgs e)
        {
            Is_F = true;
            OurF = new Matrix(3, 3);
            OurF.Mbody[0, 0] = Double.Parse(textBox9.Text);
            OurF.Mbody[0, 1] = Double.Parse(textBox10.Text);
            OurF.Mbody[0, 2] = Double.Parse(textBox11.Text);

            OurF.Mbody[1, 0] = Double.Parse(textBox14.Text);
            OurF.Mbody[1, 1] = Double.Parse(textBox13.Text);
            OurF.Mbody[1, 2] = Double.Parse(textBox12.Text);

            OurF.Mbody[2, 0] = Double.Parse(textBox17.Text);
            OurF.Mbody[2, 1] = Double.Parse(textBox16.Text);
            OurF.Mbody[2, 2] = Double.Parse(textBox15.Text);
        }

        private void tabPage1_Click(object sender, EventArgs e)
        {

        }

        private void button6_Click(object sender, EventArgs e)
        {
            saveFileDialog1.Filter = "Текстовые файлы|*.txt";
            if (saveFileDialog1.ShowDialog() != DialogResult.OK)
                return;
            string[] lines = { textBox9.Text, textBox10.Text, textBox11.Text, 
                             textBox12.Text, textBox13.Text, textBox14.Text,
                             textBox1.Text, textBox16.Text, textBox17.Text};
            File.WriteAllLines(saveFileDialog1.FileName, lines); 
        }

        private void button5_Click(object sender, EventArgs e)
        {
            openFileDialog1.Filter = "Текстовые файлы|*.txt";
            if (openFileDialog1.ShowDialog() != DialogResult.OK)
                return;
            string[] lines = File.ReadAllLines(openFileDialog1.FileName);
            textBox9.Text = lines[0];
            textBox10.Text = lines[1];
            textBox11.Text = lines[2];
            textBox12.Text = lines[3];
            textBox13.Text = lines[4];
            textBox14.Text = lines[5];
            textBox15.Text = lines[6];
            textBox16.Text = lines[7];
            textBox17.Text = lines[8];
        }

        private void groupBox5_Enter(object sender, EventArgs e)
        {

        }

        private void button12_Click(object sender, EventArgs e)
        {
            Matrix F = new Matrix(1, 1);
            F.Mbody[0, 0] = double.Parse(textBox20.Text);
            INS = new MistINS(F, 0, 1, double.Parse(textBox28.Text));//вычисляем новые значения матриц по введеным данным
        
            Measuring.R = Math.Sqrt(double.Parse(textBox34.Text));
            Kalman Filtr;

            Matrix F1 = new Matrix(1, 1);
            F1.Mbody[0, 0] = double.Parse(textBox18.Text);

            if (!newF)
                Filtr = new Kalman(double.Parse(textBox33.Text), double.Parse(textBox32.Text), INS.F, 1, double.Parse(textBox19.Text));
            else
                Filtr = new Kalman(double.Parse(textBox33.Text), double.Parse(textBox32.Text), F1, 1, double.Parse(textBox19.Text));

            chart7.Series[0].Points.Clear();
            chart7.Series[1].Points.Clear();
            chart7.Series[2].Points.Clear();

            //строим граффик за время t
            int time = int.Parse(textBox31.Text);
            double t1=0;
            double sum=0;
            double sr=0;
            for (int t = 0; t < time; t++)
            {
                INS.Next();
                chart7.Series[0].Points.AddXY(t, INS.Xk1.Mbody[0, 0]);
                t1 = Measuring.z(INS.Xk1.Mbody[0, 0]);
                sum += t1;
                sr = sum / (t + 1);
                Filtr.Next(t1);
             //   if (i > 50)
             //   {
                    chart7.Series[0].Points.AddXY(t, t1);//t1);
                    chart7.Series[1].Points.AddXY(t, Filtr.Xk.Mbody[0, 0]);
                    chart7.Series[2].Points.AddXY(t, sr);

              //      chart4.Series[0].Points.AddXY(t, Filtr.Xk.Mbody[0, 0]);
              //      chart5.Series[0].Points.AddXY(t, Filtr.Xk.Mbody[1, 0]);
              //      chart6.Series[0].Points.AddXY(t, Filtr.Xk.Mbody[2, 0]);

              //      chart4.Series[2].Points.AddXY(t, t1);
               // }
            }
        }

        bool newF = false;

        private void button8_Click(object sender, EventArgs e)
        {
            newF = true;
        }

        private void textBox33_TextChanged(object sender, EventArgs e)
        {

        }

        private void groupBox8_Enter(object sender, EventArgs e)
        {

        }

       

      

     

    

       

    }
}