wuhyuo~~ koitsuwa sugoi~~ cho lucky-dazegit config user.name dlarudgus20

sugoi/Integrator.cpp

+#include "Integrator.h"
+#include "Quaternion.h"
+#include "Arduino.h"
+
+Integrator::Integrator(float initial /* = 0 */)
+    : value_(initial), speed_(0), prev_(0)
+{
+}
+
+float Integrator::value() const { return value_; }
+float Integrator::speed() const { return speed_; }
+
+float Integrator::accumulate(float accel, float dt)
+{
+    float v = speed_ + accel * dt / 2;
+    float dx = v * dt;
+    value_ += dx;
+    speed_ += accel * dt;
+    return dx;
+}
+
+INS::INS()
+    : gx_(0), gy_(0), gz_(0)
+{
+}
+
+float INS::posX() const { return posX_.value(); }
+float INS::posY() const { return posY_.value(); }
+float INS::posZ() const { return posZ_.value(); }
+float INS::rotX() const { return rotX_.value(); }
+float INS::rotY() const { return rotY_.value(); }
+float INS::rotZ() const { return rotZ_.value(); }
+
+float INS::posDX() const { return posX_.speed(); }
+float INS::posDY() const { return posY_.speed(); }
+float INS::posDZ() const { return posZ_.speed(); }
+float INS::rotDX() const { return rotX_.speed(); }
+float INS::rotDY() const { return rotY_.speed(); }
+float INS::rotDZ() const { return rotZ_.speed(); }
+
+float INS::grvX() const { return gx_; }
+float INS::grvY() const { return gy_; }
+float INS::grvZ() const { return gz_; }
+
+void INS::setGravity(float ax, float ay, float az)
+{
+    gx_ = ax;
+    gy_ = ay;
+    gz_ = az;
+}
+
+void INS::accumulate(float px, float py, float pz,
+    float rx, float ry, float rz, float dt)
+{
+    float rdx = rotX_.accumulate(rx, dt);
+    float rdy = rotY_.accumulate(ry, dt);
+    float rdz = rotZ_.accumulate(rz, dt);
+
+    Quaternion q = Quaternion::from_euler_rotation(rdx, rdy, rdz);
+    Quaternion g(gx_, gy_, gz_);
+    g = q.rotate(g);
+    gx_ = g.b;
+    gy_ = g.c;
+    gz_ = g.d;
+
+    posX_.accumulate(px - gx_, dt);
+    posY_.accumulate(py - gy_, dt);
+    posZ_.accumulate(pz - gz_, dt);
+}

sugoi/Integrator.h

+#ifndef INTEGRATOR_H_
+#define INTEGRATOR_H_
+
+class Integrator
+{
+public:
+    explicit Integrator(float initial = 0);
+
+    float value() const;
+    float speed() const;
+    float accumulate(float accel, float dt);
+
+private:
+    float prev_;
+    float speed_;
+    float value_;
+};
+
+class INS
+{
+public:
+    INS();
+
+    float posX() const;
+    float posY() const;
+    float posZ() const;
+    float rotX() const;
+    float rotY() const;
+    float rotZ() const;
+
+    float posDX() const;
+    float posDY() const;
+    float posDZ() const;
+    float rotDX() const;
+    float rotDY() const;
+    float rotDZ() const;
+
+    float grvX() const;
+    float grvY() const;
+    float grvZ() const;
+
+    void setGravity(float ax, float ay, float az);
+
+    void accumulate(float px, float py, float pz,
+        float rx, float ry, float rz, float dt);
+
+private:
+    float gx_, gy_, gz_;
+    Integrator posX_, posY_, posZ_;
+    Integrator rotX_, rotY_, rotZ_;
+};
+
+#endif // INTEGRATOR_H_

sugoi/Quaternion.cpp

+#include "Quaternion.h"
+#include "Arduino.h"
+
+// http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/arithmetic/index.htm
+// 800B
+Quaternion & Quaternion::operator*=(const Quaternion &q) {
+    Quaternion ret;
+    ret.a = a*q.a - b*q.b - c*q.c - d*q.d;
+    ret.b = b*q.a + a*q.b + c*q.d - d*q.c;
+    ret.c = a*q.c - b*q.d + c*q.a + d*q.b;
+    ret.d = a*q.d + b*q.c - c*q.b + d*q.a;
+    return (*this = ret);
+}
+
+Quaternion & Quaternion::operator+=(const Quaternion &q) {
+    a += q.a;
+    b += q.b;
+    c += q.c;
+    d += q.d;
+    return *this;
+}
+
+Quaternion & Quaternion::operator*=(float scale) {
+    a *= scale;
+    b *= scale;
+    c *= scale;
+    d *= scale;
+    return *this;
+}
+
+float Quaternion::norm() const {
+    float norm2 = a*a + b*b + c*c + d*d;
+    return sqrt(norm2);
+}
+
+// 400B
+Quaternion & Quaternion::normalize() {
+    float n = norm();
+    a /= n;
+    b /= n;
+    c /= n;
+    d /= n;
+    return *this;
+}
+
+// This method takes an euler rotation in rad and converts it to an equivilent 
+// Quaternion rotation.
+// 800B
+const Quaternion Quaternion::from_euler_rotation(float x, float y, float z) {
+    float c1 = cos(y/2);
+    float c2 = cos(z/2);
+    float c3 = cos(x/2);
+
+    float s1 = sin(y/2);
+    float s2 = sin(z/2);
+    float s3 = sin(x/2);
+    Quaternion ret;
+    ret.a = c1 * c2 * c3 - s1 * s2 * s3;
+    ret.b = s1 * s2 * c3 + c1 * c2 * s3;
+    ret.c = s1 * c2 * c3 + c1 * s2 * s3;
+    ret.d = c1 * s2 * c3 - s1 * c2 * s3;
+    return ret;
+}
+
+const Quaternion Quaternion::from_euler_rotation_approx(float x, float y, float z) {
+    // approximage cos(theta) as 1 - theta^2 / 2
+    float c1 = 1 - (y * y / 8);
+    float c2 = 1 - (z * z / 8);
+    float c3 = 1 - (x * x / 8);
+
+    // appromixate sin(theta) as theta
+    float s1 = y/2;
+    float s2 = z/2;
+    float s3 = x/2;
+    Quaternion ret;
+    ret.a = c1 * c2 * c3 - s1 * s2 * s3;
+    ret.b = s1 * s2 * c3 + c1 * c2 * s3;
+    ret.c = s1 * c2 * c3 + c1 * s2 * s3;
+    ret.d = c1 * s2 * c3 - s1 * c2 * s3;
+    return ret;
+}
+
+const Quaternion Quaternion::conj() const {
+    Quaternion ret(*this);
+    ret.b *= -1;
+    ret.c *= -1;
+    ret.d *= -1;
+    return ret;
+}
+
+// This method takes two vectors and computes the rotation vector between them.
+// Both the left and right hand sides must be pure vectors (a == 0)
+// Both the left and right hand sides must normalized already.
+// This computes the rotation that will tranform this to q.
+// 500B
+const Quaternion Quaternion::rotation_between_vectors(const Quaternion& q) const {
+    // http://www.euclideanspace.com/maths/algebra/vectors/angleBetween/
+    // We want to compute the below values.
+    // w = 1 + v1•v2
+    // x = (v1 x v2).x 
+    // y = (v1 x v2).y
+    // z = (v1 x v2).z
+
+    // Instead of writing the below code direclty, we reduce code size by
+    // just using multiplication to implement it.
+    //Quaternion ret;
+    //ret.a = 1 + b * q.b + c * q.c + d * q.d;
+    //ret.b = c * q.d - d * q.c;
+    //ret.c = d * q.b - b * q.d;
+    //ret.d = b * q.c - c * q.b;
+    //ret.normalize();
+    //return ret;
+
+    // From wikipedia https://en.wikipedia.org/wiki/Quaternion#Quaternions_and_the_geometry_of_R3
+    // The cross product p x q is just the vector part of multiplying p * q
+    Quaternion ret = (*this) * q;
+    ret.a = 1 - ret.a;
+    ret.normalize();
+    return ret;
+}
+
+float Quaternion::dot_product(const Quaternion& q) const {
+    return a * q.a + b * q.b + c * q.c + d * q.d;
+}
+
+// This will roate the input vector by this normalized rotation quaternion.
+const Quaternion Quaternion::rotate(const Quaternion& q) const {
+    return (*this) * q * conj();
+}
+
+// This modifies this normalized rotation quaternion and makes it 
+// rotate between 0-1 as much as it would normally rotate.
+// The math here is pretty sloppy but should work for 
+// most cases.
+Quaternion & Quaternion::fractional(float f) {
+    a = 1-f + f*a;
+    b *= f;
+    c *= f;
+    d *= f;
+    return normalize();
+}

sugoi/Quaternion.h

+#ifndef QUATERNION_H
+#define QUATERNION_H
+
+class Quaternion {
+public:
+    float a;
+    float b;
+    float c;
+    float d;
+
+    Quaternion() {a = 1; b = c = d = 0;}
+
+    // This is a vector that can be rotated in Quaternion space.
+    Quaternion(float x, float y, float z) {a = 0; b = x; c = y; d = z;}
+
+    // This returns a Quaternion that rotates in each given axis in radians.
+    // We use standard right hand rule for rotations and coordinates.
+    static const Quaternion from_euler_rotation(float x, float y, float z);
+
+    // This is like from_euler_rotation but for small angles (less than 45 deg (PI/4))
+    static const Quaternion from_euler_rotation_approx(float x, float y, float z);
+
+    Quaternion & operator=(const Quaternion &rhs) {
+        a = rhs.a;
+        b = rhs.b;
+        c = rhs.c;
+        d = rhs.d;
+        return *this;
+    }
+
+    // http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/arithmetic/index.htm
+    Quaternion & operator*=(const Quaternion &q);
+    const Quaternion operator* (const Quaternion& q) const { return Quaternion(*this) *= q; }
+    Quaternion & operator+=(const Quaternion &q);
+    const Quaternion operator+(const Quaternion& q) const { return Quaternion(*this) += q; }
+    Quaternion & operator*=(float scale);
+    const Quaternion operator*(float scale) const { return Quaternion(*this) *= scale; }
+    float norm() const;
+    Quaternion & normalize();
+    const Quaternion conj() const;
+    // This method takes two vectors and computes the rotation vector between them.
+    // Both the left and right hand sides must be pure vectors (a == 0)
+    // Both the left and right hand sides must normalized already.
+    // This computes the rotation that will tranform this to q.
+    const Quaternion rotation_between_vectors(const Quaternion& v) const;
+    float dot_product(const Quaternion& q) const;
+
+    // This method takes one vector and rotates it using this Quaternion.
+    // The input must be a pure vector (a == 0)
+    const Quaternion rotate(const Quaternion& q) const;
+    Quaternion & fractional(float f);
+};
+
+#endif
\ No newline at end of file

sugoi/sugoi.ino

+#include "MPU9250.h"
+#include "Integrator.h"
+
+MPU9250 imu(Wire, 0x68);
+INS ins;
+unsigned long prevTime;
+
+void setup()
+{
+  Serial.begin(115200);
+
+  int status = imu.begin();
+  if (status < 0)
+  {
+    Serial.print("IMU Error: ");
+    Serial.println(status);
+    while (1) { }
+  }
+
+  imu.readSensor();
+  ins.setGravity(imu.getAccelX_mss(), imu.getAccelY_mss(), imu.getAccelZ_mss());
+}
+
+void loop()
+{
+  unsigned long nowTime = micros();
+  unsigned long deltaTime = nowTime - prevTime;
+  float dt = deltaTime / 1000000.0f;
+
+  imu.readSensor();
+  ins.accumulate(imu.getAccelX_mss(), imu.getAccelY_mss(), imu.getAccelZ_mss(),
+    imu.getGyroX_rads(), imu.getGyroY_rads(), imu.getGyroZ_rads(), dt);
+
+  if (millis() % 200 == 0)
+  {
+    Serial.print("dt : ");
+    Serial.print(deltaTime);
+    Serial.print("\t");
+    Serial.println(dt, 10);
+    Serial.print("ins :\t");
+    Serial.print(ins.posX());
+    Serial.print("\t");
+    Serial.print(ins.posY());
+    Serial.print("\t");
+    Serial.print(ins.posZ());
+    Serial.print("\t");
+    Serial.print(ins.rotX());
+    Serial.print("\t");
+    Serial.print(ins.rotY());
+    Serial.print("\t");
+    Serial.println(ins.rotZ());
+    Serial.print("spd :\t");
+    Serial.print(ins.posDX());
+    Serial.print("\t");
+    Serial.print(ins.posDY());
+    Serial.print("\t");
+    Serial.print(ins.posDZ());
+    Serial.print("\t");
+    Serial.print(ins.rotDX());
+    Serial.print("\t");
+    Serial.print(ins.rotDY());
+    Serial.print("\t");
+    Serial.println(ins.rotDZ());
+    Serial.print("grv :\t");
+    Serial.print(ins.grvX());
+    Serial.print("\t");
+    Serial.print(ins.grvY());
+    Serial.print("\t");
+    Serial.print(ins.grvZ());
+    Serial.print("\t(len: ");
+    Serial.print(sqrt(ins.grvX()*ins.grvX()+ins.grvY()*ins.grvY()+ins.grvZ()*ins.grvZ()));
+    Serial.println(")");
+    Serial.print("imu :\t");
+    Serial.print(imu.getAccelX_mss());
+    Serial.print("\t");
+    Serial.print(imu.getAccelY_mss());
+    Serial.print("\t");
+    Serial.print(imu.getAccelZ_mss());
+    Serial.print("\t");
+    Serial.print(imu.getGyroX_rads());
+    Serial.print("\t");
+    Serial.print(imu.getGyroY_rads());
+    Serial.print("\t");
+    Serial.println(imu.getGyroZ_rads());
+    Serial.print("img :\t");
+    Serial.print(imu.getAccelX_mss() - ins.grvX());
+    Serial.print("\t");
+    Serial.print(imu.getAccelY_mss() - ins.grvY());
+    Serial.print("\t");
+    Serial.println(imu.getAccelZ_mss() - ins.grvZ());
+  }
+
+  prevTime = nowTime;
+}

wuhyuo.sln

+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 15
+VisualStudioVersion = 15.0.28307.572
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "wuhyuo", "wuhyuo\wuhyuo.csproj", "{990FED84-DE8A-4474-BAC7-082B64843B7D}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{990FED84-DE8A-4474-BAC7-082B64843B7D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{990FED84-DE8A-4474-BAC7-082B64843B7D}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{990FED84-DE8A-4474-BAC7-082B64843B7D}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{990FED84-DE8A-4474-BAC7-082B64843B7D}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {3EA65EE4-96B4-43A7-B2F2-888D0952003B}
+	EndGlobalSection
+EndGlobal

wuhyuo/App.config

+<?xml version="1.0" encoding="utf-8" ?>
+<configuration>
+    <startup> 
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
+    </startup>
+</configuration>
\ No newline at end of file

wuhyuo/App.xaml

+<Application x:Class="wuhyuo.App"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:local="clr-namespace:wuhyuo"
+             StartupUri="MainWindow.xaml">
+    <Application.Resources>
+         
+    </Application.Resources>
+</Application>

wuhyuo/App.xaml.cs

+using System;
+using System.Collections.Generic;
+using System.Configuration;
+using System.Data;
+using System.Linq;
+using System.Threading.Tasks;
+using System.Windows;
+
+namespace wuhyuo
+{
+    /// <summary>
+    /// App.xaml에 대한 상호 작용 논리
+    /// </summary>
+    public partial class App : Application
+    {
+    }
+}

wuhyuo/MainWindow.xaml

+<Window x:Class="wuhyuo.MainWindow"
+        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+        xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+        xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+        xmlns:local="clr-namespace:wuhyuo"
+        mc:Ignorable="d"
+        Title="MainWindow" Height="450" Width="800" Initialized="Window_Initialized" Closed="Window_Closed">
+	<Canvas HorizontalAlignment="Center" VerticalAlignment="Center" RenderTransform="1 0 0 -1 0 0">
+		<Rectangle x:Name="rect" Canvas.Left="0" Canvas.Top="0" Width="50" Height="50" Fill="#FF6BE8B5" RenderTransformOrigin="0.5,0.5" >
+			<Rectangle.RenderTransform>
+				<TransformGroup>
+					<RotateTransform x:Name="rectRotate" Angle="0"/>
+					<TranslateTransform X="-25" Y="-25"/>
+				</TransformGroup>
+			</Rectangle.RenderTransform>
+		</Rectangle>
+	</Canvas>
+</Window>

wuhyuo/MainWindow.xaml.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+using System.Threading;
+using System.IO.Ports;
+using System.Diagnostics;
+
+namespace wuhyuo
+{
+    /// <summary>
+    /// MainWindow.xaml에 대한 상호 작용 논리
+    /// </summary>
+    public partial class MainWindow : Window
+    {
+        public MainWindow()
+        {
+            InitializeComponent();
+        }
+
+        private void Window_Initialized(object sender, EventArgs e)
+        {
+            _thrd = new Thread(InputThread);
+            _thrd.Start();
+        }
+
+        private void Window_Closed(object sender, EventArgs e)
+        {
+            _thrd.Abort();
+            _thrd.Join();
+        }
+
+        private void InputThread()
+        {
+            try
+            {
+                using (var port = new SerialPort("COM6", 115200))
+                {
+                    port.Open();
+                    while (true)
+                    {
+                        try
+                        {
+                            string input = port.ReadLine();
+                            double[] values = input.Split(" \t\r\n".ToArray()).Where(x => x.Length > 0)
+                                .Select(x => Convert.ToDouble(x)).ToArray();
+                            if (values.Length != 6)
+                                continue;
+
+                            Dispatcher.Invoke(() =>
+                            {
+                                Debug.WriteLine(input);
+                                Canvas.SetLeft(rect, values[0] * 10);
+                                Canvas.SetRight(rect, values[1] * 10);
+                                rectRotate.Angle = values[5] * 180 / Math.PI;
+                            });
+                        }
+                        catch (FormatException) { }
+                        catch (TimeoutException) { }
+                    }
+                }
+            }
+            catch (InvalidOperationException)
+            {
+                Dispatcher.Invoke(() =>
+                {
+                    MessageBox.Show("arduino connection closed");
+                    Close();
+                });
+            }
+        }
+
+        private Thread _thrd;
+    }
+}

wuhyuo/Properties/AssemblyInfo.cs

+using System.Reflection;
+using System.Resources;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+using System.Windows;
+
+// 어셈블리에 대한 일반 정보는 다음 특성 집합을 통해 
+// 제어됩니다. 어셈블리와 관련된 정보를 수정하려면
+// 이러한 특성 값을 변경하세요.
+[assembly: AssemblyTitle("wuhyuo")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("wuhyuo")]
+[assembly: AssemblyCopyright("Copyright ©  2019")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// ComVisible을 false로 설정하면 이 어셈블리의 형식이 COM 구성 요소에 
+// 표시되지 않습니다. COM에서 이 어셈블리의 형식에 액세스하려면
+// 해당 형식에 대해 ComVisible 특성을 true로 설정하세요.
+[assembly: ComVisible(false)]
+
+//지역화 가능 응용 프로그램 빌드를 시작하려면 다음을 설정하세요.
+//.csproj 파일에서 <PropertyGroup> 내에 <UICulture>CultureYouAreCodingWith</UICulture>를
+//설정하십시오. 예를 들어 소스 파일에서 영어(미국)를
+//사용하는 경우 <UICulture>를 en-US로 설정합니다. 그런 다음 아래
+//NeutralResourceLanguage 특성의 주석 처리를 제거합니다. 아래 줄의 "en-US"를 업데이트하여
+//프로젝트 파일의 UICulture 설정과 일치시킵니다.
+
+//[assembly: NeutralResourcesLanguage("en-US", UltimateResourceFallbackLocation.Satellite)]
+
+
+[assembly: ThemeInfo(
+    ResourceDictionaryLocation.None, //테마별 리소스 사전의 위치
+                                     //(페이지 또는 응용 프로그램 리소스 사진에
+                                     // 리소스가 없는 경우에 사용됨)
+    ResourceDictionaryLocation.SourceAssembly //제네릭 리소스 사전의 위치
+                                              //(페이지 또는 응용 프로그램 리소스 사진에
+                                              // 리소스가 없는 경우에 사용됨)
+)]
+
+
+// 어셈블리의 버전 정보는 다음 네 가지 값으로 구성됩니다.
+//
+//      주 버전
+//      부 버전 
+//      빌드 번호
+//      수정 버전
+//
+// 모든 값을 지정하거나 아래와 같이 '*'를 사용하여 빌드 번호 및 수정 번호가 자동으로
+// 지정되도록 할 수 있습니다.
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]

wuhyuo/Properties/Resources.Designer.cs

+//------------------------------------------------------------------------------
+// <auto-generated>
+//     이 코드는 도구를 사용하여 생성되었습니다.
+//     런타임 버전:4.0.30319.42000
+//
+//     파일 내용을 변경하면 잘못된 동작이 발생할 수 있으며, 코드를 다시 생성하면
+//     이러한 변경 내용이 손실됩니다.
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+namespace wuhyuo.Properties
+{
+
+
+    /// <summary>
+    ///   지역화된 문자열 등을 찾기 위한 강력한 형식의 리소스 클래스입니다.
+    /// </summary>
+    // 이 클래스는 ResGen 또는 Visual Studio와 같은 도구를 통해 StronglyTypedResourceBuilder
+    // 클래스에서 자동으로 생성되었습니다.
+    // 멤버를 추가하거나 제거하려면 .ResX 파일을 편집한 다음 /str 옵션을 사용하여
+    // ResGen을 다시 실행하거나 VS 프로젝트를 다시 빌드하십시오.
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "4.0.0.0")]
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
+    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+    internal class Resources
+    {
+
+        private static global::System.Resources.ResourceManager resourceMan;
+
+        private static global::System.Globalization.CultureInfo resourceCulture;
+
+        [global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
+        internal Resources()
+        {
+        }
+
+        /// <summary>
+        ///   이 클래스에서 사용하는 캐시된 ResourceManager 인스턴스를 반환합니다.
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Resources.ResourceManager ResourceManager {
+            get {
+                if ((resourceMan == null))
+                {
+                    global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("wuhyuo.Properties.Resources", typeof(Resources).Assembly);
+                    resourceMan = temp;
+                }
+                return resourceMan;
+            }
+        }
+
+        /// <summary>
+        ///   이 강력한 형식의 리소스 클래스를 사용하여 모든 리소스 조회에 대해 현재 스레드의 CurrentUICulture 속성을
+        ///   재정의합니다.
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Globalization.CultureInfo Culture {
+            get {
+                return resourceCulture;
+            }
+            set {
+                resourceCulture = value;
+            }
+        }
+    }
+}

wuhyuo/Properties/Resources.resx

+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+</root>
\ No newline at end of file

wuhyuo/Properties/Settings.Designer.cs

+//------------------------------------------------------------------------------
+// <auto-generated>
+//     This code was generated by a tool.
+//     Runtime Version:4.0.30319.42000
+//
+//     Changes to this file may cause incorrect behavior and will be lost if
+//     the code is regenerated.
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+namespace wuhyuo.Properties
+{
+
+
+    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "11.0.0.0")]
+    internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase
+    {
+
+        private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
+
+        public static Settings Default {
+            get {
+                return defaultInstance;
+            }
+        }
+    }
+}

wuhyuo/Properties/Settings.settings

+<?xml version='1.0' encoding='utf-8'?>
+<SettingsFile xmlns="uri:settings" CurrentProfile="(Default)">
+  <Profiles>
+    <Profile Name="(Default)" />
+  </Profiles>
+  <Settings />
+</SettingsFile>
\ No newline at end of file

wuhyuo/wuhyuo.csproj

+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>{990FED84-DE8A-4474-BAC7-082B64843B7D}</ProjectGuid>
+    <OutputType>WinExe</OutputType>
+    <RootNamespace>wuhyuo</RootNamespace>
+    <AssemblyName>wuhyuo</AssemblyName>
+    <TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <ProjectTypeGuids>{60dc8134-eba5-43b8-bcc9-bb4bc16c2548};{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}</ProjectTypeGuids>
+    <WarningLevel>4</WarningLevel>
+    <AutoGenerateBindingRedirects>true</AutoGenerateBindingRedirects>
+    <Deterministic>true</Deterministic>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <PlatformTarget>AnyCPU</PlatformTarget>
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <PlatformTarget>AnyCPU</PlatformTarget>
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="System" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Xml" />
+    <Reference Include="Microsoft.CSharp" />
+    <Reference Include="System.Core" />
+    <Reference Include="System.Xml.Linq" />
+    <Reference Include="System.Data.DataSetExtensions" />
+    <Reference Include="System.Net.Http" />
+    <Reference Include="System.Xaml">
+      <RequiredTargetFramework>4.0</RequiredTargetFramework>
+    </Reference>
+    <Reference Include="WindowsBase" />
+    <Reference Include="PresentationCore" />
+    <Reference Include="PresentationFramework" />
+  </ItemGroup>
+  <ItemGroup>
+    <ApplicationDefinition Include="App.xaml">
+      <Generator>MSBuild:Compile</Generator>
+      <SubType>Designer</SubType>
+    </ApplicationDefinition>
+    <Page Include="MainWindow.xaml">
+      <Generator>MSBuild:Compile</Generator>
+      <SubType>Designer</SubType>
+    </Page>
+    <Compile Include="App.xaml.cs">
+      <DependentUpon>App.xaml</DependentUpon>
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="MainWindow.xaml.cs">
+      <DependentUpon>MainWindow.xaml</DependentUpon>
+      <SubType>Code</SubType>
+    </Compile>
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="Properties\AssemblyInfo.cs">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Properties\Resources.Designer.cs">
+      <AutoGen>True</AutoGen>
+      <DesignTime>True</DesignTime>
+      <DependentUpon>Resources.resx</DependentUpon>
+    </Compile>
+    <Compile Include="Properties\Settings.Designer.cs">
+      <AutoGen>True</AutoGen>
+      <DependentUpon>Settings.settings</DependentUpon>
+      <DesignTimeSharedInput>True</DesignTimeSharedInput>
+    </Compile>
+    <EmbeddedResource Include="Properties\Resources.resx">
+      <Generator>ResXFileCodeGenerator</Generator>
+      <LastGenOutput>Resources.Designer.cs</LastGenOutput>
+    </EmbeddedResource>
+    <None Include="Properties\Settings.settings">
+      <Generator>SettingsSingleFileGenerator</Generator>
+      <LastGenOutput>Settings.Designer.cs</LastGenOutput>
+    </None>
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="App.config" />
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+</Project>
\ No newline at end of file