visionview.cpp

来自「FIRA 3对3 机器人足球PC端控制程序。」· C++ 代码 · 共 2,092 行 · 第 1/5 页

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				}
				pZoomBuffer += 4;
			}
		}
		else 
			pZoomBuffer += 4*ZOOM_SIZE;
	}
}


// --------------------------------------------------------
// Param  : none
// Return : none
// Remark : 矫府倔 器飘 檬扁拳
// --------------------------------------------------------
void CVisionView::OnCom1() 
{
	// TODO: Add your control notification handler code here
	m_pComm.DestroyComm();
	UpdateData(TRUE);
	m_pComm.DestroyComm();
	m_pComm.SetComPort(1,19200,8,0,0);
	m_pComm.CreateCommInfo();
	m_pComm.OpenComPort();
	UpdateData(FALSE);		
	
}


// --------------------------------------------------------
// Param  : none
// Return : none
// Remark : 矫府倔 器飘 檬扁拳
// --------------------------------------------------------
void CVisionView::OnCom2() 
{
	// TODO: Add your control notification handler code here
	m_pComm.DestroyComm();
	UpdateData(TRUE);
	m_pComm.DestroyComm();
	m_pComm.SetComPort(2,19200,8,0,0);
	m_pComm.CreateCommInfo();
	m_pComm.OpenComPort();
	UpdateData(FALSE);	
	
}


// --------------------------------------------------------
// Param  : none
// Return : none
// Remark : 权评狼 榜措 困摹 (哭率, 坷弗率) 沥窍扁
// --------------------------------------------------------
void CVisionView::OnLeftHome() 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	bFlagIsOurHomeLeft = TRUE;
	UpdateData(FALSE);
}

void CVisionView::OnRightHome() 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	bFlagIsOurHomeLeft = FALSE;
	UpdateData(FALSE);
}


// --------------------------------------------------------
// Param  : none
// Return : none
// Remark : 惑炔喊 傈贱 急琶窍扁
// --------------------------------------------------------
void CVisionView::OnKickOff() 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	m_nGame = 0;
	MODE=m_nGame;
	//MODE = 0;
	UpdateData(FALSE);

}


// --------------------------------------------------------
void CVisionView::OnPenalityKick() 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	m_nGame = 1;
	MODE=m_nGame;
	UpdateData(FALSE);

}


// --------------------------------------------------------
void CVisionView::OnFreeKick() 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	m_nGame = 2;
	MODE=m_nGame;
	UpdateData(FALSE);

}


// --------------------------------------------------------
void CVisionView::OnFreeBall() 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	m_nGame = 3;
	MODE=m_nGame;
	UpdateData(FALSE);

}


// --------------------------------------------------------
void CVisionView::OnGoalieKick() 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	m_nGame = 4;
	MODE=m_nGame;
	UpdateData(FALSE);
	
}


// --------------------------------------------------------
void CVisionView::OnDefense() 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	m_nGame = 5;
	MODE=m_nGame;
	UpdateData(FALSE);

}

 
// --------------------------------------------------------
void CVisionView::OnKickOff2() 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	m_nSetting = 0;
	MODE1=m_nSetting;
	UpdateData(FALSE);
	
}


// --------------------------------------------------------
void CVisionView::OnPenalityKick2() 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	m_nSetting = 1;
	MODE1=m_nSetting;
	UpdateData(FALSE);
	
}


// --------------------------------------------------------
void CVisionView::OnFreeKick2() 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	m_nSetting = 2;
	MODE1=m_nSetting;
	UpdateData(FALSE);
	
}


// --------------------------------------------------------
void CVisionView::OnFreeBall21() 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	m_nSetting = 3;
	MODE1=m_nSetting;
	UpdateData(FALSE);

}


// --------------------------------------------------------
void CVisionView::OnFreeBall22() 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	m_nSetting = 4;
	MODE1=m_nSetting;
	UpdateData(FALSE);
	
}


// --------------------------------------------------------
void CVisionView::OnFreeBall23() 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	m_nSetting = 5;
	MODE1=m_nSetting;
	UpdateData(FALSE);
	
}


// --------------------------------------------------------
void CVisionView::OnFreeBall24() 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	m_nSetting = 6;
	MODE1=m_nSetting;
	UpdateData(FALSE);
	
}


// --------------------------------------------------------
void CVisionView::OnGoalieKick2() 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	m_nSetting = 7;
	MODE1=m_nSetting;
	UpdateData(FALSE);
	
}


// --------------------------------------------------------
void CVisionView::OnDefense2() 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	m_nSetting = 8;
	MODE1=m_nSetting;
	UpdateData(FALSE);
	
}



 

// --------------------------------------------------------
// Param  : rx, ry			捞傈 橇饭烙狼 拱眉 困摹 
//			size			飘发欧 扩档快 农扁 
//			*offx, *offy	飘发欧 扩档快狼 哭率, 困 困摹  
// Return : none
// Remark : 飘发欧 扩档快狼 谅惑窜 困摹甫 捞傈 拱眉 困摹甫
//			吝缴栏肺 犁汲沥茄促. 版拌俊 吧摹霸 登搁 弊 版拌
//			俊 搓霸 困摹矫挪促.
// --------------------------------------------------------
void CVisionView::DetermineOffsetXY(short rx, short ry, short size, long *offx, long *offy)
{
	short halfsize;		// 飘贰欧 扩档快 例馆 农扁(x, y 傍烹荤侩)
	halfsize = size/2;
	//榜虐欺啊 版扁厘 观, 捞甫抛搁 榜措啊 乐绰 率俊 乐绰 版快甫 积阿秦焊磊. 捞 版快 弧府 
	//唱客具 窍骨肺 版扁厘 观鳖瘤 飘发欧 扩档快甫 犬措且 鞘夸啊 乐促.
    /*if(rx < halfsize && ry < halfsize + rectBoundary.top){
		*offx = 0;
		*offy = rectBoundary.top;
	}
	else if(rx > (DispSizeX-1-halfsize) && ry < (halfsize+rectBoundary.top)){
		*offx = DispSizeX-1-size;
		*offy = rectBoundary.top;
	}
	else if(rx < halfsize && ry > (rectBoundary.bottom-1-halfsize)){
		*offx = 0;
		*offy = rectBoundary.bottom-1-size;
	}
	else if(rx > (DispSizeX-1-halfsize) && ry > (rectBoundary.bottom-1-halfsize)){
		*offx = DispSizeX-1-size;
		*offy = rectBoundary.bottom-1-size;
	}
	else if(rx < halfsize){
		*offx = 0;
		*offy = ry-halfsize;
	}
	else if(rx > (DispSizeX-1-halfsize) ){
		*offx = DispSizeX-1-size;
		*offy = ry-halfsize;
	}
	else if(ry < rectBoundary.top+halfsize){
		*offx = rx-halfsize;
		*offy = rectBoundary.top;
	}
	else if(ry > (rectBoundary.bottom-1-halfsize)){
		*offx = rx-halfsize;
		*offy = rectBoundary.bottom-1-size;
	}
	*/
	// 飘贰欧 扩档快啊 版拌甫 哈绢朝 惑炔捞搁 版拌鳖瘤父 困摹肺 棱绰促.
	if(rx < halfsize && ry < halfsize + rectBoundary.top){
		*offx = 0;
		*offy = rectBoundary.top;
	}
	else if(rx > (DispSizeX-1-halfsize) && ry < (halfsize+rectBoundary.top)){
		*offx = DispSizeX-1-size;
		*offy = rectBoundary.top;
	}
	else if(rx < halfsize && ry > (rectBoundary.bottom-1-halfsize)){
		*offx = 0;
		*offy = rectBoundary.bottom-1-size;
	}
	else if(rx > (DispSizeX-1-halfsize) && ry > (rectBoundary.bottom-1-halfsize)){
		*offx = DispSizeX-1-size;
		*offy = rectBoundary.bottom-1-size;
	}
	else if(rx < halfsize){
		*offx = 0;
		*offy = ry-halfsize;
	}
	else if(rx > (DispSizeX-1-halfsize) ){
		*offx = DispSizeX-1-size;
		*offy = ry-halfsize;
	}
	else if(ry < rectBoundary.top+halfsize){
		*offx = rx-halfsize;
		*offy = rectBoundary.top;
	}
	else if(ry > (rectBoundary.bottom-1-halfsize)){
		*offx = rx-halfsize;
		*offy = rectBoundary.bottom-1-size;
	}
	
	// 捞傈 拱眉困摹甫 吝缴栏肺 窍咯 飘贰欧 扩档快 困摹甫 棱绰促.
	else {
		*offx = rx-halfsize;
		*offy = ry-halfsize;
	}

	// 瘤陛篮 鞘荐啊 酒丛.
	// line捞 汗荤凳.
	if( iteration % 2 == 0 ) {		// 娄荐锅掳捞搁,
		if( *offy % 2 == 1)				// *offy甫 娄荐line俊 嘎勉
			*offy -= 1;
	}
	else {							// 圈荐锅掳捞搁,
		if( *offy % 2 == 0)				// *offy甫 圈荐line俊 嘎勉
			*offy += 1;		
	}
	
}


/////////////////////////////////////////////////
// Choi.W.H  2000.02.21

void CVisionView::LabelingWholeImage(short object)
{
	LabelingPartialImage(0, 0, DispSizeX, DispSizeY, object);
}

// Choi.W.H  2000.02.21
// //////////////////////////////////////////////

/*void CVisionView::LabelingWholeImage(long ImageSizeX, long ImageSizeY)
{
	if(bFlagEven)
		index_vram = BUF_OFFSET_1*(clientRect.top-1) + (clientRect.left-1);
	else
		index_vram = BUF_OFFSET_1*(clientRect.top) + (clientRect.left-1);
		

	NoError = TRUE;

	for(i=0;i<NUM_COLORS;i++){
		indexES[i]=0;
		NumberOfLabel[i]=0;
	}
	for(i=0;i<NUM_COLORS;i++)
		for(j=0;j<MAX_NUM_ESET;j++)
			ES[i][j][0] = 0;	// Initialization of # of labels in j-th ES of i-th color
	for(i=0;i<NUM_COLORS;i++)
		for(j=0;j<MAX_NUM_LABEL;j++)
			whichES[i][j] = 0;

	for(i=0;i<rectBoundary.top;i++){	// 0 <= i < rectBoundary.top
		index_vram += BUF_OFFSET_1; 
		for(j=0;j<ImageSizeX;j++) {
			label[i][j] = NONE_COLOR;
			ColorOfLabel[i][j] = NONE_COLOR;
		}
	}
	
	for(i=(short)rectBoundary.top;i<=rectBoundary.bottom;i++) { // rectBoundary.top <= i <= rectBoundary.bottom
		if(i%2 == 1) {
			index_vram += BUF_OFFSET_1;
			for(j=0;j<ImageSizeX;j++) {
				label[i][j] = label[i-1][j];
				ColorOfLabel[i][j] = ColorOfLabel[i-1][j];
			}
			continue;
		}

		index_vram++;	// j == 0;
		label[i][0] = NONE_COLOR;
		ColorOfLabel[i][0] = NONE_COLOR;
		
		for(j=1;j<
12345

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