teleoperationdlg.cpp

机器人视觉处理程序

// TeleoperationDlg.cpp : implementation file
//

#include "stdafx.h"
#include "IRExpPlatform.h"
#include "IRExpPlatformDlg.h"
#include "TeleoperationDlg.h"
#include "VideoConfigureDlg.h"
#include "global.h"

#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif


/////////////////////////////////////////////////////////////////////////////
// CTeleoperationDlg dialog


CTeleoperationDlg::CTeleoperationDlg(CWnd* pParent /*=NULL*/)
	: CDialog(CTeleoperationDlg::IDD, pParent)
{
	//{{AFX_DATA_INIT(CTeleoperationDlg)
	m_CarState = _T("");
	//}}AFX_DATA_INIT
}


void CTeleoperationDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CTeleoperationDlg)
	DDX_Text(pDX, IDC_EDITCARSTATE, m_CarState);
	DDV_MaxChars(pDX, m_CarState, 20);
	//}}AFX_DATA_MAP
}


BEGIN_MESSAGE_MAP(CTeleoperationDlg, CDialog)
	//{{AFX_MSG_MAP(CTeleoperationDlg)
	ON_BN_CLICKED(IDC_TELECLOSE, OnTeleclose)
	//ON_BN_CLICKED(IDC_BACKTOWELOMEDLG, OnBacktowelomedlg)
	ON_BN_CLICKED(IDC_TELEFRONT, OnTelefront)
	ON_BN_CLICKED(IDC_TELEBACK, OnTeleback)
	ON_BN_CLICKED(IDC_TELELEFT, OnTeleleft)
	ON_BN_CLICKED(IDC_TELERIGHT, OnTeleright)
	ON_BN_CLICKED(IDC_TELESTOP, OnTelestop)
	ON_BN_CLICKED(IDC_CONFIGVIDEOINOPERATIONDLG, OnConfigvideoinoperationdlg)
	ON_BN_CLICKED(IDC_CLOSECOLVIDEO, OnClosecolvideo)
	ON_BN_CLICKED(IDC_OPENCOLVIDEO, OnOpencolvideo)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CTeleoperationDlg message handlers

void CTeleoperationDlg::OnTeleclose() 
{
	// TODO: Add your control notification handler code here

	capDriverDisconnect(m_hCaptureInTeleDlg);
	StopCar();	
	CDialog::OnCancel();

}
/*
void CTeleoperationDlg::OnBacktowelomedlg() 
{
	// TODO: Add your control notification handler code here
	capDriverDisconnect(m_hCaptureInTeleDlg);
	StopCar();	
	CDialog::OnCancel();
//    AfxGetMainWnd()->ShowWindow(SW_SHOW);

}
*/
BOOL CTeleoperationDlg::OnInitDialog() 
{
	CDialog::OnInitDialog();
	// TODO: Add extra initialization here

	m_CarState="停止";						//初始化小车状态
	UpdateData(false);
	
	//以下八行初始化对应控件的使能状态
	GetDlgItem(IDC_OPENCOLVIDEO)->EnableWindow(TRUE);
	GetDlgItem(IDC_CLOSECOLVIDEO)->EnableWindow(FALSE);
	GetDlgItem(IDC_TELEFRONT)->EnableWindow(FALSE);
	GetDlgItem(IDC_TELEBACK)->EnableWindow(FALSE);
	GetDlgItem(IDC_TELELEFT)->EnableWindow(FALSE);
	GetDlgItem(IDC_TELERIGHT)->EnableWindow(FALSE);
	GetDlgItem(IDC_TELESTOP)->EnableWindow(FALSE);
	GetDlgItem(IDC_CONFIGVIDEOINOPERATIONDLG) -> EnableWindow(FALSE);	

	
	theApp.bColor = TRUE;					//显示彩色视频
	
	return TRUE;  // return TRUE unless you set the focus to a control
	              // EXCEPTION: OCX Property Pages should return FALSE
}
BOOL CTeleoperationDlg::PreTranslateMessage(MSG* pMsg)
	                     //Nonzero if the message was translated and should not be dispatched; 
						 //zero if the message was not translated and should be dispatched
{
   // TODO: Add your specialized code here and/or call the base class

    if(WM_KEYFIRST<=pMsg->message&&pMsg->message<=WM_KEYLAST)
	{													//为键盘按键
		switch(pMsg->wParam)
		{
		case VK_SPACE:
            CTeleoperationDlg::OnTelestop();			//小车启停对应空格键
			break;
		case VK_LEFT:
			CTeleoperationDlg::OnTeleleft();			//小车左转对应左方向键
			break;
		case VK_RIGHT:
			CTeleoperationDlg::OnTeleright();			//小车右转对应右方向键
			break;		
		case VK_UP:
			CTeleoperationDlg::OnTelefront();			//小车前进对应上方向键
			break;
		case VK_DOWN:
			CTeleoperationDlg::OnTeleback();			//小车后退对应下方向键
            break;
		default:
			break;
		}
	}
	return CDialog::PreTranslateMessage(pMsg);
}

void CTeleoperationDlg::OnTelefront() 
{
	// TODO: Add your control notification handler code here
	theApp.nMotiontype=FORWARD;
	Motion();
	m_CarState="前进";             //小车状态为前进
	UpdateData(FALSE);
}

void CTeleoperationDlg::OnTeleback() 
{
	// TODO: Add your control notification handler code here
	theApp.nMotiontype=BACK;
	Motion();
	m_CarState="后退";                //小车状态为后退
	UpdateData(FALSE);
}

void CTeleoperationDlg::OnTeleleft() 
{
	// TODO: Add your control notification handler code here
	theApp.nMotiontype=TURNLEFT;
	Motion();
	m_CarState="左转";                //小车状态为左转
	UpdateData(FALSE);
	
}

void CTeleoperationDlg::OnTeleright() 
{
	// TODO: Add your control notification handler code here
	theApp.nMotiontype=TURNRIGHT;
	Motion();
	m_CarState="右转";                //小车状态为右转
	UpdateData(false);
	
}

void CTeleoperationDlg::OnTelestop() 
{
	// TODO: Add your control notification handler code here
	theApp.nMotiontype=STOP;
	Motion();
	m_CarState="停止";            //小车状态为停止
	UpdateData(false);
}

void CTeleoperationDlg::OnConfigvideoinoperationdlg() 
{
	// TODO: Add your control notification handler code here
	CVideoConfigureDlg VideoConfigureDlg;
	VideoConfigureDlg.DoModal();	
}

void CTeleoperationDlg::OnClosecolvideo() 
{
	// TODO: Add your control notification handler code here
	capDriverDisconnect(m_hCaptureInTeleDlg);  //关闭视频

	//以下八行初始化对应控件的使能状态
	GetDlgItem(IDC_OPENCOLVIDEO)->EnableWindow(TRUE);
	GetDlgItem(IDC_CLOSECOLVIDEO)->EnableWindow(FALSE);	
	GetDlgItem(IDC_TELEFRONT)->EnableWindow(FALSE);
	GetDlgItem(IDC_TELEBACK)->EnableWindow(FALSE);
	GetDlgItem(IDC_TELELEFT)->EnableWindow(FALSE);
	GetDlgItem(IDC_TELERIGHT)->EnableWindow(FALSE);
	GetDlgItem(IDC_TELESTOP)->EnableWindow(FALSE);
	GetDlgItem(IDC_CONFIGVIDEOINOPERATIONDLG)->EnableWindow(FALSE);

	m_CarState="停止";                //小车状态为停止
	UpdateData(FALSE);
	
}

HWND CTeleoperationDlg::IniVideo(HWND m_hwn)
{
	HWND m_hTempCapture;
	
	CWnd *pWnd=GetDlgItem(IDC_VIDEOINTELEDLG); //取得原始图像显示对应的Picture控件指针
	CRect videoRect;
	CRect windowRect;
	long xoffset;
	long yoffset;
	int  hTitle;
	
	//让视频窗口正好覆盖原始图像显示对应的Picture控件
	//GetWindowRect()求取的坐标是相对于显示器左上角而言的
	pWnd->GetWindowRect(&videoRect);       //取得原始图像显示对应的Picture控件矩形   
	GetWindowRect(&windowRect);                     //取得整个对话框矩形
	xoffset=videoRect.TopLeft().x -windowRect.TopLeft().x;
	yoffset=videoRect.TopLeft().y -windowRect.TopLeft().y;

	hTitle =::GetSystemMetrics(SM_CYSIZE); 	       //求取标题栏高度

	m_hTempCapture = capCreateCaptureWindow ("CapWindow", WS_EX_CONTROLPARENT
			| WS_CHILD | WS_VISIBLE, xoffset-3, yoffset-hTitle-2, videoRect.Width(), 
			videoRect.Height(), this->m_hWnd, 0);  
	             //-2,-3是为了微调窗口左上角坐标,因为视频窗口显示时可能存在2-3格象素的误差
    ASSERT(m_hTempCapture );
	CAPDRIVERCAPS capDrvCaps;                     // CAPDRIVERCAPS结构体定义了驱动器的性能                   

	//判断采集窗口是否与0号捕获卡驱动程序相连接
	//这里采用简化的方法，因只有一块捕获卡，计算机自动登记号码通常是为0  
	if (capDriverConnect(m_hTempCapture , 0))
	{
		//作默认值初始化，并得到驱动器的性能，存入CAPDRIVERCAPS结构中
		capDriverGetCaps(m_hTempCapture , &capDrvCaps, sizeof(CAPDRIVERCAPS)); 

		//如果初始化成功
		if (capDrvCaps.fCaptureInitialized) 
		{	
			//设置预视帧频
			capPreviewRate(m_hTempCapture , 2 * 1000 / RATE); 

			//设置成预视模式(preview),该方式是通过内存作
			//为缓冲区来存放视频数据，它是获得视频数据的必要条件.
			//另一种称为Overlay模式，它是不经过内存而直接将
			//数据传入显存中。它不符合我们要求.
			//但preview模式很消耗CPU资源,从而减少系统的整体响应时间
			capPreview(m_hTempCapture , TRUE);

			//设置每帧结束后所调用的回调函数（默认为彩色视频）
			capSetCallbackOnFrame(m_hTempCapture , FrameCallbackProc); 

		}

		//如果初始化不成功
		else{
			//初始化不成功的消息框显示
			AfxMessageBox("捕获卡初始化失败"); 
			//发送WM_CLOSE消息，关闭对话框
			AfxGetMainWnd()->PostMessage(WM_CLOSE);
		}
	}
	//连接不成功
	else{
		//连接不成功的消息框显示
		AfxMessageBox("捕获卡连接失败"); 
		//发送WM_CLOSE消息，关闭对话框
	 	this->PostMessage(WM_CLOSE); 
	} 

		return m_hTempCapture;
}

void CTeleoperationDlg::OnOpencolvideo() 
{
	// TODO: Add your control notification handler code here
	m_hCaptureInTeleDlg=IniVideo(this->m_hWnd);//视频初始化
    if (capDriverConnect(m_hCaptureInTeleDlg, 0))  //判断视频是否打开
	{												 //如果视频打开
		GetDlgItem(IDC_OPENCOLVIDEO)->EnableWindow(FALSE);
	    GetDlgItem(IDC_CLOSECOLVIDEO)->EnableWindow(TRUE);		
		GetDlgItem(IDC_CONFIGVIDEOINOPERATIONDLG) -> EnableWindow(TRUE);
		GetDlgItem(IDC_TELEFRONT)->EnableWindow(TRUE);
		GetDlgItem(IDC_TELEBACK)->EnableWindow(TRUE);
		GetDlgItem(IDC_TELELEFT)->EnableWindow(TRUE);
		GetDlgItem(IDC_TELERIGHT)->EnableWindow(TRUE);
		GetDlgItem(IDC_TELESTOP)->EnableWindow(TRUE);
	}
	
}