mavisctl.cpp

机器人程序

// MavisCtl.cpp - by Robin Hewitt, 2004-2005
// http://www.robinhewitt.com/mavis
// This is free software. See license at the bottom
// of this file for details.
//

//////////////////////////////////////////////////////////////
// Defines the entry point for the MavisCtl application.
// Creates the application window and runs message loop.
//

#define USE_OPENCVINTERFACE


#include "MavisCtl.h"
#include <errno.h>

//
// Global Variables:
//

// Handles to use in WinAPI calls...
HINSTANCE  ghInst;                           // current instance
TCHAR      gszTitle[MAX_LOADSTRING];         // title bar text
TCHAR      gszWindowClass[MAX_LOADSTRING];   // class name for the application window
HWND       ghWnd = NULL;                     // main application window
TCHAR      gszStatusClass[MAX_LOADSTRING];   // class name for the status window
char       gStatusMsgBuf[1000];              // buffer for status-bar messages
HACCEL     ghAccelTable;                     // keyboard shortcut mapping
HFONT      ghfontApp=0;                      // application font
TEXTMETRIC gtm={0};                          // text metrics for application font

// ...to look for for an object
HWND       ghWndObjList = NULL;              // list of Mavis objects
int        gListInd = 0;                     // current index for ghWndObjList
char       gObjNameBuf[1000];                // buffer for names of Mavis objects
HWND       ghwndLookButton = NULL;           // "Look Once" button
HWND       ghwndLookContButton = NULL;       // "Start/Stop Looking" button

// ...to calibrate the camera
HWND       ghwndCalibrateButton = NULL;      // "Calibrate" button
HWND       ghwndInstrText = NULL;            // Instruction text for camera calibration
HWND       ghwndNextButton = NULL;           // "Next" button for camera calibration steps
HWND       ghwndStopButton = NULL;           // "Stop" button - stops calibration

// ...to locate 3D horizonal lines
HWND       ghwndHLinesButton = NULL;         // "H-Lines" button
HWND       ghwndHLinesText   = NULL;         // message text for HLines
HWND       ghwndTravelDist   = NULL;         // input box for travel distance between frames

HWND       ghwndMMText       = NULL;         // static control that says mm


// status bar instance
StatusBar * pStatus = NULL;

// Bitmap display objects
RECT  rcBmp;
BITMAPINFOHEADER bih;
BYTE * pBmpBuffer = NULL;
int    bufSize = 0;

// Mavis
Mavis * pMv          = NULL;
HANDLE  hMavisThread = NULL;


// Mavis dll
HINSTANCE         mavisdll         = NULL;
LOOKONCEPROC      procLookOnce     = NULL;
STARTLOOKPROC     procStartLooking = NULL;
STOPLOOKPROC      procStopLooking  = NULL;
LOCATEHLINESPROC  procLocateHLines = NULL;
NEXTLINEPROC      procNextLine     = NULL;
NEXTFRAMEPROC     procNextFrame    = NULL;

// structures for communicating with Mavis
CtlData_t       ctlData;
ObjLoc_t        objLoc;
HLineMetadata_t HLinesMetadata;

// separate thread for looking until there's a sighting
HANDLE  hLookContThread = NULL;

// camera calibration
CalibrationHelper * pCH = NULL;

// app state
int gAppState;


//
// Foward declarations of functions included in this code module:
//
ATOM              MyRegisterClass(HINSTANCE hInstance);
BOOL              InitInstance(HINSTANCE, int);
void              OnClose();
LRESULT CALLBACK  WndProc(HWND, UINT, WPARAM, LPARAM);
LRESULT CALLBACK  About(HWND, UINT, WPARAM, LPARAM);
LRESULT CALLBACK  StatusProc(HWND hwnd, UINT msg, WPARAM wParam, LPARAM lParam);
LRESULT CALLBACK  StatusText(HWND hwnd, UINT msg, WPARAM wParam, LPARAM lParam);
int               FrameCB(BYTE * pBuff, int nBytes);
void              DisplayBitmap();
bool              LoadMavisDll();
void              UnloadMavisDll();
void              SetAppState(int);
DWORD WINAPI      RunMavis(LPVOID lpThreadData);
DWORD WINAPI      LookUntilSighted(LPVOID lpThreadData);


//
//   FUNCTION: WinMain(HINSTANCE, HINSTANCE, LPSTR, int)
//
//   PURPOSE: Program entry point.
//
//   COMMENTS:
//        Most of the initialization work is done in InitInstance()
//        which is called from here. In this function, the window title
//        and class name strings are loaded. These are used to verify
//        that no other instance is running. Mavis will fail if another
//        instance is running. This check gives us a chance to display
//        a meaningful error message in that case.
//
int APIENTRY WinMain(HINSTANCE hInstance,
                     HINSTANCE hPrevInstance,
                     LPSTR     lpCmdLine,
                     int       nCmdShow)
{

	// Initialize global strings
	LoadString(hInstance, IDS_APP_TITLE, gszTitle, MAX_LOADSTRING);
	LoadString(hInstance, IDC_MAVISCTL, gszWindowClass, MAX_LOADSTRING);
	LoadString(hInstance, IDS_STATUS, gszStatusClass, MAX_LOADSTRING);

	// only allow one instance to run
	if( FindWindow(gszWindowClass, gszTitle) )
	{
		MessageBox(NULL, TEXT("Mavis Control Program is Already Running"), gszTitle, 0);
		return FALSE;
	}

	// Initialize the application
	if (!InitInstance (hInstance, nCmdShow)) return FALSE;

	// Main message loop:
	MSG msg;
	while (GetMessage(&msg, NULL, 0, 0))
	{
		if (!TranslateAccelerator(msg.hwnd, ghAccelTable, &msg))
		{
			TranslateMessage(&msg);
			DispatchMessage(&msg);
		}
	}

	// Reached on WM_QUIT message
	OnClose();

	return msg.wParam;
}


//
//   FUNCTION: InitInstance(HANDLE, int)
//
//   PURPOSE: Initialize application data and save handles to window
//            and instance.
//
//   COMMENTS:
//        In this function, we save the instance and window handles in global
//        variables, initialize Mavis, and create and display the main program
//        window.
//
BOOL InitInstance(HINSTANCE hInstance, int nCmdShow)
{

	HDC         hdc;

	// set up the application window and store global variables
	ghInst = hInstance;
	MyRegisterClass(ghInst);
	ghWnd = CreateWindow(gszWindowClass, gszTitle, WS_OVERLAPPEDWINDOW,
		CW_USEDEFAULT, 0, 705, 400, NULL, NULL, hInstance, NULL);
	if (!ghWnd)
	{
		MessageBox(NULL, TEXT("Failed to create client window"), gszTitle, 0);
		return FALSE;
	}
	ghAccelTable = LoadAccelerators(hInstance, (LPCTSTR)IDC_MAVISCTL);

	// get some GDI data
	ghfontApp = (HFONT)GetStockObject(ANSI_VAR_FONT);
	hdc = GetDC(NULL);
	SelectObject(hdc, ghWnd);
	GetTextMetrics(hdc, &gtm);
	ReleaseDC(NULL, hdc);

	// create the object list
	ghWndObjList = CreateWindow(
		TEXT("listbox"),
		NULL,
		WS_CHILD | WS_VISIBLE | LBS_STANDARD,
		340, 20, 200, 2*gtm.tmHeight,
		ghWnd,
		(HMENU)LIST_OBJS,
		ghInst,
		NULL
	);
	SendMessage(ghWndObjList, LB_ADDSTRING, 0, (LPARAM)HOMEBASE_OBJ_NAME);
	SendMessage(ghWndObjList, LB_ADDSTRING, 1, (LPARAM)MOTION_DETECTOR_NAME);
	//SendMessage(ghWndObjList, LB_ADDSTRING, 2, (LPARAM)MPI_FACE_OBJ_NAME);
	//SendMessage(ghWndObjList, LB_ADDSTRING, 3, (LPARAM)"Bruce");
	SendMessage(ghWndObjList, LB_ADDSTRING, 3, (LPARAM)HAAR_FACE_DETECTOR_NAME);
	SendMessage(ghWndObjList, LB_SETCURSEL, (WPARAM)gListInd, (LPARAM)0);
	SendMessage(ghWndObjList, LB_GETTEXT, (WPARAM)gListInd, (LPARAM)gObjNameBuf);


	// Layout the top row with buttons:
	// create the "Look Once" button
	ghwndLookButton = CreateWindow(
		TEXT("button"),                             // pointer to registered class name
		TEXT("Look Once"),                          // pointer to window name
		WS_CHILD|BS_PUSHBUTTON|BS_TEXT|WS_VISIBLE,  // window style
		340,                                        // horizontal position of window
		20 + 2*gtm.tmHeight,                        // vertical position of window
		12*gtm.tmAveCharWidth,                      // window width
		2*gtm.tmHeight,                             // window height
		ghWnd,                                      // handle to parent window
		(HMENU)BTN_LOOK_ONCE,                       // handle to child-window identifier
		ghInst,                                     // handle to application instance
		NULL                                        // pointer to window-creation data
	);

	// create the "Start/Stop Looking" button
	ghwndLookContButton = CreateWindow(
		TEXT("button"),                             // pointer to registered class name
		TEXT("Look Cont."),                         // pointer to window name
		WS_CHILD|BS_PUSHBUTTON|BS_TEXT|WS_VISIBLE,  // window style
		340 + 4 + 12*gtm.tmAveCharWidth,            // horizontal position of window
		20 + 2*gtm.tmHeight,                        // vertical position of window
		12*gtm.tmAveCharWidth,                      // window width
		2*gtm.tmHeight,                             // window height
		ghWnd,                                      // handle to parent window
		(HMENU)BTN_LOOK_CONT,                       // handle to child-window identifier
		ghInst,                                     // handle to application instance
		NULL                                        // pointer to window-creation data
	);

	// create the "Calibrate" button
	ghwndCalibrateButton = CreateWindow(
		TEXT("button"),                             // pointer to registered class name
		TEXT("Calibrate"),                          // pointer to window name
		WS_CHILD|BS_PUSHBUTTON|BS_TEXT|WS_VISIBLE,  // window style
		340 + 8 + 24*gtm.tmAveCharWidth,            // horizontal position of window
		20 + 2*gtm.tmHeight,                        // vertical position of window
		12*gtm.tmAveCharWidth,                      // window width
		2*gtm.tmHeight,                             // window height
		ghWnd,                                      // handle to parent window
		(HMENU)BTN_CALIBRATE,                       // handle to child-window identifier
		ghInst,                                     // handle to application instance
		NULL                                        // pointer to window-creation data
	);

	// create the "H-Lines" button
	ghwndHLinesButton = CreateWindow(
		TEXT("button"),                             // pointer to registered class name
		TEXT("H-Lines"),                            // pointer to window name
		WS_CHILD|BS_PUSHBUTTON|BS_TEXT|WS_VISIBLE,  // window style
		340 + 12 + 36*gtm.tmAveCharWidth,           // horizontal position of window
		20 + 2*gtm.tmHeight,                        // vertical position of window
		12*gtm.tmAveCharWidth,                      // window width
		2*gtm.tmHeight,                             // window height
		ghWnd,                                      // handle to parent window
		(HMENU)BTN_HLINES,                          // handle to child-window identifier
		ghInst,                                     // handle to application instance
		NULL                                        // pointer to window-creation data
	);


	// Layout the area beneath the buttons:
	// create the "instruction" text area - for calibration
	ghwndInstrText = CreateWindow(
		TEXT("static"),                             // pointer to registered class name
		TEXT(""),                                   // pointer to window name
		WS_CHILD|SS_LEFT|SS_SUNKEN|WS_VISIBLE,      // window style
		345,                                        // horizontal position of window
		20 + 5*gtm.tmHeight,                        // vertical position of window
		200,                                        // window width
		10*gtm.tmHeight,                            // window height
		ghWnd,                                      // handle to parent window
		(HMENU)TXT_INSTR,                           // handle to child-window identifier
		ghInst,                                     // handle to application instance
		NULL                                        // pointer to window-creation data
	);
	SetBkColor( GetDC(ghwndInstrText), GetBkColor(GetDC(ghWnd)) );

	// create the message area for locating HLines
	ghwndHLinesText = CreateWindow(
		TEXT("static"),                             // pointer to registered class name
		TEXT(""),                                   // pointer to window name
		WS_CHILD|SS_LEFT|SS_SUNKEN|WS_VISIBLE,      // window style
		345,                                        // horizontal position of window
		20 + 2*gtm.tmHeight,                        // vertical position of window
		240,                                        // window width
		10*gtm.tmHeight,                            // window height
		ghWnd,                                      // handle to parent window
		(HMENU)TXT_INSTR,                           // handle to child-window identifier
		ghInst,                                     // handle to application instance
		NULL                                        // pointer to window-creation data
	);
	SetBkColor( GetDC(ghwndHLinesText), GetBkColor(GetDC(ghWnd)) );

	// create the input box for travel distance when locating HLines
	ghwndTravelDist = CreateWindow(
		TEXT("edit"),                          // pointer to registered class name
		TEXT(""),                              // pointer to window name
		WS_CHILD|WS_VISIBLE|WS_BORDER|ES_LEFT, // window style
		345,                                   // horizontal position of window
		25 + 13*gtm.tmHeight,                  // vertical position of window
		80,                                    // window width
		1.3 * gtm.tmHeight,                    // window height
		ghWnd,                                 // handle to parent window
		(HMENU)EDIT_HLINES,                    // handle to child-window identifier
		ghInst,                                // handle to application instance
		NULL                                   // pointer to window-creation data
	);

	// add a "mm" label after the intput box
	ghwndMMText = CreateWindow(
		TEXT("static"),                   // pointer to registered class name
		TEXT("mm"),                       // pointer to window name
		WS_CHILD|SS_CENTER|WS_VISIBLE,    // window style
		345 + 83,                         // horizontal position of window
		25 + 13*gtm.tmHeight,             // vertical position of window
		2*gtm.tmMaxCharWidth,             // window width
		1.3 * gtm.tmHeight,               // window height
		ghWnd,                            // handle to parent window
		(HMENU)TXT_INSTR,                 // handle to child-window identifier
		ghInst,                           // handle to application instance
		NULL                              // pointer to window-creation data
	);
	SetBkColor( GetDC(ghwndMMText), 0x00ffffff );

	// create the "Next" button
	ghwndNextButton = CreateWindow(
		TEXT("button"),                             // pointer to registered class name
		TEXT("Next"),                               // pointer to window name
		WS_CHILD|BS_PUSHBUTTON|BS_TEXT|WS_VISIBLE,  // window style
		345,                                        // horizontal position of window
		25 + 15*gtm.tmHeight,                       // vertical position of window
		6*gtm.tmAveCharWidth,                       // window width
		2*gtm.tmHeight,                             // window height
		ghWnd,                                      // handle to parent window
		(HMENU)BTN_NEXT,                            // handle to child-window identifier
		ghInst,                                     // handle to application instance
		NULL                                        // pointer to window-creation data
	);

	// create the "Stop" button
	ghwndStopButton = CreateWindow(
		TEXT("button"),                             // pointer to registered class name
		TEXT("Stop"),                               // pointer to window name
		WS_CHILD|BS_PUSHBUTTON|BS_TEXT|WS_VISIBLE,  // window style
		355 + 6*gtm.tmAveCharWidth,                 // horizontal position of window
		25 + 15*gtm.tmHeight,                       // vertical position of window
		6*gtm.tmAveCharWidth,                       // window width
		2*gtm.tmHeight,                             // window height
		ghWnd,                                      // handle to parent window
		(HMENU)BTN_STOP,                            // handle to child-window identifier
		ghInst,                                     // handle to application instance
		NULL                                        // pointer to window-creation data
	);


	// Status Bar
	try
	{
		pStatus = new StatusBar(ghInst, ghWnd, (WNDPROC)StatusProc, (WNDPROC)StatusText);
	}
	catch(std::runtime_error& e)
	{
		MessageBox(NULL, TEXT( e.what() ), gszTitle, 0);
		return FALSE;
	}

	// prepare bitmap-display objects
	SetRect(&rcBmp, 10, 20, 330, 260);
	memset( &bih, 0, sizeof( bih ) );
	bih.biSize = sizeof( bih );
	bih.biWidth  = 320;
	bih.biHeight = 240;
	bih.biPlanes = 1;
	bih.biBitCount = 24;

	// initialize Mavis
	try
	{
		pMv = new Mavis(FrameCB);
	}
	catch(MavisErr& e)
	{
		string msg = "Error: ";
		msg += e.getMsg();
		MessageBox(NULL, TEXT(msg.c_str()), gszTitle, 0);
		return FALSE;