vfwmod.h

用于机器人自动低分辨路的地图测绘程序。用于机器人控制测绘。分为远端控制端和本地控制端。控制电机为标准舵机。

typedef HANDLE HDRAWDIB; /* hdd */

/*********************************************************************

  DrawDib Flags

**********************************************************************/
#define DDF_UPDATE          0x0002          /* re-draw the last DIB */
#define DDF_SAME_HDC        0x0004          /* HDC same as last call (all setup) */
#define DDF_SAME_DRAW       0x0008          /* draw params are the same */
#define DDF_DONTDRAW        0x0010          /* dont draw frame, just decompress */
#define DDF_ANIMATE         0x0020          /* allow palette animation */
#define DDF_BUFFER          0x0040          /* always buffer image */
#define DDF_JUSTDRAWIT      0x0080          /* just draw it with GDI */
#define DDF_FULLSCREEN      0x0100          /* use DisplayDib */
#define DDF_BACKGROUNDPAL   0x0200	    /* Realize palette in background */
#define DDF_NOTKEYFRAME     0x0400          /* this is a partial frame update, hint */
#define DDF_HURRYUP         0x0800          /* hurry up please! */
#define DDF_HALFTONE        0x1000          /* always halftone */

#define DDF_PREROLL         DDF_DONTDRAW    /* Builing up a non-keyframe */
#define DDF_SAME_DIB        DDF_SAME_DRAW
#define DDF_SAME_SIZE       DDF_SAME_DRAW

/*********************************************************************

    DrawDib functions
	
*********************************************************************/
/*
**  DrawDibOpen()
**
*/
extern HDRAWDIB VFWAPI DrawDibOpen(void);

/*
**  DrawDibClose()
**
*/
extern BOOL VFWAPI DrawDibClose(HDRAWDIB hdd);

/*
** DrawDibGetBuffer()
**
*/
extern LPVOID VFWAPI DrawDibGetBuffer(HDRAWDIB hdd, LPBITMAPINFOHEADER lpbi, DWORD dwSize, DWORD dwFlags);

/*
**  DrawDibGetPalette()
**
**  get the palette used for drawing DIBs
**
*/
extern HPALETTE VFWAPI DrawDibGetPalette(HDRAWDIB hdd);

/*
**  DrawDibSetPalette()
**
**  get the palette used for drawing DIBs
**
*/
extern BOOL VFWAPI DrawDibSetPalette(HDRAWDIB hdd, HPALETTE hpal);

/*
**  DrawDibChangePalette()
*/
extern BOOL VFWAPI DrawDibChangePalette(HDRAWDIB hdd, int iStart, int iLen, LPPALETTEENTRY lppe);

/*
**  DrawDibRealize()
**
**  realize the palette in a HDD
**
*/
extern UINT VFWAPI DrawDibRealize(HDRAWDIB hdd, HDC hdc, BOOL fBackground);

/*
**  DrawDibStart()
**
**  start of streaming playback
**
*/
extern BOOL VFWAPI DrawDibStart(HDRAWDIB hdd, DWORD rate);

/*
**  DrawDibStop()
**
**  start of streaming playback
**
*/
extern BOOL VFWAPI DrawDibStop(HDRAWDIB hdd);

/*
**  DrawDibBegin()
**
**  prepare to draw
**
*/
extern BOOL VFWAPI DrawDibBegin(HDRAWDIB hdd,
                                    HDC      hdc,
                                    int      dxDst,
                                    int      dyDst,
                                    LPBITMAPINFOHEADER lpbi,
                                    int      dxSrc,
                                    int      dySrc,
                                    UINT     wFlags);
/*
**  DrawDibDraw()
**
**  actualy draw a DIB to the screen.
**
*/
extern BOOL VFWAPI DrawDibDraw(HDRAWDIB hdd,
                                   HDC      hdc,
                                   int      xDst,
                                   int      yDst,
                                   int      dxDst,
                                   int      dyDst,
                                   LPBITMAPINFOHEADER lpbi,
                                   LPVOID   lpBits,
                                   int      xSrc,
                                   int      ySrc,
                                   int      dxSrc,
                                   int      dySrc,
                                   UINT     wFlags);

/*
**  DrawDibUpdate()
**
**  redraw the last image (may only be valid with DDF_BUFFER)
*/
#define DrawDibUpdate(hdd, hdc, x, y) \
        DrawDibDraw(hdd, hdc, x, y, 0, 0, NULL, NULL, 0, 0, 0, 0, DDF_UPDATE)

/*
**  DrawDibEnd()
*/
extern BOOL VFWAPI DrawDibEnd(HDRAWDIB hdd);

/*
**  DrawDibTime()  [for debugging purposes only]
*/
typedef struct {
    LONG    timeCount;
    LONG    timeDraw;
    LONG    timeDecompress;
    LONG    timeDither;
    LONG    timeStretch;
    LONG    timeBlt;
    LONG    timeSetDIBits;
}   DRAWDIBTIME, FAR *LPDRAWDIBTIME;

BOOL VFWAPI DrawDibTime(HDRAWDIB hdd, LPDRAWDIBTIME lpddtime);

/* display profiling */
#define PD_CAN_DRAW_DIB         0x0001      /* if you can draw at all */
#define PD_CAN_STRETCHDIB       0x0002      /* basicly RC_STRETCHDIB */
#define PD_STRETCHDIB_1_1_OK    0x0004      /* is it fast? */
#define PD_STRETCHDIB_1_2_OK    0x0008      /* ... */
#define PD_STRETCHDIB_1_N_OK    0x0010      /* ... */

DWORD VFWAPI DrawDibProfileDisplay(LPBITMAPINFOHEADER lpbi);

#else
    #include <drawdib.h>
#endif  /* not _WIN32 */
#endif  /* NODRAWDIB */

/****************************************************************************
 *
 *  AVIFMT - AVI file format definitions
 *
 ****************************************************************************/

#ifndef NOAVIFMT
    #ifndef _INC_MMSYSTEM
        typedef DWORD FOURCC;
    #endif
#ifdef _WIN32

#ifdef _MSC_VER
#pragma warning(disable:4200)
#endif
    
/* The following is a short description of the AVI file format.  Please
 * see the accompanying documentation for a full explanation.
 *
 * An AVI file is the following RIFF form:
 *
 *	RIFF('AVI' 
 *	      LIST('hdrl'
 *		    avih(<MainAVIHeader>)
 *                  LIST ('strl'
 *                      strh(<Stream header>)
 *                      strf(<Stream format>)
 *                      ... additional header data
 *            LIST('movi'	 
 *      	  { LIST('rec' 
 *      		      SubChunk...
 *      		   )
 *      	      | SubChunk } ....	    
 *            )
 *            [ <AVIIndex> ]
 *      )
 *
 *	The main file header specifies how many streams are present.  For
 *	each one, there must be a stream header chunk and a stream format
 *	chunk, enlosed in a 'strl' LIST chunk.  The 'strf' chunk contains
 *	type-specific format information; for a video stream, this should
 *	be a BITMAPINFO structure, including palette.  For an audio stream,
 *	this should be a WAVEFORMAT (or PCMWAVEFORMAT) structure.
 *
 *	The actual data is contained in subchunks within the 'movi' LIST 
 *	chunk.  The first two characters of each data chunk are the
 *	stream number with which that data is associated.
 *
 *	Some defined chunk types:
 *           Video Streams:
 *                  ##db:	RGB DIB bits
 *                  ##dc:	RLE8 compressed DIB bits
 *                  ##pc:	Palette Change
 *
 *           Audio Streams:
 *                  ##wb:	waveform audio bytes
 *
 * The grouping into LIST 'rec' chunks implies only that the contents of
 *   the chunk should be read into memory at the same time.  This
 *   grouping is used for files specifically intended to be played from 
 *   CD-ROM.
 *
 * The index chunk at the end of the file should contain one entry for 
 *   each data chunk in the file.
 *       
 * Limitations for the current software:
 *	Only one video stream and one audio stream are allowed.
 *	The streams must start at the beginning of the file.
 *
 * 
 * To register codec types please obtain a copy of the Multimedia
 * Developer Registration Kit from:
 *
 *  Microsoft Corporation
 *  Multimedia Systems Group
 *  Product Marketing
 *  One Microsoft Way
 *  Redmond, WA 98052-6399
 *
 */

#ifndef mmioFOURCC
#define mmioFOURCC( ch0, ch1, ch2, ch3 )				\
		( (DWORD)(BYTE)(ch0) | ( (DWORD)(BYTE)(ch1) << 8 ) |	\
		( (DWORD)(BYTE)(ch2) << 16 ) | ( (DWORD)(BYTE)(ch3) << 24 ) )
#endif

/* Macro to make a TWOCC out of two characters */
#ifndef aviTWOCC
#define aviTWOCC(ch0, ch1) ((WORD)(BYTE)(ch0) | ((WORD)(BYTE)(ch1) << 8))
#endif

typedef WORD TWOCC;

/* form types, list types, and chunk types */
#define formtypeAVI             mmioFOURCC('A', 'V', 'I', ' ')
#define listtypeAVIHEADER       mmioFOURCC('h', 'd', 'r', 'l')
#define ckidAVIMAINHDR          mmioFOURCC('a', 'v', 'i', 'h')
#define listtypeSTREAMHEADER    mmioFOURCC('s', 't', 'r', 'l')
#define ckidSTREAMHEADER        mmioFOURCC('s', 't', 'r', 'h')
#define ckidSTREAMFORMAT        mmioFOURCC('s', 't', 'r', 'f')
#define ckidSTREAMHANDLERDATA   mmioFOURCC('s', 't', 'r', 'd')
#define ckidSTREAMNAME		mmioFOURCC('s', 't', 'r', 'n')

#define listtypeAVIMOVIE        mmioFOURCC('m', 'o', 'v', 'i')
#define listtypeAVIRECORD       mmioFOURCC('r', 'e', 'c', ' ')

#define ckidAVINEWINDEX         mmioFOURCC('i', 'd', 'x', '1')

/*
** Stream types for the <fccType> field of the stream header.
*/
#define streamtypeVIDEO         mmioFOURCC('v', 'i', 'd', 's')
#define streamtypeAUDIO         mmioFOURCC('a', 'u', 'd', 's')
#define streamtypeMIDI		mmioFOURCC('m', 'i', 'd', 's')
#define streamtypeTEXT          mmioFOURCC('t', 'x', 't', 's')

/* Basic chunk types */
#define cktypeDIBbits           aviTWOCC('d', 'b')
#define cktypeDIBcompressed     aviTWOCC('d', 'c')
#define cktypePALchange         aviTWOCC('p', 'c')
#define cktypeWAVEbytes         aviTWOCC('w', 'b')

/* Chunk id to use for extra chunks for padding. */
#define ckidAVIPADDING          mmioFOURCC('J', 'U', 'N', 'K')

/*
** Useful macros
**
** Warning: These are nasty macro, and MS C 6.0 compiles some of them
** incorrectly if optimizations are on.  Ack.
*/

/* Macro to get stream number out of a FOURCC ckid */
#define FromHex(n)	(((n) >= 'A') ? ((n) + 10 - 'A') : ((n) - '0'))
#define StreamFromFOURCC(fcc) ((WORD) ((FromHex(LOBYTE(LOWORD(fcc))) << 4) + \
                                             (FromHex(HIBYTE(LOWORD(fcc))))))

/* Macro to get TWOCC chunk type out of a FOURCC ckid */
#define TWOCCFromFOURCC(fcc)    HIWORD(fcc)

/* Macro to make a ckid for a chunk out of a TWOCC and a stream number
** from 0-255.
*/
#define ToHex(n)	((BYTE) (((n) > 9) ? ((n) - 10 + 'A') : ((n) + '0')))
#define MAKEAVICKID(tcc, stream) \
        MAKELONG((ToHex((stream) & 0x0f) << 8) | \
			    (ToHex(((stream) & 0xf0) >> 4)), tcc)

/*
** Main AVI File Header 
*/	     
		     
/* flags for use in <dwFlags> in AVIFileHdr */
#define AVIF_HASINDEX		0x00000010	// Index at end of file?
#define AVIF_MUSTUSEINDEX	0x00000020
#define AVIF_ISINTERLEAVED	0x00000100
#define AVIF_TRUSTCKTYPE	0x00000800	// Use CKType to find key frames?
#define AVIF_WASCAPTUREFILE	0x00010000
#define AVIF_COPYRIGHTED	0x00020000

/* The AVI File Header LIST chunk should be padded to this size */
#define AVI_HEADERSIZE  2048                    // size of AVI header list

typedef struct
{
    DWORD		dwMicroSecPerFrame;	// frame display rate (or 0L)
    DWORD		dwMaxBytesPerSec;	// max. transfer rate
    DWORD		dwPaddingGranularity;	// pad to multiples of this
                                                // size; normally 2K.
    DWORD		dwFlags;		// the ever-present flags
    DWORD		dwTotalFrames;		// # frames in file
    DWORD		dwInitialFrames;
    DWORD		dwStreams;
    DWORD		dwSuggestedBufferSize;
    
    DWORD		dwWidth;
    DWORD		dwHeight;
    
    DWORD		dwReserved[4];
} MainAVIHeader;

/*
** Stream header
*/

#define AVISF_DISABLED			0x00000001

#define AVISF_VIDEO_PALCHANGES		0x00010000

typedef struct {
    FOURCC		fccType;
    FOURCC		fccHandler;
    DWORD		dwFlags;	/* Contains AVITF_* flags */
    WORD		wPriority;
    WORD		wLanguage;
    DWORD		dwInitialFrames;
    DWORD		dwScale;	
    DWORD		dwRate;	/* dwRate / dwScale == samples/second */
    DWORD		dwStart;
    DWORD		dwLength; /* In units above... */
    DWORD		dwSuggestedBufferSize;
    DWORD		dwQuality;
    DWORD		dwSampleSize;
    RECT		rcFrame;
} AVIStreamHeader;

/* Flags for index */
#define AVIIF_LIST          0x00000001L // chunk is a 'LIST'
#define AVIIF_KEYFRAME      0x00000010L // this frame is a key frame.

#define AVIIF_NOTIME	    0x00000100L // this frame doesn't take any time
#define AVIIF_COMPUSE       0x0FFF0000L // these bits are for compressor use

typedef struct
{
    DWORD		ckid;