up_balltrackdlg.cpp

足球机器人功能demo

// UP_BALLTRACKDlg.cpp : implementation file
//

#include "stdafx.h"
#include "UP_BALLTRACK.h"
#include "UP_BALLTRACKDlg.h"

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

/////////////////////////////////////////////////////////////////////////////
// CAboutDlg dialog used for App About

class CAboutDlg : public CDialog
{
public:
	CAboutDlg();

// Dialog Data
	//{{AFX_DATA(CAboutDlg)
	enum { IDD = IDD_ABOUTBOX };
	//}}AFX_DATA

	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CAboutDlg)
	protected:
	virtual void DoDataExchange(CDataExchange* pDX);    // DDX/DDV support
	//}}AFX_VIRTUAL

// Implementation
protected:
	//{{AFX_MSG(CAboutDlg)
	//}}AFX_MSG
	DECLARE_MESSAGE_MAP()
};

CAboutDlg::CAboutDlg() : CDialog(CAboutDlg::IDD)
{
	//{{AFX_DATA_INIT(CAboutDlg)
	//}}AFX_DATA_INIT
}

void CAboutDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CAboutDlg)
	//}}AFX_DATA_MAP
}

BEGIN_MESSAGE_MAP(CAboutDlg, CDialog)
	//{{AFX_MSG_MAP(CAboutDlg)
		// No message handlers
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CUP_BALLTRACKDlg dialog

CUP_BALLTRACKDlg::CUP_BALLTRACKDlg(CWnd* pParent /*=NULL*/)
	: CDialog(CUP_BALLTRACKDlg::IDD, pParent)
{
	//{{AFX_DATA_INIT(CUP_BALLTRACKDlg)
	m_Uenb = FALSE;
	m_Venb = FALSE;
	m_nPort = 4;
	m_Yenb = FALSE;
	m_Umax = 0;
	m_Umin = 0;
	m_Vmax = 0;
	m_Vmin = 0;
	m_Ymax = 0;
	m_Ymin = 0;
	m_iBothSpeed = 800;
	//}}AFX_DATA_INIT
	// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
	m_bClrCaping = false;
	m_pAheadCap = NULL;
	m_pOverlookCap = NULL;
	m_bGetClr = false;
	m_firstClr = true;
}

void CUP_BALLTRACKDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CUP_BALLTRACKDlg)
	DDX_Control(pDX, IDC_BEHLIST, m_cBehList);
	DDX_Control(pDX, IDC_OVERVIEW, m_cOverlookView);
	DDX_Control(pDX, IDC_OVERLOOKLIST, m_cOverlookList);
	DDX_Control(pDX, IDC_AHEADLIST, m_cAheadList);
	DDX_Control(pDX, IDC_BAUDRATE, m_cBaudCombo);
	DDX_Control(pDX, IDC_OVERLOOKCOMBO, m_cOverlookCombo);
	DDX_Control(pDX, IDC_AHEADCOMBO, m_cAheadCombo);
	DDX_Control(pDX, IDC_AHEADVIEW, m_cAheadView);
	DDX_Check(pDX, IDC_UENABLE, m_Uenb);
	DDX_Check(pDX, IDC_VENABLE, m_Venb);
	DDX_Text(pDX, IDC_PORT, m_nPort);
	DDX_Check(pDX, IDC_YENABLE, m_Yenb);
	DDX_Text(pDX, IDC_UMAX, m_Umax);
	DDX_Text(pDX, IDC_UMIN, m_Umin);
	DDX_Text(pDX, IDC_VMAX, m_Vmax);
	DDX_Text(pDX, IDC_VMIN, m_Vmin);
	DDX_Text(pDX, IDC_YMAX, m_Ymax);
	DDX_Text(pDX, IDC_YMIN, m_Ymin);
	DDX_Text(pDX, IDC_BOTHSPEED, m_iBothSpeed);
	//}}AFX_DATA_MAP
}

BEGIN_MESSAGE_MAP(CUP_BALLTRACKDlg, CDialog)
	//{{AFX_MSG_MAP(CUP_BALLTRACKDlg)
	ON_WM_SYSCOMMAND()
	ON_WM_PAINT()
	ON_WM_QUERYDRAGICON()
	ON_WM_MOUSEMOVE()
	ON_WM_LBUTTONDOWN()
	ON_WM_LBUTTONUP()
	ON_BN_CLICKED(IDC_CLOSEOVERLOOK, OnCloseoverlook)
	ON_BN_CLICKED(IDC_OPENAHEAD, OnOpenahead)
	ON_BN_CLICKED(IDC_CLOSEAHEAD, OnCloseahead)
	ON_BN_CLICKED(IDC_OPENOVERLOOK, OnOpenoverlook)
	ON_BN_CLICKED(IDC_YENABLE, OnYenable)
	ON_BN_CLICKED(IDC_UENABLE, OnUenable)
	ON_BN_CLICKED(IDC_VENABLE, OnVenable)
	ON_BN_CLICKED(IDC_FORWARD, OnForward)
	ON_BN_CLICKED(IDC_BACKWARD, OnBackward)
	ON_BN_CLICKED(IDC_TURNLEFT, OnTurnleft)
	ON_BN_CLICKED(IDC_TURNRIGHT, OnTurnright)
	ON_BN_CLICKED(IDC_BRAKE, OnBrake)
	ON_BN_CLICKED(IDC_SETSPEED, OnSetspeed)
	ON_BN_CLICKED(IDC_OPEN, OnOpen)
	ON_BN_CLICKED(IDC_SETOVERLOOKPARAM, OnSetoverlookparam)
	ON_BN_CLICKED(IDC_SETAHEADPARAM, OnSetaheadparam)
	ON_BN_CLICKED(IDC_CLEARPARAM, OnClearparam)
	ON_BN_CLICKED(IDC_AHEADCATCH, OnAheadcatch)
	ON_BN_CLICKED(IDC_OVERLOOKCATCH, OnOverlookcatch)
	ON_BN_CLICKED(IDC_REMOVEBEH, OnRemovebeh)
	ON_BN_CLICKED(IDC_CLEARSHOW, OnClearshow)
	ON_BN_CLICKED(IDC_AHEADFIND, OnAheadfind)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CUP_BALLTRACKDlg message handlers

BOOL CUP_BALLTRACKDlg::OnInitDialog()
{
	CDialog::OnInitDialog();

	// Add "About..." menu item to system menu.

	// IDM_ABOUTBOX must be in the system command range.
	ASSERT((IDM_ABOUTBOX & 0xFFF0) == IDM_ABOUTBOX);
	ASSERT(IDM_ABOUTBOX < 0xF000);

	CMenu* pSysMenu = GetSystemMenu(FALSE);
	if (pSysMenu != NULL)
	{
		CString strAboutMenu;
		strAboutMenu.LoadString(IDS_ABOUTBOX);
		if (!strAboutMenu.IsEmpty())
		{
			pSysMenu->AppendMenu(MF_SEPARATOR);
			pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu);
		}
	}

	// Set the icon for this dialog.  The framework does this automatically
	//  when the application's main window is not a dialog
	SetIcon(m_hIcon, TRUE);			// Set big icon
	SetIcon(m_hIcon, FALSE);		// Set small icon
	
	// TODO: Add extra initialization here
	CCaptureVideo Enumcap;
	Enumcap.EnumDevices(*GetDlgItem(IDC_OVERLOOKCOMBO));
	m_cOverlookCombo.SetCurSel(1);
	Enumcap.EnumDevices(*GetDlgItem(IDC_AHEADCOMBO));
	m_cAheadCombo.SetCurSel(0);

	m_cBaudCombo.SetCurSel(0);

	m_param.ReSet();

	//初始化控制对象
	m_netcmt.m_pcmd = &m_cmd;
	m_netcmt.SetMainWin(this->GetSafeHwnd());
	if (!m_netcmt.Listen(10008))
	{
		AfxMessageBox("监听失败！");
	}
	m_netcmt.m_pShowClient = &m_cBehList;
	m_netcmt.m_ppAhead = &m_pAheadCap;
	
	return TRUE;  // return TRUE  unless you set the focus to a control
}

void CUP_BALLTRACKDlg::OnSysCommand(UINT nID, LPARAM lParam)
{
	if ((nID & 0xFFF0) == IDM_ABOUTBOX)
	{
		CAboutDlg dlgAbout;
		dlgAbout.DoModal();
	}
	else
	{
		CDialog::OnSysCommand(nID, lParam);
	}
}

// If you add a minimize button to your dialog, you will need the code below
//  to draw the icon.  For MFC applications using the document/view model,
//  this is automatically done for you by the framework.

void CUP_BALLTRACKDlg::OnPaint() 
{
	if (IsIconic())
	{
		CPaintDC dc(this); // device context for painting

		SendMessage(WM_ICONERASEBKGND, (WPARAM) dc.GetSafeHdc(), 0);

		// Center icon in client rectangle
		int cxIcon = GetSystemMetrics(SM_CXICON);
		int cyIcon = GetSystemMetrics(SM_CYICON);
		CRect rect;
		GetClientRect(&rect);
		int x = (rect.Width() - cxIcon + 1) / 2;
		int y = (rect.Height() - cyIcon + 1) / 2;

		// Draw the icon
		dc.DrawIcon(x, y, m_hIcon);
	}
	else
	{
		CDialog::OnPaint();
	}
}

// The system calls this to obtain the cursor to display while the user drags
//  the minimized window.
HCURSOR CUP_BALLTRACKDlg::OnQueryDragIcon()
{
	return (HCURSOR) m_hIcon;
}

void CUP_BALLTRACKDlg::OnMouseMove(UINT nFlags, CPoint point) 
{
	// TODO: Add your message handler code here and/or call default
	if (m_bClrCaping)
	{
		ClientToScreen(&point);
		m_strTemp.Format("(%d,%d)",point.x,point.y);
		GetDlgItem(IDC_POSITION)->SetWindowText(m_strTemp);

		if (m_bGetClr)
		{
			m_color=::GetPixel(::GetDC(0),point.x,point.y);
			m_strTemp.Format("%d:%d:%d",GetRValue(m_color),GetGValue(m_color),GetBValue(m_color));
			GetDlgItem(IDC_RGB)->SetWindowText(m_strTemp);
		
			Y = 0;
			U = -2*GetRValue(m_color) - 3*GetGValue(m_color) + 5*GetBValue(m_color);
			V = 5*GetRValue(m_color) - 5*GetGValue(m_color) - 1*GetBValue(m_color);
			m_strTemp.Format("%d:%d:%d",Y,U,V);
			GetDlgItem(IDC_YUV)->SetWindowText(m_strTemp);
			ColorRecord();
			m_bGetClr = false;
		}
	}
	
	CDialog::OnMouseMove(nFlags, point);
}

void CUP_BALLTRACKDlg::OnLButtonDown(UINT nFlags, CPoint point) 
{
	// TODO: Add your message handler code here and/or call default
	m_bClrCaping = true;	
	SetCapture();

	CDialog::OnLButtonDown(nFlags, point);
}

void CUP_BALLTRACKDlg::OnLButtonUp(UINT nFlags, CPoint point) 
{
	// TODO: Add your message handler code here and/or call default
	m_bClrCaping = false;
	ReleaseCapture();
	
	CDialog::OnLButtonUp(nFlags, point);
}

void CUP_BALLTRACKDlg::OnOpenoverlook() 
{
	// TODO: Add your control notification handler code here
	if (m_pOverlookCap != NULL)	
	{
		m_pOverlookCap->Stop();
		delete m_pOverlookCap;
		m_pOverlookCap = NULL;
	}
	m_pOverlookCap = new CCaptureVideo();
	m_pOverlookCap->mCB.m_nPosID = OVERLOOK;
	m_pOverlookCap->Create(m_cOverlookCombo.GetCurSel(),&m_cOverlookView,0);
	m_pOverlookCap->SetCmd(&m_cmd);

	//界面控件操作	
	GetDlgItem(IDC_OPENOVERLOOK)->EnableWindow(false);
	GetDlgItem(IDC_CLOSEOVERLOOK)->EnableWindow(true);
	GetDlgItem(IDC_SETOVERLOOKPARAM)->SetFocus();
}

void CUP_BALLTRACKDlg::OnCloseoverlook() 
{
	// TODO: Add your control notification handler code here
	OnClearshow() ;
	Sleep(300);

	if (m_pOverlookCap != NULL)
	{
		m_pOverlookCap->Stop();
		delete m_pOverlookCap;
		m_pOverlookCap = NULL;
	}

	//界面控件操作	
	GetDlgItem(IDC_OPENOVERLOOK)->EnableWindow(true);
	GetDlgItem(IDC_CLOSEOVERLOOK)->EnableWindow(false);
}

void CUP_BALLTRACKDlg::OnOpenahead()