liveviewdlg.h

该程序实现FIRE足球机器人竞赛中的3：3比赛源码

// LiveViewDlg.h : header file
//

#if !defined(AFX_LIVEVIEWDLG_H__1E772945_A5CA_4B5D_AFB4_32A052BF0D66__INCLUDED_)
#define AFX_LIVEVIEWDLG_H__1E772945_A5CA_4B5D_AFB4_32A052BF0D66__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include "Utilities.h"
#include <queue>
#include "bcam.h"
#include "BCameraSet.h"
#include "BcamUtility.h"
#include "MyQuery.h"
#include "WhiteBalancer.h"

#include "Globe.h"
#include "DecisionMakingx.h"
#include "Comm.h"

/////////////////////////////////////////////////////////////////////////////
// CLiveViewDlg dialog
using namespace std;
using namespace Bcam;
/////////////////////////////////////////////////++

	const unsigned int NUM_BUFFERS = 5;//! 使用图像缓冲区的数量
	const bool USE_ONESHOT = false;// 单帧采集还是连续采集,表明是连续采集
	const UINT WM_GRAB_FINISHED = WM_USER+3;//! 当每帧图像采集完成时由采集线程发出的消息
   //const UINT WM_GRAB_FINISHED = WM_USER+100;
    const UINT WM_GRAB_STOPPED = WM_USER + 1;//! 当用户要终止采集时由采集线程发出的消息
	const UINT WM_ERROR = WM_USER +2;	//! 当采集发生错误时由采集线程发出的消息
	const UINT ID_TIMER_DISPLAY = 1001;// 刷新窗体状态栏显示的定时器ID
	const UINT TIMER_SPACE_NUM = 500;// 定时器的时间间隔为1秒
	const UINT MYQUEUE_LENGTH = 50;// 循环链队列的长度

	typedef struct tagGroundInfo{//一个点的坐标映射和标志
	int  x;  //x坐标映射
	int  y;  //y坐标映射
	bool flag;  //该点是否为场地内的点的标志:1在场内，0不在场内
}GroundInfo;
typedef struct tagGround{//场地参数结构体，用于记录场地的各种参数
	GroundInfo groundInfo[640][480];  //图象内每个点的坐标映射和标志
	CPoint Center;  //场地中心点
	CPoint LeftTop;  //场地左上角
	CPoint RightBottom;  //场地右下角
	CPoint GateLeftTop;  //门区左上角
	CPoint GateRightBottom;  //门区右下角
	double M;  //变形参数M
	double E;  //变形参数E
public:
	BITMAP btp;
	CRect rect;
}Ground;

typedef struct
{
int X; // x coordinate of the object center.
int Y; // y coordinate of the object center.
int Size; //number of pixels
RECT Rect; // circumscribed rectangle.
}OBJECT_T;


/////////////////////////////////////////////////--

#define CATCH_MSGBOX( Caption ) \
catch( BcamException &e ) \
{ \
	CString Buffer, B; \
	Buffer += (B.Format("Exception 0x%X occurred\n", e.Error() ), B); \
	Buffer += (B.Format("Message = %s\n", e.Description() ), B); \
	Buffer += (B.Format("Context = %s\n", e.Context()), B); \
	MessageBox(Buffer, _T(Caption), MB_OK | MB_ICONEXCLAMATION); \
} \
catch (...) \
{ \
	BcamException e(DISP_E_EXCEPTION, "CLiveViewDlg::OnGrabLive"); \
	CString Buffer, B; \
	Buffer += (B.Format("Exception 0x%X occurred\n", e.Error() ), B); \
	Buffer += (B.Format("Message = %s\n", e.Description() ), B); \
	Buffer += (B.Format("Context = %s\n", e.Context()), B); \
	MessageBox(Buffer, _T(Caption), MB_OK | MB_ICONEXCLAMATION); \
}

#define WAIT_OBJECT_0 ((STATUS_WAIT_0 ) + 0 )

class CLiveViewDlg : public CDialog
{
// Construction
public:
	int JudgeColor(int a,int b);
	int  FindRobotID(CPoint RP1,CPoint RP2);
	bool FindBlackID(int m,int n,int Num);
	int  screenBuffer(int a, int b, RGBTRIPLE *P);
	bool push(int x, int y);
	void emptyStack();
	bool pop(int &x, int &y);
	void StartGame();
	void DrawBall(CDC*pDC);
	void DrawRobot(CDC *pDC);
	void IdentifyBall();
	void IdentifyRobot();
	void Identify();
	bool SearchLUT(int tab,RGBTRIPLE*pStart,int *LUT,int SizeMin,int SizeMax,int Left,int Top,int Right,int Bottom,int MaskColor);
    bool IdentifySearchLUT(int tab,RGBTRIPLE*pStart,int *LUT,int SizeMin,int SizeMax,int Left,int Top,int Right,int Bottom,int MaskColor);
	void IdentifyTest();
	//--------------用于采集和调节参数的函数和变量--------------//
	void GetFrameRate(double& acquired, double& displayed);
	void GetParaFromIniFile();
	void InitGlobVar();
	void SetVVal(UINT uV);
	void SetUVal(UINT uU);
	void SetShutterVal(UINT uShutter);
	void SetGainVal(UINT uGain);
	void SetBrightnessVal(UINT uBright);
	CBcam m_Bcam;	//! BCAM对象用来控制摄像机
    CBCameraSet *m_pBCameraSet ;
	CMyQueue* m_pMyQueue;// 循环链队列对象，存储采集图像的数据
	CSize m_ImageSize; //! 采集图像的大小
    DCSColorCode  m_ColorCode;  
	bool m_bConnectBcam;// 是否连接摄像机标志
    bool m_LiveGrabbing;//! 标记是否正在采集，True是采集正在进行
  	char* m_ptrBitmaps[NUM_BUFFERS];//! 指针数组，每个数组成员是指向一个图像缓冲区的指针
    char*  m_pSingleBitmap;//单帧采的缓存
    PBITMAPINFO m_ptrBmpInfo;	//! 指针，保存每帧图像的BitmapInfo，在回显图像时使用
    PBYTE m_pDispBitmap,m_pBitmap,m_pDispSingle;
    CThread m_GrabThread;	//! 采集线程
	CThread m_DispThread;//! 显示线程
    static DWORD WINAPI GrabThreadProc(void* pParameter);//! 采集线程中m_GrabThreadThe使用的回调函数
	static DWORD WINAPI DispThreadProc(void* pParameter);// 显示线程
    UINT m_nBrightness;// 亮度
	UINT m_nGain;//增溢
	UINT m_nShutter;//快门
	UINT m_nU;
	UINT m_nV;
    CStopWatch m_DisplayWatch;   /// timer to measure the time needed to display one buffer           
    CStopWatch m_AcquisitionWatch;/// timer to measure the time needed to acquire one buffer
    CMovingAvg<double, 20>  m_AcquisitionAvg; /// Moving average of time needed to acquire one buffer
    CMovingAvg<double, 20>  m_DisplayAvg;/// Moving average of time needed to display one buffer	
    CCriticalSection m_CritSect;// 临界对象，同步线程使用
	BOOL m_bIsDispImage;	// 是否显示图像 
	bool m_bOCROk;
	int m_nLostFrame;//丢失的帧数
    CEvent   m_evtNewBufferAvailable;  /// signals that a new buffer is available to be processed by the display thread
    CEvent   m_evtTerminate;  /// signals that the display thread is to be terminated
	CWhiteBalancer  m_WhiteBalancer;//白平衡对象
	bool m_bEnabledWhiteBalancer;// 是否做白平衡状态标志，true：做，false：不做
//--------------------------------------------------------------------------------------//
    CDC* GetStaticDC(int Object);
	void ColorAnalyse();
	void ColorAnalyse1();
	void Filter();
	void Filter1();
	int     SetSelect;
	CRect	m_Rect,m_Rect1,m_Rect2;
    int     SelectCount; //选择计数器
	int     PointCount; //放大采色点计数器
    CPoint TempSelect[6];
	CPoint LocalPoint[10];//扩大采色时用来存放最多十个点
	CDC    destDC;
	CDC    groundDC;
	COLORREF ObjectColor[7];
	COLORREF ObjectColorBK;
    CString PathName;
	bool   m_colortest;
	BOOL   m_test;
	BOOL   m_start;
	BOOL   InitOK;
	RobotInford robotInfor[11],robotBk[11];
	double NormalTheta[11];
	CPoint m_Target[7];
	double m_theta;
	CDecisionMakingx m_DecisionMakingx;
	Ccomm m_RobotComm;
	dbPOINT Gotopoint;
	CPoint TeamTarget[3];
	dbPOINT PreRobotInfor[3];
	RGBTRIPLE*m_pIdentify;
	bool m_stop;
	bool m_savePara;
	int m_xLeft,m_xRight,m_yTop,m_yBottom;
	int BlackSum[4];
   
CLiveViewDlg(CWnd* pParent = NULL);	// standard constructor

// Dialog Data
	//{{AFX_DATA(CLiveViewDlg)
	enum { IDD = IDD_LIVEVIEW_DIALOG };
	CStatic	m_local;
	CStatic	m_smem2;
	CButton	m_save;
	CStatic	m_steam;
	CStatic	m_smem5;
	CStatic	m_smem4;
	CStatic	m_smem3;
	CStatic	m_smem1;
	CStatic	m_sball;
	CComboBox	m_strategyselect;
	CStatic	m_display;
	int		m_brightness;
	int		m_gain;
	int		m_shutter;
	int		m_slidegain;
	int		m_v;
	int		m_u;
	int		m_slideshutter;
	int		m_slideu;
	int		m_slidev;
	int		m_slidebrightness;
	double	m_caprate;
	double	m_disprate;
	int		m_setselect;
	int		m_attack;
	int		m_area;
	int		m_kick;
	int		m_lostframe;
	BOOL	m_nesample;
	BOOL	m_nefilter;
	int		m_robotnum;
	int		m_rightvalue;
	int		m_leftvalue;
	int		m_object;
	int		m_change1;
	int		m_change2;
	BOOL	m_SelectRect;
	BOOL	m_CorrectPatch;
	int		m_length;
	//}}AFX_DATA

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

// Implementation
protected:
	HICON m_hIcon;

	// Generated message map functions
	//{{AFX_MSG(CLiveViewDlg)
	virtual BOOL OnInitDialog();
	afx_msg void OnSysCommand(UINT nID, LPARAM lParam);
	afx_msg void OnPaint();
	afx_msg HCURSOR OnQueryDragIcon();
	afx_msg void OnCaptrue();
	afx_msg LRESULT OnGrabFinished(WPARAM wParam, LPARAM lParam);
	afx_msg LRESULT OnGrabStopped(WPARAM wParam, LPARAM lParam);
	afx_msg LRESULT OnError(WPARAM wParam, LPARAM lParam);
	afx_msg void OnStop();
	afx_msg void OnReleasedcaptureSliderBrightness(NMHDR* pNMHDR, LRESULT* pResult);
	afx_msg void OnReleasedcaptureSliderGain(NMHDR* pNMHDR, LRESULT* pResult);
	afx_msg void OnReleasedcaptureSliderShutter(NMHDR* pNMHDR, LRESULT* pResult);
	afx_msg void OnReleasedcaptureSliderU(NMHDR* pNMHDR, LRESULT* pResult);
	afx_msg void OnReleasedcaptureSliderV(NMHDR* pNMHDR, LRESULT* pResult);
	afx_msg void OnChangeEditBrightness();
	afx_msg void OnChangeEditGain();
	afx_msg void OnChangeEditShutter();
	afx_msg void OnChangeEditU();
	afx_msg void OnChangeEditV();
	afx_msg void OnSavepara();
	afx_msg void OnTimer(UINT nIDEvent);
	afx_msg void OnGrabsingle();
	afx_msg void OnLButtonDown(UINT nFlags, CPoint point);
	afx_msg void OnRadioColorselect();
	afx_msg void OnRadioBoundset();
	afx_msg void OnMouseMove(UINT nFlags, CPoint point);
	afx_msg void OnBoundset();
	afx_msg void OnLoad();
	afx_msg void OnSave();
	afx_msg void OnSaveas();
	afx_msg void OnColorsampling();
	afx_msg void OnColortest();
	afx_msg void OnColorfilter();
	afx_msg void OnClear();
	afx_msg void OnIdentifytest();
	virtual void OnOK();
	afx_msg void OnInitial();
	afx_msg void OnStart();
	afx_msg void OnEnlarge();
	afx_msg void OnNewsample();
	afx_msg void OnNewfilter();
	afx_msg void OnZero();
	afx_msg void OnDestroy();
	afx_msg void OnForth();
	afx_msg void OnBack();
	afx_msg void OnLeft();
	afx_msg void OnRight();
	afx_msg void OnStoprobot();
	afx_msg void OnWhitebalance();
	afx_msg void OnColorexchange();
	afx_msg void OnReback();
	afx_msg void OnButtonReturn();
	//}}AFX_MSG
	DECLARE_MESSAGE_MAP()
};

//{{AFX_INSERT_LOCATION}}
// Microsoft Visual C++ will insert additional declarations immediately before the previous line.

#endif // !defined(AFX_LIVEVIEWDLG_H__1E772945_A5CA_4B5D_AFB4_32A052BF0D66__INCLUDED_)