liveviewdlg.cpp

该程序实现FIRE足球机器人竞赛中的3：3比赛源码

}
void CLiveViewDlg::SetVVal(UINT uV)
{
	m_v = uV;
	m_slidev = uV;
	UpdateData(FALSE);
	m_nV=uV;
	 if(m_bConnectBcam)
	 {
	   if(m_LiveGrabbing)
	   {
		   if ( m_ColorCode != DCSColor_Mono8 )
		   {
   			  m_Bcam.WhiteBalance.Raw.VRValue.SetAsync(uV);
		   }
		   else
              m_pBCameraSet->SetBGain(uV / 100.0);
	   }
	 }
}

void CLiveViewDlg::OnReleasedcaptureSliderBrightness(NMHDR* pNMHDR, LRESULT* pResult) 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	SetBrightnessVal(m_slidebrightness);	
	*pResult = 0;
}

void CLiveViewDlg::OnReleasedcaptureSliderGain(NMHDR* pNMHDR, LRESULT* pResult) 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	SetGainVal(m_slidegain);
	*pResult = 0;
}


void CLiveViewDlg::OnReleasedcaptureSliderShutter(NMHDR* pNMHDR, LRESULT* pResult) 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	SetShutterVal(m_slideshutter);
	*pResult = 0;
}

void CLiveViewDlg::OnReleasedcaptureSliderU(NMHDR* pNMHDR, LRESULT* pResult) 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	SetUVal(m_slideu);
	*pResult = 0;
}

void CLiveViewDlg::OnReleasedcaptureSliderV(NMHDR* pNMHDR, LRESULT* pResult) 
{
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	SetVVal(m_slidev);
	*pResult = 0;
}


void CLiveViewDlg::OnChangeEditBrightness() 
{
	// TODO: If this is a RICHEDIT control, the control will not
	// send this notification unless you override the CDialog::OnInitDialog()
	// function and call CRichEditCtrl().SetEventMask()
	// with the ENM_CHANGE flag ORed into the mask.
	
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	SetBrightnessVal(m_brightness);
}

void CLiveViewDlg::OnChangeEditGain() 
{
	// TODO: If this is a RICHEDIT control, the control will not
	// send this notification unless you override the CDialog::OnInitDialog()
	// function and call CRichEditCtrl().SetEventMask()
	// with the ENM_CHANGE flag ORed into the mask.
	
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	SetGainVal(m_gain);
}

void CLiveViewDlg::OnChangeEditShutter() 
{
	// TODO: If this is a RICHEDIT control, the control will not
	// send this notification unless you override the CDialog::OnInitDialog()
	// function and call CRichEditCtrl().SetEventMask()
	// with the ENM_CHANGE flag ORed into the mask.
	
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	SetShutterVal(m_shutter);
}

void CLiveViewDlg::OnChangeEditU() 
{
	// TODO: If this is a RICHEDIT control, the control will not
	// send this notification unless you override the CDialog::OnInitDialog()
	// function and call CRichEditCtrl().SetEventMask()
	// with the ENM_CHANGE flag ORed into the mask.
	
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	SetUVal(m_u);
}

void CLiveViewDlg::OnChangeEditV() 
{
	// TODO: If this is a RICHEDIT control, the control will not
	// send this notification unless you override the CDialog::OnInitDialog()
	// function and call CRichEditCtrl().SetEventMask()
	// with the ENM_CHANGE flag ORed into the mask.
	
	// TODO: Add your control notification handler code here
	UpdateData(TRUE);
	SetVVal(m_v);
}

void CLiveViewDlg::InitGlobVar()
{
	char lpValue[MAX_PATH];
	memset(lpValue, 0, sizeof(lpValue));
	::GetCurrentDirectory(sizeof(lpValue)-1, lpValue);
   	g_strCurPath = lpValue;
	g_strINIFileName = g_strCurPath+"\\PickWaster.ini";

}


void CLiveViewDlg::GetParaFromIniFile()
{
	//读取INI文件中的摄像机参数
	//亮度
	m_nBrightness = ::GetPrivateProfileInt("CAMERAPARA", "BRIGHTNESS", 128, g_strINIFileName);
	//增溢
	m_nGain = ::GetPrivateProfileInt("CAMERAPARA", "GAIN", 255, g_strINIFileName);
	//快门
	m_nShutter = ::GetPrivateProfileInt("CAMERAPARA", "SHUTTER", 20, g_strINIFileName);
	//U
	m_nU = ::GetPrivateProfileInt("CAMERAPARA", "U", 105, g_strINIFileName);
	//V
	m_nV = ::GetPrivateProfileInt("CAMERAPARA", "V", 68, g_strINIFileName);
}

void CLiveViewDlg::OnSavepara() 
{
	// TODO: Add your control notification handler code here
	m_savePara=true;
	CString brightness;
	brightness.Format("%d", m_nBrightness);
	::WritePrivateProfileString("CAMERAPARA", "BRIGHTNESS", brightness, g_strINIFileName);
	CString gain;
	gain.Format("%d", m_nGain);
	::WritePrivateProfileString("CAMERAPARA", "GAIN", gain, g_strINIFileName);
	CString shutter;
	shutter.Format("%d", m_nShutter);
	::WritePrivateProfileString("CAMERAPARA", "SHUTTER", shutter, g_strINIFileName);
	CString u;
	u.Format("%d", m_nU);
	::WritePrivateProfileString("CAMERAPARA", "U", u, g_strINIFileName);
	CString v;
	v.Format("%d", m_nV);
	::WritePrivateProfileString("CAMERAPARA", "V", v, g_strINIFileName);
	MessageBox("摄象机参数保存完毕！");
}

void CLiveViewDlg::OnTimer(UINT nIDEvent) 
{
	// TODO: Add your message handler code here and/or call default
	switch(nIDEvent) 
	{
	case ID_TIMER_DISPLAY:
		{
			double fps_acquired = 0;
			double fps_displayed = 0;
			GetFrameRate(fps_acquired, fps_displayed);
		    m_caprate=fps_acquired;
			m_disprate=fps_displayed;
			m_lostframe=m_nLostFrame;
			UpdateData(FALSE);
			break;
		}
	default:
	break;
	}
	
	CDialog::OnTimer(nIDEvent);
}


void CLiveViewDlg::GetFrameRate(double &acquired, double &displayed)
{
  assert ( m_LiveGrabbing );
  double avg = m_AcquisitionAvg.Avg();
  acquired = avg == 0 ? 0.0 : 1.0 / avg;
  avg = m_DisplayAvg.Avg();
  displayed = avg == 0 ? 0.0 : 1.0 / avg;
  m_AcquisitionAvg.Reset();
  m_DisplayAvg.Reset();
}

void CLiveViewDlg::OnGrabsingle() 
{
 try
 {
	// TODO: Add your control notification handler code here
	if(CBcam::DeviceNames().size() == 0)
    {
      MessageBox("没有检测到Basler摄像机", _T("错误"), MB_OK | MB_ICONEXCLAMATION);
      return;
    }
    CString DeviceName = *(CBcam::DeviceNames().begin());
    TRACE(_T("Devicename = %s\n"), DeviceName);
    m_Bcam.Open( DeviceName );
	m_bConnectBcam = true;
    
    // 设定摄像机采集的图像格式，Format7，mode0，单色。
	//Format7，Mode0是摄像机开发商自定义的工作模式，对A101f即是1300*1030*12FPS
    const DCSVideoFormat VideoFormat = DCS_Format7;
    const DCSVideoMode VideoMode     = DCS_Mode0;
    m_ColorCode = DCSColor_Raw8;
    m_Bcam.SetVideoMode(VideoFormat, VideoMode);
    m_Bcam.FormatSeven[VideoMode].ColorCoding = m_ColorCode;
  	m_ImageSize.cx = m_ImageSize.cx & ~3; 
    CPoint AoiPosition(0);
    CSize AoiSize(m_ImageSize);
    m_Bcam.FormatSeven[VideoMode].Position = AoiPosition;
    m_Bcam.FormatSeven[VideoMode].Size = AoiSize;
    unsigned long BytePerPacketMax = m_Bcam.FormatSeven[VideoMode].BytePerPacket.Max();
    m_Bcam.FormatSeven[VideoMode].BytePerPacket = BytePerPacketMax;
   	m_Bcam.Brightness.Raw = m_nBrightness ;
    m_Bcam.Gain.Raw = m_nGain ;
    m_Bcam.Shutter.Raw = m_nShutter;
//	m_pDispSingle = new BYTE[m_ImageSize.cx*m_ImageSize.cy*3];
//    m_pSingleBitmap = new char[m_ImageSize.cx * m_ImageSize.cy];
    m_Bcam.AllocateResources(1, AoiSize.cx * AoiSize.cy );
	m_Bcam.GrabImage(m_pSingleBitmap, AoiSize.cx * AoiSize.cy, INFINITE, true);
	m_pBCameraSet->ConvertBitmap(m_pDispSingle, (PBYTE)m_pSingleBitmap, m_ImageSize) ;
	if(m_colortest)
	{
    	SetDIBitsToDevice(m_display.GetDC()->m_hDC,0, 0,
									m_ImageSize.cx, m_ImageSize.cy,
									0, 0,
									0, m_ImageSize.cy, m_pDispSingle,
								m_ptrBmpInfo, DIB_RGB_COLORS);
	}
   m_Bcam.Cancel();// 停止I/O请求
   m_Bcam.FreeResources();//释放在BCAM中建立的资源
   m_Bcam.Close();// 关闭BCAM对象
 } 
  CATCH_MSGBOX( "LiveViewDlg::OnGrabsingle" )  
}

void CLiveViewDlg::OnLButtonDown(UINT nFlags, CPoint point) 
{
	// TODO: Add your message handler code here and/or call default
	CRect rect,rect1;
	CPoint pt = point;
    ClientToScreen(&pt);
	m_display.GetWindowRect(&rect);
	m_local.GetWindowRect(&rect1);
    if (rect.PtInRect(pt) && (nFlags&MK_LBUTTON))
	{	
		if(SetSelect==COLORSELECT)
		{
			m_display.ScreenToClient(&pt);
			m_Rect.left = pt.x;
			m_Rect.top = pt.y;
			m_Rect.right = pt.x+1;
			m_Rect.bottom = pt.y+1;
			RGBTRIPLE*p1=(RGBTRIPLE*)m_pDispSingle;
//			m_robotnum=(p1+pt.x+(479-pt.y)*640)->rgbtRed;
//          m_leftvalue=(p1+pt.x+(479-pt.y)*640)->rgbtGreen;
//          m_rightvalue=(p1+pt.x+(479-pt.y)*640)->rgbtBlue;
//          UpdateData(false);
		//------测试时给出的定点坐标-----------------//
			Gotopoint.x=ground.groundInfo[pt.x][pt.y].x;
			Gotopoint.y=180-ground.groundInfo[pt.x][pt.y].y;
		//-----------------------------------------------//
			CDC* pDC=m_display.GetDC();
			pDC->SetROP2(R2_NOTXORPEN);
			CPen newPen(PS_SOLID,1,RGB(255,0,0));
			CPen* oldPen=pDC->SelectObject(&newPen);
			pDC->MoveTo(m_Rect.left,m_Rect.top);
			pDC->LineTo(m_Rect.right,m_Rect.top);
			pDC->LineTo(m_Rect.right,m_Rect.bottom);
			pDC->LineTo(m_Rect.left,m_Rect.bottom);
			pDC->LineTo(m_Rect.left,m_Rect.top);
            ReleaseDC(pDC);
		
		}
		else if(SetSelect==BOUNDSET)
		{
			m_display.ScreenToClient(&pt);
			CDC* pDC=m_display.GetDC();
			///记录四个先验点///
			TempSelect[SelectCount].x=pt.x;
			TempSelect[SelectCount].y=pt.y;
			pDC->FillSolidRect(pt.x,pt.y-1,3,3,RGB(255,0,0));
			SelectCount++;
			if(SelectCount==6)
				SelectCount=0;
			ReleaseDC(pDC);
		}
	}
	else if(rect1.PtInRect(pt) && (nFlags&MK_LBUTTON))  //在放大框1内选点
	{                        
	   if(SetSelect==COLORSELECT)
	   {
		   UpdateData();
		   if(m_SelectRect)
		   {
		      m_local.ScreenToClient(&pt);
    		  m_Rect1.left = pt.x;
		      m_Rect1.top = pt.y;
		      m_Rect1.right = pt.x+1;
		      m_Rect1.bottom = pt.y+1;
		      CDC* pDC=m_local.GetDC();
		      pDC->SetROP2(R2_NOTXORPEN);
		      CPen newPen(PS_SOLID,1,RGB(255,0,0));
		      CPen* oldPen=pDC->SelectObject(&newPen);
		      pDC->MoveTo(m_Rect1.left,m_Rect1.top);
		      pDC->LineTo(m_Rect1.right,m_Rect1.top);
		      pDC->LineTo(m_Rect1.right,m_Rect1.bottom);
		      pDC->LineTo(m_Rect1.left,m_Rect1.bottom);
		      pDC->LineTo(m_Rect1.left,m_Rect1.top);
   		      ReleaseDC(pDC);
		   }
		   else
		   {
		      m_local.ScreenToClient(&pt);
		      CDC* pDC=m_local.GetDC();
              LocalPoint[PointCount].x=pt.x;
		      LocalPoint[PointCount].y=pt.y;
		      pDC->FillSolidRect(pt.x,pt.y-1,3,3,RGB(255,0,0));
		      PointCount++;
		      if(PointCount>10) MessageBox("不能超过十个点","警告");
		      ReleaseDC(pDC);
		   }
	   }
	}
	CDialog::OnLButtonDown(nFlags, point);
}

void CLiveViewDlg::OnRadioColorselect() 
{
	// TODO: Add your control notification handler code here
    SetSelect=COLORSELECT;
}

void CLiveViewDlg::OnRadioBoundset() 
{
	// TODO: Add your control notification handler code here
	SetSelect=BOUNDSET;
	SelectCount=0;
}

void CLiveViewDlg::OnMouseMove(UINT nFlags, CPoint point) 
{
	// TODO: Add your message handler code here and/or call default
	CRect rect,rect1;
	CPoint pt = point;
	ClientToScreen(&pt);
	m_display.GetWindowRect(&rect);
    m_local.GetWindowRect(&rect1);
	if (rect.PtInRect(pt) && (nFlags&MK_LBUTTON)) {
		if(SetSelect==COLORSELECT){
			CDC* pDC=m_display.GetDC();
			pDC->SetROP2(R2_NOTXORPEN);
			CPen newPen(PS_SOLID,1,RGB(255,0,0));
			CPen* oldPen=pDC->SelectObject(&newPen);
			pDC->MoveTo(m_Rect.left,m_Rect.top);
			pDC->LineTo(m_Rect.right,m_Rect.top);
			pDC->LineTo(m_Rect.right,m_Rect.bottom);
			pDC->LineTo(m_Rect.left,m_Rect.bottom);
			pDC->LineTo(m_Rect.left,m_Rect.top);
			m_display.ScreenToClient(&pt);
			m_Rect.right = pt.x;
			m_Rect.bottom = pt.y;
			pDC->MoveTo(m_Rect.left,m_Rect.top);
			pDC->LineTo(m_Rect.right,m_Rect.top);
			pDC->LineTo(m_Rect.right,m_Rect.bottom);
			pDC->LineTo(m_Rect.left,m_Rect.bottom);
			pDC->LineTo(m_Rect.left,m_Rect.top);
			pDC->SelectObject(oldPen);
			ReleaseDC(pDC);
		}
	}
	else if(rect1.PtInRect(pt) && (nFlags&MK_LBUTTON)&&m_SelectRect) {
   		if(SetSelect==COLORSELECT){
			CDC* pDC=m_local.GetDC();
			pDC->SetROP2(R2_NOTXORPEN);
			CPen newPen(PS_SOLID,1,RGB(255,0,0));
			CPen* oldPen=pDC->SelectObject(&newPen);
			pDC->MoveTo(m_Rect1.left,m_Rect1.top);
			pDC->LineTo(m_Rect1.right,m_Rect1.top);
			pDC->LineTo(m_Rect1.right,m_Rect1.bottom);
			pDC->LineTo(m_Rect1.left,m_Rect1.bottom);
			pDC->LineTo(m_Rect1.left,m_Rect1.top);
			m_local.ScreenToClient(&pt);
			m_Rect1.right = pt.x;
			m_Rect1.bottom = pt.y;
			pDC->MoveTo(m_Rect1.left,m_Rect1.top);
			pDC->LineTo(m_Rect1.right,m_Rect1.top);
			pDC->LineTo(m_Rect1.right,m_Rect1.bottom);
			pDC->LineTo(m_Rect1.left,m_Rect1.bottom);
			pDC->LineTo(m_Rect1.left,m_Rect1.top);
			pDC->SelectObject(oldPen);
			ReleaseDC(pDC);
		}
	}
	CDialog::OnMouseMove(nFlags, point);
}


void CLiveViewDlg::OnBoundset() 
{
	// TODO: Add your control notification handler code here
    ground.LeftTop=TempSelect[0];
	ground.GateLeftTop=TempSelect[1];
	ground.RightBottom=TempSelect[2];
	ground.GateRightBottom=TempSelect[3];
	ground.Center.x = (ground.LeftTop.x+ground.GateLeftTop.x+ground.GateRightBottom.x+ground.RightBottom.x)/4;