📄 unit1.~cpp
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//---------------------------------------------------------------------------
#include <vcl.h>
#pragma hdrstop
#include <vfw.h>
#include <math.h>
#include "Unit1.h"
//---------------------------------------------------------------------------
#pragma package(smart_init)
#pragma link "MSCommLib_OCX"
#pragma resource "*.dfm"
TForm1 *Form1;
HWND hWndC;
//---------------------------------------------------------------------------
__fastcall TForm1::TForm1(TComponent* Owner)
: TForm(Owner)
{
}
//---------------------------------------------------------------------------
void __fastcall TForm1::FormCreate(TObject *Sender)
{
MyCom->RThreshold=18;
MyCom->CommPort=5;
MyCom->InputMode= comInputModeBinary;
if(MyCom->PortOpen==false)
{ MyCom->PortOpen=true;}
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Button6Click(TObject *Sender)
{
if(MyCom->PortOpen)
MyCom->PortOpen =false;
}
//---------------------------------------------------------------------------
void __fastcall TForm1::MyComComm(TObject *Sender)
{
OleVariant RxBuff;
unsigned char buff[128];
if(MyCom->CommEvent!=comEvReceive)
return;
int BuffPtr=MyCom->InBufferCount;
if(BuffPtr>0)
{ RxBuff= MyCom->Input;
int j=RxBuff.ArrayHighBound(1);
for(int i=0;i<=j;i++)
buff[i]=RxBuff.GetElement(i);
}
MyCom->InputLen=0;
if(BuffPtr>0)
{ if(buff[0]==0xfa)
{
}
}
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Button3Click(TObject *Sender)
{
//---------------------------------
if(MyCom->PortOpen)
{ unsigned char redata[8]={0xf5,0x5f,0x01,0x60,0x00,0x00,0x00,0x00};
if(MyCom->PortOpen)
{ OleVariant TxBuff;
TxBuff=VarArrayCreate(OPENARRAY(int,(0,7)),varByte);
for(int i=0;i<8;i++)
TxBuff.PutElement(redata[i],i);
MyCom->Output= TxBuff;
}
}
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Button1Click(TObject *Sender)
{
if(MyCom->PortOpen)
{ unsigned char redata[8]={0xf5,0x5f,0x03,0x20,0x00,0x00,0x00,0x00};
if(MyCom->PortOpen)
{ OleVariant TxBuff;
TxBuff=VarArrayCreate(OPENARRAY(int,(0,7)),varByte);
for(int i=0;i<8;i++)
TxBuff.PutElement(redata[i],i);
MyCom->Output= TxBuff;
}
}
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Button2Click(TObject *Sender)
{
if(MyCom->PortOpen)
{ unsigned char redata[8]={0xf5,0x5f,0x04,0x30,0x00,0x00,0x00,0x00};
if(MyCom->PortOpen)
{ OleVariant TxBuff;
TxBuff=VarArrayCreate(OPENARRAY(int,(0,7)),varByte);
for(int i=0;i<8;i++)
TxBuff.PutElement(redata[i],i);
MyCom->Output= TxBuff;
}
}
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Button4Click(TObject *Sender)
{
if(MyCom->PortOpen)
{ unsigned char redata[8]={0xf5,0x5f,0x02,0x00,0x00,0x00,0x00,0x00};
if(MyCom->PortOpen)
{ OleVariant TxBuff;
TxBuff=VarArrayCreate(OPENARRAY(int,(0,7)),varByte);
for(int i=0;i<8;i++)
TxBuff.PutElement(redata[i],i);
MyCom->Output= TxBuff;
}
}
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Button7Click(TObject *Sender)
{
if(MyCom->PortOpen)
{ unsigned char redata[8]={0xf5,0x5f,0x05,0x00,0x00,0x00,0x00,0x00};
if(MyCom->PortOpen)
{ OleVariant TxBuff;
TxBuff=VarArrayCreate(OPENARRAY(int,(0,7)),varByte);
for(int i=0;i<8;i++)
TxBuff.PutElement(redata[i],i);
MyCom->Output= TxBuff;
}
}
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Button8Click(TObject *Sender)
{
hWndC = capCreateCaptureWindowA("Capture Window",WS_CHILD | WS_VISIBLE ,
Image1->Left,Image1->Top,Image1->Width,Image1->Height,Form1->Handle,0);
hWndC = capCreateCaptureWindowA("Capture Window",WS_CHILD | WS_VISIBLE ,
Image1->Left,Image1->Top,Image1->Width,Image1->Height,Form1->Handle,0);
if (hWndC != 0)
{
SendMessage(hWndC, WM_CAP_SET_CALLBACK_VIDEOSTREAM, 0, 0);
SendMessage(hWndC, WM_CAP_SET_CALLBACK_ERROR, 0, 0);
SendMessage(hWndC, WM_CAP_SET_CALLBACK_STATUSA, 0, 0);
SendMessage(hWndC, WM_CAP_DRIVER_CONNECT, 0, 0);
SendMessage(hWndC, WM_CAP_SET_SCALE, 1, 0);
SendMessage(hWndC, WM_CAP_SET_PREVIEWRATE, 66, 0);
SendMessage(hWndC, WM_CAP_SET_OVERLAY, 1, 0);
SendMessage(hWndC, WM_CAP_SET_PREVIEW, 1, 0);
}
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Timer1Timer(TObject *Sender)
{
Image2->Canvas->CopyRect(Image2->ClientRect, Canvas, Image1->BoundsRect);
int iw;
int ih;
int red;
int green;
int blue;
int w1,h1,w2,h2,w3,h3;//设定三个坐标参数
int a,b,d,h;
for(iw=0;iw<=320;iw++)
{
for(ih=0;ih<=240;ih++)
{
//将像素的RGB 分别取出
red=Image2->Canvas->Pixels[iw][ih]&0x0000ff;
green=(Image2->Canvas->Pixels[iw][ih]>>8)&0x0000ff;
blue=(Image2->Canvas->Pixels[iw][ih]>>16)&0x0000ff;
int rgb=red+blue+green+1;
int red0=100*red/rgb;
int green0=100*green/rgb;
int blue0=100*blue/rgb;
float cy=0.229*(float)red+0.587*(float)green+0.114*(float)blue;
float cu=(-1*0.147)*(float)red-0.289*(float)green+0.436*(float)blue;
float cv=0.615*(float)red-0.515*(float)green-0.100*(float)blue;
//三值化
if(blue0>39&&(blue>230&&red<220&&green<220)&&cu>30&&cv<0) //蓝
{ Image3->Canvas->Pixels[iw][ih]=0xff0000;w2=iw;h2=ih;}//将蓝点坐标取出作为车头 }
else if(green>254&&cu<0&&cv<0) //绿
{ Image3->Canvas->Pixels[iw][ih]=0x00ff00; w1=iw;h1=ih;}//将绿点坐标取出作为车身 }
else if(red0>40&&(red>230&&blue<220&&green<220))
{ //红
Image3->Canvas->Pixels[iw][ih]=0x0000ff; w3=iw;h3=ih;//将红点坐标取出作为终点 }
}
}
a=(h3-h1)/(w3-w1); //车身与终点连线斜率；
b=w2-w1; //假定纵轴刚好经过车身坐标的坐标系，则b为在该坐标系内车头横坐标；
h=a*b+h1; //在假定坐标系内车头对应在车身与终点直线上的纵坐标；
d=sqrt((w3-w2)*(w3-w2)+(h3-h2)*(h3-h2)); //车头与终点的距离
if(d>30) //车头的距离大于30
{
if(((h2-h)<(-20))||((h2-h)>20)) //终点与车身是否在一条直线上；
{
if((h2-h)>20) //车头在连线右方
{ //左转
if(MyCom->PortOpen)
{ unsigned char redata[8]={0xf5,0x5f,0x03,0x10,0x00,0x00,0x00,0x00};
if(MyCom->PortOpen)
{ OleVariant TxBuff;
TxBuff=VarArrayCreate(OPENARRAY(int,(0,7)),varByte);
for(int i=0;i<8;i++)
TxBuff.PutElement(redata[i],i);
MyCom->Output= TxBuff;
}
}
}
else //车头在连线左方则右转
{
if(MyCom->PortOpen)
{ unsigned char redata[8]={0xf5,0x5f,0x04,0x10,0x00,0x00,0x00,0x00};
if(MyCom->PortOpen)
{ OleVariant TxBuff;
TxBuff=VarArrayCreate(OPENARRAY(int,(0,7)),varByte);
for(int i=0;i<8;i++)
TxBuff.PutElement(redata[i],i);
MyCom->Output= TxBuff;
}
}
}
}
else
{
if(MyCom->PortOpen) //前进
{ unsigned char redata[8]={0xf5,0x5f,0x01,0x20,0x00,0x00,0x00,0x00};
if(MyCom->PortOpen)
{ OleVariant TxBuff;
TxBuff=VarArrayCreate(OPENARRAY(int,(0,7)),varByte);
for(int i=0;i<8;i++)
TxBuff.PutElement(redata[i],i);
MyCom->Output= TxBuff;
}
}
}
}
else //距离<30停止
{
if(MyCom->PortOpen)
{ unsigned char redata[8]={0xf5,0x5f,0x05,0x00,0x00,0x00,0x00,0x00};
if(MyCom->PortOpen)
{ OleVariant TxBuff;
TxBuff=VarArrayCreate(OPENARRAY(int,(0,7)),varByte);
for(int i=0;i<8;i++)
TxBuff.PutElement(redata[i],i);
MyCom->Output= TxBuff;
}
}
}
}
}
//---------------------------------------------------------------------------
void __fastcall TForm1::Button9Click(TObject *Sender)
{
Timer1->Enabled=true;
}
//---------------------------------------------------------------------------
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