📄 followlinedlg.cpp
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// FollowLineDlg.cpp : implementation file
//
#include "stdafx.h"
#include "FollowLine.h"
#include "FollowLineDlg.h"
#include "robotapi.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()
/////////////////////////////////////////////////////////////////////////////
// CFollowLineDlg dialog
CFollowLineDlg::CFollowLineDlg(CWnd* pParent /*=NULL*/)
: CDialog(CFollowLineDlg::IDD, pParent)
{
//{{AFX_DATA_INIT(CFollowLineDlg)
m_Ultra_Left = 0.0f;
m_Ultra_Left45 = 0.0f;
m_Ultra_LeftBack = 0.0f;
m_Ultra_LeftFront = 0.0f;
m_Ultra_Right = 0.0f;
m_Ultra_Right45 = 0.0f;
m_Ultra_RightBack = 0.0f;
m_Ultra_RightFront = 0.0f;
//}}AFX_DATA_INIT
// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
}
void CFollowLineDlg::DoDataExchange(CDataExchange* pDX)
{
CDialog::DoDataExchange(pDX);
//{{AFX_DATA_MAP(CFollowLineDlg)
DDX_Text(pDX, IDC_EDIT_LEFT, m_Ultra_Left);
DDX_Text(pDX, IDC_EDIT_LEFT_45, m_Ultra_Left45);
DDX_Text(pDX, IDC_EDIT_LEFT_BACK, m_Ultra_LeftBack);
DDX_Text(pDX, IDC_EDIT_LEFT_FRONT, m_Ultra_LeftFront);
DDX_Text(pDX, IDC_EDIT_RIGHT, m_Ultra_Right);
DDX_Text(pDX, IDC_EDIT_RIGHT_45, m_Ultra_Right45);
DDX_Text(pDX, IDC_EDIT_RIGHT_BACK, m_Ultra_RightBack);
DDX_Text(pDX, IDC_EDIT_RIGHT_FRONT, m_Ultra_RightFront);
//}}AFX_DATA_MAP
}
BEGIN_MESSAGE_MAP(CFollowLineDlg, CDialog)
//{{AFX_MSG_MAP(CFollowLineDlg)
ON_WM_SYSCOMMAND()
ON_WM_PAINT()
ON_WM_QUERYDRAGICON()
ON_WM_TIMER()
ON_BN_CLICKED(ID_START, OnStart)
ON_WM_DESTROY()
//}}AFX_MSG_MAP
END_MESSAGE_MAP()
/////////////////////////////////////////////////////////////////////////////
// CFollowLineDlg message handlers
BOOL CFollowLineDlg::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
m_Infra_FrontLeft=false;
m_Infra_FrontMid=false;
m_Infra_FrontRight=false;
m_Infra_Left45=false;
m_Infra_Right45=false;
m_Infra_LeftFront=false;
m_Infra_LeftBack=false;
m_Infra_RightFront=false;
m_Infra_RightBack=false;
m_Infra_BackLeft=false;
m_Infra_BackMid=false;
m_Infra_BackRight=false;
m_Infra_FrontLong=false;
m_Infra_BackLong=false;
m_Infra_RightLong=false;
m_Infra_LeftLong=false;
m_Infra_Left45Long=false;
m_Infra_Right45Long=false;
m_bExecuting=false;
//added
m_pResImage=NULL;
//
SetControlPos();
return TRUE; // return TRUE unless you set the focus to a control
}
void CFollowLineDlg::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 CFollowLineDlg::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 CFollowLineDlg::OnQueryDragIcon()
{
return (HCURSOR) m_hIcon;
}
void CFollowLineDlg::SetControlPos()
{
CRect rc;
GetClientRect(&rc);
CStatic *pST;
CButton *pBut;
CEdit *pEdit;
pST=(CStatic *)GetDlgItem(IDC_STATIC_IMAGE);
pST->SetWindowPos(NULL,rc.Width()/2-165,rc.Height()/2-155,330,250,SWP_SHOWWINDOW);
m_rcOrignImage.SetRect(rc.Width()/2-160,rc.Height()/2-150,rc.Width()/2+160,rc.Height()/2+100);
pEdit=(CEdit *)GetDlgItem(IDC_EDIT_LEFT_FRONT);
pEdit->SetWindowPos(NULL,rc.Width()/2-100,rc.Height()/2-180,60,20,SWP_SHOWWINDOW);
pEdit=(CEdit *)GetDlgItem(IDC_EDIT_RIGHT_FRONT);
pEdit->SetWindowPos(NULL,rc.Width()/2+40,rc.Height()/2-180,60,20,SWP_SHOWWINDOW);
pEdit=(CEdit *)GetDlgItem(IDC_EDIT_LEFT_45);
pEdit->SetWindowPos(NULL,rc.Width()/2-230,rc.Height()/2-150,60,20,SWP_SHOWWINDOW);
pEdit=(CEdit *)GetDlgItem(IDC_EDIT_RIGHT_45);
pEdit->SetWindowPos(NULL,rc.Width()/2+170,rc.Height()/2-150,60,20,SWP_SHOWWINDOW);
pEdit=(CEdit *)GetDlgItem(IDC_EDIT_LEFT);
pEdit->SetWindowPos(NULL,rc.Width()/2-230,rc.Height()/2-50,60,20,SWP_SHOWWINDOW);
pEdit=(CEdit *)GetDlgItem(IDC_EDIT_RIGHT);
pEdit->SetWindowPos(NULL,rc.Width()/2+170,rc.Height()/2-50,60,20,SWP_SHOWWINDOW);
pEdit=(CEdit *)GetDlgItem(IDC_EDIT_LEFT_BACK);
pEdit->SetWindowPos(NULL,rc.Width()/2-100,rc.Height()/2+100,60,20,SWP_SHOWWINDOW);
pEdit=(CEdit *)GetDlgItem(IDC_EDIT_RIGHT_BACK);
pEdit->SetWindowPos(NULL,rc.Width()/2+40,rc.Height()/2+100,60,20,SWP_SHOWWINDOW);
pBut=(CButton *)GetDlgItem(ID_START);
pBut->SetWindowPos(NULL,rc.left+90,rc.bottom-50,140,25,SWP_SHOWWINDOW);
pBut=(CButton *)GetDlgItem(IDOK);
pBut->SetWindowPos(NULL,rc.right-230,rc.bottom-50,140,25,SWP_SHOWWINDOW);
}
void CFollowLineDlg::OnTimer(UINT nIDEvent)
{
CDialog::OnTimer(nIDEvent);
UpdateData(FALSE);
float minFront=500.00;
if((m_Ultra_RightFront!=0)&&(minFront>m_Ultra_RightFront))
minFront=m_Ultra_RightFront;
if((m_Ultra_LeftFront!=0)&&(minFront>m_Ultra_LeftFront))
minFront=m_Ultra_LeftFront;
if(minFront<80)
{
pid.ClearHistory();
if((m_Ultra_Left>0)&&(m_Ultra_Right>0)&&(m_Ultra_Right<m_Ultra_Left))//左转
Drive_Rotate_Position(-10,20);
else if((m_Ultra_Left>0)&&(m_Ultra_Right>0)&&(m_Ultra_Right>=m_Ultra_Left))//右转
Drive_Rotate_Position(10,20);
else if((m_Ultra_Left>0)&&(m_Ultra_Right==0))//右转
Drive_Rotate_Position(10,20);
else if((m_Ultra_Left==0)&&(m_Ultra_Right>0))//左转
Drive_Rotate_Position(-10,20);
else
Drive_Rotate_Position(-10,20);
}
else
{
CDC *pDC;
pDC=GetDC();
m_ImageManager.SnapOneToMem(1);
//{{ modified
m_ImageManager.RobertOperator(m_pOrignImage,m_pResImage,320,240);
m_ImageManager.Binary(m_pResImage,80,320,240);
m_ImageManager.FindLine(m_pResImage,320,240);
CString strTemp;
strTemp.Format("角度：%d,速度：%.2f",m_ImageManager.g_phei,m_ImageManager.g_v);
pDC->TextOut(0,0,strTemp);
// P控制
// Drive_Velocity(m_ImageManager.g_phei,m_ImageManager.g_v);
// PID控制
Drive_Velocity((short)pid.pid_calc(m_ImageManager.g_phei), m_ImageManager.g_v);
m_ImageManager.ShowImage(pDC->m_hDC,m_rcOrignImage,320,240,m_pResImage);
ReleaseDC(pDC);
// modified}}
}
}
//传感器信息采集线程
DWORD WINAPI SensorQueryThread(LPVOID pParam) // 控制函数定义线程。输入此函数后线程开始，此函数退出时线程终止。
// 此函数的原型应为：UINT MyControllingFunction( LPVOID pParam );
{
CFollowLineDlg *pView;
pView=(CFollowLineDlg *)pParam;
ROBOT_SENSOR_INFO *pSensorInfo;
while(pView->m_bExecuting)
{
pSensorInfo=QueryAllSensorData();
if(pSensorInfo!=NULL)
{
pView->m_Ultra_LeftFront=pSensorInfo->m_UltrasonicData.m_approach4;
pView->m_Ultra_RightFront=pSensorInfo->m_UltrasonicData.m_approach5;
pView->m_Ultra_Left45=pSensorInfo->m_UltrasonicData.m_approach3;
pView->m_Ultra_Right45=pSensorInfo->m_UltrasonicData.m_approach6;
pView->m_Ultra_Left=pSensorInfo->m_UltrasonicData.m_approach2;
pView->m_Ultra_Right=pSensorInfo->m_UltrasonicData.m_approach7;
pView->m_Ultra_LeftBack=pSensorInfo->m_UltrasonicData.m_approach1;
pView->m_Ultra_RightBack=pSensorInfo->m_UltrasonicData.m_approach8;
}
Sleep(60);
}
return 1;
}
void CFollowLineDlg::OnStart()
{
if(RobotInitial(2,3)!=ROBOT_NO_ERROR)
{
AfxMessageBox("机器人初始化失败！");
return;
}
m_ImageManager.InitCardsProperty();
if(m_ImageManager.OpenCard(1)==TRUE)
{
m_ImageManager.SetInputViewSize(1,768,576);
m_ImageManager.SetOutImageSize(320,240,320,240,320,240,320,240);
m_ImageManager.UpdateCardAttribute(1,ATTR_ALL);
m_ImageManager.BeginCapture(1);
m_ImageManager.SetOutImageMem(1);
m_pOrignImage=m_ImageManager.m_CardMemState.m_pucOutputImage_Card1;
//added
if(m_pResImage==NULL)
{
m_hResImage=GlobalAlloc(GMEM_FIXED,320*240*3);
m_pResImage=(BYTE *)GlobalLock(m_hResImage);
}
//
}
else
{
AfxMessageBox("图像采集初始化失败！");
return;
}
// m_imManager.g_phei=0;
// m_imManager.g_v=0;
m_bExecuting=true;
// MFC 应用程序中的所有线程都由 CWinThread 对象表示。大多数情况下，甚至不必显式创建这些对象，
// 而只需调用框架 Helper 函数 AfxBeginThread，该函数将为您创建 CWinThread 对象。
// 启动辅助线程
// AfxBeginThread 有两个重载版本：一个用于用户界面线程，一个用于辅助线程。
// 若要开始执行辅助线程，请调用 AfxBeginThread 提供下列信息：
// 控制函数的地址。
// 要传递到控制函数的参数。
// （可选）所需的线程优先级。默认值为正常优先级。有关可用的优先级级别的更多信息，请参见 Platform SDK 中的 SetThreadPriority。
//对于辅助线程，正常线程终止很简单：退出控制函数并返回表示终止原因的值。
//可以使用 AfxEndThread 函数或 return 语句。一般情况下，0 表示成功完成，但这取决于您自己。
//过早终止线程几乎一样简单：从线程内调用 AfxEndThread。将所需的退出代码作为唯一参数传递。
//这将停止执行线程、解除对线程堆栈的分配、分离附加到线程的所有 DLL 并从内存中删除线程对象。
//必须从要终止的线程内调用 AfxEndThread。如果要从其他线程终止线程，必须设置两个线程间的通信方法。
m_pSensorThread=AfxBeginThread((AFX_THREADPROC)SensorQueryThread,this,THREAD_PRIORITY_NORMAL);
//设置pid参数
pid.pid_tune();
SetTimer(1,30,NULL);
}
void CFollowLineDlg::OnDestroy()
{
CDialog::OnDestroy();
KillTimer(1);
//added
if(m_pResImage!=NULL)
{
GlobalUnlock(m_hResImage);
GlobalFree(m_hResImage);
}
//
if(m_bExecuting)
{
m_bExecuting=false;
m_ImageManager.StopCapture(1);
m_ImageManager.FreeOutImageMem(1);
m_ImageManager.CloseCard(1);
}
}
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