showimagedlg.cpp

使用大恒采集卡的图像显示

// ShowImageDlg.cpp : implementation file
//

#include "stdafx.h"
#include "ShowImage.h"
#include "ShowImageDlg.h"
#include "ImageProcess.h"
#include "Ddb.h"
#include "ColorGrow.h"
#include "Localization.h"
#include <math.h>
#include "PID.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()

/////////////////////////////////////////////////////////////////////////////
// CShowImageDlg dialog
static double Eaa[100][2];

CShowImageDlg::CShowImageDlg(CWnd* pParent /*=NULL*/)
	: CDialog(CShowImageDlg::IDD, pParent)
{
	//{{AFX_DATA_INIT(CShowImageDlg)
	m_a_x = -66;
	m_a_y = 0;
	m_a_z = 134;
	m_b_x = 0;
	m_b_y = 66;
	m_b_z = 134;
	m_c_x = 66;
	m_c_y = 0;
	m_c_z = 124;
	m_center_x = 442.262f;
	m_center_y = 293.137f;
	m_radius = 272.26f;
	m_vehicle_x = 0;
	m_vehicle_y = 0;
	m_vehicle_z = 0;
	m_Turn = 0;
	m_Slope = 0;
	m_Inclination = 0;
	m_n=0;
	m_bCorrection = FALSE;
	//}}AFX_DATA_INIT
	// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);

	m_color_R=m_color_G=m_color_B=0;
	m_color_R1=m_color_G1=m_color_B1=0;
	m_color_R1=m_color_G1=m_color_B1=0;

	m_point_x1=m_point_y1=m_point_x2=m_point_y2=m_point_x3=m_point_y3=-1;
	m_point_x=m_point_y=-1;
	m_p.ix=m_p.iy=m_p.iz=0;
	m_p.o.x=m_p.o.y=m_p.o.z=0;

	m_bCase=FALSE;
	m_bCali=TRUE;
	m_bLocalization=FALSE;
	m_bVehicle=FALSE;
}

void CShowImageDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CShowImageDlg)
	DDX_Control(pDX, IDC_STATIC_IMAGE, m_pic);
	DDX_Text(pDX, IDC_EDIT1, m_a_x);
	DDX_Text(pDX, IDC_EDIT2, m_a_y);
	DDX_Text(pDX, IDC_EDIT3, m_a_z);
	DDX_Text(pDX, IDC_EDIT4, m_b_x);
	DDX_Text(pDX, IDC_EDIT5, m_b_y);
	DDX_Text(pDX, IDC_EDIT6, m_b_z);
	DDX_Text(pDX, IDC_EDIT7, m_c_x);
	DDX_Text(pDX, IDC_EDIT8, m_c_y);
	DDX_Text(pDX, IDC_EDIT9, m_c_z);
	DDX_Text(pDX, IDC_EDIT10, m_center_x);
	DDX_Text(pDX, IDC_EDIT11, m_center_y);
	DDX_Text(pDX, IDC_EDIT12, m_radius);
	DDX_Text(pDX, IDC_EDIT14, m_vehicle_x);
	DDX_Text(pDX, IDC_EDIT15, m_vehicle_y);
	DDX_Text(pDX, IDC_EDIT16, m_vehicle_z);
	DDX_Text(pDX, IDC_EDIT17, m_Turn);
	DDX_Text(pDX, IDC_EDIT18, m_Slope);
	DDX_Text(pDX, IDC_EDIT19, m_Inclination);
	DDX_Check(pDX, IDC_CHECK1, m_bCorrection);
	//}}AFX_DATA_MAP
}

BEGIN_MESSAGE_MAP(CShowImageDlg, CDialog)
	//{{AFX_MSG_MAP(CShowImageDlg)
	ON_WM_SYSCOMMAND()
	ON_WM_PAINT()
	ON_WM_QUERYDRAGICON()
	ON_BN_CLICKED(IDC_START, OnStart)
	ON_WM_TIMER()
	ON_WM_DESTROY()
	ON_BN_CLICKED(IDC_PAUSE, OnPause)
	ON_BN_CLICKED(IDC_SAVEFILE, OnSavefile)
	ON_WM_CREATE()
	ON_WM_LBUTTONDOWN()
	ON_BN_CLICKED(IDC_SET_A, OnSetA)
	ON_BN_CLICKED(IDC_SET_A2, OnSetA2)
	ON_BN_CLICKED(IDC_SET_A3, OnSetA3)
	ON_BN_CLICKED(IDC_TAKE, OnTake)
	ON_BN_CLICKED(IDC_STARTROBOT, OnStartrobot)
	ON_BN_CLICKED(IDC_SHOPROBOT, OnShoprobot)
	ON_BN_CLICKED(IDC_CHECK1, OnCheck1)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CShowImageDlg message handlers

BOOL CShowImageDlg::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
	m_pResImage=NULL;
	m_bExecuting=FALSE;

	m_lpxy= new WORD[768*576*2];
	if(m_lpxy==NULL) return FALSE;
	memset(m_lpxy,0,768*576*2);
	CFile file((LPCTSTR )"dat.zjh", CFile::modeRead);
	file.ReadHuge(m_lpxy, sizeof(WORD)*2*576*768);

	return TRUE;  // return TRUE  unless you set the focus to a control
}

void CShowImageDlg::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 CShowImageDlg::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 CShowImageDlg::OnQueryDragIcon()
{
	return (HCURSOR) m_hIcon;
}

void CShowImageDlg::OnStart() 
{
	// TODO: Add your control notification handler code here
	m_ImageManager.InitCardsProperty();	
	if(m_ImageManager.OpenCard(1)==TRUE)
	{	
		m_ImageManager.SetInputViewSize(1,768,576);
		m_ImageManager.SetOutImageSize(768,576,768,576,768,576,768,576);		
		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,768*576*3);
			m_pResImage=(BYTE *)GlobalLock(m_hResImage);
		}
		//
		
	}
	else
	{		
		AfxMessageBox("图像采集初始化失败！");
		return;
	}
	m_bExecuting=true;


	SetTimer(1,50,NULL);
}

void CShowImageDlg::OnTimer(UINT nIDEvent) 
{
	// TODO: Add your message handler code here and/or call default
//	CDC *pDC;
//	pDC=GetDC();
	

//	Display(m_pOrignImage,768,576);
//	CRect rc(11,11, 779,587);
//	m_ImageManager.ShowImage(pDC->m_hDC,rc,768,576,m_pOrignImage);
//	ReleaseDC(pDC);	
	OnPP();
	CDialog::OnTimer(nIDEvent);
}

void CShowImageDlg::OnDestroy() 
{
	CDialog::OnDestroy();
	
	// TODO: Add your message handler code here
		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);
	}	
}

void CShowImageDlg::OnPause() 
{
	// TODO: Add your control notification handler code here
	KillTimer(1);
}

void CShowImageDlg::OnSavefile() 
{
	// TODO: Add your control notification handler code here
	KillTimer(1);
	m_ImageManager.StopCapture(1);
	CFileDialog fileSaveDlg(FALSE,"*.bmp","位图.bmp",
		             OFN_HIDEREADONLY|OFN_OVERWRITEPROMPT,"Bitmap Files(*.bmp)",NULL);
	int nRespond=fileSaveDlg.DoModal();
	if(nRespond==IDOK)
	{
		CString filePath=fileSaveDlg.GetPathName();
		CDdb* pDdb=new CDdb(&m_bitmap);
		pDdb->Save(filePath,0,0,768,576);
//		pDdb->Save256(filePath,0,0,m_nWidth,m_nHeight);
		pDdb->ClearMemory();
	}
}

int CShowImageDlg::OnCreate(LPCREATESTRUCT lpCreateStruct) 
{
	if (CDialog::OnCreate(lpCreateStruct) == -1)
		return -1;
	
	// TODO: Add your specialized creation code here
	CClientDC dc(this);
	m_bitmap.CreateCompatibleBitmap(&dc,768,576);
	CDC memDC;
	memDC.CreateCompatibleDC(&dc);
	CBitmap* pOldBitmap=memDC.SelectObject(&m_bitmap);
	CBrush* pBrush=new CBrush(RGB(255,255,255));
	CRect rect(0,0,1024,768);
	memDC.FillRect(rect,pBrush);
	memDC.SelectObject(pOldBitmap);
	delete pBrush;
	ReleaseDC(&dc);
	return 0;
}

void CShowImageDlg::Display(BYTE *pbyBits24, int w, int h)
{
	CClientDC dc(this);
	CDC memDC;
	memDC.CreateCompatibleDC(&dc);
	
	CBitmap* pOldBitmap=memDC.SelectObject(&m_bitmap);
	Render(&memDC,pbyBits24,w,h);
	dc.BitBlt(11,11, 768, 576, &memDC, 0, 0, SRCCOPY);

	memDC.SelectObject(pOldBitmap);
}

void CShowImageDlg::Render(CDC *pDC, BYTE *pbyBits24, int w, int h)
{
	CClientDC dc(this);
	CDC memDC;
	memDC.CreateCompatibleDC(&dc);

	CImageProcess* cp=new CImageProcess();
	HBITMAP hBitmap=cp->CreateDdb(pDC->m_hDC,w,h,pbyBits24);
	HBITMAP hOldBitmap=(HBITMAP)memDC.SelectObject(hBitmap);
	pDC->BitBlt(0,0,w,h,&memDC,0,0,SRCCOPY);
	::DeleteObject(hBitmap);
	memDC.SelectObject(hOldBitmap);
	delete cp;
	ReleaseDC(&dc);
}

void CShowImageDlg::OnPP()
{
	int nWidth=768,nHeight=576;
	m_ImageManager.SnapOneToMem(1);

	if(m_bCorrection==FALSE)
	{
		CColorGrow* gp=new CColorGrow();
		if(m_point_x>-1)
			gp->GetImage(m_pOrignImage,&m_point_x,&m_point_y,nWidth,nHeight,nWidth,nHeight,&m_color_R,&m_color_G,&m_color_B);
		if(m_point_x1>-1)
			gp->GetImage(m_pOrignImage,&m_point_x1,&m_point_y1,nWidth,nHeight,nWidth,nHeight,&m_color_R1,&m_color_G1,&m_color_B1);
		if(m_point_x2>-1)
			gp->GetImage(m_pOrignImage,&m_point_x2,&m_point_y2,nWidth,nHeight,nWidth,nHeight,&m_color_R2,&m_color_G2,&m_color_B2);	
		if(m_bLocalization)
			OnInitialization();
		Display(m_pOrignImage,nWidth,nHeight);
	}
	else 
	{
		Correction(m_pOrignImage,m_pResImage,m_lpxy);
		Display(m_pResImage,nWidth,nHeight);
	}
	
}

void CShowImageDlg::OnLButtonDown(UINT nFlags, CPoint point) 
{
	// TODO: Add your message handler code here and/or call default
	if(m_bCali)
	{
		EdgeS(m_n,point.x,point.y);
		m_n++;
	}
	else if(m_bCase)
	{
		m_point_x=point.x-11;
		m_point_y=point.y-11;
		m_color_R=-1;
		OnPP();