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whu_MFC_HandDlg.cpp
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whu_MFC_HandDlg.cpp
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// whu_MFC_HandDlg.cpp : implementation file
//
#include "stdafx.h"
#include "whu_MFC_Hand.h"
#include "whu_MFC_HandDlg.h"
#include "afxdialogex.h"
#include "CvvImage.h"
#include <Afxwin.h>
#define OPENNI_CONTEXT_ERROR 0
#define OPENNI_CHECK_KINECT 1
#define OPENNI_GENERATOR_ERROR 2
#define OPENNI_USERREGISTER_ERROR 3
#define OPENNI_OK 4
#ifdef _DEBUG
#define new DEBUG_NEW
#endif
#define WHU_GLOBALS
#include "whu_Golobal.h"
// CAboutDlg dialog used for App About
class CAboutDlg : public CDialogEx
{
public:
CAboutDlg();
// Dialog Data
enum { IDD = IDD_ABOUTBOX };
protected:
virtual void DoDataExchange(CDataExchange* pDX); // DDX/DDV support
// Implementation
protected:
DECLARE_MESSAGE_MAP()
};
CAboutDlg::CAboutDlg() : CDialogEx(CAboutDlg::IDD)
{
}
void CAboutDlg::DoDataExchange(CDataExchange* pDX)
{
CDialogEx::DoDataExchange(pDX);
}
BEGIN_MESSAGE_MAP(CAboutDlg, CDialogEx)
END_MESSAGE_MAP()
// Cwhu_MFC_HandDlg dialog
Cwhu_MFC_HandDlg::Cwhu_MFC_HandDlg(CWnd* pParent /*=NULL*/)
: CDialogEx(Cwhu_MFC_HandDlg::IDD, pParent)
{
m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
m_Language = 0;
}
Cwhu_MFC_HandDlg::~Cwhu_MFC_HandDlg()
{
cvReleaseImage(&whu_Coverimg);
cvReleaseImage(&whu_RecvImg);
GpioClose(m_pIObj);
cimg.Destroy();
ReleaseDC(pDC);
//AfxMyHand.whu_closehand();
//GpioClose(m_pIObj);
}
void Cwhu_MFC_HandDlg::DoDataExchange(CDataExchange* pDX)
{
CDialogEx::DoDataExchange(pDX);
DDX_Radio(pDX, IDC_RCHINESE, m_Language);
DDX_Control(pDX, IDC_IPADDRESS, whu_IpAddress);
DDX_Control(pDX, IDC_SLIDER2, m_Slider1);
DDX_Control(pDX, IDC_SLIDER3, m_Slider2);
DDX_Control(pDX, IDC_SLIDER4, m_Slider3);
DDX_Control(pDX, IDC_SLIDER5, m_Slider4);
DDX_Control(pDX, IDC_SLIDER6, m_Slider5);
}
BEGIN_MESSAGE_MAP(Cwhu_MFC_HandDlg, CDialogEx)
ON_WM_SYSCOMMAND()
ON_WM_PAINT()
ON_WM_QUERYDRAGICON()
ON_BN_CLICKED(IDOK, &Cwhu_MFC_HandDlg::OnBnClickedOk)
ON_ACN_START(IDC_ANIMATE1, &Cwhu_MFC_HandDlg::OnAcnStartAnimate1)
ON_BN_CLICKED(IDC_BSTART, &Cwhu_MFC_HandDlg::OnBnClickedBstart)
ON_BN_CLICKED(IDC_BSTOP, &Cwhu_MFC_HandDlg::OnBnClickedBstop)
ON_BN_CLICKED(IDC_BSET, &Cwhu_MFC_HandDlg::OnBnClickedBset)
ON_BN_CLICKED(IDC_BSETOK, &Cwhu_MFC_HandDlg::OnBnClickedBsetok)
ON_BN_CLICKED(IDC_BSETCANCLE, &Cwhu_MFC_HandDlg::OnBnClickedBsetcancle)
ON_BN_CLICKED(IDC_RCHINESE, &Cwhu_MFC_HandDlg::OnBnClickedRchinese)
ON_BN_CLICKED(IDC_RENGLISH, &Cwhu_MFC_HandDlg::OnBnClickedRenglish)
ON_BN_CLICKED(IDC_LOCAL, &Cwhu_MFC_HandDlg::OnBnClickedLocal)
ON_BN_CLICKED(IDC_SERIALPORT, &Cwhu_MFC_HandDlg::OnBnClickedSerialport)
ON_BN_CLICKED(IDC_SOCKET, &Cwhu_MFC_HandDlg::OnBnClickedSocket)
ON_BN_CLICKED(IDC_PICSTART, &Cwhu_MFC_HandDlg::OnBnClickedPicstart)
ON_MESSAGE(WM_DISPLAYANGLE,DisplayAngle)
ON_MESSAGE(WM_DISPLAYVIDEO,DisplayVideo)
ON_BN_CLICKED(IDC_SWITCH, &Cwhu_MFC_HandDlg::OnBnClickedSwitch)
ON_BN_CLICKED(IDC_FULLSCREEN, &Cwhu_MFC_HandDlg::OnBnClickedFullscreen)
ON_STN_DBLCLK(IDC_PIC, &Cwhu_MFC_HandDlg::OnStnDblclickPic)
ON_BN_CLICKED(IDC_CLIENTMODE, &Cwhu_MFC_HandDlg::OnBnClickedClientmode)
ON_BN_CLICKED(IDC_LOCALMODE, &Cwhu_MFC_HandDlg::OnBnClickedLocalmode)
ON_BN_CLICKED(IDC_NOBODY, &Cwhu_MFC_HandDlg::OnBnClickedNobody)
ON_BN_CLICKED(IDC_BODY, &Cwhu_MFC_HandDlg::OnBnClickedBody)
END_MESSAGE_MAP()
// Cwhu_MFC_HandDlg message handlers
BOOL Cwhu_MFC_HandDlg::OnInitDialog()
{
CDialogEx::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)
{
BOOL bNameValid;
CString strAboutMenu;
bNameValid = strAboutMenu.LoadString(IDS_ABOUTBOX);
ASSERT(bNameValid);
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
whu_Run=true;
CvSize m_size;
m_size.height=480; //zzzz
m_size.width=640; //zzzzzz
whu_RecvImg=cvCreateImage(m_size,IPL_DEPTH_8U,3);
//char m_ip[20]="127.0.0.1";
unsigned char m_ip[4]={192,168,16,3};
whu_IpAddress.SetAddress(m_ip[0],m_ip[1],m_ip[2],m_ip[3]);
int port=4;
GetDlgItem(IDC_PORT)->SetWindowTextA(_T("4"));
GetDlgItem(IDC_BAUDRATE)->SetWindowTextA("9600");
GetDlgItem(IDC_REMOTEPORT)->SetWindowTextA("4600");
GetDlgItem(IDC_LOCALPORT)->SetWindowTextA("1700");
for (int i=0;i<5;i++)
{
whu_angle[i] = 90;
}
m_PauseControl = true;
m_FullScreen = false;
SystemMode = 0;
m_bVideo = false;
InitDone[0] = false;
InitDone[1] = false;
InitDone[2] = false;
DWORD dwErr = GpioCreate(&m_pIObj,0);
pDC = GetDlgItem(IDC_PIC)->GetDC();
//【设置窗口隐藏】//
CRect SpeLeRec;
GetWindowRect(&m_large);
GetDlgItem(IDC_LINE1)->GetWindowRect(&SpeLeRec);
m_small.bottom = m_large.bottom;
m_small.left = m_large.left;
m_small.top = m_large.top;
m_small.right = SpeLeRec.right;
SetWindowPos(NULL,0,0,m_small.Width(),m_small.Height(),SWP_NOMOVE|SWP_NOZORDER);
int nFullWidth=GetSystemMetrics(SM_CXSCREEN);
int nFullHeight=GetSystemMetrics(SM_CYSCREEN);
m_FullScreenRect.left = 0;
m_FullScreenRect.top = 0;
m_FullScreenRect.bottom = nFullHeight;
m_FullScreenRect.right = nFullWidth;
GetDlgItem(IDC_PIC)->GetWindowRect(m_NormalScreenRect); //非全屏模式的矩形框
whu_HideAllItem();
GetDlgItem(IDC_ALL)->ShowWindow(true);
GetDlgItem(IDC_WARNING)->ShowWindow(true);
GetDlgItem(IDC_BSTART)->ShowWindow(true);
GetDlgItem(IDC_BSET)->ShowWindow(true);
GetDlgItem(IDC_CLIENTMODE)->ShowWindow(true);
GetDlgItem(IDC_LOCALMODE)->ShowWindow(true);
GetDlgItem(IDC_TIME)->ShowWindow(true);
GetDlgItem(IDC_STATICTIME)->ShowWindow(true);
m_Slider1.SetRange(0,180);
m_Slider1.SetTicFreq(1);
m_Slider2.SetRange(0,180);
m_Slider2.SetTicFreq(1);
m_Slider3.SetRange(0,180);
m_Slider3.SetTicFreq(1);
m_Slider4.SetRange(0,180);
m_Slider4.SetTicFreq(1);
m_Slider5.SetRange(0,180);
m_Slider5.SetTicFreq(1);
m_Slider1.SetPos(90);
m_Slider2.SetPos(90);
m_Slider3.SetPos(90);
m_Slider4.SetPos(90);
m_Slider5.SetPos(90);
return TRUE; // return TRUE unless you set the focus to a control
}
void Cwhu_MFC_HandDlg::OnSysCommand(UINT nID, LPARAM lParam)
{
if ((nID & 0xFFF0) == IDM_ABOUTBOX)
{
CAboutDlg dlgAbout;
dlgAbout.DoModal();
}
else
{
CDialogEx::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 Cwhu_MFC_HandDlg::OnPaint()
{
if (IsIconic())
{
CPaintDC dc(this); // device context for painting
SendMessage(WM_ICONERASEBKGND, reinterpret_cast<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
{
CDialogEx::OnPaint();
}
//whu_RecvImg= cvLoadImage("图书馆.jpg");
if (m_bVideo == false)
{
whu_Coverimg= cvLoadImage("E:\\樱顶.jpg");
DrawPicToHDC(whu_Coverimg,IDC_PIC);
}
}
// The system calls this function to obtain the cursor to display while the user drags
// the minimized window.
HCURSOR Cwhu_MFC_HandDlg::OnQueryDragIcon()
{
return static_cast<HCURSOR>(m_hIcon);
}
void Cwhu_MFC_HandDlg::OnBnClickedOk()
{
// TODO: Add your control notification handler code here
CDialogEx::OnOK();
}
void Cwhu_MFC_HandDlg::OnAcnStartAnimate1()
{
// TODO: Add your control notification handler code here
}
void Cwhu_MFC_HandDlg::OnEnChangeEdit1()
{
}
bool Cwhu_MFC_HandDlg::whu_Start()
{
return true;
}
void Cwhu_MFC_HandDlg::OnBnClickedBstop()
{
// TODO: Add your control notification handler code here
whu_Run=false;
CDialogEx::OnOK();
}
void Cwhu_MFC_HandDlg::OnBnClickedBset()
{
CString m_s;
if (GetDlgItem(IDC_BSET)->GetWindowTextA(m_s),m_s=="设置")
{
GetDlgItem(IDC_BSET)->SetWindowTextA("隐藏");
SetWindowPos(NULL,0,0,m_large.Width(),m_large.Height(),SWP_NOMOVE|SWP_NOZORDER);
GetDlgItem(IDC_LANGUAGE)->ShowWindow(true);
GetDlgItem(IDC_RCHINESE)->ShowWindow(true);
GetDlgItem(IDC_RENGLISH)->ShowWindow(true);
GetDlgItem(IDC_STATIC44)->ShowWindow(true);
GetDlgItem(IDC_STATICPORT)->ShowWindow(true);
GetDlgItem(IDC_PORT)->ShowWindow(true);
GetDlgItem(IDC_STATICBOTE)->ShowWindow(true);
GetDlgItem(IDC_BAUDRATE)->ShowWindow(true);
GetDlgItem(IDC_STATICNET)->ShowWindow(true);
GetDlgItem(IDC_STATICIP)->ShowWindow(true);
GetDlgItem(IDC_IPADDRESS)->ShowWindow(true);
GetDlgItem(IDC_STATIC33)->ShowWindow(true);
GetDlgItem(IDC_REMOTEPORT)->ShowWindow(true);
GetDlgItem(IDC_STATIC22)->ShowWindow(true);
GetDlgItem(IDC_LOCALPORT)->ShowWindow(true);
GetDlgItem(IDC_BSETCANCLE)->ShowWindow(true);
GetDlgItem(IDC_BSETOK)->ShowWindow(true);
GetDlgItem(IDC_LINE1)->ShowWindow(true);
GetDlgItem(IDC_LINE2)->ShowWindow(true);
}
else
{
GetDlgItem(IDC_BSET)->SetWindowTextA("设置");
SetWindowPos(NULL,0,0,m_small.Width(),m_small.Height(),SWP_NOMOVE|SWP_NOZORDER);
}
// TODO: Add your control notification handler code here
}
void Cwhu_MFC_HandDlg::OnEnChangeEdit6()
{
// TODO: If this is a RICHEDIT control, the control will not
// send this notification unless you override the CDialogEx::OnInitDialog()
// function and call CRichEditCtrl().SetEventMask()
// with the ENM_CHANGE flag ORed into the mask.
// TODO: Add your control notification handler code here
}
void Cwhu_MFC_HandDlg::whu_ClearAngleShake(double *TempAngle,double *FinalAngle,int MaxChange)
{
int m_value = 10;
static bool n_first=true;
if(n_first){ //第一次读取仅赋值不比较
for(int i=0;i<5;i++){
FinalAngle[i] = TempAngle[i];
}
n_first = false;
}
else //第二次之后开始比较，满足要求后才赋值//
{
//【舵机1】//
if (TempAngle[0]-FinalAngle[0]>=m_value&&TempAngle[0]-FinalAngle[0]<=90)
{
FinalAngle[0]+=MaxChange; //如果电脑运行很快，那么这个值就取小一点//
}
else if(FinalAngle[0]-TempAngle[0]>=m_value&&FinalAngle[0]-TempAngle[0]<=90)
{
FinalAngle[0]-=MaxChange;
}
//【舵机2】
if ((TempAngle[1]-FinalAngle[1]>=m_value&&TempAngle[1]-FinalAngle[1]<=90))
{
FinalAngle[1]+=MaxChange;
}
else if((FinalAngle[1]-TempAngle[1]>=m_value&&FinalAngle[1]-TempAngle[1]<=90))
{
FinalAngle[1]-=MaxChange;
}
//【舵机3】
if ((TempAngle[2]-FinalAngle[2]>=m_value&&TempAngle[2]-FinalAngle[2]<=90))
{
FinalAngle[2]+=MaxChange;
}
else if((FinalAngle[2]-TempAngle[2]>=m_value&&FinalAngle[2]-TempAngle[2]<=90))
{
FinalAngle[2]-=MaxChange;
}
//【舵机4 控制平衡舵机】
if (TempAngle[3]-FinalAngle[3]>=m_value&&TempAngle[3]-FinalAngle[3]<=90)
{
FinalAngle[3]+=MaxChange;
}
else if(FinalAngle[3]-TempAngle[3]>=m_value&&FinalAngle[3]-TempAngle[3]<=90)
{
FinalAngle[3]-=MaxChange;
}
////【舵机5 控制手掌闭合】
if (TempAngle[4]-FinalAngle[4]>=15) //不可取=
{
FinalAngle[4]+=15;
}
else if(FinalAngle[4]-TempAngle[4]>=15)
{
FinalAngle[4]-=15;
}
for (int j=0;j<5;j++)
{
if(FinalAngle[j]>=175) FinalAngle[j]=175;
if (FinalAngle[j]<5) FinalAngle[j]= 5;
}
}
}
void Cwhu_MFC_HandDlg::OnBnClickedBsetok()
{
SetWindowPos(NULL,0,0,m_small.Width(),m_small.Height(),SWP_NOMOVE|SWP_NOZORDER);
GetDlgItem(IDC_BSET)->SetWindowTextA("设置");
// TODO: Add your control notification handler code here
}
void Cwhu_MFC_HandDlg::OnBnClickedBsetcancle()
{
SetWindowPos(NULL,0,0,m_small.Width(),m_small.Height(),SWP_NOMOVE|SWP_NOZORDER);
GetDlgItem(IDC_BSET)->SetWindowTextA("设置");
// TODO: Add your control notification handler code here
}
void Cwhu_MFC_HandDlg::OnBnClickedRchinese()
{
// TODO: Add your control notification handler code here
m_Language=0;
}
void Cwhu_MFC_HandDlg::OnBnClickedRenglish()
{
// TODO: Add your control notification handler code here
m_Language=1;
}
void Cwhu_MFC_HandDlg::OnBnClickedLocal()
{
// TODO: Add your control notification handler code here
}
void Cwhu_MFC_HandDlg::OnBnClickedSerialport()
{
// TODO: Add your control notification handler code here
}
void Cwhu_MFC_HandDlg::OnBnClickedSocket()
{
// TODO: Add your control notification handler code here
}
void Cwhu_MFC_HandDlg::OnBnClickedPicstart()
{
}
void Cwhu_MFC_HandDlg::whu_ShowAngles(double *angle)
{
char angleshow[5][10];
int m_angle[5];
for (int i=0;i<5;i++)
{
m_angle[i]=(int)angle[i];
itoa(m_angle[i],angleshow[i],10);
}
GetDlgItem(IDC_ANGLE1)->SetWindowTextA(angleshow[0]);
GetDlgItem(IDC_ANGLE2)->SetWindowTextA(angleshow[1]);
GetDlgItem(IDC_ANGLE3)->SetWindowTextA(angleshow[2]);
GetDlgItem(IDC_ANGLE4)->SetWindowTextA(angleshow[3]);
GetDlgItem(IDC_ANGLE5)->SetWindowTextA(angleshow[4]);
m_Slider1.SetPos(m_angle[0]);
m_Slider2.SetPos(m_angle[1]);
m_Slider3.SetPos(m_angle[2]);
m_Slider4.SetPos(m_angle[3]);
m_Slider5.SetPos(m_angle[4]);
m_Slider1.SetPos(m_angle[0]);
m_Slider2.SetPos(m_angle[1]);
m_Slider3.SetPos(m_angle[2]);
m_Slider4.SetPos(m_angle[3]);
m_Slider5.SetPos(m_angle[4]);
}
void Cwhu_MFC_HandDlg::whu_ShowOpenNiError(int message)
{
switch (message)
{
case OPENNI_CONTEXT_ERROR :
GetDlgItem(IDC_WARNING)->SetWindowTextA("OpenNi Context Initialize Error");
break;
case OPENNI_CHECK_KINECT :
GetDlgItem(IDC_WARNING)->SetWindowTextA("OpenNi Error:Please Check Your Kinect");
break;
case OPENNI_GENERATOR_ERROR :
GetDlgItem(IDC_WARNING)->SetWindowTextA("OpenNi Generator Create Error");
break;
case OPENNI_USERREGISTER_ERROR:
GetDlgItem(IDC_WARNING)->SetWindowTextA("OpenNi User Register Error");
break;
case OPENNI_OK:
GetDlgItem(IDC_WARNING)->SetWindowTextA("OpenNi Initialize Success");
break;
default:
GetDlgItem(IDC_WARNING)->SetWindowTextA("OpenNi Error Not Register");
break;
}
}
void Cwhu_MFC_HandDlg::OnBnClickedSwitch()
{
CString m_str;
GetDlgItemText(IDC_SWITCH,m_str);
if (m_str == "切至本地监控")
{
SetDlgItemText(IDC_SWITCH,"切至远程监控");
}
else if(m_str =="切至远程监控")
{
SetDlgItemText(IDC_SWITCH,"切至本地监控");
}
if (m_gKinectVideo)
{
m_gKinectVideo = false;
}
else
{
m_gKinectVideo = true;
}
if (m_gCamVideo)
{
m_gCamVideo = false;
}
else
{
m_gCamVideo = true;
}
if (m_gRecvVideo)
{
m_gRecvVideo = false;
}
else
{
m_gRecvVideo = true;
}
// TODO: Add your control notification handler code here
}
void Cwhu_MFC_HandDlg::OnStnDblclickPic()//双击屏幕全屏
{
CString str;
GetDlgItemText(IDC_FULLSCREEN,str);
if (str=="全屏")
{
GetDlgItem(IDC_FULLSCREEN)->SetWindowTextA("退出全屏");
//GetDlgItem(IDC_FULLSCREEN)->MoveWindow(m_FullScreenRect.right-200,m_FullScreenRect.bottom-200,100,100);
m_FullScreen = TRUE;
whu_SetScreen();
}
else
{
GetDlgItem(IDC_FULLSCREEN)->SetWindowTextA("全屏");
m_FullScreen = false;
whu_SetScreen();
}
// TODO: Add your control notification handler code here
}
void Cwhu_MFC_HandDlg::OnBnClickedFullscreen()
{
CString str;
GetDlgItemText(IDC_FULLSCREEN,str);
if (str=="全屏")
{
GetDlgItem(IDC_FULLSCREEN)->SetWindowTextA("退出全屏");
//GetDlgItem(IDC_FULLSCREEN)->MoveWindow(m_FullScreenRect.right-200,m_FullScreenRect.bottom-200,100,100);
m_FullScreen = TRUE;
whu_SetScreen();
}
else
{
GetDlgItem(IDC_FULLSCREEN)->SetWindowTextA("全屏");
m_FullScreen = false;
whu_SetScreen();
}
// TODO: Add your control notification handler code here
}
void Cwhu_MFC_HandDlg::whu_SetScreen()
{
static bool LastScreenMode = false;
if (LastScreenMode != m_FullScreen)
{
if (m_FullScreen)
{
whu_HideAllItem();
GetDlgItem(IDC_PIC)->SetWindowPos(NULL,0,0,m_FullScreenRect.Width(),m_FullScreenRect.Height(),
SWP_NOMOVE|SWP_NOZORDER);
MoveWindow(0,0,m_FullScreenRect.Width(),m_FullScreenRect.Height());
SetWindowPos(NULL,0,0,m_FullScreenRect.Width(),m_FullScreenRect.Height(),
SWP_NOMOVE|SWP_NOZORDER);
}
else
{
whu_ShowAllItem();
GetDlgItem(IDC_PIC)->SetWindowPos(NULL,0,0,m_NormalScreenRect.Width(),
m_NormalScreenRect.Height(),SWP_NOMOVE|SWP_NOZORDER);
SetWindowPos(NULL,0,0,m_small.Width(),m_small.Height(),
SWP_NOMOVE|SWP_NOZORDER);
}
LastScreenMode = m_FullScreen;//保证不用每次都变
}
}
void Cwhu_MFC_HandDlg::whu_ShowAllItem()
{
if (InitDone[0]||InitDone[1]||InitDone[2])
{
GetDlgItem(IDC_NO1)->ShowWindow(true);
GetDlgItem(IDC_NO2)->ShowWindow(true);
GetDlgItem(IDC_NO3)->ShowWindow(true);
GetDlgItem(IDC_NO4)->ShowWindow(true);
GetDlgItem(IDC_NO5)->ShowWindow(true);
GetDlgItem(IDC_ANGLE1)->ShowWindow(true);
GetDlgItem(IDC_ANGLE2)->ShowWindow(true);
GetDlgItem(IDC_ANGLE3)->ShowWindow(true);
GetDlgItem(IDC_ANGLE4)->ShowWindow(true);
GetDlgItem(IDC_ANGLE5)->ShowWindow(true);
GetDlgItem(IDC_LR)->ShowWindow(true);
GetDlgItem(IDC_FB)->ShowWindow(true);
GetDlgItem(IDC_DU)->ShowWindow(true);
GetDlgItem(IDC_PINGHENG)->ShowWindow(true);
GetDlgItem(IDC_OPEN)->ShowWindow(true);
GetDlgItem(IDC_SLIDER2)->ShowWindow(true);
GetDlgItem(IDC_SLIDER3)->ShowWindow(true);
GetDlgItem(IDC_SLIDER4)->ShowWindow(true);
GetDlgItem(IDC_SLIDER5)->ShowWindow(true);
GetDlgItem(IDC_SLIDER6)->ShowWindow(true);
//GetDlgItem(IDC_DUOJI)->ShowWindow(true);
if(SystemMode == 0 ){
GetDlgItem(IDC_SWITCH)->ShowWindow(true);//
GetDlgItem(IDC_BSTOP)->ShowWindow(true);//
GetDlgItem(IDC_FULLSCREEN)->ShowWindow(true);//
}
if(SystemMode == 1 ){
GetDlgItem(IDC_BSTOP)->ShowWindow(true);//
GetDlgItem(IDC_FULLSCREEN)->ShowWindow(true);//
}
if(SystemMode == 2 ){
GetDlgItem(IDC_BSTOP)->ShowWindow(true);//
GetDlgItem(IDC_FULLSCREEN)->ShowWindow(true);//
}
}
else
{
GetDlgItem(IDC_BSET)->ShowWindow(TRUE);
GetDlgItem(IDC_BSTART)->ShowWindow(true);//
GetDlgItem(IDC_LOCALMODE)->ShowWindow(true);//
GetDlgItem(IDC_CLIENTMODE)->ShowWindow(true);//
}
GetDlgItem(IDC_WARNING)->ShowWindow(true);
//GetDlgItem(IDC_CONTROL)->ShowWindow(true);
GetDlgItem(IDC_LANGUAGE)->ShowWindow(true);
GetDlgItem(IDC_RCHINESE)->ShowWindow(true);
GetDlgItem(IDC_RENGLISH)->ShowWindow(true);
GetDlgItem(IDC_STATIC44)->ShowWindow(true);
GetDlgItem(IDC_STATICPORT)->ShowWindow(true);
GetDlgItem(IDC_PORT)->ShowWindow(true);
GetDlgItem(IDC_STATICBOTE)->ShowWindow(true);
GetDlgItem(IDC_BAUDRATE)->ShowWindow(true);
GetDlgItem(IDC_STATICNET)->ShowWindow(true);
GetDlgItem(IDC_STATICIP)->ShowWindow(true);
GetDlgItem(IDC_IPADDRESS)->ShowWindow(true);
GetDlgItem(IDC_STATIC33)->ShowWindow(true);
GetDlgItem(IDC_REMOTEPORT)->ShowWindow(true);
GetDlgItem(IDC_STATIC22)->ShowWindow(true);
GetDlgItem(IDC_LOCALPORT)->ShowWindow(true);
GetDlgItem(IDC_BSETCANCLE)->ShowWindow(true);
GetDlgItem(IDC_BSETOK)->ShowWindow(true);
GetDlgItem(IDC_LINE1)->ShowWindow(true);
GetDlgItem(IDC_LINE2)->ShowWindow(true);
GetDlgItem(IDC_STATICTIME)->ShowWindow(true);
GetDlgItem(IDC_TIME)->ShowWindow(true);
}
void Cwhu_MFC_HandDlg::whu_HideAllItem()
{
GetDlgItem(IDC_ANGLE1)->ShowWindow(false);
GetDlgItem(IDC_ANGLE2)->ShowWindow(false);
GetDlgItem(IDC_ANGLE3)->ShowWindow(false);
GetDlgItem(IDC_ANGLE4)->ShowWindow(false);
GetDlgItem(IDC_ANGLE5)->ShowWindow(false);
GetDlgItem(IDC_NO1)->ShowWindow(false);
GetDlgItem(IDC_NO2)->ShowWindow(false);
GetDlgItem(IDC_NO3)->ShowWindow(false);
GetDlgItem(IDC_NO4)->ShowWindow(false);
GetDlgItem(IDC_NO5)->ShowWindow(false);
GetDlgItem(IDC_FULLSCREEN)->ShowWindow(false);
GetDlgItem(IDC_SWITCH)->ShowWindow(false);
GetDlgItem(IDC_WARNING)->ShowWindow(false);
//GetDlgItem(IDC_DUOJI)->ShowWindow(false);
//GetDlgItem(IDC_CONTROL)->ShowWindow(false);
GetDlgItem(IDC_CLIENTMODE)->ShowWindow(false);
GetDlgItem(IDC_LOCALMODE)->ShowWindow(false);
GetDlgItem(IDC_BSTART)->ShowWindow(false);
GetDlgItem(IDC_BSET)->ShowWindow(false);
GetDlgItem(IDC_SWITCH)->ShowWindow(false);
GetDlgItem(IDC_BSTOP)->ShowWindow(false);
GetDlgItem(IDC_FULLSCREEN)->ShowWindow(false);
GetDlgItem(IDC_LANGUAGE)->ShowWindow(false);
GetDlgItem(IDC_RCHINESE)->ShowWindow(false);
GetDlgItem(IDC_RENGLISH)->ShowWindow(false);
GetDlgItem(IDC_STATIC44)->ShowWindow(false);
GetDlgItem(IDC_STATICPORT)->ShowWindow(false);
GetDlgItem(IDC_PORT)->ShowWindow(false);
GetDlgItem(IDC_STATICBOTE)->ShowWindow(false);
GetDlgItem(IDC_BAUDRATE)->ShowWindow(false);
GetDlgItem(IDC_STATICNET)->ShowWindow(false);
GetDlgItem(IDC_STATICIP)->ShowWindow(false);
GetDlgItem(IDC_IPADDRESS)->ShowWindow(false);
GetDlgItem(IDC_STATIC33)->ShowWindow(false);
GetDlgItem(IDC_REMOTEPORT)->ShowWindow(false);
GetDlgItem(IDC_STATIC22)->ShowWindow(false);
GetDlgItem(IDC_LOCALPORT)->ShowWindow(false);
GetDlgItem(IDC_BSETCANCLE)->ShowWindow(false);
GetDlgItem(IDC_BSETOK)->ShowWindow(false);
GetDlgItem(IDC_LINE1)->ShowWindow(false);
GetDlgItem(IDC_LINE2)->ShowWindow(false);
GetDlgItem(IDC_NOBODY)->ShowWindow(false);
GetDlgItem(IDC_BODY)->ShowWindow(false);
GetDlgItem(IDC_SLIDER2)->ShowWindow(false);
GetDlgItem(IDC_SLIDER3)->ShowWindow(false);
GetDlgItem(IDC_SLIDER4)->ShowWindow(false);
GetDlgItem(IDC_SLIDER5)->ShowWindow(false);
GetDlgItem(IDC_SLIDER6)->ShowWindow(false);
GetDlgItem(IDC_ALL)->ShowWindow(false);
GetDlgItem(IDC_LR)->ShowWindow(false);
GetDlgItem(IDC_FB)->ShowWindow(false);
GetDlgItem(IDC_DU)->ShowWindow(false);
GetDlgItem(IDC_PINGHENG)->ShowWindow(false);
GetDlgItem(IDC_OPEN)->ShowWindow(false);
GetDlgItem(IDC_STATICTIME)->ShowWindow(false);
GetDlgItem(IDC_TIME)->ShowWindow(false);
}
void Cwhu_MFC_HandDlg::OnBnClickedNobody()
{
}
void Cwhu_MFC_HandDlg::OnBnClickedBody()
{
// TODO: Add your control notification handler code here
}
bool Cwhu_MFC_HandDlg::whu_GetNobodyAngle(double* angle)
{
return true;
}
/////////////////////////////////////////////////////////////////////////////////////////
void Cwhu_MFC_HandDlg::OnBnClickedBstart()//服务器端模式
{
GetDlgItem(IDC_BSTART)->ShowWindow(FALSE);
GetDlgItem(IDC_BSET)->ShowWindow(false);
GetDlgItem(IDC_NO1)->ShowWindow(true);
GetDlgItem(IDC_NO2)->ShowWindow(true);
GetDlgItem(IDC_NO3)->ShowWindow(true);
GetDlgItem(IDC_NO4)->ShowWindow(true);
GetDlgItem(IDC_NO5)->ShowWindow(true);
GetDlgItem(IDC_ANGLE1)->ShowWindow(true);
GetDlgItem(IDC_ANGLE2)->ShowWindow(true);
GetDlgItem(IDC_ANGLE3)->ShowWindow(true);
GetDlgItem(IDC_ANGLE4)->ShowWindow(true);
GetDlgItem(IDC_ANGLE5)->ShowWindow(true);
GetDlgItem(IDC_LR)->ShowWindow(true);
GetDlgItem(IDC_FB)->ShowWindow(true);
GetDlgItem(IDC_DU)->ShowWindow(true);
GetDlgItem(IDC_PINGHENG)->ShowWindow(true);
GetDlgItem(IDC_OPEN)->ShowWindow(true);
GetDlgItem(IDC_SLIDER2)->ShowWindow(true);
GetDlgItem(IDC_SLIDER3)->ShowWindow(true);
GetDlgItem(IDC_SLIDER4)->ShowWindow(true);
GetDlgItem(IDC_SLIDER5)->ShowWindow(true);
GetDlgItem(IDC_SLIDER6)->ShowWindow(true);
//GetDlgItem(IDC_DUOJI)->ShowWindow(true);
GetDlgItem(IDC_CLIENTMODE)->ShowWindow(FALSE);
GetDlgItem(IDC_LOCALMODE)->ShowWindow(FALSE);
GetDlgItem(IDC_BSTOP)->ShowWindow(true);
GetDlgItem(IDC_SWITCH)->ShowWindow(TRUE);
GetDlgItem(IDC_FULLSCREEN)->ShowWindow(TRUE);
GetDlgItem(IDC_WARNING)->SetWindowText("The Application of Server Mode has Started ,Please Wait For 10 Seconds");
SystemMode = 0;
whu_IpAddress.GetAddress(m_GRemoteIpAddRess[0],m_GRemoteIpAddRess[1],m_GRemoteIpAddRess[2],m_GRemoteIpAddRess[3]);
m_GRemotePort = GetDlgItemInt(IDC_REMOTEPORT);
m_GLocalPort = GetDlgItemInt(IDC_LOCALPORT);
//m_LocalVideo = true;
m_gKinectVideo = true;
m_gRecvVideo = false;
m_gStopArm = false;
InitDone[0]=true;
if (InitDone[0])
{
m_KinThread=(CKinectThread*)AfxBeginThread(RUNTIME_CLASS(CKinectThread));
m_KinThread->PostThreadMessage(WM_GETANGLE,NULL,NULL);
Sleep(10);
m_RtpSendAngleThread = (CRecvPicSendAngle*)AfxBeginThread(RUNTIME_CLASS(CRecvPicSendAngle));
m_RtpSendAngleThread->PostThreadMessageA(WM_SENDANGLE,NULL,NULL);
Sleep(10);
}
// TODO: Add your control notification handler code here
}
///////////////////////////////////////////////////////////////////////////////////////////
void Cwhu_MFC_HandDlg::OnBnClickedClientmode() //客户端模式
{
// TODO: Add your control notification handler code here
GetDlgItem(IDC_BSTART)->ShowWindow(FALSE);
GetDlgItem(IDC_CLIENTMODE)->ShowWindow(false);
GetDlgItem(IDC_LOCALMODE)->ShowWindow(false);
GetDlgItem(IDC_BSET)->ShowWindow(false);
GetDlgItem(IDC_BSTOP)->ShowWindow(true);
GetDlgItem(IDC_FULLSCREEN)->ShowWindow(true);
GetDlgItem(IDC_NO1)->ShowWindow(true);
GetDlgItem(IDC_NO2)->ShowWindow(true);
GetDlgItem(IDC_NO3)->ShowWindow(true);
GetDlgItem(IDC_NO4)->ShowWindow(true);
GetDlgItem(IDC_NO5)->ShowWindow(true);
GetDlgItem(IDC_ANGLE1)->ShowWindow(true);
GetDlgItem(IDC_ANGLE2)->ShowWindow(true);
GetDlgItem(IDC_ANGLE3)->ShowWindow(true);
GetDlgItem(IDC_ANGLE4)->ShowWindow(true);
GetDlgItem(IDC_ANGLE5)->ShowWindow(true);
GetDlgItem(IDC_LR)->ShowWindow(true);
GetDlgItem(IDC_FB)->ShowWindow(true);
GetDlgItem(IDC_DU)->ShowWindow(true);
GetDlgItem(IDC_PINGHENG)->ShowWindow(true);
GetDlgItem(IDC_OPEN)->ShowWindow(true);
GetDlgItem(IDC_SLIDER2)->ShowWindow(true);
GetDlgItem(IDC_SLIDER3)->ShowWindow(true);
GetDlgItem(IDC_SLIDER4)->ShowWindow(true);
GetDlgItem(IDC_SLIDER5)->ShowWindow(true);
GetDlgItem(IDC_SLIDER6)->ShowWindow(true);
//GetDlgItem(IDC_DUOJI)->ShowWindow(true);
SystemMode = 1;
GetDlgItem(IDC_WARNING)->SetWindowText("The Application of Client Mode has Started ,Please Wait For 10 Seconds");
whu_IpAddress.GetAddress(m_GRemoteIpAddRess[0],m_GRemoteIpAddRess[1],m_GRemoteIpAddRess[2],m_GRemoteIpAddRess[3]);
m_GRemotePort = GetDlgItemInt(IDC_REMOTEPORT);
m_GLocalPort = GetDlgItemInt(IDC_LOCALPORT);
m_gCamVideo = true;
m_gStopArm = false;
//DWORD dwErr = GpioCreate(&m_pIObj,0);
InitDone[1]=true;
if (InitDone[1])
{
m_RtpRecvAngleThread = (CRecvAngleSendPicThread*)AfxBeginThread(RUNTIME_CLASS(CRecvAngleSendPicThread));
m_RtpRecvAngleThread->PostThreadMessage(WM_RECVANGLE,NULL,NULL);
Sleep(10);
m_fpgathread = (CFPGAThread*)AfxBeginThread(RUNTIME_CLASS(CFPGAThread));
m_fpgathread->PostThreadMessage(WM_SENDFPGAANGLE,NULL,NULL);
Sleep(10);
}
}
///////////////////////////////////////////////////////////////////////////////////////////
void Cwhu_MFC_HandDlg::OnBnClickedLocalmode()//单机模式//
{
// TODO: Add your control notification handler code here
SystemMode = 2;
//bool init=false;
GetDlgItem(IDC_BSTART)->ShowWindow(FALSE);
GetDlgItem(IDC_CLIENTMODE)->ShowWindow(FALSE);
GetDlgItem(IDC_LOCALMODE)->ShowWindow(FALSE);
GetDlgItem(IDC_BSET)->ShowWindow(false);
GetDlgItem(IDC_BSTOP)->ShowWindow(true);
GetDlgItem(IDC_FULLSCREEN)->ShowWindow(true);
GetDlgItem(IDC_NO1)->ShowWindow(true);
GetDlgItem(IDC_NO2)->ShowWindow(true);
GetDlgItem(IDC_NO3)->ShowWindow(true);
GetDlgItem(IDC_NO4)->ShowWindow(true);
GetDlgItem(IDC_NO5)->ShowWindow(true);
GetDlgItem(IDC_ANGLE1)->ShowWindow(true);
GetDlgItem(IDC_ANGLE2)->ShowWindow(true);
GetDlgItem(IDC_ANGLE3)->ShowWindow(true);
GetDlgItem(IDC_ANGLE4)->ShowWindow(true);
GetDlgItem(IDC_ANGLE5)->ShowWindow(true);
GetDlgItem(IDC_LR)->ShowWindow(true);
GetDlgItem(IDC_FB)->ShowWindow(true);
GetDlgItem(IDC_DU)->ShowWindow(true);
GetDlgItem(IDC_PINGHENG)->ShowWindow(true);
GetDlgItem(IDC_OPEN)->ShowWindow(true);
GetDlgItem(IDC_SLIDER2)->ShowWindow(true);
GetDlgItem(IDC_SLIDER3)->ShowWindow(true);
GetDlgItem(IDC_SLIDER4)->ShowWindow(true);
GetDlgItem(IDC_SLIDER5)->ShowWindow(true);
GetDlgItem(IDC_SLIDER6)->ShowWindow(true);
//GetDlgItem(IDC_DUOJI)->ShowWindow(true);
GetDlgItem(IDC_WARNING)->SetWindowText("The Application of Local Mode has Started ,Please Wait For 10 Seconds");
//whu_IpAddress.GetAddress(m_GRemoteIpAddRess[0],m_GRemoteIpAddRess[1],m_GRemoteIpAddRess[2],m_GRemoteIpAddRess[3]);
//m_GRemotePort = GetDlgItemInt(IDC_REMOTEPORT);
//m_GLocalPort = GetDlgItemInt(IDC_LOCALPORT);
m_gKinectVideo = true;
m_gCamVideo = false;
m_gStopArm = false;
InitDone[2]=true;
if (InitDone[2])
{
m_KinThread=(CKinectThread*)AfxBeginThread(RUNTIME_CLASS(CKinectThread));
m_KinThread->PostThreadMessage(WM_GETANGLE,NULL,NULL);
Sleep(10);
m_GetCamVideoThread = (CGetCamVideoThread*)AfxBeginThread(RUNTIME_CLASS(CGetCamVideoThread));
m_GetCamVideoThread->PostThreadMessage(WM_GETCAMVIDEO,NULL,NULL);
Sleep(10);
m_fpgathread = (CFPGAThread*)AfxBeginThread(RUNTIME_CLASS(CFPGAThread));
m_fpgathread->PostThreadMessage(WM_SENDFPGAANGLE,NULL,NULL);
Sleep(10);
}
// TODO: Add your control notification handler code here
}
//////////////////////////////////////////////////////////////////////////////////////
LRESULT Cwhu_MFC_HandDlg::DisplayAngle(WPARAM wParam,LPARAM lParam)
{
int time = (int)m_runtime;
SetDlgItemInt(IDC_TIME,time);
double *angle = (double*)wParam;
//whu_angle = (double*)wParam;
//static bool first=true;
//if (first)
//{