void CMainFrame::on_dev_open_ccd()
{
BOOL isccdinit=theApp.m_CCD.m_isinit;
DS_RUNMODE ccd_status=theApp.m_CCD.m_runstatus;
DS_CAMERA_STATUS ds_err=STATUS_OK;
//if(ccd_status==RUNMODE_STOP)
if(!isccdinit)
{
if ( STATUS_OK != (ds_err=CameraInit(SnapThreadCallback, theApp.m_CCD.m_resolution,
((CMainFrame*)AfxGetMainWnd())->GetActiveView()->m_hWnd, this->m_hWnd)))
{
string strret("Init Camera failed!\tError: ");
switch(ds_err)
{
case STATUS_NO_DEVICE_FIND:
strret+="No device found.";
break;
case STATUS_NOT_ENOUGH_SYSTEM_MEMORY:
strret+="Not enough memory.";
break;
case STATUS_PARAMETER_INVALID:
strret+="Invalid parameter.";
break;
default:
strret+="Other error.";
break;
}
MessageBox(strret.c_str(), "Error", MB_OK | MB_ICONSTOP);
return;
}
//theApp.m_CCD.m_runstatus=RUNMODE_PLAY;
theApp.m_CCD.m_isinit=TRUE;
CameraPlay();
CameraSetLongExpPower(FALSE);
theApp.m_CCD.m_runstatus=RUNMODE_PLAY;
CameraSetVideoMessage(WM_CCDVIDEOMSG);
CameraDisplayEnable(TRUE);
}
}
void ToGame(void)
{
Pause = false;
SpaceReset(&space);
// Reset player positions and velocity
for (int i = 0, c = 0; i < MAX_PLAYERS; i++)
{
PlayerReset(&players[i], c);
if (!players[i].Enabled) continue;
c++;
}
CameraInit(&camera);
SoundPlay(SoundStart, 1.0);
MusicSetLoud(true);
GatherInput = GameGatherInput;
DoLogic = GameDoLogic;
OutputFrame = GameOutputFrame;
}
//void pixyInit(uint32_t slaveRomStart, const unsigned char slaveImage[], uint32_t imageSize)
void pixyInit(void)
{
// write stack guard word
// STACK_GUARD = STACK_GUARD_WORD;
commonInit();
IPC_haltSlave();
ADCInit();
SCTInit();
CameraInit();
/* IPC_startSlave(); */
// start slave
/* if (slaveRomStart && slaveImage && imageSize)
{
IPC_downloadSlaveImage(slaveRomStart, slaveImage, imageSize);
} */
// initialize shared memory interface before running M0
SMLink *smLink = new SMLink;
// run M0
cr_start_m0(SLAVE_M0APP,&__core_m0app_START__);
// initialize chirp objects
USBLink *usbLink = new USBLink;
g_chirpUsb = new Chirp(false, false, usbLink);
g_chirpM0 = new Chirp(false, true, smLink);
// initialize devices/modules
led_init();
if (prm_init(g_chirpUsb)<0) // error, let user know (don't just continue like nothing's happened)
showError(1, 0x0000ff, "Flash is corrupt, parameters have been lost\n");
pwr_init();
cam_init();
rcs_init();
//cc_init();
}
void pixyInit(uint32_t slaveRomStart, const unsigned char slaveImage[], uint32_t imageSize)
{
// write stack guard word
STACK_GUARD = STACK_GUARD_WORD;
commonInit();
IPC_haltSlave();
// clear RC servo registers to prevent and glitches upon initialization
rcs_enable(0, 0);
rcs_enable(1, 0);
ADCInit();
SCTInit();
CameraInit();
// start slave
if (slaveRomStart && slaveImage && imageSize)
{
IPC_downloadSlaveImage(slaveRomStart, slaveImage, imageSize);
IPC_startSlave();
}
// initialize chirp objects
USBLink *usbLink = new USBLink;
g_chirpUsb = new Chirp(false, false, usbLink);
g_chirpUsb->setSendTimeout(3000); // set a high timeout because the host can sometimes go AWOL for a second or two....
SMLink *smLink = new SMLink;
g_chirpM0 = new Chirp(false, true, smLink);
// initialize devices/modules
led_init();
prm_init(g_chirpUsb);
pwr_init();
cam_init();
rcs_init();
//cc_init();
}
int
cond_init (char *device_name, int camera_id)
{
short base;
int i;
//StatusResults sr;
QueryTemperatureStatusResults qtsr;
GetVersionResults gvr;
if (is_init)
return 0;
base = getbaseaddr (0); // sbig_port...?
// lock the device
sem_lock ();
// This is a standard driver init procedure
begin_realtime ();
CameraInit (base);
if (MicroCommand (MC_GET_VERSION, ST7_CAMERA, NULL, &gvr))
goto err;
cameraID = gvr.cameraID;
//if(MicroCommand (MC_STATUS, cameraID, NULL, &sr)) goto err;
if (MicroCommand (MC_TEMP_STATUS, cameraID, NULL, &qtsr))
goto err;
get_eeprom ();
if (Cams[eePtr.model].hasTrack)
chips = 2;
else
chips = 1;
ch_info = (struct chip_info *) malloc (sizeof (struct chip_info) * chips);
for (i = 0; i < chips; i++)
{
ch_info[i].width = Cams[eePtr.model].horzImage;
ch_info[i].height = Cams[eePtr.model].vertImage;
ch_info[i].binning_vertical = 1;
ch_info[i].binning_horizontal = 1;
ch_info[i].pixelX = Cams[eePtr.model].pixelX;
ch_info[i].pixelY = Cams[eePtr.model].pixelY;
if (i)
ch_info[i].gain = eePtr.trackingGain;
else
ch_info[i].gain = eePtr.imagingGain;
}
// make space for the read out image
{
CAMERA *C;
int j, k;
for (j = 0; j < chips; j++)
{
OpenCCD (j, &C);
free (img[j]);
free (lin[j]);
img[j] = (unsigned short *)
malloc (C->horzTotal * C->vertTotal * sizeof (unsigned short));
lin[j] = (unsigned short **)
malloc (C->vertTotal * sizeof (unsigned short *));
for (k = 0; k < C->vertTotal; k++)
lin[j][k] = img[j] + k * C->horzTotal;
max_line[j] = C->vertTotal;
CloseCCD (C);
}
}
// determine temperature regulation state
switch (qtsr.enabled)
{
case 0:
// a bit strange: may have different
// meanings... (freeze)
camera_reg = (qtsr.power > 250) ? CAMERA_COOL_MAX : CAMERA_COOL_OFF;
break;
case 1:
camera_reg = CAMERA_COOL_HOLD;
break;
break;
default:
camera_reg = CAMERA_COOL_OFF;
}
is_init = 1;
sem_unlock ();
return 0;
err:
sem_unlock ();
errno = ENODEV;
return -1;
}
//Main Process
int _tmain(int argc, _TCHAR* argv[])
{
CameraInit(&LeftDevice, 0);
CameraInit(&RightDevice, 1);
LeftImgOver = CreateSemaphore(NULL, 0, 1, NULL);
RightImgOver = CreateSemaphore(NULL, 0, 1, NULL);
LeftProcessOver = CreateSemaphore(NULL, 0, 1, NULL);
RightProcessOver = CreateSemaphore(NULL, 0, 1, NULL);
LeftImg = cvCreateImageHeader(cvSize(IMGWIDTH, IMGHEIGHT), IPL_DEPTH_8U, 3);
RightImg = cvCreateImageHeader(cvSize(IMGWIDTH, IMGHEIGHT), IPL_DEPTH_8U, 3);
#ifdef SHOW
ShowImgProcess = _beginthreadex(NULL, 0, ImgShowThread, NULL, 0, NULL);
#endif
LeftCamReceive = (HANDLE)_beginthreadex(NULL, 0, LeftCaptureThread, NULL, 0, NULL);
LeftCamReceive = (HANDLE)_beginthreadex(NULL, 0, RightCaptureThread, NULL, 0, NULL);
LeftImgProcess = (HANDLE)_beginthreadex(NULL, 0, LeftImgCalcThread, NULL, 0, NULL);
RightImaProcess = (HANDLE)_beginthreadex(NULL, 0, RightImgCalcThread, NULL, 0, NULL);
while (true)
{
switch (cvWaitKey(33))
{
case 27: //'esc' key has been pressed, exit program.
LeftDevice->Stop();
LeftDevice->CloseDevice();
LeftDevice->DeviceUnInit();
LeftDevice->Release();
RightDevice->Stop();
RightDevice->CloseDevice();
RightDevice->DeviceUnInit();
RightDevice->Release();
IDevice::DeviceUnInitialSDK();
return 0;
case 100: //'d' has been pressed. this will debug mode
debugMode = !debugMode;
if (debugMode == false) printf("Debug mode disabled.\n");
else printf("Debug mode enabled.\n");
break;
//case 112: //'p' has been pressed. this will pause/resume the code.
// pause = !pause;
// if (pause == true)
// {
// printf("Code paused, press 'p' again to resume\n");
// while (pause == true)
// {
// //stay in this loop until
// switch (cvWaitKey())
// {
// case 112:
// //change pause back to false
// pause = false;
// printf("Code resumed.\n");
// break;
// }
// }
// }
}
}
HANDLE multitask[4];
multitask[0] = LeftCamReceive;
multitask[1] = RightCamReceive;
multitask[2] = LeftImgProcess;
multitask[3] = RightImaProcess;
WaitForMultipleObjects(2, multitask, TRUE, INFINITE);
//for (int i = 0; i < 2; i++)
// CloseHandle(hThread[i]);
//CloseHandle(g_hEmpty);
//CloseHandle(g_hFull);
//DeleteCriticalSection(&g_cs);
}
void CDialog3::OnBnClickedPlay()
{
// TODO: 在此添加控件通知处理程序代码
if(m_RunMode == RUNMODE_PLAY)
{
CameraStop(); //fp in dll
CameraUnInit();
this->SetDlgItemTextA(IDC_PLAY,"&Play");
this->GetDlgItem(IDC_PLAY)->SetFocus();
this->GetDlgItem(IDC_SAVEFILE)->EnableWindow(FALSE);
this->GetDlgItem(IDC_SETUP)->EnableWindow(FALSE);
this->GetDlgItem(IDC_RESOLUTION)->EnableWindow(FALSE);
this->GetDlgItem(IDC_SAVEIMG)->EnableWindow(FALSE);
m_RunMode =RUNMODE_STOP;
return ;
}
else
{
BYTE CamNum = this->m_MultiCamList.GetCurSel();//取得组合框当前选中项的下标
if(this->m_MultiCamList.GetCount() == 0)
{
CamNum = 0;
}
if(R_ROI == m_Resolution)
{
CameraSetROI(m_HOff, m_VOff, m_Width, m_Height); //fp in dll ,to set the resolution
}
if(STATUS_OK != CameraInit(SnapThreadCallback,
m_Resolution,
m_pDlg->GetDlgItem(IDC_PICTURE)->m_hWnd, //NULL
CamNum+1,
m_pDlg))
{
MessageBox("Init Camera failed","Error",MB_OK|MB_ICONSTOP);
return ;
}
#ifdef ENABLE_READ_SN_DEBUG
char SN[32];
CameraReadSN(SN, 32);
CString sSN;
sSN = SN;
CString sUserSN = "WWW.D-IMAGE.NET 0755-61860636";
if (sSN == sUserSN)
{
// MessageBox(x, "SN is OK!", MB_OK | MB_ICONSTOP);
}
else //检查不对，重写一次，写之前请确保EEPROM处于可写状态。
{
char* pAddr = sUserSN.GetBuffer(32);
CameraWriteSN(pAddr, 32);
char cNewSn[32];
CameraReadSN(cNewSn, 32);
CString sNewSN = cNewSn;
if (sNewSN == sUserSN )
{
MessageBox("SN Rewrite Ok!", "SN Error", MB_OK | MB_ICONSTOP);
}
else
{
MessageBox("SN Rewrite Error!", "SN Error", MB_OK | MB_ICONSTOP);
}
CameraUnInit();
return;
}
#endif
// Set AWB Window
{
INT width = 0;
INT hight = 0;
CameraGetImageSize(&width, &hight);
CameraSetWBWindow(width>>2, hight>>2, width>>1, hight>>1);
}
this->SetDlgItemText(IDC_PLAY, "Sto&p");
this->GetDlgItem(IDC_SAVEFILE)->EnableWindow(TRUE);
this->GetDlgItem(IDC_SETUP)->EnableWindow(TRUE);
this->GetDlgItem(IDC_RESOLUTION)->EnableWindow(TRUE);
this->GetDlgItem(IDC_SAVEIMG)->EnableWindow(TRUE);
/*WM_USERDEFMSG 用户自定义信息，通过CameraSetMessage()函数得到相机
Message ID；该Message ID含有Wparam和Lparam信息，将它们传递到信息
响应函数OnVideoMsg()当中进行判断和处理*/
CameraSetMessage(this->m_hWnd, WM_USERDEFMSG);
CameraPlay();
m_iVideoCnt = 0;
m_iErrorFrames = 0;
m_RunMode = RUNMODE_PLAY;
return;
}
}
bool MVCAM::Init()
{
//相机的设备信息
tSdkCameraDevInfo sCameraList[10];
INT iCameraNums = 10;//调用CameraEnumerateDevice前，先设置iCameraNums = 10，表示最多只读取10个设备，如果需要枚举更多的设备，请更改sCameraList数组的大小和iCameraNums的值
CameraSdkStatus status;
if (CameraEnumerateDevice(sCameraList, &iCameraNums) != CAMERA_STATUS_SUCCESS || iCameraNums == 0)
{
printf("No camera was found!");
return FALSE;
}
//该示例中，我们只假设连接了一个相机。因此，只初始化第一个相机。(-1,-1)表示加载上次退出前保存的参数，如果是第一次使用该相机，则加载默认参数.
//In this demo ,we just init the first camera.
if ((status = CameraInit(&sCameraList[0], -1, -1, &m_hCamera)) != CAMERA_STATUS_SUCCESS)
{
char msg[128];
sprintf_s(msg, "Failed to init the camera! Error code is %d", status);
printf(msg);
return FALSE;
}
//Get properties description for this camera.
tSdkCameraCapbility sCameraInfo;
CameraGetCapability(m_hCamera, &sCameraInfo);// 获得相机的属性
CameraSetAeState(m_hCamera, FALSE);//设置相机曝光的模式。自动或者手动。bState：TRUE，使能自动曝光；FALSE，停止自动曝光。
CameraSetExposureTime(m_hCamera, 1000 * ExposureTimeMS);//曝光时间10ms = 1000微秒*10
CameraSetAnalogGain(m_hCamera, 10 * AnalogGain);//设置模拟增益16=1.6 该值乘以 CameraGetCapability 获得的相机属性结构体中sExposeDesc.fAnalogGainStep ，就得到实际的图像信号放大倍数。
if (ColorType == CV_8U)
{
CameraSetMonochrome(m_hCamera, TRUE);//设置黑白图像
}
CameraSetFrameSpeed(m_hCamera, sCameraInfo.iFrameSpeedDesc - 1);//设定相机输出图像的帧率。iFrameSpeedSel：选择的帧率模式索引号，范围从 0 到CameraGetCapability 获得的信息结构体中 iFrameSpeedDesc - 1
//申请空间
m_pFrameBuffer = (BYTE *)CameraAlignMalloc(sCameraInfo.sResolutionRange.iWidthMax*sCameraInfo.sResolutionRange.iWidthMax * 3, 16);
if (sCameraInfo.sIspCapacity.bMonoSensor)//ISP 能力描述，BOOL bMonoSensor; //表示该型号相机是否为黑白相机,如果是黑白相机，则颜色相关的功能都无法调节
{
CameraSetIspOutFormat(m_hCamera, CAMERA_MEDIA_TYPE_MONO8);
}
//创建该相机的属性配置窗口。
CameraCreateSettingPage(m_hCamera, NULL, "cam", NULL, NULL, 0);//"通知SDK内部建该相机的属性页面";
//CameraPlay(m_hCamera);//调用 CameraPlay 函数，让相机进入工作模式，并且 SDK 开始接收来自相机的图像。
//相机初始化完成
CameraShowSettingPage(m_hCamera, FALSE);//TRUE显示相机配置界面。FALSE则隐藏。
tSdkImageResolution sRoiResolution;
memset(&sRoiResolution, 0, sizeof(sRoiResolution));
sRoiResolution.iIndex = 0xff;
sRoiResolution.iWidth = 784;
sRoiResolution.iWidthFOV = sRoiResolution.iWidth * 3;
sRoiResolution.iHeight = 100;
sRoiResolution.iHeightFOV = sRoiResolution.iHeight * 3;
sRoiResolution.iWidthZoomHd = 0;
sRoiResolution.iHeightZoomHd = 0;
sRoiResolution.iHOffsetFOV = 128;
sRoiResolution.iVOffsetFOV = 470;
sRoiResolution.iWidthZoomSw = 0;
sRoiResolution.iHeightZoomSw = 0;
sRoiResolution.uBinAverageMode = 0;
sRoiResolution.uBinSumMode = 0;
sRoiResolution.uResampleMask = 0;
sRoiResolution.uSkipMode = 2;
CameraSetImageResolution(m_hCamera, &sRoiResolution);//设置预览的分辨率。
HasInited = true;
return true;
}
/*
* s_BSDCameraInit
*
* 初始化摄像头
*
* 输入：服务器端口
* 返回：小于0，失败；0，成功
*/
static int s_BSDCameraInit(void)
{
return CameraInit();
}