LRESULT CALLBACK CamDlgHandler(HWND hDlg, UINT message, WPARAM wParam, LPARAM lParam)
{
static bool init;
CAMOBJ * st;
int tmp;
st = (CAMOBJ *) actobject;
if ((st==NULL)||(st->type!=OB_CAM)) return(FALSE);
switch( message )
{
case WM_INITDIALOG:
SetDlgItemInt(hDlg,IDC_UPDATERATE,update_rate,0);
SetDlgItemText(hDlg,IDC_CAMSTATUS,"0");
SetDlgItemInt(hDlg,IDC_ERROR_DIST,(int)dist_threshold,0);
SetDlgItemInt(hDlg,IDC_ERROR_ANGLE,(int)angle_threshold,0);
SetDlgItemInt(hDlg,IDC_THRESHOLD_TIME,threshold_time,0);
SetDlgItemInt(hDlg,IDC_PT1X,(int)(PT1_xpos*100.0f),1);
SetDlgItemInt(hDlg,IDC_PT1Y,(int)(PT1_ypos*100.0f),1);
SetDlgItemInt(hDlg,IDC_PT2X,(int)(PT2_xpos*100.0f),1);
SetDlgItemInt(hDlg,IDC_PT2Y,(int)(PT2_ypos*100.0f),1);
CheckDlgButton(hDlg,IDC_AUTORESTORE,autorestore);
CheckDlgButton(hDlg,IDC_SHOWLIVE,st->showlive);
CheckDlgButton(hDlg,IDC_ENABLE_TRACKING,st->enable_tracking);
CheckDlgButton(hDlg,IDC_TRACKFACE,st->trackface);
if (st->mode==0) CheckDlgButton(hDlg,IDC_NOARCHIVE,TRUE); else
if (st->mode==1) CheckDlgButton(hDlg,IDC_RECORDARCHIVE,TRUE); else
if (st->mode==2) CheckDlgButton(hDlg,IDC_PLAYARCHIVE,TRUE);
SetDlgItemText(hDlg,IDC_ARCHIVEFILE,st->videofilename);
break;
case WM_CLOSE:
EndDialog(hDlg, LOWORD(wParam));
return TRUE;
break;
case WM_COMMAND:
switch (LOWORD(wParam))
{
case IDC_INITCAM:
lk_init(st);
break;
case IDC_EXITCAM:
lk_exit();
break;
case IDC_RESET:
count = 0;
break;
case IDC_NOARCHIVE:
lk_exit();
st->mode=0;
lk_init(st);
break;
case IDC_RECORDARCHIVE:
lk_exit();
st->mode=1;
if (!strcmp(st->videofilename,"none"))
{
strcpy(st->videofilename,GLOBAL.resourcepath);
strcat(st->videofilename,"MOVIES\\*.avi");
}
if (!open_file_dlg(hDlg,st->videofilename, FT_AVI, OPEN_SAVE))
strcpy(st->videofilename,"none");
SetDlgItemText(hDlg, IDC_ARCHIVEFILE,st->videofilename);
lk_init(st);
break;
case IDC_PLAYARCHIVE:
lk_exit();
st->mode=2;
if (!strcmp(st->videofilename,"none"))
{
strcpy(st->videofilename,GLOBAL.resourcepath);
strcat(st->videofilename,"MOVIES\\*.avi");
}
if (!open_file_dlg(hDlg,st->videofilename, FT_AVI, OPEN_LOAD))
strcpy(st->videofilename,"none");
SetDlgItemText(hDlg, IDC_ARCHIVEFILE,st->videofilename);
lk_init(st);
break;
case IDC_SHOWLIVE:
st->showlive=IsDlgButtonChecked(hDlg,IDC_SHOWLIVE);
if (!st->showlive) cvDestroyWindow("Camera");
else
{
cvNamedWindow( "Camera", 1 );
cvSetMouseCallback( "Camera", on_mouse, 0 );
}
break;
case IDC_UPDATERATE:
tmp=GetDlgItemInt(hDlg,IDC_UPDATERATE,NULL,0);
if ((tmp>10)&&(tmp<1000)) update_rate=tmp;
break;
case IDC_AUTORESTORE:
autorestore=IsDlgButtonChecked(hDlg,IDC_AUTORESTORE);
break;
case IDC_TRACKFACE:
st->trackface=IsDlgButtonChecked(hDlg,IDC_TRACKFACE);
if (st->trackface) MAX_COUNT=2; else MAX_COUNT=1;
break;
case IDC_ERROR_DIST:
dist_threshold=(float)GetDlgItemInt(hDlg, IDC_ERROR_DIST,0,0);
break;
case IDC_ERROR_ANGLE:
angle_threshold=(float)GetDlgItemInt(hDlg, IDC_ERROR_ANGLE,0,0);
break;
case IDC_THRESHOLD_TIME:
threshold_time=GetDlgItemInt(hDlg, IDC_THRESHOLD_TIME,0,0);
break;
case IDC_PT1X:
PT1_xpos=(float) GetDlgItemInt(hDlg, IDC_PT1X,0,1) / 100.0f;
need_to_init=1;
break;
case IDC_PT1Y:
PT1_ypos=(float)GetDlgItemInt(hDlg, IDC_PT1Y,0,1)/ 100.0f;
need_to_init=1;
break;
case IDC_PT2X:
PT2_xpos=(float)GetDlgItemInt(hDlg, IDC_PT2X,0,1)/ 100.0f;
need_to_init=1;
break;
case IDC_PT2Y:
PT2_ypos=(float)GetDlgItemInt(hDlg, IDC_PT2Y,0,1)/ 100.0f;
need_to_init=1;
break;
// case IDC_NIGHTMODE:
// night_mode ^= 1;
// break;
case IDC_AUTOINIT:
need_to_init=1;
break;
case IDC_ENABLE_TRACKING:
st->enable_tracking=IsDlgButtonChecked(hDlg,IDC_ENABLE_TRACKING);
break;
case IDC_SETTINGS:
{
int ncams = cvcamGetCamerasCount( ); // init cvcam
if (ncams==0) report("no cam");
cvcamSetProperty(0, CVCAM_PROP_ENABLE, CVCAMTRUE); //Selects the 1-st found camera
cvcamInit();
cvcamGetProperty(0, CVCAM_CAMERAPROPS, NULL);
// cvcamGetProperty(0, CVCAM_VIDEOFORMAT, NULL);
cvcamExit();
}
break;
}
return TRUE;
break;
case WM_SIZE:
case WM_MOVE: update_toolbox_position(hDlg);
break;
return(TRUE);
}
return FALSE;
}
CAMOBJ::~CAMOBJ() { lk_exit(); }
int main(void)
{
unsigned int ret;
unsigned char running;
unsigned int lk_buffer[LK_BUFFER_SIZE];
//struct timespec ts;
unsigned char adc_convert_1;
unsigned char adc_convert_2;
unsigned char button_state;
lk_init();
running = 1;
//ts.tv_nsec = 500000000;
ret = exp_dout_all(MODULE_ONE, 0, lk_buffer);
while(running)
{
system("clear");
ret = exp_ain(MODULE_ONE, lk_buffer);
display_return_code(ret);
adc_convert_1 = (char)(lk_buffer[0] / 4);
adc_convert_2 = (char)(lk_buffer[1] / 4);
fprintf(stderr, "MOTOR Speed 0: %x \n", adc_convert_1);
fprintf(stderr, "MOTOR Speed 1: %x \n", adc_convert_2);
ret = exp_din(MODULE_ONE, lk_buffer);
button_state = lk_buffer[0];
fprintf(stderr, "Button Value: %x \n", button_state);
if(!(button_state & EXP_BUTTON_0_MASK))
{
ret = exp_motors(MODULE_ONE, EXP_MOTOR_1, EXP_MOTOR_FORWARD, adc_convert_1, lk_buffer);
ret = exp_dout_x(MODULE_ONE, EXP_OUT_0, 1, lk_buffer);
display_return_code(ret);
}
else
{
ret = exp_motors(MODULE_ONE, EXP_MOTOR_1, EXP_MOTOR_STOP, adc_convert_1, lk_buffer);
ret = exp_dout_x(MODULE_ONE, EXP_OUT_0, 0, lk_buffer);
display_return_code(ret);
}
if(!(button_state & EXP_BUTTON_1_MASK))
{
ret = exp_motors(MODULE_ONE, EXP_MOTOR_2, EXP_MOTOR_FORWARD, adc_convert_2, lk_buffer);
ret = exp_dout_x(MODULE_ONE, EXP_OUT_1, 1, lk_buffer);
display_return_code(ret);
}
else
{
ret = exp_motors(MODULE_ONE, EXP_MOTOR_2, EXP_MOTOR_STOP, adc_convert_2, lk_buffer);
ret = exp_dout_x(MODULE_ONE, EXP_OUT_1, 0, lk_buffer);
display_return_code(ret);
}
if(!(button_state & EXP_BUTTON_2_MASK))
{
running = 0;
}
fprintf(stderr, "**********Press Button 2 to stop.***********\n");
//nanosleep(&ts, NULL);
}
lk_exit();
return ret;
}
