② 上位机例程

   下面提供一个可以实现双轮智能小车追踪蓝色小球的参考例程（MainWindow.xaml.cs），大家可参考演示视频完成该实验。

using System;

using System.Collections.Generic;

using System.Linq;

using System.Text;

using System.Threading.Tasks;

using System.Windows;

using System.Windows.Controls;

using System.Windows.Data;

using System.Windows.Documents;

using System.Windows.Input;

using System.Windows.Media;

using System.Windows.Media.Imaging;

using System.Windows.Navigation;

using System.Windows.Shapes;

using System.Windows.Forms;

using System.Runtime.InteropServices;

using System.Threading;

using System.Net;

using System.Net.Sockets;


namespace Project

{

    /// <summary>

    /// 云台跟踪

    /// </summary>

    public partial class MainWindow : Window

    {

        //导入 camshift.dll 动态链接库

        [DllImport("Camshift_DLL.dll", CharSet = CharSet.Ansi)]

        public static extern void Camshift([MarshalAs(UnmanagedType.LPStr)]string ip_address, //图片或视频地址

                                                                                ref int xpos, //检测框中心X坐标

                                                                                ref int ypos, //检测框中心Y坐标

                                                                                ref int td);   //检测区域对角线长度


        //定义窗口大小

        int cap_w = 320, cap_h = 240;

        //跟踪物体中心 x, y 坐标值

        int x = 0, y = 0, d = 0;

        //定义命令变量

        string CMD_FORWARD = "", CMD_TURN_LEFT = "", CMD_TURN_RIGHT = "", CMD_STOP = "", CMD_LOST = "";

        //结构体

        public struct Boundaries

        {

            public int x_left;

            public int x_right;

            public int y_up;

            public int y_down;

            public int d_min;

            public int d_max;

        }

        Boundaries boundaries = new Boundaries();


        public MainWindow()

        {

            InitializeComponent();

        }


        private void Window_Loaded(object sender, RoutedEventArgs e)

        {

            GetIni();

            SetPosition();

            CmdInit();

            StructInit();

        }


        //变量初始化

        private void CmdInit()

        {

            CMD_FORWARD = "F";

            CMD_TURN_LEFT = "L";

            CMD_TURN_RIGHT = "R";

            CMD_STOP = "S";

            CMD_LOST = "N";

        }


        //结构体初始化

        private void StructInit()

        {

            boundaries.x_left = 120;

            boundaries.x_right = 240;

            boundaries.y_up = 80;

            boundaries.y_down = 160;

            boundaries.d_min = 50;

            boundaries.d_max = 150;

        }


        //获取ini配置文件信息

        private void GetIni()

        {

            ini_RW.FileName = System.Windows.Forms.Application.StartupPath + "\\Config.ini";

            this.videoAddress.Text = ini_RW.ReadIni("VideoUrl", "videourl", "");

            this.ipAddress.Text = ini_RW.ReadIni("ControlUrl", "controlUrl", "");

            this.portBox.Text = ini_RW.ReadIni("ControlPort", "controlPort", "");

        }


        //修改配置

        private void setBtn_Click(object sender, RoutedEventArgs e)

        {

            ini_RW.WriteIni("VideoUrl", "videourl", this.videoAddress.Text);

            ini_RW.WriteIni("ControlUrl", "controlUrl", this.ipAddress.Text);

            ini_RW.WriteIni("ControlPort", "controlPort", this.portBox.Text);


            System.Windows.MessageBox.Show("配置成功！请重启程序以使配置生效。",

                                                "配置信息", MessageBoxButton.OK,

                                                MessageBoxImage.Information);

            //this.Close();

        }


        //命令发送函数

        void SendData(string data)

        {

            try

            {

                IPAddress ips = IPAddress.Parse(ipAddress.Text.ToString());//("192.168.8.1");

                IPEndPoint ipe = new IPEndPoint(ips, Convert.ToInt32(portBox.Text.ToString()));//把ip和端口转化为IPEndPoint实例

                Socket c = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);//创建一个Socket


                c.Connect(ipe);//连接到服务器


                byte[] bs = Encoding.ASCII.GetBytes(data);

                c.Send(bs, bs.Length, 0);//发送测试信息

                c.Close();

            }

            catch (Exception e)

            {

                System.Windows.Forms.MessageBox.Show(e.Message);

            }

        }


        //跟踪物体位置界限判断

        private void LineDetect(int _x, int _y, int _d)

        {

            try

            {

                //判断转动方向

                if (_x > 0 && _x <= boundaries.x_left)

                {

                    SendData(CMD_TURN_LEFT);

                }

                else if (x > boundaries.x_right && x < cap_w)

                {

                    SendData(CMD_TURN_RIGHT);

                }

                //判断是否前进

                else if (_d > boundaries.d_min && _d < boundaries.d_max)

                {

                    SendData(CMD_FORWARD);

                }

                else if ((_x > boundaries.x_left && _x < boundaries.x_right)&&

                        (_d >= 0 && _d <= boundaries.d_min ))

                {

                    SendData(CMD_LOST);

                }

                else

                {

                    SendData(CMD_STOP);

                }

            }

            catch { };

        }


        //物体位置初始化

        private void SetPosition()

        {

            var color = new SolidColorBrush((System.Windows.Media.Color)System.Windows.Media.ColorConverter.ConvertFromString("#FFACAAAA"));

            objEllipse.Height = 30;

            objEllipse.Width = 30;

            objEllipse.Fill = color;


            var left_distance = (cap_w - objEllipse.Width) / 2;

            var top_distance = (cap_h - objEllipse.Height) / 2;


            Canvas.SetLeft(objEllipse, left_distance);

            Canvas.SetTop(objEllipse, top_distance);

        }


        //跟踪物体位置更新函数

        private void PositionUpdate(int x, int y, int d)

        {

            LineDetect(x, y, d);


            Canvas.SetLeft(objEllipse, x);

            Canvas.SetTop(objEllipse, y);


            posLable.Content = x + " , " + y + " , " + d;

        }


        //线程函数

        private void ThreadCapShow()

        {

            try

            {

                while (true)

                {

                    this.Dispatcher.Invoke(

                        new Action(

                            delegate

                            {

                                string ip = this.videoAddress.Text;

                                Camshift(ip, ref x, ref y, ref d);

                                PositionUpdate(x - 15, y - 15, d);

                            }

                            ));

                }


            }

            catch { };

        }


        //打开跟踪窗口

        private void openBtn_Click(object sender, RoutedEventArgs e)

        {

            try

            {

                Thread m_thread = new Thread(ThreadCapShow);

                m_thread.IsBackground = true;

                m_thread.Start();

            }

            catch { };

        }

    }

}