FH98ViewOnPlaneSoftware/Src/CH91PayloadSoftware/Global.h

#pragma once
#include "stdafx.h"
#include "GlobalMember.h" // ȫ<>ֱ<EFBFBD><D6B1><EFBFBD>
#include "MUDP.h"
#include "FrameFKU_Camera.h"

#define SAFE_DELETE(p)       { if(p) { delete (p);     (p) = nullptr; } }
#define SAFE_DELETE_ARRAY(p) { if(p) { delete[] (p);   (p) = nullptr; } }

extern CFrameFK_U_CAMERA g_FrameCamera;
extern CMUDP g_MUDPCamera;
extern BOOL  g_IsSending;

// <20><>ȡָ<C8A1><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʣ<EFBFBD><CAA3><EFBFBD>ռ<EFBFBD>
extern long GetFreeVolumeLen(char *p = "C");
// <20><><EFBFBD>ܣ<EFBFBD><DCA3><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD>Ŀ¼
extern CString GetSoftwareCurrentDirectory();

//<2F><><EFBFBD>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>в<EFBFBD><D0B2><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>
extern bool SearchDirectory(const CString &strDir);

//<2F><><EFBFBD>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD>4<EFBFBD><34><EFBFBD>ֽڵ<D6BD><DAB5><EFBFBD>ֵ
extern unsigned int getFrameLen(BYTE B0, BYTE B1, BYTE B2, BYTE B3);

// <20><>ȡͼ<C8A1><CDBC>˫<EFBFBD><CBAB><EFBFBD><EFBFBD>ƫ<EFBFBD><C6AB><EFBFBD><EFBFBD>
extern void CALLBACK GetEOImgCenterOffset(CPoint offset, int flag);

// <20>Ҽ<EFBFBD><D2BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>⣬ת<E2A3AC><D7AA>Ϊ<EFBFBD>ֶ<EFBFBD><D6B6><EFBFBD><EFBFBD><EFBFBD>
extern void CALLBACK GetEOIRImgRightButtonDown(int type);

//  ͨ<><CDA8>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ŷ<EFBFBD>
extern void CALLBACK GetDistRatioAndAngleThroughImg(double distRatio, double angle);


//<2F><>ͼģ<CDBC><C4A3><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>
extern void CALLBACK GetLeadLonLat(double Lon, double Lat, double Alt);

// <20>ط<EFBFBD>ģʽ<C4A3><CABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void ReplayInputData(const void* buffer, int length);

// UDP ʵʱ<CAB5><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>鱨<EFBFBD><E9B1A8>
extern void CALLBACK UDPRevTgtInfo(const void* buffer, int length, UINT32 data);

// <20><><EFBFBD>ݴ<EFBFBD><DDB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̺߳<DFB3><CCBA><EFBFBD><EFBFBD><EFBFBD>
extern void ProcessData();
// λ<><CEBB><EFBFBD><EFBFBD>Ϣ<EFBFBD>ṹ<EFBFBD><E1B9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void TransLocationSocketStruct(struSocketProtocal &dst, const struQB_FJ & src);
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݽṹ<DDBD><E1B9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void TransFJStruct( struTranslateProtocal_FJ &dst,  const struProtocal_FJ &src);
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void PushToFrameDataDeque(const struQB_FJ &TgtLocStru);

// ת<>鱨<EFBFBD><E9B1A8>EO<45><4F><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void TransToEOQBFJ(struQB_FJ &dst,  const struTranslateProtocal_FJ &src);

// ת<>鱨<EFBFBD><E9B1A8>IR<49><52><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void TransToIRQBFJ(struQB_FJ &dst,  const struTranslateProtocal_FJ &src);
// CH96<39><36>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
extern void GetFH96DataFromNet();
extern void SocketReceiveFH96Data(const void* buffer, int length);
extern void ProcessCH96Data();
// <20><>ȡCH96<39><36><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void TransCH96FJData(Data96TXD &dst, Protocal96TXD &src);
// CH96<39><36><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תFHͳ<48>͸<EFBFBD><CDB8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void TransCH96FJDatatoQBData(struQB_FJ &QB_FJ, Data96TXD &CH96FJ);
// CH96<39><36><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>
void CH96_h264DecodeResultCallbackFun(unsigned char* data,int width,int height);


// <20><><EFBFBD>ڷɻ<DAB7>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>̬<EFBFBD><CCAC>Ŀ<EFBFBD><C4BF>λ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>غ<EFBFBD><D8BA><EFBFBD>̬
// <20><><EFBFBD>ܣ<EFBFBD><DCA3>غɵ<D8BA><C9B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>غ<EFBFBD><D8BA><EFBFBD>̬<EFBFBD><CCAC>()
// <20><><EFBFBD>룺
//      1. uavPos<6F><73><EFBFBD>ɻ<EFBFBD>λ<EFBFBD>ã<EFBFBD>double uavPos[GPS<50><53><EFBFBD>ȣ<EFBFBD>GPSγ<53>ȣ<EFBFBD>GPS<50>߶<EFBFBD>]
//      2. tgtPos<6F><73>Ŀ<EFBFBD><C4BF>λ<EFBFBD>ã<EFBFBD>double tgtPos[GPS<50><53><EFBFBD>ȣ<EFBFBD>GPSγ<53>ȣ<EFBFBD>GPS<50>߶<EFBFBD>]
//      3. uavAttitude: <20>ɻ<EFBFBD><C9BB><EFBFBD>̬<EFBFBD><CCAC>double uavAttitude[<5B><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>ƫ<EFBFBD><C6AB>]
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//      1. loadPitch <20>غɸߵͽǣ<CDBD><C7A3><EFBFBD>λ<EFBFBD><CEBB>
//      2. loadAzimuth <20>غɷ<D8BA>λ<EFBFBD>ǣ<EFBFBD><C7A3><EFBFBD>λ<EFBFBD><CEBB>
// <20><><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD><C9B9><EFBFBD><EFBFBD><EFBFBD>true,<2C><><EFBFBD>򷵻<EFBFBD>false<73><65>
extern bool CalLoadAttitudeForLoadGuide(double &loadPitch, double &loadAzimuth, const double *uavPos, const double *tgtPos, const double *uavAttitude);

// <20><>ȡ<EFBFBD>ɻ<EFBFBD><C9BB>ľ<EFBFBD>γ<EFBFBD>ߺ<EFBFBD><DFBA><EFBFBD>̬
extern bool GetUAVLocAndPose(double &UAVLon, double &UAVLat,double &UAVAlt, 
	                                    double &UAVRoll, double &UAVYaw,double &UAVPitch, 
	                                    const struTranslateProtocal_FJ &src);


// ת<>鱨<EFBFBD><E9B1A8>EO<45><4F><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void TransToEOQBFJ(struQB_FJ &dst,  const struTranslateProtocal_FJ &src);

// ת<>鱨<EFBFBD><E9B1A8>IR<49><52><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void TransToIRQBFJ(struQB_FJ &dst,  const struTranslateProtocal_FJ &src);

// 
extern double getYaw(double XA, double YA);
extern bool CalAnyPtCoordinateWithoutErrorCompensate(double &Lon, double &Lat, double &H, const struQB_FJ *frame, int pt_x, int pt_y);
extern void CalLonLatOffset(double &LonOffset, double &LatOffset, const struQB_FJ *frame);

//<2F><><EFBFBD><EFBFBD>3<EFBFBD><33><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD><EFBFBD>ĵ㾭γ<E3BEAD><CEB3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD>룺	1. frame  <20><><EFBFBD>븴<EFBFBD><EBB8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//      
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>	1. Lon     ͼ<><CDBC><EFBFBD><EFBFBD><EFBFBD>ĵ㾭<C4B5><E3BEAD>
//          2. Lat     ͼ<><CDBC><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD>γ<EFBFBD><CEB3>
//          3. H       ͼ<><CDBC><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD><C4B5>߶<EFBFBD>
//          4. <20><><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD><C9B9><EFBFBD><EFBFBD><EFBFBD>true<75><65>ʧ<EFBFBD>ܷ<EFBFBD><DCB7><EFBFBD>false
// ˵<><CBB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>м<EFBFBD><D0BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD>Ե<EFBFBD><D4B5><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD>󣬵<EFBFBD><F3A3ACB5>޼<EFBFBD><DEBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD>ƽ̹
extern bool CalImgCenterCoordinate(double &Lon, double &Lat, double &H, const struQB_FJ *frame);


//<2F><><EFBFBD><EFBFBD>4<EFBFBD><34><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>㾭γ<E3BEAD><CEB3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD>룺	1. frame  <20><><EFBFBD>븴<EFBFBD><EBB8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//          2. pt_x   <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//          3. pt_y   <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//      
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>	1. Lon    <20><><EFBFBD><EFBFBD>
//          2. Lat    γ<><CEB3>
//          3. H      <20>߶<EFBFBD>     
//          4. <20><><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD><C9B9><EFBFBD><EFBFBD><EFBFBD>true<75><65>ʧ<EFBFBD>ܷ<EFBFBD><DCB7><EFBFBD>false
// ˵<><CBB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>м<EFBFBD><D0BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD>Ե<EFBFBD><D4B5><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>
//       <20><><EFBFBD>޼<EFBFBD><DEBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD>ƽ̹,<2C><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD>߳<EFBFBD><DFB3><EFBFBD><EFBFBD>ɻ<EFBFBD><C9BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߳<EFBFBD>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD>
extern bool CalAnyPtCoordinate(double &Lon, double &Lat, double &H, const struQB_FJ *frame, int pt_x, int pt_y);


// <20><><EFBFBD>ܣ<EFBFBD><DCA3>ͷ<EFBFBD><CDB7>鱨<EFBFBD><E9B1A8><EFBFBD><EFBFBD>
extern void ReleaseQBData(QBStru *pQBData);

// <20><><EFBFBD>ܣ<EFBFBD><DCA3><EFBFBD>¡ͼ<C2A1><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void CloneImgStru(const ImgStru *src, ImgStru *dst);
extern void CloneQBData(const QBStru *src, QBStru *dst);

extern BYTE Buffer[512000];

//<2F><><EFBFBD>ܣ<EFBFBD><DCA3><EFBFBD>ȡԭʼ<D4AD><CABC>Ƶ<EFBFBD><C6B5><EFBFBD><EFBFBD>
extern void GetH264VideoDataFromNet();
extern void SocketReceiveH264VideoData(const void* buffer, int length);
extern void ProcessH264VideoData();