// SendControlCommand.cpp : 实现文件
//

#include "stdafx.h"
#include "CH91PayloadSoftware.h"
#include "SendControlCommand.h"
#include "afxdialogex.h"
#include "Global.h"
#include "GlobalMember.h"
#include "GlobalMessage.h"

// CSendControlCommand 对话框
//struct struCHECK
//{   
//	struCHECK()
//	{
//		C0 = C1 = 0;
//	};
//
//	BYTE C0;
//	BYTE C1;
//};

// const UINT16  Crc_Table[256] =                                      // X16+X12+X5+1 1021余式表 CCITT
// {                      
// 	0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
// 	0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
// 	0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
// 	0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
// 	0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
// 	0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d,
// 	0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4,
// 	0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc,
// 	0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
// 	0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
// 	0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12,
// 	0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a,
// 	0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
// 	0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49,
// 	0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
// 	0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78,
// 	0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f,
// 	0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
// 	0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e,
// 	0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
// 	0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d,
// 	0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
// 	0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c,
// 	0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634,
// 	0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
// 	0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3,
// 	0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
// 	0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92,
// 	0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9,
// 	0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
// 	0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
// 	0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0
// };
//const UINT8  Crc_Table[512]=
//{
//	0x0,0x0,0x89,0x11,0x12,0x23,0x9b,0x32,0x24,0x46,0xad,0x57,0x36,0x65,0xbf,0x74,
//	0x48,0x8c,0xc1,0x9d,0x5a,0xaf,0xd3,0xbe,0x6c,0xca,0xe5,0xdb,0x7e,0xe9,0xf7,0xf8,
//	0x81,0x10,0x8,0x1,0x93,0x33,0x1a,0x22,0xa5,0x56,0x2c,0x47,0xb7,0x75,0x3e,0x64,
//	0xc9,0x9c,0x40,0x8d,0xdb,0xbf,0x52,0xae,0xed,0xda,0x64,0xcb,0xff,0xf9,0x76,0xe8,
//	0x2,0x21,0x8b,0x30,0x10,0x2,0x99,0x13,0x26,0x67,0xaf,0x76,0x34,0x44,0xbd,0x55,
//	0x4a,0xad,0xc3,0xbc,0x58,0x8e,0xd1,0x9f,0x6e,0xeb,0xe7,0xfa,0x7c,0xc8,0xf5,0xd9,
//	0x83,0x31,0xa,0x20,0x91,0x12,0x18,0x3,0xa7,0x77,0x2e,0x66,0xb5,0x54,0x3c,0x45,
//	0xcb,0xbd,0x42,0xac,0xd9,0x9e,0x50,0x8f,0xef,0xfb,0x66,0xea,0xfd,0xd8,0x74,0xc9,
//	0x4,0x42,0x8d,0x53,0x16,0x61,0x9f,0x70,0x20,0x4,0xa9,0x15,0x32,0x27,0xbb,0x36,
//	0x4c,0xce,0xc5,0xdf,0x5e,0xed,0xd7,0xfc,0x68,0x88,0xe1,0x99,0x7a,0xab,0xf3,0xba,
//	0x85,0x52,0xc,0x43,0x97,0x71,0x1e,0x60,0xa1,0x14,0x28,0x5,0xb3,0x37,0x3a,0x26,
//	0xcd,0xde,0x44,0xcf,0xdf,0xfd,0x56,0xec,0xe9,0x98,0x60,0x89,0xfb,0xbb,0x72,0xaa,
//	0x6,0x63,0x8f,0x72,0x14,0x40,0x9d,0x51,0x22,0x25,0xab,0x34,0x30,0x6,0xb9,0x17,
//	0x4e,0xef,0xc7,0xfe,0x5c,0xcc,0xd5,0xdd,0x6a,0xa9,0xe3,0xb8,0x78,0x8a,0xf1,0x9b,
//	0x87,0x73,0xe,0x62,0x95,0x50,0x1c,0x41,0xa3,0x35,0x2a,0x24,0xb1,0x16,0x38,0x7,
//	0xcf,0xff,0x46,0xee,0xdd,0xdc,0x54,0xcd,0xeb,0xb9,0x62,0xa8,0xf9,0x9a,0x70,0x8b,
//	0x8,0x84,0x81,0x95,0x1a,0xa7,0x93,0xb6,0x2c,0xc2,0xa5,0xd3,0x3e,0xe1,0xb7,0xf0,
//	0x40,0x8,0xc9,0x19,0x52,0x2b,0xdb,0x3a,0x64,0x4e,0xed,0x5f,0x76,0x6d,0xff,0x7c,
//	0x89,0x94,0x0,0x85,0x9b,0xb7,0x12,0xa6,0xad,0xd2,0x24,0xc3,0xbf,0xf1,0x36,0xe0,
//	0xc1,0x18,0x48,0x9,0xd3,0x3b,0x5a,0x2a,0xe5,0x5e,0x6c,0x4f,0xf7,0x7d,0x7e,0x6c,
//	0xa,0xa5,0x83,0xb4,0x18,0x86,0x91,0x97,0x2e,0xe3,0xa7,0xf2,0x3c,0xc0,0xb5,0xd1,
//	0x42,0x29,0xcb,0x38,0x50,0xa,0xd9,0x1b,0x66,0x6f,0xef,0x7e,0x74,0x4c,0xfd,0x5d,
//	0x8b,0xb5,0x2,0xa4,0x99,0x96,0x10,0x87,0xaf,0xf3,0x26,0xe2,0xbd,0xd0,0x34,0xc1,
//	0xc3,0x39,0x4a,0x28,0xd1,0x1a,0x58,0xb,0xe7,0x7f,0x6e,0x6e,0xf5,0x5c,0x7c,0x4d,
//	0xc,0xc6,0x85,0xd7,0x1e,0xe5,0x97,0xf4,0x28,0x80,0xa1,0x91,0x3a,0xa3,0xb3,0xb2,
//	0x44,0x4a,0xcd,0x5b,0x56,0x69,0xdf,0x78,0x60,0xc,0xe9,0x1d,0x72,0x2f,0xfb,0x3e,
//	0x8d,0xd6,0x4,0xc7,0x9f,0xf5,0x16,0xe4,0xa9,0x90,0x20,0x81,0xbb,0xb3,0x32,0xa2,
//	0xc5,0x5a,0x4c,0x4b,0xd7,0x79,0x5e,0x68,0xe1,0x1c,0x68,0xd,0xf3,0x3f,0x7a,0x2e,
//	0xe,0xe7,0x87,0xf6,0x1c,0xc4,0x95,0xd5,0x2a,0xa1,0xa3,0xb0,0x38,0x82,0xb1,0x93,
//	0x46,0x6b,0xcf,0x7a,0x54,0x48,0xdd,0x59,0x62,0x2d,0xeb,0x3c,0x70,0xe,0xf9,0x1f,
//	0x8f,0xf7,0x6,0xe6,0x9d,0xd4,0x14,0xc5,0xab,0xb1,0x22,0xa0,0xb9,0x92,0x30,0x83,
//	0xc7,0x7b,0x4e,0x6a,0xd5,0x58,0x5c,0x49,0xe3,0x3d,0x6a,0x2c,0xf1,0x1e,0x78,0xf
//};
//struCHECK MakeCheckCRC(UINT8 *ptr,UINT8 len) 
//{
//	UINT8 temp,i;
//	UINT16 crc = 0;
//
//	for(i = 0; i < len; i++)
//	{
//		temp = (UINT8) (crc / 256);                   // 以8位二进制数暂存CRC 的高8 位
//		crc <<= 8;                                // 左移 8 位
//		crc ^= Crc_Table[temp ^ *ptr];              // 高字节和当前数据XOR 再查表
//		ptr++;
//	}
//	struCHECK ck;
//	ck.C1 = (crc>>8);
//	ck.C0 = (crc&0xff);
//	return ck;
//}
IMPLEMENT_DYNAMIC(CSendControlCommand, CDialogEx)

CSendControlCommand::CSendControlCommand(CWnd* pParent /*=NULL*/)
	: CDialogEx(CSendControlCommand::IDD, pParent)
{
	// 各变量初始化
	memset(g_payloadCtrlInstruction, 0, 32); // 初始化为0
	g_bCreatUDP = false;
	m_wndManual_Search = nullptr;
	// 手动搜索指令盘按钮初始移动速度
	m_Speed = 0;
	m_Speed_UpDown = 0;
	m_Speed_LeftRight = 0;
}

CSendControlCommand::~CSendControlCommand()
{
}

void CSendControlCommand::DoDataExchange(CDataExchange* pDX)
{
	CDialogEx::DoDataExchange(pDX);
}


BEGIN_MESSAGE_MAP(CSendControlCommand, CDialogEx)
	ON_WM_TIMER()
	ON_MESSAGE(WM_SHOW_MANUAL_SEARCH, CSendControlCommand::ManualSpeed)
	ON_WM_DESTROY()
END_MESSAGE_MAP()


// CSendControlCommand 消息处理程序
// 手动搜索指令盘
void CALLBACK GetDistRatioAndAngleProc(double distRatio, double angle)
{
	if (distRatio >= 0 && distRatio <= 1 && abs(angle) <= 180)
	{
		if (distRatio > 0.5)
		{
			distRatio = 0.5;
		}

		g_MS_Ratio = distRatio;
		g_MS_Angle = angle;
		::SendMessage(g_SendControlCommandDlgHwnd, WM_SHOW_MANUAL_SEARCH , WPARAM(0), LPARAM(0));
	}
}


//手动搜索指令盘
LRESULT CSendControlCommand::ManualSpeed(WPARAM wParam, LPARAM lParam)
{
	// 定义协议序号
	g_payloadCtrlProtocol = 1001;
	if (g_MS_Ratio < 1e-6)
	{
		g_payloadCtrlProtocol = 0;
	}

	// 速度变量传递
	m_Speed = static_cast<int>(2 * 512 * g_MS_Ratio);

	m_Speed_LeftRight = static_cast<int>(m_Speed * sin(g_MS_Angle / 180 * CV_PI));
	m_Speed_UpDown = static_cast<int>(m_Speed * cos(g_MS_Angle / 180 * CV_PI));

	// 更新指令盘图像
	ShowManualSearchImg(g_MS_Angle,  g_MS_Ratio);
	return 0;
}

BOOL CSendControlCommand::OnInitDialog()
{
	CDialogEx::OnInitDialog();
	// 更改指令发送帧频
	SetTimer(1,40, nullptr);

	g_SendControlCommandDlgHwnd = GetSafeHwnd();
	// 控制IP和端口绑定
	CString fileSysName = GetSoftwareCurrentDirectory()+ "\\ini\\" + "config.ini";
	char LocalIp1[20];
	unsigned int  LocalPort1 = 0;   //本地端口
	char RemoteIp1[20];
	unsigned int  RemotePort1 = 0;  //对方端口

	GetPrivateProfileString("UDPInfo_SEND2PAYLOAD", "UDPRemoteIP ", "0", RemoteIp1, 20, fileSysName);
	GetPrivateProfileString("UDPInfo_SEND2PAYLOAD", "UDPLocalIP", "0", LocalIp1, 20, fileSysName);

	RemotePort1 = GetPrivateProfileInt("UDPInfo_SEND2PAYLOAD", "UDPRemotePort", 0, fileSysName);
	LocalPort1 = GetPrivateProfileInt("UDPInfo_SEND2PAYLOAD", "UDPLocalPort", 0, fileSysName);

	assert(LocalPort1 != 0 && RemotePort1 != 0);
	g_UdpSend2Payload.SetParams(LocalIp1, LocalPort1, RemoteIp1, RemotePort1);
	g_bCreatUDP = g_UdpSend2Payload.StartListening();
	if( g_bCreatUDP == false)
	{
		::MessageBoxA(NULL, g_str_WarningPayloadControl, g_str_WarningTitle, MB_OK);
	} 
	//手动搜索控制面板
	if (m_wndManual_Search == nullptr)
	{
		m_wndManual_Search = new CExportSimpleImgShow();
	}

	if (g_SendControlCommandDlgHwnd != nullptr && m_wndManual_Search != NULL)
	{
		m_wndManual_Search->CreateWnd(g_SendControlCommandDlgHwnd);
		CRect rect_Manual_Search;
		GetDlgItem(IDC_STATIC_MANUAL_SEARCH)->GetWindowRect(&rect_Manual_Search);
		ScreenToClient(&rect_Manual_Search);

		m_wndManual_Search->MoveWnd(rect_Manual_Search);
		m_wndManual_Search->ShowWnd(SW_SHOW);
		m_wndManual_Search->SetCallBackFun(GetDistRatioAndAngleProc);

		// 显示图像
		m_ManualSearchImg = imread("back_ManualSearch_English.jpg");
		ShowManualSearchImg(0, 0);
	}
	return TRUE;  // return TRUE unless you set the focus to a control
	// 异常: OCX 属性页应返回 FALSE
}


void CSendControlCommand::OnTimer(UINT_PTR nIDEvent)
{
	// TODO: 在此添加消息处理程序代码和/或调用默认值

	for( size_t i = 0; i < 32; i++)
	{
		g_payloadCtrlInstruction[i] = 0x00;
	}

	g_payloadCtrlInstruction[0] = 0xEB; // 帧头
	g_payloadCtrlInstruction[1] = 0x90;
	g_payloadCtrlInstruction[2] = 0x02;   // 目的地址 源地址
	g_payloadCtrlInstruction[3] = 0x01;   // 飞机ID暂时置为定值0

	static int cnt = 0;

	if (cnt > 255)
	{
		cnt = 0;
	}
	g_payloadCtrlInstruction[4] = BYTE(cnt);   // 帧计数
	cnt++;

	// 数据注入指令帧
	g_payloadCtrlInstruction[12] = 0x1F;

	// 执行鼠标滚轮控制视场大小指令
	// 循环三次
	static int zoomCnt = 0;
	if (g_CtrlFocusThroughMouseWheel == TRUE)
	{
		if (zoomCnt < 3 )
		{
			zoomCnt++;
		}
		else
		{
			zoomCnt = 0;
			g_bCtrlFromSoftware = FALSE;
		}
	}
	else
	{
		zoomCnt = 0;
	}

	switch(g_payloadCtrlProtocol)
	{
	case 1: // 速度配置
		g_payloadCtrlInstruction[29] = 0x00; 
		g_payloadCtrlInstruction[25] = 0x00;
		g_payloadCtrlInstruction[26] = 0x00;
		g_payloadCtrlInstruction[27] = 0x00;
		g_payloadCtrlInstruction[28] = 0x00;
		g_sCtrlInstruction = "速度配置";
		break;
	case 2: // 锁定模式
		g_payloadCtrlInstruction[29] = 0x15;
		g_sCtrlInstruction = "锁定模式";
		break;
	case 3: //  扫描模式
		g_payloadCtrlInstruction[29] = 0x17; 
		g_sCtrlInstruction = "扫描模式";
		break;
	case 4: // 数字引导模式
		g_payloadCtrlInstruction[29] = 0x19;
		g_payloadCtrlInstruction[25] = INT16(g_Guide_Pitch * 36000 / 360) & 0xFF;
		g_payloadCtrlInstruction[26] = (INT16(g_Guide_Pitch * 36000 / 360) >> 8) & 0xFF;
		g_payloadCtrlInstruction[27] = INT16(g_Guide_Azimuth * 36000 / 360) & 0xFF;
		g_payloadCtrlInstruction[28] = (INT16(g_Guide_Azimuth * 36000 / 360) >> 8) & 0xFF;
		g_sCtrlInstruction = "数字引导";
		break;
	case 5: // 平台复位
		g_payloadCtrlInstruction[29] = 0x1B; 
		g_sCtrlInstruction = "平台复位";
		break;
	case 6: // 补漂方位-
		g_payloadCtrlInstruction[29] = 0x1D;
		g_sCtrlInstruction = "补漂方位-";
		break;
	case 7: // 补漂方位+
		g_payloadCtrlInstruction[29] = 0x1F;
		g_sCtrlInstruction = "补漂方位+";
		break;
	case 8: // 补漂俯仰-
		g_payloadCtrlInstruction[29] = 0x21;
		g_sCtrlInstruction = "补漂俯仰-";
		break;
	case 9: // 补漂俯仰+
		g_payloadCtrlInstruction[29] = 0x23;
		g_sCtrlInstruction = g_sCtrlInstruction = "补漂俯仰+";
		break;
	case 10: // 手动模式
		g_payloadCtrlInstruction[29] = 0x25;
		g_sCtrlInstruction = "手动模式";
		break;
	case 11: // 目标跟踪
		g_payloadCtrlInstruction[29] = 0x27;
		g_payloadCtrlInstruction[25] = INT16(g_TrackOffset.y) & 0xFF;
		g_payloadCtrlInstruction[26] = (INT16(g_TrackOffset.y) >> 8) & 0xFF;
		g_payloadCtrlInstruction[27] = INT16(g_TrackOffset.x / 2) & 0xFF;
		g_payloadCtrlInstruction[28] = (INT16(g_TrackOffset.x / 2) >> 8) & 0xFF;
		g_sCtrlInstruction = "目标跟踪";
		break;
	case 12: // 红外白热
		g_payloadCtrlInstruction[29] = 0x81;
		g_sCtrlInstruction = "红外白热";
		break;
	case 13: // 红外黑热
		g_payloadCtrlInstruction[29] = 0x82;
		g_sCtrlInstruction = "红外黑热";
		break;
	case 14: // EO视场小
		g_payloadCtrlInstruction[29] = 0x85;
		if (g_CtrlFocusThroughMouseWheel == true && zoomCnt == 3)
		{
			g_CtrlFocusThroughMouseWheel = false;
			g_payloadCtrlProtocol = 0;
		}
		g_sCtrlInstruction = "EO视场小";
		break;
	case 15: // EO视场大
		g_payloadCtrlInstruction[29] = 0x86;
		if (g_CtrlFocusThroughMouseWheel == true && zoomCnt == 3)
		{
			g_CtrlFocusThroughMouseWheel = false;
			g_payloadCtrlProtocol = 0;
		}
		g_sCtrlInstruction = "EO视场大";
		break;
	case 16: // IR视场小
		g_payloadCtrlInstruction[29] = 0x87;
		if (g_CtrlFocusThroughMouseWheel == true && zoomCnt == 3)
		{
			g_CtrlFocusThroughMouseWheel = false;
			g_payloadCtrlProtocol = 0;
		}
		g_sCtrlInstruction = "IR视场小";
		break;
	case 17: // IR视场大
		g_payloadCtrlInstruction[29] = 0x89;
		if (g_CtrlFocusThroughMouseWheel == true && zoomCnt == 3)
		{
			g_CtrlFocusThroughMouseWheel = false;
			g_payloadCtrlProtocol = 0;
		}
		g_sCtrlInstruction = "IR视场大";
		break;
	case 18: // OSD on/off
		g_payloadCtrlInstruction[29] = 0xA1;
		g_sCtrlInstruction = "OSD ON/OFF";
		break;
	case 19: // 图像切换
		g_payloadCtrlInstruction[29] = 0xA3;
		g_sCtrlInstruction = "图像切换";
		break;
	case 20: // 画中画开
		g_payloadCtrlInstruction[29] = 0xB5;
		g_sCtrlInstruction = "画中画开";
		break;
	case 21: // 画中画关
		g_payloadCtrlInstruction[29] = 0xB6;
		g_sCtrlInstruction = "画中画关";
		break;
	case 22: // 图像稳定关
		g_payloadCtrlInstruction[29] = 0xB7;
		g_sCtrlInstruction = "图像稳定关";
		break;
	case 23: // 图像稳定开
		g_payloadCtrlInstruction[29] = 0xB8;
		g_sCtrlInstruction = "图像稳定开";
		break;
	case 24: // 可见光透雾1
		g_payloadCtrlInstruction[29] = 0xBB;
		g_sCtrlInstruction = "可见光透雾1";
		break;
	case 25: // 可见光透雾2
		g_payloadCtrlInstruction[29] = 0xBC;
		g_sCtrlInstruction = "可见光透雾2";
		break;
	case 26: // 可见光透雾3
		g_payloadCtrlInstruction[29] = 0xBD;
		g_sCtrlInstruction = "可见光透雾3";
		break;
	case 27: // 可见光透雾关
		g_payloadCtrlInstruction[29] = 0xBE;
		g_sCtrlInstruction = "可见光透雾关";
		break;
	case 28: // 开始连续照相
		g_payloadCtrlInstruction[29] = 0xC1;
		g_sCtrlInstruction = "连续照相";
		break;
	case 29: // 停止照相
		g_payloadCtrlInstruction[29] = 0xC3;
		g_sCtrlInstruction = "停止照相";
		break;
	case 30: // 拍一张照
		g_payloadCtrlInstruction[29] = 0xC6;
		g_sCtrlInstruction = "拍一张照";
		break;
	case 31: // 激光测距开
		g_payloadCtrlInstruction[29] = 0x91;
		g_sCtrlInstruction = "激光测距开";
		break;
	case 32: // 激光测距关
		g_payloadCtrlInstruction[29] = 0x92;
		g_sCtrlInstruction = "激光测距关";
		break;
	case 33: // 激光电源开
		g_payloadCtrlInstruction[29] = 0x93;
		g_sCtrlInstruction = "激光电源开";
		break;
	case 34: // 激光电源关
		g_payloadCtrlInstruction[29] = 0x94;
		g_sCtrlInstruction = "激光电源关";
		break;

		// 需要对照协议进行修改
	case 1001:    // 当鼠标拖动载荷旋转时，g_payloadCtrlProtocol 定义为1001; 见函数：ManualSpeed
		// 手动
	   if  ((g_CH96TransFJData.ZH_Pitch>0)&&(m_Speed_UpDown>0))
	   {
		g_payloadCtrlInstruction[25] = 0;
		g_payloadCtrlInstruction[26] = 0;
		g_payloadCtrlInstruction[27] = INT16(m_Speed_LeftRight) & 0xFF;
		g_payloadCtrlInstruction[28] = (INT16(m_Speed_LeftRight) >> 8) & 0xFF;
		g_bCtrlFromSoftware = TRUE;
	   }
	
	   else
	   {
		g_payloadCtrlInstruction[25] = INT16(m_Speed_UpDown) & 0xFF;
		g_payloadCtrlInstruction[26] = (INT16(m_Speed_UpDown) >> 8) & 0xFF;
		g_payloadCtrlInstruction[27] = INT16(m_Speed_LeftRight) & 0xFF;
		g_payloadCtrlInstruction[28] = (INT16(m_Speed_LeftRight) >> 8) & 0xFF;
	   }
	    g_bCtrlFromSoftware = TRUE;
		break;

	default:
		break;
	}

	// 获取CRC校验位 计算g_payloadCtrlInstruction[30-31]
	// 配合CH96协议进行更改
	BYTE _PayloadCtrlInstruction[28];
	memcpy(&_PayloadCtrlInstruction, g_payloadCtrlInstruction + 2, 28);
	struCHECK tempstruCheck = MakeCheckCRC(_PayloadCtrlInstruction, 28);
	g_payloadCtrlInstruction[30] = tempstruCheck.C0;
	g_payloadCtrlInstruction[31] = tempstruCheck.C1;

	// UDP 发往飞控软件
	if (g_bCreatUDP == true)
	{
		g_UdpSend2Payload.WriteBuffer(g_payloadCtrlInstruction, 32);
	}

	// 发送消息, 让主窗口显示发送指令
	//::PostMessageA(g_mainDlgHwnd, WM_SHOW_CTRL_INSTRUCTIONS, 0, 0);

	// 手动及目标跟踪循环指令
	static int Cnt = 0;  // 计数用
	if (g_payloadCtrlProtocol == 10 || g_payloadCtrlProtocol == 11)
	{		
		if (Cnt < 4)
		{
			Cnt++;
		}
		else
		{
			Cnt = 0;
			g_payloadCtrlProtocol = 0;
		}
	}
	else
	{
		Cnt = 0;
	}
	// 更改手动搜索指令盘按钮颜色，只有改变有效指令时才调用显示
	if (g_payloadCtrlProtocol >=1 && g_payloadCtrlProtocol <= 34)
	{
		ShowManualSearchImg(0, 0);
	}

	CDialogEx::OnTimer(nIDEvent);
}

void CSendControlCommand::ShowManualSearchImg( double Angle, double Ratio)
{
	// 输入判断
	if (abs(Angle) > 180 || Ratio < 0 || Ratio > 1)
	{
		return;
	}

	// 限制绘制半径
	double R =  m_ManualSearchImg.cols / 2 * Ratio;  // 比例半径
	if (R > 110)
	{
		R = 110;
	}

	cv::Point drawPt(0,0);
	Angle = Angle / 180 * CV_PI;
	drawPt.x = static_cast<int>(R * sin(Angle) + m_ManualSearchImg.cols / 2 + 0.5);
	drawPt.y = static_cast<int>(-R * cos(Angle) + m_ManualSearchImg.rows / 2 + 0.5);

	cv::Mat local;
	m_ManualSearchImg.copyTo(local);

	if (g_sCtrlInstruction == "手动模式")
	{
		cv::circle(local, drawPt, 20, cv::Scalar(52, 116, 64), -1);
	}
	else
	{
		cv::Point drawPt(0,0);
		drawPt.x = static_cast<int>(m_ManualSearchImg.cols / 2 + 0.5);
		drawPt.y = static_cast<int>(m_ManualSearchImg.rows / 2 + 0.5);
		cv::circle(local, drawPt, 20, cv::Scalar(31, 31, 197), -1);
	}

	if (m_wndManual_Search != nullptr)
	{
		BITMAPINFO info;
		info.bmiHeader.biBitCount = 24;
		info.bmiHeader.biHeight = local.rows;
		info.bmiHeader.biWidth = local.cols;
		m_wndManual_Search->ShowImage(&info, local.data);
	}
}


void CSendControlCommand::OnDestroy()
{
	CDialogEx::OnDestroy();

	// TODO: 在此处添加消息处理程序代码
	KillTimer(1);
}