C++ Serial::IsConnected方法代码示例

//-----------------------------------------------------------------------------
int _tmain(int argc, _TCHAR* argv[])
{
	Serial* SP = new Serial(COM_PORT); // Инициализация соединения

	if (SP->IsConnected())
		printf("We're connected\n\n");
	else
		printf("Connection refused\n\n");

	char incomingData[BUF_SIZE] = ""; // Строка для посылки (данных)
	int readResult = 0;               // Каков размер нашей посылки

	while (SP->IsConnected())
	{
		readResult = SP->ReadData(incomingData, BUF_SIZE-1);
		// Если ничего нет readResult будет равно -1
		if (DEBUG) printf("Bytes read: %i\n",readResult);
		// Выводим для отладки кол-во байт переданных данных (или -1)
		incomingData[readResult] = 0;
		// Записываем конец строки после всех нужных данных
		if (readResult > 0) printf("%s",incomingData);
		// Eсли в посылке что-то было (и она была), то выводим ее
		Sleep(UPD_TIME);
		// Подождем пока, чтобы не вывести одно и тоже несколько раз
	}

    delete SP;
    Sleep(2000);
	return 0;
}                                                    // By SnipGhost 06.08.2016

// application reads from the specified serial port and reports the collected data
int _tmain(int argc, _TCHAR* argv[])
{
	printf("Welcome to the serial test app!\n\n");

	Serial* SP = new Serial("\\\\.\\COM13");    // adjust as needed

	if (SP->IsConnected())
		printf("We're connected");

	char incomingData[2000] = "";			// don't forget to pre-allocate memory
	//printf("%s\n",incomingData);
	int dataLength = 1500;
	int readResult = 0;

	while(SP->IsConnected())
	{
		readResult = SP->ReadData(incomingData,dataLength);
	//	printf("Bytes read: (-1 means no data available) %i\n",readResult);
		if (readResult == -1) continue;
		std::string test(incomingData);
		for (int i = 0; i < readResult; i++)
		{
			printf("%c", incomingData[i]);
		}
	//	printf("%s",incomingData);
		test = "";

		Sleep(50);
	}
	return 0;
}

// application reads from the specified serial port and reports the collected data
int _tmain(int argc, _TCHAR* argv[])
{
	printf("Welcome to the serial test app!\n\n");

	Serial* SP = new Serial("COM4");    // adjust as needed

	if (SP->IsConnected())
		printf("We're connected\n");

	char incomingData[256] = "";			// don't forget to pre-allocate memory
	//printf("%s\n",incomingData);
	int dataLength = 256;
	int readResult = 0;

	while(SP->IsConnected())
	{
		readResult = SP->ReadData(incomingData,dataLength);
//		printf("Bytes read: (-1 means no data available) %i\n",readResult);

		std::string test(incomingData);

		printf("%s",incomingData);
		test = "";

		Sleep(500);
	}
	return 0;
}

int _tmain(int argc, _TCHAR* argv[])
{
	cout << "Connecting to arduino..." << endl;

	Serial* SP = new Serial("\\\\.\\COM7");    // adjust as needed

	if (SP->IsConnected())
		cout << "Connection established with Arduino!!" << endl;	// Let us know the serial is connected

	char incomingData[256] = "";			// don't forget to pre-allocate memory
	int dataLength = 256;
	int readResult = 0;

	while(SP->IsConnected())
	{
		readResult = SP->ReadData(incomingData,dataLength);
		//cout << "Bytes read: " << readResult << endl;

		string test(incomingData);

		if (readResult > 0) {

			cout << incomingData << endl;
			test = "";
		}

		Sleep(300);
	}
	cin >> argc;
	return 0;
}

int main(int argc, char* argv[])
{
	Serial * Arduino = new Serial("COM8");
	cout << "Communicating with COM7 enter data to be sent\n";
	char data[256] = "";
	int nchar = 256;
	char incomingData[256] = "";
	while (Arduino->IsConnected())
	{
		cin >> data;
		Arduino->WriteData(data, nchar);
		Arduino->ReadData(incomingData, nchar);
		cout << incomingData << endl;
	}
	return 0;
}

int main() {
	Serial* port = new Serial("COM4");

	if (port->IsConnected()) cout << "Connection established!!!" << endl;

    int tempX = 1111;
    int tempY = 1111;
    bool automatic = true;
    sendCommandToArduino(port, automatic, 'w', tempX, tempY);

	//char data[256] = "";
	//int datalength = 256;
	//int readResult = 0;

	//for (int i = 0; i < 256; ++i) { data[i] = 0; }

	//string str;
	//char command[] = "i";
	/*char sendMe[1];
	sendMe[0] = '1';
	sendMe[0] = '0';
	int msglen = strlen(sendMe);
	while(true){
        port->WriteData(sendMe, 2);
        cout << "Please write two digit number (00 = turn off, 01 = turn on, 11 = blink): ";
        cin >> sendMe[0];
        cin >> sendMe[1];
        system("pause");
        if(sendMe[0] == '1')
            sendMe[0] = '0';
        else
            sendMe[0] = '1';

    }
	//while (1) {
	//	while (port->ReadData(data, 256) != -1) {
	//		printf("%s", data);
	//	}
	//} */
	system("pause");
	return 0;
}

Serial* connectToPort(){
    string lPort;
    cout << "Port: ";
    cin >> lPort;
#ifdef __WIN32__
    string lfilePath = "\\\\.\\COM"+ lPort;
#endif
#ifdef __linux__
    string lfilePath = "/dev/"+ lPort;
#endif

    Serial * pSerial = new Serial(lfilePath.c_str());
    if(!pSerial->IsConnected()){
        cout << "Unable to connect to Serial Port :" + lPort << endl;
        return NULL;
    }
    else{
        cout << "Connection established" << endl;
        return pSerial;
    }
}

int *LedAmountTest(char *Comm)
{
	Serial* SP = new Serial(Comm);

	if (SP->IsConnected())
		std::cout << "Connected with COM5" << std::endl;

	bool exit = false;
	//je kan hier op escape drukken om het programma af ste sluiten hier
	std::cout << "Waiting for Arduino. Press ESC to quit" << std::endl;
	char Rx_buffer[2] = "";

	while (Rx_buffer[0] != '0') //blijf hier hangen tot de arduino klaar is
	{
		Sleep(100);
		SP->ReadData(Rx_buffer, 2);
		if (GetAsyncKeyState(VK_ESCAPE))
		{
			exit = true;
		}
		if (exit == true)
		{
			std::cout << "Something went wrong with communication. Check baudrate settings and COM port" << std::endl;
		}
	}

	Rx_buffer[0] = '0';

	std::cout << "Got response from arduino sending amount of leds" << std::endl;

	//Stuur de hoeveelheid leds naar de arduino
	UINT8 Tx_buffer[600 * 3];

	ZeroMemory(Tx_buffer, 600 * 3);
	Tx_buffer[0] = 600 >> 8 & 0x00FF;
	Tx_buffer[1] = 600 & 0x00FF;

	SP->WriteData((char*)Tx_buffer, 2);


	std::cout << "Press up to add a LED and press down to remove one." << std::endl;
	std::cout << "When you are satisfied press SPACEBAR to confirm" << std::endl;
	std::cout << "Press ESC to quit" << std::endl;

	//onderstaande stukje code zal blijven draaien tot je op ESC drukt
	static int leds[4] = { 0 }, i = 0;
	int offset = 0;
	leds[0]++;
	while (i <4)
	{
		if (GetAsyncKeyState(VK_SPACE))						//Als escape is ingedrukt zet exit true
		{
			offset += leds[i];
			i++;
			Sleep(500);
		}
		if (GetAsyncKeyState(VK_UP))
		{
			leds[i]++;
			ZeroMemory(Tx_buffer, 600 * 3);
			for (int j = 0; j < leds[i]; j++)
			{
				for (int k = 0; k < 3; k++)
				{
					Tx_buffer[(j + offset) * 3 + k] = 0xff;
				}

			}

			SP->WriteData((char*)Tx_buffer, 1800);
			Sleep(50);
		}
		if (GetAsyncKeyState(VK_DOWN) && leds[i] > 1)
		{
			leds[i]--;
			ZeroMemory(Tx_buffer, 600 * 3);
			for (int j = 0; j < leds[i]; j++)
			{
				for (int k = 0; k < 3; k++)
				{
					Tx_buffer[(j + offset) * 3 + k] = 0xff;
				}

			}
			SP->WriteData((char*)Tx_buffer, 1800);
			Sleep(50);
		}

	}
	SP->~Serial();
	return leds;
}

//.........这里部分代码省略.........

	ScreenCalc Scherm(105,					//init de kleur bereken functies
		pBits,			//De PixelData
		D3DCap.return_hres(),	//De Hori Resolutie 
		D3DCap.return_vres(),	//De Verti Resolutie
		Config[1],					//Hoeveel procent die moet nemen aan de bovenkant/onderkant
		Config[2],					//Hoeveel procent die aan de zijkant moet nemen
		Config[3],				//Leds Boven
		Config[5],					//Leds Onder
		Config[4],					//Leds Links
		Config[6],				//Leds Rechts
		Config[7]);

	Scherm.Bereken_Grid();					//stel de hoeveelheid leds in die worden gebruikt en bereken Grid Grootte

	Scherm.set_Gamma(gamma);

	//Het programma moet eerst 0xff binnen krijgen als dat het geval is dan mag die beginnen met het oversturen
	//van de hoeveelheid leds
	//Als die hoeveelheden overeenkomen mag die beginnen met het zenden van led data
	std::string String;
	String = "\\\\.\\COM";
	String += std::to_string(Config[8]);
	char *temp = new char[String.size() + 1];
	std::copy(String.begin(), String.end(), temp);
	temp[String.size()] = '\0';
	Serial* SP = new Serial(temp);

	

	delete[] temp;
	temp = nullptr;

	if (SP->IsConnected())
		std::cout << "Connected with COM5" << std::endl;
	else
	{
		std::cout << "Communication Error. Exiting" << std::endl;
		return 0;
	}

	char Rx_buffer[100] = "";	//Dit is de Rx_buffer deze moet een char zijn

	//je kan hier op escape drukken om het programma af ste sluiten hier
	std::cout << "Waiting for Arduino. Press ESC to quit" << std::endl;

	SP->ReadData(Rx_buffer, 2);
	while (Rx_buffer[0] != '0') //blijf hier hangen tot de arduino klaar is
	{
		Sleep(100);
		SP->ReadData(Rx_buffer, 2);
		if (GetAsyncKeyState(VK_ESCAPE))
		{
			exit = true;
		}
		if (exit == true)
		{
			std::cout << "Something went wrong with communication. Check baudrate settings and COM port" << std::endl;
			return 0;	//beeindig de software
		}
	}

	Rx_buffer[0] = '0';

	std::cout << "Got response from arduino sending amount of leds" << std::endl;

void MpuReader::run()
{
    //連線藍芽
    #ifndef USE_WIRE_CONNECTION
        blue_connector = new cwz_c_blue();
        int result = blue_connector->connect(this->stopFlag);
        if(result == 1)//如果成功連線
            emit connectionCreated();
    #endif

    //********************************************************//
    //							變數宣告
    //********************************************************//
    //Handle Serial Buffer
    const int incomming_buf_len = 2048;
    char incomingData[incomming_buf_len] = "";			// don't forget to pre-allocate memory
    int dataLength = 256;
    const int bSize = 10000;
    char buffer[bSize] = "";
    int bLen = 0;

    //Decode information from buffer string
    int count = 0;
    int flag = -1; //-1等於上次是不合法結束的情況
    int accl[3]; // x, y, z
    int gyro[3]; // x, y, z
    float gravity[3];
    float quatern[4];
    int buttons[2];
    int period;

    //中位值濾波
    int MFLen = 5;   //濾波器長度為5
    int **Accls = allcIntDArray(MFLen, 3);
    int **Gyros = allcIntDArray(MFLen, 3);
    int MFCount = 0; // 只用於前五次, 確認filter的data set是不是被裝滿了, 裝滿了才開始濾波

    //Symbol record
    //SymbolRecorder SR = SymbolRecorder();

    //fileNameSStream << racketFilePath << date_string << "_" << type_string << "_" << person_string << "_" << racket_file_count << ".txt";

    //********************************************************//
    //					連接Com port並確認連線
    //********************************************************//
    #ifdef USE_WIRE_CONNECTION
        std::cout << "Arduino with GY521 board and chip MPU6050!" << std::endl;
        char *COM_NUM = "COM5";
        Serial* SP = new Serial(COM_NUM);    // adjust as needed
        if (SP->IsConnected()){
            emit connectionCreated();
            std::cout << "We're connected" << std::endl;
        }else{
            stopFlag = true;
        }
        //read few set of data until it's getting stable
        waitUntilSerialStable(SP, incomingData, dataLength);

        std::cout << "Data should be stable, start to read MPU6050" << std::endl;
    #else
        blue_connector->send("Start to read mpu6050 data from bluetooth.\n");
    #endif

    while(!stopFlag){
        #ifdef USE_WIRE_CONNECTION
            if(!SP->IsConnected()){
                std::cout << "Failed to read " << COM_NUM << " Mpu6050 reader is off." << std::endl;
                emit readingEnded();
                break;
            }
            if( !readSerialIntoBuffer(SP, incomingData, dataLength, readResult, bLen, bSize, buffer) )
                continue;//If no valid serial data are read or buffer overflow, skip this round
        #else
            dataLength = blue_connector->receive(incomingData, incomming_buf_len);
            if(dataLength > 0){//有收到東西
                incomingData[dataLength] = '\0';
                strcpy_s(&buffer[bLen], bSize, incomingData);
                bLen += dataLength;
            }
        #endif
        //decode mpu6050 data from buffer str, take off processed part from buffer
        strcpy_s(buffer, bSize, getAccelAndGyro(&count, &flag, &bLen, buffer, accl, gyro, quatern, buttons, &period, bSize));

        //   每一組合法數值為 (acclX,acclY,acclZ,gyroX,gyroY,gyroZ,quatern1,quatern2,quatern3,quatern4,buttonRight,buttonLeft,readperiod)
        if( flag != GETAANDG_NEW_VALID_DATA )
            continue;//尚未讀到整組完整資料 不處理 繼續讀

        SHORT downKeyState = GetAsyncKeyState( VK_DOWN );
        //std::cout << "gravity: " << gravity[0] << ", " << gravity[1] << ", " << gravity[2] << std::endl;
        if( writeRawToFile )
        {//按ctrl鍵
            std::cout << "period: " << period << std::endl;

            if( ( 1 << 16 ) & downKeyState ){
                //writeAcclAndGyroAndGravity(fileNameSStream.str().c_str(), accl, gyro, gravity, 1);
                writeMpu6050RawToFile(fileNameSStream.str().c_str(), accl, gyro, quatern, period, 1);
                //std::cout << "Down Key State: " << 1 << std::endl;
            }else{
                //writeAcclAndGyroAndGravity(fileNameSStream.str().c_str(), accl, gyro, gravity, 0);
                writeMpu6050RawToFile(fileNameSStream.str().c_str(), accl, gyro, quatern, period, 0);
//.........这里部分代码省略.........

//.........这里部分代码省略.........
	// Parametros do PID na seguinte ordem: PF, IF, DF, PT, IT, DT, PFR, IFR, DFR, PTR, ITR, DTR

	float param0[12] = { 11.45, 1.49, 26.9, 13.59, 1.63, 25.86, 1.03, 0.14, 9.36, 1.4, 0.23, 9.44 };
	float param1[12] = { 25.72, 1.01, 20.07, 22.34, 0.94, 21.1, 10, 0.64, 4.92, 10, 0.61, 6.92 };
	float param2[12] = { 21.86, 1.06, 18, 22, 1.03, 25.03, 3.59, 0.32, 4.94, 2.9, 0.89, 3.79 };

	CvFont fonte;
	cvInitFont(&fonte, CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5, 0, 1, 8);


	cvNamedWindow("Live", CV_WINDOW_AUTOSIZE);
	//cvNamedWindow("Filtro Atual");
	//cvNamedWindow("Estrategia");

	// Inicialização da Visão
	vision Camera;
	Camera.createCamera(0);
	Camera.getImage(ROI);
	Camera.configParam(parametro, amin, amax, time, min_distance, ROI);

	// Inicialização da Estratégia
	estrategia Estrategia(Camera.h, Camera.w, side, canto_gol1, canto_gol2, canto_area1, canto_area2);
	Estrategia.Config(Camera.h, Camera.w);
	pesos = cvCreateImage(cvGetSize(Camera.frame), Camera.frame->depth, 1);
	Estrategia.ConfigAreas(canto_gol1, canto_gol2, canto_area1, canto_area2);

	// Inicialização do Controle
	

	controle_bili Controle_bili;

	// Inicialização do Serial
	Serial* SP = new Serial("COM4");
	if (SP->IsConnected())
		printf("We're connected\n");




	//============================== VARIÁVEIS  DE TESTE ============================//

	int contador = 0;
	float t;
	float ref = 0.0, T = 40000.0, f1 = 0.0, f2 = 0.0, torque = 0.0, fx_B = 0.0, d = 3.75, KP_w = 0.0, KI_w = 0.0, flag = 0.0, K, KP_u, R = 55.0, a, dist = 0.0;

	//float x = Camera.players[0].x,e =0.0;
	//float y = Camera.players[0].y;
	Camera.players[0].theta_acumulated = 0;
	Camera.players[0].theta_old = 0;
	//float theta = Camera.players[0].theta;
	//float t = visionF - start;
	//float v1 = 15;
	//float v2 = -15;
	float c, alpha = 0.0, biel = 0.0, v1_send = 0.0, v2_send = 0.0;
	float dx0, dy0, Kp, /*v1 = 0.0, v2 = 0.0,*/ theta2 = 0.0, thetad = 0.0, Kt, refaux = 0.0, i = 0.0, o = 0.0, ang_error = 0.0;
	float ct, st, erro_angulo = 0.0, x_bola = 0.0, y_bola = 0.0, thetad_old = 0.0, u_i = 0.0, KI_u = 0.0;
	float w = 0.0, u = 0.0, w_i = 0.0, w_p = 0.0, h = 0.0, wc = 0.0, uc = 7.0, f = 300.0,  u_p = 0.0, x_0 = 155, y_0 = 116;
	h = 1.0 / 12.0;
	int xd = 0, yd = 0;
	char temp[2];
	char tempread[2];
	//char msg[12];
	//byte sum;
	float xd_old = 0.0, yd_old = 0.0;
	float n_xd = Camera.players[0].x, n_yd = Camera.players[0].y;
	start = clock();

//.........这里部分代码省略.........

	CvFont fonte;
	cvInitFont(&fonte, CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5, 0, 1, 8);


	cvNamedWindow("Live", CV_WINDOW_AUTOSIZE);
	//cvNamedWindow("Filtro Atual");
	//cvNamedWindow("Estrategia");

	// Inicialização da Visão
	vision Camera;
	Camera.createCamera(1);
	Camera.getImage(ROI);
	Camera.configParam(parametro, amin, amax, time, min_distance, ROI);

	// Inicialização da Estratégia
	estrategia Estrategia(Camera.h, Camera.w, side, canto_gol1, canto_gol2, canto_area1, canto_area2);
	Estrategia.Config(Camera.h, Camera.w);
	pesos = cvCreateImage(cvGetSize(Camera.frame), Camera.frame->depth, 1);
	Estrategia.ConfigAreas(canto_gol1, canto_gol2, canto_area1, canto_area2);
	
	// Inicialização do Controle
	//controle Controle00((float)0.2, (float)0.007, (float)6, (float)0.3, (float)0.000001, (float)4);
	controle Controle00(param0);
	controle Controle01(param1);
	controle Controle02(param2);
	Controle00.distance_lim = 50;
	Controle01.distance_lim = 50;
	Controle02.distance_lim = 50;

	
	// Inicialização do Serial
	Serial* SP = new Serial("COM3"); 
	if (SP->IsConnected())
		printf("We're connected\n");


	start = clock();
	while (1)
	{

		counter++;
		totalI = clock();




		// =========================== VISÃO =========================== //
		visionI = clock();

		Camera.getImage();
		Camera.dataAcquire();
		Camera.players[1] = robot(-1, -1);
		Camera.players[2] = robot(-1, -1);

		visionF = clock();

		//if (Camera.players[0].x != -1)
		//	fprintf(xFile, "%f, %i\n", Camera.players[0].x * (184 / ROI.width), int(visionF - start));
		//if (Camera.players[0].y != -1)
		//	fprintf(yFile, "%f, %i\n", Camera.players[0].y * (95 / ROI.height), int(visionF - start));
		//if (Camera.players[0].x != -1)
		//	fprintf(thetaFile, "%f, %i\n", Camera.players[0].theta, int(visionF - start));
		//if (Camera.players[0].x != -1)
		//	fprintf(gFile, "%f,%f,%f %i\n", Camera.players[0].x * (184 / ROI.width), Camera.players[0].y * (95 / ROI.height), Camera.players[0].theta, int(visionF - start));

// application reads from the specified serial port and reports the collected data
int _tmain(int argc, _TCHAR* argv[])
{
// connect the COM
	printf("Welcome to the serial test app!\n\n");
#if defined (_MSC_VER)
	Serial* SP = new Serial("\\\\.\\COM6");    // adjust as needed
#elif defined (__linux__)
    string PORTNAMEIN;
    cout << "Input Serial Port (e.g. /dev/ttyACM0): " << endl;
    cin >> PORTNAMEIN;
    char *PORTNAME = new char [PORTNAMEIN.length() + 1];
    std::strcpy(PORTNAME, PORTNAMEIN.c_str());
	Serial* SP = new Serial(PORTNAME);
	unsigned int JOYSTICKID1;
#endif

	if (SP->IsConnected())
		printf("We're connected!\n");

//data communication
	char incomingData[256] = "";			// don't forget to pre-
	int dataLengthin = 127;
	int readResult = 0;

	int steer=2048;
	int breaking = 255;
	const int encoder_resolution=4096;
	char outSteer[6]="2048s";
	int driveDutycycle=0;
	const int fullDutycycle=255;
	char outDrive[5]="001d";
	char outBreak[5]="100b";

//joystick initialize***********************

	joyinfoex_tag joyinfo;

#ifdef __linux__
    if (SDL_Init(SDL_INIT_JOYSTICK) < 0){
        cout << "Error initializing SDL!" << endl;
        return 1;
    }
	SDL_Joystick *joy;
    int CtrlNum = SDL_NumJoysticks();
    if (CtrlNum == 1)
        JOYSTICKID1 = 0;
    else{
        cout << "There are " << CtrlNum << " controllers found..." << endl;
        for(int i=0;i<CtrlNum;i++)
        {
            joy = SDL_JoystickOpen(i);
            printf("%s\n", SDL_JoystickName(joy));
        }
        cout << "Choose the one you wish to use: " << endl;
        cin >> JOYSTICKID1;
    }
    joy=SDL_JoystickOpen(JOYSTICKID1);
    if (joy) {
        printf("Opened Joystick %d\n",JOYSTICKID1);
        printf("Name: %s\n", SDL_JoystickNameForIndex(0));
        printf("Number of Axes: %d\n", SDL_JoystickNumAxes(joy));
        printf("Number of Buttons: %d\n", SDL_JoystickNumButtons(joy));
        printf("Number of Balls: %d\n", SDL_JoystickNumBalls(joy));
    } else {
        printf("Couldn't open Joystick %d\n", JOYSTICKID1);
        return -1*JOYSTICKID1;
    }
#endif

//button status
	bool is_in_situ=false;
	bool is_any_direction=false;
	bool is_tradition=true;
	bool now_in_situ=false;
	bool now_any_direction=false;
	bool now_tradition=false;
	bool last_in_situ=false;
	bool last_any_direction=false;
	bool last_tradition=false;

	//int count = 0;
//start control
	bool action = 1;
#if defined(_MSC_VER)
	while(SP->IsConnected())                            // CYCLES HERE...
	{
		//acquire joystick info **********************
		joyGetPosEx(JOYSTICKID1, &joyinfo);
#elif defined(__linux__)
    SDL_Event SysEvent;
    bool NoQuit = true;
    while(SP->IsConnected() && NoQuit)
    {
    	if (SDL_PollEvent(&SysEvent))
        {
            switch (SysEvent.type)
            {
                case SDL_JOYAXISMOTION:
                {
//.........这里部分代码省略.........

 int main( int argc, char** argv )
 {
    VideoCapture cap(0);

    if ( !cap.isOpened() )
    {
         cout << "Cannot open the web cam" << endl;
         return -1;
    }

    Serial* SP = new Serial("COM7");
    if (SP->IsConnected())
		printf("We're connected");

	char outgoingData[1] = "";
	int dataLength = 1;
	int readResult = 0;

	while(SP->IsConnected())
	{

    namedWindow("Control", CV_WINDOW_AUTOSIZE); //create a window called "Control"

  int iLowH = 0;
  int iHighH = 30;

  int iLowS = 150;
  int iHighS = 255;

  int iLowV = 142;
  int iHighV = 255;

 createTrackbar("LowH", "Control", &iLowH, 179); //Hue (0 - 179)
 createTrackbar("HighH", "Control", &iHighH, 179);

 createTrackbar("LowS", "Control", &iLowS, 255); //Saturation (0 - 255)
 createTrackbar("HighS", "Control", &iHighS, 255);

 createTrackbar("LowV", "Control", &iLowV, 255);//Value (0 - 255)
 createTrackbar("HighV", "Control", &iHighV, 255);

 int iLastX = 320;
 int iLastY = 240;

 Mat imgTmp;
 cap.read(imgTmp);

 Mat imgLines = Mat::zeros( imgTmp.size(), CV_8UC3 );;


    while (true)
    {
        Mat imgOriginal;

        bool bSuccess = cap.read(imgOriginal);

         if (!bSuccess)
        {
             cout << "Cannot read a frame from video stream" << endl;
             break;
        }

    Mat imgHSV;

    cvtColor(imgOriginal, imgHSV, COLOR_BGR2HSV); //Convert the captured frame from BGR to HSV

    Mat imgThresholded;

    inRange(imgHSV, Scalar(iLowH, iLowS, iLowV), Scalar(iHighH, iHighS, iHighV), imgThresholded); //Threshold the image

    //morphological opening (removes small objects from the foreground)
    erode(imgThresholded, imgThresholded, getStructuringElement(MORPH_ELLIPSE, Size(5, 5)) );
    dilate(imgThresholded, imgThresholded, getStructuringElement(MORPH_ELLIPSE, Size(5, 5)) );

    //morphological closing (removes small holes from the foreground)
    dilate(imgThresholded, imgThresholded, getStructuringElement(MORPH_ELLIPSE, Size(5, 5)) );
    erode(imgThresholded, imgThresholded, getStructuringElement(MORPH_ELLIPSE, Size(5, 5)) );

    //Calculate the moments of the thresholded image
    Moments oMoments = moments(imgThresholded);

    double dM01 = oMoments.m01;
    double dM10 = oMoments.m10;
    double dArea = oMoments.m00;

    // if the area <= 10000, I consider that the there are no object in the image and it's because of the noise, the area is not zero
    if (dArea > 10000)
    {
        //calculate the position of the ball
        int posX = dM10 / dArea;
        int posY = dM01 / dArea;

    if (iLastX >= 0 && iLastY >= 0 && posX >= 0 && posY >= 0)
    {
    //Draw a red line from the previous point to the current point
       // line(imgLines, Point(posX, posY), Point(iLastX, iLastY), Scalar(0,0,255), 2);

        Point pt1(posX-10, posY-10);
        Point pt2(posX+10, posY+10);

//.........这里部分代码省略.........