fuzzydlg.cpp

模糊PID控制器

// FUZZYDlg.cpp : implementation file
//

#include "stdafx.h"
#include "FUZZY.h"
#include "FUZZYDlg.h"
#include "classext.h"

#ifdef _DEBUG
#define new DEBUG_NEW
#endif


// CAboutDlg dialog used for App About
extern CFUZZYApp theApp;

class CAboutDlg : public CDialog
{
public:
	CAboutDlg();

// Dialog Data
	enum { IDD = IDD_ABOUTBOX };

	protected:
	virtual void DoDataExchange(CDataExchange* pDX);    // DDX/DDV support

// Implementation
protected:
	DECLARE_MESSAGE_MAP()
};

CAboutDlg::CAboutDlg() : CDialog(CAboutDlg::IDD)
{
}

void CAboutDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
}

BEGIN_MESSAGE_MAP(CAboutDlg, CDialog)
END_MESSAGE_MAP()


// CFUZZYDlg dialog



CFUZZYDlg::CFUZZYDlg(CWnd* pParent /*=NULL*/)
	: CDialog(CFUZZYDlg::IDD, pParent)
{
	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
}

void CFUZZYDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
}

BEGIN_MESSAGE_MAP(CFUZZYDlg, CDialog)
	ON_WM_SYSCOMMAND()
	ON_WM_PAINT()
	ON_WM_QUERYDRAGICON()
	//}}AFX_MSG_MAP
	ON_WM_DESTROY()
	ON_WM_TIMER()
	ON_EN_CHANGE(IDC_EDIT_KP, OnEnChangeEditKp)
	ON_EN_CHANGE(IDC_EDIT_KI, OnEnChangeEditKi)
	ON_EN_CHANGE(IDC_EDIT_KD, OnEnChangeEditKd)
	ON_EN_CHANGE(IDC_EDIT_KP4, OnEnChangeEditKp4)
	ON_BN_CLICKED(IDC_BUTTON1, OnBnClickedButton1)
	ON_EN_CHANGE(IDC_EDIT_KP5, OnEnChangeEditKp5)
	ON_BN_CLICKED(IDC_BUTTON2, OnBnClickedButton2)
	ON_EN_CHANGE(IDC_EDITPV, OnEnChangeEditpv)
	ON_EN_CHANGE(IDC_EDITSV, OnEnChangeEditsv)	
	ON_EN_CHANGE(IDC_EDIT_KP6, OnEnChangeEditKp6)
	ON_EN_CHANGE(IDC_EDIT_KP7, OnEnChangeEditKp7)
END_MESSAGE_MAP()


// CFUZZYDlg message handlers

BOOL CFUZZYDlg::OnInitDialog()
{
	CDialog::OnInitDialog();

	// Add "About..." menu item to system menu.

	// IDM_ABOUTBOX must be in the system command range.
	ASSERT((IDM_ABOUTBOX & 0xFFF0) == IDM_ABOUTBOX);
	ASSERT(IDM_ABOUTBOX < 0xF000);

	CMenu* pSysMenu = GetSystemMenu(FALSE);
	if (pSysMenu != NULL)
	{
		CString strAboutMenu;
		strAboutMenu.LoadString(IDS_ABOUTBOX);
		if (!strAboutMenu.IsEmpty())
		{
			pSysMenu->AppendMenu(MF_SEPARATOR);
			pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu);
		}
	}

	// Set the icon for this dialog.  The framework does this automatically
	//  when the application's main window is not a dialog
	SetIcon(m_hIcon, TRUE);			// Set big icon
	SetIcon(m_hIcon, FALSE);		// Set small icon

	// TODO: Add extra initialization here
	OnUpdatePara();
	OnFlashData();
	SetTimer (100,100,NULL);		
	return TRUE;  // return TRUE  unless you set the focus to a control
}

void CFUZZYDlg::OnSysCommand(UINT nID, LPARAM lParam)
{
	if ((nID & 0xFFF0) == IDM_ABOUTBOX)
	{
		CAboutDlg dlgAbout;
		dlgAbout.DoModal();
	}
	else
	{
		CDialog::OnSysCommand(nID, lParam);
	}
}

// If you add a minimize button to your dialog, you will need the code below
//  to draw the icon.  For MFC applications using the document/view model,
//  this is automatically done for you by the framework.

void CFUZZYDlg::OnPaint() 
{
	if (IsIconic())
	{
		CPaintDC dc(this); // device context for painting

		SendMessage(WM_ICONERASEBKGND, reinterpret_cast<WPARAM>(dc.GetSafeHdc()), 0);

		// Center icon in client rectangle
		int cxIcon = GetSystemMetrics(SM_CXICON);
		int cyIcon = GetSystemMetrics(SM_CYICON);
		CRect rect;
		GetClientRect(&rect);
		int x = (rect.Width() - cxIcon + 1) / 2;
		int y = (rect.Height() - cyIcon + 1) / 2;

		// Draw the icon
		dc.DrawIcon(x, y, m_hIcon);
	}
	else
	{
		CDialog::OnPaint();
	}
}

// The system calls this function to obtain the cursor to display while the user drags
//  the minimized window.
HCURSOR CFUZZYDlg::OnQueryDragIcon()
{
	return static_cast<HCURSOR>(m_hIcon);
}

void CFUZZYDlg::OnDestroy()
{
	CDialog::OnDestroy();

	// TODO: Add your message handler code here
    KillTimer(100);		
}


void CFUZZYDlg::OnUpdatePara()
{//
	CString string;
	double  dt;
	int     a,b,c;

	string.Format("%3d",m_fuzzy.crisp_inputs[0]);
	SetDlgItemText(IDC_EDIT1,string);

	string.Format("%3d",m_fuzzy.crisp_inputs[1]);
	SetDlgItemText(IDC_EDIT2,string);

	string.Format("%3d",theApp.channel);
	SetDlgItemText(IDC_EDIT_KP5,string);

    dt=theApp.m_pid_para.kp[theApp.channel];
	dt=dt/1000;
	string.Format("%3.3f",dt);
	SetDlgItemText(IDC_EDIT_KP,string);

    dt=theApp.m_pid_para.ki[theApp.channel];
	dt=dt/100;
	string.Format("%3.2f",dt);
	SetDlgItemText(IDC_EDIT_KI,string);

	string.Format("%4d",theApp.m_pid_para.kd[theApp.channel]);
	SetDlgItemText(IDC_EDIT_KD,string);

	string.Format("%5d",theApp.m_pid_para.bias[theApp.channel]);
	SetDlgItemText(IDC_EDIT_KP4,string);


    dt=theApp.m_pid_para.accel[theApp.channel];
	dt=dt/10;
	string.Format("%3.1f",dt);//加速速率   放大10倍
	SetDlgItemText(IDC_EDIT_KP6,string);


	dt=theApp.m_pid_para.integral[theApp.channel];
	dt=dt/10;
	string.Format("%3.1f",dt);//放大10倍
	SetDlgItemText(IDC_EDIT_KP7,string);


    dt=temp_value[theApp.channel];
	dt=dt/10;
	string.Format("%3.1f",dt);
	SetDlgItemText(IDC_EDITPV,string);


    dt=setpt[theApp.channel];
	dt=dt/10;
	string.Format("%3.1f",dt);
	SetDlgItemText(IDC_EDITSV,string);



	dt=theApp.accel_value[0];
	dt=dt/10;
	string.Format("%3.1f",dt);
	SetDlgItemText(IDC_EDIT_ACCEL,string);

}

void CFUZZYDlg::OnTimer(UINT nIDEvent)
{
	// TODO: Add your message handler code here and/or call default

	CDialog::OnTimer(nIDEvent);
}

void CFUZZYDlg::OnEnChangeEditKp()
{
	// TODO:  If this is a RICHEDIT control, the control will not
	// send this notification unless you override the CDialog::OnInitDialog()
	// function and call CRichEditCtrl().SetEventMask()
	// with the ENM_CHANGE flag ORed into the mask.

	// TODO:  Add your control notification handler code here
	double dx;
    char Buf[32];
	short j;
	GetDlgItemText(IDC_EDIT_KP,Buf,20);
	dx=atof(Buf);
    j=dx*1000;
	theApp.m_pid_para.kp[theApp.channel]=j;					
}

void CFUZZYDlg::OnEnChangeEditKi()
{
	// TODO:  If this is a RICHEDIT control, the control will not
	// send this notification unless you override the CDialog::OnInitDialog()
	// function and call CRichEditCtrl().SetEventMask()
	// with the ENM_CHANGE flag ORed into the mask.

	// TODO:  Add your control notification handler code here
	double dx;
    char Buf[32];
	short j;
	GetDlgItemText(IDC_EDIT_KI,Buf,20);
	dx=atof(Buf);
    j=dx*100;
	theApp.m_pid_para.ki[theApp.channel]=j;					
}

void CFUZZYDlg::OnEnChangeEditKd()
{
	// TODO:  If this is a RICHEDIT control, the control will not
	// send this notification unless you override the CDialog::OnInitDialog()
	// function and call CRichEditCtrl().SetEventMask()
	// with the ENM_CHANGE flag ORed into the mask.

	// TODO:  Add your control notification handler code here
    char Buf[32];
	short j;
	GetDlgItemText(IDC_EDIT_KD,Buf,20);
	theApp.m_pid_para.kd[theApp.channel]=atoi(Buf);
}

void CFUZZYDlg::OnEnChangeEditKp4()
{
	// TODO:  If this is a RICHEDIT control, the control will not
	// send this notification unless you override the CDialog::OnInitDialog()
	// function and call CRichEditCtrl().SetEventMask()
	// with the ENM_CHANGE flag ORed into the mask.

	// TODO:  Add your control notification handler code here
	double dx;
    char Buf[32];
	short j;
	GetDlgItemText(IDC_EDIT_KP4,Buf,20);
	theApp.m_pid_para.bias[theApp.channel]=atoi(Buf);;					

}

void CFUZZYDlg::OnBnClickedButton1()
{
	// TODO: Add your control notification handler code here
    theApp.PidRun(theApp.channel);
    OnFlashData();
	OnUpdatePara();
}

void CFUZZYDlg::OnEnChangeEditKp5()
{
	// TODO:  If this is a RICHEDIT control, the control will not
	// send this notification unless you override the CDialog::OnInitDialog()
	// function and call CRichEditCtrl().SetEventMask()
	// with the ENM_CHANGE flag ORed into the mask.

	// TODO:  Add your control notification handler code here
    char Buf[32];
	int j;