singlecontrol.cpp

《51系列单片机高级实例开发指南》一书的can总线的PC端的源代码

// SingleControl.cpp : implementation file
//

#include "stdafx.h"
#include "Robot.h"
#include "SingleControl.h"

#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif

/////////////////////////////////////////////////////////////////////////////
// CSingleControl dialog


CSingleControl::CSingleControl(CWnd* pParent /*=NULL*/)
	: CDialog(CSingleControl::IDD, pParent)
{
	//{{AFX_DATA_INIT(CSingleControl)
	m_snumber = _T("");
	m_sstate = _T("");
	m_sangel = 0;
	m_sfre = 0.0f;
	m_sfuzhi = 0.0f;
	//}}AFX_DATA_INIT
}


void CSingleControl::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CSingleControl)
	DDX_Control(pDX, SINGLE_ANGEL_EDIT, m_SCangel);
	DDX_Control(pDX, SINGLE_STATE_COMBO, m_SCstate);
	DDX_Control(pDX, SINGLE_NUMBER_COMBO, m_SCnumber);
	DDX_CBString(pDX, SINGLE_NUMBER_COMBO, m_snumber);
	DDX_CBString(pDX, SINGLE_STATE_COMBO, m_sstate);
	DDX_Text(pDX, SINGLE_ANGEL_EDIT, m_sangel);
	DDX_Text(pDX, SINGLE_FRE_EDIT, m_sfre);
	DDX_Text(pDX, SINGLE_FUZHI_EDIT, m_sfuzhi);
	//}}AFX_DATA_MAP
}


BEGIN_MESSAGE_MAP(CSingleControl, CDialog)
	//{{AFX_MSG_MAP(CSingleControl)
	ON_BN_CLICKED(SINGLE_YES_BUTTON, OnSingleYesButton)
	ON_WM_PAINT()
	ON_WM_TIMER()
	ON_BN_CLICKED(IDC_EXIT_BUTTON, OnSingleExitButton)
	ON_BN_CLICKED(IDC_STOP_BUTTON, OnStopButton)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CSingleControl message handlers

void CSingleControl::OnSingleYesButton() 
{
	// TODO: Add your control notification handler code here
	UpdateData(true);
	UCHAR ucRTRData;
	UCHAR ucIdent;
	UCHAR state;

	ucRTRData = 0x03;/*00000011*/

    //指定机器人运动关节
	if(m_snumber=="关节　1")
		ucIdent=1;
	else if(m_snumber=="关节　2")
		ucIdent=2;
	else if(m_snumber=="关节　3")
		ucIdent=4;
	else if(m_snumber=="关节　4")
		ucIdent=8;
	else if(m_snumber=="关节　5")
		ucIdent=16;
	else if(m_snumber=="关节　6")
		ucIdent=32;
	//判断机器人运动模式
	if(m_sstate=="指定角度")
		state=1;
	else if(m_sstate=="阶跃响应")
		state=2;
	else if(m_sstate=="正弦")
		state=3;
	UpdateData(true);
	if(!CanInitSuccess)
	{
		MessageBox("请先初始化!!", "初始化错误!",
					MB_OK | MB_ICONERROR );
		return;
	}
	if ((m_robotangel>105)||(m_robotangel<-105))
	{
		MessageBox("请输入一个-105度到105度的数!", "角度错误!",
					MB_OK | MB_ICONERROR );
		return;
	}

	char angel1,angel2;
	float angel;	
	angel=m_sangel;
	if(angel>0)
		angel=angel+(float)0.001;
	if(angel<0)
		angel=angel-(float)0.001;
	angel1=(char)angel;//整数位
	angel2=(char)((int(angel*100))%100);//小数点后两位
	if (angel2==0)
		angel2=1;

	cTxBuf[0] = ucIdent;
	cTxBuf[1] = ucRTRData;
	cTxBuf[2] = angel1;
	cTxBuf[3] = angel2;
	cTxBuf[4] =2;       //state的状态值
	
	if(CANSendMsg( m_Port, (UCHAR*)cTxBuf, FALSE)==0) ;
	else MessageBox("数据发送错误!", "Transmit Error !",MB_OK | MB_ICONERROR );

	SetTimer(3,100,NULL);

	//调用时钟中断 1
/*	int iIstallResult;

	iIstallResult=SetTimer(1,
						   100,
						   NULL);
	if(iIstallResult==0)
	{
		MessageBox("Cannot install timer 1");
	}
	UpdateData(FALSE);
*/

	//GetDlgItem(SINGLE_ANGEL_EDIT)->ShowWindow(SW_SHOW);

}

void CSingleControl::OnPaint() 
{

	CPaintDC dc(this); // device context for painting

	// Do not call CDialog::OnPaint() for painting messages
	int x_rot=50,y_rot=230;
	int i;
	CString str;

	// Creat a new pen
	CPen MyNewPen;

	MyNewPen.CreatePen(PS_SOLID,
						1,
						RGB(0,0,255));

	// Select the new pen 
	CPen* pOriginalPen;
	pOriginalPen=dc.SelectObject(&MyNewPen);

	CRect MyRectangle(x_rot,
					  y_rot,
					  x_rot+550,//x轴方向长度为550个像素单位
					  y_rot+300);//y轴方向长度为300个像素单位


	// Draw the Rectangle
	dc.Rectangle(&MyRectangle);

	//坐标轴标示
	dc.TextOut(x_rot+250,y_rot+300,"t(ms)");
	dc.TextOut(x_rot-20,y_rot,"y");
	dc.TextOut(x_rot-15,y_rot+143,"0");

	dc.MoveTo(x_rot,y_rot+150);
	dc.LineTo(x_rot+550,y_rot+150);

	//时间轴坐标标示
	CPen MyNewPen1;
	MyNewPen1.CreatePen(PS_SOLID,
						1,
						RGB(255,0,0));
	pOriginalPen=dc.SelectObject(&MyNewPen1);	

	for(i=0;i<=55;i++)
	{
		if(i%5!=0)
		{
			dc.MoveTo(x_rot+i*10,y_rot+150);
			dc.LineTo(x_rot+i*10,y_rot+145);
		}
		else
		{
			dc.MoveTo(x_rot+i*10,y_rot+150);
			dc.LineTo(x_rot+i*10,y_rot+140);
		}
	}

	//y轴坐标标示
	for(i=0;i<=30;i++)
	{
		if(i%5!=0)
		{
			dc.MoveTo(x_rot,y_rot+i*10);
			dc.LineTo(x_rot+5,y_rot+i*10);
		}
		else
		{
			dc.MoveTo(x_rot,y_rot+i*10);
			dc.LineTo(x_rot+10,y_rot+i*10);
		}
	}

	//Return the original pen
	dc.SelectObject(pOriginalPen);
}

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

	////////////////////////////////////时钟中断1响应
	if(nIDEvent==1)
	{
		Ttime=Ttime+5;
		if(Ttime%450==0)
		{
			start_time++;
			Ttime=0;			
		}
		////////////////////////////////////////////////////////负责采集数据
		for(int i=start_time*450+0;i<=start_time*450+Ttime;i++)
		{
			yResult[i%450]=(float)sin(i*3.14159/180);
		}
		
		/////////////////////////////////////////////////////////采集数据结束
		CSingleControl::OnGraph();
		UpdateData(FALSE);
	}

	//////////////////////////////////时钟中断3的响应
	CString str;
	UpdateData(true);
	if(nIDEvent==3)//单关节控制,从下位机接收数据
	{	
		LPSTR	cstr1;
		int	bReady;
		int angel1,angel2,fankui1,fankui2;
		float angel,fankui;
		CString	m_RxBuf;
		bReady = FALSE;
		CANQueryMsg( m_Port, (int *)&bReady, (UCHAR*)cReBuf );		// query CAN message
		if ( bReady ) {
		// Get ID
			m_RxID = (WORD)cReBuf[0];
			m_RxID <<= 3;
			m_RxID |= ((cReBuf[1] >> 5) & 0x07);
		// Get message
			cstr1 = m_RxBuf.GetBuffer(20);
			strcpy( cstr1, &cReBuf[2] );

			angel1=(int)(*cstr1);
			angel2=(int)(*(cstr1+1));
			fankui1=(int)(*(cstr1+2));
			fankui2=(int)(*(cstr1+3));
			angel=(float)angel1+(float)angel2/100;
			fankui=(float)fankui1+(float)fankui2/100;
			if(m_RxID==12)
			{
				m_RxID4=m_RxID;
				m_rmsg0=angel;
				m_rmsg1=fankui;
				m_rmsg2=*(cstr1+4);
				m_rmsg3=*(cstr1+5);
				m_rmsg4=*(cstr1+6);
				m_rmsg5=*(cstr1+7);
				m_v4=(float)((*(cstr1+4))*0x100+(*(cstr1+5)))*9.58/0xfff;
				
			}
			if(m_RxID==13)
			{
				m_RxID5=m_RxID;
				m_rmsg51=angel;
				m_rmsg52=fankui;
				m_rsmg53=*(cstr1+4);
				m_rsmg54=*(cstr1+5);
				m_rsmg55=*(cstr1+6);
				m_rsmg56=*(cstr1+7);
				m_v5=(float)((*(cstr1+4))*0x100+(*(cstr1+5)))*9.58/0xfff;
			}
			four=-m_rmsg1;
			five=m_rmsg52;
			m_firstangel=one;
            m_secondangel=two;
            m_threeangel=three;
            m_fourangel=-four;
            m_fiveangel=five;
            m_sixangel=six;
	
			UpdateData(FALSE);		// Update display
			m_RxBuf.ReleaseBuffer();		
		} 
		else {KillTimer(3);MessageBox("请检查机器人通讯是否正常!", "没有可用信息!",MB_OK | MB_ICONERROR );}							
	}
	m_opengl.Invalidate(false);

	CDialog::OnTimer(nIDEvent);
}

BOOL CSingleControl::OnInitDialog() 
{
	CDialog::OnInitDialog();	
	// TODO: Add extra initialization here
	start_time=0;
	Ttime=0;	
	return TRUE;  // return TRUE unless you set the focus to a control
	              // EXCEPTION: OCX Property Pages should return FALSE
}

void CSingleControl::OnSingleExitButton() 
{
	// TODO: Add your control notification handler code here
	KillTimer(1);
	OnOK();
}

void CSingleControl::OnStopButton() 
{
	// TODO: Add your control notification handler code here
	KillTimer(1);
}

void CSingleControl::OnGraph()
{
	int x_rot=50,y_rot=230;
	int i;
	CString str;

	// Creat a DC object
	CClientDC dc(this);

	CPen MyNewPen2;
	MyNewPen2.CreatePen(PS_SOLID,
						1,
						RGB(0,0,0));

	// Select the new pen 
	CPen* pOriginalPen;
	pOriginalPen=dc.SelectObject(&MyNewPen2);
	////////////////////////////////////////////////////绘制正弦曲线
	for(i=start_time*10;i<start_time*10+10;i++)
	{	
		str.Format("%d",i);
		dc.TextOut(x_rot-3+(i*50)%500,y_rot+155,str);		
	}
	//专门用于标示最后一位数据
	str.Format("%d",i);
	dc.TextOut(x_rot+(i*50)%500+500,y_rot+155,str);	

	//画图开始基准点
	dc.MoveTo(x_rot,y_rot+150);
	for(i=0;i<=Ttime;i++)
	{
		dc.LineTo(x_rot+i,(int)(-yResult[i]*100+y_rot+150));
	}
	///////////////////////////////////////////////////绘制曲线结束
	//Return the original pen
	dc.SelectObject(pOriginalPen);
}