cm_main1.c

uClinux 下MicroWindows开发的电机控制平台软件和模拟示波器的双路数据采集系统源码

#define MWINCLUDECOLORS
/*******************************************************************************
*    Debug switch Section
*******************************************************************************/

/*******************************************************************************
*    Include File Section
*******************************************************************************/
#include <stdio.h>
#include <string.h>
#include <time.h>
#include "QU_queue.h"
#include "nano-X.h"
#include "math.h"
#include "Hardware.h"


/*******************************************************************************
*    Macro Define Section
*******************************************************************************/
#define Button_Width 50//一般按钮的宽度
#define Button_High 25//一般按钮的高度
#define Button_Borad_Color BLUE//一般按钮的边框颜色 
#define Button_Borad_Width 2//一般按钮的边框宽度
#define Button_Back_Color_White WHITE//按钮的白背景色状态颜色
#define Button_Back_Color_Gray GRAY//按钮的灰背景色状态颜色
#define Button_Start_X 10//一般按钮在控制面板的第一个按钮的左边位置
#define Button_Start_Y 5//一般按钮在控制面板的高度位置
#define Button_Between 10//一般按钮的间距
//-------------------------------------------------------------
#define Button_Pannel_Width 50//把手按钮的宽度
#define Button_Pannel_High 25//把手按钮的高度
#define Button_Pannel_Borad_Color GRAY//把手按钮的边框颜色
#define Button_Pannel_Back_Color WHITE//把手按钮的背景色
#define Button_Pannel_Borad_Width 2//把手按钮的边框宽度
#define Button_Pannel_Start_X 5//把手按钮在根窗口的第一个按钮的左边位置
#define Button_Pannel_Start_Y 207//把手按钮在根窗口的高度位置
#define Button_Pannel_Between 10////把手按钮的间距

#define SET (0)
#define SAVE (1)
#define NONE (0)
#define LINE (1)
#define ROUNTD (2)
#define STOP (0)
#define START (1)
#define ARRIVED (2)

#define Real_x(a) (a)
#define Real_y(b) (200-b)

#define STEP_LENTGTH (0.031416)
#define FORWARD (1)
#define BACKWARD (0)

#define LEFT_FORWARD (0xfc)
#define LEFT_BACKWARD (0xf8)
#define RIGHT_FORWARD (0xf3)
#define RIGHT_BACKWARD (0xf2)
#define ALL_FORWARD (0xff)
#define ALL_BACKWARD (0xfa)
#define ALL_DOWN (0xf0)
#define LF_RB (0xfe)
#define LB_RF (0xfb)

#define DELAY_TIME (100)



/*******************************************************************************
*    Struct  Define Section
*******************************************************************************/

/*******************************************************************************
*    Prototype Declare Section
*******************************************************************************/
void  CM_gvGoTo(int X_Y_pos);
void delay();
/*******************************************************************************
*    Global Variable Declare Section
*******************************************************************************/
static GR_WINDOW_ID WIN_Root;
static GR_WINDOW_ID WIN_Screen;
static GR_WINDOW_ID WIN_Control;
static GR_WINDOW_ID WIN_Massage;
static GR_WINDOW_ID WIN_Status;
static GR_WINDOW_ID WIN_But_Pass;
static GR_WINDOW_ID WIN_But_SetPass;
static GR_WINDOW_ID WIN_But_Start;
static GR_WINDOW_ID WIN_But_Stop;
static GR_WINDOW_ID WIN_But_Line;
static GR_WINDOW_ID WIN_But_Round;

static GR_GC_ID Gid_MainWin;
static GR_GC_ID Gid_WangGe;
static GR_GC_ID Gid_ButtonDown;
static GR_GC_ID Gid_Button;
static GR_GC_ID Gid_Guiji;
static GR_GC_ID Gid_CurrentSite;
static GR_GC_ID Gid_Message;
static GR_GC_ID Gid_ButtonName;
static GR_GC_ID Gid_ButtonDownName;
static GR_GC_ID Gid_Green_Green;
static GR_GC_ID Gid_Red_Red;
static GR_GC_ID Gid_Yellow_Yellow;
static GR_GC_ID Gid_Black_Green;
static GR_GC_ID Gid_Black_Red;
static GR_GC_ID Gid_Black_Yellow;

static GR_FONT_ID Gid_Font;

GR_EVENT Event;//装载事件的结构

unsigned short Mark_SetButStatus=0;//"设置"按钮状态
unsigned short Mark_DrawButStatus=0;//画图状态标志
unsigned short Mark_DrawButStaPause=0;//画图状态标志
unsigned short Mark_OBStatus=0;


int X_sit = -1;//存储鼠标点
int Y_sit = -1;

int Current_x = 0;//物体所在的坐标
int Current_y = 0;

char arry_x[8];
char arry_y[8];

int numberOfPoint=0;

int X_Y_pos;

struct QU_linkQueue_st astQueue;//队列结构体

/*******************************************************************************
*    File Static Variable Define Section
*******************************************************************************/

/*******************************************************************************
*    Function Define Section
*******************************************************************************/

void initDraw()
{
    //为显示轨迹窗口分配上下文
    Gid_MainWin=GrNewGC();
    GrSetGCForeground(Gid_MainWin,WHITE);
    GrSetGCBackground(Gid_MainWin,WHITE);
    /******************************************************/
    //为显示窗口网格分配上下文
    Gid_WangGe=GrNewGC();
    GrSetGCForeground(Gid_WangGe,GRAY);
    GrSetGCBackground(Gid_WangGe,GRAY);
    /******************************************************/
    //为按下的按钮分配上下文
    Gid_ButtonDown=GrNewGC();
    GrSetGCForeground(Gid_ButtonDown,GRAY);
    GrSetGCBackground(Gid_ButtonDown,GRAY);
    /******************************************************/
    //为正常的按钮分配上下文
    Gid_Button=GrNewGC();
    GrSetGCForeground(Gid_Button,WHITE);
    GrSetGCBackground(Gid_Button,WHITE);
    /******************************************************/
    //为轨迹分配上下文
    Gid_Guiji=GrNewGC();
    GrSetGCForeground(Gid_Guiji,GREEN);
    GrSetGCBackground(Gid_Guiji,BLACK);
    /******************************************************/
    //为物体当前所处位置分配上下文
    Gid_CurrentSite=GrNewGC();
    GrSetGCForeground(Gid_CurrentSite,RED);
    GrSetGCBackground(Gid_CurrentSite,BLACK);
    /******************************************************/
    //为坐标值显示分配上下文
    Gid_Message=GrNewGC();
    GrSetGCForeground(Gid_Message,GREEN);
    GrSetGCBackground(Gid_Message,WHITE);
    /******************************************************/
    //为按钮名字分配上下文
    Gid_ButtonName=GrNewGC();
    GrSetGCForeground(Gid_ButtonName,BLACK);
    GrSetGCBackground(Gid_ButtonName,WHITE);
    /******************************************************/
    //为按下按钮名字分配上下文
    Gid_ButtonDownName=GrNewGC();
    GrSetGCForeground(Gid_ButtonDownName,BLACK);
    GrSetGCBackground(Gid_ButtonDownName,GRAY);
    /******************************************************/
    Gid_Green_Green=GrNewGC();
    GrSetGCForeground(Gid_Green_Green,GREEN);
    GrSetGCBackground(Gid_Green_Green,GREEN);
    /******************************************************/
    Gid_Red_Red=GrNewGC();
    GrSetGCForeground(Gid_Red_Red,RED);
    GrSetGCBackground(Gid_Red_Red,RED);
    /******************************************************/
    Gid_Yellow_Yellow=GrNewGC();
    GrSetGCForeground(Gid_Yellow_Yellow,YELLOW);
    GrSetGCBackground(Gid_Yellow_Yellow,YELLOW);
    /******************************************************/
    Gid_Black_Green=GrNewGC();
    GrSetGCForeground(Gid_Black_Green,YELLOW);
    GrSetGCBackground(Gid_Black_Green,GREEN);
    /******************************************************/
    Gid_Black_Red=GrNewGC();
    GrSetGCForeground(Gid_Black_Red,WHITE);
    GrSetGCBackground(Gid_Black_Red,RED);
    /******************************************************/
    Gid_Black_Yellow=GrNewGC();
    GrSetGCForeground(Gid_Black_Yellow,RED);
    GrSetGCBackground(Gid_Black_Yellow,YELLOW);
    /******************************************************/
    //创建字体
    Gid_Font=GrCreateFont("HZKFONT",0,NULL);
    GrSetFontSize(Gid_Font,16);
    GrSetFontRotation(Gid_Font, 330);
    GrSetFontAttr(Gid_Font, GR_TFKERNING | GR_TFANTIALIAS, 0);
    /******************************************************/
    //设置各上下文字体
    GrSetGCFont(Gid_MainWin, Gid_Font);
    GrSetGCFont(Gid_WangGe, Gid_Font);
    GrSetGCFont(Gid_ButtonDown, Gid_Font);
    GrSetGCFont(Gid_Button, Gid_Font);
    GrSetGCFont(Gid_Guiji, Gid_Font);
    GrSetGCFont(Gid_CurrentSite, Gid_Font);
    GrSetGCFont(Gid_Message, Gid_Font);
    GrSetGCFont(Gid_ButtonName, Gid_Font);
    GrSetGCFont(Gid_ButtonDownName, Gid_Font);

}
int * CM_giDrawWindows()
{
    int i;
    float X_cha;
    float Y_cha;
    float Cos;
    float Sin;
    float The_jiaodu;
    float R_long;
    if(GrOpen()<0)//连接图形服务器，失败返回-1
    {
        printf("Nano-X Server Error!\n");
        printf("Please make sure your Nano-X Server is running,then retry!\n");
        exit(-1);//非正常退出
    }
    initDraw();
    //绘制各窗口
    WIN_Root=GrNewWindow(GR_ROOT_WINDOW_ID,0,0,320,240,0,BLACK,WHITE);//绘制根窗口
    GrMapWindow(WIN_Root);//显示根窗口

    WIN_Screen=GrNewWindow(WIN_Root,80,0,161,201,1,WHITE,GRAY);//绘制波形显示窗口
    GrMapWindow(WIN_Screen);//显示波形显示窗口

    GrPoint(WIN_Screen,Gid_Red_Red,Real_x(Current_x),Real_y(Current_y));
    
    WIN_Massage=GrNewWindow(WIN_Root,245,20,68,40,2,WHITE,GRAY);//坐标显示窗口
    GrMapWindow(WIN_Massage);
    GrFillRect(WIN_Massage,Gid_Button,0,0,40,20);//画填充矩形为按钮
    GrText(WIN_Massage,Gid_Message,4,18,"X:",-1,GR_TFASCII);
    GrText(WIN_Massage,Gid_Message,4,38,"Y:",-1,GR_TFASCII);
    
    WIN_Status=GrNewWindow(WIN_Root,10,20,50,25,2,WHITE,GRAY);//状态显示窗口
    GrMapWindow(WIN_Status);
    GrFillRect(WIN_Status,Gid_Yellow_Yellow,0,0,50,25);//画填充矩形为按钮
    GrText(WIN_Status,Gid_Black_Yellow,10,18,"停止",-1,GR_TFASCII);
    
    /*在这里加入画网格的程序*/
    
    WIN_Control=GrNewWindow(WIN_Root,0,200,320,40,2,RED,GRAY);//绘制控制面板窗口//x0,y240,320*40
    GrMapWindow(WIN_Control);//显示控制面板窗口
   
    //绘制路径设置按钮
	WIN_But_SetPass=GrNewWindow(WIN_Control,Button_Start_X,Button_Start_Y,Button_Width,Button_High,Button_Borad_Width,Button_Back_Color_White,Button_Borad_Color);      
	GrMapWindow(WIN_But_SetPass);
    GrText(WIN_But_SetPass,Gid_ButtonName,9,18,"设定",-1,GR_TFASCII);

	//绘制路径设置引发的子按钮
	
	//画线
   	WIN_But_Line=GrNewWindow(WIN_Control,Button_Start_X+1*(Button_Width+Button_Between),Button_Start_Y,Button_Width,Button_High,Button_Borad_Width,Button_Back_Color_White,Button_Borad_Color);//画线
	//画圆
	WIN_But_Round=GrNewWindow(WIN_Control,Button_Start_X+2*(Button_Width+Button_Between),Button_Start_Y,Button_Width,Button_High,Button_Borad_Width,Button_Back_Color_White,Button_Borad_Color);//画圆
	//绘制开始/暂停按钮
    WIN_But_Start=GrNewWindow(WIN_Control,Button_Start_X+1*(Button_Width+Button_Between),Button_Start_Y,Button_Width,Button_High,Button_Borad_Width,Button_Back_Color_White,Button_Borad_Color);
    GrMapWindow(WIN_But_Start);
    GrText(WIN_But_Start,Gid_ButtonName,9,18,"开始",-1,GR_TFASCII);
    //绘制停止按钮
    WIN_But_Stop=GrNewWindow(WIN_Control,Button_Start_X+2*(Button_Width+Button_Between),Button_Start_Y,Button_Width,Button_High,Button_Borad_Width,Button_Back_Color_White,Button_Borad_Color);
    GrMapWindow(WIN_But_Stop);
    GrText(WIN_But_Stop,Gid_ButtonName,9,18,"停止",-1,GR_TFASCII);
    
    GrFillRect(WIN_But_Stop,Gid_ButtonDown,0,0,Button_Width,Button_High);//画填充矩形为按钮
    GrText(WIN_But_Stop,Gid_ButtonDownName,9,18,"停止",-1,GR_TFASCII);
    //绘制循迹按钮
    WIN_But_Pass=GrNewWindow(WIN_Control,Button_Start_X+3*(Button_Width+Button_Between),Button_Start_Y,Button_Width,Button_High,Button_Borad_Width,Button_Back_Color_White,Button_Borad_Color);
    GrMapWindow(WIN_But_Pass);
    GrText(WIN_But_Pass,Gid_ButtonName,9,18,"循迹",-1,GR_TFASCII);
    //结束面板的绘制	
    /*****************************************************************/
    //为个窗口(按钮)选择事件
    //控制面板
    GrSelectEvents(WIN_But_SetPass,GR_EVENT_MASK_EXPOSURE | GR_EVENT_MASK_BUTTON_UP | GR_EVENT_MASK_BUTTON_DOWN);
    GrSelectEvents(WIN_But_Start,GR_EVENT_MASK_EXPOSURE | GR_EVENT_MASK_BUTTON_UP | GR_EVENT_MASK_BUTTON_DOWN);
    GrSelectEvents(WIN_But_Stop,GR_EVENT_MASK_EXPOSURE | GR_EVENT_MASK_BUTTON_UP | GR_EVENT_MASK_BUTTON_DOWN);
    GrSelectEvents(WIN_But_Pass,GR_EVENT_MASK_EXPOSURE | GR_EVENT_MASK_BUTTON_UP | GR_EVENT_MASK_BUTTON_DOWN); 
    //轨迹设置面板
    GrSelectEvents(WIN_But_Line,GR_EVENT_MASK_EXPOSURE | GR_EVENT_MASK_BUTTON_UP | GR_EVENT_MASK_BUTTON_DOWN);
    GrSelectEvents(WIN_But_Round,GR_EVENT_MASK_EXPOSURE | GR_EVENT_MASK_BUTTON_UP | GR_EVENT_MASK_BUTTON_DOWN);
    //画图区
    GrSelectEvents(WIN_Screen,GR_EVENT_MASK_EXPOSURE | GR_EVENT_MASK_BUTTON_DOWN | GR_EVENT_MASK_MOUSE_POSITION);
    //-------------------------------------------------------------------------------------------------------------------------
    //pthread_mutex_lock(&lock);//锁住互斥锁
    //创建时钟
    //timerId=GrCreateTimer(WIN_Screen,100,GR_TRUE);
    //开始捕获事件的循环
    while(1)
    {

       GrGetNextEventTimeout(&Event,30);//获取下一个事件
       if(Event.type == GR_EVENT_TYPE_BUTTON_DOWN)//控制面板各个按钮的按下事件
            {
		        if(Event.button.wid==WIN_But_SetPass)
		        {
		            if(Mark_SetButStatus == SAVE)
		            {
		                GrFillRect(WIN_But_SetPass,Gid_ButtonDown,0,0,Button_Width,Button_High);//画填充矩形为按钮
		                GrText(WIN_But_SetPass,Gid_ButtonDownName,9,18,"保存",-1,GR_TFASCII);
		            }
		            if(Mark_SetButStatus == SET)
		            {
		                GrFillRect(WIN_But_SetPass,Gid_ButtonDown,0,0,Button_Width,Button_High);//画填充矩形为按钮
		                GrText(WIN_But_SetPass,Gid_ButtonDownName,9,18,"设定",-1,GR_TFASCII);
		            }
		        }
		        if(Event.button.wid==WIN_But_Pass)
		        {
		            GrFillRect(WIN_But_Pass,Gid_ButtonDown,0,0,Button_Width,Button_High);//画填充矩形为按钮
		            GrText(WIN_But_Pass,Gid_ButtonDownName,9,18,"循迹",-1,GR_TFASCII);
		        }
		        if(Event.button.wid==WIN_But_Start)
		        {
		            GrFillRect(WIN_But_Start,Gid_ButtonDown,0,0,Button_Width,Button_High);//画填充矩形为按钮
		            GrText(WIN_But_Start,Gid_ButtonDownName,9,18,"开始",-1,GR_TFASCII);
		        }
		        if(Event.button.wid==WIN_But_Stop)
		        {
		            GrFillRect(WIN_But_Stop,Gid_ButtonDown,0,0,Button_Width,Button_High);//画填充矩形为按钮
		            GrText(WIN_But_Stop,Gid_ButtonDownName,9,18,"停止",-1,GR_TFASCII);
			    }
		        if(Event.button.wid==WIN_But_Line)
		        {
		            GrFillRect(WIN_But_Line,Gid_ButtonDown,0,0,Button_Width,Button_High);//画填充矩形为按钮
		            GrText(WIN_But_Line,Gid_ButtonDownName,9,18,"画线",-1,GR_TFASCII);
		        }
		        if(Event.button.wid==WIN_But_Round)
		        {
		            GrFillRect(WIN_But_Round,Gid_ButtonDown,0,0,Button_Width,Button_High);//画填充矩形为按钮
		            GrText(WIN_But_Round,Gid_ButtonDownName,9,18,"画圆",-1,GR_TFASCII);
		        }
		         if(Event.button.wid==WIN_Screen)
		        {
		            if(Mark_DrawButStatus == LINE)
		            {
		                arry_x[0]='X';
			            arry_x[1]=':';
			            arry_x[2]=((Event.button.x)/2)/100+'0';
			            arry_x[3]=(((Event.button.x)/2)%100)/10+'0';
			            arry_x[4]=((Event.button.x)/2)%10+'0';
			            arry_x[5]='C';
                        arry_x[6]='M';
			            arry_x[7]='\0';
			    
			            arry_y[0]='Y';
			            arry_y[1]=':';
			            arry_y[2]=((200-Event.button.y)/2)/100+'0';