demodlg.cpp

运动控制卡的详细开发资料

// DEMODlg.cpp : implementation file
//

#include "stdafx.h"
#include "DEMO.h"
#include "DEMODlg.h"
#include "CtrlCard.h"
#include "BaseParaSet.h"
#include "IOTest.h"

CCtrlCard	g_CtrlCard;

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

/////////////////////////////////////////////////////////////////////////////
// CAboutDlg dialog used for App About

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

// Dialog Data
	//{{AFX_DATA(CAboutDlg)
	enum { IDD = IDD_ABOUTBOX };
	//}}AFX_DATA

	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CAboutDlg)
	protected:
	virtual void DoDataExchange(CDataExchange* pDX);    // DDX/DDV support
	//}}AFX_VIRTUAL

// Implementation
protected:
	//{{AFX_MSG(CAboutDlg)
	//}}AFX_MSG
	DECLARE_MESSAGE_MAP()
};

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

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

BEGIN_MESSAGE_MAP(CAboutDlg, CDialog)
	//{{AFX_MSG_MAP(CAboutDlg)
		// No message handlers
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CDEMODlg dialog

CDEMODlg::CDEMODlg(CWnd* pParent /*=NULL*/)
	: CDialog(CDEMODlg::IDD, pParent)
{
	//{{AFX_DATA_INIT(CDEMODlg)
	m_nAddW = 0;
	m_nAddX = 0;
	m_nAddY = 0;
	m_nAddZ = 0;
	m_bW = FALSE;
	m_bX = FALSE;
	m_bY = FALSE;
	m_bZ = FALSE;
	m_nPulseW = 0;
	m_nPulseX = 0;
	m_nPulseY = 0;
	m_nPulseZ = 0;
	m_nRatioW = 0;
	m_nRatioX = 0;
	m_nRatioY = 0;
	m_nRatioZ = 0;
	m_nSpeedW = 0;
	m_nSpeedX = 0;
	m_nSpeedY = 0;
	m_nSpeedZ = 0;
	m_nStartvW = 0;
	m_nStartvX = 0;
	m_nStartvY = 0;
	m_nStartvZ = 0;
	m_bDelayStatus = FALSE;
	m_nDelayTime = 0;
	//}}AFX_DATA_INIT
	// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
}

void CDEMODlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CDEMODlg)
	DDX_Text(pDX, IDC_ADD_W, m_nAddW);
	DDX_Text(pDX, IDC_ADD_X, m_nAddX);
	DDX_Text(pDX, IDC_ADD_Y, m_nAddY);
	DDX_Text(pDX, IDC_ADD_Z, m_nAddZ);
	DDX_Check(pDX, IDC_CHECK_W, m_bW);
	DDX_Check(pDX, IDC_CHECK_X, m_bX);
	DDX_Check(pDX, IDC_CHECK_Y, m_bY);
	DDX_Check(pDX, IDC_CHECK_Z, m_bZ);
	DDX_Text(pDX, IDC_PULSE_W, m_nPulseW);
	DDX_Text(pDX, IDC_PULSE_X, m_nPulseX);
	DDX_Text(pDX, IDC_PULSE_Y, m_nPulseY);
	DDX_Text(pDX, IDC_PULSE_Z, m_nPulseZ);
	DDX_Text(pDX, IDC_RATIO_W, m_nRatioW);
	DDX_Text(pDX, IDC_RATIO_X, m_nRatioX);
	DDX_Text(pDX, IDC_RATIO_Y, m_nRatioY);
	DDX_Text(pDX, IDC_RATIO_Z, m_nRatioZ);
	DDX_Text(pDX, IDC_SPEED_W, m_nSpeedW);
	DDX_Text(pDX, IDC_SPEED_X, m_nSpeedX);
	DDX_Text(pDX, IDC_SPEED_Y, m_nSpeedY);
	DDX_Text(pDX, IDC_SPEED_Z, m_nSpeedZ);
	DDX_Text(pDX, IDC_STARTV_W, m_nStartvW);
	DDX_Text(pDX, IDC_STARTV_X, m_nStartvX);
	DDX_Text(pDX, IDC_STARTV_Y, m_nStartvY);
	DDX_Text(pDX, IDC_STARTV_Z, m_nStartvZ);
	DDX_Check(pDX, IDC_CHECK_DELAY, m_bDelayStatus);
	DDX_Text(pDX, IDC_EDIT_DELAYTIME, m_nDelayTime);
	//}}AFX_DATA_MAP
}

BEGIN_MESSAGE_MAP(CDEMODlg, CDialog)
	//{{AFX_MSG_MAP(CDEMODlg)
	ON_WM_SYSCOMMAND()
	ON_WM_PAINT()
	ON_WM_QUERYDRAGICON()
	ON_WM_TIMER()
	ON_BN_CLICKED(IDC_BUTTON_PMOVE, OnButtonPmove)
	ON_BN_CLICKED(IDC_BUTTON_INPMOVE, OnButtonInpmove)
	ON_BN_CLICKED(IDC_BUTTON_STOP, OnButtonStop)
	ON_BN_CLICKED(IDC_BUTTON_IOTEST, OnButtonIotest)
	ON_BN_CLICKED(IDC_BUTTON_BASEPARA, OnButtonBasepara)
	ON_BN_CLICKED(IDC_BUTTON_CLEARPOS, OnButtonClearpos)
	ON_BN_CLICKED(IDC_DELAY, OnDelay)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CDEMODlg message handlers

BOOL CDEMODlg::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
	
//*************初始化8940卡**************
	if (g_CtrlCard.Init_Board() <= 0)
	{

        MessageBox( "控制卡初始化失败!");

	//	return false;
	}                
    else
    
       MessageBox ("运动控制卡可以使用!");
//****************************************

//*************获取版本号**************
	float LibVer;          //库版本号

	int   HardwareVer;     //硬件版本号

	g_CtrlCard.Get_Version(LibVer,HardwareVer);

	CStatic *lbl;

	CString str;

	lbl=(CStatic*)GetDlgItem(IDC_INFO_VER);

	str.Format("库  版本号:%1.1f\n硬件版本号:  %d",LibVer,HardwareVer);

	lbl->SetWindowText(str);
//****************************************

//******* 设置默认初始速度为100	*********
	m_nStartvX = 100;
	m_nStartvY = 100;
	m_nStartvZ = 100;
	m_nStartvW = 100;
//*********设置默认驱动速度为200********
	m_nSpeedX  = 200; 
	m_nSpeedY  = 200; 
	m_nSpeedZ  = 200; 
	m_nSpeedW  = 200; 
//*********设置默认加速度为125**********
	m_nAddX    = 625;
	m_nAddY    = 625;
	m_nAddZ    = 625;
	m_nAddW    = 625;
//*********设置默认倍率为5**************
    m_nRatioX  = 5;
	m_nRatioY  = 5;
	m_nRatioZ  = 5;
	m_nRatioW  = 5;
//********设置默认目标位置为10000******
	m_nPulseX  = 10000;
	m_nPulseY  = 10000;
	m_nPulseZ  = 10000;
	m_nPulseW  = 10000;

//*********设置延时时间为0************
	m_nDelayTime = 0;

    UpdateData(FALSE);

	SetTimer(MAINTIMER,100,NULL);        //启动定时器

	return TRUE;  // return TRUE  unless you set the focus to a control
}

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

		SendMessage(WM_ICONERASEBKGND, (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 to obtain the cursor to display while the user drags
//  the minimized window.
HCURSOR CDEMODlg::OnQueryDragIcon()
{
	return (HCURSOR) m_hIcon;
}


/*********************************
           联动按钮动作
*******************************/
void CDEMODlg::OnButtonPmove() 
{
	UpdateData(TRUE);

	long Startv[]={m_nStartvX,m_nStartvY,m_nStartvZ,m_nStartvW};  //初始速度

	long Speed[]={m_nSpeedX,m_nSpeedY,m_nSpeedZ,m_nSpeedW};       //驱动速度

	long Add[]  ={m_nAddX,m_nAddY,m_nAddZ,m_nAddW};               //加速度

	long Ratio[]={m_nRatioX,m_nRatioY,m_nRatioZ,m_nRatioW};       //倍率

/*****************速度设定判断************************

  当硬件版本号为1时，须范围设置，决定倍率

  初始速度和驱动速度的设置范围为(1×倍率～8000×倍率)

  加速度的设置范围为(125×倍率～125×8000×倍率)

  当硬件版本号>1时，无需范围设置

  初始速度和驱动速度的设置范围为(1～2M)

  加速度的设置范围为(1×125～65536×125)

*****************************************************/
	if(g_CtrlCard.m_nHardwareVer==1)
	{
		for(int i=1; i<MAXAXIS+1; i++)
		{
			if(Startv[i-1]>8000*Ratio[i-1] || Startv[i-1]<Ratio[i-1])
			{
				if(MessageBox("起始速度设定超出设定范围，是否重新设置倍率?","提问",MB_ICONQUESTION|MB_YESNO|MB_DEFBUTTON2)==IDYES)
					
					return;
			}
			if(Speed[i-1]>8000*Ratio[i-1] || Speed[i-1]<Ratio[i-1])
			{
				if(MessageBox("驱动速度设定超出设定范围，是否重新设置倍率?","提问",MB_ICONQUESTION|MB_YESNO|MB_DEFBUTTON2)==IDYES)
					
					return;
			}
			if(Add[i-1]>125*8000*Ratio[i-1] || Add[i-1]<Ratio[i-1]*125)
			{
				if(MessageBox("加速度设定超出设定范围，是否重新设置倍率?","提问",MB_ICONQUESTION|MB_YESNO|MB_DEFBUTTON2)==IDYES)
					
					return;
			}
		}
	}
	else
	{
		for(int i=1; i<MAXAXIS+1; i++)
		{
			if(Startv[i-1]>2000000 || Startv[i-1]<1)
			{
				if(MessageBox("起始速度设定超出设定范围，是否重新设置?","提问",MB_ICONQUESTION|MB_YESNO|MB_DEFBUTTON2)==IDYES)
					
					return;
			}
			if(Speed[i-1]>2000000 || Speed[i-1]<1)
			{
				if(MessageBox("驱动速度设定超出设定范围，是否重新设置?","提问",MB_ICONQUESTION|MB_YESNO|MB_DEFBUTTON2)==IDYES)
					
					return;
			}
			if(Add[i-1]>65536*125 || Add[i-1]<125)
			{
				if(MessageBox("加速度设定超出设定范围，是否重新设置?","提问",MB_ICONQUESTION|MB_YESNO|MB_DEFBUTTON2)==IDYES)
					
					return;
			}
		}


	}

	if(m_bX ) 
	{