📄 demo_inp_movedlg.cpp

📁 850运动控制卡的详细开发资料
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// Demo_Inp_MoveDlg.cpp : implementation file
//

#include "stdafx.h"
#include "Demo_Inp_Move.h"
#include "Demo_Inp_MoveDlg.h"

#include "850Para.h"

#include "adt850.h"

#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()

/////////////////////////////////////////////////////////////////////////////
// CDemo_Inp_MoveDlg dialog

CDemo_Inp_MoveDlg::CDemo_Inp_MoveDlg(CWnd* pParent /*=NULL*/)
	: CDialog(CDemo_Inp_MoveDlg::IDD, pParent)
{
	//{{AFX_DATA_INIT(CDemo_Inp_MoveDlg)
	m_nPulseCount_w = 0;
	m_nPulseCount_x = 0;
	m_nPulseCount_z = 0;
	m_nPulseCount_y = 0;
	m_bChkDemo_w = FALSE;
	m_bChkDemo_x = FALSE;
	m_bChkDemo_y = FALSE;
	m_bChkDemo_z = FALSE;
	m_bEnableSymmetry_Acc_w = FALSE;
	m_bEnableSymmetry_Acc_x = FALSE;
	m_bEnableSymmetry_Acc_y = FALSE;
	m_bEnableSymmetry_Acc_z = FALSE;
	m_bDisableEquality_V = FALSE;
	m_bEnable_S_Move = FALSE;
	//}}AFX_DATA_INIT
	// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
	m_bIsInpLine=TRUE;

	m_bIsTwoAxisInp=TRUE;
	m_bIsThreeAxisInp=FALSE;
	m_bIsFourAxisInp=FALSE;

	m_bIsContinueInp=FALSE;		//单个插补
}

void CDemo_Inp_MoveDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CDemo_Inp_MoveDlg)
	DDX_Text(pDX, IDC_EDIT_PULSE_COUNT_W, m_nPulseCount_w);
	DDX_Text(pDX, IDC_EDIT_PULSE_COUNT_X, m_nPulseCount_x);
	DDX_Text(pDX, IDC_EDIT_PULSE_COUNT_Z, m_nPulseCount_z);
	DDX_Text(pDX, IDC_EDIT_PULSE_COUNT_Y, m_nPulseCount_y);
	DDX_Check(pDX, IDC_CHECK_DEMO_W, m_bChkDemo_w);
	DDX_Check(pDX, IDC_CHECK_DEMO_X, m_bChkDemo_x);
	DDX_Check(pDX, IDC_CHECK_DEMO_Y, m_bChkDemo_y);
	DDX_Check(pDX, IDC_CHECK_DEMO_Z, m_bChkDemo_z);
	DDX_Check(pDX, IDC_CHECK_SYMMETRY_VELOCITY_W, m_bEnableSymmetry_Acc_w);
	DDX_Check(pDX, IDC_CHECK_SYMMETRY_VELOCITY_X, m_bEnableSymmetry_Acc_x);
	DDX_Check(pDX, IDC_CHECK_SYMMETRY_VELOCITY_Y, m_bEnableSymmetry_Acc_y);
	DDX_Check(pDX, IDC_CHECK_SYMMETRY_VELOCITY_Z, m_bEnableSymmetry_Acc_z);
	DDX_Check(pDX, IDC_CHECK_DISABLE_EQUALITY, m_bDisableEquality_V);
	DDX_Check(pDX, IDC_CHECK_MOVE_TYPE_S, m_bEnable_S_Move);
	//}}AFX_DATA_MAP
}

BEGIN_MESSAGE_MAP(CDemo_Inp_MoveDlg, CDialog)
	//{{AFX_MSG_MAP(CDemo_Inp_MoveDlg)
	ON_WM_SYSCOMMAND()
	ON_WM_PAINT()
	ON_WM_QUERYDRAGICON()
	ON_BN_CLICKED(IDC_BTN_DETAIL_SETTING, OnBtnDetailSetting)
	ON_BN_CLICKED(IDC_CHECK_DISABLE_EQUALITY, OnCheckDisableEquality)
	ON_BN_CLICKED(IDC_RADIO_INP_ARC, OnRadioInpArc)
	ON_BN_CLICKED(IDC_RADIO_INP_LINE, OnRadioInpLine)
	ON_BN_CLICKED(IDC_CHECK_DEMO_W, OnCheckDemoW)
	ON_BN_CLICKED(IDC_CHECK_DEMO_X, OnCheckDemoX)
	ON_BN_CLICKED(IDC_CHECK_DEMO_Y, OnCheckDemoY)
	ON_BN_CLICKED(IDC_CHECK_DEMO_Z, OnCheckDemoZ)
	ON_BN_CLICKED(IDC_RADIO_INP_AXIS_FOUR, OnRadioInpAxisFour)
	ON_BN_CLICKED(IDC_RADIO_INP_AXIS_THREE, OnRadioInpAxisThree)
	ON_BN_CLICKED(IDC_RADIO_INP_AXIS_TWO, OnRadioInpAxisTwo)
	ON_BN_CLICKED(IDC_CHECK_MOVE_TYPE_S, OnCheckMoveTypeS)
	ON_BN_CLICKED(IDC_CHECK_SYMMETRY_VELOCITY_W, OnCheckSymmetryVelocityW)
	ON_BN_CLICKED(IDC_CHECK_SYMMETRY_VELOCITY_X, OnCheckSymmetryVelocityX)
	ON_BN_CLICKED(IDC_CHECK_SYMMETRY_VELOCITY_Y, OnCheckSymmetryVelocityY)
	ON_BN_CLICKED(IDC_CHECK_SYMMETRY_VELOCITY_Z, OnCheckSymmetryVelocityZ)
	ON_BN_CLICKED(IDC_BTN_INP_SINGLE, OnBtnInpSingle)
	ON_WM_TIMER()
	ON_BN_CLICKED(IDC_BTN_INP_CONTINUE, OnBtnInpContinue)
	ON_BN_CLICKED(IDC_BTN_INP_STOP, OnBtnInpStop)
	ON_BN_CLICKED(IDC_BUTTON_CLEAR, OnButtonClear)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CDemo_Inp_MoveDlg message handlers

BOOL CDemo_Inp_MoveDlg::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

	((CButton*)GetDlgItem(IDC_RADIO_INP_LINE))->SetCheck(TRUE);

	((CButton*)GetDlgItem(IDC_RADIO_INP_AXIS_TWO))->SetCheck(TRUE);
    OnRadioInpAxisTwo();
	CEdit* pEdit=NULL;
	RECT rc;

	m_pToolTip=new CToolTipCtrl;
	m_pToolTip->Create(this);
	for(int i=IDC_EDIT_PULSE_COUNT_X;i<=IDC_EDIT_PULSE_COUNT_W;i++){
		pEdit=(CEdit*)GetDlgItem(i);
		if(pEdit){
			pEdit->GetClientRect(&rc);
			m_pToolTip->AddTool(pEdit,"输入范围:-8388608--- +8388607",&rc,i);
		}
	}
	m_pToolTip->SetDelayTime(500);
	m_pToolTip->Activate(TRUE);
//-------------------初始化参数------------------------------
	 C850Para	dlgSetPara(m_bDisableEquality_V,this);

		m_nRatio_w=dlgSetPara.m_nRatio_w;
		m_nRatio_x=dlgSetPara.m_nRatio_x;
		m_nRatio_y=dlgSetPara.m_nRatio_y;
		m_nRatio_z=dlgSetPara.m_nRatio_z;

		m_nStartV_x=dlgSetPara.m_nStartV_x;
		m_nStartV_y=dlgSetPara.m_nStartV_y;
		m_nStartV_z=dlgSetPara.m_nStartV_z;
		m_nStartV_w=dlgSetPara.m_nStartV_w;

		m_nDriveSpeed_x=dlgSetPara.m_nDriveSpeed_x;
		m_nDriveSpeed_y=dlgSetPara.m_nDriveSpeed_y;
		m_nDriveSpeed_z=dlgSetPara.m_nDriveSpeed_z;
		m_nDriveSpeed_w=dlgSetPara.m_nDriveSpeed_w;
		
		m_nVelocityAcc_w=dlgSetPara.m_nAccVelocity_w;
		m_nVelocityAcc_x=dlgSetPara.m_nAccVelocity_x;
		m_nVelocityAcc_y=dlgSetPara.m_nAccVelocity_y;
		m_nVelocityAcc_z=dlgSetPara.m_nAccVelocity_z;

		m_nVelocityDec_w=dlgSetPara.m_nDecVelocity_w;
		m_nVelocityDec_x=dlgSetPara.m_nDecVelocity_x;
		m_nVelocityDec_y=dlgSetPara.m_nDecVelocity_y;
		m_nVelocityDec_z=dlgSetPara.m_nDecVelocity_z;


		m_fAccTime_w=dlgSetPara.m_fAccTime_w;
		m_fAccTime_x=dlgSetPara.m_fAccTime_x;
		m_fAccTime_y=dlgSetPara.m_fAccTime_y;
		m_fAccTime_z=dlgSetPara.m_fAccTime_z;
//--------------------------------------------------------------

	Init850Card();
		
	SetTimer(1,100,NULL);
	
	return TRUE;  // return TRUE  unless you set the focus to a control
}

void CDemo_Inp_MoveDlg::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 CDemo_Inp_MoveDlg::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 CDemo_Inp_MoveDlg::OnQueryDragIcon()
{
	return (HCURSOR) m_hIcon;
}

void CDemo_Inp_MoveDlg::OnBtnDetailSetting() 
{
	// TODO: Add your control notification handler code here
	C850Para	dlgSetPara(m_bDisableEquality_V,this);
        dlgSetPara.m_nRatio_w=m_nRatio_w;
		dlgSetPara.m_nRatio_x=m_nRatio_x;
		dlgSetPara.m_nRatio_y=m_nRatio_y;
		dlgSetPara.m_nRatio_z=m_nRatio_z;
		
		dlgSetPara.m_nStartV_x=m_nStartV_x;
		dlgSetPara.m_nStartV_y=m_nStartV_y;
		dlgSetPara.m_nStartV_z=m_nStartV_z;
		dlgSetPara.m_nStartV_w=m_nStartV_w;
		

		dlgSetPara.m_nDriveSpeed_x=m_nDriveSpeed_x;
		dlgSetPara.m_nDriveSpeed_y=m_nDriveSpeed_y;
		dlgSetPara.m_nDriveSpeed_z=m_nDriveSpeed_z;
		dlgSetPara.m_nDriveSpeed_w=m_nDriveSpeed_w;
	
		
		dlgSetPara.m_nAccVelocity_x=m_nVelocityAcc_x;
		dlgSetPara.m_nAccVelocity_y=m_nVelocityAcc_y;
		dlgSetPara.m_nAccVelocity_z=m_nVelocityAcc_z;
		dlgSetPara.m_nAccVelocity_w=m_nVelocityAcc_w;
	

		dlgSetPara.m_nDecVelocity_x=m_nVelocityDec_x;
		dlgSetPara.m_nDecVelocity_y=m_nVelocityDec_y;
		dlgSetPara.m_nDecVelocity_z=m_nVelocityDec_z;
		dlgSetPara.m_nDecVelocity_w=m_nVelocityDec_w;
		

		

		dlgSetPara.m_fAccTime_x=m_fAccTime_x;
		dlgSetPara.m_fAccTime_y=m_fAccTime_y;
		dlgSetPara.m_fAccTime_z=m_fAccTime_z;
		dlgSetPara.m_fAccTime_w=m_fAccTime_w;

        dlgSetPara.m_bEnableAcc=m_bDisableEquality_V;
	if(dlgSetPara.DoModal()==IDOK){

		m_nRatio_w=dlgSetPara.m_nRatio_w;
		m_nRatio_x=dlgSetPara.m_nRatio_x;
		m_nRatio_y=dlgSetPara.m_nRatio_y;
		m_nRatio_z=dlgSetPara.m_nRatio_z;

		m_nStartV_x=dlgSetPara.m_nStartV_x;
		m_nStartV_y=dlgSetPara.m_nStartV_y;
		m_nStartV_z=dlgSetPara.m_nStartV_z;
		m_nStartV_w=dlgSetPara.m_nStartV_w;

		m_nDriveSpeed_x=dlgSetPara.m_nDriveSpeed_x;
		m_nDriveSpeed_y=dlgSetPara.m_nDriveSpeed_y;
		m_nDriveSpeed_z=dlgSetPara.m_nDriveSpeed_z;
		m_nDriveSpeed_w=dlgSetPara.m_nDriveSpeed_w;
		
		m_nVelocityAcc_w=dlgSetPara.m_nAccVelocity_w;
		m_nVelocityAcc_x=dlgSetPara.m_nAccVelocity_x;
		m_nVelocityAcc_y=dlgSetPara.m_nAccVelocity_y;
		m_nVelocityAcc_z=dlgSetPara.m_nAccVelocity_z;

		m_nVelocityDec_w=dlgSetPara.m_nDecVelocity_w;
		m_nVelocityDec_x=dlgSetPara.m_nDecVelocity_x;
		m_nVelocityDec_y=dlgSetPara.m_nDecVelocity_y;
		m_nVelocityDec_z=dlgSetPara.m_nDecVelocity_z;

		if(m_nStartV_x>=m_nDriveSpeed_x)m_nDriveSpeed_x=m_nStartV_x;
		if(m_nStartV_y>=m_nDriveSpeed_y)m_nDriveSpeed_y=m_nStartV_y;
		if(m_nStartV_z>=m_nDriveSpeed_z)m_nDriveSpeed_z=m_nStartV_z;
		if(m_nStartV_w>=m_nDriveSpeed_w)m_nDriveSpeed_w=m_nStartV_w;


	   CheckNum(m_nRatio_x,1,500);
	   CheckNum(m_nRatio_y,1,500);
	   CheckNum(m_nRatio_z,1,500);
	   CheckNum(m_nRatio_w,1,500);

	   CheckNum(m_nStartV_x,1*m_nRatio_x,8000*m_nRatio_x);
	   CheckNum(m_nStartV_y,1*m_nRatio_y,8000*m_nRatio_y);
	   CheckNum(m_nStartV_z,1*m_nRatio_z,8000*m_nRatio_z);
	   CheckNum(m_nStartV_w,1*m_nRatio_w,8000*m_nRatio_w);

	   CheckNum(m_nDriveSpeed_x,1*m_nRatio_x,8000*m_nRatio_x);
	   CheckNum(m_nDriveSpeed_y,1*m_nRatio_y,8000*m_nRatio_y);
	   CheckNum(m_nDriveSpeed_z,1*m_nRatio_z,8000*m_nRatio_z);
	   CheckNum(m_nDriveSpeed_w,1*m_nRatio_w,8000*m_nRatio_w);

	   CheckNum(m_nVelocityAcc_x,125*m_nRatio_x,1000000*m_nRatio_x);
	   CheckNum(m_nVelocityAcc_y,125*m_nRatio_y,1000000*m_nRatio_y);
	   CheckNum(m_nVelocityAcc_z,125*m_nRatio_z,1000000*m_nRatio_z);
	   CheckNum(m_nVelocityAcc_w,125*m_nRatio_w,1000000*m_nRatio_w);

	   CheckNum(m_nVelocityDec_x,125*m_nRatio_x,1000000*m_nRatio_x);
	   CheckNum(m_nVelocityDec_y,125*m_nRatio_y,1000000*m_nRatio_y);
	   CheckNum(m_nVelocityDec_z,125*m_nRatio_z,1000000*m_nRatio_z);
	   CheckNum(m_nVelocityDec_w,125*m_nRatio_w,1000000*m_nRatio_w);

        CalAccTime();
	
	}

	
	

}

void CDemo_Inp_MoveDlg::OnCheckDisableEquality() 
{
	// TODO: Add your control notification handler code here
	m_bDisableEquality_V=!m_bDisableEquality_V;
	EnableCheckWnd(m_bDisableEquality_V);

	
}

void CDemo_Inp_MoveDlg::EnableCheckWnd(BOOL bEnable)
{

	CWnd* pWnd=NULL;

	pWnd=GetDlgItem(IDC_STATIC_MOVE_TYPE);
	pWnd->EnableWindow(bEnable);

	if(m_bIsInpLine){
		pWnd=GetDlgItem(IDC_CHECK_MOVE_TYPE_S);
		pWnd->EnableWindow(bEnable);
	

	pWnd=GetDlgItem(IDC_CHECK_SYMMETRY_VELOCITY_X);
	pWnd->EnableWindow(bEnable);

	pWnd=GetDlgItem(IDC_CHECK_SYMMETRY_VELOCITY_Y);
	pWnd->EnableWindow(bEnable);

	pWnd=GetDlgItem(IDC_CHECK_SYMMETRY_VELOCITY_Z);
	pWnd->EnableWindow(bEnable);
	 

	pWnd=GetDlgItem(IDC_CHECK_SYMMETRY_VELOCITY_W);
	pWnd->EnableWindow(bEnable);
	}
	else
	{
		pWnd=GetDlgItem(IDC_CHECK_MOVE_TYPE_S);
		pWnd->EnableWindow(FALSE);
	

	pWnd=GetDlgItem(IDC_CHECK_SYMMETRY_VELOCITY_X);
	pWnd->EnableWindow(FALSE);

	pWnd=GetDlgItem(IDC_CHECK_SYMMETRY_VELOCITY_Y);
	pWnd->EnableWindow(FALSE);

	pWnd=GetDlgItem(IDC_CHECK_SYMMETRY_VELOCITY_Z);
	pWnd->EnableWindow(FALSE);
	 

	pWnd=GetDlgItem(IDC_CHECK_SYMMETRY_VELOCITY_W);
	pWnd->EnableWindow(FALSE);
	}


}

void CDemo_Inp_MoveDlg::OnRadioInpArc() 
{
	// TODO: Add your control notification handler code here

	m_bIsInpLine=FALSE;
	CButton* pButton=NULL;
	int nState=-1;
	pButton=(CButton*) GetDlgItem(IDC_CHECK_MOVE_TYPE_S);
	nState=pButton->GetState();
	if((nState & 0x0003)==1){
		pButton->SetCheck(0);
		m_bDisableEquality_V=FALSE;
	}
	pButton->EnableWindow(FALSE);

	CWnd* pWnd=NULL;
	pWnd=GetDlgItem(IDC_STATIC_PULSE_COUNT);
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