demo_movedlg.cpp

850运动控制卡的详细开发资料

// demo_moveDlg.cpp : implementation file
//

#include "stdafx.h"
#include "demo_move.h"
#include "demo_moveDlg.h"

#include "850Para.h"
#include "adt850.h"

#include "data.h"

#include <afxcmn.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_moveDlg dialog


Info	arrInfo[4];



CDemo_moveDlg::CDemo_moveDlg(CWnd* pParent /*=NULL*/)
	: CDialog(CDemo_moveDlg::IDD, pParent)
{
	//{{AFX_DATA_INIT(CDemo_moveDlg)
	m_nLogicPos_w = 0;
	m_nLogicPos_x = 0;
	m_nLogicPos_y = 0;
	m_nLogicPos_z = 0;
	m_nCurrentSpeed_w = 0;
	m_nCurrentSpeed_x = 0;
	m_nCurrentSpeed_y = 0;
	m_nCurrentSpeed_z = 0;
	m_nCountPulse_w = 0;
	m_nCountPulse_x = 0;
	m_nCountPulse_y = 0;
	m_nCountPulse_z = 0;
	m_bEnableDemo_w = FALSE;
	m_bEnableDemo_x = FALSE;
	m_bEnableDemo_y = FALSE;
	m_bEnableDemo_z = FALSE;
	m_bEnableSymmetry_Acc_w = FALSE;
	m_bEnableSymmetry_Acc_x = FALSE;
	m_bEnableSymmetry_Acc_y = FALSE;
	m_bEnableSymmetry_Acc_z = FALSE;
	m_bEnableCurve_Move = FALSE;
	//}}AFX_DATA_INIT
	// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);


	m_bEqualityVelocity=TRUE;

	
	m_nStartV_x=1000;
	m_nStartV_y=1000;
	m_nStartV_z=1000;
	m_nStartV_w=1000;

	m_nRatio_x=5;
	m_nRatio_y=5;
	m_nRatio_z=5;
	m_nRatio_w=5;

	m_nVelocityAcc_x=8;
	m_nVelocityAcc_y=8;
	m_nVelocityAcc_z=8;
	m_nVelocityAcc_w=8;

	m_nVelocityDec_x=8;
	m_nVelocityDec_y=8;
	m_nVelocityDec_z=8;
	m_nVelocityDec_w=8;

	m_nDriveSpeed_x=10000;
	m_nDriveSpeed_y=10000;
	m_nDriveSpeed_z=10000;
	m_nDriveSpeed_w=10000;

	m_fAccTime_w=0.1f;
	m_fAccTime_x=0.1f;
	m_fAccTime_y=0.1f;
	m_fAccTime_z=0.1f;

  
}

void CDemo_moveDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CDemo_moveDlg)
	DDX_Text(pDX, IDC_EDIT_POS_W, m_nLogicPos_w);
	DDX_Text(pDX, IDC_EDIT_POS_X, m_nLogicPos_x);
	DDX_Text(pDX, IDC_EDIT_POS_Y, m_nLogicPos_y);
	DDX_Text(pDX, IDC_EDIT_POS_Z, m_nLogicPos_z);
	DDX_Text(pDX, IDC_EDIT_SPEED_W, m_nCurrentSpeed_w);
	DDX_Text(pDX, IDC_EDIT_SPEED_X, m_nCurrentSpeed_x);
	DDX_Text(pDX, IDC_EDIT_SPEED_Y, m_nCurrentSpeed_y);
	DDX_Text(pDX, IDC_EDIT_SPEED_Z, m_nCurrentSpeed_z);
	DDX_Text(pDX, IDC_EDIT_COUNT_PULSE_W, m_nCountPulse_w);
	DDX_Text(pDX, IDC_EDIT_COUNT_PULSE_X, m_nCountPulse_x);
	DDX_Text(pDX, IDC_EDIT_COUNT_PULSE_Y, m_nCountPulse_y);
	DDX_Text(pDX, IDC_EDIT_COUNT_PULSE_Z, m_nCountPulse_z);
	DDX_Check(pDX, IDC_CHECK_W, m_bEnableDemo_w);
	DDX_Check(pDX, IDC_CHECK_X, m_bEnableDemo_x);
	DDX_Check(pDX, IDC_CHECK_Y, m_bEnableDemo_y);
	DDX_Check(pDX, IDC_CHECK_Z, m_bEnableDemo_z);
	DDX_Check(pDX, IDC_CHECK_ACC_MODE_W, m_bEnableSymmetry_Acc_w);
	DDX_Check(pDX, IDC_CHECK_ACC_MODE_X, m_bEnableSymmetry_Acc_x);
	DDX_Check(pDX, IDC_CHECK_ACC_MODE_Y, m_bEnableSymmetry_Acc_y);
	DDX_Check(pDX, IDC_CHECK_ACC_MODE_Z, m_bEnableSymmetry_Acc_z);
	DDX_Check(pDX, IDC_CHECK_MOVE_TYPE, m_bEnableCurve_Move);
	//}}AFX_DATA_MAP
}

BEGIN_MESSAGE_MAP(CDemo_moveDlg, CDialog)
	//{{AFX_MSG_MAP(CDemo_moveDlg)
	ON_WM_SYSCOMMAND()
	ON_WM_PAINT()
	ON_WM_QUERYDRAGICON()
	ON_BN_CLICKED(IDC_BTN_SETTING, OnBtnSetting)
	ON_BN_CLICKED(IDC_RADIO_ALTERNATION, OnRadioAlternation)
	ON_BN_CLICKED(IDC_RADIO_UNCHANGE, OnRadioUnchange)
	ON_BN_CLICKED(IDC_CHECK_W, OnCheckEnableDemoW)
	ON_BN_CLICKED(IDC_CHECK_X, OnCheckEnableDemoX)
	ON_BN_CLICKED(IDC_CHECK_Y, OnCheckEnableDemoY)
	ON_BN_CLICKED(IDC_CHECK_Z, OnCheckEnableDemoZ)
	ON_BN_CLICKED(IDC_CHECK_ACC_MODE_W, OnCheckAccModeW)
	ON_BN_CLICKED(IDC_CHECK_ACC_MODE_X, OnCheckAccModeX)
	ON_BN_CLICKED(IDC_CHECK_ACC_MODE_Y, OnCheckAccModeY)
	ON_BN_CLICKED(IDC_CHECK_ACC_MODE_Z, OnCheckAccModeZ)
	ON_BN_CLICKED(IDC_CHECK_MOVE_TYPE, OnCheckMoveType)
	ON_EN_SETFOCUS(IDC_EDIT_COUNT_PULSE_W, OnSetfocusEditCountPulseW)
	ON_EN_SETFOCUS(IDC_EDIT_COUNT_PULSE_X, OnSetfocusEditCountPulseX)
	ON_EN_SETFOCUS(IDC_EDIT_COUNT_PULSE_Y, OnSetfocusEditCountPulseY)
	ON_EN_SETFOCUS(IDC_EDIT_COUNT_PULSE_Z, OnSetfocusEditCountPulseZ)
	ON_WM_TIMER()
	ON_BN_CLICKED(IDC_BTN_CONTINUE, OnBtnContinue)
	ON_EN_CHANGE(IDC_EDIT_COUNT_PULSE_X, OnChangeEditCountPulseX)
	ON_WM_MOUSEMOVE()
	ON_BN_CLICKED(IDC_BUTTON_ONSTOP, OnButtonOnstop)
	ON_BN_CLICKED(IDC_BUTTON_CLEAR, OnButtonClear)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CDemo_moveDlg message handlers

BOOL CDemo_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

	//if(m_bEqualityVelocity)
		((CButton*)GetDlgItem(IDC_RADIO_UNCHANGE))->SetCheck(TRUE);

		CEdit* pEdit=NULL;
		RECT rc;

		m_pToolTip=new CToolTipCtrl;

		m_pToolTip->Create(this);


		for(int i=IDC_EDIT_COUNT_PULSE_X,j=0; i<IDC_EDIT_COUNT_PULSE_W+1;i++,j++){
			pEdit=(CEdit*)GetDlgItem(i);
			pEdit->GetClientRect(&rc);
			m_pToolTip->AddTool(pEdit,"输入范围:-268435455--- [phone]",&rc,i);
		}
		
		m_pToolTip->SetDelayTime(500);
		m_pToolTip->Activate(TRUE);

        

		C850Para	dlgSetPara(m_bEqualityVelocity,m_bEnableCurve_Move,this);
        
			m_nRatio_x=dlgSetPara.m_nRatio_x;
			m_nRatio_y=dlgSetPara.m_nRatio_y;
			m_nRatio_z=dlgSetPara.m_nRatio_z;
			m_nRatio_w=dlgSetPara.m_nRatio_w;

			m_nStartV_x=dlgSetPara.GetStartV_x();
			m_nStartV_y=dlgSetPara.GetStartV_y();
			m_nStartV_z=dlgSetPara.GetStartV_z();
			m_nStartV_w=dlgSetPara.GetStartV_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_x=dlgSetPara.m_nAccVelocity_x;
			m_nVelocityAcc_y=dlgSetPara.m_nAccVelocity_y;
			m_nVelocityAcc_z=dlgSetPara.m_nAccVelocity_z;
			m_nVelocityAcc_w=dlgSetPara.m_nAccVelocity_w;

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

			m_fAccTime_x	=dlgSetPara.m_fAccTime_x;
			m_fAccTime_y	=dlgSetPara.m_fAccTime_y;
			m_fAccTime_z	=dlgSetPara.m_fAccTime_z;
			m_fAccTime_w	=dlgSetPara.m_fAccTime_w;
	
	    Init850Card();
        
		SetTimer(1,100,NULL);
		
	
	return TRUE;  // return TRUE  unless you set the focus to a control
}

void CDemo_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_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_moveDlg::OnQueryDragIcon()
{
	return (HCURSOR) m_hIcon;
}

void CDemo_moveDlg::OnBtnSetting() 
{
	// TODO: Add your control notification handler code here
	C850Para	dlgSetPara(m_bEqualityVelocity,m_bEnableCurve_Move,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;


	if(dlgSetPara.DoModal()==IDOK){

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

		m_nStartV_x=dlgSetPara.GetStartV_x();
		m_nStartV_y=dlgSetPara.GetStartV_y();
		m_nStartV_z=dlgSetPara.GetStartV_z();
		m_nStartV_w=dlgSetPara.GetStartV_w();

		m_nDriveSpeed_x=dlgSetPara.m_nDriveSpeed_x;