stewartwin_dlg.cpp

bulkloop application source code based on mfc

#include <stdio.h>
#include <stdlib.h>
//#include <iostream.h>
//#include <afxsock.h>
#include "stdafx.h"

#include "stewartWin.h"
#include "stewartWin_Dlg.h"

#include "matrix.h"
#include "usTime.h"
#include "LINE.h"
#include "TriAgl.h"
#include "YuanClass.h"
#include "PetalClass.h"
#include "SwingClass.h"
#include "machine.h"
#include "DriverStatus.h"
#include "API.h"
#include "SysSetClass.h"

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

/////////////////////////////////////////////////////////////////////////////
LINE LineA; //声明LINE类 对象LineA；
TriAgl TriAglA;
YuanClass CircleA;
PetalClass Petal_oo;
SwingClass Swing_oo;
DriverStatus DriverStatusOO;
SysSetClass  SysSetOO;

/////////////////////////////////////////////////////////////////////////////
//================全局变量==================//
double Legd[6][2000];
long Nt, i_disp; 
unsigned char APIdata[256] ;
//double *APIdataP;
//FILE * RecodeFile;
int GoHomeFlage = 1;
int AtHomeFlage = 0; //不在家
int Direct[MOTOR_NUMBER]={-1,-1,-1,-1,-1,-1};
int BeiXi[MOTOR_NUMBER]={1015,819,1098,1196,671,1507};  //背隙, beixi, bx
//int BeiXi[MOTOR_NUMBER]={0,0,0,0,0,0};//背隙, beixi, bx  // Duan X C, 10.20

int BuCangFlage[MOTOR_NUMBER]={0,0,0,0,0,0};

/////////////////////////////////////////////////////////////////////////////

mei::MeiObjects*    meiObjectsExtern;//指向 meiObjects 用于在
									 //其他对话框中对meiObjects进行操作
CCStewartWinAppDlg* MypMainDlg;
/////////////////////////////////////////////////////////////////////////////
// CAboutDlg dialog used for App About
using namespace mei;
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()
 
/////////////////////////////////////////////////////////////////////////////
// CCStewartWinAppDlg dialog
 
CCStewartWinAppDlg::CCStewartWinAppDlg(CWnd* pParent /*=NULL*/)
    : CDialog(CCStewartWinAppDlg::IDD, pParent)
{
    MPIControlType      controlType;
    MPIControlAddress   controlAddress;
 
	MypMainDlg = this;
	
    //{{AFX_DATA_INIT(CCStewartWinAppDlg)
	m_ActLeg1 = _T("");
	m_ActLeg2 = _T("");
	m_ActLeg3 = _T("");
	m_ActLeg4 = _T("");
	m_ActLeg5 = _T("");
	m_ActLeg6 = _T("");
	m_ActPitch = _T("");
	m_ActPosX = _T("");
	m_ActPosY = _T("");
	m_ActPosZ = _T("");
	m_ActRoll = _T("");
	m_ActYaw = _T("");
	m_CmdLeg1 = _T("");
	m_CmdLeg2 = _T("");
	m_CmdLeg3 = _T("");
	m_CmdLeg4 = _T("");
	m_CmdLeg5 = _T("");
	m_CmdLeg6 = _T("");
	m_CmdPitch = _T("");
	m_CmdPosX = _T("");
	m_CmdPosY = _T("");
	m_CmdPosZ = _T("");
	m_CmdRoll = _T("");
	m_CmdYaw = _T("");
	m_AmpEnable = FALSE;
	m_MotionStatus1 = _T("");
	m_MotionStatus2 = _T("");
	m_MotionStatus3 = _T("");
	m_MotionStatus4 = _T("");
	m_MotionStatus5 = _T("");
	m_MotionStatus6 = _T("");
	//}}AFX_DATA_INIT
    // Note that LoadIcon does not require a subsequent DestroyIcon in Win32
    m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
    m_FirmwareVer = _T("");
    meiObjects = NULL;
 
    // Use default motion controller parameters
    controlType = MPIControlTypeDEFAULT;
    controlAddress.number = 0;
 

    try
    {
        // Create and initialize MEI objects
        meiObjects = new MeiObjects(controlType,
                                    &controlAddress,
					 MOTION_NUMBER,
                                    //MOTION_NUMBER,
                                    AXIS_NUMBER,
                                    FILTER_NUMBER,
                                    MOTOR_NUMBER,
                                    //RECORDER_NUMBER,
									CAPTURE_COUNT);
		meiObjectsExtern = meiObjects;
        // Set m_FirmwareVer to the current controllers' firmware version
        MEIControlVersion   controlVersion;
        long                mpiMsg;
        char                firmwareVersion[16];
        char                firmwareRevision[2] = "\0";
        char                firmwareSubRevision[16];
 
        mpiMsg = meiControlVersionGet(meiObjects->MpiControl(), &controlVersion);
        CheckMessage(mpiMsg);
 
        itoa(controlVersion.xmp.firmware.version, firmwareVersion, 10);
        itoa(controlVersion.xmp.firmware.subRevision, firmwareSubRevision, 10);
        firmwareRevision[0] = controlVersion.xmp.firmware.revision;
 
        CString firmwareVersionStr = CString(firmwareVersion) + CString(firmwareRevision) + CString(firmwareSubRevision);
        m_FirmwareVer = firmwareVersionStr;

		meiObjects->SysInit();
		//=============================================================	
		// Change the LIMIT_HW_POS configuration //
		meiObjects->limitConfigure( MOTOR_NUMBER, //电机的数目//
                   MPIEventTypeLIMIT_HW_POS,    // +HW limit        //
                   MPIActionE_STOP,             // E-STOP on limit  //
                   FALSE,                        // Active Lo     //
                   FALSE,     // Use velocity as a trigger qualifier //
                   EVENT_DURATION);

	   // Change the LIMIT_HW_POS configuration //
	   meiObjects->limitConfigure( MOTOR_NUMBER, //电机的数目//
                   MPIEventTypeLIMIT_HW_NEG,    // -HW limit        //
                   MPIActionE_STOP,             // E-STOP on limit  //
                   FALSE,                        // Active High      //
                   FALSE,     // Use velocity as a trigger qualifier //
                   EVENT_DURATION);
	   meiObjects->MotionSysInit();
	 //  RecodeFile =  fopen("RecodeData.dat","w");
	//=============================================================	
    }
    catch (MeiException& e)
    {
        // Handle MEI exceptions here
        throw e;
    }
    catch (...)
    {
        // Handle unknown exceptions here
        throw;
    }
	
}
 
CCStewartWinAppDlg::~CCStewartWinAppDlg()
{
    delete meiObjects;
	delete MypMainDlg;
	MypMainDlg=NULL;
}
 
void CCStewartWinAppDlg::DoDataExchange(CDataExchange* pDX)
{
    CDialog::DoDataExchange(pDX);
    //{{AFX_DATA_MAP(CCStewartWinAppDlg)
    DDX_Text(pDX, IDC_FIRMWARE_VER, m_FirmwareVer);
    DDV_MaxChars(pDX, m_FirmwareVer, 255);
	DDX_Text(pDX, IDC_ActLeg1, m_ActLeg1);
	DDX_Text(pDX, IDC_ActLeg2, m_ActLeg2);
	DDX_Text(pDX, IDC_ActLeg3, m_ActLeg3);
	DDX_Text(pDX, IDC_ActLeg4, m_ActLeg4);
	DDX_Text(pDX, IDC_ActLeg5, m_ActLeg5);
	DDX_Text(pDX, IDC_ActLeg6, m_ActLeg6);
	DDX_Text(pDX, IDC_ActPitch, m_ActPitch);
	DDX_Text(pDX, IDC_ActPosX, m_ActPosX);
	DDX_Text(pDX, IDC_ActPosY, m_ActPosY);
	DDX_Text(pDX, IDC_ActPosZ, m_ActPosZ);
	DDX_Text(pDX, IDC_ActRoll, m_ActRoll);
	DDX_Text(pDX, IDC_ActYaw, m_ActYaw);
	DDX_Text(pDX, IDC_CmdLeg1, m_CmdLeg1);
	DDX_Text(pDX, IDC_CmdLeg2, m_CmdLeg2);
	DDX_Text(pDX, IDC_CmdLeg3, m_CmdLeg3);
	DDX_Text(pDX, IDC_CmdLeg4, m_CmdLeg4);
	DDX_Text(pDX, IDC_CmdLeg5, m_CmdLeg5);
	DDX_Text(pDX, IDC_CmdLeg6, m_CmdLeg6);
	DDX_Text(pDX, IDC_CmdPitch, m_CmdPitch);
	DDX_Text(pDX, IDC_CmdPosX, m_CmdPosX);
	DDX_Text(pDX, IDC_CmdPosY, m_CmdPosY);
	DDX_Text(pDX, IDC_CmdPosZ, m_CmdPosZ);
	DDX_Text(pDX, IDC_CmdRoll, m_CmdRoll);
	DDX_Text(pDX, IDC_CmdYaw, m_CmdYaw);
	DDX_Check(pDX, IDC_AmpEnable, m_AmpEnable);
	DDX_Text(pDX, IDC_MotionStatus1, m_MotionStatus1);
	DDX_Text(pDX, IDC_MotionStatus2, m_MotionStatus2);
	DDX_Text(pDX, IDC_MotionStatus3, m_MotionStatus3);
	DDX_Text(pDX, IDC_MotionStatus4, m_MotionStatus4);
	DDX_Text(pDX, IDC_MotionStatus5, m_MotionStatus5);
	DDX_Text(pDX, IDC_MotionStatus6, m_MotionStatus6);
	//}}AFX_DATA_MAP
}
 
BEGIN_MESSAGE_MAP(CCStewartWinAppDlg, CDialog)
    //{{AFX_MSG_MAP(CCStewartWinAppDlg)
    ON_WM_SYSCOMMAND()
    ON_WM_PAINT()
    ON_WM_QUERYDRAGICON()
	ON_BN_CLICKED(IDC_RADIO1, OnSelectLine)
	ON_BN_CLICKED(IDC_Run, OnRun)
	ON_BN_CLICKED(IDC_Exit, OnExit)
	ON_BN_CLICKED(IDC_RADIO2, OnSelectRadio)
	ON_BN_CLICKED(IDC_Recoder, OnRecoder)
	ON_BN_CLICKED(IDC_BUTTON1, OnReadIO)
	ON_BN_CLICKED(IDC_BUTTON2, OnAPI)
	ON_BN_CLICKED(IDC_RADIO4, OnTriAgl)
	ON_BN_CLICKED(IDC_RADIO5, OnSwing)
	ON_BN_CLICKED(IDC_Petal, OnPetal)
	ON_BN_CLICKED(IDC_oo, OnGoHome)
	ON_BN_CLICKED(IDC_SysSet, OnSysSet)
	ON_BN_CLICKED(IDC_AmpEnable, OnAmpEnable)
	ON_BN_CLICKED(IDC_ClearError, OnClearError)
	ON_BN_CLICKED(IDC_ClearEncoder, OnClearEncoder)
	ON_BN_CLICKED(IDC_AmpEnable, OnAmpEnable)
	ON_WM_TIMER()
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()
 
/////////////////////////////////////////////////////////////////////////////
// CCStewartWinAppDlg message handlers
 
BOOL CCStewartWinAppDlg::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
	SetTimer(102,1000,NULL);
	DisplyMotionStatus();
    UpdateData(false);
    
	
//  网络初始化

//
    return TRUE;  // return TRUE  unless you set the focus to a control
}
 
void CCStewartWinAppDlg::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 CCStewartWinAppDlg::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 CCStewartWinAppDlg::OnQueryDragIcon()
{
    return (HCURSOR) m_hIcon;
}



void CCStewartWinAppDlg::OnSelectLine() 
{
	LineA.DoModal();	
	//UpdateData(true);	// 输入数据的更新
	PToPTrace();
}
void CCStewartWinAppDlg::OnSelectRadio() 
{