stack.cpp

机械手IPC控制器伺服运动程序

// Stack.cpp : implementation file
//

#include "stdafx.h"
#include "alfa.h"
#include "Stack.h"
#include "TeachMode.h"
#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif

/////////////////////////////////////////////////////////////////////////////
// CStack dialog


CStack::CStack(CWnd* pParent /*=NULL*/)
	: CDialog(CStack::IDD, pParent)
{
	//{{AFX_DATA_INIT(CStack)
	m_nx = 0;
	m_ny = 0;
	m_nz = 0;
	m_dx = 0.0;
	m_dy = 0.0;
	m_dz = 0.0;
	m_delay = 0.0;
	m_Vac= 0;
	m_Hold= 0;
	//}}AFX_DATA_INIT
}


void CStack::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CStack)
	DDX_Control(pDX, IDC_EDIT7, m_edit7);
	DDX_Control(pDX, IDC_EDIT6, m_edit6);
	DDX_Control(pDX, IDC_EDIT5, m_edit5);
	DDX_Control(pDX, IDC_EDIT4, m_edit4);
	DDX_Control(pDX, IDC_EDIT3, m_edit3);
	DDX_Control(pDX, IDC_EDIT2, m_edit2);
	DDX_Control(pDX, IDC_EDIT1, m_edit1);
	DDX_Text(pDX, IDC_EDIT1, m_nx);
	DDX_Text(pDX, IDC_EDIT2, m_ny);
	DDX_Text(pDX, IDC_EDIT3, m_nz);
	DDX_Text(pDX, IDC_EDIT4, m_dx);
	DDX_Text(pDX, IDC_EDIT5, m_dy);
	DDX_Text(pDX, IDC_EDIT6, m_dz);
	DDX_Text(pDX, IDC_EDIT7, m_delay);
	//}}AFX_DATA_MAP
}


BEGIN_MESSAGE_MAP(CStack, CDialog)
	//{{AFX_MSG_MAP(CStack)
	ON_WM_SHOWWINDOW()
	ON_BN_CLICKED(IDC_CHECK1, OnCheck1)
	ON_BN_CLICKED(IDC_CHECK2, OnCheck2)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CStack message handlers

void CStack::OnShowWindow(BOOL bShow, UINT nStatus) 
{
	CDialog::OnShowWindow(bShow, nStatus);

	CString Temp_str;
	// TODO: Add your message handler code here
	if(bShow==1) {
		CTeachMode * parent=(CTeachMode *)GetParent();
		if(parent->flagShow==0)	{
			m_nx=0;
			m_ny=0;
			m_nz=0;
			m_dx=0;
			m_dy=0;
			m_dz=0;
			m_delay=0;
			m_Vac=0;
			m_Hold=0;
	        CButton *VacChk=(CButton *)GetDlgItem(IDC_CHECK1);
            VacChk->SetCheck(0);
	        CButton *HoldChk=(CButton *)GetDlgItem(IDC_CHECK2);
            HoldChk->SetCheck(0);
		}
		else {
			int idx=parent->curidx;
			m_nx=parent->command[idx].mcommand.para.stack1.nx & 0x0000FFFF;
			m_ny=parent->command[idx].mcommand.para.stack1.nx/0x00010000;
			m_nz=parent->command[idx].mcommand.para.stack1.nz & 0x0FFFFFFF;
			m_dx=parent->command[idx].mcommand.para.stack1.dx;
			m_dy=parent->command[idx].mcommand.para.stack1.dy;
			m_dz=parent->command[idx].mcommand.para.stack1.dz;
			m_delay=((double)(parent->command[idx].mcommand.para.stack1.ny))/100.0;
			m_Vac=parent->command[idx].mcommand.para.stack1.nz & 0x10000000;
			m_Hold=parent->command[idx].mcommand.para.stack1.nz & 0x20000000;
	        CButton *VacChk=(CButton *)GetDlgItem(IDC_CHECK1);
            if((m_Vac & 0x10000000) >0) VacChk->SetCheck(1); 
            else { m_Vac=0;  VacChk->SetCheck(0); }
	        CButton *HoldChk=(CButton *)GetDlgItem(IDC_CHECK2);
            if((m_Hold & 0x20000000) >0) HoldChk->SetCheck(1); 
            else { m_Hold=0; HoldChk->SetCheck(0);}
		}
        UpdateData(FALSE);
	    Temp_str.Format("%6.2f", m_dx);
        GetDlgItem(IDC_EDIT4)->SetWindowText(Temp_str);
	    Temp_str.Format("%6.2f", m_dy);
        GetDlgItem(IDC_EDIT5)->SetWindowText(Temp_str);
	    Temp_str.Format("%6.2f", m_dz);
        GetDlgItem(IDC_EDIT6)->SetWindowText(Temp_str);
	    Temp_str.Format("%6.2f", m_delay);
        GetDlgItem(IDC_EDIT7)->SetWindowText(Temp_str);


//		UpdateData(FALSE);
	}
}


void CStack::OnCheck1() 
{
	// TODO: Add your control notification handler code here
    if((m_Vac & 0x10000000)>0) m_Vac=0; 
    else m_Vac=0x10000000;	
}

void CStack::OnCheck2() 
{
	// TODO: Add your control notification handler code here
    if((m_Hold & 0x20000000)>0) m_Hold=0; 
    else m_Hold=0x20000000;		
}