autofull.cpp

机械手IPC控制器伺服运动程序

// AutoFull.cpp : implementation file
//

#include "stdafx.h"
#include "alfa.h"
#include "AutoFull.h"
#include "Main.h"
#include "mccl.h"
#include "sys.h"

#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif
#define TimerID 11
/////////////////////////////////////////////////////////////////////////////
// CAutoFull dialog
//	int	msgsw2,msgsw7,msgsw8,msgsw9,msgsw10,msgsw11,msgsw12;
//	int	msgsw13,msgsw14,msgsw15,msgsw16;
	unsigned int msgsw1, msgsw2;

CAutoFull::CAutoFull(CWnd* pParent /*=NULL*/)
	: CDialog(CAutoFull::IDD, pParent)
{
	//{{AFX_DATA_INIT(CAutoFull)
	m_mdmx = 0.0;
	m_mdmz = 0.0;
	m_mdmsy = 0.0;
	m_mdsx = 0.0;
	m_mdsz = 0.0;
	msgsw1=0;
	msgsw2=0;
	//}}AFX_DATA_INIT
}


void CAutoFull::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CAutoFull)
	DDX_Control(pDX, IDC_VAC, m_vac);
	DDX_Control(pDX, IDC_SDM, m_sdm);
	DDX_Control(pDX, IDC_MOP, m_mop);
	DDX_Control(pDX, IDC_EMC, m_emc);
	DDX_Control(pDX, IDC_EFP, m_efp);
	DDX_Control(pDX, IDC_CK, m_ck);
	DDX_Control(pDX, IDC_AUTO, m_auto);
//	DDX_Text(pDX, IDC_EDIT1, m_mdmx);
//	DDX_Text(pDX, IDC_EDIT2, m_mdmz);
//	DDX_Text(pDX, IDC_EDIT3, m_mdmsy);
//	DDX_Text(pDX, IDC_EDIT4, m_mdsx);
//	DDX_Text(pDX, IDC_EDIT5, m_mdsz);
	DDX_Text(pDX, IDC_EDIT1, m_mdmx_str);
	DDX_Text(pDX, IDC_EDIT2, m_mdmz_str);
	DDX_Text(pDX, IDC_EDIT3, m_mdmsy_str);
	DDX_Text(pDX, IDC_EDIT4, m_mdsx_str);
	DDX_Text(pDX, IDC_EDIT5, m_mdsz_str);
	DDX_Text(pDX, IDC_EDIT6, m_fixstep);
	DDX_Text(pDX, IDC_EDIT7, m_timecount);
	DDX_Text(pDX, IDC_EDIT8, m_inputdata);
	//}}AFX_DATA_MAP
}


BEGIN_MESSAGE_MAP(CAutoFull, CDialog)
	//{{AFX_MSG_MAP(CAutoFull)
	ON_BN_CLICKED(IDC_BUTTON1, OnButton1)
	ON_BN_CLICKED(IDC_BUTTON2, OnButton2)
	ON_BN_CLICKED(IDC_BUTTON3, OnButton3)
	ON_WM_SHOWWINDOW()
	ON_BN_CLICKED(IDC_BUTTON4, OnButton4)
	ON_WM_TIMER()
	ON_BN_CLICKED(IDC_BUTTON5, OnButton5)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CAutoFull message handlers

// Timer
void CAutoFull::OnButton1() 
{
	// TODO: Add your control notification handler code here
	ShowWindow(FALSE);
	CMain * main=(CMain *)GetParent();
	main->dlgautotimer->ShowWindow(TRUE);
	KillTimer(TimerID);

}

// Speed
void CAutoFull::OnButton2() 
{
	// TODO: Add your control notification handler code here
    ShowWindow(FALSE);
	CMain * main=(CMain *)GetParent();
	main->dlgautofixspeed->ShowWindow(TRUE);
	KillTimer(TimerID);
}

//Exit
void CAutoFull::OnButton3() 
{
	// TODO: Add your control notification handler code here
	ShowWindow(FALSE);
	CMain * main=(CMain *)GetParent();
    main->dlgauto->ShowWindow(TRUE);
	KillTimer(TimerID);
    
//    main->dlgmainfrm->ShowWindow(TRUE);

//  main->dlgauto->KillTimer(2);
//	main->dlgauto->PostMessage(WM_LISTADD);
//	main->dlgmainfrm->ShowWindow(TRUE);

}


// Position
void CAutoFull::OnButton4() 
{
	// TODO: Add your control notification handler code here
	ShowWindow(FALSE);
	CMain * main=(CMain *)GetParent();
	main->dlgautofixpos->ShowWindow(TRUE);
	KillTimer(TimerID);
}

void CAutoFull::OnShowWindow(BOOL bShow, UINT nStatus) 
{
	CDialog::OnShowWindow(bShow, nStatus);
	
	// TODO: Add your message handler code here
	if(bShow==1)
	{
		CMain * main=(CMain *)GetParent();
		main->dlgcur=this;
		SetTimer(TimerID, 300, NULL);
	}
}


void CAutoFull::OnTimer(UINT nIDEvent) 
{
	// TODO: Add your message handler code here and/or call default
	long	m_atgdmx,m_atgdmz,m_atgdmsy,m_atgdsx,m_atgdsz;
	MCC_GetENCValue(&m_atgdmx, 0, 0);
	MCC_GetENCValue(&m_atgdmz, 1, 0);
	MCC_GetENCValue(&m_atgdmsy,2, 0);
	MCC_GetENCValue(&m_atgdsx, 3, 0);
	MCC_GetENCValue(&m_atgdsz, 4, 0);
    m_atgdmx=m_atgdmx*unit0a;
    m_atgdmz=m_atgdmz*unit1a;
    m_atgdmsy=m_atgdmsy*unit2a;
    m_atgdsx=m_atgdsx*unit3a;
    m_atgdsz=m_atgdsz*unit4a;
	m_mdmx=(m_atgdmx/2500.0)*unit0;
	m_mdmz=(m_atgdmz/2500.0)*unit1;
	m_mdmsy=(m_atgdmsy/2500.0)*unit2;
	m_mdsx=(m_atgdsx/2500.0)*unit3;
	m_mdsz=(m_atgdsz/2500.0)*unit4;
    m_mdmx_str.Format("%6.2f ", m_mdmx); 
    m_mdmz_str.Format("%6.2f ", m_mdmz); 
    m_mdmsy_str.Format("%6.2f ", m_mdmsy); 
    m_mdsx_str.Format("%6.2f ", m_mdsx); 
    m_mdsz_str.Format("%6.2f ", m_mdsz); 
	UpdateData(FALSE);

    m_fixstep=GFixStep;
	m_timecount=GTimeCount;
	m_inputdata=GInputData;
	UpdateData(FALSE);	
	if(msgalm>0 || JogAlarm>0) {
        if(msgalm!=msgsw2 || JogAlarm!=msgsw1) {
            if((msgalm & 0x80000000)>0 || JogAlarm>0) {
//	            MCC_AbortMotion(0); //  stop current motion and discard all motion commands in a command queue
//	            MCC_AbortMotion(1); //  stop current motion and discard all motion commands in a command queue
//	            MCC_AbortMotion(2); //  stop current motion and discard all motion commands in a command queue
                MCC_AbortMotionEx(MX_DecTime, GROUP_INDEX0);
                MCC_AbortMotionEx(SX_DecTime, GROUP_INDEX1);
                MCC_AbortMotionEx(Y_DecTime, GROUP_INDEX2);
            }
			else if((msgalm & 0x40000000)>0) {
			    MCC_HoldMotion(0);
                MCC_HoldMotion(1);
                MCC_HoldMotion(2);
            }
			msgsw1=JogAlarm;
			msgsw2=msgalm;
			dlgalm1->OnAtmsgAlm();
			dlgalm1->ShowWindow(TRUE);
		}
	}
	else {
		msgsw2=0;
		dlgalm1->OnAtmsgAlm();
		dlgalm1->ShowWindow(FALSE);
	}

	WORD	wInput0;
	WORD	wInput;
	MCC_GetRIOInputValue( &wInput0, RIO_SET1, RIO_PORT0, CARD_INDEX);//  get   remote I/O set 0's DI0  ~ DI15 statuses
	wInput=wInput0;
	CClientDC dc(this);
	if(wInput0==(wInput|0x0001))
	{
		ShowTransparentBitmap(&dc,IDB_BITMAP7,led[2].x,led[2].y);
	}
	else
		ShowTransparentBitmap(&dc,IDB_BITMAP8,led[2].x,led[2].y);
	wInput=wInput0;
	if(wInput0==(wInput|0x0002))
	{
		ShowTransparentBitmap(&dc,IDB_BITMAP7,led[0].x,led[0].y);
	}
	else
		ShowTransparentBitmap(&dc,IDB_BITMAP8,led[0].x,led[0].y);
	wInput=wInput0;
	if(wInput0==(wInput|0x0020))
	{
		ShowTransparentBitmap(&dc,IDB_BITMAP7,led[1].x,led[1].y);
	}
	else
		ShowTransparentBitmap(&dc,IDB_BITMAP8,led[1].x,led[1].y);
	wInput=wInput0;
	if(wInput0==(wInput|0x0080))
	{
		ShowTransparentBitmap(&dc,IDB_BITMAP7,led[6].x,led[6].y);
	}
	else
		ShowTransparentBitmap(&dc,IDB_BITMAP8,led[6].x,led[6].y);
	wInput=wInput0;
	if(wInput0==(wInput|0x0100))
	{
		ShowTransparentBitmap(&dc,IDB_BITMAP7,led[3].x,led[3].y);
	}
	else
		ShowTransparentBitmap(&dc,IDB_BITMAP8,led[3].x,led[3].y);
	WORD	wOUTPUT;
	wOUTPUT=OUTPUT0;
	if(OUTPUT0==(wOUTPUT|0x0100))
	{
		ShowTransparentBitmap(&dc,IDB_BITMAP7,led[5].x,led[5].y);
	}
	else
	{
		ShowTransparentBitmap(&dc,IDB_BITMAP8,led[5].x,led[5].y);
	}
	wOUTPUT=OUTPUT0;
	if(OUTPUT0==(wOUTPUT|0x0200))
	{
		ShowTransparentBitmap(&dc,IDB_BITMAP7,led[4].x,led[4].y);
	}
	else
	{
		ShowTransparentBitmap(&dc,IDB_BITMAP8,led[4].x,led[4].y);
	}
	CDialog::OnTimer(nIDEvent);
}


BOOL CAutoFull::OnInitDialog() 
{
	CDialog::OnInitDialog();
	// TODO: Add extra initialization here
	h_SkinDialog.SubClassDialog(m_hWnd);
	dlgalm1=new Calm1;
	dlgalm1->Create(IDD_DIALOGALM1, this);
	dlgalm1->MoveWindow(0, 410, 550, 120);
//	dlgalm1->ShowWindow(TRUE);
	CRect rt;
	m_vac.GetWindowRect(rt);
	led[0].x=rt.left;
	led[0].y=rt.top;
	m_ck.GetWindowRect(rt);
	led[1].x=rt.left;
	led[1].y=rt.top;
	m_mop.GetWindowRect(rt);
	led[2].x=rt.left;
	led[2].y=rt.top;
	m_sdm.GetWindowRect(rt);
	led[3].x=rt.left;
	led[3].y=rt.top;
	m_efp.GetWindowRect(rt);
	led[4].x=rt.left;
	led[4].y=rt.top;
	m_emc.GetWindowRect(rt);
	led[5].x=rt.left;
	led[5].y=rt.top;
	m_auto.GetWindowRect(rt);
	led[6].x=rt.left;
	led[6].y=rt.top;
	return TRUE;  // return TRUE unless you set the focus to a control
	              // EXCEPTION: OCX Property Pages should return FALSE
}

// Reset
void CAutoFull::OnButton5() 
{
	// TODO: Add your control notification handler code here
//	MCC_AbortMotion(0); //  stop current motion and discard all motion commands in a command queue
//	MCC_AbortMotion(1); //  stop current motion and discard all motion commands in a command queue
//	MCC_AbortMotion(2); //  stop current motion and discard all motion commands in a command queue
    MCC_AbortMotionEx(MX_DecTime, GROUP_INDEX0);
    MCC_AbortMotionEx(SX_DecTime, GROUP_INDEX1);
    MCC_AbortMotionEx(Y_DecTime, GROUP_INDEX2);
	autoovflg=0;
	CMain * main=(CMain *)GetParent();
	main->dlgauto->KillTimer(2);

	msgalm=0;
//	LatchedAlm=0;
	JogAlarm=0;
//	autorunflg=0;
}