sline.cpp

机械手IPC控制器伺服运动程序

// Sline.cpp : implementation file
//

#include "stdafx.h"
#include "mccl.h"
#include "alfa.h"
#include "Sline.h"
#include "TeachMode.h"
#include "sys.h"

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

/////////////////////////////////////////////////////////////////////////////
// CSline dialog

CSline::CSline(CWnd* pParent /*=NULL*/)
	: CDialog(CSline::IDD, pParent)
{
	//{{AFX_DATA_INIT(CSline)
	m_x = 0.0;
	m_z = 0.0;
	//}}AFX_DATA_INIT
}


void CSline::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CSline)
	DDX_Control(pDX, IDC_EDIT1, m_edit1);
	DDX_Control(pDX, IDC_EDIT2, m_edit2);
	DDX_Text(pDX, IDC_EDIT1, m_x);
	DDX_Text(pDX, IDC_EDIT2, m_z);
	//}}AFX_DATA_MAP
}


BEGIN_MESSAGE_MAP(CSline, CDialog)
	//{{AFX_MSG_MAP(CSline)
	ON_WM_SHOWWINDOW()
	ON_WM_LBUTTONDOWN()
	ON_WM_LBUTTONUP()
	ON_WM_TIMER()
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CSline message handlers

void CSline::OnShowWindow(BOOL bShow, UINT nStatus) 
{
	CDialog::OnShowWindow(bShow, nStatus);
    CString m_x_str, m_z_str;	
	// TODO: Add your message handler code here
	if(bShow==1)
	{
		CTeachMode * parent=(CTeachMode *)GetParent();
		if(parent->flagShow==0)
		{
			m_x=0.0;
			m_z=0.0;
		}
		else
		{
			int idx=parent->curidx;
			m_x=parent->command[idx].acommand.para.aline.x;
			m_z=parent->command[idx].acommand.para.aline.z;
		}
        CStatic *PosXmsg=(CStatic *)GetDlgItem(IDC_EDIT1);
        CStatic *PosZmsg=(CStatic *)GetDlgItem(IDC_EDIT2);
	    m_x_str.Format("%6.2f", m_x);
	    m_z_str.Format("%6.2f", m_z);
        PosXmsg->SetWindowText(m_x_str);      
        PosZmsg->SetWindowText(m_z_str);  


//		UpdateData(FALSE);
	}
}

void CSline::OnLButtonDown(UINT nFlags, CPoint point) 
{
    CString m_x_str, m_z_str; 
	long m_curmx, m_curmz, m_curmy;
	double m_y;
	WORD wInput0;
	WORD OTStatus, OTStatus1;

    MCC_GetRIOInputValue(&wInput0, RIO_SET1, RIO_PORT0, CARD_INDEX);
	MCC_GetENCValue(&m_curmy, 2, 0);
	MCC_GetENCValue(&m_curmx, 3, 0);
	MCC_GetENCValue(&m_curmz, 4, 0);
    m_curmy=m_curmy*unit2a;
    m_curmx=m_curmx*unit3a;
    m_curmz=m_curmz*unit4a;
    m_y=(m_curmy/2500.0)*unit2;
    m_x=(m_curmx/2500.0)*unit3;
    m_z=(m_curmz/2500.0)*unit4;
    CStatic *PosXmsg=(CStatic *)GetDlgItem(IDC_EDIT1);
    m_x_str.Format("%6.2f", m_x);
    PosXmsg->SetWindowText(m_x_str);
    CStatic *PosZmsg=(CStatic *)GetDlgItem(IDC_EDIT2);
    m_z_str.Format("%6.2f", m_z);
    PosZmsg->SetWindowText(m_z_str);

	if((OUTPUT0 & 0x2000)>0 || (wInput0 & 0x0080)>0) return;
	if(PtInRect(CRect(70, 60, 120, 90), point)) {
        if(MCC_GetLimitSwitchStatus(&OTStatus, 1, 3, 0)==0) { // SX+, HOT
            if(OTStatus==1) ;
			else if(m_x>SXSOT_Plus) ;     // SX+, SOT
			else {
		        MCC_JogConti(1, JogSpeed, 0, 1);  //  SX+
		        JogDir=7;
			    SetTimer(33, 10, NULL);
            }
		}
	}
	else if(PtInRect(CRect(10, 60, 60, 90), point)) {
        if(MCC_GetLimitSwitchStatus(&OTStatus, 0, 3, 0)==0) { // SX-, HOT
            if(OTStatus==1) ;
			else if(m_x<SXSOT_Minus) ;    // SX-, SOT
			else {
		        MCC_JogConti(-1, JogSpeed, 0, 1); //  SX-
		        JogDir=8;
			    SetTimer(33, 10, NULL);
            }
		}
	}
	else if(PtInRect(CRect(220, 60, 270, 90), point)) {
       MCC_GetLimitSwitchStatus(&OTStatus1, 0, 4, 0); 
       if(MCC_GetLimitSwitchStatus(&OTStatus, 1, 4, 0)==0) { // SZ+, HOT
            if(OTStatus==1) ;
			else if(OTStatus1==1) {
		        MCC_JogConti(1, JogSpeed, 2, 1); //  SZ+
		        JogDir=9;
			    SetTimer(33, 10, NULL);
			}
			else if((m_z>msafepos || (wInput0 & 0x1000)==0) &&                          
				    m_y>mytsafepos && m_y<mypsafepos) ; // SZ+, SOT
            else if(m_z>SZSOT_Plus)	;
			else if(m_y<mytsafepos && (wInput0 & 0x0001)==0) ;
			else {
		        MCC_JogConti(1, JogSpeed, 2, 1); //  SZ+
		        JogDir=9;
			    SetTimer(33, 10, NULL);
            }	
        }			
 	}
	else if(PtInRect(CRect(160, 60, 210, 90), point)) {
        if(MCC_GetLimitSwitchStatus(&OTStatus, 0, 4, 0)==0) { // SZ-, HOT
            if(OTStatus==1) ;
			else if(m_z<SZSOT_Minus) ;    // SZ-, SOT
            else {			
		        MCC_JogConti(-1, JogSpeed, 2, 1);  //  SZ-
			    JogDir=10;
			    SetTimer(33, 10, NULL);
			}
        }
	}

	CDialog::OnLButtonDown(nFlags, point); 
}


void CSline::OnLButtonUp(UINT nFlags, CPoint point) 
{
	CString m_x_str, m_z_str;
    if(JogDir==7 || JogDir==8) {
        CStatic *PosXmsg=(CStatic *)GetDlgItem(IDC_EDIT1);
	    m_x_str.Format("%6.2f", m_x);
        PosXmsg->SetWindowText(m_x_str);   
    }
    else if(JogDir==9 || JogDir==10) {
        CStatic *PosZmsg=(CStatic *)GetDlgItem(IDC_EDIT2);
	    m_z_str.Format("%6.2f", m_z);
        PosZmsg->SetWindowText(m_z_str);   
    } 
    JogDir=0;
    KillTimer(33);     
    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*JogSpeed/100.0, GROUP_INDEX0);
//    MCC_AbortMotionEx(SX_DecTime*JogSpeed/100.0, GROUP_INDEX1);
//    MCC_AbortMotionEx(Y_DecTime*JogSpeed/100.0, GROUP_INDEX2);

	CDialog ::OnLButtonUp(nFlags, point); 
}


void CSline::OnTimer(UINT nIDEvent) 
{
	int TempAlarm;
    CString m_x_str, m_z_str; 
	long m_curmx, m_curmz, m_curmy;
	double m_y;
	WORD wInput0;
	WORD OTStatus;

    TempAlarm=0;
    MCC_GetRIOInputValue(&wInput0, RIO_SET1, RIO_PORT0, CARD_INDEX);
	MCC_GetENCValue(&m_curmy, 2, 0);
	MCC_GetENCValue(&m_curmx, 3, 0);
	MCC_GetENCValue(&m_curmz, 4, 0);
    m_curmy=m_curmy*unit2a;
    m_curmx=m_curmx*unit3a;
    m_curmz=m_curmz*unit4a;
    m_y=(m_curmy/2500.0)*unit2;
    m_x=(m_curmx/2500.0)*unit3;
    m_z=(m_curmz/2500.0)*unit4;
    CStatic *PosXmsg=(CStatic *)GetDlgItem(IDC_EDIT1);
    m_x_str.Format("%6.2f", m_x);
    PosXmsg->SetWindowText(m_x_str);
    CStatic *PosZmsg=(CStatic *)GetDlgItem(IDC_EDIT2);
    m_z_str.Format("%6.2f", m_z);
    PosZmsg->SetWindowText(m_z_str);

	if((OUTPUT0 & 0x2000)>0 || (wInput0 & 0x0080)>0) TempAlarm=1;
	if(JogDir==7) {
        if(MCC_GetLimitSwitchStatus(&OTStatus, 1, 3, 0)==0) { // SX+, HOT
            if(OTStatus==1) TempAlarm=1;
			else if(m_x>SXSOT_Plus) TempAlarm=1; // SX+, SOT
        }
		else TempAlarm=1;
	}
	else if(JogDir==8) {
        if(MCC_GetLimitSwitchStatus(&OTStatus, 0, 3, 0)==0) { // SX-, HOT
            if(OTStatus==1) TempAlarm=1;
			else if(m_x<SXSOT_Minus) TempAlarm=1; // SX-, SOT
		}
		else TempAlarm=1;
	}
	else if(JogDir==9) {
        if(MCC_GetLimitSwitchStatus(&OTStatus, 1, 4, 0)==0) { // SZ+, HOT
            if(OTStatus==1) TempAlarm=1;
			else if((m_z>msafepos || (wInput0 & 0x1000)==0) &&                          
				    m_y>mytsafepos && m_y<mypsafepos) TempAlarm=1; // SZ+, SOT
            else if(m_z>SZSOT_Plus)	TempAlarm=1;
        }			
		else TempAlarm=1;
 	}
	else if(JogDir==10) {
        if(MCC_GetLimitSwitchStatus(&OTStatus, 0, 4, 0)==0) { // SZ-, HOT
            if(OTStatus==1) TempAlarm=1;
			else if(m_z<SZSOT_Minus) TempAlarm=1;    // SZ-, SOT
        }
		else TempAlarm=1;
	}

	if(TempAlarm>0) {
        JogDir=0; 
	    MCC_AbortMotion(0);
	    MCC_AbortMotion(1);
	    MCC_AbortMotion(2);
//        MCC_AbortMotionEx(MX_DecTime*JogSpeed/100.0, GROUP_INDEX0);
//        MCC_AbortMotionEx(SX_DecTime*JogSpeed/100.0, GROUP_INDEX1);
//        MCC_AbortMotionEx(Y_DecTime*JogSpeed/100.0, GROUP_INDEX2);
		KillTimer(33);	
    }

	CDialog::OnTimer(nIDEvent);
}