modes.cpp

机械手IPC控制器伺服运动程序

// Modes.cpp: implementation of the CModes class.
//
//////////////////////////////////////////////////////////////////////

#include "stdafx.h"
#include "alfa.h"
#include "Modes.h"

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

//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////
IMPLEMENT_SERIAL(CModes,CObject,0)
CModes::CModes()
{
  stack1_nx=0;
  stack1_ny=0;
  stack1_nz=0;
  stack1_dx=0;
  stack1_dy=0;
  stack1_dz=0;
  stack1_spdx=0;
  stack1_spdy=0;
  stack2_nz=0;
  stack2_dx=0;
  stack2_dy=0;
  stack2_dz=0;
  stack2_spdx=0;
  stack2_spdy=0;
  stack2_spdz=0;
}

CModes::~CModes()
{

}

void CModes::Serialize(CArchive &ar)
{
  	if(ar.IsLoading())
	{
		ar >> m_num;
		ar >> distance_z_main;
		ar >> distance_x_main;
		ar >> speed_down_main;
		ar >> speed_up_main;
		ar >> speed_back_main;
		ar >> speed_adv_main;
		ar >> distance_z_ass;
		ar >> distance_x_ass;
		ar >> speed_down_ass;
		ar >> speed_up_ass;
		ar >> speed_back_ass;
		ar >> speed_adv_ass;
		ar >> m_run_main;
		ar >> m_wait_main;
		ar >> m_waity;
		ar >> m_waitz_main;
//		ar >> m_put_main;
		ar >> m_puty_main;
		ar >> m_putz_main;
//		ar >> m_put2_main;
		ar >> m_put2y_main;
		ar >> m_put2z_main;
		ar >> m_run_ass;
		ar >> m_wait_ass;
		ar >> m_waitz_ass;
//		ar >> m_put_ass;
		ar >> m_puty_ass;
		ar >> m_putz_ass;
		ar >> m_shake;
        ar >> m_radio1;
		ar >> m_radio2;
		ar >> m_radio3;
		ar >> m_radio4;
		ar >> m_radio5;
		ar >> m_radio6;
		ar >> m_radio7;
		ar >> m_radio8;
		ar >> m_radio9;
		ar >> m_radio10;
		ar >> m_radio11;
		ar >> m_radio12;
		ar >> m_radio13;
		ar >> m_radio14;
		ar >> m_radio15;
		ar >> m_radio16;
		ar >> m_radio17;
		ar >> m_radio18;
		ar >> m_radio19;
		ar >> m_radio20;
		ar >> m_radio21;
		ar >> m_radio22;
		ar >> m_radio23;
		ar >> m_radio24;
		ar >> m_radio25;
		ar >> m_radio26;
		ar >> m_radio27;
		ar >> m_radio28;
		ar >> m_radio29;
        ar >> m_radio30;
		ar >> m_radio31;
		ar >> m_radio32;
		ar >> m_radio33;
		ar >> m_radio34;
		ar >> m_radio35;
		ar >> m_radio36;
		ar >> m_radio37;
		ar >> m_radio38;
		ar >> m_radio39;
		ar >> m_radio40;
		ar >> m_radio41;
		ar >> m_radio42;
		ar >> stack1_nx;
		ar >> stack1_ny;
		ar >> stack1_nz;
		ar >> stack1_dx;
		ar >> stack1_dy;
		ar >> stack1_dz;
		ar >> stack1_spdx;
		ar >> stack1_spdy;
		ar >> stack1_spdz;
		ar >> stack2_nx;
		ar >> stack2_ny;
		ar >> stack2_nz;
		ar >> stack2_dx;
		ar >> stack2_dy;
		ar >> stack2_dz;
		ar >> stack2_spdx;
		ar >> stack2_spdy;
		ar >> stack2_spdz;
		ar >> m_put1_mainspd;
		ar >> m_put2_mainspd;
		ar >> m_up_main;
		ar >> m_down_main;
		ar >> m_adv_main;
		ar >> m_back_main;
		ar >> m_up_ass;
		ar >> m_down_ass;
		ar >> m_adv_ass;
		ar >> m_back_ass;
		ar >> m_put_assspd;
		ar >> m_in_acrosspd;
		ar >> m_out_acrosspd;
		ar >> t_posadvance;
		ar >> t_posrecede;
		ar >> t_posup;
		ar >> t_poshold;
		ar >> t_veryin;
		ar >> t_posin;
		ar >> t_assadvance;
		ar >> t_assrecede;
		ar >> t_assup;
		ar >> t_assnip;
		ar >> t_assnipout;
		ar >> t_thimble;
		ar >> t_put;
		ar >> t_cuta;
		ar >> t_cut;
		ar >> t_cutr;
		ar >> t_outb;
		ar >> t_outa;
		ar >> c_enactedm;
		ar >> c_nowm;
		ar >> c_belt;
		ar >> c_time;
		ar >> s_t1a;
		ar >> s_t2;
		ar >> s_t1b;
		ar >> s_c1;
		ar >> s_c2;
	}
	else
	{
		ar << m_num;
		ar << distance_z_main;
		ar << distance_x_main;
		ar << speed_down_main;
		ar << speed_up_main;
		ar << speed_back_main;
		ar << speed_adv_main;
		ar << distance_z_ass;
		ar << distance_x_ass;
		ar << speed_down_ass;
		ar << speed_up_ass;
		ar << speed_back_ass;
		ar << speed_adv_ass;
		ar << m_run_main;
		ar << m_wait_main;
		ar << m_waity;
		ar << m_waitz_main;
//		ar << m_put_main;
		ar << m_puty_main;
		ar << m_putz_main;
//		ar << m_put2_main;
		ar << m_put2y_main;
		ar << m_put2z_main;
		ar << m_run_ass;
		ar << m_wait_ass;
		ar << m_waitz_ass;
//		ar << m_put_ass;
		ar << m_puty_ass;
		ar << m_putz_ass;
		ar << m_shake;
		ar << m_radio1;
		ar << m_radio2;
		ar << m_radio3;
		ar << m_radio4;
		ar << m_radio5;
		ar << m_radio6;
		ar << m_radio7;
		ar << m_radio8;
		ar << m_radio9;
		ar << m_radio10;
		ar << m_radio11;
		ar << m_radio12;
		ar << m_radio13;
		ar << m_radio14;
		ar << m_radio15;
		ar << m_radio16;
		ar << m_radio17;
		ar << m_radio18;
		ar << m_radio19;
		ar << m_radio20;
		ar << m_radio21;
		ar << m_radio22;
		ar << m_radio23;
		ar << m_radio24;
		ar << m_radio25;
		ar << m_radio26;
		ar << m_radio27;
		ar << m_radio28;
		ar << m_radio29;
        ar << m_radio30;
		ar << m_radio31;
		ar << m_radio32;
		ar << m_radio33;
		ar << m_radio34;
		ar << m_radio35;
		ar << m_radio36;
		ar << m_radio37;
		ar << m_radio38;
		ar << m_radio39;
		ar << m_radio40;
		ar << m_radio41;
		ar << m_radio42;
		ar << stack1_nx;
		ar << stack1_ny;
		ar << stack1_nz;
		ar << stack1_dx;
		ar << stack1_dy;
		ar << stack1_dz;
		ar << stack1_spdx;
		ar << stack1_spdy;
		ar << stack1_spdz;
		ar << stack2_nx;
		ar << stack2_ny;
		ar << stack2_nz;
		ar << stack2_dx;
		ar << stack2_dy;
		ar << stack2_dz;
		ar << stack2_spdx;
		ar << stack2_spdy;
		ar << stack2_spdz;
		ar << m_put1_mainspd;
		ar << m_put2_mainspd;
		ar << m_up_main;
		ar << m_down_main;
		ar << m_adv_main;
		ar << m_back_main;
		ar << m_up_ass;
		ar << m_down_ass;
		ar << m_adv_ass;
		ar << m_back_ass;
		ar << m_put_assspd;
		ar << m_in_acrosspd;
		ar << m_out_acrosspd;
		ar << t_posadvance;
		ar << t_posrecede;
		ar << t_posup;
		ar << t_poshold;
		ar << t_veryin;
		ar << t_posin;
		ar << t_assadvance;
		ar << t_assrecede;
		ar << t_assup;
		ar << t_assnip;
		ar << t_assnipout;
		ar << t_thimble;
		ar << t_put;
		ar << t_cuta;
		ar << t_cut;
		ar << t_cutr;
		ar << t_outb;
		ar << t_outa;
		ar << c_enactedm;
		ar << c_nowm;
		ar << c_belt;
		ar << c_time;
		ar << s_t1a;
		ar << s_t2;
		ar << s_t1b;
		ar << s_c1;
		ar << s_c2;
	}
}