fixedmode.h

机械手IPC控制器伺服运动程序

#if !defined(AFX_FIXEDMODE_H__EC4E3B60_0370_446C_8890_DAD59E0F8BFC__INCLUDED_)
#define AFX_FIXEDMODE_H__EC4E3B60_0370_446C_8890_DAD59E0F8BFC__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000
// FixedMode.h : header file
//

typedef struct{
	int speed_adv_ass;
	int speed_back_ass;
	int speed_up_ass;
	int speed_down_ass;
	double distance_x_ass;
	double distance_z_ass;
	int speed_adv_main;
	int speed_back_main;
	int speed_up_main;
	int speed_down_main;
	double distance_x_main;
	double distance_z_main;
}MoveParam;

#include "MyEditFull.h"
#include "common.h"
#include "DataGlobal.h"
/////////////////////////////////////////////////////////////////////////////
// CFixedMode dialog

class CFixedMode : public CDialog
{
// Construction
public:
	void LoadParam(CModes * pmode);
	void Initialise();
	void DisplayAssGram();
	void DisplayMainGram();
	void SaveRecords();
	BOOL CanSerialize();
	void LoadRecords();
	BOOL CanSerialise();
// Added For Try Run 
	void MoveCheck(int ngroup);
	BOOL SideCheck();
	void MasterMove();
	void SlaveMove();
	void AlarmCheck();
	void GetParam();
	void GetPosCoord(); 
	void IOControl();
    void AlarmStatus(); 
    void AlarmLog();
    void AlarmDisplayON(); 
    void AlarmDisplayOFF(); 
	void SaveGlobal(); 
	void FormatData();
	void Stack1Proc();
	void Stack2Proc();
	CFixedMode(CWnd* pParent = NULL);   // standard constructor
	TModeCollection m_Contacts;
	CDataGlobal glb;
	MoveParam  moveparam;
	int flagShow;
// Dialog Data
	//{{AFX_DATA(CFixedMode)
	enum { IDD = IDD_DIALOGFIXEDMODE };
	CListBox	m_list5;
	CStatic	m_prompt2;
	CStatic	m_prompt1;
	CMyEditFull	m_edt20;
	CMyEditFull	m_edt19;
	CMyEditFull	m_edt17;
	CMyEditFull	m_edt14;
	CMyEditFull	m_edt13;
	CMyEditFull	m_edt12;
	CMyEditFull	m_edt11;
	CMyEditFull	m_edt10;
	CMyEditFull	m_edt9;
	CMyEditFull	m_edt8;
	CMyEditFull	m_edt5;
	CMyEditFull	m_edt2;
	double	m_wait_main;
	double	m_wait_ass;
	double	m_waitz_main;
	double	m_waitz_ass;
	double	m_puty_main;
	double	m_putz_main;
	double	m_puty_ass;
	double	m_putz_ass;
	double	m_put2y_main;
	double	m_put2z_main;
	int		m_run_main;
	int		m_run_ass;
	double	m_waity;
	CString	m_num;
//	CString m_mnumx_str;
//	CString m_mnumz_str;
//	CString m_mnumsy_str;
//	CString m_mnusx_str;
//	CString m_mnusz_str;
// Added For Try Run
	double posxwaitm;
	double posywait;
	double poszwaitm;
	double posxwaits;
	double poszwaits;
	double dnzminm;
	double dnzmins;
	double fwdxminm;
	double fwdxmins;
	double putpartm;
	double putpart2m;
	double putzpartm;
	double putzpart2m;
	double putparts;
	double putzparts;
	double m_stmx, m_stmy, m_stmz;
    CString ms_run_main;
	CString ms_run_ass;
	int     m_fixstep;
    int     m_sysalarm;
	int     m_inputdata;
	int MasterStep, SlaveStep;
	int Stack1Step, Stack2Step;

// Added From Global Area To Here
    int FixStep; // Fix Mode Step
	int Vac1Chk,Vac2Chk,Vac3Chk,Vac4Chk,Vac5Chk,Hold1Chk,Hold2Chk,GrispChk; // Vac./Hold/Grisp Check
	int MWaitMode,MPutMode,SPutMode ; // Master Waiting Mode,Master/Slave Putting Mode
    int PinCtrl; // Eject Pin Control
	int Stack1Used, Stack2Used; // Stack
	int	autokk;
	int	moprun;
	int mldinrun;
	int travrun;
	int mldoutrun;
	int travinrun;
	int	vac1start; // for Vac. On
	int	vac2start; // for Hold On
	int	hold1start;// for Grisp On
	int hold1over; // for Grisp Off
	int vac1over;
	int pinstart;  // for Eject Pin On
    int conveyact; // for Conveyor On
	unsigned int	vac1tim; // for Vac. On
	unsigned int	vac2tim; // for Hold On
	unsigned int	pintim;  // for Eject Pin On
	unsigned int	vac1tim_n;
	unsigned int	hold1tim;   // for Grisp On
	unsigned int	hold1tim_n; // for Grisp Off
	unsigned int	conveytime; // for Conveyor On Time

	int mafrun;
	int waitrun;
	int	progovrun;
	int	statasact;
	int	statastrav;
	int	stataswait;
	int	actflg;
	int	rotflg;
	int	acttim;
	int	rottim;
	int	almclr;
	int startrun;

	int TimerCount;
    int PutPoint[3], PointNum;
	int PutStep, Side_Flag, PointIndex;
	double waitposmx, waitposmz, waitposmy, waitpossx, waitpossz;
	double MXPos, MZPos, SXPos, SZPos, SXPos1;
	double EPosMX, EPosMZ, EPosMSY, EPosSX, EPosSZ;
	double m_curcmx, m_curcmz, m_curcmsy, m_curcsx, m_curcsz, m_dummy;
    int RobotRun_Flag, Divide_Flag;
	int GTimeCountTemp;
	int Get_Flag, Get_Flag1, Mold_Close;
    int m_CycleSt;
	WORD wInput, wInput0, wInput1, out0;

	//}}AFX_DATA

// Overrides
	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CFixedMode)
	public:
	virtual void Serialize(CArchive& ar);
	protected:
	virtual void DoDataExchange(CDataExchange* pDX);    // DDX/DDV support
	//}}AFX_VIRTUAL

// Implementation
protected:

	// Generated message map functions
	//{{AFX_MSG(CFixedMode)
	virtual BOOL OnInitDialog();
	afx_msg void OnLButtonDown(UINT nFlags, CPoint point);
	afx_msg void OnButton3();
	afx_msg void OnButton2();
	afx_msg void OnButton1();
	afx_msg void OnButtonRUN();
	afx_msg void OnButtonRESET();
	afx_msg void OnButtonMX();
	afx_msg void OnButtonMZ1();
	afx_msg void OnButtonMZ2();
	afx_msg void OnButtonMZ3();
	afx_msg void OnButtonSX();
	afx_msg void OnButtonSZ1();
	afx_msg void OnButtonSZ2();
	afx_msg void OnButtonY1();
	afx_msg void OnButtonY2();
	afx_msg void OnButtonY3();
	afx_msg void OnButtonY4();

	afx_msg void OnShowWindow(BOOL bShow, UINT nStatus);
	afx_msg void OnSelchangeCombo1();
	afx_msg void OnSelchangeCombo2();
	afx_msg void OnPaint();
	afx_msg void OnSelchangeCombo3();
	afx_msg void OnTimer(UINT nIDEvent);
	//}}AFX_MSG
	DECLARE_MESSAGE_MAP()
};

//{{AFX_INSERT_LOCATION}}
// Microsoft Visual C++ will insert additional declarations immediately before the previous line.

#endif // !defined(AFX_FIXEDMODE_H__EC4E3B60_0370_446C_8890_DAD59E0F8BFC__INCLUDED_)