basictestdlg.cpp

是一个运动控制器的实验平台软件,主要通过编程实现伺服/步进电机的不同控制模式.

 // BASICTESTDlg.cpp : implementation file
//

#include "stdafx.h"
#include "BASICTEST.h"
#include "BASICTESTDlg.h"
#include "DRAW.h"
#include "GT400SG.h"
#include "SkinPlusPlus.h"
#include "_command.h"
#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif



/////////////////////////////////////////////////////////////////////////////
// CAboutDlg dialog used for App About

class CAboutDlg : public CDialog
{
public:
	CAboutDlg();

// Dialog Data
	//{{AFX_DATA(CAboutDlg)
	enum { IDD = IDD_ABOUTBOX };
	//}}AFX_DATA

	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CAboutDlg)
	protected:
	virtual void DoDataExchange(CDataExchange* pDX);    // DDX/DDV support
	//}}AFX_VIRTUAL

// Implementation
protected:
	//{{AFX_MSG(CAboutDlg)
	//}}AFX_MSG
	DECLARE_MESSAGE_MAP()
};

CAboutDlg::CAboutDlg() : CDialog(CAboutDlg::IDD)
{
	//{{AFX_DATA_INIT(CAboutDlg)
	//}}AFX_DATA_INIT
}

void CAboutDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CAboutDlg)
	//}}AFX_DATA_MAP
}

BEGIN_MESSAGE_MAP(CAboutDlg, CDialog)
	//{{AFX_MSG_MAP(CAboutDlg)
		// No message handlers
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CBASICTESTDlg dialog

CBASICTESTDlg::CBASICTESTDlg(CWnd* pParent /*=NULL*/)
	: CDialog(CBASICTESTDlg::IDD, pParent)
{
	//{{AFX_DATA_INIT(CBASICTESTDlg)
	m_bit1 = -1;
	m_bit2 = -1;
	m_bit3 = -1;
	m_bit4 = -1;
	m_bit5 = -1;
	m_bit6 = -1;
	m_bit7 = -1;
	m_bit8 = -1;
	m_bit9 = -1;
	m_bit10 = -1;
	m_bit11 = -1;
	m_bit12 = -1;
	m_bit13 = -1;
	m_bit14 = -1;
	m_bit15 = -1;
	m_bit16 = -1;
	m_axis = -1;
	m_acc = 0.0;
	m_jerk = 0.0;
	m_macc = 0.0;
	m_mvel = 0.0;
	m_pos = 0;
	m_vel = 0.0;
	//}}AFX_DATA_INIT
	// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
}

void CBASICTESTDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CBASICTESTDlg)
	DDX_Control(pDX, IDC_JERK_EDIT, m_cjerk);
	DDX_Control(pDX, IDC_MACC_EDIT, m_cmacc);
	DDX_Control(pDX, IDC_MVEL_EDIT, m_cmvel);
	DDX_Control(pDX, IDC_POS_EDIT, m_cpos);
	DDX_Control(pDX, IDC_VEL_EDIT, m_cvel);
	DDX_Control(pDX, IDC_ACC_EDIT, m_cacc);
	DDX_Radio(pDX, IDC_BIT1_RADIO, m_bit1);
	DDX_Radio(pDX, IDC_BIT2_RADIO, m_bit2);
	DDX_Radio(pDX, IDC_BIT3_RADIO, m_bit3);
	DDX_Radio(pDX, IDC_BIT4_RADIO, m_bit4);
	DDX_Radio(pDX, IDC_BIT5_RADIO, m_bit5);
	DDX_Radio(pDX, IDC_BIT6_RADIO, m_bit6);
	DDX_Radio(pDX, IDC_BIT7_RADIO, m_bit7);
	DDX_Radio(pDX, IDC_BIT8_RADIO, m_bit8);
	DDX_Radio(pDX, IDC_BIT9_RADIO, m_bit9);
	DDX_Radio(pDX, IDC_BIT10_RADIO, m_bit10);
	DDX_Radio(pDX, IDC_BIT11_RADIO, m_bit11);
	DDX_Radio(pDX, IDC_BIT12_RADIO, m_bit12);
	DDX_Radio(pDX, IDC_BIT13_RADIO, m_bit13);
	DDX_Radio(pDX, IDC_BIT14_RADIO, m_bit14);
	DDX_Radio(pDX, IDC_BIT15_RADIO, m_bit15);
	DDX_Radio(pDX, IDC_BIT16_RADIO, m_bit16);
	DDX_Radio(pDX, IDC_AXIS_SELECT_RADIO, m_axis);
	DDX_Text(pDX, IDC_ACC_EDIT, m_acc);
	DDX_Text(pDX, IDC_JERK_EDIT, m_jerk);
	DDX_Text(pDX, IDC_MACC_EDIT, m_macc);
	DDX_Text(pDX, IDC_MVEL_EDIT, m_mvel);
	DDX_Text(pDX, IDC_POS_EDIT, m_pos);
	DDX_Text(pDX, IDC_VEL_EDIT, m_vel);
	//}}AFX_DATA_MAP
}

BEGIN_MESSAGE_MAP(CBASICTESTDlg, CDialog)
	//{{AFX_MSG_MAP(CBASICTESTDlg)
	ON_WM_SYSCOMMAND()
	ON_WM_PAINT()
	ON_WM_QUERYDRAGICON()
	ON_WM_TIMER()
	ON_BN_CLICKED(IDC_MODE_RADIO, OnModeRadio)
	ON_BN_CLICKED(IDC_RADIO5, OnRadio5)
	ON_BN_CLICKED(IDC_OPENC_BUTTON, OnClickOpencButton)
    ON_BN_CLICKED(IDC_ONSERVOC_BUTTON, OnClickOnservocButton)
	ON_BN_CLICKED(IDC_CLOSE_BUTTON, OnClickCloseButton)
	ON_BN_CLICKED(IDC_OFFSERVO_BUTTON, OnClickOffservoButton)
	ON_BN_CLICKED(IDC_RUN, OnClickRun)
	ON_BN_CLICKED(IDC_COMMAND_STOP, OnClickCommandStop)
	ON_BN_CLICKED(IDC_ESTOP_COMMAND, OnClickEstopCommand)
	ON_BN_CLICKED(IDC_CLEAR_BUTTON, OnClickClearButton)

//	ON_EVENT(CBASICTESTDlg, IDC_OPENC_BUTTON, 1 /* Click */, OnClickOpencButton, VTS_NONE)
//	ON_EVENT(CBASICTESTDlg, IDC_ONSERVOC_BUTTON, 1 /* Click */, OnClickOnservocButton, VTS_NONE)
//	ON_EVENT(CBASICTESTDlg, IDC_MODE_BUTTON, 1 /* Click */, OnClickModeButton, VTS_NONE)
//	ON_EVENT(CBASICTESTDlg, IDC_CLOSE_BUTTON, 1 /* Click */, OnClickCloseButton, VTS_NONE)
//	ON_EVENT(CBASICTESTDlg, IDC_OFFSERVO_BUTTON, 1 /* Click */, OnClickOffservoButton, VTS_NONE)
//	ON_EVENT(CBASICTESTDlg, IDC_RUN, 1 /* Click */, OnClickRun, VTS_NONE)
//	ON_EVENT(CBASICTESTDlg, IDC_COMMAND_STOP, 1 /* Click */, OnClickCommandStop, VTS_NONE)
//	ON_EVENT(CBASICTESTDlg, IDC_ESTOP_COMMAND, 1 /* Click */, OnClickEstopCommand, VTS_NONE)
//	ON_EVENT(CBASICTESTDlg, IDC_CLEAR_BUTTON, 1 /* Click */, OnClickClearButton, VTS_NONE)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CBASICTESTDlg message handlers

BOOL CBASICTESTDlg::OnInitDialog()
{
	CDialog::OnInitDialog();

	// Add "About..." menu item to system menu.

	// IDM_ABOUTBOX must be in the system command range.
	ASSERT((IDM_ABOUTBOX & 0xFFF0) == IDM_ABOUTBOX);
	ASSERT(IDM_ABOUTBOX < 0xF000);

	CMenu* pSysMenu = GetSystemMenu(FALSE);
	if (pSysMenu != NULL)
	{
		CString strAboutMenu;
		strAboutMenu.LoadString(IDS_ABOUTBOX);
		if (!strAboutMenu.IsEmpty())
		{
			pSysMenu->AppendMenu(MF_SEPARATOR);
			pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu);
		}
	}

	// Set the icon for this dialog.  The framework does this automatically
	//  when the application's main window is not a dialog
	SetIcon(m_hIcon, TRUE);			// Set big icon
	SetIcon(m_hIcon, FALSE);		// Set small icon
	
	// TODO: Add extra initialization here
	//LoadSkin(_T("XPCorona.ssk"));
   // LoadSkin(_T("Minimized.ssk"));
   // LoadSkin(_T("SoftCrystal.ssk"));
    CButton *button=(CButton*)GetDlgItem(IDC_CHECK1);
	button->EnableWindow(FALSE);
	button=(CButton*)GetDlgItem(IDC_CHECK1);
    button->EnableWindow(FALSE);
	button=(CButton*)GetDlgItem(IDC_CHECK2);
    button->EnableWindow(FALSE);
	button=(CButton*)GetDlgItem(IDC_CHECK3);
    button->EnableWindow(FALSE);
	button=(CButton*)GetDlgItem(IDC_CHECK4);
    button->EnableWindow(FALSE);
	button=(CButton*)GetDlgItem(IDC_CHECK5);
    button->EnableWindow(FALSE);
	button=(CButton*)GetDlgItem(IDC_CHECK1);
    button->EnableWindow(FALSE);
	button=(CButton*)GetDlgItem(IDC_CHECK6);
    button->EnableWindow(FALSE);
	button=(CButton*)GetDlgItem(IDC_CHECK7);
    button->EnableWindow(FALSE);
	button=(CButton*)GetDlgItem(IDC_CHECK8);
    button->EnableWindow(FALSE);
	button=(CButton*)GetDlgItem(IDC_CHECK9);
    button->EnableWindow(FALSE);
	button=(CButton*)GetDlgItem(IDC_CHECK10);
    button->EnableWindow(FALSE);
	button=(CButton*)GetDlgItem(IDC_CHECK11);
    button->EnableWindow(FALSE);
	button=(CButton*)GetDlgItem(IDC_CHECK12);
    button->EnableWindow(FALSE);
	button=(CButton*)GetDlgItem(IDC_CHECK13);
    button->EnableWindow(FALSE);
	button=(CButton*)GetDlgItem(IDC_CHECK14);
    button->EnableWindow(FALSE);
	button=(CButton*)GetDlgItem(IDC_CHECK15);
    button->EnableWindow(FALSE);
	button=(CButton*)GetDlgItem(IDC_CHECK16);
    button->EnableWindow(FALSE);

//	m_prosheetdlg.AddPage(&m_Smodedlg);
//	m_prosheetdlg.AddPage(&m_Tmodedlg);
//	m_prosheetdlg.SetTitle("运动控制模式选择及相应参数设置");
	m_axis=0;
	
	CButton *Bbutton=(CButton*)GetDlgItem(IDC_CLOSE_BUTTON);
	Bbutton->EnableWindow(FALSE);
	Bbutton=(CButton*)GetDlgItem(IDC_ONSERVOC_BUTTON);
	Bbutton->EnableWindow(FALSE);
	Bbutton=(CButton*)GetDlgItem(IDC_OFFSERVO_BUTTON);
	Bbutton->EnableWindow(FALSE);
	//Bbutton=(CButton*)GetDlgItem(IDC_MODE_BUTTON);
//	Bbutton->EnableWindow(FALSE);
  
	
	m_bit1=1;
	m_bit2=1;
	m_bit3=1;
	m_bit4=1;
	m_bit5=1;
	m_bit6=1;
	m_bit7=1;
	m_bit8=1;
	m_bit9=1;
	m_bit10=1;
	m_bit11=1;
	m_bit12=1;
	m_bit13=1;
    m_bit14=1;
	m_bit15=1;
	m_bit16=1;

	m_mode=1;
    CButton* bbutton=(CButton*)GetDlgItem(IDC_MODE_RADIO);
	bbutton->SetCheck(1);
	m_cacc.EnableWindow(FALSE);
	m_cmvel.EnableWindow(FALSE);
	UpdateData(FALSE);
	return TRUE;  // return TRUE  unless you set the focus to a control
}

void CBASICTESTDlg::OnSysCommand(UINT nID, LPARAM lParam)
{
	if ((nID & 0xFFF0) == IDM_ABOUTBOX)
	{
		CAboutDlg dlgAbout;
		dlgAbout.DoModal();
	}
	else
	{
		CDialog::OnSysCommand(nID, lParam);
	}
}

// If you add a minimize button to your dialog, you will need the code below
//  to draw the icon.  For MFC applications using the document/view model,
//  this is automatically done for you by the framework.

void CBASICTESTDlg::OnPaint() 
{
	if (IsIconic())
	{
		CPaintDC dc(this); // device context for painting

		SendMessage(WM_ICONERASEBKGND, (WPARAM) dc.GetSafeHdc(), 0);

		// Center icon in client rectangle
		int cxIcon = GetSystemMetrics(SM_CXICON);
		int cyIcon = GetSystemMetrics(SM_CYICON);
		CRect rect;
		GetClientRect(&rect);
		int x = (rect.Width() - cxIcon + 1) / 2;
		int y = (rect.Height() - cyIcon + 1) / 2;

		// Draw the icon
		dc.DrawIcon(x, y, m_hIcon);
	}
	else
	{
		CDialog::OnPaint();
	}
}

// The system calls this to obtain the cursor to display while the user drags
//  the minimized window.
HCURSOR CBASICTESTDlg::OnQueryDragIcon()
{
	return (HCURSOR) m_hIcon;
}



void CBASICTESTDlg::OnTimer(UINT nIDEvent) 
{
	// TODO: Add your message handler code here and/or call default
	short rtn;
	unsigned short inputdata,outputdata;
	unsigned short status;
	CStatic* pstatic;
    UpdateData(TRUE);
	
	if(onflag==1)////////////////////轴开启显示
	{
		switch(m_axis)
		{
		  case 0:
		//	 int a=1;
			  
			pstatic=(CStatic*)GetDlgItem(IDC_AXIS1_ON_STATIC);//
	        pstatic->SetIcon(AfxGetApp()->LoadIcon(IDI_ICON2));//
			pstatic=(CStatic*)GetDlgItem(IDC_AXIS2_ON_STATIC);//
	        pstatic->SetIcon(AfxGetApp()->LoadIcon(IDI_ICON1));
			pstatic=(CStatic*)GetDlgItem(IDC_AXIS3_ON_STATIC);//
	        pstatic->SetIcon(AfxGetApp()->LoadIcon(IDI_ICON1));
			pstatic=(CStatic*)GetDlgItem(IDC_AXIS4_ON_STATIC);//
	        pstatic->SetIcon(AfxGetApp()->LoadIcon(IDI_ICON1));
 		    break;
		  case 1:
			pstatic=(CStatic*)GetDlgItem(IDC_AXIS2_ON_STATIC);//
	        pstatic->SetIcon(AfxGetApp()->LoadIcon(IDI_ICON2));
			pstatic=(CStatic*)GetDlgItem(IDC_AXIS1_ON_STATIC);//
	        pstatic->SetIcon(AfxGetApp()->LoadIcon(IDI_ICON1));
			pstatic=(CStatic*)GetDlgItem(IDC_AXIS3_ON_STATIC);//
	        pstatic->SetIcon(AfxGetApp()->LoadIcon(IDI_ICON1));
			pstatic=(CStatic*)GetDlgItem(IDC_AXIS4_ON_STATIC);//
	        pstatic->SetIcon(AfxGetApp()->LoadIcon(IDI_ICON1));
			break;
	      case 2:
		    pstatic=(CStatic*)GetDlgItem(IDC_AXIS3_ON_STATIC);//
	        pstatic->SetIcon(AfxGetApp()->LoadIcon(IDI_ICON2));//
			pstatic=(CStatic*)GetDlgItem(IDC_AXIS1_ON_STATIC);//
	        pstatic->SetIcon(AfxGetApp()->LoadIcon(IDI_ICON1));
			pstatic=(CStatic*)GetDlgItem(IDC_AXIS2_ON_STATIC);//
	        pstatic->SetIcon(AfxGetApp()->LoadIcon(IDI_ICON1));
			pstatic=(CStatic*)GetDlgItem(IDC_AXIS4_ON_STATIC);//
	        pstatic->SetIcon(AfxGetApp()->LoadIcon(IDI_ICON1));
			break;
		  case 3:
		    pstatic=(CStatic*)GetDlgItem(IDC_AXIS4_ON_STATIC);//
	        pstatic->SetIcon(AfxGetApp()->LoadIcon(IDI_ICON2));//
			pstatic=(CStatic*)GetDlgItem(IDC_AXIS1_ON_STATIC);//
	        pstatic->SetIcon(AfxGetApp()->LoadIcon(IDI_ICON1));
			pstatic=(CStatic*)GetDlgItem(IDC_AXIS3_ON_STATIC);//
	        pstatic->SetIcon(AfxGetApp()->LoadIcon(IDI_ICON1));
			pstatic=(CStatic*)GetDlgItem(IDC_AXIS2_ON_STATIC);//
	        pstatic->SetIcon(AfxGetApp()->LoadIcon(IDI_ICON1));
			break;
	}
	}
	else
	{
			pstatic=(CStatic*)GetDlgItem(IDC_AXIS1_ON_STATIC);//
	        pstatic->SetIcon(AfxGetApp()->LoadIcon(IDI_ICON1));//
			pstatic=(CStatic*)GetDlgItem(IDC_AXIS2_ON_STATIC);//
	        pstatic->SetIcon(AfxGetApp()->LoadIcon(IDI_ICON1));//
			pstatic=(CStatic*)GetDlgItem(IDC_AXIS3_ON_STATIC);//
	        pstatic->SetIcon(AfxGetApp()->LoadIcon(IDI_ICON1));
			pstatic=(CStatic*)GetDlgItem(IDC_AXIS4_ON_STATIC);//
	        pstatic->SetIcon(AfxGetApp()->LoadIcon(IDI_ICON1));
	}


    rtn=GT_ExInpt(&inputdata);//得到通用数字输入状态
//	inputdata=0x1811;
	
	if(inputdata&0x1)
	{
		CButton *button=(CButton*)GetDlgItem(IDC_CHECK1);
		button->EnableWindow(TRUE);
	    button->SetCheck(1);
	}
	else
	{
        CButton *button=(CButton*)GetDlgItem(IDC_CHECK1);
		button->EnableWindow(FALSE);
	    button->SetCheck(0);
	}
	if(inputdata&0x2)
	{
		CButton *button=(CButton*)GetDlgItem(IDC_CHECK2);
		button->EnableWindow(TRUE);
	    button->SetCheck(1);
	}
	else
	{
		 CButton *button=(CButton*)GetDlgItem(IDC_CHECK2);
		button->EnableWindow(FALSE);
	    button->SetCheck(0);
	}
	if(inputdata&0x4)
	{
		CButton *button=(CButton*)GetDlgItem(IDC_CHECK3);
		button->EnableWindow(TRUE);
	    button->SetCheck(1);
	}
	else
	{
	    CButton *button=(CButton*)GetDlgItem(IDC_CHECK3);
		button->EnableWindow(FALSE);
	    button->SetCheck(0);
	}
    if(inputdata&0x8)
	{
		CButton *button=(CButton*)GetDlgItem(IDC_CHECK4);
		button->EnableWindow(TRUE);
	    button->SetCheck(1);
	}
	else
	{
		 CButton *button=(CButton*)GetDlgItem(IDC_CHECK4);
		button->EnableWindow(FALSE);
	    button->SetCheck(0);
	}
	if(inputdata&0x10)
	{
		CButton *button=(CButton*)GetDlgItem(IDC_CHECK5);
		button->EnableWindow(TRUE);
	    button->SetCheck(1);
	}
	else
	{
		 CButton *button=(CButton*)GetDlgItem(IDC_CHECK5);
		button->EnableWindow(FALSE);
	    button->SetCheck(0);
	}
	if(inputdata&0x20)
	{
		CButton *button=(CButton*)GetDlgItem(IDC_CHECK6);
		button->EnableWindow(TRUE);
	    button->SetCheck(1);
	}
	else
	{
		 CButton *button=(CButton*)GetDlgItem(IDC_CHECK6);
		button->EnableWindow(FALSE);
	    button->SetCheck(0);
	}
	if(inputdata&0x40)
	{
		CButton *button=(CButton*)GetDlgItem(IDC_CHECK7);
		button->EnableWindow(TRUE);
	    button->SetCheck(1);
	}
	else
	{
		 CButton *button=(CButton*)GetDlgItem(IDC_CHECK7);
		button->EnableWindow(FALSE);
	    button->SetCheck(0);
	}
	if(inputdata&0x80)
	{
		CButton *button=(CButton*)GetDlgItem(IDC_CHECK8);
		button->EnableWindow(TRUE);
	    button->SetCheck(1);
	}
	else
	{
		 CButton *button=(CButton*)GetDlgItem(IDC_CHECK8);
		button->EnableWindow(FALSE);
	    button->SetCheck(0);
	}
	if(inputdata&0x100)
	{
		CButton *button=(CButton*)GetDlgItem(IDC_CHECK9);
		button->EnableWindow(TRUE);
	    button->SetCheck(1);
	}
	else
	{
		 CButton *button=(CButton*)GetDlgItem(IDC_CHECK9);
		button->EnableWindow(FALSE);
	    button->SetCheck(0);
	}
	if(inputdata&0x200)
	{
		CButton *button=(CButton*)GetDlgItem(IDC_CHECK10);
		button->EnableWindow(TRUE);
	    button->SetCheck(1);
	}
	else
	{
		 CButton *button=(CButton*)GetDlgItem(IDC_CHECK10);
		button->EnableWindow(FALSE);
	    button->SetCheck(0);
	}