ctestdlg.cpp

可以实现PC机与首钢MOTOMAN up6机器人的连接

// CTestDlg.cpp : implementation file
//

#include "stdafx.h"
#include "CTest.h"
#include "CTestDlg.h"
#include <direct.h>
#include "motocom.h"
#include "JOINT.h"
#include "JOINTMOVE.h"
#include "ZHIJIAOZUOBIAO.h"
#include "ZHIJIAO.h"
#include "PATHPLANING.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()

/////////////////////////////////////////////////////////////////////////////
// CCTestDlg dialog

// 全局变量
 short  nCid;  //通讯句柄
 double spd;   //运动速度
 double SetPulse[6];  //设置各轴位置脉冲
 double GetPulse[6];
 double GetPos[12];    //获取位置姿态
unsigned short Form;  //机器人形式
unsigned short *rconf= new unsigned short;
int pulse;    //每次进给脉冲数
int delay();     //声明判断机器人运动是否停止的函数
double k;
CCTestDlg::CCTestDlg(CWnd* pParent /*=NULL*/)
	: CDialog(CCTestDlg::IDD, pParent)
{
	//{{AFX_DATA_INIT(CCTestDlg)
	m_spd = 0.0;
	m_bAxis = 0.0;
	m_rAxis = 0.0;
	m_lAxis = 0.0;
	m_sAxis = 0.0;
	m_uAxis = 0.0;
	m_tAxis = 0.0;
	m_rxend = 0.0;
	m_ryend = 0.0;
	m_rzend = 0.0;
	m_xend = 0.0;
	m_yend = 0.0;
	m_zend = 0.0;
	m_pulse = 0;
	//}}AFX_DATA_INIT
	// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
}

void CCTestDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CCTestDlg)
	DDX_Control(pDX, IDC_JOBNAME, m_jobname);
	DDX_Control(pDX, IDC_PLAYENABLE, m_playenable);
	DDX_Control(pDX, IDC_REMOTEENANBLE, m_remoteenable);
	DDX_Control(pDX, IDC_POWERENABLE, m_powerenable);
	DDX_Text(pDX, IDC_SPDVIEW, m_spd);
	DDX_Text(pDX, IDC_B, m_bAxis);
	DDX_Text(pDX, IDC_R, m_rAxis);
	DDX_Text(pDX, IDC_L, m_lAxis);
	DDX_Text(pDX, IDC_S, m_sAxis);
	DDX_Text(pDX, IDC_U, m_uAxis);
	DDX_Text(pDX, IDC_T, m_tAxis);
	DDX_Text(pDX, IDC_RxEnd, m_rxend);
	DDX_Text(pDX, IDC_RyEnd, m_ryend);
	DDX_Text(pDX, IDC_RzEnd, m_rzend);
	DDX_Text(pDX, IDC_xEnd, m_xend);
	DDX_Text(pDX, IDC_yEnd, m_yend);
	DDX_Text(pDX, IDC_zEnd, m_zend);
	DDX_Text(pDX, IDC_PULVIEW, m_pulse);
	//}}AFX_DATA_MAP
}

BEGIN_MESSAGE_MAP(CCTestDlg, CDialog)
	//{{AFX_MSG_MAP(CCTestDlg)
	ON_WM_SYSCOMMAND()
	ON_WM_PAINT()
	ON_WM_QUERYDRAGICON()
	ON_BN_CLICKED(IDC_FORMAT, OnFormat)
	ON_BN_CLICKED(IDC_MOVEP, OnMovep)
	ON_BN_CLICKED(IDC_SERVOOFF, OnServooff)
	ON_BN_CLICKED(IDC_SERVOON, OnServoon)
	ON_BN_CLICKED(IDC_STOP, OnStop)
	ON_BN_CLICKED(IDC_CANCELERROR, OnCancelerror)
	ON_BN_CLICKED(IDC_START, OnStart)
	ON_BN_CLICKED(IDC_TEACH, OnTeach)
	ON_BN_CLICKED(IDC_PLAY, OnPlay)
	ON_BN_CLICKED(IDC_RIGHT, OnRight)
	ON_BN_CLICKED(IDC_UP, OnUp)
	ON_BN_CLICKED(IDC_LEFT, OnLeft)
	ON_BN_CLICKED(IDC_DOWN, OnDown)
	ON_BN_CLICKED(IDC_FORARD, OnForard)
	ON_BN_CLICKED(IDC_BEHIND, OnBehind)
	ON_BN_CLICKED(IDC_TURNX, OnTurnx)
	ON_BN_CLICKED(IDC_TURNY, OnTurny)
	ON_BN_CLICKED(IDC_TURNZ, OnTurnz)
	ON_BN_CLICKED(IDC_HIGHSPE, OnHighspe)
	ON_BN_CLICKED(IDC_MIDSPE, OnMidspe)
	ON_BN_CLICKED(IDC_LOWSPE, OnLowspe)
	ON_BN_CLICKED(IDC_MINISPE, OnMinispe)
	ON_BN_CLICKED(IDC_REVERSE_TURNX, OnReverseTurnx)
	ON_BN_CLICKED(IDC_REVERSE_TURNY, OnReverseTurny)
	ON_BN_CLICKED(IDC_REVERSE_TURNZ, OnReverseTurnz)
	ON_BN_CLICKED(IDC_SAXISPULSE, OnSaxispulse)
	ON_BN_CLICKED(IDC_RSAXISPULSE, OnRsaxispulse)
	ON_BN_CLICKED(IDC_LAXISPULSE, OnLaxispulse)
	ON_BN_CLICKED(IDC_RLAXISPULSE, OnRlaxispulse)
	ON_BN_CLICKED(IDC_UAXISPULSE, OnUaxispulse)
	ON_BN_CLICKED(IDC_RUAXISPULSE, OnRuaxispulse)
	ON_BN_CLICKED(IDC_RAXISPULSE, OnRaxispulse)
	ON_BN_CLICKED(IDC_RRAXISPULSE, OnRraxispulse)
	ON_BN_CLICKED(IDC_BAXISPULSE, OnBaxispulse)
	ON_BN_CLICKED(IDC_RBAXISPULSE, OnRbaxispulse)
	ON_BN_CLICKED(IDC_TAXISPULSE, OnTaxispulse)
	ON_BN_CLICKED(IDC_RTAXISPULSE, OnRtaxispulse)
	ON_BN_CLICKED(IDC_ZERO, OnZero)
	ON_BN_CLICKED(IDC_LONGPULSE, OnLongpulse)
	ON_BN_CLICKED(IDC_MIDPULSE, OnMidpulse)
	ON_BN_CLICKED(IDC_SMALLPULSE, OnSmallpulse)
	ON_BN_CLICKED(IDC_DOWNLOAD, OnDownload)
	ON_BN_CLICKED(IDC_UPLOAD, OnUpload)
	ON_BN_CLICKED(IDC_ZHIJIAOZUOBIAO, OnZhijiaozuobiao)
	ON_BN_CLICKED(IDC_JOINTSTEPMOVE, OnJointstepmove)
	ON_BN_CLICKED(IDC_PULSE, OnPulse)
	ON_BN_CLICKED(IDD_ZHIJIAOMOVE, OnZhijiao)
	ON_BN_CLICKED(IDC_ZHIJIAO, OnZhijiaomove)
	ON_COMMAND(ID_INITIALIZATION, OnFormat)
	ON_BN_CLICKED(IDC_PATHPLANNING, OnPathplanning)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CCTestDlg message handlers

BOOL CCTestDlg::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
	
	return TRUE;  // return TRUE  unless you set the focus to a control
}

void CCTestDlg::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 CCTestDlg::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 CCTestDlg::OnQueryDragIcon()
{
	return (HCURSOR) m_hIcon;
}


void CCTestDlg::OnFormat() 
{
// TODO: Add your control notification handler code here
//获取通讯句柄，串口
	nCid = BscOpen ( "E:\study\vc programme \CTest ",1);
//设置串口：COM1,9600bps,奇校验，8数据位，1停止位
	BscSetCom(nCid,1,9600,1,8,0);
//连接
	BscConnect(nCid);
	BscSelectMode(nCid,2);


//判断是够为远程模式，如果是的话将图片变绿：
	if (BscIsRemoteMode(nCid)==1)
	{
      m_remoteenable.SetIcon(AfxGetApp()->LoadIcon(IDI_GREEN));
	}

//判断伺服电源是否打开，如果是的话将图片变绿：
	if (BscIsServo(nCid)==1)
	{
      m_powerenable.SetIcon(AfxGetApp()->LoadIcon(IDI_GREEN));
	}

//判断是否为再现模式，如果是的话将图片变绿：
	if (BscIsTeachMode(nCid)==1)
	{
      m_playenable.SetIcon(AfxGetApp()->LoadIcon(IDI_GREEN));
	}
//默认运动速度为低速
	m_spd=10.000;
	UpdateData(FALSE);
//默认进给脉冲为短距离脉冲
    m_pulse=1000;
    UpdateData(FALSE);
//获取机器人各轴脉冲
	BscIsLoc(nCid,1,rconf,GetPulse);
	m_sAxis=GetPulse[0];
	m_lAxis=GetPulse[1];
	m_uAxis=GetPulse[2];
	m_rAxis=GetPulse[3];
	m_bAxis=GetPulse[4];
	m_tAxis=GetPulse[5];
	
//获取机器人末端位姿
	BscIsLoc(nCid,0,rconf,GetPos);
	m_xend=GetPos[0];
	m_yend=GetPos[1];
	m_zend=GetPos[2];  	
	m_rxend=GetPos[3];
	m_ryend=GetPos[4];
	m_rzend=GetPos[5];

//显示各轴脉冲和位姿
    UpdateData(FALSE);

}

void CCTestDlg::OnServooff() 
{
	// TODO: Add your control notification handler code here
	BscServoOff(nCid);
	if(BscIsServo(nCid)==0)
	{
       m_powerenable.SetIcon(AfxGetApp()->LoadIcon(IDI_BLUE));
	}
}

void CCTestDlg::OnServoon() 
{
	// TODO: Add your control notification handler code here
	BscServoOn(nCid);	
	if(BscIsServo(nCid)==1)
	{
       m_powerenable.SetIcon(AfxGetApp()->LoadIcon(IDI_GREEN));
	}

}



void CCTestDlg::OnStop() 
{
	// TODO: Add your control notification handler code here
	
    BscHoldOn(nCid);
}

void CCTestDlg::OnStart() 
{
	// TODO: Add your control notification handler code here
    BscHoldOff(nCid);	
}

void CCTestDlg::OnOK() 
{

	CDialog::OnOK();

}

void CCTestDlg::OnCancelerror() 
{
	// TODO: Add your control notification handler code here
     BscReset(nCid);

}

void CCTestDlg::OnWheremote() 
{
	// TODO: Add your control notification handler code here
    
	if (BscIsRemoteMode(nCid)==1)
	{
        MessageBox("现在为远程操作模式");	
	
	}
	else
	{
	
	    MessageBox("现在非远程操作模式");	
	}
}

void CCTestDlg::OnTeach() 
{
	// TODO: Add your control notification handler code here
	BscSelectMode(nCid,1);//1:Teach
	
}

void CCTestDlg::OnPlay() 
{
	// TODO: Add your control notification handler code here
	 BscSelectMode(nCid,2);//2:Play
}
void CCTestDlg::OnMovep() 
{
	// TODO: Add your control notification handler code here
//机器人复位
      BscJobWait(nCid,-1); 
	  SetPulse[0]=3000;   
      SetPulse[1]=-80000;     
      SetPulse[2]=-80000;   
      SetPulse[3]=0;     
      SetPulse[4]=0;     
      SetPulse[5]=74500;     
      BscPMovj(nCid,5,0,SetPulse);
//判断机器人是否停止运动
      Delay();     
//获取机器人各轴脉冲
	  BscIsLoc(nCid,1,rconf,GetPulse);
//显示各轴脉冲
      m_sAxis=GetPulse[0];
	  m_lAxis=GetPulse[1];
	  m_uAxis=GetPulse[2];
	  m_rAxis=GetPulse[3];
	  m_bAxis=GetPulse[4];
	  m_tAxis=GetPulse[5];
	  UpdateData(FALSE);