sdudemodlg.cpp

关于机器人的手臂程序

// sduDemoDlg.cpp : implementation file
//

#include "stdafx.h"
#include "sduDemo.h"
#include "sduDemoDlg.h"

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

/////////////////////////////////////////////////////////////////////////////
// CSduDemoDlg dialog

CSduDemoDlg::CSduDemoDlg(CWnd* pParent /*=NULL*/)
	: CDialog(CSduDemoDlg::IDD, pParent)
{
	//{{AFX_DATA_INIT(CSduDemoDlg)
	m_Info = _T("");
	//}}AFX_DATA_INIT
	// Note that LoadIcon does not require a subsequent DestroyIcon in Win32

	TempState = false;
	bStart=false;
	bTimer = false;
	m_State = NULL;
	bChange = false;
	m_pRobot = NULL;
	m_pMotion = NULL;
	m_pImageCap = NULL;
	numOfModules = 0;
	m_pImageProcess = NULL;
	m_pImage=NULL;
	m_iRefreshCount = 0;

	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
}

void CSduDemoDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CSduDemoDlg)
	DDX_Control(pDX, IDC_LISTSEQ, m_ListSeq);
	DDX_Text(pDX, IDC_EDITINFO, m_Info);
	//}}AFX_DATA_MAP
}

BEGIN_MESSAGE_MAP(CSduDemoDlg, CDialog)
	//{{AFX_MSG_MAP(CSduDemoDlg)
	ON_WM_PAINT()
	ON_WM_QUERYDRAGICON()
	ON_BN_CLICKED(IDC_MOVE, OnMove)
	ON_BN_CLICKED(IDC_HOMEALL, OnHomeall)
	ON_BN_CLICKED(IDC_HOME, OnHome)
	ON_BN_CLICKED(IDC_SCAN, OnScan)
	ON_WM_TIMER()
	ON_WM_DESTROY()
	ON_BN_CLICKED(IDC_START, OnStart)
	ON_BN_CLICKED(IDC_INITASR, OnInitasr)
	ON_WM_SIZE()
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CSduDemoDlg message handlers

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

	// 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
	
	m_ListSeq.InsertColumn(0,"SEQUENCE",LVCFMT_CENTER,80);
	m_ListSeq.InsertColumn(1,"ID",LVCFMT_LEFT,50);
	m_ListSeq.InsertColumn(2,"SerialNo",LVCFMT_LEFT,80);
	m_ListSeq.InsertColumn(3,"Module_State",LVCFMT_LEFT,250);

	SetDlgItemText(IDC_EDITINFO,"准备工作");
	GetDlgItem(IDC_START)->EnableWindow(false);

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

// 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 CSduDemoDlg::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 CSduDemoDlg::OnQueryDragIcon()
{
	return (HCURSOR) m_hIcon;
}

void CSduDemoDlg::OnMove() 
{
	// TODO: Add your control notification handler code here
	int index=-1;
	index=m_ListSeq.GetNextItem(-1,LVNI_SELECTED);
	if(!TempState||numOfModules==0||index==-1)
	{
		return;
	}
	
	PCube_setRampAcc(DeviceID,LogicIdMap[index],0.1);
	//PCube_moveVel(DeviceID,LogicIdMap[index],0.15);
	PCube_moveStep( DeviceID, LogicIdMap[index], 0.17, 1000);
}

void CSduDemoDlg::OnHomeall() 
{
	// TODO: Add your control notification handler code here
	if(!TempState||numOfModules==0)
	{
		return;
	}
	PCube_homeAll(DeviceID);
}

void CSduDemoDlg::OnHome() 
{
	// TODO: Add your control notification handler code here
	int index=-1;
	index=m_ListSeq.GetNextItem(-1,LVNI_SELECTED);
	if(!TempState||numOfModules==0||index==-1)
	{
		return;
	}
	PCube_homeModule(DeviceID,LogicIdMap[index]);	
}

void CSduDemoDlg::OnScan() 
{
	// TODO: Add your control notification handler code here
	TempState = true;
	int ret;
	CString	m_strInitString;
	m_strInitString =_T("ESD:0,250");
	PCube_closeDevices();
	ret = PCube_openDevice( &DeviceID, m_strInitString.GetBuffer(0) );//open the CAN
    ShowErrorMessage(ret);
	
	if(ret)
	{
		TempState = false;
		return;
	}
	
	if(!TempState)
	{	
		return;
	}
	m_ListSeq.DeleteAllItems();
	CString strtemp;
    numOfModules = PCube_getModuleCount( DeviceID );
	if(numOfModules==0)
	{
		AfxMessageBox("No Hardware");
		//PCube_closeDevice(DeviceID);
		return;
	}

	ShowErrorMessage(numOfModules);
	PCube_getModuleIdMap( DeviceID, aiIdMap );	
	
	for(int i =0; i<numOfModules;i++ )
	{
		PCube_getModuleState( DeviceID, aiIdMap[i],  &puiState[i] );
		PCube_getModuleSerialNo( DeviceID,aiIdMap[i],&puiValue[i] );
		
		LogicIdMap[i]=aiIdMap[i];
		LogicValue[i]=puiValue[i];
		LogicState[i]=puiState[i];

		ShowModuleState(puiState[i],i);
		
		strtemp.Format("%d",i);
		m_ListSeq.InsertItem(i,strtemp);

		strtemp.Format("%d",aiIdMap[i]);
		m_ListSeq.SetItemText(i,1,strtemp);

		strtemp.Format("%d",puiValue[i]);
		m_ListSeq.SetItemText(i,2,strtemp);

		m_ListSeq.SetItemText(i,3,pucState[i]);
		//m_ListSeq.GetDlgItemText();
	
	}


	if(bTimer)
	{
		KillTimer(1);
	}
	bTimer=true;
	SetTimer(1,200,NULL);
	
}

void CSduDemoDlg::ShowErrorMessage(int ErrorMessage)
{
	if (ErrorMessage == ERRID_DEV)
	{
		AfxMessageBox("ERRID_DEV");
	}
	else if (ErrorMessage == ERRID_DEV_FUNCTIONNOTAVAILABLE )
	{
		AfxMessageBox("ERRID_DEV_FUNCTIONNOTAVAILABLE ");
	}
	else if (ErrorMessage == ERRID_DEV_NOINITSTRING )
	{
		AfxMessageBox("ERRID_DEV_NOINITSTRING ");
	}
	else if (ErrorMessage == ERRID_DEV_NODEVICENAME )
	{
		AfxMessageBox("ERRID_DEV_NODEVICENAME ");
	}
	else if (ErrorMessage == ERRID_DEV_BADINITSTRING )
	{
		AfxMessageBox("ERRID_DEV_BADINITSTRING ");
	}
	else if (ErrorMessage == ERRID_DEV_INITERROR )
	{
		AfxMessageBox("ERRID_DEV_INITERROR ");
	}
	else if (ErrorMessage == ERRID_DEV_NOTINITIALIZED )
	{
		AfxMessageBox("ERRID_DEV_NOTINITIALIZED ");
	}
	else if (ErrorMessage == ERRID_DEV_WRITEERROR )
	{
		AfxMessageBox("ERRID_DEV_WRITEERROR ");
	}
	
	else if (ErrorMessage == ERRID_DEV_READERROR )
	{
		AfxMessageBox("ERRID_DEV_READERROR ");
	}
	else if (ErrorMessage == ERRID_DEV_READTIMEOUT )
	{
		AfxMessageBox("ERRID_DEV_READTIMEOUT ");
	}
	else if (ErrorMessage == ERRID_DEV_WRONGMESSAGEID )
	{
		AfxMessageBox("ERRID_DEV_WRONGMESSAGEID ");
	}
	else if (ErrorMessage == ERRID_DEV_WRONGCOMMANDID )
	{
		AfxMessageBox("ERRID_DEV_WRONGCOMMANDID ");
	}
	else if (ErrorMessage == ERRID_DEV_WRONGPARAMETERID )
	{
		AfxMessageBox("ERRID_DEV_WRONGPARAMETERID ");
	}
	else if (ErrorMessage == ERRID_DEV_EXITERROR )
	{
		AfxMessageBox("ERRID_DEV_EXITERROR ");
	}
	
	else if (ErrorMessage == ERRID_DEV_NOMODULES )
	{
		AfxMessageBox("ERRID_DEV_NOMODULES ");
	}
	else if (ErrorMessage == ERRID_DEV_WRONGDEVICEID )
	{
		AfxMessageBox("ERRID_DEV_WRONGDEVICEID ");
	}
	else if (ErrorMessage == ERRID_DEV_NOLIBRARY )
	{
		AfxMessageBox("ERRID_DEV_NOLIBRARY ");
	}
	
	else if (ErrorMessage == ERRID_DEV_ISINITIALIZED )
	{
		AfxMessageBox("ERRID_DEV_ISINITIALIZED ");
	}
	else if (ErrorMessage == ERRID_DEV_WRONGEMSMODULEID )
	{
		AfxMessageBox("ERRID_DEV_WRONGEMSMODULEID ");
	}
	else if (ErrorMessage == ERRID_DEV_EMSNOTINITIALIZED )
	{
		AfxMessageBox("ERRID_DEV_EMSNOTINITIALIZED ");
	}
	
	else if (ErrorMessage == ERRID_DEV_EMSMAXNUMBER )
	{
		AfxMessageBox("ERRID_DEV_EMSMAXNUMBER ");
	}
	else if (ErrorMessage == ERRID_DEV_EMSINITERROR )
	{
		AfxMessageBox("ERRID_DEV_EMSINITERROR ");
	}
	
	else if (ErrorMessage == ERRID_DEV_WRONGEMSTYPE )
	{
		AfxMessageBox("ERRID_DEV_WRONGEMSTYPE ");
	}
	else if (ErrorMessage == ERRID_DEV_WRONGEMSCHANNELID )
	{
		AfxMessageBox("ERRID_DEV_WRONGEMSCHANNELID ");
	}
	else if (ErrorMessage == ERRID_DEV_WRONGMP55MODULEID )
	{
		AfxMessageBox("ERRERRID_DEV_WRONGMP55MODULEID ");
	}
	else if (ErrorMessage == ERRID_DEV_WRONGSCHUNKMODULEID )
	{
		AfxMessageBox("ERRID_DEV_WRONGSCHUNKMODULEID ");
	}
	else if (ErrorMessage == ERRID_DEV_WRONGMODULEID )
	{
		AfxMessageBox("ERRID_DEV_WRONGMODULEID ");
	}
	else if (ErrorMessage == ERRID_DEV_MODULEERROR )
	{
		AfxMessageBox("ERRID_DEV_MODULEERROR ");
	}
	
	else if (ErrorMessage == ERRID_DEV_WAITTIMEOUT )
	{
		AfxMessageBox("ERRID_DEV_WAITTIMEOUT ");
	}
	else if (ErrorMessage == ERRID_DEV_OPENINIFILE )
	{
		AfxMessageBox("ERRID_DEV_OPENINIFILE ");
	}
	return;
}

void CSduDemoDlg::ShowModuleState (unsigned long StateMessage,int i)
{
	
	pucState[i]="_";
		
	//#define STATEID_MOD_BEYOND_SOFT					0x04000000L
	if(StateMessage&STATEID_MOD_BEYOND_SOFT )
	{
		//AfxMessageBox("STATEID_MOD_BEYOND_SOFT ");
		pucState[i]="SOFT_";

	}	
	
	//#define STATEID_MOD_BEYOND_HARD				   	0x02000000L
	
	if(StateMessage&STATEID_MOD_BEYOND_HARD )
	{
		//AfxMessageBox("STATEID_MOD_BEYOND_HARD ");
		pucState[i]="HARD_"+pucState[i];
		
	}	
	
	//#define STATEID_MOD_CPU_OVERLOAD				0x01000000L
	
	if(StateMessage&STATEID_MOD_CPU_OVERLOAD )
	{
		//AfxMessageBox("STATEID_MOD_CPU_OVERLOAD ");
		pucState[i]="OVERLOAD_"+pucState[i];

	}	
	//#define STATEID_MOD_POW_INTEGRALERR				0x00800000L
	
	if(StateMessage&STATEID_MOD_POW_INTEGRALERR)
	{
		//AfxMessageBox("STATEID_MOD_POW_INTEGRALERR ");
		pucState[i]="INT_"+pucState[i];
	
	}
	//#define STATEID_MOD_POW_HALLERR					0x00400000L
	
	if(StateMessage&STATEID_MOD_POW_HALLERR )
	{
		//AfxMessageBox("STATEID_MOD_POW_HALLERR ");
		pucState[i]="HERR_"+pucState[i];
	
	}
	//#define STATEID_MOD_POW_SHORTCUR				0x00200000L
	
	if(StateMessage&STATEID_MOD_POW_SHORTCUR )
	{
		//AfxMessageBox("STATEID_MOD_POW_SHORTCUR ");
		pucState[i]="SHORTCUR_"+pucState[i];
		
	}
	//#define STATEID_MOD_POW_WDG_TEMP				0x00100000L
	
	if(StateMessage&STATEID_MOD_POW_WDG_TEMP )
	{
		//AfxMessageBox("STATEID_MOD_POW_WDG_TEMP ");
		pucState[i]="WTEMP_"+pucState[i];
		
	}
	
	//#define STATEID_MOD_POW_FET_TEMP				0x00080000L
	
	if(StateMessage&STATEID_MOD_POW_FET_TEMP)
	{
		//AfxMessageBox("STATEID_MOD_POW_FET_TEMP ");
		pucState[i]="FTEMP_"+pucState[i];
	}
	
	//#define STATEID_MOD_POW_VOLT_ERR				0x00040000L
	
	if(StateMessage&STATEID_MOD_POW_VOLT_ERR )
	{
		//AfxMessageBox("STATEID_MOD_POW_VOLT_ERR ");
		pucState[i]="VERR_"+pucState[i];
		
	}
	
	//#define STATEID_MOD_FULLBUFFER					0x00020000