sdudemodlg.cpp

关于机器人的手臂程序

	if(StateMessage&STATEID_MOD_FULLBUFFER)
	{
		//AfxMessageBox("STATEID_MOD_FULLBUFFER ");
		pucState[i]="FBUR_"+pucState[i];
		
	}
	
	//#define STATEID_MOD_INPROGRESS					0x00010000L
	
	if(StateMessage&STATEID_MOD_INPROGRESS )
	{
		//AfxMessageBox("STATEID_MOD_INPROGRESS ");
		pucState[i]="INPR_"+pucState[i];
		
	}
	//#define STATEID_MOD_RAMP_END					0x00008000L
	
	if(StateMessage&STATEID_MOD_RAMP_END )
	{
		//AfxMessageBox("STATEID_MOD_RAMP_END ");
		pucState[i]="END_"+pucState[i];
		
	}
	
	//#define STATEID_MOD_RAMP_DEC					0x00004000L
	
	if(StateMessage&STATEID_MOD_RAMP_DEC)
	{
		//AfxMessageBox("STATEID_MOD_RAMP_DEC ");
		pucState[i]="DEC_"+pucState[i];
	
	}
	
	//#define STATEID_MOD_RAMP_STEADY					0x00002000L
	
	if(StateMessage&STATEID_MOD_RAMP_STEADY )
	{
		//AfxMessageBox("STATEID_MOD_RAMP_STEADY ");
		pucState[i]="STEADY_"+pucState[i];
		
	}
	
	//#define STATEID_MOD_RAMP_ACC					0x00001000L
	
	if(StateMessage&STATEID_MOD_RAMP_ACC )
	{
		//AfxMessageBox("STATEID_MOD_RAMP_ACC ");
		pucState[i]="_ACC_"+pucState[i];
		
	}
	
	
	//#define STATEID_MOD_MOTION						0x00000800L
	
	if(StateMessage&STATEID_MOD_MOTION )
	{
		//AfxMessageBox("STATEID_MOD_MOTION ");
		pucState[i]="MOV_"+pucState[i];
		
	}
	
	//define STATEID_MOD_CURLIMIT					0x00000400L
	
	if(StateMessage&STATEID_MOD_CURLIMIT)
	{
		//AfxMessageBox("STATEID_MOD_CURLIMIT ");
		pucState[i]="CUR_"+pucState[i];
		
	}
	//#define STATEID_MOD_BRAKEACTIVE 				0x00000200L
	
	if(StateMessage&STATEID_MOD_BRAKEACTIVE)
	{
		//AfxMessageBox("STATEID_MOD_BRAKEACTIVE ");
		pucState[i]="BRA_"+pucState[i];
		
	}
	
	//#define STATEID_MOD_SW2							0x00000100L
	
	if(StateMessage&STATEID_MOD_SW2 )
	{
		//AfxMessageBox("STATEID_MOD_SW2 ");
		pucState[i]="SW2_"+pucState[i];
		
	}
	//#define STATEID_MOD_SW1							0x00000080L
	
	if(StateMessage&STATEID_MOD_SW1)
	{
		//AfxMessageBox("STATEID_MOD_SW1 ");
		pucState[i]="SW1_"+pucState[i];
		
	}
	//#define STATEID_MOD_SWR							0x00000040L
	
	if(StateMessage&STATEID_MOD_SWR)
	{
		//AfxMessageBox("STATEID_MOD_SWR ");
		pucState[i]="SWR_"+pucState[i];
		
	}
	//#define STATEID_MOD_COMM_ERROR					0x00000020L
	
	if(StateMessage&STATEID_MOD_COMM_ERROR)
	{
		//AfxMessageBox("STATEID_MOD_COMM_ERROR ");
		pucState[i]="CERR_"+pucState[i];

	}
	
	
	//#define STATEID_MOD_TOW_ERROR					0x00000010L
	
	if(StateMessage&STATEID_MOD_TOW_ERROR)
	{
		//AfxMessageBox("STATEID_MOD_TOW_ERROR ");
		pucState[i]="TERR_"+pucState[i];
		
	}
	//#define STATEID_MOD_POWERFAULT					0x00000008L
	
	if(StateMessage&STATEID_MOD_POWERFAULT)
	{
		//AfxMessageBox("STATEID_MOD_POWERFAULT ");
		pucState[i]="POW_"+pucState[i];
		
	}
	
	//#define STATEID_MOD_HALT						0x00000004L
	
	if(StateMessage&STATEID_MOD_HALT)
	{
		//AfxMessageBox("STATEID_MOD_HALT ");
		pucState[i]="HLT_"+pucState[i];
		
	}
	
	//#define STATEID_MOD_HOME						0x00000002L
	
	if(StateMessage&STATEID_MOD_HOME)
	{
		//AfxMessageBox("STATEID_MOD_HOME ");
		pucState[i]="HOK_"+pucState[i];
		
	}
	
	//#define STATEID_MOD_ERROR						0x00000001L
	
	if(StateMessage&STATEID_MOD_ERROR )
	{
		//AfxMessageBox("STATEID_MOD_ERROR ");
		pucState[i]="ERR_"+pucState[i];
		
	}
	
}


BOOL CSduDemoDlg::PreTranslateMessage(MSG* pMsg) 
{
	// TODO: Add your specialized code here and/or call the base class
	int index=-1;
	int indexChange;
	int indexCount;

	int Idtemp;
	unsigned long Valuetemp;
	unsigned long Statetemp;
	CString strtemp;
	
	indexCount=m_ListSeq.GetItemCount();
	index=m_ListSeq.GetNextItem(-1,LVNI_SELECTED);
	
		if(pMsg->message == WM_KEYDOWN)
		{
			if(index!=-1)
			{
				switch((int)(pMsg->wParam))
				{
				case VK_LEFT:
					break;
				case VK_RIGHT:
					break;
				case VK_UP:
					indexChange=index-1;
					if(indexChange<0)
					{
						return true;
					}
					bChange=true;
					break;
				case VK_DOWN:
					indexChange=index+1;
					if(indexChange>indexCount-1)
					{
						return true;
					}
					bChange=true;
					break;
				default:
					break;
				}

			}
		
			return TRUE;
		}
		else if(pMsg->message == WM_KEYUP)
		{
			switch((int)(pMsg->wParam))
			{
				case VK_LEFT:
					break;
				case VK_RIGHT:
					break;
				case VK_UP:
					indexChange=index-1;
					if(indexChange<0)
					{
						return true;
					}
					bChange=true;
					break;
				case VK_DOWN:
					indexChange=index+1;
					if(indexChange>indexCount-1)
					{
						return true;
					}
					bChange=true;
					break;
				default:
					break;
			}
			if(bChange)
			{
				Idtemp=LogicIdMap[index];
				LogicIdMap[index]=LogicIdMap[indexChange];
				LogicIdMap[indexChange]=Idtemp;

				Valuetemp=LogicValue[index];
				LogicValue[index]=LogicValue[indexChange];
				LogicValue[indexChange]=Valuetemp;
				
				Statetemp=puiState[index];
				LogicState[index]=puiState[indexChange];
				puiState[indexChange]=Statetemp;

				strtemp.Format("%d",LogicIdMap[index]);
				m_ListSeq.SetItemText(index,1,strtemp);
				strtemp.Format("%d",LogicIdMap[indexChange]);
				m_ListSeq.SetItemText(indexChange,1,strtemp);

				strtemp.Format("%d",LogicValue[index]);
				m_ListSeq.SetItemText(index,2,strtemp);
				strtemp.Format("%d",LogicValue[indexChange]);
				m_ListSeq.SetItemText(indexChange,2,strtemp);
		
				ShowModuleState(LogicState[index],index);
				ShowModuleState(puiState[indexChange],indexChange);

				m_ListSeq.SetItemText(index,3,pucState[index]);
				m_ListSeq.SetItemText(indexChange,3,pucState[indexChange]);
			}

			return TRUE;
		}
	
	return CDialog::PreTranslateMessage(pMsg);
}

void CSduDemoDlg::GetState()
{
	for(int i=0; i<numOfModules;i++)
	{
		PCube_getModuleState( DeviceID, LogicIdMap[i],  &LogicState[i] );
		ShowModuleState (LogicState[i],i);
		m_ListSeq.SetItemText(i,3,pucState[i]);
	}
}

void CSduDemoDlg::OnTimer(UINT nIDEvent) 
{
	// TODO: Add your message handler code here and/or call default
	//GetState();
	CDialog::OnTimer(nIDEvent);
}

void CSduDemoDlg::OnDestroy() 
{
	DestroySystem();
	PCube_closeDevice(DeviceID);
	
	CDialog::OnDestroy();
	
	// TODO: Add your message handler code here	
}

void CSduDemoDlg::OnStart() 
{
	// TODO: Add your control notification handler code here
	//m_pMotion->Start();
	if(!TempState||numOfModules==0)
	{
		AfxMessageBox("Please Scan MRobot");
		return;
	}
	//CheckPtr(m_pImageProcess,FALSE);
	bStart=true;
	m_pMotion->Init();
//	speedLeft=-600;
//	speedRight=-600;
	SetDlgItemText(IDC_EDITINFO,"寻找目标");
	GetDlgItem(IDC_START)->EnableWindow(FALSE);
	
}

BOOL CSduDemoDlg::InitEnv()
{
	m_pRobot = CASRSystem::GetInstance();
	
	IASRProcess* pProcess = NULL;
	
	PROCESS_DESC proc_desc;
	proc_desc.nType = SEQUENCE;
	m_pRobot->CreateProcess(proc_desc,pProcess);
	IASRDevice*		pDevice = NULL;
	m_pRobot->CreateDevice("MOTION",pDevice);
	RequestInterface(pDevice,ASR_IID_MOTION,m_pMotion);
	CheckPtr(m_pMotion,FALSE);
	
	pDevice = NULL;
	m_pRobot->CreateDevice("IMAGE_CAP_DS",pDevice);
	pDevice->QueryInterface(ASR_IID_IMAGECAPTURE,(LPVOID*)&m_pImageCap);
	//CheckPtr(m_pImageCap,FALSE);
	m_pRobot->AddToProcess(pProcess,m_pImageCap);
	CWnd* pWnd = (CWnd*)GetDlgItem(IDC_VIDEO);
	m_pImageCap->BindGUIWnd(pWnd->GetSafeHwnd());
	//m_pImageCap->BindIndex(0);
	
	pDevice = NULL;
	m_pRobot->CreateDevice("ASR_IMAGE_PROCESS",pDevice);
	pDevice->QueryInterface(ASR_IID_IMAGE,(LPVOID*)&m_pImage);
	CheckPtr(m_pImage,FALSE);
	m_pRobot->AddToProcess(pProcess,m_pImage);
	//CWnd* pWnd = (CWnd*)GetDlgItem(IDC_VIDEO);
	//m_process.SetHWnd(pWnd->GetSafeHwnd());

	IMAGEPROC_DESC ImageDesc;
	ImageDesc.nHeight = 240;
	ImageDesc.nWidth = 320;
	m_pImage->SetParam(ImageDesc);
	IASRStreamLocal* pStream =  pDevice->GetLocalStream();
	pStream->BindCommand(&m_BallComm);
	RequestInterface(pDevice,ASR_IID_FOOTBALL,m_pImageProcess);
	//bind command 

	/*m_pImageCap->Init();
	m_pImageCap->Start();
	m_pImageProcess->Init();
	m_pImageProcess->Start();
*/
	m_pRobot->Init();
    m_pRobot->Run();

	//m_pMotion->SetWorkPeriod(50);
	//m_pMotion->SetCallback(CBallTraceCommand::CounterProc,(LONG)this);
	return true;

}

void CSduDemoDlg::DestroySystem()
{
	
	//end the motion 
	if(m_pMotion)	
	{
		//m_pMotion->Stop(WHEEL_LEFT);
		//m_pMotion->Stop(WHEEL_RIGHT);
		m_pMotion->End();
	}

	//the interfaces don't use any more 
	ReleaseInterface(m_pMotion);
	ReleaseInterface(m_pImageCap);
	ReleaseInterface(m_pImage);
	ReleaseInterface(m_pImageProcess);
	//ReleaseInterface(pImage);
	//destroy the robot instance
	if(m_pRobot)
	{
		m_pRobot->DestroyInstance();
	    m_pRobot = NULL;	
	}
}

void CSduDemoDlg::OnInitasr() 
{
	// TODO: Add your control notification handler code here

	if(!InitEnv())
	{
		PostQuitMessage(0);
		return ;
	}
	/*m_iRefreshCount = 3;

	CRect rect;
	AfxGetApp()->m_pMainWnd->GetWindowRect(&rect);
	rect.SetRect(rect.left-1,rect.top,rect.right-1,rect.bottom);
	AfxGetApp()->m_pMainWnd->MoveWindow(rect);*/
	
	//SetTimer(1,500,NULL);
	GetDlgItem(IDC_START)->EnableWindow(TRUE);
	GetDlgItem(IDC_INITASR)->EnableWindow(false);

}

void CSduDemoDlg::OnSize(UINT nType, int cx, int cy) 
{
	CDialog::OnSize(nType, cx, cy);
	
	// TODO: Add your message handler code here
	if(m_pRobot)
	{
		GetDlgItem(IDC_VIDEO)->Invalidate(FALSE);
	}
	
}

IASRMotion*	CSduDemoDlg::GetMotion()
{
	return m_pMotion;
}

IASRFootball* CSduDemoDlg::GetImageProcess()
{
	return m_pImageProcess;
}

IASRImage* CSduDemoDlg::GetImage()
{
	return m_pImage;
}