newsocket.cpp

控制机器人完成螺丝刀插孔实验

// NewSocket.cpp : implementation file
//

#include "stdafx.h"
#include "Server.h"
#include "NewSocket.h"
#include "ServerDlg.h"

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

/////////////////////////////////////////////////////////////////////////////
// CNewSocket

CNewSocket::CNewSocket()
{
//	row=0;
}

CNewSocket::~CNewSocket()
{
}


// Do not edit the following lines, which are needed by ClassWizard.
#if 0
BEGIN_MESSAGE_MAP(CNewSocket, CAsyncSocket)
	//{{AFX_MSG_MAP(CNewSocket)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()
#endif	// 0

/////////////////////////////////////////////////////////////////////////////
// CNewSocket member functions

void CNewSocket::OnReceive(int nErrorCode) 
{
	// TODO: Add your specialized code here and/or call the base class
	m_nLength=Receive(m_szBuffer,4096,0);

	CServerApp* pServerApp=(CServerApp*)AfxGetApp();
	CServerDlg* pServerDlg=(CServerDlg*)pServerApp->m_pMainWnd;
	if (_strnicmp(m_szBuffer,"Open",4)==0) {
		pServerDlg->OnOpen();
		strncpy(m_szBuffer,"OK",2);
		m_nLength=2;
		AsyncSelect(FD_WRITE);					
/*
		if (!pServerDlg->m_bOpened) {
			pServerDlg->OnOpen();
			strncpy(m_szBuffer,"OK",2);
			m_nLength=2;
		}
		else{
			strncpy(m_szBuffer,"Fail",4);
			m_nLength=4;
			AsyncSelect(FD_WRITE);			
		}
*/
	}
	else if (_strnicmp(m_szBuffer,"Stop",4)==0) {
		pServerDlg->OnOpen();
		strncpy(m_szBuffer,"OK",2);
		m_nLength=2;
		AsyncSelect(FD_WRITE);							
	}
	else if (_strnicmp(m_szBuffer,"GoHome",6)==0) {
		pServerDlg->OnGohome();
		strncpy(m_szBuffer,"OK",2);
		m_nLength=2;
		AsyncSelect(FD_WRITE);									
	}
	else if (_strnicmp(m_szBuffer,"Refresh",7)==0) {
		pServerDlg->GetJointValue();
		strncpy(m_szBuffer,"OK",2);
		m_nLength=2;
		AsyncSelect(FD_WRITE);									
	}
	
//	AsyncSelect(FD_WRITE);
	
	CAsyncSocket::OnReceive(nErrorCode);
}

void CNewSocket::OnSend(int nErrorCode) 
{
	// TODO: Add your specialized code here and/or call the base class
	Send(m_szBuffer,m_nLength,0);
	AsyncSelect(FD_READ);
	
	CAsyncSocket::OnSend(nErrorCode);
}
/////////////////////////////////////////////////////////////////////////////
// CNewDataSocket

CNewDataSocket::CNewDataSocket()
{
}

CNewDataSocket::~CNewDataSocket()
{
}


// Do not edit the following lines, which are needed by ClassWizard.
#if 0
BEGIN_MESSAGE_MAP(CNewDataSocket, CAsyncSocket)
	//{{AFX_MSG_MAP(CNewDataSocket)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()
#endif	// 0

/////////////////////////////////////////////////////////////////////////////
// CNewDataSocket member functions

void CNewDataSocket::OnReceive(int nErrorCode) 
{
	// TODO: Add your specialized code here and/or call the base class
	CServerApp* pApp=(CServerApp*)AfxGetApp();
	CServerDlg* pDlg=(CServerDlg*)pApp->m_pMainWnd;

	m_nLength=Receive(m_nData,sizeof(m_nData),0);
	
//	double temp[8];
	if (pDlg->m_bOpened) {
//		m_obArray.Add(temp);
		for(int i=0;i<8;i++)
			angle[(pDlg->row)][i]=m_nData[i];
        pDlg->Move();
//		row+=1;
	}
	AsyncSelect(FD_READ);
	
	CAsyncSocket::OnReceive(nErrorCode);
}

void CNewDataSocket::OnSend(int nErrorCode) 
{
	// TODO: Add your specialized code here and/or call the base class
	
	CAsyncSocket::OnSend(nErrorCode);
}
/////////////////////////////////////////////////////////////////////////////
// CNewBackDataSocket

CNewBackDataSocket::CNewBackDataSocket()
{
}

CNewBackDataSocket::~CNewBackDataSocket()
{
}


// Do not edit the following lines, which are needed by ClassWizard.
#if 0
BEGIN_MESSAGE_MAP(CNewBackDataSocket, CAsyncSocket)
	//{{AFX_MSG_MAP(CNewBackDataSocket)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()
#endif	// 0

/////////////////////////////////////////////////////////////////////////////
// CNewBackDataSocket member functions

void CNewBackDataSocket::OnReceive(int nErrorCode) 
{
	// TODO: Add your specialized code here and/or call the base class
	
	CAsyncSocket::OnReceive(nErrorCode);
}

void CNewBackDataSocket::OnSend(int nErrorCode) 
{
	// TODO: Add your specialized code here and/or call the base class
	Send(backAngle,sizeof(backAngle),0);
	
	CAsyncSocket::OnSend(nErrorCode);
}