mfcmovedlg.cpp

介绍控制器运动的例子

// MFCMoveDlg.cpp : implementation file
//

#include "stdafx.h"
#include "MFCMove.h"
#include "MFCMoveDlg.h"
#include "ReadStatus.h" // **ADDED** The Event Class
#include <bitset>

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

/////////////////////////////////////////////////////////////////////////////
// CMFCMoveDlg dialog

CMFCMoveDlg::CMFCMoveDlg(CWnd* pParent /*=NULL*/)
	: CDialog(CMFCMoveDlg::IDD, pParent)
{
	//{{AFX_DATA_INIT(CMFCMoveDlg)
	m_Transport = 3;
	m_BusType = FALSE;
	m_lblConnected = _T("Disconnected");
	m_Ver = _T("v?.?.?.?");
	m_BPS = 38400;
	m_CardNbr = 0;
	m_IP = _T("172.26.128.152");
	m_Port = 1;
	m_Master = 0;
	m_Axis = 0;
	m_24vEnable = -1;
	m_KAM = -1;
	m_Motion = -1;
	m_Drive =-1;
	m_KAMR = -1;
  m_SetPoint = 0;
	m_MoveCnt = 0;
	m_Position = 0;
	m_MoveAmt = 0;
	m_MoveMode = 0;
	m_CountDirection = 1;
	m_StopDEC = FALSE;
	m_MoveABS = TRUE;
	m_VEL = -1;
	m_FVEL = -1;
	m_ACC = -1;
	//}}AFX_DATA_INIT
	// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);

  // **ADDED** 
  // Create Interfaces using Prog ID
  m_Cntl = new IControl;
  m_Cntl->CreateDispatch(_T("BoxBridge.Control.1"));
  m_Stat = new IStatus;
  m_Stat->CreateDispatch(_T("BoxBridge.Status.1"));

  // Initialize working data
  m_workerEvent = NULL;
  m_StopWork = true;
  m_axisMsgId = 0; 
  m_masterMsgId = 0;
  // **ADDED**
}

// **ADDED** 
CMFCMoveDlg::~CMFCMoveDlg()
{
  // Need to Clean up COM
  if(m_Cntl){
    m_Cntl->Disconnect();
    delete m_Cntl;
  }
  if(m_Stat){
    m_Stat->Disconnect();
    delete m_Stat;
  }

  m_StopWork = true;
  if(m_workerEvent){
    delete m_workerEvent;
  } 
  // CoUninitialize();       // Clean up of COM done automatically by MFC
}
// **ADDED** 

void CMFCMoveDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CMFCMoveDlg)
	DDX_Radio(pDX, IDC_RDO_TRANSPORT, m_Transport);
	DDX_Check(pDX, IDC_CHK_PCI, m_BusType);
	DDX_Text(pDX, IDC_LBL_CONNECT, m_lblConnected);
	DDX_Text(pDX, IDC_LBL_VER, m_Ver);
	DDX_Text(pDX, IDC_TXT_BPS, m_BPS);
	DDX_Text(pDX, IDC_TXT_CARDNBR, m_CardNbr);
	DDX_Text(pDX, IDC_TXT_IP, m_IP);
	DDX_Text(pDX, IDC_TXT_PORT, m_Port);
	DDX_CBIndex(pDX, IDC_CBO_MASTER, m_Master);
	DDX_CBIndex(pDX, IDC_CBO_AXIS, m_Axis);
	DDX_Radio(pDX, IDC_LED_24VENABLE, m_24vEnable);
	DDX_Radio(pDX, IDC_LED_KAM, m_KAM);
	DDX_Radio(pDX, IDC_LED_MOTION, m_Motion);
	DDX_Radio(pDX, IDC_LED_DRIVE, m_Drive);
	DDX_Radio(pDX, IDC_LED_KAMR, m_KAMR);
	DDX_Text(pDX, IDC_TXT_SETPOINT, m_SetPoint);
	DDX_Text(pDX, IDC_TXT_MOV_CNT, m_MoveCnt);
	DDX_Text(pDX, IDC_TXT_POSITION, m_Position);
	DDX_Text(pDX, IDC_TXT_MOVE, m_MoveAmt);
	DDX_CBIndex(pDX, IDC_MOV_MODE, m_MoveMode);
	DDX_CBIndex(pDX, IDC_MOV_CNT_DIR, m_CountDirection);
	DDX_Check(pDX, IDC_STOP_DEC, m_StopDEC);
	DDX_Check(pDX, IDC_MOV_ABS, m_MoveABS);
	DDX_Text(pDX, IDC_TXT_VEL, m_VEL);
	DDX_Text(pDX, IDC_TXT_FVEL, m_FVEL);
	DDX_Text(pDX, IDC_TXT_ACC, m_ACC);
	//}}AFX_DATA_MAP
}

BEGIN_MESSAGE_MAP(CMFCMoveDlg, CDialog)
	//{{AFX_MSG_MAP(CMFCMoveDlg)
	ON_WM_PAINT()
	ON_WM_QUERYDRAGICON()
	ON_BN_CLICKED(IDC_BTN_CONNECT, OnBtnConnect)
	ON_BN_CLICKED(IDC_LED_24VENABLE, OnLed24venable)
	ON_BN_CLICKED(IDC_LED_KAM, OnLedKam)
	ON_BN_CLICKED(IDC_LED_MOTION, OnLedMotion)
	ON_BN_CLICKED(IDC_LED_KAMR, OnLedKamr)
	ON_BN_CLICKED(IDC_LED_DRIVE, OnLedDrive)
	ON_CBN_SELCHANGE(IDC_CBO_AXIS, OnSelchangeCboAxis)
	ON_CBN_SELCHANGE(IDC_CBO_MASTER, OnSelchangeCboMaster)
	ON_BN_CLICKED(IDC_CLR_KAM, OnClrKAM)
	ON_BN_CLICKED(IDC_MOVE_STOP, OnMoveStop)
	ON_BN_CLICKED(IDC_MOVE_BTN, OnMoveBtn)
	//}}AFX_MSG_MAP
  ON_MESSAGE(WMU_UpdateStats,OnUpdateStats)   // **ADDED**
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CMFCMoveDlg message handlers

BOOL CMFCMoveDlg::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
	
	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 CMFCMoveDlg::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 CMFCMoveDlg::OnQueryDragIcon()
{
	return (HCURSOR) m_hIcon;
}

// **ADDED** 
// Code behind buttons, etc.
//
void CMFCMoveDlg::OnBtnConnect() 
{
  try{
  //******************
  // Connect to the Device on all interfaces
  UpdateData();

  m_Ver = CString("v") + m_Cntl->GetBstrVersion();  // Version

  m_Cntl->SetNBPS(m_BPS);               // Set BPS
  m_Cntl->SetNPort(m_Port);             // Set Port
  m_Cntl->SetBstrIP(m_IP);              // Set IP Address
  m_Cntl->SetNBus(m_BusType?1:0);       // Set Bus, checked(true) is ISA, else PCI
  m_Cntl->Connect(m_Transport,m_CardNbr);//Connect to Transport
  m_CardNbr = m_Cntl->GetNCard();       // One way to use USB is to grab the first unit, but then need to directly connect after that

  m_Stat->SetNStatusWaitRate(7);        // Minimum time between status events
  m_Stat->SetNBPS(m_BPS);               // Set BPS
  m_Stat->SetNPort(m_Port);             // Set Port
  m_Stat->SetBstrIP(m_IP);              // Set IP Address
  m_Stat->SetNBus(m_BusType?1:0);       // Set Bus, checked(true) is ISA, else PCI
  m_Stat->Connect(m_Transport,m_CardNbr);//Connect to Transport

  if(!(m_Cntl->GetIsOffline() || m_Stat->GetIsOffline())) // Verify Connection
    m_lblConnected = _T("Connected");

  // Turn on event handler
  m_workerEvent = new ReadStatus(this);

  UpdateData(FALSE);

  // After UpdateData, since it also calls it
  OnSelchangeCboMaster();
  OnSelchangeCboAxis();

  // *** 
  // Error Handling should go everywhere a call to Communications Server is made 
  // In this sample it is only placed here to aid readablility.
  // ***
  // Error Handling - the errors specifically thrown by Communications Server
  // show up as COM exceptions and can be caught with the COleDispatchException class.
  }catch(COleDispatchException* e) {
    ostringstream errmsg;
    unsigned short errnbr = e->m_scError;
    errmsg << "ERROR NO: " << hex << e->m_scError << dec << "(" << errnbr << ")\nERROR DESC: " << string(e->m_strDescription) << "\nERROR INTERFACE: " << string(e->m_strSource);
    MessageBox(errmsg.str().c_str(), "COM Error", MB_OK);
	}
	catch(CException *e) { 
		TCHAR szCause[1024];
		e->GetErrorMessage(szCause, 1024);   
    MessageBox(szCause, "non-COM Error", MB_OK);
	}
}

void CMFCMoveDlg::OnSelchangeCboMaster() 
{
  // When a different master is choosen, update the status
  UpdateData();

  if(m_Stat->GetIsOffline()) return;

  // initialize realtime status
  ostringstream led;
  led << _T("P") << 4112 + m_Master << _T(",P4272") << _T(",P") << 8208 + (256 * m_Master);
  if(m_masterMsgId) m_Stat->DelStatus(m_masterMsgId);
  m_masterMsgId = m_Stat->AddACRCustom(led.str().c_str());

  UpdateData(FALSE);
}

void CMFCMoveDlg::OnClrKAM() 
{
  // Clear the Kill All Moves flag
  UpdateData();

  if(m_Stat->GetIsOffline()) return;
  m_Cntl->SetFlag(522+(m_Master*32),false,true);

  UpdateData(FALSE);
}

void CMFCMoveDlg::OnSelchangeCboAxis() 
{
  // When a different axis is choosen, update the status
  UpdateData();

  if(m_Stat->GetIsOffline()) return;

  // initialize realtime status
  ostringstream led;
  led << _T("P") << 4360 + m_Axis << _T(",P") << 12288 + (256 * m_Axis) << _T(",P") <<  12295 + (256 * m_Axis);
  if(m_axisMsgId) m_Stat->DelStatus(m_axisMsgId);
  m_axisMsgId = m_Stat->AddACRCustom(led.str().c_str());

  UpdateData(FALSE);
}

void CMFCMoveDlg::OnMoveBtn() 
{
  // Populate all the information needed to execute a move.  This sample only
  // moves one axis at a time, so only needs a safearray size of 1 element.
  VARIANT symbol;
  SAFEARRAY* pSAz;
  SAFEARRAYBOUND bound[1];
  bound[0].lLbound=0;
  bound[0].cElements=1;
  pSAz = SafeArrayCreate(VT_VARIANT,1,bound);
  long itemNbr = 0;
  long itemMask = 1;

  UpdateData();

  if(m_Cntl->GetIsOffline()) return;

  // Init move parameters
  m_Cntl->SetNMoveProfile(m_Master);
  m_Cntl->SetNMoveMode(m_MoveMode);
  m_Cntl->SetFMoveACC(m_ACC);
  m_Cntl->SetFMoveVEL(m_VEL);
  m_Cntl->SetFMoveFVEL(m_FVEL);
  m_Cntl->SetBMoveAbsolute(m_MoveABS);
  if(m_CountDirection == 2)
    m_Cntl->SetNMoveCounter(-1);
  else
    m_Cntl->SetNMoveCounter(m_CountDirection);

  // Single axis mask is easy, just shift a bit over axis number times.
  // For multiple axes, the mask would need to add each single axis value
  // together.
  itemMask = itemMask << m_Axis;

  // Populate SafeArray of Variants (one data point in this example.)  Note that Moves
  // can be either Integer based moves or Floating Point based moves.  The type 
  // of move is determined by inspecting the type of the variant passed inside the 
  // Safearray (vItem below). In this sample, the value is fixed as an Integer
  // for ease of programming.  To allow for either value type in the GUI, you would
  // need to write code that figured out if the value was an integer or a float,
  // (i.e. not use the type specific MFC converter in DoDataExchange()).
  CComVariant vItem(m_MoveAmt);
  SafeArrayPutElement(pSAz, &itemNbr, &vItem);
  VariantInit(&symbol);
  symbol.vt = VT_ARRAY | VT_VARIANT;
  symbol.parray = pSAz;

  // Move.  For ease of programming the Communication Server will destry the SafeArray
  // after this call unless SafeArrayLock(pSAz) is called before Move.  If that is done
  // then you must call SafeArrayUnlock(pSAz) and SafeArrayDestroy(pSAz) to clean up
  // the memory.
  m_Cntl->Move(itemMask,symbol);
	
}

void CMFCMoveDlg::OnMoveStop() 
{
  UpdateData();

  if(m_Cntl->GetIsOffline()) return;

  m_Cntl->Stop(m_StopDEC);
}


LONG CMFCMoveDlg::OnUpdateStats(UINT,LONG xMsgid)
{

  // The StatusWaiting event will trigger when ever a status changes.  Check
  // which status request (for Master info or Axis info) generated the event
  // and then read that status request.  The status requests are set up at
  // connection time or when the dropdown listboxes specifying the master/axis
  // are changed.
  // NOTE: The radio buttons used to simulate LEDs show as "on" when they are 
  // set to the value zero, and "off" for non-zero values.
  SAFEARRAY* pSA1;
  long lBound1 = 0; 
  CComVariant vItem1;   // The CComVariant is found in the atlbase.h include file
  CComVariant vaxis;    // it will clean up SAFEARRAY when it goes out of scope.
  bitset<32> holdDriveFlags(0);

  // Check on the Axis Status
  // index 0 = P4360 + Axis Number
  // index 1 = P12288 + (Axis Number * 256)
  // index 2 = P12295 + (Axis Number * 256)
  if(xMsgid == m_axisMsgId){
    vaxis = m_Stat->GetStatus(m_axisMsgId);
    if(vaxis.vt & VT_ARRAY){ 
      pSA1 = vaxis.parray;
      SafeArrayGetElement(pSA1, &lBound1, &vItem1);
      if(vItem1.vt!=VT_EMPTY)
        holdDriveFlags = vItem1.lVal;
      ++lBound1;
      SafeArrayGetElement(pSA1, &lBound1, &vItem1);
      if(vItem1.vt!=VT_EMPTY) 
        m_Position = vItem1.lVal;
      ++lBound1;
      SafeArrayGetElement(pSA1, &lBound1, &vItem1);
      if(vItem1.vt!=VT_EMPTY) 
        m_SetPoint = vItem1.lVal;
    }else{
      holdDriveFlags = 0;
    }
    m_Drive = !(holdDriveFlags.at(17));
    m_KAMR = !(holdDriveFlags.at(19));
  }

  SAFEARRAY* pSA2;
  long lBound2 = 0; 
  CComVariant vItem2;   // The CComVariant is found in the atlbase.h include file
  CComVariant vmaster;  // it will clean up SAFEARRAY when it goes out of scope.
  bitset<32> holdMotion(0);
  bitset<32> holdVolt24(0);

  // Check on the Master Status
  // index 0 = P4112 + Master Number
  // index 1 = P4272
  // index 2 = P8208 + (Master Number * 256)
  if(xMsgid == m_masterMsgId){
    vmaster = m_Stat->GetStatus(m_masterMsgId);
    if(vmaster.vt & VT_ARRAY){ 
      pSA2 = vmaster.parray;
      SafeArrayGetElement(pSA2, &lBound2, &vItem2);
      if(vItem2.vt!=VT_EMPTY) 
        holdMotion = vItem2.lVal;
      ++lBound2;
      SafeArrayGetElement(pSA2, &lBound2, &vItem2);
      if(vItem2.vt!=VT_EMPTY) 
        holdVolt24 = vItem2.lVal;
      ++lBound2;
      SafeArrayGetElement(pSA2, &lBound2, &vItem2);
      if(vItem2.vt!=VT_EMPTY) 
        m_MoveCnt = vItem2.lVal;
    }else{
      holdMotion = 0;
      holdVolt24 = 0;
    }
    m_Motion = !(holdMotion.at(4));
    m_KAM = !(holdMotion.at(10));
    m_24vEnable = !(holdVolt24.at(13));
  }

  UpdateData(FALSE);

  return 0;
}

  // The radio buttons are used as a poor man's led, so make them read only.
void CMFCMoveDlg::OnLed24venable() 
{
  UpdateData(FALSE);
}
void CMFCMoveDlg::OnLedKam() 
{
  UpdateData(FALSE);
}
void CMFCMoveDlg::OnLedMotion() 
{
  UpdateData(FALSE);
}
void CMFCMoveDlg::OnLedKamr() 
{
  UpdateData(FALSE);
}
void CMFCMoveDlg::OnLedDrive() 
{
  UpdateData(FALSE);
}

// **ADDED**