demo1dlg.cpp

运动控制卡VC源码,四轴控制,用于机械手的设计.

// Demo1Dlg.cpp : implementation file
//

#include "stdafx.h"
#include "Demo1.h"
#include "Demo1Dlg.h"

#include "Graph.h"
#include <stdlib.h>

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

long glTotalCards;
long glTotalAxes;

/////////////////////////////////////////////////////////////////////////////
// CAboutDlg dialog used for App About

class CAboutDlg : public CDialog
{
public:
	CAboutDlg();

// Dialog Data
	//{{AFX_DATA(CAboutDlg)
	enum { IDD = IDD_ABOUTBOX };
	CString	m_sCardInfo;
	//}}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)
	m_sCardInfo = _T("");
	//}}AFX_DATA_INIT
}

void CAboutDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CAboutDlg)
	DDX_Text(pDX, IDC_CARDINFO, m_sCardInfo);
	//}}AFX_DATA_MAP
}

BEGIN_MESSAGE_MAP(CAboutDlg, CDialog)
	//{{AFX_MSG_MAP(CAboutDlg)
		// No message handlers
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CDemo1Dlg dialog

CDemo1Dlg::CDemo1Dlg(CWnd* pParent /*=NULL*/)
	: CDialog(CDemo1Dlg::IDD, pParent)
{
	//{{AFX_DATA_INIT(CDemo1Dlg)
	m_sXAxes = _T("");
	m_sXAccel = _T("");
	m_sXHighSpeed = _T("");
	m_sXLowSpeed = _T("");
	m_sXStep = _T("");
	m_sYAccel = _T("");
	m_sYAxes = _T("");
	m_sYHighSpeed = _T("");
	m_sYLowSpeed = _T("");
	m_sYStep = _T("");
	m_sArcR = _T("");
	m_sArcVAccel = _T("");
	m_sArcVHighSpeed = _T("");
	m_sArcVLowSpeed = _T("");
	m_sArcXAxes = _T("");
	m_sArcXCen = _T("");
	m_sArcYAxes = _T("");
	m_sArcYCen = _T("");
	m_sLAccel = _T("");
	m_sLHighSpeed = _T("");
	m_sLLowSpeed = _T("");
	m_sLXAxes = _T("");
	m_sLXStep = _T("");
	m_sLYAxes = _T("");
	m_sLYStep = _T("");
	//}}AFX_DATA_INIT
	// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
}
CDemo1Dlg::~CDemo1Dlg()
{
}
void CDemo1Dlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CDemo1Dlg)
	DDX_Control(pDX, IDC_TAB_SET, m_cTabSet);
	DDX_Text(pDX, IDC_EDIT_XAXES, m_sXAxes);
	DDX_Text(pDX, IDC_EDIT_XACCEL, m_sXAccel);
	DDX_Text(pDX, IDC_EDIT_XHIGHSPEED, m_sXHighSpeed);
	DDX_Text(pDX, IDC_EDIT_XLOWSPEED, m_sXLowSpeed);
	DDX_Text(pDX, IDC_EDIT_XSTEP, m_sXStep);
	DDX_Text(pDX, IDC_EDIT_YACCEL, m_sYAccel);
	DDX_Text(pDX, IDC_EDIT_YAXES, m_sYAxes);
	DDX_Text(pDX, IDC_EDIT_YHIGHSPEED, m_sYHighSpeed);
	DDX_Text(pDX, IDC_EDIT_YLOWSPEED, m_sYLowSpeed);
	DDX_Text(pDX, IDC_EDIT_YSTEP, m_sYStep);
	DDX_Text(pDX, IDC_EDIT_ARC_R, m_sArcR);
	DDX_Text(pDX, IDC_EDIT_ARC_VACCEL, m_sArcVAccel);
	DDX_Text(pDX, IDC_EDIT_ARC_VHIGHSPEED, m_sArcVHighSpeed);
	DDX_Text(pDX, IDC_EDIT_ARC_VLOWSPEED, m_sArcVLowSpeed);
	DDX_Text(pDX, IDC_EDIT_ARC_XAXES, m_sArcXAxes);
	DDX_Text(pDX, IDC_EDIT_ARC_XCEN, m_sArcXCen);
	DDX_Text(pDX, IDC_EDIT_ARC_YAXES, m_sArcYAxes);
	DDX_Text(pDX, IDC_EDIT_ARC_YCEN, m_sArcYCen);
	DDX_Text(pDX, IDC_EDIT_LACCEL, m_sLAccel);
	DDX_Text(pDX, IDC_EDIT_LHIGHSPEED, m_sLHighSpeed);
	DDX_Text(pDX, IDC_EDIT_LLOWSPEED, m_sLLowSpeed);
	DDX_Text(pDX, IDC_EDIT_LXAXES, m_sLXAxes);
	DDX_Text(pDX, IDC_EDIT_LXSTEP, m_sLXStep);
	DDX_Text(pDX, IDC_EDIT_LYAXES, m_sLYAxes);
	DDX_Text(pDX, IDC_EDIT_LYSTEP, m_sLYStep);
	//}}AFX_DATA_MAP
}

BEGIN_MESSAGE_MAP(CDemo1Dlg, CDialog)
	//{{AFX_MSG_MAP(CDemo1Dlg)
	ON_WM_SYSCOMMAND()
	ON_WM_PAINT()
	ON_WM_QUERYDRAGICON()
	ON_BN_CLICKED(IDC_BTN_SHOW, OnBtnShow)
	ON_NOTIFY(TCN_SELCHANGE, IDC_TAB_SET, OnSelchangeTabSet)
	ON_BN_CLICKED(IDC_RADIO_XAXES, OnRadioXaxes)
	ON_BN_CLICKED(IDC_RADIO_YAXES, OnRadioYaxes)
	ON_BN_CLICKED(IDC_RADIO_CON, OnRadioCon)
	ON_BN_CLICKED(IDC_RADIO_FAST, OnRadioFast)
	ON_BN_CLICKED(IDC_RADIO_PMOVE, OnRadioPmove)
	ON_BN_CLICKED(IDC_RADIO_VMOVE, OnRadioVmove)
	ON_BN_CLICKED(IDC_RADIO_AXES1, OnRadioAxes1)
	ON_BN_CLICKED(IDC_RADIO_AXES2, OnRadioAxes2)
	ON_BN_CLICKED(IDC_BTN_STARTMOVE, OnBtnStartmove)
	ON_BN_CLICKED(IDC_BTN_SUDDENSTOP, OnBtnSuddenstop)
	ON_BN_CLICKED(IDC_BTN_DESCENDSTOP, OnBtnDescendstop)
	ON_WM_TIMER()
	ON_BN_CLICKED(IDC_BTN_RESET, OnBtnReset)
	ON_BN_CLICKED(IDC_RADIO_ARC_CON, OnRadioArcCon)
	ON_BN_CLICKED(IDC_RADIO_ARC_FAST, OnRadioArcFast)
	ON_BN_CLICKED(IDC_RADIO_LINE_CON, OnRadioLineCon)
	ON_BN_CLICKED(IDC_RADIO_LINE_FAST, OnRadioLineFast)
	ON_COMMAND(IDC_CARDINFO, OnCardinfo)
	ON_COMMAND(IDC_EXIT, OnExit)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CDemo1Dlg message handlers

BOOL CDemo1Dlg::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
	
	////////////////////////
	//初始化设备
	InitBoard();
	////////////////////////
	//创建图形显示窗口
	m_cG.Create(IDD_G,NULL);
	m_cG.ShowWindow(SW_HIDE);
	m_cG.m_bShowGraph=FALSE;
	OnBtnShow();
	////////////////////////
	//初始化运动参数设置
	InitParam();
	SetRadioButton();
	CreateTab();
	SetTabContentStatus(0);

	////////////////////////
	//启动定时器准备画图
	SetTimer(1,200,NULL);

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

void CDemo1Dlg::OnSysCommand(UINT nID, LPARAM lParam)
{
	CString sInfo,str;
	long nType,ma[3],mi1[3],mi2[3],Rtn,i;
	if ((nID & 0xFFF0) == IDM_ABOUTBOX)
	{
		CAboutDlg dlgAbout;
		sInfo.Format("计算机内插有 %d 张板卡。共有 %d 根轴。\n",glTotalCards,glTotalAxes);
	    if (glTotalCards <= 0)
		{
	        nType = -1;
		    for(i=0;i<3;i++)
			{
			    ma[i] = -1;
				mi1[i] = -1;
				mi2[i] = -1;
			}
		}
	    else
		{
	        Rtn = m_cMpc2810Dll.get_lib_ver(&ma[0], &mi1[0], &mi2[0]);
		    Rtn = m_cMpc2810Dll.get_sys_ver(&ma[1], &mi1[1], &mi2[1]);
			Rtn = m_cMpc2810Dll.get_card_ver(1, &nType, &ma[2], &mi1[2], &mi2[2]);
		}
		str.Format("板卡类型号     ：%d\n",nType);
	    sInfo = sInfo + str;
		str.Format("函数库版本号   ：%d.%d.%d\n",ma[0], mi1[0], mi2[0]);
	    sInfo = sInfo + str;
		str.Format("驱动程序版本号 ：%d.%d.%d\n",ma[1], mi1[1], mi2[1]);
		sInfo = sInfo + str;
		str.Format("硬件版本号     ：%d.%d.%d\n",ma[2], mi1[2], mi2[2]);
		sInfo = sInfo + str;
    
		dlgAbout.m_sCardInfo = sInfo;//.GetDlgItem(IDC_CARDINFO)->SetWindowText(sInfo);
		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 CDemo1Dlg::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 CDemo1Dlg::OnQueryDragIcon()
{
	return (HCURSOR) m_hIcon;
}

/////////////////////////////////
//初始化板卡
int CDemo1Dlg::InitBoard()
{
	int i;
	//////////////////
	
	//初始化板卡
	glTotalAxes=m_cMpc2810Dll.auto_set();			//自动设置
	if(glTotalAxes<=0 )
	{
		MessageBox("检测不到卡!");
		return -1;
	}

	//MessageBox("OK");
	glTotalCards=m_cMpc2810Dll.init_board();		//初始化
	if(glTotalCards<0)
	{
		MessageBox("初始化错误!");
		return -1;
	}

	for(i=0;i<glTotalAxes;i++)
	{
		m_cMpc2810Dll.set_sd_logic(i+1,0);
		m_cMpc2810Dll.set_el_logic(i+1,0);
		m_cMpc2810Dll.set_org_logic(i+1,0);
		m_cMpc2810Dll.set_alm_logic(i+1,0);
	}

	return 0;
}
/////////////////////////////////
//添加选项卡
void CDemo1Dlg::CreateTab()
{
	TCITEM curItem;
	curItem.mask=TCIF_TEXT;
	curItem.cchTextMax =10;
	curItem.pszText ="直线运动设置";
	m_cTabSet.InsertItem(0,&curItem);
	curItem.pszText ="直线插补设置";
	m_cTabSet.InsertItem(1,&curItem);
}

void CDemo1Dlg::OnBtnShow() 
{
	// TODO: Add your control notification handler code here
	
	/////////////////////////////////
	//图形显示窗口定位
	RECT tRect;
	m_cG.GetWindowRect(&tRect);
	m_cG.MoveWindow(0,0,tRect.right-tRect.left ,tRect.bottom-tRect.top,TRUE);

	if(m_cG.m_bShowGraph)	//若图形窗口已经显示，则隐藏
	{
		m_cG.ShowWindow(SW_HIDE);
		m_cG.m_bShowGraph=FALSE;
	}
	else					//若图形窗口已经隐藏，则显示
	{
		m_cG.ShowWindow(SW_SHOW);
		m_cG.m_bShowGraph=TRUE;
	}
}

/////////////////////////////////////////////////
//点取选项卡
void CDemo1Dlg::OnSelchangeTabSet(NMHDR* pNMHDR, LRESULT* pResult) 
{
	// TODO: Add your control notification handler code here
//	int iSelect;
	m_iSelect=m_cTabSet.GetCurSel();
	if(m_iSelect==1)		//若选择直线插补运动参数设置选项卡
	{
		SetTabContentStatus(1);
		GetDlgItem(IDC_FRAME_LINE)->SetWindowText("直线插补设置");
	}
	else				//若选择直线运动参数设置选项卡
	{
		SetTabContentStatus(0);
		GetDlgItem(IDC_FRAME_LINE)->SetWindowText("直线运动设置");
	}
	*pResult = m_iSelect;
}

//////////////////////////////////////////////////
//根据选项卡的选择显示或隐藏相应的运动参数设置控件
void CDemo1Dlg::SetTabContentStatus(int TabID)
{
	int iStatus,iStatus1,iStatus2;
	if(TabID==1)			//直线插补
	{
		iStatus=SW_HIDE;
		iStatus1=SW_HIDE;
		iStatus2=SW_SHOW;
	}
	else					//直线运动,TabID=0
	{
		iStatus=SW_SHOW;
		iStatus1=SW_HIDE;
		iStatus2=SW_HIDE;
	}

	//////////////////////////////////////////////////
	//选择了Tab1（直线运动参数设定）
	GetDlgItem(IDC_EDIT_XAXES)->ShowWindow(iStatus);
	GetDlgItem(IDC_EDIT_XLOWSPEED)->ShowWindow(iStatus);
	GetDlgItem(IDC_EDIT_XHIGHSPEED)->ShowWindow(iStatus);
	GetDlgItem(IDC_EDIT_XACCEL)->ShowWindow(iStatus);
	GetDlgItem(IDC_EDIT_XSTEP)->ShowWindow(iStatus);

	GetDlgItem(IDC_EDIT_YAXES)->ShowWindow(iStatus);
	GetDlgItem(IDC_EDIT_YLOWSPEED)->ShowWindow(iStatus);
	GetDlgItem(IDC_EDIT_YHIGHSPEED)->ShowWindow(iStatus);
	GetDlgItem(IDC_EDIT_YACCEL)->ShowWindow(iStatus);
	GetDlgItem(IDC_EDIT_YSTEP)->ShowWindow(iStatus);

	GetDlgItem(IDC_STATIC_XAXES)->ShowWindow(iStatus);
	GetDlgItem(IDC_STATIC_XLOWSPEED)->ShowWindow(iStatus);
	GetDlgItem(IDC_STATIC_XHIGHSPEED)->ShowWindow(iStatus);
	GetDlgItem(IDC_STATIC_XACCEL)->ShowWindow(iStatus);
	GetDlgItem(IDC_STATIC_XSTEP)->ShowWindow(iStatus);

	GetDlgItem(IDC_STATIC_YAXES)->ShowWindow(iStatus);
	GetDlgItem(IDC_STATIC_YLOWSPEED)->ShowWindow(iStatus);
	GetDlgItem(IDC_STATIC_YHIGHSPEED)->ShowWindow(iStatus);
	GetDlgItem(IDC_STATIC_YACCEL)->ShowWindow(iStatus);
	GetDlgItem(IDC_STATIC_YSTEP)->ShowWindow(iStatus);

	GetDlgItem(IDC_RADIO_AXES1)->ShowWindow(iStatus);
	GetDlgItem(IDC_RADIO_AXES2)->ShowWindow(iStatus);
	GetDlgItem(IDC_RADIO_XAXES)->ShowWindow(iStatus);
	GetDlgItem(IDC_RADIO_YAXES)->ShowWindow(iStatus);
	GetDlgItem(IDC_RADIO_CON)->ShowWindow(iStatus);
	GetDlgItem(IDC_RADIO_FAST)->ShowWindow(iStatus);
	GetDlgItem(IDC_RADIO_PMOVE)->ShowWindow(iStatus);
	GetDlgItem(IDC_RADIO_VMOVE)->ShowWindow(iStatus);

	GetDlgItem(IDC_GROUP_XYAXES)->ShowWindow(iStatus);
	GetDlgItem(IDC_GROUP_AXESNUM)->ShowWindow(iStatus);
	GetDlgItem(IDC_GROUP_SPEEDTYPE)->ShowWindow(iStatus);
	GetDlgItem(IDC_GROUP_MOVETYPE)->ShowWindow(iStatus);

	////////////////////////////////////////////////////
	//选择了Tab2（圆弧运动参数设定）
	GetDlgItem(IDC_STATIC_ARC_XAXES)->ShowWindow(iStatus1);
	GetDlgItem(IDC_STATIC_ARC_YAXES)->ShowWindow(iStatus1);
	GetDlgItem(IDC_STATIC_ARC_VLOWSPEED)->ShowWindow(iStatus1);
	GetDlgItem(IDC_STATIC_ARC_VHIGHSPEED)->ShowWindow(iStatus1);
	GetDlgItem(IDC_STATIC_ARC_VACCEL)->ShowWindow(iStatus1);
	GetDlgItem(IDC_STATIC_ARC_XCEN)->ShowWindow(iStatus1);
	GetDlgItem(IDC_STATIC_ARC_YCEN)->ShowWindow(iStatus1);
	GetDlgItem(IDC_STATIC_ARC_R)->ShowWindow(iStatus1);