showdataframe.java

采用PCI1020芯片控制三个电机

		 * GridBagConstraints.BOTH; constraints.anchor =
		 * GridBagConstraints.WEST; // final JLabel agraphlabel2 = new
		 * JLabel("图形", JLabel.CENTER); // gridbag.setConstraints(agraphlabel2,
		 * constraints); // pane.add(agraphlabel2); final JPanel jp2=new
		 * JPanel(); jp2.setBorder(new TitledBorder("油门实时图像"));
		 * gridbag.setConstraints(jp2, constraints); contentpane.add(jp2);
		 */
		// 刹车
		buildConstraints(constraints, 0, 5, 1, 2, 100, 100);
		constraints.fill = GridBagConstraints.BOTH;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JLabel brakelabel1 = new JLabel("刹 车", JLabel.RIGHT);
		// final JButton brakelabel1 = new JButton("刹 车");
		gridbag.setConstraints(label_brake, constraints);
		contentpane.add(label_brake);

		buildConstraints(constraints, 1, 5, 1, 1, 100, 100);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JTextField braketf1 = new JTextField();
		gridbag.setConstraints(logiclabel_brake, constraints);
		contentpane.add(logiclabel_brake);

		buildConstraints(constraints, 2, 5, 1, 1, 100, 100);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JTextField agraphtf1 = new JTextField();
		gridbag.setConstraints(accelelabel_brake, constraints);
		// pane.add(agraphtf1);
		contentpane.add(accelelabel_brake);
		
		buildConstraints(constraints, 3, 5, 1, 1, 100, 100);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JTextField agraphtf1 = new JTextField();
		gridbag.setConstraints(speedlabel_brake, constraints);
		// pane.add(agraphtf1);
		contentpane.add(speedlabel_brake);

		buildConstraints(constraints, 4, 5, 1, 1, 100, 100);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JTextField agraphtf1 = new JTextField();
		gridbag.setConstraints(anglelabel_brake, constraints);
		// pane.add(agraphtf1);
		contentpane.add(anglelabel_brake);
		
		buildConstraints(constraints, 5, 5, 1, 1, 100, 100);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JTextField agraphtf1 = new JTextField();
		gridbag.setConstraints(statuslabel_brake, constraints);
		// pane.add(agraphtf1);
		contentpane.add(statuslabel_brake);

		
		
		//刹车TextField
		buildConstraints(constraints, 1, 6, 1, 1, 100, 100);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JTextField agraphtf1 = new JTextField();
		gridbag.setConstraints(logictf_brake, constraints);
		// pane.add(agraphtf1);
		contentpane.add(logictf_brake);

		buildConstraints(constraints, 2, 6, 1, 1, 100, 100);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JTextField agraphtf1 = new JTextField();
		gridbag.setConstraints(acceletf_brake, constraints);
		// pane.add(agraphtf1);
		contentpane.add(acceletf_brake);
		
		buildConstraints(constraints, 3, 6, 1, 1, 100, 100);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JTextField agraphtf1 = new JTextField();
		gridbag.setConstraints(speedtf_brake, constraints);
		// pane.add(agraphtf1);
		contentpane.add(speedtf_brake);

		buildConstraints(constraints, 4, 6, 1, 1, 100, 100);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JTextField agraphtf1 = new JTextField();
		gridbag.setConstraints(angletf_brake, constraints);
		// pane.add(agraphtf1);
		contentpane.add(angletf_brake);
       
		buildConstraints(constraints, 5, 6, 1, 1, 100, 100);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JTextField agraphtf1 = new JTextField();
		gridbag.setConstraints(statustf_brake, constraints);
		// pane.add(agraphtf1);
		contentpane.add(statustf_brake);
		
		
		/*
		 * buildConstraints(constraints, 2, 3, 1, 1, 0, 0); constraints.fill =
		 * GridBagConstraints.BOTH; constraints.anchor =
		 * GridBagConstraints.WEST; // final JLabel brakelabel2 = new
		 * JLabel("图形", JLabel.CENTER); final JPanel jp3=new JPanel();
		 * jp3.setBorder(new TitledBorder("刹车实时图像"));
		 * gridbag.setConstraints(jp3, constraints); contentpane.add(jp3);
		 *  // gridbag.setConstraints(brakelabel2, constraints);
		 *  // pane.add(brakelabel2);
		 */

		// 左光码盘
		buildConstraints(constraints, 0, 7, 1, 2, 100, 100);
		constraints.fill = GridBagConstraints.BOTH;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JLabel leftopticlabel1 = new JLabel("左光码盘", JLabel.RIGHT);
		// final JButton leftopticlabel1 = new JButton("左光码盘");
		gridbag.setConstraints(label_leftoptic, constraints);
		contentpane.add(label_leftoptic);

		buildConstraints(constraints, 1, 7, 1, 1, 100, 100);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JTextField leftoptictf = new JTextField();
		gridbag.setConstraints(lpwmlabel_leftoptic, constraints);
		contentpane.add(lpwmlabel_leftoptic);
		
		buildConstraints(constraints, 2, 7, 1, 1, 100, 100);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JTextField leftoptictf = new JTextField();
		gridbag.setConstraints(pwmlabel_leftoptic, constraints);
		contentpane.add(pwmlabel_leftoptic);

		buildConstraints(constraints, 3, 7, 1, 1, 0, 0);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JLabel leftopticlabel2 = new JLabel("测量数据",
		// JLabel.CENTER);//以后显示距离JText
		gridbag.setConstraints(distancelabel_leftoptic, constraints);
		contentpane.add(distancelabel_leftoptic);
		// JPanel jp4=new JPanel();
		// jp3.setBorder(new TitledBorder("刹车实时图像"));
		// gridbag.setConstraints(jp3, constraints);
		// contentpane.add(jp3);

		buildConstraints(constraints, 1, 8, 1, 1, 100, 100);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JTextField agraphtf1 = new JTextField();
		gridbag.setConstraints(lpwmtf_leftoptic, constraints);
		// pane.add(agraphtf1);
		contentpane.add(lpwmtf_leftoptic);

		buildConstraints(constraints, 2, 8, 1, 1, 100, 100);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JTextField agraphtf1 = new JTextField();
		gridbag.setConstraints(pwmtf_leftoptic, constraints);
		// pane.add(agraphtf1);
		contentpane.add(pwmtf_leftoptic);
		
		buildConstraints(constraints, 3, 8, 1, 1, 100, 100);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JTextField agraphtf1 = new JTextField();
		gridbag.setConstraints(distancetf_leftoptic, constraints);
		// pane.add(agraphtf1);
		contentpane.add(distancetf_leftoptic);

		// 右光码盘
		buildConstraints(constraints, 0, 9, 1, 2, 100, 100);
		constraints.fill = GridBagConstraints.BOTH;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JLabel rightopticlabel1 = new JLabel("右光码盘", JLabel.RIGHT);
		// final JButton rightopticlabel1 = new JButton("右光码盘");
		gridbag.setConstraints(label_rightoptic, constraints);
		contentpane.add(label_rightoptic);

		buildConstraints(constraints, 1, 9, 1, 1, 100, 100);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JTextField rightoptictf = new JTextField();
		gridbag.setConstraints(lpwmlabel_rightoptic, constraints);
		contentpane.add(lpwmlabel_rightoptic);

		buildConstraints(constraints, 2, 9, 1, 1, 100,100);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JTextField rightoptictf = new JTextField();
		gridbag.setConstraints(pwmlabel_rightoptic, constraints);
		contentpane.add(pwmlabel_rightoptic);
		
		buildConstraints(constraints, 3, 9, 1, 1, 100, 100);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JTextField agraphtf1 = new JTextField();
		gridbag.setConstraints(distancelabel_rightoptic, constraints);
		// pane.add(agraphtf1);
		contentpane.add(distancelabel_rightoptic);

		buildConstraints(constraints, 1, 10, 1, 1, 100, 100);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JLabel rightopticlabel2 = new JLabel("测量数据",
		// JLabel.CENTER);//以后显示距离JText
		gridbag.setConstraints(lpwmtf_rightoptic, constraints);
		contentpane.add(lpwmtf_rightoptic);
		
		buildConstraints(constraints, 2, 10, 1, 1, 100, 100);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JLabel rightopticlabel2 = new JLabel("测量数据",
		// JLabel.CENTER);//以后显示距离JText
		gridbag.setConstraints(pwmtf_rightoptic, constraints);
		contentpane.add(pwmtf_rightoptic);

		buildConstraints(constraints, 3, 10, 1, 1, 100, 100);
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		// final JTextField agraphtf1 = new JTextField();
		gridbag.setConstraints(distancetf_rightoptic, constraints);
		// pane.add(agraphtf1);
		contentpane.add(distancetf_rightoptic);

		/*
		 * pane.add(fangxiang1); pane.add(youmen1); pane.add(shache1);
		 */
		//APF
		buildConstraints(constraints,0,11,4,4,100,100);//不正常
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		gridbag.setConstraints(label_1, constraints);
		contentpane.add(label_1);
		
		buildConstraints(constraints,0,12,4,4,100,100);//不正常
		constraints.fill = GridBagConstraints.HORIZONTAL;
		constraints.anchor = GridBagConstraints.CENTER;
		gridbag.setConstraints(pane, constraints);
		contentpane.add(pane);
		
		setContentPane(contentpane);
		runner.start();

	}
//关闭窗口时 终止线程 销毁窗体对象
	public void windowClosing(WindowEvent e){
		setDefaultCloseOperation(JFrame.HIDE_ON_CLOSE);
		this.runner=null;
		this.dispose();
		
	}
	
	public void windowActivated(WindowEvent e){
		;
	}
	public void windowClosed(WindowEvent e){
		;
	}
	public void windowDeactivated(WindowEvent e){
		;
	}
	public void windowDeiconified(WindowEvent e){
		;
	}
	public void windowIconified(WindowEvent e){
		;
	}
	public void windowOpened(WindowEvent e){
		;
	}
	
	public void run() {
		final Thread thisThread = Thread.currentThread();//
	//	Color c1=new Color(128,128,128);
	//	SteeringWheelClass st=new SteeringWheelClass();
		
		// int Result_Readlp=0;
		while (runner == thisThread) {//终止线程在类的任何地方使用 runner=null;
		//	int[]RR3=R3;
			// for(i=0;i<100000;i++){
			// controlmotor.ReadCA(motor.XAXIS);
			// agraphtf1.setText(i);
			
			/*
			 * try{ 
			 * 		final FuncPtr ReadLP=new FuncPtr("C:\\windows\\system\\PCI1020.DLL",
			 * 					  "PCI1020_ReadLP"); 
			 * 	// and then follows any [out] values //
			 * 		int outVal = leis.readInt();
			 * 		Result_Readlp=ReadLP.invoke_I(hDevice,0,ReturnFlags.CHECK_NONE);
			 * }catch(final COMException e){
			 * }
			 */
			logictf_steeringwheel.setText(String.valueOf(ControlMotor.ReadLP(motor.XAXIS)));
			acceletf_steeringwheel.setText(String.valueOf(ControlMotor.ReadCA(motor.XAXIS)));		
			speedtf_steeringwheel.setText(String.valueOf(ControlMotor.ReadCV(motor.XAXIS)));			
			angletf_steeringwheel.setText(String.valueOf(SteeringWheelClass.ReadAngle()));
			//*0.3515));//*0.703));//单步为0.703度  显示度数有问题
		//	angletf_steeringwheel.setText(String.valueOf(st.ReadGax()*0.3515));
			
			logictf_gun.setText(String.valueOf(ControlMotor.ReadLP(motor.YAXIS)));//逻辑数
			acceletf_gun.setText(String.valueOf(ControlMotor.ReadCA(motor.YAXIS)));//加速度		
			speedtf_gun.setText(String.valueOf(ControlMotor.ReadCV(motor.YAXIS)));//轴速度
			angletf_gun.setText(String.valueOf(ControlMotor.ReadLP(motor.YAXIS)*1.8/10));//10细分，//当前位置角度
			
			logictf_brake.setText(String.valueOf(ControlMotor.ReadLP(motor.ZAXIS)));		
			acceletf_brake.setText(String.valueOf(ControlMotor.ReadCA(motor.ZAXIS)));		
			speedtf_brake.setText(String.valueOf(ControlMotor.ReadCV(motor.ZAXIS)));
			angletf_brake.setText(String.valueOf(ControlMotor.ReadLP(motor.ZAXIS)*1.8/10));//10细分
			
//			调试用
			pwmtf_leftoptic.setText(String.valueOf(SteeringWheelClass.ReadAngle()));
			pwmtf_rightoptic.setText(String.valueOf(ControlMotor.ReadEP(motor.ZAXIS)));
			
		//  ControlMotor.GetRR3Status(PA);
		//	ControlMotor.GetRR3Status(R3);
		//	logictf_gun.setText(String.valueOf(R3[0]));
		//	speedtf_gun.setText(String.valueOf(R3[1]));

		//各轴工作状态显示	
			ControlMotor.GetRR0Status(R0);
			if(R0[0]==1) 
				statustf_steeringwheel.setBackground(Color.GREEN);
			else 
				statustf_steeringwheel.setBackground(Color.GRAY);
			if(R0[1]==1) 
				statustf_gun.setBackground(Color.GREEN);
			else 
				statustf_gun.setBackground(Color.GRAY);
			if(R0[2]==1) 
				statustf_brake.setBackground(Color.GREEN);
			else 
				statustf_brake.setBackground(Color.GRAY);
			
		//	ControlMotor.GetRR1Status(motor.XAXIS, R1);
		//	logictf_brake.setText(String.valueOf(ControlMotor.ReadLP(motor.ZAXIS)));
		//	acceletf_brake.setText(String.valueOf(ControlMotor.ReadCA(motor.ZAXIS)));
		//	speedtf_brake.setText(String.valueOf(ControlMotor.ReadCV(motor.ZAXIS)));
		//	angletf_brake.setText(String.valueOf(ControlMotor.ReadLP(motor.ZAXIS)*1.8/10));//10细分
		}

	}

}