swmainform.h

一个Windows下演示PID功能的源程序

#include <SmartWin.h>
#include <vector>
#include "cv.h"
#include "OpenCV_EX.h"
#include <fstream>

using namespace SmartWin;
using namespace std;

typedef struct PID_RECT
{
    LONG    l;//left;
    LONG    t;//top;
    LONG    r;//right;
    LONG    b;//bottom;
    LONG    w;//width;
    LONG    h;//height;
    LONG    x;//左下角x坐标;
    LONG    y;//左下角y坐标;
};

PID_RECT r={510,100,100+256,510+256,256,256,510,100+256};

const int PID_out_buf_MAX=256;


double kp=0.5;
double ki=0.001;
double kd=0.001;
double num2=0.0097;
double num3=0.0344;
double num4=0.0078;
double den2=-2.4386;
double den3=2.0848;
double den4=-0.6461;
double input=8;
int samplenum=0;
double output[PID_out_buf_MAX]={0.0};
double ts=0.005;
double u1=0.0;
double u2=0.0;
double u3=0.0;
double uk=0.0;
double y11=0.0;
double y2=0.0;
double y3=0.0;
double yk=0.0;
double x1=0.0;
double x2=0.0;
double x3=0.0;
double error=0.0;
double error1=0.0;



class SWMainForm : public WidgetFactory< WidgetWindow, SWMainForm>
{
	private:
        //下面一行为Obtain可视化编辑内容开始的标识，请不要删除或更改
        //*<define_Visual>
        WidgetButtonPtr button1;
        WidgetTextBoxPtr m_edit1;
        WidgetButtonPtr button2;
        WidgetSliderPtr slider1;
        CImageEX img1;
        WidgetTextBoxPtr m_edit2;
        WidgetTextBoxPtr m_edit3;
        WidgetTextBoxPtr m_edit4;
        WidgetTextBoxPtr m_edit5;
        WidgetTextBoxPtr m_edit6;
        WidgetTextBoxPtr m_edit7;
        WidgetTextBoxPtr m_edit8;
        WidgetTextBoxPtr m_edit9;
        WidgetTextBoxPtr m_edit10;
        WidgetButtonPtr button3;
        WidgetTextBoxPtr m_edit11;
        WidgetStaticPtr static1;

//*</define_Visual>
	    //上面一行为Obtain可视化编辑内容开始的标识，请不要更改或删除
	    HWND hWnd;
	    HDC hDC;
	    WidgetToolbarPtr toolbar,toolbar_1;
	    WidgetMenuPtr mainMenu;
	    
	    int i_PID_out_buf[PID_out_buf_MAX];
	    int i_PID_out_point;
	    bool b_PID_isrun;
	
	

	public:
	void setMainForm(SmartUtil::tstring caption,int cx,int cy)
	{
	    WidgetWindow::Seed cs;
		cs.style=WS_VISIBLE | WS_THICKFRAME | WS_CAPTION | WS_SYSMENU | WS_MINIMIZEBOX | WS_MAXIMIZEBOX | WS_OVERLAPPED;
		cs.exStyle=0;
	    cs.caption=caption;
        cs.location.size.x=cx;
        cs.location.size.y=cy;
        this->createWindow(cs);
	}
	
	//region void initAndCreate
	void initAndCreate()
	{ 
		//下面一行为Obtain可视化编辑内容开始的标识，请不要删除或更改
		//*<Obtain_Visual>
        setMainForm(_T("SmartWin Main Window"),800,664);
        button1=createButton();
        button1->setText(_T("启动"));
        button1->onClicked(& SWMainForm::OnButton1);
        button1->setBounds(204,55,84,37);
        WidgetTextBox::Seed  m_edit1Seed;
        m_edit1Seed.exStyle=WS_EX_CLIENTEDGE;
        m_edit1Seed.style=WS_VISIBLE | WS_CHILD | ES_AUTOHSCROLL | ES_MULTILINE | ES_AUTOVSCROLL | WS_VSCROLL | ES_WANTRETURN;
        m_edit1=createTextBox(m_edit1Seed);
        m_edit1->setText(_T("200"));
        m_edit1->setBounds(9,57,44,33);
        button2=createButton();
        button2->setText(_T("重置设定值"));
        button2->onClicked(& SWMainForm::OnButton2);
        button2->setBounds(64,55,107,36);
        slider1=createSlider();
        slider1->setShowTicksTop(false);
        slider1->setTickFrequency(1);
        slider1->setRange(0,100);
        slider1->setPosition(0);
        slider1->setBounds(5,100,30,256);
        hWnd = this->handle();
        hDC = GetDC ( hWnd );
        //请根据需要修改下面的图像文件名
        img1.Load("1.bmp",1);
        //img1.Show(hDC,117,97,367,181);
        RECT pRect_img1={117,97,484,302};
        img1.DrawToHDC(hDC,&pRect_img1);
        WidgetTextBox::Seed  m_edit2Seed;
        m_edit2Seed.exStyle=WS_EX_CLIENTEDGE;
        m_edit2Seed.style=WS_VISIBLE | WS_CHILD | ES_AUTOHSCROLL | ES_MULTILINE | ES_AUTOVSCROLL | WS_VSCROLL | ES_WANTRETURN;
        m_edit2=createTextBox(m_edit2Seed);
        m_edit2->setText(_T("0.5"));
        m_edit2->setBounds(153,290,68,22);
        WidgetTextBox::Seed  m_edit3Seed;
        m_edit3Seed.exStyle=WS_EX_CLIENTEDGE;
        m_edit3Seed.style=WS_VISIBLE | WS_CHILD | ES_AUTOHSCROLL | ES_MULTILINE | ES_AUTOVSCROLL | WS_VSCROLL | ES_WANTRETURN;
        m_edit3=createTextBox(m_edit3Seed);
        m_edit3->setText(_T("0.001"));
        m_edit3->setBounds(153,328,68,22);
        WidgetTextBox::Seed  m_edit4Seed;
        m_edit4Seed.exStyle=WS_EX_CLIENTEDGE;
        m_edit4Seed.style=WS_VISIBLE | WS_CHILD | ES_AUTOHSCROLL | ES_MULTILINE | ES_AUTOVSCROLL | WS_VSCROLL | ES_WANTRETURN;
        m_edit4=createTextBox(m_edit4Seed);
        m_edit4->setText(_T("0.001"));
        m_edit4->setBounds(154,363,68,22);
        WidgetTextBox::Seed  m_edit5Seed;
        m_edit5Seed.exStyle=WS_EX_CLIENTEDGE;
        m_edit5Seed.style=WS_VISIBLE | WS_CHILD | ES_AUTOHSCROLL | ES_MULTILINE | ES_AUTOVSCROLL | WS_VSCROLL | ES_WANTRETURN;
        m_edit5=createTextBox(m_edit5Seed);
        m_edit5->setText(_T("0.0097"));
        m_edit5->setBounds(273,291,68,22);
        WidgetTextBox::Seed  m_edit6Seed;
        m_edit6Seed.exStyle=WS_EX_CLIENTEDGE;
        m_edit6Seed.style=WS_VISIBLE | WS_CHILD | ES_AUTOHSCROLL | ES_MULTILINE | ES_AUTOVSCROLL | WS_VSCROLL | ES_WANTRETURN;
        m_edit6=createTextBox(m_edit6Seed);
        m_edit6->setText(_T("0.0344"));
        m_edit6->setBounds(273,329,68,22);
        WidgetTextBox::Seed  m_edit7Seed;
        m_edit7Seed.exStyle=WS_EX_CLIENTEDGE;
        m_edit7Seed.style=WS_VISIBLE | WS_CHILD | ES_AUTOHSCROLL | ES_MULTILINE | ES_AUTOVSCROLL | WS_VSCROLL | ES_WANTRETURN;
        m_edit7=createTextBox(m_edit7Seed);
        m_edit7->setText(_T("0.0078"));
        m_edit7->setBounds(274,364,68,22);
        WidgetTextBox::Seed  m_edit8Seed;
        m_edit8Seed.exStyle=WS_EX_CLIENTEDGE;
        m_edit8Seed.style=WS_VISIBLE | WS_CHILD | ES_AUTOHSCROLL | ES_MULTILINE | ES_AUTOVSCROLL | WS_VSCROLL | ES_WANTRETURN;
        m_edit8=createTextBox(m_edit8Seed);
        m_edit8->setText(_T("-2.4386"));
        m_edit8->setBounds(389,289,68,22);
        WidgetTextBox::Seed  m_edit9Seed;
        m_edit9Seed.exStyle=WS_EX_CLIENTEDGE;
        m_edit9Seed.style=WS_VISIBLE | WS_CHILD | ES_AUTOHSCROLL | ES_MULTILINE | ES_AUTOVSCROLL | WS_VSCROLL | ES_WANTRETURN;
        m_edit9=createTextBox(m_edit9Seed);
        m_edit9->setText(_T("2.0848"));
        m_edit9->setBounds(388,327,68,22);
        WidgetTextBox::Seed  m_edit10Seed;
        m_edit10Seed.exStyle=WS_EX_CLIENTEDGE;
        m_edit10Seed.style=WS_VISIBLE | WS_CHILD | ES_AUTOHSCROLL | ES_MULTILINE | ES_AUTOVSCROLL | WS_VSCROLL | ES_WANTRETURN;
        m_edit10=createTextBox(m_edit10Seed);
        m_edit10->setText(_T("-0.6461"));
        m_edit10->setBounds(390,362,68,22);
        button3=createButton();
        button3->setText(_T("默认值"));
        button3->onClicked(& SWMainForm::OnButton3);
        button3->setBounds(51,303,89,50);
        WidgetTextBox::Seed  m_edit11Seed;
        m_edit11Seed.exStyle=WS_EX_CLIENTEDGE;
        m_edit11Seed.style=WS_VISIBLE | WS_CHILD | ES_AUTOHSCROLL | ES_MULTILINE | ES_AUTOVSCROLL | WS_VSCROLL | ES_WANTRETURN;
        m_edit11=createTextBox(m_edit11Seed);
        m_edit11->setText(_T("0.005"));
        m_edit11->setBounds(153,409,71,30);
        static1=createStatic();
        static1->setText(_T("采样时间："));
        static1->setBounds(66,405,61,40);

//*</Obtain_Visual>
		//上面一行为Obtain可视化编辑内容开始的标识，请不要更改或删除
		onPainting(  & SWMainForm::paint );
		//::ShowWindow( (this )->handle(), SW_SHOWMAXIMIZED);
		SWMainForm::main_createMenu();
        SWMainForm::main_createToolbar();
        i_PID_out_point=0;
        b_PID_isrun=false;
        slider1->setHorizontal( false );
        slider1->onScrollVert(& SWMainForm::OnSlider1);
        slider1->setRange(0,256);
        slider1->setPosition( 56);
        
        /*
        PID_KP=0.5;
        PID_KI=0.001;
        PID_KD=0.001;
        PID_K0=(PID_KP+PID_KI+PID_KD);
        PID_K1=-(PID_KP+2*PID_KD);
        PID_K2=PID_KD;
        PID_u[2]=0.0;PID_u[1]=0.0;PID_u[0]=0.0; 
        PID_e[2]=0.0;PID_e[1]=0.0;PID_e[0]=0.0;   
        PID_OUT_DATA=0.0;
        PID_INIT_SET=250; 
        */
        
        //PID_Init();

	}
	//endregion

	private:
        //下面一行为Obtain可视