serverdlg.h

模块化机器人远程控制客户端

// ServerDlg.h : header file
//

#if !defined(AFX_SERVERDLG_H__352C0065_47A0_4195_9E50_B87F2AFDCAF9__INCLUDED_)
#define AFX_SERVERDLG_H__352C0065_47A0_4195_9E50_B87F2AFDCAF9__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include "ServerSock.h"

/////////////////////////////////////////////////////////////////////////////
// CServerDlg dialog

class CServerDlg : public CDialog
{
// Construction
public:
	CServerDlg(CWnd* pParent = NULL);	// standard constructor

	CServerSock m_srvrSocket;
	int UserPort;
	CServerDataSock m_srvrDataSocket;
	int DataPort;
	CServerBackDataSock m_srvrBackDataSocket;
	int BackDataPort;
//	int m_nIndex;
	int row;
	
	BOOL m_bOpened;	
	BOOL m_bArray;//判断CPtrArray是否有效

	double lastJointVal[8];//MODULE上次关节值

	int Dev;  //MODULE 参数
	int Num;
	int idMap[10];
// Dialog Data
	//{{AFX_DATA(CServerDlg)
	enum { IDD = IDD_SERVER_DIALOG };
	CSliderCtrl	m_sldJoint8;
	CSliderCtrl	m_sldJoint7;
	CSliderCtrl	m_sldJoint6;
	CSliderCtrl	m_sldJoint5;
	CSliderCtrl	m_sldJoint4;
	CSliderCtrl	m_sldJoint3;
	CSliderCtrl	m_sldJoint2;
	CSliderCtrl	m_sldJoint1;
	double	m_eJoint1;
	double	m_eJoint2;
	double	m_eJoint3;
	double	m_eJoint4;
	double	m_eJoint5;
	double	m_eJoint6;
	double	m_eJoint7;
	double	m_eJoint8;
	//}}AFX_DATA

	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CServerDlg)
	protected:
	virtual void DoDataExchange(CDataExchange* pDX);	// DDX/DDV support
	//}}AFX_VIRTUAL

// Implementation
protected:
	HICON m_hIcon;

public:
	int StepNum(float maxVel,double* currentPos,double* nextPos,double* stepVal);
	void Display(double* Joint);
	void Move();
	void GetJointValue();
	// Generated message map functions
	//{{AFX_MSG(CServerDlg)
	virtual BOOL OnInitDialog();
	afx_msg void OnSysCommand(UINT nID, LPARAM lParam);
	afx_msg void OnPaint();
	afx_msg HCURSOR OnQueryDragIcon();
	afx_msg void OnConnect();
	afx_msg void OnExit();
	afx_msg void OnOpen();
	afx_msg void OnStop();
	afx_msg void OnGohome();
	afx_msg void OnMove();
	afx_msg void OnHScroll(UINT nSBCode, UINT nPos, CScrollBar* pScrollBar);
	//}}AFX_MSG
	DECLARE_MESSAGE_MAP()
};

//{{AFX_INSERT_LOCATION}}
// Microsoft Visual C++ will insert additional declarations immediately before the previous line.

#endif // !defined(AFX_SERVERDLG_H__352C0065_47A0_4195_9E50_B87F2AFDCAF9__INCLUDED_)