📄 learnview.cpp
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R_s=-4.0*Pi/12.0;
break;
}
if (((int)trd08==Bit_color))//&&((int)trd10==Bit_color))
{
ColorSignB=1;trd_numB=12;
dis2=dis;
R_s=4.0*Pi/12.0;
break;
}
if (((int)trd09==Bit_color))//&&((int)trd11==Bit_color))
{
ColorSignB=1;trd_numB=5;
dis2=dis;
R_s=-5.0*Pi/12.0;
break;
}
if (((int)trd10==Bit_color))//&&((int)trd12==Bit_color))
{
ColorSignB=1;trd_numB=13;
dis2=dis;
R_s=5.0*Pi/12.0;
break;
}
if (((int)trd11==Bit_color))//&&((int)trd13==Bit_color))
{
ColorSignB=1;trd_numB=6;
dis2=dis;
R_s=-6.0*Pi/12.0;
break;
}
if (((int)trd12==Bit_color))//&&((int)trd14==Bit_color))
{
ColorSignB=1;trd_numB=14;
dis2=dis;
R_s=6.0*Pi/12.0;
break;
}
if (((int)trd13==Bit_color))//&&((int)trd15==Bit_color))
{
ColorSignB=1;trd_numB=7;
dis2=dis;
R_s=-7.0*Pi/12.0;
break;
}
/*
if (ColorSignB==1||ColorSignR==1||ColorSignG==1)
{
break;
}*/
}
// CString str_dis;
// str_dis.Format("trd_numB:%d",trd_numB);
// dc.TextOut(300,10,str_dis);
if (dis2<=4.0)
{
// Action(0);
x1=x0;
y1=y0;
rwd=-2.0;
}
else if ((dis2<dmin)&&(dis2>4.0))
{
rwd=-2.0;
}
else if ((dis2>=dmin)&&(dis<=dmax))
{
rwd=1.0;//
// StopTest();
}
else if (dis2>dmax)
{
rwd=-0.5;//
// StopTest();
}
// CString str00;
// int size;
// str00.Format("%f",Qvamax);
// str_all=str_all+str00+'\n';
// CFile myFile;
// size=sizeof(str_all);
// if (myFile.Open("Qva.txt",CFile::modeCreate|CFile::modeWrite))
// {
// myFile.Write(str_all,size);
// myFile.Close();
// }
// cDC.LineTo(flag_dis+5,Qvamax-10200);
flag_dis=+5;
return trd_numB;
}
void CLearnView::OnSave()
{
CFile myfile;
CFileException e;
CString filename;
filename="Qnew.txt";
int size;
//str="098\n324";
//str_G_PWM="2000";
size=str.GetLength();
if(myfile.Open(filename,CFile::modeCreate|CFile::modeNoTruncate|CFile::modeReadWrite,&e))
{
for (int i=0;i<100;i++)
{
// size=str.GetLength();
str.Format("%f",Q[i]);
myfile.Write(str,size);
}
}
myfile.Close();
}
void CLearnView::OnRead()
{
CFile myfile;
// CFileException e;
CString filename;
filename="Qold.txt";
char *pBuf;
pBuf=new char[90];
pBuf[89]=0;
//
if(myfile.Open(filename,CFile::modeCreate|CFile::modeNoTruncate|CFile::modeReadWrite))
{
myfile.Read(pBuf,100);
}
myfile.Close();
MessageBox(pBuf);
}
void CLearnView::OnWall(int wall)
{
}
void CLearnView::Robot()
{
CClientDC cDC(this);
x=x1+buchang*cos(R_k); //显示机器人当前运行位置与目标点连线方向与X轴的夹角角度R_k
y=y1+buchang*sin(R_k);
x1=x;
y1=y;
CPen RedPen(PS_SOLID,1,RGB(255,0,255));
cDC.SelectObject(RedPen);
cDC.Ellipse((int)x+3,(int)y+3,(int)x-3,(int)y-3); ///机器人运行轨迹
// cDC.MoveTo(x,y);
// CDC.LineTo((int)(x+5.0*cos(R_k+0.0*Pi/12.0)),(int)(y+5.0*sin(R_k+0.0*Pi/12.0)));
// CDC.LineTo(100,100);
}
void CLearnView::StopTest()
{
KillTimer(10);
AfxMessageBox("stoptest");
}
void CLearnView::OnMap1()
{
// TODO: Add your command handler code here
}
void CLearnView::OnSP()
{
// TODO: Add your command handler code here
if (flag_Timer==0)
{
KillTimer(10);
flag_Timer++;
}
else if (flag_Timer==1)
{
SetTimer(10,5,NULL);
flag_Timer--;
}
}
int CLearnView::Blzm(double all, double qf)
{
int bl;
bl=floor(1000*exp(qf/2.0)/all);
return bl;
}
void CLearnView::OnButtonStart()
{
// TODO: Add your control notification handler code here
//开始按钮，开启定时器，同时对各个控件的可用性进行定义
CMainFrame *pw=(CMainFrame *)AfxGetMainWnd();
((CComboBox *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_COMBO_MAP)))->EnableWindow(FALSE);
((CEdit *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_EDIT_INITX)))->EnableWindow(FALSE);
((CEdit *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_EDIT_INITY)))->EnableWindow(FALSE);
((CEdit *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_EDIT_GOALX)))->EnableWindow(FALSE);
((CEdit *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_EDIT_GOALY)))->EnableWindow(FALSE);
((CButton *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_BUTTON_LEFT)))->EnableWindow(FALSE);
LeftEnable=false;
RightEnable=false;
StartEnable=false;
PauseEnable=true;
SetTimer(10,Robotvelocity,NULL);
// ((CButton *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_BUTTON_START)))->EnableWindow(false);
// AfxMessageBox(str);
}
void CLearnView::OnButtonPause()
{
// TODO: Add your control notification handler code here
//暂停按钮
KillTimer(10);
LeftEnable=false;
RightEnable=false;
StartEnable=true;
PauseEnable=false;
}
void CLearnView::OnButtonLeft()
{
// TODO: Add your control notification handler code here
/*
CClientDC dc(this);
LPPOINT lpPoint1,lpPoint2;
GetCursorPos(lpPoint1);
*/
ydsign=1; //给出绘制向左运动的障碍物的标志
}
void CLearnView::OnButtonRight()
{
// TODO: Add your control notification handler code here
ydsign=2; //给出绘制向右运动的障碍物的标志
}
void CLearnView::OnLButtonDown(UINT nFlags, CPoint point)
{
// TODO: Add your message handler code here and/or call default
if(ydsign==1)
{
ydGPoint1[ydGnum]=point;
MouseDown=1; //鼠标按下的标志
ydGPoint2[ydGnum].x=point.x;
ydGPoint2[ydGnum].y=point.y;
}
else if (ydsign==2)
{
ydRPoint1[ydRnum]=point;
MouseDown=1;
ydRPoint2[ydRnum].x=point.x;
ydRPoint2[ydRnum].y=point.y;
}
/*
CClientDC dc(this);
COLORREF trd00;
trd00=dc.GetPixel(point.x,point.y);
CString str;
str.Format("%d",trd00);
AfxMessageBox(str);
*/
CView::OnLButtonDown(nFlags, point);
}
void CLearnView::OnMouseMove(UINT nFlags, CPoint point)
{
// TODO: Add your message handler code here and/or call default
CClientDC dc(this);
CBrush GreenBrush(RGB(0,255,0)),RedBrush(RGB(255,0,0)),WhiteBrush(RGB(255,255,255));
if (MouseDown==1)
{
if(ydsign==1)
{
dc.SelectObject(GreenBrush);
dc.Rectangle(ydGPoint1[ydGnum].x,ydGPoint1[ydGnum].y,point.x,point.y);
ydGPoint2[ydGnum].x=point.x;
ydGPoint2[ydGnum].y=point.y;
}
else if (ydsign==2)
{
dc.SelectObject(RedBrush);
dc.Rectangle(ydRPoint1[ydRnum].x,ydRPoint1[ydRnum].y,point.x,point.y);
ydRPoint2[ydRnum].x=point.x;
ydRPoint2[ydRnum].y=point.y;
}
}
CView::OnMouseMove(nFlags, point);
}
void CLearnView::OnLButtonUp(UINT nFlags, CPoint point)
{
// TODO: Add your message handler code here and/or call default
CClientDC dc(this);
CBrush GreenBrush(RGB(0,255,0)),RedBrush(RGB(255,0,0));
if(ydsign==1)
{
dc.SelectObject(GreenBrush);
dc.Rectangle(ydGPoint1[ydGnum].x,ydGPoint1[ydGnum].y,point.x,point.y);
ydGPoint2[ydGnum]=point;
ydsign=3;
ydGnum++;
Invalidate();
}
if (ydsign==2)
{
dc.SelectObject(RedBrush);
dc.Rectangle(ydRPoint1[ydRnum].x,ydRPoint1[ydRnum].y,point.x,point.y);
ydRPoint2[ydRnum]=point;
ydsign=4;
ydRnum++;
Invalidate();
}
MouseDown=0;
CString str;
CMainFrame *pw=(CMainFrame *)AfxGetMainWnd();
ydvelocity=fabs(((CSliderCtrl *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_SLIDER_YDVELOCITY)))->GetPos()-100);
if (ydsign==4)
{
SetTimer(2,ydvelocity,NULL);
}
if (ydsign==3)
{
SetTimer(1,ydvelocity,NULL);
}
CView::OnLButtonUp(nFlags, point);
}
void CLearnView::OnReleasedcaptureSliderYdvelocity(NMHDR* pNMHDR, LRESULT* pResult)
{
// TODO: Add your control notification handler code here
//用滑块来控制运动障碍物的运动速度
CMainFrame *pw=(CMainFrame *)AfxGetMainWnd();
ydvelocity=fabs(((CSliderCtrl *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_SLIDER_YDVELOCITY)))->GetPos()-100);//改变速度
if (ydsign==3||ydsign==4)
{
KillTimer(1);
SetTimer(1,ydvelocity,NULL);
KillTimer(2);
SetTimer(2,ydvelocity,NULL);
}
*pResult = 0;
}
void CLearnView::OnReleasedcaptureSliderRobotvelocity(NMHDR* pNMHDR, LRESULT* pResult)
{
// TODO: Add your control notification handler code here
CMainFrame *pw=(CMainFrame *)AfxGetMainWnd();
Robotvelocity=(fabs(((CSliderCtrl *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_SLIDER_ROBOTVELOCITY)))->GetPos()-100))/4;
if (!StartEnable) //在按了开始按钮后此滑块才起作用
{
KillTimer(10);
SetTimer(10,Robotvelocity,NULL);
}
*pResult = 0;
}
void CLearnView::OnSelchangeComboMap()
{
// TODO: Add your control notification handler code here
CString str;
CMainFrame *pw=(CMainFrame *)AfxGetMainWnd();
//地图的导入
mapnum=((CComboBox *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_COMBO_MAP)))->GetCurSel();
Invalidate();
}
void CLearnView::OnChangeEditInitx()
{
// TODO: If this is a RICHEDIT control, the control will not
// send this notification unless you override the CView::OnInitDialog()
// function and call CRichEditCtrl().SetEventMask()
// with the ENM_CHANGE flag ORed into the mask.
CString str;
CMainFrame *pw=(CMainFrame *)AfxGetMainWnd();
((CEdit *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_EDIT_INITX)))->GetWindowText(str);
x0=atof(str);
x1=x0;
Invalidate();
// TODO: Add your control notification handler code here
}
void CLearnView::OnChangeEditInity()
{
// TODO: If this is a RICHEDIT control, the control will not
// send this notification unless you override the CView::OnInitDialog()
// function and call CRichEditCtrl().SetEventMask()
// with the ENM_CHANGE flag ORed into the mask.
CString str;
CMainFrame *pw=(CMainFrame *)AfxGetMainWnd();
((CEdit *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_EDIT_INITY)))->GetWindowText(str);
y0=atof(str);
y1=y0;
Invalidate();
// TODO: Add your control notification handler code here
}
void CLearnView::OnChangeEditGoalx()
{
// TODO: If this is a RICHEDIT control, the control will not
// send this notification unless you override the CView::OnInitDialog()
// function and call CRichEditCtrl().SetEventMask()
// with the ENM_CHANGE flag ORed into the mask.
CString str;
CMainFrame *pw=(CMainFrame *)AfxGetMainWnd();
((CEdit *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_EDIT_GOALX)))->GetWindowText(str);
x2=atof(str);
Invalidate();
// TODO: Add your control notification handler code here
}
void CLearnView::OnChangeEditGoaly()
{
// TODO: If this is a RICHEDIT control, the control will not
// send this notification unless you override the CView::OnInitDialog()
// function and call CRichEditCtrl().SetEventMask()
// with the ENM_CHANGE flag ORed into the mask.
CString str;
CMainFrame *pw=(CMainFrame *)AfxGetMainWnd();
((CEdit *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_EDIT_GOALY)))->GetWindowText(str);
y2=atof(str);
Invalidate();
// TODO: Add your control notification handler code here
}
void CLearnView::OnButtonOk()
{
// TODO: Add your control notification handler code here
//复位按钮
//使所有数据还原
int i=0,j=0,k=0;
for (k=0;k<100;k++)
{
Q[k]=10;
}
for (i=0;i<17;i++)
{
for (j=0;j<6;j++)
{
Qsa[i][j]=10.0;
}
}
Qvamax=0;
qq=0;
dis2=4.0;
trd_numB=16;//状态标志
flag_Timer=0;
first=0;
flag0=0;
flag1=0;
flag_dis=100;
flag_num=0;
num0=0;
bushu0=0;
x=0.0;
y=0.0;
x0=20;//20.0;
y0=50;//50.0;
x1=x0;
y1=y0;
x2=800.0;
y2=500;//500.0;
di=12.0; //探测范围
Pi=3.1415926;
R_k=0.0;
// R_z=atan((y2-y)/(x2-x));
R_Angle=45;
buchang=1.5;
test1=0;
test2=0;
test3=0;
Bit_color=16711680;
MidValue=0.0;
mapnum=0;
ydsign=0;
ydGnum=0;
ydRnum=0;
RedColor=255;
GreenColor=65280;
ColorSignB=0;
ColorSignG=0;
ColorSignR=0;
LeftEnable=true;
RightEnable=true;
StartEnable=true;
PauseEnable=false;
for(i=0;i<50;i++)
{
ydGPoint1[i]=0;
ydGPoint2[i]=0;
ydRPoint1[i]=0;
ydRPoint2[i]=0;
}
//对对话框进行初始化设置
CString str;
CMainFrame *pw=(CMainFrame *)AfxGetMainWnd();
str.Format("%f",x0);
((CEdit *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_EDIT_INITX)))->SetWindowText(str);
str.Format("%f",y0);
((CEdit *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_EDIT_INITY)))->SetWindowText(str);
str.Format("%f",x2);
((CEdit *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_EDIT_GOALX)))->SetWindowText(str);
str.Format("%f",y2);
((CEdit *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_EDIT_GOALY)))->SetWindowText(str);
((CComboBox *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_COMBO_MAP)))->SetCurSel(0);
//初始化运动障碍物的速度
((CSliderCtrl *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_SLIDER_YDVELOCITY)))->SetPos(50);
ydvelocity=fabs(((CSliderCtrl *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_SLIDER_YDVELOCITY)))->GetPos()-100);
//初始化机器人的速度
((CSliderCtrl *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_SLIDER_ROBOTVELOCITY)))->SetPos(50);
Robotvelocity=(fabs(((CSliderCtrl *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_SLIDER_ROBOTVELOCITY)))->GetPos()-100))/4;
((CComboBox *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_COMBO_MAP)))->EnableWindow(TRUE);
((CEdit *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_EDIT_INITX)))->EnableWindow(TRUE);
((CEdit *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_EDIT_INITY)))->EnableWindow(TRUE);
((CEdit *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_EDIT_GOALX)))->EnableWindow(TRUE);
((CEdit *)(pw->m_wndMyDialogBar.GetDlgItem(IDC_EDIT_GOALY)))->EnableWindow(TRUE);
LeftEnable=true;
RightEnable=true;
StartEnable=true;
PauseEnable=false;
KillTimer(1);
KillTimer(2);
KillTimer(10);
Invalidate();
}
void CLearnView::OnupdataLeftButton(CCmdUI *pCmdUI)
{
if (LeftEnable)
{
pCmdUI->Enable(TRUE);
}
else if (!LeftEnable) pCmdUI->Enable(FALSE);
}
void CLearnView::OnupdataRightButton(CCmdUI *pCmdUI)
{
if (RightEnable)
{
pCmdUI->Enable(TRUE);
}
else if (!RightEnable) pCmdUI->Enable(FALSE);
}
void CLearnView::OnupdataStartButton(CCmdUI *pCmdUI)
{
if (StartEnable)
{
pCmdUI->Enable(TRUE);
}
else if (!StartEnable) pCmdUI->Enable(FALSE);
}
void CLearnView::OnupdataPauseButton(CCmdUI *pCmdUI)
{
if (PauseEnable)
{
pCmdUI->Enable(TRUE);
}
else if (!PauseEnable) pCmdUI->Enable(FALSE);
} ⌨️ 快捷键说明
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