// RobotDlg.h : header file
//
//{{AFX_INCLUDES()
#include "opgl.h"
//}}AFX_INCLUDES

#if !defined(AFX_ROBOTDLG_H__4EA810C9_B54F_11D7_98E4_5254AB380F0B__INCLUDED_)
#define AFX_ROBOTDLG_H__4EA810C9_B54F_11D7_98E4_5254AB380F0B__INCLUDED_

#include "opgl.h"	// Added by ClassView
#include "opgl.h"	// Added by ClassView
#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000
#include "matlab.hpp"
/////////////////////////////////////////////////////////////////////////////
// CRobotDlg dialog

class CRobotDlg : public CDialog
{
// Construction
public:
	float yResult[451];
	int start_time;
	int Ttime;
	void OnGraph();
	char cTxBuf[30];
	mwArray zhjie(double r1, double r2, double r3, double r4, double r5, double r6);

	CRobotDlg(CWnd* pParent = NULL);	// standard constructor

// Dialog Data
	//{{AFX_DATA(CRobotDlg)
	enum { IDD = IDD_ROBOT_DIALOG };
	CComboBox	CComboBox;
	COPGL	m_opengl;
	int		m_xrot;
	int		m_yrot;
	int		m_zrot;
	float	m_firstangel;
	float	m_fiveangel;
	float	m_fourangel;
	float	m_secondangel;
	float	m_sixangel;
	float	m_threeangel;
	BOOL	m_hand;
	BOOL	m_tongxun;
	float	m_robotangel;
	CString	m_robotnumber;
	UINT	m_RxID4;
	UINT	m_RxID5;
	float	m_rmsg0;
	float	m_rmsg1;
	BYTE	m_rmsg2;
	BYTE	m_rmsg3;
	short	m_rmsg4;
	BYTE	m_rmsg5;
	float	m_rmsg51;
	float	m_rmsg52;
	BYTE	m_rsmg53;
	BYTE	m_rsmg54;
	short	m_rsmg55;
	BYTE	m_rsmg56;
	float	m_v4;
	float	m_v5;
	float	m_r1;
	float	m_r2;
	float	m_r3;
	float	m_r4;
	float	m_r5;
	float	m_r6;
	float	m_positionX;
	float	m_positionY;
	float	m_positionZ;
	int		m_P1;
	int		m_control;
	float	m_seven;
	float	m_x1ctrl;
	float	m_x2ctrl;
	float	m_x3ctrl;
	CString	m_plan;
	//}}AFX_DATA

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

// Implementation
protected:
	////////////////////////////////////////by lj,200402,begin
	float r1data[101];
	float r2data[101];
	float r3data[101];
	void GetParametersPlan2();
	void GetParametersPlan();
    ////////////////////////////////////////by lj,200402,end
	UINT m_RxID;
	char cReBuf[30];
	bool CanInitSuccess;
	UINT m_BTR0;
	UINT m_BTR1;
	UINT m_AcpCode;
	UINT m_AcpMask;
	UINT m_OutCtrlCode;
	UINT m_IntMask;
	UINT m_Port;
	void OPGLUpdate();
	double six;
	double five;
	double four;
	double three;
	double two;
	double one;
	float m_behind;
	float m_upanddown;
	float m_leftandright;
	HICON m_hIcon;

	// Generated message map functions
	//{{AFX_MSG(CRobotDlg)
	virtual BOOL OnInitDialog();
	afx_msg void OnSysCommand(UINT nID, LPARAM lParam);
	afx_msg void OnPaint();
	afx_msg HCURSOR OnQueryDragIcon();
	afx_msg void OnFileQuit();
	afx_msg void OnInitOpenGLOpgl();
	afx_msg void OnReSizeOpgl(long cx, long cy);
	afx_msg void OnReDrawOpgl();
	afx_msg void OnUpButton();
	afx_msg void OnDownButton();
	afx_msg void OnFrontButton();
	afx_msg void OnBackButton();
	afx_msg void OnLeftButton();
	afx_msg void OnRightButton();
	afx_msg void OnReleasedcaptureSliderX(NMHDR* pNMHDR, LRESULT* pResult);
	afx_msg void OnReleasedcaptureSliderY(NMHDR* pNMHDR, LRESULT* pResult);
	afx_msg void OnReleasedcaptureSliderZ(NMHDR* pNMHDR, LRESULT* pResult);
	afx_msg void OnDeltaposSpinFirst(NMHDR* pNMHDR, LRESULT* pResult);
	afx_msg void OnDeltaposSpinFive(NMHDR* pNMHDR, LRESULT* pResult);
	afx_msg void OnDeltaposSpinFour(NMHDR* pNMHDR, LRESULT* pResult);
	afx_msg void OnDeltaposSpinSecond(NMHDR* pNMHDR, LRESULT* pResult);
	afx_msg void OnDeltaposSpinSix(NMHDR* pNMHDR, LRESULT* pResult);
	afx_msg void OnDeltaposSpinThree(NMHDR* pNMHDR, LRESULT* pResult);
	afx_msg void OnInitButton();
	afx_msg void OnRobotResetButton();
	afx_msg void OnDirectControlButton();
	afx_msg void OnTimer(UINT nIDEvent);
	afx_msg void OnRobotStopButton();
	afx_msg void OnZhengComputeButton();
	afx_msg void OnZhengResetButton();
	afx_msg void OnZhengResultButton();
	afx_msg void OnZhengGoButton();
	afx_msg void OnZhubengButton();
	afx_msg void OnFaButton();
	afx_msg void OnLengqueButton();
	afx_msg void OnPowerButton();
	afx_msg void OnErrorButton();
	afx_msg void OnButtonPlanrun();
	afx_msg void OnButtonStop();
	DECLARE_EVENTSINK_MAP()
	//}}AFX_MSG
	DECLARE_MESSAGE_MAP()
};

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

#endif // !defined(AFX_ROBOTDLG_H__4EA810C9_B54F_11D7_98E4_5254AB380F0B__INCLUDED_)