?? robotview.cpp
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// robotView.cpp : implementation of the CRobotView class
//
#include "stdafx.h"
#include "robot.h"
#include"Label.h"
#include "robotDoc.h"
#include "robotView.h"
#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif
/////////////////////////////////////////////////////////////////////////////
// CRobotView
IMPLEMENT_DYNCREATE(CRobotView, CFormView)
BEGIN_MESSAGE_MAP(CRobotView, CFormView)
//{{AFX_MSG_MAP(CRobotView)
ON_WM_CTLCOLOR()
ON_WM_TIMER()
//}}AFX_MSG_MAP
ON_MESSAGE(WM_COMMNOTIFY, OnCommNotify)
END_MESSAGE_MAP()
/////////////////////////////////////////////////////////////////////////////
// CRobotView construction/destruction
CRobotView::CRobotView()
: CFormView(CRobotView::IDD)
{
//{{AFX_DATA_INIT(CRobotView)
//}}AFX_DATA_INIT
// TODO: add construction code here
m_ncomand1=10;
m_bflag=0;
m_nsudu=1;
m_ngzq=0;
m_nguanjie;
m_nfangxiang;
m_nmsg[0]=0;
m_njishu=0;
m_nmsg[1]=0;
m_nmsg[2]=0;
m_nmsg[3]=0;
m_nmsg[4]=0;
m_nsum=0;
m_ndelay=0;
nLength=0;
m_recflag=1;
m_failflag=1;
m_brush.CreateSolidBrush(RGB(40,98,122)); // 生成一綠色刷子
}
CRobotView::~CRobotView()
{
}
void CRobotView::DoDataExchange(CDataExchange* pDX)
{
CFormView::DoDataExchange(pDX);
//{{AFX_DATA_MAP(CRobotView)
//DDX_Control(pDX, IDC_EDIT1, m_edit1);
DDX_Control(pDX, IDC_STATIC_LINK, m_link);
DDX_Control(pDX, IDC_STATIC_1, m_ml);
DDX_Control(pDX, IDC_STATIC_4, m_workpart);
DDX_Control(pDX, IDC_STATIC_COMMAND, m_command);
DDX_Control(pDX, IDC_STATIC_STATUS, m_static);
DDX_Control(pDX, IDC_STATIC_BUCHANG, m_buchangshu);
DDX_Control(pDX, IDC_STATIC_5, m_buchang);
DDX_Control(pDX, IDC_STATIC_3, m_sudu);
DDX_Control(pDX, IDC_STATIC_2, m_zhuangtai);
//}}AFX_DATA_MAP
}
BOOL CRobotView::PreCreateWindow(CREATESTRUCT& cs)
{
// TODO: Modify the Window class or styles here by modifying
// the CREATESTRUCT cs
return CFormView::PreCreateWindow(cs);
}
/////////////////////////////////////////////////////////////////////////////
// CRobotView diagnostics
#ifdef _DEBUG
void CRobotView::AssertValid() const
{
CFormView::AssertValid();
}
void CRobotView::Dump(CDumpContext& dc) const
{
CFormView::Dump(dc);
}
CRobotDoc* CRobotView::GetDocument() // non-debug version is inline
{
ASSERT(m_pDocument->IsKindOf(RUNTIME_CLASS(CRobotDoc)));
return (CRobotDoc*)m_pDocument;
}
#endif //_DEBUG
/////////////////////////////////////////////////////////////////////////////
// CRobotView message handlers
void CRobotView::OnDraw(CDC* pDC)
{
// TODO: Add your specialized code here and/or call the base class
SuduDisplay(m_nsudu);
GzqDisplay(m_ngzq);
}
void CRobotView::OnInitialUpdate()
{
CFormView::OnInitialUpdate();
// TODO: Add your specialized code here and/or call the base class
m_link.SetLink(TRUE)
.SetTextColor(RGB(0,0,255))
.SetFontUnderline(TRUE)
.SetLinkCursor(AfxGetApp()->LoadCursor(IDC_ICON1));
m_command.SetFontSize(24)
.SetFontName("Terminal")
.SetTextColor(RGB(240,240,40));
m_static.SetFontSize(24)
.SetTextColor(RGB(240,240,40));
m_workpart.SetFontSize(24)
.SetFontBold(TRUE)
.SetTextColor(RGB(0,240,0));
m_buchangshu.SetFontSize(24)
.SetTextColor(RGB(240,240,40));
m_buchang.SetFontSize(24)
.SetFontBold(TRUE)
.SetTextColor(RGB(0,240,0));
m_sudu.SetFontSize(24)
.SetFontBold(TRUE)
.SetTextColor(RGB(0,240,0));
m_zhuangtai.SetFontSize(24)
.SetFontBold(TRUE)
.SetTextColor(RGB(0,240,0));
m_ml.SetFontSize(24)
.SetLinkCursor(AfxGetApp()->LoadCursor(IDC_ICON1))
.SetFontBold(TRUE)
.SetTextColor(RGB(0,240,0));
GetParentFrame()->RecalcLayout();
ResizeParentToFit();
}
LRESULT CRobotView::WindowProc(UINT message, WPARAM wParam, LPARAM lParam)
{
// TODO: Add your specialized code here and/or call the base class
if(message == (WM_USER + 1002))
ProcessMessage(wParam, lParam);
else if(message==(WM_USER+1003))
ProcessMyMessage();
return CFormView::WindowProc(message, wParam, lParam);
}
void CRobotView::ProcessMessage(WPARAM wParam, LPARAM lParam)
{
CRobotDoc* pDoc=GetDocument();
char* l[57] = {"零","一","二",///012
"三","四","五","六","七","八","九","執行","各關節歸零","大臂正轉",///12
"大臂反轉","小臂正轉","小臂反轉","手腕正轉","手腕反轉","手爪張開","手爪閉合","上升","下降","大臂運行",///13--22
"大臂負運行","小臂運行","小臂負運行","手腕運行","手腕負運行","手爪運行","手爪負運行","升降運行",////23---30
"升降負運行","大臂歸零","小臂歸零","手腕歸零","手爪歸零","升降歸零","速度加","原點記憶",///31---38
"系統復位","示教盒","","","回原點","速度減","區號加","區號減","單步再現","周期再現",///39---48
"連續再現","返回","繼續","數據記憶","讀取數據","設置串口","打開串口","關閉串口"};
CString strcomand;
CString strstatus;
m_recflag=1;
if(!pDoc->m_bConnected)
{
KillTimer(1);
MessageBox("請先打開串口");
return;
}
if(wParam==100)
{
KillTimer(1);
if(!m_failflag)
{
CWnd* pWnd=GetDlgItem(IDC_STATIC_5);
pWnd->SetWindowText("");
pWnd=GetDlgItem(IDC_STATIC_BUCHANG);
pWnd->SetWindowText("");
pWnd=GetDlgItem(IDC_STATIC_COMMAND);
pWnd->SetWindowText("請輸入新的命令");
pWnd=GetDlgItem(IDC_STATIC_STATUS);
pWnd->SetWindowText("執行完畢");
m_ncomand1=0;
}
else
MessageBox("請檢查連線是否正確或下位機是否打開","通信失敗",MB_ICONWARNING);
}
else if(wParam>=11&&wParam<=56)
{
m_bflag=0;
m_ncomand1=wParam;
strcomand=l[m_ncomand1];
CWnd* pWnd=GetDlgItem(IDC_STATIC_COMMAND);
pWnd->SetWindowText(strcomand);
pWnd=GetDlgItem(IDC_STATIC_STATUS);
pWnd->SetWindowText("");
pWnd=GetDlgItem(IDC_STATIC_5);
pWnd->SetWindowText("");
pWnd=GetDlgItem(IDC_STATIC_BUCHANG);
pWnd->SetWindowText("");
m_nsum=0;
m_njishu=0;
}
else if(wParam>=0&&wParam<=9)
{
if(m_ncomand1>=12&&m_ncomand1<=21)
{
m_bflag=1;
m_nmsg[m_njishu]=wParam;
//pWnd=GetDlgItem(IDC_STATIC_COMMAND);
//pWnd->SetWindowText(strcomand);
CWnd* pWnd=GetDlgItem(IDC_STATIC_5);
pWnd->SetWindowText("步長:");
++m_njishu;
if(m_njishu==1)
{
CString m_stemp;
m_nsum=m_nmsg[0];
m_stemp.Format("%d",m_nsum);
pWnd=GetDlgItem(IDC_STATIC_BUCHANG);
pWnd->SetWindowText(m_stemp);
}
if(m_njishu==2)
{
CString m_stemp;
m_nsum=m_nmsg[0]*10+m_nmsg[1];
m_stemp.Format("%d",m_nsum);
pWnd=GetDlgItem(IDC_STATIC_BUCHANG);
pWnd->SetWindowText(m_stemp);
}
if(m_njishu==3)
{
CString m_stemp;
m_nsum=m_nmsg[0]*100+m_nmsg[1]*10+m_nmsg[2];
//m_nmsg[0]=0;
//m_nmsg[1]=0
// m_nmsg[2]=0;
// m_njishu=0;
m_stemp.Format("%d",m_nsum);
pWnd=GetDlgItem(IDC_STATIC_BUCHANG);
pWnd->SetWindowText(m_stemp);
}
if(m_njishu==4)
{
CString m_stemp;
m_nsum=m_nmsg[0]*1000+m_nmsg[1]*100+m_nmsg[2]*10+m_nmsg[3];
m_stemp.Format("%d",m_nsum);
pWnd=GetDlgItem(IDC_STATIC_BUCHANG);
pWnd->SetWindowText(m_stemp);
}
if(m_njishu>4)
{
m_njishu=1;
m_nmsg[0]=m_nmsg[4];
CString m_stemp;
m_nsum=m_nmsg[0];
m_stemp.Format("%d",m_nsum);
pWnd=GetDlgItem(IDC_STATIC_BUCHANG);
pWnd->SetWindowText(m_stemp);
m_nmsg[1]=0;
m_nmsg[2]=0;
m_nmsg[3]=0;
}
}
else
; //MessageBox("清先輸入運動步數命令");
}
else if(wParam=10)
{ SetTimer(1,500,NULL);
if(m_ncomand1>=11&&m_ncomand1<=56)
{
if(!m_bflag)
{
strstatus="正在執行命令,請稍后.....";
CWnd* pWnd=GetDlgItem(IDC_STATIC_STATUS);
pWnd->SetWindowText(strstatus);
Execute(m_ncomand1);
}
else //if(m_ncomand1>=12&&m_ncomand1<=21)
{
unsigned char m_uhi,m_ulo;
m_nmsg[0]=0;
m_nmsg[1]=0;
m_nmsg[2]=0;
m_nmsg[3]=0;
m_njishu=0;
/// CWnd* pWnd=GetDlgItem(IDC_STATIC_STATUS);
/// pWnd->SetWindowText("正在執行命令,請稍后.....");
switch(m_ncomand1)
{
case(12):
m_nguanjie=01;
m_nfangxiang=00;
m_uhi=(unsigned char)(m_nsum/256);
m_ulo=(unsigned char)(m_nsum-m_uhi*256);
m_ndelay=(m_nsum+500)/m_nsudu;
Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
break;
case(13):
m_nguanjie=0x01;
m_nfangxiang=0xff;
m_uhi=(unsigned char)(m_nsum/256);
m_ulo=(unsigned char)(m_nsum-m_uhi*256);
m_ndelay=(m_nsum+500)/m_nsudu;
Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
break;
case(14):
m_nguanjie=0x02;
m_nfangxiang=0x00;
m_uhi=(unsigned char)(m_nsum/256);
m_ulo=(unsigned char)(m_nsum-m_uhi*256);
m_ndelay=(m_nsum)/(m_nsudu*3);
Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
break;
case(15):
m_nguanjie=0x02;
m_nfangxiang=0xff;
m_uhi=(unsigned char)(m_nsum/256);
m_ulo=(unsigned char)(m_nsum-m_uhi*256);
m_ndelay=(m_nsum)/(m_nsudu*3);
Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
break;
case(16):
m_nguanjie=0x04;
m_nfangxiang=0x00;
m_uhi=(unsigned char)(m_nsum/256);
m_ulo=(unsigned char)(m_nsum-m_uhi*256);
m_ndelay=(m_nsum+500)/m_nsudu;
Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
break;
case(17):
m_nguanjie=0x04;
m_nfangxiang=0xff;
m_uhi=(unsigned char)(m_nsum/256);
m_ulo=(unsigned char)(m_nsum-m_uhi*256);
m_ndelay=(m_nsum+500)/m_nsudu;
Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
break;
case(18):
m_nguanjie=0x05;
m_nfangxiang=0x00;
m_uhi=(unsigned char)(m_nsum/256);
m_ulo=(unsigned char)(m_nsum-m_uhi*256);
m_ndelay=(m_nsum+500)/m_nsudu;
Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
break;
case(19):
m_nguanjie=0x05;
m_nfangxiang=0xff;
m_uhi=(unsigned char)(m_nsum/256);
m_ulo=(unsigned char)(m_nsum-m_uhi*256);
m_ndelay=(m_nsum+500)/m_nsudu;
Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
break;
case(20):
m_nguanjie=0x03;
m_nfangxiang=0x00;
m_uhi=(unsigned char)(m_nsum/256);
m_ulo=(unsigned char)(m_nsum-m_uhi*256);
m_ndelay=(m_nsum+500)/(m_nsudu*2);
Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
break;
case(21):
m_nguanjie=0x03;
m_nfangxiang=0xff;
m_uhi=(unsigned char)(m_nsum/256);
m_ulo=(unsigned char)(m_nsum-m_uhi*256);
m_ndelay=(m_nsum+500)/(m_nsudu*2);
Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
break;
}
}
m_failflag=1;}
else
MessageBox("清先輸入命令");
}
else
MessageBox("不能識別，請重新輸入命令");
}
void CRobotView::ProcessMyMessage()
{
CDC *PDc=GetDC();
m_failflag=0;
switch(m_ncomand1)
{
case(37):
{
m_nsudu++;
if(m_nsudu==6)
m_nsudu=1;
OnDraw(PDc);
}
break;
case(44):
{
m_nsudu--;
if(m_nsudu==0)
m_nsudu=5;
OnDraw(PDc);
}
break;
case(45):
{
m_ngzq++;
if(m_ngzq==8)
m_ngzq=0;
OnDraw(PDc);
}
break;
case(46):
{
m_ngzq--;
if(m_ngzq==-1)
m_ngzq=7;
OnDraw(PDc);
}
break;
}
CWnd* pWnd=GetDlgItem(IDC_STATIC_COMMAND);
pWnd->SetWindowText("請輸入新的命令");
pWnd=GetDlgItem(IDC_STATIC_STATUS);
pWnd->SetWindowText("執行完畢");
m_ncomand1=0;
//}
//else
// MessageBox("請檢查連線是否正確或下位機是否打開","通信失敗",MB_ICONWARNING);
}
void CRobotView::SuduDisplay(int n)
{
CWnd* pWnd=GetDlgItem(IDC_STATIC_SUDU);
CDC* pControlDC=pWnd->GetDC();
pWnd->Invalidate();
pWnd->UpdateWindow();
pControlDC->SelectStockObject(BLACK_BRUSH);
CBitmap mBit;
CDC MemDC;
MemDC.CreateCompatibleDC(NULL);
switch(n)
{
case 0:
mBit.LoadBitmap(IDB_BMP10);
break;
case 1:
mBit.LoadBitmap(IDB_BMP11);
break;
case 2:
mBit.LoadBitmap(IDB_BMP12);
break;
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