?? robotview.cpp
字號:
case 3:
mBit.LoadBitmap(IDB_BMP13);
break;
case 4:
mBit.LoadBitmap(IDB_BMP14);
break;
case 5:
mBit.LoadBitmap(IDB_BMP15);
break;
default:
//mBit.LoadBitmap(IDB_BMP0);
MessageBox("error");
}
CBitmap *pOldBit=MemDC.SelectObject(&mBit);
pControlDC->BitBlt(0,0,900,700,&MemDC,0,0,SRCCOPY);
MemDC.SelectObject(pOldBit);
}
void CRobotView::GzqDisplay(int n)
{
CWnd* pWnd=GetDlgItem(IDC_STATIC_GONGZUOQU);
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;
case 3:
mBit.LoadBitmap(IDB_BMP13);
break;
case 4:
mBit.LoadBitmap(IDB_BMP14);
break;
case 5:
mBit.LoadBitmap(IDB_BMP15);
break;
case 6:
mBit.LoadBitmap(IDB_BMP16);
break;
case 7:
mBit.LoadBitmap(IDB_BMP17);
break;
default:
//mBit.LoadBitmap(IDB_BMP0);
MessageBox("error");
}
CBitmap *pOldBit=MemDC.SelectObject(&mBit);
pControlDC->BitBlt(0,0,900,700,&MemDC,0,0,SRCCOPY);
MemDC.SelectObject(pOldBit);
}
void CRobotView::Execute(int n)
{
CRobotDoc* pDoc=GetDocument();
unsigned char send1;
switch(n)
{
case(11):
home();
break;
case(12):
{//大臂正傳
unsigned char send[6]={0x53,0x01,0x00,0x00,0x07,0x18};
for(int i=0;i<=5;i++)
pDoc->WriteComm(&send[i],1);
Sleep(2000/m_nsudu);
break;
}
case(13):
{
unsigned char send[6]={0x53,0x01,0xff,0x00,0x07,0x18};
for(int i=0;i<=5;i++)
pDoc->WriteComm(&send[i],1);
// pDoc->ReadComm(&buf,1);
// if(nLength)
//// {
// str.Format("%d",buf);
// m_edit1.SetSel(-1, 0);
// m_edit1.ReplaceSel(str); // 向編輯視圖中插入收到的字符
// }
// else
// MessageBox("fjdklfjsdklgjsdfkl");
Sleep(2000/m_nsudu);
break;
}
case(14)://xiaobizhengzhuan
{
unsigned char send[6]={0x53,0x02,0x00,0x00,0x0f,0xe3};
for(int i=0;i<=5;i++)
pDoc->WriteComm(&send[i],1);
Sleep(2000/m_nsudu);
break;
}
case(15)://小臂反轉
{
unsigned char send[6]={0x53,0x02,0xff,0x00,0x0f,0xe3};
for(int i=0;i<=5;i++)
pDoc->WriteComm(&send[i],1);
Sleep(2000/m_nsudu);
break;
}
case(16)://手腕正轉
{
unsigned char send[6]={0x53,0x04,0x00,0x00,0x00,0xff};
for(int i=0;i<=5;i++)
pDoc->WriteComm(&send[i],1);
Sleep(1000/m_nsudu);
break;
}
case(17)://shouwanfanzhuan
{
unsigned char send[6]={0x53,0x04,0xff,0x00,0x00,0xff};
for(int i=0;i<=5;i++)
pDoc->WriteComm(&send[i],1);
Sleep(1000/m_nsudu);
}
break;
case(18)://shouzhuazhangkai
{
unsigned char send[6]={0x53,0x05,0x00,0x00,0x00,0x43};
for(int i=0;i<=5;i++)
pDoc->WriteComm(&send[i],1);
Sleep(2000/m_nsudu);
}
break;
case(19):
{
unsigned char send[6]={0x53,0x05,0xff,0x00,0x00,0xf3};
for(int i=0;i<=5;i++)
pDoc->WriteComm(&send[i],1);
Sleep(2000/m_nsudu);
}
break;
case(20)://shangsheng
{
unsigned char send[6]={0x53,0x03,0x00,0x00,0x02,0xe3};
for(int i=0;i<=5;i++)
pDoc->WriteComm(&send[i],1);
Sleep(1000/m_nsudu);
}
break;
case(21):
{
unsigned char send[6]={0x53,0x03,0xff,0x00,0x02,0xe3};
for(int i=0;i<=5;i++)
pDoc->WriteComm(&send[i],1);
Sleep(1000/m_nsudu);
}
break;
/* case(22)://dabiyunxing
{
unsigned char send[3]={0x63,0x01,0x00};
for(int i=0;i<=2;i++)
pDoc->WriteComm(&send[i],1);
Sleep(2000);
}
break;
case(23):
{
unsigned char send[3]={0x63,0x01,0xff};
for(int i=0;i<=2;i++)
pDoc->WriteComm(&send[i],1);
Sleep(2000);
}
break;
case(24)://xiaobiyunxing
{
unsigned char send[3]={0x63,0x02,0x00};
for(int i=0;i<=2;i++)
pDoc->WriteComm(&send[i],1);
Sleep(2000);
}
break;
case(25):
{
unsigned char send[3]={0x63,0x02,0xff};
for(int i=0;i<=2;i++)
pDoc->WriteComm(&send[i],1);
Sleep(2000);
}
break;
case(26)://shouwanyunxing
{
unsigned char send[3]={0x63,0x04,0x00};
for(int i=0;i<=2;i++)
pDoc->WriteComm(&send[i],1);
Sleep(2000);
}
break;
case(27):
{
unsigned char send[3]={0x63,0x04,0xff};
for(int i=0;i<=2;i++)
pDoc->WriteComm(&send[i],1);
Sleep(2000);
}
break;
case(28)://shouzhuayunxing
{
unsigned char send[3]={0x63,0x05,0x00};
for(int i=0;i<=2;i++)
pDoc->WriteComm(&send[i],1);
Sleep(2000);
}
break;
case(29):
{
unsigned char send[3]={0x63,0x05,0xff};
for(int i=0;i<=2;i++)
pDoc->WriteComm(&send[i],1);
Sleep(2000);
}
break;
case(30)://shengjiangyunxing
{
unsigned char send[3]={0x63,0x03,0x00};
for(int i=0;i<=2;i++)
pDoc->WriteComm(&send[i],1);
Sleep(2000);
}
break;
case(31):
{
unsigned char send[3]={0x63,0x05,0xff};
for(int i=0;i<=2;i++)
pDoc->WriteComm(&send[i],1);
Sleep(2000);
}
break;
*/
case(32)://dabiguiling
{
unsigned char send[2]={0xa3,0x01};
for(int i=0;i<=1;i++)
pDoc->WriteComm(&send[i],1);
Sleep(18000);
}
break;
case(33)://xiaobiguiling
{
unsigned char send[2]={0xa3,0x02};
for(int i=0;i<=1;i++)
pDoc->WriteComm(&send[i],1);
Sleep(15000);
}
break;
case(34)://shouwanguiling
{
unsigned char send[2]={0xa3,0x04};
for(int i=0;i<=1;i++)
pDoc->WriteComm(&send[i],1);
Sleep(6000);
}
break;
case(35)://shouzhuaguiling
{
unsigned char send[2]={0xa3,0x05};
for(int i=0;i<=1;i++)
pDoc->WriteComm(&send[i],1);
Sleep(6000);
}
break;
case(36)://shengjiangguiling
{
unsigned char send[2]={0xa3,0x03};
for(int i=0;i<=1;i++)
pDoc->WriteComm(&send[i],1);
Sleep(10000);
}
break;
case(37)://sudujia
{
send1=0xb3;
pDoc->WriteComm(&send1,1);
}
Sleep(1000);
break;
case(38)://yuandianjiyi
send1=0x73;
pDoc->WriteComm(&send1,1);
break;
case(39):
send1=0xc3;
pDoc->WriteComm(&send1,1);
break;
case(40):
send1=0xf6;
pDoc->WriteComm(&send1,1);
break;
case(41):
send1=0x83;
pDoc->WriteComm(&send1,1);
break;
case(42):
send1=0x93;
pDoc->WriteComm(&send1,1);
break;
case(43):
// {
// unsigned char send[2]={0x86,0x03};
// for(int i=0;i<=1;i++)
// pDoc->WriteComm(&send[i],1);
// Sleep(4000);
// }
send1=0x86;
pDoc->WriteComm(&send1,1);
break;
case(44)://sudujian
{
send1=0xe3;
pDoc->WriteComm(&send1,1);
}
break;
case(45):
{
send1=0x12;
pDoc->WriteComm(&send1,1);
}
break;
case(46):
{
send1=0x22;
pDoc->WriteComm(&send1,1);
}
break;
case(47): //danbuzaixian
send1=0x13;
pDoc->WriteComm(&send1,1);
Sleep(4000);
break;
case(48): //zhouqizaixian
send1=0x23;
pDoc->WriteComm(&send1,1);
Sleep(8000);
break;
case(49): //lianxuzaixian
send1=0x33;
pDoc->WriteComm(&send1,1);
break;
case(50):
//send1=0x32;
//pDoc->WriteComm(&send1,1);
break;
case(51):
break;
case(52):
send1=0x43;
pDoc->WriteComm(&send1,1);
break;
case(53):
break;
case(54):
pDoc->OnSetupcomm();
break;
case(55):
pDoc->OnOpencomm();
break;
default:
pDoc->OnClosecomm();
break;
}
}
//void CRobotView::OnButton3()
//{
// TODO: Add your control notification handler code here
// SendMessage(WM_USER + 1002,10,0);
//}
void CRobotView::Execute_1(unsigned char a,unsigned char b,unsigned char c,unsigned char d,int e)
{
CRobotDoc* pDoc=GetDocument();
unsigned char send[6]={0x53,a,b,0x00,c,d};
for(int i=0;i<=5;i++)
pDoc->WriteComm(&send[i],1);
Sleep(m_ndelay);
}
HBRUSH CRobotView::OnCtlColor(CDC* pDC, CWnd* pWnd, UINT nCtlColor)
{
HBRUSH hbr = CFormView::OnCtlColor(pDC, pWnd, nCtlColor);
// TODO: Change any attributes of the DC here
switch(nCtlColor)
{
case CTLCOLOR_DLG:
{
//pDC->SetBkMode(TRANSPARENT);
return m_brush; //返加綠色刷子
}
case CTLCOLOR_STATIC:
{
//返加綠色刷子
// pDC->SetBkMode(TRANSPARENT);
return m_brush;
}
}
// TODO: Return a different brush if the default is not desired
return hbr;
}
void CRobotView::home()
{
SendMessage(WM_USER+1002,32,0);
SendMessage(WM_USER+1002,10,0);
Sleep(1000);
SendMessage(WM_USER+1002,33,0);
SendMessage(WM_USER+1002,10,0);
Sleep(1000);
SendMessage(WM_USER+1002,34,0);
SendMessage(WM_USER+1002,10,0);
Sleep(1000);
SendMessage(WM_USER+1002,35,0);
SendMessage(WM_USER+1002,10,0);
Sleep(1000);
SendMessage(WM_USER+1002,36,0);
SendMessage(WM_USER+1002,10,0);
Sleep(1000);
}
LRESULT CRobotView::OnCommNotify(WPARAM wParam, LPARAM lParam)
{
unsigned char buf;
CWnd* pWnd=GetDlgItem(IDC_STATIC_COMMAND);
CString str1,str2;
CRobotDoc* pDoc=GetDocument();
m_recflag=0;
if(!pDoc->m_bConnected ||
(wParam & EV_RXCHAR)!=EV_RXCHAR) // 是否是EV_RXCHAR事件?
{
SetEvent(pDoc->m_hPostMsgEvent); // 允許發送下一個WM_COMMNOTIFY消息
return 0L;
}
nLength=pDoc->ReadComm(&buf,1);
if(nLength)
{
// str1.Format("%d",buf);
//m_edit1.SetSel(-1, 0);
// m_edit1.ReplaceSel(str1); // 向編輯視圖中插入收到的字符
str2="正在執行命令,請稍后.....";
pWnd->SetWindowText(str2);
SendMessage(WM_USER+1003);
}
SetEvent(pDoc->m_hPostMsgEvent); // 允許發送下一個WM_COMMNOTIFY消息
return 0L;
}
void CRobotView::OnTimer(UINT nIDEvent)
{
// TODO: Add your message handler code here and/or call default
SendMessage(WM_USER+1002,100);
CFormView::OnTimer(nIDEvent);
}
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