// SteerDlg.cpp : implementation file
//

#include "stdafx.h"
#include "Steer.h"
#include "SteerDlg.h"
#include "afxmt.h"
#include "conio.h"
#include "math.h"
#include "Step32.h"

#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif

/////////////////////////////////////////////////////////////////////////////
// CAboutDlg dialog used for App About
static HWND hDlg;
static CEvent g_EndTh;
int baseAD=0x280;
int baseDrive=0x300;
unsigned char DDA,AD;
unsigned int LSP,HSP;
unsigned char xmode,ymode;
unsigned char xdir,ydir;
unsigned char xson,yson;
int m_nSteerAngle=2048;

UINT WorkThread(LPVOID param)
{
	CString str;
	short poll,lb,hb;
	int n,channal0=0x00;
    int ad;
	n=0;
	_outp(baseAD+4,0x03);        //選擇8253控制字
	_outp(baseAD+7,0x74);        //寫#1計數器控制字
	_outp(baseAD+4,0x01);        //選#1計數器地址
	_outp(baseAD+7,244);           //寫#1第一個字節值
	_outp(baseAD+7,1);           //寫#1第二個字節值
	_outp(baseAD+4,0x03);
	_outp(baseAD+7,0xb4);
	_outp(baseAD+4,0x02);
	_outp(baseAD+7,144);
	_outp(baseAD+7,1);
	_outp(baseAD+4,0x04);        //允許定時觸發，屏蔽外觸發
	while(1)
	{   
		_outp(baseAD,channal0);
		poll=_inp(baseAD+1);
        poll=poll&0x80;
  		while(!poll)
  		{
  		    poll=_inp(baseAD+1);
  	        poll=poll&0x80;
  		}
		lb=_inp(baseAD+2)&0x00ff;
        hb=_inp(baseAD+3)&0x000f;
		ad=lb+hb*256;
//  		ad=(ad-2047)*10/4095;
        
		str.Format("%d",ad);
		::SetDlgItemText(hDlg,IDC_INPUT_VOLTAGE,str);
        n=int((ad-m_nSteerAngle)/60);
        MSTEP2_HSP_PULSE_MOVE(1, Y_axis, n);
		if(::WaitForSingleObject(g_EndTh,0)==WAIT_OBJECT_0)
		{
			break;
		}
	}
	return 0;
}

 

class CAboutDlg : public CDialog
{
public:
	CAboutDlg();

// Dialog Data
	//{{AFX_DATA(CAboutDlg)
	enum { IDD = IDD_ABOUTBOX };
	//}}AFX_DATA

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

// Implementation
protected:
	//{{AFX_MSG(CAboutDlg)
	//}}AFX_MSG
	DECLARE_MESSAGE_MAP()
};

CAboutDlg::CAboutDlg() : CDialog(CAboutDlg::IDD)
{
	//{{AFX_DATA_INIT(CAboutDlg)
	//}}AFX_DATA_INIT
}

void CAboutDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CAboutDlg)
	//}}AFX_DATA_MAP
}

BEGIN_MESSAGE_MAP(CAboutDlg, CDialog)
	//{{AFX_MSG_MAP(CAboutDlg)
		// No message handlers
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CSteerDlg dialog

CSteerDlg::CSteerDlg(CWnd* pParent /*=NULL*/)
	: CDialog(CSteerDlg::IDD, pParent)
{
	//{{AFX_DATA_INIT(CSteerDlg)
	//}}AFX_DATA_INIT
	// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
}

void CSteerDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CSteerDlg)
	DDX_Control(pDX, IDC_START_THREAD, m_BeginTh);
	DDX_Control(pDX, IDC_END_THREAD, m_EndTh);
	//}}AFX_DATA_MAP
/*	if(pDX->m_bSaveAndValidate)
	{
		CSliderCtrl* pSlide=(CSliderCtrl*)GetDlgItem(IDC_SLIDER_ANGLE);
		m_nSteerAngle=pSlide->GetPos();
	}*/
}

BEGIN_MESSAGE_MAP(CSteerDlg, CDialog)
	//{{AFX_MSG_MAP(CSteerDlg)
	ON_WM_SYSCOMMAND()
	ON_WM_PAINT()
	ON_WM_QUERYDRAGICON()
	ON_WM_HSCROLL()
	ON_BN_CLICKED(IDC_START_THREAD, OnStartThread)
	ON_BN_CLICKED(IDC_END_THREAD, OnEndThread)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CSteerDlg message handlers

BOOL CSteerDlg::OnInitDialog()
{
	CDialog::OnInitDialog();

	// Add "About..." menu item to system menu.

	// IDM_ABOUTBOX must be in the system command range.
	ASSERT((IDM_ABOUTBOX & 0xFFF0) == IDM_ABOUTBOX);
	ASSERT(IDM_ABOUTBOX < 0xF000);

	CMenu* pSysMenu = GetSystemMenu(FALSE);
	if (pSysMenu != NULL)
	{
		CString strAboutMenu;
		strAboutMenu.LoadString(IDS_ABOUTBOX);
		if (!strAboutMenu.IsEmpty())
		{
			pSysMenu->AppendMenu(MF_SEPARATOR);
			pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu);
		}
	}

	// Set the icon for this dialog.  The framework does this automatically
	//  when the application's main window is not a dialog
	SetIcon(m_hIcon, TRUE);			// Set big icon
	SetIcon(m_hIcon, FALSE);		// Set small icon
	
	// TODO: Add extra initialization here
	CSliderCtrl* pSlide=(CSliderCtrl*)GetDlgItem(IDC_SLIDER_ANGLE);
	pSlide->SetRange(0,4096);
	pSlide->SetPos(m_nSteerAngle);
    CString strOri;
	strOri.Format("%d",pSlide->GetPos());
	SetDlgItemText(IDC_STATIC_ANGLE,strOri);

	hDlg=GetSafeHwnd();
	m_EndTh.EnableWindow(FALSE);
	DDA=5;
	AD=1;
	LSP=1;
	HSP=20;
	xmode=PULSE_DIR;
	ymode=PULSE_DIR;
	xdir=NORMAL_DIR;
	ydir=NORMAL_DIR;
	xson=ON;
	yson=ON;
	MSTEP2_INITIAL();
    MSTEP2_REGISTRATION(1, baseDrive);
    MSTEP2_RESET_SYSTEM(1);
    MSTEP2_SET_VAR(1, DDA, AD, LSP, HSP);
    MSTEP2_SET_DEFDIR(1, xdir, ydir);
    MSTEP2_SET_MODE(1, xmode, ymode);
    MSTEP2_SET_SERVO_ON(1, xson, yson);
	return TRUE;  // return TRUE  unless you set the focus to a control
}

void CSteerDlg::OnSysCommand(UINT nID, LPARAM lParam)
{
	if ((nID & 0xFFF0) == IDM_ABOUTBOX)
	{
		CAboutDlg dlgAbout;
		dlgAbout.DoModal();
	}
	else
	{
		CDialog::OnSysCommand(nID, lParam);
	}
}

// If you add a minimize button to your dialog, you will need the code below
//  to draw the icon.  For MFC applications using the document/view model,
//  this is automatically done for you by the framework.

void CSteerDlg::OnPaint() 
{
	if (IsIconic())
	{
		CPaintDC dc(this); // device context for painting

		SendMessage(WM_ICONERASEBKGND, (WPARAM) dc.GetSafeHdc(), 0);

		// Center icon in client rectangle
		int cxIcon = GetSystemMetrics(SM_CXICON);
		int cyIcon = GetSystemMetrics(SM_CYICON);
		CRect rect;
		GetClientRect(&rect);
		int x = (rect.Width() - cxIcon + 1) / 2;
		int y = (rect.Height() - cyIcon + 1) / 2;

		// Draw the icon
		dc.DrawIcon(x, y, m_hIcon);
	}
	else
	{
		CDialog::OnPaint();
	}
}

// The system calls this to obtain the cursor to display while the user drags
//  the minimized window.
HCURSOR CSteerDlg::OnQueryDragIcon()
{
	return (HCURSOR) m_hIcon;
}

void CSteerDlg::OnHScroll(UINT nSBCode, UINT nPos, CScrollBar* pScrollBar) 
{
	// TODO: Add your message handler code here and/or call default
	CSliderCtrl* pSlide=(CSliderCtrl*)GetDlgItem(IDC_SLIDER_ANGLE);
	CString str;
	str.Format("%d",pSlide->GetPos());
	SetDlgItemText(IDC_STATIC_ANGLE,str);
	m_nSteerAngle=pSlide->GetPos();
	CDialog::OnHScroll(nSBCode, nPos, pScrollBar);
}

void CSteerDlg::OnStartThread() 
{
	// TODO: Add your control notification handler code here
	m_BeginTh.EnableWindow(FALSE);
	m_EndTh.EnableWindow(TRUE);
	g_EndTh.ResetEvent();
	AfxBeginThread(WorkThread,GetSafeHwnd());
}

void CSteerDlg::OnEndThread() 
{
	// TODO: Add your control notification handler code here
	m_BeginTh.EnableWindow(TRUE);
	m_EndTh.EnableWindow(FALSE);
	g_EndTh.SetEvent();
}