// GT3Dlg.cpp : implementation file
//
#include "stdafx.h"
#include "GT3.h"
#include "GT3Dlg.h"
#include "GT400.H"
#ifdef DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE_;
#endif
/////////////////////////////////////////////////////////////////////////////
// CAboutDlg dialog used for App About
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()
/////////////////////////////////////////////////////////////////////////////
// CGT3Dlg dialog
CGT3Dlg::CGT3Dlg(CWnd* pParent /*=NULL*/)
: CDialog(CGT3Dlg::IDD, pParent)
{
//{{AFX_DATA_INIT(CGT3Dlg)
m_Axis_One_Check = TRUE;
m_Axis_Two_Check = FALSE;
m_One_Jerk = 0.00000002;
m_One_MaxAcc = 0.004;
m_One_Pos = -20000;
m_One_Vel = 5;
m_Two_Jerk = 0.00000002;
m_Two_MaxTwo = 0.004;
m_Two_Pos = -20000;
m_Two_Vel = 5;
//}}AFX_DATA_INIT
// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
}
void CGT3Dlg::DoDataExchange(CDataExchange* pDX)
{
CDialog::DoDataExchange(pDX);
//{{AFX_DATA_MAP(CGT3Dlg)
DDX_Check(pDX, IDC_AXIS_ONE_CHECK, m_Axis_One_Check);
DDX_Check(pDX, IDC_AXIS_TWO_CHECK, m_Axis_Two_Check);
DDX_Text(pDX, IDC_S_ONE_JERK, m_One_Jerk);
DDV_MinMaxDouble(pDX, m_One_Jerk, 0., 1.e-002);
DDX_Text(pDX, IDC_S_ONE_MAXACC, m_One_MaxAcc);
DDV_MinMaxDouble(pDX, m_One_MaxAcc, 0., 0.5);
DDX_Text(pDX, IDC_S_ONE_POS, m_One_Pos);
DDX_Text(pDX, IDC_S_ONE_VEL, m_One_Vel);
DDV_MinMaxDouble(pDX, m_One_Vel, 0., 50.);
DDX_Text(pDX, IDC_S_TWO_JERK, m_Two_Jerk);
DDV_MinMaxDouble(pDX, m_Two_Jerk, 0., 1.e-002);
DDX_Text(pDX, IDC_S_TWO_MAXACC, m_Two_MaxTwo);
DDV_MinMaxDouble(pDX, m_Two_MaxTwo, 0., 0.5);
DDX_Text(pDX, IDC_S_TWO_POS, m_Two_Pos);
DDX_Text(pDX, IDC_S_TWO_VEL, m_Two_Vel);
DDV_MinMaxDouble(pDX, m_Two_Vel, 0., 50.);
//}}AFX_DATA_MAP
}
BEGIN_MESSAGE_MAP(CGT3Dlg, CDialog)
//{{AFX_MSG_MAP(CGT3Dlg)
ON_WM_SYSCOMMAND()
ON_WM_PAINT()
ON_WM_QUERYDRAGICON()
ON_BN_CLICKED(IDC_AXIS_OPEN, OnAxisOpen)
ON_BN_CLICKED(IDC_AXIS_SMOTION, OnAxisSmotion)
ON_BN_CLICKED(IDC_AXIS_STOP, OnAxisStop)
ON_BN_CLICKED(IDC_AXIS_CLOSE, OnAxisClose)
//}}AFX_MSG_MAP
END_MESSAGE_MAP()
/////////////////////////////////////////////////////////////////////////////
// CGT3Dlg message handlers
BOOL CGT3Dlg::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
return TRUE; // return TRUE unless you set the focus to a control
}
void CGT3Dlg::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 CGT3Dlg::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 CGT3Dlg::OnQueryDragIcon()
{
return (HCURSOR) m_hIcon;
}
void CGT3Dlg::OnAxisOpen()
{
// TODO: Add your control notification handler code here
////运动卡初始化函数////////////////////////////////////////////
short rtn;
rtn=GT_Open();
if (rtn!=0)
{
MessageBox("打开运动控制器设备失败！\n 程序结束！","系统提示",MB_OK|MB_ICONERROR);
}
rtn=GT_Reset();
if (rtn!=0)
{
MessageBox("复位运动控制器失败！\n 程序结束！","系统提示",MB_OK|MB_ICONERROR);
}
rtn=GT_SetSmplTm(200); error(rtn);
for (int i=1;i<5;++i)
{
rtn=GT_Axis(i);
rtn=GT_SetIntrMsk(0);
}
////专用输入信号参数设置//////////////////////////////////////////
rtn=GT_LmtSns(0xff);
rtn=GT_EncSns(0);
////控制轴初始化函数//////////////////////////////////////////////
rtn=GT_Axis(1); error(rtn); //1号轴
rtn=GT_ClrSts(); error(rtn);
rtn = GT_CtrlMode(0); error(rtn); //设置为输出模拟量
rtn=GT_CloseLp(); error(rtn);
rtn = GT_SetKp(1); error(rtn);
rtn = GT_SetKi(0); error(rtn);
rtn = GT_SetKd(0); error(rtn);
rtn=GT_SetKvff(0); error(rtn);
rtn=GT_SetKaff(0); error(rtn);
rtn=GT_Update(); error(rtn);
rtn=GT_AxisOn(); error(rtn);
//////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////
rtn=GT_Axis(2); error(rtn); //2号轴初始化
rtn=GT_ClrSts(); error(rtn);
rtn = GT_CtrlMode(0); error(rtn);
rtn=GT_CloseLp(); error(rtn);
rtn = GT_SetKp(1); error(rtn);
rtn = GT_SetKi(0); error(rtn);
rtn = GT_SetKd(0); error(rtn);
rtn=GT_SetKvff(0); error(rtn);
rtn=GT_SetKaff(0); error(rtn);
rtn=GT_Update(); error(rtn);
rtn=GT_AxisOn(); error(rtn);
}
void CGT3Dlg::OnAxisSmotion()
{
// TODO: Add your control notification handler code here
UpdateData();
if (m_Axis_One_Check&m_Axis_Two_Check)
{
short rtn;
UpdateData();
for(int i=1;i<3;i++)
{
rtn=GT_Axis(i);
rtn=GT_ZeroPos();
rtn=GT_Update();
}
rtn=GT_Axis(1); error(rtn);
rtn=GT_PrflS(); error(rtn);
rtn=GT_SetJerk(m_One_Jerk); error(rtn);
rtn=GT_SetMAcc(m_One_MaxAcc); error(rtn);
rtn=GT_SetVel(m_One_Vel); error(rtn);
rtn=GT_SetPos(m_One_Pos); error(rtn);
rtn=GT_Axis(2); error(rtn);
rtn=GT_PrflS(); error(rtn);
rtn=GT_SetJerk(m_Two_Jerk); error(rtn);
rtn=GT_SetMAcc(m_Two_MaxTwo); error(rtn);
rtn=GT_SetVel(m_Two_Vel); error(rtn);
rtn=GT_SetPos(m_Two_Pos); error(rtn);
rtn=GT_MltiUpdt(0x3); error(rtn);
}
else
{
if (m_Axis_One_Check)
{
short rtn;
UpdateData();
for(int i=1;i<3;i++)
{
rtn=GT_Axis(i);
rtn=GT_ZeroPos();
rtn=GT_Update();
}
rtn=GT_Axis(1); error(rtn);
rtn=GT_PrflS(); error(rtn);
rtn=GT_SetJerk(m_One_Jerk); error(rtn);
rtn=GT_SetMAcc(m_One_MaxAcc); error(rtn);
rtn=GT_SetVel(m_One_Vel); error(rtn);
rtn=GT_SetPos(m_One_Pos); error(rtn);
rtn=GT_Update(); error(rtn);
}
else
{
if (m_Axis_Two_Check)
{
short rtn;
UpdateData();
for(int i=1;i<3;i++)
{
rtn=GT_Axis(i);
rtn=GT_ZeroPos();
rtn=GT_Update();
}
rtn=GT_Axis(2); error(rtn);
rtn=GT_PrflS(); error(rtn);
rtn=GT_SetJerk(m_Two_Jerk); error(rtn);
rtn=GT_SetMAcc(m_Two_MaxTwo); error(rtn);
rtn=GT_SetVel(m_Two_Vel); error(rtn);
rtn=GT_SetPos(m_Two_Pos); error(rtn);
rtn=GT_Update(); error(rtn);
}
else
{
MessageBox("您一根轴都没有选择！","系统提示");
}
}
}
}
void CGT3Dlg::OnAxisStop()
{
// TODO: Add your control notification handler code here
short rtn;
if (m_Axis_One_Check&m_Axis_Two_Check)
{
rtn=GT_Axis(1); error(rtn);
rtn=GT_SmthStp(); error(rtn);
rtn=GT_Axis(2); error(rtn);
rtn=GT_SmthStp(); error(rtn);
rtn=GT_MltiUpdt(0x3); error(rtn);
}
else
{
if (m_Axis_One_Check)
{
rtn=GT_Axis(1); error(rtn);
rtn=GT_SmthStp(); error(rtn);
rtn=GT_Update(); error(rtn);
}
else
{
if (m_Axis_Two_Check)
{
rtn=GT_Axis(2); error(rtn);
rtn=GT_SmthStp(); error(rtn);
rtn=GT_Update(); error(rtn);
}
else
{
MessageBox("您一根轴都没有选择！","系统提示");
}
}
}
}
void CGT3Dlg::OnAxisClose()
{
// TODO: Add your control notification handler code here
short rtn;
for(int i=1;i<3;i++)
{
rtn=GT_Axis(i); error(rtn);
rtn=GT_AxisOff(); error(rtn);
}
rtn=GT_Close(); error(rtn);
}
void CGT3Dlg::OnOK()
{
// TODO: Add extra validation here
if (MessageBox("确定已关闭控制器了吗？","系统提示",MB_YESNO|MB_ICONQUESTION)==IDYES)
{
CDialog::OnOK();
}
}
void CGT3Dlg::error(short rtn)
{
switch (rtn)
{
case -1:
MessageBox("error:commuciation error!","系统提示",MB_ICONEXCLAMATION|MB_OK);
break;
case 0:
break;
case 1:
MessageBox("error:command error!","系统提示",MB_ICONEXCLAMATION|MB_OK);
break;
case 2:
case 3:
case 4:
case 5:
case 7:
MessageBox("error:parameter error!","系统提示",MB_ICONEXCLAMATION|MB_OK);
break;
case 6:
MessageBox("error:map error!","系统提示",MB_ICONEXCLAMATION|MB_OK);
default:
break;
}
}
