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robotView.cpp
资源名称：VC++视频传输.rar　[点击查看]
上传用户：hxb_1234
上传日期：2010-03-30
资源大小：8328k
文件大小：21k
源码类别：

VC书籍

开发平台：

Visual C++

robotView.cpp：源码内容
  1. // robotView.cpp : implementation of the CRobotView class
  2. //
  4. #include "stdafx.h"
  5. #include "robot.h"
  6. #include"Label.h"
  8. #include "robotDoc.h"
  9. #include "robotView.h"
  11. #ifdef _DEBUG
  12. #define new DEBUG_NEW
  13. #undef THIS_FILE
  14. static char THIS_FILE[] = __FILE__;
  15. #endif
  17. /////////////////////////////////////////////////////////////////////////////
  18. // CRobotView
  20. IMPLEMENT_DYNCREATE(CRobotView, CFormView)
  22. BEGIN_MESSAGE_MAP(CRobotView, CFormView)
  23. //{{AFX_MSG_MAP(CRobotView)
  24. ON_WM_CTLCOLOR()
  25. ON_WM_TIMER()
  26. //}}AFX_MSG_MAP
  27. ON_MESSAGE(WM_COMMNOTIFY, OnCommNotify)
  28. END_MESSAGE_MAP()
  30. /////////////////////////////////////////////////////////////////////////////
  31. // CRobotView construction/destruction
  33. CRobotView::CRobotView()
  34. : CFormView(CRobotView::IDD)
  35. {
  36. //{{AFX_DATA_INIT(CRobotView)
  37. //}}AFX_DATA_INIT
  38. // TODO: add construction code here
  39. m_ncomand1=10;
  40. m_bflag=0;
  41. m_nsudu=1;
  42. m_ngzq=0;
  43. m_nguanjie;
  44. m_nfangxiang;
  45. m_nmsg[0]=0;
  46. m_njishu=0;
  47. m_nmsg[1]=0;
  48. m_nmsg[2]=0;
  49. m_nmsg[3]=0;
  50. m_nmsg[4]=0;
  51. m_nsum=0;
  52. m_ndelay=0;
  53. nLength=0;
  54. m_recflag=1;
  55. m_failflag=1;
  56. m_brush.CreateSolidBrush(RGB(40,98,122)); // 生成一绿色刷子 
  58. }
  60. CRobotView::~CRobotView()
  61. {
  62. }
  64. void CRobotView::DoDataExchange(CDataExchange* pDX)
  65. {
  66. CFormView::DoDataExchange(pDX);
  67. //{{AFX_DATA_MAP(CRobotView)
  68. //DDX_Control(pDX, IDC_EDIT1, m_edit1);
  69. DDX_Control(pDX, IDC_STATIC_LINK, m_link);
  70. DDX_Control(pDX, IDC_STATIC_1, m_ml);
  71. DDX_Control(pDX, IDC_STATIC_4, m_workpart);
  72. DDX_Control(pDX, IDC_STATIC_COMMAND, m_command);
  73. DDX_Control(pDX, IDC_STATIC_STATUS, m_static);
  74. DDX_Control(pDX, IDC_STATIC_BUCHANG, m_buchangshu);
  75. DDX_Control(pDX, IDC_STATIC_5, m_buchang);
  76. DDX_Control(pDX, IDC_STATIC_3, m_sudu);
  77. DDX_Control(pDX, IDC_STATIC_2, m_zhuangtai);
  78. //}}AFX_DATA_MAP
  79. }
  81. BOOL CRobotView::PreCreateWindow(CREATESTRUCT& cs)
  82. {
  83. // TODO: Modify the Window class or styles here by modifying
  84. //  the CREATESTRUCT cs
  86. return CFormView::PreCreateWindow(cs);
  87. }
  91. /////////////////////////////////////////////////////////////////////////////
  92. // CRobotView diagnostics
  94. #ifdef _DEBUG
  95. void CRobotView::AssertValid() const
  96. {
  97. CFormView::AssertValid();
  98. }
  100. void CRobotView::Dump(CDumpContext& dc) const
  101. {
  102. CFormView::Dump(dc);
  103. }
  105. CRobotDoc* CRobotView::GetDocument() // non-debug version is inline
  106. {
  107. ASSERT(m_pDocument->IsKindOf(RUNTIME_CLASS(CRobotDoc)));
  108. return (CRobotDoc*)m_pDocument;
  109. }
  110. #endif //_DEBUG
  112. /////////////////////////////////////////////////////////////////////////////
  113. // CRobotView message handlers
  115. void CRobotView::OnDraw(CDC* pDC) 
  116. {
  117. // TODO: Add your specialized code here and/or call the base class
  118. SuduDisplay(m_nsudu);
  119. GzqDisplay(m_ngzq);
  120. }
  122. void CRobotView::OnInitialUpdate() 
  123. {
  124. CFormView::OnInitialUpdate();
  126. // TODO: Add your specialized code here and/or call the base class
  127. m_link.SetLink(TRUE)
  128. .SetTextColor(RGB(0,0,255))
  129. .SetFontUnderline(TRUE)
  130. .SetLinkCursor(AfxGetApp()->LoadCursor(IDC_ICON1));
  131. m_command.SetFontSize(24)
  132. .SetFontName("Terminal")
  133.   .SetTextColor(RGB(240,240,40));
  134. m_static.SetFontSize(24)
  135.   .SetTextColor(RGB(240,240,40));
  136. m_workpart.SetFontSize(24)
  137. .SetFontBold(TRUE)
  138.   .SetTextColor(RGB(0,240,0));
  139. m_buchangshu.SetFontSize(24)
  140.   .SetTextColor(RGB(240,240,40));
  141. m_buchang.SetFontSize(24)
  142. .SetFontBold(TRUE)
  143.   .SetTextColor(RGB(0,240,0));
  144. m_sudu.SetFontSize(24)
  145. .SetFontBold(TRUE)
  146.   .SetTextColor(RGB(0,240,0));
  147. m_zhuangtai.SetFontSize(24)
  148. .SetFontBold(TRUE)
  149.   .SetTextColor(RGB(0,240,0));
  150. m_ml.SetFontSize(24)
  151. .SetLinkCursor(AfxGetApp()->LoadCursor(IDC_ICON1))
  152. .SetFontBold(TRUE)
  153.  .SetTextColor(RGB(0,240,0));
  154. GetParentFrame()->RecalcLayout();
  155. ResizeParentToFit();
  156. }
  158. LRESULT CRobotView::WindowProc(UINT message, WPARAM wParam, LPARAM lParam) 
  159. {
  160. // TODO: Add your specialized code here and/or call the base class
  161. if(message == (WM_USER + 1002))
  162. ProcessMessage(wParam, lParam);
  163. else if(message==(WM_USER+1003))
  164. ProcessMyMessage();
  165. return CFormView::WindowProc(message, wParam, lParam);
  166. }
  167. void CRobotView::ProcessMessage(WPARAM wParam, LPARAM lParam)
  168. {
  170. CRobotDoc* pDoc=GetDocument();
  171. char* l[57] = {"零","一","二",///012
  172. "三","四","五","六","七","八","九","执行","各关节归零","大臂正转",///12
  173. "大臂反转","小臂正转","小臂反转","手腕正转","手腕反转","手爪张开","手爪闭合","上升","下降","大臂运行",///13--22
  174. "大臂负运行","小臂运行","小臂负运行","手腕运行","手腕负运行","手爪运行","手爪负运行","升降运行",////23---30
  175. "升降负运行","大臂归零","小臂归零","手腕归零","手爪归零","升降归零","速度加","原点记忆",///31---38
  176. "系统复位","示教盒","","","回原点","速度减","区号加","区号减","单步再现","周期再现",///39---48
  177. "连续再现","返回","继续","数据记忆","读取数据","设置串口","打开串口","关闭串口"};
  178. CString    strcomand;
  179. CString    strstatus;
  180. m_recflag=1;
  181. if(!pDoc->m_bConnected)
  182. {
  183. KillTimer(1);
  184. MessageBox("请先打开串口");
  185. return;
  186. }
  187. if(wParam==100)
  188. {
  189. KillTimer(1);
  190. if(!m_failflag)
  191. {
  192. CWnd* pWnd=GetDlgItem(IDC_STATIC_5);
  193. pWnd->SetWindowText("");
  194.         pWnd=GetDlgItem(IDC_STATIC_BUCHANG);
  195.             pWnd->SetWindowText("");
  196.         pWnd=GetDlgItem(IDC_STATIC_COMMAND);
  197.         pWnd->SetWindowText("请输入新的命令");
  198.         pWnd=GetDlgItem(IDC_STATIC_STATUS);
  199.         pWnd->SetWindowText("执行完毕");
  200.         m_ncomand1=0;
  202. }
  203. else
  204. MessageBox("请检查连线是否正确或下位机是否打开","通信失败",MB_ICONWARNING);
  205. }
  206. else if(wParam>=11&&wParam<=56)
  207. {
  208. m_bflag=0;
  209. m_ncomand1=wParam;
  210. strcomand=l[m_ncomand1];
  211. CWnd* pWnd=GetDlgItem(IDC_STATIC_COMMAND);
  212. pWnd->SetWindowText(strcomand);
  213. pWnd=GetDlgItem(IDC_STATIC_STATUS);
  214. pWnd->SetWindowText("");
  215. pWnd=GetDlgItem(IDC_STATIC_5);
  216. pWnd->SetWindowText("");
  217. pWnd=GetDlgItem(IDC_STATIC_BUCHANG);
  218. pWnd->SetWindowText("");
  219. m_nsum=0;
  220. m_njishu=0;
  221. }
  222. else if(wParam>=0&&wParam<=9)
  223. {
  224. if(m_ncomand1>=12&&m_ncomand1<=21)
  225. {
  226. m_bflag=1;
  227. m_nmsg[m_njishu]=wParam;
  228.    //pWnd=GetDlgItem(IDC_STATIC_COMMAND);
  229.         //pWnd->SetWindowText(strcomand);
  230. CWnd* pWnd=GetDlgItem(IDC_STATIC_5);
  231. pWnd->SetWindowText("步长:");
  232. ++m_njishu;
  233. if(m_njishu==1)
  234. {
  235. CString m_stemp;
  236. m_nsum=m_nmsg[0];
  237. m_stemp.Format("%d",m_nsum);
  238. pWnd=GetDlgItem(IDC_STATIC_BUCHANG);
  239. pWnd->SetWindowText(m_stemp);
  240. }
  241. if(m_njishu==2)
  242. {
  243. CString m_stemp;
  244. m_nsum=m_nmsg[0]*10+m_nmsg[1];
  245. m_stemp.Format("%d",m_nsum);
  246. pWnd=GetDlgItem(IDC_STATIC_BUCHANG);
  247. pWnd->SetWindowText(m_stemp);
  248. }
  249. if(m_njishu==3)
  250. {
  251. CString m_stemp;
  252. m_nsum=m_nmsg[0]*100+m_nmsg[1]*10+m_nmsg[2];
  253. //m_nmsg[0]=0;
  254. //m_nmsg[1]=0
  255. // m_nmsg[2]=0;
  256. // m_njishu=0;
  257. m_stemp.Format("%d",m_nsum);
  258. pWnd=GetDlgItem(IDC_STATIC_BUCHANG);
  259. pWnd->SetWindowText(m_stemp);
  260. }
  261. if(m_njishu==4)
  262. {
  263. CString m_stemp;
  264. m_nsum=m_nmsg[0]*1000+m_nmsg[1]*100+m_nmsg[2]*10+m_nmsg[3];
  265. m_stemp.Format("%d",m_nsum);
  266. pWnd=GetDlgItem(IDC_STATIC_BUCHANG);
  267. pWnd->SetWindowText(m_stemp);
  268. }
  269. if(m_njishu>4)
  270. {
  271. m_njishu=1;
  272. m_nmsg[0]=m_nmsg[4];
  273. CString m_stemp;
  274. m_nsum=m_nmsg[0];
  275. m_stemp.Format("%d",m_nsum);
  276. pWnd=GetDlgItem(IDC_STATIC_BUCHANG);
  277. pWnd->SetWindowText(m_stemp);
  278. m_nmsg[1]=0;
  279. m_nmsg[2]=0;
  280. m_nmsg[3]=0;
  281. }
  282. }
  283. else
  284. ; //MessageBox("清先输入运动步数命令");
  285. }
  286. else if(wParam=10)
  287. {    SetTimer(1,500,NULL);
  288. if(m_ncomand1>=11&&m_ncomand1<=56)
  289. {
  290. if(!m_bflag)
  291. {
  292. strstatus="正在执行命令,请稍后.....";
  293. CWnd* pWnd=GetDlgItem(IDC_STATIC_STATUS);
  294. pWnd->SetWindowText(strstatus);
  295. Execute(m_ncomand1);
  297. }
  298. else //if(m_ncomand1>=12&&m_ncomand1<=21)
  299. {
  300. unsigned char m_uhi,m_ulo;
  301. m_nmsg[0]=0;
  302.          m_nmsg[1]=0;
  303. m_nmsg[2]=0;
  304. m_nmsg[3]=0;
  305. m_njishu=0;
  306. /// CWnd* pWnd=GetDlgItem(IDC_STATIC_STATUS);
  307.    /// pWnd->SetWindowText("正在执行命令,请稍后.....");
  308. switch(m_ncomand1)
  309. {
  310. case(12):
  311. m_nguanjie=01;
  312. m_nfangxiang=00;
  313. m_uhi=(unsigned char)(m_nsum/256);
  314. m_ulo=(unsigned char)(m_nsum-m_uhi*256);
  315. m_ndelay=(m_nsum+500)/m_nsudu;
  316. Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
  317. break;
  318. case(13):
  319. m_nguanjie=0x01;
  320. m_nfangxiang=0xff;
  321. m_uhi=(unsigned char)(m_nsum/256);
  322. m_ulo=(unsigned char)(m_nsum-m_uhi*256);
  323. m_ndelay=(m_nsum+500)/m_nsudu;
  324. Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
  325. break;
  326. case(14):
  327. m_nguanjie=0x02;
  328. m_nfangxiang=0x00;
  329. m_uhi=(unsigned char)(m_nsum/256);
  330. m_ulo=(unsigned char)(m_nsum-m_uhi*256);
  331. m_ndelay=(m_nsum)/(m_nsudu*3);
  332. Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
  333. break;
  334. case(15):
  335. m_nguanjie=0x02;
  336. m_nfangxiang=0xff;
  337. m_uhi=(unsigned char)(m_nsum/256);
  338. m_ulo=(unsigned char)(m_nsum-m_uhi*256);
  339. m_ndelay=(m_nsum)/(m_nsudu*3);
  340. Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
  341. break;
  342. case(16):
  343. m_nguanjie=0x04;
  344. m_nfangxiang=0x00;
  345. m_uhi=(unsigned char)(m_nsum/256);
  346. m_ulo=(unsigned char)(m_nsum-m_uhi*256);
  347. m_ndelay=(m_nsum+500)/m_nsudu;
  348. Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
  349. break;
  350. case(17):
  351. m_nguanjie=0x04;
  352. m_nfangxiang=0xff;
  353. m_uhi=(unsigned char)(m_nsum/256);
  354. m_ulo=(unsigned char)(m_nsum-m_uhi*256);
  355. m_ndelay=(m_nsum+500)/m_nsudu;
  356. Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
  357. break;
  358. case(18):
  359. m_nguanjie=0x05;
  360. m_nfangxiang=0x00;
  361. m_uhi=(unsigned char)(m_nsum/256);
  362. m_ulo=(unsigned char)(m_nsum-m_uhi*256);
  363. m_ndelay=(m_nsum+500)/m_nsudu;
  364. Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
  365. break;
  366. case(19):
  367. m_nguanjie=0x05;
  368. m_nfangxiang=0xff;
  369. m_uhi=(unsigned char)(m_nsum/256);
  370. m_ulo=(unsigned char)(m_nsum-m_uhi*256);
  371. m_ndelay=(m_nsum+500)/m_nsudu;
  372. Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
  373. break;
  374. case(20):
  375. m_nguanjie=0x03;
  376. m_nfangxiang=0x00;
  377. m_uhi=(unsigned char)(m_nsum/256);
  378. m_ulo=(unsigned char)(m_nsum-m_uhi*256);
  379. m_ndelay=(m_nsum+500)/(m_nsudu*2);
  380. Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
  381. break;
  382. case(21):
  383. m_nguanjie=0x03;
  384. m_nfangxiang=0xff;
  385. m_uhi=(unsigned char)(m_nsum/256);
  386. m_ulo=(unsigned char)(m_nsum-m_uhi*256);
  387. m_ndelay=(m_nsum+500)/(m_nsudu*2);
  388. Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
  389. break;
  390. }
  392.            }
  393. m_failflag=1;}
  394.    else
  395.    MessageBox("清先输入命令");
  396.      }
  397.  else
  398.  MessageBox("不能识别，请重新输入命令");
  399. }
  400. void CRobotView::ProcessMyMessage()
  401. {
  402. CDC *PDc=GetDC();
  403. m_failflag=0;
  404. switch(m_ncomand1)
  405. {
  406. case(37):
  407. {
  408. m_nsudu++;
  409. if(m_nsudu==6)
  410. m_nsudu=1;
  411. OnDraw(PDc);
  412. }
  413. break;
  414. case(44):
  415. {
  416. m_nsudu--;
  417. if(m_nsudu==0)
  418. m_nsudu=5;
  419. OnDraw(PDc);
  420. }
  421. break;
  422. case(45):
  423. {
  424. m_ngzq++;
  425. if(m_ngzq==8)
  426. m_ngzq=0;
  427. OnDraw(PDc);
  428. }
  429. break;
  430. case(46):
  431. {
  432. m_ngzq--;
  433. if(m_ngzq==-1)
  434. m_ngzq=7;
  435. OnDraw(PDc);
  436. }
  437. break;
  438. }
  439. CWnd* pWnd=GetDlgItem(IDC_STATIC_COMMAND);
  440. pWnd->SetWindowText("请输入新的命令");
  441. pWnd=GetDlgItem(IDC_STATIC_STATUS);
  442. pWnd->SetWindowText("执行完毕");
  443. m_ncomand1=0;
  444. //}
  445. //else
  446. // MessageBox("请检查连线是否正确或下位机是否打开","通信失败",MB_ICONWARNING);
  447. }
  448. void CRobotView::SuduDisplay(int n)
  449. {
  450. CWnd* pWnd=GetDlgItem(IDC_STATIC_SUDU);
  451. CDC* pControlDC=pWnd->GetDC();
  452. pWnd->Invalidate();
  453. pWnd->UpdateWindow();
  454. pControlDC->SelectStockObject(BLACK_BRUSH);
  455. CBitmap mBit;
  456. CDC MemDC;
  457. MemDC.CreateCompatibleDC(NULL);
  458. switch(n)
  459. {
  460. case 0:
  461. mBit.LoadBitmap(IDB_BMP10);
  462. break;
  463. case 1:
  464. mBit.LoadBitmap(IDB_BMP11);
  465. break;
  466. case 2:
  467. mBit.LoadBitmap(IDB_BMP12);
  468. break;
  469. case 3:
  470. mBit.LoadBitmap(IDB_BMP13);
  471. break;
  472. case 4:
  473. mBit.LoadBitmap(IDB_BMP14);
  474. break;
  475. case 5:
  476. mBit.LoadBitmap(IDB_BMP15);
  477. break;
  478. default:
  479. //mBit.LoadBitmap(IDB_BMP0);
  480. MessageBox("error");
  481. }
  482. CBitmap *pOldBit=MemDC.SelectObject(&mBit);
  483. pControlDC->BitBlt(0,0,900,700,&MemDC,0,0,SRCCOPY);
  484. MemDC.SelectObject(pOldBit);
  485. }
  486. void CRobotView::GzqDisplay(int n)
  487. {
  488. CWnd* pWnd=GetDlgItem(IDC_STATIC_GONGZUOQU);
  489. CDC* pControlDC=pWnd->GetDC();
  490. pWnd->Invalidate();
  491. pWnd->UpdateWindow();
  492. pControlDC->SelectStockObject(BLACK_BRUSH);
  493. CBitmap mBit;
  494. CDC MemDC;
  495. MemDC.CreateCompatibleDC(NULL);
  496. switch(n)
  497. {
  498. case 0:
  499. mBit.LoadBitmap(IDB_BMP10);
  500. break;
  501. case 1:
  502. mBit.LoadBitmap(IDB_BMP11);
  503. break;
  504. case 2:
  505. mBit.LoadBitmap(IDB_BMP12);
  506. break;
  507. case 3:
  508. mBit.LoadBitmap(IDB_BMP13);
  509. break;
  510. case 4:
  511. mBit.LoadBitmap(IDB_BMP14);
  512. break;
  513. case 5:
  514. mBit.LoadBitmap(IDB_BMP15);
  515. break;
  516. case 6:
  517. mBit.LoadBitmap(IDB_BMP16);
  518. break;
  519. case 7:
  520. mBit.LoadBitmap(IDB_BMP17);
  521. break;
  522. default:
  523. //mBit.LoadBitmap(IDB_BMP0);
  524. MessageBox("error");
  525. }
  526. CBitmap *pOldBit=MemDC.SelectObject(&mBit);
  527. pControlDC->BitBlt(0,0,900,700,&MemDC,0,0,SRCCOPY);
  528. MemDC.SelectObject(pOldBit);
  529. }
  530. void CRobotView::Execute(int n)
  531. {
  532. CRobotDoc* pDoc=GetDocument();
  534. unsigned char send1;
  536. switch(n)
  537. {
  538. case(11):
  539. home();
  540. break;
  541. case(12):
  542. {//大臂正传
  543. unsigned char send[6]={0x53,0x01,0x00,0x00,0x07,0x18};
  544. for(int i=0;i<=5;i++)
  545. pDoc->WriteComm(&send[i],1);
  546. Sleep(2000/m_nsudu);
  547. break;
  548. }
  549. case(13):
  550. {
  551. unsigned char send[6]={0x53,0x01,0xff,0x00,0x07,0x18};
  552. for(int i=0;i<=5;i++)
  553. pDoc->WriteComm(&send[i],1);
  554. // pDoc->ReadComm(&buf,1);
  555. // if(nLength)
  556. //// {
  557. // str.Format("%d",buf);
  558. // m_edit1.SetSel(-1, 0);
  559. // m_edit1.ReplaceSel(str); // 向编辑视图中插入收到的字符
  560. // }
  561. // else
  562. // MessageBox("fjdklfjsdklgjsdfkl");
  563. Sleep(2000/m_nsudu);
  564. break;
  565. }
  566. case(14)://xiaobizhengzhuan
  567. {
  568. unsigned char send[6]={0x53,0x02,0x00,0x00,0x0f,0xe3};
  569. for(int i=0;i<=5;i++)
  570. pDoc->WriteComm(&send[i],1);
  571. Sleep(2000/m_nsudu);
  572. break;
  573. }
  575. case(15)://小臂反转
  576. {
  577. unsigned char send[6]={0x53,0x02,0xff,0x00,0x0f,0xe3};
  578. for(int i=0;i<=5;i++)
  579. pDoc->WriteComm(&send[i],1);
  580. Sleep(2000/m_nsudu);
  581. break;
  582. }
  583. case(16)://手腕正转
  584. {
  585. unsigned char send[6]={0x53,0x04,0x00,0x00,0x00,0xff};
  586. for(int i=0;i<=5;i++)
  587. pDoc->WriteComm(&send[i],1);
  588. Sleep(1000/m_nsudu);
  589. break;
  590. }
  591. case(17)://shouwanfanzhuan
  592. {
  593. unsigned char send[6]={0x53,0x04,0xff,0x00,0x00,0xff};
  594. for(int i=0;i<=5;i++)
  595. pDoc->WriteComm(&send[i],1);
  596. Sleep(1000/m_nsudu);
  597. }
  598. break;
  599. case(18)://shouzhuazhangkai
  600. {
  601. unsigned char send[6]={0x53,0x05,0x00,0x00,0x00,0x43};
  602. for(int i=0;i<=5;i++)
  603. pDoc->WriteComm(&send[i],1);
  604. Sleep(2000/m_nsudu);
  605. }
  606. break;
  607. case(19):
  608. {
  609. unsigned char send[6]={0x53,0x05,0xff,0x00,0x00,0xf3};
  610. for(int i=0;i<=5;i++)
  611. pDoc->WriteComm(&send[i],1);
  612. Sleep(2000/m_nsudu);
  613. }
  614. break;
  615. case(20)://shangsheng
  616. {
  617. unsigned char send[6]={0x53,0x03,0x00,0x00,0x02,0xe3};
  618. for(int i=0;i<=5;i++)
  619. pDoc->WriteComm(&send[i],1);
  620. Sleep(1000/m_nsudu);
  621. }
  622. break;
  623. case(21):
  624. {
  625. unsigned char send[6]={0x53,0x03,0xff,0x00,0x02,0xe3};
  626. for(int i=0;i<=5;i++)
  627. pDoc->WriteComm(&send[i],1);
  628. Sleep(1000/m_nsudu);
  629. }
  630. break;
  631. /* case(22)://dabiyunxing
  632. {
  633. unsigned char send[3]={0x63,0x01,0x00};
  634. for(int i=0;i<=2;i++)
  635. pDoc->WriteComm(&send[i],1);
  636. Sleep(2000);
  637. }
  638. break;
  639. case(23):
  640. {
  641. unsigned char send[3]={0x63,0x01,0xff};
  642. for(int i=0;i<=2;i++)
  643. pDoc->WriteComm(&send[i],1);
  644. Sleep(2000);
  645. }
  646. break;
  647. case(24)://xiaobiyunxing
  648. {
  649. unsigned char send[3]={0x63,0x02,0x00};
  650. for(int i=0;i<=2;i++)
  651. pDoc->WriteComm(&send[i],1);
  652. Sleep(2000);
  653. }
  654. break;
  655. case(25):
  656. {
  657. unsigned char send[3]={0x63,0x02,0xff};
  658. for(int i=0;i<=2;i++)
  659. pDoc->WriteComm(&send[i],1);
  660. Sleep(2000);
  661. }
  662. break;
  663. case(26)://shouwanyunxing
  664. {
  665. unsigned char send[3]={0x63,0x04,0x00};
  666. for(int i=0;i<=2;i++)
  667. pDoc->WriteComm(&send[i],1);
  668. Sleep(2000);
  669. }
  670. break;
  671. case(27):
  672. {
  673. unsigned char send[3]={0x63,0x04,0xff};
  674. for(int i=0;i<=2;i++)
  675. pDoc->WriteComm(&send[i],1);
  676. Sleep(2000);
  677. }
  678. break;
  679. case(28)://shouzhuayunxing
  680. {
  681. unsigned char send[3]={0x63,0x05,0x00};
  682. for(int i=0;i<=2;i++)
  683. pDoc->WriteComm(&send[i],1);
  684. Sleep(2000);
  685. }
  686. break;
  687. case(29):
  688. {
  689. unsigned char send[3]={0x63,0x05,0xff};
  690. for(int i=0;i<=2;i++)
  691. pDoc->WriteComm(&send[i],1);
  692. Sleep(2000);
  693. }
  694. break;
  695. case(30)://shengjiangyunxing
  696. {
  697. unsigned char send[3]={0x63,0x03,0x00};
  698. for(int i=0;i<=2;i++)
  699. pDoc->WriteComm(&send[i],1);
  700. Sleep(2000);
  701. }
  702. break;
  703. case(31):
  704. {
  705. unsigned char send[3]={0x63,0x05,0xff};
  706. for(int i=0;i<=2;i++)
  707. pDoc->WriteComm(&send[i],1);
  708. Sleep(2000);
  709. }
  710. break;
  711. */
  712. case(32)://dabiguiling
  713. {
  714. unsigned char send[2]={0xa3,0x01};
  715. for(int i=0;i<=1;i++)
  716. pDoc->WriteComm(&send[i],1);
  717. Sleep(18000);
  718. }
  719. break;
  720. case(33)://xiaobiguiling
  721. {
  722. unsigned char send[2]={0xa3,0x02};
  723. for(int i=0;i<=1;i++)
  724. pDoc->WriteComm(&send[i],1);
  725. Sleep(15000);
  726. }
  727. break;
  728. case(34)://shouwanguiling
  729. {
  730. unsigned char send[2]={0xa3,0x04};
  731. for(int i=0;i<=1;i++)
  732. pDoc->WriteComm(&send[i],1);
  733. Sleep(6000);
  734. }
  735. break;
  736. case(35)://shouzhuaguiling
  737. {
  738. unsigned char send[2]={0xa3,0x05};
  739. for(int i=0;i<=1;i++)
  740. pDoc->WriteComm(&send[i],1);
  741. Sleep(6000);
  742. }
  743. break;
  744. case(36)://shengjiangguiling
  745. {
  746. unsigned char send[2]={0xa3,0x03};
  747. for(int i=0;i<=1;i++)
  748. pDoc->WriteComm(&send[i],1);
  749. Sleep(10000);
  750. }
  751. break;
  752. case(37)://sudujia
  753. {
  754. send1=0xb3;
  755. pDoc->WriteComm(&send1,1);
  756. }
  757. Sleep(1000);
  758. break;
  759. case(38)://yuandianjiyi
  760. send1=0x73;
  761. pDoc->WriteComm(&send1,1);
  762. break;
  763. case(39):
  764. send1=0xc3;
  765. pDoc->WriteComm(&send1,1);
  766. break;
  767. case(40):
  768. send1=0xf6;
  769. pDoc->WriteComm(&send1,1);
  770. break;
  771. case(41):
  772. send1=0x83;
  773. pDoc->WriteComm(&send1,1);
  774. break;
  775. case(42):
  776. send1=0x93;
  777. pDoc->WriteComm(&send1,1);
  778. break;
  779. case(43):
  780. // {
  781. // unsigned char send[2]={0x86,0x03};
  782. // for(int i=0;i<=1;i++)
  783. // pDoc->WriteComm(&send[i],1);
  784. // Sleep(4000);
  785. // }
  786. send1=0x86;
  787. pDoc->WriteComm(&send1,1);
  788. break;
  789. case(44)://sudujian
  790. {
  791. send1=0xe3;
  792. pDoc->WriteComm(&send1,1);
  793. }
  794. break;
  795. case(45):
  796. {
  797. send1=0x12;
  798. pDoc->WriteComm(&send1,1);
  799. }
  800. break;
  801. case(46):
  802. {
  803. send1=0x22;
  804. pDoc->WriteComm(&send1,1);
  805. }
  806. break;
  807. case(47): //danbuzaixian
  808. send1=0x13;
  809. pDoc->WriteComm(&send1,1);
  810. Sleep(4000);
  811. break;
  812. case(48): //zhouqizaixian
  813. send1=0x23;
  814. pDoc->WriteComm(&send1,1);
  815. Sleep(8000);
  816. break;
  817. case(49): //lianxuzaixian
  818. send1=0x33;
  819. pDoc->WriteComm(&send1,1);
  820. break;
  821. case(50):
  822. //send1=0x32;
  823. //pDoc->WriteComm(&send1,1);
  824. break;
  825. case(51):
  826. break;
  827. case(52):
  828. send1=0x43;
  829. pDoc->WriteComm(&send1,1);
  830. break;
  831. case(53):
  832. break;
  833. case(54):
  834. pDoc->OnSetupcomm();
  835. break;
  836. case(55):
  837. pDoc->OnOpencomm();
  838. break;
  839. default:
  840. pDoc->OnClosecomm();
  841. break;
  842. }
  844. }
  845. //void CRobotView::OnButton3() 
  846. //{
  847. // TODO: Add your control notification handler code here
  848. // SendMessage(WM_USER + 1002,10,0);
  849. //}
  850. void CRobotView::Execute_1(unsigned char a,unsigned char b,unsigned char c,unsigned char d,int e)
  851. {
  852. CRobotDoc* pDoc=GetDocument();
  853. unsigned char send[6]={0x53,a,b,0x00,c,d};
  854. for(int i=0;i<=5;i++)
  855. pDoc->WriteComm(&send[i],1);
  856. Sleep(m_ndelay);
  857. }
  860. HBRUSH CRobotView::OnCtlColor(CDC* pDC, CWnd* pWnd, UINT nCtlColor) 
  861. {
  862. HBRUSH hbr = CFormView::OnCtlColor(pDC, pWnd, nCtlColor);
  864. // TODO: Change any attributes of the DC here
  865. switch(nCtlColor)
  866. {
  867. case CTLCOLOR_DLG:
  868. {
  869. //pDC->SetBkMode(TRANSPARENT);
  870. return m_brush;   //返加绿色刷子
  871. }
  872. case CTLCOLOR_STATIC:
  873. {
  874.    //返加绿色刷子
  875. // pDC->SetBkMode(TRANSPARENT);
  876. return m_brush;
  877. }
  878. }
  879. // TODO: Return a different brush if the default is not desired
  880. return hbr;
  881. }
  882. void CRobotView::home() 
  883. {
  884. SendMessage(WM_USER+1002,32,0);
  885. SendMessage(WM_USER+1002,10,0);
  886. Sleep(1000);
  887. SendMessage(WM_USER+1002,33,0);
  888. SendMessage(WM_USER+1002,10,0);
  889. Sleep(1000);
  891.     SendMessage(WM_USER+1002,34,0);
  892. SendMessage(WM_USER+1002,10,0);
  893. Sleep(1000);
  894. SendMessage(WM_USER+1002,35,0);
  895. SendMessage(WM_USER+1002,10,0);
  896. Sleep(1000);
  897. SendMessage(WM_USER+1002,36,0);
  898. SendMessage(WM_USER+1002,10,0);
  899. Sleep(1000);
  900. }
  901. LRESULT CRobotView::OnCommNotify(WPARAM wParam, LPARAM lParam)
  902. {
  903. unsigned char buf;
  904. CWnd* pWnd=GetDlgItem(IDC_STATIC_COMMAND);
  905. CString str1,str2;
  906. CRobotDoc* pDoc=GetDocument();
  907. m_recflag=0;
  908. if(!pDoc->m_bConnected || 
  909. (wParam & EV_RXCHAR)!=EV_RXCHAR) // 是否是EV_RXCHAR事件?
  910. {
  911. SetEvent(pDoc->m_hPostMsgEvent); // 允许发送下一个WM_COMMNOTIFY消息
  912. return 0L;
  913. }
  914. nLength=pDoc->ReadComm(&buf,1);
  915. if(nLength)
  916. {
  917. // str1.Format("%d",buf);
  918. //m_edit1.SetSel(-1, 0);
  919. // m_edit1.ReplaceSel(str1); // 向编辑视图中插入收到的字符
  920. str2="正在执行命令,请稍后.....";
  921. pWnd->SetWindowText(str2);
  922. SendMessage(WM_USER+1003);
  923. }
  924. SetEvent(pDoc->m_hPostMsgEvent); // 允许发送下一个WM_COMMNOTIFY消息
  925. return 0L;
  926. }
  928. void CRobotView::OnTimer(UINT nIDEvent) 
  929. {
  930. // TODO: Add your message handler code here and/or call default
  931. SendMessage(WM_USER+1002,100);
  933. CFormView::OnTimer(nIDEvent);
  934. }