550 lines
13 KiB
C++
550 lines
13 KiB
C++
// DevOptDlg.cpp : 实现文件
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//
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#include "stdafx.h"
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#include "KcCtrl.h"
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#include "KcOperDlg.h"
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#include "KcProtocol.h"
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#include "afxdialogex.h"
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// CDevOptDlg 对话框
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IMPLEMENT_DYNAMIC(CKcOperDlg, CDialogEx)
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CKcOperDlg::CKcOperDlg(CWnd* pParent /*=NULL*/)
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: CDialogEx(IDD_CK_OPT_DLG, pParent)
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{
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}
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CKcOperDlg::~CKcOperDlg()
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{
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}
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void CKcOperDlg::DoDataExchange(CDataExchange* pDX)
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{
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CDialogEx::DoDataExchange(pDX);
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}
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BEGIN_MESSAGE_MAP(CKcOperDlg, CDialogEx)
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ON_BN_CLICKED(IDC_BTN_0xAF, &CKcOperDlg::OnBnClickedBtn0xaf)
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ON_BN_CLICKED(IDC_BTN_0xB0, &CKcOperDlg::OnBnClickedBtn0xb0)
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ON_BN_CLICKED(IDC_BTN_0xB1, &CKcOperDlg::OnBnClickedBtn0xb1)
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ON_BN_CLICKED(IDC_BTN_0x02, &CKcOperDlg::OnBnClickedBtn0x02)
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ON_BN_CLICKED(IDC_BTN_0x03, &CKcOperDlg::OnBnClickedBtn0x03)
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ON_BN_CLICKED(IDC_BTN_0x14, &CKcOperDlg::OnBnClickedBtn0x14)
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ON_BN_CLICKED(IDC_BTN_0x17, &CKcOperDlg::OnBnClickedBtn0x17)
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ON_BN_CLICKED(IDC_BTN_0xB2, &CKcOperDlg::OnBnClickedBtn0xb2)
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ON_BN_CLICKED(IDC_BTN_0xAE, &CKcOperDlg::OnBnClickedBtn0xae)
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ON_BN_CLICKED(IDC_BTN_0x1F, &CKcOperDlg::OnBnClickedBtn0x1f)
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END_MESSAGE_MAP()
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// CDevOptDlg 消息处理程序
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void CKcOperDlg::OnBnClickedBtn0xaf()
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{
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//构造请求报文
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CKcProtocol protocol;
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unsigned char acMsgContent[1024];
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int nMsgLength;
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protocol.BuildRequestMessage(0xAF, acMsgContent, nMsgLength);
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if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(),theApp.m_nControllerPort))
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{
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std::cout << "Connect error." << std::endl;
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return ;
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}
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int lRto = 3000;//重传时间，单位毫秒
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int lRtoCnt = 3;//最大重传次数
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unsigned char acRecv[1024] = { 0 };//接收数据缓冲区
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int lRecvbufSize = sizeof(acRecv);//接收缓冲区大小
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int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
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if (recvSize > 0)
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{
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//std::cout << "Received: " << acRecv << std::endl;
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Json::Value ret = protocol.Analysis0xAFMessage(acRecv, recvSize);
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theApp.SendMsg2Platform("OPENTCS", AGV_STATUS_RPT, ret);
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}
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else
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{
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//std::cout << "Received: failed." << recvSize << std::endl;
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}
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}
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void CKcOperDlg::OnBnClickedBtn0xb0()
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{
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//构造请求报文
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CKcProtocol protocol;
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unsigned char acMsgContent[1024];
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int nMsgLength;
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protocol.BuildRequestMessage(0xB0, acMsgContent, nMsgLength);
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if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
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{
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std::cout << "Connect error." << std::endl;
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return;
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}
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int lRto = 3000;//重传时间，单位毫秒
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int lRtoCnt = 3;//最大重传次数
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unsigned char acRecv[1024] = { 0 };//接收数据缓冲区
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int lRecvbufSize = sizeof(acRecv);//接收缓冲区大小
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int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
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if (recvSize > 0)
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{
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//std::cout << "Received: " << acRecv << std::endl;
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Json::Value ret = protocol.Analysis0xB0Message(acRecv, recvSize);
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theApp.SendMsg2Platform("OPENTCS", 0xB0, ret);
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}
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else
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{
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//std::cout << "Received: failed." << recvSize << std::endl;
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}
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}
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void CKcOperDlg::OnBnClickedBtn0x17()
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{
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//构造请求报文
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CKcProtocol protocol;
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unsigned char acMsgContent[1024];
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int nMsgLength;
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protocol.BuildRequestMessage(0x17, acMsgContent, nMsgLength);
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if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
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{
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std::cout << "Connect error." << std::endl;
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return;
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}
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int lRto = 3000;//重传时间，单位毫秒
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int lRtoCnt = 3;//最大重传次数
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unsigned char acRecv[1024] = { 0 };//接收数据缓冲区
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int lRecvbufSize = sizeof(acRecv);//接收缓冲区大小
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int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
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if (recvSize > 0)
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{
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//std::cout << "Received: " << acRecv << std::endl;
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Json::Value ret = protocol.Analysis0x17Message(acRecv, recvSize);
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theApp.SendMsg2Platform("OPENTCS", 0x17, ret);
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}
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else
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{
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//std::cout << "Received: failed." << recvSize << std::endl;
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}
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}
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void CKcOperDlg::OnBnClickedBtn0xb1()
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{
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// TODO: 在此添加控件通知处理程序代码
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}
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void CKcOperDlg::OnBnClickedBtn0x02()
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{
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Json::Value param;
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param["varCount"] = 1;
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Json::Value value;
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Json::Value value_item;
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value_item["name"] = "NaviControl";
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value_item["count"] = 1;
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Json::Value member;
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Json::Value member_item;
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member_item["offset"] = 0;
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member_item["length"] = 1;
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member.append(member_item);
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value_item["member"] = member;
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value.append(value_item);
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param["var"] = value;
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Build0x02Message(param);
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}
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void CKcOperDlg::OnBnClickedBtn0x03()
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{
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Json::Value param;
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param["var_count"] = 1;
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Json::Value value;
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Json::Value value_item;
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value_item["name"] = "NaviControl";
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value_item["count"] = 1;
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Json::Value member;
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Json::Value member_item;
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member_item["offset"] = 0;
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member_item["length"] = 1;
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member_item["value"] = 1;
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member.append(member_item);
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value_item["member"] = member;
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value.append(value_item);
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param["var"] = value;
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//Json::FastWriter writer;
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//string strJson = writer.write(param);
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//AfxMessageBox(strJson.c_str());
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Build0x03Message(param);
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}
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void CKcOperDlg::OnBnClickedBtn0x14()
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{
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Json::Value param;
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param["angle"] = 1.0;
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param["x"] = 3.0;
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param["y"] = 2.0;
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Build0x14Message(param);
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}
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void CKcOperDlg::OnBnClickedBtn0xb2()
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{
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Json::Value param;
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int nType = 3;
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if (1 == nType)
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{
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param["paramSize"] = 4;
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param["actionParallelManner"] = 2;
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param["actionType"] = 1;
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Json::Value paramData;
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Json::Value dataItem;
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dataItem["isStopImmediately"] = 1;
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paramData.append(dataItem);
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param["paramData"] = paramData;
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}
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else if(2 == nType)
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{
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param["paramSize"] = 8;
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param["actionParallelManner"] = 2;
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param["actionType"] = 2;
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Json::Value paramData;
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Json::Value dataItem;
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dataItem["orderId"] = 1;
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dataItem["taskKey"] = 1;
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paramData.append(dataItem);
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param["paramData"] = paramData;
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}
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else if (3 == nType)
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{
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param["paramSize"] = 8;
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param["actionParallelManner"] = 2;
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param["actionType"] = 3;
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Json::Value paramData;
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Json::Value dataItem;
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dataItem["orderId"] = 1;
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dataItem["isStopImmediately"] = 1;
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paramData.append(dataItem);
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param["paramData"] = paramData;
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}
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Build0xB2Message(param);
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}
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void CKcOperDlg::Build0xAEMessage(Json::Value param)
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{
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unsigned char acMsgContent[1024] = { 0 };
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int nMsgLength = 0;
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CKcProtocol protocol;
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protocol.BuildRequestMessage(0xAE, acMsgContent, nMsgLength, param);
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if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
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{
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std::cout << "Connect error." << std::endl;
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return;
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}
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int lRto = 3000;//重传时间，单位毫秒
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int lRtoCnt = 3;//最大重传次数
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unsigned char acRecv[1024] = { 0 };//接收数据缓冲区
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int lRecvbufSize = sizeof(acRecv);//接收缓冲区大小
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int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
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if (recvSize == 28)
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{
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//std::cout << "Received: " << acRecv << std::endl;
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Json::Value ret ;
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ret["state"] = 1;
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theApp.SendMsg2Platform("OPENTCS", 0xAE, ret); //下发成功
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}
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else
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{
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Json::Value ret;
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ret["state"] = 0;
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theApp.SendMsg2Platform("OPENTCS", 0xAE, ret); //下发失败
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}
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}
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void CKcOperDlg::Build0xB2Message(Json::Value param)
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{
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unsigned char acMsgContent[1024] = { 0 };
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int nMsgLength = 0;
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CKcProtocol protocol;
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protocol.BuildRequestMessage(0xB2, acMsgContent, nMsgLength, param);
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if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
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{
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std::cout << "Connect error." << std::endl;
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return;
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}
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int lRto = 3000;//重传时间，单位毫秒
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int lRtoCnt = 3;//最大重传次数
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unsigned char acRecv[1024] = { 0 };//接收数据缓冲区
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int lRecvbufSize = sizeof(acRecv);//接收缓冲区大小
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int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
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if (recvSize == 28)
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{
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//std::cout << "Received: " << acRecv << std::endl;
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Json::Value ret;
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ret["state"] = 1;
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theApp.SendMsg2Platform("OPENTCS", 0xB2, ret); //下发成功
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}
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else
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{
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Json::Value ret;
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ret["state"] = 0;
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theApp.SendMsg2Platform("OPENTCS", 0xB2, ret); //下发失败
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}
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}
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void CKcOperDlg::Build0x02Message(Json::Value param)
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{
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unsigned char acMsgContent[1024] = { 0 };
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int nMsgLength = 0;
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CKcProtocol protocol;
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protocol.BuildRequestMessage(0x02, acMsgContent, nMsgLength, param);
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if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
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{
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std::cout << "Connect error." << std::endl;
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return;
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}
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int lRto = 3000;//重传时间，单位毫秒
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int lRtoCnt = 3;//最大重传次数
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unsigned char acRecv[1024] = { 0 };//接收数据缓冲区
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int lRecvbufSize = sizeof(acRecv);//接收缓冲区大小
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int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
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if (recvSize >= 28)
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{
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Json::Value ret = protocol.Analysis0x02Message(acRecv, recvSize);
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theApp.SendMsg2Platform("OPENTCS", 0x02, ret);
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//Json::Value ret;
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//ret["state"] = 1;
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//theApp.SendMsg2Platform("OPENTCS", 0x02, ret); //下发成功
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}
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else
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{
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Json::Value ret;
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ret["state"] = 0;
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theApp.SendMsg2Platform("OPENTCS", 0x02, ret); //下发失败
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}
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}
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void CKcOperDlg::Build0x14Message(Json::Value param)
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{
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unsigned char acMsgContent[1024] = { 0 };
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int nMsgLength = 0;
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CKcProtocol protocol;
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protocol.BuildRequestMessage(0x14, acMsgContent, nMsgLength, param);
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if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
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{
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std::cout << "Connect error." << std::endl;
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return;
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}
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int lRto = 3000;//重传时间，单位毫秒
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int lRtoCnt = 3;//最大重传次数
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unsigned char acRecv[1024] = { 0 };//接收数据缓冲区
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int lRecvbufSize = sizeof(acRecv);//接收缓冲区大小
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int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
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if (recvSize >= 28)
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{
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//std::cout << "Received: " << acRecv << std::endl;
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Json::Value ret;
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ret["state"] = 1;
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theApp.SendMsg2Platform("OPENTCS", 0x14, ret); //下发成功
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}
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else
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{
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Json::Value ret;
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ret["state"] = 0;
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theApp.SendMsg2Platform("OPENTCS", 0x14, ret); //下发失败
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}
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}
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void CKcOperDlg::Build0x03Message(Json::Value param)
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{
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unsigned char acMsgContent[1024] = { 0 };
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int nMsgLength = 0;
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CKcProtocol protocol;
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protocol.BuildRequestMessage(0x03, acMsgContent, nMsgLength, param);
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if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
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{
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std::cout << "Connect error." << std::endl;
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return;
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}
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int lRto = 3000;//重传时间，单位毫秒
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int lRtoCnt = 3;//最大重传次数
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unsigned char acRecv[1024] = { 0 };//接收数据缓冲区
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int lRecvbufSize = sizeof(acRecv);//接收缓冲区大小
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int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
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if (recvSize == 28)
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{
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//std::cout << "Received: " << acRecv << std::endl;
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Json::Value ret;
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ret["state"] = 1;
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theApp.SendMsg2Platform("OPENTCS", 0x03, ret); //下发成功
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}
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else
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{
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Json::Value ret;
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ret["state"] = 0;
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theApp.SendMsg2Platform("OPENTCS", 0x03, ret); //下发失败
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}
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}
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void CKcOperDlg::OnBnClickedBtn0xae()
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{
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//模拟数据报文
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Json::Value param;
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param["orderId"] = 1;
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param["taskKey"] = 1;
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param["pointSize"] = 2;
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param["pathSize"] = 1;
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Json::Value pointInfo;
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Json::Value pointItem;
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pointItem["pointSerialNumber"] = 0;
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pointItem["pointId"] = 1;
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pointItem["frontAngle"] = 0;
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pointItem["isFrontAngle"] = 0;
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pointInfo.append(pointItem);
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pointItem["pointSerialNumber"] = 2;
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pointItem["pointId"] = 2;
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pointItem["frontAngle"] = 0;
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pointItem["isFrontAngle"] = 0;
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pointInfo.append(pointItem);
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param["point"] = pointInfo;
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Json::Value pathInfo;
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Json::Value pathItem;
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pathItem["pathSerialNumber"] = 1;
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pathItem["pathId"] = 12;
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pathItem["pathActionSize"] = 0;
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pathItem["pathActionSize"] = 0;
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pathItem["maximumSpeed"] = 1.0;
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pathItem["maximumAngularVelocity"] = 1.0;
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pathItem["isFixedAngle"] = 0;
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pathItem["fixedAngle"] = 0;
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pathItem["drivePosture"] = 0;
|
|
pathInfo.append(pathItem);
|
|
param["path"] = pathInfo;
|
|
|
|
Build0xAEMessage(param);
|
|
}
|
|
|
|
|
|
void CKcOperDlg::OnBnClickedBtn0x1f()
|
|
{
|
|
//构造请求报文
|
|
CKcProtocol protocol;
|
|
unsigned char acMsgContent[1024];
|
|
int nMsgLength;
|
|
protocol.BuildRequestMessage(0x1F, acMsgContent, nMsgLength);
|
|
|
|
if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
|
|
{
|
|
std::cout << "Connect error." << std::endl;
|
|
return;
|
|
}
|
|
|
|
int lRto = 3000;//重传时间，单位毫秒
|
|
int lRtoCnt = 3;//最大重传次数
|
|
unsigned char acRecv[1024] = { 0 };//接收数据缓冲区
|
|
int lRecvbufSize = sizeof(acRecv);//接收缓冲区大小
|
|
|
|
int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
|
|
if (recvSize > 0)
|
|
{
|
|
//std::cout << "Received: " << acRecv << std::endl;
|
|
//Json::Value ret = protocol.Analysis0xAFMessage(acRecv, recvSize);
|
|
|
|
Json::Value ret;
|
|
ret["state"] = 1;
|
|
theApp.SendMsg2Platform("OPENTCS", 0x1F, ret);
|
|
}
|
|
else
|
|
{
|
|
//std::cout << "Received: failed." << recvSize << std::endl;
|
|
}
|
|
}
|