// CanDeviceDlg.cpp : 实现文件 // #include "stdafx.h" #include "DriverMainDlg.h" #include "resource.h" #include "afxdialogex.h" #include "PluginDriver.h" int StopFlag = 0; unsigned long nextrow; // CCanDeviceDlg 对话框 //控件ID只需要在当前窗口中唯一，这里随便写一个就好 #define ID_VIRTUAL_LIST_CTRL (20000) #define TIMER_ID_ADD_TEST_DATA (2024) IMPLEMENT_DYNAMIC(CDriverMainDlg, CDialogEx) CDriverMainDlg::CDriverMainDlg(CWnd* pParent /*=NULL*/) : CDialogEx(IDD_DEV_CAN_DLG, pParent) { m_bOpenCan = FALSE; m_DevIndex = 0; m_bCanRxEn = TRUE; m_bAutoRefresh = TRUE; m_bAutoSend2 = TRUE; m_strSendID = "00 00 00 88"; m_strSendData = "01 02 03 04 05 06 07 08"; //m_pMainWnd = (CPluginMainDialog*) pParent; m_StopSendFlag = 0; m_StopSendFlag2 = 0; m_DevType = VCI_USBCAN2; m_nAgvAction = A_STOP; m_nAgvReturnState= RE_A_STOP; m_nSendCanIndex = 0; m_nRecvCanIndex = 1; m_pstVirtualList = new CEXVirtualListCtrl(); m_pQueue = NULL; m_iniPath = theApp.m_strModulePath + "\\config.ini"; ReadConfigFromIni(); } CDriverMainDlg::~CDriverMainDlg() { } void CDriverMainDlg::DoDataExchange(CDataExchange* pDX) { CDialogEx::DoDataExchange(pDX); DDX_CBIndex(pDX, IDC_COMBO_SENDFRAMETYPE_IDX0, m_nSendFrameTypeIdx0); DDX_CBIndex(pDX, IDC_COMBO_SENDFRAMEFORMAT_IDX0, m_nSendFrameFormatIdx0); DDX_CBIndex(pDX, IDC_COMBO_SENDFRAMETYPE_IDX1, m_nSendFrameTypeIdx1); DDX_CBIndex(pDX, IDC_COMBO_SENDFRAMEFORMAT_IDX1, m_nSendFrameFormatIdx1); DDX_Check(pDX, IDC_CHECK_CANRX_EN, m_bCanRxEn); DDX_Check(pDX, IDC_AUTO_SEND, m_bAutoSend); DDX_Check(pDX, IDC_AUTO_SEND2, m_bAutoSend2); DDX_Check(pDX, IDC_CHECK_AUTO_REFRESH_SHOW, m_bAutoRefresh); DDX_Control(pDX, IDC_EDIT_FMagneticOffset, m_txFMagneticOffset); DDX_Control(pDX, IDC_EDIT_BMagneticOffset, m_txBMagneticOffset); DDX_Control(pDX, IDC_EDIT_RFID_ID , m_txRFIDID); //DDX_Control(pDX, IDC_LIST1, m_MessageList); } BEGIN_MESSAGE_MAP(CDriverMainDlg, CDialogEx) ON_BN_CLICKED(IDC_CHECK_CANRX_EN, OnCheckCanrxEn) ON_BN_CLICKED(IDC_BTN_SEND_MAN, &CDriverMainDlg::OnBnClickedBtnSendMan) ON_BN_CLICKED(IDC_AUTO_SEND, &CDriverMainDlg::OnBnClickedAutoSend) ON_BN_CLICKED(IDC_CHECK_AUTO_REFRESH_SHOW, &CDriverMainDlg::OnBnClickedCheckAutoRefreshShow) ON_BN_CLICKED(IDC_BTN_SEND_MAN2, &CDriverMainDlg::OnBnClickedBtnSendMan2) ON_BN_CLICKED(IDC_AUTO_SEND2, &CDriverMainDlg::OnBnClickedAutoSend2) ON_BN_CLICKED(IDC_BUTTON_AGVSTOP, &CDriverMainDlg::OnBnClickedButtonAgvstop) ON_BN_CLICKED(IDC_BUTTON_AGVESTOP, &CDriverMainDlg::OnBnClickedButtonAgvestop) ON_BN_CLICKED(IDC_BUTTON_AGVFORWARD, &CDriverMainDlg::OnBnClickedButtonAgvforward) ON_BN_CLICKED(IDC_BUTTON_AGVBACKWARD, &CDriverMainDlg::OnBnClickedButtonAgvbackward) END_MESSAGE_MAP() //一位十六进制转换为十进制 int CDriverMainDlg::HexChar(char c) { if ((c >= '0') && (c <= '9')) return c - 0x30; else if ((c >= 'A') && (c <= 'F')) return c - 'A' + 10; else if ((c >= 'a') && (c <= 'f')) return c - 'a' + 10; else return 0x10; } //两位十六进制数转换为十进制 int CDriverMainDlg::Str2Hex(CString str) { int len = str.GetLength(); if (len == 2) { int a = HexChar(str[0]); int b = HexChar(str[1]); if (a == 16 || b == 16) { AfxMessageBox("Format error"); return 256; } else { return a * 16 + b; } } else { AfxMessageBox("input length must be 2"); return 256; } } void CDriverMainDlg::InitVirtualList() { //信息显示列表初始化 m_pstVirtualList->InsertColumn(0, "Seq"); m_pstVirtualList->SetColumnWidth(0, 110); m_pstVirtualList->InsertColumn(1, "Time"); m_pstVirtualList->SetColumnWidth(1, 110); m_pstVirtualList->InsertColumn(2, "CANIndex"); m_pstVirtualList->SetColumnWidth(2, 100); m_pstVirtualList->InsertColumn(3, "Tx-Rx"); m_pstVirtualList->SetColumnWidth(3, 80); m_pstVirtualList->InsertColumn(4, " ID "); m_pstVirtualList->SetColumnWidth(4, 100); m_pstVirtualList->InsertColumn(5, "Frame"); m_pstVirtualList->SetColumnWidth(5, 80); m_pstVirtualList->InsertColumn(6, "Type"); m_pstVirtualList->SetColumnWidth(6, 90); m_pstVirtualList->InsertColumn(7, "DLC"); m_pstVirtualList->SetColumnWidth(7, 60); m_pstVirtualList->InsertColumn(8, "Data"); m_pstVirtualList->SetColumnWidth(8, 250); } void CDriverMainDlg::WriteVirtualList(CString strFrameId, CString strFrameData, int nTxRx, int nCanIdx, int nFrameType, int nFrameFormat) { //数据按行格式化 char acTemp[DATA_LINE_SIZE + 1] = { 0 }; //发送信息列表显示 CString strTime; SYSTEMTIME systime; GetLocalTime(&systime); char acId[11] = { 0 }; memset(acId, 32, 10); //初始化为空格字符串 memcpy(acId, strFrameId.GetBuffer(), strFrameId.GetLength()); char acData[33] = { 0 }; memset(acData, 32, 32); //初始化为空格字符串 memcpy(acData, strFrameData.GetBuffer(), strFrameData.GetLength()); sprintf_s(acTemp, "%-10d,%02d:%02d:%02d:%03d,%-3d,%-3d,%s,%-3d,%-3d,%-3d,%s\n", m_pQueue->GetAutoSn(), systime.wHour, systime.wMinute, systime.wSecond, systime.wMilliseconds, nCanIdx, nTxRx, acId, nFrameFormat, nFrameType, 8, acData); //调用接口写入数据 m_pQueue->WriteItem(acTemp); } //和模块进程通讯的管道回调函数： void g_PipeCallBack(void* pObj, int lMsgId, WPARAM wparam, LPARAM lparam) { CDriverMainDlg* pModule = (CDriverMainDlg*)pObj; if (CEXPIPE_CONNECT_OK == lMsgId) { //连接成功 //if (FALSE == pModule->PostMessage(WM_PLATFORM_CONNECT_OK, NULL, NULL)) { LogOutToFile("g_PipeCallBack PostMessage error[%d]", lMsgId); } LogOutToFile("已连接父进程管道"); //向WMS服务器请求设备配置信息 theApp.SendMsg2Platform("WMS", DEVICE_CONFIG_REQ); } else if (CEXPIPE_DIS_CLIENT == lMsgId) { //管道断开，结束 #ifndef _DEBUG LogOutToFile("父进程连接管道断开，本模块自动退出"); //if (FALSE == pModule->PostMessage(WM_CLOSE, NULL, NULL)) { LogOutToFile("g_PipeCallBack PostMessage error[%d]", lMsgId); } pModule->PostMessage(WM_COMMAND, MAKEWPARAM(ID_TRAY_EXIT, 0), 0); #endif } else if (CEXPIPE_NEW_DATA == lMsgId) { pModule->ProcessPipeMsg(lMsgId, (char*)wparam, (int)lparam); } else { ; } } void CDriverMainDlg::ProcessPipeMsg(int lMsgId, char* pData, int lLen) { if (lLen == 0) { return; } PIPE_DATA_STRUCT* pstData = (PIPE_DATA_STRUCT*)pData; //平台转发给插件的消息 if (pstData->lMsgId == MAIN_2_MODULE_WMS && pstData->lDataLen > 0) { Json::Reader reader; Json::Value root; if (reader.parse((char*)pstData->acData, root)) { CString strReceiver = root["receiver"].asString().c_str(); CString strSender = root["sender"].asString().c_str(); int nMsgType = root["type"].asInt(); //获取设备配置信息返回 /*if (nMsgType == DEVICE_CONFIG_RET) { } else if (nMsgType == SET_TRANS_MODE_REQ && m_bDeviceInit) //设置输送线的工作模式 { } else if (nMsgType == GET_TRANS_STATE_REQ)//请求获取输送线状态 { }*/ } } else if (pstData->lMsgId == MAIN_2_MODULE_SHOWWINDOW) { //PostMessage(WM_COMMAND, MAKEWPARAM(ID_TRAY_SHOW, 0), 0); AfxGetApp()->m_pMainWnd->ShowWindow(SW_SHOWNORMAL); SetForegroundWindow(); } LogOutToFile("HttpServiceListener::OnRecvRequest End"); } // CCanDeviceDlg 消息处理程序 BOOL CDriverMainDlg::OnInitDialog() { CString strPipe; for (int i = 0; i < __argc; i++) { if (0 == strcmp(__argv[i], "-pipe") && i + 1 < __argc) { strPipe = __argv[i + 1]; } } if (strPipe.IsEmpty()) { char acPipe[256] = ""; CString iniPath = theApp.m_strModulePath.Left(theApp.m_strModulePath.ReverseFind('\\') + 1); //m_strModulePath = theApp.m_strModulePath.ReverseFind("\\"); iniPath = iniPath + "config.ini"; //中文名称，仅显示用 GetPrivateProfileString("AGV-MODULE", "PIPE_DRIVER", "", acPipe, 256, iniPath); strPipe = acPipe; } g_pstPipeClient->RegisterCall(g_PipeCallBack, this); g_pstPipeClient->Connect(strPipe.GetBuffer()); m_strDataDir = theApp.m_strModulePath + "\\data"; CreateDirectory(m_strDataDir.GetString(), NULL); if (!m_pstVirtualList->Create(WS_CHILD | WS_VISIBLE | LVS_REPORT | LVS_OWNERDATA | LVS_EX_DOUBLEBUFFER, CRect(0, 0, 0, 0), this, ID_VIRTUAL_LIST_CTRL)) { TRACE0("Failed to create MyVirtualListCtrl\n"); delete m_pstVirtualList; m_pstVirtualList = nullptr; return FALSE; // 返回 FALSE 以使框架知道未成功初始化 } InitVirtualList(); OpenCanDevice(); CRect rectList; GetDlgItem(IDC_STATIC_LIST)->GetWindowRect(&rectList); ScreenToClient(rectList); m_pstVirtualList->MoveWindow(rectList.left, rectList.top, rectList.Width(), rectList.Height()); m_pQueue = new CEXMemFileQueue(m_strDataDir.GetString()); m_pstVirtualList->SetData(m_pQueue); //m_pstVirtualList->StartAutoRefresh(10);//列表10毫秒刷新一次 CDialogEx::OnInitDialog(); if (TRUE == m_bAutoRefresh) { m_pstVirtualList->StartAutoRefresh(10); } else { m_pstVirtualList->StopAutoRefresh(); } if (m_bCanRxEn) { StopFlag = 0; //开启接收线程 AfxBeginThread(ReceiveCanThread, this); } else StopFlag = 1; if (m_bAutoSend2) { m_StopSendFlag2 = 0; //开启发送线程 AfxBeginThread(SendCanThread2, this); } else m_StopSendFlag2 = 1; return TRUE; } //打开设备 BOOL CDriverMainDlg::OpenCanDevice() { DWORD Reserved = 0; //打开设备 if (VCI_OpenDevice(VCI_USBCAN2, 0, Reserved) != 1) { //MessageBox("open failed"); //m_pMainWnd->InsertLog(LOG_ERROR, "Open Can Device Failed"); return FALSE; } VCI_INIT_CONFIG InitInfo[1]; InitInfo->Timing0 = 0x01; //250K InitInfo->Timing1 = 0x1C; InitInfo->Filter = 0; InitInfo->AccCode = 0x80000000; InitInfo->AccMask = 0xFFFFFFFF; InitInfo->Mode = 0; //Data ;Remote; //初始化通道0 if (VCI_InitCAN(VCI_USBCAN2, 0, 0, InitInfo) != 1) //can-0 { //MessageBox("Init-CAN failed!"); //m_pMainWnd->InsertLog(LOG_ERROR, "Init-CAN-Index0 Failed!"); return FALSE; } Sleep(100); //初始化通道0 if (VCI_StartCAN(VCI_USBCAN2, 0, 0) != 1) //can-0 { //MessageBox("Start-CAN failed!"); //m_pMainWnd->InsertLog(LOG_ERROR, "Start-CAN-Index0 Failed!"); return FALSE; } //初始化通道1 //if (m_nDevType == 1) { if (VCI_InitCAN(VCI_USBCAN2, 0, 1, InitInfo) != 1) //can-1 { //MessageBox("Init-CAN failed!"); //m_pMainWnd->InsertLog(LOG_ERROR, "Init-CAN-Index1 Failed!"); return FALSE; } } Sleep(100); InitInfo->Mode = 0; //Data ;Remote; //初始化通道1 if (VCI_StartCAN(VCI_USBCAN2, 0, 1) != 1) //can-0 { //MessageBox("Start-CAN failed!"); //m_pMainWnd->InsertLog(LOG_ERROR, "Start-CAN-Index1 Failed!"); return FALSE; } //MessageBox("Open successfule!\n Start CAN OK!"); UpdateCanStatue(TRUE); //InsertLog(LOG_INFO, "Open The CAN Device Successfule!"); //KillTimer(TIMER_RECONNECT_CAN); return TRUE; } void CDriverMainDlg::UpdateCanStatue(BOOL bStatue) { if (TRUE == bStatue) { GetDlgItem(IDC_STATUS_CAN)->SetWindowText("已连接"); } else { GetDlgItem(IDC_STATUS_CAN)->SetWindowText("已关闭"); } } void CDriverMainDlg::ReadConfigFromIni() { CString strIniPath = theApp.m_strModulePath + "\\config.ini"; // 初始化设备配置 m_nSendFrameFormatIdx0 = GetPrivateProfileInt("CAN", "FRAME_FORMAT_IDX0", 0, strIniPath); m_nSendFrameTypeIdx0 = GetPrivateProfileInt("CAN", "FRAME_TYPE_IDX0", 0, strIniPath); m_nSendFrameFormatIdx1 = GetPrivateProfileInt("CAN", "FRAME_FORMAT_IDX1", 0, strIniPath); m_nSendFrameTypeIdx1 = GetPrivateProfileInt("CAN", "FRAME_TYPE_IDX1", 0, strIniPath); return; // return TRUE unless you set the focus to a control // 异常: OCX 属性页应返回 FALSE } void CDriverMainDlg::Drive_enable() //使能 { char can2_buff[8] = { 0 }; can2_buff[0] = 0x23; can2_buff[1] = 0x0D; can2_buff[2] = 0x20; can2_buff[3] = 0x01; can2_buff[4] = 0; can2_buff[5] = 0; can2_buff[6] = 0; can2_buff[7] = 0; SendCanData(0, 0, m_nSendFrameTypeIdx0, m_nSendFrameFormatIdx0, 0x600001, can2_buff); SendCanData(0, 0, m_nSendFrameTypeIdx0, m_nSendFrameFormatIdx0, 0x600002, can2_buff); } void CDriverMainDlg::Drive_disable() //失能 { char can2_buff[8] = { 0 }; can2_buff[0] = 0x23; can2_buff[1] = 0x0C; can2_buff[2] = 0x20; can2_buff[3] = 0x01; can2_buff[4] = 0; can2_buff[5] = 0; can2_buff[6] = 0; can2_buff[7] = 0; SendCanData(0, 0, m_nSendFrameTypeIdx0, m_nSendFrameFormatIdx0, 0x600001, can2_buff); SendCanData(0, 0, m_nSendFrameTypeIdx0, m_nSendFrameFormatIdx0, 0x600002, can2_buff); } /* param0: can设备索引 param1: can口索引 param2: standard/extend param3: data/remote */ void CDriverMainDlg::SendCanData(int nDevIdx, int nCanIdx, int nFrameType, int nFrameFormat, UINT32 acFrameId, char acFrameData[8]) { //从界面获取发送信息 VCI_CAN_OBJ sendbuf[1]; int datanum = 8; sendbuf->ExternFlag = nFrameType; sendbuf->DataLen = datanum; sendbuf->RemoteFlag = nFrameFormat; sendbuf->ID = acFrameId; memcpy(sendbuf->Data, acFrameData, datanum); /*for (int i = 0; i < datanum; i++) { sendbuf->Data[i] = acFrameData[i]; }*/ /****************************************************************************/ /******************************从界面获取发送信息完毕***********************/ /****************************************************************************/ static bool snederr_flag = false; //调用动态链接库发送函数 int flag = VCI_Transmit(m_DevType, m_DevIndex, nCanIdx, sendbuf, 1);//CAN message send if (flag<1) { //VCI_CloseDevice(m_DevType, m_DevIndex); if (flag == -1) { //Can设备已断开 //MessageBox("failed- device not open\n"); //m_pMainWnd->InsertLog(LOG_ERROR, "Failed- Device Not Open!"); OpenCanDevice(); UpdateCanStatue(FALSE); } else if (flag == 0) { //MessageBox("send error\n"); //m_pMainWnd->InsertLog(LOG_ERROR, "Send Can Mesaage Error!"); UpdateCanStatue(FALSE); } if (false == snederr_flag) { snederr_flag = true; UpdateCanStatue(FALSE); } return; } snederr_flag = false; BYTE data; CString strFrameId, strTmp, strFrameData; strFrameId.Format("%08X", acFrameId); for (int i = 0; iDataLen; i++) { data = sendbuf->Data[i]; strTmp.Format("%02X", data); strFrameData += strTmp + " "; } WriteVirtualList(strFrameId, strFrameData, SEND_MSG, nCanIdx, nFrameType, nFrameFormat); } void CDriverMainDlg::OnCheckCanrxEn() { UpdateData(TRUE); if (m_bCanRxEn) { StopFlag = 0; //开启接收线程 AfxBeginThread(ReceiveCanThread, this); } else StopFlag = 1; } void CDriverMainDlg::Control_Mode_Reset() { m_nAgvAction = A_STOP; //控制模式切换到自动停车模式 //m_pMainWnd->m_pPlcDeviceDlg->m_stAGVTOPLCDATA.AGVControl_u.bits.LRollerF = 0; //滚筒停止 //m_pMainWnd->m_pPlcDeviceDlg->m_stAGVTOPLCDATA.AGVControl_u.bits.LRollerB = 0; //m_pMainWnd->m_pPlcDeviceDlg->m_stAGVTOPLCDATA.AGVControl_u.bits.RRollerF = 0; //m_pMainWnd->m_pPlcDeviceDlg->m_stAGVTOPLCDATA.AGVControl_u.bits.RRollerB = 0; } int Control_Mode_Switch; UINT CDriverMainDlg::ReceiveCanThread(LPVOID v) { CDriverMainDlg *pThis = (CDriverMainDlg*)v; while (1) { VCI_CAN_OBJ pCanObj[200]; for (int kCanIndex = 0; kCanIndex<2; kCanIndex++) { //调用动态链接看接收函数 int NumValue = VCI_Receive(pThis->m_DevType, pThis->m_DevIndex, kCanIndex, pCanObj, 200, 0); if (NumValue >0) { //接收信息列表显示 CString strTime; SYSTEMTIME systime; GetLocalTime(&systime); strTime.Format("%02d:%02d:%02d:%03d", systime.wHour, systime.wMinute, systime.wSecond, systime.wMilliseconds); for (int num = 0; num < NumValue; num++) { CString strFrameId, strFrameData, strTmp; strFrameId.Format("%08X", pCanObj[num].ID); for (int i = 0; i < (pCanObj[num].DataLen); i++) //数据信息 { strTmp.Format("%02X ", pCanObj[num].Data[i]); strFrameData += strTmp; } pThis->WriteVirtualList(strFrameId, strFrameData, 1, kCanIndex); //在这里处理收到的CAN消息 //解析定位引导数据 pThis->AnalysiseCanData(kCanIndex, pCanObj[num]); /*if (MANUAL_MODE ==pThis->m_pMainWnd->m_nAgvMode) { //计算运动控制参数(手动模式) pThis->CalculateManualCanParam(); Control_Mode_Switch = 1; } else { //计算运动控制参数(自动模式),需要考虑m_nAgvAction值 if (Control_Mode_Switch) { pThis->Control_Mode_Reset(); Control_Mode_Switch = 0; } pThis->CalculateAutoCanParam(); }*/ //下发运动控制参数 //pThis->SendCanData(); } } else if (NumValue == -1) { // USB-CAN设备不存在或USB掉线，可以调用VCI_CloseDevice并重新VCI_OpenDevice。如此可以达到USB-CAN设备热插拔的效果。 pThis->UpdateCanStatue(FALSE); pThis->OpenCanDevice(); } } Sleep(10); if (StopFlag == 1) { return 0; } } return 1; } //解析接收到的CAN数据 void CDriverMainDlg::AnalysiseCanData(int nCanIndex, VCI_CAN_OBJ objCan) { CString nEdit; if ( 0 == nCanIndex) { if (objCan.ID == 0x444) { //电池SOC m_stSensorData.Battery_SOC = objCan.Data[6]; } else if (objCan.ID == 0x01) //前磁导航数据 左负右正 { //前磁条偏移 m_stSensorData.FMagnetism_Offset = -((int16_t)(int8_t)objCan.Data[4]) * 5; nEdit.Format(_T("%d"), m_stSensorData.FMagnetism_Offset); m_txFMagneticOffset.SetWindowText(nEdit); if (objCan.Data[1] == 0 && objCan.Data[2] == 0) //都没检测到 出轨 { m_stSensorData.FMagnetism_Valid = 0; m_stSensorData.FMagnetism_ALLTrue = 0; GetDlgItem(IDC_COMBO_FMagneticSta)->SetWindowText("前磁条无效"); } else if (objCan.Data[1] == 0xFF && objCan.Data[2] == 0xFF) //都检测到 横磁条停车 { m_stSensorData.FMagnetism_ALLTrue = 1; m_stSensorData.FMagnetism_Valid = 1; GetDlgItem(IDC_COMBO_FMagneticSta)->SetWindowText("前磁条横向"); } else { m_stSensorData.FMagnetism_ALLTrue = 0; m_stSensorData.FMagnetism_Valid = 1; GetDlgItem(IDC_COMBO_FMagneticSta)->SetWindowText("前磁条有效"); } } else if (objCan.ID == 0x02) //后磁导航数据 左负右正 { m_stSensorData.BMagnetism_Offset = ((int16_t)(int8_t)objCan.Data[4]) * 5; nEdit.Format(_T("%d"), m_stSensorData.BMagnetism_Offset); m_txBMagneticOffset.SetWindowText(nEdit); if (objCan.Data[1] == 0 && objCan.Data[2] == 0) //都没检测到 出轨 { m_stSensorData.BMagnetism_Valid = 0; m_stSensorData.BMagnetism_ALLTrue = 0; GetDlgItem(IDC_COMBO_BMagneticSta)->SetWindowText("后磁条无效"); } else if (objCan.Data[1] == 0xFF && objCan.Data[2] == 0xFF) //都检测到 横磁条停车 { m_stSensorData.BMagnetism_ALLTrue = 1; m_stSensorData.BMagnetism_Valid = 1; GetDlgItem(IDC_COMBO_BMagneticSta)->SetWindowText("后磁条横向"); } else { m_stSensorData.BMagnetism_ALLTrue = 0; m_stSensorData.BMagnetism_Valid = 1; GetDlgItem(IDC_COMBO_BMagneticSta)->SetWindowText("后磁条有效"); } } else if (objCan.ID == 0x03) //RFID { m_stSensorData.RFID_Point = objCan.Data[7]; nEdit.Format(_T("%d"), m_stSensorData.RFID_Point); m_txRFIDID.SetWindowText(nEdit); } } else if (1 == nCanIndex) { } } void CDriverMainDlg::CalculateManualCanParam() //遥控器控制 { /*static int reserve_flag = 0; if (m_pMainWnd->m_pPlcDeviceDlg->m_stPLCTOAGVDATA.RemoteControl_u.bits.Reserve == 0) //复用按键没有按下 { if (m_pMainWnd->m_pPlcDeviceDlg->m_stPLCTOAGVDATA.RemoteControl_u.bits.Forward) m_stDrvierControl.Drive_Speed = 2000; else if (m_pMainWnd->m_pPlcDeviceDlg->m_stPLCTOAGVDATA.RemoteControl_u.bits.Backward) m_stDrvierControl.Drive_Speed = -2000; else m_stDrvierControl.Drive_Speed = 0; if (m_pMainWnd->m_pPlcDeviceDlg->m_stPLCTOAGVDATA.RemoteControl_u.bits.LeftRotation) //左转 { m_stDrvierControl.Diversion_Position += 4000; if (m_stDrvierControl.Diversion_Position > m_stDrvierControl.MAN_Angle_L) m_stDrvierControl.Diversion_Position = m_stDrvierControl.MAN_Angle_L; } else if (m_pMainWnd->m_pPlcDeviceDlg->m_stPLCTOAGVDATA.RemoteControl_u.bits.RightRotation) //右转 { m_stDrvierControl.Diversion_Position -= 4000; if (m_stDrvierControl.Diversion_Position < m_stDrvierControl.MIX_Angle_R) m_stDrvierControl.Diversion_Position = m_stDrvierControl.MIX_Angle_R; } else if (m_pMainWnd->m_pPlcDeviceDlg->m_stPLCTOAGVDATA.RemoteControl_u.bits.ZeroHold) //零度角 { m_stDrvierControl.Diversion_Position = m_stDrvierControl.Zero_Angle; } if (reserve_flag == 1) { reserve_flag = 0; m_pMainWnd->m_pPlcDeviceDlg->OnBnClickedBtnLrollerStop(); m_pMainWnd->m_pPlcDeviceDlg->OnBnClickedBtnRrollerStop(); } } else if (m_pMainWnd->m_pPlcDeviceDlg->m_stPLCTOAGVDATA.RemoteControl_u.bits.Reserve) //复用按键按下 { reserve_flag = 1; if (m_pMainWnd->m_pPlcDeviceDlg->m_stPLCTOAGVDATA.RemoteControl_u.bits.Forward) //左滚筒向前 m_pMainWnd->m_pPlcDeviceDlg->OnBnClickedBtnLrollerF(); else if (m_pMainWnd->m_pPlcDeviceDlg->m_stPLCTOAGVDATA.RemoteControl_u.bits.LeftRotation)//左滚筒向后 m_pMainWnd->m_pPlcDeviceDlg->OnBnClickedBtnLrollerB(); else m_pMainWnd->m_pPlcDeviceDlg->OnBnClickedBtnLrollerStop(); if (m_pMainWnd->m_pPlcDeviceDlg->m_stPLCTOAGVDATA.RemoteControl_u.bits.Backward) //右滚筒向前 m_pMainWnd->m_pPlcDeviceDlg->OnBnClickedBtnRrollerF(); else if (m_pMainWnd->m_pPlcDeviceDlg->m_stPLCTOAGVDATA.RemoteControl_u.bits.RightRotation)//右滚筒向后 m_pMainWnd->m_pPlcDeviceDlg->OnBnClickedBtnRrollerB(); else m_pMainWnd->m_pPlcDeviceDlg->OnBnClickedBtnRrollerStop(); m_stDrvierControl.Drive_Speed = 0; }*/ } void CDriverMainDlg::CalculateAutoCanParam() { switch (m_nAgvAction) { case A_STOP: m_nAgvReturnState = Auto_Stop(); break; case FORWARD: m_nAgvReturnState = Auto_Forward(m_stDrvierControl.SPEEDPAR); break; case BACKWARD: m_nAgvReturnState = Auto_Backward(m_stDrvierControl.SPEEDPAR); break; case E_STOP: //急停立马刹车 m_nAgvReturnState = Auto_EStop(); break; default: break; } } int CDriverMainDlg::Auto_Stop() { m_stDrvierControl.Diversion_Position = m_stDrvierControl.Zero_Angle; m_stDrvierControl.Drive_Speed = 0; return RE_A_STOP; } int CDriverMainDlg::Auto_EStop() { m_stDrvierControl.Diversion_Position = m_stDrvierControl.Zero_Angle; m_stDrvierControl.Drive_Speed = 0; return RE_E_STOP; } int CDriverMainDlg::Auto_Forward(float speedpar) //去载货区 进入雷达减速区通过速度系数调整速度 { int Position_P = 4000; //转向比例 if (m_stSensorData.FMagnetism_Valid == 1) //磁条数据有效 { m_stDrvierControl.Diversion_Position = Position_P * m_stSensorData.FMagnetism_Offset; // 计算出比例部分 m_stDrvierControl.Diversion_Position = m_stDrvierControl.Zero_Angle - m_stDrvierControl.Diversion_Position; m_stDrvierControl.Drive_Speed = 3000 * speedpar; if (m_stDrvierControl.Diversion_Position < m_stDrvierControl.AutoMIN_Angle) m_stDrvierControl.Diversion_Position = m_stDrvierControl.AutoMIN_Angle; else if(m_stDrvierControl.Diversion_Position > m_stDrvierControl.AutoMAX_Angle) m_stDrvierControl.Diversion_Position = m_stDrvierControl.AutoMAX_Angle; if (m_stSensorData.FMagnetism_ALLTrue) //横向磁条停车 正常停车 { m_stDrvierControl.Diversion_Position = m_stDrvierControl.Zero_Angle; m_stDrvierControl.Drive_Speed = 0; return RE_POINT_STOP; } return RE_NORMAL_RUN; } else //磁条无效异常停车 { m_stDrvierControl.Diversion_Position = m_stDrvierControl.Zero_Angle; m_stDrvierControl.Drive_Speed = 0; return RE_UNUSUAL_STOP; } } int CDriverMainDlg::Auto_Backward(float speedpar) //去卸货区 { int Position_P = 4000; if (m_stSensorData.BMagnetism_Valid == 1) //磁条数据有效 { m_stDrvierControl.Diversion_Position = Position_P * m_stSensorData.BMagnetism_Offset; // 计算出比例部分 m_stDrvierControl.Diversion_Position = m_stDrvierControl.Zero_Angle - m_stDrvierControl.Diversion_Position; m_stDrvierControl.Drive_Speed = -2000 * speedpar; if (m_stDrvierControl.Diversion_Position < m_stDrvierControl.AutoMIN_Angle) m_stDrvierControl.Diversion_Position = m_stDrvierControl.AutoMIN_Angle; else if (m_stDrvierControl.Diversion_Position > m_stDrvierControl.AutoMAX_Angle) m_stDrvierControl.Diversion_Position = m_stDrvierControl.AutoMAX_Angle; if (m_stSensorData.BMagnetism_ALLTrue) //横向磁条停车 正常停车 { m_stDrvierControl.Diversion_Position = m_stDrvierControl.Zero_Angle; m_stDrvierControl.Drive_Speed = 0; return RE_POINT_STOP; } return RE_NORMAL_RUN; } else { m_stDrvierControl.Diversion_Position = m_stDrvierControl.Zero_Angle; m_stDrvierControl.Drive_Speed = 0; return RE_UNUSUAL_STOP; } } int Speed = 0; int LastSpeed = 0; void CDriverMainDlg::SendCanData() { /* UINT32 Drive_acId = 0x6000001; //驱动帧ID UINT32 Diversion_Id = 0x6000002; //转向帧ID char acData[8] = { 0 }; acData[0] = 0x23; acData[1] = 0x0D; acData[2] = 0x20; acData[3] = 0x01; acData[4] = 0; acData[5] = 0; acData[6] = 0; acData[7] = 0; //发送驱动使能 SendCanData(0, 1, m_nSendFrameTypeIdx1, m_nSendFrameFormatIdx1, Drive_acId, acData); Sleep(2); //发送转向使能 SendCanData(0, 1, m_nSendFrameTypeIdx1, m_nSendFrameFormatIdx1, Diversion_Id, acData); Sleep(2); //速度控制 if (Speed < m_stDrvierControl.Drive_Speed && m_stDrvierControl.Drive_Speed > 0) //正向加速 { Speed = Speed + 50; if (Speed > m_stDrvierControl.Drive_Speed) Speed = m_stDrvierControl.Drive_Speed; } else if (Speed > m_stDrvierControl.Drive_Speed && m_stDrvierControl.Drive_Speed < 0) //反向加速 { Speed = Speed - 50; if (Speed < m_stDrvierControl.Drive_Speed) Speed = m_stDrvierControl.Drive_Speed; } else if (Speed > m_stDrvierControl.Drive_Speed && m_stDrvierControl.Drive_Speed > 0) //正向减速 { Speed = Speed - 50; if (Speed < m_stDrvierControl.Drive_Speed) Speed = m_stDrvierControl.Drive_Speed; } else if (Speed < m_stDrvierControl.Drive_Speed && m_stDrvierControl.Drive_Speed < 0) //反向减速 { Speed = Speed + 50; if (Speed > m_stDrvierControl.Drive_Speed) Speed = m_stDrvierControl.Drive_Speed; } else if (m_stDrvierControl.Drive_Speed == 0) Speed = 0; //行走方向显示 if (Speed > 0) { m_pMainWnd->m_pPlcDeviceDlg->m_stAGVTOPLCDATA.RunStaControl_u.bits.GotoLoading = true; m_pMainWnd->m_pPlcDeviceDlg->m_stAGVTOPLCDATA.RunStaControl_u.bits.GotoUnloading = false; } else if(Speed < 0) { m_pMainWnd->m_pPlcDeviceDlg->m_stAGVTOPLCDATA.RunStaControl_u.bits.GotoLoading = false; m_pMainWnd->m_pPlcDeviceDlg->m_stAGVTOPLCDATA.RunStaControl_u.bits.GotoUnloading = true; } else { m_pMainWnd->m_pPlcDeviceDlg->m_stAGVTOPLCDATA.RunStaControl_u.bits.GotoLoading = false; m_pMainWnd->m_pPlcDeviceDlg->m_stAGVTOPLCDATA.RunStaControl_u.bits.GotoUnloading = false; } //急停 if (m_pMainWnd->m_pPlcDeviceDlg->m_stPLCTOAGVDATA.SafeState_u.bits.AGVEstop) Speed = 0; TRACE("%d\n\r", Speed); acData[0] = 0x23; acData[1] = 0x00; acData[2] = 0x20; acData[3] = 0x01; acData[4] = (uint8_t)((((uint32_t)Speed) & 0xff000000) >> 24);; acData[5] = (uint8_t)((((uint32_t)Speed) & 0xff0000) >> 16); acData[6] = (uint8_t)((((uint32_t)Speed) & 0xff00) >> 8); acData[7] = (uint8_t)(((uint32_t) Speed) & 0xff); //发送驱动速度 SendCanData(0, 1, m_nSendFrameTypeIdx1, m_nSendFrameFormatIdx1, Drive_acId, acData); //驱动电机 Sleep(8); acData[0] = 0x23; acData[1] = 0x02; acData[2] = 0x20; acData[3] = 0x01; acData[4] = (uint8_t)((((uint32_t)m_stDrvierControl.Diversion_Position) & 0xff000000) >> 24);; acData[5] = (uint8_t)((((uint32_t)m_stDrvierControl.Diversion_Position) & 0xff0000) >> 16); acData[6] = (uint8_t)((((uint32_t)m_stDrvierControl.Diversion_Position) & 0xff00) >> 8); acData[7] = (uint8_t)(((uint32_t) m_stDrvierControl.Diversion_Position) & 0xff); //发送转向位置 SendCanData(0, 1, m_nSendFrameTypeIdx1, m_nSendFrameFormatIdx1, Diversion_Id, acData); //转向电机 Sleep(8); LastSpeed = Speed;*/ } void CDriverMainDlg::OnBnClickedBtnSendMan() { UINT32 acId = 0x023; char acData[8] = { 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08 }; SendCanData(0, 0, m_nSendFrameTypeIdx0, m_nSendFrameFormatIdx0, acId, acData); } UINT CDriverMainDlg::SendCanThread(LPVOID v) { CDriverMainDlg *dlg = (CDriverMainDlg*)v; while ( 0 == dlg->m_StopSendFlag) { UINT32 acId = 0x11; char acData[8] = { 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08 }; dlg->SendCanData(0, 1, dlg->m_nSendFrameTypeIdx0, dlg->m_nSendFrameFormatIdx0, acId, acData); Sleep(10); } return 0; } void CDriverMainDlg::OnBnClickedAutoSend() { // TODO: 在此添加控件通知处理程序代码 UpdateData(TRUE); if (m_bAutoSend) { m_StopSendFlag = 0; //开启接收线程 AfxBeginThread(SendCanThread, this); } else m_StopSendFlag = 1; } void CDriverMainDlg::OnBnClickedCheckAutoRefreshShow() { // TODO: 在此添加控件通知处理程序代码 if (m_bAutoRefresh) { m_pstVirtualList->StartAutoRefresh(10); } else { m_pstVirtualList->StopAutoRefresh(); } } void CDriverMainDlg::OnBnClickedBtnSendMan2() //电机使能 { UINT32 acId = 0x6000001; char acData[8] = { 0x23, 0x0D, 0x20, 0x01, 0x00, 0x00, 0x00, 0x00 }; SendCanData(0, 1, m_nSendFrameTypeIdx1, m_nSendFrameFormatIdx1, acId, acData); } UINT CDriverMainDlg::SendCanThread2(LPVOID v) { /*CCanDeviceDlg *dlg = (CCanDeviceDlg*)v; char acData[8] = { 0 }; static uint8_t Enable_time = 0; static uint8_t Brake_time = 0; while (0 == dlg->m_StopSendFlag2) { /速度不为0 打开刹车 if (dlg->m_stDrvierControl.Drive_Speed != 0) { dlg->m_pMainWnd->m_pPlcDeviceDlg->m_stAGVTOPLCDATA.AGVControl_u.bits.Brake = 1; Brake_time = 0; } else Brake_time++; if (Brake_time > 20 || E_STOP == dlg->m_nAgvAction) //正常停车计时 || 急停立马刹车 { Brake_time = 100; dlg->m_pMainWnd->m_pPlcDeviceDlg->m_stAGVTOPLCDATA.AGVControl_u.bits.Brake = 0; } dlg->SendCanData(); }*/ return 0; } void CDriverMainDlg::OnBnClickedAutoSend2() { // TODO: 在此添加控件通知处理程序代码 UpdateData(TRUE); if (m_bAutoSend2) { m_StopSendFlag2 = 0; //开启发送线程 AfxBeginThread(SendCanThread2, this); } else m_StopSendFlag2 = 1; } int before_trafficstop_action; int before_safestop_action; void CDriverMainDlg::OnBnClickedButtonAgvstop() { // TODO: 在此添加控件通知处理程序代码 m_nAgvAction = A_STOP; before_trafficstop_action = -1; before_safestop_action = -1; } void CDriverMainDlg::OnBnClickedButtonAgvestop() { // TODO: 在此添加控件通知处理程序代码 m_nAgvAction = E_STOP; before_trafficstop_action = -1; before_safestop_action = -1; } void CDriverMainDlg::OnBnClickedButtonAgvforward() { // TODO: 在此添加控件通知处理程序代码 m_nAgvAction = FORWARD; } void CDriverMainDlg::OnBnClickedButtonAgvbackward() { // TODO: 在此添加控件通知处理程序代码 m_nAgvAction = BACKWARD; }