154 lines
4.3 KiB
C++
154 lines
4.3 KiB
C++
#pragma once
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#include "CEXVirtualListCtrl.h"
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#include "ControlCAN.h"
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// CCanDeviceDlg 对话框
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typedef struct ST_DRIVER_CONTROL {
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int Drive_Speed; //行走速度
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int Diversion_Position; //转向角度
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int Zero_Angle; //转向零度角（根据机械结构自定义的归零角度）
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int MIX_Angle_R; //手动状态下最大转向角度
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int MAN_Angle_L; //手动状态下最小转向角度
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int AutoMAX_Angle; //自动状态下最大转向角度
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int AutoMIN_Angle; //自动状态下最大转向角度
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float SPEEDPAR; //行走速度系数
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ST_DRIVER_CONTROL()
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{
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Drive_Speed = 0;
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Zero_Angle = 1320000; //零点 左极限2108000 504000
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MIX_Angle_R = 504000; // Zero_Angle + 850000;
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MAN_Angle_L = 2108000; // Zero_Angle - 850000;
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AutoMIN_Angle = Zero_Angle - 700000;
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AutoMAX_Angle = Zero_Angle + 700000;
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Diversion_Position = Zero_Angle;
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SPEEDPAR = 1;
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}
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} ST_DRIVER_CONTROL;
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typedef struct ST_SENSOR_DATA {
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short FMagnetism_Offset; //前磁条偏移量（左负右正）
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uint8_t FMagnetism_Valid; //前磁条1有效 0无效出轨
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uint8_t FMagnetism_ALLTrue; //16个霍尔开关都检测到输出1 ，用于装车点停车（加装横向磁条，16个霍尔开关可以全部检测到）
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short BMagnetism_Offset; //后磁条偏移量（左负右正）
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uint8_t BMagnetism_Valid; //后磁条1有效 0无效出轨
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uint8_t BMagnetism_ALLTrue; //16个霍尔开关都检测到输出1 ，用于卸车点停车（加装横向磁条）
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uint8_t RFID_Point; //RFID标签位置
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uint8_t Battery_SOC; //电池电量
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ST_SENSOR_DATA() //默认构造函数
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{
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FMagnetism_Offset = 0;
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FMagnetism_Valid = 0;
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FMagnetism_ALLTrue = 0;
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BMagnetism_Offset = 0;
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BMagnetism_Valid = 0;
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BMagnetism_ALLTrue = 0;
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RFID_Point = 0;
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Battery_SOC = 0;
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}
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} ST_SENSOR_DATA;
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class CDriverMainDlg : public CDialogEx
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{
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DECLARE_DYNAMIC(CDriverMainDlg)
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public:
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CDriverMainDlg(CWnd* pParent = NULL); // 标准构造函数
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virtual ~CDriverMainDlg();
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// 对话框数据
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#ifdef AFX_DESIGN_TIME
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enum { IDD = IDD_DEV_CAN_DLG };
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#endif
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protected:
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virtual void DoDataExchange(CDataExchange* pDX); // DDX/DDV 支持
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afx_msg void OnCheckCanrxEn();
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DECLARE_MESSAGE_MAP()
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public:
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int m_nSendFrameFormatIdx0;
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int m_nSendFrameTypeIdx0;
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int m_nSendFrameFormatIdx1;
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int m_nSendFrameTypeIdx1;
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int m_nSendCanIndex;
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int m_nRecvCanIndex;
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int m_nDevType;
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public:
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CString m_iniPath;
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int m_DevType;
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int m_DevIndex;
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BOOL m_bOpenCan;
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BOOL m_bCanRxEn;
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BOOL m_bAutoRefresh;
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BOOL m_bAutoSend;
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BOOL m_bAutoSend2;
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CString m_strSendID;
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CStatic m_txFMagneticOffset;
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CStatic m_txBMagneticOffset;
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CStatic m_txRFIDID;
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CString m_strSendData;
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BOOL m_StopSendFlag;
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BOOL m_StopSendFlag2;
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void Drive_enable(); //驱动电机使能
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void Drive_disable(); //失能
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int Auto_Stop();
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int Auto_Forward(float speedpar);
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int Auto_Backward(float speedpar);
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int Auto_EStop();
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void Control_Mode_Reset();
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void ReadConfigFromIni();
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void InitVirtualList();
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BOOL OpenCanDevice();
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void UpdateCanStatue(BOOL bStatue);
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void ProcessPipeMsg(int lMsgId, char* pData, int lLen);
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void SendCanData(int nDevIdx, int nCanIdx, int nFrameType, int nFrameFormat, UINT32 acFrameId, char acFrameData[8]);
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int Str2Hex(CString str);
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int HexChar(char c);
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//CPluginMainDialog *m_pMainWnd;
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virtual BOOL OnInitDialog();
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static UINT ReceiveCanThread(LPVOID v);
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static UINT SendCanThread(LPVOID v);
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static UINT SendCanThread2(LPVOID v);
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void WriteVirtualList(CString strFrameId, CString strFrameData, int nTxRx = 0, int nCanIdx = 0, int nFrameType = 0, int nFrameFormat = 0);
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public:
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CEXVirtualListCtrl *m_pstVirtualList;
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afx_msg void OnBnClickedBtnSendMan();
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afx_msg void OnBnClickedAutoSend();
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CEXMemFileQueue* m_pQueue;
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CString m_strDataDir;
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volatile int m_nAgvAction;
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int m_nAgvReturnState;
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afx_msg void OnBnClickedCheckAutoRefreshShow();
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afx_msg void OnBnClickedBtnSendMan2();
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afx_msg void OnBnClickedAutoSend2();
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ST_DRIVER_CONTROL m_stDrvierControl;
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ST_SENSOR_DATA m_stSensorData;
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void AnalysiseCanData(int nCanIndex, VCI_CAN_OBJ objCan);
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void CalculateAutoCanParam();
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void CalculateManualCanParam();
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void SendCanData();
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afx_msg void OnBnClickedButtonAgvstop();
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afx_msg void OnBnClickedButtonAgvestop();
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afx_msg void OnBnClickedButtonAgvforward();
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afx_msg void OnBnClickedButtonAgvbackward();
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};
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