www.pudn.com > voice.rar > robotView.cpp

// robotView.cpp : implementation of the CRobotView class 
// 
 
#include "stdafx.h" 
#include "robot.h" 
#include"Label.h" 
 
#include "robotDoc.h" 
#include "robotView.h" 
 
#ifdef _DEBUG 
#define new DEBUG_NEW 
#undef THIS_FILE 
static char THIS_FILE[] = __FILE__; 
#endif 
 
///////////////////////////////////////////////////////////////////////////// 
// CRobotView 
 
IMPLEMENT_DYNCREATE(CRobotView, CFormView) 
 
BEGIN_MESSAGE_MAP(CRobotView, CFormView) 
	//{{AFX_MSG_MAP(CRobotView) 
	ON_WM_CTLCOLOR() 
	ON_WM_TIMER() 
	//}}AFX_MSG_MAP 
	ON_MESSAGE(WM_COMMNOTIFY, OnCommNotify) 
END_MESSAGE_MAP() 
 
///////////////////////////////////////////////////////////////////////////// 
// CRobotView construction/destruction 
 
CRobotView::CRobotView() 
	: CFormView(CRobotView::IDD) 
{ 
	//{{AFX_DATA_INIT(CRobotView) 
	//}}AFX_DATA_INIT 
	// TODO: add construction code here 
	m_ncomand1=10; 
	m_bflag=0; 
	m_nsudu=1; 
	m_ngzq=0; 
	m_nguanjie; 
	m_nfangxiang; 
	m_nmsg[0]=0; 
	m_njishu=0; 
	m_nmsg[1]=0; 
	m_nmsg[2]=0; 
	m_nmsg[3]=0; 
	m_nmsg[4]=0; 
	m_nsum=0; 
	m_ndelay=0; 
	nLength=0; 
	m_recflag=1; 
	m_failflag=1; 
	m_brush.CreateSolidBrush(RGB(40,98,122)); // 生成一绿色刷子  
 
} 
 
CRobotView::~CRobotView() 
{ 
} 
 
void CRobotView::DoDataExchange(CDataExchange* pDX) 
{ 
	CFormView::DoDataExchange(pDX); 
	//{{AFX_DATA_MAP(CRobotView) 
	//DDX_Control(pDX, IDC_EDIT1, m_edit1); 
	DDX_Control(pDX, IDC_STATIC_LINK, m_link); 
	DDX_Control(pDX, IDC_STATIC_1, m_ml); 
	DDX_Control(pDX, IDC_STATIC_4, m_workpart); 
	DDX_Control(pDX, IDC_STATIC_COMMAND, m_command); 
	DDX_Control(pDX, IDC_STATIC_STATUS, m_static); 
	DDX_Control(pDX, IDC_STATIC_BUCHANG, m_buchangshu); 
	DDX_Control(pDX, IDC_STATIC_5, m_buchang); 
	DDX_Control(pDX, IDC_STATIC_3, m_sudu); 
	DDX_Control(pDX, IDC_STATIC_2, m_zhuangtai); 
	//}}AFX_DATA_MAP 
} 
 
BOOL CRobotView::PreCreateWindow(CREATESTRUCT& cs) 
{ 
	// TODO: Modify the Window class or styles here by modifying 
	//  the CREATESTRUCT cs 
 
	return CFormView::PreCreateWindow(cs); 
} 
 
 
 
///////////////////////////////////////////////////////////////////////////// 
// CRobotView diagnostics 
 
#ifdef _DEBUG 
void CRobotView::AssertValid() const 
{ 
	CFormView::AssertValid(); 
} 
 
void CRobotView::Dump(CDumpContext& dc) const 
{ 
	CFormView::Dump(dc); 
} 
 
CRobotDoc* CRobotView::GetDocument() // non-debug version is inline 
{ 
	ASSERT(m_pDocument->IsKindOf(RUNTIME_CLASS(CRobotDoc))); 
	return (CRobotDoc*)m_pDocument; 
} 
#endif //_DEBUG 
 
///////////////////////////////////////////////////////////////////////////// 
// CRobotView message handlers 
 
void CRobotView::OnDraw(CDC* pDC)  
{ 
	// TODO: Add your specialized code here and/or call the base class 
	SuduDisplay(m_nsudu); 
	GzqDisplay(m_ngzq); 
} 
 
void CRobotView::OnInitialUpdate()  
{ 
	CFormView::OnInitialUpdate(); 
	 
	// TODO: Add your specialized code here and/or call the base class 
	m_link.SetLink(TRUE) 
		.SetTextColor(RGB(0,0,255)) 
		.SetFontUnderline(TRUE) 
		.SetLinkCursor(AfxGetApp()->LoadCursor(IDC_ICON1)); 
	m_command.SetFontSize(24) 
		.SetFontName("Terminal") 
			  .SetTextColor(RGB(240,240,40)); 
	m_static.SetFontSize(24) 
			  .SetTextColor(RGB(240,240,40)); 
	m_workpart.SetFontSize(24) 
		.SetFontBold(TRUE) 
			  .SetTextColor(RGB(0,240,0)); 
	m_buchangshu.SetFontSize(24) 
			  .SetTextColor(RGB(240,240,40)); 
	m_buchang.SetFontSize(24) 
			.SetFontBold(TRUE) 
			  .SetTextColor(RGB(0,240,0)); 
	m_sudu.SetFontSize(24) 
			.SetFontBold(TRUE) 
			  .SetTextColor(RGB(0,240,0)); 
	m_zhuangtai.SetFontSize(24) 
			.SetFontBold(TRUE) 
			  .SetTextColor(RGB(0,240,0)); 
	m_ml.SetFontSize(24) 
			.SetLinkCursor(AfxGetApp()->LoadCursor(IDC_ICON1)) 
			.SetFontBold(TRUE) 
			 .SetTextColor(RGB(0,240,0)); 
	GetParentFrame()->RecalcLayout(); 
	ResizeParentToFit(); 
} 
 
LRESULT CRobotView::WindowProc(UINT message, WPARAM wParam, LPARAM lParam)  
{ 
	// TODO: Add your specialized code here and/or call the base class 
	if(message == (WM_USER + 1002)) 
		ProcessMessage(wParam, lParam); 
	else if(message==(WM_USER+1003)) 
		ProcessMyMessage(); 
	return CFormView::WindowProc(message, wParam, lParam); 
} 
void CRobotView::ProcessMessage(WPARAM wParam, LPARAM lParam) 
{ 
	 
	CRobotDoc* pDoc=GetDocument(); 
	char* l[57] = {"零","一","二",///012 
		"三","四","五","六","七","八","九","执行","各关节归零","大臂正转",///12 
		"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 
		"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 
		"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 
		"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 
		"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"};	 
	CString    strcomand; 
	CString    strstatus; 
	m_recflag=1; 
	if(!pDoc->m_bConnected) 
	{ 
		KillTimer(1); 
		MessageBox("请先打开串口"); 
		return; 
	} 
	if(wParam==100) 
	{ 
		KillTimer(1); 
		if(!m_failflag) 
			{ 
					CWnd* pWnd=GetDlgItem(IDC_STATIC_5); 
					pWnd->SetWindowText(""); 
			        pWnd=GetDlgItem(IDC_STATIC_BUCHANG); 
		            pWnd->SetWindowText(""); 
			        pWnd=GetDlgItem(IDC_STATIC_COMMAND); 
			        pWnd->SetWindowText("请输入新的命令"); 
			        pWnd=GetDlgItem(IDC_STATIC_STATUS); 
			        pWnd->SetWindowText("执行完毕"); 
			        m_ncomand1=0; 
					 
				} 
				else 
					MessageBox("请检查连线是否正确或下位机是否打开","通信失败",MB_ICONWARNING); 
				} 
	else if(wParam>=11&&wParam<=56) 
	{ 
		m_bflag=0; 
		m_ncomand1=wParam; 
		strcomand=l[m_ncomand1]; 
		CWnd* pWnd=GetDlgItem(IDC_STATIC_COMMAND); 
		pWnd->SetWindowText(strcomand); 
		pWnd=GetDlgItem(IDC_STATIC_STATUS); 
		pWnd->SetWindowText(""); 
		pWnd=GetDlgItem(IDC_STATIC_5); 
		pWnd->SetWindowText(""); 
		pWnd=GetDlgItem(IDC_STATIC_BUCHANG); 
		pWnd->SetWindowText(""); 
		m_nsum=0; 
		m_njishu=0; 
	} 
	else if(wParam>=0&&wParam<=9) 
	{	 
		if(m_ncomand1>=12&&m_ncomand1<=21)		 
		{ 
			m_bflag=1; 
			m_nmsg[m_njishu]=wParam; 
		   //pWnd=GetDlgItem(IDC_STATIC_COMMAND); 
	        //pWnd->SetWindowText(strcomand); 
			CWnd* pWnd=GetDlgItem(IDC_STATIC_5); 
			pWnd->SetWindowText("步长:"); 
			++m_njishu; 
			if(m_njishu==1) 
			{ 
				CString m_stemp; 
				m_nsum=m_nmsg[0]; 
				m_stemp.Format("%d",m_nsum); 
				pWnd=GetDlgItem(IDC_STATIC_BUCHANG); 
				pWnd->SetWindowText(m_stemp); 
			} 
			if(m_njishu==2) 
			{ 
				CString m_stemp; 
				m_nsum=m_nmsg[0]*10+m_nmsg[1]; 
				m_stemp.Format("%d",m_nsum); 
				pWnd=GetDlgItem(IDC_STATIC_BUCHANG); 
				pWnd->SetWindowText(m_stemp); 
			} 
			if(m_njishu==3) 
			{ 
				CString m_stemp; 
				m_nsum=m_nmsg[0]*100+m_nmsg[1]*10+m_nmsg[2]; 
				//m_nmsg[0]=0; 
				//m_nmsg[1]=0 
				//	m_nmsg[2]=0; 
				//	m_njishu=0; 
				m_stemp.Format("%d",m_nsum); 
				pWnd=GetDlgItem(IDC_STATIC_BUCHANG); 
				pWnd->SetWindowText(m_stemp); 
			} 
			if(m_njishu==4) 
			{ 
				CString m_stemp; 
				m_nsum=m_nmsg[0]*1000+m_nmsg[1]*100+m_nmsg[2]*10+m_nmsg[3]; 
				m_stemp.Format("%d",m_nsum); 
				pWnd=GetDlgItem(IDC_STATIC_BUCHANG); 
				pWnd->SetWindowText(m_stemp); 
			} 
			if(m_njishu>4) 
			{ 
				m_njishu=1; 
				m_nmsg[0]=m_nmsg[4]; 
				CString m_stemp; 
				m_nsum=m_nmsg[0]; 
				m_stemp.Format("%d",m_nsum); 
				pWnd=GetDlgItem(IDC_STATIC_BUCHANG); 
				pWnd->SetWindowText(m_stemp); 
				m_nmsg[1]=0; 
				m_nmsg[2]=0; 
				m_nmsg[3]=0; 
			} 
		}		 
		else 
			;	//MessageBox("清先输入运动步数命令"); 
	} 
	else if(wParam=10) 
	{    SetTimer(1,500,NULL); 
		if(m_ncomand1>=11&&m_ncomand1<=56) 
		{ 
			if(!m_bflag) 
			{ 
				strstatus="正在执行命令,请稍后....."; 
				CWnd* pWnd=GetDlgItem(IDC_STATIC_STATUS); 
				pWnd->SetWindowText(strstatus); 
				Execute(m_ncomand1); 
			 
			}	 
			else //if(m_ncomand1>=12&&m_ncomand1<=21) 
			{ 
				unsigned char m_uhi,m_ulo; 
				m_nmsg[0]=0; 
	        	m_nmsg[1]=0; 
				m_nmsg[2]=0; 
				m_nmsg[3]=0; 
				m_njishu=0; 
			///	CWnd* pWnd=GetDlgItem(IDC_STATIC_STATUS); 
			   /// pWnd->SetWindowText("正在执行命令,请稍后....."); 
				switch(m_ncomand1) 
				{ 
				case(12): 
					m_nguanjie=01; 
					m_nfangxiang=00; 
					m_uhi=(unsigned char)(m_nsum/256); 
					m_ulo=(unsigned char)(m_nsum-m_uhi*256); 
					m_ndelay=(m_nsum+500)/m_nsudu; 
					Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay); 
					break; 
					case(13): 
					m_nguanjie=0x01; 
					m_nfangxiang=0xff; 
					m_uhi=(unsigned char)(m_nsum/256); 
					m_ulo=(unsigned char)(m_nsum-m_uhi*256); 
					m_ndelay=(m_nsum+500)/m_nsudu; 
					Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay); 
					break; 
					case(14): 
					m_nguanjie=0x02; 
					m_nfangxiang=0x00; 
					m_uhi=(unsigned char)(m_nsum/256); 
					m_ulo=(unsigned char)(m_nsum-m_uhi*256); 
					m_ndelay=(m_nsum)/(m_nsudu*3); 
					Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay); 
					break; 
					case(15): 
					m_nguanjie=0x02; 
					m_nfangxiang=0xff; 
					m_uhi=(unsigned char)(m_nsum/256); 
					m_ulo=(unsigned char)(m_nsum-m_uhi*256); 
					m_ndelay=(m_nsum)/(m_nsudu*3); 
					Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay); 
					break; 
					case(16): 
					m_nguanjie=0x04; 
					m_nfangxiang=0x00; 
					m_uhi=(unsigned char)(m_nsum/256); 
					m_ulo=(unsigned char)(m_nsum-m_uhi*256); 
					m_ndelay=(m_nsum+500)/m_nsudu; 
					Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay); 
					break; 
					case(17): 
					m_nguanjie=0x04; 
					m_nfangxiang=0xff; 
					m_uhi=(unsigned char)(m_nsum/256); 
					m_ulo=(unsigned char)(m_nsum-m_uhi*256); 
					m_ndelay=(m_nsum+500)/m_nsudu; 
					Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay); 
					break; 
					case(18): 
					m_nguanjie=0x05; 
					m_nfangxiang=0x00; 
					m_uhi=(unsigned char)(m_nsum/256); 
					m_ulo=(unsigned char)(m_nsum-m_uhi*256); 
					m_ndelay=(m_nsum+500)/m_nsudu; 
					Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay); 
					break; 
					case(19): 
					m_nguanjie=0x05; 
					m_nfangxiang=0xff; 
					m_uhi=(unsigned char)(m_nsum/256); 
					m_ulo=(unsigned char)(m_nsum-m_uhi*256); 
					m_ndelay=(m_nsum+500)/m_nsudu; 
					Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay); 
					break; 
					case(20): 
					m_nguanjie=0x03; 
					m_nfangxiang=0x00; 
					m_uhi=(unsigned char)(m_nsum/256); 
					m_ulo=(unsigned char)(m_nsum-m_uhi*256); 
					m_ndelay=(m_nsum+500)/(m_nsudu*2); 
					Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay); 
					break; 
					case(21): 
					m_nguanjie=0x03; 
					m_nfangxiang=0xff; 
					m_uhi=(unsigned char)(m_nsum/256); 
					m_ulo=(unsigned char)(m_nsum-m_uhi*256); 
					m_ndelay=(m_nsum+500)/(m_nsudu*2); 
					Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay); 
					break; 
				} 
				 
           } 
			m_failflag=1;} 
	   else 
		   MessageBox("清先输入命令"); 
     } 
	 else 
		 MessageBox("不能识别，请重新输入命令"); 
} 
void CRobotView::ProcessMyMessage() 
{ 
	CDC *PDc=GetDC(); 
	m_failflag=0; 
		switch(m_ncomand1) 
		{ 
		case(37): 
			{ 
				m_nsudu++; 
				if(m_nsudu==6) 
					m_nsudu=1; 
				OnDraw(PDc); 
			} 
			break; 
		case(44): 
			{ 
				m_nsudu--; 
				if(m_nsudu==0) 
					m_nsudu=5; 
				OnDraw(PDc); 
			} 
			break; 
		case(45): 
			{ 
				m_ngzq++; 
				if(m_ngzq==8) 
					m_ngzq=0; 
				OnDraw(PDc); 
			} 
			break; 
		case(46): 
			{ 
				m_ngzq--; 
				if(m_ngzq==-1) 
					m_ngzq=7; 
				OnDraw(PDc); 
			} 
			break; 
		} 
		CWnd* pWnd=GetDlgItem(IDC_STATIC_COMMAND); 
		pWnd->SetWindowText("请输入新的命令"); 
		pWnd=GetDlgItem(IDC_STATIC_STATUS); 
		pWnd->SetWindowText("执行完毕"); 
		m_ncomand1=0; 
	//} 
	//else 
	//	MessageBox("请检查连线是否正确或下位机是否打开","通信失败",MB_ICONWARNING); 
} 
void CRobotView::SuduDisplay(int n) 
{ 
	CWnd* pWnd=GetDlgItem(IDC_STATIC_SUDU); 
	CDC* pControlDC=pWnd->GetDC(); 
	pWnd->Invalidate(); 
	pWnd->UpdateWindow(); 
	pControlDC->SelectStockObject(BLACK_BRUSH); 
	CBitmap mBit; 
	CDC MemDC; 
	MemDC.CreateCompatibleDC(NULL); 
	switch(n) 
	{ 
	case 0: 
	mBit.LoadBitmap(IDB_BMP10); 
	break; 
	case 1: 
	mBit.LoadBitmap(IDB_BMP11); 
	break; 
	case 2: 
	mBit.LoadBitmap(IDB_BMP12); 
	break; 
	case 3: 
	mBit.LoadBitmap(IDB_BMP13); 
	break; 
	case 4: 
	mBit.LoadBitmap(IDB_BMP14); 
	break; 
	case 5: 
	mBit.LoadBitmap(IDB_BMP15); 
	break; 
	default: 
		//mBit.LoadBitmap(IDB_BMP0); 
		MessageBox("error"); 
	} 
	CBitmap *pOldBit=MemDC.SelectObject(&mBit); 
	pControlDC->BitBlt(0,0,900,700,&MemDC,0,0,SRCCOPY); 
	MemDC.SelectObject(pOldBit); 
} 
void CRobotView::GzqDisplay(int n) 
{ 
	CWnd* pWnd=GetDlgItem(IDC_STATIC_GONGZUOQU); 
	CDC* pControlDC=pWnd->GetDC(); 
	pWnd->Invalidate(); 
	pWnd->UpdateWindow(); 
	pControlDC->SelectStockObject(BLACK_BRUSH); 
	CBitmap mBit; 
	CDC MemDC; 
	MemDC.CreateCompatibleDC(NULL); 
	switch(n) 
	{ 
	case 0: 
	mBit.LoadBitmap(IDB_BMP10); 
	break; 
	case 1: 
	mBit.LoadBitmap(IDB_BMP11); 
	break; 
	case 2: 
	mBit.LoadBitmap(IDB_BMP12); 
	break; 
	case 3: 
	mBit.LoadBitmap(IDB_BMP13); 
	break; 
	case 4: 
	mBit.LoadBitmap(IDB_BMP14); 
	break; 
	case 5: 
	mBit.LoadBitmap(IDB_BMP15); 
	break; 
	case 6: 
	mBit.LoadBitmap(IDB_BMP16); 
	break; 
	case 7: 
	mBit.LoadBitmap(IDB_BMP17); 
	break; 
	default: 
		//mBit.LoadBitmap(IDB_BMP0); 
		MessageBox("error"); 
	} 
	CBitmap *pOldBit=MemDC.SelectObject(&mBit); 
	pControlDC->BitBlt(0,0,900,700,&MemDC,0,0,SRCCOPY); 
	MemDC.SelectObject(pOldBit); 
} 
void CRobotView::Execute(int n) 
{ 
	CRobotDoc* pDoc=GetDocument(); 
 
	unsigned char send1; 
 
	switch(n) 
	{ 
	case(11): 
		home(); 
		break; 
	case(12): 
		{//大臂正传 
		unsigned char send[6]={0x53,0x01,0x00,0x00,0x07,0x18}; 
	for(int i=0;i<=5;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(2000/m_nsudu); 
	break; 
			} 
	case(13): 
		{ 
	unsigned char send[6]={0x53,0x01,0xff,0x00,0x07,0x18}; 
	for(int i=0;i<=5;i++) 
	pDoc->WriteComm(&send[i],1); 
//	pDoc->ReadComm(&buf,1); 
//	if(nLength) 
////	{ 
//		str.Format("%d",buf); 
//		m_edit1.SetSel(-1, 0); 
//		m_edit1.ReplaceSel(str); // 向编辑视图中插入收到的字符 
//	} 
//	else 
//	MessageBox("fjdklfjsdklgjsdfkl"); 
	Sleep(2000/m_nsudu); 
	break; 
		} 
	case(14)://xiaobizhengzhuan 
		{ 
		unsigned char send[6]={0x53,0x02,0x00,0x00,0x0f,0xe3}; 
	for(int i=0;i<=5;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(2000/m_nsudu); 
			break; 
		} 
	 
	case(15)://小臂反转 
		{ 
		unsigned char send[6]={0x53,0x02,0xff,0x00,0x0f,0xe3}; 
	for(int i=0;i<=5;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(2000/m_nsudu); 
	break;	 
		}	 
	case(16)://手腕正转 
			{ 
		unsigned char send[6]={0x53,0x04,0x00,0x00,0x00,0xff}; 
	for(int i=0;i<=5;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(1000/m_nsudu); 
	break; 
			} 
	case(17)://shouwanfanzhuan 
		{ 
		unsigned char send[6]={0x53,0x04,0xff,0x00,0x00,0xff}; 
	for(int i=0;i<=5;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(1000/m_nsudu); 
		} 
		break; 
	case(18)://shouzhuazhangkai 
			{ 
		unsigned char send[6]={0x53,0x05,0x00,0x00,0x00,0x43}; 
	for(int i=0;i<=5;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(2000/m_nsudu); 
		} 
		break; 
	case(19): 
		{ 
		unsigned char send[6]={0x53,0x05,0xff,0x00,0x00,0xf3}; 
	for(int i=0;i<=5;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(2000/m_nsudu); 
		} 
		break; 
	case(20)://shangsheng 
			{ 
		unsigned char send[6]={0x53,0x03,0x00,0x00,0x02,0xe3}; 
	for(int i=0;i<=5;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(1000/m_nsudu); 
		} 
		break; 
	case(21): 
		{ 
		unsigned char send[6]={0x53,0x03,0xff,0x00,0x02,0xe3}; 
	for(int i=0;i<=5;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(1000/m_nsudu); 
		} 
		break; 
/*	case(22)://dabiyunxing 
		{ 
		unsigned char send[3]={0x63,0x01,0x00}; 
	for(int i=0;i<=2;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(2000); 
		} 
		break; 
	case(23): 
			{ 
		unsigned char send[3]={0x63,0x01,0xff}; 
	for(int i=0;i<=2;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(2000); 
		} 
		break; 
	case(24)://xiaobiyunxing 
		{ 
		unsigned char send[3]={0x63,0x02,0x00}; 
	for(int i=0;i<=2;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(2000); 
		} 
		break; 
	case(25): 
		{ 
		unsigned char send[3]={0x63,0x02,0xff}; 
	for(int i=0;i<=2;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(2000); 
		} 
		break; 
	case(26)://shouwanyunxing 
		{ 
		unsigned char send[3]={0x63,0x04,0x00}; 
	for(int i=0;i<=2;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(2000); 
		} 
		break; 
	case(27): 
		{ 
		unsigned char send[3]={0x63,0x04,0xff}; 
	for(int i=0;i<=2;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(2000); 
		} 
		break; 
	case(28)://shouzhuayunxing 
		{ 
		unsigned char send[3]={0x63,0x05,0x00}; 
	for(int i=0;i<=2;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(2000); 
		} 
		break; 
	case(29): 
			{ 
		unsigned char send[3]={0x63,0x05,0xff}; 
	for(int i=0;i<=2;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(2000); 
		} 
		break; 
	case(30)://shengjiangyunxing 
			{ 
		unsigned char send[3]={0x63,0x03,0x00}; 
	for(int i=0;i<=2;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(2000); 
		} 
		break; 
	case(31): 
			{ 
		unsigned char send[3]={0x63,0x05,0xff}; 
	for(int i=0;i<=2;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(2000); 
		} 
		break; 
*/ 
	case(32)://dabiguiling 
			{ 
		unsigned char send[2]={0xa3,0x01}; 
	for(int i=0;i<=1;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(18000); 
		} 
		break; 
	case(33)://xiaobiguiling 
			{ 
		unsigned char send[2]={0xa3,0x02}; 
	for(int i=0;i<=1;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(15000); 
		} 
		break; 
	case(34)://shouwanguiling 
			{ 
		unsigned char send[2]={0xa3,0x04}; 
	for(int i=0;i<=1;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(6000); 
		} 
		break; 
	case(35)://shouzhuaguiling 
			{ 
		unsigned char send[2]={0xa3,0x05}; 
	for(int i=0;i<=1;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(6000); 
		} 
		break; 
	case(36)://shengjiangguiling 
			{ 
		unsigned char send[2]={0xa3,0x03}; 
	for(int i=0;i<=1;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(10000); 
		} 
		break; 
	case(37)://sudujia 
		{	 
		send1=0xb3; 
		pDoc->WriteComm(&send1,1); 
		} 
			Sleep(1000); 
		break; 
	case(38)://yuandianjiyi 
		send1=0x73; 
		pDoc->WriteComm(&send1,1); 
		break; 
	case(39): 
		send1=0xc3; 
		pDoc->WriteComm(&send1,1); 
		break; 
	case(40): 
		send1=0xf6; 
		pDoc->WriteComm(&send1,1); 
		break; 
	case(41): 
		send1=0x83; 
		pDoc->WriteComm(&send1,1); 
		break; 
	case(42): 
		send1=0x93; 
		pDoc->WriteComm(&send1,1); 
		break; 
	case(43): 
	//	{ 
	//	unsigned char send[2]={0x86,0x03}; 
	//	for(int i=0;i<=1;i++) 
	//	pDoc->WriteComm(&send[i],1); 
	//	Sleep(4000); 
	//	} 
		send1=0x86; 
		pDoc->WriteComm(&send1,1); 
		break; 
	case(44)://sudujian 
		{ 
		send1=0xe3; 
		pDoc->WriteComm(&send1,1); 
		} 
		break; 
	case(45): 
		{ 
		send1=0x12; 
		pDoc->WriteComm(&send1,1); 
		} 
		break; 
	case(46): 
		{ 
		send1=0x22; 
		pDoc->WriteComm(&send1,1); 
		} 
		break; 
	case(47):		//danbuzaixian 
		send1=0x13; 
		pDoc->WriteComm(&send1,1); 
		Sleep(4000); 
		break; 
	case(48):		//zhouqizaixian 
		send1=0x23; 
		pDoc->WriteComm(&send1,1); 
		Sleep(8000); 
		break; 
	case(49):		//lianxuzaixian 
		send1=0x33; 
		pDoc->WriteComm(&send1,1); 
		break; 
	case(50): 
		//send1=0x32; 
		//pDoc->WriteComm(&send1,1); 
		break; 
	case(51): 
		break; 
	case(52): 
		send1=0x43; 
		pDoc->WriteComm(&send1,1); 
		break; 
	case(53): 
		break; 
	case(54): 
		pDoc->OnSetupcomm(); 
		break; 
	case(55): 
		pDoc->OnOpencomm(); 
		break; 
	default: 
		pDoc->OnClosecomm(); 
		break; 
	} 
 
} 
//void CRobotView::OnButton3()  
//{ 
	// TODO: Add your control notification handler code here 
//	SendMessage(WM_USER + 1002,10,0); 
//} 
void CRobotView::Execute_1(unsigned char a,unsigned char b,unsigned char c,unsigned char d,int e) 
{ 
	CRobotDoc* pDoc=GetDocument(); 
	unsigned char send[6]={0x53,a,b,0x00,c,d}; 
	for(int i=0;i<=5;i++) 
	pDoc->WriteComm(&send[i],1); 
	Sleep(m_ndelay); 
} 
 
 
HBRUSH CRobotView::OnCtlColor(CDC* pDC, CWnd* pWnd, UINT nCtlColor)  
{ 
	HBRUSH hbr = CFormView::OnCtlColor(pDC, pWnd, nCtlColor); 
	 
	// TODO: Change any attributes of the DC here 
		switch(nCtlColor) 
		{ 
	case CTLCOLOR_DLG: 
	{ 
	//pDC->SetBkMode(TRANSPARENT); 
	return m_brush;   //返加绿色刷子 
	} 
	case CTLCOLOR_STATIC: 
	{ 
	   //返加绿色刷子 
		//	pDC->SetBkMode(TRANSPARENT); 
				return m_brush; 
	} 
		} 
	// TODO: Return a different brush if the default is not desired 
	return hbr; 
} 
void CRobotView::home()  
{ 
	SendMessage(WM_USER+1002,32,0); 
	SendMessage(WM_USER+1002,10,0); 
	Sleep(1000); 
	SendMessage(WM_USER+1002,33,0); 
	SendMessage(WM_USER+1002,10,0); 
	Sleep(1000); 
 
    SendMessage(WM_USER+1002,34,0); 
	SendMessage(WM_USER+1002,10,0); 
	Sleep(1000); 
	SendMessage(WM_USER+1002,35,0); 
	SendMessage(WM_USER+1002,10,0); 
	Sleep(1000); 
	SendMessage(WM_USER+1002,36,0); 
	SendMessage(WM_USER+1002,10,0); 
	Sleep(1000); 
} 
LRESULT CRobotView::OnCommNotify(WPARAM wParam, LPARAM lParam) 
{ 
	unsigned char buf; 
	CWnd* pWnd=GetDlgItem(IDC_STATIC_COMMAND); 
	CString str1,str2; 
	CRobotDoc* pDoc=GetDocument(); 
	m_recflag=0; 
	if(!pDoc->m_bConnected ||  
		(wParam & EV_RXCHAR)!=EV_RXCHAR) // 是否是EV_RXCHAR事件? 
	{ 
		SetEvent(pDoc->m_hPostMsgEvent); // 允许发送下一个WM_COMMNOTIFY消息 
		return 0L; 
	} 
	nLength=pDoc->ReadComm(&buf,1); 
	if(nLength) 
	{ 
	//	str1.Format("%d",buf); 
		//m_edit1.SetSel(-1, 0); 
	//	m_edit1.ReplaceSel(str1); // 向编辑视图中插入收到的字符 
		str2="正在执行命令,请稍后....."; 
		pWnd->SetWindowText(str2); 
		SendMessage(WM_USER+1003); 
	} 
	SetEvent(pDoc->m_hPostMsgEvent); // 允许发送下一个WM_COMMNOTIFY消息 
	return 0L; 
} 
 
void CRobotView::OnTimer(UINT nIDEvent)  
{ 
	// TODO: Add your message handler code here and/or call default 
	SendMessage(WM_USER+1002,100); 
 
	CFormView::OnTimer(nIDEvent); 
}