一套基于模板匹配的语音识别技术。提取语音的特征，并建立模板库,可以将语音识别技术应用于机器人
视图类，废话少说，看看带注释的源码
#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(#28627a); // 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(#0000ff)
.SetFontUnderline(TRUE)
.SetLinkCursor(AfxGetApp()->LoadCursor(IDC_ICON1));
m_command.SetFontSize(24)
.SetFontName("Terminal")
.SetTextColor(#f0f028);
m_static.SetFontSize(24)
.SetTextColor(#f0f028);
m_workpart.SetFontSize(24)
.SetFontBold(TRUE)
.SetTextColor(#00f000);
m_buchangshu.SetFontSize(24)
.SetTextColor(#f0f028);
m_buchang.SetFontSize(24)
.SetFontBold(TRUE)
.SetTextColor(#00f000);
m_sudu.SetFontSize(24)
.SetFontBold(TRUE)
.SetTextColor(#00f000);
m_zhuangtai.SetFontSize(24)
.SetFontBold(TRUE)
.SetTextColor(#00f000);
m_ml.SetFontSize(24)
.SetLinkCursor(AfxGetApp()->LoadCursor(IDC_ICON1))
.SetFontBold(TRUE)
.SetTextColor(#00f000);
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);
}
文档类
#include "stdafx.h"
#include "robot.h"
#include"SetupDlg.h"
#include "robotDoc.h"
#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif
/////////////////////////////////////////////////////////////////////////////
// CRobotDoc
IMPLEMENT_DYNCREATE(CRobotDoc, CDocument)
BEGIN_MESSAGE_MAP(CRobotDoc, CDocument)
//{{AFX_MSG_MAP(CRobotDoc)
ON_COMMAND(ID_SETUPCOMM, OnSetupcomm)
ON_COMMAND(ID_CLOSECOMM, OnClosecomm)
ON_COMMAND(ID_OPENCOMM, OnOpencomm)
ON_UPDATE_COMMAND_UI(ID_OPENCOMM, OnUpdateOpencomm)
ON_UPDATE_COMMAND_UI(ID_CLOSECOMM, OnUpdateClosecomm)
ON_COMMAND(ID_ANJIANCTRL, OnAnjianctrl)
ON_UPDATE_COMMAND_UI(ID_ANJIANCTRL, OnUpdateAnjianctrl)
ON_COMMAND(ID_VOICECTRL, OnVoicectrl)
ON_UPDATE_COMMAND_UI(ID_VOICECTRL, OnUpdateVoicectrl)
ON_COMMAND(ID_HELP, OnHelp)
//}}AFX_MSG_MAP
END_MESSAGE_MAP()
/////////////////////////////////////////////////////////////////////////////
// CRobotDoc construction/destruction
CRobotDoc::CRobotDoc()
{
// TODO: add one-time construction code here
m_bConnected=FALSE;
m_pThread=NULL;
m_nBaud =244;
m_nDataBits = 8;
m_nParity = 1;
m_sPort = "COM1";
m_nStopBits = 0;
m_bctrlmodal=FALSE;
m_uCurrentBtn=ID_CLOSECOMM;
}
CRobotDoc::~CRobotDoc()
{
if(m_bConnected)
CloseConnection();
// 删除事件句柄
if(m_hPostMsgEvent)
CloseHandle(m_hPostMsgEvent);
if(m_osRead.hEvent)
CloseHandle(m_osRead.hEvent);
if(m_osWrite.hEvent)
CloseHandle(m_osWrite.hEvent);
}
BOOL CRobotDoc::OnNewDocument()
{
if (!CDocument::OnNewDocument())
return FALSE;
// TODO: add reinitialization code here
// (SDI documents will reuse this document)
// 为WM_COMMNOTIFY消息创建事件对象，手工重置，初始化为有信号的
if((m_hPostMsgEvent=CreateEvent(NULL, TRUE, TRUE, NULL))==NULL)
return FALSE;
memset(&m_osRead, 0, sizeof(OVERLAPPED));
memset(&m_osWrite, 0, sizeof(OVERLAPPED));
// 为重叠读创建事件对象，手工重置，初始化为无信号的
if((m_osRead.hEvent=CreateEvent(NULL, TRUE, FALSE, NULL))==NULL)
return FALSE;
// 为重叠写创建事件对象，手工重置，初始化为无信号的
if((m_osWrite.hEvent=CreateEvent(NULL, TRUE, FALSE, NULL))==NULL)
return FALSE;
return TRUE;
}
/////////////////////////////////////////////////////////////////////////////
// CRobotDoc serialization
void CRobotDoc::Serialize(CArchive& ar)
{
if (ar.IsStoring())
{
// TODO: add storing code here
}
else
{
// TODO: add loading code here
}
}
/////////////////////////////////////////////////////////////////////////////
// CRobotDoc diagnostics
#ifdef _DEBUG
void CRobotDoc::AssertValid() const
{
CDocument::AssertValid();
}
void CRobotDoc::Dump(CDumpContext& dc) const
{
CDocument::Dump(dc);
}
#endif //_DEBUG
/////////////////////////////////////////////////////////////////////////////
// CRobotDoc commands
void CRobotDoc::OnSetupcomm()
{
// TODO: Add your command handler code here
CSetupDlg dlg;
CString str;
dlg.m_bConnected=m_bConnected;
dlg.m_sPort=m_sPort;
str.Format("%d",m_nBaud);
dlg.m_sBaud=str;
str.Format("%d",m_nDataBits);
dlg.m_sDataBits=str;
dlg.m_nParity=m_nParity;
dlg.m_nStopBits=m_nStopBits;
//dlg.m_nFlowCtrl=m_nFlowCtrl;
//dlg.m_bEcho=m_bEcho;
// dlg.m_bNewLine=m_bNewLine;
if(dlg.DoModal()==IDOK)
{
m_sPort=dlg.m_sPort;
m_nBaud=atoi(dlg.m_sBaud);
m_nDataBits=atoi(dlg.m_sDataBits);
m_nParity=dlg.m_nParity;
m_nStopBits=dlg.m_nStopBits;
// m_nFlowCtrl=dlg.m_nFlowCtrl;
// m_bEcho=dlg.m_bEcho;
// m_bNewLine=dlg.m_bNewLine;
if(m_bConnected)
if(!ConfigConnection())
AfxMessageBox("Can't realize the settings!");
}
}
void CRobotDoc::OnClosecomm()
{
// TODO: Add your command handler code here
m_uCurrentBtn=ID_CLOSECOMM;
CloseConnection();
}
void CRobotDoc::OnOpencomm()
{
// TODO: Add your command handler code here
m_uCurrentBtn=ID_OPENCOMM;
if(!OpenConnection())
AfxMessageBox("Can't open connection");
}
void CRobotDoc::OnUpdateOpencomm(CCmdUI* pCmdUI)
{
// TODO: Add your command update UI handler code here
//pCmdUI->Enable(!m_bConnected);
pCmdUI->SetRadio(pCmdUI->m_nID == m_uCurrentBtn);
}
void CRobotDoc::OnUpdateClosecomm(CCmdUI* pCmdUI)
{
// TODO: Add your command update UI handler code here
// pCmdUI->Enable(m_bConnected);
pCmdUI->SetRadio(pCmdUI->m_nID == m_uCurrentBtn);
}
void CRobotDoc::OnAnjianctrl()
{
// TODO: Add your command handler code here
}
void CRobotDoc::OnUpdateAnjianctrl(CCmdUI* pCmdUI)
{
// TODO: Add your command update UI handler code here
}
void CRobotDoc::OnVoicectrl()
{
// TODO: Add your command handler code here
// WinExec(NULL,NULL,_T("dutty.exe"),NULL,_T("D:\\Program Files\\Dutty\\Dutty.exe"),NULL);
WinExec(_T("D:\\Program Files\\Dutty\\Dutty.exe"),SW_SHOW);
m_bctrlmodal=TRUE;
//STARTUPINFO stinfo; //启动窗口的信息
//PROCESSINFO procinfo; //进程的信息
//CreateProcess(NULL,_T("dutty.exe"),NULL,NULL.FALSE, NORMAL_PRIORITY_ CLASS,NULL,NULL, &stinfo,&procinfo);
}
void CRobotDoc::OnUpdateVoicectrl(CCmdUI* pCmdUI)
{
// TODO: Add your command update UI handler code here
pCmdUI->Enable(!m_bctrlmodal);
}
UINT CommProc(LPVOID pParam)
{
OVERLAPPED os;
DWORD dwMask, dwTrans;
COMSTAT ComStat;
DWORD dwErrorFlags;
CRobotDoc *pDoc=(CRobotDoc*)pParam;
memset(&os, 0, sizeof(OVERLAPPED));
os.hEvent=CreateEvent(NULL, TRUE, FALSE, NULL);
if(os.hEvent==NULL)
{
AfxMessageBox("Can't create event object!");
return (UINT)-1;
}
while(pDoc->m_bConnected)
{
ClearCommError(pDoc->m_hCom,&dwErrorFlags,&ComStat);
if(ComStat.cbInQue) //查询输入缓冲区中是否有字符 ,若有
{
// 等待WM_COMMNOTIFY消息被处理完
WaitForSingleObject(pDoc->m_hPostMsgEvent, INFINITE);
ResetEvent(pDoc->m_hPostMsgEvent);
PostMessage(pDoc->m_hTermWnd, WM_COMMNOTIFY, EV_RXCHAR, 0);
// 通知视图
continue;
}
dwMask=0;
if(!WaitCommEvent(pDoc->m_hCom, &dwMask, &os)) // 重叠操作
{
//通信事件
if(GetLastError()==ERROR_IO_PENDING)
// 无限等待重叠操作结果
GetOverlappedResult(pDoc->m_hCom, &os, &dwTrans, TRUE);
else
{
CloseHandle(os.hEvent);
return (UINT)-1;
}
}
}
CloseHandle(os.hEvent);
return 0;
}
BOOL CRobotDoc::OpenConnection()
{
COMMTIMEOUTS TimeOuts;
POSITION firstViewPos;
CView *pView;
firstViewPos=GetFirstViewPosition();
pView=GetNextView(firstViewPos);
m_hTermWnd=pView->GetSafeHwnd();
if(m_bConnected)
return FALSE;
m_hCom=CreateFile(m_sPort, GENERIC_READ|GENERIC_WRITE,0,NULL,
OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL|FILE_FLAG_OVERLAPPED,
NULL); // 重叠方式
if(m_hCom==INVALID_HANDLE_VALUE)
//AfxMessageBox("dfhksdjfhsjkfhks",MB_OK);
return FALSE;
SetupComm(m_hCom,1024,1024);
SetCommMask(m_hCom, EV_RXCHAR);///////////////////!!!!!!!!!!!
// 把间隔超时设为最大，把总超时设为0将导致ReadFile立即返回并完成操作
TimeOuts.ReadIntervalTimeout=MAXDWORD;
TimeOuts.ReadTotalTimeoutMultiplier=0;
TimeOuts.ReadTotalTimeoutConstant=0;
/* 设置写超时以指定WriteComm成员函数中的
GetOverlappedResult函数的等待时间*/
TimeOuts.WriteTotalTimeoutMultiplier=50;
TimeOuts.WriteTotalTimeoutConstant=2000;
SetCommTimeouts(m_hCom, &TimeOuts);
if(ConfigConnection())
{
m_pThread=AfxBeginThread(CommProc, this, THREAD_PRIORITY_NORMAL,
0, CREATE_SUSPENDED, NULL); // 创建并挂起线程
if(m_pThread==NULL)
{
CloseHandle(m_hCom);
return FALSE;
}
else
{
m_bConnected=TRUE;
m_pThread->ResumeThread(); // 恢复线程运行
}
}
else
{
CloseHandle(m_hCom);
return FALSE;
}
return TRUE;
}
void CRobotDoc::CloseConnection()
{
if(!m_bConnected) return;
m_bConnected=FALSE;
//结束CommProc线程中WaitSingleObject函数的等待
SetEvent(m_hPostMsgEvent);
//结束CommProc线程中WaitCommEvent的等待
SetCommMask(m_hCom, 0);
//等待辅助线程终止
WaitForSingleObject(m_pThread->m_hThread, INFINITE);
m_pThread=NULL;
CloseHandle(m_hCom);
}
BOOL CRobotDoc::ConfigConnection()///设置DCB
{
DCB dcb;
if(!GetCommState(m_hCom, &dcb))
return FALSE;
dcb.fBinary=TRUE;
dcb.BaudRate=m_nBaud; // 波特率
dcb.ByteSize=m_nDataBits; // 每字节位数
dcb.fParity=TRUE;
switch(m_nParity) // 校验设置
{
case 0: dcb.Parity=NOPARITY;
break;
case 1: dcb.Parity=EVENPARITY;
break;
case 2: dcb.Parity=ODDPARITY;
break;
default:;
}
switch(m_nStopBits) // 停止位
{
case 0: dcb.StopBits=ONESTOPBIT;
break;
case 1: dcb.StopBits=ONE5STOPBITS;
break;
case 2: dcb.StopBits=TWOSTOPBITS;
break;
default:;
}
// 硬件流控制设置
// dcb.fOutxCtsFlow=m_nFlowCtrl==1;
// dcb.fRtsControl=m_nFlowCtrl==1?RTS_CONTROL_HANDSHAKE:RTS_CONTROL_ENABLE;
// XON/XOFF流控制设置
// dcb.fInX=dcb.fOutX=m_nFlowCtrl==2;
// dcb.XonChar=XON;
// dcb.XoffChar=XOFF;
// dcb.XonLim=50;
// dcb.XoffLim=50;
return SetCommState(m_hCom, &dcb);
}
DWORD CRobotDoc::ReadComm(unsigned char *buf,DWORD dwLength)
{
DWORD length=0;
COMSTAT ComStat;
DWORD dwErrorFlags;
ClearCommError(m_hCom,&dwErrorFlags,&ComStat); // 清除错误标志
length=min(dwLength, ComStat.cbInQue);
ReadFile(m_hCom,buf,length,&length,&m_osRead);// 将指定数量的字符从串行口输出
return length;
}
// 将指定数量的字符从串行口输出
DWORD CRobotDoc::WriteComm(unsigned char *buf,DWORD dwLength)
{
BOOL fState;
DWORD length=dwLength;
COMSTAT ComStat;
DWORD dwErrorFlags;
ClearCommError(m_hCom,&dwErrorFlags,&ComStat); // 清除错误标志
fState=WriteFile(m_hCom,buf,length,&length,&m_osWrite);
if(!fState){
if(GetLastError()==ERROR_IO_PENDING)
{
GetOverlappedResult(m_hCom,&m_osWrite,&length,TRUE);// 等待
}
else
length=0;
}
return length;
}
// 工作者线程，负责监视串行口
void CRobotDoc::OnHelp()
{
// TODO: Add your command handler code here
//ShellExecute(NULL,NULL,_T("Jqrhelp.chm"),NULL,_T("e:\\机器人"),NULL);
}
