VISUAL BASIC SERVER INTERFACE CODE. Visual Basic 6 Graphical Interface 103. Visual Basic Module rtsscomm.bas Code.115

Transcription

1 APPENDIX E VISUAL BASIC SERVER INTERFACE CODE Page E.1: E.2: E.3: E.4: E.5: Visual Basic 6 Graphical Interface 103 Visual Basic Form gyrofront.frm Code Visual Basic Module mydatatypes.bas Code..114 Visual Basic Module myints.bas Code Visual Basic Module rtsscomm.bas Code

2 E.1: Visual Basic 6 Graphical Interface 103

3 ########################################### # Visual Basic Form "gyrofront.frm" Code # # Author: Adrian Lee, Henry Hahn # # Date: 3/30/00 # ########################################### Option Explicit Dim sservermsg As String Private Sub cmdbrowsefile_click() Dim tmpstrg As String Set Hex value for ShowOpen Flags See Online help for more info cdlggetfile.flags = &H Show All Files cdlggetfile.filter = "(*.*) *.*" Start ShowOpen Common Dialog cdlggetfile.showopen Get filename chosen txtfilename.text = cdlggetfile.filename Private Sub cmdclearlist_click() lststatus.clear Private Sub cmdinit_click() Dim tmpstrg As String cdlggetfile.flags = &H cdlggetfile.filter = "(*.rtss) *.rtss" cdlggetfile.showopen If cdlggetfile.filename <> "" Then tmpstrg = "rtssrun " + cdlggetfile.filename errcode = InitRTSSCommunication(gHW, tmpstrg) MsgBox "Error Init of RTSS, errcode = " & errcode Else cmdstart.enabled = True cmdsetgains.enabled = True cmdsample.enabled = True optsinusoidal.enabled = True optcollocated.enabled = True optnoncollocated.enabled = True optpd.enabled = True optpid.enabled = True optstate.enabled = True optlinear.enabled = True optadaptation.enabled = True txtswingk1.enabled = True txtswingk2.enabled = True txtswingk3.enabled = True txtswingk4.enabled = True txtbalk1.enabled = True txtbalk2.enabled = True txtbalk3.enabled = True txtbalk4.enabled = True scrtimer.enabled = True scrsample.enabled = True scramplitude.enabled = True scrduration.enabled = True cmdinit.caption = "Running\n" + cdlggetfile.filetitle cmdinit.enabled = False 104

4 Set flag gcommstarted = 1 Private Sub cmdquit_click() Quit Unload Me Public Sub cmdsample_click() Dim data(20) As Single Dim dummybuff As String dummybuff = "dummydata" errcode = 0 data(0) = scrsample.value Send Pulse errcode = SendCmdToRTSS_RecvDataFromVB(&H404, data(0), dummybuff) MsgBox "Error sending Sampling Rate, errcode = " & errcode Private Sub cmdsavefile_click() Dim savedatafilename As String Dim dummydata(20) As Single If txtfilename.text <> "" Then savedatafilename = txtfilename.text Send Savedatatofile command 0x406 with File name txtfilename errcode = SendCmdToRTSS_RecvDataFromVB(&H406, dummydata(0), savedatafilename) MsgBox "Error sending Save File Command, errcode = " & errcode cmdsavefile.enabled = False Public Sub cmdpulse_click() Dim data(20) As Single Dim dummybuff As String dummybuff = "dummydata" errcode = 0 data(0) = scramplitude.value data(1) = scrduration.value Send Pulse errcode = SendCmdToRTSS_RecvDataFromVB(&H407, data(0), dummybuff) MsgBox "Error sending Disturbance Pulse, errcode = " & errcode Public Sub cmdsetgains_click() Dim data(20) As Single Dim dummybuff As String Dim swingup As Single Dim balance As Single dummybuff = "dummydata" errcode = 0 105

5 Error checking (Gains can only be Single (float) values) If IsNumeric(txtSwingK1.Text) = False Then errcode = 1 MsgBox "Error in your Swing Up K1 value" If IsNumeric(txtSwingK2.Text) = False Then errcode = 1 MsgBox "Error in your Swing Up K2 value" If IsNumeric(txtSwingK3.Text) = False Then errcode = 1 MsgBox "Error in your Swing Up K3 value" If IsNumeric(txtSwingK4.Text) = False Then errcode = 1 MsgBox "Error in your Swing Up K4 value" If IsNumeric(txtBalK1.Text) = False Then errcode = 1 MsgBox "Error in your Balancing K1 value" If IsNumeric(txtBalK2.Text) = False Then errcode = 1 MsgBox "Error in your Balancing K2 value" If IsNumeric(txtBalK3.Text) = False Then errcode = 1 MsgBox "Error in your Balancing K3 value" If IsNumeric(txtBalK4.Text) = False Then errcode = 1 MsgBox "Error in your Balancing K4 value" Check which Swing Up Controller is selected If optsinusoidal.value = True Then swingup = 1 If optnoncollocated.value = True Then swingup = 2 If optcollocated.value = True Then swingup = 3 If optpd.value = True Then balance = 1 If optpid.value = True Then balance = 2 If optstate.value = True Then balance = 3 If optlinear.value = True Then balance = 4 If optadaptation.value = True Then balance = 5 If errcode = 0 Then data(0) = txtswingk1.text data(1) = txtswingk2.text data(2) = txtswingk3.text data(3) = txtswingk4.text data(4) = txtbalk1.text data(5) = txtbalk2.text data(6) = txtbalk3.text data(7) = txtbalk4.text data(8) = swingup data(9) = balance Send Gains 106

6 errcode = SendCmdToRTSS_RecvDataFromVB(&H402, data(0), dummybuff) MsgBox "Error sending Controller Gains, errcode = " & errcode Public Sub cmdstart_click() Send Start Command errcode = SendCmdToRTSS_Simple(&H400) MsgBox "Error sending command START, errcode = " & errcode If errcode = 0 Then Activate/Deactivate appropriate buttons timupdatedata.enabled = True cmdstart.enabled = False cmdstop.enabled = True cmdsavefile.enabled = False cmdpulse.enabled = True Public Sub cmdstop_click() Send Halt command errcode = SendCmdToRTSS_Simple(&H403) MsgBox "Error sending command HALT, errcode = " & errcode Activate/Deactivate appropriate buttons timupdatedata.enabled = False cmdstart.enabled = True cmdstop.enabled = False cmdsavefile.enabled = True cmdpulse.enabled = False Private Sub Form_Load() Global flag indicating if RTSS process start or not gcommstarted = 0 Get VB program s window handle ghw = Me.hWnd Start catching windows messages (events) Add this next line when doing events Hook lbltimer.caption = scrtimer.value If server_socket.state <> sckclosed Then server_socket.close server_socket.listen lststatus.additem ("Listening to port " + CStr(server_socket.LocalPort) + "...") Private Sub Form_Unload(Cancel As Integer) If gcommstarted = 1 Then Send Quit errcode = SendCmdToRTSS_Simple(&H401) MsgBox "Error sending command QUIT, errcode = " & errcode Close RTSS process errcode = DeleteRTSSCommunication() 107

7 MsgBox "Error Delete of RTSS, errcode = " & errcode If server_socket.state <> sckclosed Then server_socket.close Private Sub scrsample_change() lblsample.caption = scrsample.value Private Sub scrtimer_change() lbltimer.caption = scrtimer.value timupdatedata.interval = scrtimer.value Private Sub scramplitude_change() lblamplitude.caption = scramplitude.value Private Sub scrduration_change() lblduration.caption = scrduration.value Private Sub server_socket_connectionrequest(byval requestid As Long) sservermsg = "Connection request from " & server_socket.remotehostip lststatus.additem (sservermsg) If server_socket.state <> sckclosed Then server_socket.close server_socket.accept requestid lststatus.additem ("Connection accepted.") If (Len(txtStartMsg.Text) > 0 And chkstart.value = True) Then server_socket.senddata (txtstartmsg.text + "X") Else server_socket.senddata ("Hello " + server_socket.remotehostip + ".X") Public Sub server_socket_close() sservermsg = "Connection closed: " & server_socket.remotehostip lststatus.additem (sservermsg) server_socket.close server_socket.listen me.cmdstop Private Sub server_socket_dataarrival(byval bytestotal As Long) Dim vtdata As String Dim vtdataarray() As Byte Dim cmd As String Dim swingup_controller As String Dim balance_controller As String Dim j As Integer Dim swingk(3) As Single Dim balk(3) As Single Dim tsingle As MySingle 108

8 Dim tbytes As MyBytes Dim tint As MyIntegers Dim tintbyte As MyIntBytes Dim Control As Integer Dim transmit As Integer Dim amplitude As Integer Dim duration As Integer server_socket.getdata vtdata, vbbyte vtdataarray = vtdata cmd = Chr(vtDataArray(0)) + Chr(vtDataArray(2)) Select Case cmd Case "ST" lststatus.additem ("Starting controller...") Me.cmdStart_Click Case "HA" lststatus.additem ("Stopping controller...") Me.cmdStop_Click Case "SE" lststatus.additem ("Setting Gains...") swingup_controller = Chr(vtDataArray(4)) balance_controller = Chr(vtDataArray(6)) Select Case swingup_controller Case "A" optsinusoidal.value = True Case "B" optnoncollocated.value = True Case "C" optcollocated.value = True Case Else End Select Select Case balance_controller Case "A" optpd.value = True Case "B" optpid.value = True Case "C" optstate.value = True Case "D" optlinear.value = True Case "E" optadaptation.value = True Case Else End Select For j = 0 To 3 tbytes.bf(0) = 1 * vtdataarray(16 * j + 8) + 16 * vtdataarray(16 * j + 10) tbytes.bf(1) = 1 * vtdataarray(16 * j + 12) + 16 * vtdataarray(16 * j + 14) tbytes.bf(2) = 1 * vtdataarray(16 * j + 16) + 16 * vtdataarray(16 * j + 18) tbytes.bf(3) = 1 * vtdataarray(16 * j + 20) + 16 * vtdataarray(16 * j + 22) LSet tsingle = tbytes swingk(j) = tsingle.f Next j For j = 4 To 7 tbytes.bf(0) = 1 * vtdataarray(16 * j + 8) + 16 * vtdataarray(16 * j + 10) tbytes.bf(1) = 1 * vtdataarray(16 * j + 12) + 16 * vtdataarray(16 * j + 14) tbytes.bf(2) = 1 * vtdataarray(16 * j + 16) + 16 * vtdataarray(16 * j + 18) tbytes.bf(3) = 1 * vtdataarray(16 * j + 20) + 16 * vtdataarray(16 * j + 22) LSet tsingle = tbytes 109

9 balk(j - 4) = tsingle.f Next j lststatus.additem (CStr(swingK(0)) + " " + CStr(swingK(1)) + " " + CStr(swingK(2)) + " " + CStr(swingK(3))) lststatus.additem (CStr(balK(0)) + " " + CStr(balK(1)) + " " + CStr(balK(2)) + " " + CStr(balK(3))) txtswingk1.text = swingk(0) txtswingk2.text = swingk(1) txtswingk3.text = swingk(2) txtswingk4.text = swingk(3) txtbalk1.text = balk(0) txtbalk2.text = balk(1) txtbalk3.text = balk(2) txtbalk4.text = balk(3) Me.cmdSetGains_Click Case "SA" lststatus.additem ("Saving Run Data...") Case "SP" Control = CInt(vtDataArray(4) * vtdataarray(6)) scrsample.value = Control lblsample.caption = Control Me.cmdSample_Click transmit = CInt(vtDataArray(8) * vtdataarray(10)) scrtimer.value = transmit lbltimer.caption = transmit timupdatedata.interval = transmit Case "PU" tintbyte.bf(0) = vtdataarray(4) + 16 * vtdataarray(6) tintbyte.bf(1) = vtdataarray(8) + 16 * vtdataarray(10) LSet tint = tintbyte amplitude = tint.i lststatus.additem (CStr(amplitude)) tintbyte.bf(0) = vtdataarray(12) + 16 * vtdataarray(14) tintbyte.bf(1) = vtdataarray(16) + 16 * vtdataarray(18) LSet tint = tintbyte duration = tint.i lststatus.additem (CStr(duration)) scramplitude.value = amplitude scrduration.value = duration Me.cmdPulse_Click Case Else lststatus.additem ("Data uninterpretable") tbytes.bf(0) = vtdataarray(0) tbytes.bf(1) = vtdataarray(1) tbytes.bf(2) = vtdataarray(2) tbytes.bf(3) = vtdataarray(3) LSet tsingle = tbytes lststatus.additem (CStr(tSingle.f)) End Select sservermsg = "Received: " + CStr(cmd) + " " + CStr(swingup_controller) + CStr(balance_controller) + " " + " from " + server_socket.remotehostip lststatus.additem (sservermsg) Timer function Private Sub timupdatedata_timer() Dim data(20) As Single Dim pi As Single pi = Dim reverse_float_array(3) As Byte Dim tsingle As MySingle 110

10 Dim tbytes As MyBytes Get data to display from the RTSS process errcode = SendCmdToRTSS_SendDataToVB(&H405, data(0)) MsgBox "Error sending command GetData, errcode = " & errcode Display data lblq1data.caption = data(0) * 180 / pi lblq1dotdata.caption = data(1) lblq2data.caption = data(2) * 180 / pi lblq2dotdata.caption = data(3) lbltaudata.caption = data(4) data(5) = link angle position error data(6) = disc velocity error If server_socket.state <> sckclosed Then Send link angle tsingle.f = CSng((data(0) * 180) / pi) LSet tbytes = tsingle reverse_float_array(0) = tbytes.bf(3) reverse_float_array(1) = tbytes.bf(2) reverse_float_array(2) = tbytes.bf(1) reverse_float_array(3) = tbytes.bf(0) On Error GoTo errorhandler server_socket.senddata reverse_float_array Send link velocity tsingle.f = CSng(data(1)) LSet tbytes = tsingle reverse_float_array(0) = tbytes.bf(3) reverse_float_array(1) = tbytes.bf(2) reverse_float_array(2) = tbytes.bf(1) reverse_float_array(3) = tbytes.bf(0) On Error GoTo errorhandler server_socket.senddata reverse_float_array Send disc angle tsingle.f = CSng(data(2)) LSet tbytes = tsingle reverse_float_array(0) = tbytes.bf(3) reverse_float_array(1) = tbytes.bf(2) reverse_float_array(2) = tbytes.bf(1) reverse_float_array(3) = tbytes.bf(0) On Error GoTo errorhandler server_socket.senddata reverse_float_array Send disc velocity tsingle.f = CSng(data(3)) LSet tbytes = tsingle reverse_float_array(0) = tbytes.bf(3) reverse_float_array(1) = tbytes.bf(2) reverse_float_array(2) = tbytes.bf(1) reverse_float_array(3) = tbytes.bf(0) On Error GoTo errorhandler server_socket.senddata reverse_float_array Send control effort tsingle.f = CSng(data(4)) LSet tbytes = tsingle reverse_float_array(0) = tbytes.bf(3) 111

11 reverse_float_array(1) = tbytes.bf(2) reverse_float_array(2) = tbytes.bf(1) reverse_float_array(3) = tbytes.bf(0) On Error GoTo errorhandler server_socket.senddata reverse_float_array Send link angle error tsingle.f = CSng(data(5)) LSet tbytes = tsingle reverse_float_array(0) = tbytes.bf(3) reverse_float_array(1) = tbytes.bf(2) reverse_float_array(2) = tbytes.bf(1) reverse_float_array(3) = tbytes.bf(0) On Error GoTo errorhandler server_socket.senddata reverse_float_array Send disc velocity error tsingle.f = CSng(data(6)) LSet tbytes = tsingle reverse_float_array(0) = tbytes.bf(3) reverse_float_array(1) = tbytes.bf(2) reverse_float_array(2) = tbytes.bf(1) reverse_float_array(3) = tbytes.bf(0) On Error GoTo errorhandler server_socket.senddata reverse_float_array Exit Sub errorhandler: lststatus.additem ("Error writing to socket!") lststatus.additem ("Stopping Experiment!") lststatus.additem ("Closing server_socket") Me.server_socket_Close Me.cmdStop_Click timupdatedata.enabled = False Private Sub optsinusoidal_click() txtswingk1.visible = True txtswingk2.visible = False txtswingk3.visible = False txtswingk4.visible = False lblswingk1.visible = True lblswingk2.visible = False lblswingk3.visible = False lblswingk4.visible = False Private Sub optnoncollocated_click() txtswingk1.visible = True txtswingk2.visible = True txtswingk3.visible = False txtswingk4.visible = False lblswingk1.visible = True lblswingk2.visible = True lblswingk3.visible = False lblswingk4.visible = False Private Sub optcollocated_click() txtswingk1.visible = True txtswingk2.visible = True txtswingk3.visible = False txtswingk4.visible = False 112

12 lblswingk1.visible = True lblswingk2.visible = True lblswingk3.visible = False lblswingk4.visible = False Private Sub optpd_click() txtbalk1.visible = True txtbalk2.visible = True txtbalk3.visible = False txtbalk4.visible = True lblbalk1.visible = True lblbalk2.visible = True lblbalk3.visible = False lblbalk4.visible = True lblbalk1.caption = "Kp" lblbalk2.caption = "Kd" lblbalk4.caption = "Kd2" Private Sub optpid_click() txtbalk1.visible = True txtbalk2.visible = True txtbalk3.visible = True txtbalk4.visible = False lblbalk1.visible = True lblbalk2.visible = True lblbalk3.visible = True lblbalk4.visible = False lblbalk1.caption = "Kp" lblbalk2.caption = "Kd" lblbalk3.caption = "Ki" Private Sub optstate_click() txtbalk1.visible = True txtbalk2.visible = True txtbalk3.visible = True txtbalk4.visible = True lblbalk1.visible = True lblbalk2.visible = True lblbalk3.visible = True lblbalk4.visible = True lblbalk1.caption = "K1" lblbalk2.caption = "K2" lblbalk3.caption = "K3" lblbalk4.caption = "K4" Private Sub optlinear_click() txtbalk1.visible = True txtbalk2.visible = True txtbalk3.visible = True txtbalk4.visible = True lblbalk1.visible = True lblbalk2.visible = True lblbalk3.visible = True lblbalk4.visible = True lblbalk1.caption = "K1" lblbalk2.caption = "K2" lblbalk3.caption = "K3" lblbalk4.caption = "K4" Private Sub optadaptation_click() txtbalk1.visible = True txtbalk2.visible = True txtbalk3.visible = True txtbalk4.visible = False lblbalk1.visible = True 113

13 lblbalk2.visible = True lblbalk3.visible = True lblbalk4.visible = False lblbalk1.caption = "Kp" lblbalk2.caption = "Kd" lblbalk3.caption = "Ki" 114

14 ############################################ # Visual Basic Module "mydatatypes.bas" Code # # Author: Adrian Lee, Henry Hahn # # Date: 3/30/00 # ############################################ Type MySingle f As Single End Type Type MyBytes bf(3) As Byte End Type Type MyInteger p As Integer End Type ############################################ # Visual Basic Module "myints.bas" Code # # Author: Adrian Lee, Henry Hahn # # Date: 3/30/00 # ############################################ Type MyIntegers i As Integer End Type Type MyIntBytes bf(1) As Byte End Type 115

15 ############################################ # Visual Basic Module "rtsscomm.bas" Code # # Author: Dan Block, Adrian Lee # # Date: 3/30/00 # ############################################ Option Explicit Global variables Public Const GWL_WNDPROC = -4 Global lpprevwndproc As Long Global ghw As Long Global gcommstarted As Integer Ignore unless using RTSS events Ignore unless using RTSS events Handle to VB window Flag indicating if RTSS proc. started Win32 API functions for message handling For more information, see "Passing Function Pointers to Dll Procedures and Type Libraries" - index entry function pointers in Books Online These Win32 API are used to setup a Message Que So the VB program can receive messages for the Mecha.dll DLL. Messages are sent from Mecha.dll when an event is sent from the RTSS process Declare Function CallWindowProc Lib "user32" Alias "CallWindowProcA" (ByVal lpprevwndfunction As Long, ByVal hwnd As Long, ByVal Msg As Long, ByVal wparam As Long, ByVal lparam As Long) _ As Long Declare Function SetWindowLong Lib "user32" Alias "SetWindowLongA" (ByVal hwnd As Long, ByVal nindex As Long, ByVal dwnewlong As Long) As Long Declarations for the function calls in Mecha.dll Public Declare Function RunUtility Lib "mecha" (ByVal lpcmd _ As String) As Long Public Declare Function InitRTSSCommunication Lib "mecha" (ByVal hwnd As Long, ByVal filename As String) As Long Public Declare Function DeleteRTSSCommunication Lib "mecha" () As Long Public Declare Function SendCmdToRTSS_Simple Lib "mecha" (ByVal Command As Long) As Long Public Declare Function SendCmdToRTSS_SendDataToVB Lib "mecha" (ByVal Command As Long, ByRef SentData As Single) As Long Public Declare Function SendCmdToRTSS_RecvDataFromVB Lib "mecha" (ByVal Command As Long, ByRef RecData As Single, _ ByVal buffer As String) As Long HOOK is used to setup Window Messaging in the VB program Public Sub Hook() Start using the message handler in this form lpprevwndproc = SetWindowLong(gHW, GWL_WNDPROC, AddressOf WindowProc) UNHOOK kills the Window Messaging Public Sub Unhook() Stop using this form s message handler Dim temp As Long temp = SetWindowLong(gHW, GWL_WNDPROC, lpprevwndproc) WindowProc is the function called in the event of a Message. You may need to modify this function if you are using events in your rtss process Function WindowProc(ByVal hw As Long, ByVal umsg As Long, ByVal wparam As Long, ByVal lparam _ As Long) As Long If this message is the Event message If umsg = &H420 Then Check which Event Command was sent You could add additional If statements here to check for other wparam values and perform the necessary task in response to the Message If wparam = 2 Then MsgBox "Error, Event occurred,wparam = 2" Else MsgBox "Error, Event occurred" 116

16 Pass the message to the main message loop WindowProc = CallWindowProc(lpPrevWndProc, hw, umsg, wparam, lparam) End Function 117