// AnimaticsUtilityDlg.cpp : implementation file
//

#include "stdafx.h"
#include "afxdialogex.h"
#include "resource.h"
#include "afxwin.h"
#include "..\..\..\Animatics\Animatics_Proto.h"
#include "ProcessButton.h"
#include "AnimaticsUtilityDlg.h"

extern SmartMotor_Proto* pSmartMotor_Proto;
// AnimaticsUtilityDlg dialog
CLogger* pAnimaticsLogger=NULL;

BOOL RepeTestAxisX,RepeTestAxisY,RepeTestAxisZ,bRepeTestDone;
double RepeTestRecordStartPos[3],RepeTestRecordEndPos[3],dRepeTestFromPos,dRepeTestToPos;
//It's for repeatability test.We can judge the motion is "from" or "to" by it;
int RepeTestCnt,iRepeTestInterval,iRepeTestTimes;
//It's for repeatability test.When it is true,test has begun;and When it is false,test has stopped;
bool RepeTestBeginFlag;

//====================================================
IMPLEMENT_DYNAMIC(AnimaticsUtilityDlg, CDialog)

  AnimaticsUtilityDlg::AnimaticsUtilityDlg(CWnd* pParent /*=NULL*/)
  : CDialog(AnimaticsUtilityDlg::IDD, pParent)
{

}

AnimaticsUtilityDlg::~AnimaticsUtilityDlg()
{
}

void AnimaticsUtilityDlg::DoDataExchange(CDataExchange* pDX)
{
  CDialog::DoDataExchange(pDX);

  DDX_Control(pDX, IDC_BUTTON_ANIMATICS_MOVE_X_LEFT,   MoveX_Left);
  DDX_Control(pDX, IDC_BUTTON_ANIMATICS_MOVE_X_RIGHT,   MoveX_Right);
  DDX_Control(pDX, IDC_BUTTON_ANIMATICS_MOVE_Y_BACK,   MoveY_Back);
  DDX_Control(pDX, IDC_BUTTON_ANIMATICS_MOVE_Y_FRONT,   MoveY_Front);
  DDX_Control(pDX, IDC_BUTTON_ANIMATICS_MOVE_Z_DOWN,   MoveZ_Down);
  DDX_Control(pDX, IDC_BUTTON_ANIMATICS_MOVE_Z_UP,   MoveZ_Up);
  //
  DDX_Control(pDX, IDC_EDIT_ANIMATICS_REPRETEST, RepeTestMsgOut);

  DDX_Text(pDX, IDC_EDIT_REPETEST_DIS_FROM,  RepeTestMoveFromDis);
  DDX_Text(pDX, IDC_EDIT_REPETEST_DIS_TO,  RepeTestMoveToDis);
  DDX_Text(pDX, IDC_EDIT_REPETEST_TIMES,  RepeTestTimes);
  DDX_Text(pDX, IDC_EDIT_REPETEST_INTERVAL,  RepeTestInterval);

  DDX_Text(pDX, IDC_EDIT_ANIMATICS_CMD,  SmartMotorSendCmd);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_CMD_RESPONSE,  SmartMotorGetResponse);


  //=====================X===================
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_SPEED_X1,   SpeedParameterX[0]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_ACCEL_X1,    AccelParameterX[0]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_DECEL_X1,  DecelParameterX[0]);

  DDX_Text(pDX, IDC_EDIT_ANIMATICS_SPEED_X2,   SpeedParameterX[1]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_ACCEL_X2,    AccelParameterX[1]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_DECEL_X2,  DecelParameterX[1]);

  DDX_Text(pDX, IDC_EDIT_ANIMATICS_SPEED_X3,   SpeedParameterX[2]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_ACCEL_X3,    AccelParameterX[2]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_DECEL_X3,  DecelParameterX[2]);

  DDX_Text(pDX, IDC_EDIT_ANIMATICS_SPEED_X4,   SpeedParameterX[3]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_ACCEL_X4,    AccelParameterX[3]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_DECEL_X4,  DecelParameterX[3]);

  DDX_Text(pDX, IDC_EDIT_ANIMATICS_SPEED_X5,   SpeedParameterX[4]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_ACCEL_X5,    AccelParameterX[4]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_DECEL_X5,  DecelParameterX[4]);

  DDX_Text(pDX, IDC_EDIT_X_SCALE_COEFFICIENT,  ScaleResolutionX);
  DDX_Text(pDX, IDC_EDIT_NEG_WORKLIMIT_X,  NegSoftLimitX);
  DDX_Text(pDX, IDC_EDIT_POS_WORKLIMIT_X,  PosSoftLimitX);

  DDX_Text(pDX, IDC_EDIT_ANIMATICS_MOVE_TO_X,  MoveToDisX);    
  //=====================Y===================
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_SPEED_Y1,   SpeedParameterY[0]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_ACCEL_Y1,    AccelParameterY[0]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_DECEL_Y1,  DecelParameterY[0]);

  DDX_Text(pDX, IDC_EDIT_ANIMATICS_SPEED_Y2,   SpeedParameterY[1]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_ACCEL_Y2,    AccelParameterY[1]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_DECEL_Y2,  DecelParameterY[1]);

  DDX_Text(pDX, IDC_EDIT_ANIMATICS_SPEED_Y3,   SpeedParameterY[2]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_ACCEL_Y3,    AccelParameterY[2]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_DECEL_Y3,  DecelParameterY[2]);

  DDX_Text(pDX, IDC_EDIT_ANIMATICS_SPEED_Y4,   SpeedParameterY[3]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_ACCEL_Y4,    AccelParameterY[3]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_DECEL_Y4,  DecelParameterY[3]);

  DDX_Text(pDX, IDC_EDIT_ANIMATICS_SPEED_Y5,   SpeedParameterY[4]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_ACCEL_Y5,    AccelParameterY[4]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_DECEL_Y5,  DecelParameterY[4]);

  DDX_Text(pDX, IDC_EDIT_Y_SCALE_COEFFICIENT,  ScaleResolutionY);
  DDX_Text(pDX, IDC_EDIT_NEG_WORKLIMIT_Y,  NegSoftLimitY);
  DDX_Text(pDX, IDC_EDIT_POS_WORKLIMIT_Y,  PosSoftLimitY);

  DDX_Text(pDX, IDC_EDIT_ANIMATICS_MOVE_TO_Y,  MoveToDisY);  
  //=====================Z===================
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_SPEED_Z1,   SpeedParameterZ[0]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_ACCEL_Z1,    AccelParameterZ[0]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_DECEL_Z1,  DecelParameterZ[0]);

  DDX_Text(pDX, IDC_EDIT_ANIMATICS_SPEED_Z2,   SpeedParameterZ[1]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_ACCEL_Z2,    AccelParameterZ[1]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_DECEL_Z2,  DecelParameterZ[1]);

  DDX_Text(pDX, IDC_EDIT_ANIMATICS_SPEED_Z3,   SpeedParameterZ[2]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_ACCEL_Z3,    AccelParameterZ[2]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_DECEL_Z3,  DecelParameterZ[2]);

  DDX_Text(pDX, IDC_EDIT_ANIMATICS_SPEED_Z4,   SpeedParameterZ[3]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_ACCEL_Z4,    AccelParameterZ[3]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_DECEL_Z4,  DecelParameterZ[3]);

  DDX_Text(pDX, IDC_EDIT_ANIMATICS_SPEED_Z5,   SpeedParameterZ[4]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_ACCEL_Z5,    AccelParameterZ[4]);
  DDX_Text(pDX, IDC_EDIT_ANIMATICS_DECEL_Z5,  DecelParameterZ[4]);

  DDX_Text(pDX, IDC_EDIT_Z_SCALE_COEFFICIENT,  ScaleResolutionZ);
  DDX_Text(pDX, IDC_EDIT_NEG_WORKLIMIT_Z,  NegSoftLimitZ);
  DDX_Text(pDX, IDC_EDIT_POS_WORKLIMIT_Z,  PosSoftLimitZ);

  DDX_Text(pDX, IDC_EDIT_ANIMATICS_MOVE_TO_Z,  MoveToDisZ);  
  //=============================================


}


BEGIN_MESSAGE_MAP(AnimaticsUtilityDlg, CDialog)
  ON_WM_TIMER()
  ON_BN_CLICKED(IDC_BUTTON_START_ANIMATICS_MACHINE, &AnimaticsUtilityDlg::OnBnClickedButtonStartAnimaticsMachine)
  ON_BN_CLICKED(IDC_BUTTON_STOP_ANIMATICS_MACHINE, &AnimaticsUtilityDlg::OnBnClickedButtonStopAnimaticsMachine)
  ON_BN_CLICKED(IDCANCEL, &AnimaticsUtilityDlg::OnBnClickedCancel)

  ON_EN_KILLFOCUS(IDC_EDIT_X_SCALE_COEFFICIENT, &AnimaticsUtilityDlg::OnEnKillfocusEditWorktable)
  ON_EN_KILLFOCUS(IDC_EDIT_NEG_WORKLIMIT_X, &AnimaticsUtilityDlg::OnEnKillfocusEditWorktable)
  ON_EN_KILLFOCUS(IDC_EDIT_POS_WORKLIMIT_X, &AnimaticsUtilityDlg::OnEnKillfocusEditWorktable)
  ON_EN_KILLFOCUS(IDC_EDIT_Y_SCALE_COEFFICIENT, &AnimaticsUtilityDlg::OnEnKillfocusEditWorktable)
  ON_EN_KILLFOCUS(IDC_EDIT_NEG_WORKLIMIT_Y, &AnimaticsUtilityDlg::OnEnKillfocusEditWorktable)
  ON_EN_KILLFOCUS(IDC_EDIT_POS_WORKLIMIT_Y, &AnimaticsUtilityDlg::OnEnKillfocusEditWorktable)  
  ON_EN_KILLFOCUS(IDC_EDIT_Z_SCALE_COEFFICIENT, &AnimaticsUtilityDlg::OnEnKillfocusEditWorktable)
  ON_EN_KILLFOCUS(IDC_EDIT_NEG_WORKLIMIT_Z, &AnimaticsUtilityDlg::OnEnKillfocusEditWorktable)
  ON_EN_KILLFOCUS(IDC_EDIT_POS_WORKLIMIT_Z, &AnimaticsUtilityDlg::OnEnKillfocusEditWorktable)

  ON_BN_CLICKED(IDC_BUTTON_ANIMATICS_MOVE_TO_XYZ, &AnimaticsUtilityDlg::OnBnClickedButtonAnimaticsMoveToXyz)
  ON_BN_CLICKED(IDC_BUTTON_POS_SET_ZERO, &AnimaticsUtilityDlg::OnBnClickedButtonPosSetZero)
  ON_BN_CLICKED(IDC_BUTTON_SAVE_CONFIG, &AnimaticsUtilityDlg::OnBnClickedButtonSaveConfig)
  ON_BN_CLICKED(IDC_BUTTON_READ_CONFIG, &AnimaticsUtilityDlg::OnBnClickedButtonReadConfig)
  ON_BN_CLICKED(IDC_RADIO_ANIMATICS_SPEED_GEAR_1, &AnimaticsUtilityDlg::OnBnClickedRadioAnimaticsSpeedGear1)
  ON_BN_CLICKED(IDC_RADIO_ANIMATICS_SPEED_GEAR_2, &AnimaticsUtilityDlg::OnBnClickedRadioAnimaticsSpeedGear2)
  ON_BN_CLICKED(IDC_RADIO_ANIMATICS_SPEED_GEAR_3, &AnimaticsUtilityDlg::OnBnClickedRadioAnimaticsSpeedGear3)
  ON_BN_CLICKED(IDC_RADIO_ANIMATICS_SPEED_GEAR_4, &AnimaticsUtilityDlg::OnBnClickedRadioAnimaticsSpeedGear4)
  ON_BN_CLICKED(IDC_BUTTON_ANIMATICS_MOVE_TO_X, &AnimaticsUtilityDlg::OnBnClickedButtonAnimaticsMoveToX)
  ON_BN_CLICKED(IDC_BUTTON_ANIMATICS_MOVE_TO_Y, &AnimaticsUtilityDlg::OnBnClickedButtonAnimaticsMoveToY)
  ON_BN_CLICKED(IDC_BUTTON_ANIMATICS_MOVE_TO_Z, &AnimaticsUtilityDlg::OnBnClickedButtonAnimaticsMoveToZ)
  ON_EN_KILLFOCUS(IDC_EDIT_ANIMATICS_CMD, &AnimaticsUtilityDlg::OnEnKillfocusEditAnimaticsCmd)
  ON_BN_CLICKED(IDC_BUTTON_BEGIN_REPE_TEST, &AnimaticsUtilityDlg::OnBnClickedButtonBeginRepeTest)
  ON_BN_CLICKED(IDC_BUTTON_SAVE_REPETEST, &AnimaticsUtilityDlg::OnBnClickedButtonSaveRepetest)
  ON_BN_CLICKED(IDC_BUTTON_ANIMATICS_HOME, &AnimaticsUtilityDlg::OnBnClickedButtonAnimaticsHome)
END_MESSAGE_MAP()


// AnimaticsUtilityDlg message handlers

BOOL AnimaticsUtilityDlg::OnInitDialog()
{
  CDialog::OnInitDialog();

  // Add "About..." menu item to system menu.

  // IDM_ABOUTBOX must be in the system command range.
  ASSERT((IDM_ABOUTBOX & 0xFFF0) == IDM_ABOUTBOX);
  ASSERT(IDM_ABOUTBOX < 0xF000);

  CMenu* pSysMenu = GetSystemMenu(FALSE);
  if (pSysMenu != NULL)
  {
    BOOL bNameValid;
    CString strAboutMenu;
    bNameValid = strAboutMenu.LoadString(IDS_ABOUTBOX);
    ASSERT(bNameValid);
    if (!strAboutMenu.IsEmpty())
    {
      pSysMenu->AppendMenu(MF_SEPARATOR);
      pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu);
    }
  }

  GetDlgItem(IDC_BUTTON_START_ANIMATICS_MACHINE)->EnableWindow(true);

  GetDlgItem(IDC_BUTTON_STOP_ANIMATICS_MACHINE)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_HOME)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_READ_CONFIG)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_SAVE_CONFIG)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_Z_UP)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_Z_DOWN)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_X_LEFT)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_X_RIGHT)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_Y_BACK)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_Y_FRONT)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_TO_X)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_TO_Y)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_TO_Z)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_TO_XYZ)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_BEGIN_REPE_TEST)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_SAVE_REPETEST)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_POS_SET_ZERO)->EnableWindow(false);
  //===============================================================
  ((CButton *)GetDlgItem(IDC_RADIO_ANIMATICS_SPEED_GEAR_2))->SetCheck(TRUE);
  ((CButton *)GetDlgItem(IDC_RADIO_ANIMATICS_CMD_X))->SetCheck(TRUE);
  ((CButton *)GetDlgItem(IDC_RADIO_MOVE_TO_ABSOLUTE))->SetCheck(TRUE);
  //===============================================================
  m_hRed=AfxGetApp()->LoadIcon(IDI_ICON_RED);
  m_hGreen=AfxGetApp()->LoadIcon(IDI_ICON_GREEN);
  m_hGray=AfxGetApp()->LoadIcon(IDI_ICON_GRAY);
  m_hWhite=AfxGetApp()->LoadIcon(IDI_ICON_WHITE);
  m_hBlack=AfxGetApp()->LoadIcon(IDI_ICON_BLACK);
  //===============================================================
  RepeTestAxisX=FALSE;
  RepeTestAxisY=FALSE;
  RepeTestAxisZ=FALSE;
  bRepeTestDone=TRUE;
  dRepeTestFromPos=0.0;
  dRepeTestToPos=0.0;
  iRepeTestInterval=0;
  iRepeTestTimes=0;
  RepeTestRecordStartPos[0]=0.0;
  RepeTestRecordStartPos[1]=0.0;
  RepeTestRecordStartPos[2]=0.0;
  RepeTestRecordEndPos[0]=0.0;
  RepeTestRecordEndPos[1]=0.0;
  RepeTestRecordEndPos[2]=0.0;
  RepeTestCnt=-1;
  RepeTestBeginFlag=false;
  //===============================================================
  MoveToDisX=_T("0.0");
  MoveToDisY=_T("0.0");
  MoveToDisZ=_T("0.0");

  RepeTestMoveFromDis=_T("0");
  RepeTestMoveToDis=_T("0");
  RepeTestTimes=_T("0");
  RepeTestInterval=_T("0");

  if (!pAnimaticsLogger)
  {
    pAnimaticsLogger = new CLogger(_T("\\SmartMotor_DebugLog.txt"));
  }
  //===============================================================
  return TRUE;  // return TRUE  unless you set the focus to a control
}

void AnimaticsUtilityDlg::OnBnClickedButtonStartAnimaticsMachine()
{
  if (pSmartMotor_Proto)
  {
    pSmartMotor_Proto->_start_machine();
  }

  GetDlgItem(IDC_BUTTON_START_ANIMATICS_MACHINE)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_HOME)->EnableWindow(true);
  GetDlgItem(IDC_BUTTON_STOP_ANIMATICS_MACHINE)->EnableWindow(true);
  GetDlgItem(IDC_BUTTON_READ_CONFIG)->EnableWindow(true);
  GetDlgItem(IDC_BUTTON_SAVE_CONFIG)->EnableWindow(true);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_Z_UP)->EnableWindow(true);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_Z_DOWN)->EnableWindow(true);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_X_LEFT)->EnableWindow(true);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_X_RIGHT)->EnableWindow(true);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_Y_BACK)->EnableWindow(true);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_Y_FRONT)->EnableWindow(true);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_TO_X)->EnableWindow(true);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_TO_Y)->EnableWindow(true);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_TO_Z)->EnableWindow(true);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_TO_XYZ)->EnableWindow(true);
  GetDlgItem(IDC_BUTTON_BEGIN_REPE_TEST)->EnableWindow(true);
  GetDlgItem(IDC_BUTTON_SAVE_REPETEST)->EnableWindow(true);
  GetDlgItem(IDC_BUTTON_POS_SET_ZERO)->EnableWindow(true);

  GetDlgItem(IDCANCEL)->EnableWindow(false);
  SetTimer(1,150,NULL);
  ShowParameterOnEdit();
  ShowWorktableEdit();
}

void AnimaticsUtilityDlg::OnBnClickedButtonAnimaticsHome()
{
 pSmartMotor_Proto->smartmotor_motion_Dcc_Home();
}


void AnimaticsUtilityDlg::OnBnClickedButtonStopAnimaticsMachine()
{
  KillTimer(1);
  KillTimer(3);
  pSmartMotor_Proto->_shutdown_machine();

  GetDlgItem(IDC_BUTTON_START_ANIMATICS_MACHINE)->EnableWindow(true);
  GetDlgItem(IDC_BUTTON_STOP_ANIMATICS_MACHINE)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_READ_CONFIG)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_SAVE_CONFIG)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_Z_UP)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_Z_DOWN)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_X_LEFT)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_X_RIGHT)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_Y_BACK)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_Y_FRONT)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_TO_X)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_TO_Y)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_TO_Z)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_ANIMATICS_MOVE_TO_XYZ)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_BEGIN_REPE_TEST)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_SAVE_REPETEST)->EnableWindow(false);
  GetDlgItem(IDC_BUTTON_POS_SET_ZERO)->EnableWindow(false);

  GetDlgItem(IDCANCEL)->EnableWindow(true);
}




void AnimaticsUtilityDlg::OnBnClickedCancel()
{
  if (pSmartMotor_Proto)
  {
    delete pSmartMotor_Proto;
    pSmartMotor_Proto=nullptr;
  }  
  if (pAnimaticsLogger)
  {
    delete pAnimaticsLogger;
    pAnimaticsLogger=nullptr;
  } 

  CDialog::OnCancel();
}
//===========================================================
void AnimaticsUtilityDlg::OnBnClickedButtonAnimaticsMoveToX()
{
  UpdateData(TRUE);
  USES_CONVERSION;		
  const char* cMove_to_X=T2A(MoveToDisX);

  pSmartMotor_Proto->g_machine.x._d_move_dis = atof(cMove_to_X);

  if (((CButton *)GetDlgItem(IDC_CHECK_ANIMATICS_REVERSE))->GetCheck())
  {
    pSmartMotor_Proto->g_machine.x._d_move_dis = -pSmartMotor_Proto->g_machine.x._d_move_dis;
  }
  if (((CButton *)GetDlgItem(IDC_RADIO_MOVE_TO_ABSOLUTE))->GetCheck())
  { 
    pSmartMotor_Proto->_send_cmd_SMARTMOTOR_MOVETOX_ABS(pSmartMotor_Proto->g_machine.x._d_move_dis);
  }
  else if (((CButton *)GetDlgItem(IDC_RADIO_MOVE_TO_RELATIVE))->GetCheck())
  {
    pSmartMotor_Proto->_send_cmd_SMARTMOTOR_MOVETOX_REL(pSmartMotor_Proto->g_machine.x._d_move_dis);
  }  
}

//===========================================================
void AnimaticsUtilityDlg::OnBnClickedButtonAnimaticsMoveToY()
{
  UpdateData(TRUE);
  USES_CONVERSION;
  const char* cMove_to_Y=T2A(MoveToDisY);

  pSmartMotor_Proto->g_machine.y._d_move_dis = atof(cMove_to_Y);

  if (((CButton *)GetDlgItem(IDC_CHECK_ANIMATICS_REVERSE))->GetCheck())
  {
    pSmartMotor_Proto->g_machine.y._d_move_dis = -pSmartMotor_Proto->g_machine.y._d_move_dis;
  }
  if (((CButton *)GetDlgItem(IDC_RADIO_MOVE_TO_ABSOLUTE))->GetCheck())
  { 
    pSmartMotor_Proto->_send_cmd_SMARTMOTOR_MOVETOY_ABS(pSmartMotor_Proto->g_machine.y._d_move_dis);
  }
  else if (((CButton *)GetDlgItem(IDC_RADIO_MOVE_TO_RELATIVE))->GetCheck())
  {
    pSmartMotor_Proto->_send_cmd_SMARTMOTOR_MOVETOY_REL(pSmartMotor_Proto->g_machine.y._d_move_dis);
  }  
}


//===========================================================
void AnimaticsUtilityDlg::OnBnClickedButtonAnimaticsMoveToZ()
{
  UpdateData(TRUE);
  USES_CONVERSION;
  const char* cMove_to_Z=T2A(MoveToDisZ);

  pSmartMotor_Proto->g_machine.z._d_move_dis = atof(cMove_to_Z);

  if (((CButton *)GetDlgItem(IDC_CHECK_ANIMATICS_REVERSE))->GetCheck())
  {
    pSmartMotor_Proto->g_machine.z._d_move_dis = -pSmartMotor_Proto->g_machine.z._d_move_dis;
  }
  if (((CButton *)GetDlgItem(IDC_RADIO_MOVE_TO_ABSOLUTE))->GetCheck())
  { 
    pSmartMotor_Proto->_send_cmd_SMARTMOTOR_MOVETOZ_ABS(pSmartMotor_Proto->g_machine.z._d_move_dis);
  }
  else if (((CButton *)GetDlgItem(IDC_RADIO_MOVE_TO_RELATIVE))->GetCheck())
  {
    pSmartMotor_Proto->_send_cmd_SMARTMOTOR_MOVETOZ_REL(pSmartMotor_Proto->g_machine.z._d_move_dis);
  }  
}
//===========================================================
void AnimaticsUtilityDlg::OnBnClickedButtonAnimaticsMoveToXyz()
{
  UpdateData(TRUE);
  USES_CONVERSION;

  const char* cMove_to_X=T2A(MoveToDisX);
  const char* cMove_to_Y=T2A(MoveToDisY);		
  const char* cMove_to_Z=T2A(MoveToDisZ);

  pSmartMotor_Proto->g_machine.x._d_move_dis = atof(cMove_to_X);
  pSmartMotor_Proto->g_machine.y._d_move_dis = atof(cMove_to_Y);
  pSmartMotor_Proto->g_machine.z._d_move_dis = atof(cMove_to_Z);

  if (((CButton *)GetDlgItem(IDC_CHECK_ANIMATICS_REVERSE))->GetCheck())
  {
    pSmartMotor_Proto->g_machine.x._d_move_dis = -pSmartMotor_Proto->g_machine.x._d_move_dis;
    pSmartMotor_Proto->g_machine.y._d_move_dis = -pSmartMotor_Proto->g_machine.y._d_move_dis;
    pSmartMotor_Proto->g_machine.z._d_move_dis = -pSmartMotor_Proto->g_machine.z._d_move_dis;
  }
  if (((CButton *)GetDlgItem(IDC_RADIO_MOVE_TO_ABSOLUTE))->GetCheck())
  { 
    pSmartMotor_Proto->smartmotor_motion_set_position_xyz(pSmartMotor_Proto->g_machine.x._d_move_dis, pSmartMotor_Proto->g_machine.y._d_move_dis, pSmartMotor_Proto->g_machine.z._d_move_dis ,false);
  }
  else if (((CButton *)GetDlgItem(IDC_RADIO_MOVE_TO_RELATIVE))->GetCheck())
  {
    pSmartMotor_Proto->smartmotor_motion_move_rel_dis_xyz(pSmartMotor_Proto->g_machine.x._d_move_dis, pSmartMotor_Proto->g_machine.y._d_move_dis, pSmartMotor_Proto->g_machine.z._d_move_dis ,false);
  }  

}


//===========================================================
void AnimaticsUtilityDlg::OnBnClickedButtonPosSetZero()
{
  double XPos(0.0),YPos(0.0),ZPos(0.0);
  pSmartMotor_Proto->smartmotor_motion_get_position_xyz(XPos,YPos,ZPos);
  pSmartMotor_Proto->g_machine.x._lSet_Zero_Pos=pSmartMotor_Proto->g_machine.x._l_cur_pos;
  pSmartMotor_Proto->g_machine.x._dSet_Zero_Pos=pSmartMotor_Proto->g_machine.x._d_cur_pos;
  pSmartMotor_Proto->g_machine.y._lSet_Zero_Pos=pSmartMotor_Proto->g_machine.y._l_cur_pos;
  pSmartMotor_Proto->g_machine.y._dSet_Zero_Pos=pSmartMotor_Proto->g_machine.y._d_cur_pos;
  pSmartMotor_Proto->g_machine.z._lSet_Zero_Pos=pSmartMotor_Proto->g_machine.z._l_cur_pos;
  pSmartMotor_Proto->g_machine.z._dSet_Zero_Pos=pSmartMotor_Proto->g_machine.z._d_cur_pos;
}

//===========================================================
void AnimaticsUtilityDlg::OnBnClickedButtonSaveConfig()
{
  ChangeParameterOnEdit();
  pSmartMotor_Proto->SaveSmartMotorConfig();

}

//===========================================================
void AnimaticsUtilityDlg::OnBnClickedButtonReadConfig()
{
  pSmartMotor_Proto->LoadSmartMotorConfig();
  ShowParameterOnEdit();
}

//===========================================================
void AnimaticsUtilityDlg::OnBnClickedRadioAnimaticsSpeedGear1()
{
  pSmartMotor_Proto->g_machine.x._Move_Speed_Gear=0;
  pSmartMotor_Proto->g_machine.y._Move_Speed_Gear=0;
  pSmartMotor_Proto->g_machine.z._Move_Speed_Gear=0;

}
//===========================================================
void AnimaticsUtilityDlg::OnBnClickedRadioAnimaticsSpeedGear2()
{
  pSmartMotor_Proto->g_machine.x._Move_Speed_Gear=1;
  pSmartMotor_Proto->g_machine.y._Move_Speed_Gear=1;
  pSmartMotor_Proto->g_machine.z._Move_Speed_Gear=1;
}

//===========================================================
void AnimaticsUtilityDlg::OnBnClickedRadioAnimaticsSpeedGear3()
{
  pSmartMotor_Proto->g_machine.x._Move_Speed_Gear=2;
  pSmartMotor_Proto->g_machine.y._Move_Speed_Gear=2;
  pSmartMotor_Proto->g_machine.z._Move_Speed_Gear=2;
}

//===========================================================
void AnimaticsUtilityDlg::OnBnClickedRadioAnimaticsSpeedGear4()
{
  pSmartMotor_Proto->g_machine.x._Move_Speed_Gear=3;
  pSmartMotor_Proto->g_machine.y._Move_Speed_Gear=3;
  pSmartMotor_Proto->g_machine.z._Move_Speed_Gear=3;
}



//===========================================================
void AnimaticsUtilityDlg::OnEnKillfocusEditAnimaticsCmd()
{
  UpdateData(TRUE);
  USES_CONVERSION;

  if (((CButton *)GetDlgItem(IDC_RADIO_ANIMATICS_CMD_X))->GetCheck())
  {
    pSmartMotor_Proto->_send_cmd_SMARTMOTOR_COMM_CMDX(SmartMotorSendCmd);
    pSmartMotor_Proto->_send_cmd_SMARTMOTOR_GET_COMM_RESPONSEX(SmartMotorGetResponse);
  }
  else if (((CButton *)GetDlgItem(IDC_RADIO_ANIMATICS_CMD_Y))->GetCheck())
  {
    pSmartMotor_Proto->_send_cmd_SMARTMOTOR_COMM_CMDY(SmartMotorSendCmd);
    pSmartMotor_Proto->_send_cmd_SMARTMOTOR_GET_COMM_RESPONSEY(SmartMotorGetResponse);
  } 
  else if (((CButton *)GetDlgItem(IDC_RADIO_ANIMATICS_CMD_Z))->GetCheck())
  {
    pSmartMotor_Proto->_send_cmd_SMARTMOTOR_COMM_CMDZ(SmartMotorSendCmd);
    pSmartMotor_Proto->_send_cmd_SMARTMOTOR_GET_COMM_RESPONSEZ(SmartMotorGetResponse);
  }
  UpdateData(FALSE);
}

//================================================================================================
void AnimaticsUtilityDlg::OnTimer(UINT_PTR nIDEvent)
{
  USES_CONVERSION;
  switch(nIDEvent)
  {
  case 1:
    {	
      if (pSmartMotor_Proto)
      {
        double XPos(0.0),YPos(0.0),ZPos(0.0);
        pSmartMotor_Proto->smartmotor_motion_get_position_xyz(XPos,YPos,ZPos);
        PosPulseX.Format(_T("%8ld"),(pSmartMotor_Proto->g_machine.x._l_cur_pos));
        PosPulseY.Format(_T("%8ld"),(pSmartMotor_Proto->g_machine.y._l_cur_pos));
        PosPulseZ.Format(_T("%8ld"),(pSmartMotor_Proto->g_machine.z._l_cur_pos));

        GetDlgItem(IDC_EDIT_X_POS)->SetWindowText(PosPulseX);
        GetDlgItem(IDC_EDIT_Y_POS)->SetWindowText(PosPulseY);
        GetDlgItem(IDC_EDIT_Z_POS)->SetWindowText(PosPulseZ);

        PosmmX.Format(_T("%8.4lf"),(pSmartMotor_Proto->g_machine.x._d_cur_pos));
        PosmmY.Format(_T("%8.4lf"),(pSmartMotor_Proto->g_machine.y._d_cur_pos));
        PosmmZ.Format(_T("%8.4lf"),(pSmartMotor_Proto->g_machine.z._d_cur_pos));

        GetDlgItem(IDC_EDIT_X_POS_MM)->SetWindowText(PosmmX);
        GetDlgItem(IDC_EDIT_Y_POS_MM)->SetWindowText(PosmmY);
        GetDlgItem(IDC_EDIT_Z_POS_MM)->SetWindowText(PosmmZ);

        PosmmChangedX.Format(_T("%8.4lf"),(pSmartMotor_Proto->g_machine.x._d_cur_pos-pSmartMotor_Proto->g_machine.x._dSet_Zero_Pos));
        PosmmChangedY.Format(_T("%8.4lf"),(pSmartMotor_Proto->g_machine.y._d_cur_pos-pSmartMotor_Proto->g_machine.y._dSet_Zero_Pos));
        PosmmChangedZ.Format(_T("%8.4lf"),(pSmartMotor_Proto->g_machine.z._d_cur_pos-pSmartMotor_Proto->g_machine.z._dSet_Zero_Pos));

        GetDlgItem(IDC_EDIT_X_POS_MM_CHANGE)->SetWindowText(PosmmChangedX); 
        GetDlgItem(IDC_EDIT_Y_POS_MM_CHANGE)->SetWindowText(PosmmChangedY); 
        GetDlgItem(IDC_EDIT_Z_POS_MM_CHANGE)->SetWindowText(PosmmChangedZ);
        //====================================================
        if (pSmartMotor_Proto->m_bHomingActive)
        {
          pSmartMotor_Proto->smartmotor_motion_get_home_status();
          pSmartMotor_Proto->smartmotor_motion_IS_Homed();
          if(pSmartMotor_Proto->g_machine.s_status._bXHomed)
          {
            ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_HOME_X))->SetIcon(m_hGreen);
          }
          else
          {
            ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_HOME_X))->SetIcon(m_hRed);
          }

          if(pSmartMotor_Proto->g_machine.s_status._bYHomed)
          {
            ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_HOME_Y))->SetIcon(m_hGreen);
          }
          else
          {
            ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_HOME_Y))->SetIcon(m_hRed);
          }
          if(pSmartMotor_Proto->g_machine.s_status._bZHomed)
          {
            ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_HOME_z))->SetIcon(m_hGreen);
          }
          else
          {
            ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_HOME_z))->SetIcon(m_hRed);
          }
        }
        
        //====================================================
        pSmartMotor_Proto->smartmotor_motion_get_motion_status();
        if (pSmartMotor_Proto->g_machine.s_status._bXMoving)
        {
          ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_MOVING_X))->SetIcon(m_hRed);
        }
        else
        {
          ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_MOVING_X))->SetIcon(m_hGreen);
        }
        //-----------------------------------------------------
        if (pSmartMotor_Proto->g_machine.s_status._bYMoving)
        {
          ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_MOVING_Y))->SetIcon(m_hRed);
        }
        else
        {
          ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_MOVING_Y))->SetIcon(m_hGreen);
        }
        //------------------------------------------------------
        if (pSmartMotor_Proto->g_machine.s_status._bZMoving)
        {
          ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_MOVING_Z))->SetIcon(m_hRed);
        }
        else
        {
          ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_MOVING_Z))->SetIcon(m_hGreen);
        } 
        //====================================================
        pSmartMotor_Proto->smartmotor_motion_get_status_word();
        //------------------------------------------------------
        ShowMotorStatusX();
        ShowMotorStatusY();
        ShowMotorStatusZ();
        //====================================================
        if(!bRepeTestDone)
        {          
          if (!pSmartMotor_Proto->g_machine.s_status._bXYZMoving)
          {
            pAnimaticsLogger->SendAndFlush(_T("[Move Done]bRepeTestDone=%d;  RepeTestBeginFlag=%d \r\n"),bRepeTestDone,RepeTestBeginFlag);
            if(RepeTestBeginFlag)
            {
              bRepeTestDone=TRUE;
              SetTimer(3,iRepeTestInterval,NULL);
            }
            else
            {
              bRepeTestDone=TRUE;
              MsgX=_T("");
              MsgY=_T("");
              MsgZ=_T("");
              ((CButton*)GetDlgItem(IDC_BUTTON_BEGIN_REPE_TEST))->SetWindowTextW(_T("Begin"));	
            }
          }
        }
      }
      break;
    }
  case 3:
    {	
      if (RepeTestBeginFlag)
      {
        bRepeTestDone=TRUE;
        SmartMotorRepeTest();
      } 
      else
      {
        bRepeTestDone=TRUE;
        MsgX=_T("");
        MsgY=_T("");
        MsgZ=_T("");
        ((CButton*)GetDlgItem(IDC_BUTTON_BEGIN_REPE_TEST))->SetWindowTextW(_T("Begin"));	
      }
      KillTimer(3);
      break;
    }
  }

  CDialog::OnTimer(nIDEvent);
}

//=====================================================================================
void AnimaticsUtilityDlg::OnBnClickedButtonBeginRepeTest()
{
  UpdateData(TRUE);
  USES_CONVERSION;
  const char* cTmp;
  cTmp=T2A(RepeTestMoveFromDis);
  dRepeTestFromPos = atof(cTmp);

  cTmp=T2A(RepeTestMoveToDis);
  dRepeTestToPos = atof(cTmp);

  cTmp=T2A(RepeTestTimes);
  iRepeTestTimes = atoi(cTmp);

  cTmp=T2A(RepeTestInterval);
  iRepeTestInterval = atoi(cTmp);

  if (RepeTestBeginFlag)
  {
    RepeTestBeginFlag=false;
    pSmartMotor_Proto->smartmotor_motion_stop_xyz();
    bRepeTestDone=FALSE;
    ((CButton*)GetDlgItem(IDC_BUTTON_BEGIN_REPE_TEST))->SetWindowTextW(_T("Begin"));		
  }
  else
  {
    RepeTestBeginFlag=true;    
    RepeTestCnt=-1;	
    MsgX=_T("");
    MsgY=_T("");
    MsgZ=_T("");
    GetDlgItem(IDC_EDIT_REPRETEST)->SetWindowTextW(MsgZ);
    RepeTestRecordStartPos[0]=0;
    RepeTestRecordStartPos[1]=0;
    RepeTestRecordStartPos[2]=0;
    RepeTestRecordEndPos[0]=0;
    RepeTestRecordEndPos[1]=0;
    RepeTestRecordEndPos[2]=0;
    pAnimaticsLogger->SendAndFlush(_T("[RepeTest] From: %f;To:%f; Times:%d; Interval:%d  \r\n"),dRepeTestFromPos,dRepeTestToPos,iRepeTestTimes,iRepeTestInterval);
    RepeTestAxisX = ((CButton *)GetDlgItem(IDC_CHECK_REPETESTX))->GetCheck();
    RepeTestAxisY = ((CButton *)GetDlgItem(IDC_CHECK_REPETESTY))->GetCheck();
    RepeTestAxisZ = ((CButton *)GetDlgItem(IDC_CHECK_REPETESTZ))->GetCheck();    
    bRepeTestDone=TRUE;
    SmartMotorRepeTest();   
    ((CButton*)GetDlgItem(IDC_BUTTON_BEGIN_REPE_TEST))->SetWindowTextW(_T("Stop"));		
  }
}
//=====================================================================================
BOOL AnimaticsUtilityDlg::SmartMotorRepeTest()
{
  UpdateData(TRUE);
  CString csTemp;
  if (RepeTestCnt<iRepeTestTimes*2)
  {
    if (bRepeTestDone)
    {      
      if (RepeTestCnt==-1)
      {
        if (RepeTestAxisX)
        {
          pSmartMotor_Proto->_send_cmd_SMARTMOTOR_MOVETOX_ABS(dRepeTestFromPos);
        } 
        if (RepeTestAxisY)
        {
          pSmartMotor_Proto->_send_cmd_SMARTMOTOR_MOVETOY_ABS(dRepeTestFromPos);
        } 
        if(RepeTestAxisZ)
        {
          pSmartMotor_Proto->_send_cmd_SMARTMOTOR_MOVETOZ_ABS(dRepeTestFromPos);
        }
      }
      else
      {
        if (RepeTestCnt%2 == 0)
        {
          if (RepeTestAxisX)
          {
            MsgX.Format(_T("[%2d] X: From: % .4f "),RepeTestCnt/2+1,pSmartMotor_Proto->g_machine.x._d_cur_pos);
            pSmartMotor_Proto->_send_cmd_SMARTMOTOR_MOVETOX_ABS(dRepeTestToPos);          
          } 
          if (RepeTestAxisY)
          {
            MsgY.Format(_T("[%2d] Y: From: % .4f "),RepeTestCnt/2+1,pSmartMotor_Proto->g_machine.y._d_cur_pos);
            pSmartMotor_Proto->_send_cmd_SMARTMOTOR_MOVETOY_ABS(dRepeTestToPos);
          } 
          if(RepeTestAxisZ)
          {
            MsgZ.Format(_T("[%2d] Z: From: % .4f "),RepeTestCnt/2+1,pSmartMotor_Proto->g_machine.z._d_cur_pos);
            pSmartMotor_Proto->_send_cmd_SMARTMOTOR_MOVETOZ_ABS(dRepeTestToPos);
          }

        } 
        else if(RepeTestCnt%2 == 1)
        {
          if (RepeTestAxisX)
          {
            csTemp.Format(_T("To: % 3.4f \r\n"),pSmartMotor_Proto->g_machine.x._d_cur_pos);
            MsgX+=csTemp;
            OutputWithScroll(MsgX,RepeTestMsgOut);
            pSmartMotor_Proto->_send_cmd_SMARTMOTOR_MOVETOX_ABS(dRepeTestFromPos);          
          } 
          if (RepeTestAxisY)
          {
            csTemp.Format(_T("To: % 3.4f \r\n"),pSmartMotor_Proto->g_machine.y._d_cur_pos);
            MsgY+=csTemp;
            OutputWithScroll(MsgY,RepeTestMsgOut);
            pSmartMotor_Proto->_send_cmd_SMARTMOTOR_MOVETOY_ABS(dRepeTestFromPos);
          } 
          if(RepeTestAxisZ)
          {
            csTemp.Format(_T("To: % 3.4f \r\n"),pSmartMotor_Proto->g_machine.z._d_cur_pos);
            MsgZ+=csTemp;
            OutputWithScroll(MsgZ,RepeTestMsgOut);
            pSmartMotor_Proto->_send_cmd_SMARTMOTOR_MOVETOZ_ABS(dRepeTestFromPos);
          }
        }
      }
      bRepeTestDone=false;			
      RepeTestCnt++;
    } 
  } 
  else
  {
    MsgX=_T("");
    MsgY=_T("");
    MsgZ=_T("");
    ((CButton*)GetDlgItem(IDC_BUTTON_BEGIN_REPE_TEST))->SetWindowTextW(_T("Begin"));		
  }
  return TRUE;
}

//=====================================================================================
void AnimaticsUtilityDlg::OnBnClickedButtonSaveRepetest()
{
  USES_CONVERSION;
  UpdateData(TRUE);

  CString FileName;
  CString PathName;
  FILE* m_pOutFile;

  FileName=_T("RepeTest.txt");
  CString szFilter=_T("TXT Files(*.txt)|*.txt|ALL Files(*.*)|*.*||");
  CFileDialog fdlg(FALSE,_T("INI"),FileName,OFN_HIDEREADONLY | OFN_OVERWRITEPROMPT,szFilter);

  if( fdlg.DoModal()==IDOK) 
  {
    const char* outBuff=NULL;
    PathName=fdlg.GetPathName();		
    _wfopen_s(&m_pOutFile, PathName, _T("wt"));
    if (!m_pOutFile)
    {
      MessageBox( _T("File name Error."), _T("Message"), MB_OK);
    };
    CString MsgOut;
    RepeTestMsgOut.GetWindowText(MsgOut);
    outBuff=T2A(MsgOut);
    fprintf(m_pOutFile,"%s", outBuff);
    fclose(m_pOutFile);
  }
  delete fdlg;
}
//=====================================================================================
//Print message on edit control
void AnimaticsUtilityDlg::OutputWithScroll(const CString &strNewText,CEdit &edtOutput)
{
  CString strOutput;
  edtOutput.GetWindowText(strOutput);
  strOutput += strNewText;
  //if ("/r/n" != strOutput.Right(2))
  //{
  //  strOutput += "/r/n";
  //}
  int iCount = strOutput.GetLength();
  edtOutput.SetRedraw(FALSE);
  edtOutput.SetWindowText(strOutput);
  int iLine = edtOutput.GetLineCount();
  edtOutput.LineScroll(iLine, 0);
  edtOutput.SetSel(iCount, iCount);
  edtOutput.SetRedraw(TRUE);

}
//================================================================
void AnimaticsUtilityDlg::ChangeParameterOnEdit()
{
  UpdateData(TRUE);
  USES_CONVERSION;
  const char* cSpeedX;
  const char* cSpeedY;
  const char* cSpeedZ;

  for(INT i=0;i<5;i++)
  {
    cSpeedX=T2A(SpeedParameterX[i]);
    pSmartMotor_Proto->g_machine.s_machine_config.x_axis._speed_[i]=atoi(cSpeedX);
    cSpeedX=T2A(AccelParameterX[i]);
    pSmartMotor_Proto->g_machine.s_machine_config.x_axis._accel_[i]=atoi(cSpeedX);
    cSpeedX=T2A(DecelParameterX[i]);
    pSmartMotor_Proto->g_machine.s_machine_config.x_axis._decel_[i]=atoi(cSpeedX);


    cSpeedY=T2A(SpeedParameterY[i]);
    pSmartMotor_Proto->g_machine.s_machine_config.y_axis._speed_[i]=atoi(cSpeedY);
    cSpeedY=T2A(AccelParameterY[i]);
    pSmartMotor_Proto->g_machine.s_machine_config.y_axis._accel_[i]=atoi(cSpeedY);
    cSpeedY=T2A(DecelParameterY[i]);
    pSmartMotor_Proto->g_machine.s_machine_config.y_axis._decel_[i]=atoi(cSpeedY);

    cSpeedZ=T2A(SpeedParameterZ[i]);
    pSmartMotor_Proto->g_machine.s_machine_config.z_axis._speed_[i]=atoi(cSpeedZ);
    cSpeedZ=T2A(AccelParameterZ[i]);
    pSmartMotor_Proto->g_machine.s_machine_config.z_axis._accel_[i]=atoi(cSpeedZ);
    cSpeedZ=T2A(DecelParameterZ[i]);
    pSmartMotor_Proto->g_machine.s_machine_config.z_axis._decel_[i]=atoi(cSpeedZ);

  }


}

//================================================================
void AnimaticsUtilityDlg::ShowParameterOnEdit()
{
  for(INT i=0;i<5;i++)
  {
    SpeedParameterX[i].Format(_T("%d"),(pSmartMotor_Proto->g_machine.s_machine_config.x_axis._speed_[i]));
    AccelParameterX[i].Format(_T("%d"),(pSmartMotor_Proto->g_machine.s_machine_config.x_axis._accel_[i]));
    DecelParameterX[i].Format(_T("%d"),(pSmartMotor_Proto->g_machine.s_machine_config.x_axis._decel_[i]));

    SpeedParameterY[i].Format(_T("%d"),(pSmartMotor_Proto->g_machine.s_machine_config.y_axis._speed_[i]));
    AccelParameterY[i].Format(_T("%d"),(pSmartMotor_Proto->g_machine.s_machine_config.y_axis._accel_[i]));
    DecelParameterY[i].Format(_T("%d"),(pSmartMotor_Proto->g_machine.s_machine_config.y_axis._decel_[i]));

    SpeedParameterZ[i].Format(_T("%d"),(pSmartMotor_Proto->g_machine.s_machine_config.z_axis._speed_[i]));
    AccelParameterZ[i].Format(_T("%d"),(pSmartMotor_Proto->g_machine.s_machine_config.z_axis._accel_[i]));
    DecelParameterZ[i].Format(_T("%d"),(pSmartMotor_Proto->g_machine.s_machine_config.z_axis._decel_[i]));

  }

  UpdateData(FALSE);
}

//========================================================
void AnimaticsUtilityDlg::OnEnKillfocusEditWorktable()
{
  UpdateData(TRUE);
  USES_CONVERSION;
  const char* cTmp;

  cTmp=T2A(ScaleResolutionX);
  pSmartMotor_Proto->g_machine.s_machine_config.x_axis._scale_resolution=atof(cTmp);
  cTmp=T2A(NegSoftLimitX);
  pSmartMotor_Proto->g_machine.s_machine_config.x_axis._neg_working_limit=atof(cTmp);
  cTmp=T2A(PosSoftLimitX);
  pSmartMotor_Proto->g_machine.s_machine_config.x_axis._pos_working_limit=atof(cTmp);

  cTmp=T2A(ScaleResolutionY);
  pSmartMotor_Proto->g_machine.s_machine_config.y_axis._scale_resolution=atof(cTmp);
  cTmp=T2A(NegSoftLimitY);
  pSmartMotor_Proto->g_machine.s_machine_config.y_axis._neg_working_limit=atof(cTmp);
  cTmp=T2A(PosSoftLimitY);
  pSmartMotor_Proto->g_machine.s_machine_config.y_axis._pos_working_limit=atof(cTmp);

  cTmp=T2A(ScaleResolutionZ);
  pSmartMotor_Proto->g_machine.s_machine_config.z_axis._scale_resolution=atof(cTmp);
  cTmp=T2A(NegSoftLimitZ);
  pSmartMotor_Proto->g_machine.s_machine_config.z_axis._neg_working_limit=atof(cTmp);
  cTmp=T2A(PosSoftLimitZ);
  pSmartMotor_Proto->g_machine.s_machine_config.z_axis._pos_working_limit=atof(cTmp);
}
//========================================================
void AnimaticsUtilityDlg::ShowWorktableEdit()
{

  ScaleResolutionX.Format(_T("%.4f"),pSmartMotor_Proto->g_machine.s_machine_config.x_axis._scale_resolution);
  NegSoftLimitX.Format(_T("%.4f"),pSmartMotor_Proto->g_machine.s_machine_config.x_axis._neg_working_limit);
  PosSoftLimitX.Format(_T("%.4f"),pSmartMotor_Proto->g_machine.s_machine_config.x_axis._pos_working_limit);

  ScaleResolutionY.Format(_T("%.4f"),pSmartMotor_Proto->g_machine.s_machine_config.y_axis._scale_resolution);
  NegSoftLimitY.Format(_T("%.4f"),pSmartMotor_Proto->g_machine.s_machine_config.y_axis._neg_working_limit);
  PosSoftLimitY.Format(_T("%.4f"),pSmartMotor_Proto->g_machine.s_machine_config.y_axis._pos_working_limit);

  ScaleResolutionZ.Format(_T("%.4f"),pSmartMotor_Proto->g_machine.s_machine_config.z_axis._scale_resolution);
  NegSoftLimitZ.Format(_T("%.4f"),pSmartMotor_Proto->g_machine.s_machine_config.z_axis._neg_working_limit);
  PosSoftLimitZ.Format(_T("%.4f"),pSmartMotor_Proto->g_machine.s_machine_config.z_axis._pos_working_limit);

  UpdateData(FALSE);
}

//===========================================================
void AnimaticsUtilityDlg::ShowMotorStatusX()
{
  //=====================status word==================================
  if (pSmartMotor_Proto->g_machine.x.s_machine_status.DriverRdy)
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_DRIVER_RDY_X))->SetIcon(m_hWhite);
  }
  else
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_DRIVER_RDY_X))->SetIcon(m_hBlack);
  }
  //------------------------------------------------------
  if (pSmartMotor_Proto->g_machine.x.s_machine_status.MotorOff)
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_MOTOR_OFF_X))->SetIcon(m_hWhite);
  }
  else
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_MOTOR_OFF_X))->SetIcon(m_hBlack);
  }        //------------------------------------------------------
  if (pSmartMotor_Proto->g_machine.x.s_machine_status.VoltageFault)
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_VOLFAULT_X))->SetIcon(m_hWhite);
  }
  else
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_VOLFAULT_X))->SetIcon(m_hBlack);
  }        //------------------------------------------------------
  if (pSmartMotor_Proto->g_machine.x.s_machine_status.PosErr)
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_POSERR_X))->SetIcon(m_hWhite);
  }
  else
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_POSERR_X))->SetIcon(m_hBlack);
  }        //------------------------------------------------------
  if (pSmartMotor_Proto->g_machine.x.s_machine_status.OverHeat)
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_OVERHEAT_X))->SetIcon(m_hWhite);
  }
  else
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_OVERHEAT_X))->SetIcon(m_hBlack);
  }        //------------------------------------------------------
  if (pSmartMotor_Proto->g_machine.x.s_machine_status.NegLimit)
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_NEGLIMIT_X))->SetIcon(m_hWhite);
  }
  else
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_NEGLIMIT_X))->SetIcon(m_hBlack);
  }        //------------------------------------------------------
  if (pSmartMotor_Proto->g_machine.x.s_machine_status.PosLimit)
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_POSLIMIT_X))->SetIcon(m_hWhite);
  }
  else
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_POSLIMIT_X))->SetIcon(m_hBlack);
  }
}

//===========================================================
void AnimaticsUtilityDlg::ShowMotorStatusY()
{
  //=====================status word==================================
  if (pSmartMotor_Proto->g_machine.y.s_machine_status.DriverRdy)
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_DRIVER_RDY_Y))->SetIcon(m_hWhite);
  }
  else
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_DRIVER_RDY_Y))->SetIcon(m_hBlack);
  }
  //------------------------------------------------------
  if (pSmartMotor_Proto->g_machine.y.s_machine_status.MotorOff)
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_MOTOR_OFF_Y))->SetIcon(m_hWhite);
  }
  else
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_MOTOR_OFF_Y))->SetIcon(m_hBlack);
  }        //------------------------------------------------------
  if (pSmartMotor_Proto->g_machine.y.s_machine_status.VoltageFault)
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_VOLFAULT_Y))->SetIcon(m_hWhite);
  }
  else
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_VOLFAULT_Y))->SetIcon(m_hBlack);
  }        //------------------------------------------------------
  if (pSmartMotor_Proto->g_machine.y.s_machine_status.PosErr)
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_POSERR_Y))->SetIcon(m_hWhite);
  }
  else
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_POSERR_Y))->SetIcon(m_hBlack);
  }        //------------------------------------------------------
  if (pSmartMotor_Proto->g_machine.y.s_machine_status.OverHeat)
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_OVERHEAT_Y))->SetIcon(m_hWhite);
  }
  else
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_OVERHEAT_Y))->SetIcon(m_hBlack);
  }        //------------------------------------------------------
  if (pSmartMotor_Proto->g_machine.y.s_machine_status.NegLimit)
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_NEGLIMIT_Y))->SetIcon(m_hWhite);
  }
  else
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_NEGLIMIT_Y))->SetIcon(m_hBlack);
  }        //------------------------------------------------------
  if (pSmartMotor_Proto->g_machine.y.s_machine_status.PosLimit)
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_POSLIMIT_Y))->SetIcon(m_hWhite);
  }
  else
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_POSLIMIT_Y))->SetIcon(m_hBlack);
  }
}

//===========================================================
void AnimaticsUtilityDlg::ShowMotorStatusZ()
{
  //=====================status word==================================
  if (pSmartMotor_Proto->g_machine.z.s_machine_status.DriverRdy)
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_DRIVER_RDY_Z))->SetIcon(m_hWhite);
  }
  else
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_DRIVER_RDY_Z))->SetIcon(m_hBlack);
  }
  //------------------------------------------------------
  if (pSmartMotor_Proto->g_machine.z.s_machine_status.MotorOff)
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_MOTOR_OFF_Z))->SetIcon(m_hWhite);
  }
  else
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_MOTOR_OFF_Z))->SetIcon(m_hBlack);
  }        //------------------------------------------------------
  if (pSmartMotor_Proto->g_machine.z.s_machine_status.VoltageFault)
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_VOLFAULT_Z))->SetIcon(m_hWhite);
  }
  else
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_VOLFAULT_Z))->SetIcon(m_hBlack);
  }        //------------------------------------------------------
  if (pSmartMotor_Proto->g_machine.z.s_machine_status.PosErr)
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_POSERR_Z))->SetIcon(m_hWhite);
  }
  else
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_POSERR_Z))->SetIcon(m_hBlack);
  }        //------------------------------------------------------
  if (pSmartMotor_Proto->g_machine.z.s_machine_status.OverHeat)
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_OVERHEAT_Z))->SetIcon(m_hWhite);
  }
  else
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_OVERHEAT_Z))->SetIcon(m_hBlack);
  }        //------------------------------------------------------
  if (pSmartMotor_Proto->g_machine.z.s_machine_status.NegLimit)
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_NEGLIMIT_Z))->SetIcon(m_hWhite);
  }
  else
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_NEGLIMIT_Z))->SetIcon(m_hBlack);
  }        //------------------------------------------------------
  if (pSmartMotor_Proto->g_machine.z.s_machine_status.PosLimit)
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_POSLIMIT_Z))->SetIcon(m_hWhite);
  }
  else
  {
    ((CButton*)GetDlgItem(IDC_BUTTON_STATUS_POSLIMIT_Z))->SetIcon(m_hBlack);
  }
}