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

1. 视图类，废话少说，看看带注释的源码
2. #include"stdafx.h"
3. #include"robot.h"
4. #include"Label.h"
6. #include"robotDoc.h"
7. #include"robotView.h"
9. #ifdef_DEBUG
10. #definenewDEBUG_NEW
11. #undefTHIS_FILE
12. staticcharTHIS_FILE[]=__FILE__;
13. #endif
15. /////////////////////////////////////////////////////////////////////////////
16. //CRobotView
18. IMPLEMENT_DYNCREATE(CRobotView,CFormView)
20. BEGIN_MESSAGE_MAP(CRobotView,CFormView)
21. //{{AFX_MSG_MAP(CRobotView)
22. ON_WM_CTLCOLOR()
23. ON_WM_TIMER()
24. //}}AFX_MSG_MAP
25. ON_MESSAGE(WM_COMMNOTIFY,OnCommNotify)
26. END_MESSAGE_MAP()
28. /////////////////////////////////////////////////////////////////////////////
29. //CRobotViewconstruction/destruction
31. CRobotView::CRobotView()
32. :CFormView(CRobotView::IDD)
33. {
34. //{{AFX_DATA_INIT(CRobotView)
35. //}}AFX_DATA_INIT
36. //TODO:addconstructioncodehere
37. m_ncomand1=10;
38. m_bflag=0;
39. m_nsudu=1;
40. m_ngzq=0;
41. m_nguanjie;
42. m_nfangxiang;
43. m_nmsg[0]=0;
44. m_njishu=0;
45. m_nmsg[1]=0;
46. m_nmsg[2]=0;
47. m_nmsg[3]=0;
48. m_nmsg[4]=0;
49. m_nsum=0;
50. m_ndelay=0;
51. nLength=0;
52. m_recflag=1;
53. m_failflag=1;
54. m_brush.CreateSolidBrush(RGB(40,98,122));//生成一绿色刷子
56. }
58. CRobotView::~CRobotView()
59. {
60. }
62. voidCRobotView::DoDataExchange(CDataExchange*pDX)
63. {
64. CFormView::DoDataExchange(pDX);
65. //{{AFX_DATA_MAP(CRobotView)
66. //DDX_Control(pDX,IDC_EDIT1,m_edit1);
67. DDX_Control(pDX,IDC_STATIC_LINK,m_link);
68. DDX_Control(pDX,IDC_STATIC_1,m_ml);
69. DDX_Control(pDX,IDC_STATIC_4,m_workpart);
70. DDX_Control(pDX,IDC_STATIC_COMMAND,m_command);
71. DDX_Control(pDX,IDC_STATIC_STATUS,m_static);
72. DDX_Control(pDX,IDC_STATIC_BUCHANG,m_buchangshu);
73. DDX_Control(pDX,IDC_STATIC_5,m_buchang);
74. DDX_Control(pDX,IDC_STATIC_3,m_sudu);
75. DDX_Control(pDX,IDC_STATIC_2,m_zhuangtai);
76. //}}AFX_DATA_MAP
77. }
79. BOOLCRobotView::PreCreateWindow(CREATESTRUCT&cs)
80. {
81. //TODO:ModifytheWindowclassorstylesherebymodifying
82. //theCREATESTRUCTcs
84. returnCFormView::PreCreateWindow(cs);
85. }
89. /////////////////////////////////////////////////////////////////////////////
90. //CRobotViewdiagnostics
92. #ifdef_DEBUG
93. voidCRobotView::AssertValid()const
94. {
95. CFormView::AssertValid();
96. }
98. voidCRobotView::Dump(CDumpContext&dc)const
99. {
100. CFormView::Dump(dc);
101. }
103. CRobotDoc*CRobotView::GetDocument()//non-debugversionisinline
104. {
105. ASSERT(m_pDocument->IsKindOf(RUNTIME_CLASS(CRobotDoc)));
106. return(CRobotDoc*)m_pDocument;
107. }
108. #endif//_DEBUG
110. /////////////////////////////////////////////////////////////////////////////
111. //CRobotViewmessagehandlers
113. voidCRobotView::OnDraw(CDC*pDC)
114. {
115. //TODO:Addyourspecializedcodehereand/orcallthebaseclass
116. SuduDisplay(m_nsudu);
117. GzqDisplay(m_ngzq);
118. }
120. voidCRobotView::OnInitialUpdate()
121. {
122. CFormView::OnInitialUpdate();
124. //TODO:Addyourspecializedcodehereand/orcallthebaseclass
125. m_link.SetLink(TRUE)
126. .SetTextColor(RGB(0,0,255))
127. .SetFontUnderline(TRUE)
128. .SetLinkCursor(AfxGetApp()->LoadCursor(IDC_ICON1));
129. m_command.SetFontSize(24)
130. .SetFontName("Terminal")
131. .SetTextColor(RGB(240,240,40));
132. m_static.SetFontSize(24)
133. .SetTextColor(RGB(240,240,40));
134. m_workpart.SetFontSize(24)
135. .SetFontBold(TRUE)
136. .SetTextColor(RGB(0,240,0));
137. m_buchangshu.SetFontSize(24)
138. .SetTextColor(RGB(240,240,40));
139. m_buchang.SetFontSize(24)
140. .SetFontBold(TRUE)
141. .SetTextColor(RGB(0,240,0));
142. m_sudu.SetFontSize(24)
143. .SetFontBold(TRUE)
144. .SetTextColor(RGB(0,240,0));
145. m_zhuangtai.SetFontSize(24)
146. .SetFontBold(TRUE)
147. .SetTextColor(RGB(0,240,0));
148. m_ml.SetFontSize(24)
149. .SetLinkCursor(AfxGetApp()->LoadCursor(IDC_ICON1))
150. .SetFontBold(TRUE)
151. .SetTextColor(RGB(0,240,0));
152. GetParentFrame()->RecalcLayout();
153. ResizeParentToFit();
154. }
156. LRESULTCRobotView::WindowProc(UINTmessage,WPARAMwParam,LPARAMlParam)
157. {
158. //TODO:Addyourspecializedcodehereand/orcallthebaseclass
159. if(message==(WM_USER+1002))
160. ProcessMessage(wParam,lParam);
161. elseif(message==(WM_USER+1003))
162. ProcessMyMessage();
163. returnCFormView::WindowProc(message,wParam,lParam);
164. }
165. voidCRobotView::ProcessMessage(WPARAMwParam,LPARAMlParam)
166. {
168. CRobotDoc*pDoc=GetDocument();
169. char*l[57]={"零","一","二",///012
170. "三","四","五","六","七","八","九","执行","各关节归零","大臂正转",///12
171. "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
172. "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
173. "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
174. "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
175. "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"};
176. CStringstrcomand;
177. CStringstrstatus;
178. m_recflag=1;
179. if(!pDoc->m_bConnected)
180. {
181. KillTimer(1);
182. MessageBox("请先打开串口");
183. return;
184. }
185. if(wParam==100)
186. {
187. KillTimer(1);
188. if(!m_failflag)
189. {
190. CWnd*pWnd=GetDlgItem(IDC_STATIC_5);
191. pWnd->SetWindowText("");
192. pWnd=GetDlgItem(IDC_STATIC_BUCHANG);
193. pWnd->SetWindowText("");
194. pWnd=GetDlgItem(IDC_STATIC_COMMAND);
195. pWnd->SetWindowText("请输入新的命令");
196. pWnd=GetDlgItem(IDC_STATIC_STATUS);
197. pWnd->SetWindowText("执行完毕");
198. m_ncomand1=0;
200. }
201. else
202. MessageBox("请检查连线是否正确或下位机是否打开","通信失败",MB_ICONWARNING);
203. }
204. elseif(wParam>=11&&wParam<=56)
205. {
206. m_bflag=0;
207. m_ncomand1=wParam;
208. strcomand=l[m_ncomand1];
209. CWnd*pWnd=GetDlgItem(IDC_STATIC_COMMAND);
210. pWnd->SetWindowText(strcomand);
211. pWnd=GetDlgItem(IDC_STATIC_STATUS);
212. pWnd->SetWindowText("");
213. pWnd=GetDlgItem(IDC_STATIC_5);
214. pWnd->SetWindowText("");
215. pWnd=GetDlgItem(IDC_STATIC_BUCHANG);
216. pWnd->SetWindowText("");
217. m_nsum=0;
218. m_njishu=0;
219. }
220. elseif(wParam>=0&&wParam<=9)
221. {
222. if(m_ncomand1>=12&&m_ncomand1<=21)
223. {
224. m_bflag=1;
225. m_nmsg[m_njishu]=wParam;
226. //pWnd=GetDlgItem(IDC_STATIC_COMMAND);
227. //pWnd->SetWindowText(strcomand);
228. CWnd*pWnd=GetDlgItem(IDC_STATIC_5);
229. pWnd->SetWindowText("步长:");
230. ++m_njishu;
231. if(m_njishu==1)
232. {
233. CStringm_stemp;
234. m_nsum=m_nmsg[0];
235. m_stemp.Format("%d",m_nsum);
236. pWnd=GetDlgItem(IDC_STATIC_BUCHANG);
237. pWnd->SetWindowText(m_stemp);
238. }
239. if(m_njishu==2)
240. {
241. CStringm_stemp;
242. m_nsum=m_nmsg[0]*10+m_nmsg[1];
243. m_stemp.Format("%d",m_nsum);
244. pWnd=GetDlgItem(IDC_STATIC_BUCHANG);
245. pWnd->SetWindowText(m_stemp);
246. }
247. if(m_njishu==3)
248. {
249. CStringm_stemp;
250. m_nsum=m_nmsg[0]*100+m_nmsg[1]*10+m_nmsg[2];
251. //m_nmsg[0]=0;
252. //m_nmsg[1]=0
253. //m_nmsg[2]=0;
254. //m_njishu=0;
255. m_stemp.Format("%d",m_nsum);
256. pWnd=GetDlgItem(IDC_STATIC_BUCHANG);
257. pWnd->SetWindowText(m_stemp);
258. }
259. if(m_njishu==4)
260. {
261. CStringm_stemp;
262. m_nsum=m_nmsg[0]*1000+m_nmsg[1]*100+m_nmsg[2]*10+m_nmsg[3];
263. m_stemp.Format("%d",m_nsum);
264. pWnd=GetDlgItem(IDC_STATIC_BUCHANG);
265. pWnd->SetWindowText(m_stemp);
266. }
267. if(m_njishu>4)
268. {
269. m_njishu=1;
270. m_nmsg[0]=m_nmsg[4];
271. CStringm_stemp;
272. m_nsum=m_nmsg[0];
273. m_stemp.Format("%d",m_nsum);
274. pWnd=GetDlgItem(IDC_STATIC_BUCHANG);
275. pWnd->SetWindowText(m_stemp);
276. m_nmsg[1]=0;
277. m_nmsg[2]=0;
278. m_nmsg[3]=0;
279. }
280. }
281. else
282. ;//MessageBox("清先输入运动步数命令");
283. }
284. elseif(wParam=10)
285. {SetTimer(1,500,NULL);
286. if(m_ncomand1>=11&&m_ncomand1<=56)
287. {
288. if(!m_bflag)
289. {
290. strstatus="正在执行命令,请稍后.....";
291. CWnd*pWnd=GetDlgItem(IDC_STATIC_STATUS);
292. pWnd->SetWindowText(strstatus);
293. Execute(m_ncomand1);
295. }
296. else//if(m_ncomand1>=12&&m_ncomand1<=21)
297. {
298. unsignedcharm_uhi,m_ulo;
299. m_nmsg[0]=0;
300. m_nmsg[1]=0;
301. m_nmsg[2]=0;
302. m_nmsg[3]=0;
303. m_njishu=0;
304. ///CWnd*pWnd=GetDlgItem(IDC_STATIC_STATUS);
305. ///pWnd->SetWindowText("正在执行命令,请稍后.....");
306. switch(m_ncomand1)
307. {
308. case(12):
309. m_nguanjie=01;
310. m_nfangxiang=00;
311. m_uhi=(unsignedchar)(m_nsum/256);
312. m_ulo=(unsignedchar)(m_nsum-m_uhi*256);
313. m_ndelay=(m_nsum+500)/m_nsudu;
314. Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
315. break;
316. case(13):
317. m_nguanjie=0x01;
318. m_nfangxiang=0xff;
319. m_uhi=(unsignedchar)(m_nsum/256);
320. m_ulo=(unsignedchar)(m_nsum-m_uhi*256);
321. m_ndelay=(m_nsum+500)/m_nsudu;
322. Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
323. break;
324. case(14):
325. m_nguanjie=0x02;
326. m_nfangxiang=0x00;
327. m_uhi=(unsignedchar)(m_nsum/256);
328. m_ulo=(unsignedchar)(m_nsum-m_uhi*256);
329. m_ndelay=(m_nsum)/(m_nsudu*3);
330. Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
331. break;
332. case(15):
333. m_nguanjie=0x02;
334. m_nfangxiang=0xff;
335. m_uhi=(unsignedchar)(m_nsum/256);
336. m_ulo=(unsignedchar)(m_nsum-m_uhi*256);
337. m_ndelay=(m_nsum)/(m_nsudu*3);
338. Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
339. break;
340. case(16):
341. m_nguanjie=0x04;
342. m_nfangxiang=0x00;
343. m_uhi=(unsignedchar)(m_nsum/256);
344. m_ulo=(unsignedchar)(m_nsum-m_uhi*256);
345. m_ndelay=(m_nsum+500)/m_nsudu;
346. Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
347. break;
348. case(17):
349. m_nguanjie=0x04;
350. m_nfangxiang=0xff;
351. m_uhi=(unsignedchar)(m_nsum/256);
352. m_ulo=(unsignedchar)(m_nsum-m_uhi*256);
353. m_ndelay=(m_nsum+500)/m_nsudu;
354. Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
355. break;
356. case(18):
357. m_nguanjie=0x05;
358. m_nfangxiang=0x00;
359. m_uhi=(unsignedchar)(m_nsum/256);
360. m_ulo=(unsignedchar)(m_nsum-m_uhi*256);
361. m_ndelay=(m_nsum+500)/m_nsudu;
362. Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
363. break;
364. case(19):
365. m_nguanjie=0x05;
366. m_nfangxiang=0xff;
367. m_uhi=(unsignedchar)(m_nsum/256);
368. m_ulo=(unsignedchar)(m_nsum-m_uhi*256);
369. m_ndelay=(m_nsum+500)/m_nsudu;
370. Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
371. break;
372. case(20):
373. m_nguanjie=0x03;
374. m_nfangxiang=0x00;
375. m_uhi=(unsignedchar)(m_nsum/256);
376. m_ulo=(unsignedchar)(m_nsum-m_uhi*256);
377. m_ndelay=(m_nsum+500)/(m_nsudu*2);
378. Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
379. break;
380. case(21):
381. m_nguanjie=0x03;
382. m_nfangxiang=0xff;
383. m_uhi=(unsignedchar)(m_nsum/256);
384. m_ulo=(unsignedchar)(m_nsum-m_uhi*256);
385. m_ndelay=(m_nsum+500)/(m_nsudu*2);
386. Execute_1(m_nguanjie,m_nfangxiang,m_uhi,m_ulo,m_ndelay);
387. break;
388. }
390. }
391. m_failflag=1;}
392. else
393. MessageBox("清先输入命令");
394. }
395. else
396. MessageBox("不能识别，请重新输入命令");
397. }
398. voidCRobotView::ProcessMyMessage()
399. {
400. CDC*PDc=GetDC();
401. m_failflag=0;
402. switch(m_ncomand1)
403. {
404. case(37):
405. {
406. m_nsudu++;
407. if(m_nsudu==6)
408. m_nsudu=1;
409. OnDraw(PDc);
410. }
411. break;
412. case(44):
413. {
414. m_nsudu--;
415. if(m_nsudu==0)
416. m_nsudu=5;
417. OnDraw(PDc);
418. }
419. break;
420. case(45):
421. {
422. m_ngzq++;
423. if(m_ngzq==8)
424. m_ngzq=0;
425. OnDraw(PDc);
426. }
427. break;
428. case(46):
429. {
430. m_ngzq--;
431. if(m_ngzq==-1)
432. m_ngzq=7;
433. OnDraw(PDc);
434. }
435. break;
436. }
437. CWnd*pWnd=GetDlgItem(IDC_STATIC_COMMAND);
438. pWnd->SetWindowText("请输入新的命令");
439. pWnd=GetDlgItem(IDC_STATIC_STATUS);
440. pWnd->SetWindowText("执行完毕");
441. m_ncomand1=0;
442. //}
443. //else
444. //MessageBox("请检查连线是否正确或下位机是否打开","通信失败",MB_ICONWARNING);
445. }
446. voidCRobotView::SuduDisplay(intn)
447. {
448. CWnd*pWnd=GetDlgItem(IDC_STATIC_SUDU);
449. CDC*pControlDC=pWnd->GetDC();
450. pWnd->Invalidate();
451. pWnd->UpdateWindow();
452. pControlDC->SelectStockObject(BLACK_BRUSH);
453. CBitmapmBit;
454. CDCMemDC;
455. MemDC.CreateCompatibleDC(NULL);
456. switch(n)
457. {
458. case0:
459. mBit.LoadBitmap(IDB_BMP10);
460. break;
461. case1:
462. mBit.LoadBitmap(IDB_BMP11);
463. break;
464. case2:
465. mBit.LoadBitmap(IDB_BMP12);
466. break;
467. case3:
468. mBit.LoadBitmap(IDB_BMP13);
469. break;
470. case4:
471. mBit.LoadBitmap(IDB_BMP14);
472. break;
473. case5:
474. mBit.LoadBitmap(IDB_BMP15);
475. break;
476. default:
477. //mBit.LoadBitmap(IDB_BMP0);
478. MessageBox("error");
479. }
480. CBitmap*pOldBit=MemDC.SelectObject(&mBit);
481. pControlDC->BitBlt(0,0,900,700,&MemDC,0,0,SRCCOPY);
482. MemDC.SelectObject(pOldBit);
483. }
484. voidCRobotView::GzqDisplay(intn)
485. {
486. CWnd*pWnd=GetDlgItem(IDC_STATIC_GONGZUOQU);
487. CDC*pControlDC=pWnd->GetDC();
488. pWnd->Invalidate();
489. pWnd->UpdateWindow();
490. pControlDC->SelectStockObject(BLACK_BRUSH);
491. CBitmapmBit;
492. CDCMemDC;
493. MemDC.CreateCompatibleDC(NULL);
494. switch(n)
495. {
496. case0:
497. mBit.LoadBitmap(IDB_BMP10);
498. break;
499. case1:
500. mBit.LoadBitmap(IDB_BMP11);
501. break;
502. case2:
503. mBit.LoadBitmap(IDB_BMP12);
504. break;
505. case3:
506. mBit.LoadBitmap(IDB_BMP13);
507. break;
508. case4:
509. mBit.LoadBitmap(IDB_BMP14);
510. break;
511. case5:
512. mBit.LoadBitmap(IDB_BMP15);
513. break;
514. case6:
515. mBit.LoadBitmap(IDB_BMP16);
516. break;
517. case7:
518. mBit.LoadBitmap(IDB_BMP17);
519. break;
520. default:
521. //mBit.LoadBitmap(IDB_BMP0);
522. MessageBox("error");
523. }
524. CBitmap*pOldBit=MemDC.SelectObject(&mBit);
525. pControlDC->BitBlt(0,0,900,700,&MemDC,0,0,SRCCOPY);
526. MemDC.SelectObject(pOldBit);
527. }
528. voidCRobotView::Execute(intn)
529. {
530. CRobotDoc*pDoc=GetDocument();
532. unsignedcharsend1;
534. switch(n)
535. {
536. case(11):
537. home();
538. break;
539. case(12):
540. {//大臂正传
541. unsignedcharsend[6]={0x53,0x01,0x00,0x00,0x07,0x18};
542. for(inti=0;i<=5;i++)
543. pDoc->WriteComm(&send[i],1);
544. Sleep(2000/m_nsudu);
545. break;
546. }
547. case(13):
548. {
549. unsignedcharsend[6]={0x53,0x01,0xff,0x00,0x07,0x18};
550. for(inti=0;i<=5;i++)
551. pDoc->WriteComm(&send[i],1);
552. //pDoc->ReadComm(&buf,1);
553. //if(nLength)
554. ////{
555. //str.Format("%d",buf);
556. //m_edit1.SetSel(-1,0);
557. //m_edit1.ReplaceSel(str);//向编辑视图中插入收到的字符
558. //}
559. //else
560. //MessageBox("fjdklfjsdklgjsdfkl");
561. Sleep(2000/m_nsudu);
562. break;
563. }
564. case(14)://xiaobizhengzhuan
565. {
566. unsignedcharsend[6]={0x53,0x02,0x00,0x00,0x0f,0xe3};
567. for(inti=0;i<=5;i++)
568. pDoc->WriteComm(&send[i],1);
569. Sleep(2000/m_nsudu);
570. break;
571. }
573. case(15)://小臂反转
574. {
575. unsignedcharsend[6]={0x53,0x02,0xff,0x00,0x0f,0xe3};
576. for(inti=0;i<=5;i++)
577. pDoc->WriteComm(&send[i],1);
578. Sleep(2000/m_nsudu);
579. break;
580. }
581. case(16)://手腕正转
582. {
583. unsignedcharsend[6]={0x53,0x04,0x00,0x00,0x00,0xff};
584. for(inti=0;i<=5;i++)
585. pDoc->WriteComm(&send[i],1);
586. Sleep(1000/m_nsudu);
587. break;
588. }
589. case(17)://shouwanfanzhuan
590. {
591. unsignedcharsend[6]={0x53,0x04,0xff,0x00,0x00,0xff};
592. for(inti=0;i<=5;i++)
593. pDoc->WriteComm(&send[i],1);
594. Sleep(1000/m_nsudu);
595. }
596. break;
597. case(18)://shouzhuazhangkai
598. {
599. unsignedcharsend[6]={0x53,0x05,0x00,0x00,0x00,0x43};
600. for(inti=0;i<=5;i++)
601. pDoc->WriteComm(&send[i],1);
602. Sleep(2000/m_nsudu);
603. }
604. break;
605. case(19):
606. {
607. unsignedcharsend[6]={0x53,0x05,0xff,0x00,0x00,0xf3};
608. for(inti=0;i<=5;i++)
609. pDoc->WriteComm(&send[i],1);
610. Sleep(2000/m_nsudu);
611. }
612. break;
613. case(20)://shangsheng
614. {
615. unsignedcharsend[6]={0x53,0x03,0x00,0x00,0x02,0xe3};
616. for(inti=0;i<=5;i++)
617. pDoc->WriteComm(&send[i],1);
618. Sleep(1000/m_nsudu);
619. }
620. break;
621. case(21):
622. {
623. unsignedcharsend[6]={0x53,0x03,0xff,0x00,0x02,0xe3};
624. for(inti=0;i<=5;i++)
625. pDoc->WriteComm(&send[i],1);
626. Sleep(1000/m_nsudu);
627. }
628. break;
629. /*case(22)://dabiyunxing
630. {
631. unsignedcharsend[3]={0x63,0x01,0x00};
632. for(inti=0;i<=2;i++)
633. pDoc->WriteComm(&send[i],1);
634. Sleep(2000);
635. }
636. break;
637. case(23):
638. {
639. unsignedcharsend[3]={0x63,0x01,0xff};
640. for(inti=0;i<=2;i++)
641. pDoc->WriteComm(&send[i],1);
642. Sleep(2000);
643. }
644. break;
645. case(24)://xiaobiyunxing
646. {
647. unsignedcharsend[3]={0x63,0x02,0x00};
648. for(inti=0;i<=2;i++)
649. pDoc->WriteComm(&send[i],1);
650. Sleep(2000);
651. }
652. break;
653. case(25):
654. {
655. unsignedcharsend[3]={0x63,0x02,0xff};
656. for(inti=0;i<=2;i++)
657. pDoc->WriteComm(&send[i],1);
658. Sleep(2000);
659. }
660. break;
661. case(26)://shouwanyunxing
662. {
663. unsignedcharsend[3]={0x63,0x04,0x00};
664. for(inti=0;i<=2;i++)
665. pDoc->WriteComm(&send[i],1);
666. Sleep(2000);
667. }
668. break;
669. case(27):
670. {
671. unsignedcharsend[3]={0x63,0x04,0xff};
672. for(inti=0;i<=2;i++)
673. pDoc->WriteComm(&send[i],1);
674. Sleep(2000);
675. }
676. break;
677. case(28)://shouzhuayunxing
678. {
679. unsignedcharsend[3]={0x63,0x05,0x00};
680. for(inti=0;i<=2;i++)
681. pDoc->WriteComm(&send[i],1);
682. Sleep(2000);
683. }
684. break;
685. case(29):
686. {
687. unsignedcharsend[3]={0x63,0x05,0xff};
688. for(inti=0;i<=2;i++)
689. pDoc->WriteComm(&send[i],1);
690. Sleep(2000);
691. }
692. break;
693. case(30)://shengjiangyunxing
694. {
695. unsignedcharsend[3]={0x63,0x03,0x00};
696. for(inti=0;i<=2;i++)
697. pDoc->WriteComm(&send[i],1);
698. Sleep(2000);
699. }
700. break;
701. case(31):
702. {
703. unsignedcharsend[3]={0x63,0x05,0xff};
704. for(inti=0;i<=2;i++)
705. pDoc->WriteComm(&send[i],1);
706. Sleep(2000);
707. }
708. break;
709. */
710. case(32)://dabiguiling
711. {
712. unsignedcharsend[2]={0xa3,0x01};
713. for(inti=0;i<=1;i++)
714. pDoc->WriteComm(&send[i],1);
715. Sleep(18000);
716. }
717. break;
718. case(33)://xiaobiguiling
719. {
720. unsignedcharsend[2]={0xa3,0x02};
721. for(inti=0;i<=1;i++)
722. pDoc->WriteComm(&send[i],1);
723. Sleep(15000);
724. }
725. break;
726. case(34)://shouwanguiling
727. {
728. unsignedcharsend[2]={0xa3,0x04};
729. for(inti=0;i<=1;i++)
730. pDoc->WriteComm(&send[i],1);
731. Sleep(6000);
732. }
733. break;
734. case(35)://shouzhuaguiling
735. {
736. unsignedcharsend[2]={0xa3,0x05};
737. for(inti=0;i<=1;i++)
738. pDoc->WriteComm(&send[i],1);
739. Sleep(6000);
740. }
741. break;
742. case(36)://shengjiangguiling
743. {
744. unsignedcharsend[2]={0xa3,0x03};
745. for(inti=0;i<=1;i++)
746. pDoc->WriteComm(&send[i],1);
747. Sleep(10000);
748. }
749. break;
750. case(37)://sudujia
751. {
752. send1=0xb3;
753. pDoc->WriteComm(&send1,1);
754. }
755. Sleep(1000);
756. break;
757. case(38)://yuandianjiyi
758. send1=0x73;
759. pDoc->WriteComm(&send1,1);
760. break;
761. case(39):
762. send1=0xc3;
763. pDoc->WriteComm(&send1,1);
764. break;
765. case(40):
766. send1=0xf6;
767. pDoc->WriteComm(&send1,1);
768. break;
769. case(41):
770. send1=0x83;
771. pDoc->WriteComm(&send1,1);
772. break;
773. case(42):
774. send1=0x93;
775. pDoc->WriteComm(&send1,1);
776. break;
777. case(43):
778. //{
779. //unsignedcharsend[2]={0x86,0x03};
780. //for(inti=0;i<=1;i++)
781. //pDoc->WriteComm(&send[i],1);
782. //Sleep(4000);
783. //}
784. send1=0x86;
785. pDoc->WriteComm(&send1,1);
786. break;
787. case(44)://sudujian
788. {
789. send1=0xe3;
790. pDoc->WriteComm(&send1,1);
791. }
792. break;
793. case(45):
794. {
795. send1=0x12;
796. pDoc->WriteComm(&send1,1);
797. }
798. break;
799. case(46):
800. {
801. send1=0x22;
802. pDoc->WriteComm(&send1,1);
803. }
804. break;
805. case(47)://danbuzaixian
806. send1=0x13;
807. pDoc->WriteComm(&send1,1);
808. Sleep(4000);
809. break;
810. case(48)://zhouqizaixian
811. send1=0x23;
812. pDoc->WriteComm(&send1,1);
813. Sleep(8000);
814. break;
815. case(49)://lianxuzaixian
816. send1=0x33;
817. pDoc->WriteComm(&send1,1);
818. break;
819. case(50):
820. //send1=0x32;
821. //pDoc->WriteComm(&send1,1);
822. break;
823. case(51):
824. break;
825. case(52):
826. send1=0x43;
827. pDoc->WriteComm(&send1,1);
828. break;
829. case(53):
830. break;
831. case(54):
832. pDoc->OnSetupcomm();
833. break;
834. case(55):
835. pDoc->OnOpencomm();
836. break;
837. default:
838. pDoc->OnClosecomm();
839. break;
840. }
842. }
843. //voidCRobotView::OnButton3()
844. //{
845. //TODO:Addyourcontrolnotificationhandlercodehere
846. //SendMessage(WM_USER+1002,10,0);
847. //}
848. voidCRobotView::Execute_1(unsignedchara,unsignedcharb,unsignedcharc,unsignedchard,inte)
849. {
850. CRobotDoc*pDoc=GetDocument();
851. unsignedcharsend[6]={0x53,a,b,0x00,c,d};
852. for(inti=0;i<=5;i++)
853. pDoc->WriteComm(&send[i],1);
854. Sleep(m_ndelay);
855. }
858. HBRUSHCRobotView::OnCtlColor(CDC*pDC,CWnd*pWnd,UINTnCtlColor)
859. {
860. HBRUSHhbr=CFormView::OnCtlColor(pDC,pWnd,nCtlColor);
862. //TODO:ChangeanyattributesoftheDChere
863. switch(nCtlColor)
864. {
865. caseCTLCOLOR_DLG:
866. {
867. //pDC->SetBkMode(TRANSPARENT);
868. returnm_brush;//返加绿色刷子
869. }
870. caseCTLCOLOR_STATIC:
871. {
872. //返加绿色刷子
873. //pDC->SetBkMode(TRANSPARENT);
874. returnm_brush;
875. }
876. }
877. //TODO:Returnadifferentbrushifthedefaultisnotdesired
878. returnhbr;
879. }
880. voidCRobotView::home()
881. {
882. SendMessage(WM_USER+1002,32,0);
883. SendMessage(WM_USER+1002,10,0);
884. Sleep(1000);
885. SendMessage(WM_USER+1002,33,0);
886. SendMessage(WM_USER+1002,10,0);
887. Sleep(1000);
889. SendMessage(WM_USER+1002,34,0);
890. SendMessage(WM_USER+1002,10,0);
891. Sleep(1000);
892. SendMessage(WM_USER+1002,35,0);
893. SendMessage(WM_USER+1002,10,0);
894. Sleep(1000);
895. SendMessage(WM_USER+1002,36,0);
896. SendMessage(WM_USER+1002,10,0);
897. Sleep(1000);
898. }
899. LRESULTCRobotView::OnCommNotify(WPARAMwParam,LPARAMlParam)
900. {
901. unsignedcharbuf;
902. CWnd*pWnd=GetDlgItem(IDC_STATIC_COMMAND);
903. CStringstr1,str2;
904. CRobotDoc*pDoc=GetDocument();
905. m_recflag=0;
906. if(!pDoc->m_bConnected||
907. (wParam&EV_RXCHAR)!=EV_RXCHAR)//是否是EV_RXCHAR事件?
908. {
909. SetEvent(pDoc->m_hPostMsgEvent);//允许发送下一个WM_COMMNOTIFY消息
910. return0L;
911. }
912. nLength=pDoc->ReadComm(&buf,1);
913. if(nLength)
914. {
915. //str1.Format("%d",buf);
916. //m_edit1.SetSel(-1,0);
917. //m_edit1.ReplaceSel(str1);//向编辑视图中插入收到的字符
918. str2="正在执行命令,请稍后.....";
919. pWnd->SetWindowText(str2);
920. SendMessage(WM_USER+1003);
921. }
922. SetEvent(pDoc->m_hPostMsgEvent);//允许发送下一个WM_COMMNOTIFY消息
923. return0L;
924. }
926. voidCRobotView::OnTimer(UINTnIDEvent)
927. {
928. //TODO:Addyourmessagehandlercodehereand/orcalldefault
929. SendMessage(WM_USER+1002,100);
931. CFormView::OnTimer(nIDEvent);
932. }

文档类

1. #include"stdafx.h"
2. #include"robot.h"
3. #include"SetupDlg.h"
4. #include"robotDoc.h"
5. #ifdef_DEBUG
6. #definenewDEBUG_NEW
7. #undefTHIS_FILE
8. staticcharTHIS_FILE[]=__FILE__;
9. #endif
11. /////////////////////////////////////////////////////////////////////////////
12. //CRobotDoc
14. IMPLEMENT_DYNCREATE(CRobotDoc,CDocument)
16. BEGIN_MESSAGE_MAP(CRobotDoc,CDocument)
17. //{{AFX_MSG_MAP(CRobotDoc)
18. ON_COMMAND(ID_SETUPCOMM,OnSetupcomm)
19. ON_COMMAND(ID_CLOSECOMM,OnClosecomm)
20. ON_COMMAND(ID_OPENCOMM,OnOpencomm)
21. ON_UPDATE_COMMAND_UI(ID_OPENCOMM,OnUpdateOpencomm)
22. ON_UPDATE_COMMAND_UI(ID_CLOSECOMM,OnUpdateClosecomm)
23. ON_COMMAND(ID_ANJIANCTRL,OnAnjianctrl)
24. ON_UPDATE_COMMAND_UI(ID_ANJIANCTRL,OnUpdateAnjianctrl)
25. ON_COMMAND(ID_VOICECTRL,OnVoicectrl)
26. ON_UPDATE_COMMAND_UI(ID_VOICECTRL,OnUpdateVoicectrl)
27. ON_COMMAND(ID_HELP,OnHelp)
28. //}}AFX_MSG_MAP
29. END_MESSAGE_MAP()
31. /////////////////////////////////////////////////////////////////////////////
32. //CRobotDocconstruction/destruction
34. CRobotDoc::CRobotDoc()
35. {
36. //TODO:addone-timeconstructioncodehere
37. m_bConnected=FALSE;
38. m_pThread=NULL;
39. m_nBaud=244;
40. m_nDataBits=8;
41. m_nParity=1;
42. m_sPort="COM1";
43. m_nStopBits=0;
44. m_bctrlmodal=FALSE;
45. m_uCurrentBtn=ID_CLOSECOMM;
46. }
48. CRobotDoc::~CRobotDoc()
49. {
50. if(m_bConnected)
51. CloseConnection();
52. //删除事件句柄
53. if(m_hPostMsgEvent)
54. CloseHandle(m_hPostMsgEvent);
55. if(m_osRead.hEvent)
56. CloseHandle(m_osRead.hEvent);
57. if(m_osWrite.hEvent)
58. CloseHandle(m_osWrite.hEvent);
59. }
61. BOOLCRobotDoc::OnNewDocument()
62. {
63. if(!CDocument::OnNewDocument())
64. returnFALSE;
66. //TODO:addreinitializationcodehere
67. //(SDIdocumentswillreusethisdocument)
68. //为WM_COMMNOTIFY消息创建事件对象，手工重置，初始化为有信号的
69. if((m_hPostMsgEvent=CreateEvent(NULL,TRUE,TRUE,NULL))==NULL)
70. returnFALSE;
71. memset(&m_osRead,0,sizeof(OVERLAPPED));
72. memset(&m_osWrite,0,sizeof(OVERLAPPED));
73. //为重叠读创建事件对象，手工重置，初始化为无信号的
74. if((m_osRead.hEvent=CreateEvent(NULL,TRUE,FALSE,NULL))==NULL)
75. returnFALSE;
76. //为重叠写创建事件对象，手工重置，初始化为无信号的
77. if((m_osWrite.hEvent=CreateEvent(NULL,TRUE,FALSE,NULL))==NULL)
78. returnFALSE;
79. returnTRUE;
80. }
84. /////////////////////////////////////////////////////////////////////////////
85. //CRobotDocserialization
87. voidCRobotDoc::Serialize(CArchive&ar)
88. {
89. if(ar.IsStoring())
90. {
91. //TODO:addstoringcodehere
92. }
93. else
94. {
95. //TODO:addloadingcodehere
96. }
97. }
99. /////////////////////////////////////////////////////////////////////////////
100. //CRobotDocdiagnostics
102. #ifdef_DEBUG
103. voidCRobotDoc::AssertValid()const
104. {
105. CDocument::AssertValid();
106. }
108. voidCRobotDoc::Dump(CDumpContext&dc)const
109. {
110. CDocument::Dump(dc);
111. }
112. #endif//_DEBUG
114. /////////////////////////////////////////////////////////////////////////////
115. //CRobotDoccommands
117. voidCRobotDoc::OnSetupcomm()
118. {
119. //TODO:Addyourcommandhandlercodehere
120. CSetupDlgdlg;
121. CStringstr;
122. dlg.m_bConnected=m_bConnected;
123. dlg.m_sPort=m_sPort;
124. str.Format("%d",m_nBaud);
125. dlg.m_sBaud=str;
126. str.Format("%d",m_nDataBits);
127. dlg.m_sDataBits=str;
128. dlg.m_nParity=m_nParity;
129. dlg.m_nStopBits=m_nStopBits;
130. //dlg.m_nFlowCtrl=m_nFlowCtrl;
131. //dlg.m_bEcho=m_bEcho;
132. //dlg.m_bNewLine=m_bNewLine;
133. if(dlg.DoModal()==IDOK)
134. {
135. m_sPort=dlg.m_sPort;
136. m_nBaud=atoi(dlg.m_sBaud);
137. m_nDataBits=atoi(dlg.m_sDataBits);
138. m_nParity=dlg.m_nParity;
139. m_nStopBits=dlg.m_nStopBits;
140. //m_nFlowCtrl=dlg.m_nFlowCtrl;
141. //m_bEcho=dlg.m_bEcho;
142. //m_bNewLine=dlg.m_bNewLine;
143. if(m_bConnected)
144. if(!ConfigConnection())
145. AfxMessageBox("Can'trealizethesettings!");
146. }
147. }
149. voidCRobotDoc::OnClosecomm()
150. {
151. //TODO:Addyourcommandhandlercodehere
152. m_uCurrentBtn=ID_CLOSECOMM;
153. CloseConnection();
154. }
156. voidCRobotDoc::OnOpencomm()
157. {
158. //TODO:Addyourcommandhandlercodehere
159. m_uCurrentBtn=ID_OPENCOMM;
160. if(!OpenConnection())
161. AfxMessageBox("Can'topenconnection");
162. }
164. voidCRobotDoc::OnUpdateOpencomm(CCmdUI*pCmdUI)
165. {
166. //TODO:AddyourcommandupdateUIhandlercodehere
167. //pCmdUI->Enable(!m_bConnected);
168. pCmdUI->SetRadio(pCmdUI->m_nID==m_uCurrentBtn);
169. }
171. voidCRobotDoc::OnUpdateClosecomm(CCmdUI*pCmdUI)
172. {
173. //TODO:AddyourcommandupdateUIhandlercodehere
174. //pCmdUI->Enable(m_bConnected);
175. pCmdUI->SetRadio(pCmdUI->m_nID==m_uCurrentBtn);
176. }
178. voidCRobotDoc::OnAnjianctrl()
179. {
180. //TODO:Addyourcommandhandlercodehere
182. }
184. voidCRobotDoc::OnUpdateAnjianctrl(CCmdUI*pCmdUI)
185. {
186. //TODO:AddyourcommandupdateUIhandlercodehere
188. }
190. voidCRobotDoc::OnVoicectrl()
191. {
192. //TODO:Addyourcommandhandlercodehere
193. //WinExec(NULL,NULL,_T("dutty.exe"),NULL,_T("D://ProgramFiles//Dutty//Dutty.exe"),NULL);
194. WinExec(_T("D://ProgramFiles//Dutty//Dutty.exe"),SW_SHOW);
195. m_bctrlmodal=TRUE;
196. //STARTUPINFOstinfo;//启动窗口的信息
197. //PROCESSINFOprocinfo;//进程的信息
198. //CreateProcess(NULL,_T("dutty.exe"),NULL,NULL.FALSE,NORMAL_PRIORITY_CLASS,NULL,NULL,&stinfo,&procinfo);
199. }
201. voidCRobotDoc::OnUpdateVoicectrl(CCmdUI*pCmdUI)
202. {
203. //TODO:AddyourcommandupdateUIhandlercodehere
204. pCmdUI->Enable(!m_bctrlmodal);
205. }
206. UINTCommProc(LPVOIDpParam)
207. {
208. OVERLAPPEDos;
209. DWORDdwMask,dwTrans;
210. COMSTATComStat;
211. DWORDdwErrorFlags;
212. CRobotDoc*pDoc=(CRobotDoc*)pParam;
213. memset(&os,0,sizeof(OVERLAPPED));
214. os.hEvent=CreateEvent(NULL,TRUE,FALSE,NULL);
215. if(os.hEvent==NULL)
216. {
217. AfxMessageBox("Can'tcreateeventobject!");
218. return(UINT)-1;
219. }
220. while(pDoc->m_bConnected)
221. {
222. ClearCommError(pDoc->m_hCom,&dwErrorFlags,&ComStat);
223. if(ComStat.cbInQue)//查询输入缓冲区中是否有字符,若有
224. {
225. //等待WM_COMMNOTIFY消息被处理完
226. WaitForSingleObject(pDoc->m_hPostMsgEvent,INFINITE);
227. ResetEvent(pDoc->m_hPostMsgEvent);
228. PostMessage(pDoc->m_hTermWnd,WM_COMMNOTIFY,EV_RXCHAR,0);
229. //通知视图
230. continue;
231. }
232. dwMask=0;
233. if(!WaitCommEvent(pDoc->m_hCom,&dwMask,&os))//重叠操作
234. {
235. //通信事件
236. if(GetLastError()==ERROR_IO_PENDING)
237. //无限等待重叠操作结果
238. GetOverlappedResult(pDoc->m_hCom,&os,&dwTrans,TRUE);
239. else
240. {
241. CloseHandle(os.hEvent);
242. return(UINT)-1;
243. }
244. }
245. }
246. CloseHandle(os.hEvent);
247. return0;
248. }
249. BOOLCRobotDoc::OpenConnection()
250. {
251. COMMTIMEOUTSTimeOuts;
252. POSITIONfirstViewPos;
253. CView*pView;
254. firstViewPos=GetFirstViewPosition();
255. pView=GetNextView(firstViewPos);
256. m_hTermWnd=pView->GetSafeHwnd();
257. if(m_bConnected)
258. returnFALSE;
259. m_hCom=CreateFile(m_sPort,GENERIC_READ|GENERIC_WRITE,0,NULL,
260. OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL|FILE_FLAG_OVERLAPPED,
261. NULL);//重叠方式
262. if(m_hCom==INVALID_HANDLE_VALUE)
263. //AfxMessageBox("dfhksdjfhsjkfhks",MB_OK);
264. returnFALSE;
265. SetupComm(m_hCom,1024,1024);
266. SetCommMask(m_hCom,EV_RXCHAR);///////////////////!!!!!!!!!!!
267. //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
268. TimeOuts.ReadIntervalTimeout=MAXDWORD;
269. TimeOuts.ReadTotalTimeoutMultiplier=0;
270. TimeOuts.ReadTotalTimeoutConstant=0;
271. /*设置写超时以指定WriteComm成员函数中的
272. GetOverlappedResult函数的等待时间*/
273. TimeOuts.WriteTotalTimeoutMultiplier=50;
274. TimeOuts.WriteTotalTimeoutConstant=2000;
275. SetCommTimeouts(m_hCom,&TimeOuts);
276. if(ConfigConnection())
277. {
278. m_pThread=AfxBeginThread(CommProc,this,THREAD_PRIORITY_NORMAL,
279. 0,CREATE_SUSPENDED,NULL);//创建并挂起线程
280. if(m_pThread==NULL)
281. {
282. CloseHandle(m_hCom);
283. returnFALSE;
284. }
285. else
286. {
287. m_bConnected=TRUE;
288. m_pThread->ResumeThread();//恢复线程运行
289. }
290. }
291. else
292. {
293. CloseHandle(m_hCom);
294. returnFALSE;
295. }
296. returnTRUE;
297. }
298. voidCRobotDoc::CloseConnection()
299. {
300. if(!m_bConnected)return;
301. m_bConnected=FALSE;
302. //结束CommProc线程中WaitSingleObject函数的等待
303. SetEvent(m_hPostMsgEvent);
304. //结束CommProc线程中WaitCommEvent的等待
305. SetCommMask(m_hCom,0);
306. //等待辅助线程终止
307. WaitForSingleObject(m_pThread->m_hThread,INFINITE);
308. m_pThread=NULL;
309. CloseHandle(m_hCom);
310. }
311. BOOLCRobotDoc::ConfigConnection()///设置DCB
312. {
313. DCBdcb;
314. if(!GetCommState(m_hCom,&dcb))
315. returnFALSE;
316. dcb.fBinary=TRUE;
317. dcb.BaudRate=m_nBaud;//波特率
318. dcb.ByteSize=m_nDataBits;//每字节位数
319. dcb.fParity=TRUE;
320. switch(m_nParity)//校验设置
321. {
322. case0:dcb.Parity=NOPARITY;
323. break;
324. case1:dcb.Parity=EVENPARITY;
325. break;
326. case2:dcb.Parity=ODDPARITY;
327. break;
328. default:;
329. }
330. switch(m_nStopBits)//停止位
331. {
332. case0:dcb.StopBits=ONESTOPBIT;
333. break;
334. case1:dcb.StopBits=ONE5STOPBITS;
335. break;
336. case2:dcb.StopBits=TWOSTOPBITS;
337. break;
338. default:;
339. }
340. //硬件流控制设置
341. //dcb.fOutxCtsFlow=m_nFlowCtrl==1;
342. //dcb.fRtsControl=m_nFlowCtrl==1?RTS_CONTROL_HANDSHAKE:RTS_CONTROL_ENABLE;
343. //XON/XOFF流控制设置
344. //dcb.fInX=dcb.fOutX=m_nFlowCtrl==2;
345. //dcb.XonChar=XON;
346. //dcb.XoffChar=XOFF;
347. //dcb.XonLim=50;
348. //dcb.XoffLim=50;
349. returnSetCommState(m_hCom,&dcb);
350. }
351. DWORDCRobotDoc::ReadComm(unsignedchar*buf,DWORDdwLength)
352. {
353. DWORDlength=0;
354. COMSTATComStat;
355. DWORDdwErrorFlags;
356. ClearCommError(m_hCom,&dwErrorFlags,&ComStat);//清除错误标志
357. length=min(dwLength,ComStat.cbInQue);
358. ReadFile(m_hCom,buf,length,&length,&m_osRead);//将指定数量的字符从串行口输出
359. returnlength;
360. }
361. //将指定数量的字符从串行口输出
362. DWORDCRobotDoc::WriteComm(unsignedchar*buf,DWORDdwLength)
363. {
364. BOOLfState;
365. DWORDlength=dwLength;
366. COMSTATComStat;
367. DWORDdwErrorFlags;
368. ClearCommError(m_hCom,&dwErrorFlags,&ComStat);//清除错误标志
369. fState=WriteFile(m_hCom,buf,length,&length,&m_osWrite);
370. if(!fState){
371. if(GetLastError()==ERROR_IO_PENDING)
372. {
373. GetOverlappedResult(m_hCom,&m_osWrite,&length,TRUE);//等待
374. }
375. else
376. length=0;
377. }
378. returnlength;
379. }
380. //工作者线程，负责监视串行口
382. voidCRobotDoc::OnHelp()
383. {
384. //TODO:Addyourcommandhandlercodehere
385. //ShellExecute(NULL,NULL,_T("Jqrhelp.chm"),NULL,_T("e://机器人"),NULL);
386. }