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// ServoDlg.cpp : ʵÏÖÎļþ
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//
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#include "stdafx.h"
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#include "Servo.h"
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#include "ServoDlg.h"
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#include "afxdialogex.h"
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#include "Common.h"
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#include "Log.h"
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#include "SecsTestDlg.h"
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#include <chrono>
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#include <thread>
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#include <cmath>
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#ifdef _DEBUG
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#define new DEBUG_NEW
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#endif
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// Image
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#define IMAGE_ROBOT 2
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#define INDICATE_BONDER1 1
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#define INDICATE_BONDER2 2
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#define INDICATE_FLIPER 3
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#define INDICATE_ALIGNER 4
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#define INDICATE_LPORT4 5
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#define INDICATE_LPORT3 6
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#define INDICATE_LPORT2 7
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#define INDICATE_LPORT1 8
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#define INDICATE_ROBOT_ARM1 9
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#define INDICATE_ROBOT_ARM2 10
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#define INDICATE_VACUUM_BAKE 11
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#define INDICATE_BAKE_COOLING 12
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#define INDICATE_MEASUREMENT 13
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/* ´´½¨Öն˵Ķ¨Ê±Æ÷ */
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#define TIMER_ID_CREATE_TERMINAL 1
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// ÓÃÓÚÓ¦ÓóÌÐò¡°¹ØÓÚ¡±²Ëµ¥ÏîµÄ CAboutDlg ¶Ô»°¿ò
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class CAboutDlg : public CDialogEx
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{
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public:
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CAboutDlg();
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// ¶Ô»°¿òÊý¾Ý
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#ifdef AFX_DESIGN_TIME
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enum { IDD = IDD_ABOUTBOX };
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#endif
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protected:
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virtual void DoDataExchange(CDataExchange* pDX); // DDX/DDV Ö§³Ö
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// ʵÏÖ
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protected:
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DECLARE_MESSAGE_MAP()
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};
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CAboutDlg::CAboutDlg() : CDialogEx(IDD_ABOUTBOX)
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{
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}
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void CAboutDlg::DoDataExchange(CDataExchange* pDX)
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{
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CDialogEx::DoDataExchange(pDX);
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}
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BEGIN_MESSAGE_MAP(CAboutDlg, CDialogEx)
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END_MESSAGE_MAP()
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// CServoDlg ¶Ô»°¿ò
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CServoDlg::CServoDlg(CWnd* pParent /*=NULL*/)
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: CDialogEx(IDD_SERVO_DIALOG, pParent)
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{
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m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
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m_crBkgnd = APPDLG_BACKGROUND_COLOR;
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m_hbrBkgnd = nullptr;
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m_bShowLogWnd = FALSE;
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m_bIsRobotMoving = FALSE;
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m_pLogDlg = nullptr;
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m_pTerminalDisplayDlg = nullptr;
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m_pObserver = nullptr;
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}
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void CServoDlg::DoDataExchange(CDataExchange* pDX)
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{
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CDialogEx::DoDataExchange(pDX);
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DDX_Control(pDX, IDC_BUTTON_LOG, m_btnLog);
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}
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BEGIN_MESSAGE_MAP(CServoDlg, CDialogEx)
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ON_WM_SYSCOMMAND()
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ON_WM_PAINT()
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ON_WM_QUERYDRAGICON()
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ON_BN_CLICKED(IDOK, &CServoDlg::OnBnClickedOk)
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ON_BN_CLICKED(IDCANCEL, &CServoDlg::OnBnClickedCancel)
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ON_WM_CTLCOLOR()
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ON_WM_DESTROY()
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ON_BN_CLICKED(IDC_BUTTON_LOG, &CServoDlg::OnBnClickedButtonLog)
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ON_WM_SIZE()
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ON_WM_CLOSE()
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ON_MESSAGE(ID_MSG_LOGDLG_HIDE, &CServoDlg::OnLogDlgHide)
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ON_WM_MOVING()
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ON_WM_MOVE()
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ON_COMMAND(ID_MENU_FILE_EXIT, &CServoDlg::OnMenuFileExit)
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ON_UPDATE_COMMAND_UI(ID_MENU_FILE_EXIT, &CServoDlg::OnUpdateMenuFileExit)
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ON_COMMAND(ID_MENU_FILE_SETTINGS, &CServoDlg::OnMenuFileSettings)
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ON_UPDATE_COMMAND_UI(ID_MENU_FILE_SETTINGS, &CServoDlg::OnUpdateMenuFileSettings)
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ON_COMMAND(ID_MENU_FILE_SECSTEST, &CServoDlg::OnMenuFileSecsTest)
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ON_UPDATE_COMMAND_UI(ID_MENU_FILE_SECSTEST, &CServoDlg::OnUpdateMenuFileSecsTest)
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ON_COMMAND(ID_MENU_WND_LOG, &CServoDlg::OnMenuWndLog)
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ON_UPDATE_COMMAND_UI(ID_MENU_WND_LOG, &CServoDlg::OnUpdateMenuWndLog)
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ON_COMMAND(ID_MENU_HELP_ABOUT, &CServoDlg::OnMenuHelpAbout)
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ON_WM_INITMENUPOPUP()
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ON_WM_TIMER()
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ON_WM_ERASEBKGND()
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END_MESSAGE_MAP()
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// CServoDlg ÏûÏ¢´¦Àí³ÌÐò
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void CServoDlg::InitRxWindows()
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{
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/* code */
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// ¶©ÔÄÊý¾Ý
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IRxWindows* pRxWindows = RX_GetRxWindows();
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pRxWindows->enableLog(5);
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if (m_pObserver == NULL) {
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m_pObserver = pRxWindows->allocObserver([&](IAny* pAny) -> void {
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// onNext
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pAny->addRef();
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int code = pAny->getCode();
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if (RX_HSMS_TERMINAL_TEXT == code) {
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const char* pszText;
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if (pAny->getStringValue("text", pszText)) {
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ShowTerminalText(pszText);
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}
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}
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pAny->release();
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}, [&]() -> void {
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// onComplete
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}, [&](IThrowable* pThrowable) -> void {
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// onErrorm
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pThrowable->printf();
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});
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theApp.m_model.getObservable()->observeOn(pRxWindows->mainThread())
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->subscribe(m_pObserver);
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}
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}
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BOOL CServoDlg::OnInitDialog()
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{
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CDialogEx::OnInitDialog();
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// ½«¡°¹ØÓÚ...¡±²Ëµ¥ÏîÌí¼Óµ½ÏµÍ³²Ëµ¥ÖС£
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// IDM_ABOUTBOX ±ØÐëÔÚϵͳÃüÁΧÄÚ¡£
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ASSERT((IDM_ABOUTBOX & 0xFFF0) == IDM_ABOUTBOX);
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ASSERT(IDM_ABOUTBOX < 0xF000);
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CMenu* pSysMenu = GetSystemMenu(FALSE);
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if (pSysMenu != NULL)
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{
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BOOL bNameValid;
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CString strAboutMenu;
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bNameValid = strAboutMenu.LoadString(IDS_ABOUTBOX);
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ASSERT(bNameValid);
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if (!strAboutMenu.IsEmpty())
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{
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pSysMenu->AppendMenu(MF_SEPARATOR);
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pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu);
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}
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}
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// ÉèÖô˶Ի°¿òµÄͼ±ê¡£ µ±Ó¦ÓóÌÐòÖ÷´°¿Ú²»ÊǶԻ°¿òʱ£¬¿ò¼Ü½«×Ô¶¯
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// Ö´Ðд˲Ù×÷
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SetIcon(m_hIcon, TRUE); // ÉèÖôóͼ±ê
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SetIcon(m_hIcon, FALSE); // ÉèÖÃСͼ±ê
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// ²Ëµ¥
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CMenu menu;
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menu.LoadMenu(IDR_MENU_APP);
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SetMenu(&menu);
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// ͼʾ
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m_pGraph = CServoGraph::Hook(GetDlgItem(IDC_SERVO_GRAPH1)->GetSafeHwnd());
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CString strPath;
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strPath.Format(_T("%s\\res\\Servo001.bmp"), (LPTSTR)(LPCTSTR)theApp.m_strAppDir);
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m_pGraph->AddImage(1, (LPTSTR)(LPCTSTR)strPath, 0, 0);
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strPath.Format(_T("%s\\res\\Robot001.bmp"), (LPTSTR)(LPCTSTR)theApp.m_strAppDir);
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m_pGraph->AddImage(IMAGE_ROBOT, (LPTSTR)(LPCTSTR)strPath, 170, 270);
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// Ìí¼ÓָʾÆ÷
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// Bonder
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m_pGraph->AddIndicateBox(INDICATE_BONDER1, 220, 172, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), RGB(0, 176, 80));
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m_pGraph->SetBoxText(INDICATE_BONDER1, "10", "Bonder 1");
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m_pGraph->AddIndicateBox(INDICATE_BONDER2, 220, 516, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), RGB(0, 176, 80));
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m_pGraph->SetBoxText(INDICATE_BONDER2, "11", "Bonder 2");
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// ·×ª
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m_pGraph->AddIndicateBox(INDICATE_FLIPER, 338, 172, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), RGB(0, 176, 80));
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m_pGraph->SetBoxText(INDICATE_FLIPER, "8", "Fliper");
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// ¶Ôλ
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m_pGraph->AddIndicateBox(INDICATE_ALIGNER, 428, 172, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), RGB(0, 176, 80));
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m_pGraph->SetBoxText(INDICATE_ALIGNER, "7", "Aligner");
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// Load port 4
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m_pGraph->AddIndicateBox(INDICATE_LPORT4, 518, 172, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), RGB(0, 176, 80));
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m_pGraph->SetBoxText(INDICATE_LPORT4, "4", "LPort4");
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// Load port 3
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m_pGraph->AddIndicateBox(INDICATE_LPORT3, 606, 172, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), RGB(0, 176, 80));
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m_pGraph->SetBoxText(INDICATE_LPORT3, "3", "LPort3");
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// Load port 2
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m_pGraph->AddIndicateBox(INDICATE_LPORT2, 690, 172, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), RGB(0, 176, 80));
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m_pGraph->SetBoxText(INDICATE_LPORT2, "2", "LPort2");
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// Load port 1
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m_pGraph->AddIndicateBox(INDICATE_LPORT1, 774, 172, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), RGB(0, 176, 80));
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m_pGraph->SetBoxText(INDICATE_LPORT1, "1", "LPort1");
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// Robot
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m_pGraph->AddIndicateBox(INDICATE_ROBOT_ARM1, 190, 294, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), RGB(0, 176, 80));
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m_pGraph->SetBoxText(INDICATE_ROBOT_ARM1, "5", "Robot");
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m_pGraph->AddIndicateBox(INDICATE_ROBOT_ARM2, 243, 294, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), RGB(0, 176, 80));
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m_pGraph->SetBoxText(INDICATE_ROBOT_ARM2, "6", "Robot");
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// Vacuum bake
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m_pGraph->AddIndicateBox(INDICATE_VACUUM_BAKE, 396, 516, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), RGB(0, 176, 80));
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m_pGraph->SetBoxText(INDICATE_VACUUM_BAKE, "9", "Vacuum bake");
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// Bake cooling
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m_pGraph->AddIndicateBox(INDICATE_BAKE_COOLING, 566, 516, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), RGB(0, 176, 80));
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m_pGraph->SetBoxText(INDICATE_BAKE_COOLING, "12", "Bake cooling");
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// Bake cooling
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m_pGraph->AddIndicateBox(INDICATE_MEASUREMENT, 736, 516, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), RGB(0, 176, 80));
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m_pGraph->SetBoxText(INDICATE_MEASUREMENT, "13", "Measurement");
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// µ÷Õû³õʼ´°¿ÚλÖÃ
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CRect rcWnd;
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GetWindowRect(&rcWnd);
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int width = GetSystemMetrics(SM_CXSCREEN);
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int height = GetSystemMetrics(SM_CYSCREEN);
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MoveWindow((width - rcWnd.Width()) / 2, 0, rcWnd.Width(), rcWnd.Height(), TRUE);
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// model init
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theApp.m_model.init();
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SetTimer(TIMER_ID_CREATE_TERMINAL, 3000, nullptr);
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InitRxWindows();
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UpdateLogBtn();
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Resize();
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return TRUE; // ³ý·Ç½«½¹µãÉèÖõ½¿Ø¼þ£¬·ñÔò·µ»Ø TRUE
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}
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void CServoDlg::OnSysCommand(UINT nID, LPARAM lParam)
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{
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if ((nID & 0xFFF0) == IDM_ABOUTBOX)
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{
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CAboutDlg dlgAbout;
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dlgAbout.DoModal();
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}
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else
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{
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CDialogEx::OnSysCommand(nID, lParam);
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}
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}
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// Èç¹ûÏò¶Ô»°¿òÌí¼Ó×îС»¯°´Å¥£¬ÔòÐèÒªÏÂÃæµÄ´úÂë
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// À´»æÖƸÃͼ±ê¡£ ¶ÔÓÚʹÓÃÎĵµ/ÊÓͼģÐ굀 MFC Ó¦ÓóÌÐò£¬
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// Õ⽫ÓÉ¿ò¼Ü×Ô¶¯Íê³É¡£
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void CServoDlg::OnPaint()
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{
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if (IsIconic())
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{
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CPaintDC dc(this); // ÓÃÓÚ»æÖƵÄÉ豸ÉÏÏÂÎÄ
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SendMessage(WM_ICONERASEBKGND, reinterpret_cast<WPARAM>(dc.GetSafeHdc()), 0);
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// ʹͼ±êÔÚ¹¤×÷Çø¾ØÐÎÖоÓÖÐ
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int cxIcon = GetSystemMetrics(SM_CXICON);
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int cyIcon = GetSystemMetrics(SM_CYICON);
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CRect rect;
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GetClientRect(&rect);
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int x = (rect.Width() - cxIcon + 1) / 2;
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int y = (rect.Height() - cyIcon + 1) / 2;
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// »æÖÆͼ±ê
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dc.DrawIcon(x, y, m_hIcon);
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}
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else
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{
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CDialogEx::OnPaint();
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}
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}
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//µ±Óû§Í϶¯×îС»¯´°¿Úʱϵͳµ÷Óô˺¯ÊýÈ¡µÃ¹â±ê
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//ÏÔʾ¡£
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HCURSOR CServoDlg::OnQueryDragIcon()
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{
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return static_cast<HCURSOR>(m_hIcon);
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}
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void CServoDlg::OnInitMenuPopup(CMenu* pPopupMenu, UINT nIndex, BOOL bSysMenu)
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{
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ASSERT(pPopupMenu != NULL);
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CCmdUI state;
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state.m_pMenu = pPopupMenu;
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ASSERT(state.m_pOther == NULL);
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ASSERT(state.m_pParentMenu == NULL);
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HMENU hParentMenu;
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if (AfxGetThreadState()->m_hTrackingMenu == pPopupMenu->m_hMenu)
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state.m_pParentMenu = pPopupMenu;
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else if ((hParentMenu = ::GetMenu(m_hWnd)) != NULL)
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{
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CWnd* pParent = this;
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if (pParent != NULL &&
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(hParentMenu = ::GetMenu(pParent->m_hWnd)) != NULL)
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{
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int nIndexMax = ::GetMenuItemCount(hParentMenu);
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for (int nIndex = 0; nIndex < nIndexMax; nIndex++)
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{
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if (::GetSubMenu(hParentMenu, nIndex) == pPopupMenu->m_hMenu)
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{
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state.m_pParentMenu = CMenu::FromHandle(hParentMenu);
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break;
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}
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}
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}
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}
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state.m_nIndexMax = pPopupMenu->GetMenuItemCount();
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for (state.m_nIndex = 0; state.m_nIndex < state.m_nIndexMax;
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state.m_nIndex++)
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{
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state.m_nID = pPopupMenu->GetMenuItemID(state.m_nIndex);
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if (state.m_nID == 0)
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continue;
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ASSERT(state.m_pOther == NULL);
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ASSERT(state.m_pMenu != NULL);
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if (state.m_nID == (UINT)-1)
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{
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state.m_pSubMenu = pPopupMenu->GetSubMenu(state.m_nIndex);
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if (state.m_pSubMenu == NULL ||
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(state.m_nID = state.m_pSubMenu->GetMenuItemID(0)) == 0 ||
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state.m_nID == (UINT)-1)
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{
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continue;
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}
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state.DoUpdate(this, TRUE);
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}
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else
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{
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state.m_pSubMenu = NULL;
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state.DoUpdate(this, FALSE);
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}
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UINT nCount = pPopupMenu->GetMenuItemCount();
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if (nCount < state.m_nIndexMax)
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{
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state.m_nIndex -= (state.m_nIndexMax - nCount);
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while (state.m_nIndex < nCount &&
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pPopupMenu->GetMenuItemID(state.m_nIndex) == state.m_nID)
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{
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state.m_nIndex++;
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}
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}
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state.m_nIndexMax = nCount;
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}
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}
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void CServoDlg::OnMenuFileSettings()
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{
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}
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void CServoDlg::OnUpdateMenuFileSettings(CCmdUI* pCmdUI)
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{
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pCmdUI->Enable(TRUE);
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}
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void CServoDlg::OnMenuFileSecsTest()
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{
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CSecsTestDlg dlg;
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dlg.DoModal();
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}
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void CServoDlg::OnUpdateMenuFileSecsTest(CCmdUI* pCmdUI)
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{
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pCmdUI->Enable(TRUE);
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}
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void CServoDlg::OnMenuWndLog()
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{
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OnBnClickedButtonLog();
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}
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void CServoDlg::OnUpdateMenuWndLog(CCmdUI* pCmdUI)
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{
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pCmdUI->SetCheck(m_bShowLogWnd);
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}
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void CServoDlg::OnMenuFileExit()
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{
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PostMessage(WM_CLOSE);
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}
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void CServoDlg::OnUpdateMenuFileExit(CCmdUI* pCmdUI)
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{
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pCmdUI->Enable(TRUE);
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}
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void CServoDlg::OnMenuHelpAbout()
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{
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CAboutDlg dlgAbout;
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dlgAbout.DoModal();
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}
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void CServoDlg::OnBnClickedOk()
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{
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// TODO: ÔÚ´ËÌí¼Ó¿Ø¼þ֪ͨ´¦Àí³ÌÐò´úÂë
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CDialogEx::OnOK();
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}
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void CServoDlg::OnBnClickedCancel()
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{
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// TODO: ÔÚ´ËÌí¼Ó¿Ø¼þ֪ͨ´¦Àí³ÌÐò´úÂë
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CDialogEx::OnCancel();
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}
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HBRUSH CServoDlg::OnCtlColor(CDC* pDC, CWnd* pWnd, UINT nCtlColor)
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{
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HBRUSH hbr = CDialogEx::OnCtlColor(pDC, pWnd, nCtlColor);
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if (nCtlColor == CTLCOLOR_STATIC) {
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pDC->SetBkColor(m_crBkgnd);
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pDC->SetTextColor(RGB(0, 0, 0));
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}
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if (m_hbrBkgnd == nullptr) {
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m_hbrBkgnd = CreateSolidBrush(m_crBkgnd);
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}
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return m_hbrBkgnd;
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}
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void CServoDlg::OnDestroy()
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{
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CDialogEx::OnDestroy();
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if (m_pLogDlg != nullptr) {
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m_pLogDlg->DestroyWindow();
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delete m_pLogDlg;
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m_pLogDlg = nullptr;
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}
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if (m_pTerminalDisplayDlg != nullptr) {
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m_pTerminalDisplayDlg->DestroyWindow();
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delete m_pTerminalDisplayDlg;
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m_pTerminalDisplayDlg = nullptr;
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}
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if (m_hbrBkgnd != nullptr) {
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::DeleteObject(m_hbrBkgnd);
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}
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if (m_pObserver != nullptr) {
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m_pObserver->unsubscribe();
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m_pObserver = NULL;
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}
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}
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void CServoDlg::OnBnClickedButtonLog()
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{
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m_bShowLogWnd = !m_bShowLogWnd;
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if (m_pLogDlg == nullptr) {
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m_pLogDlg = new CLogDlg();
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m_pLogDlg->Create(IDD_DIALOG_LOG, this);
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CRect rcWnd;
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GetWindowRect(&rcWnd);
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m_pLogDlg->MoveWindow(rcWnd.left, rcWnd.bottom - 8, rcWnd.Width(), 200);
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}
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ASSERT(m_pLogDlg);
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m_pLogDlg->ShowWindow(m_bShowLogWnd ? SW_SHOW : SW_HIDE);
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UpdateLogBtn();
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}
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void CServoDlg::UpdateLogBtn()
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{
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m_btnLog.SetFrameColor(BS_NORMAL, BTN_LOG_FRAME_NORMAL);
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m_btnLog.SetFrameColor(BS_HOVER, BTN_LOG_FRAME_HOVER);
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m_btnLog.SetFrameColor(BS_PRESS, BTN_LOG_FRAME_PRESS);
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m_btnLog.SetBkgndColor(BS_NORMAL, m_bShowLogWnd ? BTN_LOG_BKGND_PRESS : BTN_LOG_BKGND_NORMAL);
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m_btnLog.SetBkgndColor(BS_HOVER, BTN_LOG_BKGND_HOVER);
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m_btnLog.SetBkgndColor(BS_PRESS, BTN_LOG_BKGND_PRESS);
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m_btnLog.Invalidate();
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}
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void CServoDlg::UpdateRobotPosition(float percentage)
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{
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// ÏÞÖưٷֱȷ¶Î§ÔÚ [0, 1] Ö®¼ä
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if (percentage < 0.0f) percentage = 0.0f;
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if (percentage > 1.0f) percentage = 1.0f;
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// ¸ù¾Ý°Ù·Ö±È¼ÆËãÄ¿±ê X ×ø±ê
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int startX = m_pGraph->GetImage(IMAGE_ROBOT)->x;
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int endX = static_cast<int>(170 + percentage * (700 - 170));
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int arm1Offset = 20; // ´ÓͼƬµ½ARM1µÄÆ«ÒÆ
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int arm2Offset = 73; // ´ÓͼƬµ½ARM2µÄÆ«ÒÆ
|
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// ¼ÆËãÒƶ¯ËùÐèµÄʱ¼ä
|
int distance = abs(endX - startX);
|
int duration = static_cast<int>((distance / 100.0) * 1000);
|
|
auto startTime = std::chrono::steady_clock::now();
|
auto endTime = startTime + std::chrono::milliseconds(duration);
|
|
// ¿ªÊ¼Òƶ¯£¬ÉèÖñê¼Ç
|
m_bIsRobotMoving = TRUE;
|
|
// ¿ªÊ¼Æ½»¬Òƶ¯
|
while (std::chrono::steady_clock::now() < endTime) {
|
auto currentTime = std::chrono::steady_clock::now();
|
float progress = std::chrono::duration<float, std::milli>(currentTime - startTime).count() / duration;
|
progress = min(progress, 1.0f);
|
|
// ¸ù¾Ý½ø¶È¼ÆË㵱ǰλÖÃ
|
int currentX = static_cast<int>(startX + progress * (endX - startX));
|
m_pGraph->UpdateImageCoordinates(IMAGE_ROBOT, currentX, 270);
|
m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM1, currentX + arm1Offset, 294);
|
m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM2, currentX + arm2Offset, 294);
|
|
// ˢнçÃæ
|
Invalidate();
|
UpdateWindow();
|
|
// ¿ØÖÆÖ¡ÂÊԼΪ 60 FPS
|
std::this_thread::sleep_for(std::chrono::milliseconds(16));
|
}
|
|
// È·±£×îºóλÖþ«È·µ½Ä¿±êλÖÃ
|
m_pGraph->UpdateImageCoordinates(IMAGE_ROBOT, endX, 270);
|
m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM1, endX + arm1Offset, 294);
|
m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM2, endX + arm2Offset, 294);
|
|
// ½çÃæÖØ»æ
|
Invalidate();
|
|
// ¶¯»½áÊø£¬ÉèÖñê¼Ç
|
m_bIsRobotMoving = FALSE;
|
}
|
|
void CServoDlg::RotateRobot(float angleInDegrees)
|
{
|
// ½«½Ç¶Èת»»Îª»¡¶È
|
float angleInRadians = static_cast<float>(std::acos(-1)) / 180.0f * angleInDegrees;
|
|
// »ñÈ¡»úÆ÷ÈËͼƬµÄµ±Ç°×ø±êºÍÖÐÐÄ
|
auto* pImage = m_pGraph->GetImage(IMAGE_ROBOT);
|
if (!pImage) return;
|
|
// ¸üРRotate ͼƬµÄ½Ç¶È£¬È·±£½Ç¶È±£³ÖÔÚ [0, 360) ·¶Î§ÄÚ
|
m_pGraph->UpdateImageAngle(IMAGE_ROBOT, static_cast<float>(fmod(pImage->angle + angleInDegrees + 360, 360)));
|
|
int cx = pImage->x + pImage->bmWidth / 2; // ͼƬÖÐÐÄ X
|
int cy = pImage->y + pImage->bmHeight / 2; // ͼƬÖÐÐÄ Y
|
|
// Ðýתָʾ¿òµÄ×ø±ê
|
auto* pRobot1 = m_pGraph->GetIndicateBox(INDICATE_ROBOT_ARM1);
|
auto* pRobot2 = m_pGraph->GetIndicateBox(INDICATE_ROBOT_ARM2);
|
|
if (pRobot1 && pRobot2) {
|
int newArmX1 = pImage->x + 20;
|
int newArmY1 = 294;
|
|
int newArmX2 = pImage->x + 73;
|
int newArmY2 = 294;
|
|
if (angleInDegrees != 0.0f) {
|
// ¼ÆËãָʾ¿ò1µÄÐÂ×ø±ê
|
newArmX1 = static_cast<int>(cx + (pRobot1->x - cx) * cos(angleInRadians) - (pRobot1->y - cy) * sin(angleInRadians));
|
newArmY1 = static_cast<int>(cy + (pRobot1->x - cx) * sin(angleInRadians) + (pRobot1->y - cy) * cos(angleInRadians));
|
|
// ¼ÆËãָʾ¿ò2µÄÐÂ×ø±ê
|
newArmX2 = static_cast<int>(cx + (pRobot2->x - cx) * cos(angleInRadians) - (pRobot2->y - cy) * sin(angleInRadians));
|
newArmY2 = static_cast<int>(cy + (pRobot2->x - cx) * sin(angleInRadians) + (pRobot2->y - cy) * cos(angleInRadians));
|
}
|
|
// ¸üÐÂָʾ¿òµÄλÖÃ
|
m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM1, newArmX1, newArmY1);
|
m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM2, newArmX2, newArmY2);
|
}
|
|
// Ç¿ÖÆÖØ»æ½çÃæ
|
Invalidate();
|
}
|
|
void CServoDlg::OnSize(UINT nType, int cx, int cy)
|
{
|
CDialogEx::OnSize(nType, cx, cy);
|
if (GetDlgItem(IDC_SERVO_GRAPH1) == nullptr) return;
|
Resize();
|
}
|
|
void CServoDlg::Resize()
|
{
|
CRect rcClient, rcItem;
|
CWnd* pItem = nullptr;
|
int x, y;
|
|
x = 0;
|
y = 0;
|
pItem = GetDlgItem(IDC_SERVO_GRAPH1);
|
pItem->GetClientRect(&rcItem);
|
pItem->MoveWindow(x, y, rcItem.Width(), rcItem.Height());
|
y += rcItem.Height();
|
y += 8;
|
|
x = 8;
|
pItem = GetDlgItem(IDC_BUTTON_LOG);
|
pItem->GetClientRect(&rcItem);
|
pItem->MoveWindow(x, y, rcItem.Width(), rcItem.Height());
|
}
|
|
void CServoDlg::OnClose()
|
{
|
// TODO: ÔÚ´ËÌí¼ÓÏûÏ¢´¦Àí³ÌÐò´úÂëºÍ/»òµ÷ÓÃĬÈÏÖµ
|
|
CDialogEx::OnClose();
|
}
|
|
LRESULT CServoDlg::OnLogDlgHide(WPARAM wParam, LPARAM lParam)
|
{
|
m_bShowLogWnd = FALSE;
|
UpdateLogBtn();
|
LOGE("OnLogDlgHide");
|
|
unsigned int DATAID, RPTID;
|
DATAID = 111;
|
RPTID = 1001;
|
std::vector<std::string> v;
|
v.push_back("abc");
|
v.push_back("def");
|
theApp.m_model.m_hsmsPassive.requestEventReportSend(DATAID, RPTID, v);
|
|
return 0;
|
}
|
|
void CServoDlg::OnMoving(UINT fwSide, LPRECT pRect)
|
{
|
CDialogEx::OnMoving(fwSide, pRect);
|
}
|
|
void CServoDlg::OnMove(int x, int y)
|
{
|
if (m_pLogDlg != nullptr && !m_pLogDlg->IsZoomed()) {
|
CRect rcWnd;
|
GetWindowRect(&rcWnd);
|
m_pLogDlg->MoveWindow(rcWnd.left, rcWnd.bottom - 8, rcWnd.Width(), 200);
|
}
|
|
CDialogEx::OnMove(x, y);
|
}
|
|
void CServoDlg::ShowTerminalText(const char* pszText, unsigned int duration/* = -1*/)
|
{
|
ASSERT(m_pTerminalDisplayDlg);
|
m_pTerminalDisplayDlg->ShowText(pszText, duration);
|
}
|
|
void CServoDlg::OnTimer(UINT_PTR nIDEvent)
|
{
|
if (TIMER_ID_CREATE_TERMINAL == nIDEvent) {
|
// Ô¤ÏÈ´´½¨Öն˴°¿Ú
|
KillTimer(TIMER_ID_CREATE_TERMINAL);
|
char szBuffer[MAX_PATH];
|
sprintf_s(szBuffer, MAX_PATH, "%s\\RES\\TeminalMsg.html", (LPTSTR)(LPCTSTR)theApp.m_strAppDir);
|
m_pTerminalDisplayDlg = new CTerminalDisplayDlg();
|
m_pTerminalDisplayDlg->SetTemplateHtml(szBuffer);
|
m_pTerminalDisplayDlg->Create(IDD_DIALOG_TERMINAL_DISPLAY, this);
|
}
|
|
CDialogEx::OnTimer(nIDEvent);
|
}
|
|
|
BOOL CServoDlg::OnEraseBkgnd(CDC* pDC)
|
{
|
// TODO: ÔÚ´ËÌí¼ÓÏûÏ¢´¦Àí³ÌÐò´úÂëºÍ/»òµ÷ÓÃĬÈÏÖµ
|
if (m_bIsRobotMoving) {
|
// ½ûֹˢб³¾°£¬±ÜÃâÉÁ˸
|
return TRUE;
|
}
|
|
return CDialogEx::OnEraseBkgnd(pDC);
|
}
|
