From 1f5df45b8e213de70e91a7ca54d6e2219cd967ca Mon Sep 17 00:00:00 2001
From: darker <mr.darker@163.com>
Date: 星期二, 18 二月 2025 11:07:25 +0800
Subject: [PATCH] 1. 添加获取plc心跳修改状态

---
 SourceCode/Bond/Servo/ServoDlg.cpp |  258 +++++++++++++++++++++++++++++++++++++++++++++++++++
 1 files changed, 256 insertions(+), 2 deletions(-)

diff --git a/SourceCode/Bond/Servo/ServoDlg.cpp b/SourceCode/Bond/Servo/ServoDlg.cpp
index 7d7b5ad..07bce45 100644
--- a/SourceCode/Bond/Servo/ServoDlg.cpp
+++ b/SourceCode/Bond/Servo/ServoDlg.cpp
@@ -9,12 +9,17 @@
 #include "Common.h"
 #include "Log.h"
 #include "SecsTestDlg.h"
+#include <chrono>
+#include <thread>
+#include <cmath>
 
 
 #ifdef _DEBUG
 #define new DEBUG_NEW
 #endif
 
+// Image
+#define IMAGE_ROBOT				2
 
 #define INDICATE_BONDER1		1
 #define INDICATE_BONDER2		2
@@ -29,6 +34,10 @@
 #define INDICATE_VACUUM_BAKE	11
 #define INDICATE_BAKE_COOLING	12
 #define INDICATE_MEASUREMENT	13
+
+
+/* 创建终端的定时器 */
+#define TIMER_ID_CREATE_TERMINAL		1
 
 
 // 用于应用程序“关于”菜单项的 CAboutDlg 对话框
@@ -75,7 +84,10 @@
 	m_crBkgnd = APPDLG_BACKGROUND_COLOR;
 	m_hbrBkgnd = nullptr;
 	m_bShowLogWnd = FALSE;
+	m_bIsRobotMoving = FALSE;
 	m_pLogDlg = nullptr;
+	m_pTerminalDisplayDlg = nullptr;
+	m_pObserver = nullptr;
 }
 
 void CServoDlg::DoDataExchange(CDataExchange* pDX)
@@ -108,10 +120,57 @@
 	ON_UPDATE_COMMAND_UI(ID_MENU_WND_LOG, &CServoDlg::OnUpdateMenuWndLog)
 	ON_COMMAND(ID_MENU_HELP_ABOUT, &CServoDlg::OnMenuHelpAbout)
 	ON_WM_INITMENUPOPUP()
+	ON_WM_TIMER()
+	ON_WM_ERASEBKGND()
 END_MESSAGE_MAP()
 
 
 // CServoDlg 消息处理程序
+
+void CServoDlg::InitRxWindows()
+{
+	/* code */
+	// 订阅数据
+	IRxWindows* pRxWindows = RX_GetRxWindows();
+	pRxWindows->enableLog(5);
+	if (m_pObserver == NULL) {
+		m_pObserver = pRxWindows->allocObserver([&](IAny* pAny) -> void {
+			// onNext
+			pAny->addRef();
+			int code = pAny->getCode();
+			if (RX_HSMS_TERMINAL_TEXT == code) {
+				const char* pszText;
+				if (pAny->getStringValue("text", pszText)) {
+					ShowTerminalText(pszText);
+				}
+			}
+			else if (RX_CODE_EQ_ALIVE == code) {
+				// 通知设备状态
+				SERVO::CEquipment* pEquipment = nullptr;
+				if (pAny->getPtrValue("ptr", (void*&)pEquipment)) {
+					if (pEquipment != nullptr) {
+						int nID = pEquipment->getID();
+						BOOL bAlive = pEquipment->isAlive();
+						if (1 == nID) {
+							DeviceStatus status = bAlive ? DeviceStatus::ONLINE : DeviceStatus::OFFLINE;
+							UpdateDeviceStatus(INDICATE_ROBOT_ARM1, status);
+							UpdateDeviceStatus(INDICATE_ROBOT_ARM2, status);
+						}
+					}
+				}
+			}
+			pAny->release();
+		}, [&]() -> void {
+			// onComplete
+		}, [&](IThrowable* pThrowable) -> void {
+			// onErrorm
+			pThrowable->printf();
+		});
+
+		theApp.m_model.getObservable()->observeOn(pRxWindows->mainThread())
+			->subscribe(m_pObserver);
+	}
+}
 
 BOOL CServoDlg::OnInitDialog()
 {
@@ -156,6 +215,8 @@
 	strPath.Format(_T("%s\\res\\Servo001.bmp"), (LPTSTR)(LPCTSTR)theApp.m_strAppDir);
 	m_pGraph->AddImage(1, (LPTSTR)(LPCTSTR)strPath, 0, 0);
 
+	strPath.Format(_T("%s\\res\\Robot001.bmp"), (LPTSTR)(LPCTSTR)theApp.m_strAppDir);
+	m_pGraph->AddImage(IMAGE_ROBOT, (LPTSTR)(LPCTSTR)strPath, 170, 270);
 
 	// 添加指示器
 	// Bonder
@@ -204,10 +265,10 @@
 
 
 	// Robot
-	m_pGraph->AddIndicateBox(INDICATE_ROBOT_ARM1, 620, 294, 48, RGB(22, 22, 22),
+	m_pGraph->AddIndicateBox(INDICATE_ROBOT_ARM1, 190, 294, 48, RGB(22, 22, 22),
 		RGB(255, 127, 39), RGB(0, 176, 80));
 	m_pGraph->SetBoxText(INDICATE_ROBOT_ARM1, "5", "Robot");
-	m_pGraph->AddIndicateBox(INDICATE_ROBOT_ARM2, 673, 294, 48, RGB(22, 22, 22),
+	m_pGraph->AddIndicateBox(INDICATE_ROBOT_ARM2, 243, 294, 48, RGB(22, 22, 22),
 		RGB(255, 127, 39), RGB(0, 176, 80));
 	m_pGraph->SetBoxText(INDICATE_ROBOT_ARM2, "6", "Robot");
 
@@ -242,8 +303,17 @@
 	theApp.m_model.init();
 
 
+	SetTimer(TIMER_ID_CREATE_TERMINAL, 3000, nullptr);
+	InitRxWindows();
+	OnBnClickedButtonLog();
 	UpdateLogBtn();
 	Resize();
+
+
+	// 相当于延时调用master的初始化
+	theApp.m_model.m_master.init();
+
+
 	return TRUE;  // 除非将焦点设置到控件，否则返回 TRUE
 }
 
@@ -452,10 +522,21 @@
 		delete m_pLogDlg;
 		m_pLogDlg = nullptr;
 	}
+	if (m_pTerminalDisplayDlg != nullptr) {
+		m_pTerminalDisplayDlg->DestroyWindow();
+		delete m_pTerminalDisplayDlg;
+		m_pTerminalDisplayDlg = nullptr;
+	}
 
 	if (m_hbrBkgnd != nullptr) {
 		::DeleteObject(m_hbrBkgnd);
 	}
+
+	if (m_pObserver != nullptr) {
+		m_pObserver->unsubscribe();
+		m_pObserver = NULL;
+	}
+
 }
 
 void CServoDlg::OnBnClickedButtonLog()
@@ -484,6 +565,138 @@
 	m_btnLog.SetBkgndColor(BS_HOVER, BTN_LOG_BKGND_HOVER);
 	m_btnLog.SetBkgndColor(BS_PRESS, BTN_LOG_BKGND_PRESS);
 	m_btnLog.Invalidate();
+}
+
+void CServoDlg::UpdateRobotPosition(float percentage)
+{
+	// 限制百分比范围在 [0, 1] 之间
+	if (percentage < 0.0f) percentage = 0.0f;
+	if (percentage > 1.0f) percentage = 1.0f;
+
+	// 根据百分比计算目标 X 坐标
+	int startX = m_pGraph->GetImage(IMAGE_ROBOT)->x;
+	int endX = static_cast<int>(170 + percentage * (700 - 170));
+
+	int arm1Offset = 20;  // 从图片到ARM1的偏移
+	int arm2Offset = 73;  // 从图片到ARM2的偏移
+
+	// 计算移动所需的时间
+	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);
+
+	// 开始移动，设置标记
+	m_bIsRobotMoving = TRUE;
+
+	// 开始平滑移动
+	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);
+
+		// 根据进度计算当前位置
+		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);
+
+		// 刷新界面
+		Invalidate();
+		UpdateWindow();
+
+		// 控制帧率约为 60 FPS
+		std::this_thread::sleep_for(std::chrono::milliseconds(16));
+	}
+
+	// 确保最后位置精确到目标位置
+	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);
+
+	// 界面重绘
+	Invalidate();
+
+	// 动画结束，设置标记
+	m_bIsRobotMoving = FALSE;
+}
+
+void CServoDlg::RotateRobot(float angleInDegrees)
+{
+	// 将角度转换为弧度
+	float angleInRadians = static_cast<float>(std::acos(-1)) / 180.0f * angleInDegrees;
+
+	// 获取机器人图片的当前坐标和中心
+	auto* pImage = m_pGraph->GetImage(IMAGE_ROBOT);
+	if (!pImage) return;
+
+	// 更新 Rotate 图片的角度，确保角度保持在 [0, 360) 范围内
+	m_pGraph->UpdateImageAngle(IMAGE_ROBOT, static_cast<float>(fmod(pImage->angle + angleInDegrees + 360, 360)));
+
+	int cx = pImage->x + pImage->bmWidth / 2;  // 图片中心 X
+	int cy = pImage->y + pImage->bmHeight / 2; // 图片中心 Y
+
+	// 旋转指示框的坐标
+	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) {
+			// 计算指示框1的新坐标
+			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));
+
+			// 计算指示框2的新坐标
+			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));
+		}
+
+		// 更新指示框的位置
+		m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM1, newArmX1, newArmY1);
+		m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM2, newArmX2, newArmY2);
+	}
+
+	// 强制重绘界面
+	Invalidate();
+}
+
+void CServoDlg::UpdateDeviceStatus(int id, DeviceStatus status)
+{
+	// 根据状态设置颜色
+	COLORREF newBackgroundColor;
+	COLORREF newFrameColor1;
+	COLORREF newFrameColor2;
+
+	switch (status) {
+	case ONLINE:
+		newBackgroundColor = RGB(255, 0, 0);
+		newFrameColor1 = RGB(22, 22, 22);
+		newFrameColor2 = RGB(255, 127, 39);
+		break;
+	case OFFLINE:
+		newBackgroundColor = RGB(0, 255, 0);
+		newFrameColor1 = RGB(22, 22, 22);
+		newFrameColor2 = RGB(255, 127, 39);
+		break;
+	default:
+		newBackgroundColor = RGB(255, 255, 255); // 默认白色背景
+		newFrameColor1 = RGB(0, 0, 0);           // 默认黑色框架1
+		newFrameColor2 = RGB(0, 0, 0);           // 默认黑色框架2
+		break;
+	}
+
+	m_pGraph->UpdateIndicateBox1Colors(id, newBackgroundColor, newFrameColor1, newFrameColor2);
+
+	// 刷新界面
+	Invalidate();
+	UpdateWindow();
 }
 
 void CServoDlg::OnSize(UINT nType, int cx, int cy)
@@ -526,6 +739,14 @@
 	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;
 }
 
@@ -544,3 +765,36 @@
 
 	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) {
+		// 预先创建终端窗口
+		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: 在此添加消息处理程序代码和/或调用默认值
+	if (m_bIsRobotMoving) {
+		// 禁止刷新背景，避免闪烁
+		return TRUE;
+	}
+	
+	return CDialogEx::OnEraseBkgnd(pDC);
+}

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