From 2fc5bbfe88adefb0d2f8ba55d800fe074264a539 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期五, 14 二月 2025 14:16:27 +0800
Subject: [PATCH] Merge branch 'liuyang' into clh
---
SourceCode/Bond/Servo/ServoDlg.cpp | 457 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 448 insertions(+), 9 deletions(-)
diff --git a/SourceCode/Bond/Servo/ServoDlg.cpp b/SourceCode/Bond/Servo/ServoDlg.cpp
index dcf92d2..f8bfb36 100644
--- a/SourceCode/Bond/Servo/ServoDlg.cpp
+++ b/SourceCode/Bond/Servo/ServoDlg.cpp
@@ -6,11 +6,20 @@
#include "Servo.h"
#include "ServoDlg.h"
#include "afxdialogex.h"
+#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
@@ -25,6 +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
@@ -68,9 +81,13 @@
: CDialogEx(IDD_SERVO_DIALOG, pParent)
{
m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
- m_crBkgnd = RGB(255, 255, 255);
+ 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)
@@ -88,10 +105,57 @@
ON_WM_CTLCOLOR()
ON_WM_DESTROY()
ON_BN_CLICKED(IDC_BUTTON_LOG, &CServoDlg::OnBnClickedButtonLog)
+ ON_WM_SIZE()
+ ON_WM_CLOSE()
+ ON_MESSAGE(ID_MSG_LOGDLG_HIDE, &CServoDlg::OnLogDlgHide)
+ ON_WM_MOVING()
+ ON_WM_MOVE()
+ ON_COMMAND(ID_MENU_FILE_EXIT, &CServoDlg::OnMenuFileExit)
+ ON_UPDATE_COMMAND_UI(ID_MENU_FILE_EXIT, &CServoDlg::OnUpdateMenuFileExit)
+ ON_COMMAND(ID_MENU_FILE_SETTINGS, &CServoDlg::OnMenuFileSettings)
+ ON_UPDATE_COMMAND_UI(ID_MENU_FILE_SETTINGS, &CServoDlg::OnUpdateMenuFileSettings)
+ ON_COMMAND(ID_MENU_FILE_SECSTEST, &CServoDlg::OnMenuFileSecsTest)
+ ON_UPDATE_COMMAND_UI(ID_MENU_FILE_SECSTEST, &CServoDlg::OnUpdateMenuFileSecsTest)
+ ON_COMMAND(ID_MENU_WND_LOG, &CServoDlg::OnMenuWndLog)
+ 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);
+ }
+ }
+ pAny->release();
+ }, [&]() -> void {
+ // onComplete
+ }, [&](IThrowable* pThrowable) -> void {
+ // onErrorm
+ pThrowable->printf();
+ });
+
+ theApp.m_model.getObservable()->observeOn(pRxWindows->mainThread())
+ ->subscribe(m_pObserver);
+ }
+}
BOOL CServoDlg::OnInitDialog()
{
@@ -123,12 +187,21 @@
SetIcon(m_hIcon, FALSE); // 设置小图标
+ // 菜单
+ CMenu menu;
+ menu.LoadMenu(IDR_MENU_APP);
+ SetMenu(&menu);
+
+
+
// 图示
m_pGraph = CServoGraph::Hook(GetDlgItem(IDC_SERVO_GRAPH1)->GetSafeHwnd());
CString strPath;
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
@@ -177,10 +250,10 @@
// 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");
@@ -203,6 +276,22 @@
m_pGraph->SetBoxText(INDICATE_MEASUREMENT, "13", "Measurement");
+ // 调整初始窗口位置
+ CRect rcWnd;
+ GetWindowRect(&rcWnd);
+ int width = GetSystemMetrics(SM_CXSCREEN);
+ int height = GetSystemMetrics(SM_CYSCREEN);
+ MoveWindow((width - rcWnd.Width()) / 2, 0, rcWnd.Width(), rcWnd.Height(), TRUE);
+
+
+ // model init
+ theApp.m_model.init();
+
+
+ SetTimer(TIMER_ID_CREATE_TERMINAL, 3000, nullptr);
+ InitRxWindows();
+ UpdateLogBtn();
+ Resize();
return TRUE; // 除非将焦点设置到控件，否则返回 TRUE
}
@@ -255,7 +344,123 @@
return static_cast<HCURSOR>(m_hIcon);
}
+void CServoDlg::OnInitMenuPopup(CMenu* pPopupMenu, UINT nIndex, BOOL bSysMenu)
+{
+ ASSERT(pPopupMenu != NULL);
+ CCmdUI state;
+ state.m_pMenu = pPopupMenu;
+ ASSERT(state.m_pOther == NULL);
+ ASSERT(state.m_pParentMenu == NULL);
+
+ HMENU hParentMenu;
+ if (AfxGetThreadState()->m_hTrackingMenu == pPopupMenu->m_hMenu)
+ state.m_pParentMenu = pPopupMenu;
+ else if ((hParentMenu = ::GetMenu(m_hWnd)) != NULL)
+ {
+ CWnd* pParent = this;
+ if (pParent != NULL &&
+ (hParentMenu = ::GetMenu(pParent->m_hWnd)) != NULL)
+ {
+ int nIndexMax = ::GetMenuItemCount(hParentMenu);
+ for (int nIndex = 0; nIndex < nIndexMax; nIndex++)
+ {
+ if (::GetSubMenu(hParentMenu, nIndex) == pPopupMenu->m_hMenu)
+ {
+ state.m_pParentMenu = CMenu::FromHandle(hParentMenu);
+ break;
+ }
+ }
+ }
+ }
+
+ state.m_nIndexMax = pPopupMenu->GetMenuItemCount();
+ for (state.m_nIndex = 0; state.m_nIndex < state.m_nIndexMax;
+ state.m_nIndex++)
+ {
+ state.m_nID = pPopupMenu->GetMenuItemID(state.m_nIndex);
+ if (state.m_nID == 0)
+ continue;
+
+ ASSERT(state.m_pOther == NULL);
+ ASSERT(state.m_pMenu != NULL);
+ if (state.m_nID == (UINT)-1)
+ {
+ state.m_pSubMenu = pPopupMenu->GetSubMenu(state.m_nIndex);
+ if (state.m_pSubMenu == NULL ||
+ (state.m_nID = state.m_pSubMenu->GetMenuItemID(0)) == 0 ||
+ state.m_nID == (UINT)-1)
+ {
+ continue;
+ }
+ state.DoUpdate(this, TRUE);
+ }
+ else
+ {
+ state.m_pSubMenu = NULL;
+ state.DoUpdate(this, FALSE);
+ }
+
+ UINT nCount = pPopupMenu->GetMenuItemCount();
+ if (nCount < state.m_nIndexMax)
+ {
+ state.m_nIndex -= (state.m_nIndexMax - nCount);
+ while (state.m_nIndex < nCount &&
+ pPopupMenu->GetMenuItemID(state.m_nIndex) == state.m_nID)
+ {
+ state.m_nIndex++;
+ }
+ }
+ state.m_nIndexMax = nCount;
+ }
+}
+
+void CServoDlg::OnMenuFileSettings()
+{
+
+}
+
+void CServoDlg::OnUpdateMenuFileSettings(CCmdUI* pCmdUI)
+{
+ pCmdUI->Enable(TRUE);
+}
+
+void CServoDlg::OnMenuFileSecsTest()
+{
+ CSecsTestDlg dlg;
+ dlg.DoModal();
+}
+
+void CServoDlg::OnUpdateMenuFileSecsTest(CCmdUI* pCmdUI)
+{
+ pCmdUI->Enable(TRUE);
+}
+
+void CServoDlg::OnMenuWndLog()
+{
+ OnBnClickedButtonLog();
+}
+
+void CServoDlg::OnUpdateMenuWndLog(CCmdUI* pCmdUI)
+{
+ pCmdUI->SetCheck(m_bShowLogWnd);
+}
+
+void CServoDlg::OnMenuFileExit()
+{
+ PostMessage(WM_CLOSE);
+}
+
+void CServoDlg::OnUpdateMenuFileExit(CCmdUI* pCmdUI)
+{
+ pCmdUI->Enable(TRUE);
+}
+
+void CServoDlg::OnMenuHelpAbout()
+{
+ CAboutDlg dlgAbout;
+ dlgAbout.DoModal();
+}
void CServoDlg::OnBnClickedOk()
{
@@ -290,18 +495,252 @@
{
CDialogEx::OnDestroy();
+ if (m_pLogDlg != nullptr) {
+ m_pLogDlg->DestroyWindow();
+ 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()
{
m_bShowLogWnd = !m_bShowLogWnd;
- m_btnLog.SetFrameColor(BS_NORMAL, BTN_JOG_FRAME_NORMAL);
- m_btnLog.SetFrameColor(BS_HOVER, BTN_JOG_FRAME_HOVER);
- m_btnLog.SetFrameColor(BS_PRESS, BTN_JOG_FRAME_PRESS);
- m_btnLog.SetBkgndColor(BS_NORMAL, BTN_JOG_BKGND_NORMAL);
- m_btnLog.SetBkgndColor(BS_HOVER, BTN_JOG_BKGND_HOVER);
- m_btnLog.SetBkgndColor(BS_PRESS, BTN_JOG_BKGND_PRESS);
+ if (m_pLogDlg == nullptr) {
+ m_pLogDlg = new CLogDlg();
+ m_pLogDlg->Create(IDD_DIALOG_LOG, this);
+
+ CRect rcWnd;
+ GetWindowRect(&rcWnd);
+ m_pLogDlg->MoveWindow(rcWnd.left, rcWnd.bottom - 8, rcWnd.Width(), 200);
+ }
+ ASSERT(m_pLogDlg);
+ m_pLogDlg->ShowWindow(m_bShowLogWnd ? SW_SHOW : SW_HIDE);
+
+ UpdateLogBtn();
+}
+
+void CServoDlg::UpdateLogBtn()
+{
+ m_btnLog.SetFrameColor(BS_NORMAL, BTN_LOG_FRAME_NORMAL);
+ m_btnLog.SetFrameColor(BS_HOVER, BTN_LOG_FRAME_HOVER);
+ m_btnLog.SetFrameColor(BS_PRESS, BTN_LOG_FRAME_PRESS);
+ m_btnLog.SetBkgndColor(BS_NORMAL, m_bShowLogWnd ? BTN_LOG_BKGND_PRESS : BTN_LOG_BKGND_NORMAL);
+ 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::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: 在此添加消息处理程序代码和/或调用默认值
+
+ 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) {
+ // 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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