From 62a4a8db6c05c98f180ae7f6429a9a232fce6c0c Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期四, 03 七月 2025 17:19:16 +0800
Subject: [PATCH] 1. 重构机器人动画逻辑，采用分帧动画机制，避免在 OnTimer 中阻塞主线程； 2. 动画过程中允许动态中断，确保设备状态变化时可即时响应； 3. 动画结束时自动校正位置与角度，确保最终状态准确一致；
---
SourceCode/Bond/Servo/Model.h | 35 +++++++++++++++++++++++++++++++++++
1 files changed, 35 insertions(+), 0 deletions(-)
diff --git a/SourceCode/Bond/Servo/Model.h b/SourceCode/Bond/Servo/Model.h
index acba736..d2c4e0c 100644
--- a/SourceCode/Bond/Servo/Model.h
+++ b/SourceCode/Bond/Servo/Model.h
@@ -1,4 +1,9 @@
#pragma once
+#include "Configuration.h"
+#include "HsmsPassive.h"
+#include "CMaster.h"
+#include "CGlassPool.h"
+
class CModel
{
public:
@@ -6,7 +11,37 @@
~CModel();
public:
+ IObservable* getObservable();
+ SERVO::CMaster& getMaster();
+ void setWorkDir(const char* pszWorkDir);
+ void loadPortParams();
int init();
int term();
+
+public:
+ int notify(int code);
+ int notifyPtr(int code, void* ptr = NULL);
+ int notifyObj(int code, IRxObject* pObj);
+ int notifyObjAndPtr(int code, IRxObject* pObj, void* ptr);
+ int notifyObjAndInt(int code, IRxObject* pObj1, IRxObject* pObj2, int exCode);
+ int notifyInt(int code, int exCode);
+ int notifyInt2(int code, int exCode, int exCode2);
+ int notifyDouble(int code, double dValue);
+ int notifyText(int code, const char* pszText);
+ int notifyPtrAndInt(int code, void* ptr1, void* ptr2, int exCode);
+ int notifyTextAndInt(int code, const char* pszText, int exCode);
+ int notifyMesMsg(int code, int stream, int function, const char* pszText);
+
+public:
+ CConfiguration m_configuration;
+ CHsmsPassive m_hsmsPassive;
+ SERVO::CGlassPool m_glassPool;
+ SERVO::CMaster m_master;
+
+private:
+ IObservable* m_pObservable;
+ IObservableEmitter* m_pObservableEmitter;
+ CString m_strWorkDir;
+ CString m_strDataDir;
};
--
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