From 904fd149e60f984f4459ff295cd6ae6505fa3f21 Mon Sep 17 00:00:00 2001
From: darker <mr.darker@163.com>
Date: 星期三, 12 二月 2025 17:48:14 +0800
Subject: [PATCH] Merge branch 'clh' into liuyang
---
SourceCode/Bond/Servo/ServoDlg.cpp | 196 ++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 194 insertions(+), 2 deletions(-)
diff --git a/SourceCode/Bond/Servo/ServoDlg.cpp b/SourceCode/Bond/Servo/ServoDlg.cpp
index 7d7b5ad..0b50b45 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 +120,42 @@
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()
{
@@ -156,6 +200,8 @@
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 +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");
@@ -242,6 +288,8 @@
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
@@ -452,10 +500,21 @@
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 +543,106 @@
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)
@@ -544,3 +703,36 @@
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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