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 | 108 ++++++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 96 insertions(+), 12 deletions(-)
diff --git a/SourceCode/Bond/Servo/ServoDlg.cpp b/SourceCode/Bond/Servo/ServoDlg.cpp
index 77b85f5..0b50b45 100644
--- a/SourceCode/Bond/Servo/ServoDlg.cpp
+++ b/SourceCode/Bond/Servo/ServoDlg.cpp
@@ -36,6 +36,10 @@
#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
class CAboutDlg : public CDialogEx
@@ -82,6 +86,8 @@
m_bShowLogWnd = FALSE;
m_bIsRobotMoving = FALSE;
m_pLogDlg = nullptr;
+ m_pTerminalDisplayDlg = nullptr;
+ m_pObserver = nullptr;
}
void CServoDlg::DoDataExchange(CDataExchange* pDX)
@@ -114,11 +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()
{
@@ -251,6 +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
@@ -461,10 +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()
@@ -552,33 +602,46 @@
void CServoDlg::RotateRobot(float angleInDegrees)
{
- return;
// 将角度转换为弧度
- float angleInRadians = angleInDegrees * (std::acos(-1) / 180.0f);
+ 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
- // m_pGraph->UpdateImageAngle(IMAGE_ROBOT, angleInDegrees);
-
+ // 旋转指示框的坐标
auto* pRobot1 = m_pGraph->GetIndicateBox(INDICATE_ROBOT_ARM1);
auto* pRobot2 = m_pGraph->GetIndicateBox(INDICATE_ROBOT_ARM2);
- // 旋转指示框的坐标
- int newArmX1 = static_cast<int>(cx + (pRobot1->x - cx) * cos(angleInRadians) - (pRobot1->y - cy) * sin(angleInRadians));
- int newArmY1 = static_cast<int>(cy + (pRobot1->x - cx) * sin(angleInRadians) + (pRobot1->y - cy) * cos(angleInRadians));
+ if (pRobot1 && pRobot2) {
+ int newArmX1 = pImage->x + 20;
+ int newArmY1 = 294;
- int newArmX2 = static_cast<int>(cx + (pRobot2->x - cx) * cos(angleInRadians) - (pRobot2->y - cy) * sin(angleInRadians));
- int newArmY2 = static_cast<int>(cy + (pRobot2->x - cx) * sin(angleInRadians) + (pRobot2->y - cy) * cos(angleInRadians));
+ int newArmX2 = pImage->x + 73;
+ int newArmY2 = 294;
- // 更新指示框的位置
- m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM1, newArmX1, newArmY1);
- m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM2, newArmX2, newArmY2);
+ 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();
}
@@ -641,6 +704,27 @@
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)
{
--
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