From e0b180a728b4cb091fbf76172658409806121b6f Mon Sep 17 00:00:00 2001
From: darker <mr.darker@163.com>
Date: 星期四, 16 一月 2025 17:46:31 +0800
Subject: [PATCH] 1. 添加Robot移动标识 2. 添加Gdiplus模块 3. 添加Robot旋转的函数（未完成）
---
SourceCode/Bond/Servo/Servo.cpp | 26 +++++++++++++
SourceCode/Bond/Servo/stdafx.h | 3 +
SourceCode/Bond/Servo/Servo.h | 2 +
SourceCode/Bond/Servo/ServoDlg.cpp | 49 +++++++++++++++++++++++-
SourceCode/Bond/Servo/ServoDlg.h | 2 +
5 files changed, 78 insertions(+), 4 deletions(-)
diff --git a/SourceCode/Bond/Servo/Servo.cpp b/SourceCode/Bond/Servo/Servo.cpp
index b422966..c1a7e0b 100644
--- a/SourceCode/Bond/Servo/Servo.cpp
+++ b/SourceCode/Bond/Servo/Servo.cpp
@@ -7,6 +7,11 @@
#include "ServoDlg.h"
#include "ServoGraph.h"
+using namespace Gdiplus;
+// 声明全局变量，用于管理 GDI+ 初始化
+ULONG_PTR g_diplusToken;
+GdiplusStartupInput g_diplusStartupInput;
+
#ifdef _DEBUG
#define new DEBUG_NEW
#endif
@@ -93,6 +98,10 @@
HSMS_Initialize();
+ // 初始化 GDI+
+ InitGDIPlus();
+
+
CServoDlg dlg;
m_pMainWnd = &dlg;
INT_PTR nResponse = dlg.DoModal();
@@ -129,5 +138,22 @@
HSMS_Term();
RX_Term();
+ // 清理 GDI+
+ TermGDIPlus();
+
return CWinApp::ExitInstance();
}
+
+// 初始化 GDI+
+void CServoApp::InitGDIPlus()
+{
+ // 初始化 GDI+ 图形库
+ GdiplusStartup(&g_diplusToken, &g_diplusStartupInput, NULL);
+}
+
+// 清理 GDI+
+void CServoApp::TermGDIPlus()
+{
+ // 清理 GDI+ 图形库
+ GdiplusShutdown(g_diplusToken);
+}
\ No newline at end of file
diff --git a/SourceCode/Bond/Servo/Servo.h b/SourceCode/Bond/Servo/Servo.h
index bb306cd..04d5fb2 100644
--- a/SourceCode/Bond/Servo/Servo.h
+++ b/SourceCode/Bond/Servo/Servo.h
@@ -20,6 +20,8 @@
{
public:
CServoApp();
+ void InitGDIPlus();
+ void TermGDIPlus();
public:
diff --git a/SourceCode/Bond/Servo/ServoDlg.cpp b/SourceCode/Bond/Servo/ServoDlg.cpp
index e0156b3..77b85f5 100644
--- a/SourceCode/Bond/Servo/ServoDlg.cpp
+++ b/SourceCode/Bond/Servo/ServoDlg.cpp
@@ -11,6 +11,7 @@
#include "SecsTestDlg.h"
#include <chrono>
#include <thread>
+#include <cmath>
#ifdef _DEBUG
@@ -79,6 +80,7 @@
m_crBkgnd = APPDLG_BACKGROUND_COLOR;
m_hbrBkgnd = nullptr;
m_bShowLogWnd = FALSE;
+ m_bIsRobotMoving = FALSE;
m_pLogDlg = nullptr;
}
@@ -513,6 +515,9 @@
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();
@@ -539,6 +544,41 @@
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)
+{
+ return;
+ // 将角度转换为弧度
+ float angleInRadians = angleInDegrees * (std::acos(-1) / 180.0f);
+
+ // 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;
+
+ 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);
+
+ 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));
+
+ 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));
+
+ // 更新指示框的位置
+ m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM1, newArmX1, newArmY1);
+ m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM2, newArmX2, newArmY2);
+
Invalidate();
}
@@ -605,7 +645,10 @@
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
-
- //return CDialogEx::OnEraseBkgnd(pDC);
- return TRUE;
+ if (m_bIsRobotMoving) {
+ // 禁止刷新背景，避免闪烁
+ return TRUE;
+ }
+
+ return CDialogEx::OnEraseBkgnd(pDC);
}
diff --git a/SourceCode/Bond/Servo/ServoDlg.h b/SourceCode/Bond/Servo/ServoDlg.h
index f0a270e..c3842e6 100644
--- a/SourceCode/Bond/Servo/ServoDlg.h
+++ b/SourceCode/Bond/Servo/ServoDlg.h
@@ -20,6 +20,7 @@
void Resize();
void UpdateLogBtn();
void UpdateRobotPosition(float percentage);
+ void RotateRobot(float angleInDegrees);
// 对话框数据
@@ -32,6 +33,7 @@
private:
+ BOOL m_bIsRobotMoving;
BOOL m_bShowLogWnd;
CLogDlg* m_pLogDlg;
diff --git a/SourceCode/Bond/Servo/stdafx.h b/SourceCode/Bond/Servo/stdafx.h
index ea7a70f..2240fc8 100644
--- a/SourceCode/Bond/Servo/stdafx.h
+++ b/SourceCode/Bond/Servo/stdafx.h
@@ -33,7 +33,8 @@
#include <afxcontrolbars.h> // 功能区和控件条的 MFC 支持
-
+// GDI+
+#include <gdiplus.h>
#include "..\RxWindows1.0\include\RxWindowsLib.h"
#include "..\HSMSSDK\Include\HSMSSDK.h"
--
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