更新项目文件和数据发送逻辑

- 将多个项目文件中的
- 在 `DriverMainDlg.cpp` 中注释掉与 `m_bAutoSend2` 相关的代码，新增 `SendCanAGVMoveData` 和 `SendCanAGVTurnData` 函数以发送运动和转向数据。
- 更新 `SendCanThreadForFast` 函数，使用新的数据发送函数替代旧实现。
- 在 `OnBnClickedAutoSend3` 函数中添加停止发送 CAN 报文的逻辑，并将速度置为 0。
- 在 `DriverMainDlg.h` 中新增相关函数声明。
- 其他项目文件（如 `Fast.vcxproj`、`KcCtrl.vcxproj`、`Plc.vcxproj` 和 `QrGuide.vcxproj`）也进行了类似的工具集更新。

CCEXPipe/CCEXPipe.vcxproj

@@ -22,7 +22,7 @@
     <ProjectGuid>{548705F2-AF3E-45B7-A716-578791B1ECBE}</ProjectGuid>
     <RootNamespace>CCEXPipe</RootNamespace>
     <Keyword>Win32Proj</Keyword>
-    <WindowsTargetPlatformVersion>10.0.10586.0</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
   </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
@@ -45,7 +45,7 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>DynamicLibrary</ConfigurationType>
     <CharacterSet>MultiByte</CharacterSet>
-    <PlatformToolset>v140</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
   </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
   <ImportGroup Label="ExtensionSettings">

Platform/Agv-Platform.vcxproj

@@ -21,7 +21,7 @@
   <PropertyGroup Label="Globals">
     <ProjectGuid>{4DA0C82B-2496-4A33-BDCE-E89D85A60BF8}</ProjectGuid>
     <RootNamespace>VcsClient</RootNamespace>
-    <WindowsTargetPlatformVersion>10.0.10586.0</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
     <Keyword>MFCProj</Keyword>
   </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
@@ -43,7 +43,7 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v140</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <CharacterSet>MultiByte</CharacterSet>
     <UseOfMfc>Dynamic</UseOfMfc>
   </PropertyGroup>

Plugin/Driver/Driver.vcxproj

@@ -21,7 +21,7 @@
   <PropertyGroup Label="Globals">
     <ProjectGuid>{8BBB60C1-510D-47BC-8FD2-E14E9EA3A156}</ProjectGuid>
     <RootNamespace>VcsClient</RootNamespace>
-    <WindowsTargetPlatformVersion>10.0.10586.0</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
     <Keyword>MFCProj</Keyword>
   </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
@@ -43,7 +43,7 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v140</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <CharacterSet>MultiByte</CharacterSet>
     <UseOfMfc>Dynamic</UseOfMfc>
   </PropertyGroup>

Plugin/Driver/DriverMainDlg.cpp

@@ -490,12 +490,12 @@ BOOL CDriverMainDlg::OnInitDialog()
 	else
 		StopFlag = 1;
 
-	if (m_bAutoSend2)
+	//if (m_bAutoSend2)
-	{
+	//{
-		m_StopSendFlag2 = 0;
+	//	m_StopSendFlag2 = 0;
-		//开启发送线程
+	//	//开启发送线程
-		AfxBeginThread(SendCanThread2, this);
+	//	AfxBeginThread(SendCanThread2, this);
-	}
+	//}
 	if (m_bAutoSendForFast)
 	{
 		m_StopSendFlagForFast = 0;
@@ -1018,6 +1018,58 @@ void CDriverMainDlg::SendCanControlDataForKDS(float Vel, float Ang) {
 	LogOutToFile("(inner)SendCanControlDataForKDS: canData326 = %c,%c,%c,%c,%c,%c,%c,%c", canData326[0], canData326[1], canData326[2], canData326[3], canData326[4], canData326[5], canData326[6]);
 	//SendCanData(0, 0, m_nSendFrameTypeIdx0, m_nSendFrameFormatIdx0, 0x326, canData326);
 }
+//下发自动模式下前进后退参数_CAN_0x226
+void CDriverMainDlg::SendCanAGVMoveData(float Vel) {
+	UINT32 acId = 0x226;  //速度参数帧
+	byte mvDirection = 0;
+	float C = 3.14 * 0.343; //计算轮子周长
+	float reSpeed = 0;
+	if (Vel > 0) {
+		mvDirection = 5; //前进
+	}
+	else if (Vel < 0) {
+		mvDirection = 3; //后退
+		Vel = -Vel;
+	}
+	reSpeed = Vel * 60 / C * 20.2; //RPM
+	int16_t bytePair = static_cast<int16_t>(reSpeed);
+	uint8_t reSpeedHByte = (bytePair >> 8) & 0xFF; // 高字节
+	uint8_t reSpeedLByte = bytePair & 0xFF;        // 低字节
+	//TRACE("HByte is %x LByte is %x", reSpeedHByte, reSpeedLByte);
+	char acData[8] = {};
+	acData[0] = mvDirection;
+	acData[1] = reSpeedLByte;
+	acData[2] = reSpeedHByte;
+	acData[3] = 30;
+	acData[4] = 30;
+	acData[5] = 1;
+	acData[6] = 1;
+	acData[7] = 0;
+	SendCanData(0, 0, m_nSendFrameTypeIdx0, m_nSendFrameFormatIdx0, acId, acData);
+}
+
+//下发自动模式下转向角度_CAN_0x326
+void CDriverMainDlg::SendCanAGVTurnData(float Ang)
+{
+	UINT32 acId = 0x326;  //角度帧
+	Ang = Ang * 100;
+	int16_t bytePair = static_cast<int16_t>(Ang);
+	uint8_t turnDegreeHByte = (bytePair >> 8) & 0xFF; // 高字节
+	uint8_t turnDegreeLByte = bytePair & 0xFF;        // 低字节
+	//TRACE("HByte is %x LByte is %x", turnDegreeHByte, turnDegreeLByte);
+	char acData[8] = {};
+	acData[0] = turnDegreeLByte;
+	acData[1] = turnDegreeHByte;
+	acData[2] = 0;
+	acData[3] = 0;
+	acData[4] = 0;
+	acData[5] = 0;
+	acData[6] = 0;
+	acData[7] = 0;
+	SendCanData(0, 0, m_nSendFrameTypeIdx0, m_nSendFrameFormatIdx0, acId, acData);
+}
+
+
 
 
 
@@ -1206,8 +1258,11 @@ UINT CDriverMainDlg::SendCanThreadForFast(LPVOID v)
 		//theApp.m_fAngCalForFast = UserAng;
 		//下发运动控制参数
 		LogOutToFile("(inner)SendCanThreadForFast: Vel = %f, Ang = %f", theApp.m_fVelCalForFast, theApp.m_fAngCalForFast);
-		dlg->SendCanControlDataForKDS(theApp.m_fVelCalForFast, theApp.m_fAngCalForFast);
+		//dlg->SendCanControlDataForKDS(theApp.m_fVelCalForFast, theApp.m_fAngCalForFast);
-		Sleep(20);
+		dlg->SendCanAGVMoveData(theApp.m_fVelCalForFast);
+		Sleep(10);
+		dlg->SendCanAGVTurnData(theApp.m_fAngCalForFast);
+		Sleep(10);
 	}
 	return 0;
 }
@@ -1240,6 +1295,9 @@ void CDriverMainDlg::OnBnClickedAutoSend3()
 	}
 	else
 		m_StopSendFlagForFast = 1;
+		//停止发送Can报文，并将速度置0
+		SendCanAGVMoveData(0.0f);
+		theApp.m_fVelCalForFast = 0.0f;
 }
 
 int before_trafficstop_action;

Plugin/Driver/DriverMainDlg.h

@@ -118,6 +118,8 @@ public:
 	BOOL    OpenCanDevice();
 	float   NormalizeAngle(float angle);
 	float   CorrectAngle(float currentAngle, float targetAngle);
+	void SendCanAGVMoveData(float Vel);
+	void SendCanAGVTurnData(float Ang);
 	void    UpdateCanStatue(BOOL  bStatue);
 	void    ProcessPipeMsg(int lMsgId, char* pData, int lLen);
 	void    SendCanData(int nDevIdx, int nCanIdx, int nFrameType, int nFrameFormat, UINT32 acFrameId, char acFrameData[8]);

Plugin/Fast/Fast.vcxproj

@@ -47,7 +47,7 @@
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
-    <PlatformToolset>v140</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <CharacterSet>MultiByte</CharacterSet>
     <UseOfMfc>Dynamic</UseOfMfc>
   </PropertyGroup>

Plugin/KcCtrl/KcCtrl.vcxproj

@@ -43,7 +43,7 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v140</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <CharacterSet>MultiByte</CharacterSet>
     <UseOfMfc>Dynamic</UseOfMfc>
   </PropertyGroup>

Plugin/Plc/Plc.vcxproj

@@ -43,7 +43,7 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v140</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <CharacterSet>MultiByte</CharacterSet>
     <UseOfMfc>Dynamic</UseOfMfc>
   </PropertyGroup>

Plugin/QrGuide/QrGuide.vcxproj

@@ -47,7 +47,7 @@
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
-    <PlatformToolset>v140</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <CharacterSet>MultiByte</CharacterSet>
     <UseOfMfc>Dynamic</UseOfMfc>
   </PropertyGroup>