22881ced28
在 `CDriverMainDlg::ProcessPipeMsg` 中修改了角度计算逻辑，增加了对角度绝对值的判断，并更新了 `CorrectAngle` 函数的调用。调整了 PID 控制器的参数以优化控制效果。 在 `CFastMainDialog` 中实现了 TCP 监听线程，新增了 `StartTCPServer` 和 `StopTCPServer` 函数，并在对话框初始化时启动 TCP 服务器。更新了项目文件以支持新的编译环境。
345 lines
8.1 KiB
C++
345 lines
8.1 KiB
C++
// WcsMainDialog.cpp : 实现文件
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//
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#include "stdafx.h"
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#include "afxdialogex.h"
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#include "Fast.h"
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#include "FastMainDialog.h"
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// CMainDialog 对话框
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IMPLEMENT_DYNAMIC(CFastMainDialog, CDialogEx)
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CFastMainDialog::CFastMainDialog(CWnd* pParent /*=NULL*/)
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: CDialogEx(IDD_FAST_MAIN_DIALOG, pParent)
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{
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}
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CFastMainDialog::~CFastMainDialog()
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{
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}
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void CFastMainDialog::DoDataExchange(CDataExchange* pDX)
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{
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CDialogEx::DoDataExchange(pDX);
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DDX_Control(pDX, IDC_STATIC_FAST1, m_FastCam[0]);
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DDX_Control(pDX, IDC_STATIC_FAST2, m_FastCam[1]);
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DDX_Control(pDX, IDC_STATIC_FAST3, m_FastCam[2]);
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DDX_Control(pDX, IDC_STATIC_FAST4, m_FastCam[3]);
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}
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BEGIN_MESSAGE_MAP(CFastMainDialog, CDialogEx)
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ON_WM_TIMER()
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END_MESSAGE_MAP()
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// CMainDialog 消息处理程序
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//和模块进程通讯的管道回调函数：
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void g_PipeCallBack(void* pObj, int lMsgId, WPARAM wparam, LPARAM lparam)
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{
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CFastMainDialog* pModule = (CFastMainDialog*)pObj;
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if (CEXPIPE_CONNECT_OK == lMsgId)
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{
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//连接成功
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//if (FALSE == pModule->PostMessage(WM_PLATFORM_CONNECT_OK, NULL, NULL)) { LogOutToFile("g_PipeCallBack PostMessage error[%d]", lMsgId); }
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LogOutToFile("已连接父进程管道");
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//向WMS服务器请求设备配置信息
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//theApp.SendMsg2Platform("WMS", DEVICE_CONFIG_REQ, NULL);
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}
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else if (CEXPIPE_DIS_CLIENT == lMsgId)
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{
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//管道断开，结束
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#ifndef _DEBUG
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LogOutToFile("父进程连接管道断开，本模块自动退出");
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//if (FALSE == pModule->PostMessage(WM_CLOSE, NULL, NULL)) { LogOutToFile("g_PipeCallBack PostMessage error[%d]", lMsgId); }
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pModule->PostMessage(WM_COMMAND, MAKEWPARAM(ID_TRAY_EXIT, 0), 0);
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#endif
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}
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else if (CEXPIPE_NEW_DATA == lMsgId)
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{
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pModule->ProcessPipeMsg(lMsgId, (char*)wparam, (int)lparam);
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}
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else
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{
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;
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}
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}
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void CFastMainDialog::ProcessPipeMsg(int lMsgId, char* pData, int lLen)
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{
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if (lLen == 0)
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{
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return;
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}
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PIPE_DATA_STRUCT* pstData = (PIPE_DATA_STRUCT*)pData;
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//平台转发给插件的消息
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if (pstData->lMsgId == MAIN_2_MODULE_WMS && pstData->lDataLen > 0)
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{
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Json::Reader reader;
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Json::Value root;
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if (reader.parse((char*)pstData->acData, root))
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{
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CString strReceiver = root["receiver"].asString().c_str();
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CString strSender = root["sender"].asString().c_str();
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int nMsgType = root["type"].asInt();
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//获取设备配置信息返回
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/*if (nMsgType == DEVICE_CONFIG_RET)
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{
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}
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else if (nMsgType == SET_TRANS_MODE_REQ && m_bDeviceInit) //设置输送线的工作模式
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{
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}
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else if (nMsgType == GET_TRANS_STATE_REQ)//请求获取输送线状态
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{
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}*/
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}
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}
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else if (pstData->lMsgId == MAIN_2_MODULE_SHOWWINDOW)
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{
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//PostMessage(WM_COMMAND, MAKEWPARAM(ID_TRAY_SHOW, 0), 0);
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AfxGetApp()->m_pMainWnd->ShowWindow(SW_SHOWNORMAL);
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SetForegroundWindow();
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}
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LogOutToFile("HttpServiceListener::OnRecvRequest End");
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}
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// TCP服务端线程
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/*UINT CFastMainDialog::TCPListenerThread(LPVOID pParam) {
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CFastMainDialog* pThis = (CFastMainDialog*)pParam;
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SOCKET hServer = pThis->m_hServerSocket;
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while (true) {
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SOCKET hClient = accept(hServer, NULL, NULL);
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if (hClient == INVALID_SOCKET) continue;
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char buffer[4096];
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int bytesRecv = recv(hClient, buffer, sizeof(buffer), 0);
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if (bytesRecv > 0) {
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CString strMsg(buffer, bytesRecv);
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pThis->ProcessTCPMessage(strMsg);
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}
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closesocket(hClient);
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}
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return 0;
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}*/
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UINT CFastMainDialog::TCPListenerThread(LPVOID pParam) {
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CFastMainDialog* pThis = (CFastMainDialog*)pParam;
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SOCKET hServer = pThis->m_hServerSocket;
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while (true) {
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SOCKET hClient = accept(hServer, NULL, NULL);
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if (hClient == INVALID_SOCKET) continue;
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// 禁用Nagle算法（可选）
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int optval = 1;
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setsockopt(hClient, IPPROTO_TCP, TCP_NODELAY, (char*)&optval, sizeof(optval));
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// 持续接收数据直到连接关闭
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char buffer[4096];
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while (true) {
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int bytesRecv = recv(hClient, buffer, sizeof(buffer), 0);
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if (bytesRecv <= 0) { // 连接断开或错误
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LogOutToFile("[TCP] Client disconnected or error: %d", WSAGetLastError());
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break;
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}
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CString strMsg(buffer, bytesRecv);
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pThis->ProcessTCPMessage(strMsg);
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}
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closesocket(hClient); // 最终关闭连接
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}
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return 0;
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}
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// 处理收到的TCP消息
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void CFastMainDialog::ProcessTCPMessage(const CString& strJson) {
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LogOutToFile("FAST::ProcessTCPMessage Received: %s", strJson);
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Json::Reader reader;
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Json::Value root;
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if (!reader.parse((LPCTSTR)strJson, root)) {
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LogOutToFile("JSON parse error!");
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return;
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}
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// 验证必要字段
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if (!root.isMember("receiver") || !root.isMember("type")) {
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LogOutToFile("Invalid message format");
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return;
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}
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// 通过现有平台接口转发
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CString strReceiver = root["receiver"].asString().c_str();
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int nMsgType = root["type"].asInt();
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Json::Value params = root.get("params", Json::nullValue);
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theApp.SendMsg2Platform(strReceiver, nMsgType, params);
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}
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// 启动TCP服务
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void CFastMainDialog::StartTCPServer()
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{
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// 1. 初始化Winsock
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WSADATA wsaData;
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int wsResult = WSAStartup(MAKEWORD(2, 2), &wsaData);
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if (wsResult != 0) {
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LogOutToFile("[TCP] WSAStartup failed: %d", wsResult);
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return;
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}
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// 2. 创建Socket
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m_hServerSocket = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
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if (m_hServerSocket == INVALID_SOCKET) {
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LogOutToFile("[TCP] Socket creation failed: %d", WSAGetLastError());
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WSACleanup();
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return;
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}
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// 3. 设置端口复用（可选）
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int optval = 1;
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setsockopt(m_hServerSocket, SOL_SOCKET, SO_REUSEADDR, (char*)&optval, sizeof(optval));
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// 4. 绑定端口
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sockaddr_in service;
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service.sin_family = AF_INET;
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service.sin_addr.s_addr = INADDR_ANY;
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service.sin_port = htons(6000);
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if (::bind(m_hServerSocket, (SOCKADDR*)&service, sizeof(service)) == SOCKET_ERROR)
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{
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LogOutToFile("[TCP] Bind failed on port 6000: %d", WSAGetLastError());
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closesocket(m_hServerSocket);
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WSACleanup();
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return;
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}
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// 5. 开始监听
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if (listen(m_hServerSocket, SOMAXCONN) == SOCKET_ERROR)
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{
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LogOutToFile("[TCP] Listen failed: %d", WSAGetLastError());
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closesocket(m_hServerSocket);
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WSACleanup();
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return;
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}
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// 6. 启动线程
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m_pListenerThread = AfxBeginThread(TCPListenerThread, this);
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if (m_pListenerThread == NULL) {
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LogOutToFile("[TCP] Thread creation failed!");
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closesocket(m_hServerSocket);
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WSACleanup();
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return;
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}
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LogOutToFile("[TCP] Server successfully started on port 6000");
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}
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BOOL CFastMainDialog::OnInitDialog()
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{
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CDialogEx::OnInitDialog();
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CString strPipe;
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for (int i = 0; i < __argc; i++)
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{
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if (0 == strcmp(__argv[i], "-pipe") && i + 1 < __argc)
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{
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strPipe = __argv[i + 1];
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}
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}
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if (strPipe.IsEmpty())
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{
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char acPipe[256] = "";
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CString iniPath = theApp.m_strModulePath.Left(theApp.m_strModulePath.ReverseFind('\\') + 1);
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//m_strModulePath = theApp.m_strModulePath.ReverseFind("\\");
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iniPath = iniPath + "pipe.ini";
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//中文名称，仅显示用
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GetPrivateProfileString("AGV-MODULE", "PIPE_FAST", "", acPipe, 256, iniPath);
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strPipe = acPipe;
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}
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g_pstPipeClient->RegisterCall(g_PipeCallBack, this);
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g_pstPipeClient->Connect(strPipe.GetBuffer());
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theApp.m_hMainWnd = m_hWnd;
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//SetTimer(1, 500, NULL);
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//初始化本地相机
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InitLocalCamera();
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StartTCPServer(); // 新增TCP服务启动
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return TRUE; // return TRUE unless you set the focus to a control
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// 异常: OCX 属性页应返回 FALSE
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}
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BOOL CFastMainDialog::PreTranslateMessage(MSG* pMsg)
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{
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if (pMsg->message == WM_KEYDOWN&&pMsg->wParam == VK_RETURN)
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return TRUE;
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if (pMsg->message == WM_KEYDOWN&&pMsg->wParam == VK_ESCAPE)
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return TRUE;
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return CDialog::PreTranslateMessage(pMsg);
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}
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void CFastMainDialog::OnTimer(UINT_PTR nIDEvent)
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{
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// TODO: 在此添加消息处理程序代码和/或调用默认值
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CDialogEx::OnTimer(nIDEvent);
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}
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void CFastMainDialog::InitLocalCamera()
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{
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m_FastCam[0].SetCameraInfo(0, HIK_RGBD, SNAP_PICTURE);
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m_FastCam[1].SetCameraInfo(1, DAHUA_FISHEYE, SNAP_PICTURE, "192.168.0.124", 37777);
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m_FastCam[2].SetCameraInfo(2, DAHUA_FISHEYE, RT_STREAMING, "192.168.0.124", 37777);
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}
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/*
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void CFastMainDialog::InitCamereSDK()
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{
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MV3D_RGBD_VERSION_INFO stVersion;
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MV3D_RGBD_GetSDKVersion(&stVersion);
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MV3D_RGBD_Initialize();
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int ret = MV3D_RGBD_Initialize();
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unsigned int nDevNum = 0;
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ret = MV3D_RGBD_GetDeviceNumber(DeviceType_USB, &nDevNum);
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if (0 == nDevNum)
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{
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//AfxMessageBox("未检测到相机，请检查相机连接是否正常.");
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return ;
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}
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MV3D_RGBD_DEVICE_INFO info;
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for (int i = 0; i < nDevNum; i++)
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{
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m_CameraDev.push_back(info);
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}
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ret = MV3D_RGBD_GetDeviceList(DeviceType_USB, &m_CameraDev[0], nDevNum, &nDevNum);
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}
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*/ |