From 27c1691ff9ebd8c8987e901b895bea18503c5960 Mon Sep 17 00:00:00 2001
From: Quella <2892744389@qq.com>
Date: Mon, 13 Oct 2025 16:34:23 +0800
Subject: [PATCH] finnal

---
 ...2faa2334-f025-48fe-9cb2-93219455e1d3.vsidx | Bin 0 -> 107 bytes
 ...6fbd8c40-735b-4628-bf2b-feac4a11a198.vsidx | Bin 70386 -> 0 bytes
 ...d7b73d59-7ed9-4e6d-b9f0-ba5164f54ac3.vsidx | Bin 0 -> 70562 bytes
 .vs/DogAndArmControl/v17/.suo                 | Bin 113152 -> 113152 bytes
 .../v17/DocumentLayout.backup.json            | 116 +++++++++++-------
 .vs/DogAndArmControl/v17/DocumentLayout.json  | 116 +++++++++++-------
 DogAndArmControl/Form1.cs                     |  22 ++--
 DogAndArmControl/VideoCaltulate.cs            |   4 +-
 .../bin/Debug/DogAndArmControl.exe            | Bin 37376 -> 36864 bytes
 .../bin/Debug/DogAndArmControl.pdb            | Bin 62976 -> 62976 bytes
 .../DesignTimeResolveAssemblyReferences.cache | Bin 6980 -> 6993 bytes
 ...gnTimeResolveAssemblyReferencesInput.cache | Bin 3144 -> 3354 bytes
 ...dArmControl.csproj.AssemblyReference.cache | Bin 25824 -> 26175 bytes
 ...dArmControl.csproj.CoreCompileInputs.cache |   2 +-
 ...gAndArmControl.csproj.FileListAbsolute.txt |  25 ++++
 ...ndArmControl.csproj.GenerateResource.cache | Bin 126 -> 126 bytes
 .../obj/Debug/DogAndArmControl.exe            | Bin 37376 -> 36864 bytes
 .../obj/Debug/DogAndArmControl.pdb            | Bin 62976 -> 62976 bytes
 .../obj/Debug/dogandarmcontrol.exe.licenses   | Bin 440 -> 280 bytes
 19 files changed, 184 insertions(+), 101 deletions(-)
 create mode 100644 .vs/DogAndArmControl/FileContentIndex/2faa2334-f025-48fe-9cb2-93219455e1d3.vsidx
 delete mode 100644 .vs/DogAndArmControl/FileContentIndex/6fbd8c40-735b-4628-bf2b-feac4a11a198.vsidx
 create mode 100644 .vs/DogAndArmControl/FileContentIndex/d7b73d59-7ed9-4e6d-b9f0-ba5164f54ac3.vsidx

diff --git a/.vs/DogAndArmControl/FileContentIndex/2faa2334-f025-48fe-9cb2-93219455e1d3.vsidx b/.vs/DogAndArmControl/FileContentIndex/2faa2334-f025-48fe-9cb2-93219455e1d3.vsidx
new file mode 100644
index 0000000000000000000000000000000000000000..70aef67a00f5a48bfb0d87044cf8f151e2685b5d
GIT binary patch
literal 107
wcmZ>EaTnxZU~p%E02V0C38Z0cW+XOHDO{Wlsuo0n)bd05(ok9*N*hCI0FV0t;Q#;t

literal 0
HcmV?d00001

diff --git a/.vs/DogAndArmControl/FileContentIndex/6fbd8c40-735b-4628-bf2b-feac4a11a198.vsidx b/.vs/DogAndArmControl/FileContentIndex/6fbd8c40-735b-4628-bf2b-feac4a11a198.vsidx
deleted file mode 100644
index d6b1698b83c28c30d50380fcf60ac009bfce6b45..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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diff --git a/.vs/DogAndArmControl/v17/DocumentLayout.backup.json b/.vs/DogAndArmControl/v17/DocumentLayout.backup.json
index c21158b..cb2b4cc 100644
--- a/.vs/DogAndArmControl/v17/DocumentLayout.backup.json
+++ b/.vs/DogAndArmControl/v17/DocumentLayout.backup.json
@@ -1,26 +1,34 @@
 {
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-              "RelativeToolTip": "DogAndArmControl\\Form1.cs",
-              "ViewState": "AgIAAEgBAAAAAAAAAAAAwEsBAAAWAAAAAAAAAA==",
+              "Title": "VideoCaltulate.cs",
+              "DocumentMoniker": "C:\\Users\\Quella\\Desktop\\DogAndArmControl\\ArmDogControl\\DogAndArmControl\\VideoCaltulate.cs",
+              "RelativeDocumentMoniker": "DogAndArmControl\\VideoCaltulate.cs",
+              "ToolTip": "C:\\Users\\Quella\\Desktop\\DogAndArmControl\\ArmDogControl\\DogAndArmControl\\VideoCaltulate.cs",
+              "RelativeToolTip": "DogAndArmControl\\VideoCaltulate.cs",
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-              "Title": "Form1.cs [\u8BBE\u8BA1]",
-              "DocumentMoniker": "C:\\Users\\Quella\\Desktop\\DogAndArmControl\\DogAndArmControl\\Form1.cs",
+              "Title": "Form1.cs",
+              "DocumentMoniker": "C:\\Users\\Quella\\Desktop\\DogAndArmControl\\ArmDogControl\\DogAndArmControl\\Form1.cs",
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+            },
+            {
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+              "DocumentIndex": 2,
+              "Title": "Form1.cs [\u8BBE\u8BA1]",
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diff --git a/DogAndArmControl/Form1.cs b/DogAndArmControl/Form1.cs
index 1a87f13..1c99a39 100644
--- a/DogAndArmControl/Form1.cs
+++ b/DogAndArmControl/Form1.cs
@@ -30,7 +30,6 @@ namespace DogAndArmControl
         private CancellationTokenSource videoCancellationTokenSource;
         private CancellationTokenSource cancellationTokenSource;
 
-        private TcpClient controlClient; // 新增：用于控制的TCP客户端
         private NetworkStream controlStream; // 新增：用于控制的NetworkStream
         private string currentControlMode = "DOG"; // 新增：当前控制模式，默认为DOG
 
@@ -52,7 +51,7 @@ namespace DogAndArmControl
 
         private void Init()
         {
-            IpEdit.Text = "192.168.0.123";
+            IpEdit.Text = "192.168.123.18";
             PortEdit.Text = "8088";
             ArmIp.Text = "192.168.123.18"; // 机械臂IP，现在也用于TCP控制
             ArmPort.Text = "8000"; // 机械臂端口，现在也用于TCP控制
@@ -88,8 +87,8 @@ namespace DogAndArmControl
                     mergedVideoStream = mergedVideoClient.GetStream();
 
                     // 新增：建立控制TCP连接
-                    controlClient = new TcpClient();
-                    await controlClient.ConnectAsync(ArmIp.Text, Convert.ToInt32(ArmPort.Text)); // 使用机械臂的IP和端口进行控制连接
+                    //controlClient = new TcpClient();
+                    //await controlClient.ConnectAsync(ArmIp.Text, Convert.ToInt32(ArmPort.Text)); // 使用机械臂的IP和端口进行控制连接
                     controlStream = mergedVideoClient.GetStream();
 
                     // 自动向服务端发送"MERGED"表示已连接
@@ -100,11 +99,11 @@ namespace DogAndArmControl
                     videoCancellationTokenSource = new CancellationTokenSource();
 
                     // 启动接收合并视频流的任务
-                    videoReceiveTask = Task.Run(() => vic.ReceiveVideoFramesAsync(
+                    videoReceiveTask = Task.Run(() => vic.ReceiveMergedVideoFramesAsync(
                         videoCancellationTokenSource.Token,
                         mergedVideoStream,
                         ArmVideo,
-                        false));
+                        DogVideo));
 
                     DogStatus.Text = "已连接";
                     DogStatus.ForeColor = Color.Green;
@@ -131,7 +130,6 @@ namespace DogAndArmControl
 
                     videoCancellationTokenSource?.Cancel();
                     mergedVideoClient?.Close();
-                    controlClient?.Close(); // 关闭控制连接
 
                     Init();
                 }
@@ -196,7 +194,7 @@ namespace DogAndArmControl
                         string key = currentKey.ToString().ToLower();
                         if (e.KeyCode == Keys.Menu) return;
 
-                        if (controlStream != null && controlClient.Connected)
+                        if (controlStream != null)
                         {
                             if (currentControlMode == "ARM") // 根据当前模式发送指令
                             {
@@ -222,7 +220,7 @@ namespace DogAndArmControl
 
         private async void Form1_KeyUp(object sender, KeyEventArgs e)
         {
-            if (controlStream != null && controlClient.Connected)
+            if (controlStream != null)
             {
                 if (currentControlMode == "DOG")
                 {
@@ -287,7 +285,7 @@ namespace DogAndArmControl
         // 发送控制指令到机械臂 (现在通过TCP发送JSON)
         private async Task HandleArmKey(string type, string key)
         {
-            if (controlStream != null && controlClient.Connected)
+            if (controlStream != null )
             {
                 //var msg = JsonConvert.SerializeObject(new { key_events = new[] { new { key, type } } });
                 var buffer = Encoding.UTF8.GetBytes(key.ToUpper());  // 将控制命令转为字节数组
@@ -313,7 +311,7 @@ namespace DogAndArmControl
         // 新增：标签页切换事件处理
         private async void TabPane1_SelectedPageChanged(object sender, DevExpress.XtraBars.Navigation.SelectedPageChangedEventArgs e)
         {
-            if (controlStream != null && controlClient.Connected)
+            if (controlStream != null)
             {
                 if (e.Page == tabNavigationPage1) // 切换到机械狗标签页
                 {
@@ -332,7 +330,7 @@ namespace DogAndArmControl
         // 新增：发送切换模式命令
         private async Task SendChangeModeCommand(string mode)
         {
-            if (controlStream != null && controlClient.Connected)
+            if (controlStream != null)
             {
                 byte[] changeCommand = Encoding.ASCII.GetBytes($"CHANGE:{mode}"); // 发送 "CHANGE:DOG" 或 "CHANGE:ARM"
                 await controlStream.WriteAsync(changeCommand, 0, changeCommand.Length);
diff --git a/DogAndArmControl/VideoCaltulate.cs b/DogAndArmControl/VideoCaltulate.cs
index a446bfe..6b0c6ab 100644
--- a/DogAndArmControl/VideoCaltulate.cs
+++ b/DogAndArmControl/VideoCaltulate.cs
@@ -131,8 +131,8 @@ namespace DogAndArmControl
                         }
 
                         // 处理合并后的图像数据并分割显示
-                        //await Task.Run(() => ProcessMergedImageData(dogVideoBox, armVideoBox));
-                        await Task.Run(() => ProcessImageData(armVideoBox));
+                        await Task.Run(() => ProcessMergedImageData(dogVideoBox, armVideoBox));
+                        //await Task.Run(() => ProcessImageData(armVideoBox));
                     }
                     catch (Exception ex)
                     {
diff --git a/DogAndArmControl/bin/Debug/DogAndArmControl.exe b/DogAndArmControl/bin/Debug/DogAndArmControl.exe
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diff --git a/DogAndArmControl/bin/Debug/DogAndArmControl.pdb b/DogAndArmControl/bin/Debug/DogAndArmControl.pdb
index 0e50f20ab48e84f13bb835e44b608c290947eddb..f78263329f689a7aa7010367d86a9aefb2054d07 100644
GIT binary patch
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diff --git a/DogAndArmControl/obj/Debug/DesignTimeResolveAssemblyReferences.cache b/DogAndArmControl/obj/Debug/DesignTimeResolveAssemblyReferences.cache
index 54cfe04b57762d5d4c7f5a7e505ef29da5adcc27..f492f1faa8c8a889c5ad5ad88519b8e617e67a25 100644
GIT binary patch
delta 210
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delta 249
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diff --git a/DogAndArmControl/obj/Debug/DesignTimeResolveAssemblyReferencesInput.cache b/DogAndArmControl/obj/Debug/DesignTimeResolveAssemblyReferencesInput.cache
index 2e4eb49663b3eaa48b919126ddd9ecc17ce637a9..44c8fe6e1626abbc338cd6cbc0eeb1481966bcc9 100644
GIT binary patch
delta 300
zcmX>hF-vNKG^69>i(HzLjzzgH`RUI2c_l^pIWdj}1$xQ(d1;yHZXj7Ui0s5damHX|
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delta 209
zcmbOwbwXl-G^6q4gRELy1qFJ^`FUxX=@vk)=ESM|jILnD9T~=C5M#0@i`wKcMiItT
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diff --git a/DogAndArmControl/obj/Debug/DogAndArmControl.csproj.AssemblyReference.cache b/DogAndArmControl/obj/Debug/DogAndArmControl.csproj.AssemblyReference.cache
index 9a9aee08626ea3b3e494f068ef39fab4543cd5d2..69b171afaa9d9101201b2104e99701e73f80d8ec 100644
GIT binary patch
delta 729
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delta 668
zcmdmghVj8k#tG*blP5E>Xim0ZQJbv8D9I+g{?j2jwaMO$9*o(O6XgsibFzXYL^ty>
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diff --git a/DogAndArmControl/obj/Debug/DogAndArmControl.csproj.CoreCompileInputs.cache b/DogAndArmControl/obj/Debug/DogAndArmControl.csproj.CoreCompileInputs.cache
index f6d8738..29ec192 100644
--- a/DogAndArmControl/obj/Debug/DogAndArmControl.csproj.CoreCompileInputs.cache
+++ b/DogAndArmControl/obj/Debug/DogAndArmControl.csproj.CoreCompileInputs.cache
@@ -1 +1 @@
-2e76b3282172c5c2af5dc8307255f5a3f005cec846ce8524277394d042763c58
+22ff5efe8e61bf2f6288d453cced1a162cd6d5c9ac58139a21e85dc45c6d4a20
diff --git a/DogAndArmControl/obj/Debug/DogAndArmControl.csproj.FileListAbsolute.txt b/DogAndArmControl/obj/Debug/DogAndArmControl.csproj.FileListAbsolute.txt
index d696dae..3cf8dac 100644
--- a/DogAndArmControl/obj/Debug/DogAndArmControl.csproj.FileListAbsolute.txt
+++ b/DogAndArmControl/obj/Debug/DogAndArmControl.csproj.FileListAbsolute.txt
@@ -83,3 +83,28 @@ C:\Users\Quella\Desktop\DogAndArmControl\DogAndArmControl\obj\Debug\DogAndArmCon
 C:\Users\Quella\Desktop\DogAndArmControl\DogAndArmControl\obj\Debug\DogAndAr.8539BC83.Up2Date
 C:\Users\Quella\Desktop\DogAndArmControl\DogAndArmControl\obj\Debug\DogAndArmControl.exe
 C:\Users\Quella\Desktop\DogAndArmControl\DogAndArmControl\obj\Debug\DogAndArmControl.pdb
+C:\Users\Quella\Desktop\DogAndArmControl\ArmDogControl\DogAndArmControl\bin\Debug\DogAndArmControl.exe.config
+C:\Users\Quella\Desktop\DogAndArmControl\ArmDogControl\DogAndArmControl\bin\Debug\DogAndArmControl.exe
+C:\Users\Quella\Desktop\DogAndArmControl\ArmDogControl\DogAndArmControl\bin\Debug\DogAndArmControl.pdb
+C:\Users\Quella\Desktop\DogAndArmControl\ArmDogControl\DogAndArmControl\bin\Debug\Newtonsoft.Json.dll
+C:\Users\Quella\Desktop\DogAndArmControl\ArmDogControl\DogAndArmControl\bin\Debug\DevExpress.Pdf.v22.2.Core.dll
+C:\Users\Quella\Desktop\DogAndArmControl\ArmDogControl\DogAndArmControl\bin\Debug\DevExpress.Pdf.v22.2.Drawing.dll
+C:\Users\Quella\Desktop\DogAndArmControl\ArmDogControl\DogAndArmControl\bin\Debug\DevExpress.Data.Desktop.v22.2.xml
+C:\Users\Quella\Desktop\DogAndArmControl\ArmDogControl\DogAndArmControl\bin\Debug\DevExpress.Data.v22.2.xml
+C:\Users\Quella\Desktop\DogAndArmControl\ArmDogControl\DogAndArmControl\bin\Debug\DevExpress.Utils.v22.2.xml
+C:\Users\Quella\Desktop\DogAndArmControl\ArmDogControl\DogAndArmControl\bin\Debug\DevExpress.Sparkline.v22.2.Core.xml
+C:\Users\Quella\Desktop\DogAndArmControl\ArmDogControl\DogAndArmControl\bin\Debug\DevExpress.XtraBars.v22.2.xml
+C:\Users\Quella\Desktop\DogAndArmControl\ArmDogControl\DogAndArmControl\bin\Debug\DevExpress.XtraEditors.v22.2.xml
+C:\Users\Quella\Desktop\DogAndArmControl\ArmDogControl\DogAndArmControl\bin\Debug\DevExpress.Printing.v22.2.Core.xml
+C:\Users\Quella\Desktop\DogAndArmControl\ArmDogControl\DogAndArmControl\bin\Debug\Newtonsoft.Json.xml
+C:\Users\Quella\Desktop\DogAndArmControl\ArmDogControl\DogAndArmControl\bin\Debug\DevExpress.Pdf.v22.2.Core.xml
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+C:\Users\Quella\Desktop\DogAndArmControl\ArmDogControl\DogAndArmControl\obj\Debug\DogAndArmControl.csproj.GenerateResource.cache
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diff --git a/DogAndArmControl/obj/Debug/DogAndArmControl.csproj.GenerateResource.cache b/DogAndArmControl/obj/Debug/DogAndArmControl.csproj.GenerateResource.cache
index f95726afa1dd31357c9b1ab26fcc01a5466dd72a..2d2284d1d449ef416a184d694a633ddf181ea7ee 100644
GIT binary patch
delta 29
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delta 29
jcmb=co1o6RcVhO^Clhs?`A^iiZJMy-E(aqc0|)>BzAg%N

diff --git a/DogAndArmControl/obj/Debug/DogAndArmControl.exe b/DogAndArmControl/obj/Debug/DogAndArmControl.exe
index c24fdc90a7d2226221c80b1a177578f817f90dd2..ab79ba7df63569e9625504f0959724c3be2ec743 100644
GIT binary patch
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diff --git a/DogAndArmControl/obj/Debug/dogandarmcontrol.exe.licenses b/DogAndArmControl/obj/Debug/dogandarmcontrol.exe.licenses
index c957aaa13e5370937bcdfd5e34420d19c309ef5f..fee01cfd7b5229f620cfcafe8bd44e11c8e5f6e1 100644
GIT binary patch
delta 46
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delta 207
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