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Quella
2025-10-13 16:34:23 +08:00
parent 62e68ebcbb
commit 27c1691ff9
19 changed files with 184 additions and 101 deletions
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22
DogAndArmControl/Form1.cs
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@@ -30,7 +30,6 @@ namespace DogAndArmControl
private CancellationTokenSource videoCancellationTokenSource; private CancellationTokenSource videoCancellationTokenSource;
private CancellationTokenSource cancellationTokenSource; 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 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 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() private void Init()
{ {
IpEdit.Text = "192.168.0.123"; IpEdit.Text = "192.168.123.18";
PortEdit.Text = "8088"; PortEdit.Text = "8088";
ArmIp.Text = "192.168.123.18"; // 机械臂IP，现在也用于TCP控制 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 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(); mergedVideoStream = mergedVideoClient.GetStream();
// 新增：建立控制TCP连接 // 新增：建立控制TCP连接
controlClient = new TcpClient(); //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 //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(); controlStream = mergedVideoClient.GetStream();
// 自动向服务端发送"MERGED"表示已连接 // 自动向服务端发送"MERGED"表示已连接
@@ -100,11 +99,11 @@ namespace DogAndArmControl
videoCancellationTokenSource = new CancellationTokenSource(); videoCancellationTokenSource = new CancellationTokenSource();
// 启动接收合并视频流的任务 // 启动接收合并视频流的任务
videoReceiveTask = Task.Run(() => vic.ReceiveVideoFramesAsync( videoReceiveTask = Task.Run(() => vic.ReceiveMergedVideoFramesAsync(
videoCancellationTokenSource.Token, videoCancellationTokenSource.Token,
mergedVideoStream, mergedVideoStream,
ArmVideo, ArmVideo,
false)); DogVideo));
DogStatus.Text = "已连接"; DogStatus.Text = "已连接";
DogStatus.ForeColor = Color.Green; DogStatus.ForeColor = Color.Green;
@@ -131,7 +130,6 @@ namespace DogAndArmControl
videoCancellationTokenSource?.Cancel(); videoCancellationTokenSource?.Cancel();
mergedVideoClient?.Close(); mergedVideoClient?.Close();
controlClient?.Close(); // 关闭控制连接
Init(); Init();
} }
@@ -196,7 +194,7 @@ namespace DogAndArmControl
string key = currentKey.ToString().ToLower(); string key = currentKey.ToString().ToLower();
if (e.KeyCode == Keys.Menu) return; 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 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) private async void Form1_KeyUp(object sender, KeyEventArgs e)
{ {
if (controlStream != null && controlClient.Connected) if (controlStream != null)
{ {
if (currentControlMode == "DOG") 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) // 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) 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 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 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 // 新增：标签页切换事件处理
private async void TabPane1_SelectedPageChanged(object sender, DevExpress.XtraBars.Navigation.SelectedPageChangedEventArgs e) 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 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 // 新增：发送切换模式命令
private async Task SendChangeModeCommand(string mode) private async Task SendChangeModeCommand(string mode)
{ {
if (controlStream != null && controlClient.Connected) if (controlStream != null)
{ {
byte[] changeCommand = Encoding.ASCII.GetBytes($"CHANGE:{mode}"); // 发送 "CHANGE:DOG" 或 "CHANGE:ARM" byte[] changeCommand = Encoding.ASCII.GetBytes($"CHANGE:{mode}"); // 发送 "CHANGE:DOG" 或 "CHANGE:ARM"
await controlStream.WriteAsync(changeCommand, 0, changeCommand.Length); await controlStream.WriteAsync(changeCommand, 0, changeCommand.Length);

4
DogAndArmControl/VideoCaltulate.cs
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@@ -131,8 +131,8 @@ namespace DogAndArmControl
} }
// 处理合并后的图像数据并分割显示 // 处理合并后的图像数据并分割显示
//await Task.Run(() => ProcessMergedImageData(dogVideoBox, armVideoBox)); await Task.Run(() => ProcessMergedImageData(dogVideoBox, armVideoBox));
await Task.Run(() => ProcessImageData(armVideoBox)); //await Task.Run(() => ProcessImageData(armVideoBox));
} }
catch (Exception ex) catch (Exception ex)
{ {

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