using DevExpress.Utils.Extensions; using DevExpress.XtraPrinting.Preview; using RoboticControlApp; using System; using System.Collections.Generic; using System.ComponentModel; using System.Data; using System.Diagnostics; using System.Drawing; using System.IO; using System.Linq; using System.Net.Sockets; using System.Net.WebSockets; using System.Text; using System.Threading; using System.Threading.Tasks; using System.Windows.Forms; using Newtonsoft.Json; using DevExpress.XtraPrinting.Native.WebClientUIControl; namespace DogAndArmControl { public partial class Form1 : DevExpress.XtraEditors.XtraForm { private TcpClient mergedVideoClient; // 用于接收合并视频流的客户端 private NetworkStream mergedVideoStream; // 合并视频流 private Task videoReceiveTask; // private ClientWebSocket webSocket; // 移除WebSocket 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 private VideoCaltulate vic = new VideoCaltulate(); private bool Dogbutton = false; private bool Armbutton = false; private System.Windows.Forms.Timer keyRepeatTimer; private Keys currentKey; // 机械狗控制按钮 private ModernButton wDogButton, sDogButton, aDogButton, dDogButton; // 移动按钮 private ModernButton qDogButton, eDogButton, lDogButton, zDogButton, cDogButton, rDogButton, tDogButton, fDogButton; // 其他功能按钮 public Form1() { InitializeComponent(); Init(); } private void Init() { IpEdit.Text = "192.168.0.123"; 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 DogVideo.SizeMode = PictureBoxSizeMode.Zoom; ArmVideo.SizeMode = PictureBoxSizeMode.Zoom; IpEdit.ReadOnly = true; PortEdit.ReadOnly = true; ArmIp.ReadOnly = true; ArmPort.ReadOnly = true; this.KeyDown += Form1_KeyDown; this.KeyUp += Form1_KeyUp; this.KeyPreview = true; UpdateModeDisplay(); // 初始化模式显示 tabPane1.SelectedPageChanged += TabPane1_SelectedPageChanged; // 监听标签页切换事件 } private async void button1_Click(object sender, EventArgs e) { try { if (!Dogbutton) { IpEdit.ReadOnly = true; PortEdit.ReadOnly = true; // 只建立一个TCP连接用于接收合并视频流 mergedVideoClient = new TcpClient(); await mergedVideoClient.ConnectAsync(IpEdit.Text, Convert.ToInt32(PortEdit.Text)); 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 controlStream = mergedVideoClient.GetStream(); // 自动向服务端发送"MERGED"表示已连接 byte[] mergedData = Encoding.ASCII.GetBytes("MERGED"); await controlStream.WriteAsync(mergedData, 0, mergedData.Length); videoCancellationTokenSource?.Cancel(); videoCancellationTokenSource = new CancellationTokenSource(); // 启动接收合并视频流的任务 videoReceiveTask = Task.Run(() => vic.ReceiveVideoFramesAsync( videoCancellationTokenSource.Token, mergedVideoStream, ArmVideo, false)); DogStatus.Text = "已连接"; DogStatus.ForeColor = Color.Green; Dogbutton = true; button1.Text = "断开"; button1.BackColor = Color.Red; DogVideo.BackColor = Color.Black; ArmVideo.BackColor = Color.Black; // 初始模式设置为DOG，并发送CHANGE指令 currentControlMode = "DOG"; await SendChangeModeCommand("DOG"); UpdateModeDisplay(); } else { IpEdit.ReadOnly = false; PortEdit.ReadOnly = false; Dogbutton = false; DogStatus.Text = "连接"; DogStatus.ForeColor = Color.Red; button1.Text = "连接"; button1.BackColor = Color.Blue; videoCancellationTokenSource?.Cancel(); mergedVideoClient?.Close(); controlClient?.Close(); // 关闭控制连接 Init(); } } catch (Exception ee) { MessageBox.Show(ee.ToString()); } } // 移除原有的button2_Click (WebSocket连接机械臂) //private void button2_Click(object sender, EventArgs e) //{ // try // { // if (!Armbutton) // { // ArmIp.ReadOnly = true; // ArmPort.ReadOnly = true; // Armbutton = true; // string wsUrl = $"ws://{ArmIp.Text}:{ArmPort.Text}/ws/control"; // cancellationTokenSource = new CancellationTokenSource(); // webSocket = new ClientWebSocket(); // webSocket?.ConnectAsync(new Uri(wsUrl), cancellationTokenSource.Token); // button2.BackColor = Color.Green; // ArmStatus.Text = "已连接"; // ArmStatus.ForeColor = Color.Green; // button2.Text = "断开"; // button2.BackColor = Color.Red; // } // else // { // ArmIp.ReadOnly = false; // ArmPort.ReadOnly = false; // Armbutton = false; // ArmStatus.Text = "未连接"; // button2.Text = "断开"; // button2.BackColor = Color.Blue; // ArmStatus.ForeColor = Color.Red; // button2.BackColor = Color.Blue; // webSocket?.CloseAsync(WebSocketCloseStatus.NormalClosure, "Closing", CancellationToken.None); // webSocket?.Dispose(); // } // } // catch (Exception) { } //} private async void Form1_KeyDown(object sender, KeyEventArgs e) { try { if (keyRepeatTimer == null) { currentKey = e.KeyCode; keyRepeatTimer = new System.Windows.Forms.Timer(); keyRepeatTimer.Interval = 100; keyRepeatTimer.Tick += async (s, args) => // 修改为async { string key = currentKey.ToString().ToLower(); if (e.KeyCode == Keys.Menu) return; if (controlStream != null && controlClient.Connected) { if (currentControlMode == "ARM") // 根据当前模式发送指令 { string Armkey = MapKeyToCommand(e.KeyCode); if (Armkey != null) { await HandleArmKey("down", Armkey); // 发送按下事件到机械臂 } } else if (currentControlMode == "DOG") { byte[] buffer = Encoding.UTF8.GetBytes(key.ToUpper()); await controlStream.WriteAsync(buffer, 0, buffer.Length); // 使用统一的controlStream发送 // Thread.Sleep(10); // 确保发送间隔，对于TCP异步发送，这个可能不需要或需要更精细控制 } } }; keyRepeatTimer.Start(); } } catch (IOException) { } } private async void Form1_KeyUp(object sender, KeyEventArgs e) { if (controlStream != null && controlClient.Connected) { if (currentControlMode == "DOG") { byte[] buffer = Encoding.ASCII.GetBytes("L"); // if (mergedVideoStream != null) // 使用统一的controlStream // { // Task.Run(() => // 直接await // { for (int ii = 0; ii < 5; ii++) { await controlStream.WriteAsync(buffer, 0, buffer.Length); // Thread.Sleep(10); } // }); // } } else if (currentControlMode == "ARM") { string key = MapKeyToCommand(e.KeyCode); if (key != null) { await HandleArmKey("up", key); // 发送松开事件到机械臂 } } } if (keyRepeatTimer != null) { keyRepeatTimer.Stop(); keyRepeatTimer.Dispose(); keyRepeatTimer = null; } } // 映射按键到机械臂控制命令 private string MapKeyToCommand(Keys keyCode) { switch (keyCode) { case Keys.W: return "W"; // 前进 case Keys.S: return "S"; // 后退 case Keys.A: return "A"; // 左移 case Keys.D: return "D"; // 右移 case Keys.I: return "I"; // 上升 case Keys.K: return "K"; // 下降 case Keys.M: return "M"; // Roll +（右转） case Keys.N: return "N"; // Roll -（左转） case Keys.L: return "L"; // Pitch +（前倾） case Keys.OemPeriod: return "."; // Pitch -（后倾） case Keys.Oemcomma: return ","; // Yaw +（顺时针） case Keys.OemQuestion: return "/"; // Yaw -（逆时针） case Keys.O: return "O"; // 夹爪打开 case Keys.C: return "C"; // 夹爪关闭 case Keys.U: return "U"; // 复位 case Keys.J: return "J"; // 重力补偿 case Keys.P: return "P"; // 退出 case Keys.F: return "F"; //预设 case Keys.G: return "g"; //自动丢入篮筐 default: return null; // 如果按下的键不在控制范围内，返回 null } } // 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) { //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 await controlStream.WriteAsync(buffer, 0, buffer.Length); // 通过TCP发送消息 } } // 新增：更新模式显示 private void UpdateModeDisplay() { // 假设你有一个Label控件用于显示模式，例如 modeLabel // 如果没有，你需要在WinForms设计器中添加一个Label控件，并命名为modeLabel // 例如：this.modeLabel.Text = $"mode:{currentControlMode}"; // 这里暂时使用Debug.WriteLine代替，实际应用中请替换为UI控件 Debug.WriteLine($"mode:{currentControlMode}"); // 假设ModeLabel是你的Label控件 if (ModeLabel != null) { ModeLabel.Text = $"mode:{currentControlMode}"; } } // 新增：标签页切换事件处理 private async void TabPane1_SelectedPageChanged(object sender, DevExpress.XtraBars.Navigation.SelectedPageChangedEventArgs e) { if (controlStream != null && controlClient.Connected) { if (e.Page == tabNavigationPage1) // 切换到机械狗标签页 { currentControlMode = "DOG"; await SendChangeModeCommand("DOG"); } else if (e.Page == tabNavigationPage2) // 切换到机械臂标签页 { currentControlMode = "ARM"; await SendChangeModeCommand("ARM"); } UpdateModeDisplay(); } } // 新增：发送切换模式命令 private async Task SendChangeModeCommand(string mode) { if (controlStream != null && controlClient.Connected) { byte[] changeCommand = Encoding.ASCII.GetBytes($"CHANGE:{mode}"); // 发送 "CHANGE:DOG" 或 "CHANGE:ARM" await controlStream.WriteAsync(changeCommand, 0, changeCommand.Length); Debug.WriteLine($"Sent CHANGE command: CHANGE:{mode}"); } } //加载机械狗的控件 private void tabNavigationPage1_Paint(object sender, PaintEventArgs e) { //移动控制按钮 wDogButton = new ModernButton("W", "前进"); wDogButton.Location = new Point(150, 80); wDogButton.Size = new Size(60, 60); tabNavigationPage1.AddControl(wDogButton); //移动控制按钮 sDogButton = new ModernButton("S", "后退"); sDogButton.Location = new Point(150, 150); sDogButton.Size = new Size(60, 60); tabNavigationPage1.AddControl(sDogButton); //移动控制按钮 aDogButton = new ModernButton("A", "左走"); aDogButton.Location = new Point(80, 150); aDogButton.Size = new Size(60, 60); tabNavigationPage1.AddControl(aDogButton); dDogButton = new ModernButton("D", "右走"); dDogButton.Location = new Point(220, 150); dDogButton.Size = new Size(60, 60); tabNavigationPage1.AddControl(dDogButton); qDogButton = new ModernButton("Q", "左转"); qDogButton.Location = new Point(80, 220); qDogButton.Size = new Size(60, 60); tabNavigationPage1.AddControl(qDogButton); eDogButton = new ModernButton("E", "右转"); eDogButton.Location = new Point(220, 220); eDogButton.Size = new Size(60, 60); tabNavigationPage1.AddControl(eDogButton); zDogButton = new ModernButton("Z", "趴下"); zDogButton.Location = new Point(80, 290); zDogButton.Size = new Size(60, 60); tabNavigationPage1.AddControl(zDogButton); tDogButton = new ModernButton("T", "站起"); tDogButton.Location = new Point(220, 290); tDogButton.Size = new Size(60, 60); tabNavigationPage1.AddControl(tDogButton); lDogButton = new ModernButton("F", "解除锁定"); lDogButton.Location = new Point(150, 340); lDogButton.Size = new Size(60, 60); tabNavigationPage1.AddControl(lDogButton); } //加载机械臂的控件 private void tabNavigationPage2_Paint(object sender, PaintEventArgs e) { //移动控制按钮 wDogButton = new ModernButton("W", "前进"); wDogButton.Location = new Point(150, 80); wDogButton.Size = new Size(60, 60); tabNavigationPage2.AddControl(wDogButton); //移动控制按钮 sDogButton = new ModernButton("S", "后退"); sDogButton.Location = new Point(150, 150); sDogButton.Size = new Size(60, 60); tabNavigationPage2.AddControl(sDogButton); //移动控制按钮 aDogButton = new ModernButton("A", "左走"); aDogButton.Location = new Point(80, 150); aDogButton.Size = new Size(60, 60); tabNavigationPage2.AddControl(aDogButton); dDogButton = new ModernButton("D", "右走"); dDogButton.Location = new Point(220, 150); dDogButton.Size = new Size(60, 60); tabNavigationPage2.AddControl(dDogButton); } } }