修改了diffik主程序的部分

SourceCode/OnGoingTasks/RobotKinematics/Demo/DiffIKDemo/MainWindow.xaml.cs

@@ -88,7 +88,6 @@ namespace DiffIKDemo
 
         private StopWatchTimer _timer = new StopWatchTimer(); //new PerformanceCounterTimer()
         private int _updateCount = 0;
-        private bool _isBeginRealTimeControl;
 
         private static readonly object _lock = new object();
         private volatile bool _isOfflineRunning = false;
@@ -205,8 +204,6 @@ namespace DiffIKDemo
 
             _robotModule.NotifyRobotStateUpdate += OnRobotStateUpdate;
             _robotModule.NotifyCommandSuccessStateUpdate += OnCommandSuccessState;
-            _robotModule.NotifyRealTimeControlStepUpdate += OnRealTimeControlStepUpdate;
-            _robotModule.NotifyIsRealTimeControlUpdate += OnIsRealTimeControlUpdate;
             _robotModule.NotifyMotionFinish += OnUpdateMotionExecutionStatus;
 
             _robotModule.NotifyLogWrite += OnLogWrite;
@@ -214,13 +211,9 @@ namespace DiffIKDemo
 
             _robotModule.StartGetCurrentRobotState();
             _robotModule.StartGetCommandSuccessState();
-            _robotModule.StartGetRealTimeControlStep();
-            _robotModule.StartGetIsRealTimeControl();
-
-            //SetRobotControlInfo();
 
             DHxMatePro3 = new double[,]
-                {
+            {
                     {0,  -Math.PI / 2 ,  0.3426048, 0},
                     {0,   Math.PI / 2 ,          0, 0},
                     {0,  -Math.PI / 2 ,  0.3929383, 0},
@@ -228,7 +221,7 @@ namespace DiffIKDemo
                     {0,  -Math.PI / 2 ,  0.3655720, 0},
                     {0,   Math.PI / 2 ,          0, 0},
                     {0,             0 ,  0.2509087, 0}
-                };
+            };
             _Kinematics.SetDHParameter(DHxMatePro3);
         }
 
@@ -239,8 +232,6 @@ namespace DiffIKDemo
         /// <param name="e"></param>
         private void OnBtnDisConnectRobotClick(object sender, RoutedEventArgs e)
         {
-            _robotModule.StopGetIsRealTimeControl();
-            _robotModule.StopGetRealTimeControlStep();
             _robotModule.StopGetCurrentRobotState();
             _robotModule.StopGetCommandSuccessState();
 
@@ -249,8 +240,6 @@ namespace DiffIKDemo
 
             _robotModule.NotifyRobotStateUpdate -= OnRobotStateUpdate;
             _robotModule.NotifyCommandSuccessStateUpdate -= OnCommandSuccessState;
-            _robotModule.NotifyRealTimeControlStepUpdate -= OnRealTimeControlStepUpdate;
-            _robotModule.NotifyIsRealTimeControlUpdate -= OnIsRealTimeControlUpdate;
             _robotModule.NotifyMotionFinish -= OnUpdateMotionExecutionStatus;
             _robotModule.NotifyLogWrite -= OnLogWrite;
             _robotModule.NotifyError -= OnErrorOccur;
@@ -654,8 +643,7 @@ namespace DiffIKDemo
             {
                 _robotModule.StartDragControl(EnumDragSpace.JOINT_DRAG, EnumDragType.FREELY);
             }
-            else if (_motionType == EnumRobotMotionType.CallBackJointPosition
-                || _motionType == EnumRobotMotionType.CallBackCartPosition) // 实时运动
+            else if (_motionType == EnumRobotMotionType.CallBackJointPosition || _motionType == EnumRobotMotionType.CallBackCartPosition) // 实时运动
             {
                 if (_motionType == EnumRobotMotionType.CallBackJointPosition)
                 {
@@ -669,6 +657,7 @@ namespace DiffIKDemo
 
                     // 笛卡尔实时运动时，用MoveJ先走到第一个点
                     _robotModule.RunOfflineWayPoints(EnumRobotMotionType.MoveJ, _firstWayPt, _speed);
+
                 }
 
                 // 等待信号被设置
@@ -678,9 +667,7 @@ namespace DiffIKDemo
                 await Task.Delay(1);
                 // 离线运动走完了
                 // 重设运动，启动回调，可以开始塞数据了
-                _robotModule.SetRobotRealTimeMotionType(_motionType);
-                _robotModule.SetTrajectoryLength(_trajLen);
-                _robotModule.StartRealTimeControl();
+                _robotModule.CreateRealTimeControl(_motionType);
                 //开个线程，每个一毫秒，更新一个数据
                 if (_realTimeUpdateDataThread == null || !_realTimeUpdateDataThread.IsAlive)
                 {
@@ -759,7 +746,7 @@ namespace DiffIKDemo
             if (_robotModule != null)
             {
                 _robotModule.StopDragControl();
-                _robotModule.StopRealTimeControl();
+                _robotModule.DestroyRealTimeControl();
             }
 
             //关闭实时更新路点的线程
@@ -877,25 +864,6 @@ namespace DiffIKDemo
             });
         }
 
-        private void OnRealTimeControlStepUpdate(object sender, int e)
-        {
-            string str = e.ToString();
-            str += "/";
-            str += _updateCount.ToString();
-            str += "/";
-            str += _trajLen.ToString();
-            // 更新界面上显示的数据
-            Dispatcher.InvokeAsync(() =>
-            {
-                TextRealTimeControlStep.Text = str;
-            });
-        }
-
-        private void OnIsRealTimeControlUpdate(object sender, bool e)
-        {
-            _isBeginRealTimeControl = e;
-        }
-
         /// <summary>
         /// 有错误
         /// </summary>
@@ -945,17 +913,20 @@ namespace DiffIKDemo
             _timer.Start();
             while (true)
             {
-                if (_isBeginRealTimeControl && _timer.Duration >= 1000)
+                if (_timer.Duration >= 1000)
                 {
                     //因为达到了1毫秒的时刻，所以要重新记录开始的时间点
                     _timer.Stop();
                     _timer.Start();
                     RobotWayPointData wayPt = _wayPtsList[_updateCount];
+                    _robotModule.EnableRunRealTimeControl = true;
                     _robotModule.UpdateRealTimeWayPt(wayPt);
                     _updateCount++;
 
+                    // 数据全部用完，可以停止回调线程了
                     if (_updateCount >= _trajLen)
                     {
+                        _robotModule.EnableRunRealTimeControl = false;
                         break;
                     }
                 }
@@ -1150,29 +1121,29 @@ namespace DiffIKDemo
         private void SelectJointAngle(int index, ref RobotWayPointData wayPt)
         {
             JointPos jointPos = new JointPos();
-            CartesianPos cartPosSelectJointAngle = new CartesianPos();
+            CartesianPos cartPos = new CartesianPos();
             switch (index)
             {
                 case 0:
                     jointPos.JointAngle = _qHome;
-                    _robotModule.GetCartPose(jointPos.JointAngle, RokaeSegmentFrame.kEndEffector, ref cartPosSelectJointAngle.Position);
+                    _robotModule.GetCartPose(jointPos.JointAngle, RokaeSegmentFrame.kEndEffector, ref cartPos.Position);
                     break;
 
                 case 1:
                     jointPos.JointAngle = _qDrag;
-                    _robotModule.GetCartPose(jointPos.JointAngle, RokaeSegmentFrame.kEndEffector, ref cartPosSelectJointAngle.Position);
+                    _robotModule.GetCartPose(jointPos.JointAngle, RokaeSegmentFrame.kEndEffector, ref cartPos.Position);
                     break;
 
                 case 2:
                     jointPos.JointAngle = _qEnd;
-                    _robotModule.GetCartPose(jointPos.JointAngle, RokaeSegmentFrame.kEndEffector, ref cartPosSelectJointAngle.Position);
+                    _robotModule.GetCartPose(jointPos.JointAngle, RokaeSegmentFrame.kEndEffector, ref cartPos.Position);
                     break;
 
                 default:
                     break;
             }
             wayPt.JointPos = jointPos;
-            wayPt.CartPos = cartPosSelectJointAngle;
+            wayPt.CartPos = cartPos;
         }
 
         #endregion private funcs
@@ -1243,11 +1214,11 @@ namespace DiffIKDemo
                 }
 
                 JointPos jointPos = new JointPos();
-                CartesianPos cartPosTextBoxRobotJointAngleKeyUp = new CartesianPos();
+                CartesianPos cartPos = new CartesianPos();
                 jointPos.JointAngle = jointAngle;
-                _robotModule.GetCartPose(jointPos.JointAngle, RokaeSegmentFrame.kEndEffector, ref cartPosTextBoxRobotJointAngleKeyUp.Position);
+                _robotModule.GetCartPose(jointPos.JointAngle, RokaeSegmentFrame.kEndEffector, ref cartPos.Position);
                 _moveJTargetWayPt.JointPos = jointPos;
-                _moveJTargetWayPt.CartPos = cartPosTextBoxRobotJointAngleKeyUp;
+                _moveJTargetWayPt.CartPos = cartPos;
             }
         }
     }