// CPageGraph1.cpp: 实现文件
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//
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#include "stdafx.h"
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#include "Servo.h"
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#include "CPageGraph1.h"
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#include "afxdialogex.h"
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#include "Common.h"
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// Image
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#define IMAGE_ROBOT 2
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#define INDICATE_BONDER1 1
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#define INDICATE_BONDER2 2
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#define INDICATE_FLIPER 3
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#define INDICATE_ALIGNER 4
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#define INDICATE_LPORT4 5
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#define INDICATE_LPORT3 6
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#define INDICATE_LPORT2 7
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#define INDICATE_LPORT1 8
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#define INDICATE_ROBOT_ARM1 9
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#define INDICATE_ROBOT_ARM2 10
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#define INDICATE_VACUUM_BAKE 11
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#define INDICATE_BAKE_COOLING 12
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#define INDICATE_MEASUREMENT 13
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// CPageGraph1 对话框
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IMPLEMENT_DYNAMIC(CPageGraph1, CDialogEx)
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CPageGraph1::CPageGraph1(CWnd* pParent /*=nullptr*/)
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: CDialogEx(IDD_PAGE_GRAPH1, pParent)
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{
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m_pGraph = nullptr;
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m_pObserver = nullptr;
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m_bIsRobotMoving = FALSE;
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m_crBkgnd = PAGE_GRPAH1_BACKGROUND_COLOR;
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m_hbrBkgnd = nullptr;
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}
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CPageGraph1::~CPageGraph1()
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{
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}
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void CPageGraph1::DoDataExchange(CDataExchange* pDX)
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{
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CDialogEx::DoDataExchange(pDX);
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}
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BEGIN_MESSAGE_MAP(CPageGraph1, CDialogEx)
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ON_WM_CTLCOLOR()
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ON_WM_DESTROY()
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ON_WM_SIZE()
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ON_NOTIFY(BYSERVOGRAPH_ITEM_CLICKED, IDC_SERVO_GRAPH1, &CPageGraph1::OnGraphItemClicked)
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ON_WM_ERASEBKGND()
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ON_WM_TIMER()
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END_MESSAGE_MAP()
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// CPageGraph1 消息处理程序
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void CPageGraph1::InitRxWindows()
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{
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/* code */
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// 订阅数据
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IRxWindows* pRxWindows = RX_GetRxWindows();
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pRxWindows->enableLog(5);
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if (m_pObserver == NULL) {
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m_pObserver = pRxWindows->allocObserver([&](IAny* pAny) -> void {
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// onNext
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pAny->addRef();
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int code = pAny->getCode();
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if (RX_CODE_EQ_ALIVE == code) {
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// 通知设备状态
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SERVO::CEquipment* pEquipment = nullptr;
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if (pAny->getPtrValue("ptr", (void*&)pEquipment)) {
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if (pEquipment != nullptr) {
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int nID = pEquipment->getID();
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BOOL bAlive = pEquipment->isAlive();
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if (EQ_ID_EFEM == nID) {
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DeviceStatus status = bAlive ? DeviceStatus::ONLINE : DeviceStatus::OFFLINE;
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UpdateDeviceStatus(INDICATE_ROBOT_ARM1, status);
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UpdateDeviceStatus(INDICATE_ROBOT_ARM2, status);
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}
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else if(EQ_ID_Bonder1 == nID) {
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DeviceStatus status = bAlive ? DeviceStatus::ONLINE : DeviceStatus::OFFLINE;
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UpdateDeviceStatus(INDICATE_BONDER1, status);
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}
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else if (EQ_ID_Bonder2 == nID) {
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DeviceStatus status = bAlive ? DeviceStatus::ONLINE : DeviceStatus::OFFLINE;
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UpdateDeviceStatus(INDICATE_BONDER2, status);
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}
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}
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}
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}
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pAny->release();
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}, [&]() -> void {
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// onComplete
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}, [&](IThrowable* pThrowable) -> void {
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// onErrorm
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pThrowable->printf();
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});
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theApp.m_model.getObservable()->observeOn(pRxWindows->mainThread())
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->subscribe(m_pObserver);
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}
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}
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BOOL CPageGraph1::OnInitDialog()
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{
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CDialogEx::OnInitDialog();
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SetTimer(1, 3000, nullptr);
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// 图示
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m_pGraph = CServoGraph::Hook(GetDlgItem(IDC_SERVO_GRAPH1)->GetSafeHwnd());
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CString strPath;
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strPath.Format(_T("%s\\res\\Servo001.bmp"), (LPTSTR)(LPCTSTR)theApp.m_strAppDir);
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m_pGraph->AddImage(1, (LPTSTR)(LPCTSTR)strPath, 0, 0);
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strPath.Format(_T("%s\\res\\Robot001.bmp"), (LPTSTR)(LPCTSTR)theApp.m_strAppDir);
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m_pGraph->AddImage(IMAGE_ROBOT, (LPTSTR)(LPCTSTR)strPath, 170, 270);
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// 添加指示器
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// Bonder
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m_pGraph->AddIndicateBox(INDICATE_BONDER1, 220, 172, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), EQ_BOX_OFFLINE);
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m_pGraph->SetBoxText(INDICATE_BONDER1, "10", "Bonder 1");
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m_pGraph->AddIndicateBox(INDICATE_BONDER2, 220, 516, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), EQ_BOX_OFFLINE);
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m_pGraph->SetBoxText(INDICATE_BONDER2, "11", "Bonder 2");
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// 翻转
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m_pGraph->AddIndicateBox(INDICATE_FLIPER, 338, 172, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), EQ_BOX_OFFLINE);
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m_pGraph->SetBoxText(INDICATE_FLIPER, "8", "Fliper");
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// 对位
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m_pGraph->AddIndicateBox(INDICATE_ALIGNER, 428, 172, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), EQ_BOX_OFFLINE);
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m_pGraph->SetBoxText(INDICATE_ALIGNER, "7", "Aligner");
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// Load port 4
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m_pGraph->AddIndicateBox(INDICATE_LPORT4, 518, 172, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), EQ_BOX_OFFLINE);
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m_pGraph->SetBoxText(INDICATE_LPORT4, "4", "LPort4");
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// Load port 3
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m_pGraph->AddIndicateBox(INDICATE_LPORT3, 606, 172, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), EQ_BOX_OFFLINE);
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m_pGraph->SetBoxText(INDICATE_LPORT3, "3", "LPort3");
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// Load port 2
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m_pGraph->AddIndicateBox(INDICATE_LPORT2, 690, 172, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), EQ_BOX_OFFLINE);
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m_pGraph->SetBoxText(INDICATE_LPORT2, "2", "LPort2");
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// Load port 1
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m_pGraph->AddIndicateBox(INDICATE_LPORT1, 774, 172, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), EQ_BOX_OFFLINE);
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m_pGraph->SetBoxText(INDICATE_LPORT1, "1", "LPort1");
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// Robot
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m_pGraph->AddIndicateBox(INDICATE_ROBOT_ARM1, 190, 294, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), EQ_BOX_OFFLINE);
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m_pGraph->SetBoxText(INDICATE_ROBOT_ARM1, "5", "Robot");
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m_pGraph->AddIndicateBox(INDICATE_ROBOT_ARM2, 243, 294, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), EQ_BOX_OFFLINE);
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m_pGraph->SetBoxText(INDICATE_ROBOT_ARM2, "6", "Robot");
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// Vacuum bake
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m_pGraph->AddIndicateBox(INDICATE_VACUUM_BAKE, 396, 516, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), EQ_BOX_OFFLINE);
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m_pGraph->SetBoxText(INDICATE_VACUUM_BAKE, "9", "Vacuum bake");
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// Bake cooling
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m_pGraph->AddIndicateBox(INDICATE_BAKE_COOLING, 566, 516, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), EQ_BOX_OFFLINE);
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m_pGraph->SetBoxText(INDICATE_BAKE_COOLING, "12", "Bake cooling");
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// 精度检
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m_pGraph->AddIndicateBox(INDICATE_MEASUREMENT, 737, 516, 48, RGB(22, 22, 22),
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RGB(255, 127, 39), EQ_BOX_OFFLINE);
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m_pGraph->SetBoxText(INDICATE_MEASUREMENT, "13", "Measurement");
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// 绑定数据
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{
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SERVO::CEquipment* pEquipment = theApp.m_model.m_master.getEquipment(EQ_ID_EFEM);
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m_pGraph->SetIndicateBoxData(INDICATE_ROBOT_ARM1, pEquipment);
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}
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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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void CPageGraph1::UpdateDeviceStatus(int id, DeviceStatus status)
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{
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// 根据状态设置颜色
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COLORREF newBackgroundColor;
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COLORREF newFrameColor1;
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COLORREF newFrameColor2;
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switch (status) {
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case ONLINE:
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newBackgroundColor = EQ_BOX_ONLINE;
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newFrameColor1 = EQ_BOX_FRAME1;
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newFrameColor2 = EQ_BOX_FRAME2;
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break;
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case OFFLINE:
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newBackgroundColor = RGB(222, 222, 222);
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newFrameColor1 = EQ_BOX_FRAME1;
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newFrameColor2 = EQ_BOX_FRAME2;
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break;
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default:
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newBackgroundColor = RGB(255, 255, 255); // 默认白色背景
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newFrameColor1 = RGB(0, 0, 0); // 默认黑色框架1
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newFrameColor2 = RGB(0, 0, 0); // 默认黑色框架2
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break;
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}
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m_pGraph->UpdateIndicateBox1Colors(id, newBackgroundColor, newFrameColor1, newFrameColor2);
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// 刷新界面
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Invalidate();
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UpdateWindow();
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}
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BOOL CPageGraph1::OnEraseBkgnd(CDC* pDC)
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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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if (m_bIsRobotMoving) {
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// 禁止刷新背景，避免闪烁
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return TRUE;
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}
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return CDialogEx::OnEraseBkgnd(pDC);
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}
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HBRUSH CPageGraph1::OnCtlColor(CDC* pDC, CWnd* pWnd, UINT nCtlColor)
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{
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HBRUSH hbr = CDialogEx::OnCtlColor(pDC, pWnd, nCtlColor);
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if (nCtlColor == CTLCOLOR_STATIC) {
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pDC->SetBkColor(m_crBkgnd);
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pDC->SetTextColor(RGB(0, 0, 0));
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}
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if (m_hbrBkgnd == nullptr) {
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m_hbrBkgnd = CreateSolidBrush(m_crBkgnd);
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}
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return m_hbrBkgnd;
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}
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void CPageGraph1::OnDestroy()
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{
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CDialogEx::OnDestroy();
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if (m_hbrBkgnd != nullptr) {
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::DeleteObject(m_hbrBkgnd);
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}
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}
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void CPageGraph1::OnSize(UINT nType, int cx, int cy)
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{
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CDialogEx::OnSize(nType, cx, cy);
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if (GetDlgItem(IDC_SERVO_GRAPH1) == nullptr) return;
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CRect rcClient;
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GetClientRect(&rcClient);
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GetDlgItem(IDC_SERVO_GRAPH1)->MoveWindow(0, 0, rcClient.Width(), rcClient.Height());
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}
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void CPageGraph1::UpdateRobotPosition(float percentage)
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{
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// 限制百分比范围在 [0, 1] 之间
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if (percentage < 0.0f) percentage = 0.0f;
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if (percentage > 1.0f) percentage = 1.0f;
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// 根据百分比计算目标 X 坐标
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int startX = m_pGraph->GetImage(IMAGE_ROBOT)->x;
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int endX = static_cast<int>(170 + percentage * (700 - 170));
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int arm1Offset = 20; // 从图片到ARM1的偏移
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int arm2Offset = 73; // 从图片到ARM2的偏移
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// 计算移动所需的时间
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int distance = abs(endX - startX);
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int duration = static_cast<int>((distance / 100.0) * 1000);
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auto startTime = std::chrono::steady_clock::now();
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auto endTime = startTime + std::chrono::milliseconds(duration);
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// 开始移动，设置标记
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m_bIsRobotMoving = TRUE;
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// 开始平滑移动
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while (std::chrono::steady_clock::now() < endTime) {
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auto currentTime = std::chrono::steady_clock::now();
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float progress = std::chrono::duration<float, std::milli>(currentTime - startTime).count() / duration;
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progress = min(progress, 1.0f);
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// 根据进度计算当前位置
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int currentX = static_cast<int>(startX + progress * (endX - startX));
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m_pGraph->UpdateImageCoordinates(IMAGE_ROBOT, currentX, 270);
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m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM1, currentX + arm1Offset, 294);
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m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM2, currentX + arm2Offset, 294);
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// 刷新界面
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Invalidate();
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UpdateWindow();
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// 控制帧率约为 60 FPS
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std::this_thread::sleep_for(std::chrono::milliseconds(16));
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}
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// 确保最后位置精确到目标位置
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m_pGraph->UpdateImageCoordinates(IMAGE_ROBOT, endX, 270);
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m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM1, endX + arm1Offset, 294);
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m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM2, endX + arm2Offset, 294);
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// 界面重绘
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Invalidate();
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// 动画结束，设置标记
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m_bIsRobotMoving = FALSE;
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}
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void CPageGraph1::RotateRobot(float angleInDegrees)
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{
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// 将角度转换为弧度
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float angleInRadians = static_cast<float>(std::acos(-1)) / 180.0f * angleInDegrees;
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// 获取机器人图片的当前坐标和中心
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auto* pImage = m_pGraph->GetImage(IMAGE_ROBOT);
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if (!pImage) return;
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// 更新 Rotate 图片的角度，确保角度保持在 [0, 360) 范围内
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m_pGraph->UpdateImageAngle(IMAGE_ROBOT, static_cast<float>(fmod(pImage->angle + angleInDegrees + 360, 360)));
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int cx = pImage->x + pImage->bmWidth / 2; // 图片中心 X
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int cy = pImage->y + pImage->bmHeight / 2; // 图片中心 Y
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// 旋转指示框的坐标
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auto* pRobot1 = m_pGraph->GetIndicateBox(INDICATE_ROBOT_ARM1);
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auto* pRobot2 = m_pGraph->GetIndicateBox(INDICATE_ROBOT_ARM2);
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if (pRobot1 && pRobot2) {
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int newArmX1 = pImage->x + 20;
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int newArmY1 = 294;
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int newArmX2 = pImage->x + 73;
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int newArmY2 = 294;
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if (angleInDegrees != 0.0f) {
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// 计算指示框1的新坐标
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newArmX1 = static_cast<int>(cx + (pRobot1->x - cx) * cos(angleInRadians) - (pRobot1->y - cy) * sin(angleInRadians));
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newArmY1 = static_cast<int>(cy + (pRobot1->x - cx) * sin(angleInRadians) + (pRobot1->y - cy) * cos(angleInRadians));
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// 计算指示框2的新坐标
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newArmX2 = static_cast<int>(cx + (pRobot2->x - cx) * cos(angleInRadians) - (pRobot2->y - cy) * sin(angleInRadians));
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newArmY2 = static_cast<int>(cy + (pRobot2->x - cx) * sin(angleInRadians) + (pRobot2->y - cy) * cos(angleInRadians));
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}
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// 更新指示框的位置
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m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM1, newArmX1, newArmY1);
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m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM2, newArmX2, newArmY2);
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}
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// 强制重绘界面
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Invalidate();
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}
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void CPageGraph1::OnGraphItemClicked(NMHDR* pNMHDR, LRESULT* pResult)
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{
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BYSERVOGRAPH_NMHDR* pGraphNmhdr = reinterpret_cast<BYSERVOGRAPH_NMHDR*>(pNMHDR);
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CString s; s.Format(_T("OnGraphItemClicked %d"), pGraphNmhdr->dwData);
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SERVO::CEquipment* pEquipment = (SERVO::CEquipment*)m_pGraph->GetIndicateBoxData(pGraphNmhdr->dwData);
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if (pEquipment != nullptr) {
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AfxMessageBox(pEquipment->getName().c_str());
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}
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*pResult = 0;
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}
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void CPageGraph1::OnTimer(UINT_PTR nIDEvent)
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{
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if (1 == nIDEvent) {
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KillTimer(1);
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InitRxWindows();
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// 更新状态
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{
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SERVO::CEquipment* pEquipment = (SERVO::CEFEM*)theApp.m_model.m_master.getEquipment(EQ_ID_EFEM);
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ASSERT(pEquipment);
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DeviceStatus status = pEquipment->isAlive() ? DeviceStatus::ONLINE : DeviceStatus::OFFLINE;
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UpdateDeviceStatus(INDICATE_ROBOT_ARM1, status);
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UpdateDeviceStatus(INDICATE_ROBOT_ARM2, status);
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}
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{
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SERVO::CEquipment* pEquipment = theApp.m_model.m_master.getEquipment(EQ_ID_Bonder1);
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ASSERT(pEquipment);
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DeviceStatus status = pEquipment->isAlive() ? DeviceStatus::ONLINE : DeviceStatus::OFFLINE;
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UpdateDeviceStatus(INDICATE_BONDER1, status);
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}
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{
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SERVO::CEquipment* pEquipment = theApp.m_model.m_master.getEquipment(EQ_ID_Bonder2);
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ASSERT(pEquipment);
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DeviceStatus status = pEquipment->isAlive() ? DeviceStatus::ONLINE : DeviceStatus::OFFLINE;
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UpdateDeviceStatus(INDICATE_BONDER2, status);
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}
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}
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CDialogEx::OnTimer(nIDEvent);
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}
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