// PageRobotCmd.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 "afxdialogex.h"
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#include "PageRobotCmd.h"
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// CPageRobotCmd 对话框
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std::map<CString, int> g_deviceSlotCount = {
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{_T("PORT 1"), 8},
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{_T("PORT 2"), 8},
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{_T("PORT 3"), 8},
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{_T("PORT 4"), 8},
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{_T("RB1"), 1},
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{_T("RB2"), 1},
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{_T("ALIGN"), 1},
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{_T("FLIP"), 1},
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{_T("VAC BAKE"), 4},
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{_T("BONDER1"), 2},
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{_T("BONDER2"), 2},
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{_T("POST BAKE(COOLING)"), 2},
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{_T("MEASUREMENT"), 1}
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};
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static const std::map < SERVO:: RCMD, RCMDFieldMask > g_cmdFieldMap = {
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{ SERVO::RCMD::Robot_home, { false, false, false, false, false, false } },
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{ SERVO::RCMD::Transfer, { true, true, true, true, true, false } },
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{ SERVO::RCMD::Move, { true, true, true, true, true, true } },
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{ SERVO::RCMD::Get, { true, true, false, true, false, false } },
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{ SERVO::RCMD::Put, { true, false, true, false, true, false } },
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{ SERVO::RCMD::One_Action_Exchange, { true, true, true, true, true, false } },
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{ SERVO::RCMD::Two_Action_Exchange, { true, true, true, true, true, false } },
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{ SERVO::RCMD::Command_Clear, { false, false, false, false, false, false } },
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{ SERVO::RCMD::Batch_get, { false, true, false, true, false, false } },
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{ SERVO::RCMD::Batch_put, { false, false, true, false, true, false } }
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};
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IMPLEMENT_DYNAMIC(CPageRobotCmd, CDialogEx)
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CPageRobotCmd::CPageRobotCmd(CWnd* pParent /*=nullptr*/)
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: CDialogEx(IDD_PAGE_ROBOT_CMD, pParent)
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{
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m_nSequenceNo = -1;
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m_nRcmd = -1;
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m_nArmNo = -1;
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m_nGetPosition = -1;
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m_nPutPosition = -1;
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m_nGetSlotNo = -1;
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m_nPutSlotNo = -1;
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m_nSubCmd = -1;
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}
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CPageRobotCmd::~CPageRobotCmd()
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{
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}
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void CPageRobotCmd::SetSequenceNo(int nSeq)
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{
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m_nSequenceNo = nSeq;
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if (CEdit* pEdit = (CEdit*)GetDlgItem(IDC_EDIT_SEQ_NO)) {
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CString str;
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str.Format(_T("%d"), m_nSequenceNo);
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pEdit->SetWindowText(str);
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}
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}
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BOOL CPageRobotCmd::SetControlsEnabled(BOOL bEnable)
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{
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if (!IsWindow(m_hWnd)) {
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return FALSE;
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}
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if (bEnable) {
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UpdateData(TRUE);
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UpdateInputUI(static_cast<SERVO::RCMD>(m_nRcmd + 1));
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}
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else {
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// 遍历所有子控件并设置状态
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CWnd* pChild = GetWindow(GW_CHILD);
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while (pChild) {
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pChild->EnableWindow(bEnable);
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pChild = pChild->GetNextWindow();
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}
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}
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return CDialogEx::EnableWindow(bEnable);
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}
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SERVO::ROBOT_CMD_PARAM CPageRobotCmd::GetRobotCmdParam()
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{
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if (!IsWindow(m_hWnd)) {
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return {};
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}
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UpdateData(TRUE); // 同步 UI 到变量
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SERVO::ROBOT_CMD_PARAM param = {};
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param.sequenceNo = static_cast<short>(m_nSequenceNo);
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param.rcmd = static_cast<short>(m_nRcmd + 1);
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const auto it = g_cmdFieldMap.find(static_cast<SERVO::RCMD>(param.rcmd));
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if (it == g_cmdFieldMap.end()) {
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return {};
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}
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const RCMDFieldMask& mask = it->second;
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if (mask.useArm) param.armNo = static_cast<short>(m_nArmNo + 1);
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if (mask.useGetPos) param.getPosition = static_cast<short>(m_nGetPosition + 1);
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if (mask.usePutPos) param.putPosition = static_cast<short>(m_nPutPosition + 1);
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if (mask.useGetSlot) param.getSlotNo = static_cast<short>(m_nGetSlotNo + 1);
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if (mask.usePutSlot) param.putSlotNo = static_cast<short>(m_nPutSlotNo + 1);
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if (mask.useSubCmd) param.subCmd = static_cast<short>(m_nSubCmd + 1);
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// 特殊命令处理
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const auto enRcmd = static_cast<SERVO::RCMD>(m_nRcmd + 1);
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if (SERVO::RCMD::Move == enRcmd) {
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if (m_nSubCmd == 0) {
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param.putPosition = 0;
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param.putSlotNo = 0;
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}
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else if (m_nSubCmd == 1) {
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param.getPosition = 0;
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param.getSlotNo = 0;
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}
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}
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else if (SERVO::RCMD::Batch_get == enRcmd || SERVO::RCMD::Batch_put == enRcmd) {
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param.armNo = ARM_ALL;
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}
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return param;
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}
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void CPageRobotCmd::DoDataExchange(CDataExchange* pDX)
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{
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CDialogEx::DoDataExchange(pDX);
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DDX_Text(pDX, IDC_EDIT_SEQ_NO, m_nSequenceNo);
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DDX_CBIndex(pDX, IDC_COMBO_RCMD, m_nRcmd);
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DDX_Radio(pDX, IDC_RADIO_ARM_A, m_nArmNo);
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DDX_CBIndex(pDX, IDC_COMBO_GET_POS, m_nGetPosition);
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DDX_CBIndex(pDX, IDC_COMBO_PUT_POS, m_nPutPosition);
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DDX_CBIndex(pDX, IDC_COMBO_GET_SLOT, m_nGetSlotNo);
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DDX_CBIndex(pDX, IDC_COMBO_PUT_SLOT, m_nPutSlotNo);
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DDX_CBIndex(pDX, IDC_COMBO_SUB_CMD, m_nSubCmd);
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}
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BEGIN_MESSAGE_MAP(CPageRobotCmd, CDialogEx)
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ON_CBN_SELCHANGE(IDC_COMBO_RCMD, &CPageRobotCmd::OnCbnSelchangeComboRcmd)
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ON_CBN_SELCHANGE(IDC_COMBO_GET_POS, &CPageRobotCmd::OnCbnSelchangeComboGetPos)
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ON_CBN_SELCHANGE(IDC_COMBO_PUT_POS, &CPageRobotCmd::OnCbnSelchangeComboPutPos)
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ON_CBN_SELCHANGE(IDC_COMBO_SUB_CMD, &CPageRobotCmd::OnCbnSelchangeComboSubCmd)
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END_MESSAGE_MAP()
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// CPageRobotCmd 消息处理程序
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BOOL CPageRobotCmd::OnInitDialog()
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{
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CDialogEx::OnInitDialog();
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// TODO: 在此添加额外的初始化
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// 初始化 RCMD 下拉框
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CComboBox* pComboRcmd = (CComboBox*)GetDlgItem(IDC_COMBO_RCMD);
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pComboRcmd->AddString(_T("Robot_home")); // 1
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pComboRcmd->AddString(_T("Transfer")); // 2
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pComboRcmd->AddString(_T("Move")); // 3
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pComboRcmd->AddString(_T("Get")); // 4
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pComboRcmd->AddString(_T("Put")); // 5
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pComboRcmd->AddString(_T("One_Action_Exchange")); // 6
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pComboRcmd->AddString(_T("Two_Action_Exchange")); // 7
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pComboRcmd->AddString(_T("Command_Clear")); // 8
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pComboRcmd->AddString(_T("Batch_get")); // 9
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pComboRcmd->AddString(_T("Batch_put")); // 10
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pComboRcmd->SetCurSel(0);
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// 初始化设备名称下拉框（Get/Put Position）
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CStringList eqNameList;
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eqNameList.AddTail(_T("PORT 1")); // 1 1 UNIT
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eqNameList.AddTail(_T("PORT 2")); // 2 1 UNIT
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eqNameList.AddTail(_T("PORT 3")); // 3 1 UNIT
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eqNameList.AddTail(_T("PORT 4")); // 4 1 UNIT
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eqNameList.AddTail(_T("RB1")); // 5 1 UNIT
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eqNameList.AddTail(_T("RB2")); // 6 1 UNIT
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eqNameList.AddTail(_T("ALIGN")); // 7 1 UNIT
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eqNameList.AddTail(_T("FLIP")); // 8 1 UNIT
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eqNameList.AddTail(_T("VAC BAKE")); // 9 2 UNIT
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eqNameList.AddTail(_T("BONDER1")); // 10 2 UNIT
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eqNameList.AddTail(_T("BONDER2")); // 11 2 UNIT
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eqNameList.AddTail(_T("POST BAKE(COOLING)")); // 12 4 UNIT
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eqNameList.AddTail(_T("MEASUREMENT")); // 13 1 UNIT
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CComboBox* pComboGetPos = (CComboBox*)GetDlgItem(IDC_COMBO_GET_POS);
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CComboBox* pComboPutPos = (CComboBox*)GetDlgItem(IDC_COMBO_PUT_POS);
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CComboBox* pComboGetSlot = (CComboBox*)GetDlgItem(IDC_COMBO_GET_SLOT);
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CComboBox* pComboPutSlot = (CComboBox*)GetDlgItem(IDC_COMBO_PUT_SLOT);
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for (POSITION pos = eqNameList.GetHeadPosition(); pos != NULL;) {
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CString item = eqNameList.GetNext(pos);
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pComboGetPos->AddString(item);
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pComboPutPos->AddString(item);
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}
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pComboGetPos->SetCurSel(0);
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pComboPutPos->SetCurSel(0);
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UpdateSlotList(pComboGetPos, pComboGetSlot);
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UpdateSlotList(pComboPutPos, pComboPutSlot);
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// 初始化 Sub CMD 下拉框
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CComboBox* pComboSubCmd = (CComboBox*)GetDlgItem(IDC_COMBO_SUB_CMD);
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pComboSubCmd->AddString(_T("1: Get Ready"));
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pComboSubCmd->AddString(_T("2: Put Ready"));
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pComboSubCmd->SetCurSel(0);
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// 初始化 ARM 单选框
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CButton* pRadioArmA = (CButton*)GetDlgItem(IDC_RADIO_ARM_A);
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CButton* pRadioArmB = (CButton*)GetDlgItem(IDC_RADIO_ARM_B);
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pRadioArmA->SetCheck(BST_CHECKED);
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pRadioArmB->SetCheck(BST_UNCHECKED);
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// 初始化输入控件状态
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UpdateInputUI(SERVO::RCMD::Robot_home);
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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 CPageRobotCmd::UpdateSlotList(CComboBox* pComboDevice, CComboBox* pComboSlot)
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{
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if (pComboDevice == nullptr || pComboSlot == nullptr) {
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return;
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}
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int nSelIndex = pComboDevice->GetCurSel();
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if (nSelIndex < 0) {
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return;
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}
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CString strDeviceName;
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pComboDevice->GetLBText(nSelIndex, strDeviceName);
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int nMaxSlot = 1; // 默认槽位数
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auto it = g_deviceSlotCount.find(strDeviceName);
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if (it != g_deviceSlotCount.end()) {
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nMaxSlot = it->second;
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}
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// 清空并添加槽号
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pComboSlot->ResetContent();
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for (int i = 1; i <= nMaxSlot; ++i) {
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CString str;
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str.Format(_T("%d"), i);
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pComboSlot->AddString(str);
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}
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pComboSlot->SetCurSel(0);
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}
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void CPageRobotCmd::UpdateMoveSubFields()
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{
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UpdateData(TRUE);
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if (SERVO::RCMD::Move == static_cast<SERVO::RCMD>(m_nRcmd + 1)) {
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const bool bMoveToGet = (m_nSubCmd == 0); // Move to Get
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const bool bMoveToPut = (m_nSubCmd == 1); // Move to Put
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GetDlgItem(IDC_COMBO_GET_POS)->EnableWindow(bMoveToGet);
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GetDlgItem(IDC_COMBO_GET_SLOT)->EnableWindow(bMoveToGet);
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GetDlgItem(IDC_COMBO_PUT_POS)->EnableWindow(bMoveToPut);
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GetDlgItem(IDC_COMBO_PUT_SLOT)->EnableWindow(bMoveToPut);
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}
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}
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void CPageRobotCmd::UpdateInputUI(SERVO::RCMD cmd)
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{
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const auto it = g_cmdFieldMap.find(cmd);
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if (it == g_cmdFieldMap.end()) {
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return;
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}
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const RCMDFieldMask& mask = it->second;
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GetDlgItem(IDC_EDIT_SEQ_NO)->EnableWindow(TRUE);
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GetDlgItem(IDC_COMBO_RCMD)->EnableWindow(TRUE);
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GetDlgItem(IDC_RADIO_ARM_A)->EnableWindow(mask.useArm);
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GetDlgItem(IDC_RADIO_ARM_B)->EnableWindow(mask.useArm);
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GetDlgItem(IDC_COMBO_GET_POS)->EnableWindow(mask.useGetPos);
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GetDlgItem(IDC_COMBO_PUT_POS)->EnableWindow(mask.usePutPos);
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GetDlgItem(IDC_COMBO_GET_SLOT)->EnableWindow(mask.useGetSlot);
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GetDlgItem(IDC_COMBO_PUT_SLOT)->EnableWindow(mask.usePutSlot);
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GetDlgItem(IDC_COMBO_SUB_CMD)->EnableWindow(mask.useSubCmd);
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// 特殊处理 Move 类型
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UpdateMoveSubFields();
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}
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void CPageRobotCmd::OnCbnSelchangeComboRcmd()
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{
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UpdateData(TRUE);
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UpdateInputUI(static_cast<SERVO::RCMD>(m_nRcmd + 1));
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}
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void CPageRobotCmd::OnCbnSelchangeComboGetPos()
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{
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CComboBox* pDevice = (CComboBox*)GetDlgItem(IDC_COMBO_GET_POS);
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CComboBox* pSlot = (CComboBox*)GetDlgItem(IDC_COMBO_GET_SLOT);
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UpdateSlotList(pDevice, pSlot);
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GetRobotCmdParam();
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}
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void CPageRobotCmd::OnCbnSelchangeComboPutPos()
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{
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CComboBox* pDevice = (CComboBox*)GetDlgItem(IDC_COMBO_PUT_POS);
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CComboBox* pSlot = (CComboBox*)GetDlgItem(IDC_COMBO_PUT_SLOT);
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UpdateSlotList(pDevice, pSlot);
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}
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void CPageRobotCmd::OnCbnSelchangeComboSubCmd()
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{
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UpdateMoveSubFields();
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}
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