// CRobotCmdTestDlg.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 "CRobotCmdTestDlg.h"
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// 日志颜色宏定义
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#define LOG_COLOR_NORMAL RGB(0, 0, 0) // 普通：黑色
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#define LOG_COLOR_SUCCESS RGB(0, 128, 0) // 成功：绿色
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#define LOG_COLOR_ERROR RGB(255, 0, 0) // 错误：红色
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#define LOG_COLOR_WARNING RGB(255, 165, 0) // 警告：橙色
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#define LOG_COLOR_TIME RGB(0, 0, 255) // 时间戳：蓝色
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// 快捷命令映射表
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std::map<CString, QuickCmdFieldMask> g_quickCmdMap = {
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{_T("SendHome"), {false, false, false, false, false}},
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{_T("SendTransfer"), {true, true, true, true, true }},
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{_T("SendMoveToGet"), {true, true, true, false, false}},
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{_T("SendMoveToPut"), {true, false, false, true, true }},
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{_T("SendGet"), {true, true, true, false, false}},
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{_T("SendPut"), {true, false, false, true, true }},
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{_T("SendExchange"), {true, true, true, true, true }},
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{_T("SendCommandClear"), {false, false, false, false, false}},
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{_T("SendBatchGet"), {true, true, true, false, false}},
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{_T("SendBatchPut"), {true, false, false, true, true }},
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{_T("SendMoveToGetAndHome"), {true, true, true, false, false}},
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{_T("SendMoveToPutAndHome"), {true, false, false, true, true }},
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{_T("SendTransferAndHome"), {true, true, true, true, true }},
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{_T("SendGetAndPut"), {true, true, true, true, true }},
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{_T("SendPutAndHome"), {true, false, false, true, true }}
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};
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// CRobotCmdTestDlg 对话框
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IMPLEMENT_DYNAMIC(CRobotCmdTestDlg, CDialogEx)
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CRobotCmdTestDlg::CRobotCmdTestDlg(CWnd* pParent /*=nullptr*/)
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: CDialogEx(IDD_DIALOG_ROBOT_CMD_TEST, pParent)
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{
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m_pEFEM = nullptr;
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}
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CRobotCmdTestDlg::~CRobotCmdTestDlg()
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{
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}
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void CRobotCmdTestDlg::SetEFEM(SERVO::CEFEM* pEFEM)
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{
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m_pEFEM = pEFEM;
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}
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void CRobotCmdTestDlg::DoDataExchange(CDataExchange* pDX)
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{
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CDialogEx::DoDataExchange(pDX);
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DDX_Control(pDX, IDC_COMBO_CMD_TYPE, m_comboCmdType);
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DDX_Control(pDX, IDC_COMBO_ARM_NO, m_comboArmNo);
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DDX_Control(pDX, IDC_COMBO_GET_POS, m_comboGetPos);
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DDX_Control(pDX, IDC_COMBO_GET_SLOT, m_comboGetSlot);
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DDX_Control(pDX, IDC_COMBO_PUT_POS, m_comboPutPos);
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DDX_Control(pDX, IDC_COMBO_PUT_SLOT, m_comboPutSlot);
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DDX_Control(pDX, IDC_RICHEDIT_LOG, m_editLog);
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}
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BEGIN_MESSAGE_MAP(CRobotCmdTestDlg, CDialogEx)
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ON_CBN_SELCHANGE(IDC_COMBO_CMD_TYPE, &CRobotCmdTestDlg::OnCbnSelchangeComboCmdType)
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ON_BN_CLICKED(IDC_BUTTON_EXECUTE, &CRobotCmdTestDlg::OnBnClickedButtonExecute)
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END_MESSAGE_MAP()
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// CRobotCmdTestDlg 消息处理程序
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BOOL CRobotCmdTestDlg::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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// 初始化命令组合列表
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for (const auto& pair : g_quickCmdMap) {
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m_comboCmdType.AddString(pair.first);
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}
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m_comboCmdType.SetCurSel(0);
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// 初始化命令输入控件
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if (!g_quickCmdMap.empty()) {
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UpdateCommandInputUI(g_quickCmdMap.begin()->first);
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}
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// 初始化 Arm No（1：Arm#1，2：Arm#2）
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m_comboArmNo.AddString(_T("1"));
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m_comboArmNo.AddString(_T("2"));
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m_comboArmNo.SetCurSel(0);
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// 示例设备名称列表
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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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for (POSITION pos = eqNameList.GetHeadPosition(); pos != NULL;) {
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CString item = eqNameList.GetNext(pos);
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m_comboGetPos.AddString(item);
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m_comboPutPos.AddString(item);
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}
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m_comboGetPos.SetCurSel(0);
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m_comboPutPos.SetCurSel(0);
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// 初始化 Slot（默认从 1 到 25）
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for (int i = 1; i < 26; ++i) {
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CString str;
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str.Format(_T("%d"), i);
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m_comboGetSlot.AddString(str);
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m_comboPutSlot.AddString(str);
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}
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m_comboGetSlot.SetCurSel(0);
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m_comboPutSlot.SetCurSel(0);
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// 快捷命令执行映射表
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m_mapCmdExec = {
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{_T("SendHome"), [this](int seq, int, int, int, int, int) {
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return m_pEFEM->SendHome(seq);
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}},
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{_T("SendTransfer"), [this](int seq, int armNo, int getPos, int putPos, int getSlot, int putSlot) {
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return m_pEFEM->SendTransfer(seq, armNo, getPos, putPos, getSlot, putSlot);
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}},
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{_T("SendMoveToGet"), [this](int seq, int armNo, int pos, int, int slot, int) {
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return m_pEFEM->SendMoveToGet(seq, armNo, pos, slot);
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}},
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{_T("SendMoveToPut"), [this](int seq, int armNo, int, int pos, int, int slot) {
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return m_pEFEM->SendMoveToPut(seq, armNo, pos, slot);
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}},
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{_T("SendGet"), [this](int seq, int armNo, int pos, int, int slot, int) {
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return m_pEFEM->SendGet(seq, armNo, pos, slot);
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}},
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{_T("SendPut"), [this](int seq, int armNo, int, int pos, int, int slot) {
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return m_pEFEM->SendPut(seq, armNo, pos, slot);
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}},
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{_T("SendExchange"), [this](int seq, int armNo, int pos, int, int getSlot, int putSlot) {
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return m_pEFEM->SendExchange(seq, armNo, pos, getSlot, putSlot);
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}},
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{_T("SendCommandClear"), [this](int seq, int, int, int, int, int) {
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return m_pEFEM->SendCommandClear(seq);
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}},
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{_T("SendBatchGet"), [this](int seq, int armNo, int pos, int, int slot, int) {
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return m_pEFEM->SendBatchGet(seq, pos, slot);
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}},
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{_T("SendBatchPut"), [this](int seq, int armNo, int, int pos, int, int slot) {
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return m_pEFEM->SendBatchPut(seq, pos, slot);
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}},
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{_T("SendMoveToGetAndHome"), [this](int seq, int armNo, int pos, int, int slot, int) {
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return m_pEFEM->SendMoveToGetAndHome(seq, armNo, pos, slot);
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}},
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{_T("SendMoveToPutAndHome"), [this](int seq, int armNo, int, int pos, int, int slot) {
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return m_pEFEM->SendMoveToPutAndHome(seq, armNo, pos, slot);
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}},
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{_T("SendTransferAndHome"), [this](int seq, int armNo, int getPos, int putPos, int getSlot, int putSlot) {
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return m_pEFEM->SendTransferAndHome(seq, armNo, getPos, putPos, getSlot, putSlot);
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}},
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{_T("SendGetAndPut"), [this](int seq, int armNo, int getPos, int putPos, int getSlot, int putSlot) {
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return m_pEFEM->SendGetAndPut(seq, armNo, getPos, putPos, getSlot, putSlot);
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}},
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{_T("SendPutAndHome"), [this](int seq, int armNo, int, int pos, int, int slot) {
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return m_pEFEM->SendPutAndHome(seq, armNo, pos, slot);
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}}
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};
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// 初始化日志框
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AppendLogLineRichStyled(_T("准备就绪..."), LOG_COLOR_SUCCESS);
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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 CRobotCmdTestDlg::UpdateCommandInputUI(const CString& cmdName)
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{
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auto it = g_quickCmdMap.find(cmdName);
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if (it == g_quickCmdMap.end()) {
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return;
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}
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const QuickCmdFieldMask& mask = it->second;
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GetDlgItem(IDC_COMBO_ARM_NO)->EnableWindow(mask.useArm);
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GetDlgItem(IDC_COMBO_GET_POS)->EnableWindow(mask.useGetPos);
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GetDlgItem(IDC_COMBO_GET_SLOT)->EnableWindow(mask.useGetSlot);
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GetDlgItem(IDC_COMBO_PUT_POS)->EnableWindow(mask.usePutPos);
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GetDlgItem(IDC_COMBO_PUT_SLOT)->EnableWindow(mask.usePutSlot);
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}
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void CRobotCmdTestDlg::AppendLogLineBatchBegin()
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{
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m_editLog.SetRedraw(FALSE);
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m_editLog.SetEventMask(0); // 防止触发不必要的通知
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}
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void CRobotCmdTestDlg::AppendLogLineBatchEnd()
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{
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m_editLog.SetRedraw(TRUE);
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m_editLog.Invalidate(); // 强制重绘
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m_editLog.SetEventMask(ENM_CHANGE | ENM_SELCHANGE);
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}
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void CRobotCmdTestDlg::TrimRichEditLineLimit(int maxLines)
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{
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int lineCount = m_editLog.GetLineCount();
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if (lineCount <= maxLines) {
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return;
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}
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// 获取多余行的字符数范围
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int charIndex = m_editLog.LineIndex(maxLines);
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m_editLog.SetSel(0, charIndex); // 选中多余内容
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m_editLog.ReplaceSel(_T("")); // 删除
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}
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void CRobotCmdTestDlg::AppendLogLineRichStyled(const CString& content, COLORREF color /*= RGB(0, 0, 0)*/)
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{
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// 时间戳
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CString timestamp;
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CTime now = CTime::GetCurrentTime();
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timestamp.Format(_T("[%02d:%02d:%02d] "), now.GetHour(), now.GetMinute(), now.GetSecond());
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// 插入点移到最后（也可以设为 0 表示顶部）
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m_editLog.SetSel(-1, -1);
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// 插入时间（蓝色）
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CHARFORMAT2 cfTime = {};
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cfTime.cbSize = sizeof(cfTime);
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cfTime.dwMask = CFM_COLOR;
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cfTime.crTextColor = LOG_COLOR_TIME;
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m_editLog.SetSelectionCharFormat(cfTime);
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m_editLog.ReplaceSel(timestamp);
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// 插入日志正文（传入颜色）
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CHARFORMAT2 cfMsg = {};
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cfMsg.cbSize = sizeof(cfMsg);
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cfMsg.dwMask = CFM_COLOR;
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cfMsg.crTextColor = color;
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m_editLog.SetSelectionCharFormat(cfMsg);
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m_editLog.ReplaceSel(content + _T("\r\n"));
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// 限制最大行数
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TrimRichEditLineLimit(100);
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}
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void CRobotCmdTestDlg::HighlightAllMatches(const CString& strSearch, COLORREF clrHighlight)
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{
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if (strSearch.IsEmpty()) {
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return;
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}
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long nStart = 0;
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long nEnd = m_editLog.GetTextLength();
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CHARRANGE cr;
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FINDTEXTEX ft = { 0 };
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ft.chrg.cpMin = 0;
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ft.chrg.cpMax = nEnd;
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ft.lpstrText = strSearch.GetString();
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// 高亮前不清除全文颜色，避免历史多色混淆
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while (m_editLog.FindText(FR_DOWN, &ft) != -1) {
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m_editLog.SetSel(ft.chrgText.cpMin, ft.chrgText.cpMax);
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CHARFORMAT2 cf = {};
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cf.cbSize = sizeof(cf);
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cf.dwMask = CFM_COLOR;
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cf.crTextColor = clrHighlight;
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m_editLog.SetSelectionCharFormat(cf);
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// 下次搜索从后面开始
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ft.chrg.cpMin = ft.chrgText.cpMax;
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}
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m_editLog.SetSel(-1, 0);
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}
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void CRobotCmdTestDlg::OnCbnSelchangeComboCmdType()
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{
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int nSel = m_comboCmdType.GetCurSel();
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if (nSel < 0) {
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return;
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}
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CString str;
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m_comboCmdType.GetLBText(nSel, str);
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UpdateCommandInputUI(str);
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str.Format(_T("切换当前命令类型：%s"), str);
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AppendLogLineRichStyled(str, LOG_COLOR_NORMAL);
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}
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void CRobotCmdTestDlg::OnBnClickedButtonExecute()
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{
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// TODO: 在此添加控件通知处理程序代码
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int sel = m_comboCmdType.GetCurSel();
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if (sel == CB_ERR) {
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AppendLogLineRichStyled(_T("未选择命令类型"), LOG_COLOR_ERROR);
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return;
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}
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CString cmdName;
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m_comboCmdType.GetLBText(sel, cmdName);
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// 参数收集
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int armNo = m_comboArmNo.GetCurSel() + 1;
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int getPos = m_comboGetPos.GetCurSel() + 1;
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int getSlot = m_comboGetSlot.GetCurSel() + 1;
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int putPos = m_comboPutPos.GetCurSel() + 1;
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int putSlot = m_comboPutSlot.GetCurSel() + 1;
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// 查找函数并执行
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auto it = m_mapCmdExec.find(cmdName);
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if (it != m_mapCmdExec.end() && nullptr != m_pEFEM) {
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int ret = it->second(1, armNo, getPos, getSlot, putPos, putSlot);
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CString log;
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if (ret == 0) {
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log.Format(_T("执行命令 %s 成功"), cmdName.GetString());
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AppendLogLineRichStyled(log, LOG_COLOR_SUCCESS);
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}
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else {
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log.Format(_T("执行命令 %s 参数错误"), cmdName.GetString());
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AppendLogLineRichStyled(log, LOG_COLOR_ERROR);
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}
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}
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else {
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CString log;
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log.Format(_T("命令 %s 不存在或 EFEM 未初始化"), cmdName.GetString());
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AppendLogLineRichStyled(log, LOG_COLOR_ERROR);
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}
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}
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