// 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_mapQuickCmd = {
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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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std::map<CString, int> g_mapDeviceSlotCount = {
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{_T("Port1"), 8},
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{_T("Port2"), 8},
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{_T("Port3"), 8},
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{_T("Port4"), 8},
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{_T("RB1"), 1},
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{_T("RB2"), 1},
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{_T("AL"), 1},
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{_T("FLIP"), 1},
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{_T("Bonder1-上产品"), 1},
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{_T("Bonder1-下产品"), 1},
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{_T("Bonder2-上产品"), 1},
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{_T("Bonder2-下产品"), 1},
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{_T("VacBakeA腔"), 1},
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{_T("VacBakeB腔"), 1},
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{_T("BakecCoolingA烘烤"), 1},
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{_T("BakecCoolingA冷却"), 1},
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{_T("BakecCoolingB烘烤"), 1},
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{_T("BakecCoolingB冷却"), 1},
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{_T("Measurement"), 1}
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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_BN_CLICKED(IDC_BUTTON_EXECUTE, &CRobotCmdTestDlg::OnBnClickedButtonExecute)
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ON_CBN_SELCHANGE(IDC_COMBO_CMD_TYPE, &CRobotCmdTestDlg::OnSelchangeComboCmdType)
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ON_CBN_SELCHANGE(IDC_COMBO_GET_POS, &CRobotCmdTestDlg::OnSelchangeComboGetPos)
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ON_CBN_SELCHANGE(IDC_COMBO_PUT_POS, &CRobotCmdTestDlg::OnSelchangeComboPutPos)
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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_mapQuickCmd) {
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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 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("Port1")); // 1
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eqNameList.AddTail(_T("Port2")); // 2
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eqNameList.AddTail(_T("Port3")); // 3
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eqNameList.AddTail(_T("Port4")); // 4
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eqNameList.AddTail(_T("RB1")); // 5
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eqNameList.AddTail(_T("RB2")); // 6
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eqNameList.AddTail(_T("AL")); // 7
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eqNameList.AddTail(_T("FLIP")); // 8
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eqNameList.AddTail(_T("Bonder1-上产品")); // 9
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eqNameList.AddTail(_T("Bonder1-下产品")); // 10
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eqNameList.AddTail(_T("Bonder2-上产品")); // 11
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eqNameList.AddTail(_T("Bonder2-下产品")); // 12
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eqNameList.AddTail(_T("VacBakeA腔")); // 13
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eqNameList.AddTail(_T("VacBakeB腔")); // 14
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eqNameList.AddTail(_T("BakecCoolingA烘烤")); // 15
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eqNameList.AddTail(_T("BakecCoolingA冷却")); // 16
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eqNameList.AddTail(_T("BakecCoolingB烘烤")); // 17
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eqNameList.AddTail(_T("BakecCoolingB冷却")); // 18
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eqNameList.AddTail(_T("Measurement")); // 19
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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
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m_comboGetPos.SetCurSel(0);
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m_comboPutPos.SetCurSel(0);
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UpdateSlotList(&m_comboGetPos, &m_comboGetSlot);
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UpdateSlotList(&m_comboPutPos, &m_comboPutSlot);
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// 初始化命令输入控件
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if (!g_mapQuickCmd.empty()) {
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UpdateCommandInputUI(g_mapQuickCmd.begin()->first);
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}
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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, SERVO::ONWRITED onWritedBlock) {
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return m_pEFEM->robotSendHome(seq, onWritedBlock);
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}},
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{_T("SendTransfer"), [this](int seq, int armNo, int getPos, int putPos, int getSlot, int putSlot, SERVO::ONWRITED onWritedBlock) {
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return m_pEFEM->robotSendTransfer(seq, armNo, getPos, putPos, getSlot, putSlot, onWritedBlock);
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}},
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{_T("SendMoveToGet"), [this](int seq, int armNo, int pos, int, int slot, int, SERVO::ONWRITED onWritedBlock) {
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return m_pEFEM->robotSendMoveToGet(seq, armNo, pos, slot, onWritedBlock);
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}},
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{_T("SendMoveToPut"), [this](int seq, int armNo, int, int pos, int, int slot, SERVO::ONWRITED onWritedBlock) {
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return m_pEFEM->robotSendMoveToPut(seq, armNo, pos, slot, onWritedBlock);
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}},
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{_T("SendGet"), [this](int seq, int armNo, int pos, int, int slot, int, SERVO::ONWRITED onWritedBlock) {
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return m_pEFEM->robotSendGet(seq, armNo, pos, slot, onWritedBlock);
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}},
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{_T("SendPut"), [this](int seq, int armNo, int, int pos, int, int slot, SERVO::ONWRITED onWritedBlock) {
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return m_pEFEM->robotSendPut(seq, armNo, pos, slot, onWritedBlock);
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}},
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{_T("SendExchange"), [this](int seq, int armNo, int pos, int, int getSlot, int putSlot, SERVO::ONWRITED onWritedBlock) {
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return m_pEFEM->robotSendExchange(seq, armNo, pos, getSlot, putSlot, onWritedBlock);
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}},
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{_T("SendCommandClear"), [this](int seq, int, int, int, int, int, SERVO::ONWRITED onWritedBlock) {
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return m_pEFEM->robotSendCommandClear(seq, onWritedBlock);
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}},
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{_T("SendBatchGet"), [this](int seq, int armNo, int pos, int, int slot, int, SERVO::ONWRITED onWritedBlock) {
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return m_pEFEM->robotSendBatchGet(seq, pos, slot, onWritedBlock);
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}},
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{_T("SendBatchPut"), [this](int seq, int armNo, int, int pos, int, int slot, SERVO::ONWRITED onWritedBlock) {
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return m_pEFEM->robotSendBatchPut(seq, pos, slot, onWritedBlock);
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}},
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{_T("SendMoveToGetAndHome"), [this](int seq, int armNo, int pos, int, int slot, int, SERVO::ONWRITED onWritedBlock) {
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return m_pEFEM->robotSendMoveToGetAndHome(seq, armNo, pos, slot, onWritedBlock);
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}},
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{_T("SendMoveToPutAndHome"), [this](int seq, int armNo, int, int pos, int, int slot, SERVO::ONWRITED onWritedBlock) {
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return m_pEFEM->robotSendMoveToPutAndHome(seq, armNo, pos, slot, onWritedBlock);
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}},
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{_T("SendTransferAndHome"), [this](int seq, int armNo, int getPos, int putPos, int getSlot, int putSlot, SERVO::ONWRITED onWritedBlock) {
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return m_pEFEM->robotSendTransferAndHome(seq, armNo, getPos, putPos, getSlot, putSlot, onWritedBlock);
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}},
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{_T("SendGetAndPut"), [this](int seq, int armNo, int getPos, int putPos, int getSlot, int putSlot, SERVO::ONWRITED onWritedBlock) {
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return m_pEFEM->robotSendGetAndPut(seq, armNo, getPos, putPos, getSlot, putSlot, onWritedBlock);
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}},
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{_T("SendPutAndHome"), [this](int seq, int armNo, int, int pos, int, int slot, SERVO::ONWRITED onWritedBlock) {
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return m_pEFEM->robotSendPutAndHome(seq, armNo, pos, slot, onWritedBlock);
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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_mapQuickCmd.find(cmdName);
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if (it == g_mapQuickCmd.end()) {
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AppendLogLineRichStyled(_T("未知的命令类型"), LOG_COLOR_ERROR);
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return;
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}
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const QuickCmdFieldMask& mask = it->second;
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m_comboArmNo.SetCurSel(0);
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m_comboArmNo.EnableWindow(mask.useArm);
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m_comboGetPos.SetCurSel(0);
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m_comboGetPos.EnableWindow(mask.useGetPos);
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m_comboGetSlot.SetCurSel(0);
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m_comboGetSlot.EnableWindow(mask.useGetSlot);
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m_comboPutPos.SetCurSel(0);
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m_comboPutPos.EnableWindow(mask.usePutPos);
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m_comboPutSlot.SetCurSel(0);
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m_comboPutSlot.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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if (!::IsWindow(GetSafeHwnd())) return;
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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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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::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_mapDeviceSlotCount.find(strDeviceName);
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if (it != g_mapDeviceSlotCount.end()) {
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nMaxSlot = it->second;
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}
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else {
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CString strLog;
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strLog.Format(_T("设备 %s 未定义槽位数，使用默认值 1"), strDeviceName.GetString());
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AppendLogLineRichStyled(strLog, LOG_COLOR_WARNING);
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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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pComboSlot->EnableWindow(1 != nMaxSlot);
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}
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void CRobotCmdTestDlg::UpdateArmList(CComboBox* pComboDevice, CComboBox* pComboArm)
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{
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if (pComboDevice == nullptr || pComboArm == 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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if (IsDualArmSupported(strDeviceName)) {
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pComboArm->EnableWindow(TRUE);
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}
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else {
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pComboArm->EnableWindow(FALSE);
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}
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pComboArm->SetCurSel(0);
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}
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bool CRobotCmdTestDlg::IsDualArmSupported(const CString& strDeviceName)
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{
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// 注意匹配规则是否区分“-上产品”、“-下产品”等后缀
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if (strDeviceName.Find(_T("FLIP")) >= 0) return true;
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if (strDeviceName.Find(_T("Bonder1")) >= 0) return true;
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if (strDeviceName.Find(_T("Bonder2")) >= 0) return true;
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return false;
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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, putPos, getSlot, putSlot, [&](int code) -> int {
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if (code == WOK) {
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AppendLogLineRichStyled(_T("已收到Robot回应！"), LOG_COLOR_SUCCESS);
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}
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else {
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AppendLogLineRichStyled(_T("未收到Robot回应！"), LOG_COLOR_ERROR);
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}
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return 0;
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});
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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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void CRobotCmdTestDlg::OnSelchangeComboCmdType()
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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::OnSelchangeComboGetPos()
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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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UpdateSlotList(&m_comboGetPos, &m_comboGetSlot);
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UpdateArmList(&m_comboGetPos, &m_comboArmNo);
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}
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void CRobotCmdTestDlg::OnSelchangeComboPutPos()
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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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UpdateSlotList(&m_comboPutPos, &m_comboPutSlot);
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UpdateArmList(&m_comboPutPos, &m_comboArmNo);
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}
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