#include "stdafx.h"
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#include <sstream>
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#include <fstream>
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#include <iostream>
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// µ¥Àý»ñÈ¡
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RecipeManager& RecipeManager::getInstance() {
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static RecipeManager instance;
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return instance;
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}
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// ¹¹Ô캯Êý
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RecipeManager::RecipeManager() : m_recipeFolder("Recipe") {}
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// ¼ÓÔØÖáÐÅÏ¢
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bool RecipeManager::loadAxes(pugi::xml_node axesNode) {
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m_axes.clear();
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for (auto axisNode : axesNode.children("Axis")) {
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AxisInfo axisInfo;
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axisInfo.id = axisNode.attribute("id").as_int();
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axisInfo.number = axisNode.attribute("number").value();
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axisInfo.description = axisNode.attribute("description").value();
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axisInfo.startAddress = axisNode.attribute("start_address").value();
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// ¼ÓÔØ ValueRange Öµ
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axisInfo.jogDistance = ValueRange(
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axisNode.child("jog_distance").attribute("min").as_double(),
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axisNode.child("jog_distance").attribute("max").as_double(),
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axisNode.child("jog_distance").attribute("current").as_double()
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);
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axisInfo.manualSpeed = ValueRange(
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axisNode.child("manual_speed").attribute("min").as_double(),
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axisNode.child("manual_speed").attribute("max").as_double(),
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axisNode.child("manual_speed").attribute("current").as_double()
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);
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axisInfo.autoSpeed = ValueRange(
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axisNode.child("auto_speed").attribute("min").as_double(),
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axisNode.child("auto_speed").attribute("max").as_double(),
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axisNode.child("auto_speed").attribute("current").as_double()
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);
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axisInfo.accelerationTime = ValueRange(
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axisNode.child("acceleration_time").attribute("min").as_double(),
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axisNode.child("acceleration_time").attribute("max").as_double(),
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axisNode.child("acceleration_time").attribute("current").as_double()
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);
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axisInfo.decelerationTime = ValueRange(
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axisNode.child("deceleration_time").attribute("min").as_double(),
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axisNode.child("deceleration_time").attribute("max").as_double(),
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axisNode.child("deceleration_time").attribute("current").as_double()
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);
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// ¼ÓÔØ PositionRange Öµ
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axisInfo.positioningPointCount = axisNode.child("Positions").attribute("positioningPointCount").as_int();
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for (auto positionNode : axisNode.child("Positions").children("Position")) {
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bool isEnable = positionNode.attribute("isEnable").as_bool();
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std::string description = positionNode.attribute("description").value();
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ValueRange positionRange(
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positionNode.attribute("min").as_double(),
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positionNode.attribute("max").as_double(),
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positionNode.attribute("current").as_double()
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);
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axisInfo.positions.emplace_back(PositionRange(isEnable, description, positionRange));
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}
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m_axes[axisInfo.id] = axisInfo;
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}
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return true;
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}
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// ±£´æÖáÐÅÏ¢
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void RecipeManager::saveAxes(pugi::xml_node& axesNode) {
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for (const auto& axisEntry : m_axes) {
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const AxisInfo& axisInfo = axisEntry.second;
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auto axisNode = axesNode.append_child("Axis");
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axisNode.append_attribute("id") = axisInfo.id;
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axisNode.append_attribute("number") = axisInfo.number.c_str();
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axisNode.append_attribute("description") = axisInfo.description.c_str();
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axisNode.append_attribute("start_address") = axisInfo.startAddress.c_str();
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// ±£´æ ValueRange Öµ
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auto jog_distance = axisNode.append_child("jog_distance");
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jog_distance.append_attribute("min") = axisInfo.jogDistance.minValue;
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jog_distance.append_attribute("max") = axisInfo.jogDistance.maxValue;
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jog_distance.append_attribute("current") = axisInfo.jogDistance.currentValue;
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auto manual_speed = axisNode.append_child("manual_speed");
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manual_speed.append_attribute("min") = axisInfo.manualSpeed.minValue;
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manual_speed.append_attribute("max") = axisInfo.manualSpeed.maxValue;
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manual_speed.append_attribute("current") = axisInfo.manualSpeed.currentValue;
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auto auto_speed = axisNode.append_child("auto_speed");
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auto_speed.append_attribute("min") = axisInfo.autoSpeed.minValue;
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auto_speed.append_attribute("max") = axisInfo.autoSpeed.maxValue;
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auto_speed.append_attribute("current") = axisInfo.autoSpeed.currentValue;
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auto acceleration_time = axisNode.append_child("acceleration_time");
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acceleration_time.append_attribute("min") = axisInfo.accelerationTime.minValue;
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acceleration_time.append_attribute("max") = axisInfo.accelerationTime.maxValue;
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acceleration_time.append_attribute("current") = axisInfo.accelerationTime.currentValue;
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auto deceleration_time = axisNode.append_child("deceleration_time");
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deceleration_time.append_attribute("min") = axisInfo.decelerationTime.minValue;
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deceleration_time.append_attribute("max") = axisInfo.decelerationTime.maxValue;
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deceleration_time.append_attribute("current") = axisInfo.decelerationTime.currentValue;
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// ±£´æ PositionRange Öµ
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auto positionsNode = axisNode.append_child("Positions");
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positionsNode.append_attribute("positioningPointCount") = axisInfo.positioningPointCount;
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for (const auto& position : axisInfo.positions) {
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auto positionNode = positionsNode.append_child("Position");
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positionNode.append_attribute("isEnable") = position.isEnable;
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positionNode.append_attribute("description") = position.description.c_str();
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positionNode.append_attribute("min") = position.range.minValue;
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positionNode.append_attribute("max") = position.range.maxValue;
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positionNode.append_attribute("current") = position.range.currentValue;
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}
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}
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}
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// ÉèÖÃÅä·½Îļþ¼Ð
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void RecipeManager::setRecipeFolder(const std::string& folderPath) {
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m_recipeFolder = folderPath;
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}
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// ¼ÓÔØÅä·½£¨Èç¹ûÎļþ²»´æÔÚ£¬¼ÓÔØĬÈÏÊý¾Ý£©
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bool RecipeManager::loadRecipe(const std::string& recipeName) {
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std::string filePath = m_recipeFolder + "/" + recipeName + ".xml";
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pugi::xml_document doc;
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if (!doc.load_file(filePath.c_str())) {
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std::cerr << "Recipe file not found: " << filePath << ". Loading default recipe." << std::endl;
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generateDefaultRecipe();
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return false; // Îļþ²»´æÔÚ£¬µ«¼ÓÔØÁËĬÈÏÊý¾Ý
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}
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auto recipeNode = doc.child("Recipe");
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auto axesNode = recipeNode.child("Axes");
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loadAxes(axesNode); // ¼ÓÔØÖáÐÅÏ¢
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return true;
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}
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// ±£´æÅä·½
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bool RecipeManager::saveRecipe(const std::string& recipeName) {
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// Éú³ÉÎļþ·¾¶
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std::string filePath = m_recipeFolder + "/" + recipeName + ".xml";
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// ´´½¨ XML Îĵµ¶ÔÏó
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pugi::xml_document doc;
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// Èç¹ûÖáÊý¾ÝΪ¿Õ£¬Éú³ÉĬÈÏÅä·½
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if (m_axes.empty()) {
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generateDefaultRecipe();
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}
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// Ìí¼ÓÅä·½¸ù½Úµã
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auto recipeNode = doc.append_child("Recipe");
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// Ìí¼ÓÖáÐÅÏ¢
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auto axesNode = recipeNode.append_child("Axes");
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saveAxes(axesNode);
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// ±£´æ XML Îļþ
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return doc.save_file(filePath.c_str());
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}
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// Éú³ÉĬÈÏÅä·½
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void RecipeManager::generateDefaultRecipe() {
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m_axes.clear();
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for (int axisId = 1; axisId <= 12; ++axisId) {
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AxisInfo axisInfo;
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axisInfo.id = axisId;
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axisInfo.positioningPointCount = 25;
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//axisInfo.maxPositioningSpeed = 100.0;
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//axisInfo.maxManualSpeed = 100.0;
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axisInfo.number = "M100-M" + std::to_string(axisId);
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axisInfo.description = "Default_Axis" + std::to_string(axisId);
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axisInfo.startAddress = "ZR" + std::to_string(10000 + (axisId - 1) * 300);
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// ÉèÖÃĬÈ쵀 ValueRange
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axisInfo.jogDistance = ValueRange(1.0, 10.0, 1.0);
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axisInfo.manualSpeed = ValueRange(1.0, 100.0, 10.0);
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axisInfo.autoSpeed = ValueRange(5.0, 200.0, 50.0);
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axisInfo.accelerationTime = ValueRange(1.0, 10.0, 1.0);
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axisInfo.decelerationTime = ValueRange(1.0, 10.0, 1.0);
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// Ìí¼Ó¶¨Î»µã²¢ÉèÖÃĬÈϵÄ×îСֵºÍ×î´óÖµ
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for (int posId = 0; posId < axisInfo.positioningPointCount; ++posId) {
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double minPos = (posId + 1) * 5.0;
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double maxPos = (posId + 1) * 20.0;
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axisInfo.positions.emplace_back(PositionRange(TRUE, "Position " + std::to_string(posId + 1), ValueRange(minPos, maxPos, (posId + 1) * 10.0)));
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}
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m_axes[axisId] = axisInfo;
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}
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}
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// »ñÈ¡ËùÓÐÖáÐÅÏ¢
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const std::map<int, AxisInfo>& RecipeManager::getAxes() const {
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return m_axes;
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}
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// »ñÈ¡µ¥¸öÖáÐÅÏ¢
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AxisInfo RecipeManager::getAxis(int axisId) const {
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auto it = m_axes.find(axisId);
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if (it != m_axes.end()) {
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return it->second; // Èç¹ûÕÒµ½ÁËÖᣬ·µ»ØÆäÏêϸÐÅÏ¢
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}
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// Èç¹ûûÓÐÕÒµ½¸ÃÖᣬ·µ»ØÒ»¸öĬÈϵÄÎÞЧ AxisInfo
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return AxisInfo{ -1, 0, /*0.0, 0.0,*/ "", "", "", ValueRange(), ValueRange(), ValueRange(), ValueRange(), ValueRange(), {} };
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}
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// ¸üÐÂÖáÐÅÏ¢
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bool RecipeManager::updateAxis(const AxisInfo& axisInfo) {
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if (m_axes.find(axisInfo.id) == m_axes.end()) {
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return false; // Öá²»´æÔÚ
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}
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m_axes[axisInfo.id] = axisInfo;
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return true;
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}
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// Ìí¼ÓеÄÖáÐÅÏ¢
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bool RecipeManager::addAxis(const AxisInfo& axisInfo) {
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if (m_axes.find(axisInfo.id) != m_axes.end()) {
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return false; // ÖáÒÑ´æÔÚ
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}
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m_axes[axisInfo.id] = axisInfo;
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return true;
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}
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// ɾ³ýÖáÐÅÏ¢
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bool RecipeManager::deleteAxis(int axisId) {
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return m_axes.erase(axisId) > 0;
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}
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// »ñÈ¡ËùÓÐÖá±àºÅ
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std::vector<int> RecipeManager::getAllAxisID() const {
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std::vector<int> axisNumbers;
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for (const auto& axis : m_axes) {
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int axisId = axis.first;
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axisNumbers.push_back(axisId);
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}
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return axisNumbers;
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}
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// »ñÈ¡Ö¸¶¨Ò³µÄ¶¨Î»µã
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std::vector<PositionRange> RecipeManager::getPositions(int axisId, int pageNumber, int pageSize) const {
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std::vector<PositionRange> result;
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// ¼ì²éÖáÊÇ·ñ´æÔÚ
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auto it = m_axes.find(axisId);
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if (it == m_axes.end()) {
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return result; // Èç¹ûÖá ID ²»´æÔÚ£¬·µ»Ø¿Õ½á¹û
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}
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// »ñÈ¡Ö¸¶¨ÖáµÄËùÓж¨Î»µã
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const auto& positions = it->second.positions;
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// È·¶¨·ÖÒ³·¶Î§
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int startIndex = (pageNumber - 1) * pageSize;
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int endIndex = startIndex + pageSize;
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// ±éÀú¶¨Î»µã£¬°´·ÖÒ³ÌáÈ¡Êý¾Ý
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int index = 0;
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for (const auto& pos : positions) {
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const PositionRange& position = pos; // ¶¨Î»µã°üº¬ÃèÊö¡¢Î»Öá¢×îСֵ¡¢×î´óÖµºÍµ±Ç°Öµ
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if (index >= startIndex && index < endIndex) {
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result.push_back(position); // Ìí¼ÓÍêÕûµÄ PositionRange ¶ÔÏó
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}
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++index;
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if (index >= endIndex) {
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break; // ´ïµ½·ÖÒ³½áÊøµã
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}
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}
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return result;
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}
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// »ñÈ¡Ö¸¶¨ÖáµÄ¶¨Î»µã
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PositionRange RecipeManager::getPositionByIndex(int axisId, int pageNumber, int pageSize, int currentIndex) const {
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// ¼ì²éÖáÊÇ·ñ´æÔÚ
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auto it = m_axes.find(axisId);
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if (it == m_axes.end()) {
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return PositionRange(); // Öá²»´æÔÚ£¬·µ»ØĬÈϹ¹ÔìµÄ PositionRange£¨ÎÞЧµÄ¶¨Î»µã£©
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}
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// »ñÈ¡Ö¸¶¨ÖáµÄËùÓж¨Î»µã
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const auto& positions = it->second.positions;
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// È·¶¨·ÖÒ³·¶Î§
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int startIndex = (pageNumber - 1) * pageSize;
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int endIndex = startIndex + pageSize;
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// Èç¹û currentIndex ³¬¹ýÁ˵±Ç°Ò³µÄ·¶Î§£¬·µ»ØÎÞЧµÄ PositionRange
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if (currentIndex < 0 || currentIndex >= pageSize || currentIndex + startIndex >= positions.size()) {
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return PositionRange(); // ·µ»ØÎÞЧµÄ¶¨Î»µã
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}
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// ·µ»ØÖ¸¶¨¶¨Î»µã£¨¿¼ÂÇ·ÖÒ³£©
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return positions[startIndex + currentIndex];
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}
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