1.Spooling Config功能EAP模拟测试；

LAPTOP-SNT8I5JK\Boounion

2025-07-28 bfe14e41fa5b07771d78af4511ba18d706bc23cc

 SourceCode/Bond/Servo/CPageGraph1.cpp

@@ -7,9 +7,6 @@
#include "afxdialogex.h"
#include "Common.h"

const POINT g_arm1Offset = { -30, -45 }; // ARM1 从中心向左47, 向上33
const POINT g_arm2Offset = { 27, -45 };    // ARM2 从中心向右10, 向上33

const std::map<SERVO::ROBOT_POSITION, RobotPositionMapping> g_positionMap = {
   { SERVO::ROBOT_POSITION::Port1,     { SERVO::ROBOT_POSITION::Port1,     1.00f,   0.00f } },
   { SERVO::ROBOT_POSITION::Port2,     { SERVO::ROBOT_POSITION::Port2,     0.90f,   0.00f } },
@@ -41,6 +38,10 @@
#define INDICATE_BAKE_COOLING   12
#define INDICATE_MEASUREMENT   13

// 定时器
#define TIMER_ID_DEVICE_STATUS      1   // 用于初始化设备状态
#define TIMER_ID_ROBOT_STATUS       2   // 用于周期刷新机器人位置/臂状态

// CPageGraph1 对话框

IMPLEMENT_DYNAMIC(CPageGraph1, CDialogEx)
@@ -53,6 +54,15 @@
   m_bIsRobotMoving = FALSE;
   m_crBkgnd = PAGE_GRPAH1_BACKGROUND_COLOR;
   m_hbrBkgnd = nullptr;
   m_lastRobotPosition = SERVO::ROBOT_POSITION::Port1;
   m_lastArmState[0] = FALSE;
   m_lastArmState[1] = FALSE;

   m_arm1Offset = LoadArmOffset("ARM1");
   m_arm2Offset = LoadArmOffset("ARM2");

   //m_arm1Offset = { -30, -45 }; // ARM1 从中心向左47, 向上33
   //m_arm2Offset = { 27, -45 };    // ARM2 从中心向右10, 向上33
}

CPageGraph1::~CPageGraph1()
@@ -77,6 +87,15 @@

// CPageGraph1 消息处理程序

std::string CPageGraph1::GetConfigPath()
{
   char path[MAX_PATH];
   GetModuleFileNameA(NULL, path, MAX_PATH);
   std::string exePath(path);
   std::string configDir = exePath.substr(0, exePath.find_last_of("\\/")) + "\\Config";
   CreateDirectoryA(configDir.c_str(), NULL);
   return configDir + "\\robot_offset.ini";
}

void CPageGraph1::InitRxWindows()
{
@@ -148,8 +167,8 @@
{
   CDialogEx::OnInitDialog();
   InitRxWindows();
   SetTimer(1, 3000, nullptr);

   SetTimer(TIMER_ID_DEVICE_STATUS, 3000, nullptr);
   SetTimer(TIMER_ID_ROBOT_STATUS, 1000, nullptr); // 每 1000ms 更新一次状态

   // 图示
   m_pGraph = CServoGraph::Hook(GetDlgItem(IDC_SERVO_GRAPH1)->GetSafeHwnd());
@@ -251,7 +270,12 @@
      newFrameColor2 = EQ_BOX_FRAME2;
      break;
   case OFFLINE:
      newBackgroundColor = RGB(222, 222, 222);
      newBackgroundColor = EQ_BOX_OFFLINE;
      newFrameColor1 = EQ_BOX_FRAME1;
      newFrameColor2 = EQ_BOX_FRAME2;
      break;
   case OCCUPIED:
      newBackgroundColor = EQ_BOX_OCCUPIED;
      newFrameColor1 = EQ_BOX_FRAME1;
      newFrameColor2 = EQ_BOX_FRAME2;
      break;
@@ -300,6 +324,8 @@
{
   CDialogEx::OnDestroy();

   KillTimer(TIMER_ID_ROBOT_STATUS);

   if (m_hbrBkgnd != nullptr) {
      ::DeleteObject(m_hbrBkgnd);
   }
@@ -308,6 +334,9 @@
      m_pObserver->unsubscribe();
      m_pObserver = NULL;
   }

   SaveArmOffset("ARM1", m_arm1Offset);
   SaveArmOffset("ARM2", m_arm2Offset);
}

void CPageGraph1::OnSize(UINT nType, int cx, int cy)
@@ -354,10 +383,10 @@
      int cx = currentX + pImage->bmWidth / 2;

      // 旋转后的偏移
      int rotatedX1 = static_cast<int>(cos(radians) * g_arm1Offset.x - sin(radians) * g_arm1Offset.y);
      int rotatedY1 = static_cast<int>(sin(radians) * g_arm1Offset.x + cos(radians) * g_arm1Offset.y);
      int rotatedX2 = static_cast<int>(cos(radians) * g_arm2Offset.x - sin(radians) * g_arm2Offset.y);
      int rotatedY2 = static_cast<int>(sin(radians) * g_arm2Offset.x + cos(radians) * g_arm2Offset.y);
      int rotatedX1 = static_cast<int>(cos(radians) * m_arm1Offset.x - sin(radians) * m_arm1Offset.y);
      int rotatedY1 = static_cast<int>(sin(radians) * m_arm1Offset.x + cos(radians) * m_arm1Offset.y);
      int rotatedX2 = static_cast<int>(cos(radians) * m_arm2Offset.x - sin(radians) * m_arm2Offset.y);
      int rotatedY2 = static_cast<int>(sin(radians) * m_arm2Offset.x + cos(radians) * m_arm2Offset.y);

      // 应用所有元素的新坐标
      m_pGraph->UpdateImageCoordinates(IMAGE_ROBOT, currentX, y);
@@ -371,10 +400,10 @@

   // 最终位置校正
   int cx = endX + pImage->bmWidth / 2;
   int rotatedX1 = static_cast<int>(cos(radians) * g_arm1Offset.x - sin(radians) * g_arm1Offset.y);
   int rotatedY1 = static_cast<int>(sin(radians) * g_arm1Offset.x + cos(radians) * g_arm1Offset.y);
   int rotatedX2 = static_cast<int>(cos(radians) * g_arm2Offset.x - sin(radians) * g_arm2Offset.y);
   int rotatedY2 = static_cast<int>(sin(radians) * g_arm2Offset.x + cos(radians) * g_arm2Offset.y);
   int rotatedX1 = static_cast<int>(cos(radians) * m_arm1Offset.x - sin(radians) * m_arm1Offset.y);
   int rotatedY1 = static_cast<int>(sin(radians) * m_arm1Offset.x + cos(radians) * m_arm1Offset.y);
   int rotatedX2 = static_cast<int>(cos(radians) * m_arm2Offset.x - sin(radians) * m_arm2Offset.y);
   int rotatedY2 = static_cast<int>(sin(radians) * m_arm2Offset.x + cos(radians) * m_arm2Offset.y);

   m_pGraph->UpdateImageCoordinates(IMAGE_ROBOT, endX, y);
   m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM1, cx + rotatedX1, cy + rotatedY1);
@@ -402,12 +431,12 @@
   float radians = angleInDegrees * 3.1415926f / 180.0f;

   // 旋转 offset1
   int rotatedX1 = static_cast<int>(cos(radians) * g_arm1Offset.x - sin(radians) * g_arm1Offset.y);
   int rotatedY1 = static_cast<int>(sin(radians) * g_arm1Offset.x + cos(radians) * g_arm1Offset.y);
   int rotatedX1 = static_cast<int>(cos(radians) * m_arm1Offset.x - sin(radians) * m_arm1Offset.y);
   int rotatedY1 = static_cast<int>(sin(radians) * m_arm1Offset.x + cos(radians) * m_arm1Offset.y);

   // 旋转 offset2
   int rotatedX2 = static_cast<int>(cos(radians) * g_arm2Offset.x - sin(radians) * g_arm2Offset.y);
   int rotatedY2 = static_cast<int>(sin(radians) * g_arm2Offset.x + cos(radians) * g_arm2Offset.y);
   int rotatedX2 = static_cast<int>(cos(radians) * m_arm2Offset.x - sin(radians) * m_arm2Offset.y);
   int rotatedY2 = static_cast<int>(sin(radians) * m_arm2Offset.x + cos(radians) * m_arm2Offset.y);

   // 更新指示框
   m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM1, cx + rotatedX1, cy + rotatedY1);
@@ -461,6 +490,29 @@

   // 旋转方向
   RotateRobot(mapping.angle);

   m_lastRobotPosition = position;
}

POINT CPageGraph1::LoadArmOffset(const std::string& armName)
{
   std::string iniPath = GetConfigPath();
   POINT pt;
   pt.x = GetPrivateProfileIntA("Offsets", (armName + "_X").c_str(), 0, iniPath.c_str());
   pt.y = GetPrivateProfileIntA("Offsets", (armName + "_Y").c_str(), 0, iniPath.c_str());
   return pt;
}

void CPageGraph1::SaveArmOffset(const std::string& armName, const POINT& pt)
{
   std::string iniPath = GetConfigPath();
   char buf[16];

   sprintf_s(buf, "%d", pt.x);
   WritePrivateProfileStringA("Offsets", (armName + "_X").c_str(), buf, iniPath.c_str());

   sprintf_s(buf, "%d", pt.y);
   WritePrivateProfileStringA("Offsets", (armName + "_Y").c_str(), buf, iniPath.c_str());
}

void CPageGraph1::OnGraphItemClicked(NMHDR* pNMHDR, LRESULT* pResult)
@@ -501,26 +553,26 @@
   else if (pGraphNmhdr->dwData == INDICATE_MEASUREMENT) {
      MoveRobotToPosition(SERVO::ROBOT_POSITION::Measurement);
   }

   CString s; s.Format(_T("OnGraphItemClicked %d"), pGraphNmhdr->dwData);
   SERVO::CEquipment* pEquipment = (SERVO::CEquipment*)m_pGraph->GetIndicateBoxData(pGraphNmhdr->dwData);
   if (pEquipment != nullptr) {
      theApp.m_model.notifyPtr(RX_CODE_SELECT_EQUIPMENT, pEquipment);
   }
   
   *pResult = 0;
}

void CPageGraph1::OnTimer(UINT_PTR nIDEvent)
{
   if (1 == nIDEvent) {
      KillTimer(1);
   if (TIMER_ID_DEVICE_STATUS == nIDEvent) {
      KillTimer(TIMER_ID_DEVICE_STATUS);

      // 更新状态
      {
         SERVO::CEquipment* pEquipment = (SERVO::CEFEM*)theApp.m_model.m_master.getEquipment(EQ_ID_EFEM);
         ASSERT(pEquipment);
         DeviceStatus status = pEquipment->isAlive() ? DeviceStatus::ONLINE : DeviceStatus::OFFLINE;
         UpdateDeviceStatus(INDICATE_FLIPER, status);
         UpdateDeviceStatus(INDICATE_ALIGNER, status);
         UpdateDeviceStatus(INDICATE_LPORT1, status);
         UpdateDeviceStatus(INDICATE_LPORT2, status);
         UpdateDeviceStatus(INDICATE_LPORT3, status);
         UpdateDeviceStatus(INDICATE_LPORT4, status);
         UpdateDeviceStatus(INDICATE_ROBOT_ARM1, status);
         UpdateDeviceStatus(INDICATE_ROBOT_ARM2, status);
      }
@@ -538,6 +590,54 @@
         DeviceStatus status = pEquipment->isAlive() ? DeviceStatus::ONLINE : DeviceStatus::OFFLINE;
         UpdateDeviceStatus(INDICATE_BONDER2, status);
      }

      {
         SERVO::CEquipment* pEquipment = theApp.m_model.m_master.getEquipment(EQ_ID_VACUUMBAKE);
         ASSERT(pEquipment);
         DeviceStatus status = pEquipment->isAlive() ? DeviceStatus::ONLINE : DeviceStatus::OFFLINE;
         UpdateDeviceStatus(INDICATE_VACUUM_BAKE, status);
      }

      {
         SERVO::CEquipment* pEquipment = theApp.m_model.m_master.getEquipment(EQ_ID_BAKE_COOLING);
         ASSERT(pEquipment);
         DeviceStatus status = pEquipment->isAlive() ? DeviceStatus::ONLINE : DeviceStatus::OFFLINE;
         UpdateDeviceStatus(INDICATE_BAKE_COOLING, status);
      }

      {
         SERVO::CEquipment* pEquipment = theApp.m_model.m_master.getEquipment(EQ_ID_MEASUREMENT);
         ASSERT(pEquipment);
         DeviceStatus status = pEquipment->isAlive() ? DeviceStatus::ONLINE : DeviceStatus::OFFLINE;
         UpdateDeviceStatus(INDICATE_MEASUREMENT, status);
      }
   }
   else if (nIDEvent == TIMER_ID_ROBOT_STATUS) {
      SERVO::CEFEM* pEFEM = (SERVO::CEFEM*)theApp.m_model.m_master.getEquipment(EQ_ID_EFEM);
      if (!pEFEM || !pEFEM->isAlive()) {
         return;
      }

      // 如果设备在线，那么更新 ARM 状态
      SERVO::RMDATA& robotData = pEFEM->getRobotMonitoringData();
      if (m_lastArmState[0] != robotData.armState[0]) {
         m_lastArmState[0] = robotData.armState[0];
         DeviceStatus arm1Status;
         arm1Status = robotData.armState[0] ? DeviceStatus::OCCUPIED : DeviceStatus::ONLINE;
         UpdateDeviceStatus(INDICATE_ROBOT_ARM1, arm1Status);
      }

      if (m_lastArmState[1] != robotData.armState[1]) {
         m_lastArmState[1] = robotData.armState[1];
         DeviceStatus arm2Status;
         arm2Status = robotData.armState[1] ? DeviceStatus::OCCUPIED : DeviceStatus::ONLINE;
         UpdateDeviceStatus(INDICATE_ROBOT_ARM2, arm2Status);
      }

      // 位置信息状态显示
      if (robotData.position != m_lastRobotPosition) {
         MoveRobotToPosition(robotData.position);
      }
   }

   CDialogEx::OnTimer(nIDEvent);