Merge branch 'liuyang' into clh

LAPTOP-SNT8I5JK\Boounion

2024-12-06 f89766c67e39852650fe55cdfee371a204b2b01d

 SourceCode/Bond/BondEq/FileManager/RecipeManager.cpp

@@ -37,16 +37,44 @@
      axisInfo.number = axisNode.attribute("number").value();
        axisInfo.description = axisNode.attribute("description").value();
        axisInfo.startAddress = axisNode.attribute("start_address").value();
        axisInfo.jogDistance = axisNode.attribute("jog_distance").as_double();
        axisInfo.manualSpeed = axisNode.attribute("manual_speed").as_double();
        axisInfo.autoSpeed = axisNode.attribute("auto_speed").as_double();
        axisInfo.accelerationTime = axisNode.attribute("acceleration_time").as_double();
        axisInfo.decelerationTime = axisNode.attribute("deceleration_time").as_double();

        // 加载 ValueRange 值
        axisInfo.jogDistance = ValueRange(
            axisNode.child("jog_distance").attribute("min").as_double(),
            axisNode.child("jog_distance").attribute("max").as_double(),
            axisNode.child("jog_distance").attribute("current").as_double()
        );
        axisInfo.manualSpeed = ValueRange(
            axisNode.child("manual_speed").attribute("min").as_double(),
            axisNode.child("manual_speed").attribute("max").as_double(),
            axisNode.child("manual_speed").attribute("current").as_double()
        );
        axisInfo.autoSpeed = ValueRange(
            axisNode.child("auto_speed").attribute("min").as_double(),
            axisNode.child("auto_speed").attribute("max").as_double(),
            axisNode.child("auto_speed").attribute("current").as_double()
        );
        axisInfo.accelerationTime = ValueRange(
            axisNode.child("acceleration_time").attribute("min").as_double(),
            axisNode.child("acceleration_time").attribute("max").as_double(),
            axisNode.child("acceleration_time").attribute("current").as_double()
        );
        axisInfo.decelerationTime = ValueRange(
            axisNode.child("deceleration_time").attribute("min").as_double(),
            axisNode.child("deceleration_time").attribute("max").as_double(),
            axisNode.child("deceleration_time").attribute("current").as_double()
        );

        // 加载 PositionRange 值
        for (auto positionNode : axisNode.child("Positions").children("Position")) {
            std::string description = positionNode.attribute("description").value();
            double positionValue = positionNode.attribute("value").as_double();
            axisInfo.positions.emplace_back(description, positionValue);
            ValueRange positionRange(
                positionNode.attribute("min").as_double(),
                positionNode.attribute("max").as_double(),
                positionNode.attribute("current").as_double()
            );

            axisInfo.positions.emplace_back(PositionRange(description, positionRange));
        }

        m_axes[axisInfo.id] = axisInfo;
@@ -83,18 +111,36 @@
        axisNode.append_attribute("number") = axisInfo.number.c_str();
        axisNode.append_attribute("description") = axisInfo.description.c_str();
        axisNode.append_attribute("start_address") = axisInfo.startAddress.c_str();
        axisNode.append_attribute("jog_distance") = axisInfo.jogDistance;
        axisNode.append_attribute("manual_speed") = axisInfo.manualSpeed;
        axisNode.append_attribute("auto_speed") = axisInfo.autoSpeed;
        axisNode.append_attribute("acceleration_time") = axisInfo.accelerationTime;
        axisNode.append_attribute("deceleration_time") = axisInfo.decelerationTime;

        // 添加定位点列表
        // 保存 ValueRange 值
        axisNode.append_child("jog_distance").append_attribute("min") = axisInfo.jogDistance.minValue;
        axisNode.append_child("jog_distance").append_attribute("max") = axisInfo.jogDistance.maxValue;
        axisNode.append_child("jog_distance").append_attribute("current") = axisInfo.jogDistance.currentValue;

        axisNode.append_child("manual_speed").append_attribute("min") = axisInfo.manualSpeed.minValue;
        axisNode.append_child("manual_speed").append_attribute("max") = axisInfo.manualSpeed.maxValue;
        axisNode.append_child("manual_speed").append_attribute("current") = axisInfo.manualSpeed.currentValue;

        axisNode.append_child("auto_speed").append_attribute("min") = axisInfo.autoSpeed.minValue;
        axisNode.append_child("auto_speed").append_attribute("max") = axisInfo.autoSpeed.maxValue;
        axisNode.append_child("auto_speed").append_attribute("current") = axisInfo.autoSpeed.currentValue;

        axisNode.append_child("acceleration_time").append_attribute("min") = axisInfo.accelerationTime.minValue;
        axisNode.append_child("acceleration_time").append_attribute("max") = axisInfo.accelerationTime.maxValue;
        axisNode.append_child("acceleration_time").append_attribute("current") = axisInfo.accelerationTime.currentValue;

        axisNode.append_child("deceleration_time").append_attribute("min") = axisInfo.decelerationTime.minValue;
        axisNode.append_child("deceleration_time").append_attribute("max") = axisInfo.decelerationTime.maxValue;
        axisNode.append_child("deceleration_time").append_attribute("current") = axisInfo.decelerationTime.currentValue;

        // 保存 PositionRange 值
        auto positionsNode = axisNode.append_child("Positions");
        for (const auto& position : axisInfo.positions) {
            auto positionNode = positionsNode.append_child("Position");
            positionNode.append_attribute("description") = position.first.c_str();
            positionNode.append_attribute("value") = position.second;
            positionNode.append_attribute("description") = position.description.c_str();
            positionNode.append_attribute("min") = position.range.minValue;
            positionNode.append_attribute("max") = position.range.maxValue;
            positionNode.append_attribute("current") = position.range.currentValue;
        }
    }

@@ -112,14 +158,19 @@
      axisInfo.number = "M100-M" + std::to_string(axisId);
        axisInfo.description = "Default_Axis" + std::to_string(axisId);
        axisInfo.startAddress = "ZR" + std::to_string(10000 + (axisId - 1) * 300);
        axisInfo.jogDistance = 0.5;
        axisInfo.manualSpeed = 10.0;
        axisInfo.autoSpeed = 15.0;
        axisInfo.accelerationTime = 0.2;
        axisInfo.decelerationTime = 0.3;

        // 设置默认的 ValueRange
        axisInfo.jogDistance = ValueRange(1.0, 10.0, 1.0);
        axisInfo.manualSpeed = ValueRange(1.0, 100.0, 10.0);
        axisInfo.autoSpeed = ValueRange(5.0, 200.0, 50.0);
        axisInfo.accelerationTime = ValueRange(1.0, 10.0, 1.0);
        axisInfo.decelerationTime = ValueRange(1.0, 10.0, 1.0);

        // 添加定位点并设置默认的最小值和最大值
        for (int posId = 1; posId <= 25; ++posId) {
            axisInfo.positions.emplace_back("Position " + std::to_string(posId), posId * 10.0);
            double minPos = posId * 5.0;
            double maxPos = posId * 20.0;
            axisInfo.positions.emplace_back(PositionRange("Position " + std::to_string(posId), ValueRange(minPos, maxPos, posId * 10.0)));
        }

        m_axes[axisId] = axisInfo;
@@ -135,11 +186,11 @@
AxisInfo RecipeManager::getAxis(int axisId) const {
    auto it = m_axes.find(axisId);
    if (it != m_axes.end()) {
        return it->second;
        return it->second;  // 如果找到了轴，返回其详细信息
    }

    // 返回一个无效的 AxisInfo
    return AxisInfo{ -1, "", "", "", 0.0, 0.0, 0.0, 0.0, 0.0, {}};
    // 如果没有找到该轴，返回一个默认的无效 AxisInfo
    return AxisInfo{ -1, "", "", "", ValueRange(), ValueRange(), ValueRange(), ValueRange(), ValueRange(), {} };
}

// 更新轴信息
@@ -177,8 +228,8 @@
}

// 获取指定页的定位点
std::vector<std::pair<std::string, double>> RecipeManager::getPositions(int axisId, int pageNumber, int pageSize) const {
    std::vector<std::pair<std::string, double>> result;
std::vector<PositionRange> RecipeManager::getPositions(int axisId, int pageNumber, int pageSize) const {
    std::vector<PositionRange> result;

    // 检查轴是否存在
    auto it = m_axes.find(axisId);
@@ -196,11 +247,10 @@
    // 遍历定位点，按分页提取数据
    int index = 0;
    for (const auto& pos : positions) {
        const std::string& description = pos.first; // 键：描述
        double value = pos.second;                  // 值：位置值
        const PositionRange& position = pos;  // 定位点包含描述、位置、最小值、最大值和当前值

        if (index >= startIndex && index < endIndex) {
            result.emplace_back(description, value);
            result.push_back(position);  // 添加完整的 PositionRange 对象
        }

        ++index;
@@ -211,3 +261,27 @@

    return result;
}

// 获取指定轴的定位点
PositionRange RecipeManager::getPositionByIndex(int axisId, int pageNumber, int pageSize, int currentIndex) const {
    // 检查轴是否存在
    auto it = m_axes.find(axisId);
    if (it == m_axes.end()) {
        return PositionRange();  // 轴不存在，返回默认构造的 PositionRange（无效的定位点）
    }

    // 获取指定轴的所有定位点
    const auto& positions = it->second.positions;

    // 确定分页范围
    int startIndex = (pageNumber - 1) * pageSize;
    int endIndex = startIndex + pageSize;

    // 如果 currentIndex 超过了当前页的范围，返回无效的 PositionRange
    if (currentIndex < 0 || currentIndex >= pageSize || currentIndex + startIndex >= positions.size()) {
        return PositionRange();  // 返回无效的定位点
    }

    // 返回指定定位点（考虑分页）
    return positions[startIndex + currentIndex];
}