From 0f014b951cde5536f508eb4a7386ebbd3808e78d Mon Sep 17 00:00:00 2001
From: chenluhua1980 <Chenluhua@qq.com>
Date: 星期五, 30 一月 2026 10:26:40 +0800
Subject: [PATCH] 1.修复lambda重命问题； 2.修复setVariableValue参数问题；
---
SourceCode/Bond/Servo/CRobotCmdTestDlg.cpp | 277 ++++++++++++++++++++++++++++++++++++++++---------------
1 files changed, 201 insertions(+), 76 deletions(-)
diff --git a/SourceCode/Bond/Servo/CRobotCmdTestDlg.cpp b/SourceCode/Bond/Servo/CRobotCmdTestDlg.cpp
index 28a62e6..e07c782 100644
--- a/SourceCode/Bond/Servo/CRobotCmdTestDlg.cpp
+++ b/SourceCode/Bond/Servo/CRobotCmdTestDlg.cpp
@@ -14,7 +14,7 @@
#define LOG_COLOR_TIME RGB(0, 0, 255) // 鏃堕棿鎴筹細钃濊壊
// 蹇嵎鍛戒护鏄犲皠琛�
-std::map<CString, QuickCmdFieldMask> g_quickCmdMap = {
+std::map<CString, QuickCmdFieldMask> g_mapQuickCmd = {
{_T("SendHome"), {false, false, false, false, false}},
{_T("SendTransfer"), {true, true, true, true, true }},
{_T("SendMoveToGet"), {true, true, true, false, false}},
@@ -30,6 +30,28 @@
{_T("SendTransferAndHome"), {true, true, true, true, true }},
{_T("SendGetAndPut"), {true, true, true, true, true }},
{_T("SendPutAndHome"), {true, false, false, true, true }}
+};
+
+std::map<CString, int> g_mapDeviceSlotCount = {
+ {_T("Port1"), 8},
+ {_T("Port2"), 8},
+ {_T("Port3"), 8},
+ {_T("Port4"), 8},
+ {_T("RB1"), 1},
+ {_T("RB2"), 1},
+ {_T("AL"), 1},
+ {_T("FLIP"), 1},
+ {_T("Bonder1-涓婁骇鍝�"), 1},
+ {_T("Bonder1-涓嬩骇鍝�"), 1},
+ {_T("Bonder2-涓婁骇鍝�"), 1},
+ {_T("Bonder2-涓嬩骇鍝�"), 1},
+ {_T("VacBakeA鑵�"), 1},
+ {_T("VacBakeB鑵�"), 1},
+ {_T("BakecCoolingA鐑樼儰"), 1},
+ {_T("BakecCoolingA鍐峰嵈"), 1},
+ {_T("BakecCoolingB鐑樼儰"), 1},
+ {_T("BakecCoolingB鍐峰嵈"), 1},
+ {_T("Measurement"), 1}
};
// CRobotCmdTestDlg 瀵硅瘽妗�
@@ -64,8 +86,10 @@
}
BEGIN_MESSAGE_MAP(CRobotCmdTestDlg, CDialogEx)
- ON_CBN_SELCHANGE(IDC_COMBO_CMD_TYPE, &CRobotCmdTestDlg::OnCbnSelchangeComboCmdType)
ON_BN_CLICKED(IDC_BUTTON_EXECUTE, &CRobotCmdTestDlg::OnBnClickedButtonExecute)
+ ON_CBN_SELCHANGE(IDC_COMBO_CMD_TYPE, &CRobotCmdTestDlg::OnSelchangeComboCmdType)
+ ON_CBN_SELCHANGE(IDC_COMBO_GET_POS, &CRobotCmdTestDlg::OnSelchangeComboGetPos)
+ ON_CBN_SELCHANGE(IDC_COMBO_PUT_POS, &CRobotCmdTestDlg::OnSelchangeComboPutPos)
END_MESSAGE_MAP()
// CRobotCmdTestDlg 娑堟伅澶勭悊绋嬪簭
@@ -76,15 +100,10 @@
// TODO: 鍦ㄦ娣诲姞棰濆鐨勫垵濮嬪寲
// 鍒濆鍖栧懡浠ょ粍鍚堝垪琛�
- for (const auto& pair : g_quickCmdMap) {
+ for (const auto& pair : g_mapQuickCmd) {
m_comboCmdType.AddString(pair.first);
}
m_comboCmdType.SetCurSel(0);
-
- // 鍒濆鍖栧懡浠よ緭鍏ユ帶浠�
- if (!g_quickCmdMap.empty()) {
- UpdateCommandInputUI(g_quickCmdMap.begin()->first);
- }
// 鍒濆鍖� Arm No锛�1锛欰rm#1锛�2锛欰rm#2锛�
m_comboArmNo.AddString(_T("1"));
@@ -93,19 +112,25 @@
// 绀轰緥璁惧鍚嶇О鍒楄〃
CStringList eqNameList;
- eqNameList.AddTail(_T("PORT 1")); // 1 1 UNIT
- eqNameList.AddTail(_T("PORT 2")); // 2 1 UNIT
- eqNameList.AddTail(_T("PORT 3")); // 3 1 UNIT
- eqNameList.AddTail(_T("PORT 4")); // 4 1 UNIT
- eqNameList.AddTail(_T("RB1")); // 5 1 UNIT
- eqNameList.AddTail(_T("RB2")); // 6 1 UNIT
- eqNameList.AddTail(_T("ALIGN")); // 7 1 UNIT
- eqNameList.AddTail(_T("FLIP")); // 8 1 UNIT
- eqNameList.AddTail(_T("VAC BAKE")); // 9 2 UNIT
- eqNameList.AddTail(_T("BONDER1")); // 10 2 UNIT
- eqNameList.AddTail(_T("BONDER2")); // 11 2 UNIT
- eqNameList.AddTail(_T("POST BAKE(COOLING)")); // 12 4 UNIT
- eqNameList.AddTail(_T("MEASUREMENT")); // 13 1 UNIT
+ eqNameList.AddTail(_T("Port1")); // 1
+ eqNameList.AddTail(_T("Port2")); // 2
+ eqNameList.AddTail(_T("Port3")); // 3
+ eqNameList.AddTail(_T("Port4")); // 4
+ eqNameList.AddTail(_T("RB1")); // 5
+ eqNameList.AddTail(_T("RB2")); // 6
+ eqNameList.AddTail(_T("AL")); // 7
+ eqNameList.AddTail(_T("FLIP")); // 8
+ eqNameList.AddTail(_T("Bonder1-涓婁骇鍝�")); // 9
+ eqNameList.AddTail(_T("Bonder1-涓嬩骇鍝�")); // 10
+ eqNameList.AddTail(_T("Bonder2-涓婁骇鍝�")); // 11
+ eqNameList.AddTail(_T("Bonder2-涓嬩骇鍝�")); // 12
+ eqNameList.AddTail(_T("VacBakeA鑵�")); // 13
+ eqNameList.AddTail(_T("VacBakeB鑵�")); // 14
+ eqNameList.AddTail(_T("BakecCoolingA鐑樼儰")); // 15
+ eqNameList.AddTail(_T("BakecCoolingA鍐峰嵈")); // 16
+ eqNameList.AddTail(_T("BakecCoolingB鐑樼儰")); // 17
+ eqNameList.AddTail(_T("BakecCoolingB鍐峰嵈")); // 18
+ eqNameList.AddTail(_T("Measurement")); // 19
for (POSITION pos = eqNameList.GetHeadPosition(); pos != NULL;) {
CString item = eqNameList.GetNext(pos);
@@ -115,76 +140,77 @@
m_comboGetPos.SetCurSel(0);
m_comboPutPos.SetCurSel(0);
- // 鍒濆鍖� Slot锛堥粯璁や粠 1 鍒� 25锛�
- for (int i = 1; i < 26; ++i) {
- CString str;
- str.Format(_T("%d"), i);
- m_comboGetSlot.AddString(str);
- m_comboPutSlot.AddString(str);
+ // 鍒濆鍖� Slot
+ m_comboGetPos.SetCurSel(0);
+ m_comboPutPos.SetCurSel(0);
+ UpdateSlotList(&m_comboGetPos, &m_comboGetSlot);
+ UpdateSlotList(&m_comboPutPos, &m_comboPutSlot);
+
+ // 鍒濆鍖栧懡浠よ緭鍏ユ帶浠�
+ if (!g_mapQuickCmd.empty()) {
+ UpdateCommandInputUI(g_mapQuickCmd.begin()->first);
}
- m_comboGetSlot.SetCurSel(0);
- m_comboPutSlot.SetCurSel(0);
// 蹇嵎鍛戒护鎵ц鏄犲皠琛�
m_mapCmdExec = {
- {_T("SendHome"), [this](int seq, int, int, int, int, int) {
- return m_pEFEM->SendHome(seq);
+ {_T("SendHome"), [this](int seq, int, int, int, int, int, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendHome(seq, onWritedBlock);
}},
- {_T("SendTransfer"), [this](int seq, int armNo, int getPos, int putPos, int getSlot, int putSlot) {
- return m_pEFEM->SendTransfer(seq, armNo, getPos, putPos, getSlot, putSlot);
+ {_T("SendTransfer"), [this](int seq, int armNo, int getPos, int putPos, int getSlot, int putSlot, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendTransfer(seq, armNo, getPos, putPos, getSlot, putSlot, onWritedBlock);
}},
- {_T("SendMoveToGet"), [this](int seq, int armNo, int pos, int, int slot, int) {
- return m_pEFEM->SendMoveToGet(seq, armNo, pos, slot);
+ {_T("SendMoveToGet"), [this](int seq, int armNo, int pos, int, int slot, int, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendMoveToGet(seq, armNo, pos, slot, onWritedBlock);
}},
- {_T("SendMoveToPut"), [this](int seq, int armNo, int, int pos, int, int slot) {
- return m_pEFEM->SendMoveToPut(seq, armNo, pos, slot);
+ {_T("SendMoveToPut"), [this](int seq, int armNo, int, int pos, int, int slot, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendMoveToPut(seq, armNo, pos, slot, onWritedBlock);
}},
- {_T("SendGet"), [this](int seq, int armNo, int pos, int, int slot, int) {
- return m_pEFEM->SendGet(seq, armNo, pos, slot);
+ {_T("SendGet"), [this](int seq, int armNo, int pos, int, int slot, int, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendGet(seq, armNo, pos, slot, onWritedBlock);
}},
- {_T("SendPut"), [this](int seq, int armNo, int, int pos, int, int slot) {
- return m_pEFEM->SendPut(seq, armNo, pos, slot);
+ {_T("SendPut"), [this](int seq, int armNo, int, int pos, int, int slot, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendPut(seq, armNo, pos, slot, onWritedBlock);
}},
- {_T("SendExchange"), [this](int seq, int armNo, int pos, int, int getSlot, int putSlot) {
- return m_pEFEM->SendExchange(seq, armNo, pos, getSlot, putSlot);
+ {_T("SendExchange"), [this](int seq, int armNo, int pos, int, int getSlot, int putSlot, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendExchange(seq, armNo, pos, getSlot, putSlot, onWritedBlock);
}},
- {_T("SendCommandClear"), [this](int seq, int, int, int, int, int) {
- return m_pEFEM->SendCommandClear(seq);
+ {_T("SendCommandClear"), [this](int seq, int, int, int, int, int, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendCommandClear(seq, onWritedBlock);
}},
- {_T("SendBatchGet"), [this](int seq, int armNo, int pos, int, int slot, int) {
- return m_pEFEM->SendBatchGet(seq, pos, slot);
+ {_T("SendBatchGet"), [this](int seq, int armNo, int pos, int, int slot, int, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendBatchGet(seq, pos, slot, onWritedBlock);
}},
- {_T("SendBatchPut"), [this](int seq, int armNo, int, int pos, int, int slot) {
- return m_pEFEM->SendBatchPut(seq, pos, slot);
+ {_T("SendBatchPut"), [this](int seq, int armNo, int, int pos, int, int slot, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendBatchPut(seq, pos, slot, onWritedBlock);
}},
- {_T("SendMoveToGetAndHome"), [this](int seq, int armNo, int pos, int, int slot, int) {
- return m_pEFEM->SendMoveToGetAndHome(seq, armNo, pos, slot);
+ {_T("SendMoveToGetAndHome"), [this](int seq, int armNo, int pos, int, int slot, int, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendMoveToGetAndHome(seq, armNo, pos, slot, onWritedBlock);
}},
- {_T("SendMoveToPutAndHome"), [this](int seq, int armNo, int, int pos, int, int slot) {
- return m_pEFEM->SendMoveToPutAndHome(seq, armNo, pos, slot);
+ {_T("SendMoveToPutAndHome"), [this](int seq, int armNo, int, int pos, int, int slot, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendMoveToPutAndHome(seq, armNo, pos, slot, onWritedBlock);
}},
- {_T("SendTransferAndHome"), [this](int seq, int armNo, int getPos, int putPos, int getSlot, int putSlot) {
- return m_pEFEM->SendTransferAndHome(seq, armNo, getPos, putPos, getSlot, putSlot);
+ {_T("SendTransferAndHome"), [this](int seq, int armNo, int getPos, int putPos, int getSlot, int putSlot, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendTransferAndHome(seq, armNo, getPos, putPos, getSlot, putSlot, onWritedBlock);
}},
- {_T("SendGetAndPut"), [this](int seq, int armNo, int getPos, int putPos, int getSlot, int putSlot) {
- return m_pEFEM->SendGetAndPut(seq, armNo, getPos, putPos, getSlot, putSlot);
+ {_T("SendGetAndPut"), [this](int seq, int armNo, int getPos, int putPos, int getSlot, int putSlot, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendGetAndPut(seq, armNo, getPos, putPos, getSlot, putSlot, onWritedBlock);
}},
- {_T("SendPutAndHome"), [this](int seq, int armNo, int, int pos, int, int slot) {
- return m_pEFEM->SendPutAndHome(seq, armNo, pos, slot);
+ {_T("SendPutAndHome"), [this](int seq, int armNo, int, int pos, int, int slot, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendPutAndHome(seq, armNo, pos, slot, onWritedBlock);
}}
};
@@ -197,17 +223,23 @@
void CRobotCmdTestDlg::UpdateCommandInputUI(const CString& cmdName)
{
- auto it = g_quickCmdMap.find(cmdName);
- if (it == g_quickCmdMap.end()) {
+ auto it = g_mapQuickCmd.find(cmdName);
+ if (it == g_mapQuickCmd.end()) {
+ AppendLogLineRichStyled(_T("鏈煡鐨勫懡浠ょ被鍨�"), LOG_COLOR_ERROR);
return;
}
const QuickCmdFieldMask& mask = it->second;
- GetDlgItem(IDC_COMBO_ARM_NO)->EnableWindow(mask.useArm);
- GetDlgItem(IDC_COMBO_GET_POS)->EnableWindow(mask.useGetPos);
- GetDlgItem(IDC_COMBO_GET_SLOT)->EnableWindow(mask.useGetSlot);
- GetDlgItem(IDC_COMBO_PUT_POS)->EnableWindow(mask.usePutPos);
- GetDlgItem(IDC_COMBO_PUT_SLOT)->EnableWindow(mask.usePutSlot);
+ m_comboArmNo.SetCurSel(0);
+ m_comboArmNo.EnableWindow(mask.useArm);
+ m_comboGetPos.SetCurSel(0);
+ m_comboGetPos.EnableWindow(mask.useGetPos);
+ m_comboGetSlot.SetCurSel(0);
+ m_comboGetSlot.EnableWindow(mask.useGetSlot);
+ m_comboPutPos.SetCurSel(0);
+ m_comboPutPos.EnableWindow(mask.usePutPos);
+ m_comboPutSlot.SetCurSel(0);
+ m_comboPutSlot.EnableWindow(mask.usePutSlot);
}
void CRobotCmdTestDlg::AppendLogLineBatchBegin()
@@ -238,6 +270,8 @@
void CRobotCmdTestDlg::AppendLogLineRichStyled(const CString& content, COLORREF color /*= RGB(0, 0, 0)*/)
{
+ if (!::IsWindow(GetSafeHwnd())) return;
+
// 鏃堕棿鎴�
CString timestamp;
CTime now = CTime::GetCurrentTime();
@@ -274,7 +308,6 @@
long nStart = 0;
long nEnd = m_editLog.GetTextLength();
- CHARRANGE cr;
FINDTEXTEX ft = { 0 };
ft.chrg.cpMin = 0;
ft.chrg.cpMax = nEnd;
@@ -296,19 +329,73 @@
m_editLog.SetSel(-1, 0);
}
-void CRobotCmdTestDlg::OnCbnSelchangeComboCmdType()
+void CRobotCmdTestDlg::UpdateSlotList(CComboBox* pComboDevice, CComboBox* pComboSlot)
{
- int nSel = m_comboCmdType.GetCurSel();
- if (nSel < 0) {
+ if (pComboDevice == nullptr || pComboSlot == nullptr) {
return;
}
- CString str;
- m_comboCmdType.GetLBText(nSel, str);
- UpdateCommandInputUI(str);
+ int nSelIndex = pComboDevice->GetCurSel();
+ if (nSelIndex < 0) {
+ return;
+ }
- str.Format(_T("鍒囨崲褰撳墠鍛戒护绫诲瀷锛�%s"), str);
- AppendLogLineRichStyled(str, LOG_COLOR_NORMAL);
+ CString strDeviceName;
+ pComboDevice->GetLBText(nSelIndex, strDeviceName);
+
+ int nMaxSlot = 1; // 榛樿妲戒綅鏁�
+ auto it = g_mapDeviceSlotCount.find(strDeviceName);
+ if (it != g_mapDeviceSlotCount.end()) {
+ nMaxSlot = it->second;
+ }
+ else {
+ CString strLog;
+ strLog.Format(_T("璁惧 %s 鏈畾涔夋Ы浣嶆暟锛屼娇鐢ㄩ粯璁ゅ�� 1"), strDeviceName.GetString());
+ AppendLogLineRichStyled(strLog, LOG_COLOR_WARNING);
+ }
+
+ // 娓呯┖骞舵坊鍔犳Ы鍙�
+ pComboSlot->ResetContent();
+ for (int i = 1; i <= nMaxSlot; ++i) {
+ CString str;
+ str.Format(_T("%d"), i);
+ pComboSlot->AddString(str);
+ }
+
+ pComboSlot->SetCurSel(0);
+ pComboSlot->EnableWindow(1 != nMaxSlot);
+}
+
+void CRobotCmdTestDlg::UpdateArmList(CComboBox* pComboDevice, CComboBox* pComboArm)
+{
+ if (pComboDevice == nullptr || pComboArm == nullptr) {
+ return;
+ }
+
+ int nSelIndex = pComboDevice->GetCurSel();
+ if (nSelIndex < 0) {
+ return;
+ }
+
+ CString strDeviceName;
+ pComboDevice->GetLBText(nSelIndex, strDeviceName);
+ if (IsDualArmSupported(strDeviceName)) {
+ pComboArm->EnableWindow(TRUE);
+ }
+ else {
+ pComboArm->EnableWindow(FALSE);
+ }
+
+ pComboArm->SetCurSel(0);
+}
+
+bool CRobotCmdTestDlg::IsDualArmSupported(const CString& strDeviceName)
+{
+ // 娉ㄦ剰鍖归厤瑙勫垯鏄惁鍖哄垎鈥�-涓婁骇鍝佲�濄�佲��-涓嬩骇鍝佲�濈瓑鍚庣紑
+ if (strDeviceName.Find(_T("FLIP")) >= 0) return true;
+ if (strDeviceName.Find(_T("Bonder1")) >= 0) return true;
+ if (strDeviceName.Find(_T("Bonder2")) >= 0) return true;
+ return false;
}
void CRobotCmdTestDlg::OnBnClickedButtonExecute()
@@ -333,7 +420,16 @@
// 鏌ユ壘鍑芥暟骞舵墽琛�
auto it = m_mapCmdExec.find(cmdName);
if (it != m_mapCmdExec.end() && nullptr != m_pEFEM) {
- int ret = it->second(1, armNo, getPos, getSlot, putPos, putSlot);
+ int ret = it->second(1, armNo, getPos, putPos, getSlot, putSlot, [&](int code) -> int {
+ if (code == WOK) {
+ AppendLogLineRichStyled(_T("宸叉敹鍒癛obot鍥炲簲锛�"), LOG_COLOR_SUCCESS);
+ }
+ else {
+ AppendLogLineRichStyled(_T("鏈敹鍒癛obot鍥炲簲锛�"), LOG_COLOR_ERROR);
+ }
+
+ return 0;
+ });
CString log;
if (ret == 0) {
@@ -351,3 +447,32 @@
AppendLogLineRichStyled(log, LOG_COLOR_ERROR);
}
}
+
+void CRobotCmdTestDlg::OnSelchangeComboCmdType()
+{
+ int nSel = m_comboCmdType.GetCurSel();
+ if (nSel < 0) {
+ return;
+ }
+
+ CString str;
+ m_comboCmdType.GetLBText(nSel, str);
+ UpdateCommandInputUI(str);
+
+ str.Format(_T("鍒囨崲褰撳墠鍛戒护绫诲瀷锛�%s"), str);
+ AppendLogLineRichStyled(str, LOG_COLOR_NORMAL);
+}
+
+void CRobotCmdTestDlg::OnSelchangeComboGetPos()
+{
+ // TODO: 鍦ㄦ娣诲姞鎺т欢閫氱煡澶勭悊绋嬪簭浠ｇ爜
+ UpdateSlotList(&m_comboGetPos, &m_comboGetSlot);
+ UpdateArmList(&m_comboGetPos, &m_comboArmNo);
+}
+
+void CRobotCmdTestDlg::OnSelchangeComboPutPos()
+{
+ // TODO: 鍦ㄦ娣诲姞鎺т欢閫氱煡澶勭悊绋嬪簭浠ｇ爜
+ UpdateSlotList(&m_comboPutPos, &m_comboPutSlot);
+ UpdateArmList(&m_comboPutPos, &m_comboArmNo);
+}
--
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