From 30847e604bbf072a0b6a4577cf395ff1a617bac3 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期四, 24 七月 2025 08:51:17 +0800
Subject: [PATCH] 1.LoadPort状态变为InUse的时候不自动弹出LoadPort配置对话框； 2.修改调度逻辑，G2和G1分别进入Bonder的间隔不要太长，防止G2先进入Bonder,等待烘烤中的G1太久，在高温Bonder下出问题；
---
SourceCode/Bond/Servo/CPageGraph1.cpp | 447 ++++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 371 insertions(+), 76 deletions(-)
diff --git a/SourceCode/Bond/Servo/CPageGraph1.cpp b/SourceCode/Bond/Servo/CPageGraph1.cpp
index d288ba5..60f2ac4 100644
--- a/SourceCode/Bond/Servo/CPageGraph1.cpp
+++ b/SourceCode/Bond/Servo/CPageGraph1.cpp
@@ -7,7 +7,19 @@
#include "afxdialogex.h"
#include "Common.h"
-
+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 } },
+ { SERVO::ROBOT_POSITION::Port3, { SERVO::ROBOT_POSITION::Port3, 0.75f, 0.00f } },
+ { SERVO::ROBOT_POSITION::Port4, { SERVO::ROBOT_POSITION::Port4, 0.60f, 0.00f } },
+ { SERVO::ROBOT_POSITION::Aligner, { SERVO::ROBOT_POSITION::Aligner, 0.40f, 0.00f } },
+ { SERVO::ROBOT_POSITION::Fliper, { SERVO::ROBOT_POSITION::Fliper, 0.25f, 0.00f } },
+ { SERVO::ROBOT_POSITION::Bonder1, { SERVO::ROBOT_POSITION::Bonder1, 0.00f, 0.00f } },
+ { SERVO::ROBOT_POSITION::Bonder2, { SERVO::ROBOT_POSITION::Bonder2, 0.00f, 180.00f } },
+ { SERVO::ROBOT_POSITION::Bake, { SERVO::ROBOT_POSITION::Bake, 0.35f, 180.00f } },
+ { SERVO::ROBOT_POSITION::Cooling, { SERVO::ROBOT_POSITION::Cooling, 0.65f, 180.00f } },
+ { SERVO::ROBOT_POSITION::Measurement,{SERVO::ROBOT_POSITION::Measurement,1.00f, 180.00f } },
+};
// Image
#define IMAGE_ROBOT 2
@@ -26,6 +38,11 @@
#define INDICATE_BAKE_COOLING 12
#define INDICATE_MEASUREMENT 13
+// 瀹氭椂鍣�
+#define TIMER_ID_DEVICE_STATUS 1 // 鐢ㄤ簬鍒濆鍖栬澶囩姸鎬�
+#define TIMER_ID_ROBOT_STATUS 2 // 鐢ㄤ簬鍛ㄦ湡鍒锋柊鏈哄櫒浜轰綅缃�/鑷傜姸鎬�
+#define TIMER_ID_ROBOT_ANIMATION 3 //
+
// CPageGraph1 瀵硅瘽妗�
IMPLEMENT_DYNAMIC(CPageGraph1, CDialogEx)
@@ -33,11 +50,32 @@
CPageGraph1::CPageGraph1(CWnd* pParent /*=nullptr*/)
: CDialogEx(IDD_PAGE_GRAPH1, pParent)
{
- m_pGraph = nullptr;
- m_pObserver = nullptr;
- m_bIsRobotMoving = FALSE;
- m_crBkgnd = PAGE_GRPAH1_BACKGROUND_COLOR;
- m_hbrBkgnd = nullptr;
+ // ===== 鍥惧舰鐣岄潰鐩稿叧鎴愬憳鍙橀噺鍒濆鍖� =====
+ m_pGraph = nullptr; // 鍥惧舰缁樺浘瀵硅薄
+ m_pObserver = nullptr; // 瑙傚療鑰呭璞★紙鍙兘鏄簨浠惰瀵熻�咃級
+ m_crBkgnd = PAGE_GRPAH1_BACKGROUND_COLOR; // 鑳屾櫙棰滆壊
+ m_hbrBkgnd = nullptr; // 鑳屾櫙鍒峰彞鏌�
+
+ // ===== 鏈哄櫒浜哄姩鐢荤姸鎬佸垵濮嬪寲 =====
+ m_bIsRobotMoving = FALSE; // 褰撳墠鏄惁姝ｅ湪鍔ㄧ敾绉诲姩
+ m_nRobotMoveStartX = 0; // 鍔ㄧ敾璧峰 X 鍧愭爣
+ m_nRobotMoveEndX = 0; // 鍔ㄧ敾鐩爣 X 鍧愭爣
+ m_nRobotMoveSteps = 30; // 鍔ㄧ敾鎬绘鏁帮紙鍔ㄧ敾閫熷害鎺у埗锛�
+ m_nRobotMoveCurrentStep = 0; // 褰撳墠鍔ㄧ敾姝ユ暟
+ m_nRobotMoveStartAngle = 0.0f; // 鍔ㄧ敾璧峰瑙掑害
+ m_nRobotMoveEndAngle = 0.0f; // 鍔ㄧ敾鐩爣瑙掑害
+
+ // ===== 鏈哄櫒浜轰笂涓�娆＄姸鎬佸垵濮嬪寲 =====
+ m_lastRobotPosition = SERVO::ROBOT_POSITION::Port1; // 涓婃鏈哄櫒浜轰綅缃紙榛樿 Port1锛�
+ m_lastArmState[0] = FALSE; // 涓婃鏈烘鑷�1 鐘舵�侊紙鏈崰鐢級
+ m_lastArmState[1] = FALSE; // 涓婃鏈烘鑷�2 鐘舵�侊紙鏈崰鐢級
+
+ // ===== 鏈烘鑷傜浉瀵瑰亸绉婚噺鍒濆鍖栵紙浠庨厤缃腑鍔犺浇锛� =====
+ m_arm1Offset = LoadArmOffset("ARM1"); // 鍔犺浇鏈烘鑷�1鍋忕Щ
+ m_arm2Offset = LoadArmOffset("ARM2"); // 鍔犺浇鏈烘鑷�2鍋忕Щ
+
+ //m_arm1Offset = { -30, -45 }; // ARM1 浠庝腑蹇冨悜宸�47, 鍚戜笂33
+ //m_arm2Offset = { 27, -45 }; // ARM2 浠庝腑蹇冨悜鍙�10, 鍚戜笂33
}
CPageGraph1::~CPageGraph1()
@@ -62,6 +100,15 @@
// CPageGraph1 娑堟伅澶勭悊绋嬪簭
+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()
{
@@ -83,8 +130,34 @@
BOOL bAlive = pEquipment->isAlive();
if (EQ_ID_EFEM == nID) {
DeviceStatus status = bAlive ? 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);
+ }
+ else if(EQ_ID_Bonder1 == nID) {
+ DeviceStatus status = bAlive ? DeviceStatus::ONLINE : DeviceStatus::OFFLINE;
+ UpdateDeviceStatus(INDICATE_BONDER1, status);
+ }
+ else if (EQ_ID_Bonder2 == nID) {
+ DeviceStatus status = bAlive ? DeviceStatus::ONLINE : DeviceStatus::OFFLINE;
+ UpdateDeviceStatus(INDICATE_BONDER2, status);
+ }
+ else if (EQ_ID_VACUUMBAKE == nID) {
+ DeviceStatus status = bAlive ? DeviceStatus::ONLINE : DeviceStatus::OFFLINE;
+ UpdateDeviceStatus(INDICATE_VACUUM_BAKE, status);
+ }
+ else if (EQ_ID_BAKE_COOLING == nID) {
+ DeviceStatus status = bAlive ? DeviceStatus::ONLINE : DeviceStatus::OFFLINE;
+ UpdateDeviceStatus(INDICATE_BAKE_COOLING, status);
+ }
+ else if (EQ_ID_MEASUREMENT == nID) {
+ DeviceStatus status = bAlive ? DeviceStatus::ONLINE : DeviceStatus::OFFLINE;
+ UpdateDeviceStatus(INDICATE_MEASUREMENT, status);
}
}
}
@@ -106,8 +179,9 @@
BOOL CPageGraph1::OnInitDialog()
{
CDialogEx::OnInitDialog();
- SetTimer(1, 3000, nullptr);
-
+ InitRxWindows();
+ SetTimer(TIMER_ID_DEVICE_STATUS, 3000, nullptr);
+ SetTimer(TIMER_ID_ROBOT_STATUS, 1000, nullptr); // 姣� 1000ms 鏇存柊涓�娆＄姸鎬�
// 鍥剧ず
m_pGraph = CServoGraph::Hook(GetDlgItem(IDC_SERVO_GRAPH1)->GetSafeHwnd());
@@ -173,8 +247,6 @@
m_pGraph->SetBoxText(INDICATE_ROBOT_ARM2, "6", "Robot");
-
-
// Vacuum bake
m_pGraph->AddIndicateBox(INDICATE_VACUUM_BAKE, 396, 516, 48, RGB(22, 22, 22),
RGB(255, 127, 39), EQ_BOX_OFFLINE);
@@ -211,7 +283,12 @@
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;
@@ -260,9 +337,19 @@
{
CDialogEx::OnDestroy();
+ KillTimer(TIMER_ID_ROBOT_STATUS);
+
if (m_hbrBkgnd != nullptr) {
::DeleteObject(m_hbrBkgnd);
}
+
+ if (m_pObserver != nullptr) {
+ m_pObserver->unsubscribe();
+ m_pObserver = NULL;
+ }
+
+ SaveArmOffset("ARM1", m_arm1Offset);
+ SaveArmOffset("ARM2", m_arm2Offset);
}
void CPageGraph1::OnSize(UINT nType, int cx, int cy)
@@ -277,101 +364,97 @@
void CPageGraph1::UpdateRobotPosition(float percentage)
{
- // 闄愬埗鐧惧垎姣旇寖鍥村湪 [0, 1] 涔嬮棿
if (percentage < 0.0f) percentage = 0.0f;
if (percentage > 1.0f) percentage = 1.0f;
- // 鏍规嵁鐧惧垎姣旇绠楃洰鏍� X 鍧愭爣
- int startX = m_pGraph->GetImage(IMAGE_ROBOT)->x;
+ auto* pImage = m_pGraph->GetImage(IMAGE_ROBOT);
+ if (!pImage) return;
+
+ // 鑾峰彇褰撳墠瑙掑害锛堝凡閫氳繃 RotateRobot 璁剧疆锛�
+ float angleDegrees = pImage->angle;
+ float radians = angleDegrees * 3.1415926f / 180.0f;
+
+ int startX = pImage->x;
int endX = static_cast<int>(170 + percentage * (700 - 170));
+ int y = 270;
+ int cy = y + pImage->bmHeight / 2;
- int arm1Offset = 20; // 浠庡浘鐗囧埌ARM1鐨勫亸绉�
- int arm2Offset = 73; // 浠庡浘鐗囧埌ARM2鐨勫亸绉�
-
- // 璁＄畻绉诲姩鎵�闇�鐨勬椂闂�
+ // 鍔ㄧ敾鏃堕棿
int distance = abs(endX - startX);
- int duration = static_cast<int>((distance / 100.0) * 1000);
-
+ int duration = static_cast<int>((distance / 100.0f) * 1000);
auto startTime = std::chrono::steady_clock::now();
auto endTime = startTime + std::chrono::milliseconds(duration);
- // 寮�濮嬬Щ鍔紝璁剧疆鏍囪
m_bIsRobotMoving = TRUE;
- // 寮�濮嬪钩婊戠Щ鍔�
while (std::chrono::steady_clock::now() < endTime) {
auto currentTime = std::chrono::steady_clock::now();
float progress = std::chrono::duration<float, std::milli>(currentTime - startTime).count() / duration;
progress = min(progress, 1.0f);
- // 鏍规嵁杩涘害璁＄畻褰撳墠浣嶇疆
int currentX = static_cast<int>(startX + progress * (endX - startX));
- m_pGraph->UpdateImageCoordinates(IMAGE_ROBOT, currentX, 270);
- m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM1, currentX + arm1Offset, 294);
- m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM2, currentX + arm2Offset, 294);
+ int cx = currentX + pImage->bmWidth / 2;
- // 鍒锋柊鐣岄潰
+ // 鏃嬭浆鍚庣殑鍋忕Щ
+ 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);
+
+ // 搴旂敤鎵�鏈夊厓绱犵殑鏂板潗鏍�
+ m_pGraph->UpdateImageCoordinates(IMAGE_ROBOT, currentX, y);
+ m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM1, cx + rotatedX1, cy + rotatedY1);
+ m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM2, cx + rotatedX2, cy + rotatedY2);
+
Invalidate();
UpdateWindow();
-
- // 鎺у埗甯х巼绾︿负 60 FPS
std::this_thread::sleep_for(std::chrono::milliseconds(16));
}
- // 纭繚鏈�鍚庝綅缃簿纭埌鐩爣浣嶇疆
- m_pGraph->UpdateImageCoordinates(IMAGE_ROBOT, endX, 270);
- m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM1, endX + arm1Offset, 294);
- m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM2, endX + arm2Offset, 294);
+ // 鏈�缁堜綅缃牎姝�
+ int cx = endX + pImage->bmWidth / 2;
+ 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);
- // 鐣岄潰閲嶇粯
+ m_pGraph->UpdateImageCoordinates(IMAGE_ROBOT, endX, y);
+ m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM1, cx + rotatedX1, cy + rotatedY1);
+ m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM2, cx + rotatedX2, cy + rotatedY2);
+
Invalidate();
-
- // 鍔ㄧ敾缁撴潫锛岃缃爣璁�
m_bIsRobotMoving = FALSE;
}
void CPageGraph1::RotateRobot(float angleInDegrees)
{
- // 灏嗚搴﹁浆鎹负寮у害
- float angleInRadians = static_cast<float>(std::acos(-1)) / 180.0f * angleInDegrees;
-
- // 鑾峰彇鏈哄櫒浜哄浘鐗囩殑褰撳墠鍧愭爣鍜屼腑蹇�
+ // 鑾峰彇鏈哄櫒浜哄浘鐗�
auto* pImage = m_pGraph->GetImage(IMAGE_ROBOT);
if (!pImage) return;
- // 鏇存柊 Rotate 鍥剧墖鐨勮搴︼紝纭繚瑙掑害淇濇寔鍦� [0, 360) 鑼冨洿鍐�
- m_pGraph->UpdateImageAngle(IMAGE_ROBOT, static_cast<float>(fmod(pImage->angle + angleInDegrees + 360, 360)));
+ // 淇瑙掑害涓� 0~360
+ float finalAngle = fmod(angleInDegrees + 360.0f, 360.0f);
+ m_pGraph->UpdateImageAngle(IMAGE_ROBOT, finalAngle);
- int cx = pImage->x + pImage->bmWidth / 2; // 鍥剧墖涓績 X
- int cy = pImage->y + pImage->bmHeight / 2; // 鍥剧墖涓績 Y
+ // 璁＄畻涓績鐐�
+ int cx = pImage->x + pImage->bmWidth / 2;
+ int cy = pImage->y + pImage->bmHeight / 2;
- // 鏃嬭浆鎸囩ず妗嗙殑鍧愭爣
- auto* pRobot1 = m_pGraph->GetIndicateBox(INDICATE_ROBOT_ARM1);
- auto* pRobot2 = m_pGraph->GetIndicateBox(INDICATE_ROBOT_ARM2);
+ // 杞崲瑙掑害涓哄姬搴�
+ float radians = angleInDegrees * 3.1415926f / 180.0f;
- if (pRobot1 && pRobot2) {
- int newArmX1 = pImage->x + 20;
- int newArmY1 = 294;
+ // 鏃嬭浆 offset1
+ 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 newArmX2 = pImage->x + 73;
- int newArmY2 = 294;
+ // 鏃嬭浆 offset2
+ 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);
- if (angleInDegrees != 0.0f) {
- // 璁＄畻鎸囩ず妗�1鐨勬柊鍧愭爣
- newArmX1 = static_cast<int>(cx + (pRobot1->x - cx) * cos(angleInRadians) - (pRobot1->y - cy) * sin(angleInRadians));
- newArmY1 = static_cast<int>(cy + (pRobot1->x - cx) * sin(angleInRadians) + (pRobot1->y - cy) * cos(angleInRadians));
+ // 鏇存柊鎸囩ず妗�
+ m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM1, cx + rotatedX1, cy + rotatedY1);
+ m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM2, cx + rotatedX2, cy + rotatedY2);
- // 璁＄畻鎸囩ず妗�2鐨勬柊鍧愭爣
- newArmX2 = static_cast<int>(cx + (pRobot2->x - cx) * cos(angleInRadians) - (pRobot2->y - cy) * sin(angleInRadians));
- newArmY2 = static_cast<int>(cy + (pRobot2->x - cx) * sin(angleInRadians) + (pRobot2->y - cy) * cos(angleInRadians));
- }
-
- // 鏇存柊鎸囩ず妗嗙殑浣嶇疆
- m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM1, newArmX1, newArmY1);
- m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM2, newArmX2, newArmY2);
- }
-
- // 寮哄埗閲嶇粯鐣岄潰
Invalidate();
}
@@ -405,24 +488,236 @@
}
}
+void CPageGraph1::MoveRobotToPosition(SERVO::ROBOT_POSITION position)
+{
+ auto it = g_positionMap.find(position);
+ if (it == g_positionMap.end()) {
+ TRACE("Invalid robot position: %d\n", static_cast<int>(position));
+ return;
+ }
+
+ const RobotPositionMapping& mapping = it->second;
+
+ // 骞冲彴绉诲姩
+ UpdateRobotPosition(mapping.percentage);
+
+ // 鏃嬭浆鏂瑰悜
+ RotateRobot(mapping.angle);
+
+ m_lastRobotPosition = position;
+}
+
+void CPageGraph1::StartRobotMoveToPosition(SERVO::ROBOT_POSITION position)
+{
+ auto it = g_positionMap.find(position);
+ if (it == g_positionMap.end()) {
+ TRACE("Invalid robot position: %d\n", static_cast<int>(position));
+ return;
+ }
+
+ const RobotPositionMapping& mapping = it->second;
+
+ auto* pImage = m_pGraph->GetImage(IMAGE_ROBOT);
+ if (!pImage) return;
+
+ m_nRobotMoveStartX = pImage->x;
+ m_nRobotMoveEndX = static_cast<int>(170 + mapping.percentage * (700 - 170));
+
+ m_nRobotMoveStartAngle = pImage->angle; // 璧峰瑙掑害锛堝綋鍓嶈搴︼級
+ m_nRobotMoveEndAngle = mapping.angle; // 鐩爣瑙掑害
+
+ m_nRobotMoveCurrentStep = 0;
+ m_targetRobotPosition = position;
+ m_bIsRobotMoving = TRUE;
+
+ SetTimer(TIMER_ID_ROBOT_ANIMATION, 16, nullptr);
+}
+
+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)
{
BYSERVOGRAPH_NMHDR* pGraphNmhdr = reinterpret_cast<BYSERVOGRAPH_NMHDR*>(pNMHDR);
- CString s; s.Format(_T("OnGraphItemClicked %d"), pGraphNmhdr->dwData);
- SERVO::CEquipment* pEquipment = (SERVO::CEquipment*)m_pGraph->GetIndicateBoxData(pGraphNmhdr->dwData);
- if (pEquipment != nullptr) {
- //AfxMessageBox(pEquipment->getName().c_str());
- theApp.m_model.notifyPtr(RX_CODE_SELECT_EQUIPMENT, pEquipment);
- }
+ // 绉诲姩鍒版寚瀹氫綅缃� (娴嬭瘯浣跨敤)
+ if (pGraphNmhdr->dwData == INDICATE_LPORT1) {
+ StartRobotMoveToPosition(SERVO::ROBOT_POSITION::Port1);
+ }
+ else if (pGraphNmhdr->dwData == INDICATE_LPORT2) {
+ StartRobotMoveToPosition(SERVO::ROBOT_POSITION::Port2);
+ }
+ else if (pGraphNmhdr->dwData == INDICATE_LPORT3) {
+ StartRobotMoveToPosition(SERVO::ROBOT_POSITION::Port3);
+ }
+ else if (pGraphNmhdr->dwData == INDICATE_LPORT4) {
+ StartRobotMoveToPosition(SERVO::ROBOT_POSITION::Port4);
+ }
+ else if (pGraphNmhdr->dwData == INDICATE_ALIGNER) {
+ StartRobotMoveToPosition(SERVO::ROBOT_POSITION::Aligner);
+ }
+ else if (pGraphNmhdr->dwData == INDICATE_FLIPER) {
+ StartRobotMoveToPosition(SERVO::ROBOT_POSITION::Fliper);
+ }
+ else if (pGraphNmhdr->dwData == INDICATE_BONDER1) {
+ StartRobotMoveToPosition(SERVO::ROBOT_POSITION::Bonder1);
+ }
+ else if (pGraphNmhdr->dwData == INDICATE_BONDER2) {
+ StartRobotMoveToPosition(SERVO::ROBOT_POSITION::Bonder2);
+ }
+ else if (pGraphNmhdr->dwData == INDICATE_VACUUM_BAKE) {
+ StartRobotMoveToPosition(SERVO::ROBOT_POSITION::Bake);
+ }
+ else if (pGraphNmhdr->dwData == INDICATE_BAKE_COOLING) {
+ StartRobotMoveToPosition(SERVO::ROBOT_POSITION::Cooling);
+ }
+ else if (pGraphNmhdr->dwData == INDICATE_MEASUREMENT) {
+ StartRobotMoveToPosition(SERVO::ROBOT_POSITION::Measurement);
+ }
+
*pResult = 0;
}
void CPageGraph1::OnTimer(UINT_PTR nIDEvent)
{
- if (1 == nIDEvent) {
- KillTimer(1);
- InitRxWindows();
+ if (TIMER_ID_DEVICE_STATUS == nIDEvent) {
+ KillTimer(TIMER_ID_DEVICE_STATUS);
+
+ // 鏇存柊鐘舵��
+ {
+ 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);
+ }
+
+ {
+ SERVO::CEquipment* pEquipment = theApp.m_model.m_master.getEquipment(EQ_ID_Bonder1);
+ ASSERT(pEquipment);
+ DeviceStatus status = pEquipment->isAlive() ? DeviceStatus::ONLINE : DeviceStatus::OFFLINE;
+ UpdateDeviceStatus(INDICATE_BONDER1, status);
+ }
+
+ {
+ SERVO::CEquipment* pEquipment = theApp.m_model.m_master.getEquipment(EQ_ID_Bonder2);
+ ASSERT(pEquipment);
+ 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;
+ }
+
+ // 濡傛灉璁惧鍦ㄧ嚎锛岄偅涔堟洿鏂� ARM 鐘舵��
+ 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);
+ }
+
+ // 浣嶇疆淇℃伅鐘舵�佹樉绀�
+ if (robotData.position != m_lastRobotPosition) {
+ StartRobotMoveToPosition(robotData.position);
+ }
+ }
+ else if (nIDEvent == TIMER_ID_ROBOT_ANIMATION) {
+ if (!m_bIsRobotMoving) {
+ KillTimer(TIMER_ID_ROBOT_ANIMATION);
+ return;
+ }
+
+ m_nRobotMoveCurrentStep++;
+
+ float progress = static_cast<float>(m_nRobotMoveCurrentStep) / m_nRobotMoveSteps;
+ if (progress >= 1.0f) {
+ progress = 1.0f;
+ m_bIsRobotMoving = FALSE;
+ KillTimer(TIMER_ID_ROBOT_ANIMATION);
+ m_lastRobotPosition = m_targetRobotPosition;
+ }
+
+ // 骞虫粦璁＄畻浣嶇疆
+ int currentX = static_cast<int>(m_nRobotMoveStartX + progress * (m_nRobotMoveEndX - m_nRobotMoveStartX));
+ auto* pImage = m_pGraph->GetImage(IMAGE_ROBOT);
+ if (!pImage) return;
+
+ int cx = currentX + pImage->bmWidth / 2;
+ int y = 270;
+ int cy = y + pImage->bmHeight / 2;
+
+ // 骞虫粦璁＄畻瑙掑害
+ float currentAngle = m_nRobotMoveStartAngle + progress * (m_nRobotMoveEndAngle - m_nRobotMoveStartAngle);
+ float radians = currentAngle * 3.1415926f / 180.0f;
+
+ 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, currentX, y);
+ m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM1, cx + rotatedX1, cy + rotatedY1);
+ m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM2, cx + rotatedX2, cy + rotatedY2);
+ m_pGraph->UpdateImageAngle(IMAGE_ROBOT, currentAngle);
+
+ Invalidate();
}
CDialogEx::OnTimer(nIDEvent);
--
Gitblit v1.9.3