From 78793ce8e51b9a2b175483213017b154e3a5f952 Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期三, 21 五月 2025 14:15:59 +0800
Subject: [PATCH] 1. 完善机械臂组合界面的控件状态显示和操作
---
SourceCode/Bond/Servo/CRobotCmdContainerDlg.cpp | 27 ++++++++
SourceCode/Bond/Servo/PageRobotCmd.h | 16 +++++
SourceCode/Bond/Servo/Servo.rc | 0
SourceCode/Bond/Servo/PageRobotCmd.cpp | 126 +++++++++++++++++++++++++++++++++++++----
4 files changed, 154 insertions(+), 15 deletions(-)
diff --git a/SourceCode/Bond/Servo/CRobotCmdContainerDlg.cpp b/SourceCode/Bond/Servo/CRobotCmdContainerDlg.cpp
index 9a9601a..14e2748 100644
--- a/SourceCode/Bond/Servo/CRobotCmdContainerDlg.cpp
+++ b/SourceCode/Bond/Servo/CRobotCmdContainerDlg.cpp
@@ -93,8 +93,13 @@
m_pageRobotCmd[i].Create(IDD_PAGE_ROBOT_CMD, this);
m_pageRobotCmd[i].MoveWindow(rcShrinked);
m_pageRobotCmd[i].ShowWindow(SW_SHOW);
- m_pageRobotCmd[i].EnableWindow(FALSE);
m_pageRobotCmd[i].SetSequenceNo(i + 1);
+ m_pageRobotCmd[i].SetControlsEnabled(i == 0);
+
+ if (i == 0) {
+ m_chkEnable[0].SetCheck(BST_CHECKED);
+ m_chkEnable[0].EnableWindow(FALSE);
+ }
}
// 璁＄畻鏁翠綋瀹介珮
@@ -144,6 +149,24 @@
void CRobotCmdContainerDlg::ToggleEnable(int index)
{
+ constexpr int kMaxCount = 4;
+ if (index < 0 || index >= kMaxCount) {
+ return;
+ }
+
BOOL bChecked = m_chkEnable[index].GetCheck();
- m_pageRobotCmd[index].EnableWindow(bChecked);
+ m_pageRobotCmd[index].SetControlsEnabled(bChecked);
+
+ if (bChecked) {
+ for (int i = 1; i < index; ++i) {
+ m_chkEnable[i].SetCheck(BST_CHECKED);
+ m_pageRobotCmd[i].SetControlsEnabled(TRUE);
+ }
+ }
+ else {
+ for (int i = index; i < kMaxCount; ++i) {
+ m_chkEnable[i].SetCheck(BST_UNCHECKED);
+ m_pageRobotCmd[i].SetControlsEnabled(FALSE);
+ }
+ }
}
\ No newline at end of file
diff --git a/SourceCode/Bond/Servo/PageRobotCmd.cpp b/SourceCode/Bond/Servo/PageRobotCmd.cpp
index bd89ce1..52dcb29 100644
--- a/SourceCode/Bond/Servo/PageRobotCmd.cpp
+++ b/SourceCode/Bond/Servo/PageRobotCmd.cpp
@@ -25,6 +25,15 @@
{_T("MEASUREMENT"), 1}
};
+static const std::map < SERVO:: RCMD, RCMDFieldMask > g_cmdFieldMap = {
+ { SERVO::RCMD::Robot_home, { false, false, false, false, false, false } },
+ { SERVO::RCMD::Transfer, { true, true, true, true, true, false } },
+ { SERVO::RCMD::Move, { true, true, true, true, true, true } },
+ { SERVO::RCMD::Get, { true, true, false, true, false, false } },
+ { SERVO::RCMD::Put, { true, false, true, false, true, false } },
+ { SERVO::RCMD::One_Action_Exchange, { true, true, true, true, true, false } },
+};
+
IMPLEMENT_DYNAMIC(CPageRobotCmd, CDialogEx)
CPageRobotCmd::CPageRobotCmd(CWnd* pParent /*=nullptr*/)
@@ -55,22 +64,62 @@
}
}
-SERVO::ROBOT_CMD_PARAM CPageRobotCmd::GetRobotCmdParam()
+BOOL CPageRobotCmd::SetControlsEnabled(BOOL bEnable)
{
- // 绐楀彛閿�姣佹椂涓嶅彲鐢�
- if (IsWindow(m_hWnd)) {
- UpdateData(TRUE); // 鍚屾鎴愬憳鍙橀噺鍒扮晫闈�
+ if (!IsWindow(m_hWnd)) {
+ return FALSE;
}
- SERVO::ROBOT_CMD_PARAM param;
+ if (bEnable) {
+ UpdateData(TRUE);
+ UpdateInputUI(static_cast<SERVO::RCMD>(m_nRcmd + 1));
+ }
+ else {
+ // 閬嶅巻鎵�鏈夊瓙鎺т欢骞惰缃姸鎬�
+ CWnd* pChild = GetWindow(GW_CHILD);
+ while (pChild) {
+ pChild->EnableWindow(bEnable);
+ pChild = pChild->GetNextWindow();
+ }
+ }
+
+ return CDialogEx::EnableWindow(bEnable);
+}
+
+SERVO::ROBOT_CMD_PARAM CPageRobotCmd::GetRobotCmdParam()
+{
+ if (!IsWindow(m_hWnd)) {
+ return {};
+ }
+ UpdateData(TRUE); // 鍚屾 UI 鍒板彉閲�
+
+ SERVO::ROBOT_CMD_PARAM param = {};
param.sequenceNo = static_cast<short>(m_nSequenceNo);
param.rcmd = static_cast<short>(m_nRcmd + 1);
- param.armNo = static_cast<short>(m_nArmNo);
- param.getPosition = static_cast<short>(m_nGetPosition + 1);
- param.putPosition = static_cast<short>(m_nPutPosition + 1);
- param.getSlotNo = static_cast<short>(m_nGetSlotNo + 1);
- param.putSlotNo = static_cast<short>(m_nPutSlotNo + 1);
- param.subCmd = static_cast<short>(m_nSubCmd + 1);
+
+ const auto it = g_cmdFieldMap.find(static_cast<SERVO::RCMD>(param.rcmd));
+ if (it == g_cmdFieldMap.end()) {
+ return {};
+ }
+
+ const RCMDFieldMask& mask = it->second;
+ if (mask.useArm) param.armNo = static_cast<short>(m_nArmNo);
+ if (mask.useGetPos) param.getPosition = static_cast<short>(m_nGetPosition + 1);
+ if (mask.usePutPos) param.putPosition = static_cast<short>(m_nPutPosition + 1);
+ if (mask.useGetSlot) param.getSlotNo = static_cast<short>(m_nGetSlotNo + 1);
+ if (mask.usePutSlot) param.putSlotNo = static_cast<short>(m_nPutSlotNo + 1);
+ if (mask.useSubCmd) param.subCmd = static_cast<short>(m_nSubCmd + 1);
+
+ if (param.rcmd == static_cast<short>(SERVO::RCMD::Move)) {
+ if (m_nSubCmd == 0) {
+ param.putPosition = 0;
+ param.putSlotNo = 0;
+ }
+ else if (m_nSubCmd == 1) {
+ param.getPosition = 0;
+ param.getSlotNo = 0;
+ }
+ }
return param;
}
@@ -90,8 +139,10 @@
BEGIN_MESSAGE_MAP(CPageRobotCmd, CDialogEx)
+ ON_CBN_SELCHANGE(IDC_COMBO_RCMD, &CPageRobotCmd::OnCbnSelchangeComboRcmd)
ON_CBN_SELCHANGE(IDC_COMBO_GET_POS, &CPageRobotCmd::OnCbnSelchangeComboGetPos)
ON_CBN_SELCHANGE(IDC_COMBO_PUT_POS, &CPageRobotCmd::OnCbnSelchangeComboPutPos)
+ ON_CBN_SELCHANGE(IDC_COMBO_SUB_CMD, &CPageRobotCmd::OnCbnSelchangeComboSubCmd)
END_MESSAGE_MAP()
@@ -154,16 +205,18 @@
pComboSubCmd->AddString(_T("2: Put Ready"));
pComboSubCmd->SetCurSel(0);
- // 鍒濆鍖栧崟閫夋
+ // 鍒濆鍖� ARM 鍗曢�夋
CButton* pRadioArmA = (CButton*)GetDlgItem(IDC_RADIO_ARM_A);
CButton* pRadioArmB = (CButton*)GetDlgItem(IDC_RADIO_ARM_B);
pRadioArmA->SetCheck(BST_CHECKED);
pRadioArmB->SetCheck(BST_UNCHECKED);
+ // 鍒濆鍖栬緭鍏ユ帶浠剁姸鎬�
+ UpdateInputUI(SERVO::RCMD::Robot_home);
+
return TRUE; // return TRUE unless you set the focus to a control
// 寮傚父: OCX 灞炴�ч〉搴旇繑鍥� FALSE
}
-
void CPageRobotCmd::UpdateSlotList(CComboBox* pComboDevice, CComboBox* pComboSlot)
{
@@ -191,6 +244,48 @@
pComboSlot->SetCurSel(0);
}
+void CPageRobotCmd::UpdateMoveSubFields()
+{
+ UpdateData(TRUE);
+ if (SERVO::RCMD::Move == static_cast<SERVO::RCMD>(m_nRcmd + 1)) {
+ const bool bMoveToGet = (m_nSubCmd == 0); // Move to Get
+ const bool bMoveToPut = (m_nSubCmd == 1); // Move to Put
+
+ GetDlgItem(IDC_COMBO_GET_POS)->EnableWindow(bMoveToGet);
+ GetDlgItem(IDC_COMBO_GET_SLOT)->EnableWindow(bMoveToGet);
+ GetDlgItem(IDC_COMBO_PUT_POS)->EnableWindow(bMoveToPut);
+ GetDlgItem(IDC_COMBO_PUT_SLOT)->EnableWindow(bMoveToPut);
+ }
+}
+
+void CPageRobotCmd::UpdateInputUI(SERVO::RCMD cmd)
+{
+ const auto it = g_cmdFieldMap.find(cmd);
+ if (it == g_cmdFieldMap.end()) {
+ return;
+ }
+
+ const RCMDFieldMask& mask = it->second;
+ GetDlgItem(IDC_EDIT_SEQ_NO)->EnableWindow(TRUE);
+ GetDlgItem(IDC_COMBO_RCMD)->EnableWindow(TRUE);
+ GetDlgItem(IDC_RADIO_ARM_A)->EnableWindow(mask.useArm);
+ GetDlgItem(IDC_RADIO_ARM_B)->EnableWindow(mask.useArm);
+ GetDlgItem(IDC_COMBO_GET_POS)->EnableWindow(mask.useGetPos);
+ GetDlgItem(IDC_COMBO_PUT_POS)->EnableWindow(mask.usePutPos);
+ GetDlgItem(IDC_COMBO_GET_SLOT)->EnableWindow(mask.useGetSlot);
+ GetDlgItem(IDC_COMBO_PUT_SLOT)->EnableWindow(mask.usePutSlot);
+ GetDlgItem(IDC_COMBO_SUB_CMD)->EnableWindow(mask.useSubCmd);
+
+ // 鐗规畩澶勭悊 Move 绫诲瀷
+ UpdateMoveSubFields();
+}
+
+void CPageRobotCmd::OnCbnSelchangeComboRcmd()
+{
+ UpdateData(TRUE);
+ UpdateInputUI(static_cast<SERVO::RCMD>(m_nRcmd + 1));
+}
+
void CPageRobotCmd::OnCbnSelchangeComboGetPos()
{
CComboBox* pDevice = (CComboBox*)GetDlgItem(IDC_COMBO_GET_POS);
@@ -205,4 +300,9 @@
CComboBox* pDevice = (CComboBox*)GetDlgItem(IDC_COMBO_PUT_POS);
CComboBox* pSlot = (CComboBox*)GetDlgItem(IDC_COMBO_PUT_SLOT);
UpdateSlotList(pDevice, pSlot);
+}
+
+void CPageRobotCmd::OnCbnSelchangeComboSubCmd()
+{
+ UpdateMoveSubFields();
}
\ No newline at end of file
diff --git a/SourceCode/Bond/Servo/PageRobotCmd.h b/SourceCode/Bond/Servo/PageRobotCmd.h
index 9534384..116fe8d 100644
--- a/SourceCode/Bond/Servo/PageRobotCmd.h
+++ b/SourceCode/Bond/Servo/PageRobotCmd.h
@@ -5,6 +5,15 @@
// CPageRobotCmd 瀵硅瘽妗�
+struct RCMDFieldMask {
+ bool useArm;
+ bool useGetPos;
+ bool usePutPos;
+ bool useGetSlot;
+ bool usePutSlot;
+ bool useSubCmd;
+};
+
class CPageRobotCmd : public CDialogEx
{
DECLARE_DYNAMIC(CPageRobotCmd)
@@ -13,8 +22,11 @@
CPageRobotCmd(CWnd* pParent = nullptr); // 鏍囧噯鏋勯�犲嚱鏁�
virtual ~CPageRobotCmd();
+
void SetSequenceNo(int nSeq);
+ BOOL SetControlsEnabled(BOOL bEnable);
SERVO::ROBOT_CMD_PARAM CPageRobotCmd::GetRobotCmdParam();
+
// 瀵硅瘽妗嗘暟鎹�
#ifdef AFX_DESIGN_TIME
@@ -24,12 +36,16 @@
protected:
virtual void DoDataExchange(CDataExchange* pDX); // DDX/DDV 鏀寔
virtual BOOL OnInitDialog();
+ afx_msg void OnCbnSelchangeComboRcmd();
afx_msg void OnCbnSelchangeComboGetPos();
afx_msg void OnCbnSelchangeComboPutPos();
+ afx_msg void OnCbnSelchangeComboSubCmd();
DECLARE_MESSAGE_MAP()
private:
void UpdateSlotList(CComboBox* pComboDevice, CComboBox* pComboSlot);
+ void UpdateMoveSubFields();
+ void UpdateInputUI(SERVO::RCMD cmd);
int m_nSequenceNo;
int m_nRcmd;
diff --git a/SourceCode/Bond/Servo/Servo.rc b/SourceCode/Bond/Servo/Servo.rc
index f255c93..af6260c 100644
--- a/SourceCode/Bond/Servo/Servo.rc
+++ b/SourceCode/Bond/Servo/Servo.rc
Binary files differ
--
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