From 79046976f31fc24ad6787ee6ebacfa331424aa7b Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期四, 26 六月 2025 14:23:54 +0800
Subject: [PATCH] 1. 添加设备位置映射表，并且新增控件移动
---
SourceCode/Bond/Servo/CPageGraph1.cpp | 178 ++++++++++++++++++++++++++++++++++++++++-------------------
1 files changed, 121 insertions(+), 57 deletions(-)
diff --git a/SourceCode/Bond/Servo/CPageGraph1.cpp b/SourceCode/Bond/Servo/CPageGraph1.cpp
index 08f689b..70fefb3 100644
--- a/SourceCode/Bond/Servo/CPageGraph1.cpp
+++ b/SourceCode/Bond/Servo/CPageGraph1.cpp
@@ -7,7 +7,22 @@
#include "afxdialogex.h"
#include "Common.h"
+const POINT g_arm1Offset = { -30, -45 }; // ARM1 浠庝腑蹇冨悜宸�47, 鍚戜笂33
+const POINT g_arm2Offset = { 27, -45 }; // ARM2 浠庝腑蹇冨悜鍙�10, 鍚戜笂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 } },
+ { 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
@@ -307,101 +322,97 @@
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) * 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);
+
+ // 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) * 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);
- // 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) * g_arm1Offset.x - sin(radians) * g_arm1Offset.y);
+ int rotatedY1 = static_cast<int>(sin(radians) * g_arm1Offset.x + cos(radians) * g_arm1Offset.y);
- int newArmX2 = pImage->x + 73;
- int newArmY2 = 294;
+ // 鏃嬭浆 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);
- 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();
}
@@ -435,15 +446,68 @@
}
}
+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);
+}
+
void CPageGraph1::OnGraphItemClicked(NMHDR* pNMHDR, LRESULT* pResult)
{
BYSERVOGRAPH_NMHDR* pGraphNmhdr = reinterpret_cast<BYSERVOGRAPH_NMHDR*>(pNMHDR);
+
+ // 绉诲姩鍒版寚瀹氫綅缃� (娴嬭瘯浣跨敤)
+ if (pGraphNmhdr->dwData == INDICATE_LPORT1) {
+ MoveRobotToPosition(SERVO::ROBOT_POSITION::Port1);
+ }
+ else if (pGraphNmhdr->dwData == INDICATE_LPORT2) {
+ MoveRobotToPosition(SERVO::ROBOT_POSITION::Port2);
+ }
+ else if (pGraphNmhdr->dwData == INDICATE_LPORT3) {
+ MoveRobotToPosition(SERVO::ROBOT_POSITION::Port3);
+ }
+ else if (pGraphNmhdr->dwData == INDICATE_LPORT4) {
+ MoveRobotToPosition(SERVO::ROBOT_POSITION::Port4);
+ }
+ else if (pGraphNmhdr->dwData == INDICATE_ALIGNER) {
+ MoveRobotToPosition(SERVO::ROBOT_POSITION::Aligner);
+ }
+ else if (pGraphNmhdr->dwData == INDICATE_FLIPER) {
+ MoveRobotToPosition(SERVO::ROBOT_POSITION::Fliper);
+ }
+ else if (pGraphNmhdr->dwData == INDICATE_BONDER1) {
+ MoveRobotToPosition(SERVO::ROBOT_POSITION::Bonder1);
+ }
+ else if (pGraphNmhdr->dwData == INDICATE_BONDER2) {
+ MoveRobotToPosition(SERVO::ROBOT_POSITION::Bonder2);
+ }
+ else if (pGraphNmhdr->dwData == INDICATE_VACUUM_BAKE) {
+ MoveRobotToPosition(SERVO::ROBOT_POSITION::Bake);
+ }
+ else if (pGraphNmhdr->dwData == INDICATE_BAKE_COOLING) {
+ MoveRobotToPosition(SERVO::ROBOT_POSITION::Cooling);
+ }
+ 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;
}
--
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