From 838262ab61d580d7dd5eb3b181c61d8b4d3f54fe Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期四, 26 六月 2025 15:54:53 +0800
Subject: [PATCH] Merge branch 'liuyang' into clh
---
SourceCode/Bond/Servo/CEqModeStep.cpp | 2
SourceCode/Bond/Servo/RecipeManager.cpp | 23 ++
SourceCode/Bond/Servo/CCLinkPerformance/PerformanceMelsec.h | 6
SourceCode/Bond/Servo/CPageGraph1.h | 11 +
SourceCode/Bond/Servo/RecipeDeviceBindDlg.h | 8
SourceCode/Bond/Servo/CCLinkPerformance/PerformanceMelsec.cpp | 172 +++++++++++++++++
SourceCode/Bond/Servo/RecipeManager.h | 3
SourceCode/Bond/Servo/CPageGraph1.cpp | 246 ++++++++++++++++++------
SourceCode/Bond/Servo/RecipeDeviceBindDlg.cpp | 60 +++++
SourceCode/Bond/Servo/Common.h | 44 ++++
10 files changed, 504 insertions(+), 71 deletions(-)
diff --git a/SourceCode/Bond/Servo/CCLinkPerformance/PerformanceMelsec.cpp b/SourceCode/Bond/Servo/CCLinkPerformance/PerformanceMelsec.cpp
index 7bc469d..0f11149 100644
--- a/SourceCode/Bond/Servo/CCLinkPerformance/PerformanceMelsec.cpp
+++ b/SourceCode/Bond/Servo/CCLinkPerformance/PerformanceMelsec.cpp
@@ -9,7 +9,7 @@
#ifdef _DEBUG
#undef THIS_FILE
-static char THIS_FILE[] = __FILE__;
+static char* THIS_FILE = __FILE__;
#define new DEBUG_NEW
#endif
@@ -695,6 +695,100 @@
return 0;
}
+// 扩展读取位数据
+long CPerformanceMelsec::ReadBitDataEx(const StationIdentifier& station, DeviceType enDevType, long nDevNo, long nBitCount, BitContainer& vecData) {
+ long nRet = ValidateStationAndSize(station, nBitCount);
+ if (nRet != 0) {
+ UpdateLastError(nRet);
+ return nRet;
+ }
+
+ if (nDevNo % 8 != 0) {
+ UpdateLastError(ERROR_CODE_INVALID_PARAM);
+ return ERROR_CODE_INVALID_PARAM;
+ }
+
+ const short nDevType = CalculateDeviceType(station, enDevType);
+ const long nWordCount = (nBitCount + 15) / 16;
+ const long nByteSize = nWordCount * sizeof(short);
+
+ std::vector<char> vecRaw;
+ nRet = ReadDataEx(station, nDevType, nDevNo, nByteSize, vecRaw);
+ if (nRet != 0) {
+ return nRet;
+ }
+
+ vecData.clear();
+ for (long i = 0; i < nWordCount; ++i) {
+ short word = static_cast<unsigned char>(vecRaw[i * 2]) |
+ (static_cast<unsigned char>(vecRaw[i * 2 + 1]) << 8);
+ for (int j = 0; j < 16; ++j) {
+ vecData.push_back((word & (1 << j)) != 0);
+ if (vecData.size() >= static_cast<size_t>(nBitCount)) {
+ return 0;
+ }
+ }
+ }
+
+ return 0;
+}
+
+// 扩展读取字数据
+long CPerformanceMelsec::ReadWordDataEx(const StationIdentifier& station, DeviceType enDevType, long nDevNo, long nWordCount, WordContainer& vecData) {
+ long nRet = ValidateStationAndSize(station, nWordCount);
+ if (nRet != 0) {
+ UpdateLastError(nRet);
+ return nRet;
+ }
+
+ const short nDevType = CalculateDeviceType(station, enDevType);
+ const long nByteSize = nWordCount * sizeof(short);
+
+ std::vector<char> vecRaw;
+ nRet = ReadDataEx(station, nDevType, nDevNo, nByteSize, vecRaw);
+ if (nRet != 0) {
+ return nRet;
+ }
+
+ vecData.clear();
+ for (long i = 0; i < nWordCount; ++i) {
+ short value = static_cast<unsigned char>(vecRaw[i * 2]) |
+ (static_cast<unsigned char>(vecRaw[i * 2 + 1]) << 8);
+ vecData.push_back(value);
+ }
+
+ return 0;
+}
+
+// 扩展读取双字数据
+long CPerformanceMelsec::ReadDWordDataEx(const StationIdentifier& station, DeviceType enDevType, long nDevNo, long nDWordCount, DWordContainer& vecData) {
+ long nRet = ValidateStationAndSize(station, nDWordCount);
+ if (nRet != 0) {
+ UpdateLastError(nRet);
+ return nRet;
+ }
+
+ const short nDevType = CalculateDeviceType(station, enDevType);
+ const long nByteSize = nDWordCount * sizeof(uint32_t);
+
+ std::vector<char> vecRaw;
+ nRet = ReadDataEx(station, nDevType, nDevNo, nByteSize, vecRaw);
+ if (nRet != 0) {
+ return nRet;
+ }
+
+ vecData.clear();
+ for (long i = 0; i < nDWordCount; ++i) {
+ uint32_t val = static_cast<unsigned char>(vecRaw[i * 4 + 0]) |
+ (static_cast<unsigned char>(vecRaw[i * 4 + 1]) << 8) |
+ (static_cast<unsigned char>(vecRaw[i * 4 + 2]) << 16) |
+ (static_cast<unsigned char>(vecRaw[i * 4 + 3]) << 24);
+ vecData.push_back(val);
+ }
+
+ return 0;
+}
+
// 扩展写数据
long CPerformanceMelsec::WriteDataEx(const StationIdentifier& station, long nDevType, long nDevNo, const std::vector<char>& vecData) {
// 验证站点参数和数据有效性
@@ -724,6 +818,82 @@
return nRet;
}
+// 扩展写位数据
+long CPerformanceMelsec::WriteBitDataEx(const StationIdentifier& station, DeviceType enDevType, long nDevNo, const BitContainer& vecData) {
+ long nRet = ValidateStationAndData(station, vecData);
+ if (nRet != 0) {
+ UpdateLastError(nRet);
+ return nRet;
+ }
+
+ if (nDevNo % 8 != 0) {
+ UpdateLastError(ERROR_CODE_INVALID_PARAM);
+ return ERROR_CODE_INVALID_PARAM;
+ }
+
+ const short nDevType = CalculateDeviceType(station, enDevType);
+ const size_t nWordCount = (vecData.size() + 15) / 16;
+
+ std::vector<short> vecWordBuffer(nWordCount, 0);
+ for (size_t i = 0; i < vecData.size(); ++i) {
+ if (vecData[i]) {
+ vecWordBuffer[i / 16] |= (1 << (i % 16));
+ }
+ }
+
+ // 转换 short -> char
+ std::vector<char> vecByteBuffer;
+ vecByteBuffer.resize(nWordCount * sizeof(short));
+ for (size_t i = 0; i < nWordCount; ++i) {
+ vecByteBuffer[i * 2] = static_cast<char>(vecWordBuffer[i] & 0xFF);
+ vecByteBuffer[i * 2 + 1] = static_cast<char>((vecWordBuffer[i] >> 8) & 0xFF);
+ }
+
+ return WriteDataEx(station, nDevType, nDevNo, vecByteBuffer);
+}
+
+// 扩展写字数据
+long CPerformanceMelsec::WriteWordDataEx(const StationIdentifier& station, DeviceType enDevType, long nDevNo, const WordContainer& vecData) {
+ long nRet = ValidateStationAndData(station, vecData);
+ if (nRet != 0) {
+ UpdateLastError(nRet);
+ return nRet;
+ }
+
+ const short nDevType = CalculateDeviceType(station, enDevType);
+ std::vector<char> vecByteBuffer;
+ vecByteBuffer.resize(vecData.size() * sizeof(short));
+
+ for (size_t i = 0; i < vecData.size(); ++i) {
+ vecByteBuffer[i * 2] = static_cast<char>(vecData[i] & 0xFF);
+ vecByteBuffer[i * 2 + 1] = static_cast<char>((vecData[i] >> 8) & 0xFF);
+ }
+
+ return WriteDataEx(station, nDevType, nDevNo, vecByteBuffer);
+}
+
+// 扩展写双字数据
+long CPerformanceMelsec::WriteDWordDataEx(const StationIdentifier& station, DeviceType enDevType, long nDevNo, const DWordContainer& vecData) {
+ long nRet = ValidateStationAndData(station, vecData);
+ if (nRet != 0) {
+ UpdateLastError(nRet);
+ return nRet;
+ }
+
+ const short nDevType = CalculateDeviceType(station, enDevType);
+ std::vector<char> vecByteBuffer;
+ vecByteBuffer.resize(vecData.size() * sizeof(uint32_t));
+
+ for (size_t i = 0; i < vecData.size(); ++i) {
+ vecByteBuffer[i * 4] = static_cast<char>(vecData[i] & 0xFF);
+ vecByteBuffer[i * 4 + 1] = static_cast<char>((vecData[i] >> 8) & 0xFF);
+ vecByteBuffer[i * 4 + 2] = static_cast<char>((vecData[i] >> 16) & 0xFF);
+ vecByteBuffer[i * 4 + 3] = static_cast<char>((vecData[i] >> 24) & 0xFF);
+ }
+
+ return WriteDataEx(station, nDevType, nDevNo, vecByteBuffer);
+}
+
// 扩展软元件随机读取
long CPerformanceMelsec::ReadRandomDataEx(const StationIdentifier& station, const std::vector<SoftElement>& vecSoftElements, std::vector<char>& vecData) {
if (vecSoftElements.empty()) {
diff --git a/SourceCode/Bond/Servo/CCLinkPerformance/PerformanceMelsec.h b/SourceCode/Bond/Servo/CCLinkPerformance/PerformanceMelsec.h
index 84b7a9d..baf4908 100644
--- a/SourceCode/Bond/Servo/CCLinkPerformance/PerformanceMelsec.h
+++ b/SourceCode/Bond/Servo/CCLinkPerformance/PerformanceMelsec.h
@@ -388,7 +388,13 @@
// 扩展读写数据
long ReadDataEx(const StationIdentifier& station, long nDevType, long nDevNo, long nSize, std::vector<char>& vecData);
+ long ReadBitDataEx(const StationIdentifier& station, DeviceType enDevType, long nDevNo, long nBitCount, BitContainer& vecData);
+ long ReadWordDataEx(const StationIdentifier& station, DeviceType enDevType, long nDevNo, long nWordCount, WordContainer& vecData);
+ long ReadDWordDataEx(const StationIdentifier& station, DeviceType enDevType, long nDevNo, long nDWordCount, DWordContainer& vecData);
long WriteDataEx(const StationIdentifier& station, long nDevType, long nDevNo, const std::vector<char>& vecData);
+ long WriteBitDataEx(const StationIdentifier& station, DeviceType enDevType, long nDevNo, const BitContainer& vecData);
+ long WriteWordDataEx(const StationIdentifier& station, DeviceType enDevType, long nDevNo, const WordContainer& vecData);
+ long WriteDWordDataEx(const StationIdentifier& station, DeviceType enDevType, long nDevNo, const DWordContainer& vecData);
// 扩展软元件随机读写（支持多个软元件）
long ReadRandomDataEx(const StationIdentifier& station, const std::vector<SoftElement>& vecSoftElements, std::vector<char>& vecData);
diff --git a/SourceCode/Bond/Servo/CEqModeStep.cpp b/SourceCode/Bond/Servo/CEqModeStep.cpp
index 91d1803..edb3eec 100644
--- a/SourceCode/Bond/Servo/CEqModeStep.cpp
+++ b/SourceCode/Bond/Servo/CEqModeStep.cpp
@@ -32,7 +32,7 @@
CReadStep::onReadData();
DWordContainer dc;
- if (0 != m_pCclink->ReadDWordData(m_station, DeviceType::W, m_nModeDev, 1, dc)) {
+ if (0 != m_pCclink->ReadDWordDataEx(m_station, DeviceType::W, m_nModeDev, 1, dc)) {
return -2;
}
if (dc.size() < 1) {
diff --git a/SourceCode/Bond/Servo/CPageGraph1.cpp b/SourceCode/Bond/Servo/CPageGraph1.cpp
index 08f689b..b213879 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
@@ -25,6 +40,10 @@
#define INDICATE_VACUUM_BAKE 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�
// CPageGraph1 瀵硅瘽妗�
@@ -133,8 +152,8 @@
{
CDialogEx::OnInitDialog();
InitRxWindows();
- SetTimer(1, 3000, nullptr);
-
+ 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());
@@ -236,7 +255,12 @@
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;
@@ -285,6 +309,8 @@
{
CDialogEx::OnDestroy();
+ KillTimer(TIMER_ID_ROBOT_STATUS);
+
if (m_hbrBkgnd != nullptr) {
::DeleteObject(m_hbrBkgnd);
}
@@ -307,101 +333,97 @@
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();
}
@@ -435,28 +457,89 @@
}
}
+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::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;
}
void CPageGraph1::OnTimer(UINT_PTR nIDEvent)
{
- if (1 == nIDEvent) {
- KillTimer(1);
+ 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);
}
@@ -474,6 +557,45 @@
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();
+ DeviceStatus arm1Status = robotData.armState[0] ? DeviceStatus::OCCUPIED : DeviceStatus::ONLINE;
+ DeviceStatus arm2Status = robotData.armState[1] ? DeviceStatus::OCCUPIED : DeviceStatus::ONLINE;
+ UpdateDeviceStatus(INDICATE_ROBOT_ARM1, arm1Status);
+ UpdateDeviceStatus(INDICATE_ROBOT_ARM2, arm2Status);
+
+ // 浣嶇疆淇℃伅鐘舵�佹樉绀�
+ if (robotData.position != m_lastRobotPosition) {
+ MoveRobotToPosition(robotData.position);
+ }
}
CDialogEx::OnTimer(nIDEvent);
diff --git a/SourceCode/Bond/Servo/CPageGraph1.h b/SourceCode/Bond/Servo/CPageGraph1.h
index edef11a..7609a49 100644
--- a/SourceCode/Bond/Servo/CPageGraph1.h
+++ b/SourceCode/Bond/Servo/CPageGraph1.h
@@ -1,12 +1,19 @@
锘�#pragma once
#include "ServoGraph.h"
-
+#include "ServoCommo.h"
enum DeviceStatus {
ONLINE, // 鍦ㄧ嚎
OFFLINE, // 绂荤嚎
+ OCCUPIED // 鏈夌墖锛堝崰鐢級
};
+struct RobotPositionMapping {
+ SERVO::ROBOT_POSITION position;
+ float percentage;
+ float angle;
+ int arm; // 0 琛ㄧず ARM1锛�1 琛ㄧず ARM2
+};
// CPageGraph1 瀵硅瘽妗�
@@ -25,6 +32,7 @@
void UpdateRobotPosition(float percentage);
void RotateRobot(float angleInDegrees);
void BindEquipmentToGraph();
+ void MoveRobotToPosition(SERVO::ROBOT_POSITION position);
private:
IObserver* m_pObserver;
@@ -32,6 +40,7 @@
BOOL m_bIsRobotMoving;
COLORREF m_crBkgnd;
HBRUSH m_hbrBkgnd;
+ SERVO::ROBOT_POSITION m_lastRobotPosition;
// 瀵硅瘽妗嗘暟鎹�
#ifdef AFX_DESIGN_TIME
diff --git a/SourceCode/Bond/Servo/Common.h b/SourceCode/Bond/Servo/Common.h
index 593709d..ce4a9d9 100644
--- a/SourceCode/Bond/Servo/Common.h
+++ b/SourceCode/Bond/Servo/Common.h
@@ -34,6 +34,7 @@
#define PAGE_GRPAH2_BACKGROUND_COLOR RGB(255, 255, 255)
#define EQ_BOX_OFFLINE RGB(222, 222, 222)
#define EQ_BOX_ONLINE RGB(0, 176, 80)
+#define EQ_BOX_OCCUPIED RGB(0, 204, 102)
#define EQ_BOX_FRAME1 RGB(22, 22, 22)
#define EQ_BOX_FRAME2 RGB(255, 127, 39)
#define CR_MSGBOX_BKGND RGB(7, 71, 166)
@@ -79,6 +80,49 @@
#define EQ_ID_ARM 101
#define EQ_ID_OPERATOR_REMOVE 102
+/* Equipment Name */
+#define EQ_NAME_LOADPORT1 "LoadPort1"
+#define EQ_NAME_LOADPORT2 "LoadPort2"
+#define EQ_NAME_LOADPORT3 "LoadPort3"
+#define EQ_NAME_LOADPORT4 "LoadPort4"
+#define EQ_NAME_ARM_TRAY1 "ArmTray1"
+#define EQ_NAME_ARM_TRAY2 "ArmTray2"
+#define EQ_NAME_ALIGNER "Aligner"
+#define EQ_NAME_FLIPER "Fliper"
+#define EQ_NAME_VACUUMBAKE "VacuumBake"
+#define EQ_NAME_BONDER1 "Bonder1"
+#define EQ_NAME_BONDER2 "Bonder2"
+#define EQ_NAME_BAKE_COOLING "BakeCooling"
+#define EQ_NAME_MEASUREMENT "Measurement"
+#define EQ_NAME_EFEM "EFEM"
+#define EQ_NAME_ARM "Arm"
+#define EQ_NAME_OPERATOR_REMOVE "OperatorRemove"
+
+// 设备元信息结构体
+struct DeviceMetaInfo {
+ int nDeviceID;
+ const char* strDeviceName; // 指针，仅指向常量字符串
+};
+
+// 全局设备元信息列表
+static const DeviceMetaInfo g_allDeviceMetaInfos[] = {
+ {EQ_ID_LOADPORT1, EQ_NAME_LOADPORT1},
+ {EQ_ID_LOADPORT2, EQ_NAME_LOADPORT2},
+ {EQ_ID_LOADPORT3, EQ_NAME_LOADPORT3},
+ {EQ_ID_LOADPORT4, EQ_NAME_LOADPORT4},
+ {EQ_ID_ARM_TRAY1, EQ_NAME_ARM_TRAY1},
+ {EQ_ID_ARM_TRAY2, EQ_NAME_ARM_TRAY2},
+ {EQ_ID_ALIGNER, EQ_NAME_ALIGNER},
+ {EQ_ID_FLIPER, EQ_NAME_FLIPER},
+ {EQ_ID_VACUUMBAKE, EQ_NAME_VACUUMBAKE},
+ {EQ_ID_Bonder1, EQ_NAME_BONDER1},
+ {EQ_ID_Bonder2, EQ_NAME_BONDER2},
+ {EQ_ID_BAKE_COOLING, EQ_NAME_BAKE_COOLING},
+ {EQ_ID_MEASUREMENT, EQ_NAME_MEASUREMENT},
+ {EQ_ID_EFEM, EQ_NAME_EFEM},
+ {EQ_ID_ARM, EQ_NAME_ARM},
+ {EQ_ID_OPERATOR_REMOVE, EQ_NAME_OPERATOR_REMOVE},
+};
/* step name */
#define STEP_MODE _T("EQMode")
diff --git a/SourceCode/Bond/Servo/RecipeDeviceBindDlg.cpp b/SourceCode/Bond/Servo/RecipeDeviceBindDlg.cpp
index 4098135..60555a8 100644
--- a/SourceCode/Bond/Servo/RecipeDeviceBindDlg.cpp
+++ b/SourceCode/Bond/Servo/RecipeDeviceBindDlg.cpp
@@ -5,10 +5,22 @@
#include "Servo.h"
#include "afxdialogex.h"
#include "RecipeDeviceBindDlg.h"
+#include "RecipeManager.h"
+#include "Common.h"
#define IDC_EDIT_DEVICEID_BASE 3000
#define IDC_EDIT_DEVICENAME_BASE 3050
#define IDC_COMBO_RECIPEID_BASE 3100
+
+// 缁戝畾鐣岄潰闇�瑕佹樉绀虹殑璁惧
+static const std::vector<DeviceMetaInfo> g_vecBindDevices = {
+ { EQ_ID_VACUUMBAKE, EQ_NAME_VACUUMBAKE },
+ { EQ_ID_Bonder1, EQ_NAME_BONDER1 },
+ { EQ_ID_Bonder2, EQ_NAME_BONDER2 },
+ { EQ_ID_BAKE_COOLING, EQ_NAME_BAKE_COOLING },
+ { EQ_ID_MEASUREMENT, EQ_NAME_MEASUREMENT },
+ { EQ_ID_EFEM, EQ_NAME_EFEM }
+};
// CRecipeDeviceBindDlg 瀵硅瘽妗�
@@ -31,6 +43,8 @@
BEGIN_MESSAGE_MAP(CRecipeDeviceBindDlg, CDialogEx)
+ ON_WM_CLOSE()
+ ON_WM_SIZE()
END_MESSAGE_MAP()
@@ -50,24 +64,64 @@
GetClientRect(&clientRect);
int xStart = (clientRect.Width() - totalControlWidth) / 2;
- const int nRowCount = 8;
const int nRowHeight = 30;
const int yStart = 30; // 椤堕儴璧峰楂樺害
- for (int i = 0; i < nRowCount; ++i)
- {
+ const int nRowCount = static_cast<int>(g_vecBindDevices.size());
+ for (int i = 0; i < nRowCount; ++i) {
int y = yStart + i * nRowHeight;
+ const auto& meta = g_vecBindDevices[i];
CEdit* pEditID = new CEdit();
pEditID->Create(WS_CHILD | WS_VISIBLE | WS_BORDER, CRect(xStart, y, xStart + 100, y + 25), this, IDC_EDIT_DEVICEID_BASE + i);
+ CString strID;
+ strID.Format(_T("%d"), meta.nDeviceID);
+ pEditID->SetWindowText(strID);
+ pEditID->SetReadOnly(TRUE); // 璁惧ID鍙
+
CEdit* pEditName = new CEdit();
pEditName->Create(WS_CHILD | WS_VISIBLE | WS_BORDER, CRect(xStart + 110, y, xStart + 210, y + 25), this, IDC_EDIT_DEVICENAME_BASE + i);
+ pEditName->SetWindowText(CA2T(meta.strDeviceName));
+ pEditName->SetReadOnly(TRUE); // 璁惧鍚嶇О鍙
CComboBox* pCombo = new CComboBox();
pCombo->Create(WS_CHILD | WS_VISIBLE | CBS_DROPDOWNLIST, CRect(xStart + 220, y, xStart + 340, y + 300), this, IDC_COMBO_RECIPEID_BASE + i);
+
+ // 娣诲姞閫夐」鍒� ComboBox
+ m_vecDevices.push_back({ pEditID, pEditName, pCombo });
}
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 CRecipeDeviceBindDlg::OnClose()
+{
+ // TODO: 鍦ㄦ娣诲姞娑堟伅澶勭悊绋嬪簭浠ｇ爜鍜�/鎴栬皟鐢ㄩ粯璁ゅ��
+ CDialogEx::OnClose();
+
+ // 娓呯悊鎺т欢
+ for (auto& device : m_vecDevices) {
+ if (device.editDeviceID) {
+ device.editDeviceID->DestroyWindow();
+ delete device.editDeviceID;
+ }
+ if (device.editDeviceName) {
+ device.editDeviceName->DestroyWindow();
+ delete device.editDeviceName;
+ }
+ if (device.comboRecipeID) {
+ device.comboRecipeID->DestroyWindow();
+ delete device.comboRecipeID;
+ }
+ }
+ m_vecDevices.clear();
+}
+
+void CRecipeDeviceBindDlg::OnSize(UINT nType, int cx, int cy)
+{
+ CDialogEx::OnSize(nType, cx, cy);
+
+ // TODO: 鍦ㄦ澶勬坊鍔犳秷鎭鐞嗙▼搴忎唬鐮�
}
\ No newline at end of file
diff --git a/SourceCode/Bond/Servo/RecipeDeviceBindDlg.h b/SourceCode/Bond/Servo/RecipeDeviceBindDlg.h
index d65c49a..884f048 100644
--- a/SourceCode/Bond/Servo/RecipeDeviceBindDlg.h
+++ b/SourceCode/Bond/Servo/RecipeDeviceBindDlg.h
@@ -20,13 +20,15 @@
protected:
virtual void DoDataExchange(CDataExchange* pDX); // DDX/DDV 鏀寔
virtual BOOL OnInitDialog();
+ afx_msg void OnClose();
+ afx_msg void OnSize(UINT nType, int cx, int cy);
DECLARE_MESSAGE_MAP()
private:
struct DeviceWidget {
- CEdit editDeviceID;
- CEdit editDeviceName;
- CComboBox comboRecipeID;
+ CEdit* editDeviceID;
+ CEdit* editDeviceName;
+ CComboBox* comboRecipeID;
};
std::vector<DeviceWidget> m_vecDevices;
diff --git a/SourceCode/Bond/Servo/RecipeManager.cpp b/SourceCode/Bond/Servo/RecipeManager.cpp
index 465c1af..48cbb56 100644
--- a/SourceCode/Bond/Servo/RecipeManager.cpp
+++ b/SourceCode/Bond/Servo/RecipeManager.cpp
@@ -238,6 +238,29 @@
return recipes;
}
+std::vector<RecipeInfo> RecipeManager::getRecipesByKeyword(const std::string& keyword) {
+ std::vector<RecipeInfo> recipes;
+ if (!m_pDB || keyword.empty()) {
+ return recipes;
+ }
+
+ std::ostringstream query;
+ query << "SELECT ppid, description, create_time FROM recipes "
+ << "WHERE ppid LIKE '%" << keyword << "%' OR description LIKE '%" << keyword << "%';";
+
+ auto rows = m_pDB->fetchResults(query.str());
+ for (const auto& row : rows) {
+ if (row.size() >= 3) {
+ RecipeInfo info;
+ info.strPPID = row[0];
+ info.strDescription = row[1];
+ info.strCreateTime = row[2];
+ recipes.push_back(info);
+ }
+ }
+ return recipes;
+}
+
std::vector<std::string> RecipeManager::getAllPPID() const {
std::vector<std::string> vecPPID;
diff --git a/SourceCode/Bond/Servo/RecipeManager.h b/SourceCode/Bond/Servo/RecipeManager.h
index f13bc50..f25d36c 100644
--- a/SourceCode/Bond/Servo/RecipeManager.h
+++ b/SourceCode/Bond/Servo/RecipeManager.h
@@ -58,6 +58,9 @@
// 查询所有配方
std::vector<RecipeInfo> getAllRecipes();
+ // 根据 PPID 或描述查询配方
+ std::vector<RecipeInfo> getRecipesByKeyword(const std::string& keyword);
+
// 获取所有 PPID
std::vector<std::string> getAllPPID() const;
--
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