From bc7f1c4e028e69be51079b59dae4ae5c4d43f5bb Mon Sep 17 00:00:00 2001
From: chenluhua1980 <Chenluhua@qq.com>
Date: 星期六, 31 一月 2026 21:54:56 +0800
Subject: [PATCH] 1.状态指示图，目前灰色表示掉线，绿色表示在线。增加Slot的小点表示有没有料，及加工状态 。 2.增加图示
---
SourceCode/Bond/Servo/CPageGraph1.cpp | 633 ++++++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 531 insertions(+), 102 deletions(-)
diff --git a/SourceCode/Bond/Servo/CPageGraph1.cpp b/SourceCode/Bond/Servo/CPageGraph1.cpp
index 8318acd..30d0811 100644
--- a/SourceCode/Bond/Servo/CPageGraph1.cpp
+++ b/SourceCode/Bond/Servo/CPageGraph1.cpp
@@ -6,11 +6,26 @@
#include "CPageGraph1.h"
#include "afxdialogex.h"
#include "Common.h"
+#include "CEquipment.h"
+#include "CGlass.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
+#define IMAGE_LEGEND 3
#define INDICATE_BONDER1 1
#define INDICATE_BONDER2 2
@@ -26,6 +41,11 @@
#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 +53,33 @@
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�
+ m_slotBarTestMode = 0; // 0=off,1=has,2=processing
+
+ // ===== 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 +104,37 @@
// 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::UpdateLegendPosition()
+{
+ if (!m_pGraph) return;
+ auto* pImage = m_pGraph->GetImage(IMAGE_LEGEND);
+ if (!pImage) return;
+
+ RECT rc = { 0 };
+ ::GetClientRect(m_pGraph->GetSafeWnd(), &rc);
+ std::string iniPath = GetConfigPath();
+ int cfgX = GetPrivateProfileIntA("Graph1", "LegendX", -1, iniPath.c_str());
+ int cfgY = GetPrivateProfileIntA("Graph1", "LegendY", -1, iniPath.c_str());
+
+ int x = (cfgX >= 0) ? cfgX : (rc.right - pImage->bmWidth - 8);
+ int y = (cfgY >= 0) ? cfgY : 6;
+ if (x < 0) x = 0;
+ if (y < 0) y = 0;
+ if (x > rc.right - pImage->bmWidth) x = rc.right - pImage->bmWidth;
+ if (y > rc.bottom - pImage->bmHeight) y = rc.bottom - pImage->bmHeight;
+ m_pGraph->UpdateImageCoordinates(IMAGE_LEGEND, x, y);
+ m_pGraph->Invalidata();
+}
void CPageGraph1::InitRxWindows()
{
@@ -83,6 +156,12 @@
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);
}
@@ -93,6 +172,18 @@
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);
}
}
}
@@ -115,8 +206,8 @@
{
CDialogEx::OnInitDialog();
InitRxWindows();
- SetTimer(1, 3000, nullptr);
-
+ SetTimer(TIMER_ID_DEVICE_STATUS, 800, 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());
@@ -127,85 +218,138 @@
strPath.Format(_T("%s\\res\\Robot001.bmp"), (LPTSTR)(LPCTSTR)theApp.m_strAppDir);
m_pGraph->AddImage(IMAGE_ROBOT, (LPTSTR)(LPCTSTR)strPath, 170, 270);
+ // Legend
+ strPath.Format(_T("%s\\res\\GraphLegend.bmp"), (LPTSTR)(LPCTSTR)theApp.m_strAppDir);
+ m_pGraph->AddImage(IMAGE_LEGEND, (LPTSTR)(LPCTSTR)strPath, 0, 0);
+ UpdateLegendPosition();
+
// 娣诲姞鎸囩ず鍣�
// Bonder
- m_pGraph->AddIndicateBox(INDICATE_BONDER1, 220, 172, 48, RGB(22, 22, 22),
+ // size config
+ std::string iniPath = GetConfigPath();
+ int boxSize = GetPrivateProfileIntA("Graph1", "BoxSize", 56, iniPath.c_str());
+ if (boxSize < 40) boxSize = 40;
+ if (boxSize > 80) boxSize = 80;
+ int slotSize = GetPrivateProfileIntA("Graph1", "SlotSize", 6, iniPath.c_str());
+ if (slotSize < 2) slotSize = 2;
+ if (slotSize > 12) slotSize = 12;
+ m_pGraph->SetSlotBarSize(slotSize);
+ int armBoxSize = GetPrivateProfileIntA("Graph1", "ArmBoxSize", boxSize, iniPath.c_str());
+ if (armBoxSize < 30) armBoxSize = 30;
+ if (armBoxSize > 80) armBoxSize = 80;
+
+ // ArmSpacing = edge-to-edge gap between the two robot arm boxes.
+ int armGap = GetPrivateProfileIntA("Graph1", "ArmSpacing", 6, iniPath.c_str());
+ if (armGap < 0) armGap = 0;
+ if (armGap > 100) armGap = 100;
+
+ int arm1X = 190;
+ int arm2X = 243;
+ int armY = 294;
+ int minArmSpacing = armBoxSize + armGap;
+ if (minArmSpacing > 0) {
+ int mid = (m_arm1Offset.x + m_arm2Offset.x) / 2;
+ int half = minArmSpacing / 2;
+ if (m_arm1Offset.x <= m_arm2Offset.x) {
+ m_arm1Offset.x = mid - half;
+ m_arm2Offset.x = mid + half;
+ } else {
+ m_arm2Offset.x = mid - half;
+ m_arm1Offset.x = mid + half;
+ }
+ }
+ {
+ int baseMid = (arm1X + arm2X) / 2;
+ int half = minArmSpacing / 2;
+ arm1X = baseMid - half;
+ arm2X = baseMid + half;
+ }
+
+ m_pGraph->AddIndicateBox(INDICATE_BONDER1, 220, 172, boxSize, RGB(22, 22, 22),
RGB(255, 127, 39), EQ_BOX_OFFLINE);
- m_pGraph->SetBoxText(INDICATE_BONDER1, "10", "Bonder 1");
- m_pGraph->AddIndicateBox(INDICATE_BONDER2, 220, 516, 48, RGB(22, 22, 22),
+ m_pGraph->SetBoxText(INDICATE_BONDER1, "", "Bonder 1");
+ m_pGraph->AddIndicateBox(INDICATE_BONDER2, 220, 516, boxSize, RGB(22, 22, 22),
RGB(255, 127, 39), EQ_BOX_OFFLINE);
- m_pGraph->SetBoxText(INDICATE_BONDER2, "11", "Bonder 2");
+ m_pGraph->SetBoxText(INDICATE_BONDER2, "", "Bonder 2");
// 缈昏浆
- m_pGraph->AddIndicateBox(INDICATE_FLIPER, 338, 172, 48, RGB(22, 22, 22),
+ m_pGraph->AddIndicateBox(INDICATE_FLIPER, 338, 172, boxSize, RGB(22, 22, 22),
RGB(255, 127, 39), EQ_BOX_OFFLINE);
- m_pGraph->SetBoxText(INDICATE_FLIPER, "8", "Fliper");
+ m_pGraph->SetBoxText(INDICATE_FLIPER, "", "Fliper");
// 瀵逛綅
- m_pGraph->AddIndicateBox(INDICATE_ALIGNER, 428, 172, 48, RGB(22, 22, 22),
+ m_pGraph->AddIndicateBox(INDICATE_ALIGNER, 428, 172, boxSize, RGB(22, 22, 22),
RGB(255, 127, 39), EQ_BOX_OFFLINE);
- m_pGraph->SetBoxText(INDICATE_ALIGNER, "7", "Aligner");
+ m_pGraph->SetBoxText(INDICATE_ALIGNER, "", "Aligner");
// Load port 4
- m_pGraph->AddIndicateBox(INDICATE_LPORT4, 518, 172, 48, RGB(22, 22, 22),
+ m_pGraph->AddIndicateBox(INDICATE_LPORT4, 518, 172, boxSize, RGB(22, 22, 22),
RGB(255, 127, 39), EQ_BOX_OFFLINE);
- m_pGraph->SetBoxText(INDICATE_LPORT4, "4", "LPort4");
+ m_pGraph->SetBoxText(INDICATE_LPORT4, "", "LPort4");
// Load port 3
- m_pGraph->AddIndicateBox(INDICATE_LPORT3, 606, 172, 48, RGB(22, 22, 22),
+ m_pGraph->AddIndicateBox(INDICATE_LPORT3, 606, 172, boxSize, RGB(22, 22, 22),
RGB(255, 127, 39), EQ_BOX_OFFLINE);
- m_pGraph->SetBoxText(INDICATE_LPORT3, "3", "LPort3");
+ m_pGraph->SetBoxText(INDICATE_LPORT3, "", "LPort3");
// Load port 2
- m_pGraph->AddIndicateBox(INDICATE_LPORT2, 690, 172, 48, RGB(22, 22, 22),
+ m_pGraph->AddIndicateBox(INDICATE_LPORT2, 690, 172, boxSize, RGB(22, 22, 22),
RGB(255, 127, 39), EQ_BOX_OFFLINE);
- m_pGraph->SetBoxText(INDICATE_LPORT2, "2", "LPort2");
+ m_pGraph->SetBoxText(INDICATE_LPORT2, "", "LPort2");
// Load port 1
- m_pGraph->AddIndicateBox(INDICATE_LPORT1, 774, 172, 48, RGB(22, 22, 22),
+ m_pGraph->AddIndicateBox(INDICATE_LPORT1, 774, 172, boxSize, RGB(22, 22, 22),
RGB(255, 127, 39), EQ_BOX_OFFLINE);
- m_pGraph->SetBoxText(INDICATE_LPORT1, "1", "LPort1");
+ m_pGraph->SetBoxText(INDICATE_LPORT1, "", "LPort1");
// Robot
- m_pGraph->AddIndicateBox(INDICATE_ROBOT_ARM1, 190, 294, 48, RGB(22, 22, 22),
+ m_pGraph->AddIndicateBox(INDICATE_ROBOT_ARM1, arm1X, armY, armBoxSize, RGB(22, 22, 22),
RGB(255, 127, 39), EQ_BOX_OFFLINE);
- m_pGraph->SetBoxText(INDICATE_ROBOT_ARM1, "5", "Robot");
- m_pGraph->AddIndicateBox(INDICATE_ROBOT_ARM2, 243, 294, 48, RGB(22, 22, 22),
+ m_pGraph->SetBoxText(INDICATE_ROBOT_ARM1, "", "Robot");
+ m_pGraph->AddIndicateBox(INDICATE_ROBOT_ARM2, arm2X, armY, armBoxSize, RGB(22, 22, 22),
RGB(255, 127, 39), EQ_BOX_OFFLINE);
- m_pGraph->SetBoxText(INDICATE_ROBOT_ARM2, "6", "Robot");
+ m_pGraph->SetBoxText(INDICATE_ROBOT_ARM2, "", "Robot");
// Vacuum bake
- m_pGraph->AddIndicateBox(INDICATE_VACUUM_BAKE, 396, 516, 48, RGB(22, 22, 22),
+ m_pGraph->AddIndicateBox(INDICATE_VACUUM_BAKE, 396, 516, boxSize, RGB(22, 22, 22),
RGB(255, 127, 39), EQ_BOX_OFFLINE);
- m_pGraph->SetBoxText(INDICATE_VACUUM_BAKE, "9", "Vacuum bake");
+ m_pGraph->SetBoxText(INDICATE_VACUUM_BAKE, "", "Vacuum bake");
// Bake cooling
- m_pGraph->AddIndicateBox(INDICATE_BAKE_COOLING, 566, 516, 48, RGB(22, 22, 22),
+ m_pGraph->AddIndicateBox(INDICATE_BAKE_COOLING, 566, 516, boxSize, RGB(22, 22, 22),
RGB(255, 127, 39), EQ_BOX_OFFLINE);
- m_pGraph->SetBoxText(INDICATE_BAKE_COOLING, "12", "Bake cooling");
+ m_pGraph->SetBoxText(INDICATE_BAKE_COOLING, "", "Bake cooling");
// 绮惧害妫�
- m_pGraph->AddIndicateBox(INDICATE_MEASUREMENT, 737, 516, 48, RGB(22, 22, 22),
+ m_pGraph->AddIndicateBox(INDICATE_MEASUREMENT, 737, 516, boxSize, RGB(22, 22, 22),
RGB(255, 127, 39), EQ_BOX_OFFLINE);
- m_pGraph->SetBoxText(INDICATE_MEASUREMENT, "13", "Measurement");
+ m_pGraph->SetBoxText(INDICATE_MEASUREMENT, "", "Measurement");
+ // slot bar positions (top row / bottom row)
+ m_pGraph->SetIndicateBoxSlotBarPosition(INDICATE_BONDER1, SlotBarPos::Top);
+ m_pGraph->SetIndicateBoxSlotBarPosition(INDICATE_FLIPER, SlotBarPos::Top);
+ m_pGraph->SetIndicateBoxSlotBarPosition(INDICATE_ALIGNER, SlotBarPos::Top);
+ m_pGraph->SetIndicateBoxSlotBarPosition(INDICATE_LPORT4, SlotBarPos::Top);
+ m_pGraph->SetIndicateBoxSlotBarPosition(INDICATE_LPORT3, SlotBarPos::Top);
+ m_pGraph->SetIndicateBoxSlotBarPosition(INDICATE_LPORT2, SlotBarPos::Top);
+ m_pGraph->SetIndicateBoxSlotBarPosition(INDICATE_LPORT1, SlotBarPos::Top);
- // 缁戝畾鏁版嵁
- {
- SERVO::CEquipment* pEquipment = theApp.m_model.m_master.getEquipment(EQ_ID_EFEM);
- m_pGraph->SetIndicateBoxData(INDICATE_ROBOT_ARM1, pEquipment);
- }
+ m_pGraph->SetIndicateBoxSlotBarPosition(INDICATE_BONDER2, SlotBarPos::Bottom);
+ m_pGraph->SetIndicateBoxSlotBarPosition(INDICATE_VACUUM_BAKE, SlotBarPos::Bottom);
+ m_pGraph->SetIndicateBoxSlotBarPosition(INDICATE_BAKE_COOLING, SlotBarPos::Bottom);
+ m_pGraph->SetIndicateBoxSlotBarPosition(INDICATE_MEASUREMENT, SlotBarPos::Bottom);
+ UpdateSlotBars();
return TRUE; // return TRUE unless you set the focus to a control
// 寮傚父: OCX 灞炴�ч〉搴旇繑鍥� FALSE
@@ -225,7 +369,12 @@
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;
@@ -274,6 +423,8 @@
{
CDialogEx::OnDestroy();
+ KillTimer(TIMER_ID_ROBOT_STATUS);
+
if (m_hbrBkgnd != nullptr) {
::DeleteObject(m_hbrBkgnd);
}
@@ -282,6 +433,9 @@
m_pObserver->unsubscribe();
m_pObserver = NULL;
}
+
+ SaveArmOffset("ARM1", m_arm1Offset);
+ SaveArmOffset("ARM2", m_arm2Offset);
}
void CPageGraph1::OnSize(UINT nType, int cx, int cy)
@@ -292,105 +446,102 @@
CRect rcClient;
GetClientRect(&rcClient);
GetDlgItem(IDC_SERVO_GRAPH1)->MoveWindow(0, 0, rcClient.Width(), rcClient.Height());
+ UpdateLegendPosition();
}
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();
}
@@ -424,28 +575,214 @@
}
}
+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::UpdateSlotBars()
+{
+ if (m_pGraph == nullptr) return;
+
+ if (m_slotBarTestMode != 0) {
+ ApplySlotBarTestPattern(m_slotBarTestMode);
+ return;
+ }
+
+ struct SlotBarBind {
+ int eqId;
+ int indicateId;
+ };
+ static const SlotBarBind kSlotBars[] = {
+ { EQ_ID_Bonder1, INDICATE_BONDER1 },
+ { EQ_ID_FLIPER, INDICATE_FLIPER },
+ { EQ_ID_ALIGNER, INDICATE_ALIGNER },
+ { EQ_ID_LOADPORT4, INDICATE_LPORT4 },
+ { EQ_ID_LOADPORT3, INDICATE_LPORT3 },
+ { EQ_ID_LOADPORT2, INDICATE_LPORT2 },
+ { EQ_ID_LOADPORT1, INDICATE_LPORT1 },
+ { EQ_ID_Bonder2, INDICATE_BONDER2 },
+ { EQ_ID_VACUUMBAKE, INDICATE_VACUUM_BAKE },
+ { EQ_ID_BAKE_COOLING, INDICATE_BAKE_COOLING },
+ { EQ_ID_MEASUREMENT, INDICATE_MEASUREMENT },
+ };
+
+ for (const auto& item : kSlotBars) {
+ SERVO::CEquipment* pEq = theApp.m_model.m_master.getEquipment(item.eqId);
+ std::vector<COLORREF> colors;
+ BuildSlotColors(pEq, colors);
+ m_pGraph->SetIndicateBoxSlotColors(item.indicateId, colors);
+ }
+}
+
+void CPageGraph1::BuildSlotColors(SERVO::CEquipment* pEq, std::vector<COLORREF>& colors)
+{
+ colors.clear();
+ if (pEq == nullptr) return;
+
+ for (int i = 0; i < SLOT_MAX; ++i) {
+ SERVO::CSlot* pSlot = pEq->getSlot(i);
+ if (pSlot == nullptr || !pSlot->isEnable()) continue;
+ SERVO::CGlass* pGlass = (SERVO::CGlass*)pSlot->getContext();
+ BOOL isProcessing = FALSE;
+ if (pGlass != nullptr) {
+ const auto st = pEq->getProcessState(i + 1);
+ isProcessing = (st == SERVO::PROCESS_STATE::Processing);
+ }
+ colors.push_back(GetSlotColor(pGlass, isProcessing));
+ }
+}
+
+COLORREF CPageGraph1::GetSlotColor(SERVO::CGlass* pGlass, BOOL isProcessing)
+{
+ if (pGlass == nullptr) {
+ return EQ_SLOT_EMPTY;
+ }
+ const auto type = pGlass->getType();
+ const bool isG2 = (type == SERVO::MaterialsType::G2 || type == SERVO::MaterialsType::G1G2);
+ if (isProcessing) {
+ return isG2 ? EQ_SLOT_PROC_G2 : EQ_SLOT_PROC_G1;
+ }
+ return isG2 ? EQ_SLOT_G2 : EQ_SLOT_G1;
+}
+
+void CPageGraph1::ApplySlotBarTestPattern(int mode)
+{
+ if (m_pGraph == nullptr) return;
+
+ std::vector<COLORREF> colors;
+ colors.reserve(SLOT_MAX);
+ for (int i = 0; i < SLOT_MAX; ++i) {
+ if (mode == 2) {
+ colors.push_back((i % 2 == 0) ? EQ_SLOT_PROC_G1 : EQ_SLOT_PROC_G2);
+ } else if (mode == 1) {
+ colors.push_back((i % 2 == 0) ? EQ_SLOT_G1 : EQ_SLOT_G2);
+ } else {
+ colors.push_back(EQ_SLOT_EMPTY);
+ }
+ }
+
+ struct SlotBarBind {
+ int indicateId;
+ };
+ static const SlotBarBind kSlotBars[] = {
+ { INDICATE_BONDER1 },
+ { INDICATE_FLIPER },
+ { INDICATE_ALIGNER },
+ { INDICATE_LPORT4 },
+ { INDICATE_LPORT3 },
+ { INDICATE_LPORT2 },
+ { INDICATE_LPORT1 },
+ { INDICATE_BONDER2 },
+ { INDICATE_VACUUM_BAKE },
+ { INDICATE_BAKE_COOLING },
+ { INDICATE_MEASUREMENT },
+ };
+
+ for (const auto& item : kSlotBars) {
+ m_pGraph->SetIndicateBoxSlotColors(item.indicateId, colors);
+ }
+}
+
+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) {
- theApp.m_model.notifyPtr(RX_CODE_SELECT_EQUIPMENT, pEquipment);
+
+ if (GetKeyState(VK_SHIFT) & 0x8000) {
+ // m_slotBarTestMode = (m_slotBarTestMode + 1) % 3;
+ UpdateSlotBars();
+ *pResult = 0;
+ return;
}
+ // 绉诲姩鍒版寚瀹氫綅缃� (娴嬭瘯浣跨敤)
+ if (pGraphNmhdr->dwData == INDICATE_LPORT1) {
+
+ }
+
*pResult = 0;
}
void CPageGraph1::OnTimer(UINT_PTR nIDEvent)
{
- if (1 == nIDEvent) {
- KillTimer(1);
+ UpdateLegendPosition();
+
+ 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);
}
@@ -463,6 +800,98 @@
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()) {
+ UpdateSlotBars();
+ 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);
+ }
+
+ UpdateSlotBars();
+ }
+ 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);
--
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