From e979a31c4e7c1d54703230ef3335d6e929442493 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期一, 30 六月 2025 13:38:16 +0800
Subject: [PATCH] Merge branch 'liuyang' into clh
---
SourceCode/Bond/Servo/CPageGraph1.h | 6 +++
SourceCode/Bond/Servo/CPageGraph1.cpp | 101 ++++++++++++++++++++++++++++++++++++--------------
2 files changed, 79 insertions(+), 28 deletions(-)
diff --git a/SourceCode/Bond/Servo/CPageGraph1.cpp b/SourceCode/Bond/Servo/CPageGraph1.cpp
index cb5ac2d..6378512 100644
--- a/SourceCode/Bond/Servo/CPageGraph1.cpp
+++ b/SourceCode/Bond/Servo/CPageGraph1.cpp
@@ -7,9 +7,6 @@
#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 } },
@@ -57,6 +54,15 @@
m_bIsRobotMoving = FALSE;
m_crBkgnd = PAGE_GRPAH1_BACKGROUND_COLOR;
m_hbrBkgnd = nullptr;
+ m_lastRobotPosition = SERVO::ROBOT_POSITION::Port1;
+ m_lastArmState[0] = FALSE;
+ m_lastArmState[1] = FALSE;
+
+ m_arm1Offset = LoadArmOffset("ARM1");
+ m_arm2Offset = LoadArmOffset("ARM2");
+
+ //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()
@@ -81,6 +87,15 @@
// 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()
{
@@ -272,7 +287,10 @@
}
m_pGraph->UpdateIndicateBox1Colors(id, newBackgroundColor, newFrameColor1, newFrameColor2);
- m_pGraph->Invalidata();
+
+ // 鍒锋柊鐣岄潰
+ Invalidate();
+ UpdateWindow();
}
BOOL CPageGraph1::OnEraseBkgnd(CDC* pDC)
@@ -316,6 +334,9 @@
m_pObserver->unsubscribe();
m_pObserver = NULL;
}
+
+ SaveArmOffset("ARM1", m_arm1Offset);
+ SaveArmOffset("ARM2", m_arm2Offset);
}
void CPageGraph1::OnSize(UINT nType, int cx, int cy)
@@ -362,25 +383,27 @@
int cx = currentX + pImage->bmWidth / 2;
// 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);
+ 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();
std::this_thread::sleep_for(std::chrono::milliseconds(16));
}
// 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);
+ 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, endX, y);
m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM1, cx + rotatedX1, cy + rotatedY1);
@@ -408,12 +431,12 @@
float radians = angleInDegrees * 3.1415926f / 180.0f;
// 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 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);
// 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);
+ 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);
// 鏇存柊鎸囩ず妗�
m_pGraph->UpdateIndicateBoxCoordinates(INDICATE_ROBOT_ARM1, cx + rotatedX1, cy + rotatedY1);
@@ -471,6 +494,27 @@
m_lastRobotPosition = position;
}
+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);
@@ -508,12 +552,6 @@
}
else if (pGraphNmhdr->dwData == INDICATE_MEASUREMENT) {
MoveRobotToPosition(SERVO::ROBOT_POSITION::Measurement);
- }
-
- SERVO::CEquipment* pEquipment = (SERVO::CEquipment*)m_pGraph->GetIndicateBoxData(pGraphNmhdr->dwData);
- if (pEquipment != nullptr) {
- // 鏆傛椂绂佺敤灞曞紑灞炴�ч〉鐨勫姛鑳�
- // theApp.m_model.notifyPtr(RX_CODE_SELECT_EQUIPMENT, pEquipment);
}
*pResult = 0;
@@ -582,17 +620,24 @@
// 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);
+ 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) {
MoveRobotToPosition(robotData.position);
}
-
- m_pGraph->Invalidata();
}
CDialogEx::OnTimer(nIDEvent);
diff --git a/SourceCode/Bond/Servo/CPageGraph1.h b/SourceCode/Bond/Servo/CPageGraph1.h
index 7609a49..f891489 100644
--- a/SourceCode/Bond/Servo/CPageGraph1.h
+++ b/SourceCode/Bond/Servo/CPageGraph1.h
@@ -27,12 +27,15 @@
public:
+ std::string GetConfigPath();
void InitRxWindows();
void UpdateDeviceStatus(int id, DeviceStatus status);
void UpdateRobotPosition(float percentage);
void RotateRobot(float angleInDegrees);
void BindEquipmentToGraph();
void MoveRobotToPosition(SERVO::ROBOT_POSITION position);
+ POINT LoadArmOffset(const std::string& armName);
+ void SaveArmOffset(const std::string& armName, const POINT& pt);
private:
IObserver* m_pObserver;
@@ -41,6 +44,9 @@
COLORREF m_crBkgnd;
HBRUSH m_hbrBkgnd;
SERVO::ROBOT_POSITION m_lastRobotPosition;
+ BOOL m_lastArmState[2];
+ POINT m_arm1Offset; // ARM1 浠庝腑蹇冨悜宸�47, 鍚戜笂33
+ POINT m_arm2Offset; // ARM2 浠庝腑蹇冨悜鍙�10, 鍚戜笂33
// 瀵硅瘽妗嗘暟鎹�
#ifdef AFX_DESIGN_TIME
--
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