From e8a27bb203fe2aff70390a5eca002d7438da9b0f Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期三, 22 十月 2025 14:24:34 +0800
Subject: [PATCH] Merge branch 'clh' into liuyang
---
SourceCode/Bond/BondEq/FileManager/RecipeManager.cpp | 240 ++++++++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 170 insertions(+), 70 deletions(-)
diff --git a/SourceCode/Bond/BondEq/FileManager/RecipeManager.cpp b/SourceCode/Bond/BondEq/FileManager/RecipeManager.cpp
index 406156a..d0391cb 100644
--- a/SourceCode/Bond/BondEq/FileManager/RecipeManager.cpp
+++ b/SourceCode/Bond/BondEq/FileManager/RecipeManager.cpp
@@ -10,11 +10,124 @@
}
// 构造函数
-RecipeManager::RecipeManager() : m_recipeFolder("Recipe") {}
+RecipeManager::RecipeManager() : m_recipeFolder("Recipe"), m_currentRecipeName("") {}
+
+// 加载轴信息
+bool RecipeManager::loadAxes(pugi::xml_node axesNode) {
+ m_axes.clear();
+ for (auto axisNode : axesNode.children("Axis")) {
+ AxisInfo axisInfo;
+ axisInfo.id = axisNode.attribute("id").as_int();
+ axisInfo.number = axisNode.attribute("number").value();
+ axisInfo.description = axisNode.attribute("description").value();
+ axisInfo.startAddress = axisNode.attribute("start_address").value();
+
+ // 加载 ValueRange 值
+ axisInfo.jogDistance = ValueRange(
+ axisNode.child("jog_distance").attribute("min").as_double(),
+ axisNode.child("jog_distance").attribute("max").as_double(),
+ axisNode.child("jog_distance").attribute("current").as_double()
+ );
+ axisInfo.manualSpeed = ValueRange(
+ axisNode.child("manual_speed").attribute("min").as_double(),
+ axisNode.child("manual_speed").attribute("max").as_double(),
+ axisNode.child("manual_speed").attribute("current").as_double()
+ );
+ axisInfo.autoSpeed = ValueRange(
+ axisNode.child("auto_speed").attribute("min").as_double(),
+ axisNode.child("auto_speed").attribute("max").as_double(),
+ axisNode.child("auto_speed").attribute("current").as_double()
+ );
+ axisInfo.accelerationTime = ValueRange(
+ axisNode.child("acceleration_time").attribute("min").as_double(),
+ axisNode.child("acceleration_time").attribute("max").as_double(),
+ axisNode.child("acceleration_time").attribute("current").as_double()
+ );
+ axisInfo.decelerationTime = ValueRange(
+ axisNode.child("deceleration_time").attribute("min").as_double(),
+ axisNode.child("deceleration_time").attribute("max").as_double(),
+ axisNode.child("deceleration_time").attribute("current").as_double()
+ );
+
+ // 加载 PositionRange 值
+ axisInfo.positioningPointCount = axisNode.child("Positions").attribute("positioningPointCount").as_int();
+ for (auto positionNode : axisNode.child("Positions").children("Position")) {
+ bool isEnable = positionNode.attribute("isEnable").as_bool();
+ std::string description = positionNode.attribute("description").value();
+ ValueRange positionRange(
+ positionNode.attribute("min").as_double(),
+ positionNode.attribute("max").as_double(),
+ positionNode.attribute("current").as_double()
+ );
+
+ axisInfo.positions.emplace_back(PositionRange(isEnable, description, positionRange));
+ }
+
+ m_axes[axisInfo.id] = axisInfo;
+ }
+
+ return true;
+}
+
+// 保存轴信息
+void RecipeManager::saveAxes(pugi::xml_node& axesNode) {
+ for (const auto& axisEntry : m_axes) {
+ const AxisInfo& axisInfo = axisEntry.second;
+
+ auto axisNode = axesNode.append_child("Axis");
+ axisNode.append_attribute("id") = axisInfo.id;
+ axisNode.append_attribute("number") = axisInfo.number.c_str();
+ axisNode.append_attribute("description") = axisInfo.description.c_str();
+ axisNode.append_attribute("start_address") = axisInfo.startAddress.c_str();
+
+ // 保存 ValueRange 值
+ auto jog_distance = axisNode.append_child("jog_distance");
+ jog_distance.append_attribute("min") = axisInfo.jogDistance.minValue;
+ jog_distance.append_attribute("max") = axisInfo.jogDistance.maxValue;
+ jog_distance.append_attribute("current") = axisInfo.jogDistance.currentValue;
+
+ auto manual_speed = axisNode.append_child("manual_speed");
+ manual_speed.append_attribute("min") = axisInfo.manualSpeed.minValue;
+ manual_speed.append_attribute("max") = axisInfo.manualSpeed.maxValue;
+ manual_speed.append_attribute("current") = axisInfo.manualSpeed.currentValue;
+
+ auto auto_speed = axisNode.append_child("auto_speed");
+ auto_speed.append_attribute("min") = axisInfo.autoSpeed.minValue;
+ auto_speed.append_attribute("max") = axisInfo.autoSpeed.maxValue;
+ auto_speed.append_attribute("current") = axisInfo.autoSpeed.currentValue;
+
+ auto acceleration_time = axisNode.append_child("acceleration_time");
+ acceleration_time.append_attribute("min") = axisInfo.accelerationTime.minValue;
+ acceleration_time.append_attribute("max") = axisInfo.accelerationTime.maxValue;
+ acceleration_time.append_attribute("current") = axisInfo.accelerationTime.currentValue;
+
+ auto deceleration_time = axisNode.append_child("deceleration_time");
+ deceleration_time.append_attribute("min") = axisInfo.decelerationTime.minValue;
+ deceleration_time.append_attribute("max") = axisInfo.decelerationTime.maxValue;
+ deceleration_time.append_attribute("current") = axisInfo.decelerationTime.currentValue;
+
+ // 保存 PositionRange 值
+ auto positionsNode = axisNode.append_child("Positions");
+ positionsNode.append_attribute("positioningPointCount") = axisInfo.positioningPointCount;
+ for (const auto& position : axisInfo.positions) {
+ auto positionNode = positionsNode.append_child("Position");
+ positionNode.append_attribute("isEnable") = position.isEnable;
+ positionNode.append_attribute("description") = position.description.c_str();
+ positionNode.append_attribute("min") = position.range.minValue;
+ positionNode.append_attribute("max") = position.range.maxValue;
+ positionNode.append_attribute("current") = position.range.currentValue;
+ }
+ }
+}
// 设置配方文件夹
void RecipeManager::setRecipeFolder(const std::string& folderPath) {
m_recipeFolder = folderPath;
+}
+
+// 获取当前配方名称
+std::string RecipeManager::getCurrentRecipeName() const {
+ return m_currentRecipeName;
}
// 加载配方（如果文件不存在，加载默认数据）
@@ -24,33 +137,13 @@
if (!doc.load_file(filePath.c_str())) {
std::cerr << "Recipe file not found: " << filePath << ". Loading default recipe." << std::endl;
- generateDefaultRecipe();
- return false; // 文件不存在，但加载了默认数据
+ return false; // 文件不存在
}
+ m_currentRecipeName = recipeName;
- m_axes.clear();
-
- auto recipe = doc.child("Recipe");
- for (auto axisNode : recipe.child("Axes").children("Axis")) {
- AxisInfo axisInfo;
- axisInfo.id = axisNode.attribute("id").as_int();
- axisInfo.number = axisNode.attribute("number").value();
- axisInfo.description = axisNode.attribute("description").value();
- axisInfo.startAddress = axisNode.attribute("start_address").value();
- axisInfo.jogDistance = axisNode.attribute("jog_distance").as_double();
- axisInfo.manualSpeed = axisNode.attribute("manual_speed").as_double();
- axisInfo.autoSpeed = axisNode.attribute("auto_speed").as_double();
- axisInfo.accelerationTime = axisNode.attribute("acceleration_time").as_double();
- axisInfo.decelerationTime = axisNode.attribute("deceleration_time").as_double();
-
- for (auto positionNode : axisNode.child("Positions").children("Position")) {
- std::string description = positionNode.attribute("description").value();
- double positionValue = positionNode.attribute("value").as_double();
- axisInfo.positions.emplace_back(description, positionValue);
- }
-
- m_axes[axisInfo.id] = axisInfo;
- }
+ auto recipeNode = doc.child("Recipe");
+ auto axesNode = recipeNode.child("Axes");
+ loadAxes(axesNode); // 加载轴信息
return true;
}
@@ -69,34 +162,11 @@
}
// 添加配方根节点
- auto recipe = doc.append_child("Recipe");
+ auto recipeNode = doc.append_child("Recipe");
- // 添加轴列表节点
- auto axesNode = recipe.append_child("Axes");
-
- // 遍历所有轴数据并写入 XML
- for (const auto& axisEntry : m_axes) {
- const AxisInfo& axisInfo = axisEntry.second;
-
- auto axisNode = axesNode.append_child("Axis");
- axisNode.append_attribute("id") = axisInfo.id;
- axisNode.append_attribute("number") = axisInfo.number.c_str();
- axisNode.append_attribute("description") = axisInfo.description.c_str();
- axisNode.append_attribute("start_address") = axisInfo.startAddress.c_str();
- axisNode.append_attribute("jog_distance") = axisInfo.jogDistance;
- axisNode.append_attribute("manual_speed") = axisInfo.manualSpeed;
- axisNode.append_attribute("auto_speed") = axisInfo.autoSpeed;
- axisNode.append_attribute("acceleration_time") = axisInfo.accelerationTime;
- axisNode.append_attribute("deceleration_time") = axisInfo.decelerationTime;
-
- // 添加定位点列表
- auto positionsNode = axisNode.append_child("Positions");
- for (const auto& position : axisInfo.positions) {
- auto positionNode = positionsNode.append_child("Position");
- positionNode.append_attribute("description") = position.first.c_str();
- positionNode.append_attribute("value") = position.second;
- }
- }
+ // 添加轴信息
+ auto axesNode = recipeNode.append_child("Axes");
+ saveAxes(axesNode);
// 保存 XML 文件
return doc.save_file(filePath.c_str());
@@ -105,21 +175,28 @@
// 生成默认配方
void RecipeManager::generateDefaultRecipe() {
m_axes.clear();
+ m_currentRecipeName = "Default";
for (int axisId = 1; axisId <= 12; ++axisId) {
AxisInfo axisInfo;
axisInfo.id = axisId;
- axisInfo.number = "M100-M" + std::to_string(axisId);
+ axisInfo.positioningPointCount = 25;
+ axisInfo.number = "M100-M" + std::to_string(axisId);
axisInfo.description = "Default_Axis" + std::to_string(axisId);
- axisInfo.startAddress = "D" + std::to_string(5000 + axisId * 10);
- axisInfo.jogDistance = 0.5;
- axisInfo.manualSpeed = 10.0;
- axisInfo.autoSpeed = 15.0;
- axisInfo.accelerationTime = 0.2;
- axisInfo.decelerationTime = 0.3;
+ axisInfo.startAddress = "ZR" + std::to_string(10000 + (axisId - 1) * 300);
- for (int posId = 1; posId <= 25; ++posId) {
- axisInfo.positions.emplace_back("Position " + std::to_string(posId), posId * 10.0);
+ // 设置默认的 ValueRange
+ axisInfo.jogDistance = ValueRange(1.0, 10.0, 1.0);
+ axisInfo.manualSpeed = ValueRange(1.0, 100.0, 10.0);
+ axisInfo.autoSpeed = ValueRange(5.0, 200.0, 50.0);
+ axisInfo.accelerationTime = ValueRange(1.0, 10.0, 1.0);
+ axisInfo.decelerationTime = ValueRange(1.0, 10.0, 1.0);
+
+ // 添加定位点并设置默认的最小值和最大值
+ for (int posId = 0; posId < axisInfo.positioningPointCount; ++posId) {
+ double minPos = (posId + 1) * 5.0;
+ double maxPos = (posId + 1) * 20.0;
+ axisInfo.positions.emplace_back(PositionRange(TRUE, "Position " + std::to_string(posId + 1), ValueRange(minPos, maxPos, (posId + 1) * 10.0)));
}
m_axes[axisId] = axisInfo;
@@ -135,11 +212,11 @@
AxisInfo RecipeManager::getAxis(int axisId) const {
auto it = m_axes.find(axisId);
if (it != m_axes.end()) {
- return it->second;
+ return it->second; // 如果找到了轴，返回其详细信息
}
- // 返回一个无效的 AxisInfo
- return AxisInfo{ -1, "", "", "", 0.0, 0.0, 0.0, 0.0, 0.0, {}};
+ // 如果没有找到该轴，返回一个默认的无效 AxisInfo
+ return AxisInfo{ -1, 0, /*0.0, 0.0,*/ "", "", "", ValueRange(), ValueRange(), ValueRange(), ValueRange(), ValueRange(), {} };
}
// 更新轴信息
@@ -177,8 +254,8 @@
}
// 获取指定页的定位点
-std::vector<std::pair<std::string, double>> RecipeManager::getPositions(int axisId, int pageNumber, int pageSize) const {
- std::vector<std::pair<std::string, double>> result;
+std::vector<PositionRange> RecipeManager::getPositions(int axisId, int pageNumber, int pageSize) const {
+ std::vector<PositionRange> result;
// 检查轴是否存在
auto it = m_axes.find(axisId);
@@ -196,11 +273,10 @@
// 遍历定位点，按分页提取数据
int index = 0;
for (const auto& pos : positions) {
- const std::string& description = pos.first; // 键：描述
- double value = pos.second; // 值：位置值
+ const PositionRange& position = pos; // 定位点包含描述、位置、最小值、最大值和当前值
if (index >= startIndex && index < endIndex) {
- result.emplace_back(description, value);
+ result.push_back(position); // 添加完整的 PositionRange 对象
}
++index;
@@ -211,3 +287,27 @@
return result;
}
+
+// 获取指定轴的定位点
+PositionRange RecipeManager::getPositionByIndex(int axisId, int pageNumber, int pageSize, int currentIndex) const {
+ // 检查轴是否存在
+ auto it = m_axes.find(axisId);
+ if (it == m_axes.end()) {
+ return PositionRange(); // 轴不存在，返回默认构造的 PositionRange（无效的定位点）
+ }
+
+ // 获取指定轴的所有定位点
+ const auto& positions = it->second.positions;
+
+ // 确定分页范围
+ int startIndex = (pageNumber - 1) * pageSize;
+ int endIndex = startIndex + pageSize;
+
+ // 如果 currentIndex 超过了当前页的范围，返回无效的 PositionRange
+ if (currentIndex < 0 || currentIndex >= pageSize || currentIndex + startIndex >= positions.size()) {
+ return PositionRange(); // 返回无效的定位点
+ }
+
+ // 返回指定定位点（考虑分页）
+ return positions[startIndex + currentIndex];
+}
--
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