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/Servo/CPageGraph1.cpp | 264 ++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 222 insertions(+), 42 deletions(-)
diff --git a/SourceCode/Bond/Servo/CPageGraph1.cpp b/SourceCode/Bond/Servo/CPageGraph1.cpp
index 70fefb3..60f2ac4 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 } },
@@ -41,6 +38,11 @@
#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)
@@ -48,11 +50,32 @@
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�
+
+ // ===== 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()
@@ -77,6 +100,15 @@
// 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()
{
@@ -148,8 +180,8 @@
{
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());
@@ -251,7 +283,12 @@
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;
@@ -300,6 +337,8 @@
{
CDialogEx::OnDestroy();
+ KillTimer(TIMER_ID_ROBOT_STATUS);
+
if (m_hbrBkgnd != nullptr) {
::DeleteObject(m_hbrBkgnd);
}
@@ -308,6 +347,9 @@
m_pObserver->unsubscribe();
m_pObserver = NULL;
}
+
+ SaveArmOffset("ARM1", m_arm1Offset);
+ SaveArmOffset("ARM2", m_arm2Offset);
}
void CPageGraph1::OnSize(UINT nType, int cx, int cy)
@@ -354,10 +396,10 @@
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);
@@ -371,10 +413,10 @@
// 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);
@@ -402,12 +444,12 @@
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);
@@ -461,6 +503,55 @@
// 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::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)
@@ -469,43 +560,37 @@
// 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);
+ StartRobotMoveToPosition(SERVO::ROBOT_POSITION::Port1);
}
else if (pGraphNmhdr->dwData == INDICATE_LPORT2) {
- MoveRobotToPosition(SERVO::ROBOT_POSITION::Port2);
+ StartRobotMoveToPosition(SERVO::ROBOT_POSITION::Port2);
}
else if (pGraphNmhdr->dwData == INDICATE_LPORT3) {
- MoveRobotToPosition(SERVO::ROBOT_POSITION::Port3);
+ StartRobotMoveToPosition(SERVO::ROBOT_POSITION::Port3);
}
else if (pGraphNmhdr->dwData == INDICATE_LPORT4) {
- MoveRobotToPosition(SERVO::ROBOT_POSITION::Port4);
+ StartRobotMoveToPosition(SERVO::ROBOT_POSITION::Port4);
}
else if (pGraphNmhdr->dwData == INDICATE_ALIGNER) {
- MoveRobotToPosition(SERVO::ROBOT_POSITION::Aligner);
+ StartRobotMoveToPosition(SERVO::ROBOT_POSITION::Aligner);
}
else if (pGraphNmhdr->dwData == INDICATE_FLIPER) {
- MoveRobotToPosition(SERVO::ROBOT_POSITION::Fliper);
+ StartRobotMoveToPosition(SERVO::ROBOT_POSITION::Fliper);
}
else if (pGraphNmhdr->dwData == INDICATE_BONDER1) {
- MoveRobotToPosition(SERVO::ROBOT_POSITION::Bonder1);
+ StartRobotMoveToPosition(SERVO::ROBOT_POSITION::Bonder1);
}
else if (pGraphNmhdr->dwData == INDICATE_BONDER2) {
- MoveRobotToPosition(SERVO::ROBOT_POSITION::Bonder2);
+ StartRobotMoveToPosition(SERVO::ROBOT_POSITION::Bonder2);
}
else if (pGraphNmhdr->dwData == INDICATE_VACUUM_BAKE) {
- MoveRobotToPosition(SERVO::ROBOT_POSITION::Bake);
+ StartRobotMoveToPosition(SERVO::ROBOT_POSITION::Bake);
}
else if (pGraphNmhdr->dwData == INDICATE_BAKE_COOLING) {
- MoveRobotToPosition(SERVO::ROBOT_POSITION::Cooling);
+ StartRobotMoveToPosition(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);
+ StartRobotMoveToPosition(SERVO::ROBOT_POSITION::Measurement);
}
*pResult = 0;
@@ -513,14 +598,20 @@
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);
}
@@ -538,6 +629,95 @@
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();
+ 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);
+ }
+ }
+ 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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