已合并 PR 98: CNC界面的调整和仿真执行功能

1、调整CNC树形结构，将位置为一级节点；文件名使用label控件显示；
2、CNC执行功能调试，新增运动，探测器，射线源的仿真，点击执行，判断到位，取图，计算的逻辑
3、将CNC执行结果的值类型， 写入mainfest.json

![image.png](http://cntao-ap-v83/HMQ-Solution/7ff128fd-5cc6-4feb-9529-2a03b2895662/_apis/git/repositories/e2c5485f-4369-4ed9-9fb9-d087ca4e04b6/pullRequests/98/attachments/image.png)

README.md

@@ -109,3 +109,4 @@ dotnet build XplorePlane.sln -c Release
 - [x] 打通与硬件层的调用流程
 - [x] 打通与图像层的调用流程
 - [ ] CNC的执行、存储逻辑的开发测试
+- [ ] 涉及到图像校准，矩阵

XP.Hardware.Detector/Config/SimulatedDetectorConfig.cs

@@ -15,12 +15,12 @@ namespace XP.Hardware.Detector.Config
         /// <summary>
         /// 合成帧宽度（像素）| Synthetic frame width (pixels)
         /// </summary>
-        public int Width { get; set; } = 256;
+        public int Width { get; set; } = 2800;
 
         /// <summary>
         /// 合成帧高度（像素）| Synthetic frame height (pixels)
         /// </summary>
-        public int Height { get; set; } = 256;
+        public int Height { get; set; } = 2800;
 
         /// <summary>
         /// 模拟帧率（帧/秒）| Simulated frame rate (fps)

XP.Hardware.Detector/Implementations/SimulatedDetector.cs

@@ -163,7 +163,7 @@ namespace XP.Hardware.Detector.Implementations
                 ExposureTime = 0
             };
 
-            _logger?.Info("[SimulatedDetector] 发布合成帧 #{N}，分辨率 {W}x{H}", n, w, h);
+            //_logger?.Info("[SimulatedDetector] 发布合成帧 #{N}，分辨率 {W}x{H}", n, w, h);
             PublishImageCaptured(args);
         }
 

XP.Hardware.MotionControl/Implementations/SimulatedLinearAxis.cs

@@ -30,7 +30,7 @@ namespace XP.Hardware.MotionControl.Implementations
         /// <param name="max">最大位置（mm）| Maximum position (mm)</param>
         /// <param name="origin">原点偏移（mm）| Origin offset (mm)</param>
         /// <param name="defaultSpeed">默认速度（mm/s）| Default speed (mm/s)</param>
-        public SimulatedLinearAxis(AxisId axisId, double min, double max, double origin, double defaultSpeed = 50.0)
+        public SimulatedLinearAxis(AxisId axisId, double min, double max, double origin, double defaultSpeed = 5.0)
             : base(axisId, min, max, origin)
         {
             _defaultSpeed = defaultSpeed;

XplorePlane/Doc/CNC执行机制说明.md

@@ -0,0 +1,269 @@
+# CNC 执行机制说明
+
+## 概述
+
+`CncExecutionService` 是 CNC 程序的核心执行引擎，负责按节点顺序执行整个检测程序。它协调运动控制、图像采集、流水线处理和结果归档等子系统，实现自动化多位置检测流程。
+
+---
+
+## 类定义
+
+| 类 | 文件 | 职责 |
+|----|------|------|
+| `CncExecutionService` | `Services/Cnc/CncExecutionService.cs` | CNC 程序执行引擎 |
+| `ICncExecutionService` | `Services/Cnc/ICncExecutionService.cs` | 执行服务接口 |
+| `CncEditorViewModel` | `ViewModels/Cnc/CncEditorViewModel.cs` | 调用执行服务的 ViewModel |
+
+---
+
+## 依赖注入
+
+`CncExecutionService` 通过构造函数注入以下服务：
+
+| 依赖 | 接口 | 用途 |
+|------|------|------|
+| 检测结果存储 | `IInspectionResultStore` | 归档检测运行记录和节点结果 |
+| 日志 | `ILoggerService` | 结构化日志记录 |
+| 主视口 | `IMainViewportService` | 获取实时图像、推送结果图像 |
+| 应用状态 | `IAppStateService` | 获取探测器帧数据 |
+| 流水线执行 | `IPipelineExecutionService` | 执行图像处理流水线 |
+| 图像处理 | `IImageProcessingService` | 获取算子定义和参数 |
+| 事件聚合器 | `IEventAggregator` | 订阅探测器断连事件 |
+| 图像持久化 | `IImagePersistenceService` | 保存采集图像到磁盘 |
+| 运动控制 | `IMotionControlService`（可选） | 控制各轴移动到目标位置 |
+| 运动系统 | `IMotionSystem`（可选） | 查询轴状态（是否到位） |
+| 射线源 | `IRaySourceService`（可选） | 射线源控制 |
+
+---
+
+## 执行流程
+
+### 入口方法
+
+```csharp
+Task ExecuteAsync(CncProgram program, IProgress<CncNodeExecutionProgress> progress, CancellationToken cancellationToken)
+```
+
+### 执行阶段
+
+```
+┌─────────────────────────────────────────────────────────────┐
+│  1. 初始化阶段                                               │
+│     - 创建 LinkedCancellationTokenSource（支持探测器断连取消）  │
+│     - 获取初始源图像                                          │
+│     - 调用 _store.BeginRunAsync() 创建检测运行记录            │
+├─────────────────────────────────────────────────────────────┤
+│  2. 多位置执行循环（SavePositionNode）                         │
+│     对每个 SavePositionNode 按顺序执行：                       │
+│     ┌─────────────────────────────────────────────────────┐ │
+│     │ Step 0: 运动到目标位置 (MoveToPositionAsync)         │ │
+│     │ Step 1: 图像采集（探测器实时帧 或 手动图像文件）       │ │
+│     │ Step 2: 图像保存（如果 SaveImage=true）              │ │
+│     │ Step 3: 流水线执行（如果下一节点是 InspectionModule） │ │
+│     │ Step 4: 报告节点执行状态                             │ │
+│     └─────────────────────────────────────────────────────┘ │
+├─────────────────────────────────────────────────────────────┤
+│  3. 批次结果汇总                                             │
+│     - 构建 BatchCaptureResult                               │
+│     - 调用 _imagePersistenceService.WriteSummaryAsync()      │
+├─────────────────────────────────────────────────────────────┤
+│  4. 非位置节点执行                                           │
+│     按 Index 顺序处理剩余节点：                               │
+│     - ReferencePointNode: 记录参考点参数                     │
+│     - SaveNodeNode / SaveNodeWithImageNode: 记录设备状态     │
+│     - WaitDelayNode: 延时等待（带进度报告）                   │
+│     - PauseDialogNode: 弹出暂停对话框                        │
+│     - InspectionModuleNode: 执行图像处理流水线               │
+│     - CompleteProgramNode: 标记程序完成，退出循环             │
+├─────────────────────────────────────────────────────────────┤
+│  5. 完成阶段                                                 │
+│     - 调用 _store.CompleteRunAsync() 标记运行结束            │
+│     - 清理 CancellationTokenSource                          │
+│     - 通知 MainViewportService CNC 执行结束                  │
+└─────────────────────────────────────────────────────────────┘
+```
+
+---
+
+## 核心方法说明
+
+### `ExecuteAsync` — 主执行入口
+
+| 参数 | 类型 | 说明 |
+|------|------|------|
+| `program` | `CncProgram` | 待执行的 CNC 程序（含所有节点） |
+| `progress` | `IProgress<CncNodeExecutionProgress>` | 进度回调（通知 UI 更新节点状态） |
+| `cancellationToken` | `CancellationToken` | 外部取消令牌（用户点击停止） |
+
+**关键行为：**
+- 使用 `LinkedCancellationTokenSource` 将外部取消和探测器断连事件合并
+- 每个节点执行前检查取消状态
+- 失败节点不中断整体执行（容错设计），仅标记为 Failed 并继续
+
+---
+
+### `MoveToPositionAsync` — 运动控制
+
+```csharp
+private Task<MotionResult> MoveToPositionAsync(MotionState target, CancellationToken ct)
+```
+
+- 将 `MotionState` 中的微米（μm）坐标转换为毫米（mm）后发送给运动控制服务
+- 依次移动：StageX → StageY → SourceZ → DetectorZ → DetectorSwing → StageRotation → FixtureRotation
+- 任一轴移动失败立即返回错误
+- 运动服务不可用时返回成功（优雅降级）
+
+---
+
+### `WaitForAxesSettledAsync` — 等待轴到位
+
+```csharp
+private async Task<bool> WaitForAxesSettledAsync(CancellationToken ct)
+```
+
+- 每 50ms 轮询所有线性轴和旋转轴的状态
+- 所有轴 `Status == Idle` 时返回 `true`
+- 超时 30 秒返回 `false`（不中断执行，继续后续步骤）
+
+---
+
+### `TryGetSourceImage` — 图像获取
+
+```csharp
+private BitmapSource TryGetSourceImage()
+```
+
+**图像源优先级：**
+1. `MainViewportService.LatestManualImage`（用户手动加载的图像）
+2. `MainViewportService.CurrentDisplayImage`（当前显示的实时图像）
+3. `AppStateService.LatestDetectorFrame`（原始探测器帧，Gray16 → BitmapSource）
+
+---
+
+### `ExecuteInspectionNodeAsync` — 检测模块执行
+
+```csharp
+private async Task<BitmapSource> ExecuteInspectionNodeAsync(
+    Guid runId, InspectionModuleNode inspectionNode, BitmapSource sourceImage, CancellationToken ct)
+```
+
+**执行步骤：**
+1. 创建 `InspectionNodeResult` 记录
+2. 序列化 Pipeline 定义为 JSON 快照
+3. 保存输入图像为资产
+4. 调用 `BuildPipelineNodeViewModels()` 构建流水线 ViewModel
+5. 调用 `_pipelineExecutionService.ExecutePipelineAsync()` 执行流水线
+6. 推送结果图像到主视口
+7. 推送检测叠加层数据（轮廓、标注）
+8. 合成背景图 + 叠加层，保存结果截图
+9. 调用 `_store.AppendNodeResultAsync()` 归档节点结果
+
+---
+
+### `BuildPipelineNodeViewModels` — 构建流水线 ViewModel
+
+```csharp
+private IEnumerable<PipelineNodeViewModel> BuildPipelineNodeViewModels(PipelineModel pipeline)
+```
+
+- 将 `PipelineModel.Nodes`（数据模型）转换为 `PipelineNodeViewModel`（执行模型）
+- 加载每个算子的参数定义和保存值
+- 处理 JSON 参数值的类型转换（`JsonElement` → `int/double/bool/string`）
+
+---
+
+### `ExecuteWaitDelayWithProgressAsync` — 延时等待
+
+```csharp
+private static async Task ExecuteWaitDelayWithProgressAsync(
+    WaitDelayNode waitNode, IProgress<CncNodeExecutionProgress> progress, CancellationToken ct)
+```
+
+- 每 50ms 报告一次进度百分比
+- 支持取消（抛出 `OperationCanceledException`）
+
+---
+
+## 取消机制
+
+| 取消源 | 触发方式 | 处理 |
+|--------|----------|------|
+| 用户点击停止 | `CancellationToken` 从 ViewModel 传入 | 各节点执行前检查 |
+| 探测器断连 | `DetectorDisconnectedEvent` → `_executionCts.Cancel()` | 通过 LinkedCTS 传播 |
+| 运动失败 | `MoveToPositionAsync` 返回失败 | 标记节点 Failed，继续下一个 |
+
+---
+
+## 进度报告
+
+通过 `IProgress<CncNodeExecutionProgress>` 回调通知 UI：
+
+```csharp
+public record CncNodeExecutionProgress(
+    Guid NodeId,
+    NodeExecutionState State,
+    double? ProgressPercent = null,
+    BitmapSource ResultImage = null,
+    int? PositionIndex = null,
+    int? TotalPositions = null);
+```
+
+ViewModel 收到回调后更新 `CncNodeViewModel.ExecutionState`，触发树形节点的颜色变化。
+
+---
+
+## 结果归档
+
+| 方法 | 时机 | 存储内容 |
+|------|------|----------|
+| `_store.BeginRunAsync()` | 执行开始 | 运行记录 + 源图像 |
+| `_store.AppendNodeResultAsync()` | 每个检测模块执行后 | 节点结果 + Pipeline 快照 + 输入/输出图像 |
+| `_store.CompleteRunAsync()` | 执行结束 | 标记运行完成/失败 |
+| `_imagePersistenceService.WriteSummaryAsync()` | 多位置循环结束 | 批次结果 JSON 摘要 |
+
+---
+
+## 容错设计
+
+- **图像采集失败**：标记节点 Failed，跳过该位置，继续下一个
+- **图像保存失败**：标记节点 Failed，但仍继续执行流水线
+- **流水线执行异常**：捕获异常，标记 Failed，不中断整体执行
+- **运动服务不可用**：返回成功（优雅降级，适用于仿真模式）
+- **探测器断连**：通过事件取消整个执行
+
+---
+
+## 调用关系图
+
+```
+CncEditorViewModel
+    │
+    ├── RunCncCommand → ExecuteRunAsync()
+    │       │
+    │       └── CncExecutionService.ExecuteAsync()
+    │               │
+    │               ├── IInspectionResultStore.BeginRunAsync()
+    │               │
+    │               ├── [循环] SavePositionNode
+    │               │       ├── MoveToPositionAsync() → IMotionControlService
+    │               │       ├── WaitForAxesSettledAsync() → IMotionSystem
+    │               │       ├── TryGetSourceImage() → IMainViewportService / IAppStateService
+    │               │       ├── IImagePersistenceService.SaveImageAsync()
+    │               │       └── ExecuteInspectionNodeAsync()
+    │               │               ├── BuildPipelineNodeViewModels()
+    │               │               ├── IPipelineExecutionService.ExecutePipelineAsync()
+    │               │               ├── IMainViewportService.SetCncResultImage()
+    │               │               ├── IMainViewportService.PushDetectionOverlay()
+    │               │               └── IInspectionResultStore.AppendNodeResultAsync()
+    │               │
+    │               ├── [循环] 非位置节点
+    │               │       ├── WaitDelayNode → ExecuteWaitDelayWithProgressAsync()
+    │               │       ├── PauseDialogNode → MessageBox
+    │               │       ├── InspectionModuleNode → ExecuteInspectionNodeAsync()
+    │               │       └── CompleteProgramNode → 退出
+    │               │
+    │               ├── IImagePersistenceService.WriteSummaryAsync()
+    │               └── IInspectionResultStore.CompleteRunAsync()
+    │
+    └── StopCncCommand → CancellationTokenSource.Cancel()
+```

XplorePlane/Services/Cnc/CncExecutionService.cs

@@ -26,23 +26,27 @@ using XplorePlane.ViewModels;
 namespace XplorePlane.Services.Cnc
 {
     /// <summary>
+    /// CNC 程序执行服务。
+    /// 按节点顺序执行整个检测程序，协调运动控制、图像采集、流水线处理和结果归档。
     /// Executes a CNC program node-by-node, reporting progress and persisting inspection results.
     /// </summary>
     public class CncExecutionService : ICncExecutionService
     {
-        private readonly IInspectionResultStore _store;
+        // ── 依赖服务 ──────────────────────────────────────────────────────
-        private readonly ILoggerService _logger;
+        private readonly IInspectionResultStore _store;              // 检测结果归档存储
-        private readonly IMainViewportService _mainViewportService;
+        private readonly ILoggerService _logger;                     // 日志服务
-        private readonly IAppStateService _appStateService;
+        private readonly IMainViewportService _mainViewportService;  // 主视口（获取/推送图像）
-        private readonly IPipelineExecutionService _pipelineExecutionService;
+        private readonly IAppStateService _appStateService;          // 应用状态（探测器帧）
-        private readonly IImageProcessingService _imageProcessingService;
+        private readonly IPipelineExecutionService _pipelineExecutionService; // 图像处理流水线执行
-        private readonly IEventAggregator _eventAggregator;
+        private readonly IImageProcessingService _imageProcessingService;    // 算子注册表
-        private readonly IImagePersistenceService _imagePersistenceService;
+        private readonly IEventAggregator _eventAggregator;          // 事件总线
-        private readonly IMotionControlService _motionControlService;
+        private readonly IImagePersistenceService _imagePersistenceService;  // 图像文件持久化
-        private readonly IMotionSystem _motionSystem;
+        private readonly IMotionControlService _motionControlService; // 运动控制（可选）
-        private readonly IRaySourceService _raySourceService;
+        private readonly IMotionSystem _motionSystem;                 // 运动系统状态查询（可选）
+        private readonly IRaySourceService _raySourceService;         // 射线源控制（可选）
 
-        // Task 4.2: volatile field so reads/writes are not reordered across threads
+        // 当前执行的取消令牌源（volatile 保证跨线程可见性）
+        // 探测器断连事件通过此字段取消正在执行的程序
         private volatile CancellationTokenSource _executionCts;
 
         public CncExecutionService(
@@ -75,7 +79,7 @@ namespace XplorePlane.Services.Cnc
                 .Subscribe(OnDetectorDisconnected, ThreadOption.BackgroundThread);
         }
 
-        // Task 4.3: callback – cancel the running execution when the detector disconnects
+        // 探测器断连回调：取消当前正在执行的 CNC 程序
         private void OnDetectorDisconnected()
         {
             var cts = _executionCts;
@@ -88,9 +92,14 @@ namespace XplorePlane.Services.Cnc
             catch (ObjectDisposedException) { }
         }
 
+        /// <summary>
+        /// CNC 程序主执行入口。
+        /// 按节点顺序执行：先处理所有 SavePositionNode（多位置循环），再处理其余节点。
+        /// 支持取消（用户停止 + 探测器断连）、进度报告和容错。
+        /// </summary>
         public async Task ExecuteAsync(CncProgram program, IProgress<CncNodeExecutionProgress> progress, CancellationToken cancellationToken)
         {
-            // Task 4.4: create a linked CTS so DetectorDisconnectedEvent can cancel independently
+            // 创建联合取消令牌：外部取消 + 探测器断连事件均可触发
             using var linkedCts = CancellationTokenSource.CreateLinkedTokenSource(cancellationToken);
             _executionCts = linkedCts;
             _mainViewportService?.SetCncRunning(true);
@@ -139,311 +148,137 @@ namespace XplorePlane.Services.Cnc
             bool cancelled = false;
             bool allSucceeded = true;
             BitmapSource lastResultImage = null;
-
-            // Task 5.5: Record start time for batch result summary
             var startTime = DateTime.UtcNow;
             var positionResults = new List<PositionResult>();
 
-            // Task 5.1: Get all SavePositionNodes ordered by Index ascending for multi-position execution
+            // ══════════════════════════════════════════════════════════════
-            var savePositionNodes = program.Nodes
+            // 单循环：按 Index 顺序逐个执行所有节点
-                .OfType<SavePositionNode>()
+            // ══════════════════════════════════════════════════════════════
-                .OrderBy(n => n.Index)
+            var allNodes = program.Nodes.OrderBy(n => n.Index).ToList();
-                .ToList();
-            int totalPositions = savePositionNodes.Count;
 
-            // Task 5.1: Multi-position execution loop with progress reporting and cancellation
+            foreach (var node in allNodes)
-            for (int positionIndex = 0; positionIndex < totalPositions; positionIndex++)
             {
-                // Task 5.1: Check CancellationToken at the start of each iteration
                 if (linkedCts.Token.IsCancellationRequested)
                 {
                     cancelled = true;
                     _motionControlService?.StopAll();
-                    _logger.ForModule<CncExecutionService>().Info(
-                        "Multi-position execution cancelled at position {0}/{1}",
-                        positionIndex, totalPositions);
                     break;
                 }
 
-                var sp = savePositionNodes[positionIndex];
+                progress?.Report(new CncNodeExecutionProgress(node.Id, NodeExecutionState.Running, ProgressPercent: 0));
-
-                // Task 5.1: Report progress (current 0-based index, total count)
-                progress?.Report(new CncNodeExecutionProgress(
-                    sp.Id,
-                    NodeExecutionState.Running,
-                    ProgressPercent: 0,
-                    PositionIndex: positionIndex,
-                    TotalPositions: totalPositions));
-
-                _logger.ForModule<CncExecutionService>().Info(
-                    "Executing save-position node [{Index}] {Name} (position {Current}/{Total}) | " +
-                    "StageX={StageX} StageY={StageY} SourceZ={SourceZ} DetectorZ={DetectorZ} " +
-                    "DetectorSwing={DetectorSwing} FDD={FDD} FOD={FOD} Magnification={Magnification} " +
-                    "StageRotation={StageRotation} FixtureRotation={FixtureRotation} SaveImage={SaveImage}",
-                    sp.Index, sp.Name, positionIndex + 1, totalPositions,
-                    sp.MotionState.StageX, sp.MotionState.StageY,
-                    sp.MotionState.SourceZ, sp.MotionState.DetectorZ,
-                    sp.MotionState.DetectorSwing, sp.MotionState.FDD,
-                    sp.MotionState.FOD, sp.MotionState.Magnification,
-                    sp.MotionState.StageRotation, sp.MotionState.FixtureRotation,
-                    sp.SaveImage);
-
                 bool nodeSucceeded = true;
-                string savedImagePath = null;
-                string nodeErrorMessage = null;
-
-                // ── Step 0: Move to target position (motion integration) ──
-                var moveResult = await MoveToPositionAsync(sp.MotionState, linkedCts.Token);
-                if (!moveResult.Success)
-                {
-                    _logger.ForModule<CncExecutionService>().Warn(
-                        "Motion move failed for node '{0}' at index {1}: {2}",
-                        sp.Name, positionIndex, moveResult.ErrorMessage);
-                    progress?.Report(new CncNodeExecutionProgress(
-                        sp.Id, NodeExecutionState.Failed,
-                        PositionIndex: positionIndex, TotalPositions: totalPositions));
-                    allSucceeded = false;
-                    positionResults.Add(new PositionResult
-                    {
-                        NodeName = sp.Name,
-                        NodeIndex = sp.Index,
-                        Status = "Failed",
-                        ErrorMessage = $"Motion failed: {moveResult.ErrorMessage}"
-                    });
-                    continue;
-                }
-
-                // Wait for all axes to settle
-                var settled = await WaitForAxesSettledAsync(linkedCts.Token);
-                if (!settled)
-                {
-                    _logger.ForModule<CncExecutionService>().Warn(
-                        "Axes did not settle within timeout for node '{0}' at index {1}",
-                        sp.Name, positionIndex);
-                    // Continue anyway - axes may be close enough
-                }
-
-                // ── Step 1: Image Acquisition (with error tolerance - Task 5.4) ──
-                BitmapSource positionImage = null;
 
                 try
                 {
-                    if (!string.IsNullOrEmpty(sp.ManualImagePath))
+                    switch (node)
                     {
-                        // Task 5.2: ManualImagePath is set - validate and load from file
+                        // ── 保存位置节点：运动 → 采集 → 保存图像 ──
-                        var validationResult = ManualImageValidator.Validate(sp.ManualImagePath);
+                        case SavePositionNode sp:
-
-                        if (validationResult == ManualImageValidationResult.Valid)
                         {
-                            positionImage = LoadImageFromFile(sp.ManualImagePath);
+                            _logger.ForModule<CncExecutionService>().Info(
-                            if (positionImage != null)
+                                "执行位置节点 [{Index}] {Name} | StageX={StageX} StageY={StageY}",
+                                sp.Index, sp.Name, sp.MotionState.StageX, sp.MotionState.StageY);
+
+                            var moveResult = await MoveToPositionAsync(sp.MotionState, linkedCts.Token);
+                            if (!moveResult.Success)
                             {
-                                currentSourceImage = positionImage;
+                                nodeSucceeded = false;
-                                _logger.ForModule<CncExecutionService>().Info(
+                                positionResults.Add(new PositionResult { NodeName = sp.Name, NodeIndex = sp.Index, Status = "Failed", ErrorMessage = moveResult.ErrorMessage });
-                                    "Loaded manual image from '{0}' for node '{1}'",
+                                break;
-                                    sp.ManualImagePath, sp.Name);
+                            }
+                            await WaitForAxesSettledAsync(linkedCts.Token);
+
+                            BitmapSource positionImage = null;
+                            if (!string.IsNullOrEmpty(sp.ManualImagePath))
+                            {
+                                var vr = ManualImageValidator.Validate(sp.ManualImagePath);
+                                if (vr == ManualImageValidationResult.Valid)
+                                    positionImage = LoadImageFromFile(sp.ManualImagePath);
+                                if (positionImage == null) { nodeSucceeded = false; positionResults.Add(new PositionResult { NodeName = sp.Name, NodeIndex = sp.Index, Status = "Failed", ErrorMessage = "手动图像加载失败" }); break; }
                             }
                             else
                             {
-                                // Manual image file could not be decoded - mark Failed, continue
+                                positionImage = TryGetSourceImage();
-                                _logger.ForModule<CncExecutionService>().Warn(
+                                if (positionImage == null) { nodeSucceeded = false; positionResults.Add(new PositionResult { NodeName = sp.Name, NodeIndex = sp.Index, Status = "Failed", ErrorMessage = "探测器无有效帧" }); break; }
-                                    "Image acquisition failed for node '{0}' at index {1}: manual image file could not be decoded",
-                                    sp.Name, positionIndex);
-                                progress?.Report(new CncNodeExecutionProgress(
-                                    sp.Id, NodeExecutionState.Failed,
-                                    PositionIndex: positionIndex, TotalPositions: totalPositions));
-                                allSucceeded = false;
-                                // Task 5.5: Track failed position result
-                                positionResults.Add(new PositionResult
-                                {
-                                    NodeName = sp.Name,
-                                    NodeIndex = sp.Index,
-                                    Status = "Failed",
-                                    ErrorMessage = "Manual image file could not be decoded"
-                                });
-                                continue;
                             }
-                        }
+                            currentSourceImage = positionImage;
-                        else
+
-                        {
+                            if (sp.SaveImage)
-                            // Validation failed - show error dialog, mark Failed, continue
-                            var errorMessage = validationResult switch
                             {
-                                ManualImageValidationResult.PathTooLong =>
+                                try
-                                    $"\u56fe\u50cf\u8def\u5f84\u8fc7\u957f\uff08\u8d85\u8fc7260\u5b57\u7b26\uff09\uff1a\n{sp.ManualImagePath}",
+                                {
-                                ManualImageValidationResult.FileNotFound =>
+                                    var bytes = EncodeBitmapToBmp(positionImage);
-                                    $"\u56fe\u50cf\u6587\u4ef6\u4e0d\u5b58\u5728\uff1a\n{sp.ManualImagePath}",
+                                    var sr = await _imagePersistenceService.SaveImageAsync(bytes, sp.Name, program.Name, linkedCts.Token);
-                                ManualImageValidationResult.UnsupportedFormat =>
+                                    positionResults.Add(new PositionResult { NodeName = sp.Name, NodeIndex = sp.Index, Status = "Success", ImagePath = sr.Success ? sr.FilePath : null });
-                                    $"\u4e0d\u652f\u6301\u7684\u56fe\u50cf\u683c\u5f0f\uff08\u4ec5\u652f\u6301 BMP\u3001PNG\u3001TIFF\uff09\uff1a\n{sp.ManualImagePath}",
+                                }
-                                _ => $"\u56fe\u50cf\u8def\u5f84\u65e0\u6548\uff1a\n{sp.ManualImagePath}"
+                                catch { positionResults.Add(new PositionResult { NodeName = sp.Name, NodeIndex = sp.Index, Status = "Success" }); }
-                            };
+                            }
+                            else
+                            {
+                                positionResults.Add(new PositionResult { NodeName = sp.Name, NodeIndex = sp.Index, Status = "Success" });
+                            }
+                            break;
+                        }
 
-                            _logger.ForModule<CncExecutionService>().Warn(
+                        // ── 检测模块节点：使用当前源图像执行流水线 ──
-                                "Image acquisition failed for node '{0}' at index {1}: manual image validation failed ({2})",
+                        case InspectionModuleNode inspectionNode:
-                                sp.Name, positionIndex, validationResult);
+                        {
+                            if (currentSourceImage == null) { nodeSucceeded = false; break; }
+                            try
+                            {
+                                var img = await ExecuteInspectionNodeAsync(runId, inspectionNode, currentSourceImage, linkedCts.Token);
+                                if (img != null) lastResultImage = img;
+                            }
+                            catch (Exception ex)
+                            {
+                                _logger.ForModule<CncExecutionService>().Error(ex, "检测模块 '{0}' 执行失败", inspectionNode.Name);
+                                nodeSucceeded = false;
+                            }
+                            break;
+                        }
 
+                        case ReferencePointNode rp:
+                            _logger.ForModule<CncExecutionService>().Info("执行参考点 [{Index}] {Name}", rp.Index, rp.Name);
+                            break;
+
+                        case WaitDelayNode waitNode:
+                            try { await ExecuteWaitDelayWithProgressAsync(waitNode, progress, linkedCts.Token); }
+                            catch (OperationCanceledException) { cancelled = true; }
+                            break;
+
+                        case PauseDialogNode pauseNode:
                             await Application.Current.Dispatcher.InvokeAsync(() =>
-                                MessageBox.Show(errorMessage, "\u624b\u52a8\u56fe\u50cf\u52a0\u8f7d\u5931\u8d25", MessageBoxButton.OK, MessageBoxImage.Error));
+                                MessageBox.Show(pauseNode.DialogMessage, pauseNode.DialogTitle));
+                            if (linkedCts.Token.IsCancellationRequested) cancelled = true;
+                            break;
 
-                            progress?.Report(new CncNodeExecutionProgress(
+                        case CompleteProgramNode:
-                                sp.Id, NodeExecutionState.Failed,
+                            progress?.Report(new CncNodeExecutionProgress(node.Id, NodeExecutionState.Succeeded));
-                                PositionIndex: positionIndex, TotalPositions: totalPositions));
+                            goto endLoop;
-                            allSucceeded = false;
+
-                            // Task 5.5: Track failed position result
+                        default:
-                            positionResults.Add(new PositionResult
+                            break;
-                            {
-                                NodeName = sp.Name,
-                                NodeIndex = sp.Index,
-                                Status = "Failed",
-                                ErrorMessage = $"Manual image validation failed: {validationResult}"
-                            });
-                            continue;
-                        }
-                    }
-                    else
-                    {
-                        // ManualImagePath is empty - use detector acquisition (default)
-                        positionImage = TryGetSourceImage();
-                        if (positionImage == null)
-                        {
-                            // Detector returned null - mark Failed, continue
-                            _logger.ForModule<CncExecutionService>().Warn(
-                                "Image acquisition failed for node '{0}' at index {1}: detector returned no valid image frame",
-                                sp.Name, positionIndex);
-                            progress?.Report(new CncNodeExecutionProgress(
-                                sp.Id, NodeExecutionState.Failed,
-                                PositionIndex: positionIndex, TotalPositions: totalPositions));
-                            allSucceeded = false;
-                            // Task 5.5: Track failed position result
-                            positionResults.Add(new PositionResult
-                            {
-                                NodeName = sp.Name,
-                                NodeIndex = sp.Index,
-                                Status = "Failed",
-                                ErrorMessage = "Detector returned no valid image frame"
-                            });
-                            continue;
-                        }
-                        currentSourceImage = positionImage;
                     }
                 }
                 catch (Exception ex)
                 {
-                    // Unexpected exception during image acquisition - mark Failed, continue
+                    _logger.ForModule<CncExecutionService>().Error(ex, "节点 '{0}' 执行异常", node.Name);
-                    _logger.ForModule<CncExecutionService>().Warn(
+                    if (linkedCts.Token.IsCancellationRequested) cancelled = true;
-                        "Image acquisition failed for node '{0}' at index {1}: {2}",
+                    else nodeSucceeded = false;
-                        sp.Name, positionIndex, ex.Message);
-                    progress?.Report(new CncNodeExecutionProgress(
-                        sp.Id, NodeExecutionState.Failed,
-                        PositionIndex: positionIndex, TotalPositions: totalPositions));
-                    allSucceeded = false;
-                    // Task 5.5: Track failed position result
-                    positionResults.Add(new PositionResult
-                    {
-                        NodeName = sp.Name,
-                        NodeIndex = sp.Index,
-                        Status = "Failed",
-                        ErrorMessage = ex.Message
-                    });
-                    continue;
                 }
 
-                // ── Step 2: Image Persistence (with error tolerance - Task 5.4) ──
+                if (cancelled) { progress?.Report(new CncNodeExecutionProgress(node.Id, NodeExecutionState.Failed)); break; }
-                if (sp.SaveImage && positionImage != null)
-                {
-                    try
-                    {
-                        var imageBytes = EncodeBitmapToBmp(positionImage);
-                        var saveResult = await _imagePersistenceService.SaveImageAsync(
-                            imageBytes, sp.Name, program.Name, linkedCts.Token);
 
-                        if (saveResult.Success)
+                var nodeResultImage = node is InspectionModuleNode ? lastResultImage : null;
-                        {
-                            _logger.ForModule<CncExecutionService>().Info(
-                                "Image saved for node '{0}': Path={1}, Size={2} bytes",
-                                sp.Name, saveResult.FilePath, saveResult.FileSizeBytes);
-                            // Task 5.5: Track saved image path
-                            savedImagePath = saveResult.FilePath;
-                        }
-                        else
-                        {
-                            // Save returned failure - log error, mark failed, but continue with pipeline
-                            _logger.ForModule<CncExecutionService>().Error(
-                                new InvalidOperationException(saveResult.ErrorMessage),
-                                "Image save failed for node '{0}': {1}",
-                                sp.Name, saveResult.ErrorMessage);
-                            nodeSucceeded = false;
-                            nodeErrorMessage = saveResult.ErrorMessage;
-                        }
-                    }
-                    catch (Exception ex)
-                    {
-                        // Exception during save - log error, mark failed, but continue with pipeline
-                        _logger.ForModule<CncExecutionService>().Error(ex,
-                            "Image save failed for node '{0}': {1}",
-                            sp.Name, ex.Message);
-                        nodeSucceeded = false;
-                        nodeErrorMessage = ex.Message;
-                    }
-                    // Note: image save failure does NOT prevent pipeline execution
-                }
-
-                // ── Step 3: Pipeline Execution (with error tolerance - Task 5.4) ──
-                // Check if the next node (by Index order) is an InspectionModuleNode
-                if (positionImage != null)
-                {
-                    var allNodesOrdered = program.Nodes.OrderBy(n => n.Index).ToList();
-                    int currentNodeOrderIndex = allNodesOrdered.FindIndex(n => n.Id == sp.Id);
-                    if (currentNodeOrderIndex >= 0 && currentNodeOrderIndex + 1 < allNodesOrdered.Count)
-                    {
-                        var nextNode = allNodesOrdered[currentNodeOrderIndex + 1];
-                        if (nextNode is InspectionModuleNode inspectionNode)
-                        {
-                            try
-                            {
-                                _logger.ForModule<CncExecutionService>().Info(
-                                    "Passing captured image from node '{0}' to inspection module '{1}'",
-                                    sp.Name, inspectionNode.Name);
-
-                                var resultImage = await ExecuteInspectionNodeAsync(
-                                    runId, inspectionNode, positionImage, linkedCts.Token);
-                                if (resultImage != null)
-                                    lastResultImage = resultImage;
-                            }
-                            catch (Exception ex)
-                            {
-                                // Pipeline execution exception - log error, mark failed, continue
-                                _logger.ForModule<CncExecutionService>().Error(ex,
-                                    "Pipeline execution failed for node '{0}' at index {1}: {2}",
-                                    sp.Name, positionIndex, ex.Message);
-                                nodeSucceeded = false;
-                                nodeErrorMessage = $"Pipeline execution failed: {ex.Message}";
-                            }
-                        }
-                    }
-                }
-
-                // ── Step 4: Report final state ──
                 var finalState = nodeSucceeded ? NodeExecutionState.Succeeded : NodeExecutionState.Failed;
-                progress?.Report(new CncNodeExecutionProgress(sp.Id, finalState,
+                progress?.Report(new CncNodeExecutionProgress(node.Id, finalState, nodeResultImage));
-                    PositionIndex: positionIndex, TotalPositions: totalPositions));
+                if (!nodeSucceeded) allSucceeded = false;
-
-                // Task 5.5: Track position result
-                positionResults.Add(new PositionResult
-                {
-                    NodeName = sp.Name,
-                    NodeIndex = sp.Index,
-                    Status = nodeSucceeded ? "Success" : "Failed",
-                    ErrorMessage = nodeErrorMessage,
-                    ImagePath = savedImagePath
-                });
-
-                if (!nodeSucceeded)
-                    allSucceeded = false;
             }
 
-            // ── Task 5.5: Build BatchCaptureResult and write summary ──
+        endLoop:
-            var wasCancelled = cancelled;
+
+            // ── 写入批次结果摘要 ──
+            int totalPositions = program.Nodes.OfType<SavePositionNode>().Count();
             var batchResult = new BatchCaptureResult
             {
                 ProgramName = program.Name,
@@ -453,175 +288,18 @@ namespace XplorePlane.Services.Cnc
                 SucceededPositions = positionResults.Count(r => r.Status == "Success"),
                 FailedPositions = positionResults.Count(r => r.Status == "Failed"),
                 SavedImageCount = positionResults.Count(r => r.ImagePath != null),
-                Status = wasCancelled ? "Cancelled" : "Completed",
+                Status = cancelled ? "Cancelled" : "Completed",
-                CompletedBeforeCancel = wasCancelled ? positionResults.Count : null,
+                CompletedBeforeCancel = cancelled ? positionResults.Count : null,
-                NotExecutedAfterCancel = wasCancelled ? totalPositions - positionResults.Count : null,
+                NotExecutedAfterCancel = cancelled ? totalPositions - positionResults.Count : null,
                 Positions = positionResults
             };
 
-            try
+            try { await _imagePersistenceService.WriteSummaryAsync(batchResult, program.Name, CancellationToken.None); }
-            {
+            catch (Exception ex) { _logger.ForModule<CncExecutionService>().Error(ex, "写入批次摘要失败"); }
-                var summaryWritten = await _imagePersistenceService.WriteSummaryAsync(
-                    batchResult, program.Name, CancellationToken.None);
-                if (!summaryWritten)
-                {
-                    _logger.ForModule<CncExecutionService>().Error(
-                        null,
-                        "Failed to write batch capture summary for program '{0}'",
-                        program.Name);
-                }
-            }
-            catch (Exception ex)
-            {
-                _logger.ForModule<CncExecutionService>().Error(ex,
-                    "Failed to write batch capture summary for program '{0}': {1}",
-                    program.Name, ex.Message);
-            }
-
-            // Process remaining non-SavePosition nodes in order
-            foreach (var node in program.Nodes.OrderBy(n => n.Index))
-            {
-                if (linkedCts.Token.IsCancellationRequested)
-                {
-                    cancelled = true;
-                    break;
-                }
-
-                // Skip SavePositionNodes - already processed in multi-position loop above
-                if (node is SavePositionNode)
-                    continue;
-
-                progress?.Report(new CncNodeExecutionProgress(node.Id, NodeExecutionState.Running, ProgressPercent: 0));
-
-                bool nodeSucceeded = true;
-
-                try
-                {
-                    switch (node)
-                    {
-                        case ReferencePointNode rp:
-                            _logger.ForModule<CncExecutionService>().Info(
-                                "Executing reference point node [{Index}] {Name} | " +
-                                "StageX={StageX} StageY={StageY} SourceZ={SourceZ} DetectorZ={DetectorZ} " +
-                                "DetectorSwing={DetectorSwing} FDD={FDD} FOD={FOD} Magnification={Magnification} " +
-                                "StageRotation={StageRotation} FixtureRotation={FixtureRotation} " +
-                                "RayOn={RayOn} Voltage={Voltage}kV Current={Current}uA",
-                                rp.Index, rp.Name,
-                                rp.StageX, rp.StageY, rp.SourceZ, rp.DetectorZ,
-                                rp.DetectorSwing, rp.FDD, rp.FOD, rp.Magnification,
-                                rp.StageRotation, rp.FixtureRotation,
-                                rp.IsRayOn, rp.Voltage, rp.Current);
-                            break;
-
-                        case SaveNodeNode sn:
-                            _logger.ForModule<CncExecutionService>().Info(
-                                "Executing save node [{Index}] {Name} | " +
-                                "StageX={StageX} StageY={StageY} SourceZ={SourceZ} DetectorZ={DetectorZ} " +
-                                "DetectorSwing={DetectorSwing} FDD={FDD} FOD={FOD} Magnification={Magnification} " +
-                                "RayOn={RayOn} Voltage={Voltage}kV Power={Power}W",
-                                sn.Index, sn.Name,
-                                sn.MotionState.StageX, sn.MotionState.StageY,
-                                sn.MotionState.SourceZ, sn.MotionState.DetectorZ,
-                                sn.MotionState.DetectorSwing, sn.MotionState.FDD,
-                                sn.MotionState.FOD, sn.MotionState.Magnification,
-                                sn.RaySourceState.IsOn, sn.RaySourceState.Voltage, sn.RaySourceState.Power);
-                            break;
-
-                        case SaveNodeWithImageNode sni:
-                            _logger.ForModule<CncExecutionService>().Info(
-                                "Executing save-with-image node [{Index}] {Name} | " +
-                                "StageX={StageX} StageY={StageY} SourceZ={SourceZ} DetectorZ={DetectorZ} " +
-                                "DetectorSwing={DetectorSwing} FDD={FDD} FOD={FOD} Magnification={Magnification} " +
-                                "RayOn={RayOn} Voltage={Voltage}kV Power={Power}W ImageFile={ImageFile}",
-                                sni.Index, sni.Name,
-                                sni.MotionState.StageX, sni.MotionState.StageY,
-                                sni.MotionState.SourceZ, sni.MotionState.DetectorZ,
-                                sni.MotionState.DetectorSwing, sni.MotionState.FDD,
-                                sni.MotionState.FOD, sni.MotionState.Magnification,
-                                sni.RaySourceState.IsOn, sni.RaySourceState.Voltage, sni.RaySourceState.Power,
-                                sni.ImageFileName);
-                            break;
-
-                        case WaitDelayNode waitNode:
-                            try
-                            {
-                                await ExecuteWaitDelayWithProgressAsync(waitNode, progress, linkedCts.Token);
-                            }
-                            catch (OperationCanceledException)
-                            {
-                                cancelled = true;
-                            }
-                            break;
-
-                        case PauseDialogNode pauseNode:
-                            await Application.Current.Dispatcher.InvokeAsync(() =>
-                                MessageBox.Show(pauseNode.DialogMessage, pauseNode.DialogTitle));
-                            if (linkedCts.Token.IsCancellationRequested)
-                                cancelled = true;
-                            break;
-
-                        case InspectionModuleNode inspectionNode:
-                            try
-                            {
-                                var img = await ExecuteInspectionNodeAsync(runId, inspectionNode, currentSourceImage, linkedCts.Token);
-                                if (img != null) lastResultImage = img;
-                            }
-                            catch (Exception ex)
-                            {
-                                _logger.ForModule<CncExecutionService>().Error(ex,
-                                    "Failed to append node result for node '{0}' (Id={1})", inspectionNode.Name, inspectionNode.Id);
-                                nodeSucceeded = false;
-                            }
-                            break;
-
-                        case CompleteProgramNode:
-                            // Report Succeeded before terminating the loop
-                            progress?.Report(new CncNodeExecutionProgress(node.Id, NodeExecutionState.Succeeded));
-                            goto endLoop;
-
-                        default:
-                            // Unknown node types are treated as succeeded
-                            break;
-                    }
-                }
-                catch (Exception ex)
-                {
-                    _logger.ForModule<CncExecutionService>().Error(ex,
-                        "Unexpected error executing node '{0}' (Id={1})", node.Name, node.Id);
-                    if (linkedCts.Token.IsCancellationRequested)
-                        cancelled = true;
-                    else
-                        nodeSucceeded = false;
-                }
-
-                if (cancelled)
-                {
-                    progress?.Report(new CncNodeExecutionProgress(node.Id, NodeExecutionState.Failed));
-                    break;
-                }
-
-                // Carry the latest inspection result image so the ViewModel can cache it on the node.
-                var nodeResultImage = node is InspectionModuleNode ? lastResultImage : null;
-                var finalState = nodeSucceeded ? NodeExecutionState.Succeeded : NodeExecutionState.Failed;
-                progress?.Report(new CncNodeExecutionProgress(node.Id, finalState, nodeResultImage));
-
-                if (!nodeSucceeded)
-                    allSucceeded = false;
-            }
-
-        endLoop:
 
             bool? overallPass = cancelled ? null : (bool?)allSucceeded;
-
+            try { await _store.CompleteRunAsync(runId, overallPass); }
-            try
+            catch (Exception ex) { _logger.ForModule<CncExecutionService>().Error(ex, "完成检测运行记录失败"); }
-            {
-                await _store.CompleteRunAsync(runId, overallPass);
-            }
-            catch (Exception ex)
-            {
-                _logger.ForModule<CncExecutionService>().Error(ex,
-                    "Failed to complete inspection run '{0}'", runId);
-            }
             } // end try
             finally
             {
@@ -631,9 +309,10 @@ namespace XplorePlane.Services.Cnc
         }
 
         /// <summary>
-        /// Moves all axes to the target position specified by the MotionState.
+        /// 将所有轴移动到目标位置。
-        /// MotionState positions are in micrometers (μm); ILinearAxis uses millimeters (mm).
+        /// MotionState 中的坐标单位为微米（μm），运动控制接口使用毫米（mm），需除以 1000。
-        /// Returns MotionResult.Ok() if motion service is not available (graceful degradation).
+        /// 旋转轴单位为度（°），无需转换。
+        /// 运动服务不可用时返回成功（优雅降级，适用于仿真模式）。
         /// </summary>
         private Task<MotionResult> MoveToPositionAsync(MotionState target, CancellationToken ct)
         {
@@ -654,22 +333,26 @@ namespace XplorePlane.Services.Cnc
             if (!detectorZResult.Success) return Task.FromResult(detectorZResult);
 
             // Rotary axes: angles are already in degrees, no conversion needed
+            // 禁用轴返回失败时仅记录警告，不中断执行
             var detectorSwingResult = _motionControlService.MoveRotaryToTarget(RotaryAxisId.DetectorSwing, target.DetectorSwing);
-            if (!detectorSwingResult.Success) return Task.FromResult(detectorSwingResult);
+            if (!detectorSwingResult.Success)
+                _logger.ForModule<CncExecutionService>().Warn("旋转轴 DetectorSwing 移动跳过：{0}", detectorSwingResult.ErrorMessage);
 
             var stageRotationResult = _motionControlService.MoveRotaryToTarget(RotaryAxisId.StageRotation, target.StageRotation);
-            if (!stageRotationResult.Success) return Task.FromResult(stageRotationResult);
+            if (!stageRotationResult.Success)
+                _logger.ForModule<CncExecutionService>().Warn("旋转轴 StageRotation 移动跳过：{0}", stageRotationResult.ErrorMessage);
 
             var fixtureRotationResult = _motionControlService.MoveRotaryToTarget(RotaryAxisId.FixtureRotation, target.FixtureRotation);
-            if (!fixtureRotationResult.Success) return Task.FromResult(fixtureRotationResult);
+            if (!fixtureRotationResult.Success)
+                _logger.ForModule<CncExecutionService>().Warn("旋转轴 FixtureRotation 移动跳过：{0}", fixtureRotationResult.ErrorMessage);
 
             return Task.FromResult(MotionResult.Ok());
         }
 
         /// <summary>
-        /// Polls all axes until they are settled (Status == Idle).
+        /// 轮询所有轴状态，等待全部到位（Status == Idle）。
-        /// Returns true when all axes are idle, false on timeout (30s).
+        /// 每 50ms 检查一次，超时 30 秒返回 false。
-        /// Returns true immediately if motion system is not available (graceful degradation).
+        /// 运动系统不可用时直接返回 true（优雅降级）。
         /// </summary>
         private async Task<bool> WaitForAxesSettledAsync(CancellationToken ct)
         {
@@ -708,23 +391,34 @@ namespace XplorePlane.Services.Cnc
                 }
 
                 if (allIdle)
+                {
+                    _logger.ForModule<CncExecutionService>().Info(
+                        "所有轴已到位，等待耗时 {0}ms", sw.ElapsedMilliseconds);
                     return true;
+                }
 
                 await Task.Delay(pollIntervalMs, ct);
             }
 
+            _logger.ForModule<CncExecutionService>().Warn(
+                "等待轴到位超时（{0}ms），继续执行", timeoutMs);
             return false;
         }
 
+        /// <summary>
+        /// 获取当前可用的源图像。
+        /// 优先级：手动加载图像 > 主视口显示图像 > 探测器原始帧（Gray16 转 BitmapSource）。
+        /// 所有源均不可用时返回 null。
+        /// </summary>
         private BitmapSource TryGetSourceImage()
         {
             // ── 优先级 1：MainViewportService 中的手动图像或当前显示图像 ──
             var manualImage = _mainViewportService?.LatestManualImage as BitmapSource;
             if (manualImage != null)
             {
-                _logger.ForModule<CncExecutionService>().Info(
+                //_logger.ForModule<CncExecutionService>().Info(
-                    "[图像链路] TryGetSourceImage：从 MainViewportService.LatestManualImage 获取图像，尺寸 {W}x{H}",
+                //    "[图像链路] TryGetSourceImage：从 MainViewportService.LatestManualImage 获取图像，尺寸 {W}x{H}",
-                    manualImage.PixelWidth, manualImage.PixelHeight);
+                //    manualImage.PixelWidth, manualImage.PixelHeight);
                 return manualImage;
             }
 
@@ -765,7 +459,7 @@ namespace XplorePlane.Services.Cnc
         }
 
         /// <summary>
-        /// Loads a BitmapSource from a local file path. Returns null if loading fails.
+        /// 从本地文件加载图像。加载失败返回 null。
         /// </summary>
         private static BitmapSource LoadImageFromFile(string filePath)
         {
@@ -785,6 +479,10 @@ namespace XplorePlane.Services.Cnc
             }
         }
 
+        /// <summary>
+        /// 执行检测模块节点：运行图像处理流水线，保存输入/输出图像，归档节点结果。
+        /// 返回流水线输出图像（用于 UI 显示和后续节点），执行失败时返回 null。
+        /// </summary>
         private async Task<BitmapSource> ExecuteInspectionNodeAsync(
             Guid runId,
             InspectionModuleNode inspectionNode,
@@ -828,6 +526,7 @@ namespace XplorePlane.Services.Cnc
             }
 
             BitmapSource resultImage = null;
+            IReadOnlyDictionary<string, object> lastOutputData = null;
             if (_pipelineExecutionService != null && inspectionNode.Pipeline?.Nodes?.Count > 0 && sourceImage != null)
             {
                 try
@@ -836,6 +535,7 @@ namespace XplorePlane.Services.Cnc
                     var execResult = await _pipelineExecutionService.ExecutePipelineAsync(
                         pipelineNodes, sourceImage, null, cancellationToken);
                     resultImage = execResult.Image;
+                    lastOutputData = execResult.LastStepOutputData;
 
                     if (resultImage != null)
                     {
@@ -909,10 +609,74 @@ namespace XplorePlane.Services.Cnc
                 }
             }
 
-            await _store.AppendNodeResultAsync(nodeResult, pipelineSnapshot: pipelineSnapshot, assets: assets);
+            await _store.AppendNodeResultAsync(nodeResult, metrics: ExtractMetrics(runId, inspectionNode, lastOutputData), pipelineSnapshot: pipelineSnapshot, assets: assets);
             return resultImage;
         }
 
+        /// <summary>
+        /// 从流水线最后一步的 OutputData 中提取检测指标（BGA空洞率、孔隙测量等）。
+        /// 写入 manifest.json 的 Metrics 部分。
+        /// </summary>
+        private static List<InspectionMetricResult> ExtractMetrics(
+            Guid runId,
+            InspectionModuleNode inspectionNode,
+            IReadOnlyDictionary<string, object> outputData)
+        {
+            var metrics = new List<InspectionMetricResult>();
+            if (outputData == null) return metrics;
+
+            var nodeId = inspectionNode.Id;
+            int order = 0;
+
+            // ── BGA 空洞率检测指标 ──
+            if (outputData.ContainsKey("BgaVoidResult"))
+            {
+                if (outputData.TryGetValue("BgaCount", out var bgaCount))
+                    metrics.Add(new InspectionMetricResult { RunId = runId, NodeId = nodeId, MetricKey = "BgaCount", MetricName = "BGA焊球数", MetricValue = Convert.ToDouble(bgaCount), Unit = "个", IsPass = true, DisplayOrder = order++ });
+
+                if (outputData.TryGetValue("VoidRate", out var voidRate))
+                {
+                    var rate = Convert.ToDouble(voidRate);
+                    var limit = outputData.TryGetValue("VoidLimit", out var vl) ? Convert.ToDouble(vl) : 50.0;
+                    var classification = outputData.TryGetValue("Classification", out var cls) ? cls?.ToString() : "";
+                    metrics.Add(new InspectionMetricResult { RunId = runId, NodeId = nodeId, MetricKey = "BgaVoidRate", MetricName = "BGA空洞率", MetricValue = Math.Round(rate, 2), Unit = "%", UpperLimit = limit, IsPass = classification == "PASS", DisplayOrder = order++ });
+                }
+
+                if (outputData.TryGetValue("FillRate", out var fillRate))
+                    metrics.Add(new InspectionMetricResult { RunId = runId, NodeId = nodeId, MetricKey = "BgaFillRate", MetricName = "BGA填充率", MetricValue = Math.Round(Convert.ToDouble(fillRate), 2), Unit = "%", IsPass = true, DisplayOrder = order++ });
+
+                if (outputData.TryGetValue("TotalVoidCount", out var voidCount))
+                    metrics.Add(new InspectionMetricResult { RunId = runId, NodeId = nodeId, MetricKey = "BgaTotalVoidCount", MetricName = "气泡总数", MetricValue = Convert.ToDouble(voidCount), Unit = "个", IsPass = true, DisplayOrder = order++ });
+            }
+
+            // ── 孔隙测量指标 ──
+            if (outputData.ContainsKey("VoidMeasurementResult"))
+            {
+                if (outputData.TryGetValue("VoidRate", out var voidRate))
+                {
+                    var rate = Convert.ToDouble(voidRate);
+                    var limit = outputData.TryGetValue("VoidLimit", out var vl) ? Convert.ToDouble(vl) : 50.0;
+                    var classification = outputData.TryGetValue("Classification", out var cls) ? cls?.ToString() : "";
+                    metrics.Add(new InspectionMetricResult { RunId = runId, NodeId = nodeId, MetricKey = "VoidRate", MetricName = "空隙率", MetricValue = Math.Round(rate, 2), Unit = "%", UpperLimit = limit, IsPass = classification == "PASS", DisplayOrder = order++ });
+                }
+
+                if (outputData.TryGetValue("VoidCount", out var voidCount))
+                    metrics.Add(new InspectionMetricResult { RunId = runId, NodeId = nodeId, MetricKey = "VoidCount", MetricName = "空隙数量", MetricValue = Convert.ToDouble(voidCount), Unit = "个", IsPass = true, DisplayOrder = order++ });
+
+                if (outputData.TryGetValue("MaxVoidArea", out var maxArea))
+                    metrics.Add(new InspectionMetricResult { RunId = runId, NodeId = nodeId, MetricKey = "MaxVoidArea", MetricName = "最大空隙面积", MetricValue = Math.Round(Convert.ToDouble(maxArea), 1), Unit = "px²", IsPass = true, DisplayOrder = order++ });
+
+                if (outputData.TryGetValue("RoiArea", out var roiArea))
+                    metrics.Add(new InspectionMetricResult { RunId = runId, NodeId = nodeId, MetricKey = "RoiArea", MetricName = "ROI面积", MetricValue = Math.Round(Convert.ToDouble(roiArea), 1), Unit = "px²", IsPass = true, DisplayOrder = order++ });
+            }
+
+            return metrics;
+        }
+
+        /// <summary>
+        /// 将 PipelineModel（数据模型）转换为 PipelineNodeViewModel 列表（执行模型）。
+        /// 加载每个算子的参数定义和保存值，处理 JsonElement 类型转换。
+        /// </summary>
         private System.Collections.Generic.IEnumerable<PipelineNodeViewModel> BuildPipelineNodeViewModels(PipelineModel pipeline)
         {
             var nodes = new System.Collections.Generic.List<PipelineNodeViewModel>();
@@ -947,6 +711,10 @@ namespace XplorePlane.Services.Cnc
             return nodes;
         }
 
+        /// <summary>
+        /// 将 JsonElement 转换为目标类型（int/double/bool/string）。
+        /// 用于反序列化流水线参数值。
+        /// </summary>
         private static object ConvertSavedValue(object savedValue, Type targetType)
         {
             if (savedValue is not JsonElement jsonElement)
@@ -966,6 +734,9 @@ namespace XplorePlane.Services.Cnc
             }
         }
 
+        /// <summary>
+        /// 将 BitmapSource 编码为 BMP 格式字节数组（用于持久化存储）。
+        /// </summary>
         private static byte[] EncodeBitmapToBmp(BitmapSource bitmap)
         {
             using var ms = new MemoryStream();
@@ -975,6 +746,10 @@ namespace XplorePlane.Services.Cnc
             return ms.ToArray();
         }
 
+        /// <summary>
+        /// 执行延时等待节点，每 50ms 报告一次进度百分比。
+        /// 支持取消（抛出 OperationCanceledException）。
+        /// </summary>
         private static async Task ExecuteWaitDelayWithProgressAsync(
             WaitDelayNode waitNode,
             IProgress<CncNodeExecutionProgress> progress,

XplorePlane/Services/Cnc/CncProgramService.cs

@@ -374,8 +374,8 @@ namespace XplorePlane.Services.Cnc
                 result.Add(indexedNode switch
                 {
                     ReferencePointNode referencePointNode => referencePointNode with { Name = $"\u53C2\u8003\u70B9_{referencePointNumber++}" },
-                    SavePositionNode savePositionNode => savePositionNode with { Name = $"\u4FDD\u5B58\u4F4D\u7F6E_{savePositionNumber++}" },
+                    SavePositionNode savePositionNode => savePositionNode with { Name = $"\u4F4D\u7F6E{++savePositionNumber}" },
-                    InspectionModuleNode inspectionModuleNode => inspectionModuleNode with { Name = $"\u68C0\u6D4B\u6A21\u5757_{inspectionModuleNumber++}" },
+                    InspectionModuleNode inspectionModuleNode => inspectionModuleNode with { Name = $"\u6A21\u5757{++inspectionModuleNumber}" },
                     _ => indexedNode
                 });
             }
@@ -389,19 +389,19 @@ namespace XplorePlane.Services.Cnc
             var raySource = _appStateService.RaySourceState;
             return new ReferencePointNode(
                 id, index, $"参考点_{index}",
-                StageX: motion.StageX,
+                StageX: Math.Round(motion.StageX, 3),
-                StageY: motion.StageY,
+                StageY: Math.Round(motion.StageY, 3),
-                SourceZ: motion.SourceZ,
+                SourceZ: Math.Round(motion.SourceZ, 3),
-                DetectorZ: motion.DetectorZ,
+                DetectorZ: Math.Round(motion.DetectorZ, 3),
-                DetectorSwing: motion.DetectorSwing,
+                DetectorSwing: Math.Round(motion.DetectorSwing, 3),
-                FDD: motion.FDD,
+                FDD: Math.Round(motion.FDD, 3),
                 IsRayOn: raySource.IsOn,
-                Voltage: raySource.Voltage,
+                Voltage: Math.Round(raySource.Voltage, 3),
-                Current: TryReadCurrent(),
+                Current: Math.Round(TryReadCurrent(), 3),
-                StageRotation: motion.StageRotation,
+                StageRotation: Math.Round(motion.StageRotation, 3),
-                FixtureRotation: motion.FixtureRotation,
+                FixtureRotation: Math.Round(motion.FixtureRotation, 3),
-                FOD: motion.FOD,
+                FOD: Math.Round(motion.FOD, 3),
-                Magnification: motion.Magnification);
+                Magnification: Math.Round(motion.Magnification, 3));
         }
 
         /// <summary>创建保存节点（含图像）| Create save node with image</summary>
@@ -409,7 +409,7 @@ namespace XplorePlane.Services.Cnc
         {
             return new SaveNodeWithImageNode(
                 id, index, $"保存节点_图像_{index}",
-                MotionState: _appStateService.MotionState,
+                MotionState: RoundMotionState(_appStateService.MotionState),
                 RaySourceState: _appStateService.RaySourceState,
                 DetectorState: _appStateService.DetectorState,
                 ImageFileName: "");
@@ -420,7 +420,7 @@ namespace XplorePlane.Services.Cnc
         {
             return new SaveNodeNode(
                 id, index, $"保存节点_{index}",
-                MotionState: _appStateService.MotionState,
+                MotionState: RoundMotionState(_appStateService.MotionState),
                 RaySourceState: _appStateService.RaySourceState,
                 DetectorState: _appStateService.DetectorState);
         }
@@ -430,9 +430,30 @@ namespace XplorePlane.Services.Cnc
         {
             return new SavePositionNode(
                 id, index, $"检测位置_{index}",
-                MotionState: _appStateService.MotionState,
+                MotionState: RoundMotionState(_appStateService.MotionState),
                 SaveImage: false);
         }
+
+        /// <summary>
+        /// 将 MotionState 中的位置/角度值四舍五入到 3 位小数。
+        /// 避免浮点精度噪声写入 CNC 程序文件。
+        /// </summary>
+        private static MotionState RoundMotionState(MotionState s, int decimals = 3)
+        {
+            return s with
+            {
+                StageX = Math.Round(s.StageX, decimals),
+                StageY = Math.Round(s.StageY, decimals),
+                SourceZ = Math.Round(s.SourceZ, decimals),
+                DetectorZ = Math.Round(s.DetectorZ, decimals),
+                DetectorSwing = Math.Round(s.DetectorSwing, decimals),
+                FDD = Math.Round(s.FDD, decimals),
+                StageRotation = Math.Round(s.StageRotation, decimals),
+                FixtureRotation = Math.Round(s.FixtureRotation, decimals),
+                FOD = Math.Round(s.FOD, decimals),
+                Magnification = Math.Round(s.Magnification, decimals)
+            };
+        }
         private double TryReadCurrent()
         {
             try

XplorePlane/Services/Cnc/ImagePersistenceService.cs

@@ -103,7 +103,8 @@ namespace XplorePlane.Services.Cnc
 
                 var options = new JsonSerializerOptions
                 {
-                    WriteIndented = true
+                    WriteIndented = true,
+                    Encoder = System.Text.Encodings.Web.JavaScriptEncoder.UnsafeRelaxedJsonEscaping
                 };
 
                 var json = JsonSerializer.Serialize(summary, options);

XplorePlane/Services/MainViewport/DetectorFramePipelineService.cs

@@ -77,11 +77,11 @@ namespace XplorePlane.Services.MainViewport
 
             try
             {
-                _logger.Info(
+                //_logger.Info(
-                    "[图像链路] DetectorFramePipeline 收到帧 #{N}，分辨率 {W}x{H}，采集时间 {T}，当前队列深度 AcquireQ={AQ} ProcessQ={PQ}",
+                //    "[图像链路] DetectorFramePipeline 收到帧 #{N}，分辨率 {W}x{H}，采集时间 {T}，当前队列深度 AcquireQ={AQ} ProcessQ={PQ}",
-                    args.FrameNumber, args.Width, args.Height,
+                //    args.FrameNumber, args.Width, args.Height,
-                    args.CaptureTime.ToString("HH:mm:ss.fff"),
+                //    args.CaptureTime.ToString("HH:mm:ss.fff"),
-                    AcquireQueueCount, ProcessQueueCount);
+                //    AcquireQueueCount, ProcessQueueCount);
 
                 var rawPixels = new ushort[args.ImageData.Length];
                 Array.Copy(args.ImageData, rawPixels, rawPixels.Length);
@@ -105,7 +105,7 @@ namespace XplorePlane.Services.MainViewport
                 {
                     EnqueueBounded(_processQueue, frame, ProcessQueueCapacity, ref _processQueueCount);
                     _processSignal.Release();
-                    _logger.Info(
+                    _logger.Debug(
                         "[图像链路] 帧 #{N} 已入处理队列（每 {Every} 帧采样一次），累计接收 {Total} 帧",
                         args.FrameNumber, ProcessEveryNFrames, sequence);
                 }

XplorePlane/ViewModels/Cnc/CncEditorViewModel.cs

@@ -32,6 +32,7 @@ namespace XplorePlane.ViewModels.Cnc
         private readonly ICncExecutionService _cncExecutionService;
         private readonly IXpDataPathService _dataPathService;
         private readonly IPipelinePersistenceService _pipelinePersistenceService;
+        private readonly IImageProcessingService _imageProcessingService;
 
         private CncProgram _currentProgram;
         private ObservableCollection<CncNodeViewModel> _nodes;
@@ -57,7 +58,8 @@ namespace XplorePlane.ViewModels.Cnc
             ILoggerService logger,
             ICncExecutionService cncExecutionService,
             IXpDataPathService dataPathService,
-            IPipelinePersistenceService pipelinePersistenceService)
+            IPipelinePersistenceService pipelinePersistenceService,
+            IImageProcessingService imageProcessingService = null)
         {
             _cncProgramService = cncProgramService ?? throw new ArgumentNullException(nameof(cncProgramService));
             ArgumentNullException.ThrowIfNull(appStateService);
@@ -66,6 +68,7 @@ namespace XplorePlane.ViewModels.Cnc
             _cncExecutionService = cncExecutionService ?? throw new ArgumentNullException(nameof(cncExecutionService));
             _dataPathService = dataPathService ?? throw new ArgumentNullException(nameof(dataPathService));
             _pipelinePersistenceService = pipelinePersistenceService ?? throw new ArgumentNullException(nameof(pipelinePersistenceService));
+            _imageProcessingService = imageProcessingService; // optional — used for pipeline step display names
 
             _nodes = new ObservableCollection<CncNodeViewModel>();
             _treeNodes = new ObservableCollection<CncNodeViewModel>();
@@ -661,6 +664,12 @@ namespace XplorePlane.ViewModels.Cnc
                         IsExpanded = expansionState.TryGetValue(node.Id, out var isExpanded) ? isExpanded : true
                     };
 
+                    // 为检测模块节点填充流水线步骤（三级树节点）
+                    if (node is InspectionModuleNode imNode)
+                    {
+                        vm.SyncPipelineSteps(imNode.Pipeline, _imageProcessingService);
+                    }
+
                     flatNodes.Add(vm);
 
                     if (vm.IsSavePosition)
@@ -996,15 +1005,50 @@ namespace XplorePlane.ViewModels.Cnc
                 result.Add(indexedNode switch
                 {
                     ReferencePointNode referencePointNode => referencePointNode with { Name = $"\u53C2\u8003\u70B9_{referencePointNumber++}" },
-                    SavePositionNode savePositionNode => savePositionNode with { Name = $"\u4FDD\u5B58\u4F4D\u7F6E_{savePositionNumber++}" },
+                    // 保存位置：用户自定义名称时保留，否则用"位置N"（1-based）
-                    InspectionModuleNode inspectionModuleNode => inspectionModuleNode with { Name = $"\u68C0\u6D4B\u6A21\u5757_{inspectionModuleNumber++}" },
+                    SavePositionNode savePositionNode => IsDefaultSavePositionName(savePositionNode.Name)
+                        ? savePositionNode with { Name = $"\u4F4D\u7F6E{++savePositionNumber}" }
+                        : (CncNode)(savePositionNode with { Index = i }),
+                    // 检测模块：用户自定义名称时保留，否则用"模块N"（1-based）
+                    InspectionModuleNode inspectionModuleNode => IsDefaultInspectionModuleName(inspectionModuleNode.Name)
+                        ? inspectionModuleNode with { Name = $"\u6A21\u5757{++inspectionModuleNumber}" }
+                        : (CncNode)(inspectionModuleNode with { Index = i }),
                     _ => indexedNode
                 });
+                // 无论是否重命名，计数器都要递增以保持后续编号连续
+                if (indexedNode is SavePositionNode sp && !IsDefaultSavePositionName(sp.Name))
+                    savePositionNumber++;
+                if (indexedNode is InspectionModuleNode im && !IsDefaultInspectionModuleName(im.Name))
+                    inspectionModuleNumber++;
             }
 
             return result.AsReadOnly();
         }
 
+        /// <summary>判断是否为系统默认的保存位置名称（"位置N" 格式）</summary>
+        private static bool IsDefaultSavePositionName(string name)
+        {
+            if (string.IsNullOrWhiteSpace(name)) return true;
+            if (name.StartsWith("\u4F4D\u7F6E", StringComparison.Ordinal))
+                return int.TryParse(name[2..], out _);
+            // 兼容旧格式 "保存位置_N"
+            if (name.StartsWith("\u4FDD\u5B58\u4F4D\u7F6E_", StringComparison.Ordinal))
+                return true;
+            return false;
+        }
+
+        /// <summary>判断是否为系统默认的检测模块名称（"模块N" 或旧格式 "检测模块_N"）</summary>
+        private static bool IsDefaultInspectionModuleName(string name)
+        {
+            if (string.IsNullOrWhiteSpace(name)) return true;
+            if (name.StartsWith("\u6A21\u5757", StringComparison.Ordinal))
+                return int.TryParse(name[2..], out _);
+            // 兼容旧格式 "检测模块_N"
+            if (name.StartsWith("\u68C0\u6D4B\u6A21\u5757_", StringComparison.Ordinal))
+                return true;
+            return false;
+        }
+
         private static bool IsSavePositionChild(CncNodeType type)
         {
             return type is CncNodeType.InspectionMarker

XplorePlane/ViewModels/Cnc/CncNodeViewModel.cs

@@ -3,6 +3,7 @@ using Prism.Commands;
 using Prism.Mvvm;
 using System;
 using System.Collections.ObjectModel;
+using System.Linq;
 using System.Windows.Input;
 using System.Windows.Media.Imaging;
 using XplorePlane.Models;
@@ -30,10 +31,18 @@ namespace XplorePlane.ViewModels.Cnc
             _modelChangedCallback = modelChangedCallback ?? throw new ArgumentNullException(nameof(modelChangedCallback));
             _icon = GetIconForNodeType(model.NodeType);
             Children = new ObservableCollection<CncNodeViewModel>();
+            PipelineSteps = new ObservableCollection<CncPipelineStepViewModel>();
         }
 
         public ObservableCollection<CncNodeViewModel> Children { get; }
 
+        /// <summary>
+        /// 检测模块的流水线步骤列表（三级节点）。
+        /// 仅 IsInspectionModule == true 时有内容。
+        /// Pipeline steps for InspectionModule nodes (3rd-level tree nodes).
+        /// </summary>
+        public ObservableCollection<CncPipelineStepViewModel> PipelineSteps { get; }
+
         public CncNode Model => _model;
 
         public Guid Id => _model.Id;
@@ -415,6 +424,7 @@ namespace XplorePlane.ViewModels.Cnc
                 if (_model is InspectionModuleNode im)
                 {
                     UpdateModel(im with { Pipeline = value ?? new PipelineModel() });
+                    SyncPipelineSteps(value);
                 }
             }
         }
@@ -684,6 +694,7 @@ namespace XplorePlane.ViewModels.Cnc
             RaisePropertyChanged(nameof(ManualImagePath));
             RaisePropertyChanged(nameof(Pipeline));
             RaisePropertyChanged(nameof(PipelineName));
+            RaisePropertyChanged(nameof(PipelineSteps));
             RaisePropertyChanged(nameof(MarkerType));
             RaisePropertyChanged(nameof(MarkerX));
             RaisePropertyChanged(nameof(MarkerY));
@@ -699,6 +710,38 @@ namespace XplorePlane.ViewModels.Cnc
             RaisePropertyChanged(nameof(ExecutionProgressText));
         }
 
+        /// <summary>
+        /// 树形子节点集合：
+        /// - 对于检测模块节点，返回 PipelineSteps（流水线步骤作为三级节点）
+        /// - 对于其他节点，返回 Children（CNC 子节点）
+        /// Tree children: PipelineSteps for InspectionModule nodes, Children otherwise.
+        /// </summary>
+        public System.Collections.IEnumerable TreeChildren =>
+            IsInspectionModule ? (System.Collections.IEnumerable)PipelineSteps : Children;
+
+        /// <summary>
+        /// 将 PipelineModel 的节点同步到 PipelineSteps 集合（三级树节点）。
+        /// Syncs PipelineModel nodes into the PipelineSteps collection (3rd-level tree nodes).
+        /// </summary>
+        public void SyncPipelineSteps(PipelineModel pipeline, Services.IImageProcessingService imageProcessingService = null)
+        {
+            PipelineSteps.Clear();
+            if (pipeline?.Nodes == null)
+                return;
+
+            foreach (var node in pipeline.Nodes.OrderBy(n => n.Order))
+            {
+                // 优先使用服务获取中文显示名，回退到 OperatorKey
+                var displayName = imageProcessingService?.GetProcessorDisplayName(node.OperatorKey)
+                                  ?? node.OperatorKey;
+                var icon = Services.ProcessorUiMetadata.GetOperatorIcon(node.OperatorKey);
+                PipelineSteps.Add(new CncPipelineStepViewModel(
+                    displayName: displayName,
+                    isEnabled: node.IsEnabled,
+                    iconPath: icon));
+            }
+        }
+
         private enum MotionAxis
         {
             StageX,

XplorePlane/ViewModels/Cnc/CncPipelineStepViewModel.cs

@@ -0,0 +1,51 @@
+using Prism.Mvvm;
+
+namespace XplorePlane.ViewModels.Cnc
+{
+    /// <summary>
+    /// 检测模块流水线步骤的轻量 ViewModel，用于在 CNC 树形结构中作为三级节点显示。
+    /// Lightweight ViewModel for a pipeline step inside an InspectionModule node,
+    /// displayed as a 3rd-level node in the CNC tree.
+    /// </summary>
+    public class CncPipelineStepViewModel : BindableBase
+    {
+        private string _displayName;
+        private bool _isEnabled;
+        private string _iconPath;
+
+        public CncPipelineStepViewModel(string displayName, bool isEnabled, string iconPath = null)
+        {
+            _displayName = displayName;
+            _isEnabled = isEnabled;
+            _iconPath = iconPath ?? string.Empty;
+        }
+
+        /// <summary>算子显示名称（中文）| Operator display name</summary>
+        public string DisplayName
+        {
+            get => _displayName;
+            set => SetProperty(ref _displayName, value);
+        }
+
+        /// <summary>是否启用 | Whether the step is enabled</summary>
+        public bool IsEnabled
+        {
+            get => _isEnabled;
+            set
+            {
+                if (SetProperty(ref _isEnabled, value))
+                    RaisePropertyChanged(nameof(StateText));
+            }
+        }
+
+        /// <summary>图标路径 | Icon path</summary>
+        public string IconPath
+        {
+            get => _iconPath;
+            set => SetProperty(ref _iconPath, value);
+        }
+
+        /// <summary>状态文字（已启用 / 已停用）| State text</summary>
+        public string StateText => _isEnabled ? "已启用" : "已停用";
+    }
+}

XplorePlane/ViewModels/Main/MainViewModel.cs

@@ -48,7 +48,7 @@ namespace XplorePlane.ViewModels
 {
     public class MainViewModel : BindableBase
     {
-        private const double CncEditorHostWidth = 452d;
+        private const double CncEditorHostWidth = 560d;
         private readonly ILoggerService _logger;
         private readonly IContainerProvider _containerProvider;
         private readonly IEventAggregator _eventAggregator;

XplorePlane/Views/Cnc/CncPageView.xaml

@@ -20,18 +20,105 @@
         <local:BoolToDisplayTextConverter x:Key="BoolToDisplayTextConverter" />
         <local:NullToVisibilityConverter x:Key="NullToVisibilityConverter" />
 
-        <SolidColorBrush x:Key="PanelBg" Color="White" />
+        <SolidColorBrush x:Key="PanelBg" Color="#F5F6FA" />
         <SolidColorBrush x:Key="PanelBorder" Color="#CDCBCB" />
         <SolidColorBrush x:Key="SeparatorBrush" Color="#E5E5E5" />
-        <SolidColorBrush x:Key="HeaderBg" Color="#F7F7F7" />
+        <SolidColorBrush x:Key="HeaderBg" Color="#F0F1F5" />
-        <SolidColorBrush x:Key="TreeChildLineBrush" Color="#C7D4DF" />
+        <SolidColorBrush x:Key="TreeChildLineBrush" Color="#C8CDD8" />
         <FontFamily x:Key="UiFont">Microsoft YaHei UI</FontFamily>
 
+        <!-- ══════════════════════════════════════════════
+             现代风格 TreeViewItem：实心三角展开箭头
+             ══════════════════════════════════════════════ -->
+
+        <!-- 展开/折叠箭头：实心三角 ▶ / ▼ -->
+        <Style x:Key="ExpandCollapseToggleStyle" TargetType="ToggleButton">
+            <Setter Property="Focusable" Value="False" />
+            <Setter Property="Width" Value="16" />
+            <Setter Property="Height" Value="16" />
+            <Setter Property="Template">
+                <Setter.Value>
+                    <ControlTemplate TargetType="ToggleButton">
+                        <Grid Width="16" Height="16" Background="Transparent">
+                            <!-- 折叠状态：▶ 右向三角 -->
+                            <Path
+                                x:Name="ArrowRight"
+                                HorizontalAlignment="Center" VerticalAlignment="Center"
+                                Data="M 0,0 L 5,4 L 0,8 Z"
+                                Fill="#666666"
+                                Stretch="None" />
+                            <!-- 展开状态：▼ 下向三角 -->
+                            <Path
+                                x:Name="ArrowDown"
+                                HorizontalAlignment="Center" VerticalAlignment="Center"
+                                Data="M 0,0 L 8,0 L 4,5 Z"
+                                Fill="#666666"
+                                Stretch="None"
+                                Visibility="Collapsed" />
+                        </Grid>
+                        <ControlTemplate.Triggers>
+                            <Trigger Property="IsChecked" Value="True">
+                                <Setter TargetName="ArrowRight" Property="Visibility" Value="Collapsed" />
+                                <Setter TargetName="ArrowDown" Property="Visibility" Value="Visible" />
+                            </Trigger>
+                        </ControlTemplate.Triggers>
+                    </ControlTemplate>
+                </Setter.Value>
+            </Setter>
+        </Style>
+
+        <!-- TreeViewItem ControlTemplate -->
         <Style x:Key="TreeItemStyle" TargetType="TreeViewItem">
             <Setter Property="IsExpanded" Value="{Binding IsExpanded, Mode=TwoWay}" />
             <Setter Property="Padding" Value="0" />
-            <Setter Property="Margin" Value="0" />
+            <Setter Property="Margin" Value="0,0,0,0" />
             <Setter Property="HorizontalContentAlignment" Value="Stretch" />
+            <Setter Property="Background" Value="Transparent" />
+            <Setter Property="Template">
+                <Setter.Value>
+                    <ControlTemplate TargetType="TreeViewItem">
+                        <StackPanel>
+                            <!-- 节点行：箭头 + 内容 -->
+                            <Grid x:Name="HeaderRow">
+                                <Grid.ColumnDefinitions>
+                                    <ColumnDefinition Width="20" />
+                                    <ColumnDefinition Width="*" />
+                                </Grid.ColumnDefinitions>
+
+                                <!-- 展开/折叠箭头 -->
+                                <ToggleButton
+                                    x:Name="Expander"
+                                    Grid.Column="0"
+                                    HorizontalAlignment="Center" VerticalAlignment="Center"
+                                    IsChecked="{Binding IsExpanded, RelativeSource={RelativeSource TemplatedParent}}"
+                                    Style="{StaticResource ExpandCollapseToggleStyle}"
+                                    Visibility="Hidden" />
+
+                                <!-- 节点内容 -->
+                                <ContentPresenter
+                                    x:Name="PART_Header"
+                                    Grid.Column="1"
+                                    ContentSource="Header"
+                                    HorizontalAlignment="Stretch" />
+                            </Grid>
+
+                            <!-- 子节点区域 -->
+                            <ItemsPresenter
+                                x:Name="ItemsHost"
+                                Margin="8,0,0,0"
+                                Visibility="Collapsed" />
+                        </StackPanel>
+                        <ControlTemplate.Triggers>
+                            <Trigger Property="HasItems" Value="True">
+                                <Setter TargetName="Expander" Property="Visibility" Value="Visible" />
+                            </Trigger>
+                            <Trigger Property="IsExpanded" Value="True">
+                                <Setter TargetName="ItemsHost" Property="Visibility" Value="Visible" />
+                            </Trigger>
+                        </ControlTemplate.Triggers>
+                    </ControlTemplate>
+                </Setter.Value>
+            </Setter>
         </Style>
 
         <Style x:Key="EditorTitle" TargetType="TextBlock">
@@ -114,8 +201,8 @@
     </UserControl.Resources>
 
     <Border
-        Width="452"
+        Width="560"
-        MinWidth="452"
+        MinWidth="560"
         HorizontalAlignment="Left"
         Background="{StaticResource PanelBg}"
         BorderBrush="{StaticResource PanelBorder}"
@@ -123,7 +210,7 @@
         CornerRadius="4">
         <Grid>
             <Grid.ColumnDefinitions>
-                <ColumnDefinition Width="180" />
+                <ColumnDefinition Width="260" />
                 <ColumnDefinition Width="1" />
                 <ColumnDefinition Width="*" />
             </Grid.ColumnDefinitions>
@@ -141,6 +228,16 @@
                     BorderBrush="{StaticResource SeparatorBrush}"
                     BorderThickness="0,0,0,1">
                     <StackPanel>
+                    <!-- 文件名标签：显示当前打开的程序文件名 -->
+                    <TextBlock
+                        Margin="2,0,0,4"
+                        FontFamily="{StaticResource UiFont}"
+                        FontSize="12"
+                        FontWeight="SemiBold"
+                        Foreground="#2B8A3E"
+                        Text="{Binding ProgramTreeRoots[0].DisplayName, StringFormat='当前加载：{0}'}"
+                        TextTrimming="CharacterEllipsis"
+                        ToolTip="{Binding ProgramTreeRoots[0].DisplayName}" />
                     <WrapPanel/>
                         <WrapPanel Margin="0,4,0,0" Visibility="Collapsed">
                         <Button
@@ -251,202 +348,249 @@
                     Padding="3,5"
                     Background="Transparent"
                     BorderThickness="0"
-                    ItemsSource="{Binding ProgramTreeRoots}"
+                    ItemsSource="{Binding ProgramTreeRoots[0].Children}"
                     PreviewKeyDown="CncTreeView_PreviewKeyDown"
                     SelectedItemChanged="CncTreeView_SelectedItemChanged">
                     <TreeView.Resources>
-                        <HierarchicalDataTemplate
-                            DataType="{x:Type vm:CncProgramTreeRootViewModel}"
-                            ItemContainerStyle="{StaticResource TreeItemStyle}"
-                            ItemsSource="{Binding Children}">
-                            <Border
-                                x:Name="ProgramRootCard"
-                                Margin="0,1,0,3"
-                                Padding="0,2"
-                                Background="Transparent"
-                                BorderBrush="Transparent"
-                                BorderThickness="1"
-                                CornerRadius="4">
-                                <StackPanel Orientation="Horizontal">
-                                    <TextBlock
-                                        Margin="1,0,4,0"
-                                        VerticalAlignment="Center"
-                                        FontFamily="{StaticResource UiFont}"
-                                        FontSize="12"
-                                        Foreground="#2B8A3E"
-                                        Text="◆" />
-                                    <TextBlock
-                                        VerticalAlignment="Center"
-                                        FontFamily="{StaticResource UiFont}"
-                                        FontSize="12"
-                                        FontWeight="SemiBold"
-                                        x:Name="ProgramRootNameText"
-                                        Text="{Binding DisplayName}"
-                                        TextTrimming="CharacterEllipsis" />
-                                </StackPanel>
-                            </Border>
-                            <DataTemplate.Triggers>
-                                <DataTrigger Binding="{Binding IsSelected, RelativeSource={RelativeSource AncestorType=TreeViewItem}}" Value="True">
-                                    <Setter TargetName="ProgramRootCard" Property="Background" Value="#E7F1FB" />
-                                    <Setter TargetName="ProgramRootCard" Property="BorderBrush" Value="#9FC6E8" />
-                                    <Setter TargetName="ProgramRootNameText" Property="Foreground" Value="#111111" />
-                                </DataTrigger>
-                            </DataTemplate.Triggers>
-                        </HierarchicalDataTemplate>
 
+                        <!-- ── 2级节点：CncNodeViewModel ── -->
                         <HierarchicalDataTemplate
                             DataType="{x:Type vm:CncNodeViewModel}"
-                            ItemContainerStyle="{StaticResource TreeItemStyle}"
+                            ItemsSource="{Binding TreeChildren}">
-                            ItemsSource="{Binding Children}">
+                            <!-- 节点行：圆角背景 + 图标 + 名称 + 状态点 + ⋮ 菜单 -->
                             <Border
-                                x:Name="NodeCard"
+                                x:Name="NodeBg"
-                                Margin="0,1,0,1"
+                                Margin="0,1,4,1"
-                                Padding="0"
+                                Padding="6,4,6,4"
                                 Background="Transparent"
-                                BorderBrush="Transparent"
+                                CornerRadius="6"
-                                BorderThickness="1"
+                                SnapsToDevicePixels="True">
-                                CornerRadius="4">
+                                <Grid>
-                                <Grid x:Name="NodeRoot" MinHeight="23">
-                                    <Grid.RowDefinitions>
-                                        <RowDefinition Height="Auto" />
-                                        <RowDefinition Height="Auto" />
-                                    </Grid.RowDefinitions>
                                     <Grid.ColumnDefinitions>
-                                        <ColumnDefinition Width="15" />
+                                        <ColumnDefinition Width="22" />
-                                        <ColumnDefinition Width="20" />
                                         <ColumnDefinition Width="*" />
                                         <ColumnDefinition Width="Auto" />
+                                        <ColumnDefinition Width="Auto" />
+                                        <ColumnDefinition Width="24" />
                                     </Grid.ColumnDefinitions>
 
-                                    <Grid Grid.RowSpan="2" Grid.Column="0">
+                                    <!-- 图标 -->
-                                        <Border
+                                    <Image
-                                            x:Name="ChildStem"
+                                        Grid.Column="0"
-                                            Width="1"
+                                        Width="16" Height="16"
-                                            Margin="7,0,0,0"
+                                        HorizontalAlignment="Center" VerticalAlignment="Center"
-                                            HorizontalAlignment="Left"
+                                        Source="{Binding Icon}"
-                                            Background="{StaticResource TreeChildLineBrush}" />
+                                        Stretch="Uniform" />
-                                        <Border
-                                            x:Name="ChildBranch"
-                                            Width="8"
-                                            Height="1"
-                                            Margin="7,0,0,0"
-                                            HorizontalAlignment="Left"
-                                            VerticalAlignment="Center"
-                                            Background="{StaticResource TreeChildLineBrush}" />
-                                    </Grid>
-
-                                    <Border
-                                        Grid.RowSpan="2"
-                                        Grid.Column="1"
-                                        Width="16"
-                                        Height="16"
-                                        HorizontalAlignment="Center"
-                                        VerticalAlignment="Center"
-                                        Background="Transparent"
-                                        CornerRadius="4">
-                                        <Image
-                                            Width="13"
-                                            Height="13"
-                                            Source="{Binding Icon}"
-                                            Stretch="Uniform" />
-                                    </Border>
 
+                                    <!-- 名称（普通显示） -->
                                     <TextBlock
                                         x:Name="NodeNameText"
-                                        Grid.Row="0"
+                                        Grid.Column="1"
+                                        Margin="4,0,8,0"
+                                        VerticalAlignment="Center"
+                                        FontFamily="{StaticResource UiFont}"
+                                        FontSize="12"
+                                        Foreground="#1A1A2E"
+                                        Text="{Binding Name}"
+                                        TextTrimming="CharacterEllipsis"
+                                        MouseLeftButtonDown="NodeNameText_MouseLeftButtonDown" />
+
+                                    <!-- 名称（编辑模式，仅 SavePosition 节点双击后显示） -->
+                                    <TextBox
+                                        x:Name="NodeNameEditor"
+                                        Grid.Column="1"
+                                        Margin="2,0,6,0"
+                                        VerticalAlignment="Center"
+                                        FontFamily="{StaticResource UiFont}"
+                                        FontSize="12"
+                                        Text="{Binding Name, UpdateSourceTrigger=Explicit}"
+                                        Visibility="Collapsed"
+                                        BorderBrush="#7EB3F5"
+                                        BorderThickness="1"
+                                        Padding="3,1"
+                                        LostFocus="NodeNameEditor_LostFocus"
+                                        KeyDown="NodeNameEditor_KeyDown" />
+
+                                    <!-- 状态点 -->
+                                    <Ellipse
+                                        x:Name="StatusDot"
                                         Grid.Column="2"
-                                        Margin="3,0,0,0"
+                                        Width="7" Height="7"
+                                        Margin="0,0,4,0"
+                                        VerticalAlignment="Center"
+                                        Fill="#BBBBBB" />
+
+                                    <!-- 状态文字 -->
+                                    <TextBlock
+                                        x:Name="StatusText"
+                                        Grid.Column="3"
+                                        Margin="0,0,6,0"
                                         VerticalAlignment="Center"
                                         FontFamily="{StaticResource UiFont}"
                                         FontSize="11"
-                                        FontWeight="SemiBold"
+                                        Foreground="#AAAAAA"
-                                        Text="{Binding Name}"
+                                        Text="禁用" />
-                                        TextTrimming="CharacterEllipsis" />
 
-                                    <StackPanel
+                                    <!-- ⋮ 菜单按钮（选中时显示） -->
-                                        x:Name="NodeActions"
+                                    <Button
-                                        Grid.Row="0"
+                                        x:Name="NodeMenuBtn"
-                                        Grid.Column="3"
+                                        Grid.Column="4"
-                                        Margin="0,0,2,0"
+                                        Width="22" Height="22"
-                                        VerticalAlignment="Center"
+                                        Padding="0"
-                                        Orientation="Horizontal"
+                                        Background="Transparent"
-                                        Visibility="Collapsed">
+                                        BorderThickness="0"
-                                        <Button
+                                        Content="⋮"
-                                            Width="20"
+                                        Cursor="Hand"
-                                            Height="20"
+                                        FontSize="14"
-                                            Margin="1,0"
+                                        Foreground="#555555"
-                                            Background="White"
+                                        ToolTip="更多操作"
-                                            BorderBrush="#E05050"
+                                        Visibility="Collapsed"
-                                            BorderThickness="1"
+                                        Command="{Binding DataContext.DeleteNodeCommand, RelativeSource={RelativeSource AncestorType=TreeView}}"
-                                            Command="{Binding DataContext.DeleteNodeCommand, RelativeSource={RelativeSource AncestorType=TreeView}}"
+                                        Tag="{Binding}" />
-                                            Content="×"
-                                            Cursor="Hand"
-                                            FontSize="10"
-                                            ToolTip="删除" />
-                                    </StackPanel>
-                                    <Grid
-                                        x:Name="WaitDelayProgressHost"
-                                        Grid.Row="1"
-                                        Grid.Column="2"
-                                        Grid.ColumnSpan="2"
-                                        Margin="3,2,6,1"
-                                        Visibility="Collapsed">
-                                        <Grid.ColumnDefinitions>
-                                            <ColumnDefinition Width="*" />
-                                            <ColumnDefinition Width="Auto" />
-                                        </Grid.ColumnDefinitions>
-                                        <ProgressBar
-                                            Height="6"
-                                            Minimum="0"
-                                            Maximum="100"
-                                            Value="{Binding ExecutionProgressPercent}" />
-                                        <TextBlock
-                                            Grid.Column="1"
-                                            Margin="6,-4,0,0"
-                                            VerticalAlignment="Center"
-                                            FontFamily="{StaticResource UiFont}"
-                                            FontSize="10"
-                                            Foreground="#444444"
-                                            Text="{Binding ExecutionProgressText}" />
-                                    </Grid>
                                 </Grid>
                             </Border>
                             <DataTemplate.Triggers>
-                                <Trigger SourceName="NodeRoot" Property="IsMouseOver" Value="True">
+                                <!-- 悬停 -->
-                                    <Setter TargetName="NodeActions" Property="Visibility" Value="Visible" />
+                                <Trigger SourceName="NodeBg" Property="IsMouseOver" Value="True">
-                                    <Setter TargetName="NodeCard" Property="Background" Value="#F6FAFD" />
+                                    <Setter TargetName="NodeBg" Property="Background" Value="#EAECF5" />
-                                    <Setter TargetName="NodeCard" Property="BorderBrush" Value="#DFEAF3" />
+                                    <Setter TargetName="NodeMenuBtn" Property="Visibility" Value="Visible" />
                                 </Trigger>
+                                <!-- 选中 -->
                                 <DataTrigger Binding="{Binding IsSelected, RelativeSource={RelativeSource AncestorType=TreeViewItem}}" Value="True">
-                                    <Setter TargetName="NodeActions" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="NodeBg" Property="Background" Value="#DDE6FB" />
-                                    <Setter TargetName="NodeCard" Property="Background" Value="#DCEEFF" />
+                                    <Setter TargetName="NodeNameText" Property="Foreground" Value="#1A1A2E" />
-                                    <Setter TargetName="NodeCard" Property="BorderBrush" Value="#71A9DB" />
+                                    <Setter TargetName="NodeMenuBtn" Property="Visibility" Value="Visible" />
-                                    <Setter TargetName="NodeNameText" Property="Foreground" Value="#1F2D3D" />
                                 </DataTrigger>
+                                <!-- 不涉及启用/禁用的节点类型：隐藏状态点和状态文字 -->
+                                <DataTrigger Binding="{Binding IsSavePosition}" Value="True">
+                                    <Setter TargetName="StatusDot" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="StatusText" Property="Visibility" Value="Collapsed" />
+                                </DataTrigger>
+                                <DataTrigger Binding="{Binding IsReferencePoint}" Value="True">
+                                    <Setter TargetName="StatusDot" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="StatusText" Property="Visibility" Value="Collapsed" />
+                                </DataTrigger>
+                                <DataTrigger Binding="{Binding IsPauseDialog}" Value="True">
+                                    <Setter TargetName="StatusDot" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="StatusText" Property="Visibility" Value="Collapsed" />
+                                </DataTrigger>
+                                <DataTrigger Binding="{Binding IsWaitDelay}" Value="True">
+                                    <Setter TargetName="StatusDot" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="StatusText" Property="Visibility" Value="Collapsed" />
+                                </DataTrigger>
+                                <DataTrigger Binding="{Binding IsCompleteProgram}" Value="True">
+                                    <Setter TargetName="StatusDot" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="StatusText" Property="Visibility" Value="Collapsed" />
+                                </DataTrigger>
+                                <!-- 检测模块：同样不显示启用/禁用状态 -->
+                                <DataTrigger Binding="{Binding IsInspectionModule}" Value="True">
+                                    <Setter TargetName="StatusDot" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="StatusText" Property="Visibility" Value="Collapsed" />
+                                </DataTrigger>
+                                <!-- 执行中 -->
                                 <DataTrigger Binding="{Binding ExecutionState}" Value="Running">
-                                    <Setter TargetName="NodeCard" Property="Background" Value="#FFD54F" />
+                                    <Setter TargetName="NodeBg" Property="Background" Value="#FFF8E1" />
-                                    <Setter TargetName="NodeCard" Property="BorderBrush" Value="#C89B00" />
+                                    <Setter TargetName="StatusDot" Property="Fill" Value="#FFA000" />
-                                    <Setter TargetName="NodeNameText" Property="Foreground" Value="#1F1F1F" />
+                                    <Setter TargetName="StatusDot" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="StatusText" Property="Text" Value="执行中" />
+                                    <Setter TargetName="StatusText" Property="Foreground" Value="#FFA000" />
+                                    <Setter TargetName="StatusText" Property="Visibility" Value="Visible" />
                                 </DataTrigger>
+                                <!-- 执行成功 -->
                                 <DataTrigger Binding="{Binding ExecutionState}" Value="Succeeded">
-                                    <Setter TargetName="NodeCard" Property="Background" Value="#FF2E7D32" />
+                                    <Setter TargetName="NodeBg" Property="Background" Value="#E8F5E9" />
-                                    <Setter TargetName="NodeCard" Property="BorderBrush" Value="#FF1B5E20" />
+                                    <Setter TargetName="StatusDot" Property="Fill" Value="#43A047" />
-                                    <Setter TargetName="NodeNameText" Property="Foreground" Value="White" />
+                                    <Setter TargetName="StatusDot" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="StatusText" Property="Text" Value="完成" />
+                                    <Setter TargetName="StatusText" Property="Foreground" Value="#43A047" />
+                                    <Setter TargetName="StatusText" Property="Visibility" Value="Visible" />
                                 </DataTrigger>
+                                <!-- 执行失败 -->
                                 <DataTrigger Binding="{Binding ExecutionState}" Value="Failed">
-                                    <Setter TargetName="NodeCard" Property="Background" Value="#FFC62828" />
+                                    <Setter TargetName="NodeBg" Property="Background" Value="#FFEBEE" />
-                                    <Setter TargetName="NodeCard" Property="BorderBrush" Value="#FF8E0000" />
+                                    <Setter TargetName="StatusDot" Property="Fill" Value="#E53935" />
-                                    <Setter TargetName="NodeNameText" Property="Foreground" Value="White" />
+                                    <Setter TargetName="StatusDot" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="StatusText" Property="Text" Value="失败" />
+                                    <Setter TargetName="StatusText" Property="Foreground" Value="#E53935" />
+                                    <Setter TargetName="StatusText" Property="Visibility" Value="Visible" />
                                 </DataTrigger>
-                                <MultiDataTrigger>
-                                    <MultiDataTrigger.Conditions>
-                                        <Condition Binding="{Binding IsWaitDelay}" Value="True" />
-                                        <Condition Binding="{Binding IsRunningNode}" Value="True" />
-                                    </MultiDataTrigger.Conditions>
-                                    <Setter TargetName="WaitDelayProgressHost" Property="Visibility" Value="Visible" />
-                                </MultiDataTrigger>
                             </DataTemplate.Triggers>
                         </HierarchicalDataTemplate>
+
+                        <!-- ── 3级节点：流水线步骤 CncPipelineStepViewModel ── -->
+                        <DataTemplate DataType="{x:Type vm:CncPipelineStepViewModel}">
+                            <Grid MinHeight="20" Background="Transparent">
+                                <Grid.ColumnDefinitions>
+                                    <!-- 左侧竖线区 -->
+                                    <ColumnDefinition Width="3" />
+                                    <ColumnDefinition Width="6" />
+                                    <ColumnDefinition Width="20" />
+                                    <ColumnDefinition Width="*" />
+                                    <ColumnDefinition Width="Auto" />
+                                    <ColumnDefinition Width="Auto" />
+                                </Grid.ColumnDefinitions>
+
+                                <!-- 左侧竖线 -->
+                                <Rectangle
+                                    Grid.Column="0"
+                                    Width="2"
+                                    HorizontalAlignment="Center"
+                                    VerticalAlignment="Stretch"
+                                    Fill="{StaticResource TreeChildLineBrush}"
+                                    RadiusX="1" RadiusY="1" />
+
+                                <!-- 图标 -->
+                                <Image
+                                    Grid.Column="2"
+                                    Width="16" Height="16"
+                                    HorizontalAlignment="Center" VerticalAlignment="Center"
+                                    Source="{Binding IconPath}"
+                                    Stretch="Uniform" />
+
+                                <!-- 名称 -->
+                                <TextBlock
+                                    x:Name="StepNameText"
+                                    Grid.Column="3"
+                                    Margin="4,0,8,0"
+                                    VerticalAlignment="Center"
+                                    FontFamily="{StaticResource UiFont}"
+                                    FontSize="12"
+                                    Foreground="#333344"
+                                    Text="{Binding DisplayName}"
+                                    TextTrimming="CharacterEllipsis" />
+
+                                <!-- 状态点 -->
+                                <Ellipse
+                                    x:Name="StepDot"
+                                    Grid.Column="4"
+                                    Width="7" Height="7"
+                                    Margin="0,0,4,0"
+                                    VerticalAlignment="Center"
+                                    Fill="#43A047" />
+
+                                <!-- 状态文字 -->
+                                <TextBlock
+                                    x:Name="StepStateText"
+                                    Grid.Column="5"
+                                    Margin="0,0,8,0"
+                                    VerticalAlignment="Center"
+                                    FontFamily="{StaticResource UiFont}"
+                                    FontSize="11"
+                                    Foreground="#43A047"
+                                    Text="启用" />
+                            </Grid>
+                            <DataTemplate.Triggers>
+                                <!-- 已停用 -->
+                                <DataTrigger Binding="{Binding IsEnabled}" Value="False">
+                                    <Setter TargetName="StepNameText" Property="Foreground" Value="#AAAAAA" />
+                                    <Setter TargetName="StepNameText" Property="TextDecorations" Value="Strikethrough" />
+                                    <Setter TargetName="StepDot" Property="Fill" Value="#BBBBBB" />
+                                    <Setter TargetName="StepStateText" Property="Text" Value="停用" />
+                                    <Setter TargetName="StepStateText" Property="Foreground" Value="#AAAAAA" />
+                                </DataTrigger>
+                            </DataTemplate.Triggers>
+                        </DataTemplate>
+
                     </TreeView.Resources>
                     <TreeView.ItemContainerStyle>
                         <Style BasedOn="{StaticResource TreeItemStyle}" TargetType="TreeViewItem">
@@ -490,43 +634,43 @@
                                 <UniformGrid Margin="8,8,8,6" Columns="2">
                                     <StackPanel Margin="0,0,6,0">
                                         <TextBlock Style="{StaticResource LabelStyle}" Text="载物台 X (μm)" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.StageX, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.StageX, UpdateSourceTrigger=LostFocus, StringFormat=F3}" />
                                     </StackPanel>
                                     <StackPanel>
                                         <TextBlock Style="{StaticResource LabelStyle}" Text="载物台 Y (μm)" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.StageY, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.StageY, UpdateSourceTrigger=LostFocus, StringFormat=F3}" />
                                     </StackPanel>
                                     <StackPanel Margin="0,0,6,0">
                                         <TextBlock Style="{StaticResource LabelStyle}" Text="射线源 Z (μm)" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.SourceZ, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.SourceZ, UpdateSourceTrigger=LostFocus, StringFormat=F3}" />
                                     </StackPanel>
                                     <StackPanel>
                                         <TextBlock Style="{StaticResource LabelStyle}" Text="探测器 Z (μm)" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.DetectorZ, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.DetectorZ, UpdateSourceTrigger=LostFocus, StringFormat=F3}" />
                                     </StackPanel>
                                     <StackPanel Margin="0,0,6,0">
                                         <TextBlock Style="{StaticResource LabelStyle}" Text="探测器摆动 (°)" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.DetectorSwing, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.DetectorSwing, UpdateSourceTrigger=LostFocus, StringFormat=F3}" />
                                     </StackPanel>
                                     <StackPanel>
                                         <TextBlock Style="{StaticResource LabelStyle}" Text="载物台旋转 (°)" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.StageRotation, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.StageRotation, UpdateSourceTrigger=LostFocus, StringFormat=F3}" />
                                     </StackPanel>
                                     <StackPanel Margin="0,0,6,0">
                                         <TextBlock Style="{StaticResource LabelStyle}" Text="夹具旋转 (°)" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.FixtureRotation, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.FixtureRotation, UpdateSourceTrigger=LostFocus, StringFormat=F3}" />
                                     </StackPanel>
                                     <StackPanel>
                                         <TextBlock Style="{StaticResource LabelStyle}" Text="FOD (μm)" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.FOD, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.FOD, UpdateSourceTrigger=LostFocus, StringFormat=F3}" />
                                     </StackPanel>
                                     <StackPanel Margin="0,0,6,0">
                                         <TextBlock Style="{StaticResource LabelStyle}" Text="FDD (μm)" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.FDD, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.FDD, UpdateSourceTrigger=LostFocus, StringFormat=F3}" />
                                     </StackPanel>
                                     <StackPanel>
                                         <TextBlock Style="{StaticResource LabelStyle}" Text="放大倍率" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.Magnification, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.Magnification, UpdateSourceTrigger=LostFocus, StringFormat=F3}" />
                                     </StackPanel>
                                 </UniformGrid>
                             </GroupBox>
@@ -595,6 +739,7 @@
                                         <Grid.ColumnDefinitions>
                                             <ColumnDefinition Width="*" />
                                             <ColumnDefinition Width="Auto" />
+                                            <ColumnDefinition Width="Auto" />
                                         </Grid.ColumnDefinitions>
                                         <TextBox
                                             Grid.Column="0"
@@ -607,7 +752,7 @@
                                             Grid.Column="1"
                                             Height="28"
                                             Width="32"
-                                            Margin="0,0,0,8"
+                                            Margin="0,0,2,8"
                                             Padding="0"
                                             Content="…"
                                             FontSize="13"
@@ -617,6 +762,21 @@
                                             BorderBrush="#CFCFCF"
                                             BorderThickness="1"
                                             Cursor="Hand" />
+                                        <Button
+                                            Grid.Column="2"
+                                            Height="28"
+                                            Width="28"
+                                            Margin="0,0,0,8"
+                                            Padding="0"
+                                            Content="×"
+                                            FontSize="14"
+                                            Foreground="#E05050"
+                                            ToolTip="清空手动图像路径"
+                                            Click="ClearManualImagePath_Click"
+                                            Background="#F8F8F8"
+                                            BorderBrush="#CFCFCF"
+                                            BorderThickness="1"
+                                            Cursor="Hand" />
                                     </Grid>
                                 </StackPanel>
                             </GroupBox>

XplorePlane/Views/Cnc/CncPageView.xaml.cs

@@ -2,6 +2,7 @@ using Prism.Ioc;
 using System;
 using System.Collections.Generic;
 using System.Globalization;
+using System.Linq;
 using System.Windows;
 using System.Windows.Controls;
 using System.Windows.Controls.Primitives;
@@ -85,13 +86,98 @@ namespace XplorePlane.Views.Cnc
         {
             if (DataContext is CncEditorViewModel viewModel)
             {
-                viewModel.SelectedNode = e.NewValue as CncNodeViewModel;
+                // 三级节点（CncPipelineStepViewModel）点击时，保持当前 2 级节点选中不变
+                if (e.NewValue is CncNodeViewModel nodeVm)
+                    viewModel.SelectedNode = nodeVm;
             }
-
-            UpdateNodeVisualState();
             UpdatePropertyEditorState();
         }
 
+        // ── 节点名称内联编辑 ──────────────────────────────────────────
+
+        private void NodeNameText_MouseLeftButtonDown(object sender, MouseButtonEventArgs e)
+        {
+            if (e.ClickCount != 2) return;
+            if (sender is not TextBlock tb) return;
+
+            // 只允许 SavePosition 和 InspectionModule 节点重命名
+            var nodeVm = (tb.DataContext as CncNodeViewModel)
+                         ?? FindAncestor<TreeViewItem>(tb)?.DataContext as CncNodeViewModel;
+            if (nodeVm == null || (!nodeVm.IsSavePosition && !nodeVm.IsInspectionModule)) return;
+
+            // 找到同级的 TextBox 编辑器
+            var parent = VisualTreeHelper.GetParent(tb) as Grid;
+            if (parent == null) return;
+
+            var editor = FindVisualDescendants<TextBox>(parent).FirstOrDefault(x => x.Name == "NodeNameEditor");
+            if (editor == null) return;
+
+            // 切换到编辑模式
+            tb.Visibility = Visibility.Collapsed;
+            editor.Visibility = Visibility.Visible;
+            editor.Text = nodeVm.Name;
+            editor.SelectAll();
+            editor.Focus();
+            e.Handled = true;
+        }
+
+        private void NodeNameEditor_LostFocus(object sender, RoutedEventArgs e)
+        {
+            CommitNodeRename(sender as TextBox);
+        }
+
+        private void NodeNameEditor_KeyDown(object sender, KeyEventArgs e)
+        {
+            if (e.Key == Key.Return || e.Key == Key.Enter)
+            {
+                CommitNodeRename(sender as TextBox);
+                e.Handled = true;
+            }
+            else if (e.Key == Key.Escape)
+            {
+                CancelNodeRename(sender as TextBox);
+                e.Handled = true;
+            }
+        }
+
+        private void CommitNodeRename(TextBox editor)
+        {
+            if (editor == null) return;
+            var nodeVm = FindAncestor<TreeViewItem>(editor)?.DataContext as CncNodeViewModel;
+            if (nodeVm == null) return;
+
+            var newName = editor.Text?.Trim();
+            if (!string.IsNullOrWhiteSpace(newName) && newName != nodeVm.Name)
+                nodeVm.Name = newName;
+
+            ExitRenameMode(editor);
+        }
+
+        private void CancelNodeRename(TextBox editor)
+        {
+            if (editor == null) return;
+            ExitRenameMode(editor);
+        }
+
+        private static void ExitRenameMode(TextBox editor)
+        {
+            var parent = VisualTreeHelper.GetParent(editor) as Grid;
+            if (parent == null) return;
+
+            var tb = FindVisualDescendants<TextBlock>(parent).FirstOrDefault(x => x.Name == "NodeNameText");
+            if (tb != null) tb.Visibility = Visibility.Visible;
+            editor.Visibility = Visibility.Collapsed;
+        }
+
+        /// <summary>清空手动图像路径</summary>
+        private void ClearManualImagePath_Click(object sender, RoutedEventArgs e)
+        {
+            if (DataContext is CncEditorViewModel viewModel && viewModel.SelectedNode != null)
+            {
+                viewModel.SelectedNode.ManualImagePath = string.Empty;
+            }
+        }
+
         private void CncTreeView_PreviewKeyDown(object sender, KeyEventArgs e)
         {
             if (e.Key != Key.Delete || DataContext is not CncEditorViewModel viewModel)
@@ -107,47 +193,91 @@ namespace XplorePlane.Views.Cnc
         private void CncTreeView_ContextMenuOpening(object sender, ContextMenuEventArgs e)
         {
             if (DataContext is not CncEditorViewModel viewModel)
-            {
                 return;
-            }
 
             var position = Mouse.GetPosition(CncTreeView);
             var hit = VisualTreeHelper.HitTest(CncTreeView, position);
             var treeViewItem = FindAncestor<TreeViewItem>(hit?.VisualHit);
-            if (treeViewItem?.DataContext is not CncNodeViewModel nodeVm)
+
+            // 右键点在节点上
+            if (treeViewItem?.DataContext is CncNodeViewModel nodeVm)
             {
-                CncTreeView.ContextMenu = null;
+                viewModel.SelectedNode = nodeVm;
-                return;
+                UpdatePropertyEditorState();
+
+                CncTreeView.ContextMenu = new ContextMenu
+                {
+                    Items =
+                    {
+                        new MenuItem
+                        {
+                            Header = "在上方插入位置",
+                            Command = viewModel.PrepareInsertAboveCommand,
+                            CommandParameter = nodeVm
+                        },
+                        new MenuItem
+                        {
+                            Header = "在下方插入位置",
+                            Command = viewModel.PrepareInsertBelowCommand,
+                            CommandParameter = nodeVm
+                        },
+                        new Separator(),
+                        new MenuItem
+                        {
+                            Header = "全部展开",
+                            Tag = "ExpandAll"
+                        },
+                        new MenuItem
+                        {
+                            Header = "全部折叠",
+                            Tag = "CollapseAll"
+                        }
+                    }
+                };
+            }
+            else
+            {
+                // 右键点在空白处：只显示展开/折叠
+                CncTreeView.ContextMenu = new ContextMenu
+                {
+                    Items =
+                    {
+                        new MenuItem { Header = "全部展开", Tag = "ExpandAll" },
+                        new MenuItem { Header = "全部折叠", Tag = "CollapseAll" }
+                    }
+                };
             }
 
-            viewModel.SelectedNode = nodeVm;
+            // 绑定展开/折叠事件
-            UpdateNodeVisualState();
+            foreach (var item in CncTreeView.ContextMenu.Items)
-            UpdatePropertyEditorState();
-
-            CncTreeView.ContextMenu = new ContextMenu
             {
-                Items =
+                if (item is MenuItem mi && mi.Tag is string tag)
                 {
-                    new MenuItem
+                    mi.Click += (_, _) =>
                     {
-                        Header = "\u5728\u4E0A\u65B9\u63D2\u5165\u4F4D\u7F6E",
+                        bool expand = tag == "ExpandAll";
-                        Command = viewModel.PrepareInsertAboveCommand,
+                        SetAllExpanded(CncTreeView.Items, expand);
-                        CommandParameter = nodeVm
+                    };
-                    },
-                    new MenuItem
-                    {
-                        Header = "\u5728\u4E0B\u65B9\u63D2\u5165\u4F4D\u7F6E",
-                        Command = viewModel.PrepareInsertBelowCommand,
-                        CommandParameter = nodeVm
-                    }
                 }
-            };
+            }
+        }
+
+        /// <summary>递归设置所有 CncNodeViewModel 的展开状态</summary>
+        private static void SetAllExpanded(System.Collections.IEnumerable items, bool expand)
+        {
+            foreach (var item in items)
+            {
+                if (item is CncNodeViewModel nodeVm)
+                {
+                    nodeVm.IsExpanded = expand;
+                    SetAllExpanded(nodeVm.Children, expand);
+                }
+            }
         }
 
         private void CncTreeView_LayoutUpdated(object sender, EventArgs e)
         {
             HideInlineDeleteButtons();
-            UpdateNodeVisualState();
             UpdatePropertyEditorState();
         }
 
@@ -165,23 +295,7 @@ namespace XplorePlane.Views.Cnc
 
         private void UpdateNodeVisualState()
         {
-            foreach (var item in FindVisualDescendants<TreeViewItem>(CncTreeView))
+            // 新样式通过 DataTemplate Triggers 控制高亮，无需 code-behind 干预
-            {
-                if (item.DataContext is not CncNodeViewModel)
-                {
-                    continue;
-                }
-
-                var card = FindNodeCard(item);
-                if (card == null)
-                {
-                    continue;
-                }
-
-                card.ClearValue(Border.BackgroundProperty);
-                card.ClearValue(Border.BorderBrushProperty);
-                ClearNodeTextForeground(card);
-            }
         }
 
         private void UpdatePropertyEditorState()
@@ -313,14 +427,7 @@ namespace XplorePlane.Views.Cnc
 
         private static Border FindNodeCard(DependencyObject root)
         {
-            foreach (var border in FindVisualDescendants<Border>(root))
+            // 新样式不再使用 NodeCard，保留方法避免编译错误
-            {
-                if (border.DataContext is CncNodeViewModel && border.CornerRadius.TopLeft == 4 && border.BorderThickness.Left == 1)
-                {
-                    return border;
-                }
-            }
-
             return null;
         }
 

XplorePlane/Views/ImageProcessing/PipelineEditorView.xaml

@@ -61,9 +61,9 @@
         <Grid>
             <Grid.RowDefinitions>
                 <RowDefinition Height="Auto" />
-                <RowDefinition Height="4*" MinHeight="180" />
+                <RowDefinition Height="6*" MinHeight="200" />
                 <RowDefinition Height="Auto" />
-                <RowDefinition Height="2*" MinHeight="80" />
+                <RowDefinition Height="5*" />
             </Grid.RowDefinitions>
 
             <Border

XplorePlane/Views/Main/MainWindow.xaml

@@ -597,7 +597,7 @@
                 </telerik:RadRibbonGroup>
             </telerik:RadRibbonTab>
             <telerik:RadRibbonTab Header="帮助">
-                <telerik:RadRibbonGroup Header="关于">
+                <telerik:RadRibbonGroup Header="帮助">
                     <telerik:RadRibbonGroup.Variants>
                         <telerik:GroupVariant Priority="0" Variant="Large" />
                     </telerik:RadRibbonGroup.Variants>