修改说明

2026-05-06 20:43:46 +08:00
parent 1b686066c8 b740f8d453
commit 03a8532049
23 changed files with 839 additions and 287 deletions
@@ -20,21 +20,25 @@ namespace XplorePlane.Tests.Models
        public void MotionState_Default_AllZeros()
        {
            var state = MotionState.Default;
-            _output.WriteLine($"MotionState.Default: XM={state.XM}, YM={state.YM}, ZT={state.ZT}, ZD={state.ZD}, TiltD={state.TiltD}, Dist={state.Dist}");
-            _output.WriteLine($"  Speeds: XM={state.XMSpeed}, YM={state.YMSpeed}, ZT={state.ZTSpeed}, ZD={state.ZDSpeed}, TiltD={state.TiltDSpeed}, Dist={state.DistSpeed}");
+            _output.WriteLine($"MotionState.Default: StageX={state.StageX}, StageY={state.StageY}, SourceZ={state.SourceZ}, DetectorZ={state.DetectorZ}, DetectorSwing={state.DetectorSwing}, FDD={state.FDD}");
+            _output.WriteLine($"  Speeds: StageX={state.StageXSpeed}, StageY={state.StageYSpeed}, SourceZ={state.SourceZSpeed}, DetectorZ={state.DetectorZSpeed}, DetectorSwing={state.DetectorSwingSpeed}, FDD={state.FDDSpeed}");

-            Assert.Equal(0, state.XM);
-            Assert.Equal(0, state.YM);
-            Assert.Equal(0, state.ZT);
-            Assert.Equal(0, state.ZD);
-            Assert.Equal(0, state.TiltD);
-            Assert.Equal(0, state.Dist);
-            Assert.Equal(0, state.XMSpeed);
-            Assert.Equal(0, state.YMSpeed);
-            Assert.Equal(0, state.ZTSpeed);
-            Assert.Equal(0, state.ZDSpeed);
-            Assert.Equal(0, state.TiltDSpeed);
-            Assert.Equal(0, state.DistSpeed);
+            Assert.Equal(0, state.StageX);
+            Assert.Equal(0, state.StageY);
+            Assert.Equal(0, state.SourceZ);
+            Assert.Equal(0, state.DetectorZ);
+            Assert.Equal(0, state.DetectorSwing);
+            Assert.Equal(0, state.FDD);
+            Assert.Equal(0, state.StageXSpeed);
+            Assert.Equal(0, state.StageYSpeed);
+            Assert.Equal(0, state.SourceZSpeed);
+            Assert.Equal(0, state.DetectorZSpeed);
+            Assert.Equal(0, state.DetectorSwingSpeed);
+            Assert.Equal(0, state.FDDSpeed);
+            Assert.Equal(0, state.StageRotation);
+            Assert.Equal(0, state.FixtureRotation);
+            Assert.Equal(0, state.FOD);
+            Assert.Equal(0, state.Magnification);
        }

        [Fact]
@@ -116,15 +120,15 @@ namespace XplorePlane.Tests.Models
        public void MotionState_WithExpression_ProducesNewInstance()
        {
            var original = MotionState.Default;
-            var modified = original with { XM = 100 };
-            _output.WriteLine($"Original.XM={original.XM}, Modified.XM={modified.XM}, SameRef={ReferenceEquals(original, modified)}");
+            var modified = original with { StageX = 100 };
+            _output.WriteLine($"Original.StageX={original.StageX}, Modified.StageX={modified.StageX}, SameRef={ReferenceEquals(original, modified)}");

            // New instance is different from original
            Assert.NotSame(original, modified);
-            Assert.Equal(100, modified.XM);
+            Assert.Equal(100, modified.StageX);

            // Original is unchanged
-            Assert.Equal(0, original.XM);
+            Assert.Equal(0, original.StageX);
        }

        // ── CalibrationMatrix Transform Tests ─────────────────────────
@@ -1,7 +1,15 @@
 using Moq;
+using Prism.Events;
 using System;
 using System.Windows;
 using XP.Common.Logging.Interfaces;
+using XP.Hardware.Detector.Abstractions.Enums;
+using XP.Hardware.Detector.Abstractions.Events;
+using XP.Hardware.Detector.Services;
+using XP.Hardware.MotionControl.Abstractions;
+using XP.Hardware.MotionControl.Abstractions.Enums;
+using XP.Hardware.MotionControl.Abstractions.Events;
+using XP.Hardware.MotionControl.Services;
 using XP.Hardware.RaySource.Services;
 using XplorePlane.Models;
 using XplorePlane.Services.AppState;
@@ -11,30 +19,82 @@ using Xunit.Abstractions;
 namespace XplorePlane.Tests.Services
 {
    /// <summary>
-    /// AppStateService 单元测试。
-    /// 验证默认状态值、Dispose 后行为、null 参数校验、CalibrationMatrix 缺失时的错误处理。
+    /// AppStateService unit tests.
+    /// Verifies default values, null guards, dispose behavior, and hardware-driven motion-state sync.
    /// </summary>
    public class AppStateServiceTests : IDisposable
    {
        private readonly AppStateService _service;
        private readonly Mock<IRaySourceService> _mockRaySource;
+        private readonly Mock<IMotionSystem> _mockMotionSystem;
+        private readonly Mock<IMotionControlService> _mockMotionControlService;
+        private readonly Mock<IDetectorService> _mockDetectorService;
+        private readonly Mock<ILinearAxis> _mockStageX;
+        private readonly Mock<ILinearAxis> _mockStageY;
+        private readonly Mock<ILinearAxis> _mockSourceZ;
+        private readonly Mock<ILinearAxis> _mockDetectorZ;
+        private readonly Mock<IRotaryAxis> _mockDetectorSwing;
+        private readonly Mock<IRotaryAxis> _mockStageRotation;
+        private readonly Mock<IRotaryAxis> _mockFixtureRotation;
        private readonly Mock<ILoggerService> _mockLogger;
+        private readonly EventAggregator _eventAggregator;
        private readonly ITestOutputHelper _output;

        public AppStateServiceTests(ITestOutputHelper output)
        {
            _output = output;

-            // Ensure WPF Application exists for Dispatcher
            if (Application.Current == null)
            {
                new Application();
            }

            _mockRaySource = new Mock<IRaySourceService>();
+            _mockMotionSystem = new Mock<IMotionSystem>();
+            _mockMotionControlService = new Mock<IMotionControlService>();
+            _mockDetectorService = new Mock<IDetectorService>();
+            _mockStageX = CreateLinearAxis(AxisId.StageX, 0);
+            _mockStageY = CreateLinearAxis(AxisId.StageY, 0);
+            _mockSourceZ = CreateLinearAxis(AxisId.SourceZ, 0);
+            _mockDetectorZ = CreateLinearAxis(AxisId.DetectorZ, 0);
+            _mockDetectorSwing = CreateRotaryAxis(RotaryAxisId.DetectorSwing, 0);
+            _mockStageRotation = CreateRotaryAxis(RotaryAxisId.StageRotation, 0);
+            _mockFixtureRotation = CreateRotaryAxis(RotaryAxisId.FixtureRotation, 0);
            _mockLogger = new Mock<ILoggerService>();
+            _eventAggregator = new EventAggregator();
+
+            _mockMotionSystem.Setup(x => x.GetLinearAxis(AxisId.StageX)).Returns(_mockStageX.Object);
+            _mockMotionSystem.Setup(x => x.GetLinearAxis(AxisId.StageY)).Returns(_mockStageY.Object);
+            _mockMotionSystem.Setup(x => x.GetLinearAxis(AxisId.SourceZ)).Returns(_mockSourceZ.Object);
+            _mockMotionSystem.Setup(x => x.GetLinearAxis(AxisId.DetectorZ)).Returns(_mockDetectorZ.Object);
+            _mockMotionSystem.Setup(x => x.GetRotaryAxis(RotaryAxisId.DetectorSwing)).Returns(_mockDetectorSwing.Object);
+            _mockMotionSystem.Setup(x => x.GetRotaryAxis(RotaryAxisId.StageRotation)).Returns(_mockStageRotation.Object);
+            _mockMotionSystem.Setup(x => x.GetRotaryAxis(RotaryAxisId.FixtureRotation)).Returns(_mockFixtureRotation.Object);
+
+            _mockMotionControlService
+                .Setup(x => x.GetCurrentGeometry())
+                .Returns((0d, 0d, 1d));
+
+            // DetectorService：GetInfo 在未初始化时抛出，模拟此行为
+            _mockDetectorService
+                .Setup(x => x.GetInfo())
+                .Throws(new InvalidOperationException("探测器未初始化"));
+            _mockDetectorService
+                .SetupGet(x => x.Status)
+                .Returns(DetectorStatus.Uninitialized);
+            _mockDetectorService
+                .SetupGet(x => x.IsConnected)
+                .Returns(false);
+
            _mockLogger.Setup(l => l.ForModule<AppStateService>()).Returns(_mockLogger.Object);
-            _service = new AppStateService(_mockRaySource.Object, _mockLogger.Object);
+
+            _service = new AppStateService(
+                _mockRaySource.Object,
+                _mockMotionSystem.Object,
+                _mockMotionControlService.Object,
+                _mockDetectorService.Object,
+                _eventAggregator,
+                _mockLogger.Object);
        }

        public void Dispose()
@@ -42,13 +102,15 @@ namespace XplorePlane.Tests.Services
            _service.Dispose();
        }

-        // ── 默认状态值验证 ──
-
        [Fact]
-        public void DefaultState_MotionState_IsDefault()
+        public void DefaultState_MotionState_IsHardwareSnapshot()
        {
-            _output.WriteLine($"MotionState == MotionState.Default: {ReferenceEquals(MotionState.Default, _service.MotionState)}");
-            Assert.Same(MotionState.Default, _service.MotionState);
+            Assert.Equal(0, _service.MotionState.StageX);
+            Assert.Equal(0, _service.MotionState.StageY);
+            Assert.Equal(0, _service.MotionState.SourceZ);
+            Assert.Equal(0, _service.MotionState.DetectorZ);
+            Assert.Equal(0, _service.MotionState.DetectorSwing);
+            Assert.Equal(0, _service.MotionState.FDD);
        }

        [Fact]
@@ -72,8 +134,6 @@ namespace XplorePlane.Tests.Services
            Assert.Null(_service.CalibrationMatrix);
        }

-        // ── null 参数抛出 ArgumentNullException ──
-
        [Fact]
        public void UpdateMotionState_NullArgument_ThrowsArgumentNullException()
        {
@@ -102,36 +162,117 @@ namespace XplorePlane.Tests.Services
            _output.WriteLine($"UpdateSystemState(null) threw: {ex.GetType().Name}, Param={ex.ParamName}");
        }

-        // ── Dispose 后 Update 被忽略 ──
-
        [Fact]
        public void Dispose_ThenUpdate_IsIgnored()
        {
            var originalState = _service.MotionState;
            _service.Dispose();
-            _output.WriteLine("Service disposed, attempting UpdateMotionState...");

-            // Should not throw, and state should remain unchanged
            var newState = new MotionState(1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12);
            _service.UpdateMotionState(newState);

-            _output.WriteLine($"State unchanged after dispose: {ReferenceEquals(originalState, _service.MotionState)}");
            Assert.Same(originalState, _service.MotionState);
        }

-        // ── CalibrationMatrix 为 null 时 RequestLinkedView 设置错误状态 ──
-
        [Fact]
        public void RequestLinkedView_NoCalibrationMatrix_SetsErrorState()
        {
-            // CalibrationMatrix is null by default
            Assert.Null(_service.CalibrationMatrix);

            _service.RequestLinkedView(100.0, 200.0);

-            _output.WriteLine($"RequestLinkedView(100, 200) without CalibrationMatrix: HasError={_service.SystemState.HasError}, ErrorMessage='{_service.SystemState.ErrorMessage}'");
            Assert.True(_service.SystemState.HasError);
            Assert.NotEmpty(_service.SystemState.ErrorMessage);
        }
+
+        [Fact]
+        public void GeometryUpdatedEvent_RefreshesMotionStateFromHardware()
+        {
+            _mockStageX.SetupGet(x => x.ActualPosition).Returns(12.5);
+            _mockStageY.SetupGet(x => x.ActualPosition).Returns(34.5);
+            _mockSourceZ.SetupGet(x => x.ActualPosition).Returns(56.5);
+            _mockDetectorZ.SetupGet(x => x.ActualPosition).Returns(78.5);
+            _mockDetectorSwing.SetupGet(x => x.ActualAngle).Returns(9.5);
+
+            _eventAggregator.GetEvent<GeometryUpdatedEvent>()
+                .Publish(new GeometryData(100, 222.2, 2.22));
+
+            Assert.Equal(12.5, _service.MotionState.StageX);
+            Assert.Equal(34.5, _service.MotionState.StageY);
+            Assert.Equal(56.5, _service.MotionState.SourceZ);
+            Assert.Equal(78.5, _service.MotionState.DetectorZ);
+            Assert.Equal(9.5, _service.MotionState.DetectorSwing);
+            Assert.Equal(222.2, _service.MotionState.FDD);
+        }
+
+        [Fact]
+        public void StatusChangedEvent_Acquiring_SyncsDetectorState()
+        {
+            // 模拟探测器进入采集状态
+            _mockDetectorService.SetupGet(x => x.Status).Returns(DetectorStatus.Acquiring);
+            _mockDetectorService.Setup(x => x.GetInfo()).Throws(new InvalidOperationException());
+
+            _eventAggregator.GetEvent<StatusChangedEvent>()
+                .Publish(DetectorStatus.Acquiring);
+
+            // 等待后台线程处理（BackgroundThread 订阅）
+            System.Threading.Thread.Sleep(100);
+
+            Assert.True(_service.DetectorState.IsConnected);
+            Assert.True(_service.DetectorState.IsAcquiring);
+        }
+
+        [Fact]
+        public void StatusChangedEvent_Uninitialized_SyncsDetectorStateDisconnected()
+        {
+            _eventAggregator.GetEvent<StatusChangedEvent>()
+                .Publish(DetectorStatus.Uninitialized);
+
+            System.Threading.Thread.Sleep(100);
+
+            Assert.False(_service.DetectorState.IsConnected);
+            Assert.False(_service.DetectorState.IsAcquiring);
+        }
+
+        [Fact]
+        public void ImageCapturedEvent_UpdatesLatestDetectorFrame()
+        {
+            Assert.Null(_service.LatestDetectorFrame);
+
+            var args = new XP.Hardware.Detector.Abstractions.ImageCapturedEventArgs
+            {
+                ImageData = new ushort[4],
+                Width = 2,
+                Height = 2,
+                FrameNumber = 1,
+                CaptureTime = DateTime.UtcNow
+            };
+
+            _eventAggregator.GetEvent<ImageCapturedEvent>().Publish(args);
+
+            // 等待后台线程处理
+            System.Threading.Thread.Sleep(100);
+
+            Assert.Same(args, _service.LatestDetectorFrame);
+        }
+
+        private static Mock<ILinearAxis> CreateLinearAxis(AxisId axisId, double position)
+        {
+            var axis = new Mock<ILinearAxis>();
+            axis.SetupGet(x => x.Id).Returns(axisId);
+            axis.SetupGet(x => x.ActualPosition).Returns(position);
+            axis.SetupGet(x => x.Status).Returns(AxisStatus.Idle);
+            return axis;
+        }
+
+        private static Mock<IRotaryAxis> CreateRotaryAxis(RotaryAxisId axisId, double angle)
+        {
+            var axis = new Mock<IRotaryAxis>();
+            axis.SetupGet(x => x.Id).Returns(axisId);
+            axis.SetupGet(x => x.ActualAngle).Returns(angle);
+            axis.SetupGet(x => x.Status).Returns(AxisStatus.Idle);
+            axis.SetupGet(x => x.Enabled).Returns(true);
+            return axis;
+        }
    }
 }
@@ -96,7 +96,7 @@ namespace XplorePlane.Tests.Services
            var pipeline = new PipelineModel { Name = "TestPipeline" };

            var step = _service.RecordCurrentStep(recipe, pipeline);
-            _output.WriteLine($"RecordCurrentStep: StepIndex={step.StepIndex}, MotionState.XM={step.MotionState.XM}, RaySource.Voltage={step.RaySourceState.Voltage}, Detector.Resolution={step.DetectorState.Resolution}, Pipeline={step.Pipeline.Name}");
+            _output.WriteLine($"RecordCurrentStep: StepIndex={step.StepIndex}, MotionState.StageX={step.MotionState.StageX}, RaySource.Voltage={step.RaySourceState.Voltage}, Detector.Resolution={step.DetectorState.Resolution}, Pipeline={step.Pipeline.Name}");

            Assert.Equal(0, step.StepIndex);
            Assert.Same(motionState, step.MotionState);
@@ -25,7 +25,7 @@ namespace XplorePlane.Tests.ViewModels
 {
    public class CncEditorViewModelTests
    {
-        // 鈹€鈹€ Helpers 鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€
+        // ── Helpers ──────────────────────────────────────────────────────────────────

        private static CncEditorViewModel CreateVm(
            Mock<ICncExecutionService> mockExecSvc = null,
@@ -50,7 +50,7 @@ namespace XplorePlane.Tests.ViewModels
                    DateTime.UtcNow, DateTime.UtcNow,
                    new List<CncNode>
                    {
-                        new ReferencePointNode(Guid.NewGuid(), 0, "鍙傝€冪偣_0", 0, 0, 0, 0, 0, 0, false, 0, 0)
+                        new ReferencePointNode(Guid.NewGuid(), 0, "参考点_0", 0, 0, 0, 0, 0, 0, false, 0, 0)
                    }.AsReadOnly()));

            mockCncProgramSvc
@@ -121,9 +121,9 @@ namespace XplorePlane.Tests.ViewModels
            return new CncProgram(Guid.NewGuid(), "TestProgram", DateTime.UtcNow, DateTime.UtcNow, nodes);
        }

-        // 鈹€鈹€ Property 1: 杩愯/鍋滄鎸夐挳鐘舵€佷簰鏂?鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€
+        // ── Property 1: 运行/停止按钮状态互斥 ──────────────────────────────────────────

-        // Feature: cnc-run-execution, Property 1: 杩愯/鍋滄鎸夐挳鐘舵€佷簰鏂?
+        // Feature: cnc-run-execution, Property 1: 运行/停止按钮状态互斥
        // Validates: Requirements 1.1, 1.3, 1.4
        [Property(MaxTest = 100)]
        public Property RunStop_Commands_AreMutuallyExclusive()
@@ -168,9 +168,9 @@ namespace XplorePlane.Tests.ViewModels
            });
        }

-        // 鈹€鈹€ Property 2: 鎵ц瀹屾垚鍚庣姸鎬侀噸缃?鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€
+        // ── Property 2: 执行完成后状态重置 ──────────────────────────────────────────────

-        // Feature: cnc-run-execution, Property 2: 鎵ц瀹屾垚鍚庣姸鎬侀噸缃?
+        // Feature: cnc-run-execution, Property 2: 执行完成后状态重置
        // Validates: Requirements 1.7, 6.5
        [Property(MaxTest = 100)]
        public Property AfterExecution_IsRunningFalse_AllNodesIdle()
@@ -219,9 +219,9 @@ namespace XplorePlane.Tests.ViewModels
            });
        }

-        // 鈹€鈹€ Property 12: 鎵ц涓紪杈戝懡浠ゅ叏閮ㄧ鐢?鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€鈹€
+        // ── Property 12: 执行中编辑命令全部禁用 ──────────────────────────────────────────

-        // Feature: cnc-run-execution, Property 12: 鎵ц涓紪杈戝懡浠ゅ叏閮ㄧ鐢?
+        // Feature: cnc-run-execution, Property 12: 执行中编辑命令全部禁用
        // Validates: Requirements 6.7
        [Property(MaxTest = 100)]
        public Property WhileRunning_AllEditCommands_AreDisabled()
@@ -40,69 +40,89 @@ namespace XplorePlane.Models
        Guid Id,
        int Index,
        CncNodeType NodeType,
-        string Name
-    );
+        string Name);

    /// <summary>参考点节点 | Reference point node</summary>
    public record ReferencePointNode(
-        Guid Id, int Index, string Name,
-        double XM, double YM, double ZT, double ZD, double TiltD, double Dist,
-        bool IsRayOn, double Voltage, double Current
-    ) : CncNode(Id, Index, CncNodeType.ReferencePoint, Name);
+        Guid Id,
+        int Index,
+        string Name,
+        double StageX,
+        double StageY,
+        double SourceZ,
+        double DetectorZ,
+        double DetectorSwing,
+        double FDD,
+        bool IsRayOn,
+        double Voltage,
+        double Current,
+        double StageRotation = 0,
+        double FixtureRotation = 0,
+        double FOD = 0,
+        double Magnification = 0) : CncNode(Id, Index, CncNodeType.ReferencePoint, Name);

    /// <summary>保存节点（含图像）| Save node with image</summary>
    public record SaveNodeWithImageNode(
-        Guid Id, int Index, string Name,
+        Guid Id,
+        int Index,
+        string Name,
        MotionState MotionState,
        RaySourceState RaySourceState,
        DetectorState DetectorState,
-        string ImageFileName
-    ) : CncNode(Id, Index, CncNodeType.SaveNodeWithImage, Name);
+        string ImageFileName) : CncNode(Id, Index, CncNodeType.SaveNodeWithImage, Name);

    /// <summary>保存节点（不含图像）| Save node without image</summary>
    public record SaveNodeNode(
-        Guid Id, int Index, string Name,
+        Guid Id,
+        int Index,
+        string Name,
        MotionState MotionState,
        RaySourceState RaySourceState,
-        DetectorState DetectorState
-    ) : CncNode(Id, Index, CncNodeType.SaveNode, Name);
+        DetectorState DetectorState) : CncNode(Id, Index, CncNodeType.SaveNode, Name);

    /// <summary>保存位置节点 | Save position node</summary>
    public record SavePositionNode(
-        Guid Id, int Index, string Name,
-        MotionState MotionState
-    ) : CncNode(Id, Index, CncNodeType.SavePosition, Name);
+        Guid Id,
+        int Index,
+        string Name,
+        MotionState MotionState) : CncNode(Id, Index, CncNodeType.SavePosition, Name);

    /// <summary>检测模块节点 | Inspection module node</summary>
    public record InspectionModuleNode(
-        Guid Id, int Index, string Name,
-        PipelineModel Pipeline
-    ) : CncNode(Id, Index, CncNodeType.InspectionModule, Name);
+        Guid Id,
+        int Index,
+        string Name,
+        PipelineModel Pipeline) : CncNode(Id, Index, CncNodeType.InspectionModule, Name);

    /// <summary>检测标记节点 | Inspection marker node</summary>
    public record InspectionMarkerNode(
-        Guid Id, int Index, string Name,
+        Guid Id,
+        int Index,
+        string Name,
        string MarkerType,
-        double MarkerX, double MarkerY
-    ) : CncNode(Id, Index, CncNodeType.InspectionMarker, Name);
+        double MarkerX,
+        double MarkerY) : CncNode(Id, Index, CncNodeType.InspectionMarker, Name);

    /// <summary>停顿对话框节点 | Pause dialog node</summary>
    public record PauseDialogNode(
-        Guid Id, int Index, string Name,
+        Guid Id,
+        int Index,
+        string Name,
        string DialogTitle,
-        string DialogMessage
-    ) : CncNode(Id, Index, CncNodeType.PauseDialog, Name);
+        string DialogMessage) : CncNode(Id, Index, CncNodeType.PauseDialog, Name);

    /// <summary>等待延时节点 | Wait delay node</summary>
    public record WaitDelayNode(
-        Guid Id, int Index, string Name,
-        int DelayMilliseconds
-    ) : CncNode(Id, Index, CncNodeType.WaitDelay, Name);
+        Guid Id,
+        int Index,
+        string Name,
+        int DelayMilliseconds) : CncNode(Id, Index, CncNodeType.WaitDelay, Name);

    /// <summary>完成程序节点 | Complete program node</summary>
    public record CompleteProgramNode(
-        Guid Id, int Index, string Name
-    ) : CncNode(Id, Index, CncNodeType.CompleteProgram, Name);
+        Guid Id,
+        int Index,
+        string Name) : CncNode(Id, Index, CncNodeType.CompleteProgram, Name);

    // ── CNC 程序 | CNC Program ────────────────────────────────────────

@@ -2,8 +2,6 @@ using System;

 namespace XplorePlane.Models
 {
-    // ── Enumerations ──────────────────────────────────────────────────
-
    /// <summary>系统操作模式</summary>
    public enum OperationMode
    {
@@ -23,82 +21,85 @@ namespace XplorePlane.Models
        Error       // 出错
    }

-    // ── State Records ─────────────────────────────────────────────────
+    // — State Records —

-    /// <summary>运动控制状态（不可变）</summary>
+    /// <summary>
+    /// 运动控制状态（不可变）。
+    /// 统一的运动与几何快照，与运动硬件模型对齐。
+    /// </summary>
    public record MotionState(
-        double XM,          // X 轴位置 (μm)
-        double YM,          // Y 轴位置 (μm)
-        double ZT,          // Z 上轴位置 (μm)
-        double ZD,          // Z 下轴位置 (μm)
-        double TiltD,       // 倾斜角度 (m°)
-        double Dist,        // 距离 (μm)
-        double XMSpeed,     // X 轴速度 (μm/s)
-        double YMSpeed,     // Y 轴速度 (μm/s)
-        double ZTSpeed,     // Z 上轴速度 (μm/s)
-        double ZDSpeed,     // Z 下轴速度 (μm/s)
-        double TiltDSpeed,  // 倾斜速度 (m°/s)
-        double DistSpeed    // 距离速度 (μm/s)
-    )
+        double StageX,              // X 轴位置（μm）
+        double StageY,              // Y 轴位置（μm）
+        double SourceZ,             // Z 上轴位置（μm）
+        double DetectorZ,           // Z 下轴位置（μm）
+        double DetectorSwing,       // 探测器摆角（°）
+        double FDD,                 // 焦点-探测器距离（μm）
+        double StageXSpeed,         // X 轴速度（μm/s）
+        double StageYSpeed,         // Y 轴速度（μm/s）
+        double SourceZSpeed,        // Z 上轴速度（μm/s）
+        double DetectorZSpeed,      // Z 下轴速度（μm/s）
+        double DetectorSwingSpeed,  // 探测器摆角速度（°/s）
+        double FDDSpeed,            // 焦点-探测器距离速度（μm/s）
+        double StageRotation = 0,       // 载台旋转角度（°）
+        double FixtureRotation = 0,     // 夹具旋转角度（°）
+        double FOD = 0,                 // 焦点-物体距离（μm）
+        double Magnification = 0,       // 放大倍率
+        double StageRotationSpeed = 0,  // 载台旋转速度（°/s）
+        double FixtureRotationSpeed = 0) // 夹具旋转速度（°/s）
    {
        public static readonly MotionState Default = new(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
    }

    /// <summary>射线源状态（不可变）</summary>
    public record RaySourceState(
-        bool IsOn,       // 开关状态
-        double Voltage,  // 电压 (kV)
-        double Power     // 功率 (W)
-    )
+        bool IsOn,       // 是否开启
+        double Voltage,  // 电压（kV）
+        double Power)    // 功率（W）
    {
        public static readonly RaySourceState Default = new(false, 0, 0);
    }

    /// <summary>探测器状态（不可变）</summary>
    public record DetectorState(
-        bool IsConnected,     // 连接状态
+        bool IsConnected,   // 是否已连接
        bool IsAcquiring,   // 是否正在采集
-        double FrameRate,     // 当前帧率 (fps)
-        string Resolution     // 分辨率描述，如 "2048x2048"
-    )
+        double FrameRate,   // 帧率（fps）
+        string Resolution)  // 分辨率描述
    {
        public static readonly DetectorState Default = new(false, false, 0, string.Empty);
    }

-    /// <summary>系统级状态（不可变）</summary>
+    /// <summary>系统整体状态（不可变）</summary>
    public record SystemState(
        OperationMode OperationMode, // 当前操作模式
-        bool HasError,                // 是否存在系统错误
-        string ErrorMessage           // 错误描述
-    )
+        bool HasError,               // 是否存在错误
+        string ErrorMessage)         // 错误信息
    {
        public static readonly SystemState Default = new(OperationMode.Idle, false, string.Empty);
    }

-    /// <summary>摄像头视频流状态（不可变）</summary>
+    /// <summary>相机状态（不可变）</summary>
    public record CameraState(
-        bool IsConnected,       // 连接状态
+        bool IsConnected,    // 是否已连接
        bool IsStreaming,    // 是否正在推流
-        object CurrentFrame,    // 当前帧数据引用（BitmapSource 或 byte[]，Frozen）
-        int Width,              // 分辨率宽
-        int Height,             // 分辨率高
-        double FrameRate        // 帧率 (fps)
-    )
+        object CurrentFrame, // 当前帧数据
+        int Width,           // 图像宽度（px）
+        int Height,          // 图像高度（px）
+        double FrameRate)    // 帧率（fps）
    {
        public static readonly CameraState Default = new(false, false, null, 0, 0, 0);
    }

-    /// <summary>物理坐标</summary>
+    /// <summary>物理坐标位置</summary>
    public record PhysicalPosition(double X, double Y, double Z);

-    /// <summary>图像标定矩阵，像素坐标 → 物理坐标映射</summary>
+    /// <summary>标定矩阵（3×3 仿射变换）</summary>
    public record CalibrationMatrix(
-        double M11, double M12, double M13,  // 3x3 仿射变换矩阵
+        double M11, double M12, double M13,
        double M21, double M22, double M23,
-        double M31, double M32, double M33
-    )
+        double M31, double M32, double M33)
    {
-        /// <summary>将像素坐标转换为物理坐标</summary>
+        /// <summary>将像素坐标变换为物理坐标</summary>
        public (double X, double Y, double Z) Transform(double pixelX, double pixelY)
        {
            double x = M11 * pixelX + M12 * pixelY + M13;
@@ -108,12 +109,11 @@ namespace XplorePlane.Models
        }
    }

-    /// <summary>画面联动状态（不可变）</summary>
+    /// <summary>联动视图状态（不可变）</summary>
    public record LinkedViewState(
-        PhysicalPosition TargetPosition,  // 目标物理坐标
-        bool IsExecuting,                 // 联动是否正在执行
-        DateTime LastRequestTime          // 最近一次联动请求时间
-    )
+        PhysicalPosition TargetPosition, // 目标物理位置
+        bool IsExecuting,                // 是否正在执行移动
+        DateTime LastRequestTime)        // 最近一次请求时间
    {
        public static readonly LinkedViewState Default = new(new PhysicalPosition(0, 0, 0), false, DateTime.MinValue);
    }
@@ -1,29 +1,48 @@
+using Prism.Events;
 using Prism.Mvvm;
 using System;
 using System.Threading;
 using System.Windows;
 using System.Windows.Threading;
 using XP.Common.Logging.Interfaces;
+using XP.Hardware.Detector.Abstractions;
+using XP.Hardware.Detector.Abstractions.Enums;
+using XP.Hardware.Detector.Abstractions.Events;
+using XP.Hardware.Detector.Services;
+using XP.Hardware.MotionControl.Abstractions;
+using XP.Hardware.MotionControl.Abstractions.Enums;
+using XP.Hardware.MotionControl.Abstractions.Events;
+using XP.Hardware.MotionControl.Services;
 using XP.Hardware.RaySource.Services;
 using XplorePlane.Models;

 namespace XplorePlane.Services.AppState
 {
    /// <summary>
-    /// 全局应用状态管理服务实现。
-    /// 继承 BindableBase 以支持 WPF 数据绑定，使用 Interlocked.Exchange 保证线程安全写入，
-    /// 通过 Dispatcher.BeginInvoke 将事件调度到 UI 线程。
+    /// Global application state service.
+    /// Motion state is synchronized from the motion hardware service layer and
+    /// mapped into the legacy business model for compatibility.
+    /// Detector state and latest frame are synchronized via Prism EventAggregator subscriptions.
    /// </summary>
    public class AppStateService : BindableBase, IAppStateService
    {
        private readonly Dispatcher _dispatcher;
        private readonly IRaySourceService _raySourceService;
+        private readonly IMotionSystem _motionSystem;
+        private readonly IMotionControlService _motionControlService;
+        private readonly IDetectorService _detectorService;
+        private readonly IEventAggregator _eventAggregator;
        private readonly ILoggerService _logger;
+        private readonly SubscriptionToken _axisStatusChangedToken;
+        private readonly SubscriptionToken _geometryUpdatedToken;
+        private readonly SubscriptionToken _detectorStatusChangedToken;
+        private readonly SubscriptionToken _detectorImageCapturedToken;
+
        private bool _disposed;
+        private GeometryData _latestGeometry;

        // ── 状态字段（通过 Interlocked.Exchange 原子替换）──
        private MotionState _motionState = MotionState.Default;
-
        private RaySourceState _raySourceState = RaySourceState.Default;
        private DetectorState _detectorState = DetectorState.Default;
        private SystemState _systemState = SystemState.Default;
@@ -32,26 +51,21 @@ namespace XplorePlane.Services.AppState
        private LinkedViewState _linkedViewState = LinkedViewState.Default;
        private RecipeExecutionState _recipeExecutionState = RecipeExecutionState.Default;

+        // ── 探测器最新帧（volatile，供任意线程读取）──
+        private volatile ImageCapturedEventArgs _latestDetectorFrame;
+
        // ── 类型化状态变更事件 ──
        public event EventHandler<StateChangedEventArgs<MotionState>> MotionStateChanged;
-
        public event EventHandler<StateChangedEventArgs<RaySourceState>> RaySourceStateChanged;
-
        public event EventHandler<StateChangedEventArgs<DetectorState>> DetectorStateChanged;
-
        public event EventHandler<StateChangedEventArgs<SystemState>> SystemStateChanged;
-
        public event EventHandler<StateChangedEventArgs<CameraState>> CameraStateChanged;
-
        public event EventHandler<StateChangedEventArgs<LinkedViewState>> LinkedViewStateChanged;
-
        public event EventHandler<StateChangedEventArgs<RecipeExecutionState>> RecipeExecutionStateChanged;
-
        public event EventHandler<LinkedViewRequestEventArgs> LinkedViewRequested;

        // ── 状态属性（只读）──
        public MotionState MotionState => _motionState;
-
        public RaySourceState RaySourceState => _raySourceState;
        public DetectorState DetectorState => _detectorState;
        public SystemState SystemState => _systemState;
@@ -60,19 +74,56 @@ namespace XplorePlane.Services.AppState
        public LinkedViewState LinkedViewState => _linkedViewState;
        public RecipeExecutionState RecipeExecutionState => _recipeExecutionState;

+        /// <summary>
+        /// 探测器最新采集帧（线程安全，可从任意线程读取）。
+        /// 由 ImageCapturedEvent 驱动更新，无采集时为 null。
+        /// </summary>
+        public ImageCapturedEventArgs LatestDetectorFrame => _latestDetectorFrame;
+
        public AppStateService(
            IRaySourceService raySourceService,
+            IMotionSystem motionSystem,
+            IMotionControlService motionControlService,
+            IDetectorService detectorService,
+            IEventAggregator eventAggregator,
            ILoggerService logger)
        {
            ArgumentNullException.ThrowIfNull(raySourceService);
+            ArgumentNullException.ThrowIfNull(motionSystem);
+            ArgumentNullException.ThrowIfNull(motionControlService);
+            ArgumentNullException.ThrowIfNull(detectorService);
+            ArgumentNullException.ThrowIfNull(eventAggregator);
            ArgumentNullException.ThrowIfNull(logger);

            _raySourceService = raySourceService;
+            _motionSystem = motionSystem;
+            _motionControlService = motionControlService;
+            _detectorService = detectorService;
+            _eventAggregator = eventAggregator;
            _logger = logger.ForModule<AppStateService>();
-            _dispatcher = Application.Current.Dispatcher;
+            _dispatcher = Application.Current?.Dispatcher ?? Dispatcher.CurrentDispatcher;
+
+            // ── 运动控制事件订阅 ──
+            _geometryUpdatedToken = _eventAggregator
+                .GetEvent<GeometryUpdatedEvent>()
+                .Subscribe(OnGeometryUpdated);
+
+            _axisStatusChangedToken = _eventAggregator
+                .GetEvent<AxisStatusChangedEvent>()
+                .Subscribe(OnAxisStatusChanged);
+
+            // ── 探测器状态事件订阅（后台线程，避免阻塞采集）──
+            _detectorStatusChangedToken = _eventAggregator
+                .GetEvent<StatusChangedEvent>()
+                .Subscribe(OnDetectorStatusChanged, ThreadOption.BackgroundThread);
+
+            // ── 探测器图像事件订阅（后台线程，仅缓存最新帧）──
+            _detectorImageCapturedToken = _eventAggregator
+                .GetEvent<ImageCapturedEvent>()
+                .Subscribe(OnDetectorImageCaptured, ThreadOption.BackgroundThread);

            SubscribeToExistingServices();
-            _logger.Info("AppStateService 已初始化");
+            _logger.Info("AppStateService initialized");
        }

        // ── 状态更新方法 ──
@@ -80,17 +131,30 @@ namespace XplorePlane.Services.AppState
        public void UpdateMotionState(MotionState newState)
        {
            ArgumentNullException.ThrowIfNull(newState);
-            if (_disposed) { _logger.Warn("AppStateService 已释放，忽略 UpdateMotionState 调用"); return; }
+            if (_disposed)
+            {
+                _logger.Warn("AppStateService is disposed, ignoring UpdateMotionState");
+                return;
+            }

-            var old = Interlocked.Exchange(ref _motionState, newState);
-            if (ReferenceEquals(old, newState)) return;
-            RaiseOnDispatcher(old, newState, MotionStateChanged, nameof(MotionState));
+            // Keep the legacy API surface, but let the hardware service layer
+            // remain the source of truth whenever a fresh hardware snapshot is available.
+            if (TryRefreshMotionStateFromHardware("UpdateMotionState"))
+            {
+                return;
+            }
+
+            SetMotionState(newState);
        }

        public void UpdateRaySourceState(RaySourceState newState)
        {
            ArgumentNullException.ThrowIfNull(newState);
-            if (_disposed) { _logger.Warn("AppStateService 已释放，忽略 UpdateRaySourceState 调用"); return; }
+            if (_disposed)
+            {
+                _logger.Warn("AppStateService is disposed, ignoring UpdateRaySourceState");
+                return;
+            }

            var old = Interlocked.Exchange(ref _raySourceState, newState);
            if (ReferenceEquals(old, newState)) return;
@@ -100,7 +164,11 @@ namespace XplorePlane.Services.AppState
        public void UpdateDetectorState(DetectorState newState)
        {
            ArgumentNullException.ThrowIfNull(newState);
-            if (_disposed) { _logger.Warn("AppStateService 已释放，忽略 UpdateDetectorState 调用"); return; }
+            if (_disposed)
+            {
+                _logger.Warn("AppStateService is disposed, ignoring UpdateDetectorState");
+                return;
+            }

            var old = Interlocked.Exchange(ref _detectorState, newState);
            if (ReferenceEquals(old, newState)) return;
@@ -110,7 +178,11 @@ namespace XplorePlane.Services.AppState
        public void UpdateSystemState(SystemState newState)
        {
            ArgumentNullException.ThrowIfNull(newState);
-            if (_disposed) { _logger.Warn("AppStateService 已释放，忽略 UpdateSystemState 调用"); return; }
+            if (_disposed)
+            {
+                _logger.Warn("AppStateService is disposed, ignoring UpdateSystemState");
+                return;
+            }

            var old = Interlocked.Exchange(ref _systemState, newState);
            if (ReferenceEquals(old, newState)) return;
@@ -120,7 +192,11 @@ namespace XplorePlane.Services.AppState
        public void UpdateCameraState(CameraState newState)
        {
            ArgumentNullException.ThrowIfNull(newState);
-            if (_disposed) { _logger.Warn("AppStateService 已释放，忽略 UpdateCameraState 调用"); return; }
+            if (_disposed)
+            {
+                _logger.Warn("AppStateService is disposed, ignoring UpdateCameraState");
+                return;
+            }

            var old = Interlocked.Exchange(ref _cameraState, newState);
            if (ReferenceEquals(old, newState)) return;
@@ -130,21 +206,26 @@ namespace XplorePlane.Services.AppState
        public void UpdateCalibrationMatrix(CalibrationMatrix newMatrix)
        {
            ArgumentNullException.ThrowIfNull(newMatrix);
-            if (_disposed) { _logger.Warn("AppStateService 已释放，忽略 UpdateCalibrationMatrix 调用"); return; }
+            if (_disposed)
+            {
+                _logger.Warn("AppStateService is disposed, ignoring UpdateCalibrationMatrix");
+                return;
+            }

            var old = Interlocked.Exchange(ref _calibrationMatrix, newMatrix);
            if (ReferenceEquals(old, newMatrix)) return;

-            _dispatcher.BeginInvoke(() =>
-            {
-                RaisePropertyChanged(nameof(CalibrationMatrix));
-            });
+            _dispatcher.BeginInvoke(() => RaisePropertyChanged(nameof(CalibrationMatrix)));
        }

        public void UpdateLinkedViewState(LinkedViewState newState)
        {
            ArgumentNullException.ThrowIfNull(newState);
-            if (_disposed) { _logger.Warn("AppStateService 已释放，忽略 UpdateLinkedViewState 调用"); return; }
+            if (_disposed)
+            {
+                _logger.Warn("AppStateService is disposed, ignoring UpdateLinkedViewState");
+                return;
+            }

            var old = Interlocked.Exchange(ref _linkedViewState, newState);
            if (ReferenceEquals(old, newState)) return;
@@ -154,7 +235,11 @@ namespace XplorePlane.Services.AppState
        public void UpdateRecipeExecutionState(RecipeExecutionState newState)
        {
            ArgumentNullException.ThrowIfNull(newState);
-            if (_disposed) { _logger.Warn("AppStateService 已释放，忽略 UpdateRecipeExecutionState 调用"); return; }
+            if (_disposed)
+            {
+                _logger.Warn("AppStateService is disposed, ignoring UpdateRecipeExecutionState");
+                return;
+            }

            var old = Interlocked.Exchange(ref _recipeExecutionState, newState);
            if (ReferenceEquals(old, newState)) return;
@@ -168,11 +253,11 @@ namespace XplorePlane.Services.AppState
            var matrix = _calibrationMatrix;
            if (matrix is null)
            {
-                _logger.Warn("CalibrationMatrix 未设置，无法执行画面联动 (pixelX={PixelX}, pixelY={PixelY})", pixelX, pixelY);
+                _logger.Warn("CalibrationMatrix is not configured, cannot execute linked view request (pixelX={PixelX}, pixelY={PixelY})", pixelX, pixelY);
                UpdateSystemState(SystemState with
                {
                    HasError = true,
-                    ErrorMessage = "CalibrationMatrix 未设置，无法执行画面联动"
+                    ErrorMessage = "CalibrationMatrix is not configured, cannot execute linked view request"
                });
                return;
            }
@@ -191,10 +276,48 @@ namespace XplorePlane.Services.AppState
            });
        }

-        // ── 内部辅助方法 ──
+        public void Dispose()
+        {
+            if (_disposed) return;
+            _disposed = true;

-        private void RaiseOnDispatcher<T>(T oldVal, T newVal,
-            EventHandler<StateChangedEventArgs<T>> handler, string propertyName)
+            if (_axisStatusChangedToken is not null)
+            {
+                _eventAggregator.GetEvent<AxisStatusChangedEvent>().Unsubscribe(_axisStatusChangedToken);
+            }
+
+            if (_geometryUpdatedToken is not null)
+            {
+                _eventAggregator.GetEvent<GeometryUpdatedEvent>().Unsubscribe(_geometryUpdatedToken);
+            }
+
+            if (_detectorStatusChangedToken is not null)
+            {
+                _eventAggregator.GetEvent<StatusChangedEvent>().Unsubscribe(_detectorStatusChangedToken);
+            }
+
+            if (_detectorImageCapturedToken is not null)
+            {
+                _eventAggregator.GetEvent<ImageCapturedEvent>().Unsubscribe(_detectorImageCapturedToken);
+            }
+
+            MotionStateChanged = null;
+            RaySourceStateChanged = null;
+            DetectorStateChanged = null;
+            SystemStateChanged = null;
+            CameraStateChanged = null;
+            LinkedViewStateChanged = null;
+            RecipeExecutionStateChanged = null;
+            LinkedViewRequested = null;
+
+            _logger.Info("AppStateService disposed");
+        }
+
+        private void RaiseOnDispatcher<T>(
+            T oldVal,
+            T newVal,
+            EventHandler<StateChangedEventArgs<T>> handler,
+            string propertyName)
        {
            _dispatcher.BeginInvoke(() =>
            {
@@ -205,34 +328,144 @@ namespace XplorePlane.Services.AppState
                }
                catch (Exception ex)
                {
-                    _logger.Error(ex, "状态变更事件处理器抛出异常 (property={PropertyName})", propertyName);
+                    _logger.Error(ex, "State changed handler failed (property={PropertyName})", propertyName);
                }
            });
        }

        private void SubscribeToExistingServices()
        {
-            _logger.Info("AppStateService 已准备好接收外部服务状态更新");
+            if (TryRefreshMotionStateFromHardware("initialization"))
+            {
+                _logger.Info("AppStateService subscribed to motion hardware state");
+                return;
            }

-        // ── Dispose ──
+            _logger.Warn("AppStateService could not initialize motion state from hardware");
+        }

-        public void Dispose()
+        private void OnAxisStatusChanged(AxisStatusChangedData _)
        {
            if (_disposed) return;
-            _disposed = true;
+            TryRefreshMotionStateFromHardware("axis-status-changed");
+        }

-            // 清除所有事件订阅
-            MotionStateChanged = null;
-            RaySourceStateChanged = null;
-            DetectorStateChanged = null;
-            SystemStateChanged = null;
-            CameraStateChanged = null;
-            LinkedViewStateChanged = null;
-            RecipeExecutionStateChanged = null;
-            LinkedViewRequested = null;
+        private void OnGeometryUpdated(GeometryData geometry)
+        {
+            if (_disposed) return;

-            _logger.Info("AppStateService 已释放");
+            _latestGeometry = geometry;
+            TryRefreshMotionStateFromHardware("geometry-updated");
+        }
+
+        /// <summary>
+        /// 探测器状态变更回调。
+        /// 将硬件层 DetectorStatus 映射为应用层 DetectorState 并同步到 AppState。
+        /// 运行在后台线程（ThreadOption.BackgroundThread），不阻塞采集。
+        /// </summary>
+        private void OnDetectorStatusChanged(DetectorStatus status)
+        {
+            if (_disposed) return;
+
+            // 从 IDetectorService 读取分辨率等补充信息
+            string resolution = string.Empty;
+            double frameRate = 0;
+            try
+            {
+                var info = _detectorService.GetInfo();
+                if (info != null)
+                    resolution = $"{info.MaxWidth}x{info.MaxHeight}";
+            }
+            catch
+            {
+                // 探测器未初始化时 GetInfo 会抛出，忽略即可
+            }
+
+            bool isConnected = status != DetectorStatus.Uninitialized && status != DetectorStatus.Error;
+            bool isAcquiring = status == DetectorStatus.Acquiring;
+
+            var newState = new DetectorState(
+                IsConnected: isConnected,
+                IsAcquiring: isAcquiring,
+                FrameRate: frameRate,
+                Resolution: resolution);
+
+            UpdateDetectorState(newState);
+
+            _logger.Info(
+                "探测器状态已同步：{Status} → IsConnected={IsConnected} IsAcquiring={IsAcquiring} | " +
+                "Detector state synced: {Status} → IsConnected={IsConnected} IsAcquiring={IsAcquiring}",
+                status, isConnected, isAcquiring);
+        }
+
+        /// <summary>
+        /// 探测器图像采集回调。
+        /// 仅缓存最新帧引用（volatile 写），不做任何图像处理，保持采集链路零阻塞。
+        /// 上层通过 LatestDetectorFrame 属性按需读取。
+        /// </summary>
+        private void OnDetectorImageCaptured(ImageCapturedEventArgs args)
+        {
+            if (_disposed || args?.ImageData == null) return;
+            _latestDetectorFrame = args;
+        }
+
+        private bool TryRefreshMotionStateFromHardware(string reason)
+        {
+            try
+            {
+                if (_latestGeometry is null)
+                {
+                    var geometry = _motionControlService.GetCurrentGeometry();
+                    _latestGeometry = new GeometryData(geometry.FOD, geometry.FDD, geometry.Magnification);
+                }
+
+                SetMotionState(BuildMotionStateSnapshot(_latestGeometry));
+                return true;
+            }
+            catch (Exception ex)
+            {
+                _logger.Warn("Failed to refresh motion state from hardware during {Reason}: {Message}", reason, ex.Message);
+                _logger.Error(ex, "Motion state refresh exception during {Reason}", reason);
+                return false;
+            }
+        }
+
+        private MotionState BuildMotionStateSnapshot(GeometryData geometry)
+        {
+            var stageX = _motionSystem.GetLinearAxis(AxisId.StageX);
+            var stageY = _motionSystem.GetLinearAxis(AxisId.StageY);
+            var sourceZ = _motionSystem.GetLinearAxis(AxisId.SourceZ);
+            var detectorZ = _motionSystem.GetLinearAxis(AxisId.DetectorZ);
+            var detectorSwing = _motionSystem.GetRotaryAxis(RotaryAxisId.DetectorSwing);
+            var stageRotation = _motionSystem.GetRotaryAxis(RotaryAxisId.StageRotation);
+            var fixtureRotation = _motionSystem.GetRotaryAxis(RotaryAxisId.FixtureRotation);
+
+            return new MotionState(
+                StageX: stageX.ActualPosition,
+                StageY: stageY.ActualPosition,
+                SourceZ: sourceZ.ActualPosition,
+                DetectorZ: detectorZ.ActualPosition,
+                DetectorSwing: detectorSwing.ActualAngle,
+                FDD: geometry?.FDD ?? 0,
+                StageXSpeed: 0,
+                StageYSpeed: 0,
+                SourceZSpeed: 0,
+                DetectorZSpeed: 0,
+                DetectorSwingSpeed: 0,
+                FDDSpeed: 0,
+                StageRotation: stageRotation.ActualAngle,
+                FixtureRotation: fixtureRotation.ActualAngle,
+                FOD: geometry?.FOD ?? 0,
+                Magnification: geometry?.Magnification ?? 0,
+                StageRotationSpeed: 0,
+                FixtureRotationSpeed: 0);
+        }
+
+        private void SetMotionState(MotionState newState)
+        {
+            var old = Interlocked.Exchange(ref _motionState, newState);
+            if (ReferenceEquals(old, newState)) return;
+            RaiseOnDispatcher(old, newState, MotionStateChanged, nameof(MotionState));
        }
    }
 }
@@ -1,5 +1,6 @@
 using System;
 using System.ComponentModel;
+using XP.Hardware.Detector.Abstractions;
 using XplorePlane.Models;

 namespace XplorePlane.Services.AppState
@@ -21,6 +22,13 @@ namespace XplorePlane.Services.AppState
        LinkedViewState LinkedViewState { get; }
        RecipeExecutionState RecipeExecutionState { get; }

+        /// <summary>
+        /// 探测器最新采集帧（线程安全，可从任意线程读取）。
+        /// 由 ImageCapturedEvent 驱动更新，探测器未采集时为 null。
+        /// CNC 执行、图像处理等上层服务通过此属性按需取图，无需自行订阅事件。
+        /// </summary>
+        ImageCapturedEventArgs LatestDetectorFrame { get; }
+
        // ── 状态更新方法（线程安全，可从任意线程调用）──

        void UpdateMotionState(MotionState newState);
@@ -103,6 +103,63 @@ namespace XplorePlane.Services.Cnc
                {
                    switch (node)
                    {
+                        case ReferencePointNode rp:
+                            _logger.ForModule<CncExecutionService>().Info(
+                                "执行参考点节点 [{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 SavePositionNode sp:
+                            _logger.ForModule<CncExecutionService>().Info(
+                                "执行保存位置节点 [{Index}] {Name} | " +
+                                "StageX={StageX} StageY={StageY} SourceZ={SourceZ} DetectorZ={DetectorZ} " +
+                                "DetectorSwing={DetectorSwing} FDD={FDD} FOD={FOD} Magnification={Magnification} " +
+                                "StageRotation={StageRotation} FixtureRotation={FixtureRotation}",
+                                sp.Index, sp.Name,
+                                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);
+                            break;
+
+                        case SaveNodeNode sn:
+                            _logger.ForModule<CncExecutionService>().Info(
+                                "执行保存节点 [{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(
+                                "执行保存节点(图像) [{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
                            {
@@ -389,22 +389,26 @@ namespace XplorePlane.Services.Cnc
            var raySource = _appStateService.RaySourceState;
            return new ReferencePointNode(
                id, index, $"参考点_{index}",
-                XM: motion.XM,
-                YM: motion.YM,
-                ZT: motion.ZT,
-                ZD: motion.ZD,
-                TiltD: motion.TiltD,
-                Dist: motion.Dist,
+                StageX: motion.StageX,
+                StageY: motion.StageY,
+                SourceZ: motion.SourceZ,
+                DetectorZ: motion.DetectorZ,
+                DetectorSwing: motion.DetectorSwing,
+                FDD: motion.FDD,
                IsRayOn: raySource.IsOn,
                Voltage: raySource.Voltage,
-                Current: TryReadCurrent());
+                Current: TryReadCurrent(),
+                StageRotation: motion.StageRotation,
+                FixtureRotation: motion.FixtureRotation,
+                FOD: motion.FOD,
+                Magnification: motion.Magnification);
        }

        /// <summary>创建保存节点（含图像）| Create save node with image</summary>
        private SaveNodeWithImageNode CreateSaveNodeWithImageNode(Guid id, int index)
        {
            return new SaveNodeWithImageNode(
-                id, index, $"保存节点(图像)_{index}",
+                id, index, $"保存节点_图像_{index}",
                MotionState: _appStateService.MotionState,
                RaySourceState: _appStateService.RaySourceState,
                DetectorState: _appStateService.DetectorState,
@@ -417,7 +417,7 @@ namespace XplorePlane.ViewModels.Cnc
                    return;

                var sb = new StringBuilder();
-                sb.AppendLine("Index,NodeType,Name,XM,YM,ZT,ZD,TiltD,Dist,Voltage_kV,Current_uA,Power_W,RayOn,DetectorConnected,FrameRate,Resolution,ImageFile,MarkerType,MarkerX,MarkerY,DialogTitle,DialogMessage,DelayMs,Pipeline");
+                sb.AppendLine("Index,NodeType,Name,SourceZ,DetectorZ,StageX,StageY,DetectorSwing,StageRotation,FixtureRotation,FOD,FDD,Magnification,Voltage_kV,Current_uA,Power_W,RayOn,DetectorConnected,FrameRate,Resolution,ImageFile,MarkerType,MarkerX,MarkerY,DialogTitle,DialogMessage,DelayMs,Pipeline");

                var inv = CultureInfo.InvariantCulture;

@@ -425,16 +425,16 @@ namespace XplorePlane.ViewModels.Cnc
                {
                    var row = node switch
                    {
-                        ReferencePointNode rp => $"{rp.Index},{rp.NodeType},{Esc(rp.Name)},{rp.XM.ToString(inv)},{rp.YM.ToString(inv)},{rp.ZT.ToString(inv)},{rp.ZD.ToString(inv)},{rp.TiltD.ToString(inv)},{rp.Dist.ToString(inv)},{rp.Voltage.ToString(inv)},{rp.Current.ToString(inv)},,{rp.IsRayOn},,,,,,,,,,",
-                        SaveNodeWithImageNode sni => $"{sni.Index},{sni.NodeType},{Esc(sni.Name)},{sni.MotionState.XM.ToString(inv)},{sni.MotionState.YM.ToString(inv)},{sni.MotionState.ZT.ToString(inv)},{sni.MotionState.ZD.ToString(inv)},{sni.MotionState.TiltD.ToString(inv)},{sni.MotionState.Dist.ToString(inv)},{sni.RaySourceState.Voltage.ToString(inv)},,{sni.RaySourceState.Power.ToString(inv)},{sni.RaySourceState.IsOn},{sni.DetectorState.IsConnected},{sni.DetectorState.FrameRate.ToString(inv)},{Esc(sni.DetectorState.Resolution)},{Esc(sni.ImageFileName)},,,,,,",
-                        SaveNodeNode sn => $"{sn.Index},{sn.NodeType},{Esc(sn.Name)},{sn.MotionState.XM.ToString(inv)},{sn.MotionState.YM.ToString(inv)},{sn.MotionState.ZT.ToString(inv)},{sn.MotionState.ZD.ToString(inv)},{sn.MotionState.TiltD.ToString(inv)},{sn.MotionState.Dist.ToString(inv)},{sn.RaySourceState.Voltage.ToString(inv)},,{sn.RaySourceState.Power.ToString(inv)},{sn.RaySourceState.IsOn},{sn.DetectorState.IsConnected},{sn.DetectorState.FrameRate.ToString(inv)},{Esc(sn.DetectorState.Resolution)},,,,,,,",
-                        SavePositionNode sp => $"{sp.Index},{sp.NodeType},{Esc(sp.Name)},{sp.MotionState.XM.ToString(inv)},{sp.MotionState.YM.ToString(inv)},{sp.MotionState.ZT.ToString(inv)},{sp.MotionState.ZD.ToString(inv)},{sp.MotionState.TiltD.ToString(inv)},{sp.MotionState.Dist.ToString(inv)},,,,,,,,,,,,,,",
-                        InspectionModuleNode im => $"{im.Index},{im.NodeType},{Esc(im.Name)},,,,,,,,,,,,,,,,,,,{Esc(im.Pipeline?.Name ?? string.Empty)}",
-                        InspectionMarkerNode mk => $"{mk.Index},{mk.NodeType},{Esc(mk.Name)},,,,,,,,,,,,,,{Esc(mk.MarkerType)},{mk.MarkerX.ToString(inv)},{mk.MarkerY.ToString(inv)},,,",
-                        PauseDialogNode pd => $"{pd.Index},{pd.NodeType},{Esc(pd.Name)},,,,,,,,,,,,,,,,,{Esc(pd.DialogTitle)},{Esc(pd.DialogMessage)},,",
-                        WaitDelayNode wd => $"{wd.Index},{wd.NodeType},{Esc(wd.Name)},,,,,,,,,,,,,,,,,,,{wd.DelayMilliseconds},",
-                        CompleteProgramNode cp => $"{cp.Index},{cp.NodeType},{Esc(cp.Name)},,,,,,,,,,,,,,,,,,,,",
-                        _ => $"{node.Index},{node.NodeType},{Esc(node.Name)},,,,,,,,,,,,,,,,,,,,"
+                        ReferencePointNode rp => $"{rp.Index},{rp.NodeType},{Esc(rp.Name)},{rp.SourceZ.ToString(inv)},{rp.DetectorZ.ToString(inv)},{rp.StageX.ToString(inv)},{rp.StageY.ToString(inv)},{rp.DetectorSwing.ToString(inv)},{rp.StageRotation.ToString(inv)},{rp.FixtureRotation.ToString(inv)},{rp.FOD.ToString(inv)},{rp.FDD.ToString(inv)},{rp.Magnification.ToString(inv)},{rp.Voltage.ToString(inv)},{rp.Current.ToString(inv)},,{rp.IsRayOn},,,,,,,,,,",
+                        SaveNodeWithImageNode sni => $"{sni.Index},{sni.NodeType},{Esc(sni.Name)},{sni.MotionState.SourceZ.ToString(inv)},{sni.MotionState.DetectorZ.ToString(inv)},{sni.MotionState.StageX.ToString(inv)},{sni.MotionState.StageY.ToString(inv)},{sni.MotionState.DetectorSwing.ToString(inv)},{sni.MotionState.StageRotation.ToString(inv)},{sni.MotionState.FixtureRotation.ToString(inv)},{sni.MotionState.FOD.ToString(inv)},{sni.MotionState.FDD.ToString(inv)},{sni.MotionState.Magnification.ToString(inv)},{sni.RaySourceState.Voltage.ToString(inv)},,{sni.RaySourceState.Power.ToString(inv)},{sni.RaySourceState.IsOn},{sni.DetectorState.IsConnected},{sni.DetectorState.FrameRate.ToString(inv)},{Esc(sni.DetectorState.Resolution)},{Esc(sni.ImageFileName)},,,,,,",
+                        SaveNodeNode sn => $"{sn.Index},{sn.NodeType},{Esc(sn.Name)},{sn.MotionState.SourceZ.ToString(inv)},{sn.MotionState.DetectorZ.ToString(inv)},{sn.MotionState.StageX.ToString(inv)},{sn.MotionState.StageY.ToString(inv)},{sn.MotionState.DetectorSwing.ToString(inv)},{sn.MotionState.StageRotation.ToString(inv)},{sn.MotionState.FixtureRotation.ToString(inv)},{sn.MotionState.FOD.ToString(inv)},{sn.MotionState.FDD.ToString(inv)},{sn.MotionState.Magnification.ToString(inv)},{sn.RaySourceState.Voltage.ToString(inv)},,{sn.RaySourceState.Power.ToString(inv)},{sn.RaySourceState.IsOn},{sn.DetectorState.IsConnected},{sn.DetectorState.FrameRate.ToString(inv)},{Esc(sn.DetectorState.Resolution)},,,,,,,",
+                        SavePositionNode sp => $"{sp.Index},{sp.NodeType},{Esc(sp.Name)},{sp.MotionState.SourceZ.ToString(inv)},{sp.MotionState.DetectorZ.ToString(inv)},{sp.MotionState.StageX.ToString(inv)},{sp.MotionState.StageY.ToString(inv)},{sp.MotionState.DetectorSwing.ToString(inv)},{sp.MotionState.StageRotation.ToString(inv)},{sp.MotionState.FixtureRotation.ToString(inv)},{sp.MotionState.FOD.ToString(inv)},{sp.MotionState.FDD.ToString(inv)},{sp.MotionState.Magnification.ToString(inv)},,,,,,,,,,,,,,",
+                        InspectionModuleNode im => $"{im.Index},{im.NodeType},{Esc(im.Name)},,,,,,,,,,,,,,,,,,,,,,{Esc(im.Pipeline?.Name ?? string.Empty)}",
+                        InspectionMarkerNode mk => $"{mk.Index},{mk.NodeType},{Esc(mk.Name)},,,,,,,,,,,,,,,,,{Esc(mk.MarkerType)},{mk.MarkerX.ToString(inv)},{mk.MarkerY.ToString(inv)},,,",
+                        PauseDialogNode pd => $"{pd.Index},{pd.NodeType},{Esc(pd.Name)},,,,,,,,,,,,,,,,,,,{Esc(pd.DialogTitle)},{Esc(pd.DialogMessage)},,",
+                        WaitDelayNode wd => $"{wd.Index},{wd.NodeType},{Esc(wd.Name)},,,,,,,,,,,,,,,,,,,,,{wd.DelayMilliseconds},",
+                        CompleteProgramNode cp => $"{cp.Index},{cp.NodeType},{Esc(cp.Name)},,,,,,,,,,,,,,,,,,,,,,",
+                        _ => $"{node.Index},{node.NodeType},{Esc(node.Name)},,,,,,,,,,,,,,,,,,,,,,"
                    };

                    sb.AppendLine(row);
@@ -551,6 +551,7 @@ namespace XplorePlane.ViewModels.Cnc
            finally
            {
                IsRunning = false;
+                ResetAllNodeStates();
                _cts?.Dispose();
                _cts = null;
            }
@@ -1,4 +1,4 @@
-using Microsoft.Win32;
+using Microsoft.Win32;
 using Prism.Commands;
 using Prism.Mvvm;
 using System;
@@ -116,82 +116,134 @@ namespace XplorePlane.ViewModels.Cnc
            _ => string.Empty
        };

-        public double XM
+        public double StageX
        {
            get => _model switch
            {
-                ReferencePointNode rp => rp.XM,
-                SaveNodeNode sn => sn.MotionState.XM,
-                SaveNodeWithImageNode sni => sni.MotionState.XM,
-                SavePositionNode sp => sp.MotionState.XM,
+                ReferencePointNode rp => rp.StageX,
+                SaveNodeNode sn => sn.MotionState.StageX,
+                SaveNodeWithImageNode sni => sni.MotionState.StageX,
+                SavePositionNode sp => sp.MotionState.StageX,
                _ => 0d
            };
-            set => UpdateMotion(value, MotionAxis.XM);
+            set => UpdateMotion(value, MotionAxis.StageX);
        }

-        public double YM
+        public double StageY
        {
            get => _model switch
            {
-                ReferencePointNode rp => rp.YM,
-                SaveNodeNode sn => sn.MotionState.YM,
-                SaveNodeWithImageNode sni => sni.MotionState.YM,
-                SavePositionNode sp => sp.MotionState.YM,
+                ReferencePointNode rp => rp.StageY,
+                SaveNodeNode sn => sn.MotionState.StageY,
+                SaveNodeWithImageNode sni => sni.MotionState.StageY,
+                SavePositionNode sp => sp.MotionState.StageY,
                _ => 0d
            };
-            set => UpdateMotion(value, MotionAxis.YM);
+            set => UpdateMotion(value, MotionAxis.StageY);
        }

-        public double ZT
+        public double SourceZ
        {
            get => _model switch
            {
-                ReferencePointNode rp => rp.ZT,
-                SaveNodeNode sn => sn.MotionState.ZT,
-                SaveNodeWithImageNode sni => sni.MotionState.ZT,
-                SavePositionNode sp => sp.MotionState.ZT,
+                ReferencePointNode rp => rp.SourceZ,
+                SaveNodeNode sn => sn.MotionState.SourceZ,
+                SaveNodeWithImageNode sni => sni.MotionState.SourceZ,
+                SavePositionNode sp => sp.MotionState.SourceZ,
                _ => 0d
            };
-            set => UpdateMotion(value, MotionAxis.ZT);
+            set => UpdateMotion(value, MotionAxis.SourceZ);
        }

-        public double ZD
+        public double DetectorZ
        {
            get => _model switch
            {
-                ReferencePointNode rp => rp.ZD,
-                SaveNodeNode sn => sn.MotionState.ZD,
-                SaveNodeWithImageNode sni => sni.MotionState.ZD,
-                SavePositionNode sp => sp.MotionState.ZD,
+                ReferencePointNode rp => rp.DetectorZ,
+                SaveNodeNode sn => sn.MotionState.DetectorZ,
+                SaveNodeWithImageNode sni => sni.MotionState.DetectorZ,
+                SavePositionNode sp => sp.MotionState.DetectorZ,
                _ => 0d
            };
-            set => UpdateMotion(value, MotionAxis.ZD);
+            set => UpdateMotion(value, MotionAxis.DetectorZ);
        }

-        public double TiltD
+        public double DetectorSwing
        {
            get => _model switch
            {
-                ReferencePointNode rp => rp.TiltD,
-                SaveNodeNode sn => sn.MotionState.TiltD,
-                SaveNodeWithImageNode sni => sni.MotionState.TiltD,
-                SavePositionNode sp => sp.MotionState.TiltD,
+                ReferencePointNode rp => rp.DetectorSwing,
+                SaveNodeNode sn => sn.MotionState.DetectorSwing,
+                SaveNodeWithImageNode sni => sni.MotionState.DetectorSwing,
+                SavePositionNode sp => sp.MotionState.DetectorSwing,
                _ => 0d
            };
-            set => UpdateMotion(value, MotionAxis.TiltD);
+            set => UpdateMotion(value, MotionAxis.DetectorSwing);
        }

-        public double Dist
+        public double StageRotation
        {
            get => _model switch
            {
-                ReferencePointNode rp => rp.Dist,
-                SaveNodeNode sn => sn.MotionState.Dist,
-                SaveNodeWithImageNode sni => sni.MotionState.Dist,
-                SavePositionNode sp => sp.MotionState.Dist,
+                ReferencePointNode rp => rp.StageRotation,
+                SaveNodeNode sn => sn.MotionState.StageRotation,
+                SaveNodeWithImageNode sni => sni.MotionState.StageRotation,
+                SavePositionNode sp => sp.MotionState.StageRotation,
                _ => 0d
            };
-            set => UpdateMotion(value, MotionAxis.Dist);
+            set => UpdateMotion(value, MotionAxis.StageRotation);
+        }
+
+        public double FixtureRotation
+        {
+            get => _model switch
+            {
+                ReferencePointNode rp => rp.FixtureRotation,
+                SaveNodeNode sn => sn.MotionState.FixtureRotation,
+                SaveNodeWithImageNode sni => sni.MotionState.FixtureRotation,
+                SavePositionNode sp => sp.MotionState.FixtureRotation,
+                _ => 0d
+            };
+            set => UpdateMotion(value, MotionAxis.FixtureRotation);
+        }
+
+        public double FOD
+        {
+            get => _model switch
+            {
+                ReferencePointNode rp => rp.FOD,
+                SaveNodeNode sn => sn.MotionState.FOD,
+                SaveNodeWithImageNode sni => sni.MotionState.FOD,
+                SavePositionNode sp => sp.MotionState.FOD,
+                _ => 0d
+            };
+            set => UpdateMotion(value, MotionAxis.FOD);
+        }
+
+        public double FDD
+        {
+            get => _model switch
+            {
+                ReferencePointNode rp => rp.FDD,
+                SaveNodeNode sn => sn.MotionState.FDD,
+                SaveNodeWithImageNode sni => sni.MotionState.FDD,
+                SavePositionNode sp => sp.MotionState.FDD,
+                _ => 0d
+            };
+            set => UpdateMotion(value, MotionAxis.FDD);
+        }
+
+        public double Magnification
+        {
+            get => _model switch
+            {
+                ReferencePointNode rp => rp.Magnification,
+                SaveNodeNode sn => sn.MotionState.Magnification,
+                SaveNodeWithImageNode sni => sni.MotionState.Magnification,
+                SavePositionNode sp => sp.MotionState.Magnification,
+                _ => 0d
+            };
+            set => UpdateMotion(value, MotionAxis.Magnification);
        }

        public bool IsRayOn
@@ -426,12 +478,16 @@ namespace XplorePlane.ViewModels.Cnc
                case ReferencePointNode rp:
                    UpdateModel(axis switch
                    {
-                        MotionAxis.XM => rp with { XM = value },
-                        MotionAxis.YM => rp with { YM = value },
-                        MotionAxis.ZT => rp with { ZT = value },
-                        MotionAxis.ZD => rp with { ZD = value },
-                        MotionAxis.TiltD => rp with { TiltD = value },
-                        MotionAxis.Dist => rp with { Dist = value },
+                        MotionAxis.StageX => rp with { StageX = value },
+                        MotionAxis.StageY => rp with { StageY = value },
+                        MotionAxis.SourceZ => rp with { SourceZ = value },
+                        MotionAxis.DetectorZ => rp with { DetectorZ = value },
+                        MotionAxis.DetectorSwing => rp with { DetectorSwing = value },
+                        MotionAxis.StageRotation => rp with { StageRotation = value },
+                        MotionAxis.FixtureRotation => rp with { FixtureRotation = value },
+                        MotionAxis.FOD => rp with { FOD = value },
+                        MotionAxis.FDD => rp with { FDD = value },
+                        MotionAxis.Magnification => rp with { Magnification = value },
                        _ => rp
                    });
                    break;
@@ -519,12 +575,16 @@ namespace XplorePlane.ViewModels.Cnc
        {
            return axis switch
            {
-                MotionAxis.XM => state with { XM = value },
-                MotionAxis.YM => state with { YM = value },
-                MotionAxis.ZT => state with { ZT = value },
-                MotionAxis.ZD => state with { ZD = value },
-                MotionAxis.TiltD => state with { TiltD = value },
-                MotionAxis.Dist => state with { Dist = value },
+                MotionAxis.StageX => state with { StageX = value },
+                MotionAxis.StageY => state with { StageY = value },
+                MotionAxis.SourceZ => state with { SourceZ = value },
+                MotionAxis.DetectorZ => state with { DetectorZ = value },
+                MotionAxis.DetectorSwing => state with { DetectorSwing = value },
+                MotionAxis.StageRotation => state with { StageRotation = value },
+                MotionAxis.FixtureRotation => state with { FixtureRotation = value },
+                MotionAxis.FOD => state with { FOD = value },
+                MotionAxis.FDD => state with { FDD = value },
+                MotionAxis.Magnification => state with { Magnification = value },
                _ => state
            };
        }
@@ -557,12 +617,16 @@ namespace XplorePlane.ViewModels.Cnc
            RaisePropertyChanged(nameof(IsPositionChild));
            RaisePropertyChanged(nameof(IsMotionSnapshotNode));
            RaisePropertyChanged(nameof(RelationTag));
-            RaisePropertyChanged(nameof(XM));
-            RaisePropertyChanged(nameof(YM));
-            RaisePropertyChanged(nameof(ZT));
-            RaisePropertyChanged(nameof(ZD));
-            RaisePropertyChanged(nameof(TiltD));
-            RaisePropertyChanged(nameof(Dist));
+            RaisePropertyChanged(nameof(StageX));
+            RaisePropertyChanged(nameof(StageY));
+            RaisePropertyChanged(nameof(SourceZ));
+            RaisePropertyChanged(nameof(DetectorZ));
+            RaisePropertyChanged(nameof(DetectorSwing));
+            RaisePropertyChanged(nameof(StageRotation));
+            RaisePropertyChanged(nameof(FixtureRotation));
+            RaisePropertyChanged(nameof(FOD));
+            RaisePropertyChanged(nameof(FDD));
+            RaisePropertyChanged(nameof(Magnification));
            RaisePropertyChanged(nameof(IsRayOn));
            RaisePropertyChanged(nameof(Voltage));
            RaisePropertyChanged(nameof(Current));
@@ -591,12 +655,16 @@ namespace XplorePlane.ViewModels.Cnc

        private enum MotionAxis
        {
-            XM,
-            YM,
-            ZT,
-            ZD,
-            TiltD,
-            Dist
+            StageX,
+            StageY,
+            SourceZ,
+            DetectorZ,
+            DetectorSwing,
+            StageRotation,
+            FixtureRotation,
+            FOD,
+            FDD,
+            Magnification
        }
    }
 }
@@ -1,4 +1,4 @@
-using Microsoft.Win32;
+using Microsoft.Win32;
 using Prism.Events;
 using Prism.Commands;
 using Prism.Mvvm;
@@ -1,4 +1,4 @@
-using Microsoft.Win32;
+using Microsoft.Win32;
 using Prism.Commands;
 using Prism.Events;
 using Prism.Ioc;
@@ -1,4 +1,4 @@
-<Window
+<Window
    x:Class="XplorePlane.Views.Cnc.CncEditorWindow"
    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
@@ -489,28 +489,44 @@
                                Visibility="{Binding SelectedNode.IsMotionSnapshotNode, Converter={StaticResource BoolToVisibilityConverter}}">
                                <UniformGrid Margin="8,8,8,6" Columns="2">
                                    <StackPanel Margin="0,0,6,0">
-                                        <TextBlock Style="{StaticResource LabelStyle}" Text="XM" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.XM, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBlock Style="{StaticResource LabelStyle}" Text="载物台 X (μm)" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.StageX, UpdateSourceTrigger=LostFocus}" />
                                    </StackPanel>
                                    <StackPanel>
-                                        <TextBlock Style="{StaticResource LabelStyle}" Text="YM" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.YM, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBlock Style="{StaticResource LabelStyle}" Text="载物台 Y (μm)" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.StageY, UpdateSourceTrigger=LostFocus}" />
                                    </StackPanel>
                                    <StackPanel Margin="0,0,6,0">
-                                        <TextBlock Style="{StaticResource LabelStyle}" Text="ZT" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.ZT, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBlock Style="{StaticResource LabelStyle}" Text="射线源 Z (μm)" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.SourceZ, UpdateSourceTrigger=LostFocus}" />
                                    </StackPanel>
                                    <StackPanel>
-                                        <TextBlock Style="{StaticResource LabelStyle}" Text="ZD" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.ZD, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBlock Style="{StaticResource LabelStyle}" Text="探测器 Z (μm)" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.DetectorZ, UpdateSourceTrigger=LostFocus}" />
                                    </StackPanel>
                                    <StackPanel Margin="0,0,6,0">
-                                        <TextBlock Style="{StaticResource LabelStyle}" Text="TiltD" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.TiltD, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBlock Style="{StaticResource LabelStyle}" Text="探测器摆动 (°)" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.DetectorSwing, UpdateSourceTrigger=LostFocus}" />
                                    </StackPanel>
                                    <StackPanel>
-                                        <TextBlock Style="{StaticResource LabelStyle}" Text="Dist" />
-                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.Dist, UpdateSourceTrigger=LostFocus}" />
+                                        <TextBlock Style="{StaticResource LabelStyle}" Text="载物台旋转 (°)" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.StageRotation, UpdateSourceTrigger=LostFocus}" />
+                                    </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}" />
+                                    </StackPanel>
+                                    <StackPanel>
+                                        <TextBlock Style="{StaticResource LabelStyle}" Text="FOD (μm)" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.FOD, UpdateSourceTrigger=LostFocus}" />
+                                    </StackPanel>
+                                    <StackPanel Margin="0,0,6,0">
+                                        <TextBlock Style="{StaticResource LabelStyle}" Text="FDD (μm)" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.FDD, UpdateSourceTrigger=LostFocus}" />
+                                    </StackPanel>
+                                    <StackPanel>
+                                        <TextBlock Style="{StaticResource LabelStyle}" Text="放大倍率" />
+                                        <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.Magnification, UpdateSourceTrigger=LostFocus}" />
                                    </StackPanel>
                                </UniformGrid>
                            </GroupBox>
@@ -53,7 +53,7 @@
                    Margin="0,0,4,3"
                    VerticalAlignment="Center"
                    Foreground="#333333"
-                    Text="XM" />
+                    Text="StageX" />
                <TextBox
                    Grid.Row="0"
                    Grid.Column="1"
@@ -94,7 +94,7 @@
                    Margin="0,0,4,3"
                    VerticalAlignment="Center"
                    Foreground="#333333"
-                    Text="YM" />
+                    Text="StageY" />
                <TextBox
                    Grid.Row="1"
                    Grid.Column="1"
@@ -127,7 +127,7 @@
                    Margin="0,0,4,3"
                    VerticalAlignment="Center"
                    Foreground="#333333"
-                    Text="ZT" />
+                    Text="SourceZ" />
                <TextBox
                    Grid.Row="2"
                    Grid.Column="1"
@@ -151,7 +151,7 @@
                    Margin="0,0,4,3"
                    VerticalAlignment="Center"
                    Foreground="#333333"
-                    Text="ZD" />
+                    Text="DetectorZ" />
                <TextBox
                    Grid.Row="3"
                    Grid.Column="1"
@@ -175,7 +175,7 @@
                    Margin="0,0,4,3"
                    VerticalAlignment="Center"
                    Foreground="#333333"
-                    Text="TiltD" />
+                    Text="DetectorSwing" />
                <TextBox
                    Grid.Row="4"
                    Grid.Column="1"
@@ -199,7 +199,7 @@
                    Margin="0,0,4,0"
                    VerticalAlignment="Center"
                    Foreground="#333333"
-                    Text="Dist" />
+                    Text="FDD" />
                <TextBox
                    Grid.Row="5"
                    Grid.Column="1"
@@ -1,4 +1,4 @@
-<UserControl
+<UserControl
    x:Class="XplorePlane.Views.PipelineEditorView"
    x:Name="RootControl"
    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
@@ -1,4 +1,4 @@
-<UserControl
+<UserControl
    x:Class="XplorePlane.Views.ImagePanelView"
    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
@@ -1,4 +1,4 @@
-<Project Sdk="Microsoft.NET.Sdk">
+<Project Sdk="Microsoft.NET.Sdk">
  <PropertyGroup>
    <OutputType>WinExe</OutputType>
    <TargetFramework>net8.0-windows</TargetFramework>
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="utf-8"?>
 <Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
  <PropertyGroup />
 </Project>