初版本AxisControl（Viscom风格）控件。
This commit is contained in:
QI Mingxuan
Binary file not shown.
@@ -45,6 +45,11 @@ namespace XP.Hardware.MotionControl.Abstractions
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/// <returns>操作结果 | Operation result</returns>
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MotionResult Stop();
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/// <summary>设置 Jog 速度 | Set jog speed</summary>
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/// <param name="speedPercent">速度百分比（0~100）| Speed percentage (0~100)</param>
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/// <returns>操作结果 | Operation result</returns>
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MotionResult SetJogSpeed(double speedPercent);
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/// <summary>从 PLC 更新状态 | Update status from PLC</summary>
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void UpdateStatus();
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}
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@@ -42,6 +42,11 @@ namespace XP.Hardware.MotionControl.Abstractions
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/// <returns>操作结果 | Operation result</returns>
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MotionResult Stop();
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/// <summary>设置 Jog 速度 | Set jog speed</summary>
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/// <param name="speedPercent">速度百分比（0~100）| Speed percentage (0~100)</param>
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/// <returns>操作结果 | Operation result</returns>
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MotionResult SetJogSpeed(double speedPercent);
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/// <summary>从 PLC 更新状态 | Update status from PLC</summary>
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void UpdateStatus();
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}
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@@ -70,6 +70,9 @@ namespace XP.Hardware.MotionControl.Abstractions
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/// <inheritdoc/>
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public abstract MotionResult Stop();
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/// <inheritdoc/>
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public abstract MotionResult SetJogSpeed(double speedPercent);
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/// <inheritdoc/>
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public abstract void UpdateStatus();
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}
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@@ -67,6 +67,9 @@ namespace XP.Hardware.MotionControl.Abstractions
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/// <inheritdoc/>
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public abstract MotionResult Stop();
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/// <inheritdoc/>
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public abstract MotionResult SetJogSpeed(double speedPercent);
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/// <inheritdoc/>
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public abstract void UpdateStatus();
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}
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@@ -95,6 +95,13 @@ namespace XP.Hardware.MotionControl.Implementations
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return MotionResult.Ok();
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}
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/// <inheritdoc/>
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public override MotionResult SetJogSpeed(double speedPercent)
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{
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_signalService.EnqueueWrite(_speedSignal, (float)speedPercent);
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return MotionResult.Ok();
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}
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/// <inheritdoc/>
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public override void UpdateStatus()
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{
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@@ -91,6 +91,14 @@ namespace XP.Hardware.MotionControl.Implementations
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return MotionResult.Ok();
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}
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/// <inheritdoc/>
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public override MotionResult SetJogSpeed(double speedPercent)
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{
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if (!_enabled) return MotionResult.Fail($"旋转轴 {_axisId} 已禁用，拒绝设置 Jog 速度命令");
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_signalService.EnqueueWrite(_speedSignal, (float)speedPercent);
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return MotionResult.Ok();
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}
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/// <inheritdoc/>
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public override void UpdateStatus()
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{
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@@ -258,4 +258,47 @@ SourceZ → {3:F2}mm
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DetectorZ → {4:F2}mm
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Confirm to filll move matrix?</value>
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</data>
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<!-- AxisControlView localization resources -->
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<data name="AC_AxisPositions" xml:space="preserve">
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<value>Axis Positions</value>
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</data>
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<data name="AC_StageX" xml:space="preserve">
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<value>Stage X</value>
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</data>
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<data name="AC_StageY" xml:space="preserve">
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<value>Stage Y</value>
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</data>
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<data name="AC_SourceZ" xml:space="preserve">
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<value>Source Z</value>
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</data>
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<data name="AC_DetectorZ" xml:space="preserve">
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<value>Detector Z</value>
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</data>
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<data name="AC_DetectorSwing" xml:space="preserve">
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<value>Detector Swing</value>
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</data>
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<data name="AC_StageRotation" xml:space="preserve">
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<value>Stage Rotation</value>
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</data>
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<data name="AC_FixtureRotation" xml:space="preserve">
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<value>Fixture Rotation</value>
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</data>
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<data name="AC_SafetyParams" xml:space="preserve">
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<value>Safety Parameters</value>
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</data>
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<data name="AC_SafetyHeight" xml:space="preserve">
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<value>Safety Height</value>
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</data>
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<data name="AC_CalibrationValue" xml:space="preserve">
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<value>Calibration Value</value>
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</data>
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<data name="AC_Enable" xml:space="preserve">
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<value>Enable</value>
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</data>
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<data name="AC_Save" xml:space="preserve">
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<value>Save</value>
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</data>
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<data name="AC_Restore" xml:space="preserve">
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<value>Restore</value>
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</data>
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</root>
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@@ -301,4 +301,61 @@ DetectorZ → {4:F2}mm
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确认填入信息？ | Confirm to filll move matrix?</value>
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<comment>几何反算确认提示 | Geometry inverse confirmation message</comment>
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</data>
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<!-- AxisControlView 多语言资源 | AxisControlView localization resources -->
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<data name="AC_AxisPositions" xml:space="preserve">
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<value>轴位置</value>
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<comment>轴位置分组标题 | Axis positions group title</comment>
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</data>
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<data name="AC_StageX" xml:space="preserve">
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<value>载物台 X</value>
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<comment>载物台 X 轴标签 | Stage X axis label</comment>
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</data>
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<data name="AC_StageY" xml:space="preserve">
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<value>载物台 Y</value>
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<comment>载物台 Y 轴标签 | Stage Y axis label</comment>
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</data>
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<data name="AC_SourceZ" xml:space="preserve">
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<value>射线源 Z</value>
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<comment>射线源 Z 轴标签 | Source Z axis label</comment>
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</data>
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<data name="AC_DetectorZ" xml:space="preserve">
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<value>探测器 Z</value>
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<comment>探测器 Z 轴标签 | Detector Z axis label</comment>
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</data>
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<data name="AC_DetectorSwing" xml:space="preserve">
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<value>探测器摆动</value>
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<comment>探测器摆动旋转轴标签 | Detector swing rotary axis label</comment>
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</data>
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<data name="AC_StageRotation" xml:space="preserve">
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<value>载物台旋转</value>
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<comment>载物台旋转轴标签 | Stage rotation axis label</comment>
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</data>
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<data name="AC_FixtureRotation" xml:space="preserve">
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<value>夹具旋转</value>
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<comment>夹具旋转轴标签 | Fixture rotation axis label</comment>
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</data>
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<data name="AC_SafetyParams" xml:space="preserve">
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<value>安全参数</value>
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<comment>安全参数分组标题 | Safety parameters group title</comment>
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</data>
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<data name="AC_SafetyHeight" xml:space="preserve">
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<value>安全高度</value>
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<comment>探测器安全高度限定值标签 | Safety height label</comment>
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</data>
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<data name="AC_CalibrationValue" xml:space="preserve">
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<value>校准计算值</value>
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<comment>校准自动计算值标签 | Calibration value label</comment>
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</data>
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<data name="AC_Enable" xml:space="preserve">
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<value>使能</value>
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<comment>使能开关标签 | Enable toggle label</comment>
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</data>
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<data name="AC_Save" xml:space="preserve">
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<value>保存</value>
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<comment>保存按钮文本 | Save button text</comment>
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</data>
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<data name="AC_Restore" xml:space="preserve">
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<value>恢复</value>
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<comment>恢复按钮文本 | Restore button text</comment>
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</data>
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</root>
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@@ -258,4 +258,47 @@ SourceZ → {3:F2}mm
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DetectorZ → {4:F2}mm
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确认填入目标值信息？</value>
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</data>
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<!-- AxisControlView 多语言资源 | AxisControlView localization resources -->
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<data name="AC_AxisPositions" xml:space="preserve">
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<value>轴位置</value>
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</data>
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<data name="AC_StageX" xml:space="preserve">
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<value>载物台 X</value>
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</data>
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<data name="AC_StageY" xml:space="preserve">
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<value>载物台 Y</value>
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</data>
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<data name="AC_SourceZ" xml:space="preserve">
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<value>射线源 Z</value>
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</data>
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<data name="AC_DetectorZ" xml:space="preserve">
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<value>探测器 Z</value>
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</data>
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<data name="AC_DetectorSwing" xml:space="preserve">
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<value>探测器摆动</value>
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</data>
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<data name="AC_StageRotation" xml:space="preserve">
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<value>载物台旋转</value>
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</data>
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<data name="AC_FixtureRotation" xml:space="preserve">
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<value>夹具旋转</value>
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</data>
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<data name="AC_SafetyParams" xml:space="preserve">
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<value>安全参数</value>
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</data>
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<data name="AC_SafetyHeight" xml:space="preserve">
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<value>安全高度</value>
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</data>
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<data name="AC_CalibrationValue" xml:space="preserve">
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<value>校准计算值</value>
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</data>
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<data name="AC_Enable" xml:space="preserve">
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<value>使能</value>
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</data>
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<data name="AC_Save" xml:space="preserve">
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<value>保存</value>
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</data>
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<data name="AC_Restore" xml:space="preserve">
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<value>恢复</value>
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</data>
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</root>
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@@ -258,4 +258,47 @@ SourceZ → {3:F2}mm
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DetectorZ → {4:F2}mm
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確填入目標值資料？</value>
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</data>
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<!-- AxisControlView 多語言資源 | AxisControlView localization resources -->
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<data name="AC_AxisPositions" xml:space="preserve">
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<value>軸位置</value>
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</data>
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<data name="AC_StageX" xml:space="preserve">
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<value>載物台 X</value>
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</data>
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<data name="AC_StageY" xml:space="preserve">
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<value>載物台 Y</value>
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</data>
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<data name="AC_SourceZ" xml:space="preserve">
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<value>射線源 Z</value>
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</data>
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<data name="AC_DetectorZ" xml:space="preserve">
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<value>探測器 Z</value>
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</data>
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<data name="AC_DetectorSwing" xml:space="preserve">
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<value>探測器擺動</value>
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</data>
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<data name="AC_StageRotation" xml:space="preserve">
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<value>載物台旋轉</value>
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</data>
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<data name="AC_FixtureRotation" xml:space="preserve">
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<value>夾具旋轉</value>
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</data>
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<data name="AC_SafetyParams" xml:space="preserve">
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<value>安全參數</value>
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</data>
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<data name="AC_SafetyHeight" xml:space="preserve">
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<value>安全高度</value>
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</data>
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<data name="AC_CalibrationValue" xml:space="preserve">
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<value>校準計算值</value>
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</data>
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<data name="AC_Enable" xml:space="preserve">
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<value>使能</value>
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</data>
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<data name="AC_Save" xml:space="preserve">
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<value>保存</value>
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</data>
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<data name="AC_Restore" xml:space="preserve">
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<value>恢復</value>
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</data>
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</root>
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@@ -106,6 +106,24 @@ namespace XP.Hardware.MotionControl.Services
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/// <returns>操作结果 | Operation result</returns>
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MotionResult JogRotaryStop(RotaryAxisId axisId);
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/// <summary>
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/// 设置直线轴 Jog 速度 | Set linear axis jog speed
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/// 根据速度百分比计算实际速度并写入 PLC | Calculates actual speed from percentage and writes to PLC
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/// </summary>
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/// <param name="axisId">直线轴标识 | Linear axis identifier</param>
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/// <param name="speedPercent">速度百分比（0~100）| Speed percentage (0~100)</param>
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/// <returns>操作结果 | Operation result</returns>
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MotionResult SetJogSpeed(AxisId axisId, double speedPercent);
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/// <summary>
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/// 设置旋转轴 Jog 速度 | Set rotary axis jog speed
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/// 根据速度百分比计算实际速度并写入 PLC | Calculates actual speed from percentage and writes to PLC
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/// </summary>
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/// <param name="axisId">旋转轴标识 | Rotary axis identifier</param>
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/// <param name="speedPercent">速度百分比（0~100）| Speed percentage (0~100)</param>
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/// <returns>操作结果 | Operation result</returns>
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MotionResult SetJogRotarySpeed(RotaryAxisId axisId, double speedPercent);
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#endregion
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#region 安全门控制 | Safety Door Control
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@@ -488,6 +488,60 @@ namespace XP.Hardware.MotionControl.Services
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return result;
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}
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/// <summary>
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/// 设置直线轴 Jog 速度 | Set linear axis jog speed
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/// 根据速度百分比计算实际速度并写入 PLC | Calculates actual speed from percentage and writes to PLC
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/// </summary>
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public MotionResult SetJogSpeed(AxisId axisId, double speedPercent)
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{
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var axis = _motionSystem.GetLinearAxis(axisId);
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var actualSpeed = _config.DefaultVelocity * speedPercent / 100.0;
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var result = axis.SetJogSpeed(actualSpeed);
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if (result.Success)
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{
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_logger.Debug("直线轴 {AxisId} Jog 速度已设置，百分比={SpeedPercent}%，实际速度={ActualSpeed} | Linear axis {AxisId} jog speed set, percent={SpeedPercent}%, actual={ActualSpeed}",
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axisId, speedPercent, actualSpeed);
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}
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else
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{
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_logger.Warn("直线轴 {AxisId} 设置 Jog 速度被拒绝：{Reason} | Linear axis {AxisId} set jog speed rejected: {Reason}", axisId, result.ErrorMessage);
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}
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return result;
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}
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/// <summary>
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/// 设置旋转轴 Jog 速度 | Set rotary axis jog speed
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/// 根据速度百分比计算实际速度并写入 PLC | Calculates actual speed from percentage and writes to PLC
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/// </summary>
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public MotionResult SetJogRotarySpeed(RotaryAxisId axisId, double speedPercent)
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{
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var axis = _motionSystem.GetRotaryAxis(axisId);
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// 禁用轴检查 | Disabled axis check
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if (!axis.Enabled)
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{
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_logger.Warn("旋转轴 {AxisId} 已禁用，拒绝设置 Jog 速度命令 | Rotary axis {AxisId} is disabled, set jog speed rejected", axisId);
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return MotionResult.Fail($"旋转轴 {axisId} 已禁用 | Rotary axis {axisId} is disabled");
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}
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var actualSpeed = _config.DefaultVelocity * speedPercent / 100.0;
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var result = axis.SetJogSpeed(actualSpeed);
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if (result.Success)
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{
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_logger.Debug("旋转轴 {AxisId} Jog 速度已设置，百分比={SpeedPercent}%，实际速度={ActualSpeed} | Rotary axis {AxisId} jog speed set, percent={SpeedPercent}%, actual={ActualSpeed}",
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axisId, speedPercent, actualSpeed);
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}
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else
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{
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_logger.Warn("旋转轴 {AxisId} 设置 Jog 速度被拒绝：{Reason} | Rotary axis {AxisId} set jog speed rejected: {Reason}", axisId, result.ErrorMessage);
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}
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return result;
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}
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#endregion
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#region 安全门控制 | Safety Door Control
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@@ -0,0 +1,896 @@
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using System;
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using System.Collections.Generic;
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using System.Windows;
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using Prism.Commands;
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using Prism.Events;
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using Prism.Mvvm;
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using XP.Common.Controls;
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using XP.Common.Logging.Interfaces;
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using XP.Hardware.MotionControl.Abstractions;
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using XP.Hardware.MotionControl.Abstractions.Enums;
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using XP.Hardware.MotionControl.Abstractions.Events;
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using XP.Hardware.MotionControl.Config;
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using XP.Hardware.MotionControl.Services;
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using XP.Hardware.Plc.Abstractions;
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using XP.Common.Localization;
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namespace XP.Hardware.MotionControl.ViewModels
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{
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/// <summary>
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/// 轴控制面板 ViewModel | Axis Control Panel ViewModel
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/// 集成摇杆、轴位置输入框、安全参数和使能控制 | Integrates joystick, axis position inputs, safety parameters and enable control
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/// </summary>
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public class AxisControlViewModel : BindableBase
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{
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private readonly IMotionControlService _motionControlService;
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private readonly IMotionSystem _motionSystem;
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private readonly IEventAggregator _eventAggregator;
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private readonly MotionControlConfig _config;
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private readonly IPlcService _plcService;
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private readonly ILoggerService _logger;
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#region 内部状态跟踪 | Internal State Tracking
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/// <summary>直线轴 Jog 活跃状态 | Linear axis jog active states</summary>
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private readonly Dictionary<AxisId, bool> _linearJogActive = new();
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/// <summary>旋转轴 Jog 活跃状态 | Rotary axis jog active states</summary>
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private readonly Dictionary<RotaryAxisId, bool> _rotaryJogActive = new();
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/// <summary>输入框编辑冻结标志 | Input box editing freeze flags</summary>
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private readonly Dictionary<string, bool> _editingFlags = new();
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/// <summary>保存的轴位置数据 | Saved axis position data</summary>
|
||||
private SavedPositions _savedPositions;
|
||||
|
||||
#endregion
|
||||
|
||||
#region 构造函数 | Constructor
|
||||
|
||||
public AxisControlViewModel(
|
||||
IMotionControlService motionControlService,
|
||||
IMotionSystem motionSystem,
|
||||
IEventAggregator eventAggregator,
|
||||
MotionControlConfig config,
|
||||
IPlcService plcService,
|
||||
ILoggerService logger)
|
||||
{
|
||||
_motionControlService = motionControlService ?? throw new ArgumentNullException(nameof(motionControlService));
|
||||
_motionSystem = motionSystem ?? throw new ArgumentNullException(nameof(motionSystem));
|
||||
_eventAggregator = eventAggregator ?? throw new ArgumentNullException(nameof(eventAggregator));
|
||||
_config = config ?? throw new ArgumentNullException(nameof(config));
|
||||
_plcService = plcService ?? throw new ArgumentNullException(nameof(plcService));
|
||||
_logger = (logger ?? throw new ArgumentNullException(nameof(logger))).ForModule<AxisControlViewModel>();
|
||||
|
||||
// 监听 PLC 连接状态变化 | Listen for PLC connection status changes
|
||||
_plcService.PropertyChanged += (s, e) =>
|
||||
{
|
||||
if (e.PropertyName == nameof(IPlcService.IsConnected))
|
||||
OnPlcConnectionChanged();
|
||||
};
|
||||
|
||||
// 初始化旋转轴输入框可见性 | Initialize rotary axis input box visibility
|
||||
DetectorSwingVisibility = _config.RotaryAxes.ContainsKey(RotaryAxisId.DetectorSwing)
|
||||
&& _config.RotaryAxes[RotaryAxisId.DetectorSwing].Enabled
|
||||
? Visibility.Visible : Visibility.Collapsed;
|
||||
StageRotationVisibility = _config.RotaryAxes.ContainsKey(RotaryAxisId.StageRotation)
|
||||
&& _config.RotaryAxes[RotaryAxisId.StageRotation].Enabled
|
||||
? Visibility.Visible : Visibility.Collapsed;
|
||||
FixtureRotationVisibility = _config.RotaryAxes.ContainsKey(RotaryAxisId.FixtureRotation)
|
||||
&& _config.RotaryAxes[RotaryAxisId.FixtureRotation].Enabled
|
||||
? Visibility.Visible : Visibility.Collapsed;
|
||||
|
||||
// 初始化命令 | Initialize commands
|
||||
ToggleEnableCommand = new DelegateCommand(ExecuteToggleEnable, () => IsPlcConnected);
|
||||
SavePositionsCommand = new DelegateCommand(ExecuteSavePositions);
|
||||
RestorePositionsCommand = new DelegateCommand(ExecuteRestorePositions, () => _savedPositions != null && IsPlcConnected);
|
||||
|
||||
// 初始化 Jog 状态跟踪字典 | Initialize jog state tracking dictionaries
|
||||
foreach (AxisId axisId in Enum.GetValues(typeof(AxisId)))
|
||||
_linearJogActive[axisId] = false;
|
||||
foreach (RotaryAxisId axisId in Enum.GetValues(typeof(RotaryAxisId)))
|
||||
_rotaryJogActive[axisId] = false;
|
||||
|
||||
// 初始化 PLC 连接状态 | Initialize PLC connection status
|
||||
_isPlcConnected = _plcService.IsConnected;
|
||||
|
||||
// 订阅事件 | Subscribe to events
|
||||
_eventAggregator.GetEvent<GeometryUpdatedEvent>().Subscribe(OnGeometryUpdated, ThreadOption.UIThread);
|
||||
_eventAggregator.GetEvent<AxisStatusChangedEvent>().Subscribe(OnAxisStatusChanged, ThreadOption.UIThread);
|
||||
|
||||
// 初始化时主动刷新一次轴位置 | Refresh axis positions on initialization
|
||||
try
|
||||
{
|
||||
StageXPosition = _motionSystem.GetLinearAxis(AxisId.StageX).ActualPosition;
|
||||
StageYPosition = _motionSystem.GetLinearAxis(AxisId.StageY).ActualPosition;
|
||||
SourceZPosition = _motionSystem.GetLinearAxis(AxisId.SourceZ).ActualPosition;
|
||||
DetectorZPosition = _motionSystem.GetLinearAxis(AxisId.DetectorZ).ActualPosition;
|
||||
DetectorSwingAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.DetectorSwing).ActualAngle;
|
||||
StageRotationAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.StageRotation).ActualAngle;
|
||||
FixtureRotationAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.FixtureRotation).ActualAngle;
|
||||
}
|
||||
catch { /* 轴未初始化时忽略 | Ignore when axes not initialized */ }
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region 摇杆输出属性 | Joystick Output Properties
|
||||
|
||||
private double _dualJoystickOutputX;
|
||||
/// <summary>双轴摇杆 X 轴输出 | Dual-axis joystick X output</summary>
|
||||
public double DualJoystickOutputX
|
||||
{
|
||||
get => _dualJoystickOutputX;
|
||||
set
|
||||
{
|
||||
if (SetProperty(ref _dualJoystickOutputX, value))
|
||||
HandleDualJoystickOutput();
|
||||
}
|
||||
}
|
||||
|
||||
private double _dualJoystickOutputY;
|
||||
/// <summary>双轴摇杆 Y 轴输出 | Dual-axis joystick Y output</summary>
|
||||
public double DualJoystickOutputY
|
||||
{
|
||||
get => _dualJoystickOutputY;
|
||||
set
|
||||
{
|
||||
if (SetProperty(ref _dualJoystickOutputY, value))
|
||||
HandleDualJoystickOutput();
|
||||
}
|
||||
}
|
||||
|
||||
private MouseButtonType _dualJoystickActiveButton;
|
||||
/// <summary>双轴摇杆当前激活按键 | Dual-axis joystick active mouse button</summary>
|
||||
public MouseButtonType DualJoystickActiveButton
|
||||
{
|
||||
get => _dualJoystickActiveButton;
|
||||
set
|
||||
{
|
||||
var oldValue = _dualJoystickActiveButton;
|
||||
if (SetProperty(ref _dualJoystickActiveButton, value))
|
||||
{
|
||||
// 按键释放时停止所有双轴摇杆关联轴 | Stop all dual joystick axes when button released
|
||||
if (value == MouseButtonType.None && oldValue != MouseButtonType.None)
|
||||
StopDualJoystickAxes();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private double _singleJoystickOutputY;
|
||||
/// <summary>单轴摇杆 Y 轴输出 | Single-axis joystick Y output</summary>
|
||||
public double SingleJoystickOutputY
|
||||
{
|
||||
get => _singleJoystickOutputY;
|
||||
set
|
||||
{
|
||||
if (SetProperty(ref _singleJoystickOutputY, value))
|
||||
HandleSingleJoystickOutput();
|
||||
}
|
||||
}
|
||||
|
||||
private MouseButtonType _singleJoystickActiveButton;
|
||||
/// <summary>单轴摇杆当前激活按键 | Single-axis joystick active mouse button</summary>
|
||||
public MouseButtonType SingleJoystickActiveButton
|
||||
{
|
||||
get => _singleJoystickActiveButton;
|
||||
set
|
||||
{
|
||||
var oldValue = _singleJoystickActiveButton;
|
||||
if (SetProperty(ref _singleJoystickActiveButton, value))
|
||||
{
|
||||
// 按键释放时停止所有单轴摇杆关联轴 | Stop all single joystick axes when button released
|
||||
if (value == MouseButtonType.None && oldValue != MouseButtonType.None)
|
||||
StopSingleJoystickAxes();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region 轴位置属性 | Axis Position Properties
|
||||
|
||||
private double _stageXPosition;
|
||||
/// <summary>载物台 X 轴位置 | Stage X axis position</summary>
|
||||
public double StageXPosition { get => _stageXPosition; set => SetProperty(ref _stageXPosition, value); }
|
||||
|
||||
private double _stageYPosition;
|
||||
/// <summary>载物台 Y 轴位置 | Stage Y axis position</summary>
|
||||
public double StageYPosition { get => _stageYPosition; set => SetProperty(ref _stageYPosition, value); }
|
||||
|
||||
private double _sourceZPosition;
|
||||
/// <summary>射线源 Z 轴位置 | Source Z axis position</summary>
|
||||
public double SourceZPosition { get => _sourceZPosition; set => SetProperty(ref _sourceZPosition, value); }
|
||||
|
||||
private double _detectorZPosition;
|
||||
/// <summary>探测器 Z 轴位置 | Detector Z axis position</summary>
|
||||
public double DetectorZPosition { get => _detectorZPosition; set => SetProperty(ref _detectorZPosition, value); }
|
||||
|
||||
private double _detectorSwingAngle;
|
||||
/// <summary>探测器摆动角度 | Detector swing angle</summary>
|
||||
public double DetectorSwingAngle { get => _detectorSwingAngle; set => SetProperty(ref _detectorSwingAngle, value); }
|
||||
|
||||
private double _stageRotationAngle;
|
||||
/// <summary>载物台旋转角度 | Stage rotation angle</summary>
|
||||
public double StageRotationAngle { get => _stageRotationAngle; set => SetProperty(ref _stageRotationAngle, value); }
|
||||
|
||||
private double _fixtureRotationAngle;
|
||||
/// <summary>夹具旋转角度 | Fixture rotation angle</summary>
|
||||
public double FixtureRotationAngle { get => _fixtureRotationAngle; set => SetProperty(ref _fixtureRotationAngle, value); }
|
||||
|
||||
#endregion
|
||||
|
||||
#region 旋转轴可见性 | Rotary Axis Visibility
|
||||
|
||||
private Visibility _detectorSwingVisibility;
|
||||
/// <summary>探测器摆动输入框可见性 | Detector swing input box visibility</summary>
|
||||
public Visibility DetectorSwingVisibility { get => _detectorSwingVisibility; private set => SetProperty(ref _detectorSwingVisibility, value); }
|
||||
|
||||
private Visibility _stageRotationVisibility;
|
||||
/// <summary>载物台旋转输入框可见性 | Stage rotation input box visibility</summary>
|
||||
public Visibility StageRotationVisibility { get => _stageRotationVisibility; private set => SetProperty(ref _stageRotationVisibility, value); }
|
||||
|
||||
private Visibility _fixtureRotationVisibility;
|
||||
/// <summary>夹具旋转输入框可见性 | Fixture rotation input box visibility</summary>
|
||||
public Visibility FixtureRotationVisibility { get => _fixtureRotationVisibility; private set => SetProperty(ref _fixtureRotationVisibility, value); }
|
||||
|
||||
#endregion
|
||||
|
||||
#region 安全参数属性 | Safety Parameter Properties
|
||||
|
||||
private double _safetyHeight;
|
||||
/// <summary>探测器安全高度限定值 | Detector safety height limit</summary>
|
||||
public double SafetyHeight { get => _safetyHeight; set => SetProperty(ref _safetyHeight, value); }
|
||||
|
||||
private double _calibrationValue;
|
||||
/// <summary>校准自动计算值 | Calibration auto-calculated value</summary>
|
||||
public double CalibrationValue { get => _calibrationValue; set => SetProperty(ref _calibrationValue, value); }
|
||||
|
||||
#endregion
|
||||
|
||||
#region 使能与状态属性 | Enable and Status Properties
|
||||
|
||||
private bool _isJoystickEnabled = true;
|
||||
/// <summary>摇杆使能状态 | Joystick enable state</summary>
|
||||
public bool IsJoystickEnabled { get => _isJoystickEnabled; set => SetProperty(ref _isJoystickEnabled, value); }
|
||||
|
||||
private bool _isPlcConnected;
|
||||
/// <summary>PLC 连接状态 | PLC connection status</summary>
|
||||
public bool IsPlcConnected { get => _isPlcConnected; set => SetProperty(ref _isPlcConnected, value); }
|
||||
|
||||
private string _errorMessage;
|
||||
/// <summary>错误提示信息 | Error message</summary>
|
||||
public string ErrorMessage { get => _errorMessage; set => SetProperty(ref _errorMessage, value); }
|
||||
|
||||
#endregion
|
||||
|
||||
#region 命令 | Commands
|
||||
|
||||
/// <summary>切换使能开关命令 | Toggle enable switch command</summary>
|
||||
public DelegateCommand ToggleEnableCommand { get; }
|
||||
|
||||
/// <summary>保存当前轴位置命令 | Save current axis positions command</summary>
|
||||
public DelegateCommand SavePositionsCommand { get; }
|
||||
|
||||
/// <summary>恢复保存的轴位置命令 | Restore saved axis positions command</summary>
|
||||
public DelegateCommand RestorePositionsCommand { get; }
|
||||
|
||||
#endregion
|
||||
|
||||
#region 事件回调 | Event Callbacks
|
||||
|
||||
/// <summary>
|
||||
/// 几何参数更新回调，刷新轴实际位置 | Geometry updated callback, refresh axis actual positions
|
||||
/// </summary>
|
||||
private void OnGeometryUpdated(GeometryData data)
|
||||
{
|
||||
try
|
||||
{
|
||||
if (!IsEditing(nameof(StageXPosition)))
|
||||
StageXPosition = _motionSystem.GetLinearAxis(AxisId.StageX).ActualPosition;
|
||||
if (!IsEditing(nameof(StageYPosition)))
|
||||
StageYPosition = _motionSystem.GetLinearAxis(AxisId.StageY).ActualPosition;
|
||||
if (!IsEditing(nameof(SourceZPosition)))
|
||||
SourceZPosition = _motionSystem.GetLinearAxis(AxisId.SourceZ).ActualPosition;
|
||||
if (!IsEditing(nameof(DetectorZPosition)))
|
||||
DetectorZPosition = _motionSystem.GetLinearAxis(AxisId.DetectorZ).ActualPosition;
|
||||
if (!IsEditing(nameof(DetectorSwingAngle)))
|
||||
DetectorSwingAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.DetectorSwing).ActualAngle;
|
||||
if (!IsEditing(nameof(StageRotationAngle)))
|
||||
StageRotationAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.StageRotation).ActualAngle;
|
||||
if (!IsEditing(nameof(FixtureRotationAngle)))
|
||||
FixtureRotationAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.FixtureRotation).ActualAngle;
|
||||
}
|
||||
catch { /* 轴未初始化时忽略 | Ignore when axes not initialized */ }
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 轴状态变化回调，更新对应轴位置 | Axis status changed callback, update corresponding axis position
|
||||
/// </summary>
|
||||
private void OnAxisStatusChanged(AxisStatusChangedData data)
|
||||
{
|
||||
try
|
||||
{
|
||||
switch (data.AxisId)
|
||||
{
|
||||
case AxisId.StageX:
|
||||
if (!IsEditing(nameof(StageXPosition)))
|
||||
StageXPosition = _motionSystem.GetLinearAxis(AxisId.StageX).ActualPosition;
|
||||
break;
|
||||
case AxisId.StageY:
|
||||
if (!IsEditing(nameof(StageYPosition)))
|
||||
StageYPosition = _motionSystem.GetLinearAxis(AxisId.StageY).ActualPosition;
|
||||
break;
|
||||
case AxisId.SourceZ:
|
||||
if (!IsEditing(nameof(SourceZPosition)))
|
||||
SourceZPosition = _motionSystem.GetLinearAxis(AxisId.SourceZ).ActualPosition;
|
||||
break;
|
||||
case AxisId.DetectorZ:
|
||||
if (!IsEditing(nameof(DetectorZPosition)))
|
||||
DetectorZPosition = _motionSystem.GetLinearAxis(AxisId.DetectorZ).ActualPosition;
|
||||
break;
|
||||
}
|
||||
}
|
||||
catch { /* 轴未初始化时忽略 | Ignore when axes not initialized */ }
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region 编辑状态辅助 | Editing State Helpers
|
||||
|
||||
/// <summary>
|
||||
/// 检查指定输入框是否正在编辑 | Check if specified input box is being edited
|
||||
/// </summary>
|
||||
/// <param name="propertyName">属性名称 | Property name</param>
|
||||
/// <returns>是否正在编辑 | Whether editing</returns>
|
||||
private bool IsEditing(string propertyName)
|
||||
{
|
||||
return _editingFlags.TryGetValue(propertyName, out var editing) && editing;
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region 异常保护 | Exception Protection
|
||||
|
||||
/// <summary>
|
||||
/// 安全执行：捕获异常避免 UI 崩溃 | Safe execution: catches exceptions to prevent UI crash
|
||||
/// </summary>
|
||||
private void SafeRun(Action action)
|
||||
{
|
||||
try { action(); }
|
||||
catch (Exception ex)
|
||||
{
|
||||
_logger.Error(ex, "运动控制操作异常：{Message} | Motion control operation error: {Message}", ex.Message);
|
||||
ErrorMessage = ex.Message;
|
||||
}
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region 命令状态刷新 | Command State Refresh
|
||||
|
||||
/// <summary>
|
||||
/// 刷新所有命令的 CanExecute 状态 | Refresh CanExecute state of all commands
|
||||
/// </summary>
|
||||
private void RaiseCommandCanExecuteChanged()
|
||||
{
|
||||
ToggleEnableCommand.RaiseCanExecuteChanged();
|
||||
SavePositionsCommand.RaiseCanExecuteChanged();
|
||||
RestorePositionsCommand.RaiseCanExecuteChanged();
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// PLC 连接状态变化处理：断开时停止所有 Jog 并禁用操作，重连时清除错误
|
||||
/// PLC connection state change handler: stop all jog and disable operations on disconnect, clear error on reconnect
|
||||
/// </summary>
|
||||
private void OnPlcConnectionChanged()
|
||||
{
|
||||
IsPlcConnected = _plcService.IsConnected;
|
||||
RaiseCommandCanExecuteChanged();
|
||||
|
||||
if (!_plcService.IsConnected)
|
||||
{
|
||||
// PLC 断开：停止所有活跃的 Jog 操作 | PLC disconnected: stop all active jog operations
|
||||
foreach (var axisId in _linearJogActive.Keys)
|
||||
{
|
||||
if (_linearJogActive[axisId])
|
||||
{
|
||||
_linearJogActive[axisId] = false;
|
||||
_logger.Debug("PLC 断开，直线轴 Jog 已标记停止：{AxisId} | PLC disconnected, linear axis jog marked stopped: {AxisId}", axisId);
|
||||
}
|
||||
}
|
||||
foreach (var axisId in _rotaryJogActive.Keys)
|
||||
{
|
||||
if (_rotaryJogActive[axisId])
|
||||
{
|
||||
_rotaryJogActive[axisId] = false;
|
||||
_logger.Debug("PLC 断开，旋转轴 Jog 已标记停止：{AxisId} | PLC disconnected, rotary axis jog marked stopped: {AxisId}", axisId);
|
||||
}
|
||||
}
|
||||
|
||||
// 禁用摇杆 | Disable joystick
|
||||
IsJoystickEnabled = false;
|
||||
|
||||
// 显示连接断开提示 | Show disconnection message
|
||||
ErrorMessage = LocalizationHelper.Get("MC_PlcNotConnected");
|
||||
|
||||
_logger.Warn("PLC 连接断开，已停止所有 Jog 并禁用运动控制 | PLC disconnected, all jog stopped and motion control disabled");
|
||||
}
|
||||
else
|
||||
{
|
||||
// PLC 重连：清除错误信息（不自动启用摇杆，需用户手动开启）
|
||||
// PLC reconnected: clear error message (don't auto-enable joystick, user must manually enable)
|
||||
ErrorMessage = null;
|
||||
|
||||
_logger.Info("PLC 连接已恢复 | PLC connection restored");
|
||||
}
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region 使能开关与保存/恢复命令 | Enable Toggle and Save/Restore Commands
|
||||
|
||||
/// <summary>
|
||||
/// 切换摇杆使能状态，并发送使能状态到 PLC | Toggle joystick enable state and send to PLC
|
||||
/// </summary>
|
||||
private void ExecuteToggleEnable()
|
||||
{
|
||||
IsJoystickEnabled = !IsJoystickEnabled;
|
||||
_logger.Info("摇杆使能状态切换：{Enabled} | Joystick enable toggled: {Enabled}", IsJoystickEnabled);
|
||||
// TODO: 发送使能状态到 PLC（根据实际 PLC 信号定义）| Send enable state to PLC (based on actual PLC signal definition)
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 保存当前 6 个轴位置到内部变量 | Save current 6 axis positions to internal variable
|
||||
/// </summary>
|
||||
private void ExecuteSavePositions()
|
||||
{
|
||||
_savedPositions = new SavedPositions
|
||||
{
|
||||
StageX = StageXPosition,
|
||||
StageY = StageYPosition,
|
||||
SourceZ = SourceZPosition,
|
||||
DetectorZ = DetectorZPosition,
|
||||
DetectorSwing = DetectorSwingAngle,
|
||||
StageRotation = StageRotationAngle,
|
||||
FixtureRotation = FixtureRotationAngle
|
||||
};
|
||||
RestorePositionsCommand.RaiseCanExecuteChanged();
|
||||
_logger.Info("轴位置已保存 | Axis positions saved");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 从保存的数据恢复到输入框，并发送移动命令 | Restore saved data to input boxes and send move commands
|
||||
/// </summary>
|
||||
private void ExecuteRestorePositions()
|
||||
{
|
||||
if (_savedPositions == null) return;
|
||||
|
||||
// 恢复到输入框 | Restore to input boxes
|
||||
StageXPosition = _savedPositions.StageX;
|
||||
StageYPosition = _savedPositions.StageY;
|
||||
SourceZPosition = _savedPositions.SourceZ;
|
||||
DetectorZPosition = _savedPositions.DetectorZ;
|
||||
DetectorSwingAngle = _savedPositions.DetectorSwing;
|
||||
StageRotationAngle = _savedPositions.StageRotation;
|
||||
FixtureRotationAngle = _savedPositions.FixtureRotation;
|
||||
|
||||
// 发送移动命令 | Send move commands
|
||||
SafeRun(() =>
|
||||
{
|
||||
_motionControlService.MoveToTarget(AxisId.StageX, _savedPositions.StageX);
|
||||
_motionControlService.MoveToTarget(AxisId.StageY, _savedPositions.StageY);
|
||||
_motionControlService.MoveToTarget(AxisId.SourceZ, _savedPositions.SourceZ);
|
||||
_motionControlService.MoveToTarget(AxisId.DetectorZ, _savedPositions.DetectorZ);
|
||||
_motionControlService.MoveRotaryToTarget(RotaryAxisId.DetectorSwing, _savedPositions.DetectorSwing);
|
||||
_motionControlService.MoveRotaryToTarget(RotaryAxisId.StageRotation, _savedPositions.StageRotation);
|
||||
_motionControlService.MoveRotaryToTarget(RotaryAxisId.FixtureRotation, _savedPositions.FixtureRotation);
|
||||
});
|
||||
_logger.Info("轴位置已恢复并发送移动命令 | Axis positions restored and move commands sent");
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region 摇杆 Jog 映射逻辑 | Joystick Jog Mapping Logic
|
||||
|
||||
/// <summary>
|
||||
/// 处理双轴摇杆输出变化，根据当前激活按键映射到对应轴的 Jog 操作
|
||||
/// Handle dual joystick output changes, map to corresponding axis jog based on active button
|
||||
/// </summary>
|
||||
private void HandleDualJoystickOutput()
|
||||
{
|
||||
switch (DualJoystickActiveButton)
|
||||
{
|
||||
case MouseButtonType.Left:
|
||||
// 左键：X→StageX Jog，Y→StageY Jog | Left button: X→StageX Jog, Y→StageY Jog
|
||||
UpdateLinearJog(AxisId.StageX, DualJoystickOutputX);
|
||||
UpdateLinearJog(AxisId.StageY, DualJoystickOutputY);
|
||||
break;
|
||||
|
||||
case MouseButtonType.Right:
|
||||
// 右键：X→DetectorSwing Jog，Y→StageRotation 或 FixtureRotation Jog
|
||||
// Right button: X→DetectorSwing Jog, Y→StageRotation or FixtureRotation Jog
|
||||
UpdateRotaryJog(RotaryAxisId.DetectorSwing, DualJoystickOutputX);
|
||||
var rotationAxisId = GetEnabledRotationAxisId();
|
||||
if (rotationAxisId.HasValue)
|
||||
UpdateRotaryJog(rotationAxisId.Value, DualJoystickOutputY);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 处理单轴摇杆输出变化，根据当前激活按键映射到对应轴的 Jog 操作
|
||||
/// Handle single joystick output changes, map to corresponding axis jog based on active button
|
||||
/// </summary>
|
||||
private void HandleSingleJoystickOutput()
|
||||
{
|
||||
switch (SingleJoystickActiveButton)
|
||||
{
|
||||
case MouseButtonType.Left:
|
||||
// 左键：Y→SourceZ Jog | Left button: Y→SourceZ Jog
|
||||
UpdateLinearJog(AxisId.SourceZ, SingleJoystickOutputY);
|
||||
break;
|
||||
|
||||
case MouseButtonType.Right:
|
||||
// 右键：Y→DetectorZ Jog | Right button: Y→DetectorZ Jog
|
||||
UpdateLinearJog(AxisId.DetectorZ, SingleJoystickOutputY);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 更新直线轴 Jog 状态：启动、更新速度或停止
|
||||
/// Update linear axis jog state: start, update speed, or stop
|
||||
/// </summary>
|
||||
/// <param name="axisId">直线轴标识 | Linear axis identifier</param>
|
||||
/// <param name="output">摇杆输出值（-1.0 ~ 1.0）| Joystick output value (-1.0 ~ 1.0)</param>
|
||||
private void UpdateLinearJog(AxisId axisId, double output)
|
||||
{
|
||||
if (output != 0)
|
||||
{
|
||||
var speedPercent = Math.Abs(output) * 100;
|
||||
var positive = output > 0;
|
||||
|
||||
if (!_linearJogActive[axisId])
|
||||
{
|
||||
// 从零变为非零：先设速度再启动 Jog | Zero to non-zero: set speed then start jog
|
||||
SafeRun(() =>
|
||||
{
|
||||
_motionControlService.SetJogSpeed(axisId, speedPercent);
|
||||
_motionControlService.JogStart(axisId, positive);
|
||||
_linearJogActive[axisId] = true;
|
||||
_logger.Debug("直线轴 Jog 启动：{AxisId}，方向={Direction}，速度={Speed}% | Linear axis jog started: {AxisId}, direction={Direction}, speed={Speed}%",
|
||||
axisId, positive ? "正向" : "反向", speedPercent);
|
||||
});
|
||||
}
|
||||
else
|
||||
{
|
||||
// 已在 Jog 中：仅更新速度 | Already jogging: update speed only
|
||||
SafeRun(() =>
|
||||
{
|
||||
_motionControlService.SetJogSpeed(axisId, speedPercent);
|
||||
_logger.Debug("直线轴 Jog 速度更新：{AxisId}，速度={Speed}% | Linear axis jog speed updated: {AxisId}, speed={Speed}%",
|
||||
axisId, speedPercent);
|
||||
});
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// 从非零变为零：停止 Jog | Non-zero to zero: stop jog
|
||||
if (_linearJogActive[axisId])
|
||||
{
|
||||
SafeRun(() =>
|
||||
{
|
||||
_motionControlService.JogStop(axisId);
|
||||
_linearJogActive[axisId] = false;
|
||||
_logger.Debug("直线轴 Jog 停止：{AxisId} | Linear axis jog stopped: {AxisId}", axisId);
|
||||
});
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 更新旋转轴 Jog 状态：启动、更新速度或停止
|
||||
/// Update rotary axis jog state: start, update speed, or stop
|
||||
/// </summary>
|
||||
/// <param name="axisId">旋转轴标识 | Rotary axis identifier</param>
|
||||
/// <param name="output">摇杆输出值（-1.0 ~ 1.0）| Joystick output value (-1.0 ~ 1.0)</param>
|
||||
private void UpdateRotaryJog(RotaryAxisId axisId, double output)
|
||||
{
|
||||
if (output != 0)
|
||||
{
|
||||
var speedPercent = Math.Abs(output) * 100;
|
||||
var positive = output > 0;
|
||||
|
||||
if (!_rotaryJogActive[axisId])
|
||||
{
|
||||
// 从零变为非零：先设速度再启动 Jog | Zero to non-zero: set speed then start jog
|
||||
SafeRun(() =>
|
||||
{
|
||||
_motionControlService.SetJogRotarySpeed(axisId, speedPercent);
|
||||
_motionControlService.JogRotaryStart(axisId, positive);
|
||||
_rotaryJogActive[axisId] = true;
|
||||
_logger.Debug("旋转轴 Jog 启动：{AxisId}，方向={Direction}，速度={Speed}% | Rotary axis jog started: {AxisId}, direction={Direction}, speed={Speed}%",
|
||||
axisId, positive ? "正向" : "反向", speedPercent);
|
||||
});
|
||||
}
|
||||
else
|
||||
{
|
||||
// 已在 Jog 中：仅更新速度 | Already jogging: update speed only
|
||||
SafeRun(() =>
|
||||
{
|
||||
_motionControlService.SetJogRotarySpeed(axisId, speedPercent);
|
||||
_logger.Debug("旋转轴 Jog 速度更新：{AxisId}，速度={Speed}% | Rotary axis jog speed updated: {AxisId}, speed={Speed}%",
|
||||
axisId, speedPercent);
|
||||
});
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// 从非零变为零：停止 Jog | Non-zero to zero: stop jog
|
||||
if (_rotaryJogActive[axisId])
|
||||
{
|
||||
SafeRun(() =>
|
||||
{
|
||||
_motionControlService.JogRotaryStop(axisId);
|
||||
_rotaryJogActive[axisId] = false;
|
||||
_logger.Debug("旋转轴 Jog 停止：{AxisId} | Rotary axis jog stopped: {AxisId}", axisId);
|
||||
});
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 停止双轴摇杆控制的所有轴 Jog | Stop all axes controlled by dual joystick
|
||||
/// </summary>
|
||||
private void StopDualJoystickAxes()
|
||||
{
|
||||
// 左键关联轴：StageX、StageY | Left button axes: StageX, StageY
|
||||
UpdateLinearJog(AxisId.StageX, 0);
|
||||
UpdateLinearJog(AxisId.StageY, 0);
|
||||
|
||||
// 右键关联轴：DetectorSwing、StageRotation/FixtureRotation | Right button axes: DetectorSwing, StageRotation/FixtureRotation
|
||||
UpdateRotaryJog(RotaryAxisId.DetectorSwing, 0);
|
||||
var rotationAxisId = GetEnabledRotationAxisId();
|
||||
if (rotationAxisId.HasValue)
|
||||
UpdateRotaryJog(rotationAxisId.Value, 0);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 停止单轴摇杆控制的所有轴 Jog | Stop all axes controlled by single joystick
|
||||
/// </summary>
|
||||
private void StopSingleJoystickAxes()
|
||||
{
|
||||
// 左键关联轴：SourceZ | Left button axis: SourceZ
|
||||
UpdateLinearJog(AxisId.SourceZ, 0);
|
||||
|
||||
// 右键关联轴：DetectorZ | Right button axis: DetectorZ
|
||||
UpdateLinearJog(AxisId.DetectorZ, 0);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 获取当前启用的旋转轴标识（StageRotation 或 FixtureRotation 二选一）
|
||||
/// Get the currently enabled rotation axis ID (StageRotation or FixtureRotation, one of two)
|
||||
/// </summary>
|
||||
/// <returns>启用的旋转轴标识，若均未启用则返回 null | Enabled rotary axis ID, or null if none enabled</returns>
|
||||
private RotaryAxisId? GetEnabledRotationAxisId()
|
||||
{
|
||||
if (_config.RotaryAxes.ContainsKey(RotaryAxisId.StageRotation)
|
||||
&& _config.RotaryAxes[RotaryAxisId.StageRotation].Enabled)
|
||||
return RotaryAxisId.StageRotation;
|
||||
|
||||
if (_config.RotaryAxes.ContainsKey(RotaryAxisId.FixtureRotation)
|
||||
&& _config.RotaryAxes[RotaryAxisId.FixtureRotation].Enabled)
|
||||
return RotaryAxisId.FixtureRotation;
|
||||
|
||||
return null;
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region 输入框编辑与目标位置 | Input Box Editing and Target Position
|
||||
|
||||
/// <summary>
|
||||
/// 设置指定输入框的编辑状态 | Set editing state for specified input box
|
||||
/// GotFocus 时设为 true 冻结实时更新，LostFocus 时设为 false 恢复更新
|
||||
/// Set to true on GotFocus to freeze live updates, false on LostFocus to resume
|
||||
/// </summary>
|
||||
/// <param name="propertyName">属性名称 | Property name</param>
|
||||
/// <param name="isEditing">是否正在编辑 | Whether editing</param>
|
||||
public void SetEditing(string propertyName, bool isEditing)
|
||||
{
|
||||
_editingFlags[propertyName] = isEditing;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 确认输入框编辑，发送目标位置移动命令 | Confirm input box edit, send target position move command
|
||||
/// Enter 键触发，调用 MoveToTarget/MoveRotaryToTarget 后恢复实时更新
|
||||
/// Triggered by Enter key, calls MoveToTarget/MoveRotaryToTarget then resumes live updates
|
||||
/// </summary>
|
||||
/// <param name="propertyName">属性名称 | Property name</param>
|
||||
public void ConfirmPosition(string propertyName)
|
||||
{
|
||||
var value = GetPropertyValue(propertyName);
|
||||
SafeRun(() =>
|
||||
{
|
||||
var result = SendMoveCommand(propertyName, value);
|
||||
if (result.Success)
|
||||
_logger.Info("目标位置已发送：{Property}={Value} | Target position sent: {Property}={Value}", propertyName, value);
|
||||
else
|
||||
_logger.Warn("目标位置发送失败：{Property}={Value}，原因={Reason} | Target position send failed: {Property}={Value}, reason={Reason}", propertyName, value, result.ErrorMessage);
|
||||
});
|
||||
_editingFlags[propertyName] = false;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 取消输入框编辑，恢复实时更新并显示当前实际值 | Cancel input box edit, resume live updates and show actual value
|
||||
/// Escape 键或 LostFocus 触发 | Triggered by Escape key or LostFocus
|
||||
/// </summary>
|
||||
/// <param name="propertyName">属性名称 | Property name</param>
|
||||
public void CancelEditing(string propertyName)
|
||||
{
|
||||
_editingFlags[propertyName] = false;
|
||||
RestoreActualValue(propertyName);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 步进移动：上下箭头改变数值并直接发送移动命令，不进入编辑冻结
|
||||
/// Step move: arrow keys change value and send move command directly, without entering editing freeze
|
||||
/// </summary>
|
||||
/// <param name="propertyName">属性名称 | Property name</param>
|
||||
/// <param name="delta">步进增量（默认 ±0.1）| Step delta (default ±0.1)</param>
|
||||
public void StepPosition(string propertyName, double delta)
|
||||
{
|
||||
var currentValue = GetPropertyValue(propertyName);
|
||||
var newValue = currentValue + delta;
|
||||
SetPropertyValue(propertyName, newValue);
|
||||
SafeRun(() =>
|
||||
{
|
||||
var result = SendMoveCommand(propertyName, newValue);
|
||||
if (!result.Success)
|
||||
_logger.Warn("步进移动失败：{Property}，原因={Reason} | Step move failed: {Property}, reason={Reason}", propertyName, result.ErrorMessage);
|
||||
});
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 根据属性名称发送对应轴的移动命令 | Send move command for corresponding axis based on property name
|
||||
/// </summary>
|
||||
/// <param name="propertyName">属性名称 | Property name</param>
|
||||
/// <param name="value">目标值 | Target value</param>
|
||||
/// <returns>操作结果 | Operation result</returns>
|
||||
private MotionResult SendMoveCommand(string propertyName, double value)
|
||||
{
|
||||
switch (propertyName)
|
||||
{
|
||||
case nameof(StageXPosition):
|
||||
return _motionControlService.MoveToTarget(AxisId.StageX, value);
|
||||
case nameof(StageYPosition):
|
||||
return _motionControlService.MoveToTarget(AxisId.StageY, value);
|
||||
case nameof(SourceZPosition):
|
||||
return _motionControlService.MoveToTarget(AxisId.SourceZ, value);
|
||||
case nameof(DetectorZPosition):
|
||||
return _motionControlService.MoveToTarget(AxisId.DetectorZ, value);
|
||||
case nameof(DetectorSwingAngle):
|
||||
return _motionControlService.MoveRotaryToTarget(RotaryAxisId.DetectorSwing, value);
|
||||
case nameof(StageRotationAngle):
|
||||
return _motionControlService.MoveRotaryToTarget(RotaryAxisId.StageRotation, value);
|
||||
case nameof(FixtureRotationAngle):
|
||||
return _motionControlService.MoveRotaryToTarget(RotaryAxisId.FixtureRotation, value);
|
||||
default:
|
||||
return MotionResult.Fail($"未知的属性名称：{propertyName} | Unknown property name: {propertyName}");
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 根据属性名称获取当前绑定值 | Get current bound value by property name
|
||||
/// </summary>
|
||||
private double GetPropertyValue(string propertyName)
|
||||
{
|
||||
switch (propertyName)
|
||||
{
|
||||
case nameof(StageXPosition): return StageXPosition;
|
||||
case nameof(StageYPosition): return StageYPosition;
|
||||
case nameof(SourceZPosition): return SourceZPosition;
|
||||
case nameof(DetectorZPosition): return DetectorZPosition;
|
||||
case nameof(DetectorSwingAngle): return DetectorSwingAngle;
|
||||
case nameof(StageRotationAngle): return StageRotationAngle;
|
||||
case nameof(FixtureRotationAngle): return FixtureRotationAngle;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 根据属性名称设置绑定值 | Set bound value by property name
|
||||
/// </summary>
|
||||
private void SetPropertyValue(string propertyName, double value)
|
||||
{
|
||||
switch (propertyName)
|
||||
{
|
||||
case nameof(StageXPosition): StageXPosition = value; break;
|
||||
case nameof(StageYPosition): StageYPosition = value; break;
|
||||
case nameof(SourceZPosition): SourceZPosition = value; break;
|
||||
case nameof(DetectorZPosition): DetectorZPosition = value; break;
|
||||
case nameof(DetectorSwingAngle): DetectorSwingAngle = value; break;
|
||||
case nameof(StageRotationAngle): StageRotationAngle = value; break;
|
||||
case nameof(FixtureRotationAngle): FixtureRotationAngle = value; break;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 恢复输入框为轴的当前实际值 | Restore input box to axis actual value
|
||||
/// </summary>
|
||||
private void RestoreActualValue(string propertyName)
|
||||
{
|
||||
try
|
||||
{
|
||||
switch (propertyName)
|
||||
{
|
||||
case nameof(StageXPosition):
|
||||
StageXPosition = _motionSystem.GetLinearAxis(AxisId.StageX).ActualPosition;
|
||||
break;
|
||||
case nameof(StageYPosition):
|
||||
StageYPosition = _motionSystem.GetLinearAxis(AxisId.StageY).ActualPosition;
|
||||
break;
|
||||
case nameof(SourceZPosition):
|
||||
SourceZPosition = _motionSystem.GetLinearAxis(AxisId.SourceZ).ActualPosition;
|
||||
break;
|
||||
case nameof(DetectorZPosition):
|
||||
DetectorZPosition = _motionSystem.GetLinearAxis(AxisId.DetectorZ).ActualPosition;
|
||||
break;
|
||||
case nameof(DetectorSwingAngle):
|
||||
DetectorSwingAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.DetectorSwing).ActualAngle;
|
||||
break;
|
||||
case nameof(StageRotationAngle):
|
||||
StageRotationAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.StageRotation).ActualAngle;
|
||||
break;
|
||||
case nameof(FixtureRotationAngle):
|
||||
FixtureRotationAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.FixtureRotation).ActualAngle;
|
||||
break;
|
||||
}
|
||||
}
|
||||
catch { /* 轴未初始化时忽略 | Ignore when axes not initialized */ }
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region 安全参数逻辑 | Safety Parameter Logic
|
||||
|
||||
/// <summary>
|
||||
/// 确认探测器安全高度限定值 | Confirm detector safety height limit value
|
||||
/// Enter 键触发，保存当前值 | Triggered by Enter key, saves current value
|
||||
/// </summary>
|
||||
public void ConfirmSafetyHeight()
|
||||
{
|
||||
_logger.Info("探测器安全高度限定值已保存：{Value} | Detector safety height limit saved: {Value}", SafetyHeight);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 确认校准自动计算值 | Confirm calibration auto-calculated value
|
||||
/// Enter 键触发，保存当前值 | Triggered by Enter key, saves current value
|
||||
/// </summary>
|
||||
public void ConfirmCalibrationValue()
|
||||
{
|
||||
_logger.Info("校准自动计算值已保存：{Value} | Calibration auto-calculated value saved: {Value}", CalibrationValue);
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region 内部数据类 | Internal Data Classes
|
||||
|
||||
/// <summary>
|
||||
/// 保存的轴位置数据 | Saved axis position data
|
||||
/// </summary>
|
||||
private class SavedPositions
|
||||
{
|
||||
public double StageX { get; set; }
|
||||
public double StageY { get; set; }
|
||||
public double SourceZ { get; set; }
|
||||
public double DetectorZ { get; set; }
|
||||
public double DetectorSwing { get; set; }
|
||||
public double StageRotation { get; set; }
|
||||
public double FixtureRotation { get; set; }
|
||||
}
|
||||
|
||||
#endregion
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,237 @@
|
||||
<UserControl x:Class="XP.Hardware.MotionControl.Views.AxisControlView"
|
||||
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
|
||||
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
|
||||
xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
|
||||
xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
|
||||
xmlns:loc="clr-namespace:XP.Common.Localization.Extensions;assembly=XP.Common"
|
||||
xmlns:telerik="http://schemas.telerik.com/2008/xaml/presentation"
|
||||
xmlns:prism="http://prismlibrary.com/"
|
||||
xmlns:controls="clr-namespace:XP.Common.Controls;assembly=XP.Common"
|
||||
prism:ViewModelLocator.AutoWireViewModel="True"
|
||||
mc:Ignorable="d"
|
||||
HorizontalAlignment="Stretch" Background="White">
|
||||
|
||||
<Grid Margin="8">
|
||||
<Grid.ColumnDefinitions>
|
||||
<ColumnDefinition Width="Auto" MinWidth="200"/>
|
||||
<ColumnDefinition Width="*"/>
|
||||
</Grid.ColumnDefinitions>
|
||||
|
||||
<!-- ========== 左侧区域：轴位置 + 安全参数 | Left: Axis Positions + Safety Params ========== -->
|
||||
<StackPanel Grid.Column="0" Margin="0,0,8,0">
|
||||
|
||||
<!-- 轴位置输入框组 | Axis Position Inputs -->
|
||||
<GroupBox Margin="0,0,0,6">
|
||||
<GroupBox.Header>
|
||||
<TextBlock Text="{loc:Localization AC_AxisPositions}" FontWeight="Bold" FontSize="12"/>
|
||||
</GroupBox.Header>
|
||||
<Grid Margin="5">
|
||||
<Grid.ColumnDefinitions>
|
||||
<ColumnDefinition Width="Auto" MinWidth="80"/>
|
||||
<ColumnDefinition Width="*"/>
|
||||
</Grid.ColumnDefinitions>
|
||||
<Grid.RowDefinitions>
|
||||
<RowDefinition Height="Auto"/>
|
||||
<RowDefinition Height="Auto"/>
|
||||
<RowDefinition Height="Auto"/>
|
||||
<RowDefinition Height="Auto"/>
|
||||
<RowDefinition Height="Auto"/>
|
||||
<RowDefinition Height="Auto"/>
|
||||
<RowDefinition Height="Auto"/>
|
||||
</Grid.RowDefinitions>
|
||||
|
||||
<!-- Stage X -->
|
||||
<TextBlock Grid.Row="0" Grid.Column="0" Text="{loc:Localization AC_StageX}"
|
||||
FontSize="12" VerticalAlignment="Center" Margin="0,2"/>
|
||||
<telerik:RadNumericUpDown Grid.Row="0" Grid.Column="1" x:Name="NumStageX"
|
||||
Value="{Binding StageXPosition, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
|
||||
ValueFormat="Numeric" NumberDecimalDigits="2" SmallChange="0.1" IsEditable="True"
|
||||
GotFocus="NumStageX_GotFocus" LostFocus="NumStageX_LostFocus" KeyDown="NumStageX_KeyDown"
|
||||
Margin="4,2" telerik:StyleManager.Theme="Crystal"/>
|
||||
|
||||
<!-- Stage Y -->
|
||||
<TextBlock Grid.Row="1" Grid.Column="0" Text="{loc:Localization AC_StageY}"
|
||||
FontSize="12" VerticalAlignment="Center" Margin="0,2"/>
|
||||
<telerik:RadNumericUpDown Grid.Row="1" Grid.Column="1" x:Name="NumStageY"
|
||||
Value="{Binding StageYPosition, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
|
||||
ValueFormat="Numeric" NumberDecimalDigits="2" SmallChange="0.1" IsEditable="True"
|
||||
GotFocus="NumStageY_GotFocus" LostFocus="NumStageY_LostFocus" KeyDown="NumStageY_KeyDown"
|
||||
Margin="4,2" telerik:StyleManager.Theme="Crystal"/>
|
||||
|
||||
<!-- Source Z -->
|
||||
<TextBlock Grid.Row="2" Grid.Column="0" Text="{loc:Localization AC_SourceZ}"
|
||||
FontSize="12" VerticalAlignment="Center" Margin="0,2"/>
|
||||
<telerik:RadNumericUpDown Grid.Row="2" Grid.Column="1" x:Name="NumSourceZ"
|
||||
Value="{Binding SourceZPosition, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
|
||||
ValueFormat="Numeric" NumberDecimalDigits="2" SmallChange="0.1" IsEditable="True"
|
||||
GotFocus="NumSourceZ_GotFocus" LostFocus="NumSourceZ_LostFocus" KeyDown="NumSourceZ_KeyDown"
|
||||
Margin="4,2" telerik:StyleManager.Theme="Crystal"/>
|
||||
|
||||
<!-- Detector Z -->
|
||||
<TextBlock Grid.Row="3" Grid.Column="0" Text="{loc:Localization AC_DetectorZ}"
|
||||
FontSize="12" VerticalAlignment="Center" Margin="0,2"/>
|
||||
<telerik:RadNumericUpDown Grid.Row="3" Grid.Column="1" x:Name="NumDetectorZ"
|
||||
Value="{Binding DetectorZPosition, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
|
||||
ValueFormat="Numeric" NumberDecimalDigits="2" SmallChange="0.1" IsEditable="True"
|
||||
GotFocus="NumDetectorZ_GotFocus" LostFocus="NumDetectorZ_LostFocus" KeyDown="NumDetectorZ_KeyDown"
|
||||
Margin="4,2" telerik:StyleManager.Theme="Crystal"/>
|
||||
|
||||
<!-- Detector Swing（动态显示/隐藏）| Dynamic visibility -->
|
||||
<TextBlock Grid.Row="4" Grid.Column="0" Text="{loc:Localization AC_DetectorSwing}"
|
||||
FontSize="12" VerticalAlignment="Center" Margin="0,2"
|
||||
Visibility="{Binding DetectorSwingVisibility}"/>
|
||||
<telerik:RadNumericUpDown Grid.Row="4" Grid.Column="1" x:Name="NumDetSwing"
|
||||
Value="{Binding DetectorSwingAngle, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
|
||||
ValueFormat="Numeric" NumberDecimalDigits="2" SmallChange="0.1" IsEditable="True"
|
||||
GotFocus="NumDetSwing_GotFocus" LostFocus="NumDetSwing_LostFocus" KeyDown="NumDetSwing_KeyDown"
|
||||
Visibility="{Binding DetectorSwingVisibility}"
|
||||
Margin="4,2" telerik:StyleManager.Theme="Crystal"/>
|
||||
|
||||
<!-- Stage Rotation（动态显示/隐藏）| Dynamic visibility -->
|
||||
<TextBlock Grid.Row="5" Grid.Column="0" Text="{loc:Localization AC_StageRotation}"
|
||||
FontSize="12" VerticalAlignment="Center" Margin="0,2"
|
||||
Visibility="{Binding StageRotationVisibility}"/>
|
||||
<telerik:RadNumericUpDown Grid.Row="5" Grid.Column="1" x:Name="NumStageRot"
|
||||
Value="{Binding StageRotationAngle, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
|
||||
ValueFormat="Numeric" NumberDecimalDigits="2" SmallChange="0.1" IsEditable="True"
|
||||
GotFocus="NumStageRot_GotFocus" LostFocus="NumStageRot_LostFocus" KeyDown="NumStageRot_KeyDown"
|
||||
Visibility="{Binding StageRotationVisibility}"
|
||||
Margin="4,2" telerik:StyleManager.Theme="Crystal"/>
|
||||
|
||||
<!-- Fixture Rotation（动态显示/隐藏）| Dynamic visibility -->
|
||||
<TextBlock Grid.Row="6" Grid.Column="0" Text="{loc:Localization AC_FixtureRotation}"
|
||||
FontSize="12" VerticalAlignment="Center" Margin="0,2"
|
||||
Visibility="{Binding FixtureRotationVisibility}"/>
|
||||
<telerik:RadNumericUpDown Grid.Row="6" Grid.Column="1" x:Name="NumFixtureRot"
|
||||
Value="{Binding FixtureRotationAngle, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
|
||||
ValueFormat="Numeric" NumberDecimalDigits="2" SmallChange="0.1" IsEditable="True"
|
||||
GotFocus="NumFixtureRot_GotFocus" LostFocus="NumFixtureRot_LostFocus" KeyDown="NumFixtureRot_KeyDown"
|
||||
Visibility="{Binding FixtureRotationVisibility}"
|
||||
Margin="4,2" telerik:StyleManager.Theme="Crystal"/>
|
||||
</Grid>
|
||||
</GroupBox>
|
||||
|
||||
<!-- 安全参数输入框组 | Safety Parameter Inputs -->
|
||||
<GroupBox Margin="0,0,0,6">
|
||||
<GroupBox.Header>
|
||||
<TextBlock Text="{loc:Localization AC_SafetyParams}" FontWeight="Bold" FontSize="12"/>
|
||||
</GroupBox.Header>
|
||||
<Grid Margin="5">
|
||||
<Grid.ColumnDefinitions>
|
||||
<ColumnDefinition Width="Auto" MinWidth="80"/>
|
||||
<ColumnDefinition Width="*"/>
|
||||
</Grid.ColumnDefinitions>
|
||||
<Grid.RowDefinitions>
|
||||
<RowDefinition Height="Auto"/>
|
||||
<RowDefinition Height="Auto"/>
|
||||
</Grid.RowDefinitions>
|
||||
|
||||
<!-- 安全高度 | Safety Height -->
|
||||
<TextBlock Grid.Row="0" Grid.Column="0" Text="{loc:Localization AC_SafetyHeight}"
|
||||
FontSize="12" VerticalAlignment="Center" Margin="0,2"/>
|
||||
<telerik:RadNumericUpDown Grid.Row="0" Grid.Column="1" x:Name="NumSafetyHeight"
|
||||
Value="{Binding SafetyHeight, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
|
||||
ValueFormat="Numeric" NumberDecimalDigits="2" SmallChange="0.1" IsEditable="True"
|
||||
KeyDown="NumSafetyHeight_KeyDown"
|
||||
Margin="4,2" telerik:StyleManager.Theme="Crystal"/>
|
||||
|
||||
<!-- 校准计算值 | Calibration Value -->
|
||||
<TextBlock Grid.Row="1" Grid.Column="0" Text="{loc:Localization AC_CalibrationValue}"
|
||||
FontSize="12" VerticalAlignment="Center" Margin="0,2"/>
|
||||
<telerik:RadNumericUpDown Grid.Row="1" Grid.Column="1" x:Name="NumCalibration"
|
||||
Value="{Binding CalibrationValue, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
|
||||
ValueFormat="Numeric" NumberDecimalDigits="2" SmallChange="0.1" IsEditable="True"
|
||||
KeyDown="NumCalibration_KeyDown"
|
||||
Margin="4,2" telerik:StyleManager.Theme="Crystal"/>
|
||||
</Grid>
|
||||
</GroupBox>
|
||||
|
||||
<!-- 错误信息显示 | Error Message Display -->
|
||||
<TextBlock Text="{Binding ErrorMessage}" FontSize="11" Foreground="#FFE53935"
|
||||
TextWrapping="Wrap" Margin="0,2">
|
||||
<TextBlock.Style>
|
||||
<Style TargetType="TextBlock">
|
||||
<Setter Property="Visibility" Value="Visible"/>
|
||||
<Style.Triggers>
|
||||
<DataTrigger Binding="{Binding ErrorMessage}" Value="{x:Null}">
|
||||
<Setter Property="Visibility" Value="Collapsed"/>
|
||||
</DataTrigger>
|
||||
<DataTrigger Binding="{Binding ErrorMessage}" Value="">
|
||||
<Setter Property="Visibility" Value="Collapsed"/>
|
||||
</DataTrigger>
|
||||
</Style.Triggers>
|
||||
</Style>
|
||||
</TextBlock.Style>
|
||||
</TextBlock>
|
||||
</StackPanel>
|
||||
|
||||
<!-- ========== 右侧区域：摇杆 + 操作按钮 | Right: Joysticks + Action Buttons ========== -->
|
||||
<Grid Grid.Column="1">
|
||||
<Grid.RowDefinitions>
|
||||
<RowDefinition Height="*"/>
|
||||
<RowDefinition Height="Auto"/>
|
||||
</Grid.RowDefinitions>
|
||||
|
||||
<!-- 摇杆区域 | Joystick Area -->
|
||||
<StackPanel Grid.Row="0" Orientation="Horizontal" HorizontalAlignment="Center" VerticalAlignment="Center">
|
||||
|
||||
<!-- 单轴摇杆（SingleAxisY）：Source_Z / Detector_Z | Single-axis joystick -->
|
||||
<controls:VirtualJoystick x:Name="SingleJoystick"
|
||||
JoystickMode="SingleAxisY"
|
||||
Width="150" Height="200"
|
||||
IsEnabled="{Binding IsJoystickEnabled}"
|
||||
DefaultTopIcon="↑" DefaultBottomIcon="↓"
|
||||
LeftButtonTopIcon="Src↑" LeftButtonBottomIcon="Src↓"
|
||||
RightButtonTopIcon="Det↑" RightButtonBottomIcon="Det↓"
|
||||
Margin="0,0,16,0"/>
|
||||
|
||||
<!-- 双轴摇杆（DualAxis）：Stage X/Y + Swing/Rotation | Dual-axis joystick -->
|
||||
<controls:VirtualJoystick x:Name="DualJoystick"
|
||||
JoystickMode="DualAxis"
|
||||
Width="200" Height="200"
|
||||
IsEnabled="{Binding IsJoystickEnabled}"
|
||||
DefaultTopIcon="↑" DefaultBottomIcon="↓" DefaultLeftIcon="←" DefaultRightIcon="→"
|
||||
LeftButtonTopIcon="Y+" LeftButtonBottomIcon="Y-" LeftButtonLeftIcon="X-" LeftButtonRightIcon="X+"
|
||||
RightButtonTopIcon="Rot+" RightButtonBottomIcon="Rot-" RightButtonLeftIcon="Swing-" RightButtonRightIcon="Swing+"/>
|
||||
</StackPanel>
|
||||
|
||||
<!-- 操作按钮区域 | Action Buttons Area -->
|
||||
<StackPanel Grid.Row="1" Orientation="Horizontal" HorizontalAlignment="Center" Margin="0,8,0,0">
|
||||
|
||||
<!-- 使能开关 | Enable Toggle -->
|
||||
<StackPanel Orientation="Horizontal" VerticalAlignment="Center" Margin="0,0,12,0">
|
||||
<TextBlock Text="{loc:Localization AC_Enable}" FontSize="12" VerticalAlignment="Center" Margin="0,0,6,0"/>
|
||||
<telerik:RadToggleSwitchButton IsChecked="{Binding IsJoystickEnabled, Mode=TwoWay}"
|
||||
Command="{Binding ToggleEnableCommand}"
|
||||
telerik:StyleManager.Theme="Crystal"/>
|
||||
</StackPanel>
|
||||
|
||||
<!-- 保存按钮 | Save Button -->
|
||||
<telerik:RadButton Content="{loc:Localization AC_Save}"
|
||||
Command="{Binding SavePositionsCommand}"
|
||||
Width="70" Height="28" Margin="4,0" FontSize="12"
|
||||
telerik:StyleManager.Theme="Crystal">
|
||||
<telerik:RadButton.Background>
|
||||
<LinearGradientBrush EndPoint="0.5,1" StartPoint="0.5,0">
|
||||
<GradientStop Color="White"/>
|
||||
<GradientStop Color="#FF62B8E0" Offset="1"/>
|
||||
</LinearGradientBrush>
|
||||
</telerik:RadButton.Background>
|
||||
</telerik:RadButton>
|
||||
|
||||
<!-- 恢复按钮 | Restore Button -->
|
||||
<telerik:RadButton Content="{loc:Localization AC_Restore}"
|
||||
Command="{Binding RestorePositionsCommand}"
|
||||
Width="70" Height="28" Margin="4,0" FontSize="12"
|
||||
telerik:StyleManager.Theme="Crystal">
|
||||
<telerik:RadButton.Background>
|
||||
<LinearGradientBrush EndPoint="0.5,1" StartPoint="0.5,0">
|
||||
<GradientStop Color="White"/>
|
||||
<GradientStop Color="#FFFFD54F" Offset="1"/>
|
||||
</LinearGradientBrush>
|
||||
</telerik:RadButton.Background>
|
||||
</telerik:RadButton>
|
||||
</StackPanel>
|
||||
</Grid>
|
||||
</Grid>
|
||||
</UserControl>
|
||||
@@ -0,0 +1,234 @@
|
||||
using System.ComponentModel;
|
||||
using System.Windows;
|
||||
using System.Windows.Controls;
|
||||
using System.Windows.Input;
|
||||
using XP.Common.Controls;
|
||||
using XP.Hardware.MotionControl.ViewModels;
|
||||
|
||||
namespace XP.Hardware.MotionControl.Views
|
||||
{
|
||||
/// <summary>
|
||||
/// 轴控制面板视图 | Axis Control Panel View
|
||||
/// 集成摇杆、轴位置输入框、安全参数和使能控制的 UserControl
|
||||
/// UserControl integrating joysticks, axis position inputs, safety parameters and enable control
|
||||
/// </summary>
|
||||
public partial class AxisControlView : UserControl
|
||||
{
|
||||
public AxisControlView()
|
||||
{
|
||||
InitializeComponent();
|
||||
|
||||
// 监听摇杆只读依赖属性变化，推送到 ViewModel | Listen to joystick read-only DP changes and push to ViewModel
|
||||
var dualOutputXDesc = DependencyPropertyDescriptor.FromProperty(VirtualJoystick.OutputXProperty, typeof(VirtualJoystick));
|
||||
var dualOutputYDesc = DependencyPropertyDescriptor.FromProperty(VirtualJoystick.OutputYProperty, typeof(VirtualJoystick));
|
||||
var dualButtonDesc = DependencyPropertyDescriptor.FromProperty(VirtualJoystick.ActiveMouseButtonProperty, typeof(VirtualJoystick));
|
||||
var singleOutputYDesc = DependencyPropertyDescriptor.FromProperty(VirtualJoystick.OutputYProperty, typeof(VirtualJoystick));
|
||||
var singleButtonDesc = DependencyPropertyDescriptor.FromProperty(VirtualJoystick.ActiveMouseButtonProperty, typeof(VirtualJoystick));
|
||||
|
||||
dualOutputXDesc?.AddValueChanged(DualJoystick, (s, e) =>
|
||||
{
|
||||
if (ViewModel != null) ViewModel.DualJoystickOutputX = DualJoystick.OutputX;
|
||||
});
|
||||
dualOutputYDesc?.AddValueChanged(DualJoystick, (s, e) =>
|
||||
{
|
||||
if (ViewModel != null) ViewModel.DualJoystickOutputY = DualJoystick.OutputY;
|
||||
});
|
||||
dualButtonDesc?.AddValueChanged(DualJoystick, (s, e) =>
|
||||
{
|
||||
if (ViewModel != null) ViewModel.DualJoystickActiveButton = DualJoystick.ActiveMouseButton;
|
||||
});
|
||||
singleOutputYDesc?.AddValueChanged(SingleJoystick, (s, e) =>
|
||||
{
|
||||
if (ViewModel != null) ViewModel.SingleJoystickOutputY = SingleJoystick.OutputY;
|
||||
});
|
||||
singleButtonDesc?.AddValueChanged(SingleJoystick, (s, e) =>
|
||||
{
|
||||
if (ViewModel != null) ViewModel.SingleJoystickActiveButton = SingleJoystick.ActiveMouseButton;
|
||||
});
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 获取当前 ViewModel 实例 | Get current ViewModel instance
|
||||
/// </summary>
|
||||
private AxisControlViewModel ViewModel => DataContext as AxisControlViewModel;
|
||||
|
||||
#region Stage X 事件处理 | Stage X Event Handlers
|
||||
|
||||
private void NumStageX_GotFocus(object sender, RoutedEventArgs e)
|
||||
{
|
||||
ViewModel?.SetEditing(nameof(AxisControlViewModel.StageXPosition), true);
|
||||
}
|
||||
|
||||
private void NumStageX_LostFocus(object sender, RoutedEventArgs e)
|
||||
{
|
||||
ViewModel?.CancelEditing(nameof(AxisControlViewModel.StageXPosition));
|
||||
}
|
||||
|
||||
private void NumStageX_KeyDown(object sender, KeyEventArgs e)
|
||||
{
|
||||
HandleAxisKeyDown(nameof(AxisControlViewModel.StageXPosition), e);
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region Stage Y 事件处理 | Stage Y Event Handlers
|
||||
|
||||
private void NumStageY_GotFocus(object sender, RoutedEventArgs e)
|
||||
{
|
||||
ViewModel?.SetEditing(nameof(AxisControlViewModel.StageYPosition), true);
|
||||
}
|
||||
|
||||
private void NumStageY_LostFocus(object sender, RoutedEventArgs e)
|
||||
{
|
||||
ViewModel?.CancelEditing(nameof(AxisControlViewModel.StageYPosition));
|
||||
}
|
||||
|
||||
private void NumStageY_KeyDown(object sender, KeyEventArgs e)
|
||||
{
|
||||
HandleAxisKeyDown(nameof(AxisControlViewModel.StageYPosition), e);
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region Source Z 事件处理 | Source Z Event Handlers
|
||||
|
||||
private void NumSourceZ_GotFocus(object sender, RoutedEventArgs e)
|
||||
{
|
||||
ViewModel?.SetEditing(nameof(AxisControlViewModel.SourceZPosition), true);
|
||||
}
|
||||
|
||||
private void NumSourceZ_LostFocus(object sender, RoutedEventArgs e)
|
||||
{
|
||||
ViewModel?.CancelEditing(nameof(AxisControlViewModel.SourceZPosition));
|
||||
}
|
||||
|
||||
private void NumSourceZ_KeyDown(object sender, KeyEventArgs e)
|
||||
{
|
||||
HandleAxisKeyDown(nameof(AxisControlViewModel.SourceZPosition), e);
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region Detector Z 事件处理 | Detector Z Event Handlers
|
||||
|
||||
private void NumDetectorZ_GotFocus(object sender, RoutedEventArgs e)
|
||||
{
|
||||
ViewModel?.SetEditing(nameof(AxisControlViewModel.DetectorZPosition), true);
|
||||
}
|
||||
|
||||
private void NumDetectorZ_LostFocus(object sender, RoutedEventArgs e)
|
||||
{
|
||||
ViewModel?.CancelEditing(nameof(AxisControlViewModel.DetectorZPosition));
|
||||
}
|
||||
|
||||
private void NumDetectorZ_KeyDown(object sender, KeyEventArgs e)
|
||||
{
|
||||
HandleAxisKeyDown(nameof(AxisControlViewModel.DetectorZPosition), e);
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region Detector Swing 事件处理 | Detector Swing Event Handlers
|
||||
|
||||
private void NumDetSwing_GotFocus(object sender, RoutedEventArgs e)
|
||||
{
|
||||
ViewModel?.SetEditing(nameof(AxisControlViewModel.DetectorSwingAngle), true);
|
||||
}
|
||||
|
||||
private void NumDetSwing_LostFocus(object sender, RoutedEventArgs e)
|
||||
{
|
||||
ViewModel?.CancelEditing(nameof(AxisControlViewModel.DetectorSwingAngle));
|
||||
}
|
||||
|
||||
private void NumDetSwing_KeyDown(object sender, KeyEventArgs e)
|
||||
{
|
||||
HandleAxisKeyDown(nameof(AxisControlViewModel.DetectorSwingAngle), e);
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region Stage Rotation 事件处理 | Stage Rotation Event Handlers
|
||||
|
||||
private void NumStageRot_GotFocus(object sender, RoutedEventArgs e)
|
||||
{
|
||||
ViewModel?.SetEditing(nameof(AxisControlViewModel.StageRotationAngle), true);
|
||||
}
|
||||
|
||||
private void NumStageRot_LostFocus(object sender, RoutedEventArgs e)
|
||||
{
|
||||
ViewModel?.CancelEditing(nameof(AxisControlViewModel.StageRotationAngle));
|
||||
}
|
||||
|
||||
private void NumStageRot_KeyDown(object sender, KeyEventArgs e)
|
||||
{
|
||||
HandleAxisKeyDown(nameof(AxisControlViewModel.StageRotationAngle), e);
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region Fixture Rotation 事件处理 | Fixture Rotation Event Handlers
|
||||
|
||||
private void NumFixtureRot_GotFocus(object sender, RoutedEventArgs e)
|
||||
{
|
||||
ViewModel?.SetEditing(nameof(AxisControlViewModel.FixtureRotationAngle), true);
|
||||
}
|
||||
|
||||
private void NumFixtureRot_LostFocus(object sender, RoutedEventArgs e)
|
||||
{
|
||||
ViewModel?.CancelEditing(nameof(AxisControlViewModel.FixtureRotationAngle));
|
||||
}
|
||||
|
||||
private void NumFixtureRot_KeyDown(object sender, KeyEventArgs e)
|
||||
{
|
||||
HandleAxisKeyDown(nameof(AxisControlViewModel.FixtureRotationAngle), e);
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region 安全参数键盘事件 | Safety Parameter Key Events
|
||||
|
||||
private void NumSafetyHeight_KeyDown(object sender, KeyEventArgs e)
|
||||
{
|
||||
if (e.Key == Key.Enter)
|
||||
{
|
||||
ViewModel?.ConfirmSafetyHeight();
|
||||
e.Handled = true;
|
||||
}
|
||||
}
|
||||
|
||||
private void NumCalibration_KeyDown(object sender, KeyEventArgs e)
|
||||
{
|
||||
if (e.Key == Key.Enter)
|
||||
{
|
||||
ViewModel?.ConfirmCalibrationValue();
|
||||
e.Handled = true;
|
||||
}
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region 通用键盘处理 | Common Key Handler
|
||||
|
||||
/// <summary>
|
||||
/// 轴输入框通用键盘处理：Enter 确认，Escape 取消 | Common axis input key handler: Enter to confirm, Escape to cancel
|
||||
/// </summary>
|
||||
private void HandleAxisKeyDown(string propertyName, KeyEventArgs e)
|
||||
{
|
||||
if (ViewModel == null) return;
|
||||
|
||||
switch (e.Key)
|
||||
{
|
||||
case Key.Enter:
|
||||
ViewModel.ConfirmPosition(propertyName);
|
||||
e.Handled = true;
|
||||
break;
|
||||
case Key.Escape:
|
||||
ViewModel.CancelEditing(propertyName);
|
||||
e.Handled = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
#endregion
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user