将Feature/XP.Common和Feature/XP.Hardware分支合并至Develop/XP.forHardwareAndCommon，完善XPapp注册和相关硬件类库通用类库功能。

2026-04-16 17:31:13 +08:00
parent 6ec4c3ddaa
commit 2bd6e566c3
581 changed files with 74600 additions and 222 deletions
@@ -0,0 +1,20 @@
+namespace XP.Hardware.MotionControl.Abstractions.Enums
+{
+    /// <summary>
+    /// 直线轴标识 | Linear Axis Identifier
+    /// </summary>
+    public enum AxisId
+    {
+        /// <summary>射线源Z轴 | X-ray source Z axis</summary>
+        SourceZ,
+
+        /// <summary>探测器Z轴 | Detector Z axis</summary>
+        DetectorZ,
+
+        /// <summary>载物台X轴 | Stage X axis</summary>
+        StageX,
+
+        /// <summary>载物台Y轴 | Stage Y axis</summary>
+        StageY
+    }
+}
@@ -0,0 +1,23 @@
+namespace XP.Hardware.MotionControl.Abstractions.Enums
+{
+    /// <summary>
+    /// 轴状态 | Axis Status
+    /// </summary>
+    public enum AxisStatus
+    {
+        /// <summary>空闲 | Idle</summary>
+        Idle,
+
+        /// <summary>运动中 | Moving</summary>
+        Moving,
+
+        /// <summary>回零中 | Homing</summary>
+        Homing,
+
+        /// <summary>错误 | Error</summary>
+        Error,
+
+        /// <summary>报警（限位触发等）| Alarm (limit triggered, etc.)</summary>
+        Alarm
+    }
+}
@@ -0,0 +1,29 @@
+namespace XP.Hardware.MotionControl.Abstractions.Enums
+{
+    /// <summary>
+    /// 安全门状态 | Safety Door Status
+    /// </summary>
+    public enum DoorStatus
+    {
+        /// <summary>未知 | Unknown</summary>
+        Unknown,
+
+        /// <summary>开门中 | Opening</summary>
+        Opening,
+
+        /// <summary>已打开 | Open</summary>
+        Open,
+
+        /// <summary>关门中 | Closing</summary>
+        Closing,
+
+        /// <summary>已关闭 | Closed</summary>
+        Closed,
+
+        /// <summary>已锁定 | Locked</summary>
+        Locked,
+
+        /// <summary>错误 | Error</summary>
+        Error
+    }
+}
@@ -0,0 +1,17 @@
+namespace XP.Hardware.MotionControl.Abstractions.Enums
+{
+    /// <summary>
+    /// 旋转轴标识 | Rotary Axis Identifier
+    /// </summary>
+    public enum RotaryAxisId
+    {
+        /// <summary>探测器摆动 | Detector swing</summary>
+        DetectorSwing,
+
+        /// <summary>载物台旋转 | Stage rotation</summary>
+        StageRotation,
+
+        /// <summary>夹具旋转 | Fixture rotation</summary>
+        FixtureRotation
+    }
+}
@@ -0,0 +1,18 @@
+using Prism.Events;
+using XP.Hardware.MotionControl.Abstractions.Enums;
+
+namespace XP.Hardware.MotionControl.Abstractions.Events
+{
+    /// <summary>
+    /// 轴状态变化事件数据 | Axis Status Changed Event Data
+    /// </summary>
+    /// <param name="AxisId">轴标识 | Axis identifier</param>
+    /// <param name="Status">新的轴状态 | New axis status</param>
+    public record AxisStatusChangedData(AxisId AxisId, AxisStatus Status);
+
+    /// <summary>
+    /// 轴状态变化事件 | Axis Status Changed Event
+    /// 当任意轴状态发生变化时发布 | Published when any axis status changes
+    /// </summary>
+    public class AxisStatusChangedEvent : PubSubEvent<AxisStatusChangedData> { }
+}
@@ -0,0 +1,11 @@
+using Prism.Events;
+
+namespace XP.Hardware.MotionControl.Abstractions.Events
+{
+    /// <summary>
+    /// 门联锁状态变化事件 | Door Interlock Status Changed Event
+    /// 当安全门联锁信号发生变化时发布 | Published when safety door interlock signal changes
+    /// Payload: true=已联锁, false=未联锁 | Payload: true=interlocked, false=not interlocked
+    /// </summary>
+    public class DoorInterlockChangedEvent : PubSubEvent<bool> { }
+}
@@ -0,0 +1,11 @@
+using Prism.Events;
+using XP.Hardware.MotionControl.Abstractions.Enums;
+
+namespace XP.Hardware.MotionControl.Abstractions.Events
+{
+    /// <summary>
+    /// 门状态变化事件 | Door Status Changed Event
+    /// 当安全防护门状态发生变化时发布 | Published when safety door status changes
+    /// </summary>
+    public class DoorStatusChangedEvent : PubSubEvent<DoorStatus> { }
+}
@@ -0,0 +1,39 @@
+using Prism.Events;
+
+namespace XP.Hardware.MotionControl.Abstractions.Events
+{
+    /// <summary>
+    /// 几何反算结果填入请求数据 | Geometry inverse calculation apply request data
+    /// </summary>
+    public class GeometryApplyRequestData
+    {
+        public double SourceZTarget { get; }
+        public double DetectorZTarget { get; }
+        public double StageXActual { get; }
+        public double StageYActual { get; }
+        public double DetSwingActual { get; }
+        public double StageRotActual { get; }
+        public double FixtureRotActual { get; }
+
+        public GeometryApplyRequestData(
+            double sourceZTarget, double detectorZTarget,
+            double stageXActual, double stageYActual,
+            double detSwingActual, double stageRotActual, double fixtureRotActual)
+        {
+            SourceZTarget = sourceZTarget;
+            DetectorZTarget = detectorZTarget;
+            StageXActual = stageXActual;
+            StageYActual = stageYActual;
+            DetSwingActual = detSwingActual;
+            StageRotActual = stageRotActual;
+            FixtureRotActual = fixtureRotActual;
+        }
+    }
+
+    /// <summary>
+    /// 几何反算结果填入请求事件 | Geometry inverse calculation apply request event
+    /// 由 DebugWindow 发布，MotionControlViewModel 订阅后填入目标值
+    /// Published by DebugWindow, subscribed by MotionControlViewModel to fill target values
+    /// </summary>
+    public class GeometryApplyRequestEvent : PubSubEvent<GeometryApplyRequestData> { }
+}
@@ -0,0 +1,18 @@
+using Prism.Events;
+
+namespace XP.Hardware.MotionControl.Abstractions.Events
+{
+    /// <summary>
+    /// 几何参数数据 | Geometry Data
+    /// </summary>
+    /// <param name="FOD">焦点到旋转中心距离（mm）| Focus to Object Distance (mm)</param>
+    /// <param name="FDD">焦点到探测器距离（mm）| Focus to Detector Distance (mm)</param>
+    /// <param name="Magnification">放大倍率 | Magnification</param>
+    public record GeometryData(double FOD, double FDD, double Magnification);
+
+    /// <summary>
+    /// 几何参数更新事件 | Geometry Updated Event
+    /// 当几何参数（FOD/FDD/放大倍率）重新计算后发布 | Published when geometry parameters are recalculated
+    /// </summary>
+    public class GeometryUpdatedEvent : PubSubEvent<GeometryData> { }
+}
@@ -0,0 +1,18 @@
+using Prism.Events;
+using XP.Hardware.MotionControl.Abstractions.Enums;
+
+namespace XP.Hardware.MotionControl.Abstractions.Events
+{
+    /// <summary>
+    /// 运动错误事件数据 | Motion Error Event Data
+    /// </summary>
+    /// <param name="AxisId">轴标识 | Axis identifier</param>
+    /// <param name="ErrorMessage">错误信息 | Error message</param>
+    public record MotionErrorData(AxisId AxisId, string ErrorMessage);
+
+    /// <summary>
+    /// 运动错误事件 | Motion Error Event
+    /// 当轴状态变为 Error 或 Alarm 时发布 | Published when axis status changes to Error or Alarm
+    /// </summary>
+    public class MotionErrorEvent : PubSubEvent<MotionErrorData> { }
+}
@@ -0,0 +1,19 @@
+namespace XP.Hardware.MotionControl.Abstractions
+{
+    /// <summary>
+    /// 轴复位接口 | Axis Reset Interface
+    /// 提供轴复位写入和复位完成状态读取 | Provides axis reset write and reset-done status read
+    /// </summary>
+    public interface IAxisReset
+    {
+        /// <summary>复位是否完成 | Whether reset is done</summary>
+        bool IsResetDone { get; }
+
+        /// <summary>发送复位命令 | Send reset command</summary>
+        /// <returns>操作结果 | Operation result</returns>
+        MotionResult Reset();
+
+        /// <summary>从 PLC 更新复位完成状态 | Update reset-done status from PLC</summary>
+        void UpdateStatus();
+    }
+}
@@ -0,0 +1,51 @@
+using XP.Hardware.MotionControl.Abstractions.Enums;
+
+namespace XP.Hardware.MotionControl.Abstractions
+{
+    /// <summary>
+    /// 直线轴策略接口 | Linear Axis Strategy Interface
+    /// 定义直线轴的运动控制能力 | Defines linear axis motion control capabilities
+    /// </summary>
+    public interface ILinearAxis
+    {
+        /// <summary>轴标识 | Axis identifier</summary>
+        AxisId Id { get; }
+
+        /// <summary>实际位置（mm）| Actual position (mm)</summary>
+        double ActualPosition { get; }
+
+        /// <summary>轴状态 | Axis status</summary>
+        AxisStatus Status { get; }
+
+        /// <summary>正限位触发 | Positive limit triggered</summary>
+        bool PositiveLimitHit { get; }
+
+        /// <summary>负限位触发 | Negative limit triggered</summary>
+        bool NegativeLimitHit { get; }
+
+        /// <summary>移动到目标位置 | Move to target position</summary>
+        /// <param name="target">目标位置（mm）| Target position (mm)</param>
+        /// <returns>操作结果 | Operation result</returns>
+        MotionResult MoveToTarget(double target, double? speed = null);
+
+        /// <summary>Jog 启动 | Jog start</summary>
+        /// <param name="positive">true=正向，false=反向 | true=positive, false=negative</param>
+        /// <returns>操作结果 | Operation result</returns>
+        MotionResult JogStart(bool positive);
+
+        /// <summary>Jog 停止 | Jog stop</summary>
+        /// <returns>操作结果 | Operation result</returns>
+        MotionResult JogStop();
+
+        /// <summary>回零 | Home</summary>
+        /// <returns>操作结果 | Operation result</returns>
+        MotionResult Home();
+
+        /// <summary>停止 | Stop</summary>
+        /// <returns>操作结果 | Operation result</returns>
+        MotionResult Stop();
+
+        /// <summary>从 PLC 更新状态 | Update status from PLC</summary>
+        void UpdateStatus();
+    }
+}
@@ -0,0 +1,37 @@
+using System.Collections.Generic;
+using XP.Hardware.MotionControl.Abstractions.Enums;
+
+namespace XP.Hardware.MotionControl.Abstractions
+{
+    /// <summary>
+    /// 运动系统顶层管理接口 | Motion System Top-Level Management Interface
+    /// 持有所有轴和安全门实例 | Holds all axis and safety door instances
+    /// </summary>
+    public interface IMotionSystem
+    {
+        /// <summary>按 AxisId 获取直线轴 | Get linear axis by AxisId</summary>
+        /// <param name="axisId">直线轴标识 | Linear axis identifier</param>
+        /// <returns>直线轴实例 | Linear axis instance</returns>
+        ILinearAxis GetLinearAxis(AxisId axisId);
+
+        /// <summary>按 RotaryAxisId 获取旋转轴 | Get rotary axis by RotaryAxisId</summary>
+        /// <param name="axisId">旋转轴标识 | Rotary axis identifier</param>
+        /// <returns>旋转轴实例 | Rotary axis instance</returns>
+        IRotaryAxis GetRotaryAxis(RotaryAxisId axisId);
+
+        /// <summary>安全门实例 | Safety door instance</summary>
+        ISafetyDoor SafetyDoor { get; }
+
+        /// <summary>轴复位实例 | Axis reset instance</summary>
+        IAxisReset AxisReset { get; }
+
+        /// <summary>所有直线轴 | All linear axes</summary>
+        IReadOnlyDictionary<AxisId, ILinearAxis> LinearAxes { get; }
+
+        /// <summary>所有旋转轴 | All rotary axes</summary>
+        IReadOnlyDictionary<RotaryAxisId, IRotaryAxis> RotaryAxes { get; }
+
+        /// <summary>更新所有轴和门的状态 | Update all axis and door status</summary>
+        void UpdateAllStatus();
+    }
+}
@@ -0,0 +1,48 @@
+using XP.Hardware.MotionControl.Abstractions.Enums;
+
+namespace XP.Hardware.MotionControl.Abstractions
+{
+    /// <summary>
+    /// 旋转轴策略接口 | Rotary Axis Strategy Interface
+    /// 定义旋转轴的运动控制能力 | Defines rotary axis motion control capabilities
+    /// </summary>
+    public interface IRotaryAxis
+    {
+        /// <summary>轴标识 | Axis identifier</summary>
+        RotaryAxisId Id { get; }
+
+        /// <summary>实际角度（度）| Actual angle (degrees)</summary>
+        double ActualAngle { get; }
+
+        /// <summary>轴状态 | Axis status</summary>
+        AxisStatus Status { get; }
+
+        /// <summary>是否启用 | Is enabled</summary>
+        bool Enabled { get; }
+
+        /// <summary>移动到目标角度 | Move to target angle</summary>
+        /// <param name="targetAngle">目标角度（度）| Target angle (degrees)</param>
+        /// <returns>操作结果 | Operation result</returns>
+        MotionResult MoveToTarget(double targetAngle, double? speed = null);
+
+        /// <summary>Jog 启动 | Jog start</summary>
+        /// <param name="positive">true=正向，false=反向 | true=positive, false=negative</param>
+        /// <returns>操作结果 | Operation result</returns>
+        MotionResult JogStart(bool positive);
+
+        /// <summary>Jog 停止 | Jog stop</summary>
+        /// <returns>操作结果 | Operation result</returns>
+        MotionResult JogStop();
+
+        /// <summary>回零 | Home</summary>
+        /// <returns>操作结果 | Operation result</returns>
+        MotionResult Home();
+
+        /// <summary>停止 | Stop</summary>
+        /// <returns>操作结果 | Operation result</returns>
+        MotionResult Stop();
+
+        /// <summary>从 PLC 更新状态 | Update status from PLC</summary>
+        void UpdateStatus();
+    }
+}
@@ -0,0 +1,32 @@
+using XP.Hardware.MotionControl.Abstractions.Enums;
+
+namespace XP.Hardware.MotionControl.Abstractions
+{
+    /// <summary>
+    /// 安全门策略接口 | Safety Door Strategy Interface
+    /// 定义安全防护门的控制能力 | Defines safety door control capabilities
+    /// </summary>
+    public interface ISafetyDoor
+    {
+        /// <summary>门状态 | Door status</summary>
+        DoorStatus Status { get; }
+
+        /// <summary>联锁信号是否有效（true=联锁中，禁止开门）| Interlock active (true=interlocked, door open blocked)</summary>
+        bool IsInterlocked { get; }
+
+        /// <summary>开门 | Open door</summary>
+        /// <returns>操作结果 | Operation result</returns>
+        MotionResult Open();
+
+        /// <summary>关门 | Close door</summary>
+        /// <returns>操作结果 | Operation result</returns>
+        MotionResult Close();
+
+        /// <summary>停止门 | Stop door</summary>
+        /// <returns>操作结果 | Operation result</returns>
+        MotionResult Stop();
+
+        /// <summary>从 PLC 更新状态 | Update status from PLC</summary>
+        void UpdateStatus();
+    }
+}
@@ -0,0 +1,76 @@
+using XP.Hardware.MotionControl.Abstractions.Enums;
+
+namespace XP.Hardware.MotionControl.Abstractions
+{
+    /// <summary>
+    /// 直线轴抽象基类 | Linear Axis Abstract Base Class
+    /// 提供边界检查、状态管理等通用逻辑 | Provides boundary check, status management
+    /// </summary>
+    public abstract class LinearAxisBase : ILinearAxis
+    {
+        /// <summary>轴标识 | Axis identifier</summary>
+        protected readonly AxisId _axisId;
+
+        /// <summary>最小位置（mm）| Minimum position (mm)</summary>
+        protected readonly double _min;
+
+        /// <summary>最大位置（mm）| Maximum position (mm)</summary>
+        protected readonly double _max;
+
+        /// <summary>原点偏移（mm）| Origin offset (mm)</summary>
+        protected readonly double _origin;
+
+        /// <summary>轴标识 | Axis identifier</summary>
+        public AxisId Id => _axisId;
+
+        /// <summary>实际位置（mm）| Actual position (mm)</summary>
+        public double ActualPosition { get; protected set; }
+
+        /// <summary>轴状态 | Axis status</summary>
+        public AxisStatus Status { get; protected set; } = AxisStatus.Idle;
+
+        /// <summary>正限位触发 | Positive limit triggered</summary>
+        public bool PositiveLimitHit { get; protected set; }
+
+        /// <summary>负限位触发 | Negative limit triggered</summary>
+        public bool NegativeLimitHit { get; protected set; }
+
+        /// <summary>
+        /// 构造函数 | Constructor
+        /// </summary>
+        /// <param name="axisId">轴标识 | Axis identifier</param>
+        /// <param name="min">最小位置（mm）| Minimum position (mm)</param>
+        /// <param name="max">最大位置（mm）| Maximum position (mm)</param>
+        /// <param name="origin">原点偏移（mm）| Origin offset (mm)</param>
+        protected LinearAxisBase(AxisId axisId, double min, double max, double origin)
+        {
+            _axisId = axisId;
+            _min = min;
+            _max = max;
+            _origin = origin;
+        }
+
+        /// <summary>验证目标位置是否在范围内 | Validate target within range</summary>
+        /// <param name="target">目标位置（mm）| Target position (mm)</param>
+        /// <returns>true=在范围内，false=越界 | true=within range, false=out of range</returns>
+        public bool ValidateTarget(double target) => target >= _min && target <= _max;
+
+        /// <inheritdoc/>
+        public abstract MotionResult MoveToTarget(double target, double? speed = null);
+
+        /// <inheritdoc/>
+        public abstract MotionResult JogStart(bool positive);
+
+        /// <inheritdoc/>
+        public abstract MotionResult JogStop();
+
+        /// <inheritdoc/>
+        public abstract MotionResult Home();
+
+        /// <inheritdoc/>
+        public abstract MotionResult Stop();
+
+        /// <inheritdoc/>
+        public abstract void UpdateStatus();
+    }
+}
@@ -0,0 +1,35 @@
+namespace XP.Hardware.MotionControl.Abstractions
+{
+    /// <summary>
+    /// 运动控制操作结果封装类 | Motion Control Operation Result Wrapper
+    /// 用于统一返回操作状态和错误信息 | Unified return of operation status and error messages
+    /// </summary>
+    public class MotionResult
+    {
+        /// <summary>
+        /// 操作是否成功 | Operation success status
+        /// </summary>
+        public bool Success { get; set; }
+
+        /// <summary>
+        /// 错误消息（成功时为null）| Error message (null when successful)
+        /// </summary>
+        public string ErrorMessage { get; set; }
+
+        /// <summary>
+        /// 创建成功结果 | Create success result
+        /// </summary>
+        /// <param name="message">可选的附加消息 | Optional additional message</param>
+        /// <returns>成功结果对象 | Success result object</returns>
+        public static MotionResult Ok(string message = null) =>
+            new MotionResult { Success = true, ErrorMessage = message };
+
+        /// <summary>
+        /// 创建失败结果 | Create failure result
+        /// </summary>
+        /// <param name="message">错误消息 | Error message</param>
+        /// <returns>失败结果对象 | Failure result object</returns>
+        public static MotionResult Fail(string message) =>
+            new MotionResult { Success = false, ErrorMessage = message };
+    }
+}
@@ -0,0 +1,73 @@
+using XP.Hardware.MotionControl.Abstractions.Enums;
+
+namespace XP.Hardware.MotionControl.Abstractions
+{
+    /// <summary>
+    /// 旋转轴抽象基类 | Rotary Axis Abstract Base Class
+    /// 提供角度边界检查、启用状态管理等通用逻辑 | Provides angle boundary check, enabled status management
+    /// </summary>
+    public abstract class RotaryAxisBase : IRotaryAxis
+    {
+        /// <summary>轴标识 | Axis identifier</summary>
+        protected readonly RotaryAxisId _axisId;
+
+        /// <summary>最小角度（度）| Minimum angle (degrees)</summary>
+        protected readonly double _minAngle;
+
+        /// <summary>最大角度（度）| Maximum angle (degrees)</summary>
+        protected readonly double _maxAngle;
+
+        /// <summary>是否启用 | Is enabled</summary>
+        protected readonly bool _enabled;
+
+        /// <summary>轴标识 | Axis identifier</summary>
+        public RotaryAxisId Id => _axisId;
+
+        /// <summary>实际角度（度）| Actual angle (degrees)</summary>
+        public double ActualAngle { get; protected set; }
+
+        /// <summary>轴状态 | Axis status</summary>
+        public AxisStatus Status { get; protected set; } = AxisStatus.Idle;
+
+        /// <summary>是否启用 | Is enabled</summary>
+        public bool Enabled => _enabled;
+
+        /// <summary>
+        /// 构造函数 | Constructor
+        /// </summary>
+        /// <param name="axisId">轴标识 | Axis identifier</param>
+        /// <param name="minAngle">最小角度（度）| Minimum angle (degrees)</param>
+        /// <param name="maxAngle">最大角度（度）| Maximum angle (degrees)</param>
+        /// <param name="enabled">是否启用 | Is enabled</param>
+        protected RotaryAxisBase(RotaryAxisId axisId, double minAngle, double maxAngle, bool enabled)
+        {
+            _axisId = axisId;
+            _minAngle = minAngle;
+            _maxAngle = maxAngle;
+            _enabled = enabled;
+        }
+
+        /// <summary>验证目标角度是否在范围内 | Validate target angle within range</summary>
+        /// <param name="targetAngle">目标角度（度）| Target angle (degrees)</param>
+        /// <returns>true=在范围内，false=越界 | true=within range, false=out of range</returns>
+        public bool ValidateTarget(double targetAngle) => targetAngle >= _minAngle && targetAngle <= _maxAngle;
+
+        /// <inheritdoc/>
+        public abstract MotionResult MoveToTarget(double targetAngle, double? speed = null);
+
+        /// <inheritdoc/>
+        public abstract MotionResult JogStart(bool positive);
+
+        /// <inheritdoc/>
+        public abstract MotionResult JogStop();
+
+        /// <inheritdoc/>
+        public abstract MotionResult Home();
+
+        /// <inheritdoc/>
+        public abstract MotionResult Stop();
+
+        /// <inheritdoc/>
+        public abstract void UpdateStatus();
+    }
+}
@@ -0,0 +1,32 @@
+using XP.Hardware.MotionControl.Abstractions.Enums;
+
+namespace XP.Hardware.MotionControl.Abstractions
+{
+    /// <summary>
+    /// 安全门抽象基类 | Safety Door Abstract Base Class
+    /// 提供门状态管理等通用逻辑 | Provides door status management
+    /// </summary>
+    public abstract class SafetyDoorBase : ISafetyDoor
+    {
+        /// <summary>门状态 | Door status</summary>
+        protected DoorStatus _status = DoorStatus.Unknown;
+
+        /// <summary>门状态 | Door status</summary>
+        public DoorStatus Status => _status;
+
+        /// <summary>联锁信号是否有效 | Interlock active</summary>
+        public abstract bool IsInterlocked { get; }
+
+        /// <inheritdoc/>
+        public abstract MotionResult Open();
+
+        /// <inheritdoc/>
+        public abstract MotionResult Close();
+
+        /// <inheritdoc/>
+        public abstract MotionResult Stop();
+
+        /// <inheritdoc/>
+        public abstract void UpdateStatus();
+    }
+}