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。
This commit is contained in:
QI Mingxuan
@@ -0,0 +1,419 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Windows;
|
||||
using Prism.Commands;
|
||||
using Prism.Events;
|
||||
using Prism.Mvvm;
|
||||
using XP.Hardware.MotionControl.Abstractions;
|
||||
using XP.Hardware.MotionControl.Abstractions.Enums;
|
||||
using XP.Hardware.MotionControl.Abstractions.Events;
|
||||
using XP.Hardware.MotionControl.Config;
|
||||
using XP.Hardware.MotionControl.Services;
|
||||
using XP.Hardware.MotionControl.Views;
|
||||
using XP.Hardware.Plc.Abstractions;
|
||||
|
||||
namespace XP.Hardware.MotionControl.ViewModels
|
||||
{
|
||||
/// <summary>
|
||||
/// 运动控制操作面板 ViewModel | Motion Control Operation Panel ViewModel
|
||||
/// 提供轴状态、几何参数、安全门状态的可绑定属性和操作命令（不含 Jog 调试）
|
||||
/// Provides axis status, geometry, safety door properties and commands (excluding Jog debug)
|
||||
/// </summary>
|
||||
public class MotionControlViewModel : BindableBase
|
||||
{
|
||||
private readonly IMotionControlService _motionControlService;
|
||||
private readonly IMotionSystem _motionSystem;
|
||||
private readonly IEventAggregator _eventAggregator;
|
||||
private readonly MotionControlConfig _config;
|
||||
private readonly IPlcService _plcService;
|
||||
private Window _debugWindow;
|
||||
|
||||
#region 构造函数 | Constructor
|
||||
|
||||
public MotionControlViewModel(
|
||||
IMotionControlService motionControlService,
|
||||
IMotionSystem motionSystem,
|
||||
IEventAggregator eventAggregator,
|
||||
MotionControlConfig config,
|
||||
IPlcService plcService)
|
||||
{
|
||||
_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));
|
||||
|
||||
// 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))
|
||||
{
|
||||
RaisePropertyChanged(nameof(IsPlcConnected));
|
||||
RaiseCommandCanExecuteChanged();
|
||||
}
|
||||
};
|
||||
|
||||
// 初始化可选轴可见性 | Initialize optional axis visibility
|
||||
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（通过 SafeRun 包裹，防止 PLC 异常崩溃）| Initialize commands (wrapped with SafeRun to prevent PLC exception crash)
|
||||
MoveCommand = new DelegateCommand(() => SafeRun(ExecuteMove), () => IsPlcConnected);
|
||||
StopCommand = new DelegateCommand(() => SafeRun(() => _motionControlService.StopAll()), () => IsPlcConnected);
|
||||
HomeCommand = new DelegateCommand(() => SafeRun(ExecuteHome), () => IsPlcConnected);
|
||||
OpenDoorCommand = new DelegateCommand(() => SafeRun(() => _motionControlService.OpenDoor()), () => IsPlcConnected);
|
||||
CloseDoorCommand = new DelegateCommand(() => SafeRun(() => _motionControlService.CloseDoor()), () => IsPlcConnected);
|
||||
ApplyGeometryCommand = new DelegateCommand(() => SafeRun(ExecuteApplyGeometry), () => IsPlcConnected);
|
||||
CopyActualToTargetCommand = new DelegateCommand(ExecuteCopyActualToTarget);
|
||||
OpenDebugWindowCommand = new DelegateCommand(ExecuteOpenDebugWindow);
|
||||
|
||||
// 订阅事件 | Subscribe to events
|
||||
_eventAggregator.GetEvent<GeometryUpdatedEvent>().Subscribe(OnGeometryUpdated, ThreadOption.UIThread);
|
||||
_eventAggregator.GetEvent<AxisStatusChangedEvent>().Subscribe(OnAxisStatusChanged, ThreadOption.UIThread);
|
||||
_eventAggregator.GetEvent<DoorStatusChangedEvent>().Subscribe(OnDoorStatusChanged, ThreadOption.UIThread);
|
||||
_eventAggregator.GetEvent<DoorInterlockChangedEvent>().Subscribe(OnDoorInterlockChanged, ThreadOption.UIThread);
|
||||
|
||||
// 订阅几何反算填入请求事件 | Subscribe to geometry apply request event
|
||||
_eventAggregator.GetEvent<GeometryApplyRequestEvent>().Subscribe(OnGeometryApplyRequest, ThreadOption.UIThread);
|
||||
|
||||
// 初始化时主动刷新一次轴位置和门状态 | Refresh axis positions and door status on initialization
|
||||
try
|
||||
{
|
||||
SourceZActual = _motionSystem.GetLinearAxis(AxisId.SourceZ).ActualPosition;
|
||||
DetectorZActual = _motionSystem.GetLinearAxis(AxisId.DetectorZ).ActualPosition;
|
||||
StageXActual = _motionSystem.GetLinearAxis(AxisId.StageX).ActualPosition;
|
||||
StageYActual = _motionSystem.GetLinearAxis(AxisId.StageY).ActualPosition;
|
||||
DetSwingActual = _motionSystem.GetRotaryAxis(RotaryAxisId.DetectorSwing).ActualAngle;
|
||||
StageRotActual = _motionSystem.GetRotaryAxis(RotaryAxisId.StageRotation).ActualAngle;
|
||||
FixtureRotActual = _motionSystem.GetRotaryAxis(RotaryAxisId.FixtureRotation).ActualAngle;
|
||||
DoorStatus = _motionSystem.SafetyDoor.Status;
|
||||
IsInterlocked = _motionSystem.SafetyDoor.IsInterlocked;
|
||||
}
|
||||
catch { }
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region 直线轴属性 | Linear Axis Properties
|
||||
|
||||
private double _sourceZActual;
|
||||
public double SourceZActual { get => _sourceZActual; set => SetProperty(ref _sourceZActual, value); }
|
||||
private double _sourceZTarget;
|
||||
public double SourceZTarget { get => _sourceZTarget; set => SetProperty(ref _sourceZTarget, value); }
|
||||
|
||||
private double _detectorZActual;
|
||||
public double DetectorZActual { get => _detectorZActual; set => SetProperty(ref _detectorZActual, value); }
|
||||
private double _detectorZTarget;
|
||||
public double DetectorZTarget { get => _detectorZTarget; set => SetProperty(ref _detectorZTarget, value); }
|
||||
|
||||
private double _stageXActual;
|
||||
public double StageXActual { get => _stageXActual; set => SetProperty(ref _stageXActual, value); }
|
||||
private double _stageXTarget;
|
||||
public double StageXTarget { get => _stageXTarget; set => SetProperty(ref _stageXTarget, value); }
|
||||
|
||||
private double _stageYActual;
|
||||
public double StageYActual { get => _stageYActual; set => SetProperty(ref _stageYActual, value); }
|
||||
private double _stageYTarget;
|
||||
public double StageYTarget { get => _stageYTarget; set => SetProperty(ref _stageYTarget, value); }
|
||||
|
||||
#endregion
|
||||
|
||||
#region 旋转轴属性 | Rotary Axis Properties
|
||||
|
||||
private double _detSwingActual;
|
||||
public double DetSwingActual { get => _detSwingActual; set => SetProperty(ref _detSwingActual, value); }
|
||||
private double _detSwingTarget;
|
||||
public double DetSwingTarget { get => _detSwingTarget; set => SetProperty(ref _detSwingTarget, value); }
|
||||
|
||||
private double _stageRotActual;
|
||||
public double StageRotActual { get => _stageRotActual; set => SetProperty(ref _stageRotActual, value); }
|
||||
private double _stageRotTarget;
|
||||
public double StageRotTarget { get => _stageRotTarget; set => SetProperty(ref _stageRotTarget, value); }
|
||||
|
||||
private double _fixtureRotActual;
|
||||
public double FixtureRotActual { get => _fixtureRotActual; set => SetProperty(ref _fixtureRotActual, value); }
|
||||
private double _fixtureRotTarget;
|
||||
public double FixtureRotTarget { get => _fixtureRotTarget; set => SetProperty(ref _fixtureRotTarget, value); }
|
||||
|
||||
#endregion
|
||||
|
||||
#region 几何参数属性 | Geometry Properties
|
||||
|
||||
private double _fod;
|
||||
public double FOD { get => _fod; private set => SetProperty(ref _fod, value); }
|
||||
private double _fdd;
|
||||
public double FDD { get => _fdd; private set => SetProperty(ref _fdd, value); }
|
||||
private double _magnification;
|
||||
public double Magnification { get => _magnification; private set => SetProperty(ref _magnification, value); }
|
||||
|
||||
private double _targetFOD;
|
||||
public double TargetFOD { get => _targetFOD; set => SetProperty(ref _targetFOD, value); }
|
||||
private double _targetFDD;
|
||||
public double TargetFDD { get => _targetFDD; set => SetProperty(ref _targetFDD, value); }
|
||||
private double _targetMagnification;
|
||||
public double TargetMagnification { get => _targetMagnification; set => SetProperty(ref _targetMagnification, value); }
|
||||
|
||||
#endregion
|
||||
|
||||
#region 安全门和状态属性 | Safety Door and Status Properties
|
||||
|
||||
private DoorStatus _doorStatus;
|
||||
public DoorStatus DoorStatus { get => _doorStatus; private set => SetProperty(ref _doorStatus, value); }
|
||||
private bool _isInterlocked;
|
||||
public bool IsInterlocked
|
||||
{
|
||||
get => _isInterlocked;
|
||||
private set
|
||||
{
|
||||
SetProperty(ref _isInterlocked, value);
|
||||
RaisePropertyChanged(nameof(IsNotInterlocked));
|
||||
RaisePropertyChanged(nameof(InterlockStatusText));
|
||||
}
|
||||
}
|
||||
/// <summary>联锁未激活（用于开门按钮 IsEnabled）| Not interlocked (for open door button IsEnabled)</summary>
|
||||
public bool IsNotInterlocked => !_isInterlocked;
|
||||
/// <summary>联锁状态文本（用于 UI 显示）| Interlock status text for UI display</summary>
|
||||
public string InterlockStatusText => _isInterlocked
|
||||
? XP.Common.Localization.LocalizationHelper.Get("MC_Interlocked")
|
||||
: XP.Common.Localization.LocalizationHelper.Get("MC_NotInterlocked");
|
||||
private bool _isMoving;
|
||||
public bool IsMoving { get => _isMoving; private set => SetProperty(ref _isMoving, value); }
|
||||
/// <summary>PLC 是否已连接（从 PlcService 读取）| Whether PLC is connected (from PlcService)</summary>
|
||||
public bool IsPlcConnected => _plcService.IsConnected;
|
||||
|
||||
#endregion
|
||||
|
||||
#region 可选轴可见性 | Optional Axis Visibility
|
||||
|
||||
private Visibility _stageRotationVisibility;
|
||||
public Visibility StageRotationVisibility { get => _stageRotationVisibility; private set => SetProperty(ref _stageRotationVisibility, value); }
|
||||
private Visibility _fixtureRotationVisibility;
|
||||
public Visibility FixtureRotationVisibility { get => _fixtureRotationVisibility; private set => SetProperty(ref _fixtureRotationVisibility, value); }
|
||||
|
||||
#endregion
|
||||
|
||||
#region 命令 | Commands
|
||||
|
||||
public DelegateCommand MoveCommand { get; }
|
||||
public DelegateCommand StopCommand { get; }
|
||||
public DelegateCommand HomeCommand { get; }
|
||||
public DelegateCommand OpenDoorCommand { get; }
|
||||
public DelegateCommand CloseDoorCommand { get; }
|
||||
public DelegateCommand ApplyGeometryCommand { get; }
|
||||
/// <summary>一键将实际值填入目标值 | Copy actual values to target values</summary>
|
||||
public DelegateCommand CopyActualToTargetCommand { get; }
|
||||
/// <summary>打开调试窗口命令 | Open debug window command</summary>
|
||||
public DelegateCommand OpenDebugWindowCommand { get; }
|
||||
|
||||
#endregion
|
||||
|
||||
#region 命令执行 | Command Execution
|
||||
|
||||
/// <summary>多轴联动移动（含二次确认）| Multi-axis coordinated move (with confirmation)</summary>
|
||||
private void ExecuteMove()
|
||||
{
|
||||
var result = MessageBox.Show(
|
||||
XP.Common.Localization.LocalizationHelper.Get("MC_MoveConfirm"),
|
||||
XP.Common.Localization.LocalizationHelper.Get("MC_Move"),
|
||||
MessageBoxButton.OKCancel, MessageBoxImage.Question);
|
||||
if (result != MessageBoxResult.OK) return;
|
||||
|
||||
var targets = new Dictionary<AxisId, double>
|
||||
{
|
||||
{ AxisId.SourceZ, SourceZTarget },
|
||||
{ AxisId.DetectorZ, DetectorZTarget },
|
||||
{ AxisId.StageX, StageXTarget },
|
||||
{ AxisId.StageY, StageYTarget }
|
||||
};
|
||||
_motionControlService.MoveAllToTarget(targets);
|
||||
_motionControlService.MoveRotaryToTarget(RotaryAxisId.DetectorSwing, DetSwingTarget);
|
||||
if (StageRotationVisibility == Visibility.Visible)
|
||||
_motionControlService.MoveRotaryToTarget(RotaryAxisId.StageRotation, StageRotTarget);
|
||||
if (FixtureRotationVisibility == Visibility.Visible)
|
||||
_motionControlService.MoveRotaryToTarget(RotaryAxisId.FixtureRotation, FixtureRotTarget);
|
||||
}
|
||||
|
||||
/// <summary>所有轴回零（含二次确认）| Home all axes (with confirmation)</summary>
|
||||
private void ExecuteHome()
|
||||
{
|
||||
var result = MessageBox.Show(
|
||||
XP.Common.Localization.LocalizationHelper.Get("MC_HomeConfirm"),
|
||||
XP.Common.Localization.LocalizationHelper.Get("MC_Home"),
|
||||
MessageBoxButton.OKCancel, MessageBoxImage.Question);
|
||||
if (result != MessageBoxResult.OK) return;
|
||||
|
||||
_motionControlService.HomeAll();
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 几何反算：计算 SourceZ/DetectorZ 目标值并填入，其他轴用实际值填入
|
||||
/// Geometry inverse: calculate SourceZ/DetectorZ targets and fill in, other axes use actual values
|
||||
/// </summary>
|
||||
private void ExecuteApplyGeometry()
|
||||
{
|
||||
var (sourceZTarget, detectorZTarget, error) = _motionControlService.CalculateGeometryTargets(TargetFOD, TargetFDD);
|
||||
if (error != null)
|
||||
{
|
||||
MessageBox.Show(error, XP.Common.Localization.LocalizationHelper.Get("MC_Geometry_Title"),
|
||||
MessageBoxButton.OK, MessageBoxImage.Warning);
|
||||
return;
|
||||
}
|
||||
|
||||
// 计算得到的轴填入目标值 | Fill calculated axis targets
|
||||
SourceZTarget = sourceZTarget;
|
||||
DetectorZTarget = detectorZTarget;
|
||||
// 不需要移动的轴用实际值填入 | Non-calculated axes use actual values
|
||||
StageXTarget = StageXActual;
|
||||
StageYTarget = StageYActual;
|
||||
DetSwingTarget = DetSwingActual;
|
||||
StageRotTarget = StageRotActual;
|
||||
FixtureRotTarget = FixtureRotActual;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 一键将所有轴实际值填入目标值 | Copy all actual values to target values
|
||||
/// </summary>
|
||||
private void ExecuteCopyActualToTarget()
|
||||
{
|
||||
SourceZTarget = SourceZActual;
|
||||
DetectorZTarget = DetectorZActual;
|
||||
StageXTarget = StageXActual;
|
||||
StageYTarget = StageYActual;
|
||||
DetSwingTarget = DetSwingActual;
|
||||
StageRotTarget = StageRotActual;
|
||||
FixtureRotTarget = FixtureRotActual;
|
||||
}
|
||||
|
||||
/// <summary>打开调试窗口 | Open debug window</summary>
|
||||
private void ExecuteOpenDebugWindow()
|
||||
{
|
||||
if (_debugWindow != null && _debugWindow.IsLoaded) { _debugWindow.Activate(); return; }
|
||||
_debugWindow = new MotionDebugWindow { Owner = Application.Current.MainWindow, ShowInTaskbar = true };
|
||||
_debugWindow.Closed += (s, e) => _debugWindow = null;
|
||||
_debugWindow.Show();
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region 事件回调 | Event Callbacks
|
||||
|
||||
private void OnGeometryUpdated(GeometryData data)
|
||||
{
|
||||
FOD = data.FOD; FDD = data.FDD; Magnification = data.Magnification;
|
||||
|
||||
// 每次轮询都刷新所有轴的实际位置 | Refresh all axis actual positions on every poll
|
||||
try
|
||||
{
|
||||
SourceZActual = _motionSystem.GetLinearAxis(AxisId.SourceZ).ActualPosition;
|
||||
DetectorZActual = _motionSystem.GetLinearAxis(AxisId.DetectorZ).ActualPosition;
|
||||
StageXActual = _motionSystem.GetLinearAxis(AxisId.StageX).ActualPosition;
|
||||
StageYActual = _motionSystem.GetLinearAxis(AxisId.StageY).ActualPosition;
|
||||
DetSwingActual = _motionSystem.GetRotaryAxis(RotaryAxisId.DetectorSwing).ActualAngle;
|
||||
StageRotActual = _motionSystem.GetRotaryAxis(RotaryAxisId.StageRotation).ActualAngle;
|
||||
FixtureRotActual = _motionSystem.GetRotaryAxis(RotaryAxisId.FixtureRotation).ActualAngle;
|
||||
DoorStatus = _motionSystem.SafetyDoor.Status;
|
||||
}
|
||||
catch { /* 轴未初始化时忽略 | Ignore when axes not initialized */ }
|
||||
}
|
||||
|
||||
private void OnAxisStatusChanged(AxisStatusChangedData data)
|
||||
{
|
||||
UpdateLinearAxisActual(data.AxisId);
|
||||
UpdateRotaryAxesActual();
|
||||
UpdateDoorStatus();
|
||||
IsMoving = _motionSystem.LinearAxes.Values.Any(a => a.Status == AxisStatus.Moving || a.Status == AxisStatus.Homing)
|
||||
|| _motionSystem.RotaryAxes.Values.Any(a => a.Status == AxisStatus.Moving || a.Status == AxisStatus.Homing);
|
||||
}
|
||||
|
||||
private void OnDoorStatusChanged(DoorStatus status)
|
||||
{
|
||||
DoorStatus = status;
|
||||
IsInterlocked = _motionSystem.SafetyDoor.IsInterlocked;
|
||||
}
|
||||
|
||||
private void OnDoorInterlockChanged(bool isInterlocked)
|
||||
{
|
||||
IsInterlocked = isInterlocked;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 收到几何反算填入请求，将计算结果填入目标值 | Receive geometry apply request, fill target values
|
||||
/// </summary>
|
||||
private void OnGeometryApplyRequest(GeometryApplyRequestData data)
|
||||
{
|
||||
SourceZTarget = data.SourceZTarget;
|
||||
DetectorZTarget = data.DetectorZTarget;
|
||||
StageXTarget = data.StageXActual;
|
||||
StageYTarget = data.StageYActual;
|
||||
DetSwingTarget = data.DetSwingActual;
|
||||
StageRotTarget = data.StageRotActual;
|
||||
FixtureRotTarget = data.FixtureRotActual;
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region 状态更新辅助 | Status Update Helpers
|
||||
|
||||
private void UpdateLinearAxisActual(AxisId axisId)
|
||||
{
|
||||
switch (axisId)
|
||||
{
|
||||
case AxisId.SourceZ: SourceZActual = _motionSystem.GetLinearAxis(AxisId.SourceZ).ActualPosition; break;
|
||||
case AxisId.DetectorZ: DetectorZActual = _motionSystem.GetLinearAxis(AxisId.DetectorZ).ActualPosition; break;
|
||||
case AxisId.StageX: StageXActual = _motionSystem.GetLinearAxis(AxisId.StageX).ActualPosition; break;
|
||||
case AxisId.StageY: StageYActual = _motionSystem.GetLinearAxis(AxisId.StageY).ActualPosition; break;
|
||||
}
|
||||
}
|
||||
|
||||
private void UpdateRotaryAxesActual()
|
||||
{
|
||||
DetSwingActual = _motionSystem.GetRotaryAxis(RotaryAxisId.DetectorSwing).ActualAngle;
|
||||
StageRotActual = _motionSystem.GetRotaryAxis(RotaryAxisId.StageRotation).ActualAngle;
|
||||
FixtureRotActual = _motionSystem.GetRotaryAxis(RotaryAxisId.FixtureRotation).ActualAngle;
|
||||
}
|
||||
|
||||
private void UpdateDoorStatus()
|
||||
{
|
||||
DoorStatus = _motionSystem.SafetyDoor.Status;
|
||||
IsInterlocked = _motionSystem.SafetyDoor.IsInterlocked;
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region 异常保护 | Exception Protection
|
||||
|
||||
/// <summary>
|
||||
/// 安全执行：捕获 PLC 异常避免 UI 崩溃 | Safe execution: catches PLC exceptions to prevent UI crash
|
||||
/// </summary>
|
||||
private void SafeRun(Action action)
|
||||
{
|
||||
try { action(); }
|
||||
catch (Exception ex)
|
||||
{
|
||||
try { System.Windows.MessageBox.Show(ex.Message, "MotionControl", System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Warning); }
|
||||
catch { /* 防止 MessageBox 本身异常 | Prevent MessageBox itself from throwing */ }
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 刷新所有命令的 CanExecute 状态 | Refresh CanExecute state of all commands
|
||||
/// </summary>
|
||||
private void RaiseCommandCanExecuteChanged()
|
||||
{
|
||||
MoveCommand.RaiseCanExecuteChanged();
|
||||
StopCommand.RaiseCanExecuteChanged();
|
||||
HomeCommand.RaiseCanExecuteChanged();
|
||||
OpenDoorCommand.RaiseCanExecuteChanged();
|
||||
CloseDoorCommand.RaiseCanExecuteChanged();
|
||||
ApplyGeometryCommand.RaiseCanExecuteChanged();
|
||||
CopyActualToTargetCommand.RaiseCanExecuteChanged();
|
||||
}
|
||||
|
||||
#endregion
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,266 @@
|
||||
using System;
|
||||
using System.Windows;
|
||||
using Prism.Commands;
|
||||
using Prism.Events;
|
||||
using Prism.Mvvm;
|
||||
using XP.Common.Localization;
|
||||
using XP.Hardware.MotionControl.Abstractions;
|
||||
using XP.Hardware.MotionControl.Abstractions.Enums;
|
||||
using XP.Hardware.MotionControl.Abstractions.Events;
|
||||
using XP.Hardware.MotionControl.Config;
|
||||
using XP.Hardware.MotionControl.Services;
|
||||
using XP.Hardware.Plc.Abstractions;
|
||||
|
||||
namespace XP.Hardware.MotionControl.ViewModels
|
||||
{
|
||||
/// <summary>
|
||||
/// 运动控制调试 ViewModel（Jog 点动）| Motion Control Debug ViewModel (Jog)
|
||||
/// 提供 Jog 命令、速度滑块和可选轴可见性 | Provides Jog commands, speed slider and optional axis visibility
|
||||
/// </summary>
|
||||
public class MotionDebugWindowViewModel : BindableBase
|
||||
{
|
||||
private readonly IMotionControlService _motionControlService;
|
||||
private readonly MotionControlConfig _config;
|
||||
private readonly IPlcService _plcService;
|
||||
private readonly IEventAggregator _eventAggregator;
|
||||
private readonly IMotionSystem _motionSystem;
|
||||
|
||||
/// <summary>PLC 是否已连接 | Whether PLC is connected</summary>
|
||||
public bool IsPlcConnected => _plcService.IsConnected;
|
||||
|
||||
public MotionDebugWindowViewModel(
|
||||
IMotionControlService motionControlService,
|
||||
IMotionSystem motionSystem,
|
||||
MotionControlConfig config,
|
||||
IPlcService plcService,
|
||||
IEventAggregator eventAggregator)
|
||||
{
|
||||
_motionControlService = motionControlService ?? throw new ArgumentNullException(nameof(motionControlService));
|
||||
_motionSystem = motionSystem ?? throw new ArgumentNullException(nameof(motionSystem));
|
||||
_config = config ?? throw new ArgumentNullException(nameof(config));
|
||||
_plcService = plcService ?? throw new ArgumentNullException(nameof(plcService));
|
||||
_eventAggregator = eventAggregator ?? throw new ArgumentNullException(nameof(eventAggregator));
|
||||
var cfg = _config;
|
||||
|
||||
// 初始化可选轴可见性 | Initialize optional axis visibility
|
||||
StageRotationVisibility = cfg.RotaryAxes.ContainsKey(RotaryAxisId.StageRotation)
|
||||
&& cfg.RotaryAxes[RotaryAxisId.StageRotation].Enabled
|
||||
? Visibility.Visible : Visibility.Collapsed;
|
||||
FixtureRotationVisibility = cfg.RotaryAxes.ContainsKey(RotaryAxisId.FixtureRotation)
|
||||
&& cfg.RotaryAxes[RotaryAxisId.FixtureRotation].Enabled
|
||||
? Visibility.Visible : Visibility.Collapsed;
|
||||
|
||||
// 初始化命令 | Initialize commands
|
||||
// Jog 命令通过 SafeRun 内部检查 PLC 连接（Interaction.Triggers 不支持 CanExecute 禁用按钮外观）
|
||||
JogPlusCommand = new DelegateCommand<string>(s => SafeRun(() => ExecuteJogPlus(s)));
|
||||
JogMinusCommand = new DelegateCommand<string>(s => SafeRun(() => ExecuteJogMinus(s)));
|
||||
JogStopCommand = new DelegateCommand<string>(s => SafeRun(() => ExecuteJogStop(s), silent: true));
|
||||
// 门按钮通过 CanExecute 禁用 | Door buttons disabled via CanExecute
|
||||
StopDoorCommand = new DelegateCommand(() => SafeRun(() => _motionControlService.StopDoor()), () => IsPlcConnected);
|
||||
OpenDoorCommand = new DelegateCommand(() => SafeRun(() => _motionControlService.OpenDoor()), () => IsPlcConnected);
|
||||
CloseDoorCommand = new DelegateCommand(() => SafeRun(() => _motionControlService.CloseDoor()), () => IsPlcConnected);
|
||||
|
||||
// 几何反算命令 | Geometry inverse calculation command
|
||||
ApplyGeometryCommand = new DelegateCommand(() => SafeRun(ExecuteApplyGeometry), () => IsPlcConnected);
|
||||
|
||||
// 单轴归零命令 | Single axis home command
|
||||
HomeAxisCommand = new DelegateCommand<string>(s => SafeRun(() => ExecuteHomeAxis(s)));
|
||||
// 轴复位命令 | Axis reset command
|
||||
AxisResetCommand = new DelegateCommand(() => SafeRun(ExecuteAxisReset), () => IsPlcConnected);
|
||||
|
||||
// PLC 连接状态变化时刷新按钮 | Refresh buttons on PLC connection change
|
||||
_plcService.PropertyChanged += (s, e) =>
|
||||
{
|
||||
if (e.PropertyName == nameof(IPlcService.IsConnected))
|
||||
{
|
||||
RaisePropertyChanged(nameof(IsPlcConnected));
|
||||
StopDoorCommand.RaiseCanExecuteChanged();
|
||||
OpenDoorCommand.RaiseCanExecuteChanged();
|
||||
CloseDoorCommand.RaiseCanExecuteChanged();
|
||||
ApplyGeometryCommand.RaiseCanExecuteChanged();
|
||||
AxisResetCommand.RaiseCanExecuteChanged();
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 安全执行：PLC 未连接时弹窗提示（JogStop 除外），异常时静默记录
|
||||
/// Safe execution: show message when PLC not connected (except JogStop), silently log on exception
|
||||
/// </summary>
|
||||
private bool _plcNotConnectedShown = false;
|
||||
private void SafeRun(Action action, bool silent = false)
|
||||
{
|
||||
if (!_plcService.IsConnected)
|
||||
{
|
||||
if (!silent && !_plcNotConnectedShown)
|
||||
{
|
||||
_plcNotConnectedShown = true;
|
||||
var msg = XP.Common.Localization.LocalizationHelper.Get("MC_PlcNotConnected");
|
||||
System.Windows.MessageBox.Show(
|
||||
string.IsNullOrEmpty(msg) ? "PLC not connected" : msg,
|
||||
XP.Common.Localization.LocalizationHelper.Get("MC_DebugWindow_Title") ?? "Debug",
|
||||
System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Warning);
|
||||
_plcNotConnectedShown = false;
|
||||
}
|
||||
return;
|
||||
}
|
||||
try { action(); }
|
||||
catch (Exception ex)
|
||||
{
|
||||
System.Diagnostics.Debug.WriteLine($"[MotionDebug] {ex.Message}");
|
||||
}
|
||||
}
|
||||
|
||||
#region 速度百分比 | Speed Percentage
|
||||
|
||||
private double _speedPercent = 100;
|
||||
/// <summary>速度百分比（1-150%），实际速度 = DefaultVelocity * 百分比 / 100 | Speed percentage (1-150%), actual = DefaultVelocity * pct / 100</summary>
|
||||
public double SpeedPercent
|
||||
{
|
||||
get => _speedPercent;
|
||||
set { SetProperty(ref _speedPercent, value); RaisePropertyChanged(nameof(ActualSpeed)); }
|
||||
}
|
||||
|
||||
/// <summary>实际速度（只读显示）| Actual speed (read-only display)</summary>
|
||||
public double ActualSpeed => _config.DefaultVelocity * _speedPercent / 100.0;
|
||||
|
||||
#endregion
|
||||
|
||||
#region 可选轴可见性 | Optional Axis Visibility
|
||||
|
||||
private Visibility _stageRotationVisibility;
|
||||
public Visibility StageRotationVisibility
|
||||
{
|
||||
get => _stageRotationVisibility;
|
||||
private set => SetProperty(ref _stageRotationVisibility, value);
|
||||
}
|
||||
|
||||
private Visibility _fixtureRotationVisibility;
|
||||
public Visibility FixtureRotationVisibility
|
||||
{
|
||||
get => _fixtureRotationVisibility;
|
||||
private set => SetProperty(ref _fixtureRotationVisibility, value);
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region Jog 命令 | Jog Commands
|
||||
|
||||
public DelegateCommand<string> JogPlusCommand { get; }
|
||||
public DelegateCommand<string> JogMinusCommand { get; }
|
||||
public DelegateCommand<string> JogStopCommand { get; }
|
||||
/// <summary>单轴归零命令 | Single axis home command</summary>
|
||||
public DelegateCommand<string> HomeAxisCommand { get; }
|
||||
/// <summary>轴复位命令 | Axis reset command</summary>
|
||||
public DelegateCommand AxisResetCommand { get; }
|
||||
/// <summary>停止门命令 | Stop door command</summary>
|
||||
public DelegateCommand StopDoorCommand { get; }
|
||||
/// <summary>开门命令（调试模式，不检查联锁）| Open door command (debug, no interlock)</summary>
|
||||
public DelegateCommand OpenDoorCommand { get; }
|
||||
/// <summary>关门命令 | Close door command</summary>
|
||||
public DelegateCommand CloseDoorCommand { get; }
|
||||
/// <summary>几何反算命令 | Geometry inverse calculation command</summary>
|
||||
public DelegateCommand ApplyGeometryCommand { get; }
|
||||
|
||||
#region 几何反算属性 | Geometry Calculation Properties
|
||||
|
||||
private double _targetFOD;
|
||||
/// <summary>目标 FOD | Target FOD</summary>
|
||||
public double TargetFOD { get => _targetFOD; set => SetProperty(ref _targetFOD, value); }
|
||||
|
||||
private double _targetFDD;
|
||||
/// <summary>目标 FDD | Target FDD</summary>
|
||||
public double TargetFDD { get => _targetFDD; set => SetProperty(ref _targetFDD, value); }
|
||||
|
||||
/// <summary>
|
||||
/// 执行几何反算，弹出确认窗口，确认后通过事件通知 MotionControlViewModel 填入目标值
|
||||
/// Execute geometry inverse, show confirmation, publish event to fill targets
|
||||
/// </summary>
|
||||
private void ExecuteApplyGeometry()
|
||||
{
|
||||
var (sourceZTarget, detectorZTarget, error) = _motionControlService.CalculateGeometryTargets(TargetFOD, TargetFDD);
|
||||
if (error != null)
|
||||
{
|
||||
MessageBox.Show(
|
||||
LocalizationHelper.Get("MC_GeometryCalcFailed", error),
|
||||
LocalizationHelper.Get("MC_Geometry_Title"),
|
||||
MessageBoxButton.OK, MessageBoxImage.Warning);
|
||||
return;
|
||||
}
|
||||
|
||||
// 获取其他轴的实际值 | Get actual values of other axes
|
||||
var stageX = _motionSystem.GetLinearAxis(AxisId.StageX).ActualPosition;
|
||||
var stageY = _motionSystem.GetLinearAxis(AxisId.StageY).ActualPosition;
|
||||
var detSwing = _motionSystem.GetRotaryAxis(RotaryAxisId.DetectorSwing).ActualAngle;
|
||||
var stageRot = _motionSystem.GetRotaryAxis(RotaryAxisId.StageRotation).ActualAngle;
|
||||
var fixtureRot = _motionSystem.GetRotaryAxis(RotaryAxisId.FixtureRotation).ActualAngle;
|
||||
|
||||
// 弹出确认窗口 | Show confirmation dialog
|
||||
var confirmMessage = LocalizationHelper.Get("MC_GeometryFillConfirm",
|
||||
TargetFOD, TargetFDD, detSwing, sourceZTarget, detectorZTarget);
|
||||
var result = MessageBox.Show(confirmMessage,
|
||||
LocalizationHelper.Get("MC_Geometry_Title"),
|
||||
MessageBoxButton.OKCancel, MessageBoxImage.Question);
|
||||
if (result != MessageBoxResult.OK) return;
|
||||
|
||||
// 发布事件，通知 MotionControlViewModel 填入目标值 | Publish event to fill target values
|
||||
_eventAggregator.GetEvent<GeometryApplyRequestEvent>()
|
||||
.Publish(new GeometryApplyRequestData(
|
||||
sourceZTarget, detectorZTarget,
|
||||
stageX, stageY, detSwing, stageRot, fixtureRot));
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
private void ExecuteJogPlus(string axisName)
|
||||
{
|
||||
if (TryParseLinearAxis(axisName, out var la))
|
||||
_motionControlService.JogStart(la, true);
|
||||
else if (TryParseRotaryAxis(axisName, out var ra))
|
||||
_motionControlService.JogRotaryStart(ra, true);
|
||||
}
|
||||
|
||||
private void ExecuteJogMinus(string axisName)
|
||||
{
|
||||
if (TryParseLinearAxis(axisName, out var la))
|
||||
_motionControlService.JogStart(la, false);
|
||||
else if (TryParseRotaryAxis(axisName, out var ra))
|
||||
_motionControlService.JogRotaryStart(ra, false);
|
||||
}
|
||||
|
||||
private void ExecuteJogStop(string axisName)
|
||||
{
|
||||
if (TryParseLinearAxis(axisName, out var la))
|
||||
_motionControlService.JogStop(la);
|
||||
else if (TryParseRotaryAxis(axisName, out var ra))
|
||||
_motionControlService.JogRotaryStop(ra);
|
||||
}
|
||||
|
||||
private static bool TryParseLinearAxis(string name, out AxisId id) =>
|
||||
Enum.TryParse(name, out id) && Enum.IsDefined(typeof(AxisId), id);
|
||||
|
||||
private static bool TryParseRotaryAxis(string name, out RotaryAxisId id) =>
|
||||
Enum.TryParse(name, out id) && Enum.IsDefined(typeof(RotaryAxisId), id);
|
||||
|
||||
/// <summary>
|
||||
/// 单轴归零 | Single axis home
|
||||
/// </summary>
|
||||
private void ExecuteHomeAxis(string axisName)
|
||||
{
|
||||
if (TryParseLinearAxis(axisName, out var la))
|
||||
_motionSystem.GetLinearAxis(la).Home();
|
||||
else if (TryParseRotaryAxis(axisName, out var ra))
|
||||
_motionSystem.GetRotaryAxis(ra).Home();
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 轴复位：通过 IAxisReset 发送复位命令 | Axis reset: send reset command via IAxisReset
|
||||
/// </summary>
|
||||
private void ExecuteAxisReset()
|
||||
{
|
||||
_motionSystem.AxisReset.Reset();
|
||||
}
|
||||
|
||||
#endregion
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user