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。
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QI Mingxuan
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using System;
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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.Localization;
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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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namespace XP.Hardware.MotionControl.ViewModels
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{
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/// <summary>
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/// 运动控制调试 ViewModel（Jog 点动）| Motion Control Debug ViewModel (Jog)
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/// 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
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/// </summary>
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public class MotionDebugWindowViewModel : BindableBase
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{
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private readonly IMotionControlService _motionControlService;
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private readonly MotionControlConfig _config;
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private readonly IPlcService _plcService;
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private readonly IEventAggregator _eventAggregator;
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private readonly IMotionSystem _motionSystem;
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/// <summary>PLC 是否已连接 | Whether PLC is connected</summary>
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public bool IsPlcConnected => _plcService.IsConnected;
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public MotionDebugWindowViewModel(
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IMotionControlService motionControlService,
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IMotionSystem motionSystem,
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MotionControlConfig config,
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IPlcService plcService,
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IEventAggregator eventAggregator)
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{
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_motionControlService = motionControlService ?? throw new ArgumentNullException(nameof(motionControlService));
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_motionSystem = motionSystem ?? throw new ArgumentNullException(nameof(motionSystem));
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_config = config ?? throw new ArgumentNullException(nameof(config));
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_plcService = plcService ?? throw new ArgumentNullException(nameof(plcService));
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_eventAggregator = eventAggregator ?? throw new ArgumentNullException(nameof(eventAggregator));
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var cfg = _config;
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// 初始化可选轴可见性 | Initialize optional axis visibility
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StageRotationVisibility = cfg.RotaryAxes.ContainsKey(RotaryAxisId.StageRotation)
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&& cfg.RotaryAxes[RotaryAxisId.StageRotation].Enabled
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? Visibility.Visible : Visibility.Collapsed;
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FixtureRotationVisibility = cfg.RotaryAxes.ContainsKey(RotaryAxisId.FixtureRotation)
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&& cfg.RotaryAxes[RotaryAxisId.FixtureRotation].Enabled
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? Visibility.Visible : Visibility.Collapsed;
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// 初始化命令 | Initialize commands
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// 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）
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JogPlusCommand = new DelegateCommand<string>(s => SafeRun(() => ExecuteJogPlus(s)));
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JogMinusCommand = new DelegateCommand<string>(s => SafeRun(() => ExecuteJogMinus(s)));
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JogStopCommand = new DelegateCommand<string>(s => SafeRun(() => ExecuteJogStop(s), silent: true));
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// 门按钮通过 CanExecute 禁用 | Door buttons disabled via CanExecute
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StopDoorCommand = new DelegateCommand(() => SafeRun(() => _motionControlService.StopDoor()), () => IsPlcConnected);
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OpenDoorCommand = new DelegateCommand(() => SafeRun(() => _motionControlService.OpenDoor()), () => IsPlcConnected);
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CloseDoorCommand = new DelegateCommand(() => SafeRun(() => _motionControlService.CloseDoor()), () => IsPlcConnected);
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// 几何反算命令 | Geometry inverse calculation command
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ApplyGeometryCommand = new DelegateCommand(() => SafeRun(ExecuteApplyGeometry), () => IsPlcConnected);
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// 单轴归零命令 | Single axis home command
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HomeAxisCommand = new DelegateCommand<string>(s => SafeRun(() => ExecuteHomeAxis(s)));
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// 轴复位命令 | Axis reset command
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AxisResetCommand = new DelegateCommand(() => SafeRun(ExecuteAxisReset), () => IsPlcConnected);
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// PLC 连接状态变化时刷新按钮 | Refresh buttons on PLC connection change
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_plcService.PropertyChanged += (s, e) =>
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{
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if (e.PropertyName == nameof(IPlcService.IsConnected))
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{
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RaisePropertyChanged(nameof(IsPlcConnected));
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StopDoorCommand.RaiseCanExecuteChanged();
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OpenDoorCommand.RaiseCanExecuteChanged();
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CloseDoorCommand.RaiseCanExecuteChanged();
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ApplyGeometryCommand.RaiseCanExecuteChanged();
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AxisResetCommand.RaiseCanExecuteChanged();
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}
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};
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}
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/// <summary>
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/// 安全执行：PLC 未连接时弹窗提示（JogStop 除外），异常时静默记录
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/// Safe execution: show message when PLC not connected (except JogStop), silently log on exception
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/// </summary>
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private bool _plcNotConnectedShown = false;
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private void SafeRun(Action action, bool silent = false)
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{
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if (!_plcService.IsConnected)
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{
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if (!silent && !_plcNotConnectedShown)
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{
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_plcNotConnectedShown = true;
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var msg = XP.Common.Localization.LocalizationHelper.Get("MC_PlcNotConnected");
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System.Windows.MessageBox.Show(
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string.IsNullOrEmpty(msg) ? "PLC not connected" : msg,
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XP.Common.Localization.LocalizationHelper.Get("MC_DebugWindow_Title") ?? "Debug",
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System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Warning);
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_plcNotConnectedShown = false;
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}
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return;
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}
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try { action(); }
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catch (Exception ex)
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{
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System.Diagnostics.Debug.WriteLine($"[MotionDebug] {ex.Message}");
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}
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}
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#region 速度百分比 | Speed Percentage
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private double _speedPercent = 100;
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/// <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>
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public double SpeedPercent
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{
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get => _speedPercent;
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set { SetProperty(ref _speedPercent, value); RaisePropertyChanged(nameof(ActualSpeed)); }
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}
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/// <summary>实际速度（只读显示）| Actual speed (read-only display)</summary>
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public double ActualSpeed => _config.DefaultVelocity * _speedPercent / 100.0;
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#endregion
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#region 可选轴可见性 | Optional Axis Visibility
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private Visibility _stageRotationVisibility;
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public Visibility StageRotationVisibility
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{
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get => _stageRotationVisibility;
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private set => SetProperty(ref _stageRotationVisibility, value);
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}
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private Visibility _fixtureRotationVisibility;
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public Visibility FixtureRotationVisibility
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{
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get => _fixtureRotationVisibility;
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private set => SetProperty(ref _fixtureRotationVisibility, value);
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}
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#endregion
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#region Jog 命令 | Jog Commands
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public DelegateCommand<string> JogPlusCommand { get; }
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public DelegateCommand<string> JogMinusCommand { get; }
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public DelegateCommand<string> JogStopCommand { get; }
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/// <summary>单轴归零命令 | Single axis home command</summary>
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public DelegateCommand<string> HomeAxisCommand { get; }
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/// <summary>轴复位命令 | Axis reset command</summary>
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public DelegateCommand AxisResetCommand { get; }
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/// <summary>停止门命令 | Stop door command</summary>
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public DelegateCommand StopDoorCommand { get; }
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/// <summary>开门命令（调试模式，不检查联锁）| Open door command (debug, no interlock)</summary>
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public DelegateCommand OpenDoorCommand { get; }
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/// <summary>关门命令 | Close door command</summary>
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public DelegateCommand CloseDoorCommand { get; }
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/// <summary>几何反算命令 | Geometry inverse calculation command</summary>
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public DelegateCommand ApplyGeometryCommand { get; }
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#region 几何反算属性 | Geometry Calculation Properties
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private double _targetFOD;
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/// <summary>目标 FOD | Target FOD</summary>
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public double TargetFOD { get => _targetFOD; set => SetProperty(ref _targetFOD, value); }
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private double _targetFDD;
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/// <summary>目标 FDD | Target FDD</summary>
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public double TargetFDD { get => _targetFDD; set => SetProperty(ref _targetFDD, value); }
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/// <summary>
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/// 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
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/// Execute geometry inverse, show confirmation, publish event to fill targets
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/// </summary>
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private void ExecuteApplyGeometry()
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{
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var (sourceZTarget, detectorZTarget, error) = _motionControlService.CalculateGeometryTargets(TargetFOD, TargetFDD);
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if (error != null)
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{
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MessageBox.Show(
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LocalizationHelper.Get("MC_GeometryCalcFailed", error),
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LocalizationHelper.Get("MC_Geometry_Title"),
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MessageBoxButton.OK, MessageBoxImage.Warning);
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return;
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}
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// 获取其他轴的实际值 | Get actual values of other axes
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var stageX = _motionSystem.GetLinearAxis(AxisId.StageX).ActualPosition;
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var stageY = _motionSystem.GetLinearAxis(AxisId.StageY).ActualPosition;
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var detSwing = _motionSystem.GetRotaryAxis(RotaryAxisId.DetectorSwing).ActualAngle;
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var stageRot = _motionSystem.GetRotaryAxis(RotaryAxisId.StageRotation).ActualAngle;
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var fixtureRot = _motionSystem.GetRotaryAxis(RotaryAxisId.FixtureRotation).ActualAngle;
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// 弹出确认窗口 | Show confirmation dialog
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var confirmMessage = LocalizationHelper.Get("MC_GeometryFillConfirm",
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TargetFOD, TargetFDD, detSwing, sourceZTarget, detectorZTarget);
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var result = MessageBox.Show(confirmMessage,
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LocalizationHelper.Get("MC_Geometry_Title"),
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MessageBoxButton.OKCancel, MessageBoxImage.Question);
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if (result != MessageBoxResult.OK) return;
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// 发布事件，通知 MotionControlViewModel 填入目标值 | Publish event to fill target values
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_eventAggregator.GetEvent<GeometryApplyRequestEvent>()
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.Publish(new GeometryApplyRequestData(
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sourceZTarget, detectorZTarget,
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stageX, stageY, detSwing, stageRot, fixtureRot));
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}
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#endregion
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private void ExecuteJogPlus(string axisName)
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{
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if (TryParseLinearAxis(axisName, out var la))
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_motionControlService.JogStart(la, true);
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else if (TryParseRotaryAxis(axisName, out var ra))
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_motionControlService.JogRotaryStart(ra, true);
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}
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private void ExecuteJogMinus(string axisName)
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{
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if (TryParseLinearAxis(axisName, out var la))
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_motionControlService.JogStart(la, false);
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else if (TryParseRotaryAxis(axisName, out var ra))
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_motionControlService.JogRotaryStart(ra, false);
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}
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private void ExecuteJogStop(string axisName)
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{
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if (TryParseLinearAxis(axisName, out var la))
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_motionControlService.JogStop(la);
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else if (TryParseRotaryAxis(axisName, out var ra))
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_motionControlService.JogRotaryStop(ra);
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}
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private static bool TryParseLinearAxis(string name, out AxisId id) =>
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Enum.TryParse(name, out id) && Enum.IsDefined(typeof(AxisId), id);
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private static bool TryParseRotaryAxis(string name, out RotaryAxisId id) =>
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Enum.TryParse(name, out id) && Enum.IsDefined(typeof(RotaryAxisId), id);
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/// <summary>
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/// 单轴归零 | Single axis home
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/// </summary>
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private void ExecuteHomeAxis(string axisName)
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{
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if (TryParseLinearAxis(axisName, out var la))
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_motionSystem.GetLinearAxis(la).Home();
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else if (TryParseRotaryAxis(axisName, out var ra))
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_motionSystem.GetRotaryAxis(ra).Home();
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}
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/// <summary>
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/// 轴复位：通过 IAxisReset 发送复位命令 | Axis reset: send reset command via IAxisReset
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/// </summary>
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private void ExecuteAxisReset()
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{
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_motionSystem.AxisReset.Reset();
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}
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#endregion
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}
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}
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