diff --git a/XP.Common/Controls/JoystickCalculator.cs b/XP.Common/Controls/JoystickCalculator.cs new file mode 100644 index 0000000..f1bb028 --- /dev/null +++ b/XP.Common/Controls/JoystickCalculator.cs @@ -0,0 +1,87 @@ +using System; + +namespace XP.Common.Controls +{ + /// + /// 虚拟摇杆核心计算逻辑（纯函数，无副作用）| Virtual joystick core calculation logic (pure functions, no side effects) + /// + public static class JoystickCalculator + { + /// + /// 将位移限制在圆形区域内 | Clamp displacement within circular radius + /// + /// X 轴偏移量 | X axis displacement + /// Y 轴偏移量 | Y axis displacement + /// 最大半径（必须大于 0）| Maximum radius (must be greater than 0) + /// 限制后的 (clampedDx, clampedDy) 元组 | Clamped (clampedDx, clampedDy) tuple + public static (double clampedDx, double clampedDy) ClampToRadius(double dx, double dy, double radius) + { + if (radius <= 0) + throw new ArgumentOutOfRangeException(nameof(radius), "半径必须大于 0 | Radius must be greater than 0"); + + var distance = Math.Sqrt(dx * dx + dy * dy); + + // 如果距离在半径内，直接返回原值 | If within radius, return original values + if (distance <= radius) + return (dx, dy); + + // 归一化到半径上 | Normalize to radius boundary + var scale = radius / distance; + return (dx * scale, dy * scale); + } + + /// + /// 计算归一化输出，包含死区映射 | Calculate normalized output with dead zone mapping + /// + /// X 轴偏移量 | X axis displacement + /// Y 轴偏移量 | Y axis displacement + /// 最大半径（必须大于 0）| Maximum radius (must be greater than 0) + /// 死区比例，范围 [0.0, 1.0) | Dead zone ratio, range [0.0, 1.0) + /// 摇杆模式 | Joystick mode + /// 归一化输出 (outputX, outputY) 元组，范围 [-1.0, 1.0] | Normalized output tuple, range [-1.0, 1.0] + public static (double outputX, double outputY) CalculateOutput( + double dx, double dy, double radius, double deadZone, JoystickMode mode) + { + if (radius <= 0) + throw new ArgumentOutOfRangeException(nameof(radius), "半径必须大于 0 | Radius must be greater than 0"); + + if (deadZone < 0.0 || deadZone >= 1.0) + throw new ArgumentOutOfRangeException(nameof(deadZone), "死区比例必须在 [0.0, 1.0) 范围内 | Dead zone must be in range [0.0, 1.0)"); + + // 步骤 1-2：将位移限制在半径内 | Step 1-2: Clamp displacement within radius + var (clampedDx, clampedDy) = ClampToRadius(dx, dy, radius); + + // 步骤 3：计算比例值 | Step 3: Calculate ratio + var ratioX = clampedDx / radius; + var ratioY = clampedDy / radius; + + // 步骤 4：对每个轴分别应用死区 | Step 4: Apply dead zone to each axis independently + var outputX = ApplyDeadZone(ratioX, deadZone); + var outputY = ApplyDeadZone(ratioY, deadZone); + + // 步骤 5：SingleAxisY 模式下强制 OutputX = 0 | Step 5: Force OutputX = 0 in SingleAxisY mode + if (mode == JoystickMode.SingleAxisY) + outputX = 0.0; + + return (outputX, outputY); + } + + /// + /// 对单轴比例值应用死区映射 | Apply dead zone mapping to a single axis ratio + /// + /// 轴比例值，范围 [-1.0, 1.0] | Axis ratio, range [-1.0, 1.0] + /// 死区比例，范围 [0.0, 1.0) | Dead zone ratio, range [0.0, 1.0) + /// 死区映射后的输出值 | Output value after dead zone mapping + internal static double ApplyDeadZone(double ratio, double deadZone) + { + var absRatio = Math.Abs(ratio); + + // 在死区内，输出为 0 | Within dead zone, output is 0 + if (absRatio < deadZone) + return 0.0; + + // 死区外线性映射：sign(ratio) × (absRatio - D) / (1 - D) | Linear mapping outside dead zone + return Math.Sign(ratio) * (absRatio - deadZone) / (1.0 - deadZone); + } + } +} diff --git a/XP.Common/Controls/JoystickMode.cs b/XP.Common/Controls/JoystickMode.cs new file mode 100644 index 0000000..0c44ede --- /dev/null +++ b/XP.Common/Controls/JoystickMode.cs @@ -0,0 +1,18 @@ +namespace XP.Common.Controls +{ + /// + /// 虚拟摇杆轴模式枚举 | Virtual joystick axis mode enumeration + /// + public enum JoystickMode + { + /// + /// 双轴模式：X + Y 自由移动 | Dual axis mode: free movement in X and Y directions + /// + DualAxis, + + /// + /// 单轴 Y 模式：仅上下移动 | Single axis Y mode: vertical movement only + /// + SingleAxisY + } +} diff --git a/XP.Common/Controls/MouseButtonType.cs b/XP.Common/Controls/MouseButtonType.cs new file mode 100644 index 0000000..9cd0753 --- /dev/null +++ b/XP.Common/Controls/MouseButtonType.cs @@ -0,0 +1,23 @@ +namespace XP.Common.Controls +{ + /// + /// 鼠标按键类型枚举 | Mouse button type enumeration + /// + public enum MouseButtonType + { + /// + /// 未按下 | No button pressed + /// + None, + + /// + /// 鼠标左键 | Left mouse button + /// + Left, + + /// + /// 鼠标右键 | Right mouse button + /// + Right + } +} diff --git a/XP.Common/Controls/VirtualJoystick.cs b/XP.Common/Controls/VirtualJoystick.cs new file mode 100644 index 0000000..14fc43b --- /dev/null +++ b/XP.Common/Controls/VirtualJoystick.cs @@ -0,0 +1,361 @@ +using System; +using System.Windows; +using System.Windows.Controls; +using System.Windows.Input; +using System.Windows.Media; +using System.Windows.Shapes; + +namespace XP.Common.Controls +{ + /// + /// 虚拟摇杆 UserControl，提供圆形区域内的鼠标拖拽操控能力 | Virtual joystick UserControl providing mouse drag interaction within a circular area + /// + /// + /// 支持双轴/单轴 Y 模式、死区配置、归一化比例输出（-1.0 ~ 1.0）、鼠标左右键区分及四向功能图标切换。 + /// Supports dual-axis/single-axis Y mode, dead zone configuration, normalized proportional output (-1.0 ~ 1.0), + /// left/right mouse button differentiation, and four-directional icon switching. + /// + public partial class VirtualJoystick : UserControl + { + #region 私有字段 | Private Fields + + /// 是否正在拖拽 | Whether dragging is in progress + private bool _isDragging; + + /// 控件中心点坐标 | Control center point coordinates + private Point _centerPoint; + + /// 操控点的平移变换 | Translate transform for thumb element + private readonly TranslateTransform _thumbTransform = new TranslateTransform(); + + /// 操控点元素引用 | Thumb element reference + private Ellipse? _thumbElement; + + #endregion + + #region 构造函数 | Constructor + + public VirtualJoystick() + { + InitializeComponent(); + + // 控件加载完成后绑定操控点的 TranslateTransform | Bind thumb TranslateTransform after control loaded + Loaded += (s, e) => + { + _thumbElement = FindName("PART_Thumb") as Ellipse; + if (_thumbElement != null) + _thumbElement.RenderTransform = _thumbTransform; + + // 初始化时更新背景和图标可见性 | Update background and icon visibility on init + UpdateIconVisibility(); + }; + } + + #endregion + + #region JoystickMode 依赖属性 | JoystickMode Dependency Property + + public static readonly DependencyProperty JoystickModeProperty = + DependencyProperty.Register(nameof(JoystickMode), typeof(JoystickMode), typeof(VirtualJoystick), + new PropertyMetadata(JoystickMode.DualAxis, OnJoystickModeChanged)); + + /// 获取或设置摇杆轴模式 | Gets or sets the joystick axis mode + public JoystickMode JoystickMode + { + get => (JoystickMode)GetValue(JoystickModeProperty); + set => SetValue(JoystickModeProperty, value); + } + + private static void OnJoystickModeChanged(DependencyObject d, DependencyPropertyChangedEventArgs e) + { + if (d is VirtualJoystick joystick) + joystick.UpdateIconVisibility(); + } + + #endregion + + #region OutputX/OutputY 只读依赖属性 | OutputX/OutputY Read-Only Dependency Properties + + private static readonly DependencyPropertyKey OutputXPropertyKey = + DependencyProperty.RegisterReadOnly(nameof(OutputX), typeof(double), typeof(VirtualJoystick), new PropertyMetadata(0.0)); + public static readonly DependencyProperty OutputXProperty = OutputXPropertyKey.DependencyProperty; + + /// X 轴归一化输出值 [-1.0, 1.0] | X-axis normalized output + public double OutputX + { + get => (double)GetValue(OutputXProperty); + internal set => SetValue(OutputXPropertyKey, value); + } + + private static readonly DependencyPropertyKey OutputYPropertyKey = + DependencyProperty.RegisterReadOnly(nameof(OutputY), typeof(double), typeof(VirtualJoystick), new PropertyMetadata(0.0)); + public static readonly DependencyProperty OutputYProperty = OutputYPropertyKey.DependencyProperty; + + /// Y 轴归一化输出值 [-1.0, 1.0] | Y-axis normalized output + public double OutputY + { + get => (double)GetValue(OutputYProperty); + internal set => SetValue(OutputYPropertyKey, value); + } + + #endregion + + #region DeadZone 依赖属性 | DeadZone Dependency Property + + public static readonly DependencyProperty DeadZoneProperty = + DependencyProperty.Register(nameof(DeadZone), typeof(double), typeof(VirtualJoystick), new PropertyMetadata(0.05)); + + /// 死区比例 [0.0, 1.0]，默认 0.05 | Dead zone ratio, default 0.05 + public double DeadZone + { + get => (double)GetValue(DeadZoneProperty); + set => SetValue(DeadZoneProperty, value); + } + + #endregion + + #region ActiveMouseButton 只读依赖属性 | ActiveMouseButton Read-Only Dependency Property + + private static readonly DependencyPropertyKey ActiveMouseButtonPropertyKey = + DependencyProperty.RegisterReadOnly(nameof(ActiveMouseButton), typeof(MouseButtonType), typeof(VirtualJoystick), + new PropertyMetadata(MouseButtonType.None, OnActiveMouseButtonChanged)); + public static readonly DependencyProperty ActiveMouseButtonProperty = ActiveMouseButtonPropertyKey.DependencyProperty; + + /// 当前激活的鼠标按键 | Currently active mouse button + public MouseButtonType ActiveMouseButton + { + get => (MouseButtonType)GetValue(ActiveMouseButtonProperty); + internal set => SetValue(ActiveMouseButtonPropertyKey, value); + } + + private static void OnActiveMouseButtonChanged(DependencyObject d, DependencyPropertyChangedEventArgs e) + { + if (d is VirtualJoystick joystick) + joystick.UpdateIconVisibility(); + } + + #endregion + + #region 四向图标依赖属性 | Directional Icon Dependency Properties + + // 左键图标 | Left button icons + public static readonly DependencyProperty LeftButtonTopIconProperty = DependencyProperty.Register(nameof(LeftButtonTopIcon), typeof(object), typeof(VirtualJoystick), new PropertyMetadata(null)); + public object? LeftButtonTopIcon { get => GetValue(LeftButtonTopIconProperty); set => SetValue(LeftButtonTopIconProperty, value); } + + public static readonly DependencyProperty LeftButtonBottomIconProperty = DependencyProperty.Register(nameof(LeftButtonBottomIcon), typeof(object), typeof(VirtualJoystick), new PropertyMetadata(null)); + public object? LeftButtonBottomIcon { get => GetValue(LeftButtonBottomIconProperty); set => SetValue(LeftButtonBottomIconProperty, value); } + + public static readonly DependencyProperty LeftButtonLeftIconProperty = DependencyProperty.Register(nameof(LeftButtonLeftIcon), typeof(object), typeof(VirtualJoystick), new PropertyMetadata(null)); + public object? LeftButtonLeftIcon { get => GetValue(LeftButtonLeftIconProperty); set => SetValue(LeftButtonLeftIconProperty, value); } + + public static readonly DependencyProperty LeftButtonRightIconProperty = DependencyProperty.Register(nameof(LeftButtonRightIcon), typeof(object), typeof(VirtualJoystick), new PropertyMetadata(null)); + public object? LeftButtonRightIcon { get => GetValue(LeftButtonRightIconProperty); set => SetValue(LeftButtonRightIconProperty, value); } + + // 右键图标 | Right button icons + public static readonly DependencyProperty RightButtonTopIconProperty = DependencyProperty.Register(nameof(RightButtonTopIcon), typeof(object), typeof(VirtualJoystick), new PropertyMetadata(null)); + public object? RightButtonTopIcon { get => GetValue(RightButtonTopIconProperty); set => SetValue(RightButtonTopIconProperty, value); } + + public static readonly DependencyProperty RightButtonBottomIconProperty = DependencyProperty.Register(nameof(RightButtonBottomIcon), typeof(object), typeof(VirtualJoystick), new PropertyMetadata(null)); + public object? RightButtonBottomIcon { get => GetValue(RightButtonBottomIconProperty); set => SetValue(RightButtonBottomIconProperty, value); } + + public static readonly DependencyProperty RightButtonLeftIconProperty = DependencyProperty.Register(nameof(RightButtonLeftIcon), typeof(object), typeof(VirtualJoystick), new PropertyMetadata(null)); + public object? RightButtonLeftIcon { get => GetValue(RightButtonLeftIconProperty); set => SetValue(RightButtonLeftIconProperty, value); } + + public static readonly DependencyProperty RightButtonRightIconProperty = DependencyProperty.Register(nameof(RightButtonRightIcon), typeof(object), typeof(VirtualJoystick), new PropertyMetadata(null)); + public object? RightButtonRightIcon { get => GetValue(RightButtonRightIconProperty); set => SetValue(RightButtonRightIconProperty, value); } + + // 默认图标 | Default icons + public static readonly DependencyProperty DefaultTopIconProperty = DependencyProperty.Register(nameof(DefaultTopIcon), typeof(object), typeof(VirtualJoystick), new PropertyMetadata(null)); + public object? DefaultTopIcon { get => GetValue(DefaultTopIconProperty); set => SetValue(DefaultTopIconProperty, value); } + + public static readonly DependencyProperty DefaultBottomIconProperty = DependencyProperty.Register(nameof(DefaultBottomIcon), typeof(object), typeof(VirtualJoystick), new PropertyMetadata(null)); + public object? DefaultBottomIcon { get => GetValue(DefaultBottomIconProperty); set => SetValue(DefaultBottomIconProperty, value); } + + public static readonly DependencyProperty DefaultLeftIconProperty = DependencyProperty.Register(nameof(DefaultLeftIcon), typeof(object), typeof(VirtualJoystick), new PropertyMetadata(null)); + public object? DefaultLeftIcon { get => GetValue(DefaultLeftIconProperty); set => SetValue(DefaultLeftIconProperty, value); } + + public static readonly DependencyProperty DefaultRightIconProperty = DependencyProperty.Register(nameof(DefaultRightIcon), typeof(object), typeof(VirtualJoystick), new PropertyMetadata(null)); + public object? DefaultRightIcon { get => GetValue(DefaultRightIconProperty); set => SetValue(DefaultRightIconProperty, value); } + + #endregion + + #region 鼠标交互事件处理 | Mouse Interaction Event Handlers + + protected override void OnMouseLeftButtonDown(MouseButtonEventArgs e) + { + base.OnMouseLeftButtonDown(e); + if (_isDragging || !IsEnabled) return; + StartDrag(MouseButtonType.Left); + e.Handled = true; + } + + protected override void OnMouseRightButtonDown(MouseButtonEventArgs e) + { + base.OnMouseRightButtonDown(e); + if (_isDragging || !IsEnabled) return; + StartDrag(MouseButtonType.Right); + e.Handled = true; + } + + protected override void OnMouseMove(MouseEventArgs e) + { + base.OnMouseMove(e); + if (!_isDragging) return; + + try + { + var mousePosition = e.GetPosition(this); + var dx = mousePosition.X - _centerPoint.X; + var dy = mousePosition.Y - _centerPoint.Y; + + // SingleAxisY 模式下强制水平位移为零，操控点只能上下移动 | Force dx=0 in SingleAxisY mode, thumb moves vertically only + if (JoystickMode == JoystickMode.SingleAxisY) + dx = 0; + + var radius = GetRadius(); + if (radius <= 0) return; + + var (clampedDx, clampedDy) = JoystickCalculator.ClampToRadius(dx, dy, radius); + var (outputX, outputY) = JoystickCalculator.CalculateOutput(dx, dy, radius, DeadZone, JoystickMode); + + OutputX = outputX; + OutputY = outputY; + _thumbTransform.X = clampedDx; + _thumbTransform.Y = clampedDy; + } + catch + { + ResetToCenter(); + } + e.Handled = true; + } + + protected override void OnMouseLeftButtonUp(MouseButtonEventArgs e) + { + base.OnMouseLeftButtonUp(e); + if (!_isDragging || ActiveMouseButton != MouseButtonType.Left) return; + EndDrag(); + e.Handled = true; + } + + protected override void OnMouseRightButtonUp(MouseButtonEventArgs e) + { + base.OnMouseRightButtonUp(e); + if (!_isDragging || ActiveMouseButton != MouseButtonType.Right) return; + EndDrag(); + e.Handled = true; + } + + #endregion + + #region 拖拽辅助方法 | Drag Helper Methods + + private void StartDrag(MouseButtonType buttonType) + { + CaptureMouse(); + ActiveMouseButton = buttonType; + _centerPoint = new Point(ActualWidth / 2.0, ActualHeight / 2.0); + _isDragging = true; + } + + private void EndDrag() + { + ResetToCenter(); + ReleaseMouseCapture(); + } + + /// 重置操控点到中心位置 | Reset thumb to center + internal void ResetToCenter() + { + OutputX = 0.0; + OutputY = 0.0; + ActiveMouseButton = MouseButtonType.None; + _isDragging = false; + _thumbTransform.X = 0.0; + _thumbTransform.Y = 0.0; + } + + /// + /// 获取可用半径（限制为控件尺寸的 80%）| Get usable radius (limited to 80% of control size) + /// 双轴取宽高最小值的一半，单轴取高度的一半 | DualAxis uses min(W,H)/2, SingleAxisY uses H/2 + /// + private double GetRadius() + { + var raw = JoystickMode == JoystickMode.SingleAxisY + ? ActualHeight / 2.0 + : Math.Min(ActualWidth, ActualHeight) / 2.0; + return raw * 0.8; + } + + #endregion + + #region 图标可见性切换 | Icon Visibility Switching + + /// + /// 根据 ActiveMouseButton 和 JoystickMode 更新图标可见性 | Update icon visibility based on ActiveMouseButton and JoystickMode + /// + private void UpdateIconVisibility() + { + // 查找命名元素 | Find named elements + var defaultTop = FindName("DefaultTopPresenter") as UIElement; + var defaultBottom = FindName("DefaultBottomPresenter") as UIElement; + var defaultLeft = FindName("DefaultLeftPresenter") as UIElement; + var defaultRight = FindName("DefaultRightPresenter") as UIElement; + var leftTop = FindName("LeftTopPresenter") as UIElement; + var leftBottom = FindName("LeftBottomPresenter") as UIElement; + var leftLeft = FindName("LeftLeftPresenter") as UIElement; + var leftRight = FindName("LeftRightPresenter") as UIElement; + var rightTop = FindName("RightTopPresenter") as UIElement; + var rightBottom = FindName("RightBottomPresenter") as UIElement; + var rightLeft = FindName("RightLeftPresenter") as UIElement; + var rightRight = FindName("RightRightPresenter") as UIElement; + var dualBg = FindName("DualAxisBackground") as UIElement; + var singleBg = FindName("SingleAxisBackground") as UIElement; + var hLine = FindName("HorizontalLine") as UIElement; + + if (defaultTop == null) return; // 控件尚未加载 | Control not yet loaded + + // 切换背景形状：双轴=圆形，单轴=腰圆 | Switch background: DualAxis=circle, SingleAxisY=capsule + var isSingleAxis = JoystickMode == JoystickMode.SingleAxisY; + if (dualBg != null) dualBg.Visibility = isSingleAxis ? Visibility.Collapsed : Visibility.Visible; + if (singleBg != null) singleBg.Visibility = isSingleAxis ? Visibility.Visible : Visibility.Collapsed; + if (hLine != null) hLine.Visibility = isSingleAxis ? Visibility.Collapsed : Visibility.Visible; + + // 先全部隐藏 | Hide all first + SetVisibility(Visibility.Collapsed, leftTop, leftBottom, leftLeft, leftRight, rightTop, rightBottom, rightLeft, rightRight); + SetVisibility(Visibility.Visible, defaultTop, defaultBottom, defaultLeft, defaultRight); + + // 根据 ActiveMouseButton 切换 | Switch based on ActiveMouseButton + switch (ActiveMouseButton) + { + case MouseButtonType.Left: + SetVisibility(Visibility.Collapsed, defaultTop, defaultBottom, defaultLeft, defaultRight); + SetVisibility(Visibility.Visible, leftTop, leftBottom, leftLeft, leftRight); + if (_thumbElement != null) _thumbElement.Fill = new SolidColorBrush(Color.FromRgb(0x3A, 0x7B, 0xC8)); + break; + case MouseButtonType.Right: + SetVisibility(Visibility.Collapsed, defaultTop, defaultBottom, defaultLeft, defaultRight); + SetVisibility(Visibility.Visible, rightTop, rightBottom, rightLeft, rightRight); + if (_thumbElement != null) _thumbElement.Fill = new SolidColorBrush(Color.FromRgb(0x5B, 0xA8, 0x5B)); + break; + default: + if (_thumbElement != null) _thumbElement.Fill = new SolidColorBrush(Color.FromRgb(0x4A, 0x90, 0xD9)); + break; + } + + // SingleAxisY 模式下隐藏左右图标 | Hide left/right icons in SingleAxisY mode + if (isSingleAxis) + { + SetVisibility(Visibility.Collapsed, defaultLeft, defaultRight, leftLeft, leftRight, rightLeft, rightRight); + } + } + + private static void SetVisibility(Visibility visibility, params UIElement?[] elements) + { + foreach (var element in elements) + if (element != null) element.Visibility = visibility; + } + + #endregion + } +} diff --git a/XP.Common/Controls/VirtualJoystick.xaml b/XP.Common/Controls/VirtualJoystick.xaml new file mode 100644 index 0000000..afa6d25 --- /dev/null +++ b/XP.Common/Controls/VirtualJoystick.xaml @@ -0,0 +1,98 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/XP.Common/XP.Common.csproj b/XP.Common/XP.Common.csproj index 6a45ec0..cea0228 100644 --- a/XP.Common/XP.Common.csproj +++ b/XP.Common/XP.Common.csproj @@ -31,8 +31,7 @@ - - + diff --git a/XP.Hardware.Detector/bin/Debug/net8.0-windows7.0/bin/Debug/net8.0-windows7.0/xisl.dll b/XP.Hardware.Detector/bin/Debug/net8.0-windows7.0/bin/Debug/net8.0-windows7.0/xisl.dll deleted file mode 100644 index 9141737..0000000 Binary files a/XP.Hardware.Detector/bin/Debug/net8.0-windows7.0/bin/Debug/net8.0-windows7.0/xisl.dll and /dev/null differ diff --git a/XP.Hardware.MotionControl/Abstractions/ILinearAxis.cs b/XP.Hardware.MotionControl/Abstractions/ILinearAxis.cs index 9a023e7..30a9d7f 100644 --- a/XP.Hardware.MotionControl/Abstractions/ILinearAxis.cs +++ b/XP.Hardware.MotionControl/Abstractions/ILinearAxis.cs @@ -45,6 +45,11 @@ namespace XP.Hardware.MotionControl.Abstractions /// 操作结果 | Operation result MotionResult Stop(); + /// 设置 Jog 速度 | Set jog speed + /// 速度百分比（0~100）| Speed percentage (0~100) + /// 操作结果 | Operation result + MotionResult SetJogSpeed(double speedPercent); + /// 从 PLC 更新状态 | Update status from PLC void UpdateStatus(); } diff --git a/XP.Hardware.MotionControl/Abstractions/IRotaryAxis.cs b/XP.Hardware.MotionControl/Abstractions/IRotaryAxis.cs index 492252a..0af5991 100644 --- a/XP.Hardware.MotionControl/Abstractions/IRotaryAxis.cs +++ b/XP.Hardware.MotionControl/Abstractions/IRotaryAxis.cs @@ -42,6 +42,11 @@ namespace XP.Hardware.MotionControl.Abstractions /// 操作结果 | Operation result MotionResult Stop(); + /// 设置 Jog 速度 | Set jog speed + /// 速度百分比（0~100）| Speed percentage (0~100) + /// 操作结果 | Operation result + MotionResult SetJogSpeed(double speedPercent); + /// 从 PLC 更新状态 | Update status from PLC void UpdateStatus(); } diff --git a/XP.Hardware.MotionControl/Abstractions/LinearAxisBase.cs b/XP.Hardware.MotionControl/Abstractions/LinearAxisBase.cs index 55cf49d..e073062 100644 --- a/XP.Hardware.MotionControl/Abstractions/LinearAxisBase.cs +++ b/XP.Hardware.MotionControl/Abstractions/LinearAxisBase.cs @@ -70,6 +70,9 @@ namespace XP.Hardware.MotionControl.Abstractions /// public abstract MotionResult Stop(); + /// + public abstract MotionResult SetJogSpeed(double speedPercent); + /// public abstract void UpdateStatus(); } diff --git a/XP.Hardware.MotionControl/Abstractions/RotaryAxisBase.cs b/XP.Hardware.MotionControl/Abstractions/RotaryAxisBase.cs index c215dd7..0eca7e0 100644 --- a/XP.Hardware.MotionControl/Abstractions/RotaryAxisBase.cs +++ b/XP.Hardware.MotionControl/Abstractions/RotaryAxisBase.cs @@ -67,6 +67,9 @@ namespace XP.Hardware.MotionControl.Abstractions /// public abstract MotionResult Stop(); + /// + public abstract MotionResult SetJogSpeed(double speedPercent); + /// public abstract void UpdateStatus(); } diff --git a/XP.Hardware.MotionControl/Implementations/PlcLinearAxis.cs b/XP.Hardware.MotionControl/Implementations/PlcLinearAxis.cs index 928c67e..a2a6916 100644 --- a/XP.Hardware.MotionControl/Implementations/PlcLinearAxis.cs +++ b/XP.Hardware.MotionControl/Implementations/PlcLinearAxis.cs @@ -95,6 +95,13 @@ namespace XP.Hardware.MotionControl.Implementations return MotionResult.Ok(); } + /// + public override MotionResult SetJogSpeed(double speedPercent) + { + _signalService.EnqueueWrite(_speedSignal, (float)speedPercent); + return MotionResult.Ok(); + } + /// public override void UpdateStatus() { diff --git a/XP.Hardware.MotionControl/Implementations/PlcRotaryAxis.cs b/XP.Hardware.MotionControl/Implementations/PlcRotaryAxis.cs index 7b44aed..4643cac 100644 --- a/XP.Hardware.MotionControl/Implementations/PlcRotaryAxis.cs +++ b/XP.Hardware.MotionControl/Implementations/PlcRotaryAxis.cs @@ -91,6 +91,14 @@ namespace XP.Hardware.MotionControl.Implementations return MotionResult.Ok(); } + /// + public override MotionResult SetJogSpeed(double speedPercent) + { + if (!_enabled) return MotionResult.Fail($"旋转轴 {_axisId} 已禁用，拒绝设置 Jog 速度命令"); + _signalService.EnqueueWrite(_speedSignal, (float)speedPercent); + return MotionResult.Ok(); + } + /// public override void UpdateStatus() { diff --git a/XP.Hardware.MotionControl/Resources/Resources.en-US.resx b/XP.Hardware.MotionControl/Resources/Resources.en-US.resx index d7ebc1c..c743526 100644 --- a/XP.Hardware.MotionControl/Resources/Resources.en-US.resx +++ b/XP.Hardware.MotionControl/Resources/Resources.en-US.resx @@ -258,4 +258,47 @@ SourceZ → {3:F2}mm DetectorZ → {4:F2}mm Confirm to filll move matrix? + + + Axis Positions + + + Stage X + + + Stage Y + + + Source Z + + + Detector Z + + + Detector Swing + + + Stage Rotation + + + Fixture Rotation + + + Safety Parameters + + + Safety Height + + + Calibration Value + + + Physical Joystick Enable + + + Save Position + + + Restore Position + \ No newline at end of file diff --git a/XP.Hardware.MotionControl/Resources/Resources.resx b/XP.Hardware.MotionControl/Resources/Resources.resx index 4b5e395..6a8829a 100644 --- a/XP.Hardware.MotionControl/Resources/Resources.resx +++ b/XP.Hardware.MotionControl/Resources/Resources.resx @@ -301,4 +301,61 @@ DetectorZ → {4:F2}mm 确认填入信息？ | Confirm to filll move matrix? 几何反算确认提示 | Geometry inverse confirmation message + + + 轴位置 + 轴位置分组标题 | Axis positions group title + + + 载物台 X + 载物台 X 轴标签 | Stage X axis label + + + 载物台 Y + 载物台 Y 轴标签 | Stage Y axis label + + + 射线源 Z + 射线源 Z 轴标签 | Source Z axis label + + + 探测器 Z + 探测器 Z 轴标签 | Detector Z axis label + + + 探测器摆动 + 探测器摆动旋转轴标签 | Detector swing rotary axis label + + + 载物台旋转 + 载物台旋转轴标签 | Stage rotation axis label + + + 夹具旋转 + 夹具旋转轴标签 | Fixture rotation axis label + + + 安全参数 + 安全参数分组标题 | Safety parameters group title + + + 安全高度 + 探测器安全高度限定值标签 | Safety height label + + + 校准计算值 + 校准自动计算值标签 | Calibration value label + + + 实体操作摇杆使能 + 使能开关标签 | Enable toggle label + + + 保存当前位置 + 保存按钮文本 | Save button text + + + 恢复前一位置 + 恢复按钮文本 | Restore button text + \ No newline at end of file diff --git a/XP.Hardware.MotionControl/Resources/Resources.zh-CN.resx b/XP.Hardware.MotionControl/Resources/Resources.zh-CN.resx index dfd95c8..2bc19e5 100644 --- a/XP.Hardware.MotionControl/Resources/Resources.zh-CN.resx +++ b/XP.Hardware.MotionControl/Resources/Resources.zh-CN.resx @@ -258,4 +258,47 @@ SourceZ → {3:F2}mm DetectorZ → {4:F2}mm 确认填入目标值信息？ + + + 轴位置 + + + 载物台 X + + + 载物台 Y + + + 射线源 Z + + + 探测器 Z + + + 探测器摆动 + + + 载物台旋转 + + + 夹具旋转 + + + 安全参数 + + + 安全高度 + + + 校准计算值 + + + 实体操作摇杆使能 + + + 保存当前位置 + + + 恢复前一位置 + \ No newline at end of file diff --git a/XP.Hardware.MotionControl/Resources/Resources.zh-TW.resx b/XP.Hardware.MotionControl/Resources/Resources.zh-TW.resx index 4c73e48..b7c1687 100644 --- a/XP.Hardware.MotionControl/Resources/Resources.zh-TW.resx +++ b/XP.Hardware.MotionControl/Resources/Resources.zh-TW.resx @@ -258,4 +258,47 @@ SourceZ → {3:F2}mm DetectorZ → {4:F2}mm 確填入目標值資料？ + + + 軸位置 + + + 載物台 X + + + 載物台 Y + + + 射線源 Z + + + 探測器 Z + + + 探測器擺動 + + + 載物台旋轉 + + + 夾具旋轉 + + + 安全參數 + + + 安全高度 + + + 校準計算值 + + + 實體操作搖桿使能 + + + 保存當前位置 + + + 恢復前一位置 + \ No newline at end of file diff --git a/XP.Hardware.MotionControl/Services/IMotionControlService.cs b/XP.Hardware.MotionControl/Services/IMotionControlService.cs index f84f137..30dcc76 100644 --- a/XP.Hardware.MotionControl/Services/IMotionControlService.cs +++ b/XP.Hardware.MotionControl/Services/IMotionControlService.cs @@ -106,6 +106,24 @@ namespace XP.Hardware.MotionControl.Services /// 操作结果 | Operation result MotionResult JogRotaryStop(RotaryAxisId axisId); + /// + /// 设置直线轴 Jog 速度 | Set linear axis jog speed + /// 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 + /// + /// 直线轴标识 | Linear axis identifier + /// 速度百分比（0~100）| Speed percentage (0~100) + /// 操作结果 | Operation result + MotionResult SetJogSpeed(AxisId axisId, double speedPercent); + + /// + /// 设置旋转轴 Jog 速度 | Set rotary axis jog speed + /// 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 + /// + /// 旋转轴标识 | Rotary axis identifier + /// 速度百分比（0~100）| Speed percentage (0~100) + /// 操作结果 | Operation result + MotionResult SetJogRotarySpeed(RotaryAxisId axisId, double speedPercent); + #endregion #region 安全门控制 | Safety Door Control diff --git a/XP.Hardware.MotionControl/Services/MotionControlService.cs b/XP.Hardware.MotionControl/Services/MotionControlService.cs index af5af20..870af8b 100644 --- a/XP.Hardware.MotionControl/Services/MotionControlService.cs +++ b/XP.Hardware.MotionControl/Services/MotionControlService.cs @@ -488,6 +488,60 @@ namespace XP.Hardware.MotionControl.Services return result; } + /// + /// 设置直线轴 Jog 速度 | Set linear axis jog speed + /// 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 + /// + public MotionResult SetJogSpeed(AxisId axisId, double speedPercent) + { + var axis = _motionSystem.GetLinearAxis(axisId); + var actualSpeed = _config.DefaultVelocity * speedPercent / 100.0; + var result = axis.SetJogSpeed(actualSpeed); + + if (result.Success) + { + _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}", + axisId, speedPercent, actualSpeed); + } + else + { + _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); + } + + return result; + } + + /// + /// 设置旋转轴 Jog 速度 | Set rotary axis jog speed + /// 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 + /// + public MotionResult SetJogRotarySpeed(RotaryAxisId axisId, double speedPercent) + { + var axis = _motionSystem.GetRotaryAxis(axisId); + + // 禁用轴检查 | Disabled axis check + if (!axis.Enabled) + { + _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); + return MotionResult.Fail($"旋转轴 {axisId} 已禁用 | Rotary axis {axisId} is disabled"); + } + + var actualSpeed = _config.DefaultVelocity * speedPercent / 100.0; + var result = axis.SetJogSpeed(actualSpeed); + + if (result.Success) + { + _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}", + axisId, speedPercent, actualSpeed); + } + else + { + _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); + } + + return result; + } + #endregion #region 安全门控制 | Safety Door Control diff --git a/XP.Hardware.MotionControl/ViewModels/AxisControlViewModel.cs b/XP.Hardware.MotionControl/ViewModels/AxisControlViewModel.cs new file mode 100644 index 0000000..94ebafd --- /dev/null +++ b/XP.Hardware.MotionControl/ViewModels/AxisControlViewModel.cs @@ -0,0 +1,896 @@ +using System; +using System.Collections.Generic; +using System.Windows; +using Prism.Commands; +using Prism.Events; +using Prism.Mvvm; +using XP.Common.Controls; +using XP.Common.Logging.Interfaces; +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; +using XP.Common.Localization; + +namespace XP.Hardware.MotionControl.ViewModels +{ + /// + /// 轴控制面板 ViewModel | Axis Control Panel ViewModel + /// 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 + /// + public class AxisControlViewModel : BindableBase + { + private readonly IMotionControlService _motionControlService; + private readonly IMotionSystem _motionSystem; + private readonly IEventAggregator _eventAggregator; + private readonly MotionControlConfig _config; + private readonly IPlcService _plcService; + private readonly ILoggerService _logger; + + #region 内部状态跟踪 | Internal State Tracking + + /// 直线轴 Jog 活跃状态 | Linear axis jog active states + private readonly Dictionary _linearJogActive = new(); + + /// 旋转轴 Jog 活跃状态 | Rotary axis jog active states + private readonly Dictionary _rotaryJogActive = new(); + + /// 输入框编辑冻结标志 | Input box editing freeze flags + private readonly Dictionary _editingFlags = new(); + + /// 保存的轴位置数据 | Saved axis position data + 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(); + + // 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().Subscribe(OnGeometryUpdated, ThreadOption.UIThread); + _eventAggregator.GetEvent().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; + /// 双轴摇杆 X 轴输出 | Dual-axis joystick X output + public double DualJoystickOutputX + { + get => _dualJoystickOutputX; + set + { + if (SetProperty(ref _dualJoystickOutputX, value)) + HandleDualJoystickOutput(); + } + } + + private double _dualJoystickOutputY; + /// 双轴摇杆 Y 轴输出 | Dual-axis joystick Y output + public double DualJoystickOutputY + { + get => _dualJoystickOutputY; + set + { + if (SetProperty(ref _dualJoystickOutputY, value)) + HandleDualJoystickOutput(); + } + } + + private MouseButtonType _dualJoystickActiveButton; + /// 双轴摇杆当前激活按键 | Dual-axis joystick active mouse button + 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; + /// 单轴摇杆 Y 轴输出 | Single-axis joystick Y output + public double SingleJoystickOutputY + { + get => _singleJoystickOutputY; + set + { + if (SetProperty(ref _singleJoystickOutputY, value)) + HandleSingleJoystickOutput(); + } + } + + private MouseButtonType _singleJoystickActiveButton; + /// 单轴摇杆当前激活按键 | Single-axis joystick active mouse button + 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; + /// 载物台 X 轴位置 | Stage X axis position + public double StageXPosition { get => _stageXPosition; set => SetProperty(ref _stageXPosition, value); } + + private double _stageYPosition; + /// 载物台 Y 轴位置 | Stage Y axis position + public double StageYPosition { get => _stageYPosition; set => SetProperty(ref _stageYPosition, value); } + + private double _sourceZPosition; + /// 射线源 Z 轴位置 | Source Z axis position + public double SourceZPosition { get => _sourceZPosition; set => SetProperty(ref _sourceZPosition, value); } + + private double _detectorZPosition; + /// 探测器 Z 轴位置 | Detector Z axis position + public double DetectorZPosition { get => _detectorZPosition; set => SetProperty(ref _detectorZPosition, value); } + + private double _detectorSwingAngle; + /// 探测器摆动角度 | Detector swing angle + public double DetectorSwingAngle { get => _detectorSwingAngle; set => SetProperty(ref _detectorSwingAngle, value); } + + private double _stageRotationAngle; + /// 载物台旋转角度 | Stage rotation angle + public double StageRotationAngle { get => _stageRotationAngle; set => SetProperty(ref _stageRotationAngle, value); } + + private double _fixtureRotationAngle; + /// 夹具旋转角度 | Fixture rotation angle + public double FixtureRotationAngle { get => _fixtureRotationAngle; set => SetProperty(ref _fixtureRotationAngle, value); } + + #endregion + + #region 旋转轴可见性 | Rotary Axis Visibility + + private Visibility _detectorSwingVisibility; + /// 探测器摆动输入框可见性 | Detector swing input box visibility + public Visibility DetectorSwingVisibility { get => _detectorSwingVisibility; private set => SetProperty(ref _detectorSwingVisibility, value); } + + private Visibility _stageRotationVisibility; + /// 载物台旋转输入框可见性 | Stage rotation input box visibility + public Visibility StageRotationVisibility { get => _stageRotationVisibility; private set => SetProperty(ref _stageRotationVisibility, value); } + + private Visibility _fixtureRotationVisibility; + /// 夹具旋转输入框可见性 | Fixture rotation input box visibility + 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; + /// 探测器安全高度限定值 | Detector safety height limit + public double SafetyHeight { get => _safetyHeight; set => SetProperty(ref _safetyHeight, value); } + + private double _calibrationValue; + /// 校准自动计算值 | Calibration auto-calculated value + 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; + /// 摇杆使能状态 | Joystick enable state + public bool IsJoystickEnabled { get => _isJoystickEnabled; set => SetProperty(ref _isJoystickEnabled, value); } + + private bool _isPlcConnected; + /// PLC 连接状态 | PLC connection status + public bool IsPlcConnected { get => _isPlcConnected; set => SetProperty(ref _isPlcConnected, value); } + + private string _errorMessage; + /// 错误提示信息 | Error message + public string ErrorMessage { get => _errorMessage; set => SetProperty(ref _errorMessage, value); } + + #endregion + + #region 命令 | Commands + + /// 切换使能开关命令 | Toggle enable switch command + public DelegateCommand ToggleEnableCommand { get; } + + /// 保存当前轴位置命令 | Save current axis positions command + public DelegateCommand SavePositionsCommand { get; } + + /// 恢复保存的轴位置命令 | Restore saved axis positions command + public DelegateCommand RestorePositionsCommand { get; } + + #endregion + + #region 事件回调 | Event Callbacks + + /// + /// 几何参数更新回调，刷新轴实际位置 | Geometry updated callback, refresh axis actual positions + /// + 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 */ } + } + + /// + /// 轴状态变化回调，更新对应轴位置 | Axis status changed callback, update corresponding axis position + /// + 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 + + /// + /// 检查指定输入框是否正在编辑 | Check if specified input box is being edited + /// + /// 属性名称 | Property name + /// 是否正在编辑 | Whether editing + private bool IsEditing(string propertyName) + { + return _editingFlags.TryGetValue(propertyName, out var editing) && editing; + } + + #endregion + + #region 异常保护 | Exception Protection + + /// + /// 安全执行：捕获异常避免 UI 崩溃 | Safe execution: catches exceptions to prevent UI crash + /// + 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 + + /// + /// 刷新所有命令的 CanExecute 状态 | Refresh CanExecute state of all commands + /// + private void RaiseCommandCanExecuteChanged() + { + ToggleEnableCommand.RaiseCanExecuteChanged(); + SavePositionsCommand.RaiseCanExecuteChanged(); + RestorePositionsCommand.RaiseCanExecuteChanged(); + } + + /// + /// 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 + /// + 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 + + /// + /// 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 + /// + 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) + } + + /// + /// 保存当前 6 个轴位置到内部变量 | Save current 6 axis positions to internal variable + /// + 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"); + } + + /// + /// 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 + /// + 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 + + /// + /// 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 + /// + 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; + } + } + + /// + /// 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 + /// + 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; + } + } + + /// + /// 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 + /// + /// 直线轴标识 | Linear axis identifier + /// 摇杆输出值（-1.0 ~ 1.0）| Joystick output value (-1.0 ~ 1.0) + 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); + }); + } + } + } + + /// + /// 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 + /// + /// 旋转轴标识 | Rotary axis identifier + /// 摇杆输出值（-1.0 ~ 1.0）| Joystick output value (-1.0 ~ 1.0) + 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); + }); + } + } + } + + /// + /// 停止双轴摇杆控制的所有轴 Jog | Stop all axes controlled by dual joystick + /// + 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); + } + + /// + /// 停止单轴摇杆控制的所有轴 Jog | Stop all axes controlled by single joystick + /// + 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); + } + + /// + /// 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) + /// + /// 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 + 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 + + /// + /// 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 + /// + /// 属性名称 | Property name + /// 是否正在编辑 | Whether editing + public void SetEditing(string propertyName, bool isEditing) + { + _editingFlags[propertyName] = isEditing; + } + + /// + /// 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 + /// + /// 属性名称 | Property name + 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; + } + + /// + /// 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 + /// + /// 属性名称 | Property name + public void CancelEditing(string propertyName) + { + _editingFlags[propertyName] = false; + RestoreActualValue(propertyName); + } + + /// + /// 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 + /// + /// 属性名称 | Property name + /// 步进增量（默认 ±0.1）| Step delta (default ±0.1) + 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); + }); + } + + /// + /// 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 + /// + /// 属性名称 | Property name + /// 目标值 | Target value + /// 操作结果 | Operation result + 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}"); + } + } + + /// + /// 根据属性名称获取当前绑定值 | Get current bound value by property name + /// + 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; + } + } + + /// + /// 根据属性名称设置绑定值 | Set bound value by property name + /// + 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; + } + } + + /// + /// 恢复输入框为轴的当前实际值 | Restore input box to axis actual value + /// + 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 + + /// + /// 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 + /// + 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); + } + + /// + /// 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 + /// + 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 + + /// + /// 保存的轴位置数据 | Saved axis position data + /// + 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 + } +} diff --git a/XP.Hardware.MotionControl/Views/AxisControlView.xaml b/XP.Hardware.MotionControl/Views/AxisControlView.xaml new file mode 100644 index 0000000..9b47949 --- /dev/null +++ b/XP.Hardware.MotionControl/Views/AxisControlView.xaml @@ -0,0 +1,170 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/XP.Hardware.MotionControl/Views/AxisControlView.xaml.cs b/XP.Hardware.MotionControl/Views/AxisControlView.xaml.cs new file mode 100644 index 0000000..58a421b --- /dev/null +++ b/XP.Hardware.MotionControl/Views/AxisControlView.xaml.cs @@ -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 +{ + /// + /// 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 + /// + 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; + }); + } + + /// + /// 获取当前 ViewModel 实例 | Get current ViewModel instance + /// + 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 + + /// + /// 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 + /// + 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 + } +} diff --git a/XplorePlane/Views/Main/MainWindow.xaml b/XplorePlane/Views/Main/MainWindow.xaml index 5fe132d..33b6ec6 100644 --- a/XplorePlane/Views/Main/MainWindow.xaml +++ b/XplorePlane/Views/Main/MainWindow.xaml @@ -508,7 +508,7 @@ - +