xhouse/XplorePlane
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

修复探测器的订阅与获取

Browse Source
This commit is contained in:
zhengxuan.zhang
2026-05-06 18:20:52 +08:00
parent 5852e11b9f
commit b740f8d453
4 changed files with 423 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
XplorePlane.Tests/Services/AppStateServiceTests.cs
+68
View File
@@ -3,6 +3,9 @@ using Prism.Events;
using System;
using System.Windows;
using XP.Common.Logging.Interfaces;
using XP.Hardware.Detector.Abstractions.Enums;
using XP.Hardware.Detector.Abstractions.Events;
using XP.Hardware.Detector.Services;
using XP.Hardware.MotionControl.Abstractions;
using XP.Hardware.MotionControl.Abstractions.Enums;
using XP.Hardware.MotionControl.Abstractions.Events;
@@ -25,6 +28,7 @@ namespace XplorePlane.Tests.Services
private readonly Mock<IRaySourceService> _mockRaySource;
private readonly Mock<IMotionSystem> _mockMotionSystem;
private readonly Mock<IMotionControlService> _mockMotionControlService;
private readonly Mock<IDetectorService> _mockDetectorService;
private readonly Mock<ILinearAxis> _mockStageX;
private readonly Mock<ILinearAxis> _mockStageY;
private readonly Mock<ILinearAxis> _mockSourceZ;
@@ -48,6 +52,7 @@ namespace XplorePlane.Tests.Services
_mockRaySource = new Mock<IRaySourceService>();
_mockMotionSystem = new Mock<IMotionSystem>();
_mockMotionControlService = new Mock<IMotionControlService>();
_mockDetectorService = new Mock<IDetectorService>();
_mockStageX = CreateLinearAxis(AxisId.StageX, 0);
_mockStageY = CreateLinearAxis(AxisId.StageY, 0);
_mockSourceZ = CreateLinearAxis(AxisId.SourceZ, 0);
@@ -70,12 +75,24 @@ namespace XplorePlane.Tests.Services
.Setup(x => x.GetCurrentGeometry())
.Returns((0d, 0d, 1d));
// DetectorService：GetInfo 在未初始化时抛出，模拟此行为
_mockDetectorService
.Setup(x => x.GetInfo())
.Throws(new InvalidOperationException("探测器未初始化"));
_mockDetectorService
.SetupGet(x => x.Status)
.Returns(DetectorStatus.Uninitialized);
_mockDetectorService
.SetupGet(x => x.IsConnected)
.Returns(false);
_mockLogger.Setup(l => l.ForModule<AppStateService>()).Returns(_mockLogger.Object);
_service = new AppStateService(
_mockRaySource.Object,
_mockMotionSystem.Object,
_mockMotionControlService.Object,
_mockDetectorService.Object,
_eventAggregator,
_mockLogger.Object);
}
@@ -188,6 +205,57 @@ namespace XplorePlane.Tests.Services
Assert.Equal(222.2, _service.MotionState.FDD);
}
[Fact]
public void StatusChangedEvent_Acquiring_SyncsDetectorState()
{
// 模拟探测器进入采集状态
_mockDetectorService.SetupGet(x => x.Status).Returns(DetectorStatus.Acquiring);
_mockDetectorService.Setup(x => x.GetInfo()).Throws(new InvalidOperationException());
_eventAggregator.GetEvent<StatusChangedEvent>()
.Publish(DetectorStatus.Acquiring);
// 等待后台线程处理（BackgroundThread 订阅）
System.Threading.Thread.Sleep(100);
Assert.True(_service.DetectorState.IsConnected);
Assert.True(_service.DetectorState.IsAcquiring);
}
[Fact]
public void StatusChangedEvent_Uninitialized_SyncsDetectorStateDisconnected()
{
_eventAggregator.GetEvent<StatusChangedEvent>()
.Publish(DetectorStatus.Uninitialized);
System.Threading.Thread.Sleep(100);
Assert.False(_service.DetectorState.IsConnected);
Assert.False(_service.DetectorState.IsAcquiring);
}
[Fact]
public void ImageCapturedEvent_UpdatesLatestDetectorFrame()
{
Assert.Null(_service.LatestDetectorFrame);
var args = new XP.Hardware.Detector.Abstractions.ImageCapturedEventArgs
{
ImageData = new ushort[4],
Width = 2,
Height = 2,
FrameNumber = 1,
CaptureTime = DateTime.UtcNow
};
_eventAggregator.GetEvent<ImageCapturedEvent>().Publish(args);
// 等待后台线程处理
System.Threading.Thread.Sleep(100);
Assert.Same(args, _service.LatestDetectorFrame);
}
private static Mock<ILinearAxis> CreateLinearAxis(AxisId axisId, double position)
{
var axis = new Mock<ILinearAxis>();
XplorePlane/Doc/硬件层及UI集成技术路线.md
+255
View File
@@ -169,3 +169,258 @@ raySourceService?.Dispose();
```
确保硬件连接在应用退出时正确断开。
### 7.
---
# 硬件层 → AppState → UI 状态同步机制
## 整体结论
| 硬件子系统 | 同步方式 | AppState 订阅 | 状态是否自动同步 |
|-----------|---------|--------------|----------------|
| 运动控制（Motion） | 事件驱动 + 轮询 | ✅ 已订阅 `GeometryUpdatedEvent` / `AxisStatusChangedEvent` | ✅ 自动同步 |
| 射线源（RaySource） | 事件定义存在 | ❌ 未订阅任何事件 | ⚠️ 需手动推送 |
| 探测器（Detector） | 事件定义存在 | ❌ 未订阅任何事件 | ⚠️ 需手动推送 |
| 相机（Camera） | ViewModel 直连 | ❌ 不经过 AppState | ⚠️ `CameraState` 为空壳 |
---
## 一、运动控制 — 完整链路
### 1.1 数据流
```
PLC 硬件（B&R）
└─ IPlcService.IsConnected（轮询前置检查）
└─ MotionControlService.OnPollingTick() [System.Threading.Timer，周期 = PollingInterval ms]
├─ _motionSystem.UpdateAllStatus() ← 从 PLC 读取所有轴实际位置
├─ GetCurrentGeometry() ← 正算 FOD / FDD / Magnification
├─ 发布 GeometryUpdatedEvent ─┐
└─ 发布 AxisStatusChangedEvent ─┤
↓
AppStateService（构造时订阅两个事件）
├─ OnGeometryUpdated()
└─ OnAxisStatusChanged()
└─ TryRefreshMotionStateFromHardware()
└─ BuildMotionStateSnapshot()
├─ 读取所有轴 ActualPosition / ActualAngle
└─ SetMotionState()
└─ 触发 MotionStateChanged 事件
└─ ViewModel 绑定自动刷新 UI
```
### 1.2 关键实现细节
**轮询启动**：`MotionControlService.StartPolling()` 需在应用启动时显式调用，否则轮询不会运行。
**PLC 未连接时的保护**：
```csharp
// MotionControlService.OnPollingTick()
if (!_plcService.IsConnected) return; // 直接跳过，不报错
```
**连续错误降频**：
```csharp
if (_pollErrorCount > 3)
{
if (++_pollErrorCount % 50 != 0) return; // 每 50 次才尝试一次，防止日志刷屏
}
```
**AppStateService 初始化时的首次刷新**：
```csharp
// AppStateService 构造函数末尾
private void SubscribeToExistingServices()
{
if (TryRefreshMotionStateFromHardware("initialization"))
_logger.Info("AppStateService subscribed to motion hardware state");
else
_logger.Warn("AppStateService could not initialize motion state from hardware");
}
```
PLC 未连接时 warn 但不崩溃，等待后续轮询事件触发再同步。
**`UpdateMotionState()` 的特殊行为**：
```csharp
public void UpdateMotionState(MotionState newState)
{
// 优先从硬件层拉取最新快照，忽略外部传入值
if (TryRefreshMotionStateFromHardware("UpdateMotionState"))
return;
// 硬件不可用时才使用传入值（降级路径）
SetMotionState(newState);
}
```
硬件连接后，外部调用 `UpdateMotionState()` 实际上会被硬件快照覆盖，硬件层始终是 `MotionState` 的唯一真实来源。
### 1.3 事件清单
| 事件 | 发布方 | 订阅方 | 触发时机 |
|------|--------|--------|---------|
| `GeometryUpdatedEvent` | `MotionControlService` | `AppStateService`、`MotionControlViewModel`、`AxisControlViewModel` | 每次轮询 tick |
| `AxisStatusChangedEvent` | `MotionControlService` | `AppStateService`、`MotionControlViewModel`、`AxisControlViewModel` | 轴状态发生变化时 |
| `MotionErrorEvent` | `MotionControlService` | — | 轴状态变为 Error / Alarm |
| `DoorStatusChangedEvent` | `MotionControlService` | `MotionControlViewModel` | 安全门状态变化 |
| `DoorInterlockChangedEvent` | `MotionControlService` | — | 联锁状态变化 |
| `GeometryApplyRequestEvent` | DebugWindow | `MotionControlViewModel` | 调试窗口发起几何反算请求 |
---
## 二、射线源 — 断链（待补全）
### 2.1 现状
`AppStateService` 持有 `IRaySourceService` 引用，但**没有订阅任何射线源事件**。`RaySourceState` 只能通过外部显式调用 `UpdateRaySourceState()` 手动推送，硬件状态变化不会自动反映到 AppState。
```
XP.Hardware.RaySource 发布的事件（均无人在 AppState 层订阅）：
├─ StatusUpdatedEvent ← 实时电压 / 电流 / 功率数据
├─ RaySourceStatusChangedEvent ← 三态状态（On / Off / Fault）
├─ VariablesConnectedEvent ← PLC 变量连接状态
└─ OperationResultEvent ← 操作执行结果
```
### 2.2 当前 `RaySourceState` 的写入路径
目前只有两处会更新 `RaySourceState`：
1. `CncProgramService.CreateReferencePointNode()` — 创建参考点时读取一次快照
2. 任何直接调用 `appStateService.UpdateRaySourceState()` 的地方（目前代码中无此调用）
### 2.3 修复方案
在 `AppStateService` 构造时订阅 `StatusUpdatedEvent`，将实时数据映射到 `RaySourceState`：
```csharp
// AppStateService 构造函数中补充
_raySourceStatusToken = _eventAggregator
.GetEvent<StatusUpdatedEvent>()
.Subscribe(OnRaySourceStatusUpdated);
// 处理方法
private void OnRaySourceStatusUpdated(SystemStatusData data)
{
if (_disposed) return;
UpdateRaySourceState(new RaySourceState(
IsOn: data.IsOn,
Voltage: data.Voltage,
Power: data.Power));
}
```
同时在 `Dispose()` 中取消订阅，并在 `AppStateService` 的字段和 `Dispose` 方法中补充对应的 `SubscriptionToken`。
---
## 三、探测器 — 断链（待补全）
### 3.1 现状
与射线源情况相同，`AppStateService` 没有订阅任何探测器事件，`DetectorState` 是静态默认值。
```
XP.Hardware.Detector 发布的事件（均无人在 AppState 层订阅）：
├─ StatusChangedEvent ← 探测器连接 / 采集状态变化
├─ ImageCapturedEvent ← 图像采集完成
├─ CorrectionCompletedEvent ← 校正完成
└─ ErrorOccurredEvent ← 错误发生
```
### 3.2 修复方案
在 `AppStateService` 构造时订阅 `StatusChangedEvent`：
```csharp
_detectorStatusToken = _eventAggregator
.GetEvent<XP.Hardware.Detector.Abstractions.Events.StatusChangedEvent>()
.Subscribe(OnDetectorStatusChanged);
private void OnDetectorStatusChanged(DetectorStatus status)
{
if (_disposed) return;
UpdateDetectorState(new DetectorState(
IsConnected: status.IsConnected,
IsAcquiring: status.IsAcquiring,
FrameRate: status.FrameRate,
Resolution: status.Resolution));
}
```
---
## 四、相机 — 独立直连，不经过 AppState
### 4.1 现状
相机完全绕过 `AppStateService`，由 `NavigationPropertyPanelViewModel` 直接持有 `ICamera` 引用并订阅硬件事件：
```
NavigationPropertyPanelViewModel
└─ 直接持有 ICamera 引用
├─ _camera.ImageGrabbed += OnCameraImageGrabbed
├─ _camera.GrabError += OnCameraGrabError
└─ _camera.ConnectionLost += OnCameraConnectionLost
└─ IsCameraConnected 属性直接驱动 UI 命令可用性
```
`AppStateService.CameraState` 字段目前是空壳，没有任何地方向它写入真实数据。
### 4.2 架构说明
相机的独立直连是有意为之的设计——相机图像流数据量大、帧率高，不适合经过 AppState 的不可变 record 替换机制。当前图像通过 `ManualImageLoadedEvent` 在模块间传递，与状态管理解耦。
如需将相机连接状态纳入 AppState 统一管理（例如供其他模块查询），可在 `OnCameraConnectionLost` / `ConnectCamera` 中补充调用 `_appStateService.UpdateCameraState()`，仅同步连接状态，不同步图像帧。
---
## 五、状态同步全景图
```
┌─────────────────────────────────────────────────────────────────────┐
│ 硬件层 │
│ │
│ PLC ──→ MotionControlService ──→ GeometryUpdatedEvent ─────┐ │
│ └──→ AxisStatusChangedEvent ────┤ │
│ │ │
│ RaySource ──→ IRaySourceService ──→ StatusUpdatedEvent ─ ─ ┤ │
│ └──→ RaySourceStatusChangedEvent ─┤│
│ │ │
│ Detector ──→ IDetectorService ──→ StatusChangedEvent ─ ─ ┤ │
│ │ │
│ Camera ──→ ICamera ──→ ImageGrabbed / ConnectionLost ─ ─ ┘ │
└─────────────────────────────────────────────────────────────────────┘
│ 已接通 ✅ │ 断链 ⚠️
↓ ↓
┌─────────────────────────────────────────────────────────────────────┐
│ AppStateService │
│ │
│ MotionState ← 自动同步（轮询 + 事件驱动） ✅ │
│ RaySourceState ← 需手动推送 / 待补订阅 ⚠️ │
│ DetectorState ← 需手动推送 / 待补订阅 ⚠️ │
│ CameraState ← 空壳，相机走独立直连路径 ⚠️ │
└─────────────────────────────────────────────────────────────────────┘
│
↓ PropertyChanged / StateChangedEvent
┌─────────────────────────────────────────────────────────────────────┐
│ ViewModel 层 │
│ │
│ MotionControlViewModel ← 同时订阅 GeometryUpdatedEvent（双路） │
│ CncNodeViewModel ← 通过 IAppStateService 读取快照 │
│ CncEditorViewModel ← 通过 IAppStateService 读取快照 │
│ NavigationPropertyPanelViewModel ← 直连 ICamera（独立路径） │
└─────────────────────────────────────────────────────────────────────┘
```
---
## 六、待办事项
| 优先级 | 项目 | 涉及文件 |
|--------|------|---------|
| 高 | 补充射线源事件订阅，打通 `RaySourceState` 自动同步 | `AppStateService.cs` |
| 高 | 补充探测器事件订阅，打通 `DetectorState` 自动同步 | `AppStateService.cs` |
| 中 | 确认 `StartPolling()` 在应用启动流程中被调用 | `App.xaml.cs` / `AppBootstrapper` |
| 低 | 评估是否将相机连接状态纳入 `CameraState` 统一管理 | `NavigationPropertyPanelViewModel.cs`、`AppStateService.cs` |
XplorePlane/Services/AppState/AppStateService.cs
+92
View File
@@ -5,6 +5,10 @@ using System.Threading;
using System.Windows;
using System.Windows.Threading;
using XP.Common.Logging.Interfaces;
using XP.Hardware.Detector.Abstractions;
using XP.Hardware.Detector.Abstractions.Enums;
using XP.Hardware.Detector.Abstractions.Events;
using XP.Hardware.Detector.Services;
using XP.Hardware.MotionControl.Abstractions;
using XP.Hardware.MotionControl.Abstractions.Enums;
using XP.Hardware.MotionControl.Abstractions.Events;
@@ -18,6 +22,7 @@ namespace XplorePlane.Services.AppState
/// Global application state service.
/// Motion state is synchronized from the motion hardware service layer and
/// mapped into the legacy business model for compatibility.
/// Detector state and latest frame are synchronized via Prism EventAggregator subscriptions.
/// </summary>
public class AppStateService : BindableBase, IAppStateService
{
@@ -25,10 +30,13 @@ namespace XplorePlane.Services.AppState
private readonly IRaySourceService _raySourceService;
private readonly IMotionSystem _motionSystem;
private readonly IMotionControlService _motionControlService;
private readonly IDetectorService _detectorService;
private readonly IEventAggregator _eventAggregator;
private readonly ILoggerService _logger;
private readonly SubscriptionToken _axisStatusChangedToken;
private readonly SubscriptionToken _geometryUpdatedToken;
private readonly SubscriptionToken _detectorStatusChangedToken;
private readonly SubscriptionToken _detectorImageCapturedToken;
private bool _disposed;
private GeometryData _latestGeometry;
@@ -43,6 +51,9 @@ namespace XplorePlane.Services.AppState
private LinkedViewState _linkedViewState = LinkedViewState.Default;
private RecipeExecutionState _recipeExecutionState = RecipeExecutionState.Default;
// ── 探测器最新帧（volatile，供任意线程读取）──
private volatile ImageCapturedEventArgs _latestDetectorFrame;
// ── 类型化状态变更事件 ──
public event EventHandler<StateChangedEventArgs<MotionState>> MotionStateChanged;
public event EventHandler<StateChangedEventArgs<RaySourceState>> RaySourceStateChanged;
@@ -63,26 +74,36 @@ namespace XplorePlane.Services.AppState
public LinkedViewState LinkedViewState => _linkedViewState;
public RecipeExecutionState RecipeExecutionState => _recipeExecutionState;
/// <summary>
/// 探测器最新采集帧（线程安全，可从任意线程读取）。
/// 由 ImageCapturedEvent 驱动更新，无采集时为 null。
/// </summary>
public ImageCapturedEventArgs LatestDetectorFrame => _latestDetectorFrame;
public AppStateService(
IRaySourceService raySourceService,
IMotionSystem motionSystem,
IMotionControlService motionControlService,
IDetectorService detectorService,
IEventAggregator eventAggregator,
ILoggerService logger)
{
ArgumentNullException.ThrowIfNull(raySourceService);
ArgumentNullException.ThrowIfNull(motionSystem);
ArgumentNullException.ThrowIfNull(motionControlService);
ArgumentNullException.ThrowIfNull(detectorService);
ArgumentNullException.ThrowIfNull(eventAggregator);
ArgumentNullException.ThrowIfNull(logger);
_raySourceService = raySourceService;
_motionSystem = motionSystem;
_motionControlService = motionControlService;
_detectorService = detectorService;
_eventAggregator = eventAggregator;
_logger = logger.ForModule<AppStateService>();
_dispatcher = Application.Current?.Dispatcher ?? Dispatcher.CurrentDispatcher;
// ── 运动控制事件订阅 ──
_geometryUpdatedToken = _eventAggregator
.GetEvent<GeometryUpdatedEvent>()
.Subscribe(OnGeometryUpdated);
@@ -91,6 +112,16 @@ namespace XplorePlane.Services.AppState
.GetEvent<AxisStatusChangedEvent>()
.Subscribe(OnAxisStatusChanged);
// ── 探测器状态事件订阅（后台线程，避免阻塞采集）──
_detectorStatusChangedToken = _eventAggregator
.GetEvent<StatusChangedEvent>()
.Subscribe(OnDetectorStatusChanged, ThreadOption.BackgroundThread);
// ── 探测器图像事件订阅（后台线程，仅缓存最新帧）──
_detectorImageCapturedToken = _eventAggregator
.GetEvent<ImageCapturedEvent>()
.Subscribe(OnDetectorImageCaptured, ThreadOption.BackgroundThread);
SubscribeToExistingServices();
_logger.Info("AppStateService initialized");
}
@@ -260,6 +291,16 @@ namespace XplorePlane.Services.AppState
_eventAggregator.GetEvent<GeometryUpdatedEvent>().Unsubscribe(_geometryUpdatedToken);
}
if (_detectorStatusChangedToken is not null)
{
_eventAggregator.GetEvent<StatusChangedEvent>().Unsubscribe(_detectorStatusChangedToken);
}
if (_detectorImageCapturedToken is not null)
{
_eventAggregator.GetEvent<ImageCapturedEvent>().Unsubscribe(_detectorImageCapturedToken);
}
MotionStateChanged = null;
RaySourceStateChanged = null;
DetectorStateChanged = null;
@@ -317,6 +358,57 @@ namespace XplorePlane.Services.AppState
TryRefreshMotionStateFromHardware("geometry-updated");
}
/// <summary>
/// 探测器状态变更回调。
/// 将硬件层 DetectorStatus 映射为应用层 DetectorState 并同步到 AppState。
/// 运行在后台线程（ThreadOption.BackgroundThread），不阻塞采集。
/// </summary>
private void OnDetectorStatusChanged(DetectorStatus status)
{
if (_disposed) return;
// 从 IDetectorService 读取分辨率等补充信息
string resolution = string.Empty;
double frameRate = 0;
try
{
var info = _detectorService.GetInfo();
if (info != null)
resolution = $"{info.MaxWidth}x{info.MaxHeight}";
}
catch
{
// 探测器未初始化时 GetInfo 会抛出，忽略即可
}
bool isConnected = status != DetectorStatus.Uninitialized && status != DetectorStatus.Error;
bool isAcquiring = status == DetectorStatus.Acquiring;
var newState = new DetectorState(
IsConnected: isConnected,
IsAcquiring: isAcquiring,
FrameRate: frameRate,
Resolution: resolution);
UpdateDetectorState(newState);
_logger.Info(
"探测器状态已同步：{Status} → IsConnected={IsConnected} IsAcquiring={IsAcquiring} | " +
"Detector state synced: {Status} → IsConnected={IsConnected} IsAcquiring={IsAcquiring}",
status, isConnected, isAcquiring);
}
/// <summary>
/// 探测器图像采集回调。
/// 仅缓存最新帧引用（volatile 写），不做任何图像处理，保持采集链路零阻塞。
/// 上层通过 LatestDetectorFrame 属性按需读取。
/// </summary>
private void OnDetectorImageCaptured(ImageCapturedEventArgs args)
{
if (_disposed || args?.ImageData == null) return;
_latestDetectorFrame = args;
}
private bool TryRefreshMotionStateFromHardware(string reason)
{
try
XplorePlane/Services/AppState/IAppStateService.cs
+8
View File
@@ -1,5 +1,6 @@
using System;
using System.ComponentModel;
using XP.Hardware.Detector.Abstractions;
using XplorePlane.Models;
namespace XplorePlane.Services.AppState
@@ -21,6 +22,13 @@ namespace XplorePlane.Services.AppState
LinkedViewState LinkedViewState { get; }
RecipeExecutionState RecipeExecutionState { get; }
/// <summary>
/// 探测器最新采集帧（线程安全，可从任意线程读取）。
/// 由 ImageCapturedEvent 驱动更新，探测器未采集时为 null。
/// CNC 执行、图像处理等上层服务通过此属性按需取图，无需自行订阅事件。
/// </summary>
ImageCapturedEventArgs LatestDetectorFrame { get; }
// ── 状态更新方法（线程安全，可从任意线程调用）──
void UpdateMotionState(MotionState newState);