修复探测器的订阅与获取

XplorePlane.Tests/Services/AppStateServiceTests.cs

@@ -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

@@ -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

@@ -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

@@ -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);

XplorePlane/Services/Cnc/CncExecutionService.cs

@@ -103,6 +103,63 @@ namespace XplorePlane.Services.Cnc
                 {
                     switch (node)
                     {
+                        case ReferencePointNode rp:
+                            _logger.ForModule<CncExecutionService>().Info(
+                                "执行参考点节点 [{Index}] {Name} | " +
+                                "StageX={StageX} StageY={StageY} SourceZ={SourceZ} DetectorZ={DetectorZ} " +
+                                "DetectorSwing={DetectorSwing} FDD={FDD} FOD={FOD} Magnification={Magnification} " +
+                                "StageRotation={StageRotation} FixtureRotation={FixtureRotation} " +
+                                "RayOn={RayOn} Voltage={Voltage}kV Current={Current}uA",
+                                rp.Index, rp.Name,
+                                rp.StageX, rp.StageY, rp.SourceZ, rp.DetectorZ,
+                                rp.DetectorSwing, rp.FDD, rp.FOD, rp.Magnification,
+                                rp.StageRotation, rp.FixtureRotation,
+                                rp.IsRayOn, rp.Voltage, rp.Current);
+                            break;
+
+                        case SavePositionNode sp:
+                            _logger.ForModule<CncExecutionService>().Info(
+                                "执行保存位置节点 [{Index}] {Name} | " +
+                                "StageX={StageX} StageY={StageY} SourceZ={SourceZ} DetectorZ={DetectorZ} " +
+                                "DetectorSwing={DetectorSwing} FDD={FDD} FOD={FOD} Magnification={Magnification} " +
+                                "StageRotation={StageRotation} FixtureRotation={FixtureRotation}",
+                                sp.Index, sp.Name,
+                                sp.MotionState.StageX, sp.MotionState.StageY,
+                                sp.MotionState.SourceZ, sp.MotionState.DetectorZ,
+                                sp.MotionState.DetectorSwing, sp.MotionState.FDD,
+                                sp.MotionState.FOD, sp.MotionState.Magnification,
+                                sp.MotionState.StageRotation, sp.MotionState.FixtureRotation);
+                            break;
+
+                        case SaveNodeNode sn:
+                            _logger.ForModule<CncExecutionService>().Info(
+                                "执行保存节点 [{Index}] {Name} | " +
+                                "StageX={StageX} StageY={StageY} SourceZ={SourceZ} DetectorZ={DetectorZ} " +
+                                "DetectorSwing={DetectorSwing} FDD={FDD} FOD={FOD} Magnification={Magnification} " +
+                                "RayOn={RayOn} Voltage={Voltage}kV Power={Power}W",
+                                sn.Index, sn.Name,
+                                sn.MotionState.StageX, sn.MotionState.StageY,
+                                sn.MotionState.SourceZ, sn.MotionState.DetectorZ,
+                                sn.MotionState.DetectorSwing, sn.MotionState.FDD,
+                                sn.MotionState.FOD, sn.MotionState.Magnification,
+                                sn.RaySourceState.IsOn, sn.RaySourceState.Voltage, sn.RaySourceState.Power);
+                            break;
+
+                        case SaveNodeWithImageNode sni:
+                            _logger.ForModule<CncExecutionService>().Info(
+                                "执行保存节点(图像) [{Index}] {Name} | " +
+                                "StageX={StageX} StageY={StageY} SourceZ={SourceZ} DetectorZ={DetectorZ} " +
+                                "DetectorSwing={DetectorSwing} FDD={FDD} FOD={FOD} Magnification={Magnification} " +
+                                "RayOn={RayOn} Voltage={Voltage}kV Power={Power}W ImageFile={ImageFile}",
+                                sni.Index, sni.Name,
+                                sni.MotionState.StageX, sni.MotionState.StageY,
+                                sni.MotionState.SourceZ, sni.MotionState.DetectorZ,
+                                sni.MotionState.DetectorSwing, sni.MotionState.FDD,
+                                sni.MotionState.FOD, sni.MotionState.Magnification,
+                                sni.RaySourceState.IsOn, sni.RaySourceState.Voltage, sni.RaySourceState.Power,
+                                sni.ImageFileName);
+                            break;
+
                         case WaitDelayNode waitNode:
                             try
                             {

XplorePlane/Services/Cnc/CncProgramService.cs

@@ -408,7 +408,7 @@ namespace XplorePlane.Services.Cnc
         private SaveNodeWithImageNode CreateSaveNodeWithImageNode(Guid id, int index)
         {
             return new SaveNodeWithImageNode(
-                id, index, $"保存节点(图像)_{index}",
+                id, index, $"保存节点_图像_{index}",
                 MotionState: _appStateService.MotionState,
                 RaySourceState: _appStateService.RaySourceState,
                 DetectorState: _appStateService.DetectorState,

XplorePlane/ViewModels/Cnc/CncEditorViewModel.cs

@@ -417,7 +417,7 @@ namespace XplorePlane.ViewModels.Cnc
                     return;
 
                 var sb = new StringBuilder();
-                sb.AppendLine("Index,NodeType,Name,StageX,StageY,SourceZ,DetectorZ,DetectorSwing,StageRotation,FixtureRotation,FOD,FDD,Magnification,Voltage_kV,Current_uA,Power_W,RayOn,DetectorConnected,FrameRate,Resolution,ImageFile,MarkerType,MarkerX,MarkerY,DialogTitle,DialogMessage,DelayMs,Pipeline");
+                sb.AppendLine("Index,NodeType,Name,SourceZ,DetectorZ,StageX,StageY,DetectorSwing,StageRotation,FixtureRotation,FOD,FDD,Magnification,Voltage_kV,Current_uA,Power_W,RayOn,DetectorConnected,FrameRate,Resolution,ImageFile,MarkerType,MarkerX,MarkerY,DialogTitle,DialogMessage,DelayMs,Pipeline");
 
                 var inv = CultureInfo.InvariantCulture;
 
@@ -425,10 +425,10 @@ namespace XplorePlane.ViewModels.Cnc
                 {
                     var row = node switch
                     {
-                        ReferencePointNode rp => $"{rp.Index},{rp.NodeType},{Esc(rp.Name)},{rp.StageX.ToString(inv)},{rp.StageY.ToString(inv)},{rp.SourceZ.ToString(inv)},{rp.DetectorZ.ToString(inv)},{rp.DetectorSwing.ToString(inv)},{rp.StageRotation.ToString(inv)},{rp.FixtureRotation.ToString(inv)},{rp.FOD.ToString(inv)},{rp.FDD.ToString(inv)},{rp.Magnification.ToString(inv)},{rp.Voltage.ToString(inv)},{rp.Current.ToString(inv)},,{rp.IsRayOn},,,,,,,,,,",
+                        ReferencePointNode rp => $"{rp.Index},{rp.NodeType},{Esc(rp.Name)},{rp.SourceZ.ToString(inv)},{rp.DetectorZ.ToString(inv)},{rp.StageX.ToString(inv)},{rp.StageY.ToString(inv)},{rp.DetectorSwing.ToString(inv)},{rp.StageRotation.ToString(inv)},{rp.FixtureRotation.ToString(inv)},{rp.FOD.ToString(inv)},{rp.FDD.ToString(inv)},{rp.Magnification.ToString(inv)},{rp.Voltage.ToString(inv)},{rp.Current.ToString(inv)},,{rp.IsRayOn},,,,,,,,,,",
-                        SaveNodeWithImageNode sni => $"{sni.Index},{sni.NodeType},{Esc(sni.Name)},{sni.MotionState.StageX.ToString(inv)},{sni.MotionState.StageY.ToString(inv)},{sni.MotionState.SourceZ.ToString(inv)},{sni.MotionState.DetectorZ.ToString(inv)},{sni.MotionState.DetectorSwing.ToString(inv)},{sni.MotionState.StageRotation.ToString(inv)},{sni.MotionState.FixtureRotation.ToString(inv)},{sni.MotionState.FOD.ToString(inv)},{sni.MotionState.FDD.ToString(inv)},{sni.MotionState.Magnification.ToString(inv)},{sni.RaySourceState.Voltage.ToString(inv)},,{sni.RaySourceState.Power.ToString(inv)},{sni.RaySourceState.IsOn},{sni.DetectorState.IsConnected},{sni.DetectorState.FrameRate.ToString(inv)},{Esc(sni.DetectorState.Resolution)},{Esc(sni.ImageFileName)},,,,,,",
+                        SaveNodeWithImageNode sni => $"{sni.Index},{sni.NodeType},{Esc(sni.Name)},{sni.MotionState.SourceZ.ToString(inv)},{sni.MotionState.DetectorZ.ToString(inv)},{sni.MotionState.StageX.ToString(inv)},{sni.MotionState.StageY.ToString(inv)},{sni.MotionState.DetectorSwing.ToString(inv)},{sni.MotionState.StageRotation.ToString(inv)},{sni.MotionState.FixtureRotation.ToString(inv)},{sni.MotionState.FOD.ToString(inv)},{sni.MotionState.FDD.ToString(inv)},{sni.MotionState.Magnification.ToString(inv)},{sni.RaySourceState.Voltage.ToString(inv)},,{sni.RaySourceState.Power.ToString(inv)},{sni.RaySourceState.IsOn},{sni.DetectorState.IsConnected},{sni.DetectorState.FrameRate.ToString(inv)},{Esc(sni.DetectorState.Resolution)},{Esc(sni.ImageFileName)},,,,,,",
-                        SaveNodeNode sn => $"{sn.Index},{sn.NodeType},{Esc(sn.Name)},{sn.MotionState.StageX.ToString(inv)},{sn.MotionState.StageY.ToString(inv)},{sn.MotionState.SourceZ.ToString(inv)},{sn.MotionState.DetectorZ.ToString(inv)},{sn.MotionState.DetectorSwing.ToString(inv)},{sn.MotionState.StageRotation.ToString(inv)},{sn.MotionState.FixtureRotation.ToString(inv)},{sn.MotionState.FOD.ToString(inv)},{sn.MotionState.FDD.ToString(inv)},{sn.MotionState.Magnification.ToString(inv)},{sn.RaySourceState.Voltage.ToString(inv)},,{sn.RaySourceState.Power.ToString(inv)},{sn.RaySourceState.IsOn},{sn.DetectorState.IsConnected},{sn.DetectorState.FrameRate.ToString(inv)},{Esc(sn.DetectorState.Resolution)},,,,,,,",
+                        SaveNodeNode sn => $"{sn.Index},{sn.NodeType},{Esc(sn.Name)},{sn.MotionState.SourceZ.ToString(inv)},{sn.MotionState.DetectorZ.ToString(inv)},{sn.MotionState.StageX.ToString(inv)},{sn.MotionState.StageY.ToString(inv)},{sn.MotionState.DetectorSwing.ToString(inv)},{sn.MotionState.StageRotation.ToString(inv)},{sn.MotionState.FixtureRotation.ToString(inv)},{sn.MotionState.FOD.ToString(inv)},{sn.MotionState.FDD.ToString(inv)},{sn.MotionState.Magnification.ToString(inv)},{sn.RaySourceState.Voltage.ToString(inv)},,{sn.RaySourceState.Power.ToString(inv)},{sn.RaySourceState.IsOn},{sn.DetectorState.IsConnected},{sn.DetectorState.FrameRate.ToString(inv)},{Esc(sn.DetectorState.Resolution)},,,,,,,",
-                        SavePositionNode sp => $"{sp.Index},{sp.NodeType},{Esc(sp.Name)},{sp.MotionState.StageX.ToString(inv)},{sp.MotionState.StageY.ToString(inv)},{sp.MotionState.SourceZ.ToString(inv)},{sp.MotionState.DetectorZ.ToString(inv)},{sp.MotionState.DetectorSwing.ToString(inv)},{sp.MotionState.StageRotation.ToString(inv)},{sp.MotionState.FixtureRotation.ToString(inv)},{sp.MotionState.FOD.ToString(inv)},{sp.MotionState.FDD.ToString(inv)},{sp.MotionState.Magnification.ToString(inv)},,,,,,,,,,,,,,",
+                        SavePositionNode sp => $"{sp.Index},{sp.NodeType},{Esc(sp.Name)},{sp.MotionState.SourceZ.ToString(inv)},{sp.MotionState.DetectorZ.ToString(inv)},{sp.MotionState.StageX.ToString(inv)},{sp.MotionState.StageY.ToString(inv)},{sp.MotionState.DetectorSwing.ToString(inv)},{sp.MotionState.StageRotation.ToString(inv)},{sp.MotionState.FixtureRotation.ToString(inv)},{sp.MotionState.FOD.ToString(inv)},{sp.MotionState.FDD.ToString(inv)},{sp.MotionState.Magnification.ToString(inv)},,,,,,,,,,,,,,",
                         InspectionModuleNode im => $"{im.Index},{im.NodeType},{Esc(im.Name)},,,,,,,,,,,,,,,,,,,,,,{Esc(im.Pipeline?.Name ?? string.Empty)}",
                         InspectionMarkerNode mk => $"{mk.Index},{mk.NodeType},{Esc(mk.Name)},,,,,,,,,,,,,,,,,{Esc(mk.MarkerType)},{mk.MarkerX.ToString(inv)},{mk.MarkerY.ToString(inv)},,,",
                         PauseDialogNode pd => $"{pd.Index},{pd.NodeType},{Esc(pd.Name)},,,,,,,,,,,,,,,,,,,{Esc(pd.DialogTitle)},{Esc(pd.DialogMessage)},,",

XplorePlane/Views/Cnc/CncPageView.xaml

@@ -489,43 +489,43 @@
                                 Visibility="{Binding SelectedNode.IsMotionSnapshotNode, Converter={StaticResource BoolToVisibilityConverter}}">
                                 <UniformGrid Margin="8,8,8,6" Columns="2">
                                     <StackPanel Margin="0,0,6,0">
-                                        <TextBlock Style="{StaticResource LabelStyle}" Text="StageX" />
+                                        <TextBlock Style="{StaticResource LabelStyle}" Text="载物台 X (μm)" />
                                         <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.StageX, UpdateSourceTrigger=LostFocus}" />
                                     </StackPanel>
                                     <StackPanel>
-                                        <TextBlock Style="{StaticResource LabelStyle}" Text="StageY" />
+                                        <TextBlock Style="{StaticResource LabelStyle}" Text="载物台 Y (μm)" />
                                         <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.StageY, UpdateSourceTrigger=LostFocus}" />
                                     </StackPanel>
                                     <StackPanel Margin="0,0,6,0">
-                                        <TextBlock Style="{StaticResource LabelStyle}" Text="SourceZ" />
+                                        <TextBlock Style="{StaticResource LabelStyle}" Text="射线源 Z (μm)" />
                                         <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.SourceZ, UpdateSourceTrigger=LostFocus}" />
                                     </StackPanel>
                                     <StackPanel>
-                                        <TextBlock Style="{StaticResource LabelStyle}" Text="DetectorZ" />
+                                        <TextBlock Style="{StaticResource LabelStyle}" Text="探测器 Z (μm)" />
                                         <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.DetectorZ, UpdateSourceTrigger=LostFocus}" />
                                     </StackPanel>
                                     <StackPanel Margin="0,0,6,0">
-                                        <TextBlock Style="{StaticResource LabelStyle}" Text="DetectorSwing" />
+                                        <TextBlock Style="{StaticResource LabelStyle}" Text="探测器摆动 (°)" />
                                         <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.DetectorSwing, UpdateSourceTrigger=LostFocus}" />
                                     </StackPanel>
                                     <StackPanel>
-                                        <TextBlock Style="{StaticResource LabelStyle}" Text="StageRotation" />
+                                        <TextBlock Style="{StaticResource LabelStyle}" Text="载物台旋转 (°)" />
                                         <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.StageRotation, UpdateSourceTrigger=LostFocus}" />
                                     </StackPanel>
                                     <StackPanel Margin="0,0,6,0">
-                                        <TextBlock Style="{StaticResource LabelStyle}" Text="FixtureRotation" />
+                                        <TextBlock Style="{StaticResource LabelStyle}" Text="夹具旋转 (°)" />
                                         <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.FixtureRotation, UpdateSourceTrigger=LostFocus}" />
                                     </StackPanel>
                                     <StackPanel>
-                                        <TextBlock Style="{StaticResource LabelStyle}" Text="FOD" />
+                                        <TextBlock Style="{StaticResource LabelStyle}" Text="FOD (μm)" />
                                         <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.FOD, UpdateSourceTrigger=LostFocus}" />
                                     </StackPanel>
                                     <StackPanel Margin="0,0,6,0">
-                                        <TextBlock Style="{StaticResource LabelStyle}" Text="FDD" />
+                                        <TextBlock Style="{StaticResource LabelStyle}" Text="FDD (μm)" />
                                         <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.FDD, UpdateSourceTrigger=LostFocus}" />
                                     </StackPanel>
                                     <StackPanel>
-                                        <TextBlock Style="{StaticResource LabelStyle}" Text="Magnification" />
+                                        <TextBlock Style="{StaticResource LabelStyle}" Text="放大倍率" />
                                         <TextBox Style="{StaticResource EditorBox}" Text="{Binding SelectedNode.Magnification, UpdateSourceTrigger=LostFocus}" />
                                     </StackPanel>
                                 </UniformGrid>