QI Mingxuan
420 lines
20 KiB
C#
420 lines
20 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Windows;
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using Prism.Commands;
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using Prism.Events;
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using Prism.Mvvm;
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using XP.Hardware.MotionControl.Abstractions;
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using XP.Hardware.MotionControl.Abstractions.Enums;
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using XP.Hardware.MotionControl.Abstractions.Events;
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using XP.Hardware.MotionControl.Config;
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using XP.Hardware.MotionControl.Services;
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using XP.Hardware.MotionControl.Views;
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using XP.Hardware.Plc.Abstractions;
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namespace XP.Hardware.MotionControl.ViewModels
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{
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/// <summary>
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/// 运动控制操作面板 ViewModel | Motion Control Operation Panel ViewModel
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/// 提供轴状态、几何参数、安全门状态的可绑定属性和操作命令（不含 Jog 调试）
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/// Provides axis status, geometry, safety door properties and commands (excluding Jog debug)
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/// </summary>
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public class MotionControlViewModel : BindableBase
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{
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private readonly IMotionControlService _motionControlService;
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private readonly IMotionSystem _motionSystem;
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private readonly IEventAggregator _eventAggregator;
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private readonly MotionControlConfig _config;
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private readonly IPlcService _plcService;
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private Window _debugWindow;
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#region 构造函数 | Constructor
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public MotionControlViewModel(
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IMotionControlService motionControlService,
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IMotionSystem motionSystem,
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IEventAggregator eventAggregator,
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MotionControlConfig config,
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IPlcService plcService)
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{
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_motionControlService = motionControlService ?? throw new ArgumentNullException(nameof(motionControlService));
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_motionSystem = motionSystem ?? throw new ArgumentNullException(nameof(motionSystem));
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_eventAggregator = eventAggregator ?? throw new ArgumentNullException(nameof(eventAggregator));
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_config = config ?? throw new ArgumentNullException(nameof(config));
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_plcService = plcService ?? throw new ArgumentNullException(nameof(plcService));
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// 监听 PLC 连接状态变化 | Listen for PLC connection status changes
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_plcService.PropertyChanged += (s, e) =>
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{
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if (e.PropertyName == nameof(IPlcService.IsConnected))
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{
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RaisePropertyChanged(nameof(IsPlcConnected));
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RaiseCommandCanExecuteChanged();
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}
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};
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// 初始化可选轴可见性 | Initialize optional axis visibility
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StageRotationVisibility = _config.RotaryAxes.ContainsKey(RotaryAxisId.StageRotation)
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&& _config.RotaryAxes[RotaryAxisId.StageRotation].Enabled
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? Visibility.Visible : Visibility.Collapsed;
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FixtureRotationVisibility = _config.RotaryAxes.ContainsKey(RotaryAxisId.FixtureRotation)
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&& _config.RotaryAxes[RotaryAxisId.FixtureRotation].Enabled
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? Visibility.Visible : Visibility.Collapsed;
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// 初始化命令（通过 SafeRun 包裹，防止 PLC 异常崩溃）| Initialize commands (wrapped with SafeRun to prevent PLC exception crash)
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MoveCommand = new DelegateCommand(() => SafeRun(ExecuteMove), () => IsPlcConnected);
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StopCommand = new DelegateCommand(() => SafeRun(() => _motionControlService.StopAll()), () => IsPlcConnected);
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HomeCommand = new DelegateCommand(() => SafeRun(ExecuteHome), () => IsPlcConnected);
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OpenDoorCommand = new DelegateCommand(() => SafeRun(() => _motionControlService.OpenDoor()), () => IsPlcConnected);
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CloseDoorCommand = new DelegateCommand(() => SafeRun(() => _motionControlService.CloseDoor()), () => IsPlcConnected);
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ApplyGeometryCommand = new DelegateCommand(() => SafeRun(ExecuteApplyGeometry), () => IsPlcConnected);
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CopyActualToTargetCommand = new DelegateCommand(ExecuteCopyActualToTarget);
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OpenDebugWindowCommand = new DelegateCommand(ExecuteOpenDebugWindow);
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// 订阅事件 | Subscribe to events
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_eventAggregator.GetEvent<GeometryUpdatedEvent>().Subscribe(OnGeometryUpdated, ThreadOption.UIThread);
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_eventAggregator.GetEvent<AxisStatusChangedEvent>().Subscribe(OnAxisStatusChanged, ThreadOption.UIThread);
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_eventAggregator.GetEvent<DoorStatusChangedEvent>().Subscribe(OnDoorStatusChanged, ThreadOption.UIThread);
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_eventAggregator.GetEvent<DoorInterlockChangedEvent>().Subscribe(OnDoorInterlockChanged, ThreadOption.UIThread);
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// 订阅几何反算填入请求事件 | Subscribe to geometry apply request event
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_eventAggregator.GetEvent<GeometryApplyRequestEvent>().Subscribe(OnGeometryApplyRequest, ThreadOption.UIThread);
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// 初始化时主动刷新一次轴位置和门状态 | Refresh axis positions and door status on initialization
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try
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{
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SourceZActual = _motionSystem.GetLinearAxis(AxisId.SourceZ).ActualPosition;
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DetectorZActual = _motionSystem.GetLinearAxis(AxisId.DetectorZ).ActualPosition;
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StageXActual = _motionSystem.GetLinearAxis(AxisId.StageX).ActualPosition;
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StageYActual = _motionSystem.GetLinearAxis(AxisId.StageY).ActualPosition;
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DetSwingActual = _motionSystem.GetRotaryAxis(RotaryAxisId.DetectorSwing).ActualAngle;
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StageRotActual = _motionSystem.GetRotaryAxis(RotaryAxisId.StageRotation).ActualAngle;
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FixtureRotActual = _motionSystem.GetRotaryAxis(RotaryAxisId.FixtureRotation).ActualAngle;
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DoorStatus = _motionSystem.SafetyDoor.Status;
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IsInterlocked = _motionSystem.SafetyDoor.IsInterlocked;
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}
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catch { }
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}
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#endregion
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#region 直线轴属性 | Linear Axis Properties
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private double _sourceZActual;
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public double SourceZActual { get => _sourceZActual; set => SetProperty(ref _sourceZActual, value); }
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private double _sourceZTarget;
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public double SourceZTarget { get => _sourceZTarget; set => SetProperty(ref _sourceZTarget, value); }
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private double _detectorZActual;
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public double DetectorZActual { get => _detectorZActual; set => SetProperty(ref _detectorZActual, value); }
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private double _detectorZTarget;
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public double DetectorZTarget { get => _detectorZTarget; set => SetProperty(ref _detectorZTarget, value); }
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private double _stageXActual;
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public double StageXActual { get => _stageXActual; set => SetProperty(ref _stageXActual, value); }
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private double _stageXTarget;
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public double StageXTarget { get => _stageXTarget; set => SetProperty(ref _stageXTarget, value); }
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private double _stageYActual;
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public double StageYActual { get => _stageYActual; set => SetProperty(ref _stageYActual, value); }
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private double _stageYTarget;
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public double StageYTarget { get => _stageYTarget; set => SetProperty(ref _stageYTarget, value); }
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#endregion
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#region 旋转轴属性 | Rotary Axis Properties
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private double _detSwingActual;
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public double DetSwingActual { get => _detSwingActual; set => SetProperty(ref _detSwingActual, value); }
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private double _detSwingTarget;
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public double DetSwingTarget { get => _detSwingTarget; set => SetProperty(ref _detSwingTarget, value); }
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private double _stageRotActual;
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public double StageRotActual { get => _stageRotActual; set => SetProperty(ref _stageRotActual, value); }
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private double _stageRotTarget;
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public double StageRotTarget { get => _stageRotTarget; set => SetProperty(ref _stageRotTarget, value); }
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private double _fixtureRotActual;
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public double FixtureRotActual { get => _fixtureRotActual; set => SetProperty(ref _fixtureRotActual, value); }
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private double _fixtureRotTarget;
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public double FixtureRotTarget { get => _fixtureRotTarget; set => SetProperty(ref _fixtureRotTarget, value); }
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#endregion
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#region 几何参数属性 | Geometry Properties
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private double _fod;
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public double FOD { get => _fod; private set => SetProperty(ref _fod, value); }
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private double _fdd;
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public double FDD { get => _fdd; private set => SetProperty(ref _fdd, value); }
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private double _magnification;
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public double Magnification { get => _magnification; private set => SetProperty(ref _magnification, value); }
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private double _targetFOD;
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public double TargetFOD { get => _targetFOD; set => SetProperty(ref _targetFOD, value); }
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private double _targetFDD;
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public double TargetFDD { get => _targetFDD; set => SetProperty(ref _targetFDD, value); }
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private double _targetMagnification;
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public double TargetMagnification { get => _targetMagnification; set => SetProperty(ref _targetMagnification, value); }
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#endregion
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#region 安全门和状态属性 | Safety Door and Status Properties
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private DoorStatus _doorStatus;
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public DoorStatus DoorStatus { get => _doorStatus; private set => SetProperty(ref _doorStatus, value); }
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private bool _isInterlocked;
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public bool IsInterlocked
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{
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get => _isInterlocked;
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private set
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{
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SetProperty(ref _isInterlocked, value);
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RaisePropertyChanged(nameof(IsNotInterlocked));
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RaisePropertyChanged(nameof(InterlockStatusText));
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}
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}
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/// <summary>联锁未激活（用于开门按钮 IsEnabled）| Not interlocked (for open door button IsEnabled)</summary>
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public bool IsNotInterlocked => !_isInterlocked;
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/// <summary>联锁状态文本（用于 UI 显示）| Interlock status text for UI display</summary>
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public string InterlockStatusText => _isInterlocked
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? XP.Common.Localization.LocalizationHelper.Get("MC_Interlocked")
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: XP.Common.Localization.LocalizationHelper.Get("MC_NotInterlocked");
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private bool _isMoving;
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public bool IsMoving { get => _isMoving; private set => SetProperty(ref _isMoving, value); }
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/// <summary>PLC 是否已连接（从 PlcService 读取）| Whether PLC is connected (from PlcService)</summary>
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public bool IsPlcConnected => _plcService.IsConnected;
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#endregion
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#region 可选轴可见性 | Optional Axis Visibility
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private Visibility _stageRotationVisibility;
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public Visibility StageRotationVisibility { get => _stageRotationVisibility; private set => SetProperty(ref _stageRotationVisibility, value); }
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private Visibility _fixtureRotationVisibility;
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public Visibility FixtureRotationVisibility { get => _fixtureRotationVisibility; private set => SetProperty(ref _fixtureRotationVisibility, value); }
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#endregion
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#region 命令 | Commands
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public DelegateCommand MoveCommand { get; }
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public DelegateCommand StopCommand { get; }
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public DelegateCommand HomeCommand { get; }
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public DelegateCommand OpenDoorCommand { get; }
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public DelegateCommand CloseDoorCommand { get; }
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public DelegateCommand ApplyGeometryCommand { get; }
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/// <summary>一键将实际值填入目标值 | Copy actual values to target values</summary>
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public DelegateCommand CopyActualToTargetCommand { get; }
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/// <summary>打开调试窗口命令 | Open debug window command</summary>
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public DelegateCommand OpenDebugWindowCommand { get; }
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#endregion
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#region 命令执行 | Command Execution
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/// <summary>多轴联动移动（含二次确认）| Multi-axis coordinated move (with confirmation)</summary>
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private void ExecuteMove()
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{
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var result = MessageBox.Show(
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XP.Common.Localization.LocalizationHelper.Get("MC_MoveConfirm"),
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XP.Common.Localization.LocalizationHelper.Get("MC_Move"),
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MessageBoxButton.OKCancel, MessageBoxImage.Question);
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if (result != MessageBoxResult.OK) return;
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var targets = new Dictionary<AxisId, double>
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{
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{ AxisId.SourceZ, SourceZTarget },
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{ AxisId.DetectorZ, DetectorZTarget },
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{ AxisId.StageX, StageXTarget },
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{ AxisId.StageY, StageYTarget }
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};
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_motionControlService.MoveAllToTarget(targets);
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_motionControlService.MoveRotaryToTarget(RotaryAxisId.DetectorSwing, DetSwingTarget);
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if (StageRotationVisibility == Visibility.Visible)
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_motionControlService.MoveRotaryToTarget(RotaryAxisId.StageRotation, StageRotTarget);
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if (FixtureRotationVisibility == Visibility.Visible)
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_motionControlService.MoveRotaryToTarget(RotaryAxisId.FixtureRotation, FixtureRotTarget);
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}
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/// <summary>所有轴回零（含二次确认）| Home all axes (with confirmation)</summary>
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private void ExecuteHome()
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{
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var result = MessageBox.Show(
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XP.Common.Localization.LocalizationHelper.Get("MC_HomeConfirm"),
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XP.Common.Localization.LocalizationHelper.Get("MC_Home"),
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MessageBoxButton.OKCancel, MessageBoxImage.Question);
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if (result != MessageBoxResult.OK) return;
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_motionControlService.HomeAll();
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}
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/// <summary>
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/// 几何反算：计算 SourceZ/DetectorZ 目标值并填入，其他轴用实际值填入
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/// Geometry inverse: calculate SourceZ/DetectorZ targets and fill in, other axes use actual values
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/// </summary>
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private void ExecuteApplyGeometry()
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{
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var (sourceZTarget, detectorZTarget, error) = _motionControlService.CalculateGeometryTargets(TargetFOD, TargetFDD);
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if (error != null)
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{
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MessageBox.Show(error, XP.Common.Localization.LocalizationHelper.Get("MC_Geometry_Title"),
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MessageBoxButton.OK, MessageBoxImage.Warning);
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return;
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}
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// 计算得到的轴填入目标值 | Fill calculated axis targets
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SourceZTarget = sourceZTarget;
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DetectorZTarget = detectorZTarget;
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// 不需要移动的轴用实际值填入 | Non-calculated axes use actual values
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StageXTarget = StageXActual;
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StageYTarget = StageYActual;
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DetSwingTarget = DetSwingActual;
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StageRotTarget = StageRotActual;
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FixtureRotTarget = FixtureRotActual;
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}
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/// <summary>
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/// 一键将所有轴实际值填入目标值 | Copy all actual values to target values
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/// </summary>
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private void ExecuteCopyActualToTarget()
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{
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SourceZTarget = SourceZActual;
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DetectorZTarget = DetectorZActual;
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StageXTarget = StageXActual;
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StageYTarget = StageYActual;
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DetSwingTarget = DetSwingActual;
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StageRotTarget = StageRotActual;
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FixtureRotTarget = FixtureRotActual;
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}
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/// <summary>打开调试窗口 | Open debug window</summary>
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private void ExecuteOpenDebugWindow()
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{
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if (_debugWindow != null && _debugWindow.IsLoaded) { _debugWindow.Activate(); return; }
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_debugWindow = new MotionDebugWindow { Owner = Application.Current.MainWindow, ShowInTaskbar = true };
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_debugWindow.Closed += (s, e) => _debugWindow = null;
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_debugWindow.Show();
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}
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#endregion
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#region 事件回调 | Event Callbacks
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private void OnGeometryUpdated(GeometryData data)
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{
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FOD = data.FOD; FDD = data.FDD; Magnification = data.Magnification;
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// 每次轮询都刷新所有轴的实际位置 | Refresh all axis actual positions on every poll
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try
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{
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SourceZActual = _motionSystem.GetLinearAxis(AxisId.SourceZ).ActualPosition;
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DetectorZActual = _motionSystem.GetLinearAxis(AxisId.DetectorZ).ActualPosition;
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StageXActual = _motionSystem.GetLinearAxis(AxisId.StageX).ActualPosition;
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StageYActual = _motionSystem.GetLinearAxis(AxisId.StageY).ActualPosition;
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DetSwingActual = _motionSystem.GetRotaryAxis(RotaryAxisId.DetectorSwing).ActualAngle;
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StageRotActual = _motionSystem.GetRotaryAxis(RotaryAxisId.StageRotation).ActualAngle;
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FixtureRotActual = _motionSystem.GetRotaryAxis(RotaryAxisId.FixtureRotation).ActualAngle;
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DoorStatus = _motionSystem.SafetyDoor.Status;
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}
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catch { /* 轴未初始化时忽略 | Ignore when axes not initialized */ }
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}
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private void OnAxisStatusChanged(AxisStatusChangedData data)
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{
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UpdateLinearAxisActual(data.AxisId);
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UpdateRotaryAxesActual();
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UpdateDoorStatus();
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IsMoving = _motionSystem.LinearAxes.Values.Any(a => a.Status == AxisStatus.Moving || a.Status == AxisStatus.Homing)
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|| _motionSystem.RotaryAxes.Values.Any(a => a.Status == AxisStatus.Moving || a.Status == AxisStatus.Homing);
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}
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private void OnDoorStatusChanged(DoorStatus status)
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{
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DoorStatus = status;
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IsInterlocked = _motionSystem.SafetyDoor.IsInterlocked;
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}
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private void OnDoorInterlockChanged(bool isInterlocked)
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{
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IsInterlocked = isInterlocked;
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}
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/// <summary>
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/// 收到几何反算填入请求，将计算结果填入目标值 | Receive geometry apply request, fill target values
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/// </summary>
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private void OnGeometryApplyRequest(GeometryApplyRequestData data)
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{
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SourceZTarget = data.SourceZTarget;
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DetectorZTarget = data.DetectorZTarget;
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StageXTarget = data.StageXActual;
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StageYTarget = data.StageYActual;
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DetSwingTarget = data.DetSwingActual;
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StageRotTarget = data.StageRotActual;
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FixtureRotTarget = data.FixtureRotActual;
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}
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#endregion
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#region 状态更新辅助 | Status Update Helpers
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private void UpdateLinearAxisActual(AxisId axisId)
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{
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switch (axisId)
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{
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case AxisId.SourceZ: SourceZActual = _motionSystem.GetLinearAxis(AxisId.SourceZ).ActualPosition; break;
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case AxisId.DetectorZ: DetectorZActual = _motionSystem.GetLinearAxis(AxisId.DetectorZ).ActualPosition; break;
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case AxisId.StageX: StageXActual = _motionSystem.GetLinearAxis(AxisId.StageX).ActualPosition; break;
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case AxisId.StageY: StageYActual = _motionSystem.GetLinearAxis(AxisId.StageY).ActualPosition; break;
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}
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}
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private void UpdateRotaryAxesActual()
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{
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DetSwingActual = _motionSystem.GetRotaryAxis(RotaryAxisId.DetectorSwing).ActualAngle;
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StageRotActual = _motionSystem.GetRotaryAxis(RotaryAxisId.StageRotation).ActualAngle;
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FixtureRotActual = _motionSystem.GetRotaryAxis(RotaryAxisId.FixtureRotation).ActualAngle;
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}
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private void UpdateDoorStatus()
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{
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DoorStatus = _motionSystem.SafetyDoor.Status;
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IsInterlocked = _motionSystem.SafetyDoor.IsInterlocked;
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}
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#endregion
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#region 异常保护 | Exception Protection
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/// <summary>
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/// 安全执行：捕获 PLC 异常避免 UI 崩溃 | Safe execution: catches PLC exceptions to prevent UI crash
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/// </summary>
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private void SafeRun(Action action)
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{
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try { action(); }
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catch (Exception ex)
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{
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try { System.Windows.MessageBox.Show(ex.Message, "MotionControl", System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Warning); }
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catch { /* 防止 MessageBox 本身异常 | Prevent MessageBox itself from throwing */ }
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}
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}
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/// <summary>
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/// 刷新所有命令的 CanExecute 状态 | Refresh CanExecute state of all commands
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/// </summary>
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private void RaiseCommandCanExecuteChanged()
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{
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MoveCommand.RaiseCanExecuteChanged();
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StopCommand.RaiseCanExecuteChanged();
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HomeCommand.RaiseCanExecuteChanged();
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OpenDoorCommand.RaiseCanExecuteChanged();
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CloseDoorCommand.RaiseCanExecuteChanged();
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ApplyGeometryCommand.RaiseCanExecuteChanged();
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CopyActualToTargetCommand.RaiseCanExecuteChanged();
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}
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#endregion
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}
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}
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