QI Mingxuan
897 lines
42 KiB
C#
897 lines
42 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Windows;
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using Prism.Commands;
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using Prism.Events;
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using Prism.Mvvm;
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using XP.Common.Controls;
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using XP.Common.Logging.Interfaces;
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using XP.Hardware.MotionControl.Abstractions;
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using XP.Hardware.MotionControl.Abstractions.Enums;
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using XP.Hardware.MotionControl.Abstractions.Events;
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using XP.Hardware.MotionControl.Config;
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using XP.Hardware.MotionControl.Services;
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using XP.Hardware.Plc.Abstractions;
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using XP.Common.Localization;
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namespace XP.Hardware.MotionControl.ViewModels
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{
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/// <summary>
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/// 轴控制面板 ViewModel | Axis Control Panel ViewModel
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/// 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
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/// </summary>
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public class AxisControlViewModel : 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 readonly ILoggerService _logger;
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#region 内部状态跟踪 | Internal State Tracking
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/// <summary>直线轴 Jog 活跃状态 | Linear axis jog active states</summary>
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private readonly Dictionary<AxisId, bool> _linearJogActive = new();
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/// <summary>旋转轴 Jog 活跃状态 | Rotary axis jog active states</summary>
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private readonly Dictionary<RotaryAxisId, bool> _rotaryJogActive = new();
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/// <summary>输入框编辑冻结标志 | Input box editing freeze flags</summary>
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private readonly Dictionary<string, bool> _editingFlags = new();
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/// <summary>保存的轴位置数据 | Saved axis position data</summary>
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private SavedPositions _savedPositions;
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#endregion
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#region 构造函数 | Constructor
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public AxisControlViewModel(
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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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ILoggerService logger)
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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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_logger = (logger ?? throw new ArgumentNullException(nameof(logger))).ForModule<AxisControlViewModel>();
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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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OnPlcConnectionChanged();
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};
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// 初始化旋转轴输入框可见性 | Initialize rotary axis input box visibility
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DetectorSwingVisibility = _config.RotaryAxes.ContainsKey(RotaryAxisId.DetectorSwing)
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&& _config.RotaryAxes[RotaryAxisId.DetectorSwing].Enabled
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? Visibility.Visible : Visibility.Collapsed;
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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 | Initialize commands
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ToggleEnableCommand = new DelegateCommand(ExecuteToggleEnable, () => IsPlcConnected);
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SavePositionsCommand = new DelegateCommand(ExecuteSavePositions);
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RestorePositionsCommand = new DelegateCommand(ExecuteRestorePositions, () => _savedPositions != null && IsPlcConnected);
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// 初始化 Jog 状态跟踪字典 | Initialize jog state tracking dictionaries
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foreach (AxisId axisId in Enum.GetValues(typeof(AxisId)))
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_linearJogActive[axisId] = false;
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foreach (RotaryAxisId axisId in Enum.GetValues(typeof(RotaryAxisId)))
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_rotaryJogActive[axisId] = false;
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// 初始化 PLC 连接状态 | Initialize PLC connection status
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_isPlcConnected = _plcService.IsConnected;
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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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// 初始化时主动刷新一次轴位置 | Refresh axis positions on initialization
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try
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{
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StageXPosition = _motionSystem.GetLinearAxis(AxisId.StageX).ActualPosition;
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StageYPosition = _motionSystem.GetLinearAxis(AxisId.StageY).ActualPosition;
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SourceZPosition = _motionSystem.GetLinearAxis(AxisId.SourceZ).ActualPosition;
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DetectorZPosition = _motionSystem.GetLinearAxis(AxisId.DetectorZ).ActualPosition;
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DetectorSwingAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.DetectorSwing).ActualAngle;
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StageRotationAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.StageRotation).ActualAngle;
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FixtureRotationAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.FixtureRotation).ActualAngle;
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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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#endregion
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#region 摇杆输出属性 | Joystick Output Properties
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private double _dualJoystickOutputX;
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/// <summary>双轴摇杆 X 轴输出 | Dual-axis joystick X output</summary>
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public double DualJoystickOutputX
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{
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get => _dualJoystickOutputX;
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set
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{
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if (SetProperty(ref _dualJoystickOutputX, value))
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HandleDualJoystickOutput();
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}
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}
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private double _dualJoystickOutputY;
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/// <summary>双轴摇杆 Y 轴输出 | Dual-axis joystick Y output</summary>
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public double DualJoystickOutputY
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{
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get => _dualJoystickOutputY;
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set
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{
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if (SetProperty(ref _dualJoystickOutputY, value))
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HandleDualJoystickOutput();
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}
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}
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private MouseButtonType _dualJoystickActiveButton;
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/// <summary>双轴摇杆当前激活按键 | Dual-axis joystick active mouse button</summary>
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public MouseButtonType DualJoystickActiveButton
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{
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get => _dualJoystickActiveButton;
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set
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{
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var oldValue = _dualJoystickActiveButton;
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if (SetProperty(ref _dualJoystickActiveButton, value))
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{
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// 按键释放时停止所有双轴摇杆关联轴 | Stop all dual joystick axes when button released
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if (value == MouseButtonType.None && oldValue != MouseButtonType.None)
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StopDualJoystickAxes();
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}
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}
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}
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private double _singleJoystickOutputY;
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/// <summary>单轴摇杆 Y 轴输出 | Single-axis joystick Y output</summary>
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public double SingleJoystickOutputY
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{
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get => _singleJoystickOutputY;
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set
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{
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if (SetProperty(ref _singleJoystickOutputY, value))
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HandleSingleJoystickOutput();
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}
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}
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private MouseButtonType _singleJoystickActiveButton;
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/// <summary>单轴摇杆当前激活按键 | Single-axis joystick active mouse button</summary>
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public MouseButtonType SingleJoystickActiveButton
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{
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get => _singleJoystickActiveButton;
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set
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{
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var oldValue = _singleJoystickActiveButton;
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if (SetProperty(ref _singleJoystickActiveButton, value))
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{
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// 按键释放时停止所有单轴摇杆关联轴 | Stop all single joystick axes when button released
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if (value == MouseButtonType.None && oldValue != MouseButtonType.None)
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StopSingleJoystickAxes();
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}
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}
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}
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#endregion
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#region 轴位置属性 | Axis Position Properties
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private double _stageXPosition;
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/// <summary>载物台 X 轴位置 | Stage X axis position</summary>
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public double StageXPosition { get => _stageXPosition; set => SetProperty(ref _stageXPosition, value); }
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private double _stageYPosition;
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/// <summary>载物台 Y 轴位置 | Stage Y axis position</summary>
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public double StageYPosition { get => _stageYPosition; set => SetProperty(ref _stageYPosition, value); }
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private double _sourceZPosition;
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/// <summary>射线源 Z 轴位置 | Source Z axis position</summary>
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public double SourceZPosition { get => _sourceZPosition; set => SetProperty(ref _sourceZPosition, value); }
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private double _detectorZPosition;
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/// <summary>探测器 Z 轴位置 | Detector Z axis position</summary>
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public double DetectorZPosition { get => _detectorZPosition; set => SetProperty(ref _detectorZPosition, value); }
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private double _detectorSwingAngle;
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/// <summary>探测器摆动角度 | Detector swing angle</summary>
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public double DetectorSwingAngle { get => _detectorSwingAngle; set => SetProperty(ref _detectorSwingAngle, value); }
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private double _stageRotationAngle;
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/// <summary>载物台旋转角度 | Stage rotation angle</summary>
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public double StageRotationAngle { get => _stageRotationAngle; set => SetProperty(ref _stageRotationAngle, value); }
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private double _fixtureRotationAngle;
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/// <summary>夹具旋转角度 | Fixture rotation angle</summary>
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public double FixtureRotationAngle { get => _fixtureRotationAngle; set => SetProperty(ref _fixtureRotationAngle, value); }
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#endregion
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#region 旋转轴可见性 | Rotary Axis Visibility
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private Visibility _detectorSwingVisibility;
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/// <summary>探测器摆动输入框可见性 | Detector swing input box visibility</summary>
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public Visibility DetectorSwingVisibility { get => _detectorSwingVisibility; private set => SetProperty(ref _detectorSwingVisibility, value); }
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private Visibility _stageRotationVisibility;
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/// <summary>载物台旋转输入框可见性 | Stage rotation input box visibility</summary>
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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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/// <summary>夹具旋转输入框可见性 | Fixture rotation input box visibility</summary>
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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 安全参数属性 | Safety Parameter Properties
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private double _safetyHeight;
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/// <summary>探测器安全高度限定值 | Detector safety height limit</summary>
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public double SafetyHeight { get => _safetyHeight; set => SetProperty(ref _safetyHeight, value); }
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private double _calibrationValue;
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/// <summary>校准自动计算值 | Calibration auto-calculated value</summary>
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public double CalibrationValue { get => _calibrationValue; set => SetProperty(ref _calibrationValue, value); }
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#endregion
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#region 使能与状态属性 | Enable and Status Properties
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private bool _isJoystickEnabled = true;
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/// <summary>摇杆使能状态 | Joystick enable state</summary>
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public bool IsJoystickEnabled { get => _isJoystickEnabled; set => SetProperty(ref _isJoystickEnabled, value); }
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private bool _isPlcConnected;
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/// <summary>PLC 连接状态 | PLC connection status</summary>
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public bool IsPlcConnected { get => _isPlcConnected; set => SetProperty(ref _isPlcConnected, value); }
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private string _errorMessage;
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/// <summary>错误提示信息 | Error message</summary>
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public string ErrorMessage { get => _errorMessage; set => SetProperty(ref _errorMessage, value); }
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#endregion
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#region 命令 | Commands
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/// <summary>切换使能开关命令 | Toggle enable switch command</summary>
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public DelegateCommand ToggleEnableCommand { get; }
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/// <summary>保存当前轴位置命令 | Save current axis positions command</summary>
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public DelegateCommand SavePositionsCommand { get; }
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/// <summary>恢复保存的轴位置命令 | Restore saved axis positions command</summary>
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public DelegateCommand RestorePositionsCommand { get; }
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#endregion
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#region 事件回调 | Event Callbacks
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/// <summary>
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/// 几何参数更新回调，刷新轴实际位置 | Geometry updated callback, refresh axis actual positions
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/// </summary>
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private void OnGeometryUpdated(GeometryData data)
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{
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try
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{
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if (!IsEditing(nameof(StageXPosition)))
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StageXPosition = _motionSystem.GetLinearAxis(AxisId.StageX).ActualPosition;
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if (!IsEditing(nameof(StageYPosition)))
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StageYPosition = _motionSystem.GetLinearAxis(AxisId.StageY).ActualPosition;
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if (!IsEditing(nameof(SourceZPosition)))
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SourceZPosition = _motionSystem.GetLinearAxis(AxisId.SourceZ).ActualPosition;
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if (!IsEditing(nameof(DetectorZPosition)))
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DetectorZPosition = _motionSystem.GetLinearAxis(AxisId.DetectorZ).ActualPosition;
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if (!IsEditing(nameof(DetectorSwingAngle)))
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DetectorSwingAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.DetectorSwing).ActualAngle;
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if (!IsEditing(nameof(StageRotationAngle)))
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StageRotationAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.StageRotation).ActualAngle;
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if (!IsEditing(nameof(FixtureRotationAngle)))
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FixtureRotationAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.FixtureRotation).ActualAngle;
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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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/// <summary>
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/// 轴状态变化回调，更新对应轴位置 | Axis status changed callback, update corresponding axis position
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/// </summary>
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private void OnAxisStatusChanged(AxisStatusChangedData data)
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{
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try
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{
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switch (data.AxisId)
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{
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case AxisId.StageX:
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if (!IsEditing(nameof(StageXPosition)))
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StageXPosition = _motionSystem.GetLinearAxis(AxisId.StageX).ActualPosition;
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break;
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case AxisId.StageY:
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if (!IsEditing(nameof(StageYPosition)))
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StageYPosition = _motionSystem.GetLinearAxis(AxisId.StageY).ActualPosition;
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break;
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case AxisId.SourceZ:
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if (!IsEditing(nameof(SourceZPosition)))
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SourceZPosition = _motionSystem.GetLinearAxis(AxisId.SourceZ).ActualPosition;
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break;
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case AxisId.DetectorZ:
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if (!IsEditing(nameof(DetectorZPosition)))
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DetectorZPosition = _motionSystem.GetLinearAxis(AxisId.DetectorZ).ActualPosition;
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break;
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}
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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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#endregion
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#region 编辑状态辅助 | Editing State Helpers
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/// <summary>
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/// 检查指定输入框是否正在编辑 | Check if specified input box is being edited
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/// </summary>
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/// <param name="propertyName">属性名称 | Property name</param>
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/// <returns>是否正在编辑 | Whether editing</returns>
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private bool IsEditing(string propertyName)
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{
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return _editingFlags.TryGetValue(propertyName, out var editing) && editing;
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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：捕获异常避免 UI 崩溃 | Safe execution: catches 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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_logger.Error(ex, "运动控制操作异常：{Message} | Motion control operation error: {Message}", ex.Message);
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ErrorMessage = ex.Message;
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}
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}
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#endregion
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#region 命令状态刷新 | Command State Refresh
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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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ToggleEnableCommand.RaiseCanExecuteChanged();
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SavePositionsCommand.RaiseCanExecuteChanged();
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RestorePositionsCommand.RaiseCanExecuteChanged();
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}
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/// <summary>
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/// 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
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/// PLC connection state change handler: stop all jog and disable operations on disconnect, clear error on reconnect
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/// </summary>
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private void OnPlcConnectionChanged()
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{
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IsPlcConnected = _plcService.IsConnected;
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RaiseCommandCanExecuteChanged();
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if (!_plcService.IsConnected)
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{
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// PLC 断开：停止所有活跃的 Jog 操作 | PLC disconnected: stop all active jog operations
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foreach (var axisId in _linearJogActive.Keys)
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{
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if (_linearJogActive[axisId])
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{
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_linearJogActive[axisId] = false;
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_logger.Debug("PLC 断开，直线轴 Jog 已标记停止：{AxisId} | PLC disconnected, linear axis jog marked stopped: {AxisId}", axisId);
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}
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}
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foreach (var axisId in _rotaryJogActive.Keys)
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{
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if (_rotaryJogActive[axisId])
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{
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_rotaryJogActive[axisId] = false;
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_logger.Debug("PLC 断开，旋转轴 Jog 已标记停止：{AxisId} | PLC disconnected, rotary axis jog marked stopped: {AxisId}", axisId);
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}
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}
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// 禁用摇杆 | Disable joystick
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IsJoystickEnabled = false;
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// 显示连接断开提示 | Show disconnection message
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ErrorMessage = LocalizationHelper.Get("MC_PlcNotConnected");
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_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");
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}
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else
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{
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// PLC 重连：清除错误信息（不自动启用摇杆，需用户手动开启）
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// PLC reconnected: clear error message (don't auto-enable joystick, user must manually enable)
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ErrorMessage = null;
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_logger.Info("PLC 连接已恢复 | PLC connection restored");
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}
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}
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#endregion
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#region 使能开关与保存/恢复命令 | Enable Toggle and Save/Restore Commands
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/// <summary>
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/// 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
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/// </summary>
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private void ExecuteToggleEnable()
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{
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IsJoystickEnabled = !IsJoystickEnabled;
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_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)
|
||
}
|
||
|
||
/// <summary>
|
||
/// 保存当前 6 个轴位置到内部变量 | Save current 6 axis positions to internal variable
|
||
/// </summary>
|
||
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");
|
||
}
|
||
|
||
/// <summary>
|
||
/// 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
|
||
/// </summary>
|
||
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
|
||
|
||
/// <summary>
|
||
/// 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
|
||
/// </summary>
|
||
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;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 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
|
||
/// </summary>
|
||
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;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 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
|
||
/// </summary>
|
||
/// <param name="axisId">直线轴标识 | Linear axis identifier</param>
|
||
/// <param name="output">摇杆输出值（-1.0 ~ 1.0）| Joystick output value (-1.0 ~ 1.0)</param>
|
||
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);
|
||
});
|
||
}
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 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
|
||
/// </summary>
|
||
/// <param name="axisId">旋转轴标识 | Rotary axis identifier</param>
|
||
/// <param name="output">摇杆输出值（-1.0 ~ 1.0）| Joystick output value (-1.0 ~ 1.0)</param>
|
||
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);
|
||
});
|
||
}
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 停止双轴摇杆控制的所有轴 Jog | Stop all axes controlled by dual joystick
|
||
/// </summary>
|
||
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);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 停止单轴摇杆控制的所有轴 Jog | Stop all axes controlled by single joystick
|
||
/// </summary>
|
||
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);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 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)
|
||
/// </summary>
|
||
/// <returns>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</returns>
|
||
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
|
||
|
||
/// <summary>
|
||
/// 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
|
||
/// </summary>
|
||
/// <param name="propertyName">属性名称 | Property name</param>
|
||
/// <param name="isEditing">是否正在编辑 | Whether editing</param>
|
||
public void SetEditing(string propertyName, bool isEditing)
|
||
{
|
||
_editingFlags[propertyName] = isEditing;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 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
|
||
/// </summary>
|
||
/// <param name="propertyName">属性名称 | Property name</param>
|
||
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;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 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
|
||
/// </summary>
|
||
/// <param name="propertyName">属性名称 | Property name</param>
|
||
public void CancelEditing(string propertyName)
|
||
{
|
||
_editingFlags[propertyName] = false;
|
||
RestoreActualValue(propertyName);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 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
|
||
/// </summary>
|
||
/// <param name="propertyName">属性名称 | Property name</param>
|
||
/// <param name="delta">步进增量（默认 ±0.1）| Step delta (default ±0.1)</param>
|
||
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);
|
||
});
|
||
}
|
||
|
||
/// <summary>
|
||
/// 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
|
||
/// </summary>
|
||
/// <param name="propertyName">属性名称 | Property name</param>
|
||
/// <param name="value">目标值 | Target value</param>
|
||
/// <returns>操作结果 | Operation result</returns>
|
||
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}");
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 根据属性名称获取当前绑定值 | Get current bound value by property name
|
||
/// </summary>
|
||
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;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 根据属性名称设置绑定值 | Set bound value by property name
|
||
/// </summary>
|
||
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;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 恢复输入框为轴的当前实际值 | Restore input box to axis actual value
|
||
/// </summary>
|
||
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
|
||
|
||
/// <summary>
|
||
/// 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
|
||
/// </summary>
|
||
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);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 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
|
||
/// </summary>
|
||
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
|
||
|
||
/// <summary>
|
||
/// 保存的轴位置数据 | Saved axis position data
|
||
/// </summary>
|
||
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
|
||
}
|
||
}
|