523 lines
18 KiB
C#
523 lines
18 KiB
C#
using System;
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using System.Linq;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Windows.Input;
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using System.Windows.Threading;
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using DeviceCommand.Devices;
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using Logger;
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using Prism.Ioc;
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using UIShare.GlobalVariable;
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using UIShare.ViewModelBase;
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namespace BenchMovementModule.ViewModels
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{
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public class BenchMovementViewModel : NavigateViewModelBase, IRegionMemberLifetime, IDisposable
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{
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#region 属性
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public bool KeepAlive => true;
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// ===== GantryControlTcp 实例（从 DeviceManager 获取）=====
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private GantryControlTcp? _gantry;
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private DeviceManager? _deviceManager;
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private readonly GlobalInfo _globalInfo;
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// ===== 连接状态 =====
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private bool _isConnected;
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public bool IsConnected
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{
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get => _isConnected;
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set => SetProperty(ref _isConnected, value);
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}
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private string _connectionStatus = "未连接";
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public string ConnectionStatus
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{
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get => _connectionStatus;
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set => SetProperty(ref _connectionStatus, value);
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}
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// ===== 6轴绝对位置显示（相对原点的实时位置，只读）=====
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private int _absPos1;
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public int AbsPos1 { get => _absPos1; set => SetProperty(ref _absPos1, value); }
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private int _absPos2;
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public int AbsPos2 { get => _absPos2; set => SetProperty(ref _absPos2, value); }
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private int _absPos3;
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public int AbsPos3 { get => _absPos3; set => SetProperty(ref _absPos3, value); }
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private int _absPos4;
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public int AbsPos4 { get => _absPos4; set => SetProperty(ref _absPos4, value); }
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private int _absPos5;
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public int AbsPos5 { get => _absPos5; set => SetProperty(ref _absPos5, value); }
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private int _absPos6;
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public int AbsPos6 { get => _absPos6; set => SetProperty(ref _absPos6, value); }
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// ===== 寸动目标位置 =====
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private int _targetX;
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public int TargetX { get => _targetX; set => SetProperty(ref _targetX, value); }
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private int _targetY;
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public int TargetY { get => _targetY; set => SetProperty(ref _targetY, value); }
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private int _targetZ;
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public int TargetZ { get => _targetZ; set => SetProperty(ref _targetZ, value); }
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// ===== 扫描参数 =====
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private int _scanStepX = 1000;
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public int ScanStepX { get => _scanStepX; set => SetProperty(ref _scanStepX, value); }
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private int _scanStartX;
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public int ScanStartX { get => _scanStartX; set => SetProperty(ref _scanStartX, value); }
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private int _scanEndX = 50000;
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public int ScanEndX { get => _scanEndX; set => SetProperty(ref _scanEndX, value); }
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private int _scanStepY = 1000;
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public int ScanStepY { get => _scanStepY; set => SetProperty(ref _scanStepY, value); }
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private int _scanStartY;
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public int ScanStartY { get => _scanStartY; set => SetProperty(ref _scanStartY, value); }
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private int _scanEndY = 50000;
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public int ScanEndY { get => _scanEndY; set => SetProperty(ref _scanEndY, value); }
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private int _scanStepZ = 100;
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public int ScanStepZ { get => _scanStepZ; set => SetProperty(ref _scanStepZ, value); }
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private int _scanStartZ;
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public int ScanStartZ { get => _scanStartZ; set => SetProperty(ref _scanStartZ, value); }
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private int _scanEndZ = 20000;
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public int ScanEndZ { get => _scanEndZ; set => SetProperty(ref _scanEndZ, value); }
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// ===== 速度设定（脉冲）=====
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private int _speedX = 5000;
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public int SpeedX { get => _speedX; set => SetProperty(ref _speedX, value); }
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private int _speedY = 5000;
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public int SpeedY { get => _speedY; set => SetProperty(ref _speedY, value); }
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private int _speedZ = 2000;
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public int SpeedZ { get => _speedZ; set => SetProperty(ref _speedZ, value); }
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private int _homeSpeed = 3000;
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public int HomeSpeed { get => _homeSpeed; set => SetProperty(ref _homeSpeed, value); }
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// ===== 零点设定 =====
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private int _homeX;
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public int HomeX { get => _homeX; set => SetProperty(ref _homeX, value); }
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private int _homeY;
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public int HomeY { get => _homeY; set => SetProperty(ref _homeY, value); }
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private int _homeZ;
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public int HomeZ { get => _homeZ; set => SetProperty(ref _homeZ, value); }
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#endregion
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#region 命令
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public ICommand ConnectCommand { get; }
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public ICommand DisconnectCommand { get; }
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public ICommand MoveXCommand { get; }
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public ICommand MoveYCommand { get; }
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public ICommand MoveZCommand { get; }
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public ICommand MoveAllCommand { get; }
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public ICommand GoHomeCommand { get; }
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public ICommand EmergencyStopCommand { get; }
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public ICommand StopXCommand { get; }
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public ICommand StopYCommand { get; }
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public ICommand StopZCommand { get; }
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public ICommand SetSpeedCommand { get; }
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public ICommand SetHomeCommand { get; }
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public ICommand ReadStatusCommand { get; }
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#endregion
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#region 私有字段
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private readonly DispatcherTimer _pollTimer;
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private bool _isInitiated = false;
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#endregion
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public BenchMovementViewModel(IContainerProvider containerProvider) : base(containerProvider)
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{
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_globalInfo = containerProvider.Resolve<GlobalInfo>();
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ConnectCommand = new DelegateCommand(OnConnect);
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DisconnectCommand = new DelegateCommand(OnDisconnect);
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MoveXCommand = new DelegateCommand(OnMoveX);
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MoveYCommand = new DelegateCommand(OnMoveY);
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MoveZCommand = new DelegateCommand(OnMoveZ);
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MoveAllCommand = new DelegateCommand(OnMoveAll);
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GoHomeCommand = new DelegateCommand(OnGoHome);
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EmergencyStopCommand = new DelegateCommand(OnEmergencyStop);
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StopXCommand = new DelegateCommand(OnStopX);
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StopYCommand = new DelegateCommand(OnStopY);
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StopZCommand = new DelegateCommand(OnStopZ);
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SetSpeedCommand = new DelegateCommand(OnSetSpeed);
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SetHomeCommand = new DelegateCommand(OnSetHome);
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ReadStatusCommand = new DelegateCommand(OnReadStatus);
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// 位置轮询定时器（500ms）
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_pollTimer = new DispatcherTimer(DispatcherPriority.Background)
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{
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Interval = TimeSpan.FromMilliseconds(500)
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};
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_pollTimer.Tick += OnPollTick;
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}
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#region 命令处理
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private async void OnConnect()
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{
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if (_gantry == null) return;
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try
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{
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ConnectionStatus = "连接中...";
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bool ok = await _gantry.ConnectAsync();
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if (ok)
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{
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IsConnected = true;
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ConnectionStatus = "已连接";
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_pollTimer.Start();
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await ReadDeviceParametersAsync();
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LoggerHelper.Info("[BenchMovement] 台架连接成功");
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}
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else
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{
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ConnectionStatus = "连接失败";
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}
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}
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catch (Exception ex)
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{
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LoggerHelper.Error($"[BenchMovement] 连接失败: {ex.Message}");
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ConnectionStatus = $"连接失败: {ex.Message}";
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}
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UpdateConnectionStatus();
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}
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private void OnDisconnect()
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{
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if (_gantry == null) return;
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try
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{
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_pollTimer.Stop();
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_gantry.Close();
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IsConnected = false;
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ConnectionStatus = "未连接";
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LoggerHelper.Info("[BenchMovement] 台架已断开");
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}
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catch (Exception ex)
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{
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LoggerHelper.Error($"[BenchMovement] 断开失败: {ex.Message}");
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}
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UpdateConnectionStatus();
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}
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private async void OnMoveX()
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{
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if (!EnsureConnected()) return;
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try
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{
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await _gantry!.SetAxisTargetPositionAsync(1, TargetX);
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await _gantry.StartSingleAxisAsync(1);
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LoggerHelper.Info($"[BenchMovement] X轴移动到 {TargetX}");
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}
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catch (Exception ex)
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{
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LoggerHelper.Error($"[BenchMovement] X轴移动失败: {ex.Message}");
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ShowErrorMessageBox($"X轴移动失败: {ex.Message}", () => { });
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}
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}
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private async void OnMoveY()
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{
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if (!EnsureConnected()) return;
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try
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{
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await _gantry!.SetAxisTargetPositionAsync(2, TargetY);
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await _gantry.StartSingleAxisAsync(2);
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LoggerHelper.Info($"[BenchMovement] Y轴移动到 {TargetY}");
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}
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catch (Exception ex)
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{
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LoggerHelper.Error($"[BenchMovement] Y轴移动失败: {ex.Message}");
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ShowErrorMessageBox($"Y轴移动失败: {ex.Message}", () => { });
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}
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}
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private async void OnMoveZ()
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{
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if (!EnsureConnected()) return;
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try
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{
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await _gantry!.SetAxisTargetPositionAsync(3, TargetZ);
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await _gantry.StartSingleAxisAsync(3);
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LoggerHelper.Info($"[BenchMovement] Z轴移动到 {TargetZ}");
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}
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catch (Exception ex)
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{
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LoggerHelper.Error($"[BenchMovement] Z轴移动失败: {ex.Message}");
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ShowErrorMessageBox($"Z轴移动失败: {ex.Message}", () => { });
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}
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}
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private async void OnMoveAll()
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{
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if (!EnsureConnected()) return;
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try
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{
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await _gantry!.SetAxisTargetPositionAsync(1, TargetX);
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await _gantry.SetAxisTargetPositionAsync(2, TargetY);
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await _gantry.SetAxisTargetPositionAsync(3, TargetZ);
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await _gantry.StartAllAxesAsync();
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LoggerHelper.Info($"[BenchMovement] 三轴同时移动: X={TargetX}, Y={TargetY}, Z={TargetZ}");
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}
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catch (Exception ex)
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{
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LoggerHelper.Error($"[BenchMovement] 三轴移动失败: {ex.Message}");
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ShowErrorMessageBox($"三轴移动失败: {ex.Message}", () => { });
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}
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}
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private async void OnGoHome()
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{
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if (!EnsureConnected()) return;
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try
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{
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await _gantry!.HomeAsync();
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LoggerHelper.Info("[BenchMovement] 回原点已触发");
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}
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catch (Exception ex)
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{
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LoggerHelper.Error($"[BenchMovement] 回原点失败: {ex.Message}");
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ShowErrorMessageBox($"回原点失败: {ex.Message}", () => { });
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}
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}
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private async void OnEmergencyStop()
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{
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if (!EnsureConnected()) return;
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try
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{
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await _gantry!.SetEStopStateAsync(true);
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LoggerHelper.Info("[BenchMovement] 急停已触发");
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}
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catch (Exception ex)
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{
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LoggerHelper.Error($"[BenchMovement] 急停失败: {ex.Message}");
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}
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}
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private async void OnStopX()
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{
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if (!EnsureConnected()) return;
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try
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{
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await _gantry!.SetStopStateAsync(1, true);
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await Task.Delay(100);
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await _gantry.SetStopStateAsync(1, false);
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}
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catch (Exception ex)
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{
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LoggerHelper.Error($"[BenchMovement] X轴停止失败: {ex.Message}");
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}
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}
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private async void OnStopY()
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{
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if (!EnsureConnected()) return;
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try
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{
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await _gantry!.SetStopStateAsync(2, true);
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await Task.Delay(100);
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await _gantry.SetStopStateAsync(2, false);
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}
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catch (Exception ex)
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{
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LoggerHelper.Error($"[BenchMovement] Y轴停止失败: {ex.Message}");
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}
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}
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private async void OnStopZ()
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{
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if (!EnsureConnected()) return;
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try
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{
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await _gantry!.SetStopStateAsync(3, true);
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await Task.Delay(100);
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await _gantry.SetStopStateAsync(3, false);
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}
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catch (Exception ex)
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{
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LoggerHelper.Error($"[BenchMovement] Z轴停止失败: {ex.Message}");
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}
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}
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private async void OnSetSpeed()
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{
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if (!EnsureConnected()) return;
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try
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{
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await _gantry!.SetAxisSpeedAsync(1, SpeedX);
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await _gantry.SetAxisSpeedAsync(2, SpeedY);
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await _gantry.SetAxisSpeedAsync(3, SpeedZ);
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await _gantry.SetHomePositionSpeedAsync(HomeSpeed);
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LoggerHelper.Info($"[BenchMovement] 速度设定完成: X={SpeedX}, Y={SpeedY}, Z={SpeedZ}, 回零={HomeSpeed}");
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}
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catch (Exception ex)
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{
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LoggerHelper.Error($"[BenchMovement] 速度设定失败: {ex.Message}");
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ShowErrorMessageBox($"速度设定失败: {ex.Message}", () => { });
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}
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}
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private async void OnSetHome()
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{
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if (!EnsureConnected()) return;
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try
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{
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await _gantry!.SetHomePositionAsync(HomeX, HomeY, HomeZ);
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LoggerHelper.Info($"[BenchMovement] 零点设定完成: X={HomeX}, Y={HomeY}, Z={HomeZ}");
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}
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catch (Exception ex)
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{
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LoggerHelper.Error($"[BenchMovement] 零点设定失败: {ex.Message}");
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ShowErrorMessageBox($"零点设定失败: {ex.Message}", () => { });
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}
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}
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private async void OnReadStatus()
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{
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await ReadDeviceParametersAsync();
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}
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#endregion
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#region 辅助方法
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private bool EnsureConnected()
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{
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if (_gantry == null || !_gantry.IsConnected)
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{
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ShowErrorMessageBox("设备未连接，请先连接台架", () => { });
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return false;
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}
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return true;
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}
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private void UpdateConnectionStatus()
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{
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IsConnected = _gantry?.IsConnected ?? false;
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ConnectionStatus = IsConnected ? "已连接" : "未连接";
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}
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private async Task ReadDeviceParametersAsync()
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{
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if (_gantry == null || !_gantry.IsConnected) return;
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try
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{
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var (x, y, z) = await _gantry.GetHomePositionAsync();
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HomeX = x; HomeY = y; HomeZ = z;
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SpeedX = await _gantry.GetAxisSpeedAsync(1);
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SpeedY = await _gantry.GetAxisSpeedAsync(2);
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SpeedZ = await _gantry.GetAxisSpeedAsync(3);
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HomeSpeed = await _gantry.GetHomePositionSpeedAsync();
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// 读取 6 轴绝对位置
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var positions = await _gantry.GetAllAbsolutePositionsAsync();
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AbsPos1 = positions.Axis1; AbsPos2 = positions.Axis2; AbsPos3 = positions.Axis3;
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AbsPos4 = positions.Axis4; AbsPos5 = positions.Axis5; AbsPos6 = positions.Axis6;
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}
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catch (Exception ex)
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{
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LoggerHelper.Error($"[BenchMovement] 读取设备参数失败: {ex.Message}");
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}
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}
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private async void OnPollTick(object? sender, EventArgs e)
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{
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if (_gantry == null || !_gantry.IsConnected) return;
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try
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{
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// 批量读取 6 轴绝对位置（一次性通信，高效）
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var pos = await _gantry.GetAllAbsolutePositionsAsync();
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AbsPos1 = pos.Axis1; AbsPos2 = pos.Axis2; AbsPos3 = pos.Axis3;
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AbsPos4 = pos.Axis4; AbsPos5 = pos.Axis5; AbsPos6 = pos.Axis6;
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}
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catch { /* 忽略轮询错误 */ }
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}
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#endregion
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#region 生命周期
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public override void OnNavigatedTo(NavigationContext navigationContext)
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{
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base.OnNavigatedTo(navigationContext);
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if (!_isInitiated)
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{
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_isInitiated = true;
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InitGantryFromDeviceManager();
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}
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}
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/// <summary>
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/// 从 DeviceManager.DeviceMap 中查找 GantryControlTcp 实例，
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/// 优先使用当前打开的作用域，找不到则取任意已注册作用域。
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/// </summary>
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private void InitGantryFromDeviceManager()
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{
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try
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{
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// 优先使用当前打开的作用域
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IScopedProvider? scope = null;
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if (!string.IsNullOrEmpty(_globalInfo.CurrentOpeningScope)
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&& _globalInfo.ScopeDic.TryGetValue(_globalInfo.CurrentOpeningScope, out scope))
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{
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// 找到了
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}
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else
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{
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// 退而求其次，取任意可用作用域
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scope = _globalInfo.ScopeDic.Values.FirstOrDefault();
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}
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if (scope == null)
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{
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LoggerHelper.Warn("[BenchMovement] 无可用的作用域，无法解析 DeviceManager。");
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return;
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}
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_deviceManager = scope.Resolve<DeviceManager>();
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_gantry = _deviceManager.DeviceMap.Values.OfType<GantryControlTcp>().FirstOrDefault();
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if (_gantry != null)
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{
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LoggerHelper.Info($"[BenchMovement] 已从 DeviceManager 获取 GantryControlTcp 实例。");
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UpdateConnectionStatus();
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}
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else
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{
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LoggerHelper.Warn("[BenchMovement] DeviceManager 中未找到 GantryControlTcp 设备，请检查设备配置。");
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}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LoggerHelper.Error($"[BenchMovement] 初始化 GantryControlTcp 失败: {ex.Message}");
|
||
}
|
||
}
|
||
|
||
public void Dispose()
|
||
{
|
||
_pollTimer.Stop();
|
||
// GantryControlTcp 由 DeviceManager 统一管理生命周期，此处仅停止轮询
|
||
}
|
||
|
||
#endregion
|
||
}
|
||
}
|