台架程序tp化

ADP/App.xaml.cs

@@ -18,7 +18,7 @@ using static System.Runtime.InteropServices.JavaScript.JSType;
 using UIShare.GlobalVariable;
 using UIShare;
 using System;
-using DeviceCommand.Device;
+using DeviceCommand.Devices;
 using DeviceCommand.Base;
 using AutoMapper;
 using Microsoft.Extensions.Logging.Abstractions;

ADP/ViewModels/ShellViewModel.cs

@@ -1,5 +1,5 @@
 
-using DeviceCommand.Device;
+using DeviceCommand.Devices;
 using Logger;
 using MaterialDesignThemes.Wpf;
 using Microsoft.Win32;

BenchMovementModule/BenchMovementModule.cs

@@ -1,7 +1,5 @@
 using System.Reflection;
 using BenchMovementModule.Views;
-using BenchMovementModule.Views.Dialogs;
-using BenchMovementModule.ViewModels.Dialogs;
 
 namespace BenchMovementModule
 {
@@ -16,9 +14,6 @@ namespace BenchMovementModule
         public void RegisterTypes(IContainerRegistry containerRegistry)
         {
             containerRegistry.RegisterForNavigation<BenchMovementView>("BenchMovementView");
-
-            // 台架 TCP 连接配置弹窗
-            containerRegistry.RegisterDialog<GantryConfigDialogView, GantryConfigDialogViewModel>("GantryConfigDialog");
         }
     }
 }

BenchMovementModule/HardwareDrive/GantryControlTcp.cs

@@ -1,27 +0,0 @@
-using DeviceCommand.Base;
-using Model.Models;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace BenchMovementModule.HardwareDrive
-{
-    public class GantryControlTcp : GantryControlBase
-    {
-        // 暴露出底层的 ModbusTcp 实例以便修改网络配置
-        public ModbusTcp TcpDevice => (ModbusTcp)_device;
-
-        public GantryControlTcp(TcpConfig config, byte slaveAddress = 1)
-            : base(new ModbusTcp(config), slaveAddress)
-        {
-        }
-
-        public GantryControlTcp(string ipAddress, int port = 502, byte slaveAddress = 1)
-            : base(new ModbusTcp(), slaveAddress)
-        {
-            TcpDevice.ConfigureDevice(ipAddress, port);
-        }
-    }
-}

BenchMovementModule/ViewModels/BenchMovementViewModel.cs

@@ -1,10 +1,13 @@
 using System;
+using System.Linq;
 using System.Threading;
 using System.Threading.Tasks;
 using System.Windows.Input;
 using System.Windows.Threading;
-using BenchMovementModule.HardwareDrive;
+using DeviceCommand.Devices;
 using Logger;
+using Prism.Ioc;
+using UIShare.GlobalVariable;
 using UIShare.ViewModelBase;
 
 namespace BenchMovementModule.ViewModels
@@ -15,8 +18,10 @@ namespace BenchMovementModule.ViewModels
 
         public bool KeepAlive => true;
 
-        // ===== GantryControlTcp 实例 =====
+        // ===== GantryControlTcp 实例（从 DeviceManager 获取）=====
         private GantryControlTcp? _gantry;
+        private DeviceManager? _deviceManager;
+        private readonly GlobalInfo _globalInfo;
 
         // ===== 连接状态 =====
         private bool _isConnected;
@@ -116,7 +121,6 @@ namespace BenchMovementModule.ViewModels
         #endregion
 
         #region 命令
-        public ICommand OpenConfigCommand { get; }
         public ICommand ConnectCommand { get; }
         public ICommand DisconnectCommand { get; }
         public ICommand MoveXCommand { get; }
@@ -140,10 +144,7 @@ namespace BenchMovementModule.ViewModels
 
         public BenchMovementViewModel(IContainerProvider containerProvider) : base(containerProvider)
         {
-            // 创建 GantryControlTcp 实例（默认配置，用户可通过弹窗修改）
+            _globalInfo = containerProvider.Resolve<GlobalInfo>();
-            _gantry = new GantryControlTcp("192.168.0.30", 502);
-
-            OpenConfigCommand = new DelegateCommand(OnOpenConfig);
             ConnectCommand = new DelegateCommand(OnConnect);
             DisconnectCommand = new DelegateCommand(OnDisconnect);
             MoveXCommand = new DelegateCommand(OnMoveX);
@@ -169,16 +170,6 @@ namespace BenchMovementModule.ViewModels
 
         #region 命令处理
 
-        private void OnOpenConfig()
-        {
-            var param = new DialogParameters();
-            param.Add("Gantry", _gantry);
-            _dialogService.ShowDialog("GantryConfigDialog", param, result =>
-            {
-                UpdateConnectionStatus();
-            });
-        }
-
         private async void OnConnect()
         {
             if (_gantry == null) return;
@@ -470,14 +461,60 @@ namespace BenchMovementModule.ViewModels
             if (!_isInitiated)
             {
                 _isInitiated = true;
+                InitGantryFromDeviceManager();
+            }
+        }
+
+        /// <summary>
+        /// 从 DeviceManager.DeviceMap 中查找 GantryControlTcp 实例，
+        /// 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。
+        /// </summary>
+        private void InitGantryFromDeviceManager()
+        {
+            try
+            {
+                // 优先使用当前打开的作用域
+                IScopedProvider? scope = null;
+                if (!string.IsNullOrEmpty(_globalInfo.CurrentOpeningScope)
+                    && _globalInfo.ScopeDic.TryGetValue(_globalInfo.CurrentOpeningScope, out scope))
+                {
+                    // 找到了
+                }
+                else
+                {
+                    // 退而求其次，取任意可用作用域
+                    scope = _globalInfo.ScopeDic.Values.FirstOrDefault();
+                }
+
+                if (scope == null)
+                {
+                    LoggerHelper.Warn("[BenchMovement] 无可用的作用域，无法解析 DeviceManager。");
+                    return;
+                }
+
+                _deviceManager = scope.Resolve<DeviceManager>();
+                _gantry = _deviceManager.DeviceMap.Values.OfType<GantryControlTcp>().FirstOrDefault();
+
+                if (_gantry != null)
+                {
+                    LoggerHelper.Info($"[BenchMovement] 已从 DeviceManager 获取 GantryControlTcp 实例。");
+                    UpdateConnectionStatus();
+                }
+                else
+                {
+                    LoggerHelper.Warn("[BenchMovement] DeviceManager 中未找到 GantryControlTcp 设备，请检查设备配置。");
+                }
+            }
+            catch (Exception ex)
+            {
+                LoggerHelper.Error($"[BenchMovement] 初始化 GantryControlTcp 失败: {ex.Message}");
             }
         }
 
         public void Dispose()
         {
             _pollTimer.Stop();
-            _gantry?.Close();
+            // GantryControlTcp 由 DeviceManager 统一管理生命周期，此处仅停止轮询
-            _gantry?.TcpDevice?.Dispose();
         }
 
         #endregion

BenchMovementModule/ViewModels/Dialogs/GantryConfigDialogViewModel.cs

@@ -1,202 +0,0 @@
-using System.Collections.ObjectModel;
-using System.Windows.Input;
-using BenchMovementModule.HardwareDrive;
-using Logger;
-using UIShare.ViewModelBase;
-
-namespace BenchMovementModule.ViewModels.Dialogs
-{
-    public class GantryConfigDialogViewModel : DialogViewModelBase
-    {
-        #region 属性
-
-        private string _title = "台架 TCP 连接配置";
-        public string Title
-        {
-            get => _title;
-            set => SetProperty(ref _title, value);
-        }
-
-        private string _ipAddress = "192.168.0.30";
-        public string IpAddress
-        {
-            get => _ipAddress;
-            set => SetProperty(ref _ipAddress, value);
-        }
-
-        private int _port = 502;
-        public int Port
-        {
-            get => _port;
-            set => SetProperty(ref _port, value);
-        }
-
-        private int _sendTimeout = 3000;
-        public int SendTimeout
-        {
-            get => _sendTimeout;
-            set => SetProperty(ref _sendTimeout, value);
-        }
-
-        private int _receiveTimeout = 3000;
-        public int ReceiveTimeout
-        {
-            get => _receiveTimeout;
-            set => SetProperty(ref _receiveTimeout, value);
-        }
-
-        private bool _isConnected;
-        public bool IsConnected
-        {
-            get => _isConnected;
-            set => SetProperty(ref _isConnected, value);
-        }
-
-        private string _connectionStatus = "未连接";
-        public string ConnectionStatus
-        {
-            get => _connectionStatus;
-            set => SetProperty(ref _connectionStatus, value);
-        }
-
-        private string _errorMessage = string.Empty;
-        public string ErrorMessage
-        {
-            get => _errorMessage;
-            set => SetProperty(ref _errorMessage, value);
-        }
-
-        public ObservableCollection<int> CommonPorts { get; } = new()
-        {
-            502, 102, 80, 8080, 5020, 4840
-        };
-
-        public ObservableCollection<int> CommonTimeouts { get; } = new()
-        {
-            500, 1000, 2000, 3000, 5000, 10000
-        };
-
-        #endregion
-
-        #region 命令
-        public ICommand ConnectCommand { get; }
-        public ICommand DisconnectCommand { get; }
-        public ICommand CloseCommand { get; }
-        #endregion
-
-        private GantryControlTcp? _gantry;
-
-        public GantryConfigDialogViewModel(IContainerProvider containerProvider) : base(containerProvider)
-        {
-            ConnectCommand = new DelegateCommand(OnConnect);
-            DisconnectCommand = new DelegateCommand(OnDisconnect);
-            CloseCommand = new DelegateCommand(OnClose);
-        }
-
-        private void ApplyConfigToDevice()
-        {
-            if (_gantry?.TcpDevice == null) return;
-            _gantry.TcpDevice.ConfigureDevice(IpAddress, Port, SendTimeout, ReceiveTimeout);
-        }
-
-        private async void OnConnect()
-        {
-            ErrorMessage = string.Empty;
-
-            if (string.IsNullOrWhiteSpace(IpAddress))
-            {
-                ErrorMessage = "IP 地址不能为空";
-                return;
-            }
-            if (!System.Net.IPAddress.TryParse(IpAddress, out _))
-            {
-                ErrorMessage = "IP 地址格式不正确";
-                return;
-            }
-            if (Port <= 0 || Port > 65535)
-            {
-                ErrorMessage = "端口范围应在 1 - 65535";
-                return;
-            }
-
-            try
-            {
-                ConnectionStatus = "连接中...";
-                ApplyConfigToDevice();
-                bool ok = await _gantry!.ConnectAsync();
-                if (ok)
-                {
-                    IsConnected = true;
-                    ConnectionStatus = "已连接";
-                    LoggerHelper.Info($"[BenchMovement] 台架连接成功: {IpAddress}:{Port}");
-                }
-                else
-                {
-                    ConnectionStatus = "连接失败";
-                    ErrorMessage = "连接失败，请检查网络和设备状态";
-                }
-            }
-            catch (Exception ex)
-            {
-                ConnectionStatus = "连接失败";
-                ErrorMessage = $"连接异常: {ex.Message}";
-                LoggerHelper.Error($"[BenchMovement] 连接异常: {ex.Message}");
-            }
-        }
-
-        private void OnDisconnect()
-        {
-            if (_gantry == null) return;
-            try
-            {
-                _gantry.Close();
-                IsConnected = false;
-                ConnectionStatus = "未连接";
-                ErrorMessage = string.Empty;
-                LoggerHelper.Info("[BenchMovement] 台架已断开");
-            }
-            catch (Exception ex)
-            {
-                ErrorMessage = $"断开失败: {ex.Message}";
-                LoggerHelper.Error($"[BenchMovement] 断开失败: {ex.Message}");
-            }
-        }
-
-        private void OnClose()
-        {
-            RequestClose.Invoke(ButtonResult.OK);
-        }
-
-        #region Prism Dialog 规范
-
-        public override void OnDialogOpened(IDialogParameters parameters)
-        {
-            _eventAggregator.GetEvent<UIShare.PubEvent.OverlayEvent>().Publish(true);
-
-            if (parameters.ContainsKey("Gantry"))
-            {
-                _gantry = parameters.GetValue<GantryControlTcp>("Gantry");
-
-                // 从现有设备读取当前配置
-                if (_gantry?.TcpDevice != null)
-                {
-                    IpAddress = _gantry.TcpDevice.IPAddress;
-                    Port = _gantry.TcpDevice.Port;
-                    SendTimeout = _gantry.TcpDevice.SendTimeout;
-                    ReceiveTimeout = _gantry.TcpDevice.ReceiveTimeout;
-                }
-
-                // 同步当前连接状态
-                IsConnected = _gantry?.IsConnected ?? false;
-                ConnectionStatus = IsConnected ? "已连接" : "未连接";
-            }
-        }
-
-        public override void OnDialogClosed()
-        {
-            _eventAggregator.GetEvent<UIShare.PubEvent.OverlayEvent>().Publish(false);
-        }
-
-        #endregion
-    }
-}

BenchMovementModule/Views/BenchMovementView.xaml

@@ -195,8 +195,7 @@
                                 </Ellipse.Style>
                             </Ellipse>
                             <TextBlock Text="{Binding ConnectionStatus}" FontSize="16" FontWeight="Bold" VerticalAlignment="Center" Margin="0,0,20,0"/>
-                            <Button Content="配置连接" Width="100" Margin="0" Command="{Binding OpenConfigCommand}"/>
+                            <Button Content="连接" Width="80" Margin="0" Style="{StaticResource ConnectButtonStyle}" Command="{Binding ConnectCommand}"/>
-                            <Button Content="连接" Width="80" Margin="8,0,0,0" Style="{StaticResource ConnectButtonStyle}" Command="{Binding ConnectCommand}"/>
                             <Button Content="断开" Width="80" Margin="8,0,0,0" Style="{StaticResource StopButtonStyle}" Command="{Binding DisconnectCommand}"/>
                             <Button Content="刷新状态" Width="90" Margin="8,0,0,0" Command="{Binding ReadStatusCommand}"/>
                         </StackPanel>

BenchMovementModule/Views/Dialogs/GantryConfigDialogView.xaml

@@ -1,140 +0,0 @@
-<UserControl x:Class="BenchMovementModule.Views.Dialogs.GantryConfigDialogView"
-             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
-             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
-             xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
-             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
-             xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
-             xmlns:helpers="clr-namespace:UIShare.Helpers;assembly=UIShare"
-             xmlns:converters="clr-namespace:UIShare.Converters;assembly=UIShare"
-             mc:Ignorable="d"
-             xmlns:prism="http://prismlibrary.com/"
-             Background="White"
-             prism:ViewModelLocator.AutoWireViewModel="True"
-             Width="440"
-             Height="380">
-    <prism:Dialog.WindowStyle>
-        <Style BasedOn="{StaticResource DialogUserManageStyle}"
-               TargetType="Window" />
-    </prism:Dialog.WindowStyle>
-
-    <UserControl.Resources>
-        <converters:StringToVisibilityConverter x:Key="StringToVisibility"/>
-    </UserControl.Resources>
-
-    <GroupBox Padding="12,8,12,8"
-              helpers:WindowDragHelper.EnableWindowDrag="True">
-        <GroupBox.Header>
-            <Grid Margin="0">
-                <Grid.ColumnDefinitions>
-                    <ColumnDefinition />
-                    <ColumnDefinition Width="*" />
-                    <ColumnDefinition />
-                </Grid.ColumnDefinitions>
-                <TextBlock Text="{Binding Title}"
-                           Foreground="White"
-                           VerticalAlignment="Center"
-                           Margin="5,0,10,0" />
-            </Grid>
-        </GroupBox.Header>
-        <Grid>
-            <Grid.RowDefinitions>
-                <RowDefinition Height="*"/>
-                <RowDefinition Height="Auto"/>
-                <RowDefinition Height="Auto"/>
-                <RowDefinition Height="Auto"/>
-            </Grid.RowDefinitions>
-
-            <!-- 连接配置表单 -->
-            <Grid Grid.Row="0" Margin="0,4,0,0">
-                <Grid.ColumnDefinitions>
-                    <ColumnDefinition Width="120"/>
-                    <ColumnDefinition Width="*"/>
-                </Grid.ColumnDefinitions>
-                <Grid.RowDefinitions>
-                    <RowDefinition Height="Auto"/>
-                    <RowDefinition Height="Auto"/>
-                    <RowDefinition Height="Auto"/>
-                    <RowDefinition Height="Auto"/>
-                </Grid.RowDefinitions>
-
-                <TextBlock Grid.Row="0" Grid.Column="0"
-                           Text="IP 地址："
-                           VerticalAlignment="Center" Margin="0,6"/>
-                <TextBox Grid.Row="0" Grid.Column="1" Margin="0,6"
-                         materialDesign:HintAssist.Hint=""
-                         Text="{Binding IpAddress, UpdateSourceTrigger=PropertyChanged}"/>
-
-                <TextBlock Grid.Row="1" Grid.Column="0"
-                           Text="端口："
-                           VerticalAlignment="Center" Margin="0,6"/>
-                <ComboBox Grid.Row="1" Grid.Column="1" Margin="0,6"
-                          IsEditable="True"
-                          materialDesign:HintAssist.Hint=""
-                          ItemsSource="{Binding CommonPorts}"
-                          Text="{Binding Port, UpdateSourceTrigger=PropertyChanged}"/>
-
-                <TextBlock Grid.Row="2" Grid.Column="0"
-                           Text="发送超时(ms)："
-                           VerticalAlignment="Center" Margin="0,6"/>
-                <ComboBox Grid.Row="2" Grid.Column="1" Margin="0,6"
-                          IsEditable="True"
-                          materialDesign:HintAssist.Hint=""
-                          ItemsSource="{Binding CommonTimeouts}"
-                          Text="{Binding SendTimeout, UpdateSourceTrigger=PropertyChanged}"/>
-
-                <TextBlock Grid.Row="3" Grid.Column="0"
-                           Text="接收超时(ms)："
-                           VerticalAlignment="Center" Margin="0,6"/>
-                <ComboBox Grid.Row="3" Grid.Column="1" Margin="0,6"
-                          IsEditable="True"
-                          materialDesign:HintAssist.Hint=""
-                          ItemsSource="{Binding CommonTimeouts}"
-                          Text="{Binding ReceiveTimeout, UpdateSourceTrigger=PropertyChanged}"/>
-            </Grid>
-
-            <!-- 连接状态 -->
-            <StackPanel Grid.Row="1" Orientation="Horizontal" Margin="0,8,0,0">
-                <Ellipse Width="12" Height="12" Margin="0,0,6,0">
-                    <Ellipse.Style>
-                        <Style TargetType="Ellipse">
-                            <Setter Property="Fill" Value="#999999"/>
-                            <Style.Triggers>
-                                <DataTrigger Binding="{Binding IsConnected}" Value="True">
-                                    <Setter Property="Fill" Value="#5CB85C"/>
-                                </DataTrigger>
-                            </Style.Triggers>
-                        </Style>
-                    </Ellipse.Style>
-                </Ellipse>
-                <TextBlock Text="{Binding ConnectionStatus}" FontSize="14" FontWeight="Bold" VerticalAlignment="Center"/>
-            </StackPanel>
-
-            <!-- 错误提示 -->
-            <TextBlock Grid.Row="2"
-                       Margin="0,8,0,0"
-                       Foreground="#D32F2F"
-                       TextWrapping="Wrap"
-                       Text="{Binding ErrorMessage}"
-                       Visibility="{Binding ErrorMessage, Converter={StaticResource StringToVisibility}}"/>
-
-            <!-- 按钮区 -->
-            <StackPanel Grid.Row="3"
-                        Orientation="Horizontal"
-                        HorizontalAlignment="Right"
-                        Margin="0,12,0,0">
-                <Button Content="连接台架"
-                        Width="100" Padding="0,4"
-                        Margin="0,0,10,0"
-                        Command="{Binding ConnectCommand}"/>
-                <Button Content="断开台架"
-                        Width="100" Padding="0,4"
-                        Margin="0,0,10,0"
-                        Command="{Binding DisconnectCommand}"/>
-                <Button Content="关闭"
-                        Width="80" Padding="0,4"
-                        IsDefault="True"
-                        Command="{Binding CloseCommand}"/>
-            </StackPanel>
-        </Grid>
-    </GroupBox>
-</UserControl>

BenchMovementModule/Views/Dialogs/GantryConfigDialogView.xaml.cs

@@ -1,12 +0,0 @@
-using System.Windows.Controls;
-
-namespace BenchMovementModule.Views.Dialogs
-{
-    public partial class GantryConfigDialogView : UserControl
-    {
-        public GantryConfigDialogView()
-        {
-            InitializeComponent();
-        }
-    }
-}

DeviceCommand/Devices/GantryControlTcp.cs

@@ -1,4 +1,6 @@
-using DeviceCommand.Base;
+using Common.Attributes;
+using DeviceCommand.Base;
+using Model.Models;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -6,84 +8,74 @@ using System.Text;
 using System.Threading.Tasks;
 using System.Threading;
 
-namespace BenchMovementModule.HardwareDrive
+namespace DeviceCommand.Devices
 {
-    public abstract class GantryControlBase
+    [ADPCommand]
+    public class GantryControlTcp : ModbusTcp
     {
-        protected readonly IModbusDevice _device;
+        private readonly byte _slaveAddress=1;
-        protected readonly byte _slaveAddress;
+
+        // 向后兼容：TcpDevice 即自身（继承自 ModbusTcp）
+        public ModbusTcp TcpDevice => this;
+
+        public GantryControlTcp(TcpConfig config) : base(config)
+        {
+
+        }
 
         // =================================================================
         // ------------------ Coil / Bit 状态与控制 (位元件) ------------------
         // =================================================================
-        protected const ushort ADDR_M_ESTOP = 20496;          // 0x5010: 紧停
+        private const ushort ADDR_M_ESTOP = 20496;          // 0x5010: 紧停
-        protected const ushort ADDR_M_X_STOP = 41;            // 0x29: X轴停止
+        private const ushort ADDR_M_X_STOP = 41;            // 0x29: X轴停止
-        protected const ushort ADDR_M_Y_STOP = 42;            // 0x2A: Y轴停止
+        private const ushort ADDR_M_Y_STOP = 42;            // 0x2A: Y轴停止
-        protected const ushort ADDR_M_Z_STOP = 43;            // 0x2B: Z轴停止
+        private const ushort ADDR_M_Z_STOP = 43;            // 0x2B: Z轴停止
 
-        protected const ushort ADDR_M_X_START = 30;           // 0x1E: X轴指定位置启动
+        private const ushort ADDR_M_X_START = 30;           // 0x1E: X轴指定位置启动
-        protected const ushort ADDR_M_Y_START = 31;           // 0x1F: Y轴指定位置启动
+        private const ushort ADDR_M_Y_START = 31;           // 0x1F: Y轴指定位置启动
-        protected const ushort ADDR_M_Z_START = 35;           // 0x23: Z轴指定位置启动
+        private const ushort ADDR_M_Z_START = 35;           // 0x23: Z轴指定位置启动
 
-        protected const ushort ADDR_M_HOME_TRIGGER = 100;     // 0x64: 回原点触发
+        private const ushort ADDR_M_HOME_TRIGGER = 100;     // 0x64: 回原点触发
 
         // =================================================================
         // ------------------ 轴使能控制 (HM 寄存器) ------------------
         // =================================================================
-        protected const ushort ADDR_HM_AXIS1_ENABLE = 49408;  // 0xC100: 轴1使能 (X轴)
+        private const ushort ADDR_HM_AXIS1_ENABLE = 49408;  // 0xC100: 轴1使能 (X轴)
-        protected const ushort ADDR_HM_AXIS2_ENABLE = 49409;  // 0xC101: 轴2使能 (Y轴)
+        private const ushort ADDR_HM_AXIS2_ENABLE = 49409;  // 0xC101: 轴2使能 (Y轴)
-        protected const ushort ADDR_HM_AXIS3_ENABLE = 49410;  // 0xC102: 轴3使能 (Z轴)
+        private const ushort ADDR_HM_AXIS3_ENABLE = 49410;  // 0xC102: 轴3使能 (Z轴)
-        protected const ushort ADDR_HM_AXIS4_ENABLE = 49411;  // 0xC103: 轴4使能 
+        private const ushort ADDR_HM_AXIS4_ENABLE = 49411;  // 0xC103: 轴4使能
-        protected const ushort ADDR_HM_AXIS5_ENABLE = 49412;  // 0xC104: 轴5使能 
+        private const ushort ADDR_HM_AXIS5_ENABLE = 49412;  // 0xC104: 轴5使能
-        protected const ushort ADDR_HM_AXIS6_ENABLE = 49413;  // 0xC105: 轴6使能 
+        private const ushort ADDR_HM_AXIS6_ENABLE = 49413;  // 0xC105: 轴6使能
 
         // =================================================================
         // ------------------ 速度与位置参数 (HD 32位数据寄存器) --------------
         // =================================================================
-        protected const ushort ADDR_HD_HOME_POS_SPEED = 41288;   // 0xA148: 原点定位速度 (32位)
+        private const ushort ADDR_HD_HOME_POS_SPEED = 41288;   // 0xA148: 原点定位速度 (32位)
 
         // 轴原点位置
-        protected const ushort ADDR_HD_X_HOME_POS = 41198;      // 0xA0EE: X轴原点位 (32位)
+        private const ushort ADDR_HD_X_HOME_POS = 41198;      // 0xA0EE: X轴原点位 (32位)
-        protected const ushort ADDR_HD_Z_HOME_POS = 41208;      // 0xA0F8: Z轴原点位 (32位)
+        private const ushort ADDR_HD_Z_HOME_POS = 41208;      // 0xA0F8: Z轴原点位 (32位)
-        protected const ushort ADDR_HD_Y_HOME_POS = 41218;      // 0xA102: Y轴原点位 (32位)
+        private const ushort ADDR_HD_Y_HOME_POS = 41218;      // 0xA102: Y轴原点位 (32位)
 
         // 轴运行目标位置
-        protected const ushort ADDR_HD_Y_TARGET = 41228;        // 0xA10C: Y轴指定位置 (32位)
+        private const ushort ADDR_HD_Y_TARGET = 41228;        // 0xA10C: Y轴指定位置 (32位)
-        protected const ushort ADDR_HD_Z_TARGET = 41238;        // 0xA116: Z轴指定位置 (32位)
+        private const ushort ADDR_HD_Z_TARGET = 41238;        // 0xA116: Z轴指定位置 (32位)
-        protected const ushort ADDR_HD_X_TARGET = 41248;        // 0xA120: X轴指定位置 (32位)
+        private const ushort ADDR_HD_X_TARGET = 41248;        // 0xA120: X轴指定位置 (32位)
 
         // 轴运行速度
-        protected const ushort ADDR_HD_X_SPEED = 41318;         // 0xA166: X轴速度 (32位)
+        private const ushort ADDR_HD_X_SPEED = 41318;         // 0xA166: X轴速度 (32位)
-        protected const ushort ADDR_HD_Z_SPEED = 41328;         // 0xA170: Z轴速度 (32位)
+        private const ushort ADDR_HD_Z_SPEED = 41328;         // 0xA170: Z轴速度 (32位)
-        protected const ushort ADDR_HD_Y_SPEED = 41338;         // 0xA17A: Y轴速度 (32位)
+        private const ushort ADDR_HD_Y_SPEED = 41338;         // 0xA17A: Y轴速度 (32位)
 
         // =================================================================
         // ------------------ 轴绝对位置（只读，相对原点）------------------
         // =================================================================
-        protected const ushort ADDR_ABS_AXIS1_POS = 47232;      // 轴1绝对位置 (32位)
+        private const ushort ADDR_ABS_AXIS1_POS = 47232;      // 轴1绝对位置 (32位)
-        protected const ushort ADDR_ABS_AXIS2_POS = 47236;      // 轴2绝对位置 (32位)
+        private const ushort ADDR_ABS_AXIS2_POS = 47236;      // 轴2绝对位置 (32位)
-        protected const ushort ADDR_ABS_AXIS3_POS = 47240;      // 轴3绝对位置 (32位)
+        private const ushort ADDR_ABS_AXIS3_POS = 47240;      // 轴3绝对位置 (32位)
-        protected const ushort ADDR_ABS_AXIS4_POS = 47244;      // 轴4绝对位置 (32位)
+        private const ushort ADDR_ABS_AXIS4_POS = 47244;      // 轴4绝对位置 (32位)
-        protected const ushort ADDR_ABS_AXIS5_POS = 47248;      // 轴5绝对位置 (32位)
+        private const ushort ADDR_ABS_AXIS5_POS = 47248;      // 轴5绝对位置 (32位)
-        protected const ushort ADDR_ABS_AXIS6_POS = 47252;      // 轴6绝对位置 (32位)
+        private const ushort ADDR_ABS_AXIS6_POS = 47252;      // 轴6绝对位置 (32位)
-
-        public bool IsConnected => _device?.IsConnected ?? false;
-
-        protected GantryControlBase(IModbusDevice device, byte slaveAddress = 1)
-        {
-            _device = device ?? throw new ArgumentNullException(nameof(device));
-            _slaveAddress = slaveAddress;
-        }
-
-        public async Task<bool> ConnectAsync(CancellationToken ct = default)
-        {
-            return await _device.ConnectAsync(ct);
-        }
-
-        public void Close()
-        {
-            _device.Close();
-        }
 
         // =================================================================
         // ------------------ 核心控制逻辑与参数读写 ------------------------
@@ -106,7 +98,7 @@ namespace BenchMovementModule.HardwareDrive
                 _ => throw new ArgumentException("轴通道错误，仅支持 1 - 6", nameof(axis))
             };
 
-            await _device.WriteSingleCoilAsync(_slaveAddress, address, enable, ct);
+            await WriteSingleCoilAsync(_slaveAddress, address, enable, ct);
         }
 
         /// <summary>
@@ -123,7 +115,7 @@ namespace BenchMovementModule.HardwareDrive
                 _ => throw new ArgumentException("轴通道错误，仅支持 1(X), 2(Y), 3(Z)", nameof(axis))
             };
 
-            bool[] coils = await _device.ReadCoilsAsync(_slaveAddress, address, 1, ct);
+            bool[] coils = await ReadCoilsAsync(_slaveAddress, address, 1, ct);
             return coils != null && coils.Length > 0 && coils[0];
         }
 
@@ -144,9 +136,9 @@ namespace BenchMovementModule.HardwareDrive
             if (zPos < 0 || zPos > 20000)
                 throw new ArgumentOutOfRangeException(nameof(zPos), $"Z轴原点设置值 [{zPos}] 超出合法范围 (0 - 20000)");
 
-            await _device.WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_X_HOME_POS, Int32ToUshorts(xPos), ct);
+            await WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_X_HOME_POS, Int32ToUshorts(xPos), ct);
-            await _device.WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_Y_HOME_POS, Int32ToUshorts(yPos), ct);
+            await WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_Y_HOME_POS, Int32ToUshorts(yPos), ct);
-            await _device.WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_Z_HOME_POS, Int32ToUshorts(zPos), ct);
+            await WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_Z_HOME_POS, Int32ToUshorts(zPos), ct);
         }
 
         /// <summary>
@@ -156,7 +148,7 @@ namespace BenchMovementModule.HardwareDrive
         public async Task<(int X, int Y, int Z)> GetHomePositionAsync(CancellationToken ct = default)
         {
             // 41218(Y) - 41198(X) = 20，加Y轴自身的 2 个寄存器，共批量读取 22 个连续寄存器
-            ushort[] registers = await _device.ReadHoldingRegistersAsync(_slaveAddress, ADDR_HD_X_HOME_POS, 22, ct);
+            ushort[] registers = await ReadHoldingRegistersAsync(_slaveAddress, ADDR_HD_X_HOME_POS, 22, ct);
 
             if (registers == null || registers.Length < 22)
                 throw new InvalidOperationException("从 PLC 读取三轴原点位置失败，返回数据长度不足。");
@@ -176,7 +168,7 @@ namespace BenchMovementModule.HardwareDrive
             if (speed < 0 || speed > 100000)
                 throw new ArgumentOutOfRangeException(nameof(speed), $"回原点定位速度值 [{speed}] 超出合法范围 (0 - 100000)");
 
-            await _device.WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_HOME_POS_SPEED, Int32ToUshorts(speed), ct);
+            await WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_HOME_POS_SPEED, Int32ToUshorts(speed), ct);
         }
 
         /// <summary>
@@ -184,7 +176,7 @@ namespace BenchMovementModule.HardwareDrive
         /// </summary>
         public async Task<int> GetHomePositionSpeedAsync(CancellationToken ct = default)
         {
-            ushort[] registers = await _device.ReadHoldingRegistersAsync(_slaveAddress, ADDR_HD_HOME_POS_SPEED, 2, ct);
+            ushort[] registers = await ReadHoldingRegistersAsync(_slaveAddress, ADDR_HD_HOME_POS_SPEED, 2, ct);
 
             if (registers == null || registers.Length < 2)
                 throw new InvalidOperationException("从 PLC 读取回原点定位速度失败，返回数据长度不足。");
@@ -209,7 +201,7 @@ namespace BenchMovementModule.HardwareDrive
                 _ => throw new ArgumentException("轴通道错误，仅支持 1(X), 2(Y), 3(Z)", nameof(axis))
             };
 
-            await _device.WriteMultipleRegistersAsync(_slaveAddress, address, Int32ToUshorts(speed), ct);
+            await WriteMultipleRegistersAsync(_slaveAddress, address, Int32ToUshorts(speed), ct);
         }
 
         /// <summary>
@@ -225,7 +217,7 @@ namespace BenchMovementModule.HardwareDrive
                 _ => throw new ArgumentException("轴通道错误，仅支持 1(X), 2(Y), 3(Z)", nameof(axis))
             };
 
-            ushort[] registers = await _device.ReadHoldingRegistersAsync(_slaveAddress, address, 2, ct);
+            ushort[] registers = await ReadHoldingRegistersAsync(_slaveAddress, address, 2, ct);
             if (registers == null || registers.Length < 2)
                 throw new InvalidOperationException($"从 PLC 读取轴 {axis} 速度失败。");
 
@@ -274,7 +266,7 @@ namespace BenchMovementModule.HardwareDrive
                 );
             }
 
-            await _device.WriteMultipleRegistersAsync(_slaveAddress, targetAddress, Int32ToUshorts(targetPos), ct);
+            await WriteMultipleRegistersAsync(_slaveAddress, targetAddress, Int32ToUshorts(targetPos), ct);
         }
 
         /// <summary>
@@ -290,7 +282,7 @@ namespace BenchMovementModule.HardwareDrive
                 _ => throw new ArgumentException("轴通道错误，仅支持 1(X), 2(Y), 3(Z)", nameof(axis))
             };
 
-            ushort[] registers = await _device.ReadHoldingRegistersAsync(_slaveAddress, address, 2, ct);
+            ushort[] registers = await ReadHoldingRegistersAsync(_slaveAddress, address, 2, ct);
 
             if (registers == null || registers.Length < 2)
                 throw new InvalidOperationException($"从 PLC 读取轴 {axis} 目标位置失败。");
@@ -303,7 +295,7 @@ namespace BenchMovementModule.HardwareDrive
         /// </summary>
         public async Task SetEStopStateAsync(bool state, CancellationToken ct = default)
         {
-            await _device.WriteSingleCoilAsync(_slaveAddress, ADDR_M_ESTOP, state, ct);
+            await WriteSingleCoilAsync(_slaveAddress, ADDR_M_ESTOP, state, ct);
         }
 
         /// <summary>
@@ -319,7 +311,7 @@ namespace BenchMovementModule.HardwareDrive
                 _ => throw new ArgumentException("轴通道错误，仅支持 1(X), 2(Y), 3(Z)", nameof(axis))
             };
 
-            await _device.WriteSingleCoilAsync(_slaveAddress, address, state, ct);
+            await WriteSingleCoilAsync(_slaveAddress, address, state, ct);
         }
 
         /// <summary>
@@ -407,7 +399,7 @@ namespace BenchMovementModule.HardwareDrive
                 throw new InvalidOperationException($"无法全开启动！存在运行速度为 0 的轴。当前速度 -> X:{xSpeed}, Y:{ySpeed}, Z:{zSpeed}");
 
             // 2. 批量读取 1 ~ 6 号轴连续的使能状态线圈，极大地优化网络性能
-            bool[] enableStates = await _device.ReadCoilsAsync(_slaveAddress, ADDR_HM_AXIS1_ENABLE, 6, ct);
+            bool[] enableStates = await ReadCoilsAsync(_slaveAddress, ADDR_HM_AXIS1_ENABLE, 6, ct);
             if (enableStates == null || enableStates.Length < 6)
                 throw new InvalidOperationException("从 PLC 读取 1~6 号轴使能状态失败。");
 
@@ -418,7 +410,7 @@ namespace BenchMovementModule.HardwareDrive
             {
                 if (!enableStates[i])
                 {
-                    await _device.WriteSingleCoilAsync(_slaveAddress, enableAddresses[i], true, ct);
+                    await WriteSingleCoilAsync(_slaveAddress, enableAddresses[i], true, ct);
                     hasModifiedEnable = true;
                 }
             }
@@ -450,15 +442,15 @@ namespace BenchMovementModule.HardwareDrive
                 throw new ArgumentOutOfRangeException(nameof(zTarget), $"Z轴目标位置 [{zTarget}] 越界，当前原点下最大范围 0-{zMaxAllowed}");
 
             // 4. 全部联动校验通过，三轴点动同步启动
-            await _device.WriteSingleCoilAsync(_slaveAddress, ADDR_M_X_START, true, ct);
+            await WriteSingleCoilAsync(_slaveAddress, ADDR_M_X_START, true, ct);
-            await _device.WriteSingleCoilAsync(_slaveAddress, ADDR_M_Y_START, true, ct);
+            await WriteSingleCoilAsync(_slaveAddress, ADDR_M_Y_START, true, ct);
-            await _device.WriteSingleCoilAsync(_slaveAddress, ADDR_M_Z_START, true, ct);
+            await WriteSingleCoilAsync(_slaveAddress, ADDR_M_Z_START, true, ct);
 
             await Task.Delay(100, ct); // 保持高电平状态以适配 PLC 扫描周期
 
-            await _device.WriteSingleCoilAsync(_slaveAddress, ADDR_M_X_START, false, ct);
+            await WriteSingleCoilAsync(_slaveAddress, ADDR_M_X_START, false, ct);
-            await _device.WriteSingleCoilAsync(_slaveAddress, ADDR_M_Y_START, false, ct);
+            await WriteSingleCoilAsync(_slaveAddress, ADDR_M_Y_START, false, ct);
-            await _device.WriteSingleCoilAsync(_slaveAddress, ADDR_M_Z_START, false, ct);
+            await WriteSingleCoilAsync(_slaveAddress, ADDR_M_Z_START, false, ct);
         }
 
         #region 内部高低字工具转化方法
@@ -466,17 +458,17 @@ namespace BenchMovementModule.HardwareDrive
         /// <summary>
         /// 触发点动脉冲信号（置 1 后，等待 100ms 自动置 0 释放）
         /// </summary>
-        protected async Task TriggerCoilAsync(ushort address, CancellationToken ct = default)
+        private async Task TriggerCoilAsync(ushort address, CancellationToken ct = default)
         {
-            await _device.WriteSingleCoilAsync(_slaveAddress, address, true, ct);
+            await WriteSingleCoilAsync(_slaveAddress, address, true, ct);
             await Task.Delay(100, ct);
-            await _device.WriteSingleCoilAsync(_slaveAddress, address, false, ct);
+            await WriteSingleCoilAsync(_slaveAddress, address, false, ct);
         }
 
         /// <summary>
         /// 将 32 位整型数据转换为 Modbus 的 2 个 16 位无符号整数（低字在前 CDAB 格式）
         /// </summary>
-        protected ushort[] Int32ToUshorts(int value)
+        private ushort[] Int32ToUshorts(int value)
         {
             ushort lowWord = (ushort)(value & 0xFFFF);
             ushort highWord = (ushort)((value >> 16) & 0xFFFF);
@@ -486,7 +478,7 @@ namespace BenchMovementModule.HardwareDrive
         /// <summary>
         /// 将 Modbus 的 2 个 16 位无符号整数转换为 32 位整型（低字在前 CDAB 格式）
         /// </summary>
-        protected int UshortsToInt32(ushort[] registers)
+        private int UshortsToInt32(ushort[] registers)
         {
             uint lowWord = registers[0];
             uint highWord = registers[1];
@@ -514,7 +506,7 @@ namespace BenchMovementModule.HardwareDrive
                 _ => throw new ArgumentException("轴编号错误，仅支持 1-6", nameof(axis))
             };
 
-            ushort[] registers = await _device.ReadHoldingRegistersAsync(_slaveAddress, address, 2, ct);
+            ushort[] registers = await ReadHoldingRegistersAsync(_slaveAddress, address, 2, ct);
             if (registers == null || registers.Length < 2)
                 throw new InvalidOperationException($"读取轴 {axis} 绝对位置失败。");
 
@@ -528,7 +520,7 @@ namespace BenchMovementModule.HardwareDrive
         public async Task<(int Axis1, int Axis2, int Axis3, int Axis4, int Axis5, int Axis6)> GetAllAbsolutePositionsAsync(CancellationToken ct = default)
         {
             // 从 47232 开始连续读取 22 个寄存器（覆盖 47232-47253）
-            ushort[] registers = await _device.ReadHoldingRegistersAsync(_slaveAddress, ADDR_ABS_AXIS1_POS, 22, ct);
+            ushort[] registers = await ReadHoldingRegistersAsync(_slaveAddress, ADDR_ABS_AXIS1_POS, 22, ct);
             if (registers == null || registers.Length < 22)
                 throw new InvalidOperationException("批量读取 6 轴绝对位置失败，返回数据长度不足。");
 
@@ -545,4 +537,4 @@ namespace BenchMovementModule.HardwareDrive
 
         #endregion
     }
-}
+}

DeviceCommand/Devices/IOBoard.cs

@@ -9,7 +9,7 @@ using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 
-namespace DeviceCommand.Device
+namespace DeviceCommand.Devices
 {
     //[ADPCommand]
     public class IOBoard : ModbusTcp

DeviceCommand/Devices/IOBoardGroup.cs

@@ -5,7 +5,7 @@ using System.Collections.Generic;
 using System.Threading.Tasks;
 using System.Threading;
 using DeviceCommand.Base;
-using DeviceCommand.Device;
+using DeviceCommand.Devices;
 using System.ComponentModel;
 
 namespace DeviceCommand.Devices

DeviceCommand/Devices/IT7800E.cs

@@ -6,7 +6,7 @@ using System.Globalization;
 using System.Threading;
 using System.Threading.Tasks;
 
-namespace DeviceCommand.Device
+namespace DeviceCommand.Devices
 {
     [ADPCommand]
     public class IT7800E : Tcp

DeviceCommand/Devices/N36200.cs

@@ -6,7 +6,7 @@ using System.Globalization;
 using System.Threading;
 using System.Threading.Tasks;
 
-namespace DeviceCommand.Device
+namespace DeviceCommand.Devices
 {
     //[ADPCommand]
     public class N36200 : Tcp

DeviceCommand/Devices/N36600.cs

@@ -7,7 +7,7 @@ using System.Globalization;
 using System.Threading;
 using System.Threading.Tasks;
 
-namespace DeviceCommand.Device
+namespace DeviceCommand.Devices
 {
     [ADPCommand]
     public class N36600 : Tcp

DeviceCommand/Devices/N69200.cs

@@ -6,7 +6,7 @@ using System.Globalization;
 using System.Threading;
 using System.Threading.Tasks;
 
-namespace DeviceCommand.Device
+namespace DeviceCommand.Devices
 {
     [ADPCommand]
     public class N69200 : Tcp

DeviceCommand/Devices/SDS2000X_HD.cs

@@ -7,7 +7,7 @@ using System.Text;
 using System.Threading;
 using System.Threading.Tasks;
 
-namespace DeviceCommand.Device
+namespace DeviceCommand.Devices
 {
     [ADPCommand]
     public class SDS2000X_HD : Tcp

DeviceCommand/Devices/SPAW7000.cs

@@ -6,7 +6,7 @@ using System.Globalization;
 using System.Threading;
 using System.Threading.Tasks;
 
-namespace DeviceCommand.Device
+namespace DeviceCommand.Devices
 {
     [ADPCommand]
     public class SPAW7000 : Tcp

DeviceEditModule/ViewModels/IT7800EViewModel.cs

@@ -1,4 +1,4 @@
-using DeviceCommand.Device;
+using DeviceCommand.Devices;
 using Prism.Commands;
 using Prism.Ioc;
 using System;

DeviceEditModule/ViewModels/N36200ViewModel.cs

@@ -1,4 +1,4 @@
-using DeviceCommand.Device;
+using DeviceCommand.Devices;
 using Prism.Commands;
 using Prism.Ioc;
 using System;

DeviceEditModule/ViewModels/N36600ViewModel.cs

@@ -1,4 +1,4 @@
-using DeviceCommand.Device;
+using DeviceCommand.Devices;
 using Prism.Commands;
 using Prism.Ioc;
 using System;

DeviceEditModule/ViewModels/N69200ViewModel.cs

@@ -1,4 +1,4 @@
-using DeviceCommand.Device;
+using DeviceCommand.Devices;
 using Prism.Commands;
 using Prism.Ioc;
 using System;

DeviceEditModule/ViewModels/SDS2000X_HDViewModel.cs

@@ -1,4 +1,4 @@
-using DeviceCommand.Device;
+using DeviceCommand.Devices;
 using Prism.Commands;
 using Prism.Ioc;
 using System;
@@ -9,7 +9,7 @@ using System.Threading.Tasks;
 using System.Windows.Input;
 using UIShare.GlobalVariable;
 using UIShare.ViewModelBase;
-using static DeviceCommand.Device.SDS2000X_HD;
+using static DeviceCommand.Devices.SDS2000X_HD;
 
 namespace DeviceEditModule.ViewModels
 {

DeviceEditModule/ViewModels/SPAW7000ViewModel.cs

@@ -1,4 +1,4 @@
-using DeviceCommand.Device;
+using DeviceCommand.Devices;
 using Prism.Commands;
 using Prism.Ioc;
 using System;

MainModule/MainModule.cs

@@ -1,5 +1,5 @@
 using DeviceCommand.Base;
-using DeviceCommand.Device;
+using DeviceCommand.Devices;
 using MainModule.Views;
 using System.Reflection;
 using UIShare.GlobalVariable;

MainModule/ViewModels/AutomatedTestingViewModel.cs

@@ -1,7 +1,6 @@
 using System;
 using System.IO;
 using System.Windows.Input;
-using DeviceCommand.Device;
 using DeviceCommand.Devices;
 using Logger;
 using Prism.Ioc;

TestingModule/ViewModels/CommandTreeViewModel.cs

@@ -333,7 +333,7 @@ namespace TestingModule.ViewModels
                     foreach (var type in validTypes)
                     {
                         //拦截没有在设备列表中的设备类型
-                        //if (_systemConfig.DeviceList.Where(x=>x.Remark==type.Name).ToList().Count==0 && type.FullName.Contains("DeviceCommand.Device"))
+                        //if (_systemConfig.DeviceList.Where(x=>x.Remark==type.Name).ToList().Count==0 && type.FullName.Contains("DeviceCommand.Devices"))
                         //{
                         //    continue;
                         //}

UIShare/GlobalVariable/DeviceManager.cs

@@ -1,5 +1,4 @@
 using DeviceCommand.Base;
-using DeviceCommand.Device;
 using DeviceCommand.Devices;
 using Logger;
 using Model.Models;

UIShare/UIViewModel/ParameterVM.cs

@@ -5,6 +5,8 @@ using System.Collections.Generic;
 
 namespace UIShare.UIViewModel
 {
+   
+  
     public class ParameterVM : BindableBase
     {
         #region 构造函数