添加 MX-PD-盘古项目文件

将 MX-PD-盘古 - new 目录下的所有文件添加到主仓库
2026-05-18 11:43:09 +08:00
parent 03632a379d
commit e31d3560bb
739 changed files with 99783 additions and 0 deletions
--- a/new/PanGu.DieBonderApp/MainShell/Common/Display/Models/CameraAxisDevices.cs
+++ b/new/PanGu.DieBonderApp/MainShell/Common/Display/Models/CameraAxisDevices.cs
@@ -0,0 +1,97 @@
+using MaxwellFramework.Core.Common;
+using MwFramework.Controls.ControlCanvas.Model;
+using MwFramework.ManagerService;
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace MainShell.Common.Display.Models
+{
+    public class CameraAxisDevices : ViewModelBase
+    {
+        List<HardwareDevice> _hardwareDeviceList = new List<HardwareDevice>();
+        HardwareDevice _selectedHardwareDevice = new HardwareDevice();
+        private ObservableCollection<object> _shapes = new ObservableCollection<object>();
+        private int _selectedIndex = 0;
+        private bool _cameraSwitchEnable = true;
+
+        public List<HardwareDevice> HardwareDeviceList
+        {
+            get { return _hardwareDeviceList; }
+            set
+            {
+                if (_hardwareDeviceList == value)
+                {
+                    return;
+                }
+
+                _hardwareDeviceList = value;
+
+                if (_hardwareDeviceList != null && _hardwareDeviceList.Count > 0)
+                {
+                    _selectedIndex = 0;
+                    SelectedHardwareDevice = _hardwareDeviceList[_selectedIndex];
+                    RaisePropertyChanged(nameof(SelectedIndex));
+                }
+
+                RaisePropertyChanged(nameof(HardwareDeviceList));
+            }
+        }
+        public HardwareDevice SelectedHardwareDevice
+        {
+            get { return _selectedHardwareDevice; }
+            set
+            {
+                if (_selectedHardwareDevice != null && _selectedHardwareDevice.Camera != null && value != null && value.Camera != null)
+                {
+
+                }
+                _selectedHardwareDevice = value; RaisePropertyChanged(nameof(SelectedHardwareDevice));
+            }
+        }
+
+        public ObservableCollection<object> Shapes
+        {
+            get { return _shapes; }
+            set
+            {
+                if (_shapes != value) { _shapes = value; RaisePropertyChanged(nameof(Shapes)); }
+            }
+        }
+        private ObservableCollection<PrimShape> _regions = new ObservableCollection<PrimShape>();
+        public ObservableCollection<PrimShape> Regions
+        {
+            get { return _regions; }
+            set
+            {
+                SetAndNotify(ref _regions, value);
+            }
+        }
+        public int SelectedIndex
+        {
+            get { return _selectedIndex; }
+            set
+            {
+                _selectedIndex = value;
+                if (HardwareDeviceList != null && HardwareDeviceList.Count > 0 && _selectedIndex >= 0)
+                {
+                    if (_selectedIndex < HardwareDeviceList.Count)
+                    {
+                        SelectedHardwareDevice = HardwareDeviceList[_selectedIndex];
+                    }
+
+                }
+                RaisePropertyChanged(nameof(SelectedIndex));
+            }
+        }
+
+        public bool CameraSwitchEnable
+        {
+            get { return _cameraSwitchEnable; }
+            set { _cameraSwitchEnable = value; RaisePropertyChanged(nameof(CameraSwitchEnable)); }
+        }
+    }
+}
--- a/new/PanGu.DieBonderApp/MainShell/Common/Display/View/CameraAxisView.xaml
+++ b/new/PanGu.DieBonderApp/MainShell/Common/Display/View/CameraAxisView.xaml
@@ -0,0 +1,30 @@
+<UserControl x:Class="MainShell.Common.Display.View.CameraAxisView"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:local="clr-namespace:MainShell.Common.Display.View"
+             xmlns:control="http://www.maxwell.com/controls"
+             xmlns:i="http://schemas.microsoft.com/xaml/behaviors"
+             mc:Ignorable="d" 
+             d:DesignHeight="450" d:DesignWidth="800">
+    <Grid>
+        <CheckBox Panel.ZIndex="2" IsChecked="{Binding IsOpen, UpdateSourceTrigger=PropertyChanged}" Cursor="Hand" Margin="2,2" Foreground="White" HorizontalAlignment="Right" VerticalAlignment="Top">
+            <TextBlock Text="移动"/>
+        </CheckBox>
+        <control:CameraAxisControlA  Name="cameraAxisControl" 
+                            IsShowDoubleLine="False"
+                            IsAxisControlLDBVisible2="Visible"
+                            Cameras="{Binding CameraAxisDevices.HardwareDeviceList}"                                                                                                                                                          
+                            TabSelectedIndex ="{Binding CameraAxisDevices.SelectedIndex}"
+                            Items="{Binding CameraAxisDevices.Shapes,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}"
+                            Regions="{Binding CameraAxisDevices.Regions}" ShapeThickness="1" IsShowSolidLine="True" DrawInConcurrency="False" 
+                           >
+            <i:Interaction.Triggers>
+                <i:EventTrigger EventName="RecordPix">
+                    <i:InvokeCommandAction Command="{Binding OnLeftMouseDownCommand}"  CommandParameter="{Binding ElementName=cameraAxisControl}" />
+                </i:EventTrigger>
+            </i:Interaction.Triggers>
+        </control:CameraAxisControlA>
+    </Grid>
+</UserControl>
--- a/new/PanGu.DieBonderApp/MainShell/Common/Display/View/CameraAxisView.xaml.cs
+++ b/new/PanGu.DieBonderApp/MainShell/Common/Display/View/CameraAxisView.xaml.cs
@@ -0,0 +1,28 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace MainShell.Common.Display.View
+{
+    /// <summary>
+    /// CameraAxisView.xaml 的交互逻辑
+    /// </summary>
+    public partial class CameraAxisView : UserControl
+    {
+        public CameraAxisView()
+        {
+            InitializeComponent();
+        }
+    }
+}
--- a/new/PanGu.DieBonderApp/MainShell/Common/Display/View/CameraView.xaml
+++ b/new/PanGu.DieBonderApp/MainShell/Common/Display/View/CameraView.xaml
@@ -0,0 +1,22 @@
+<UserControl x:Class="MainShell.Common.Display.View.CameraView"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:local="clr-namespace:MainShell.Common.Display.View"
+             xmlns:mw="http://www.maxwell.com/controls"
+             mc:Ignorable="d" 
+             d:DesignHeight="450" d:DesignWidth="800">
+    <Grid>
+        <Border BorderThickness="1" BorderBrush ="#B0B9C4">
+            <mw:DesignPanel x:Name="cameraDesignPanel"
+                            Source="{Binding DisplayImage}" 
+                            Items="{Binding Shapes}"
+                            IsVirtualPix="Visible"
+                            IsShowSolidLine="True"
+                            IsCrossingLineVisible="False"
+                            IsNonRectCrossingLineVisible="False"
+                            IsImagePix="Collapsed" />
+        </Border>
+    </Grid>
+</UserControl>
--- a/new/PanGu.DieBonderApp/MainShell/Common/Display/View/CameraView.xaml.cs
+++ b/new/PanGu.DieBonderApp/MainShell/Common/Display/View/CameraView.xaml.cs
@@ -0,0 +1,28 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace MainShell.Common.Display.View
+{
+    /// <summary>
+    /// CameraView.xaml 的交互逻辑
+    /// </summary>
+    public partial class CameraView : UserControl
+    {
+        public CameraView()
+        {
+            InitializeComponent();
+        }
+    }
+}
--- a/new/PanGu.DieBonderApp/MainShell/Common/Display/ViewModel/CameraAxisViewModel.cs
+++ b/new/PanGu.DieBonderApp/MainShell/Common/Display/ViewModel/CameraAxisViewModel.cs
@@ -0,0 +1,323 @@
+using MainShell.Common;
+using MainShell.Common.Display.Models;
+using MainShell.Log;
+using MainShell.Motion;
+using Maxwell.SemiFramework.DefaultConfig.Vision;
+using MwFramework.Controls.Components;
+using MwFramework.Controls.ControlCanvas.Model;
+using MwFramework.Controls.UIControl;
+using MwFramework.Device;
+using MwFramework.ManagerService;
+using Stylet;
+using StyletIoC;
+using System;
+using System.Collections.ObjectModel;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Input;
+
+namespace MainShell.Common.Display.ViewModel
+{
+    public class CameraAxisViewModel : Screen
+    {
+        private const double DefaultFovX = 14.1 * 10;
+        private const double DefaultFovY = 10.3 * 10;
+        private const string SafeAxisMotionNotInjectedMessage = "SafeAxisMotion is not injected.";
+
+        private readonly object _moveLock = new object();
+
+        private CameraAxisDevices _cameraAxisDevices = new CameraAxisDevices();
+        private double _xPixelPos;
+        private double _yPixelPos;
+        private double _cameraXIndex;
+        private double _cameraYIndex;
+        private GetConvertValue _convertFunXDelegate;
+        private GetConvertValue _convertFunYDelegate;
+        private ObservableCollection<PrimShape> _regions = new ObservableCollection<PrimShape>();
+        private bool _isCameraEnable = true;
+        private Visibility _controlVisibility = Visibility.Visible;
+        private bool _isOpen;
+
+        [Inject]
+        public SafeAxisMotion SafeAxisMotion { get; set; }
+
+        public CameraAxisViewModel()
+        {
+            ConvertFunXDelegate = new GetConvertValue(ConvertFunX);
+            ConvertFunYDelegate = new GetConvertValue(ConvertFunY);
+            OnLeftMouseDownCommand = new DelegateCommand<object>(OnLeftMouseDown);
+        }
+
+        public CameraAxisDevices CameraAxisDevices
+        {
+            get { return _cameraAxisDevices; }
+            set { SetAndNotify(ref _cameraAxisDevices, value); }
+        }
+
+        public double XPixelPos
+        {
+            get { return _xPixelPos; }
+            set { SetAndNotify(ref _xPixelPos, value); }
+        }
+
+        public double YPixelPos
+        {
+            get { return _yPixelPos; }
+            set { SetAndNotify(ref _yPixelPos, value); }
+        }
+
+        public double CameraXIndex
+        {
+            get { return _cameraXIndex; }
+            set { SetAndNotify(ref _cameraXIndex, value); }
+        }
+
+        public double CameraYIndex
+        {
+            get { return _cameraYIndex; }
+            set { SetAndNotify(ref _cameraYIndex, value); }
+        }
+
+        public GetConvertValue ConvertFunXDelegate
+        {
+            get { return _convertFunXDelegate; }
+            set { SetAndNotify(ref _convertFunXDelegate, value); }
+        }
+
+        public GetConvertValue ConvertFunYDelegate
+        {
+            get { return _convertFunYDelegate; }
+            set { SetAndNotify(ref _convertFunYDelegate, value); }
+        }
+
+        public ObservableCollection<PrimShape> Regions
+        {
+            get { return _regions; }
+            set { SetAndNotify(ref _regions, value); }
+        }
+
+        public bool IsCameraEnable
+        {
+            get { return _isCameraEnable; }
+            set { SetAndNotify(ref _isCameraEnable, value); }
+        }
+
+        public Visibility ControlVisibility
+        {
+            get { return _controlVisibility; }
+            set { SetAndNotify(ref _controlVisibility, value); }
+        }
+
+        public ICommand OnLeftMouseDownCommand { get; private set; }
+
+        public bool IsOpen
+        {
+            get { return _isOpen; }
+            set { SetAndNotify(ref _isOpen, value); }
+        }
+
+        public void OnLeftMouseDown(object sender)
+        {
+            try
+            {
+                HardwareDevice selectedDevice;
+                if (!TryGetSelectedDevice(out selectedDevice))
+                {
+                    return;
+                }
+
+                CameraAxisControlA controlA = sender as CameraAxisControlA;
+                if (controlA == null)
+                {
+                    return;
+                }
+
+                Point pixelPos = new Point(controlA.YPixPos, controlA.XPixPos);
+                Task.Run(() => MoveToPixelPoint(selectedDevice, pixelPos, false));
+            }
+            catch (Exception ex)
+            {
+                LogManager.LogSysError(ex);
+                ShowOperationFailed(ex.Message);
+            }
+        }
+
+        public void MovePosAction()
+        {
+            try
+            {
+                HardwareDevice selectedDevice;
+                if (!TryGetSelectedDevice(out selectedDevice))
+                {
+                    return;
+                }
+
+                Point pixelPos = new Point(YPixelPos, XPixelPos);
+                Task.Run(() => MoveToPixelPoint(selectedDevice, pixelPos, true));
+            }
+            catch (Exception ex)
+            {
+                LogManager.LogSysError(ex);
+                ShowOperationFailed(ex.Message);
+            }
+        }
+
+        public double ConvertFunX(double interval)
+        {
+            try
+            {
+                HardwareDevice selectedDevice;
+                if (!TryGetSelectedDevice(out selectedDevice))
+                {
+                    return 0;
+                }
+
+                string name = selectedDevice.Camera.Id;
+                double dx;
+                double dy;
+                VisionProcess.Instance.GetCameraResolution(name, out dx, out dy);
+                double pixelX = interval / Math.Abs(dx);
+                return pixelX;
+            }
+            catch (Exception ex)
+            {
+                LogManager.LogSysError(ex);
+                ShowOperationFailed(ex.Message);
+                return 0;
+            }
+        }
+
+        public double ConvertFunY(double interval)
+        {
+            try
+            {
+                HardwareDevice selectedDevice;
+                if (!TryGetSelectedDevice(out selectedDevice))
+                {
+                    return 0;
+                }
+
+                string name = selectedDevice.Camera.Id;
+                double dx;
+                double dy;
+                VisionProcess.Instance.GetCameraResolution(name, out dx, out dy);
+                double pixelY = interval / Math.Abs(dy);
+                return pixelY;
+            }
+            catch (Exception ex)
+            {
+                LogManager.LogSysError(ex);
+                ShowOperationFailed(ex.Message);
+                return 0;
+            }
+        }
+
+        private bool TryGetSelectedDevice(out HardwareDevice selectedDevice)
+        {
+            selectedDevice = CameraAxisDevices != null ? CameraAxisDevices.SelectedHardwareDevice : null;
+            if (!IsOpen || selectedDevice == null)
+            {
+                return false;
+            }
+
+            if (selectedDevice.Camera == null || selectedDevice.Camera.Camera == null)
+            {
+                ShowDeviceNotInitialized();
+                return false;
+            }
+
+            if (!selectedDevice.Camera.Camera.IsGrabbing)
+            {
+                LocalizedMessageBox.Show(MessageKey.VisionCameraNotGrabbing, MessageKey.TitleWarning, MessageBoxButton.OK, MessageBoxImage.Warning);
+                return false;
+            }
+
+            if (selectedDevice.AxisX == null || selectedDevice.AxisY == null)
+            {
+                ShowDeviceNotInitialized();
+                return false;
+            }
+
+            return true;
+        }
+
+        private void MoveToPixelPoint(HardwareDevice selectedDevice, Point pixelPos, bool requireConfirmation)
+        {
+            lock (_moveLock)
+            {
+                try
+                {
+                    IAxis axisX = selectedDevice.AxisX;
+                    IAxis axisY = selectedDevice.AxisY;
+                    Point rulerPos = new Point(axisX.State.ActualPos, axisY.State.ActualPos);
+                    Point newRulerPoint = Algorithm.Instance.MoveToPixelPoint(selectedDevice.Camera.Id, rulerPos, pixelPos);
+
+                    if (requireConfirmation)
+                    {
+                        double dx = newRulerPoint.X - rulerPos.X;
+                        double dy = newRulerPoint.Y - rulerPos.Y;
+                        if (!ValidateMoveRange(dx, dy))
+                        {
+                            return;
+                        }
+
+                        if (!ConfirmMove(newRulerPoint))
+                        {
+                            return;
+                        }
+                    }
+
+                    if (SafeAxisMotion == null)
+                    {
+                        InvalidOperationException exception = new InvalidOperationException(SafeAxisMotionNotInjectedMessage);
+                        LogManager.LogSysError(exception);
+                        ShowOperationFailed(SafeAxisMotionNotInjectedMessage);
+                        return;
+                    }
+
+                    SafeAxisMotion.SafeMove(
+                        MotionMoveRequest.ForAxis(axisX, newRulerPoint.X),
+                        MotionMoveRequest.ForAxis(axisY, newRulerPoint.Y));
+                }
+                catch (Exception ex)
+                {
+                    LogManager.LogSysError(ex);
+                    ShowOperationFailed(ex.Message);
+                }
+            }
+        }
+
+        private static bool ValidateMoveRange(double dx, double dy)
+        {
+            if (Math.Abs(dx) > DefaultFovX || Math.Abs(dy) > DefaultFovY)
+            {
+                LocalizedMessageBox.Show(MessageKey.ParamOutOfRange, MessageKey.TitleWarning, MessageBoxButton.OK, MessageBoxImage.Warning);
+                return false;
+            }
+
+            return true;
+        }
+
+        private static bool ConfirmMove(Point newRulerPoint)
+        {
+            string message = string.Format("新点的坐标({0},{1})，是否移动？", newRulerPoint.X, newRulerPoint.Y);
+            return MwMessageBox.Show(message, LanguageResourceHelper.GetString(MessageKey.TitleConfirm), MessageBoxButton.OKCancel, MessageBoxImage.Question, MessageBoxResult.Cancel) == MessageBoxResult.OK;
+        }
+
+        private static void ShowDeviceNotInitialized()
+        {
+            LocalizedMessageBox.Show(MessageKey.DeviceNotInitialized, MessageKey.TitleWarning, MessageBoxButton.OK, MessageBoxImage.Warning);
+        }
+
+        private static void ShowOperationFailed(string message)
+        {
+            if (string.IsNullOrWhiteSpace(message))
+            {
+                LocalizedMessageBox.Show(MessageKey.CommonOperationFailed, MessageKey.TitleError, MessageBoxButton.OK, MessageBoxImage.Error);
+                return;
+            }
+
+            MwMessageBox.Show(message, LanguageResourceHelper.GetString(MessageKey.TitleError), MessageBoxButton.OK, MessageBoxImage.Error);
+        }
+    }
+}
--- a/new/PanGu.DieBonderApp/MainShell/Common/Display/ViewModel/CameraViewModel.cs
+++ b/new/PanGu.DieBonderApp/MainShell/Common/Display/ViewModel/CameraViewModel.cs
@@ -0,0 +1,317 @@
+using MainShell.EventArgsFolder;
+using MainShell.Log;
+using MainShell.Vision;
+using MwFramework.Device.Model;
+using MwFramework.Controls.ControlCanvas.DrawingControl;
+using Stylet;
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Media.Imaging;
+using AppCameraType = MainShell.Common.CameraType;
+using System.Windows.Media;
+
+namespace MainShell.Common.Display.ViewModel
+{
+    public class CameraViewModel : Screen, IHandle<DisplayImageEventArgs>, IHandle<DisplayFindTemplateResultEventArgs>
+    {
+        private readonly IEventAggregator _eventAggregator;
+        public AppCameraType CameraType { get; }
+
+        private WriteableBitmap currentImage;
+        private WriteableBitmap _displayImage;
+        public WriteableBitmap DisplayImage
+        {
+            get { return _displayImage; }
+            set
+            {
+                SetAndNotify(ref _displayImage, value);
+            }
+        }
+
+        private ObservableCollection<object> _shapes = new ObservableCollection<object>();
+        public ObservableCollection<object> Shapes
+        {
+            get { return _shapes; }
+            set
+            {
+                if (_shapes != value) { _shapes = value; OnPropertyChanged(nameof(Shapes)); }
+            }
+        }
+        /// <summary>
+        /// 根据 CameraData 更新并返回 WriteableBitmap。
+        /// 优化要点：
+        /// - 重用已有 WriteableBitmap（当尺寸与像素格式相同时）以减少分配。
+        /// - 校验参数与缓冲区长度。
+        /// - 捕获并记录异常，失败时返回 null（不抛出）。
+        /// </summary>
+        public WriteableBitmap UpdateBitmap(CameraData cameraData)
+        {
+            if (cameraData == null)
+            {
+                "图片数据为空".LogSysError();
+                return null;
+            }
+
+            try
+            {
+                int width = (int)cameraData.Width;
+                int height = (int)cameraData.Height;
+                int bitCnt = cameraData.Bit;
+                byte[] buffer = cameraData.BufferData;
+
+                if (width <= 0 || height <= 0)
+                {
+                    $"CameraViewModel.UpdateBitmap: invalid size {width}x{height}".LogSysError();
+                    return null;
+                }
+
+                // 选择像素格式
+                System.Windows.Media.PixelFormat pixelFormat = bitCnt == 1
+                    ? System.Windows.Media.PixelFormats.Gray8
+                    : (bitCnt == 3 ? System.Windows.Media.PixelFormats.Bgr24 : System.Windows.Media.PixelFormats.Bgra32);
+
+                // 计算每行字节数（stride）
+                int bytesPerPixel = (pixelFormat.BitsPerPixel + 7) / 8;
+                int stride = width * bytesPerPixel;
+                long requiredLength = (long)stride * height;
+
+                if (buffer == null)
+                {
+                    "CameraViewModel.UpdateBitmap: buffer is null".LogSysError();
+                    return null;
+                }
+
+                if (buffer.Length < requiredLength)
+                {
+                    ($"CameraViewModel.UpdateBitmap: buffer length {buffer.Length} is less than required {requiredLength}").LogSysError();
+                    return null;
+                }
+
+                // 如果现有 bitmap 可复用（尺寸和格式一致），就重用以减少 GC/分配
+                if (currentImage == null ||
+                    currentImage.PixelWidth != width ||
+                    currentImage.PixelHeight != height ||
+                    !currentImage.Format.Equals(pixelFormat))
+                {
+                    // 新建 WriteableBitmap
+                    currentImage = new WriteableBitmap(width, height, 96, 96, pixelFormat, null);
+                }
+
+                // 将字节拷贝到 BackBuffer（UI 线程中调用）
+                currentImage.Lock();
+                try
+                {
+                    // BackBuffer 为 IntPtr，使用 Marshal.Copy 从 byte[] 拷贝
+                    System.Runtime.InteropServices.Marshal.Copy(buffer, 0, currentImage.BackBuffer, (int)requiredLength);
+                    currentImage.AddDirtyRect(new Int32Rect(0, 0, width, height));
+                }
+                finally
+                {
+                    currentImage.Unlock();
+                }
+
+                return currentImage;
+            }
+            catch (Exception ex)
+            {
+                ($"CameraViewModel.UpdateBitmap exception: {ex}").LogSysError();
+                return null;
+            }
+        }
+
+        public CameraViewModel(IEventAggregator eventAggregator, AppCameraType cameraType)
+        {
+            _eventAggregator = eventAggregator;
+            CameraType = cameraType;
+            _eventAggregator?.Subscribe(this);
+        }
+
+        public void Handle(DisplayImageEventArgs message)
+        {
+            if (message == null || message.CameraType != CameraType)
+            {
+                return;
+            }
+
+            CommonUti.RunOnUi(() =>
+            {
+                WriteableBitmap bmp = UpdateBitmap(message.CameraData);
+                // 只有在成功生成 bitmap 时才更新 DisplayImage，避免把 null 赋值导致 UI 清空
+                if (bmp != null)
+                {
+                    DisplayImage = bmp;
+                }
+            });
+        }
+
+        public void Handle(DisplayFindTemplateResultEventArgs message)
+        {
+            if (message == null || message.CameraType != CameraType)
+            {
+                return;
+            }
+            CommonUti.RunOnUi(() =>
+            {
+                ApplyTemplateResultShapes(message);
+            });
+        }
+
+        private void ApplyTemplateResultShapes(DisplayFindTemplateResultEventArgs message)
+        {
+            if (message.ClearShapesBeforeDisplay)
+            {
+                Shapes.Clear();
+            }
+
+            if (message.Result == null)
+            {
+                return;
+            }
+
+            AppendCenterShapes(message.Result);
+            AppendContourShape(message.Result.Contour);
+            AppendCircleShapes(message.Result.Circles);
+            AppendLineShapes(message.Result.Lines);
+            AppendRectangleShapes(message.Result.Rectangles);
+        }
+
+        private void AppendCenterShapes(FindTemplateResult result)
+        {
+            if (result == null || !AreFinite(result.CenterX, result.CenterY, result.Score))
+            {
+                return;
+            }
+            
+            ShapeDrawing pointShape = new ShapeDrawing();
+            pointShape.X = result.CenterX;
+            pointShape.Y = result.CenterY;
+            Shapes.Add(pointShape);
+
+            TextShapeDrawing textShape = new TextShapeDrawing();
+            textShape.X = result.CenterX;
+            textShape.Y = result.CenterY;
+            textShape.Text = $"Score:{result.Score:F3}";
+            Shapes.Add(textShape);
+        }
+
+        private void AppendContourShape(FindTemplateContourResult contour)
+        {
+            if (contour == null || !AreFinite(contour.StartX, contour.StartY, contour.EndX, contour.EndY))
+            {
+                return;
+            }
+
+            RectShapeDrawing contourShape = new RectShapeDrawing();
+            contourShape.X = contour.StartX;
+            contourShape.Y = contour.StartY;
+            contourShape.X1 = contour.EndX;
+            contourShape.Y1 = contour.EndY;
+            Shapes.Add(contourShape);
+        }
+
+        private void AppendCircleShapes(IList<FindTemplateCircleResult> circles)
+        {
+            if (circles == null)
+            {
+                return;
+            }
+
+            foreach (FindTemplateCircleResult circle in circles)
+            {
+                if (circle == null || !AreFinite(circle.CenterX, circle.CenterY, circle.Radius))
+                {
+                    continue;
+                }
+
+                CircleShapeDrawing circleShape = new CircleShapeDrawing();
+                circleShape.X = circle.CenterX;
+                circleShape.Y = circle.CenterY;
+                circleShape.CenterPoint = new Point(circle.CenterX, circle.CenterY);
+                circleShape.RadiusX = circle.Radius;
+                circleShape.RadiusY = circle.Radius;
+                circleShape.LineWidth = 1;
+                circleShape.FillColor = Brushes.Blue;
+                Shapes.Add(circleShape);
+            }
+        }
+
+        private void AppendLineShapes(IList<FindTemplateLineResult> lines)
+        {
+            if (lines == null)
+            {
+                return;
+            }
+
+            foreach (FindTemplateLineResult line in lines)
+            {
+                if (line == null || !AreFinite(line.StartX, line.StartY, line.EndX, line.EndY))
+                {
+                    continue;
+                }
+
+                LineShapeDrawing lineShape = new LineShapeDrawing();
+                lineShape.X = line.StartX;
+                lineShape.Y = line.StartY;
+                lineShape.X1 = line.EndX;
+                lineShape.Y1 = line.EndY;
+                Shapes.Add(lineShape);
+            }
+        }
+
+        private void AppendRectangleShapes(IList<FindTemplateRectangleResult> rectangles)
+        {
+            if (rectangles == null)
+            {
+                return;
+            }
+
+            foreach (FindTemplateRectangleResult rectangle in rectangles)
+            {
+                if (rectangle == null || !AreFinite(rectangle.StartX, rectangle.StartY, rectangle.Width, rectangle.Height, rectangle.Angle))
+                {
+                    continue;
+                }
+
+                double halfWidth = rectangle.Width / 2d;
+                double halfHeight = rectangle.Height / 2d;
+                double cosAngle = Math.Cos(rectangle.Angle);
+                double sinAngle = Math.Sin(rectangle.Angle);
+                double centerX = rectangle.StartX + (halfWidth * cosAngle) - (halfHeight * sinAngle);
+                double centerY = rectangle.StartY + (halfWidth * sinAngle) + (halfHeight * cosAngle);
+
+                RectShape2Drawing rectangleShape = new RectShape2Drawing();
+                rectangleShape.X = centerX;
+                rectangleShape.Y = centerY;
+                rectangleShape.CenterX = centerX;
+                rectangleShape.CenterY = centerY;
+                rectangleShape.HalfWidth = halfWidth;
+                rectangleShape.HalfHeigth = halfHeight;
+                rectangleShape.Angle = rectangle.Angle;
+                Shapes.Add(rectangleShape);
+            }
+        }
+
+        private static bool AreFinite(params double[] values)
+        {
+            if (values == null)
+            {
+                return false;
+            }
+
+            foreach (double value in values)
+            {
+                if (double.IsNaN(value) || double.IsInfinity(value))
+                {
+                    return false;
+                }
+            }
+
+            return true;
+        }
+    }
+}