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

MX-PD-盘古 - new/PanGu.DieBonderApp/MainShell/Motion/ApproachAlignment/ApproachAlignment.cs

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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Threading;
+using System.Threading.Tasks;
+using MainShell.Common;
+using SemiconductorVisionAlgorithm.SemiParams;
+
+namespace MainShell.Motion
+{
+    #region 数据结构
+
+    /// <summary>
+    /// 逼近对位的单轴配置
+    /// </summary>
+    public class ApproachAlignmentAxis
+    {
+        public ApproachAlignmentAxis(string axisName, double toleranceValue)
+        {
+            if (string.IsNullOrWhiteSpace(axisName))
+            {
+                throw new ArgumentNullException(nameof(axisName));
+            }
+
+            if (toleranceValue <= 0)
+            {
+                throw new ArgumentException("Tolerance value must be positive.", nameof(toleranceValue));
+            }
+
+            AxisName = axisName;
+            ToleranceValue = toleranceValue;
+        }
+
+        /// <summary>
+        /// 轴名称（如 "X", "Y"）
+        /// </summary>
+        public string AxisName { get; }
+
+        /// <summary>
+        /// 该轴的允许误差（单位与轴位置一致，通常为 mm）
+        /// </summary>
+        public double ToleranceValue { get; }
+
+        /// <summary>
+        /// 轴的描述信息（用于日志）
+        /// </summary>
+        public string Description { get; set; }
+    }
+
+    public enum CenterRecognitionType
+    {
+        Template,
+        EdgeCircle
+    }
+
+    public class CenterRecognitionParameters
+    {
+
+
+        public CenterRecognitionParameters()
+        {
+            MinScore = 0.8d;
+            TemplatePath = "Template/Default";
+            Type = CenterRecognitionType.Template;
+        }
+
+        public string TemplatePath { get; set; }
+
+        public double MinScore { get; set; }
+
+        public bool UseRoi { get; set; }
+
+        public string RoiName { get; set; }
+
+        public CenterRecognitionType Type { get; set; }
+
+        public Rectangle1 rectangle { get; set; }
+    }
+
+   
+
+    /// <summary>
+    /// 逼近对位请求参数
+    /// </summary>
+    public class ApproachAlignmentRequest
+    {
+        private IReadOnlyList<ApproachAlignmentAxis> _axes;
+
+        public ApproachAlignmentRequest(IEnumerable<ApproachAlignmentAxis> axes, CameraType camera = CameraType.TopPositionCamera)
+        {
+            if (axes == null)
+            {
+                throw new ArgumentNullException(nameof(axes));
+            }
+
+            var axesList = axes.ToList();
+            if (axesList.Count == 0)
+            {
+                throw new ArgumentException("At least one axis is required.", nameof(axes));
+            }
+
+            Axes = axesList.AsReadOnly();
+            Camera = camera;
+            MaxIterations = 5;
+            MoveTimeoutMilliseconds = 30000;
+            RecognitionTimeoutMilliseconds = 100000;
+            RecognitionParameters = new CenterRecognitionParameters();
+        }
+
+        /// <summary>
+        /// 逼近轴配置列表
+        /// </summary>
+        public IReadOnlyList<ApproachAlignmentAxis> Axes
+        {
+            get { return _axes; }
+            private set { _axes = value; }
+        }
+
+        /// <summary>
+        /// 相机标识（用于采图和识别）
+        /// </summary>
+        public CameraType Camera { get; set; }
+
+        /// <summary>
+        /// 最大循环次数（默认 5）
+        /// </summary>
+        public int MaxIterations { get; set; }
+
+        /// <summary>
+        /// 轴运动的超时时间（毫秒，默认 30000）
+        /// </summary>
+        public int MoveTimeoutMilliseconds { get; set; }
+
+        /// <summary>
+        /// 识别中心的超时时间（毫秒，默认 10000）
+        /// </summary>
+        public int RecognitionTimeoutMilliseconds { get; set; }
+
+        public CenterRecognitionParameters RecognitionParameters { get; set; }
+    }
+
+    /// <summary>
+    /// 逼近对位的结果
+    /// </summary>
+    public class ApproachAlignmentResult
+    {
+        public ApproachAlignmentResult()
+        {
+            FinalErrors = new Dictionary<string, double>();
+            FinalAxisPositions = new Dictionary<string, double>();
+        }
+
+        /// <summary>
+        /// 是否成功（所有轴都在允许误差内）
+        /// </summary>
+        public bool Succeeded { get; set; }
+
+        /// <summary>
+        /// 实际完成的迭代次数
+        /// </summary>
+        public int CompletedIterations { get; set; }
+
+        /// <summary>
+        /// 最终的每轴误差（轴名 -> 误差值）
+        /// </summary>
+        public Dictionary<string, double> FinalErrors { get; }
+
+        /// <summary>
+        /// 最终的轴位置（轴名 -> 位置值，用于调试）
+        /// </summary>
+        public Dictionary<string, double> FinalAxisPositions { get; }
+
+        /// <summary>
+        /// 异常信息（如果失败）
+        /// </summary>
+        public Exception Exception { get; set; }
+
+        /// <summary>
+        /// 获取出错消息
+        /// </summary>
+        public string Message => Exception?.Message ?? (Succeeded ? "Approach alignment succeeded." : "Approach alignment failed.");
+    }
+
+    /// <summary>
+    /// 坐标转换结果
+    /// </summary>
+    public class CoordinateTransformResult
+    {
+        /// <summary>
+        /// 转换后的目标点坐标
+        /// </summary>
+        public System.Windows.Point TargetPoint { get; set; }
+
+        /// <summary>
+        /// 转换是否成功
+        /// </summary>
+        public bool Succeeded { get; set; }
+
+        /// <summary>
+        /// 错误或警告信息
+        /// </summary>
+        public string Message { get; set; }
+
+        /// <summary>
+        /// 转换过程中的异常
+        /// </summary>
+        public Exception Exception { get; set; }
+    }
+
+    #endregion
+
+    #region 接口定义
+
+    /// <summary>
+    /// 中心识别器接口：通过图像算法识别目标中心
+    /// </summary>
+    public interface ICenterRecognizer
+    {
+        /// <summary>
+        /// 识别图像中心点
+        /// </summary>
+        /// <param name="camera">相机标识（用于指定采图源）</param>
+        /// <param name="timeoutMilliseconds">识别超时时间（毫秒）</param>
+        /// <param name="cancellationToken">取消令牌</param>
+        /// <returns>中心点 (CenterX, CenterY) 或 null 表示识别失败</returns>
+        Task<(double CenterX, double CenterY)?> RecognizeCenterAsync(
+            CameraType camera,
+            int timeoutMilliseconds,
+            CancellationToken cancellationToken = default(CancellationToken));
+
+        Task<(double CenterX, double CenterY)?> RecognizeCenterAsync(
+            CameraType camera,
+            int timeoutMilliseconds,
+            CenterRecognitionParameters parameters,
+            CancellationToken cancellationToken = default(CancellationToken));
+    }
+
+    /// <summary>
+    /// 坐标转换器接口：将图像中心点转换为各轴的目标位置
+    /// </summary>
+    public interface ICoordinateTransformer
+    {
+        /// <summary>
+        /// 将图像中心点坐标转换为轴位置
+        /// </summary>
+        /// <param name="centerX">图像中心 X 坐标</param>
+        /// <param name="centerY">图像中心 Y 坐标</param>
+        /// <param name="axes">目标轴列表</param>
+        /// <returns>转换结果，包含各轴的目标位置</returns>
+        Task<CoordinateTransformResult> TransformAsync(
+           System.Windows. Point ruler, System.Windows.Point pixel, string cameraName);
+    }
+
+    #endregion
+}