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添加 MX-PD-盘古 项目文件

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将 MX-PD-盘古 - new 目录下的所有文件添加到主仓库
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Shi.Ji
2026-05-18 11:43:09 +08:00
parent 03632a379d
commit e31d3560bb
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MX-PD-盘古 - new/PanGu.DieBonderApp/MainShell/Motion/AxisSpeedManager.cs Normal file
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using MainShell.Common;
using MainShell.Hardware;
using MainShell.Log;
using MainShell.Parameter;
using MaxwellFramework.Core.Attributes;
using System;
using System.Collections.Generic;
using System.Linq;
using static MainShell.ParaSetting.Model.SpeedSetting;
namespace MainShell.Motion
{
public enum AxisSpeedProfile
{
Low,
Medium,
High,
Custom
}
public sealed class AxisMotionProfile
{
public AxisMotionProfile(double velocity, double acceleration, double deceleration, double jerk)
{
Velocity = velocity;
Acceleration = acceleration;
Deceleration = deceleration;
Jerk = jerk;
}
public double Velocity { get; }
public double Acceleration { get; }
public double Deceleration { get; }
public double Jerk { get; }
}
[Singleton]
public class AxisSpeedManager
{
private readonly GlobalParameterContext _globalParam;
private readonly HardwareManager _hardware;
public AxisSpeedManager(GlobalParameterContext globalParam, HardwareManager hardware)
{
_globalParam = globalParam ?? throw new ArgumentNullException(nameof(globalParam));
_hardware = hardware ?? throw new ArgumentNullException(nameof(hardware));
}
public void SetAxisSpeed(string axisName, double speed)
{
var speedItem = GetRequiredSpeedTypeItem(axisName);
var profile = CreateCustomProfile(speedItem, speed);
ApplyAxisMotionProfile(axisName, profile, AxisSpeedProfile.Custom, null);
}
public void SetAxisSpeed(string axisName, AxisSpeedProfile profile)
{
var speedItem = GetRequiredSpeedTypeItem(axisName);
var motionProfile = CreateProfile(speedItem, profile);
ApplyAxisMotionProfile(axisName, motionProfile, profile, speedItem);
}
public void ApplySpeedSettings()
{
var speedItems = _globalParam?.SpeedParaSysSetting?.SpeedTypeItemCollection?.SpeedTypeItemList;
if (speedItems == null || speedItems.Count == 0)
{
"Axis speed settings skipped because no speed configuration is available.".LogInfo();
return;
}
var currentProfile = MapCurrentSpeedTypeText(_globalParam.SpeedParaSysSetting.CurrentSpeedType.ToString());
foreach (var speedItem in speedItems)
{
if (speedItem == null || string.IsNullOrWhiteSpace(speedItem.AxisName))
{
continue;
}
var profile = CreateProfile(speedItem, currentProfile);
ApplyAxisMotionProfile(speedItem.AxisName, profile, currentProfile, speedItem);
}
}
private void ApplyAxisMotionProfile(string axisName, AxisMotionProfile profile, AxisSpeedProfile profileType, SpeedTypeItem speedItem)
{
if (string.IsNullOrWhiteSpace(axisName))
{
throw new ArgumentNullException(nameof(axisName));
}
var axis = _hardware.GetAxisByName(axisName);
if (axis == null)
{
throw new ArgumentException(string.Format("Axis with name {0} not found.", axisName), nameof(axisName));
}
ValidateMotionProfile(profile, axisName);
axis.Param.Velocity = profile.Velocity;
axis.Param.Accelerate = profile.Acceleration;
axis.Param.Decelerate = profile.Deceleration;
axis.Param.Jerk = profile.Jerk;
try
{
axis.IssueParam();
LogProfileApplied(axisName, profile, profileType, speedItem);
}
catch (Exception ex)
{
string.Format("Axis:{0} speed profile apply failed. Profile:{1} Error:{2}", axisName, profileType, ex.Message).LogSysError();
throw;
}
}
private SpeedTypeItem GetRequiredSpeedTypeItem(string axisName)
{
if (string.IsNullOrWhiteSpace(axisName))
{
throw new ArgumentNullException(nameof(axisName));
}
var speedItem = _globalParam?.SpeedParaSysSetting?.SpeedTypeItemCollection?.SpeedTypeItemList?
.FirstOrDefault(x => x != null && string.Equals(x.AxisName, axisName, StringComparison.OrdinalIgnoreCase));
if (speedItem == null)
{
throw new InvalidOperationException(string.Format("No speed configuration found for axis {0}.", axisName));
}
return speedItem;
}
private static AxisMotionProfile CreateCustomProfile(SpeedTypeItem speedItem, double speed)
{
ValidatePositiveFinite(speed, nameof(speed), speedItem.AxisName);
ValidatePositiveFinite(speedItem.Acc, nameof(speedItem.Acc), speedItem.AxisName);
ValidatePositiveFinite(speedItem.Dec, nameof(speedItem.Dec), speedItem.AxisName);
ValidatePositiveFinite(speedItem.Jerk, nameof(speedItem.Jerk), speedItem.AxisName);
ValidatePositiveFinite(speedItem.Speed, nameof(speedItem.Speed), speedItem.AxisName);
var scale = speed / speedItem.Speed;
return new AxisMotionProfile(
speed,
speedItem.Acc * scale,
speedItem.Dec * scale,
speedItem.Jerk * scale);
}
private static AxisMotionProfile CreateProfile(SpeedTypeItem speedItem, AxisSpeedProfile profile)
{
if (speedItem == null)
{
throw new ArgumentNullException(nameof(speedItem));
}
ValidatePositiveFinite(speedItem.Speed, nameof(speedItem.Speed), speedItem.AxisName);
ValidatePositiveFinite(speedItem.Acc, nameof(speedItem.Acc), speedItem.AxisName);
ValidatePositiveFinite(speedItem.Dec, nameof(speedItem.Dec), speedItem.AxisName);
ValidatePositiveFinite(speedItem.Jerk, nameof(speedItem.Jerk), speedItem.AxisName);
var percent = ResolveProfilePercent(speedItem, profile);
var scale = percent / 100.0d;
return new AxisMotionProfile(
speedItem.Speed * scale,
speedItem.Acc * scale,
speedItem.Dec * scale,
speedItem.Jerk * scale);
}
private static double ResolveProfilePercent(SpeedTypeItem speedItem, AxisSpeedProfile profile)
{
switch (profile)
{
case AxisSpeedProfile.Low:
return ValidatePercent(speedItem.LowPercent, nameof(speedItem.LowPercent), speedItem.AxisName);
case AxisSpeedProfile.Medium:
return ValidatePercent(speedItem.MedianPercent, nameof(speedItem.MedianPercent), speedItem.AxisName);
case AxisSpeedProfile.High:
return ValidatePercent(speedItem.HighPercent, nameof(speedItem.HighPercent), speedItem.AxisName);
default:
return 100.0d;
}
}
private static AxisSpeedProfile MapCurrentSpeedTypeText(string currentSpeedTypeText)
{
if (string.Equals(currentSpeedTypeText, "High", StringComparison.OrdinalIgnoreCase))
{
return AxisSpeedProfile.High;
}
if (string.Equals(currentSpeedTypeText, "Median", StringComparison.OrdinalIgnoreCase)
|| string.Equals(currentSpeedTypeText, "Medium", StringComparison.OrdinalIgnoreCase))
{
return AxisSpeedProfile.Medium;
}
return AxisSpeedProfile.Low;
}
private static void ValidateMotionProfile(AxisMotionProfile profile, string axisName)
{
if (profile == null)
{
throw new ArgumentNullException(nameof(profile));
}
ValidatePositiveFinite(profile.Velocity, nameof(profile.Velocity), axisName);
ValidatePositiveFinite(profile.Acceleration, nameof(profile.Acceleration), axisName);
ValidatePositiveFinite(profile.Deceleration, nameof(profile.Deceleration), axisName);
ValidatePositiveFinite(profile.Jerk, nameof(profile.Jerk), axisName);
}
private static void ValidatePositiveFinite(double value, string propertyName, string axisName)
{
if (double.IsNaN(value) || double.IsInfinity(value) || value <= 0d)
{
throw new ArgumentOutOfRangeException(propertyName, string.Format("Axis {0} has invalid motion parameter {1}: {2}.", axisName, propertyName, value));
}
}
private static double ValidatePercent(double value, string propertyName, string axisName)
{
if (double.IsNaN(value) || double.IsInfinity(value) || value <= 0d || value > 100d)
{
throw new ArgumentOutOfRangeException(propertyName, string.Format("Axis {0} has invalid speed profile percent {1}: {2}.", axisName, propertyName, value));
}
return value;
}
private static void LogProfileApplied(string axisName, AxisMotionProfile profile, AxisSpeedProfile profileType, SpeedTypeItem speedItem)
{
var source = speedItem != null ? "ConfiguredProfile" : "CustomScaledProfile";
string.Format(
"Axis:{0} speed profile applied. Source:{1} Profile:{2} Velocity:{3:F3} Acc:{4:F3} Dec:{5:F3} Jerk:{6:F3}",
axisName,
source,
profileType,
profile.Velocity,
profile.Acceleration,
profile.Deceleration,
profile.Jerk).LogInfo();
}
}
}