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/Motion/MotionMoveRequest.cs
+++ b/new/PanGu.DieBonderApp/MainShell/Motion/MotionMoveRequest.cs
@@ -0,0 +1,117 @@
+using MwFramework.Device;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+
+namespace MainShell.Motion
+{
+    public enum MotionRequestKind
+    {
+        MoveAbs,
+        MoveRel,
+        Home,
+        Jog
+    }
+
+    public sealed class MotionMoveRequest
+    {
+        private MotionMoveRequest(string axisName, IAxis axis, double targetPosition, int timeoutMilliseconds, int? alarmId, MotionRequestKind requestKind, string source, IReadOnlyCollection<string> tags, string correlationId, string batchId, double? positionTolerance, bool stopOnFailure)
+        {
+            AxisName = axisName;
+            Axis = axis;
+            TargetPosition = targetPosition;
+            TimeoutMilliseconds = timeoutMilliseconds;
+            AlarmId = alarmId;
+            RequestKind = requestKind;
+            Source = source;
+            Tags = tags ?? Array.Empty<string>();
+            CorrelationId = correlationId;
+            BatchId = batchId;
+            PositionTolerance = positionTolerance;
+            StopOnFailure = stopOnFailure;
+        }
+
+        public string AxisName { get; }
+        public IAxis Axis { get; }
+        public double TargetPosition { get; }
+        public int TimeoutMilliseconds { get; }
+        public int? AlarmId { get; }
+        public MotionRequestKind RequestKind { get; }
+        public string Source { get; }
+        public IReadOnlyCollection<string> Tags { get; }
+        public string CorrelationId { get; }
+        public string BatchId { get; }
+        public double? PositionTolerance { get; }
+        public bool StopOnFailure { get; }
+
+        public MotionMoveRequest WithMetadata(string source = null, IEnumerable<string> tags = null, string correlationId = null, string batchId = null, double? positionTolerance = null, bool? stopOnFailure = null)
+        {
+            return new MotionMoveRequest(
+                AxisName,
+                Axis,
+                TargetPosition,
+                TimeoutMilliseconds,
+                AlarmId,
+                RequestKind,
+                string.IsNullOrWhiteSpace(source) ? Source : source,
+                MergeTags(Tags, tags),
+                string.IsNullOrWhiteSpace(correlationId) ? CorrelationId : correlationId,
+                string.IsNullOrWhiteSpace(batchId) ? BatchId : batchId,
+                positionTolerance ?? PositionTolerance,
+                stopOnFailure ?? StopOnFailure);
+        }
+
+        public static MotionMoveRequest ForAxisName(string axisName, double targetPosition, int timeoutMilliseconds = MotionController.DefaultTimeoutMilliseconds, int? alarmId = null, string source = null, IEnumerable<string> tags = null, string correlationId = null, string batchId = null, double? positionTolerance = null, bool stopOnFailure = true)
+        {
+            if (string.IsNullOrWhiteSpace(axisName))
+            {
+                throw new ArgumentNullException(nameof(axisName));
+            }
+
+            return new MotionMoveRequest(axisName, null, targetPosition, timeoutMilliseconds, alarmId, MotionRequestKind.MoveAbs, source, NormalizeTags(tags), correlationId, batchId, positionTolerance, stopOnFailure);
+        }
+
+        public static MotionMoveRequest ForAxis(IAxis axis, double targetPosition, int timeoutMilliseconds = MotionController.DefaultTimeoutMilliseconds, int? alarmId = null, string source = null, IEnumerable<string> tags = null, string correlationId = null, string batchId = null, double? positionTolerance = null, bool stopOnFailure = true)
+        {
+            if (axis == null)
+            {
+                throw new ArgumentNullException(nameof(axis));
+            }
+
+            return new MotionMoveRequest(axis.Name, axis, targetPosition, timeoutMilliseconds, alarmId, MotionRequestKind.MoveAbs, source, NormalizeTags(tags), correlationId, batchId, positionTolerance, stopOnFailure);
+        }
+
+        public static MotionMoveRequest ForRelativeAxisName(string axisName, double distance, int timeoutMilliseconds = MotionController.DefaultTimeoutMilliseconds, int? alarmId = null, string source = null, IEnumerable<string> tags = null, string correlationId = null, string batchId = null, double? positionTolerance = null, bool stopOnFailure = true)
+        {
+            if (string.IsNullOrWhiteSpace(axisName))
+            {
+                throw new ArgumentNullException(nameof(axisName));
+            }
+
+            return new MotionMoveRequest(axisName, null, distance, timeoutMilliseconds, alarmId, MotionRequestKind.MoveRel, source, NormalizeTags(tags), correlationId, batchId, positionTolerance, stopOnFailure);
+        }
+
+        public static MotionMoveRequest ForRelativeAxis(IAxis axis, double distance, int timeoutMilliseconds = MotionController.DefaultTimeoutMilliseconds, int? alarmId = null, string source = null, IEnumerable<string> tags = null, string correlationId = null, string batchId = null, double? positionTolerance = null, bool stopOnFailure = true)
+        {
+            if (axis == null)
+            {
+                throw new ArgumentNullException(nameof(axis));
+            }
+
+            return new MotionMoveRequest(axis.Name, axis, distance, timeoutMilliseconds, alarmId, MotionRequestKind.MoveRel, source, NormalizeTags(tags), correlationId, batchId, positionTolerance, stopOnFailure);
+        }
+
+        private static IReadOnlyCollection<string> NormalizeTags(IEnumerable<string> tags)
+        {
+            return (tags ?? Enumerable.Empty<string>())
+                .Where(x => !string.IsNullOrWhiteSpace(x))
+                .Distinct(StringComparer.OrdinalIgnoreCase)
+                .ToArray();
+        }
+
+        private static IReadOnlyCollection<string> MergeTags(IEnumerable<string> currentTags, IEnumerable<string> newTags)
+        {
+            return NormalizeTags((currentTags ?? Enumerable.Empty<string>()).Concat(newTags ?? Enumerable.Empty<string>()));
+        }
+    }
+}