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/PageCalib/HeightMeasure/Service/HeightMeasureMotionService.cs
+++ b/new/PanGu.DieBonderApp/MainShell/PageCalib/HeightMeasure/Service/HeightMeasureMotionService.cs
@@ -0,0 +1,83 @@
+using MainShell.Hardware;
+using MainShell.Motion;
+using MainShell.HeightMeasure.Model;
+using MaxwellFramework.Core.Attributes;
+using MXJM.Parameter.Maintance;
+using System;
+
+namespace MainShell.HeightMeasure.Service
+{
+    [Singleton]
+    public class HeightMeasureMotionService
+    {
+        private readonly HardwareManager _hardware;
+        private readonly SafeAxisMotion _safeAxisMotion;
+        private readonly StagePlatformMotionService _stagePlatformMotionService;
+
+        public HeightMeasureMotionService(HardwareManager hardware, SafeAxisMotion safeAxisMotion, StagePlatformMotionService stagePlatformMotionService)
+        {
+            _hardware = hardware ?? throw new ArgumentNullException(nameof(hardware));
+            _safeAxisMotion = safeAxisMotion ?? throw new ArgumentNullException(nameof(safeAxisMotion));
+            _stagePlatformMotionService = stagePlatformMotionService ?? throw new ArgumentNullException(nameof(stagePlatformMotionService));
+        }
+
+        public void MoveCalibrationAndStagePlatformHeights(double czCalibrationHeight, double stageDatumHeight)
+        {
+            _safeAxisMotion.MoveAbs(AxisName.Axis_SZ, czCalibrationHeight);
+            _stagePlatformMotionService.MoveFlat(stageDatumHeight);
+        }
+
+        public void MoveWsAvoidance(double xPosition, double yPosition)
+        {
+            _safeAxisMotion.SafeMove(
+                MotionMoveRequest.ForAxis(GetRequiredAxis(_hardware.Axis_X2, nameof(_hardware.Axis_X2)), xPosition),
+                MotionMoveRequest.ForAxis(GetRequiredAxis(_hardware.Axis_Y2, nameof(_hardware.Axis_Y2)), yPosition));
+        }
+
+        public void MovePhsAndNeedle(double xPosition, double yPosition, double zPosition)
+        {
+            _safeAxisMotion.SafeMove(
+                MotionMoveRequest.ForAxis(GetRequiredAxis(_hardware.Axis_X1, nameof(_hardware.Axis_X1)), xPosition),
+                MotionMoveRequest.ForAxis(GetRequiredAxis(_hardware.Axis_Y1, nameof(_hardware.Axis_Y1)), yPosition));
+            _safeAxisMotion.MoveAbs(GetRequiredAxis(_hardware.Axis_Z1, nameof(_hardware.Axis_Z1)), zPosition);
+        }
+
+        public void MoveGlassMeasurePoint(TeachPoint point)
+        {
+            if (point == null)
+            {
+                throw new ArgumentNullException(nameof(point));
+            }
+
+            MovePhsAndNeedle(point.X, point.Y, point.Z);
+        }
+
+        public void MoveWaferMeasurePoint(TeachPoint point)
+        {
+            if (point == null)
+            {
+                throw new ArgumentNullException(nameof(point));
+            }
+
+            MoveWsAvoidance(point.X, point.Y);
+            _safeAxisMotion.MoveAbs(GetRequiredAxis(_hardware.Axis_Z1, nameof(_hardware.Axis_Z1)), point.Z);
+        }
+
+        public void MoveWaferMeasurePose(double xPosition, double yPosition)
+        {
+            _safeAxisMotion.SafeMove(
+                MotionMoveRequest.ForAxis(GetRequiredAxis(_hardware.Axis_X1, nameof(_hardware.Axis_X1)), xPosition),
+                MotionMoveRequest.ForAxis(GetRequiredAxis(_hardware.Axis_Y1, nameof(_hardware.Axis_Y1)), yPosition));
+        }
+
+        private static MwFramework.Device.IAxis GetRequiredAxis(MwFramework.Device.IAxis axis, string axisPropertyName)
+        {
+            if (axis == null)
+            {
+                throw new InvalidOperationException(string.Format("Axis '{0}' is not available.", axisPropertyName));
+            }
+
+            return axis;
+        }
+    }
+}