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
This commit is contained in:
Shi.Ji
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using MainShell.Common;
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using MainShell.Log;
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using MainShell.Motion;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Threading;
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using System.Threading.Tasks;
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namespace MainShell.PageCalib.OriginCalib.Service
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{
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/// <summary>
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/// ʾ<><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڱ궨<DAB1><EAB6A8><EFBFBD>ƶ<EFBFBD><C6B6><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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/// </summary>
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public class VisionCapturePostProcessor : ICalibrationPostProcessor
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{
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public string Name => "VisionCapture";
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public async Task ExecuteAsync(OriginCalibrationExecutionResult calibrationResult, CancellationToken cancellationToken,object pars= null)
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{
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"ִ<><D6B4><EFBFBD><EFBFBD><EFBFBD>պ<EFBFBD><D5BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>...".LogInfo();
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// <20>ڴ˴<DAB4><CBB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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// <20><><EFBFBD>磺await _visionService.CaptureAsync(cancellationToken);
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await Task.Delay(100, cancellationToken);
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"<22><><EFBFBD>պ<EFBFBD><D5BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɡ<EFBFBD>".LogInfo();
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}
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}
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/// <summary>
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/// <20>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڱ궨<DAB1><EAB6A8><EFBFBD>ƶ<EFBFBD><C6B6><EFBFBD>λ<EFBFBD><CEBB>ִ<EFBFBD>бƽ<D0B1><C6BD><EFBFBD><EFBFBD><EFBFBD>
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/// </summary>
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public class ApproachAlignmentPostProcessor : ICalibrationPostProcessor
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{
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private readonly ApproachAlignmentService _approachAlignmentService;
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private readonly IReadOnlyList<ApproachAlignmentAxis> _alignmentAxes;
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private readonly CameraType _camera;
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/// <summary>
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/// <20><><EFBFBD>캯<EFBFBD><ECBAAF>
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/// </summary>
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/// <param name="approachAlignmentService"><3E>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD></param>
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/// <param name="alignmentAxes"><3E><>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>б<EFBFBD></param>
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/// <param name="camera"><3E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͣ<EFBFBD>Ĭ<EFBFBD><C4AC>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD></param>
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public ApproachAlignmentPostProcessor(
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ApproachAlignmentService approachAlignmentService,
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IEnumerable<ApproachAlignmentAxis> alignmentAxes,
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CameraType camera = CameraType.TopPositionCamera)
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{
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_approachAlignmentService = approachAlignmentService ?? throw new ArgumentNullException(nameof(approachAlignmentService));
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if (alignmentAxes == null)
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{
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throw new ArgumentNullException(nameof(alignmentAxes));
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}
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_alignmentAxes = alignmentAxes.ToList().AsReadOnly();
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if (_alignmentAxes.Count == 0)
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{
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throw new ArgumentException("<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫһ<D2AA><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᡣ", nameof(alignmentAxes));
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}
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_camera = camera;
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}
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public string Name => "ApproachAlignment";
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public async Task ExecuteAsync(OriginCalibrationExecutionResult calibrationResult, CancellationToken cancellationToken,object pars= null)
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{
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"ִ<>бƽ<D0B1><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>...".LogInfo();
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try
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{
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ApproachAlignmentRequest alignmentRequest = new ApproachAlignmentRequest(_alignmentAxes, _camera);
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if(pars is CenterRecognitionParameters centerRecognitionParameters)
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{
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alignmentRequest.RecognitionParameters = centerRecognitionParameters;
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}
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ApproachAlignmentResult alignmentResult = await _approachAlignmentService.ApproachAlignmentAsync(
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alignmentRequest,
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cancellationToken).ConfigureAwait(false);
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if (alignmentResult.Succeeded)
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{
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string.Format("<22>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɣ<EFBFBD><C9A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>{0}", alignmentResult.CompletedIterations).LogInfo();
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}
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else
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{
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string.Format("<22>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD>ʧ<EFBFBD>ܣ<EFBFBD>{0}", alignmentResult.Message).LogInfo();
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throw alignmentResult.Exception ?? new InvalidOperationException(alignmentResult.Message);
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}
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}
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catch (OperationCanceledException)
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{
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"<22>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>".LogInfo();
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throw;
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}
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catch (Exception ex)
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{
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string.Format("<22>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>쳣<EFBFBD><ECB3A3>{0}", ex.Message).LogInfo();
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throw;
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}
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}
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}
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/// <summary>
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/// <20><><EFBFBD>ζ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڱ궨<DAB1><EAB6A8><EFBFBD>ƶ<EFBFBD><C6B6><EFBFBD>λ<EFBFBD><CEBB>ִ<EFBFBD><D6B4>һ<EFBFBD><D2BB>ʶ<EFBFBD><CAB6><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>
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/// </summary>
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public class SingleAlignmentPostProcessor : ICalibrationPostProcessor
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{
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private readonly ApproachAlignmentService _approachAlignmentService;
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private readonly IReadOnlyList<ApproachAlignmentAxis> _alignmentAxes;
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private readonly CameraType _camera;
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public SingleAlignmentPostProcessor(
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ApproachAlignmentService approachAlignmentService,
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IEnumerable<ApproachAlignmentAxis> alignmentAxes,
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CameraType camera = CameraType.TopPositionCamera)
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{
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_approachAlignmentService = approachAlignmentService ?? throw new ArgumentNullException(nameof(approachAlignmentService));
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if (alignmentAxes == null)
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{
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throw new ArgumentNullException(nameof(alignmentAxes));
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}
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_alignmentAxes = alignmentAxes.ToList().AsReadOnly();
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if (_alignmentAxes.Count == 0)
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{
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throw new ArgumentException("<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫһ<D2AA><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᡣ", nameof(alignmentAxes));
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}
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_camera = camera;
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}
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public string Name => "SingleAlignment";
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public async Task ExecuteAsync(OriginCalibrationExecutionResult calibrationResult, CancellationToken cancellationToken, object pars = null)
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{
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"ִ<>е<EFBFBD><D0B5>ζ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>...".LogInfo();
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try
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{
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ApproachAlignmentRequest alignmentRequest = new ApproachAlignmentRequest(_alignmentAxes, _camera);
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if (pars is CenterRecognitionParameters centerRecognitionParameters)
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{
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alignmentRequest.RecognitionParameters = centerRecognitionParameters;
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}
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ApproachAlignmentResult alignmentResult = await _approachAlignmentService.SingleAlignmentAsync(
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alignmentRequest,
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cancellationToken).ConfigureAwait(false);
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if (alignmentResult.Succeeded)
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{
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string.Format("<22><><EFBFBD>ζ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD>ɣ<EFBFBD>ִ<EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD><EFBFBD>{0}", alignmentResult.CompletedIterations).LogInfo();
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}
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else
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{
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string.Format("<22><><EFBFBD>ζ<EFBFBD>λʧ<CEBB>ܣ<EFBFBD>{0}", alignmentResult.Message).LogInfo();
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throw alignmentResult.Exception ?? new InvalidOperationException(alignmentResult.Message);
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}
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}
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catch (OperationCanceledException)
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{
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"<22><><EFBFBD>ζ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>".LogInfo();
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throw;
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}
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catch (Exception ex)
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{
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string.Format("<22><><EFBFBD>ζ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>쳣<EFBFBD><ECB3A3>{0}", ex.Message).LogInfo();
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throw;
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}
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}
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}
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}
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@@ -0,0 +1,26 @@
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using System;
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using System.Threading;
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using System.Threading.Tasks;
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namespace MainShell.PageCalib.OriginCalib.Service
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{
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/// <summary>
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/// 标定后处理接口，用于在避让轴和标定轴移动到位后执行模块特定的逻辑
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/// </summary>
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public interface ICalibrationPostProcessor
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{
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/// <summary>
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/// 处理器名称，用于日志和诊断
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/// </summary>
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string Name { get; }
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/// <summary>
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/// 在运动完成后、标定前执行处理逻辑
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/// </summary>
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/// <param name="calibrationResult">运动执行结果，包含各轴的实际位置</param>
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/// <param name="cancellationToken">取消令牌</param>
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/// <param name="pars">可选参数</param>
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/// <returns>异步任务</returns>
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Task ExecuteAsync(OriginCalibrationExecutionResult calibrationResult, CancellationToken cancellationToken,object pars=null);
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}
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}
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@@ -0,0 +1,168 @@
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using MainShell.Hardware;
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using MainShell.Log;
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using MainShell.Motion;
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using MainShell.PageCalib.OriginCalib.Model;
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using MaxwellFramework.Core.Attributes;
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using MwFramework.Device;
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using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.Linq;
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using System.Threading;
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using System.Threading.Tasks;
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namespace MainShell.PageCalib.OriginCalib.Service
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{
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public sealed class OriginCalibrationExecutionResult
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{
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public OriginCalibrationExecutionResult(IDictionary<string, double> actualPositions)
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{
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var positions = actualPositions ?? new Dictionary<string, double>(StringComparer.Ordinal);
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ActualPositions = new ReadOnlyDictionary<string, double>(new Dictionary<string, double>(positions, StringComparer.Ordinal));
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}
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public IReadOnlyDictionary<string, double> ActualPositions { get; private set; }
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}
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[Singleton]
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public class OriginCalibrationMotionService
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{
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private const int PositionSettleDelayMilliseconds = 200;
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private readonly HardwareManager _hardware;
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private readonly SafeAxisMotion _safeAxisMotion;
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public OriginCalibrationMotionService(HardwareManager hardware, SafeAxisMotion safeAxisMotion)
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{
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_hardware = hardware ?? throw new ArgumentNullException(nameof(hardware));
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_safeAxisMotion = safeAxisMotion ?? throw new ArgumentNullException(nameof(safeAxisMotion));
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}
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public async Task MoveAxisAsync(string axisName, double position, CancellationToken cancellationToken = default(CancellationToken))
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{
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string.Format("原点标定正在移动轴“{0}”到位置 {1:F3}。", axisName, position).LogInfo();
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try
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{
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var result = await _safeAxisMotion.MoveAbsAsync(axisName, position, MotionController.DefaultTimeoutMilliseconds, cancellationToken).ConfigureAwait(false);
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result.EnsureSuccess();
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string.Format("原点标定轴“{0}”已到达目标位置 {1:F3}。", axisName, position).LogInfo();
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}
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catch (OperationCanceledException)
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{
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string.Format("原点标定轴“{0}”移动已取消。", axisName).LogInfo();
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throw;
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}
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catch (Exception ex)
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{
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string.Format("原点标定轴“{0}”移动失败：{1}", axisName, ex.Message).LogSysError();
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throw;
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}
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}
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public async Task<OriginCalibrationExecutionResult> ExecuteAsync(IEnumerable<AvoidanceAxisItem> avoidanceAxes, IEnumerable<CalibrationAxisItem> calibrationAxes, CancellationToken cancellationToken = default(CancellationToken))
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{
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var avoidanceAxisList = avoidanceAxes == null ? new List<AvoidanceAxisItem>() : avoidanceAxes.Where(item => item != null).ToList();
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var calibrationAxisList = calibrationAxes == null ? new List<CalibrationAxisItem>() : calibrationAxes.Where(item => item != null).ToList();
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string.Format(
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"原点标定执行开始，避让轴数量：{0}，标定轴数量：{1}。",
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avoidanceAxisList.Count,
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calibrationAxisList.Count).LogInfo();
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try
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{
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await ExecuteBatchAsync(CreateRequests(avoidanceAxisList, item => item.AxisName, item => item.Position), cancellationToken).ConfigureAwait(false);
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await ExecuteBatchAsync(CreateRequests(calibrationAxisList, item => item.AxisName, item => item.TargetPosition), cancellationToken).ConfigureAwait(false);
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string.Format(
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"原点标定等待 {0} ms 以稳定轴反馈，再读取实际位置。",
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PositionSettleDelayMilliseconds).LogInfo();
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await Task.Delay(PositionSettleDelayMilliseconds, cancellationToken).ConfigureAwait(false);
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var actualPositions = new Dictionary<string, double>(StringComparer.Ordinal);
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foreach (var calibrationAxis in calibrationAxisList)
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{
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if (calibrationAxis == null || string.IsNullOrWhiteSpace(calibrationAxis.AxisName))
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{
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continue;
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}
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var axis = _hardware.GetAxisByName(calibrationAxis.AxisName);
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if (axis == null)
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{
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continue;
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}
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actualPositions[calibrationAxis.AxisName] = Math.Round(GetActualPosition(axis), 3);
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string.Format(
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"原点标定已采集轴“{0}”的实际位置：{1:F3}。",
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calibrationAxis.AxisName,
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actualPositions[calibrationAxis.AxisName]).LogInfo();
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}
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string.Format("原点标定执行完成，共采集 {0} 个标定轴的实际位置。", actualPositions.Count).LogInfo();
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return new OriginCalibrationExecutionResult(actualPositions);
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}
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catch (OperationCanceledException)
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{
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"原点标定执行已取消。".LogInfo();
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throw;
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}
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catch (Exception ex)
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{
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string.Format("原点标定执行失败：{0}", ex.Message).LogSysError();
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throw;
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}
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}
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private async Task ExecuteBatchAsync(MotionMoveRequest[] requests, CancellationToken cancellationToken)
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{
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if (requests.Length == 0)
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{
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return;
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}
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var result = await _safeAxisMotion.SafeMoveAsync(cancellationToken, requests).ConfigureAwait(false);
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result.EnsureSuccess();
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}
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private MotionMoveRequest[] CreateRequests<TItem>(IEnumerable<TItem> items, Func<TItem, string> axisNameAccessor, Func<TItem, double> positionAccessor)
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{
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if (items == null)
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{
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return new MotionMoveRequest[0];
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}
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var requests = new List<MotionMoveRequest>();
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foreach (var item in items)
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{
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if (item == null)
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{
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continue;
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}
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var axisName = axisNameAccessor(item);
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if (string.IsNullOrWhiteSpace(axisName))
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{
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continue;
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}
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if (_hardware.GetAxisByName(axisName) == null)
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{
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string.Format("原点标定轴“{0}”在硬件管理器中不存在。", axisName).LogSysError();
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continue;
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}
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requests.Add(MotionMoveRequest.ForAxisName(axisName, positionAccessor(item)));
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}
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return requests.ToArray();
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}
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private static double GetActualPosition(IAxis axis)
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{
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return axis.State != null ? axis.State.ActualPos : axis.GetPositionImmediate();
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}
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}
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}
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