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/Recipe/Models/PID/AxisFilteringParameter.cs
+++ b/new/PanGu.DieBonderApp/MainShell/Recipe/Models/PID/AxisFilteringParameter.cs
@@ -0,0 +1,123 @@
+using MwFramework.ManagerService;
+using Stylet;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace MainShell.Recipe.Models
+{
+    public class AxisFilteringParameter : PropertyChangedBase , IParameterItem
+    {
+        private int _axisIndex;
+        /// <summary>
+        /// 轴ID
+        /// </summary>
+        public int AxisIndex
+        {
+            get { return _axisIndex; }
+            set
+            {
+                if (SetAndNotify(ref _axisIndex, value))
+                {
+                    NotifyOfPropertyChange(() => AxisDisplayName);
+                }
+            }
+        }
+
+        public string AxisDisplayName
+        {
+            get
+            {
+                string axisName = PidAxisCatalog.GetAxisName(AxisIndex);
+                return string.IsNullOrWhiteSpace(axisName) ? AxisIndex.ToString() : axisName;
+            }
+        }
+
+        private PIDLabel<bool> _isUseNotch = new PIDLabel<bool>() { Name = "PA_SLNothFilth", Value = false };
+        /// <summary>
+        /// 开启陷波滤波
+        /// </summary>
+        public PIDLabel<bool> IsUseNotch
+        {
+            get { return _isUseNotch; }
+            set { SetAndNotify(ref _isUseNotch, value); }
+        }
+
+        private PIDLabel<double> _notchFrequency = new PIDLabel<double>() { Name = "PA_SLVNFRQ", Value = 0 };
+        /// <summary>
+        /// 陷波滤波频率
+        /// </summary>
+        public PIDLabel<double> NotchFrequency
+        {
+            get { return _notchFrequency; }
+            set { SetAndNotify(ref _notchFrequency, value); }
+        }
+
+        private PIDLabel<double> _notchWidth = new PIDLabel<double>() { Name = "PA_SLVNWID", Value = 0 };
+        /// <summary>
+        /// 陷波滤波宽度
+        /// </summary>
+        public PIDLabel<double> NotchWidth
+        {
+            get { return _notchWidth; }
+            set { SetAndNotify(ref _notchWidth, value); }
+        }
+
+        private PIDLabel<double> _notchFalloff = new PIDLabel<double>() { Name = "PA_SLVNATT", Value = 0 };
+        /// <summary>
+        /// 陷波滤波衰减
+        /// </summary>
+        public PIDLabel<double> NotchFalloff
+        {
+            get { return _notchFalloff; }
+            set { SetAndNotify(ref _notchFalloff, value); }
+        }
+
+        private PIDLabel<bool> _isUseFiltering = new PIDLabel<bool>() { Name = "PA_SLLowPass", Value = false };
+        /// <summary>
+        /// 开启低通滤波
+        /// </summary>
+        public PIDLabel<bool> IsUseFiltering
+        {
+            get { return _isUseFiltering; }
+            set { SetAndNotify(ref _isUseFiltering, value); }
+        }
+
+        private PIDLabel<double> _filteringFrequency = new PIDLabel<double>() { Name = "PA_SLVSOF", Value = 0 };
+        /// <summary>
+        /// 低通滤波频率
+        /// </summary>
+        public PIDLabel<double> FilteringFrequency
+        {
+            get { return _filteringFrequency; }
+            set { SetAndNotify(ref _filteringFrequency, value); }
+        }
+
+        private PIDLabel<double> _filteringDamping = new PIDLabel<double>() { Name = "PA_SLVSOFD", Value = 0 };
+        /// <summary>
+        /// 低通滤波阻尼系数
+        /// </summary>
+        public PIDLabel<double> FilteringDamping
+        {
+            get { return _filteringDamping; }
+            set { SetAndNotify(ref _filteringDamping, value); }
+        }
+
+        public IParameterItem Clone()
+        {
+            return new AxisFilteringParameter
+            {
+                AxisIndex = this.AxisIndex,
+                IsUseNotch = this.IsUseNotch.Clone() as PIDLabel<bool>,
+                NotchFrequency = this.NotchFrequency.Clone() as PIDLabel<double>,
+                NotchWidth = this.NotchWidth.Clone() as PIDLabel<double>,
+                NotchFalloff = this.NotchFalloff.Clone() as PIDLabel<double>,
+                IsUseFiltering = this.IsUseFiltering.Clone() as PIDLabel<bool>,
+                FilteringFrequency = this.FilteringFrequency.Clone() as PIDLabel<double>,
+                FilteringDamping = this.FilteringDamping.Clone() as PIDLabel<double>
+            };
+        }
+    }
+}
--- a/new/PanGu.DieBonderApp/MainShell/Recipe/Models/PID/AxisPIDParameter.cs
+++ b/new/PanGu.DieBonderApp/MainShell/Recipe/Models/PID/AxisPIDParameter.cs
@@ -0,0 +1,284 @@
+using MwFramework.ManagerService;
+using Stylet;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace MainShell.Recipe.Models
+{
+    public class PidAxisOption
+    {
+        public string AxisName { get; set; }
+
+        public int AxisIndex { get; set; }
+    }
+
+    public static class PidAxisCatalog
+    {
+        private static readonly Dictionary<int, string> _axisNameByIndex = new Dictionary<int, string>();
+        private static readonly Dictionary<string, int> _axisIndexByName = new Dictionary<string, int>(StringComparer.OrdinalIgnoreCase);
+
+        public static void SetAxisOptions(IEnumerable<PidAxisOption> axisOptions)
+        {
+            _axisNameByIndex.Clear();
+            _axisIndexByName.Clear();
+
+            if (axisOptions == null)
+            {
+                return;
+            }
+
+            foreach (PidAxisOption axisOption in axisOptions)
+            {
+                if (axisOption == null || string.IsNullOrWhiteSpace(axisOption.AxisName))
+                {
+                    continue;
+                }
+
+                _axisNameByIndex[axisOption.AxisIndex] = axisOption.AxisName;
+                _axisIndexByName[axisOption.AxisName] = axisOption.AxisIndex;
+            }
+        }
+
+        public static string GetAxisName(int axisIndex)
+        {
+            string axisName;
+            return _axisNameByIndex.TryGetValue(axisIndex, out axisName) ? axisName : string.Empty;
+        }
+
+        public static bool TryGetAxisIndex(string axisName, out int axisIndex)
+        {
+            if (string.IsNullOrWhiteSpace(axisName))
+            {
+                axisIndex = -1;
+                return false;
+            }
+
+            return _axisIndexByName.TryGetValue(axisName, out axisIndex);
+        }
+    }
+
+    public class AxisPIDParameter : PropertyChangedBase, IParameterItem
+    {
+        private bool _isSynchronizingAxis;
+        private string _moduleName;
+
+        public string ModuleName
+        {
+            get { return _moduleName; }
+            set
+            {
+                if (SetAndNotify(ref _moduleName, value))
+                {
+                    SyncAxisIndexFromModuleName();
+                }
+            }
+        }
+
+        private int _axisIndex;
+
+        public int AxisIndex
+        {
+            get { return _axisIndex; }
+            set
+            {
+                if (SetAndNotify(ref _axisIndex, value))
+                {
+                    SyncModuleNameFromAxisIndex();
+                }
+            }
+        }
+        private PIDLabel<double> _pA_SLVKP = new PIDLabel<double>() { Name = "PA_SLVKP_", Value = 0 };
+        /// <summary>
+        /// 速度环KP
+        /// </summary>
+        public PIDLabel<double> PA_SLVKP
+        {
+            get { return _pA_SLVKP; }
+            set { SetAndNotify(ref _pA_SLVKP, value); }
+        }
+
+        private PIDLabel<double> _pA_SLVKI = new PIDLabel<double>() { Name = "PA_SLVKI_", Value = 0 };
+        /// <summary>
+        /// 速度环KI
+        /// </summary>
+        public PIDLabel<double> PA_SLVKI
+        {
+            get { return _pA_SLVKI; }
+            set { SetAndNotify(ref _pA_SLVKI, value); }
+        }
+
+        private PIDLabel<double> _pA_SLVKPSF = new PIDLabel<double>() { Name = "PA_SLVKPSF_", Value = 0 };
+        /// <summary>
+        /// 速度环KP Settle因子
+        /// </summary>
+        public PIDLabel<double> PA_SLVKPSF
+        {
+            get { return _pA_SLVKPSF; }
+            set { SetAndNotify(ref _pA_SLVKPSF, value); }
+        }
+
+        private PIDLabel<double> _pA_SLVKPIF = new PIDLabel<double>() { Name = "PA_SLVKPIF_", Value = 0 };
+        /// <summary>
+        /// 速度环KP Iddle因子
+        /// </summary>
+        public PIDLabel<double> PA_SLVKPIF
+        {
+            get { return _pA_SLVKPIF; }
+            set { SetAndNotify(ref _pA_SLVKPIF, value); }
+        }
+
+        private PIDLabel<double> _pA_SLVKISF = new PIDLabel<double>() { Name = "PA_SLVKISF_", Value = 0 };
+        /// <summary>
+        /// 速度环KI Settle因子
+        /// </summary>
+        public PIDLabel<double> PA_SLVKISF
+        {
+            get { return _pA_SLVKISF; }
+            set { SetAndNotify(ref _pA_SLVKISF, value); }
+        }
+
+        private PIDLabel<double> _pA_SLVKIIF = new PIDLabel<double>() { Name = "PA_SLVKIIF_", Value = 0 };
+        /// <summary>
+        /// 速度环KI Iddle因子   
+        /// </summary>
+        public PIDLabel<double> PA_SLVKIIF
+        {
+            get { return _pA_SLVKIIF; }
+            set { SetAndNotify(ref _pA_SLVKIIF, value); }
+        }
+
+
+
+        private PIDLabel<double> _pA_SLPKP = new PIDLabel<double>() { Name = "PA_SLPKP_", Value = 0 };
+        /// <summary>
+        /// 位置环的KP
+        /// </summary>
+        public PIDLabel<double> PA_SLPKP
+        {
+            get { return _pA_SLPKP; }
+            set { SetAndNotify(ref _pA_SLPKP, value); }
+        }
+
+        private PIDLabel<double> _pA_SLPKPIF = new PIDLabel<double>() { Name = "PA_SLPKPIF_", Value = 0 };
+        /// <summary>
+        /// 位置环的KP的Idel因子
+        /// </summary>
+        public PIDLabel<double> PA_SLPKPIF
+        {
+            get { return _pA_SLPKPIF; }
+            set { SetAndNotify(ref _pA_SLPKPIF, value); }
+        }
+
+        private PIDLabel<double> _pA_SLPKPSF = new PIDLabel<double>() { Name = "PA_SLPKPSF_", Value = 0 };
+        /// <summary>
+        /// 位置环的KP的Settle因子
+        /// </summary>
+        public PIDLabel<double> PA_SLPKPSF
+        {
+            get { return _pA_SLPKPSF; }
+            set { SetAndNotify(ref _pA_SLPKPSF, value); }
+        }
+
+        private PIDLabel<double> _pA_SLAFF = new PIDLabel<double>() { Name = "PA_SLAFF_", Value = 0 };
+        /// <summary>
+        /// 加速度前馈
+        /// </summary>
+        public PIDLabel<double> PA_SLAFF
+        {
+            get { return _pA_SLAFF; }
+            set { SetAndNotify(ref _pA_SLAFF, value); }
+        }
+
+        private PIDLabel<double> _pA_SLJFF = new PIDLabel<double>() { Name = "PA_SLJFF_", Value = 0 };
+        /// <summary>
+        /// 加加速度前馈
+        /// </summary>
+        public PIDLabel<double> PA_SLJFF
+        {
+            get { return _pA_SLJFF; }
+            set { SetAndNotify(ref _pA_SLJFF, value); }
+        }
+
+        public AxisPIDParameter()
+        {
+        }
+        public AxisPIDParameter(string moduleName)
+        {
+            ModuleName = moduleName;
+        }
+
+        public IParameterItem Clone()
+        {
+            AxisPIDParameter copy = new AxisPIDParameter
+            {
+                ModuleName = this.ModuleName,
+                AxisIndex = this.AxisIndex,
+                PA_SLVKP = this.PA_SLVKP != null ? (PIDLabel<double>)this.PA_SLVKP.Clone() : new PIDLabel<double>(),
+                PA_SLVKI = this.PA_SLVKI != null ? (PIDLabel<double>)this.PA_SLVKI.Clone() : new PIDLabel<double>(),
+                PA_SLVKPSF = this.PA_SLVKPSF != null ? (PIDLabel<double>)this.PA_SLVKPSF.Clone() : new PIDLabel<double>(),
+                PA_SLVKPIF = this.PA_SLVKPIF != null ? (PIDLabel<double>)this.PA_SLVKPIF.Clone() : new PIDLabel<double>(),
+                PA_SLVKISF = this.PA_SLVKISF != null ? (PIDLabel<double>)this.PA_SLVKISF.Clone() : new PIDLabel<double>(),
+                PA_SLVKIIF = this.PA_SLVKIIF != null ? (PIDLabel<double>)this.PA_SLVKIIF.Clone() : new PIDLabel<double>(),
+
+                PA_SLPKP = this.PA_SLPKP != null ? (PIDLabel<double>)this.PA_SLPKP.Clone() : new PIDLabel<double>(),
+                PA_SLPKPIF = this.PA_SLPKPIF != null ? (PIDLabel<double>)this.PA_SLPKPIF.Clone() : new PIDLabel<double>(),
+                PA_SLPKPSF = this.PA_SLPKPSF != null ? (PIDLabel<double>)this.PA_SLPKPSF.Clone() : new PIDLabel<double>(),
+                PA_SLAFF = this.PA_SLAFF != null ? (PIDLabel<double>)this.PA_SLAFF.Clone() : new PIDLabel<double>(),
+                PA_SLJFF = this.PA_SLJFF != null ? (PIDLabel<double>)this.PA_SLJFF.Clone() : new PIDLabel<double>()
+            };
+
+            return copy;
+        }
+
+        private void SyncAxisIndexFromModuleName()
+        {
+            if (_isSynchronizingAxis)
+            {
+                return;
+            }
+
+            int axisIndex;
+            if (!PidAxisCatalog.TryGetAxisIndex(ModuleName, out axisIndex))
+            {
+                return;
+            }
+
+            _isSynchronizingAxis = true;
+            try
+            {
+                SetAndNotify(ref _axisIndex, axisIndex);
+            }
+            finally
+            {
+                _isSynchronizingAxis = false;
+            }
+        }
+
+        private void SyncModuleNameFromAxisIndex()
+        {
+            if (_isSynchronizingAxis)
+            {
+                return;
+            }
+
+            string axisName = PidAxisCatalog.GetAxisName(AxisIndex);
+            if (string.IsNullOrWhiteSpace(axisName))
+            {
+                return;
+            }
+
+            _isSynchronizingAxis = true;
+            try
+            {
+                SetAndNotify(ref _moduleName, axisName);
+            }
+            finally
+            {
+                _isSynchronizingAxis = false;
+            }
+        }
+    }
+}
--- a/new/PanGu.DieBonderApp/MainShell/Recipe/Models/PID/PIDLabel.cs
+++ b/new/PanGu.DieBonderApp/MainShell/Recipe/Models/PID/PIDLabel.cs
@@ -0,0 +1,34 @@
+using MwFramework.ManagerService;
+using Stylet;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace MainShell.Recipe.Models
+{
+    public class PIDLabel<T> : PropertyChangedBase , IParameterItem
+    {
+        private string _name;
+
+        public string Name
+        {
+            get { return _name; }
+            set { SetAndNotify(ref _name, value); }  
+        }
+
+        private T _value;
+
+        public T Value
+        {
+            get { return _value; }
+            set { SetAndNotify(ref _value, value); } 
+        }
+
+        public IParameterItem Clone()
+        {
+            return this.MemberwiseClone() as IParameterItem;
+        }
+    }
+}
--- a/new/PanGu.DieBonderApp/MainShell/Recipe/Models/PID/PIDOperater.cs
+++ b/new/PanGu.DieBonderApp/MainShell/Recipe/Models/PID/PIDOperater.cs
@@ -0,0 +1,108 @@
+using MwFramework.Device;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Reflection;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace MainShell.Recipe.Models
+{
+    public class PIDOperater
+    {
+        public void SendPIDParameters(AxisPIDParameter axisPIDParameter)
+        {
+            var controller = GetControler();
+            foreach (var property in axisPIDParameter.GetType().GetProperties())
+            {
+                var value = property.GetValue(axisPIDParameter);
+                if (value is PIDLabel<double> pIDLabel)
+                {
+                    controller.WriteVariableBuffer(-1, axisPIDParameter.ModuleName + pIDLabel.Name, pIDLabel.Value);
+                }
+            }
+           
+        }
+
+        public AxisPIDParameter ReadPIDParametersFromDevice(string moduleName)
+        {
+            var controller = GetControler();
+          
+            AxisPIDParameter axisPIDParameter = new AxisPIDParameter(moduleName);
+            var props = axisPIDParameter.GetType()
+                .GetProperties(BindingFlags.Public | BindingFlags.Instance)
+                .Where(p => p.CanRead && p.CanWrite);
+            foreach (var property in props)
+            {
+                var value = property.GetValue(axisPIDParameter);
+                if (value is PIDLabel<double> pIDLabel)
+                {
+                    controller.ReadVariableBuffer(-1, axisPIDParameter.ModuleName + pIDLabel.Name, out var val);
+                    if (val == null)
+                    {
+                        continue;
+                    }
+                    pIDLabel.Value = Convert.ToDouble(val);
+                }
+            }
+            return axisPIDParameter;
+        }
+
+        private IMotionController GetControler()
+        {
+            var hw = IoC.Get<Hardware.HardwareManager>();
+            if (hw?.AcsCard?.Controller == null)
+                throw new InvalidOperationException("硬件控制器未初始化 (HardwareManager.AcsCard.Controller is null).");
+            return hw.AcsCard.Controller;
+        }
+
+        public void SendPIDFilteringParameters(AxisFilteringParameter pidFilteringParameter)
+        {
+            var controller = GetControler();
+            foreach (var property in pidFilteringParameter.GetType().GetProperties())
+            {
+                var value = property.GetValue(pidFilteringParameter);
+                if (value is PIDLabel<double> pIDLabel)
+                {
+                    controller.WriteVariableBuffer(-1,  pIDLabel.Name, pIDLabel.Value);
+                }
+                else if (value is PIDLabel<bool> pIDLabelBool)
+                {
+                    var val= pIDLabelBool.Value== true ? 1 : 0;
+                    controller.WriteVariableBuffer(-1, pIDLabelBool.Name, val);
+                }
+            }
+        }
+        public AxisFilteringParameter ReadPIDFilteringParametersFromDevice()
+        {
+            var controller = GetControler();
+            var axisFilteringParameter = new AxisFilteringParameter();
+            var props = axisFilteringParameter.GetType()
+                .GetProperties(BindingFlags.Public | BindingFlags.Instance)
+                .Where(p => p.CanRead && p.CanWrite);
+            foreach (var property in props)
+            {
+                var value = property.GetValue(axisFilteringParameter);
+                if (value is PIDLabel<double> pIDLabel)
+                {
+                    controller.ReadVariableBuffer(-1,  pIDLabel.Name, out var val);
+                    if (val == null)
+                    {
+                        continue;
+                    }
+                    pIDLabel.Value = Convert.ToDouble(val);
+                }
+                else if (value is PIDLabel<bool> pIDLabelBool)
+                {
+                    controller.ReadVariableBuffer(-1,  pIDLabelBool.Name, out var val);
+                    if (val == null)
+                    {
+                        continue;
+                    }
+                    pIDLabelBool.Value = Convert.ToInt32(val) != 0;
+                }
+            }
+            return axisFilteringParameter;
+        }
+    }
+}
--- a/new/PanGu.DieBonderApp/MainShell/Recipe/Models/PID/PIDProfile.cs
+++ b/new/PanGu.DieBonderApp/MainShell/Recipe/Models/PID/PIDProfile.cs
@@ -0,0 +1,63 @@
+using Stylet;
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace MainShell.Recipe.Models.PID
+{
+    public class PIDProfile : PropertyChangedBase
+    {
+        private string _name;
+
+        public string Name
+        {
+            get { return _name; }
+            set { SetAndNotify(ref _name, value); }  
+        }
+        private string _description;
+        public string Description
+        {
+            get { return _description; }
+            set { SetAndNotify(ref _description, value); }
+        }
+
+        // 每个 profile 下的轴参数集合
+        public ObservableCollection<AxisPIDParameter> Axes { get; set; }
+
+        private ObservableCollection<AxisFilteringParameter> _filteringParameters;
+        public ObservableCollection<AxisFilteringParameter> FilteringParameters
+        {
+            get { return _filteringParameters; }
+            set { SetAndNotify(ref _filteringParameters, value); }
+        }
+
+        public PIDProfile()
+        {
+            Axes = new ObservableCollection<AxisPIDParameter>();
+            FilteringParameters = new ObservableCollection<AxisFilteringParameter>();
+        }
+
+        public PIDProfile(string name)
+            : this()
+        {
+            Name = name;
+        }
+
+        public void EnsureAxes()
+        {
+            if (Axes == null)
+            {
+                Axes = new ObservableCollection<AxisPIDParameter>();
+                NotifyOfPropertyChange(() => Axes);
+            }
+
+            if (FilteringParameters == null)
+            {
+                FilteringParameters = new ObservableCollection<AxisFilteringParameter>();
+            }
+        }
+    }
+}