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/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;
+        }
+    }
+}