447 lines
16 KiB
C#
447 lines
16 KiB
C#
using MainShell.Common;
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using MainShell.Hardware;
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using MainShell.DeviceMaintance.Model;
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using MainShell.Log;
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using MainShell.Motion;
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using MaxwellFramework.Core.Interfaces;
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using Stylet;
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using StyletIoC;
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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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using MwFramework.Device;
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namespace MainShell.DeviceMaintance.ViewModel
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{
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public class LaserCompensationViewModel : DeviceMaintanceBaseViewModel, IPage
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{
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private const string ProjectPageName = "激光补偿";
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private const int MinimumMoveTimeoutMilliseconds = 15000;
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private const double MoveTimeoutScaleFactor = 3d;
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private const int MoveTimeoutExtraMilliseconds = 2000;
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private readonly SafeAxisMotion _safeAxisMotion;
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private readonly AxisSpeedManager _axisSpeedManager;
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private readonly HardwareManager _hardwareManager;
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private CancellationTokenSource _cancellationTokenSource;
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private bool _uiEnable = true;
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private bool _isRunning;
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private string _statusMessage;
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private int _currentLoopIndex;
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private int _currentPointIndex;
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private double _currentTargetPosition;
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private string _selectedAxisName;
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public LaserCompensationViewModel(SafeAxisMotion safeAxisMotion, AxisSpeedManager axisSpeedManager, HardwareManager hardwareManager)
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{
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_safeAxisMotion = safeAxisMotion;
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_axisSpeedManager = axisSpeedManager;
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_hardwareManager = hardwareManager;
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Setting = new LaserCompensationSetting();
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Setting.LoadFromFile();
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AxisNames = new System.Collections.ObjectModel.ObservableCollection<string>(BuildAxisNames());
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if (!string.IsNullOrWhiteSpace(Setting.AxisName) && AxisNames.Contains(Setting.AxisName))
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{
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SelectedAxisName = Setting.AxisName;
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}
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else
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{
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SelectedAxisName = AxisNames.FirstOrDefault();
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}
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StatusMessage = "待机";
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}
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public string Name => "LaserCompensationMaint";
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public LaserCompensationSetting Setting { get; }
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public System.Collections.ObjectModel.ObservableCollection<string> AxisNames { get; }
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public string SelectedAxisName
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{
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get { return _selectedAxisName; }
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set
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{
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if (SetAndNotify(ref _selectedAxisName, value))
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{
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Setting.AxisName = value;
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}
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}
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}
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public bool UiEnable
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{
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get { return _uiEnable; }
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set
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{
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if (SetAndNotify(ref _uiEnable, value))
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{
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OnUiStateChanged(value);
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}
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}
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}
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public bool IsRunning
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{
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get { return _isRunning; }
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set { SetAndNotify(ref _isRunning, value); }
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}
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public string StatusMessage
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{
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get { return _statusMessage; }
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set { SetAndNotify(ref _statusMessage, value); }
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}
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public int CurrentLoopIndex
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{
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get { return _currentLoopIndex; }
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set { SetAndNotify(ref _currentLoopIndex, value); }
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}
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public int CurrentPointIndex
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{
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get { return _currentPointIndex; }
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set { SetAndNotify(ref _currentPointIndex, value); }
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}
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public double CurrentTargetPosition
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{
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get { return _currentTargetPosition; }
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set { SetAndNotify(ref _currentTargetPosition, value); }
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}
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public async Task StartAsync()
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{
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if (IsRunning)
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{
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return;
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}
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string validationMessage = ValidateSetting();
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if (!string.IsNullOrWhiteSpace(validationMessage))
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{
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StatusMessage = validationMessage;
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LocalizedMessageBox.Show(MessageKey.ParamInvalid, MessageKey.TitleError, System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Error);
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return;
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}
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_cancellationTokenSource?.Dispose();
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_cancellationTokenSource = new CancellationTokenSource();
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UiEnable = false;
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IsRunning = true;
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CurrentLoopIndex = 0;
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CurrentPointIndex = 0;
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CurrentTargetPosition = 0d;
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Setting.AxisName = SelectedAxisName;
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StatusMessage = "激光补偿运行中";
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IoC.Get<IProjectManager>().EnablePageAndDisableOther(ProjectPageName);
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BuildStartLogMessage().LogInfo();
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try
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{
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CancellationToken cancellationToken = _cancellationTokenSource.Token;
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await ExecuteCompensationAsync(cancellationToken).ConfigureAwait(true);
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StatusMessage = "激光补偿执行完成";
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BuildFinishLogMessage("完成").LogInfo();
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}
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catch (OperationCanceledException)
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{
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StatusMessage = "激光补偿已停止";
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BuildFinishLogMessage("已停止").LogInfo();
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}
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catch (Exception ex)
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{
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StatusMessage = $"激光补偿异常：{ex.Message}";
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LogManager.LogSysError(ex, true);
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}
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finally
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{
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IsRunning = false;
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UiEnable = true;
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_cancellationTokenSource?.Dispose();
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_cancellationTokenSource = null;
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IoC.Get<IProjectManager>().SwitchState();
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}
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}
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public void Stop()
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{
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if (!IsRunning)
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{
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return;
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}
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StatusMessage = "正在停止激光补偿";
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"激光补偿收到停止请求".LogInfo();
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_cancellationTokenSource?.Cancel();
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}
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public void Save()
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{
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try
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{
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Setting.SaveToFile();
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StatusMessage = "参数已保存";
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"激光补偿参数已保存".LogInfo();
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LocalizedMessageBox.Show(MessageKey.CommonSaveSucceeded, MessageKey.TitleInfo, System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Information);
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}
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catch (Exception ex)
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{
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StatusMessage = $"参数保存失败：{ex.Message}";
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LogManager.LogSysError(ex, true);
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}
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}
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private async Task ExecuteCompensationAsync(CancellationToken cancellationToken)
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{
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IReadOnlyList<double> trajectory = BuildTrajectory();
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ApplyAxisSpeedIfPossible();
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for (int workIndex = 0; workIndex < Setting.WorkCount; workIndex++)
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{
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cancellationToken.ThrowIfCancellationRequested();
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CurrentLoopIndex = workIndex + 1;
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$"激光补偿开始第{CurrentLoopIndex}次循环，总点数={trajectory.Count}".LogInfo();
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for (int pointIndex = 0; pointIndex < trajectory.Count; pointIndex++)
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{
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cancellationToken.ThrowIfCancellationRequested();
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double targetPosition = trajectory[pointIndex];
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CurrentPointIndex = pointIndex + 1;
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CurrentTargetPosition = targetPosition;
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StatusMessage = $"循环 {CurrentLoopIndex}/{Setting.WorkCount}，点位 {CurrentPointIndex}/{trajectory.Count}";
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int timeoutMilliseconds = CalculateMoveTimeoutMilliseconds(targetPosition, trajectory, pointIndex);
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$"激光补偿移动开始：轴={Setting.AxisName}，循环={CurrentLoopIndex}，点位={CurrentPointIndex}，目标={targetPosition:F4}，超时={timeoutMilliseconds}ms".LogInfo();
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MotionResult motionResult = await _safeAxisMotion.MoveAbsAsync(
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Setting.AxisName,
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targetPosition,
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timeoutMilliseconds,
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cancellationToken,
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alarmId: null).ConfigureAwait(false);
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motionResult.EnsureSuccess();
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$"激光补偿移动完成：轴={Setting.AxisName}，循环={CurrentLoopIndex}，点位={CurrentPointIndex}，目标={targetPosition:F4}，到位={motionResult.EndPosition:F4}".LogInfo();
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if (Setting.DwellTime > 0d)
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{
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int dwellMilliseconds = (int)Math.Ceiling(Setting.DwellTime * 1000d);
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$"激光补偿延时采样：{dwellMilliseconds}ms".LogInfo();
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await Task.Delay(dwellMilliseconds, cancellationToken).ConfigureAwait(false);
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}
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}
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}
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}
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private void ApplyAxisSpeedIfPossible()
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{
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try
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{
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if (!string.IsNullOrWhiteSpace(Setting.AxisName) && Setting.Speed > 0d)
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{
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_axisSpeedManager.SetAxisSpeed(Setting.AxisName, Setting.Speed);
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$"激光补偿轴速度已设置：轴={Setting.AxisName}，Speed={Setting.Speed:F4}".LogInfo();
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}
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}
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catch (Exception ex)
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{
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$"激光补偿轴速度设置失败：{ex}".LogSysError();
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throw;
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}
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}
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private IReadOnlyList<double> BuildTrajectory()
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{
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List<double> measurePoints = Enumerable.Range(0, Setting.StepsCount)
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.Select(index => Setting.StartPos + index * Setting.Steps)
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.ToList();
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double readyPosition = Setting.StartPos - Setting.JumpPos;
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double overshootPosition = measurePoints[measurePoints.Count - 1] + Setting.JumpPos;
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List<double> trajectory = new List<double>(measurePoints.Count * 2 + 3)
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{
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readyPosition
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};
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trajectory.AddRange(measurePoints);
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trajectory.Add(overshootPosition);
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trajectory.AddRange(measurePoints.AsEnumerable().Reverse());
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trajectory.Add(readyPosition);
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return trajectory;
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}
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private int CalculateMoveTimeoutMilliseconds(double targetPosition, IReadOnlyList<double> trajectory, int pointIndex)
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{
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IAxis axis = _hardwareManager.GetAxisByName(Setting.AxisName);
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double startPosition = GetMoveStartPosition(axis, trajectory, pointIndex, targetPosition);
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double distance = Math.Abs(targetPosition - startPosition);
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double speed = ResolvePositiveMotionParameter(axis != null ? axis.Param.Velocity : 0d, Math.Abs(Setting.Speed));
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if (speed <= 0d)
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{
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return MinimumMoveTimeoutMilliseconds;
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}
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double acceleration = ResolvePositiveMotionParameter(axis != null ? axis.Param.Accelerate : 0d, 0d);
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double deceleration = ResolvePositiveMotionParameter(axis != null ? axis.Param.Decelerate : 0d, acceleration);
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double expectedMilliseconds = CalculateExpectedMoveMilliseconds(distance, speed, acceleration, deceleration);
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return Math.Max(MinimumMoveTimeoutMilliseconds, (int)Math.Ceiling(expectedMilliseconds * MoveTimeoutScaleFactor + MoveTimeoutExtraMilliseconds));
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}
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private static double GetMoveStartPosition(IAxis axis, IReadOnlyList<double> trajectory, int pointIndex, double targetPosition)
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{
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if (pointIndex > 0)
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{
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return trajectory[pointIndex - 1];
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}
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if (axis != null)
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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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return targetPosition;
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}
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private static double ResolvePositiveMotionParameter(double primaryValue, double fallbackValue)
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{
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if (!double.IsNaN(primaryValue) && !double.IsInfinity(primaryValue) && primaryValue > 0d)
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{
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return primaryValue;
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}
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if (!double.IsNaN(fallbackValue) && !double.IsInfinity(fallbackValue) && fallbackValue > 0d)
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{
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return fallbackValue;
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}
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return 0d;
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}
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private static double CalculateExpectedMoveMilliseconds(double distance, double speed, double acceleration, double deceleration)
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{
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if (distance <= 0d)
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{
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return 0d;
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}
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if (speed <= 0d)
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{
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return 0d;
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}
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if (acceleration <= 0d || deceleration <= 0d)
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{
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return distance / speed * 1000d;
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}
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double accelerateDistance = speed * speed / (2d * acceleration);
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double decelerateDistance = speed * speed / (2d * deceleration);
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double criticalDistance = accelerateDistance + decelerateDistance;
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double expectedSeconds;
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if (distance >= criticalDistance)
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{
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expectedSeconds = speed / acceleration + speed / deceleration + (distance - criticalDistance) / speed;
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}
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else
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{
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double peakSpeed = Math.Sqrt(2d * distance * acceleration * deceleration / (acceleration + deceleration));
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expectedSeconds = peakSpeed / acceleration + peakSpeed / deceleration;
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}
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return expectedSeconds * 1000d;
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}
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private string ValidateSetting()
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{
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if (string.IsNullOrWhiteSpace(Setting.AxisName))
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{
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return "轴名称不能为空";
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}
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if (!AxisNames.Contains(Setting.AxisName))
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{
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return "请选择有效的轴名称";
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}
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if (Setting.StepsCount <= 0)
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{
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return "步距次数必须大于0";
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}
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if (Setting.WorkCount <= 0)
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{
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return "循环次数必须大于0";
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}
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if (Math.Abs(Setting.Steps) <= 0d)
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{
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return "步距必须非0";
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}
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if (Setting.JumpPos < 0d)
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{
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return "跃程不能小于0";
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}
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if (Setting.Speed <= 0d)
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{
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return "速度必须大于0";
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}
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if (Setting.DwellTime < 0d)
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{
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return "延时时间不能小于0";
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}
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return null;
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}
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private string BuildStartLogMessage()
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{
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return $"激光补偿启动：轴={Setting.AxisName}，StartPos={Setting.StartPos:F4}，Steps={Setting.Steps:F4}，StepsCount={Setting.StepsCount}，JumpPos={Setting.JumpPos:F4}，WorkCount={Setting.WorkCount}，Speed={Setting.Speed:F4}，DwellTime={Setting.DwellTime:F3}s";
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}
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private string BuildFinishLogMessage(string state)
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{
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return $"激光补偿结束：状态={state}，轴={Setting.AxisName}，已执行循环={CurrentLoopIndex}，最后点位={CurrentPointIndex}，最后目标={CurrentTargetPosition:F4}";
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}
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private IEnumerable<string> BuildAxisNames()
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{
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return new[]
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{
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GetAxisName(_hardwareManager?.Axis_PHS_X1, MainShell.Hardware.AxisName.Axis_PHS_X1),
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GetAxisName(_hardwareManager?.Axis_PHS_X2, MainShell.Hardware.AxisName.Axis_PHS_X2),
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GetAxisName(_hardwareManager?.Axis_PHS_Y1, MainShell.Hardware.AxisName.Axis_PHS_Y1),
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GetAxisName(_hardwareManager?.Axis_WS_X3, MainShell.Hardware.AxisName.Axis_WS_X3),
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GetAxisName(_hardwareManager?.Axis_Stage_Y3, MainShell.Hardware.AxisName.Axis_Stage_Y3),
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GetAxisName(_hardwareManager?.Axis_WS_R, MainShell.Hardware.AxisName.Axis_WS_R),
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}.Where(x => !string.IsNullOrWhiteSpace(x)).Distinct().ToArray();
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}
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private static string GetAxisName(IAxis axis, string fallbackName)
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{
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if (axis == null || string.IsNullOrWhiteSpace(axis.Name))
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{
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return fallbackName;
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}
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return axis.Name;
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}
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}
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}
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