更新UI

COFTester/Controls/RealtimeForceChart.cs

@@ -0,0 +1,427 @@
+using System.Collections;
+using System.Collections.Specialized;
+using System.Globalization;
+using System.Windows;
+using System.Windows.Media;
+using LiveChartsCore.Defaults;
+
+namespace COFTester.Controls;
+
+public sealed class RealtimeForceChart : FrameworkElement
+{
+    public static readonly DependencyProperty SamplesProperty = DependencyProperty.Register(
+        nameof(Samples),
+        typeof(IEnumerable),
+        typeof(RealtimeForceChart),
+        new FrameworkPropertyMetadata(null, FrameworkPropertyMetadataOptions.AffectsRender, OnCollectionSourceChanged));
+
+    public static readonly DependencyProperty PeakLineSamplesProperty = DependencyProperty.Register(
+        nameof(PeakLineSamples),
+        typeof(IEnumerable),
+        typeof(RealtimeForceChart),
+        new FrameworkPropertyMetadata(null, FrameworkPropertyMetadataOptions.AffectsRender, OnCollectionSourceChanged));
+
+    public static readonly DependencyProperty AverageLineSamplesProperty = DependencyProperty.Register(
+        nameof(AverageLineSamples),
+        typeof(IEnumerable),
+        typeof(RealtimeForceChart),
+        new FrameworkPropertyMetadata(null, FrameworkPropertyMetadataOptions.AffectsRender, OnCollectionSourceChanged));
+
+    public static readonly DependencyProperty CurrentPointSamplesProperty = DependencyProperty.Register(
+        nameof(CurrentPointSamples),
+        typeof(IEnumerable),
+        typeof(RealtimeForceChart),
+        new FrameworkPropertyMetadata(null, FrameworkPropertyMetadataOptions.AffectsRender, OnCollectionSourceChanged));
+
+    public static readonly DependencyProperty XMaxProperty = DependencyProperty.Register(
+        nameof(XMax),
+        typeof(double),
+        typeof(RealtimeForceChart),
+        new FrameworkPropertyMetadata(1d, FrameworkPropertyMetadataOptions.AffectsRender));
+
+    public static readonly DependencyProperty YMaxProperty = DependencyProperty.Register(
+        nameof(YMax),
+        typeof(double),
+        typeof(RealtimeForceChart),
+        new FrameworkPropertyMetadata(0.5d, FrameworkPropertyMetadataOptions.AffectsRender));
+
+    public static readonly DependencyProperty TravelMmProperty = DependencyProperty.Register(
+        nameof(TravelMm),
+        typeof(double),
+        typeof(RealtimeForceChart),
+        new FrameworkPropertyMetadata(1d, FrameworkPropertyMetadataOptions.AffectsRender));
+
+    public static readonly DependencyProperty SledMassGramsProperty = DependencyProperty.Register(
+        nameof(SledMassGrams),
+        typeof(double),
+        typeof(RealtimeForceChart),
+        new FrameworkPropertyMetadata(0d, FrameworkPropertyMetadataOptions.AffectsRender));
+
+    private const double NewtonToGramForce = 101.9716213;
+    private const double GravityMetersPerSecondSquared = 9.80665;
+
+    private readonly Pen _axisPen = new(new SolidColorBrush(Color.FromRgb(54, 54, 54)), 1);
+    private readonly Pen _gridPen = new(new SolidColorBrush(Color.FromRgb(170, 170, 170)), 0.9);
+    private readonly Pen _minorGridPen = new(new SolidColorBrush(Color.FromRgb(216, 216, 216)), 0.7);
+    private readonly Pen _curvePen = new(new SolidColorBrush(Color.FromRgb(18, 22, 25)), 1.7);
+    private readonly Pen _peakPen = new(new SolidColorBrush(Color.FromRgb(86, 86, 86)), 1) { DashStyle = DashStyles.Dash };
+    private readonly Pen _averagePen = new(new SolidColorBrush(Color.FromRgb(120, 120, 120)), 1) { DashStyle = DashStyles.Dash };
+    private readonly Brush _labelBrush = new SolidColorBrush(Color.FromRgb(63, 63, 63));
+    private readonly Brush _titleBrush = new SolidColorBrush(Color.FromRgb(34, 34, 34));
+    private readonly Brush _chartBackgroundBrush = new SolidColorBrush(Color.FromRgb(252, 253, 248));
+    private readonly Pen _chartBorderPen = new(new SolidColorBrush(Color.FromRgb(110, 112, 104)), 1);
+    private readonly Brush _pointBrush = new SolidColorBrush(Color.FromRgb(18, 22, 25));
+    private readonly Pen _pointPen = new(new SolidColorBrush(Color.FromRgb(247, 249, 251)), 1.8);
+
+    public IEnumerable? Samples
+    {
+        get => (IEnumerable?)GetValue(SamplesProperty);
+        set => SetValue(SamplesProperty, value);
+    }
+
+    public IEnumerable? PeakLineSamples
+    {
+        get => (IEnumerable?)GetValue(PeakLineSamplesProperty);
+        set => SetValue(PeakLineSamplesProperty, value);
+    }
+
+    public IEnumerable? AverageLineSamples
+    {
+        get => (IEnumerable?)GetValue(AverageLineSamplesProperty);
+        set => SetValue(AverageLineSamplesProperty, value);
+    }
+
+    public IEnumerable? CurrentPointSamples
+    {
+        get => (IEnumerable?)GetValue(CurrentPointSamplesProperty);
+        set => SetValue(CurrentPointSamplesProperty, value);
+    }
+
+    public double XMax
+    {
+        get => (double)GetValue(XMaxProperty);
+        set => SetValue(XMaxProperty, value);
+    }
+
+    public double YMax
+    {
+        get => (double)GetValue(YMaxProperty);
+        set => SetValue(YMaxProperty, value);
+    }
+
+    public double TravelMm
+    {
+        get => (double)GetValue(TravelMmProperty);
+        set => SetValue(TravelMmProperty, value);
+    }
+
+    public double SledMassGrams
+    {
+        get => (double)GetValue(SledMassGramsProperty);
+        set => SetValue(SledMassGramsProperty, value);
+    }
+
+    protected override void OnRender(DrawingContext drawingContext)
+    {
+        base.OnRender(drawingContext);
+
+        var width = ActualWidth;
+        var height = ActualHeight;
+        if (width < 120 || height < 90)
+        {
+            return;
+        }
+
+        var plot = new Rect(78, 36, Math.Max(1, width - 220), Math.Max(1, height - 104));
+        var samples = ReadPoints(Samples);
+        var currentPoint = ReadPoints(CurrentPointSamples).LastOrDefault();
+        var xMax = ResolveAxisMax(XMax, TravelMm, samples.Select(point => point.X));
+        var yMax = ResolveAxisMax(YMax, 0.5, samples.Select(point => point.Y));
+
+        drawingContext.DrawRectangle(_chartBackgroundBrush, _chartBorderPen, new Rect(0.5, 0.5, Math.Max(0, width - 1), Math.Max(0, height - 1)));
+        DrawGridAndAxes(drawingContext, plot, xMax, yMax);
+        DrawReferenceLine(drawingContext, plot, xMax, yMax, ReadLineValue(PeakLineSamples), _peakPen);
+        DrawReferenceLine(drawingContext, plot, xMax, yMax, ReadLineValue(AverageLineSamples), _averagePen);
+        DrawCurve(drawingContext, plot, xMax, yMax, samples);
+
+        if (currentPoint is not null)
+        {
+            var point = ToScreen(currentPoint, plot, xMax, yMax);
+            drawingContext.DrawEllipse(_pointBrush, _pointPen, point, 5.5, 5.5);
+        }
+    }
+
+    private static void OnCollectionSourceChanged(DependencyObject dependencyObject, DependencyPropertyChangedEventArgs e)
+    {
+        var chart = (RealtimeForceChart)dependencyObject;
+        if (e.OldValue is INotifyCollectionChanged oldCollection)
+        {
+            oldCollection.CollectionChanged -= chart.OnCollectionChanged;
+        }
+
+        if (e.NewValue is INotifyCollectionChanged newCollection)
+        {
+            newCollection.CollectionChanged += chart.OnCollectionChanged;
+        }
+
+        chart.InvalidateVisual();
+    }
+
+    private void OnCollectionChanged(object? sender, NotifyCollectionChangedEventArgs e)
+    {
+        InvalidateVisual();
+    }
+
+    private void DrawGridAndAxes(DrawingContext drawingContext, Rect plot, double xMax, double yMax)
+    {
+        drawingContext.DrawRectangle(null, _axisPen, plot);
+
+        var xDivisions = ResolveXAxisDivisions(plot.Width);
+        const int xMinorDivisions = 5;
+        for (var index = 0; index <= xDivisions; index++)
+        {
+            var x = plot.Left + plot.Width * index / xDivisions;
+            drawingContext.DrawLine(index == 0 ? _axisPen : _gridPen, new Point(x, plot.Top), new Point(x, plot.Bottom));
+            if (index < xDivisions)
+            {
+                for (var minorIndex = 1; minorIndex < xMinorDivisions; minorIndex++)
+                {
+                    var minorX = x + plot.Width / xDivisions * minorIndex / xMinorDivisions;
+                    drawingContext.DrawLine(_minorGridPen, new Point(minorX, plot.Top), new Point(minorX, plot.Bottom));
+                }
+            }
+
+            DrawCenteredText(
+                drawingContext,
+                (xMax * index / xDivisions).ToString("0.#", CultureInfo.InvariantCulture),
+                x,
+                plot.Bottom + 8,
+                11,
+                _labelBrush,
+                plot.Left,
+                plot.Right);
+        }
+
+        const int yDivisions = 10;
+        const int yMinorDivisions = 3;
+        var normalForceN = ResolveNormalForceN();
+        for (var index = 0; index <= yDivisions; index++)
+        {
+            var y = plot.Bottom - plot.Height * index / yDivisions;
+            drawingContext.DrawLine(index == 0 ? _axisPen : _gridPen, new Point(plot.Left, y), new Point(plot.Right, y));
+            if (index < yDivisions)
+            {
+                for (var minorIndex = 1; minorIndex < yMinorDivisions; minorIndex++)
+                {
+                    var minorY = y - plot.Height / yDivisions * minorIndex / yMinorDivisions;
+                    drawingContext.DrawLine(_minorGridPen, new Point(plot.Left, minorY), new Point(plot.Right, minorY));
+                }
+            }
+
+            DrawRightAlignedText(
+                drawingContext,
+                FormatForceGramLabel(yMax * index / yDivisions),
+                plot.Left - 10,
+                y - 8,
+                11,
+                _labelBrush,
+                4);
+            DrawText(
+                drawingContext,
+                FormatCoefficientLabel(yMax * index / yDivisions, normalForceN),
+                plot.Right + 8,
+                y - 8,
+                11,
+                _labelBrush);
+        }
+
+        var xAxisTitleY = Math.Min(plot.Bottom + 30, ActualHeight - 18);
+        DrawText(drawingContext, "Time [sec]", plot.Right - 58, xAxisTitleY, 12, _titleBrush);
+        DrawText(drawingContext, "Friction force [gf]", plot.Left, plot.Top - 25, 12, _titleBrush);
+        DrawText(drawingContext, "Coefficient of friction", plot.Right - 8, plot.Top - 25, 11, _titleBrush);
+    }
+
+    private void DrawReferenceLine(DrawingContext drawingContext, Rect plot, double xMax, double yMax, double? value, Pen pen)
+    {
+        if (value is null || value <= 0 || !IsFinite(value.Value))
+        {
+            return;
+        }
+
+        var y = ToScreen(new ChartPoint(0, value.Value), plot, xMax, yMax).Y;
+        drawingContext.DrawLine(pen, new Point(plot.Left, y), new Point(plot.Right, y));
+    }
+
+    private void DrawCurve(DrawingContext drawingContext, Rect plot, double xMax, double yMax, IReadOnlyList<ChartPoint> samples)
+    {
+        if (samples.Count == 0)
+        {
+            return;
+        }
+
+        if (samples.Count == 1)
+        {
+            drawingContext.DrawEllipse(_pointBrush, _pointPen, ToScreen(samples[0], plot, xMax, yMax), 4, 4);
+            return;
+        }
+
+        var geometry = new StreamGeometry();
+        using (var context = geometry.Open())
+        {
+            context.BeginFigure(ToScreen(samples[0], plot, xMax, yMax), false, false);
+            for (var index = 1; index < samples.Count; index++)
+            {
+                context.LineTo(ToScreen(samples[index], plot, xMax, yMax), true, false);
+            }
+        }
+
+        geometry.Freeze();
+        drawingContext.DrawGeometry(null, _curvePen, geometry);
+    }
+
+    private static int ResolveXAxisDivisions(double plotWidth)
+    {
+        if (plotWidth >= 700)
+        {
+            return 10;
+        }
+
+        if (plotWidth >= 520)
+        {
+            return 8;
+        }
+
+        if (plotWidth >= 360)
+        {
+            return 6;
+        }
+
+        return 4;
+    }
+
+    private void DrawCenteredText(
+        DrawingContext drawingContext,
+        string text,
+        double centerX,
+        double y,
+        double fontSize,
+        Brush brush,
+        double leftLimit,
+        double rightLimit)
+    {
+        var formattedText = CreateFormattedText(text, fontSize, brush);
+        var x = Math.Clamp(centerX - formattedText.Width / 2, leftLimit, Math.Max(leftLimit, rightLimit - formattedText.Width));
+        drawingContext.DrawText(formattedText, new Point(x, y));
+    }
+
+    private void DrawText(DrawingContext drawingContext, string text, double x, double y, double fontSize, Brush brush)
+    {
+        drawingContext.DrawText(CreateFormattedText(text, fontSize, brush), new Point(x, y));
+    }
+
+    private void DrawRightAlignedText(
+        DrawingContext drawingContext,
+        string text,
+        double rightX,
+        double y,
+        double fontSize,
+        Brush brush,
+        double leftLimit)
+    {
+        var formattedText = CreateFormattedText(text, fontSize, brush);
+        var x = Math.Max(leftLimit, rightX - formattedText.Width);
+        drawingContext.DrawText(formattedText, new Point(x, y));
+    }
+
+    private FormattedText CreateFormattedText(string text, double fontSize, Brush brush)
+    {
+        return new FormattedText(
+            text,
+            CultureInfo.CurrentCulture,
+            FlowDirection.LeftToRight,
+            new Typeface("Microsoft YaHei UI"),
+            fontSize,
+            brush,
+            VisualTreeHelper.GetDpi(this).PixelsPerDip);
+    }
+
+    private static Point ToScreen(ChartPoint point, Rect plot, double xMax, double yMax)
+    {
+        var x = plot.Left + plot.Width * Math.Clamp(point.X / xMax, 0, 1);
+        var y = plot.Bottom - plot.Height * Math.Clamp(point.Y / yMax, 0, 1);
+        return new Point(x, y);
+    }
+
+    private static double ResolveAxisMax(double configuredMax, double fallback, IEnumerable<double> values)
+    {
+        var max = IsFinite(configuredMax) && configuredMax > 0 ? configuredMax : fallback;
+        foreach (var value in values)
+        {
+            if (IsFinite(value))
+            {
+                max = Math.Max(max, value);
+            }
+        }
+
+        return Math.Max(max, 0.001);
+    }
+
+    private double ResolveNormalForceN()
+    {
+        return IsFinite(SledMassGrams) && SledMassGrams > 0
+            ? SledMassGrams / 1000d * GravityMetersPerSecondSquared
+            : 0;
+    }
+
+    private static string FormatForceGramLabel(double forceN)
+    {
+        var forceGf = forceN * NewtonToGramForce;
+        return forceGf >= 100
+            ? forceGf.ToString("0", CultureInfo.InvariantCulture)
+            : forceGf.ToString("0.#", CultureInfo.InvariantCulture);
+    }
+
+    private static string FormatCoefficientLabel(double forceN, double normalForceN)
+    {
+        return normalForceN > 0
+            ? (forceN / normalForceN).ToString("0.000", CultureInfo.InvariantCulture)
+            : "0.000";
+    }
+
+    private static double? ReadLineValue(IEnumerable? source)
+    {
+        return ReadPoints(source).FirstOrDefault(point => point.Y > 0)?.Y;
+    }
+
+    private static IReadOnlyList<ChartPoint> ReadPoints(IEnumerable? source)
+    {
+        if (source is null)
+        {
+            return Array.Empty<ChartPoint>();
+        }
+
+        var points = new List<ChartPoint>();
+        foreach (var item in source)
+        {
+            if (item is not ObservablePoint point ||
+                point.X is not { } x ||
+                point.Y is not { } y ||
+                !IsFinite(x) ||
+                !IsFinite(y))
+            {
+                continue;
+            }
+
+            points.Add(new ChartPoint(x, Math.Max(0, y)));
+        }
+
+        return points;
+    }
+
+    private static bool IsFinite(double value)
+    {
+        return !double.IsNaN(value) && !double.IsInfinity(value);
+    }
+
+    private sealed record ChartPoint(double X, double Y);
+}

COFTester/MainWindow.xaml.cs

@@ -4,26 +4,38 @@ using System.Windows.Controls;
 using System.Windows.Input;
 using System.Windows.Threading;
 using COFTester.ViewModels;
-using LiveChartsCore.Kernel;
 
 namespace COFTester;
 
 public partial class MainWindow : Window
 {
+    private static readonly TimeSpan RealtimeChartRenderPulseDuration = TimeSpan.FromSeconds(1);
+    private static readonly TimeSpan RealtimeChartStartupRenderPulseDuration = TimeSpan.FromSeconds(3);
+
     private readonly MainViewModel _viewModel = new();
+    private readonly DispatcherTimer _realtimeChartRenderTimer;
     private bool _isRealtimeChartLayoutRefreshQueued;
+    private DateTime _realtimeChartRenderUntilUtc = DateTime.MinValue;
 
     public MainWindow()
     {
+        _realtimeChartRenderTimer = new DispatcherTimer(DispatcherPriority.Render, Dispatcher)
+        {
+            Interval = TimeSpan.FromMilliseconds(33)
+        };
+        _realtimeChartRenderTimer.Tick += RealtimeChartRenderTimer_Tick;
+
         InitializeComponent();
         DataContext = _viewModel;
         _viewModel.RealtimeChartInvalidated += ViewModel_RealtimeChartInvalidated;
-        QueueRealtimeChartLayoutRefresh();
+        RequestRealtimeChartRender(RealtimeChartStartupRenderPulseDuration);
     }
 
     protected override void OnClosed(EventArgs e)
     {
         _viewModel.RealtimeChartInvalidated -= ViewModel_RealtimeChartInvalidated;
+        _realtimeChartRenderTimer.Stop();
+        _realtimeChartRenderTimer.Tick -= RealtimeChartRenderTimer_Tick;
         _viewModel.Dispose();
         base.OnClosed(e);
     }
@@ -31,29 +43,34 @@ public partial class MainWindow : Window
     protected override void OnContentRendered(EventArgs e)
     {
         base.OnContentRendered(e);
-        QueueRealtimeChartLayoutRefresh();
+        RequestRealtimeChartRender(RealtimeChartStartupRenderPulseDuration);
     }
 
     protected override void OnStateChanged(EventArgs e)
     {
         base.OnStateChanged(e);
-        QueueRealtimeChartLayoutRefresh();
+        RequestRealtimeChartRender(RealtimeChartRenderPulseDuration);
     }
 
     private void ShowRealtimeTab_Click(object sender, RoutedEventArgs e)
     {
         MainWorkspaceTabs.SelectedIndex = 0;
-        QueueRealtimeChartLayoutRefresh();
+        RequestRealtimeChartRender(RealtimeChartRenderPulseDuration);
     }
 
     private void ShowHistoryTab_Click(object sender, RoutedEventArgs e)
+    {
+        MainWorkspaceTabs.SelectedIndex = 2;
+    }
+
+    private void ShowConfigTab_Click(object sender, RoutedEventArgs e)
     {
         MainWorkspaceTabs.SelectedIndex = 1;
     }
 
     private void RealtimeForceChart_Loaded(object sender, RoutedEventArgs e)
     {
-        QueueRealtimeChartLayoutRefresh();
+        RequestRealtimeChartRender(RealtimeChartStartupRenderPulseDuration);
     }
 
     private void RealtimeForceChart_SizeChanged(object sender, SizeChangedEventArgs e)
@@ -63,18 +80,20 @@ public partial class MainWindow : Window
             return;
         }
 
-        QueueRealtimeChartLayoutRefresh();
+        RequestRealtimeChartRender(RealtimeChartRenderPulseDuration);
     }
 
     private void ViewModel_RealtimeChartInvalidated(object? sender, EventArgs e)
     {
         if (!Dispatcher.CheckAccess())
         {
-            Dispatcher.BeginInvoke(new Action(QueueRealtimeChartLayoutRefresh), DispatcherPriority.Render);
+            Dispatcher.BeginInvoke(
+                new Action(() => RequestRealtimeChartRender(RealtimeChartRenderPulseDuration)),
+                DispatcherPriority.Render);
             return;
         }
 
-        QueueRealtimeChartLayoutRefresh();
+        RequestRealtimeChartRender(RealtimeChartRenderPulseDuration);
     }
 
     private void TableMotionButton_PreviewMouseLeftButtonDown(object sender, MouseButtonEventArgs e)
@@ -126,6 +145,32 @@ public partial class MainWindow : Window
         Dispatcher.BeginInvoke(RunRealtimeChartLayoutRefreshSequence, DispatcherPriority.Loaded);
     }
 
+    private void RequestRealtimeChartRender(TimeSpan duration)
+    {
+        var renderUntil = DateTime.UtcNow + duration;
+        if (renderUntil > _realtimeChartRenderUntilUtc)
+        {
+            _realtimeChartRenderUntilUtc = renderUntil;
+        }
+
+        QueueRealtimeChartLayoutRefresh();
+        if (!_realtimeChartRenderTimer.IsEnabled)
+        {
+            _realtimeChartRenderTimer.Start();
+        }
+    }
+
+    private void RealtimeChartRenderTimer_Tick(object? sender, EventArgs e)
+    {
+        RefreshRealtimeChartLayout();
+        if (DateTime.UtcNow < _realtimeChartRenderUntilUtc)
+        {
+            return;
+        }
+
+        _realtimeChartRenderTimer.Stop();
+    }
+
     private void RunRealtimeChartLayoutRefreshSequence()
     {
         RefreshRealtimeChartLayout();
@@ -149,11 +194,7 @@ public partial class MainWindow : Window
 
         RealtimeForceChart.InvalidateMeasure();
         RealtimeForceChart.InvalidateArrange();
+        RealtimeForceChart.InvalidateVisual();
         RealtimeForceChart.UpdateLayout();
-        RealtimeForceChart.CoreChart.Update(new ChartUpdateParams
-        {
-            IsAutomaticUpdate = false,
-            Throttling = false
-        });
     }
 }

COFTester/Models/ReciprocatingFrictionRecord.cs

@@ -0,0 +1,44 @@
+using System.Globalization;
+
+namespace COFTester.Models;
+
+public sealed class ReciprocatingFrictionRecord
+{
+    public int Index { get; init; }
+
+    public double? StaticCoefficient { get; init; }
+
+    public double? KineticCoefficient { get; init; }
+
+    public double? StaticForceN { get; init; }
+
+    public double? KineticForceN { get; init; }
+
+    public bool HasData => StaticCoefficient.HasValue ||
+                           KineticCoefficient.HasValue ||
+                           StaticForceN.HasValue ||
+                           KineticForceN.HasValue;
+
+    public string StaticCoefficientLabel => FormatValue(StaticCoefficient, "F3");
+
+    public string KineticCoefficientLabel => FormatValue(KineticCoefficient, "F3");
+
+    public string StaticForceLabel => FormatValue(StaticForceN, "F3");
+
+    public string KineticForceLabel => FormatValue(KineticForceN, "F3");
+
+    public static ReciprocatingFrictionRecord Empty(int index)
+    {
+        return new ReciprocatingFrictionRecord
+        {
+            Index = index
+        };
+    }
+
+    private static string FormatValue(double? value, string format)
+    {
+        return value is { } number && double.IsFinite(number)
+            ? number.ToString(format, CultureInfo.InvariantCulture)
+            : "--";
+    }
+}

COFTester/Models/ReciprocatingRecordGridSection.cs

@@ -0,0 +1,24 @@
+namespace COFTester.Models;
+
+public sealed class ReciprocatingRecordGridSection
+{
+    public int StartIndex { get; init; }
+
+    public int EndIndex { get; init; }
+
+    public IReadOnlyList<ReciprocatingRecordGridRow> Rows { get; init; } = Array.Empty<ReciprocatingRecordGridRow>();
+}
+
+public sealed class ReciprocatingRecordGridRow
+{
+    public string Header { get; init; } = string.Empty;
+
+    public IReadOnlyList<ReciprocatingRecordGridCell> Cells { get; init; } = Array.Empty<ReciprocatingRecordGridCell>();
+}
+
+public sealed class ReciprocatingRecordGridCell
+{
+    public string Value { get; init; } = string.Empty;
+
+    public bool IsHeader { get; init; }
+}

COFTester/Models/TestRecipe.cs

@@ -17,6 +17,7 @@ public sealed class TestRecipe : ObservableObject
     private double _speedMmPerMin;
     private double _travelMm;
     private int _replicateCount = 0;
+    private int _reciprocatingCount = 50;
     private string _specimenDescription = string.Empty;
 
     public string ProductCode
@@ -85,6 +86,12 @@ public sealed class TestRecipe : ObservableObject
         set => SetProperty(ref _replicateCount, value);
     }
 
+    public int ReciprocatingCount
+    {
+        get => _reciprocatingCount;
+        set => SetProperty(ref _reciprocatingCount, value);
+    }
+
     public string SpecimenDescription
     {
         get => _specimenDescription;

COFTester/Models/TestRecipeSnapshot.cs

@@ -24,6 +24,8 @@ public sealed class TestRecipeSnapshot
 
     public int ReplicateCount { get; init; }
 
+    public int ReciprocatingCount { get; init; } = 50;
+
     public string SpecimenDescription { get; init; } = string.Empty;
 
     public static TestRecipeSnapshot FromRecipe(TestRecipe recipe)
@@ -41,6 +43,7 @@ public sealed class TestRecipeSnapshot
             SpeedMmPerMin = recipe.SpeedMmPerMin,
             TravelMm = recipe.TravelMm,
             ReplicateCount = recipe.ReplicateCount,
+            ReciprocatingCount = recipe.ReciprocatingCount,
             SpecimenDescription = recipe.SpecimenDescription
         };
     }

COFTester/Services/ModbusProcessDataReader.cs

@@ -8,6 +8,12 @@ namespace COFTester.Services;
 
 public sealed class ModbusProcessDataReader
 {
+    private const ushort ReciprocatingRecordCountAddress = 500;
+    private const ushort ReciprocatingRecordStartAddress = 502;
+    private const int ReciprocatingRecordValueCount = 4;
+    private const int ReciprocatingRecordRegisterCount = ReciprocatingRecordValueCount * PlcRegisterEncoding.FloatRegisterCount;
+    private const ushort MaxReciprocatingRegistersPerRead = 120;
+
     private static readonly PlcResultRegisterMap DefaultResultRegisterMap = new(
         SlaveAddress: 1,
         StartAddress: 460,
@@ -132,6 +138,62 @@ public sealed class ModbusProcessDataReader
             horizontalPosition);
     }
 
+    public async Task<IReadOnlyList<ReciprocatingFrictionRecord>> ReadReciprocatingRecordsAsync(
+        int requestedCount,
+        CancellationToken cancellationToken = default)
+    {
+        var master = _connectionService.Master ?? throw new InvalidOperationException("Modbus master is not connected.");
+        var configuredCount = Math.Max(1, requestedCount);
+        var countRegisters = await master.ReadHoldingRegistersAsync(
+            _resultRegisterMap.SlaveAddress,
+            ReciprocatingRecordCountAddress,
+            1,
+            cancellationToken);
+        var plcCount = countRegisters.Length == 0 ? configuredCount : countRegisters[0];
+        var recordCount = plcCount <= 0 ? configuredCount : Math.Min(plcCount, configuredCount);
+        if (recordCount == 0)
+        {
+            return Array.Empty<ReciprocatingFrictionRecord>();
+        }
+
+        var maxAddressableRecordCount = Math.Max(0, (ushort.MaxValue - ReciprocatingRecordStartAddress + 1) / ReciprocatingRecordRegisterCount);
+        var recordsToRead = Math.Min(recordCount, maxAddressableRecordCount);
+        var records = new List<ReciprocatingFrictionRecord>(recordsToRead);
+        var recordsPerRead = Math.Max(1, MaxReciprocatingRegistersPerRead / ReciprocatingRecordRegisterCount);
+        var nextRecordOffset = 0;
+
+        while (nextRecordOffset < recordsToRead)
+        {
+            var chunkRecordCount = Math.Min(recordsPerRead, recordsToRead - nextRecordOffset);
+            var chunkStartAddress = checked((ushort)(ReciprocatingRecordStartAddress + nextRecordOffset * ReciprocatingRecordRegisterCount));
+            var chunkRegisterCount = checked((ushort)(chunkRecordCount * ReciprocatingRecordRegisterCount));
+            var registers = await ReadHoldingRegisterBlockAsync(
+                master,
+                _resultRegisterMap.SlaveAddress,
+                chunkStartAddress,
+                chunkRegisterCount,
+                cancellationToken);
+
+            for (var index = 0; index < chunkRecordCount; index++)
+            {
+                var baseOffset = index * ReciprocatingRecordRegisterCount;
+                var recordNumber = nextRecordOffset + index + 1;
+                records.Add(new ReciprocatingFrictionRecord
+                {
+                    Index = recordNumber,
+                    StaticCoefficient = ReadRecordFloat(registers, chunkStartAddress, baseOffset),
+                    KineticCoefficient = ReadRecordFloat(registers, chunkStartAddress, baseOffset + 2),
+                    StaticForceN = ReadRecordFloat(registers, chunkStartAddress, baseOffset + 4),
+                    KineticForceN = ReadRecordFloat(registers, chunkStartAddress, baseOffset + 6)
+                });
+            }
+
+            nextRecordOffset += chunkRecordCount;
+        }
+
+        return records;
+    }
+
     private static async Task<ushort[]> ReadHoldingRegisterBlockAsync(
         IModbusMaster master,
         byte slaveAddress,
@@ -154,6 +216,12 @@ public sealed class ModbusProcessDataReader
         return PlcRegisterEncoding.ReadFloat(registers, offset, $"D{address}");
     }
 
+    private static double ReadRecordFloat(ushort[] registers, ushort chunkStartAddress, int offset)
+    {
+        var address = checked((ushort)(chunkStartAddress + offset));
+        return PlcRegisterEncoding.ReadFloat(registers, offset, $"D{address}");
+    }
+
     private static ushort Min(params ushort[] values)
     {
         return values.Min();

COFTester/Services/RunExportService.cs

@@ -1,6 +1,10 @@
 using System.Globalization;
 using System.IO;
+using System.Windows;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
 using ClosedXML.Excel;
+using ClosedXML.Excel.Drawings;
 using COFTester.Models;
 using DocumentFormat.OpenXml;
 using DocumentFormat.OpenXml.Packaging;
@@ -29,7 +33,7 @@ public sealed class RunExportService
 
     public RunExportService(string exportRootDirectory)
     {
-        _reportDirectory = Path.Combine(exportRootDirectory, "reports");
+        _reportDirectory = ResolveDefaultReportDirectory(exportRootDirectory);
         Directory.CreateDirectory(_reportDirectory);
     }
 
@@ -54,20 +58,15 @@ public sealed class RunExportService
             Directory.CreateDirectory(outputDirectory);
         }
 
-        WorksheetChartLayout chartLayout;
         using (var workbook = new XLWorkbook())
         {
             BuildSummarySheet(workbook.Worksheets.Add("报表汇总"), exportRuns, exportStatistics);
             BuildRawDataSheet(workbook.Worksheets.Add("原始数据"), exportRuns);
-            chartLayout = BuildChartSheet(workbook.Worksheets.Add("曲线图"), exportRuns);
+            BuildChartSheet(workbook.Worksheets.Add("曲线图"), exportRuns);
             workbook.SaveAs(outputPath);
         }
 
-        if (chartLayout.Charts.Count > 0)
+        ValidateWorkbook(outputPath);
-        {
-            InsertNativeCharts(outputPath, chartLayout);
-        }
-
         return outputPath;
     }
 
@@ -76,6 +75,26 @@ public sealed class RunExportService
         return _reportDirectory;
     }
 
+    private static string ResolveDefaultReportDirectory(string exportRootDirectory)
+    {
+        var desktopDirectory = Environment.GetFolderPath(Environment.SpecialFolder.DesktopDirectory);
+        if (!string.IsNullOrWhiteSpace(desktopDirectory))
+        {
+            return desktopDirectory;
+        }
+
+        return Path.Combine(exportRootDirectory, "reports");
+    }
+
+    private static void ValidateWorkbook(string workbookPath)
+    {
+        using var document = SpreadsheetDocument.Open(workbookPath, false);
+        if (document.WorkbookPart?.Workbook.Sheets is null)
+        {
+            throw new InvalidOperationException("导出的 Excel 文件缺少工作表。");
+        }
+    }
+
     public string BuildHistoricalComparisonReportFileName(IReadOnlyList<PersistedRunData> runs)
     {
         var exportRuns = BuildExportRuns(runs);
@@ -354,17 +373,18 @@ public sealed class RunExportService
             worksheet.Cell(row, 3).Value = runs[index].CurveColorHex;
             worksheet.Cell(row, 4).Value = runs[index].ValidSamples.Count;
             worksheet.Cell(row, 5).Value = IsChartableRun(runs[index])
-                ? "已绘制总览与单图"
+                ? "已记录图片曲线与原始数据"
-                : "采样点不足，未绘制曲线";
+                : "采样点不足，保留原始数据";
             worksheet.Cell(row, 3).Style.Fill.BackgroundColor = ToXlColor(runs[index].CurveColorHex);
             worksheet.Cell(row, 3).Style.Font.FontColor = XLColor.White;
         }
 
         ApplyChartColumnWidths(worksheet);
-        var chartLayout = BuildChartDataArea(worksheet, runs);
+        BuildChartDataArea(worksheet, runs);
+        InsertCurveChartImages(worksheet, runs);
         ApplyPageLayout(worksheet, CalculateChartSheetLastRow(runs), "$A$1:$T$");
         worksheet.SheetView.FreezeRows(1);
-        return chartLayout;
+        return new WorksheetChartLayout(worksheet.Name, []);
     }
 
     private static void BuildStatisticsPanel(IXLWorksheet worksheet, IReadOnlyList<ExportCurveData> runs)
@@ -505,6 +525,324 @@ public sealed class RunExportService
         return new WorksheetChartLayout(worksheet.Name, charts);
     }
 
+    private static void InsertCurveChartImages(IXLWorksheet worksheet, IReadOnlyList<ExportCurveData> runs)
+    {
+        var chartableRuns = runs.Where(IsChartableRun).ToArray();
+        if (chartableRuns.Length == 0)
+        {
+            return;
+        }
+
+        var row = Math.Max(10, runs.Count + 8);
+        InsertCurveChartImage(
+            worksheet,
+            row,
+            "历史实时摩擦曲线总览（图片记录）",
+            "历史实时摩擦曲线总览",
+            "CurveOverview",
+            chartableRuns,
+            showLegend: true);
+
+        row += 38;
+        foreach (var run in chartableRuns)
+        {
+            InsertCurveChartImage(
+                worksheet,
+                row,
+                $"{BuildCurveLabel(run)} 实时摩擦曲线（图片记录）",
+                $"{BuildCurveLabel(run)} 力值曲线",
+                $"Curve{run.Sequence:D2}",
+                [run],
+                showLegend: false);
+            row += 36;
+        }
+    }
+
+    private static void InsertCurveChartImage(
+        IXLWorksheet worksheet,
+        int titleRow,
+        string sheetTitle,
+        string chartTitle,
+        string pictureName,
+        IReadOnlyList<ExportCurveData> runs,
+        bool showLegend)
+    {
+        worksheet.Cell(titleRow, 1).Value = sheetTitle;
+        worksheet.Cell(titleRow, 1).Style.Font.Bold = true;
+        worksheet.Cell(titleRow, 1).Style.Font.FontSize = 12;
+        worksheet.Cell(titleRow, 1).Style.Font.FontColor = XLColor.FromHtml("#21313D");
+
+        var pngBytes = RenderCurveChartPng(chartTitle, runs, showLegend);
+        var imageStream = new MemoryStream(pngBytes);
+        worksheet.AddPicture(imageStream, XLPictureFormat.Png, pictureName)
+            .MoveTo(worksheet.Cell(titleRow + 1, 1))
+            .WithSize(1060, 548);
+    }
+
+    private static byte[] RenderCurveChartPng(string title, IReadOnlyList<ExportCurveData> runs, bool showLegend)
+    {
+        const int width = 1280;
+        const int height = 660;
+        var visual = new DrawingVisual();
+
+        using (var drawingContext = visual.RenderOpen())
+        {
+            var backgroundBrush = CreateBrush("#F8FBFD");
+            var titleBrush = CreateBrush("#21313D");
+            var labelBrush = CreateBrush("#4A5C6C");
+            var axisTitleBrush = CreateBrush("#21313D");
+            var gridPen = CreatePen("#D1DBE3", 1);
+            var minorGridPen = CreatePen("#E5ECF2", 1);
+            var axisPen = CreatePen("#4A5C6C", 1.4);
+            var bandBrush = new SolidColorBrush(Color.FromArgb(20, 0, 105, 180));
+            var bandPen = new Pen(new SolidColorBrush(Color.FromArgb(80, 0, 105, 180)), 1);
+            var pointBrush = CreateBrush("#0069B4");
+            var pointStrokePen = CreatePen("#F7F9FB", 2.5);
+
+            drawingContext.DrawRectangle(backgroundBrush, null, new Rect(0, 0, width, height));
+
+            var plot = new Rect(98, 82, width - 140, height - 170);
+            var xMax = ResolveExportChartXMax(runs);
+            var yMax = ResolveExportChartYMax(runs);
+
+            DrawExportText(drawingContext, title, 32, 42, 28, titleBrush, bold: true);
+            DrawExportGridAndAxes(drawingContext, plot, xMax, yMax, labelBrush, axisTitleBrush, gridPen, minorGridPen, axisPen);
+            DrawExportKineticBand(drawingContext, plot, xMax, runs.Max(item => item.Data.Recipe.TravelMm), bandBrush, bandPen);
+
+            for (var index = 0; index < runs.Count; index++)
+            {
+                var run = runs[index];
+                DrawExportCurve(drawingContext, plot, xMax, yMax, run, pointBrush, pointStrokePen);
+            }
+
+            if (showLegend)
+            {
+                DrawExportLegend(drawingContext, runs, labelBrush);
+            }
+        }
+
+        var target = new RenderTargetBitmap(width, height, 96, 96, PixelFormats.Pbgra32);
+        target.Render(visual);
+
+        var encoder = new PngBitmapEncoder();
+        encoder.Frames.Add(BitmapFrame.Create(target));
+        using var stream = new MemoryStream();
+        encoder.Save(stream);
+        return stream.ToArray();
+    }
+
+    private static void DrawExportGridAndAxes(
+        DrawingContext drawingContext,
+        Rect plot,
+        double xMax,
+        double yMax,
+        Brush labelBrush,
+        Brush axisTitleBrush,
+        Pen gridPen,
+        Pen minorGridPen,
+        Pen axisPen)
+    {
+        drawingContext.DrawRectangle(null, axisPen, plot);
+
+        const int xDivisions = 5;
+        for (var index = 0; index <= xDivisions; index++)
+        {
+            var x = plot.Left + plot.Width * index / xDivisions;
+            drawingContext.DrawLine(index == 0 ? axisPen : minorGridPen, new Point(x, plot.Top), new Point(x, plot.Bottom));
+            DrawCenteredExportText(
+                drawingContext,
+                (xMax * index / xDivisions).ToString("0.#", CultureInfo.InvariantCulture),
+                x,
+                plot.Bottom + 28,
+                17,
+                labelBrush);
+        }
+
+        const int yDivisions = 5;
+        for (var index = 0; index <= yDivisions; index++)
+        {
+            var y = plot.Bottom - plot.Height * index / yDivisions;
+            drawingContext.DrawLine(index == 0 ? axisPen : gridPen, new Point(plot.Left, y), new Point(plot.Right, y));
+            DrawExportText(
+                drawingContext,
+                (yMax * index / yDivisions).ToString("0.000", CultureInfo.InvariantCulture),
+                18,
+                y - 10,
+                17,
+                labelBrush);
+        }
+
+        DrawCenteredExportText(drawingContext, "位移 / mm", plot.Left + plot.Width / 2, plot.Bottom + 58, 18, axisTitleBrush, bold: true);
+        DrawExportText(drawingContext, "力值 / N", 18, plot.Top - 30, 18, axisTitleBrush, bold: true);
+    }
+
+    private static void DrawExportKineticBand(
+        DrawingContext drawingContext,
+        Rect plot,
+        double xMax,
+        double travelMm,
+        Brush fillBrush,
+        Pen strokePen)
+    {
+        if (!IsFinite(travelMm) || travelMm <= 0)
+        {
+            return;
+        }
+
+        var xStart = Math.Clamp(travelMm * 0.35, 0, xMax);
+        var xEnd = Math.Clamp(travelMm, 0, xMax);
+        if (xEnd <= xStart)
+        {
+            return;
+        }
+
+        var left = MapX(xStart, plot, xMax);
+        var right = MapX(xEnd, plot, xMax);
+        var rect = new Rect(left, plot.Top, right - left, plot.Height);
+        drawingContext.DrawRectangle(fillBrush, strokePen, rect);
+    }
+
+    private static void DrawExportCurve(
+        DrawingContext drawingContext,
+        Rect plot,
+        double xMax,
+        double yMax,
+        ExportCurveData run,
+        Brush pointBrush,
+        Pen pointStrokePen)
+    {
+        var points = run.ValidSamples
+            .Where(sample => IsFinite(sample.DisplacementMm) && IsFinite(sample.ForceN))
+            .Select(sample => new Point(
+                MapX(sample.DisplacementMm, plot, xMax),
+                MapY(sample.ForceN, plot, yMax)))
+            .ToArray();
+
+        if (points.Length == 0)
+        {
+            return;
+        }
+
+        var curvePen = new Pen(CreateBrush(run.CurveColorHex), 3.2);
+        if (points.Length == 1)
+        {
+            drawingContext.DrawEllipse(pointBrush, pointStrokePen, points[0], 5, 5);
+            return;
+        }
+
+        var geometry = new StreamGeometry();
+        using (var context = geometry.Open())
+        {
+            context.BeginFigure(points[0], false, false);
+            for (var index = 1; index < points.Length; index++)
+            {
+                context.LineTo(points[index], true, false);
+            }
+        }
+
+        geometry.Freeze();
+        drawingContext.DrawGeometry(null, curvePen, geometry);
+        drawingContext.DrawEllipse(pointBrush, pointStrokePen, points[^1], 5, 5);
+    }
+
+    private static void DrawExportLegend(DrawingContext drawingContext, IReadOnlyList<ExportCurveData> runs, Brush labelBrush)
+    {
+        const double startX = 760;
+        var y = 31d;
+        for (var index = 0; index < runs.Count && index < 8; index++)
+        {
+            var x = index < 4 ? startX : startX + 250;
+            var rowY = y + (index % 4) * 24;
+            drawingContext.DrawLine(new Pen(CreateBrush(runs[index].CurveColorHex), 3), new Point(x, rowY - 6), new Point(x + 32, rowY - 6));
+            DrawExportText(drawingContext, BuildLegendLabel(runs[index]), x + 40, rowY - 18, 17, labelBrush);
+        }
+    }
+
+    private static double ResolveExportChartXMax(IReadOnlyList<ExportCurveData> runs)
+    {
+        var travelMax = runs.Select(item => item.Data.Recipe.TravelMm).Where(IsFinite).DefaultIfEmpty(0).Max();
+        var sampleMax = runs.SelectMany(item => item.ValidSamples).Select(sample => sample.DisplacementMm).Where(IsFinite).DefaultIfEmpty(0).Max();
+        return Math.Max(Math.Max(travelMax, sampleMax) + 5, 1);
+    }
+
+    private static double ResolveExportChartYMax(IReadOnlyList<ExportCurveData> runs)
+    {
+        var forceMax = runs.SelectMany(item => item.ValidSamples).Select(sample => sample.ForceN).Where(IsFinite).DefaultIfEmpty(0).Max();
+        return Math.Max(forceMax * 1.15, 0.5);
+    }
+
+    private static double MapX(double x, Rect plot, double xMax)
+    {
+        return plot.Left + plot.Width * Math.Clamp(x / xMax, 0, 1);
+    }
+
+    private static double MapY(double y, Rect plot, double yMax)
+    {
+        return plot.Bottom - plot.Height * Math.Clamp(y / yMax, 0, 1);
+    }
+
+    private static void DrawCenteredExportText(
+        DrawingContext drawingContext,
+        string text,
+        double centerX,
+        double y,
+        double fontSize,
+        Brush brush,
+        bool bold = false)
+    {
+        var formattedText = CreateFormattedText(text, fontSize, brush, bold);
+        drawingContext.DrawText(formattedText, new Point(centerX - formattedText.Width / 2, y));
+    }
+
+    private static void DrawExportText(
+        DrawingContext drawingContext,
+        string text,
+        double x,
+        double y,
+        double fontSize,
+        Brush brush,
+        bool bold = false)
+    {
+        drawingContext.DrawText(CreateFormattedText(text, fontSize, brush, bold), new Point(x, y));
+    }
+
+    private static FormattedText CreateFormattedText(string text, double fontSize, Brush brush, bool bold)
+    {
+        return new FormattedText(
+            text,
+            CultureInfo.CurrentCulture,
+            FlowDirection.LeftToRight,
+            new Typeface(
+                new FontFamily("Microsoft YaHei UI"),
+                FontStyles.Normal,
+                bold ? FontWeights.Bold : FontWeights.Normal,
+                FontStretches.Normal),
+            fontSize,
+            brush,
+            1);
+    }
+
+    private static Brush CreateBrush(string hex)
+    {
+        var brush = new SolidColorBrush(ToWpfColor(hex));
+        brush.Freeze();
+        return brush;
+    }
+
+    private static Pen CreatePen(string hex, double thickness)
+    {
+        var pen = new Pen(CreateBrush(hex), thickness);
+        pen.Freeze();
+        return pen;
+    }
+
+    private static Color ToWpfColor(string hex)
+    {
+        return ColorConverter.ConvertFromString(hex) is Color color
+            ? color
+            : Color.FromRgb(0, 105, 180);
+    }
+
     private static bool IsChartableRun(ExportCurveData item)
     {
         return item.ValidSamples.Count >= 2;
@@ -513,8 +851,8 @@ public sealed class RunExportService
     private static int CalculateChartSheetLastRow(IReadOnlyList<ExportCurveData> runs)
     {
         var chartCount = runs.Count(IsChartableRun);
-        var renderedChartCount = chartCount == 0 ? 0 : chartCount + 1;
+        var renderedImageCount = chartCount == 0 ? 0 : chartCount + 1;
-        return Math.Max(24, runs.Count + 22 + renderedChartCount * 13);
+        return Math.Max(40, runs.Count + 12 + renderedImageCount * 38);
     }
 
     private static void ApplyDefaultWorksheetStyle(IXLWorksheet worksheet)

COFTester/ViewModels/MainViewModel.cs

@@ -52,11 +52,13 @@ public sealed class MainViewModel : ObservableObject, IDisposable
     private const ushort RegisterLiftSpeed = 310;
     private const ushort RegisterLiftDisplacement = 320;
     private static readonly TimeSpan RealtimeChartRefreshInterval = TimeSpan.FromMilliseconds(250);
-    private const double RealtimeChartDisplacementStepMm = 0.5;
+    private const double RealtimeChartTimeStepSeconds = 0.05;
-    private const double RealtimeChartXAxisPaddingMm = 5;
+    private const double RealtimeChartXAxisPaddingSeconds = 1;
     private const double MinimumEmptyChartXAxisMaxLimit = 1;
     private const double EmptyChartYAxisMaxLimit = 0.5;
     private const double EmptyChartPointForceN = 0.001;
+    private const int ReciprocatingRecordSectionSize = 15;
+    private static readonly TimeSpan ReciprocatingRecordRefreshInterval = TimeSpan.FromSeconds(1);
 
     private readonly DispatcherTimer _timer;
     private readonly DispatcherTimer _deviceReconnectTimer;
@@ -127,6 +129,7 @@ public sealed class MainViewModel : ObservableObject, IDisposable
     private bool _isPlcCommandBusy;
     private bool _isSyncingRecipeFromPlc;
     private bool _activeRunStartedByPlc;
+    private bool _reciprocatingRecordReadFailureLogged;
     private ushort? _activeTableMotionCoil;
     private ushort? _pendingTableMotionStopCoil;
     private MachineRuntimeState _machineRuntimeState = MachineRuntimeState.Idle;
@@ -135,9 +138,11 @@ public sealed class MainViewModel : ObservableObject, IDisposable
     private double _kineticForceSum;
     private int _kineticSampleCount;
     private double _runStartHorizontalPositionMm = double.NaN;
-    private double _lastRealtimeChartDisplacementMm = double.NaN;
+    private double _lastRealtimeChartElapsedSeconds = double.NaN;
-    private double _realtimeChartMaxDisplacementMm;
+    private double _realtimeChartMaxElapsedSeconds;
+    private double _currentRealtimeChartElapsedSeconds;
     private DateTime _lastRealtimeChartRefreshAt = DateTime.MinValue;
+    private DateTime _lastReciprocatingRecordRefreshAt = DateTime.MinValue;
     private double _lastForceXAxisMaxLimit;
     private double _lastForceYAxisMaxLimit;
 
@@ -147,6 +152,8 @@ public sealed class MainViewModel : ObservableObject, IDisposable
         Recipe.PropertyChanged += OnRecipePropertyChanged;
         TestModes = ["膜/膜", "膜/其他材料", "片材/片材", "片材/其他材料"];
         RunHistory = [];
+        ReciprocatingRecords = [];
+        ReciprocatingRecordSections = [];
         CalibrationItems = [];
         EventLog = [];
         var appStorageDirectory = Path.Combine(
@@ -252,6 +259,7 @@ public sealed class MainViewModel : ObservableObject, IDisposable
         ForceSections = [_kineticBand];
 
         ShowEmptyRealtimeChartFrame();
+        ResetReciprocatingRecordTable();
         LoadHistoryFromDatabase();
         UpdateDerivedValues();
         AddInfoEvent("系统启动，正在初始化 PLC 通信与本地数据存储。");
@@ -268,6 +276,10 @@ public sealed class MainViewModel : ObservableObject, IDisposable
 
     public ObservableCollection<RunRecord> RunHistory { get; }
 
+    public ObservableCollection<ReciprocatingFrictionRecord> ReciprocatingRecords { get; }
+
+    public ObservableCollection<ReciprocatingRecordGridSection> ReciprocatingRecordSections { get; }
+
     public ObservableCollection<CalibrationItem> CalibrationItems { get; }
 
     public ObservableCollection<SystemEvent> EventLog { get; }
@@ -280,6 +292,18 @@ public sealed class MainViewModel : ObservableObject, IDisposable
 
     public RectangularSection[] ForceSections { get; }
 
+    public ObservableCollection<ObservablePoint> RealtimeForceSamples => _forceSamples;
+
+    public ObservableCollection<ObservablePoint> RealtimePeakLineSamples => _peakLineSamples;
+
+    public ObservableCollection<ObservablePoint> RealtimeAverageLineSamples => _averageLineSamples;
+
+    public ObservableCollection<ObservablePoint> RealtimeCurrentPointSamples => _currentPointSample;
+
+    public double RealtimeChartXMax => _lastForceXAxisMaxLimit;
+
+    public double RealtimeChartYMax => _lastForceYAxisMaxLimit;
+
     public RelayCommand StartCommand => _startCommand;
 
     public RelayCommand PauseCommand => _pauseCommand;
@@ -381,6 +405,9 @@ public sealed class MainViewModel : ObservableObject, IDisposable
 
     public string DeviceEndpoint => _deviceConnectionService.Endpoint;
 
+    public string PlcAddressSummary =>
+        $"站号 {ModbusSlaveAddress}；参数 D{RegisterSledMassGrams}/D{RegisterReplicateCount}/D{RegisterHorizontalSpeedSetpoint}/D{RegisterHorizontalTravelSetpoint}；结果 D460；往复记录占位 D500/D502。";
+
     public string DeviceLastConnectedAtLabel =>
         _deviceLastConnectedAt?.ToString("yyyy-MM-dd HH:mm:ss") ?? "尚未连接";
 
@@ -568,6 +595,19 @@ public sealed class MainViewModel : ObservableObject, IDisposable
 
     public string TravelDescriptor => $"{GetDisplayRecipeSnapshot().TravelMm:F0} mm 总行程";
 
+    public string MeasurementTitle =>
+        string.IsNullOrWhiteSpace(Recipe.ProductCode)
+            ? Recipe.BatchNumber
+            : Recipe.ProductCode;
+
+    public string MeasurementTimeLabel => DateTime.Now.ToString("yyyy/MM/dd HH:mm:ss");
+
+    public string MeasurementComment =>
+        $"{Recipe.TestMode} | {Recipe.CounterfaceMaterial} | {Recipe.Direction}";
+
+    public string ReciprocatingRecordSummary =>
+        $"设定 {GetConfiguredReciprocatingCount()} 次；已读取 {ReciprocatingRecords.Count(item => item.HasData)} 次";
+
     public int NextRunIndex
     {
         get => _nextRunIndex;
@@ -758,11 +798,12 @@ public sealed class MainViewModel : ObservableObject, IDisposable
             CurrentStaticCoefficient = 0;
             CurrentKineticCoefficient = 0;
             TrialProgressPercent = 0;
-            _kineticBand.Xi = Recipe.TravelMm * 0.35;
+            var emptyChartXMax = GetEmptyChartXAxisMaxLimit();
-            _kineticBand.Xj = Recipe.TravelMm;
+            _kineticBand.Xi = 0;
+            _kineticBand.Xj = emptyChartXMax;
             _kineticBand.Yi = 0;
             _kineticBand.Yj = 1;
-            SetAxisLimits(GetEmptyChartXAxisMaxLimit(), EmptyChartYAxisMaxLimit);
+            SetAxisLimits(emptyChartXMax, EmptyChartYAxisMaxLimit);
             NotifyRealtimeChartChanged();
             _deviceDataReader.Initialize(Recipe);
             AddInfoEvent($"批次 {Recipe.BatchNumber} 第 {NextRunIndex} 轮开始。模式={Recipe.TestMode}, 水平速度={Recipe.SpeedMmPerMin:F0} mm/min");
@@ -912,6 +953,8 @@ public sealed class MainViewModel : ObservableObject, IDisposable
                 UpdateLiveProcessSnapshot(frame);
             }
 
+            await RefreshReciprocatingRecordsFromPlcIfDueAsync();
+
             if (_machineRuntimeState != MachineRuntimeState.Running)
             {
                 RaiseStatusProperties();
@@ -1001,36 +1044,47 @@ public sealed class MainViewModel : ObservableObject, IDisposable
         RaiseStatusProperties();
     }
 
-    private void AddRealtimeChartSample(double displacementMm, double forceN)
+    private void AddRealtimeChartSample(double elapsedSeconds, double forceN)
     {
-        TrackRealtimeChartBounds(displacementMm);
+        TrackRealtimeChartBounds(elapsedSeconds);
 
-        var sample = new ObservablePoint(displacementMm, forceN);
+        var sample = new ObservablePoint(elapsedSeconds, forceN);
-        if (_forceSamples.Count == 0 || !IsFinite(_lastRealtimeChartDisplacementMm))
+        if (_forceSamples.Count == 0 || !IsFinite(_lastRealtimeChartElapsedSeconds))
         {
             _forceSamples.Add(sample);
-            _lastRealtimeChartDisplacementMm = displacementMm;
+            _lastRealtimeChartElapsedSeconds = elapsedSeconds;
             return;
         }
 
-        if (Math.Abs(displacementMm - _lastRealtimeChartDisplacementMm) >= RealtimeChartDisplacementStepMm)
+        if (Math.Abs(elapsedSeconds - _lastRealtimeChartElapsedSeconds) >= RealtimeChartTimeStepSeconds)
         {
             _forceSamples.Add(sample);
-            _lastRealtimeChartDisplacementMm = displacementMm;
+            _lastRealtimeChartElapsedSeconds = elapsedSeconds;
             return;
         }
 
         _forceSamples[^1] = sample;
     }
 
-    private void TrackRealtimeChartBounds(double displacementMm)
+    private void TrackRealtimeChartBounds(double elapsedSeconds)
     {
-        if (IsFinite(displacementMm))
+        if (IsFinite(elapsedSeconds))
         {
-            _realtimeChartMaxDisplacementMm = Math.Max(_realtimeChartMaxDisplacementMm, displacementMm);
+            _currentRealtimeChartElapsedSeconds = elapsedSeconds;
+            _realtimeChartMaxElapsedSeconds = Math.Max(_realtimeChartMaxElapsedSeconds, elapsedSeconds);
         }
     }
 
+    private static double CalculateElapsedSeconds(DateTime capturedAt, IReadOnlyList<RawSampleRecord> samples)
+    {
+        if (samples.Count == 0)
+        {
+            return 0;
+        }
+
+        return Math.Max(0, (capturedAt - samples[0].CapturedAt).TotalSeconds);
+    }
+
     private bool AppendRunningSample(ProcessFrame frame, out bool isCompleted)
     {
         isCompleted = false;
@@ -1050,18 +1104,20 @@ public sealed class MainViewModel : ObservableObject, IDisposable
         CurrentDisplacementMm = displacementMm;
         CurrentForceN = forceN;
         var isFirstChartSample = _forceSamples.Count == 0;
+        var capturedAt = DateTime.Now;
         _currentRunSamples.Add(new RawSampleRecord
         {
             RunId = _activeRunId,
             SampleIndex = _currentRunSamples.Count + 1,
-            CapturedAt = DateTime.Now,
+            CapturedAt = capturedAt,
             DisplacementMm = displacementMm,
             ForceN = forceN,
             SpeedMmPerMin = frame.SpeedMmPerMin
         });
 
-        AddRealtimeChartSample(displacementMm, forceN);
+        var elapsedSeconds = CalculateElapsedSeconds(capturedAt, _currentRunSamples);
-        UpdateCurrentPoint(displacementMm, forceN);
+        AddRealtimeChartSample(elapsedSeconds, forceN);
+        UpdateCurrentPoint(elapsedSeconds, forceN);
         UpdatePreviewResult(displacementMm, forceN);
         StaticCoefficient1 = frame.StaticCoefficient1;
         KineticCoefficient1 = frame.KineticCoefficient1;
@@ -1174,8 +1230,8 @@ public sealed class MainViewModel : ObservableObject, IDisposable
 
     private double CalculateRealtimeXAxisMaxLimit()
     {
-        var visibleMax = Math.Max(_realtimeChartMaxDisplacementMm, CurrentDisplacementMm);
+        var visibleMax = Math.Max(_realtimeChartMaxElapsedSeconds, _currentRealtimeChartElapsedSeconds);
-        return Math.Max(visibleMax + RealtimeChartXAxisPaddingMm, 1);
+        return Math.Max(visibleMax + RealtimeChartXAxisPaddingSeconds, 1);
     }
 
     private void UpdateAxisLimits(double xMax, double yMax)
@@ -1199,6 +1255,8 @@ public sealed class MainViewModel : ObservableObject, IDisposable
         {
             OnPropertyChanged(nameof(ForceXAxes));
             OnPropertyChanged(nameof(ForceYAxes));
+            OnPropertyChanged(nameof(RealtimeChartXMax));
+            OnPropertyChanged(nameof(RealtimeChartYMax));
         }
     }
 
@@ -1210,6 +1268,8 @@ public sealed class MainViewModel : ObservableObject, IDisposable
         ForceYAxes[0].MaxLimit = yMax;
         OnPropertyChanged(nameof(ForceXAxes));
         OnPropertyChanged(nameof(ForceYAxes));
+        OnPropertyChanged(nameof(RealtimeChartXMax));
+        OnPropertyChanged(nameof(RealtimeChartYMax));
         NotifyRealtimeChartChanged();
     }
 
@@ -1225,9 +1285,8 @@ public sealed class MainViewModel : ObservableObject, IDisposable
 
     private bool UpdateKineticBand(double yMax)
     {
-        var travelMm = GetActiveTravelMm();
+        const double xi = 0;
-        var xi = travelMm * 0.35;
+        var xj = Math.Max(_lastForceXAxisMaxLimit, 1);
-        var xj = travelMm;
 
         var changed = HasMeaningfulChange(_kineticBand.Xi ?? double.NaN, xi)
             || HasMeaningfulChange(_kineticBand.Xj ?? double.NaN, xj)
@@ -1261,12 +1320,12 @@ public sealed class MainViewModel : ObservableObject, IDisposable
         [
             new Axis
             {
-                Name = "位移 / mm",
+                Name = "Time / sec",
                 NameTextSize = 12,
                 TextSize = 11,
                 MinLimit = 0,
                 MaxLimit = Math.Max(maxLimit, 1),
-                MinStep = 25,
+                MinStep = 1,
                 LabelsPaint = new SolidColorPaint(new SKColor(74, 92, 108)),
                 NamePaint = new SolidColorPaint(new SKColor(33, 49, 61)),
                 SeparatorsPaint = new SolidColorPaint(new SKColor(209, 219, 227), 1),
@@ -1282,7 +1341,7 @@ public sealed class MainViewModel : ObservableObject, IDisposable
         [
             new Axis
             {
-                Name = "力值 / N",
+                Name = "Friction force / N",
                 NameTextSize = 12,
                 TextSize = 11,
                 MinLimit = 0,
@@ -1305,7 +1364,7 @@ public sealed class MainViewModel : ObservableObject, IDisposable
             return;
         }
 
-        var xEnd = Math.Max(_lastForceXAxisMaxLimit, CurrentDisplacementMm);
+        var xEnd = Math.Max(_lastForceXAxisMaxLimit, CalculateRealtimeXAxisMaxLimit());
         if (target.Count == 2)
         {
             target[0] = new ObservablePoint(0, y);
@@ -1324,8 +1383,9 @@ public sealed class MainViewModel : ObservableObject, IDisposable
         _kineticForceSum = 0;
         _kineticSampleCount = 0;
         _runStartHorizontalPositionMm = double.NaN;
-        _lastRealtimeChartDisplacementMm = double.NaN;
+        _lastRealtimeChartElapsedSeconds = double.NaN;
-        _realtimeChartMaxDisplacementMm = 0;
+        _realtimeChartMaxElapsedSeconds = 0;
+        _currentRealtimeChartElapsedSeconds = 0;
         _lastRealtimeChartRefreshAt = DateTime.MinValue;
     }
 
@@ -1373,11 +1433,125 @@ public sealed class MainViewModel : ObservableObject, IDisposable
         OnPropertyChanged(nameof(ExportReportSummary));
     }
 
+    private async Task RefreshReciprocatingRecordsFromPlcIfDueAsync()
+    {
+        if (!_deviceConnectionService.IsConnected)
+        {
+            return;
+        }
+
+        var now = DateTime.UtcNow;
+        if (now - _lastReciprocatingRecordRefreshAt < ReciprocatingRecordRefreshInterval)
+        {
+            return;
+        }
+
+        _lastReciprocatingRecordRefreshAt = now;
+
+        try
+        {
+            var records = await _deviceDataReader.ReadReciprocatingRecordsAsync(GetConfiguredReciprocatingCount());
+            UpdateReciprocatingRecordTable(records);
+            _reciprocatingRecordReadFailureLogged = false;
+        }
+        catch (Exception ex)
+        {
+            if (!_reciprocatingRecordReadFailureLogged)
+            {
+                AddWarningEvent($"往复记录读取失败，已保留占位表: {ex.Message}");
+                _reciprocatingRecordReadFailureLogged = true;
+            }
+        }
+    }
+
+    private void ResetReciprocatingRecordTable()
+    {
+        ReciprocatingRecords.Clear();
+        for (var index = 1; index <= GetConfiguredReciprocatingCount(); index++)
+        {
+            ReciprocatingRecords.Add(ReciprocatingFrictionRecord.Empty(index));
+        }
+
+        RebuildReciprocatingRecordSections();
+        OnPropertyChanged(nameof(ReciprocatingRecordSummary));
+    }
+
+    private void UpdateReciprocatingRecordTable(IReadOnlyList<ReciprocatingFrictionRecord> records)
+    {
+        var byIndex = records
+            .Where(record => record.Index > 0)
+            .GroupBy(record => record.Index)
+            .ToDictionary(group => group.Key, group => group.First());
+        ReciprocatingRecords.Clear();
+        for (var index = 1; index <= GetConfiguredReciprocatingCount(); index++)
+        {
+            ReciprocatingRecords.Add(byIndex.TryGetValue(index, out var record)
+                ? record
+                : ReciprocatingFrictionRecord.Empty(index));
+        }
+
+        RebuildReciprocatingRecordSections();
+        OnPropertyChanged(nameof(ReciprocatingRecordSummary));
+    }
+
+    private void RebuildReciprocatingRecordSections()
+    {
+        ReciprocatingRecordSections.Clear();
+        for (var start = 0; start < ReciprocatingRecords.Count; start += ReciprocatingRecordSectionSize)
+        {
+            var sectionRecords = ReciprocatingRecords
+                .Skip(start)
+                .Take(ReciprocatingRecordSectionSize)
+                .ToArray();
+            if (sectionRecords.Length == 0)
+            {
+                continue;
+            }
+
+            ReciprocatingRecordSections.Add(new ReciprocatingRecordGridSection
+            {
+                StartIndex = sectionRecords[0].Index,
+                EndIndex = sectionRecords[^1].Index,
+                Rows =
+                [
+                    BuildReciprocatingRecordGridRow(string.Empty, sectionRecords.Select(record => record.Index.ToString()), isHeader: true),
+                    BuildReciprocatingRecordGridRow("cofs", sectionRecords.Select(record => record.StaticCoefficientLabel)),
+                    BuildReciprocatingRecordGridRow("cofk", sectionRecords.Select(record => record.KineticCoefficientLabel)),
+                    BuildReciprocatingRecordGridRow("Fs[N]", sectionRecords.Select(record => record.StaticForceLabel)),
+                    BuildReciprocatingRecordGridRow("Fk[N]", sectionRecords.Select(record => record.KineticForceLabel))
+                ]
+            });
+        }
+    }
+
+    private static ReciprocatingRecordGridRow BuildReciprocatingRecordGridRow(
+        string header,
+        IEnumerable<string> values,
+        bool isHeader = false)
+    {
+        return new ReciprocatingRecordGridRow
+        {
+            Header = header,
+            Cells = values
+                .Select(value => new ReciprocatingRecordGridCell { Value = value, IsHeader = isHeader })
+                .ToArray()
+        };
+    }
+
+    private int GetConfiguredReciprocatingCount()
+    {
+        return Math.Max(1, Recipe.ReciprocatingCount);
+    }
+
     private void RaiseStatusProperties()
     {
         OnPropertyChanged(nameof(CurrentForceDescriptor));
         OnPropertyChanged(nameof(TravelDescriptor));
+        OnPropertyChanged(nameof(MeasurementTitle));
+        OnPropertyChanged(nameof(MeasurementTimeLabel));
+        OnPropertyChanged(nameof(MeasurementComment));
         OnPropertyChanged(nameof(TraceabilitySummary));
+        OnPropertyChanged(nameof(ReciprocatingRecordSummary));
     }
 
     private void RaiseCommandStates()
@@ -1645,14 +1819,11 @@ public sealed class MainViewModel : ObservableObject, IDisposable
         TrialProgressPercent = Math.Min(100, CurrentDisplacementMm / Math.Max(data.Recipe.TravelMm, 1) * 100);
 
         UpdateReferenceLines();
-        var historyMaxX = data.Samples.Count == 0
+        var historyMaxX = ResolveSamplesDurationSeconds(data.Samples);
-            ? CurrentDisplacementMm
-            : data.Samples.Max(sample => sample.DisplacementMm);
         var yMax = Math.Max(CurrentPeakForceN * 1.15, 0.5);
-        SetAxisLimits(Math.Max(historyMaxX + 5, 1), yMax);
+        SetAxisLimits(Math.Max(historyMaxX + RealtimeChartXAxisPaddingSeconds, 1), yMax);
-        var historyStartX = data.Samples.Count == 0 ? 0 : data.Samples.Min(sample => sample.DisplacementMm);
+        _kineticBand.Xi = 0;
-        _kineticBand.Xi = historyStartX + data.Recipe.TravelMm * 0.35;
+        _kineticBand.Xj = Math.Max(historyMaxX, 1);
-        _kineticBand.Xj = historyStartX + data.Recipe.TravelMm;
         _kineticBand.Yi = 0;
         _kineticBand.Yj = yMax;
         OnPropertyChanged(nameof(ForceSections));
@@ -1687,15 +1858,16 @@ public sealed class MainViewModel : ObservableObject, IDisposable
     private void LoadSamplesIntoChart(IReadOnlyList<RawSampleRecord> samples)
     {
         ClearRealtimeChartSamples();
+        var firstCapturedAt = samples.Count == 0 ? DateTime.MinValue : samples[0].CapturedAt;
         foreach (var sample in samples)
         {
-            _forceSamples.Add(new ObservablePoint(sample.DisplacementMm, sample.ForceN));
+            _forceSamples.Add(new ObservablePoint(Math.Max(0, (sample.CapturedAt - firstCapturedAt).TotalSeconds), sample.ForceN));
         }
 
         if (samples.Count > 0)
         {
             var lastSample = samples[^1];
-            UpdateCurrentPoint(lastSample.DisplacementMm, lastSample.ForceN);
+            UpdateCurrentPoint(Math.Max(0, (lastSample.CapturedAt - firstCapturedAt).TotalSeconds), lastSample.ForceN);
         }
         else
         {
@@ -1709,9 +1881,10 @@ public sealed class MainViewModel : ObservableObject, IDisposable
     {
         ClearRealtimeChartSamples();
         _currentPointSample.Add(new ObservablePoint(0, EmptyChartPointForceN));
-        SetAxisLimits(GetEmptyChartXAxisMaxLimit(), EmptyChartYAxisMaxLimit);
+        var xMax = GetEmptyChartXAxisMaxLimit();
-        _kineticBand.Xi = Recipe.TravelMm * 0.35;
+        SetAxisLimits(xMax, EmptyChartYAxisMaxLimit);
-        _kineticBand.Xj = Recipe.TravelMm;
+        _kineticBand.Xi = 0;
+        _kineticBand.Xj = xMax;
         _kineticBand.Yi = 0;
         _kineticBand.Yj = EmptyChartYAxisMaxLimit;
         OnPropertyChanged(nameof(ForceSections));
@@ -1733,7 +1906,24 @@ public sealed class MainViewModel : ObservableObject, IDisposable
 
     private double GetEmptyChartXAxisMaxLimit()
     {
-        return Math.Max(Recipe.TravelMm, MinimumEmptyChartXAxisMaxLimit);
+        return Math.Max(ResolveEstimatedTestDurationSeconds(TestRecipeSnapshot.FromRecipe(Recipe)), MinimumEmptyChartXAxisMaxLimit);
+    }
+
+    private static double ResolveSamplesDurationSeconds(IReadOnlyList<RawSampleRecord> samples)
+    {
+        if (samples.Count == 0)
+        {
+            return 0;
+        }
+
+        return Math.Max(0, (samples[^1].CapturedAt - samples[0].CapturedAt).TotalSeconds);
+    }
+
+    private static double ResolveEstimatedTestDurationSeconds(TestRecipeSnapshot recipe)
+    {
+        return recipe.SpeedMmPerMin > 0
+            ? Math.Max(1, recipe.TravelMm / recipe.SpeedMmPerMin * 60d)
+            : 100;
     }
 
     private void ResetRealtimePresentation()
@@ -1760,6 +1950,7 @@ public sealed class MainViewModel : ObservableObject, IDisposable
         CurrentKineticCoefficient = 0;
         TrialProgressPercent = 0;
 
+        ResetReciprocatingRecordTable();
         ShowEmptyRealtimeChartFrame();
     }
 
@@ -1867,6 +2058,12 @@ public sealed class MainViewModel : ObservableObject, IDisposable
             RefreshEmptyRealtimeChartFrameIfVisible();
             RaiseStatusProperties();
         }
+
+        if (e.PropertyName == nameof(TestRecipe.ReciprocatingCount))
+        {
+            ResetReciprocatingRecordTable();
+            RaiseStatusProperties();
+        }
     }
 
     private async Task SyncRecipeFromPlcAsync()
@@ -2254,6 +2451,11 @@ public sealed class MainViewModel : ObservableObject, IDisposable
             yield return "重复次数仅支持 0(单次) 或 1(双次)。";
         }
 
+        if (Recipe.ReciprocatingCount < 1)
+        {
+            yield return "往复次数必须大于等于 1。";
+        }
+
     }
 
     private static Brush BrushFromHex(string hex)