将Feature/XP.Common和Feature/XP.Hardware分支合并至Develop/XP.forHardwareAndCommon，完善XPapp注册和相关硬件类库通用类库功能。

2026-04-16 17:31:13 +08:00
parent 6ec4c3ddaa
commit 2bd6e566c3
581 changed files with 74600 additions and 222 deletions
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+using XP.Hardware.MotionControl.Abstractions.Enums;
+
+namespace XP.Hardware.MotionControl.Abstractions
+{
+    /// <summary>
+    /// 直线轴抽象基类 | Linear Axis Abstract Base Class
+    /// 提供边界检查、状态管理等通用逻辑 | Provides boundary check, status management
+    /// </summary>
+    public abstract class LinearAxisBase : ILinearAxis
+    {
+        /// <summary>轴标识 | Axis identifier</summary>
+        protected readonly AxisId _axisId;
+
+        /// <summary>最小位置（mm）| Minimum position (mm)</summary>
+        protected readonly double _min;
+
+        /// <summary>最大位置（mm）| Maximum position (mm)</summary>
+        protected readonly double _max;
+
+        /// <summary>原点偏移（mm）| Origin offset (mm)</summary>
+        protected readonly double _origin;
+
+        /// <summary>轴标识 | Axis identifier</summary>
+        public AxisId Id => _axisId;
+
+        /// <summary>实际位置（mm）| Actual position (mm)</summary>
+        public double ActualPosition { get; protected set; }
+
+        /// <summary>轴状态 | Axis status</summary>
+        public AxisStatus Status { get; protected set; } = AxisStatus.Idle;
+
+        /// <summary>正限位触发 | Positive limit triggered</summary>
+        public bool PositiveLimitHit { get; protected set; }
+
+        /// <summary>负限位触发 | Negative limit triggered</summary>
+        public bool NegativeLimitHit { get; protected set; }
+
+        /// <summary>
+        /// 构造函数 | Constructor
+        /// </summary>
+        /// <param name="axisId">轴标识 | Axis identifier</param>
+        /// <param name="min">最小位置（mm）| Minimum position (mm)</param>
+        /// <param name="max">最大位置（mm）| Maximum position (mm)</param>
+        /// <param name="origin">原点偏移（mm）| Origin offset (mm)</param>
+        protected LinearAxisBase(AxisId axisId, double min, double max, double origin)
+        {
+            _axisId = axisId;
+            _min = min;
+            _max = max;
+            _origin = origin;
+        }
+
+        /// <summary>验证目标位置是否在范围内 | Validate target within range</summary>
+        /// <param name="target">目标位置（mm）| Target position (mm)</param>
+        /// <returns>true=在范围内，false=越界 | true=within range, false=out of range</returns>
+        public bool ValidateTarget(double target) => target >= _min && target <= _max;
+
+        /// <inheritdoc/>
+        public abstract MotionResult MoveToTarget(double target, double? speed = null);
+
+        /// <inheritdoc/>
+        public abstract MotionResult JogStart(bool positive);
+
+        /// <inheritdoc/>
+        public abstract MotionResult JogStop();
+
+        /// <inheritdoc/>
+        public abstract MotionResult Home();
+
+        /// <inheritdoc/>
+        public abstract MotionResult Stop();
+
+        /// <inheritdoc/>
+        public abstract void UpdateStatus();
+    }
+}