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
@@ -0,0 +1,73 @@
+using XP.Hardware.MotionControl.Abstractions.Enums;
+
+namespace XP.Hardware.MotionControl.Abstractions
+{
+    /// <summary>
+    /// 旋转轴抽象基类 | Rotary Axis Abstract Base Class
+    /// 提供角度边界检查、启用状态管理等通用逻辑 | Provides angle boundary check, enabled status management
+    /// </summary>
+    public abstract class RotaryAxisBase : IRotaryAxis
+    {
+        /// <summary>轴标识 | Axis identifier</summary>
+        protected readonly RotaryAxisId _axisId;
+
+        /// <summary>最小角度（度）| Minimum angle (degrees)</summary>
+        protected readonly double _minAngle;
+
+        /// <summary>最大角度（度）| Maximum angle (degrees)</summary>
+        protected readonly double _maxAngle;
+
+        /// <summary>是否启用 | Is enabled</summary>
+        protected readonly bool _enabled;
+
+        /// <summary>轴标识 | Axis identifier</summary>
+        public RotaryAxisId Id => _axisId;
+
+        /// <summary>实际角度（度）| Actual angle (degrees)</summary>
+        public double ActualAngle { get; protected set; }
+
+        /// <summary>轴状态 | Axis status</summary>
+        public AxisStatus Status { get; protected set; } = AxisStatus.Idle;
+
+        /// <summary>是否启用 | Is enabled</summary>
+        public bool Enabled => _enabled;
+
+        /// <summary>
+        /// 构造函数 | Constructor
+        /// </summary>
+        /// <param name="axisId">轴标识 | Axis identifier</param>
+        /// <param name="minAngle">最小角度（度）| Minimum angle (degrees)</param>
+        /// <param name="maxAngle">最大角度（度）| Maximum angle (degrees)</param>
+        /// <param name="enabled">是否启用 | Is enabled</param>
+        protected RotaryAxisBase(RotaryAxisId axisId, double minAngle, double maxAngle, bool enabled)
+        {
+            _axisId = axisId;
+            _minAngle = minAngle;
+            _maxAngle = maxAngle;
+            _enabled = enabled;
+        }
+
+        /// <summary>验证目标角度是否在范围内 | Validate target angle within range</summary>
+        /// <param name="targetAngle">目标角度（度）| Target angle (degrees)</param>
+        /// <returns>true=在范围内，false=越界 | true=within range, false=out of range</returns>
+        public bool ValidateTarget(double targetAngle) => targetAngle >= _minAngle && targetAngle <= _maxAngle;
+
+        /// <inheritdoc/>
+        public abstract MotionResult MoveToTarget(double targetAngle, 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();
+    }
+}