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。
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QI Mingxuan
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using System;
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using System.Configuration;
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using System.IO;
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using XP.Common.Logging.Interfaces;
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using XP.Hardware.MotionControl.Abstractions.Enums;
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namespace XP.Hardware.MotionControl.Config
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{
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/// <summary>
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/// 运动控制配置加载器 | Motion Control Configuration Loader
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/// 从 App.config 加载轴范围、几何原点和运行参数（PLC 信号名称已硬编码在 MotionSignalNames 中）
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/// Loads axis ranges, geometry origins and runtime params from App.config (PLC signal names hardcoded in MotionSignalNames)
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/// </summary>
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public class ConfigLoader
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{
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private const string P = "MotionControl";
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/// <summary>
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/// 加载运动控制配置 | Load motion control configuration
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/// </summary>
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public static MotionControlConfig LoadConfig(string configFilePath = null, ILoggerService logger = null)
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{
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var config = new MotionControlConfig();
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try
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{
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if (!string.IsNullOrEmpty(configFilePath) && File.Exists(configFilePath))
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{
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var fileMap = new ExeConfigurationFileMap { ExeConfigFilename = configFilePath };
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var cfg = ConfigurationManager.OpenMappedExeConfiguration(fileMap, ConfigurationUserLevel.None);
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LoadAll(config, (k, d) => cfg.AppSettings.Settings[k]?.Value ?? d);
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}
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else
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{
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LoadAll(config, (k, d) => ConfigurationManager.AppSettings[k] ?? d);
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}
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}
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catch (Exception ex)
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{
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logger?.Error(ex, "运动控制配置加载失败，使用默认值 | MotionControl config load failed, using defaults: {Message}", ex.Message);
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}
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return config;
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}
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private static void LoadAll(MotionControlConfig config, Func<string, string, string> get)
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{
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// 直线轴 | Linear axes
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config.LinearAxes[AxisId.SourceZ] = LoadLinear("SourceZ", get);
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config.LinearAxes[AxisId.DetectorZ] = LoadLinear("DetectorZ", get);
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config.LinearAxes[AxisId.StageX] = LoadLinear("StageX", get);
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config.LinearAxes[AxisId.StageY] = LoadLinear("StageY", get);
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// 旋转轴 | Rotary axes
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config.RotaryAxes[RotaryAxisId.DetectorSwing] = LoadRotary("DetectorSwing", get);
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config.RotaryAxes[RotaryAxisId.StageRotation] = LoadRotary("StageRotation", get);
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config.RotaryAxes[RotaryAxisId.FixtureRotation] = LoadRotary("FixtureRotation", get);
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// 几何原点 | Geometry origins
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config.Geometry.SourceZOrigin = Dbl(get($"{P}:Geometry:SourceZOrigin", "0"));
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config.Geometry.DetectorZOrigin = Dbl(get($"{P}:Geometry:DetectorZOrigin", "0"));
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config.Geometry.StageRotationCenterZ = Dbl(get($"{P}:Geometry:StageRotationCenterZ", "0"));
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config.Geometry.SwingPivotOffset = Dbl(get($"{P}:Geometry:SwingPivotOffset", "0"));
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config.Geometry.SwingRadius = Dbl(get($"{P}:Geometry:SwingRadius", "0"));
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// 运行参数 | Runtime parameters
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config.PollingInterval = Int(get($"{P}:PollingInterval", "100"));
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config.DefaultVelocity = Int(get($"{P}:DefaultVelocity", "100"));
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}
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private static LinearAxisConfig LoadLinear(string name, Func<string, string, string> get)
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{
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var p = $"{P}:{name}:";
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return new LinearAxisConfig
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{
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Min = Dbl(get(p + "Min", "0")),
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Max = Dbl(get(p + "Max", "0")),
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Origin = Dbl(get(p + "Origin", "0"))
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};
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}
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private static RotaryAxisConfig LoadRotary(string name, Func<string, string, string> get)
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{
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var p = $"{P}:{name}:";
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return new RotaryAxisConfig
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{
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Min = Dbl(get(p + "Min", "0")),
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Max = Dbl(get(p + "Max", "0")),
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Origin = Dbl(get(p + "Origin", "0")),
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Enabled = bool.TryParse(get(p + "Enabled", "true"), out var e) && e
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};
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}
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private static double Dbl(string v) => double.TryParse(v, out var r) ? r : 0;
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private static int Int(string v) => int.TryParse(v, out var r) ? r : 0;
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}
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}
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using System.Collections.Generic;
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using XP.Hardware.MotionControl.Abstractions.Enums;
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namespace XP.Hardware.MotionControl.Config
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{
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/// <summary>
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/// 运动控制配置实体 | Motion Control Configuration Entity
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/// 包含所有轴、安全门、几何原点和运行参数的配置 | Contains all axis, safety door, geometry origin and runtime parameter configurations
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/// </summary>
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public class MotionControlConfig
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{
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/// <summary>直线轴配置字典 | Linear axis configurations</summary>
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public Dictionary<AxisId, LinearAxisConfig> LinearAxes { get; set; } = new();
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/// <summary>旋转轴配置字典 | Rotary axis configurations</summary>
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public Dictionary<RotaryAxisId, RotaryAxisConfig> RotaryAxes { get; set; } = new();
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/// <summary>几何原点配置 | Geometry origin configuration</summary>
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public GeometryConfig Geometry { get; set; } = new();
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/// <summary>轮询周期（ms）| Polling interval (ms)</summary>
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public int PollingInterval { get; set; } = 100;
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/// <summary>默认速度| Default velocity</summary>
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public int DefaultVelocity { get; set; } = 100;
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}
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/// <summary>
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/// 直线轴配置 | Linear Axis Configuration
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/// 每个直线轴包含运动范围、原点偏移 | Each linear axis contains motion range, origin offset
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/// </summary>
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public class LinearAxisConfig
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{
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/// <summary>最小位置（mm）| Minimum position (mm)</summary>
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public double Min { get; set; }
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/// <summary>最大位置（mm）| Maximum position (mm)</summary>
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public double Max { get; set; }
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/// <summary>原点偏移（mm）| Origin offset (mm)</summary>
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public double Origin { get; set; }
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}
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/// <summary>
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/// 旋转轴配置 | Rotary Axis Configuration
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/// 每个旋转轴包含角度范围、原点偏移、启用标志 | Each rotary axis contains angle range, origin offset, enabled flag
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/// </summary>
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public class RotaryAxisConfig
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{
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/// <summary>最小角度（度）| Minimum angle (degrees)</summary>
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public double Min { get; set; }
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/// <summary>最大角度（度）| Maximum angle (degrees)</summary>
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public double Max { get; set; }
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/// <summary>原点偏移（度）| Origin offset (degrees)</summary>
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public double Origin { get; set; }
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/// <summary>是否启用 | Is enabled</summary>
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public bool Enabled { get; set; } = true;
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}
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/// <summary>
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/// 几何原点配置 | Geometry Origin Configuration
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/// 包含射线源、探测器和旋转中心的原点参数 | Contains origin parameters for source, detector and rotation center
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/// </summary>
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public class GeometryConfig
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{
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/// <summary>射线源Z轴原点偏移（mm）| Source Z origin offset (mm)</summary>
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public double SourceZOrigin { get; set; }
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/// <summary>探测器Z轴原点偏移（mm）| Detector Z origin offset (mm)</summary>
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public double DetectorZOrigin { get; set; }
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/// <summary>旋转中心绝对Z坐标（mm，固定值）| Stage rotation center absolute Z (mm, fixed)</summary>
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public double StageRotationCenterZ { get; set; }
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/// <summary>
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/// 探测器摆动旋转中心（Pivot）相对于 DetectorZ 绝对坐标的 Z 方向偏移（mm）
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/// Detector swing pivot Z offset relative to DetectorZ absolute coordinate (mm)
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/// 正值表示 Pivot 在 DetectorZ_abs 下方（朝向射线源方向）| Positive means Pivot is below DetectorZ_abs (toward source)
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/// </summary>
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public double SwingPivotOffset { get; set; }
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/// <summary>
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/// 探测器摆动半径（mm）：Pivot 到探测器感光面中心的距离
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/// Detector swing radius (mm): distance from Pivot to detector active area center
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/// 当值为 0 时退化为无摆动模型 | When 0, degrades to non-swing model
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/// </summary>
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public double SwingRadius { get; set; }
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}
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}
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namespace XP.Hardware.MotionControl.Config
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{
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/// <summary>
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/// 运动控制 PLC 信号名称常量 | Motion Control PLC Signal Name Constants
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/// 信号定义在 PlcAddrDfn.xml 中，此处硬编码名称供代码引用 | Signal definitions in PlcAddrDfn.xml, hardcoded names for code reference
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/// </summary>
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public static class MotionSignalNames
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{
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// ==================== 直线轴 SourceZ | Linear Axis SourceZ ====================
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public const string SourceZ_Pos = "MC_SourceZ_Pos";
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public const string SourceZ_Target = "MC_SourceZ_Target";
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public const string SourceZ_Speed = "MC_SourceZ_Speed";
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public const string SourceZ_JogPos = "MC_SourceZ_JogPos";
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public const string SourceZ_JogNeg = "MC_SourceZ_JogNeg";
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public const string SourceZ_Home = "MC_SourceZ_Home";
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public const string SourceZ_Stop = "MC_SourceZ_Stop";
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// ==================== 直线轴 DetectorZ | Linear Axis DetectorZ ====================
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public const string DetZ_Pos = "MC_DetZ_Pos";
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public const string DetZ_Target = "MC_DetZ_Target";
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public const string DetZ_Speed = "MC_DetZ_Speed";
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public const string DetZ_JogPos = "MC_DetZ_JogPos";
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public const string DetZ_JogNeg = "MC_DetZ_JogNeg";
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public const string DetZ_Home = "MC_DetZ_Home";
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public const string DetZ_Stop = "MC_DetZ_Stop";
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// ==================== 直线轴 StageX | Linear Axis StageX ====================
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public const string StageX_Pos = "MC_StageX_Pos";
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public const string StageX_Target = "MC_StageX_Target";
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public const string StageX_Speed = "MC_StageX_Speed";
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public const string StageX_JogPos = "MC_StageX_JogPos";
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public const string StageX_JogNeg = "MC_StageX_JogNeg";
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public const string StageX_Home = "MC_StageX_Home";
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public const string StageX_Stop = "MC_StageX_Stop";
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// ==================== 直线轴 StageY | Linear Axis StageY ====================
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public const string StageY_Pos = "MC_StageY_Pos";
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public const string StageY_Target = "MC_StageY_Target";
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public const string StageY_Speed = "MC_StageY_Speed";
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public const string StageY_JogPos = "MC_StageY_JogPos";
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public const string StageY_JogNeg = "MC_StageY_JogNeg";
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public const string StageY_Home = "MC_StageY_Home";
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public const string StageY_Stop = "MC_StageY_Stop";
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// ==================== 旋转轴 DetectorSwing | Rotary Axis DetectorSwing ====================
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public const string DetSwing_Angle = "MC_DetSwing_Angle";
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public const string DetSwing_Target = "MC_DetSwing_Target";
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public const string DetSwing_Speed = "MC_DetSwing_Speed";
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public const string DetSwing_JogPos = "MC_DetSwing_JogPos";
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public const string DetSwing_JogNeg = "MC_DetSwing_JogNeg";
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public const string DetSwing_Home = "MC_DetSwing_Home";
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public const string DetSwing_Stop = "MC_DetSwing_Stop";
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// ==================== 旋转轴 StageRotation | Rotary Axis StageRotation ====================
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public const string StageRot_Angle = "MC_StageRot_Angle";
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public const string StageRot_Target = "MC_StageRot_Target";
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public const string StageRot_Speed = "MC_StageRot_Speed";
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public const string StageRot_JogPos = "MC_StageRot_JogPos";
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public const string StageRot_JogNeg = "MC_StageRot_JogNeg";
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public const string StageRot_Home = "MC_StageRot_Home";
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public const string StageRot_Stop = "MC_StageRot_Stop";
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// ==================== 旋转轴 FixtureRotation | Rotary Axis FixtureRotation ====================
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public const string FixRot_Angle = "MC_FixRot_Angle";
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public const string FixRot_Target = "MC_FixRot_Target";
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public const string FixRot_Speed = "MC_FixRot_Speed";
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public const string FixRot_JogPos = "MC_FixRot_JogPos";
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public const string FixRot_JogNeg = "MC_FixRot_JogNeg";
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public const string FixRot_Home = "MC_FixRot_Home";
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public const string FixRot_Stop = "MC_FixRot_Stop";
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// ==================== 安全门 | Safety Door ====================
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public const string Door_Open = "MC_Door_Open";
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public const string Door_Close = "MC_Door_Close";
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public const string Door_Stop = "MC_Door_Stop";
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public const string Door_Status = "MC_Door_Status";
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public const string Door_Interlock = "MC_Door_Interlock";
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// ==================== 轴复位 | Axis Reset ====================
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/// <summary>轴复位命令（写入）| Axis reset command (write)</summary>
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public const string Axis_Reset = "MC_Axis_Reset";
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/// <summary>轴复位完成（读取）| Axis reset done (read)</summary>
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public const string Axis_ResetDone = "MC_Axis_ResetDone";
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}
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}
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