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 +1,97 @@
+using System;
+using System.Configuration;
+using System.IO;
+using XP.Common.Logging.Interfaces;
+using XP.Hardware.MotionControl.Abstractions.Enums;
+
+namespace XP.Hardware.MotionControl.Config
+{
+    /// <summary>
+    /// 运动控制配置加载器 | Motion Control Configuration Loader
+    /// 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）
+    /// Loads axis ranges, geometry origins and runtime params from App.config (PLC signal names hardcoded in MotionSignalNames)
+    /// </summary>
+    public class ConfigLoader
+    {
+        private const string P = "MotionControl";
+
+        /// <summary>
+        /// 加载运动控制配置 | Load motion control configuration
+        /// </summary>
+        public static MotionControlConfig LoadConfig(string configFilePath = null, ILoggerService logger = null)
+        {
+            var config = new MotionControlConfig();
+
+            try
+            {
+                if (!string.IsNullOrEmpty(configFilePath) && File.Exists(configFilePath))
+                {
+                    var fileMap = new ExeConfigurationFileMap { ExeConfigFilename = configFilePath };
+                    var cfg = ConfigurationManager.OpenMappedExeConfiguration(fileMap, ConfigurationUserLevel.None);
+                    LoadAll(config, (k, d) => cfg.AppSettings.Settings[k]?.Value ?? d);
+                }
+                else
+                {
+                    LoadAll(config, (k, d) => ConfigurationManager.AppSettings[k] ?? d);
+                }
+            }
+            catch (Exception ex)
+            {
+                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);
+            }
+
+            return config;
+        }
+
+        private static void LoadAll(MotionControlConfig config, Func<string, string, string> get)
+        {
+            // 直线轴 | Linear axes
+            config.LinearAxes[AxisId.SourceZ] = LoadLinear("SourceZ", get);
+            config.LinearAxes[AxisId.DetectorZ] = LoadLinear("DetectorZ", get);
+            config.LinearAxes[AxisId.StageX] = LoadLinear("StageX", get);
+            config.LinearAxes[AxisId.StageY] = LoadLinear("StageY", get);
+
+            // 旋转轴 | Rotary axes
+            config.RotaryAxes[RotaryAxisId.DetectorSwing] = LoadRotary("DetectorSwing", get);
+            config.RotaryAxes[RotaryAxisId.StageRotation] = LoadRotary("StageRotation", get);
+            config.RotaryAxes[RotaryAxisId.FixtureRotation] = LoadRotary("FixtureRotation", get);
+
+            // 几何原点 | Geometry origins
+            config.Geometry.SourceZOrigin = Dbl(get($"{P}:Geometry:SourceZOrigin", "0"));
+            config.Geometry.DetectorZOrigin = Dbl(get($"{P}:Geometry:DetectorZOrigin", "0"));
+            config.Geometry.StageRotationCenterZ = Dbl(get($"{P}:Geometry:StageRotationCenterZ", "0"));
+            config.Geometry.SwingPivotOffset = Dbl(get($"{P}:Geometry:SwingPivotOffset", "0"));
+            config.Geometry.SwingRadius = Dbl(get($"{P}:Geometry:SwingRadius", "0"));
+
+            // 运行参数 | Runtime parameters
+            config.PollingInterval = Int(get($"{P}:PollingInterval", "100"));
+            config.DefaultVelocity = Int(get($"{P}:DefaultVelocity", "100"));
+        }
+
+        private static LinearAxisConfig LoadLinear(string name, Func<string, string, string> get)
+        {
+            var p = $"{P}:{name}:";
+            return new LinearAxisConfig
+            {
+                Min = Dbl(get(p + "Min", "0")),
+                Max = Dbl(get(p + "Max", "0")),
+                Origin = Dbl(get(p + "Origin", "0"))
+            };
+        }
+
+        private static RotaryAxisConfig LoadRotary(string name, Func<string, string, string> get)
+        {
+            var p = $"{P}:{name}:";
+            return new RotaryAxisConfig
+            {
+                Min = Dbl(get(p + "Min", "0")),
+                Max = Dbl(get(p + "Max", "0")),
+                Origin = Dbl(get(p + "Origin", "0")),
+                Enabled = bool.TryParse(get(p + "Enabled", "true"), out var e) && e
+            };
+        }
+
+        private static double Dbl(string v) => double.TryParse(v, out var r) ? r : 0;
+        private static int Int(string v) => int.TryParse(v, out var r) ? r : 0;
+    }
+}