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 +1,38 @@
+using System;
+using XP.Hardware.MotionControl.Abstractions;
+using XP.Hardware.MotionControl.Config;
+using XP.Hardware.Plc.Abstractions;
+
+namespace XP.Hardware.MotionControl.Implementations
+{
+    /// <summary>
+    /// 基于 PLC 的轴复位实现 | PLC-based Axis Reset Implementation
+    /// 写入复位信号，读取复位完成信号 | Writes reset signal, reads reset-done signal
+    /// </summary>
+    public class PlcAxisReset : IAxisReset
+    {
+        private readonly ISignalDataService _signalService;
+        private bool _isResetDone;
+
+        public PlcAxisReset(ISignalDataService signalService)
+        {
+            _signalService = signalService ?? throw new ArgumentNullException(nameof(signalService));
+        }
+
+        /// <inheritdoc/>
+        public bool IsResetDone => _isResetDone;
+
+        /// <inheritdoc/>
+        public MotionResult Reset()
+        {
+            _signalService.EnqueueWrite(MotionSignalNames.Axis_Reset, true);
+            return MotionResult.Ok();
+        }
+
+        /// <inheritdoc/>
+        public void UpdateStatus()
+        {
+            _isResetDone = _signalService.GetValueByName<bool>(MotionSignalNames.Axis_ResetDone);
+        }
+    }
+}
@@ -0,0 +1,107 @@
+using System;
+using XP.Hardware.MotionControl.Abstractions;
+using XP.Hardware.MotionControl.Abstractions.Enums;
+using XP.Hardware.Plc.Abstractions;
+
+namespace XP.Hardware.MotionControl.Implementations
+{
+    /// <summary>
+    /// 基于 PLC 的直线轴实现 | PLC-based Linear Axis Implementation
+    /// 通过 ISignalDataService 与 PLC 通信，信号名称硬编码在 MotionSignalNames 中
+    /// Communicates with PLC via ISignalDataService, signal names hardcoded in MotionSignalNames
+    /// </summary>
+    public class PlcLinearAxis : LinearAxisBase
+    {
+        private readonly ISignalDataService _signalService;
+        private readonly string _readSignal;
+        private readonly string _writeSignal;
+        private readonly string _speedSignal;
+        private readonly string _jogPosSignal;
+        private readonly string _jogNegSignal;
+        private readonly string _homeSignal;
+        private readonly string _stopSignal;
+        private readonly string _limitPosSignal;
+        private readonly string _limitNegSignal;
+
+        /// <summary>
+        /// 构造函数 | Constructor
+        /// </summary>
+        public PlcLinearAxis(
+            AxisId axisId, double min, double max, double origin,
+            ISignalDataService signalService,
+            string readSignal, string writeSignal, string speedSignal,
+            string jogPosSignal, string jogNegSignal,
+            string homeSignal, string stopSignal)
+            : base(axisId, min, max, origin)
+        {
+            _signalService = signalService ?? throw new ArgumentNullException(nameof(signalService));
+            _readSignal = readSignal;
+            _writeSignal = writeSignal;
+            _speedSignal = speedSignal;
+            _jogPosSignal = jogPosSignal;
+            _jogNegSignal = jogNegSignal;
+            _homeSignal = homeSignal;
+            _stopSignal = stopSignal;
+            _limitPosSignal = $"MC_{axisId}_LimitPos";
+            _limitNegSignal = $"MC_{axisId}_LimitNeg";
+        }
+
+        /// <inheritdoc/>
+        public override MotionResult MoveToTarget(double target, double? speed = null)
+        {
+            if (!ValidateTarget(target))
+                return MotionResult.Fail($"目标位置 {target} 超出范围 [{_min}, {_max}]");
+            if (Status == AxisStatus.Moving)
+                return MotionResult.Fail($"轴 {_axisId} 正在运动中，拒绝重复命令");
+
+            if (speed.HasValue)
+                _signalService.EnqueueWrite(_speedSignal, (float)speed.Value);
+            _signalService.EnqueueWrite(_writeSignal, (float)target);
+            Status = AxisStatus.Moving;
+            return MotionResult.Ok();
+        }
+
+        /// <inheritdoc/>
+        public override MotionResult JogStart(bool positive)
+        {
+            if (Status == AxisStatus.Homing)
+                return MotionResult.Fail($"轴 {_axisId} 正在回零，拒绝 Jog 命令");
+
+            var signal = positive ? _jogPosSignal : _jogNegSignal;
+            _signalService.EnqueueWrite(signal, true);
+            return MotionResult.Ok();
+        }
+
+        /// <inheritdoc/>
+        public override MotionResult JogStop()
+        {
+            _signalService.EnqueueWrite(_jogPosSignal, false);
+            _signalService.EnqueueWrite(_jogNegSignal, false);
+            return MotionResult.Ok();
+        }
+
+        /// <inheritdoc/>
+        public override MotionResult Home()
+        {
+            _signalService.EnqueueWrite(_homeSignal, true);
+            Status = AxisStatus.Homing;
+            return MotionResult.Ok();
+        }
+
+        /// <inheritdoc/>
+        public override MotionResult Stop()
+        {
+            _signalService.EnqueueWrite(_stopSignal, true);
+            return MotionResult.Ok();
+        }
+
+        /// <inheritdoc/>
+        public override void UpdateStatus()
+        {
+            ActualPosition = _signalService.GetValueByName<float>(_readSignal);
+            try { PositiveLimitHit = _signalService.GetValueByName<bool>(_limitPosSignal); } catch { }
+            try { NegativeLimitHit = _signalService.GetValueByName<bool>(_limitNegSignal); } catch { }
+            if (PositiveLimitHit || NegativeLimitHit) Status = AxisStatus.Alarm;
+        }
+    }
+}
@@ -0,0 +1,109 @@
+using System;
+using System.Collections.Generic;
+using XP.Hardware.MotionControl.Abstractions;
+using XP.Hardware.MotionControl.Abstractions.Enums;
+using XP.Hardware.MotionControl.Config;
+using XP.Hardware.Plc.Abstractions;
+
+namespace XP.Hardware.MotionControl.Implementations
+{
+    /// <summary>
+    /// 基于 PLC 的运动系统实现 | PLC-based Motion System Implementation
+    /// 使用 MotionSignalNames 硬编码信号名称 | Uses MotionSignalNames for hardcoded signal names
+    /// </summary>
+    public class PlcMotionSystem : IMotionSystem
+    {
+        private readonly Dictionary<AxisId, ILinearAxis> _linearAxes = new();
+        private readonly Dictionary<RotaryAxisId, IRotaryAxis> _rotaryAxes = new();
+        private readonly ISafetyDoor _safetyDoor;
+        private readonly IAxisReset _axisReset;
+
+        public PlcMotionSystem(MotionControlConfig config, ISignalDataService signalService)
+        {
+            if (config == null) throw new ArgumentNullException(nameof(config));
+            if (signalService == null) throw new ArgumentNullException(nameof(signalService));
+
+            // 创建直线轴 | Create linear axes
+            if (config.LinearAxes.TryGetValue(AxisId.SourceZ, out var sz))
+                _linearAxes[AxisId.SourceZ] = new PlcLinearAxis(AxisId.SourceZ, sz.Min, sz.Max, sz.Origin, signalService,
+                    MotionSignalNames.SourceZ_Pos, MotionSignalNames.SourceZ_Target, MotionSignalNames.SourceZ_Speed,
+                    MotionSignalNames.SourceZ_JogPos, MotionSignalNames.SourceZ_JogNeg,
+                    MotionSignalNames.SourceZ_Home, MotionSignalNames.SourceZ_Stop);
+
+            if (config.LinearAxes.TryGetValue(AxisId.DetectorZ, out var dz))
+                _linearAxes[AxisId.DetectorZ] = new PlcLinearAxis(AxisId.DetectorZ, dz.Min, dz.Max, dz.Origin, signalService,
+                    MotionSignalNames.DetZ_Pos, MotionSignalNames.DetZ_Target, MotionSignalNames.DetZ_Speed,
+                    MotionSignalNames.DetZ_JogPos, MotionSignalNames.DetZ_JogNeg,
+                    MotionSignalNames.DetZ_Home, MotionSignalNames.DetZ_Stop);
+
+            if (config.LinearAxes.TryGetValue(AxisId.StageX, out var sx))
+                _linearAxes[AxisId.StageX] = new PlcLinearAxis(AxisId.StageX, sx.Min, sx.Max, sx.Origin, signalService,
+                    MotionSignalNames.StageX_Pos, MotionSignalNames.StageX_Target, MotionSignalNames.StageX_Speed,
+                    MotionSignalNames.StageX_JogPos, MotionSignalNames.StageX_JogNeg,
+                    MotionSignalNames.StageX_Home, MotionSignalNames.StageX_Stop);
+
+            if (config.LinearAxes.TryGetValue(AxisId.StageY, out var sy))
+                _linearAxes[AxisId.StageY] = new PlcLinearAxis(AxisId.StageY, sy.Min, sy.Max, sy.Origin, signalService,
+                    MotionSignalNames.StageY_Pos, MotionSignalNames.StageY_Target, MotionSignalNames.StageY_Speed,
+                    MotionSignalNames.StageY_JogPos, MotionSignalNames.StageY_JogNeg,
+                    MotionSignalNames.StageY_Home, MotionSignalNames.StageY_Stop);
+
+            // 创建旋转轴 | Create rotary axes
+            if (config.RotaryAxes.TryGetValue(RotaryAxisId.DetectorSwing, out var ds))
+                _rotaryAxes[RotaryAxisId.DetectorSwing] = new PlcRotaryAxis(RotaryAxisId.DetectorSwing, ds.Min, ds.Max, ds.Enabled, signalService,
+                    MotionSignalNames.DetSwing_Angle, MotionSignalNames.DetSwing_Target, MotionSignalNames.DetSwing_Speed,
+                    MotionSignalNames.DetSwing_JogPos, MotionSignalNames.DetSwing_JogNeg,
+                    MotionSignalNames.DetSwing_Home, MotionSignalNames.DetSwing_Stop);
+
+            if (config.RotaryAxes.TryGetValue(RotaryAxisId.StageRotation, out var sr))
+                _rotaryAxes[RotaryAxisId.StageRotation] = new PlcRotaryAxis(RotaryAxisId.StageRotation, sr.Min, sr.Max, sr.Enabled, signalService,
+                    MotionSignalNames.StageRot_Angle, MotionSignalNames.StageRot_Target, MotionSignalNames.StageRot_Speed,
+                    MotionSignalNames.StageRot_JogPos, MotionSignalNames.StageRot_JogNeg,
+                    MotionSignalNames.StageRot_Home, MotionSignalNames.StageRot_Stop);
+
+            if (config.RotaryAxes.TryGetValue(RotaryAxisId.FixtureRotation, out var fr))
+                _rotaryAxes[RotaryAxisId.FixtureRotation] = new PlcRotaryAxis(RotaryAxisId.FixtureRotation, fr.Min, fr.Max, fr.Enabled, signalService,
+                    MotionSignalNames.FixRot_Angle, MotionSignalNames.FixRot_Target, MotionSignalNames.FixRot_Speed,
+                    MotionSignalNames.FixRot_JogPos, MotionSignalNames.FixRot_JogNeg,
+                    MotionSignalNames.FixRot_Home, MotionSignalNames.FixRot_Stop);
+
+            // 创建安全门 | Create safety door
+            _safetyDoor = new PlcSafetyDoor(signalService);
+
+            // 创建轴复位 | Create axis reset
+            _axisReset = new PlcAxisReset(signalService);
+        }
+
+        /// <inheritdoc/>
+        public ISafetyDoor SafetyDoor => _safetyDoor;
+        /// <inheritdoc/>
+        public IAxisReset AxisReset => _axisReset;
+        /// <inheritdoc/>
+        public IReadOnlyDictionary<AxisId, ILinearAxis> LinearAxes => _linearAxes;
+        /// <inheritdoc/>
+        public IReadOnlyDictionary<RotaryAxisId, IRotaryAxis> RotaryAxes => _rotaryAxes;
+
+        /// <inheritdoc/>
+        public ILinearAxis GetLinearAxis(AxisId axisId)
+        {
+            if (_linearAxes.TryGetValue(axisId, out var axis)) return axis;
+            throw new KeyNotFoundException($"未找到直线轴 {axisId} | Linear axis {axisId} not found");
+        }
+
+        /// <inheritdoc/>
+        public IRotaryAxis GetRotaryAxis(RotaryAxisId axisId)
+        {
+            if (_rotaryAxes.TryGetValue(axisId, out var axis)) return axis;
+            throw new KeyNotFoundException($"未找到旋转轴 {axisId} | Rotary axis {axisId} not found");
+        }
+
+        /// <inheritdoc/>
+        public void UpdateAllStatus()
+        {
+            foreach (var axis in _linearAxes.Values) axis.UpdateStatus();
+            foreach (var axis in _rotaryAxes.Values) axis.UpdateStatus();
+            _safetyDoor.UpdateStatus();
+            _axisReset.UpdateStatus();
+        }
+    }
+}
@@ -0,0 +1,101 @@
+using System;
+using XP.Hardware.MotionControl.Abstractions;
+using XP.Hardware.MotionControl.Abstractions.Enums;
+using XP.Hardware.Plc.Abstractions;
+
+namespace XP.Hardware.MotionControl.Implementations
+{
+    /// <summary>
+    /// 基于 PLC 的旋转轴实现 | PLC-based Rotary Axis Implementation
+    /// 信号名称硬编码在 MotionSignalNames 中 | Signal names hardcoded in MotionSignalNames
+    /// </summary>
+    public class PlcRotaryAxis : RotaryAxisBase
+    {
+        private readonly ISignalDataService _signalService;
+        private readonly string _readSignal;
+        private readonly string _writeSignal;
+        private readonly string _speedSignal;
+        private readonly string _jogPosSignal;
+        private readonly string _jogNegSignal;
+        private readonly string _homeSignal;
+        private readonly string _stopSignal;
+
+        /// <summary>
+        /// 构造函数 | Constructor
+        /// </summary>
+        public PlcRotaryAxis(
+            RotaryAxisId axisId, double minAngle, double maxAngle, bool enabled,
+            ISignalDataService signalService,
+            string readSignal, string writeSignal, string speedSignal,
+            string jogPosSignal, string jogNegSignal,
+            string homeSignal, string stopSignal)
+            : base(axisId, minAngle, maxAngle, enabled)
+        {
+            _signalService = signalService ?? throw new ArgumentNullException(nameof(signalService));
+            _readSignal = readSignal;
+            _writeSignal = writeSignal;
+            _speedSignal = speedSignal;
+            _jogPosSignal = jogPosSignal;
+            _jogNegSignal = jogNegSignal;
+            _homeSignal = homeSignal;
+            _stopSignal = stopSignal;
+        }
+
+        /// <inheritdoc/>
+        public override MotionResult MoveToTarget(double targetAngle, double? speed = null)
+        {
+            if (!_enabled) return MotionResult.Fail($"旋转轴 {_axisId} 已禁用，拒绝移动命令");
+            if (!ValidateTarget(targetAngle)) return MotionResult.Fail($"目标角度 {targetAngle} 超出范围 [{_minAngle}, {_maxAngle}]");
+            if (Status == AxisStatus.Moving) return MotionResult.Fail($"旋转轴 {_axisId} 正在运动中，拒绝重复命令");
+
+            if (speed.HasValue)
+                _signalService.EnqueueWrite(_speedSignal, (float)speed.Value);
+            _signalService.EnqueueWrite(_writeSignal, (float)targetAngle);
+            Status = AxisStatus.Moving;
+            return MotionResult.Ok();
+        }
+
+        /// <inheritdoc/>
+        public override MotionResult JogStart(bool positive)
+        {
+            if (!_enabled) return MotionResult.Fail($"旋转轴 {_axisId} 已禁用，拒绝 Jog 命令");
+            if (Status == AxisStatus.Homing) return MotionResult.Fail($"旋转轴 {_axisId} 正在回零，拒绝 Jog 命令");
+
+            _signalService.EnqueueWrite(positive ? _jogPosSignal : _jogNegSignal, true);
+            return MotionResult.Ok();
+        }
+
+        /// <inheritdoc/>
+        public override MotionResult JogStop()
+        {
+            if (!_enabled) return MotionResult.Fail($"旋转轴 {_axisId} 已禁用，拒绝 Jog 停止命令");
+            _signalService.EnqueueWrite(_jogPosSignal, false);
+            _signalService.EnqueueWrite(_jogNegSignal, false);
+            return MotionResult.Ok();
+        }
+
+        /// <inheritdoc/>
+        public override MotionResult Home()
+        {
+            if (!_enabled) return MotionResult.Fail($"旋转轴 {_axisId} 已禁用，拒绝回零命令");
+            _signalService.EnqueueWrite(_homeSignal, true);
+            Status = AxisStatus.Homing;
+            return MotionResult.Ok();
+        }
+
+        /// <inheritdoc/>
+        public override MotionResult Stop()
+        {
+            if (!_enabled) return MotionResult.Fail($"旋转轴 {_axisId} 已禁用，拒绝停止命令");
+            _signalService.EnqueueWrite(_stopSignal, true);
+            return MotionResult.Ok();
+        }
+
+        /// <inheritdoc/>
+        public override void UpdateStatus()
+        {
+            if (!_enabled) return;
+            ActualAngle = _signalService.GetValueByName<float>(_readSignal);
+        }
+    }
+}
@@ -0,0 +1,68 @@
+using System;
+using XP.Hardware.MotionControl.Abstractions;
+using XP.Hardware.MotionControl.Abstractions.Enums;
+using XP.Hardware.MotionControl.Config;
+using XP.Hardware.Plc.Abstractions;
+
+namespace XP.Hardware.MotionControl.Implementations
+{
+    /// <summary>
+    /// 基于 PLC 的安全门实现 | PLC-based Safety Door Implementation
+    /// 信号名称硬编码在 MotionSignalNames 中 | Signal names hardcoded in MotionSignalNames
+    /// </summary>
+    public class PlcSafetyDoor : SafetyDoorBase
+    {
+        private readonly ISignalDataService _signalService;
+        private bool _isInterlocked;
+
+        public PlcSafetyDoor(ISignalDataService signalService)
+        {
+            _signalService = signalService ?? throw new ArgumentNullException(nameof(signalService));
+        }
+
+        /// <inheritdoc/>
+        public override bool IsInterlocked => _isInterlocked;
+
+        /// <inheritdoc/>
+        public override MotionResult Open()
+        {
+            if (IsInterlocked)
+                return MotionResult.Fail("联锁信号有效，禁止开门 | Interlock active, door open blocked");
+            _signalService.EnqueueWrite(MotionSignalNames.Door_Open, true);
+            _status = DoorStatus.Opening;
+            return MotionResult.Ok();
+        }
+
+        /// <inheritdoc/>
+        public override MotionResult Close()
+        {
+            _signalService.EnqueueWrite(MotionSignalNames.Door_Close, true);
+            _status = DoorStatus.Closing;
+            return MotionResult.Ok();
+        }
+
+        /// <inheritdoc/>
+        public override MotionResult Stop()
+        {
+            _signalService.EnqueueWrite(MotionSignalNames.Door_Stop, true);
+            return MotionResult.Ok();
+        }
+
+        /// <inheritdoc/>
+        public override void UpdateStatus()
+        {
+            _isInterlocked = _signalService.GetValueByName<byte>(MotionSignalNames.Door_Interlock) == 10;
+            var statusValue = _signalService.GetValueByName<int>(MotionSignalNames.Door_Status);
+            _status = statusValue switch
+            {
+                1 => DoorStatus.Opening,
+                2 => DoorStatus.Open,
+                3 => DoorStatus.Closing,
+                4 => DoorStatus.Closed,
+                5 => DoorStatus.Locked,
+                6 => DoorStatus.Error,
+                _ => DoorStatus.Unknown
+            };
+        }
+    }
+}