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 +1,107 @@
+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;
+        }
+    }
+}