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 +1,101 @@
+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);
+        }
+    }
+}