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 +1,68 @@
+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
+            };
+        }
+    }
+}