feat: 硬件虚拟化与CNC联动集成 - 运动控制/射线源模拟实现，CNC执行联动增强

2026-05-21 15:59:38 +08:00
parent 05c41a9a21
commit 43d0e7fa89
15 changed files with 1292 additions and 9 deletions
@@ -0,0 +1,94 @@
+using System;
+using System.Collections.Generic;
+using XP.Hardware.MotionControl.Abstractions;
+using XP.Hardware.MotionControl.Abstractions.Enums;
+using XP.Hardware.MotionControl.Config;
+
+namespace XP.Hardware.MotionControl.Implementations
+{
+    /// <summary>
+    /// 虚拟运动系统实现 | Simulated Motion System Implementation
+    /// 根据 MotionControlConfig 创建虚拟轴实例，无需真实 PLC 硬件
+    /// Creates simulated axis instances from MotionControlConfig, no real PLC required
+    /// </summary>
+    public class SimulatedMotionSystem : IMotionSystem
+    {
+        private readonly Dictionary<AxisId, ILinearAxis> _linearAxes = new();
+        private readonly Dictionary<RotaryAxisId, IRotaryAxis> _rotaryAxes = new();
+        private readonly ISafetyDoor _safetyDoor;
+        private readonly IJoystick _joystick;
+        private readonly IAxisReset _axisReset;
+
+        /// <summary>
+        /// 构造函数 | Constructor
+        /// </summary>
+        /// <param name="config">运动控制配置 | Motion control configuration</param>
+        public SimulatedMotionSystem(MotionControlConfig config)
+        {
+            if (config == null) throw new ArgumentNullException(nameof(config));
+
+            // 创建直线轴 | Create linear axes
+            if (config.LinearAxes.TryGetValue(AxisId.SourceZ, out var sz))
+                _linearAxes[AxisId.SourceZ] = new SimulatedLinearAxis(AxisId.SourceZ, sz.Min, sz.Max, sz.Origin);
+
+            if (config.LinearAxes.TryGetValue(AxisId.DetectorZ, out var dz))
+                _linearAxes[AxisId.DetectorZ] = new SimulatedLinearAxis(AxisId.DetectorZ, dz.Min, dz.Max, dz.Origin);
+
+            if (config.LinearAxes.TryGetValue(AxisId.StageX, out var sx))
+                _linearAxes[AxisId.StageX] = new SimulatedLinearAxis(AxisId.StageX, sx.Min, sx.Max, sx.Origin);
+
+            if (config.LinearAxes.TryGetValue(AxisId.StageY, out var sy))
+                _linearAxes[AxisId.StageY] = new SimulatedLinearAxis(AxisId.StageY, sy.Min, sy.Max, sy.Origin);
+
+            // 创建旋转轴 | Create rotary axes
+            if (config.RotaryAxes.TryGetValue(RotaryAxisId.DetectorSwing, out var ds))
+                _rotaryAxes[RotaryAxisId.DetectorSwing] = new SimulatedRotaryAxis(RotaryAxisId.DetectorSwing, ds.Min, ds.Max, ds.Enabled);
+
+            if (config.RotaryAxes.TryGetValue(RotaryAxisId.StageRotation, out var sr))
+                _rotaryAxes[RotaryAxisId.StageRotation] = new SimulatedRotaryAxis(RotaryAxisId.StageRotation, sr.Min, sr.Max, sr.Enabled);
+
+            if (config.RotaryAxes.TryGetValue(RotaryAxisId.FixtureRotation, out var fr))
+                _rotaryAxes[RotaryAxisId.FixtureRotation] = new SimulatedRotaryAxis(RotaryAxisId.FixtureRotation, fr.Min, fr.Max, fr.Enabled);
+
+            // 创建辅助设备 | Create helper devices
+            _safetyDoor = new SimulatedSafetyDoor();
+            _joystick = new SimulatedJoystick();
+            _axisReset = new SimulatedAxisReset();
+        }
+
+        /// <inheritdoc/>
+        public ISafetyDoor SafetyDoor => _safetyDoor;
+
+        /// <inheritdoc/>
+        public IJoystick Joystick => _joystick;
+
+        /// <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($"[Simulated] 未找到直线轴 {axisId} | Linear axis {axisId} not found");
+        }
+
+        /// <inheritdoc/>
+        public IRotaryAxis GetRotaryAxis(RotaryAxisId axisId)
+        {
+            if (_rotaryAxes.TryGetValue(axisId, out var axis)) return axis;
+            throw new KeyNotFoundException($"[Simulated] 未找到旋转轴 {axisId} | Rotary axis {axisId} not found");
+        }
+
+        /// <inheritdoc/>
+        public void UpdateAllStatus()
+        {
+            // 虚拟运动系统无需从 PLC 轮询状态 | No PLC polling needed for simulated motion system
+        }
+    }
+}