运动控制：新增射线源与探测器 Z 轴联动移动功能，支持同步位移控制，新增实体摇杆实现 PLC 摇杆状态监控和事件发布，IMotionSystem 接口新增 Joystick 属性，更新文档说明联动功能使用方法。

2026-05-09 11:30:05 +08:00
parent fa8ad29862
commit f4a2856b92
11 changed files with 910 additions and 39 deletions
@@ -131,6 +131,9 @@ namespace XP.Hardware.MotionControl.Services
                var oldDoorStatus = _motionSystem.SafetyDoor.Status;
                var oldInterlocked = _motionSystem.SafetyDoor.IsInterlocked;

+                // 缓存旧的摇杆状态 | Cache old joystick status
+                var oldJoystickActive = _motionSystem.Joystick.IsJoystickActive;
+
                // 更新所有轴和门状态 | Update all axis and door status
                _motionSystem.UpdateAllStatus();

@@ -185,6 +188,15 @@ namespace XP.Hardware.MotionControl.Services
                    _logger.Info("门联锁状态变化：{IsInterlocked} | Door interlock status changed: {IsInterlocked}",
                        _motionSystem.SafetyDoor.IsInterlocked);
                }
+
+                // 检测实体摇杆状态变化 | Detect physical joystick status changes
+                if (oldJoystickActive != _motionSystem.Joystick.IsJoystickActive)
+                {
+                    _eventAggregator.GetEvent<JoystickActiveEvent>()
+                        .Publish(_motionSystem.Joystick.IsJoystickActive);
+                    _logger.Info("实体摇杆状态变化：{IsJoystickActive} | Physical joystick status changed: {IsJoystickActive}",
+                        _motionSystem.Joystick.IsJoystickActive);
+                }
                // 轮询成功，重置错误计数 | Poll succeeded, reset error count
                _pollErrorCount = 0;
            }