QI Mingxuan
77 lines
2.9 KiB
C#
77 lines
2.9 KiB
C#
using XP.Hardware.MotionControl.Abstractions.Enums;
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namespace XP.Hardware.MotionControl.Abstractions
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{
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/// <summary>
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/// 直线轴抽象基类 | Linear Axis Abstract Base Class
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/// 提供边界检查、状态管理等通用逻辑 | Provides boundary check, status management
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/// </summary>
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public abstract class LinearAxisBase : ILinearAxis
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{
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/// <summary>轴标识 | Axis identifier</summary>
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protected readonly AxisId _axisId;
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/// <summary>最小位置（mm）| Minimum position (mm)</summary>
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protected readonly double _min;
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/// <summary>最大位置（mm）| Maximum position (mm)</summary>
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protected readonly double _max;
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/// <summary>原点偏移（mm）| Origin offset (mm)</summary>
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protected readonly double _origin;
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/// <summary>轴标识 | Axis identifier</summary>
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public AxisId Id => _axisId;
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/// <summary>实际位置（mm）| Actual position (mm)</summary>
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public double ActualPosition { get; protected set; }
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/// <summary>轴状态 | Axis status</summary>
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public AxisStatus Status { get; protected set; } = AxisStatus.Idle;
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/// <summary>正限位触发 | Positive limit triggered</summary>
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public bool PositiveLimitHit { get; protected set; }
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/// <summary>负限位触发 | Negative limit triggered</summary>
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public bool NegativeLimitHit { get; protected set; }
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/// <summary>
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/// 构造函数 | Constructor
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/// </summary>
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/// <param name="axisId">轴标识 | Axis identifier</param>
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/// <param name="min">最小位置（mm）| Minimum position (mm)</param>
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/// <param name="max">最大位置（mm）| Maximum position (mm)</param>
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/// <param name="origin">原点偏移（mm）| Origin offset (mm)</param>
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protected LinearAxisBase(AxisId axisId, double min, double max, double origin)
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{
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_axisId = axisId;
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_min = min;
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_max = max;
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_origin = origin;
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}
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/// <summary>验证目标位置是否在范围内 | Validate target within range</summary>
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/// <param name="target">目标位置（mm）| Target position (mm)</param>
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/// <returns>true=在范围内，false=越界 | true=within range, false=out of range</returns>
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public bool ValidateTarget(double target) => target >= _min && target <= _max;
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/// <inheritdoc/>
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public abstract MotionResult MoveToTarget(double target, double? speed = null);
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/// <inheritdoc/>
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public abstract MotionResult JogStart(bool positive);
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/// <inheritdoc/>
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public abstract MotionResult JogStop();
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/// <inheritdoc/>
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public abstract MotionResult Home();
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/// <inheritdoc/>
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public abstract MotionResult Stop();
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/// <inheritdoc/>
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public abstract void UpdateStatus();
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}
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}
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