QI Mingxuan
74 lines
2.8 KiB
C#
74 lines
2.8 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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/// 旋转轴抽象基类 | Rotary Axis Abstract Base Class
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/// 提供角度边界检查、启用状态管理等通用逻辑 | Provides angle boundary check, enabled status management
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/// </summary>
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public abstract class RotaryAxisBase : IRotaryAxis
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{
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/// <summary>轴标识 | Axis identifier</summary>
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protected readonly RotaryAxisId _axisId;
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/// <summary>最小角度（度）| Minimum angle (degrees)</summary>
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protected readonly double _minAngle;
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/// <summary>最大角度（度）| Maximum angle (degrees)</summary>
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protected readonly double _maxAngle;
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/// <summary>是否启用 | Is enabled</summary>
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protected readonly bool _enabled;
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/// <summary>轴标识 | Axis identifier</summary>
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public RotaryAxisId Id => _axisId;
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/// <summary>实际角度（度）| Actual angle (degrees)</summary>
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public double ActualAngle { 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>是否启用 | Is enabled</summary>
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public bool Enabled => _enabled;
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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="minAngle">最小角度（度）| Minimum angle (degrees)</param>
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/// <param name="maxAngle">最大角度（度）| Maximum angle (degrees)</param>
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/// <param name="enabled">是否启用 | Is enabled</param>
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protected RotaryAxisBase(RotaryAxisId axisId, double minAngle, double maxAngle, bool enabled)
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{
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_axisId = axisId;
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_minAngle = minAngle;
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_maxAngle = maxAngle;
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_enabled = enabled;
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}
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/// <summary>验证目标角度是否在范围内 | Validate target angle within range</summary>
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/// <param name="targetAngle">目标角度（度）| Target angle (degrees)</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 targetAngle) => targetAngle >= _minAngle && targetAngle <= _maxAngle;
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/// <inheritdoc/>
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public abstract MotionResult MoveToTarget(double targetAngle, 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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